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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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19 | // + des Mitverschuldens offen. |
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20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Software LICENSING TERMS |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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34 | // + The Software may only be used with the Licensor's products. |
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35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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37 | // + agreement shall be the property of the Licensor. |
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38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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40 | // + The customer shall be responsible for taking reasonable precautions |
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41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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50 | // + #### END OF LICENSING TERMS #### |
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51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1 | ingob | 53 | |
54 | #include "main.h" |
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1622 | killagreg | 55 | #include "eeprom.h" |
1 | ingob | 56 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
1166 | hbuss | 57 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
58 | volatile int HiResNick = 2500, HiResRoll = 2500; |
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380 | hbuss | 59 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
60 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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1 | ingob | 61 | volatile long Luftdruck = 32000; |
1322 | hbuss | 62 | volatile long SummenHoehe = 0; |
2309 | holgerb | 63 | volatile long StartLuftdruck; |
1 | ingob | 64 | volatile unsigned int MessLuftdruck = 1023; |
65 | unsigned char DruckOffsetSetting; |
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1036 | hbuss | 66 | signed char ExpandBaro = 0; |
1253 | killagreg | 67 | volatile int VarioMeter = 0; |
1 | ingob | 68 | volatile unsigned int ZaehlMessungen = 0; |
918 | hbuss | 69 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
1168 | hbuss | 70 | volatile unsigned char AdReady = 1; |
2367 | holgerb | 71 | unsigned int BaroStep = 500; |
72 | long ExpandBaroStep = 0; |
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2309 | holgerb | 73 | volatile long HoehenWertF = 0; |
2008 | holgerb | 74 | |
2367 | holgerb | 75 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
76 | unsigned char CalAthmospheare = 16; |
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77 | #endif |
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78 | |||
1 | ingob | 79 | //####################################################################################### |
80 | void ADC_Init(void) |
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81 | //####################################################################################### |
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1246 | killagreg | 82 | { |
1 | ingob | 83 | ADMUX = 0;//Referenz ist extern |
1155 | hbuss | 84 | ANALOG_ON; |
1 | ingob | 85 | } |
86 | |||
2367 | holgerb | 87 | #define DESIRED_H_ADC 850 |
1322 | hbuss | 88 | |
2367 | holgerb | 89 | void CalcExpandBaroStep(void) |
90 | { |
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91 | if(ACC_AltitudeControl) ExpandBaroStep = BaroStep * (long)ExpandBaro; |
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92 | else ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4; |
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93 | } |
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94 | |||
1 | ingob | 95 | void SucheLuftruckOffset(void) |
96 | { |
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97 | unsigned int off; |
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1036 | hbuss | 98 | ExpandBaro = 0; |
2367 | holgerb | 99 | CalcExpandBaroStep(); |
1726 | holgerb | 100 | off = GetParamByte(PID_PRESSURE_OFFSET); |
101 | if(off > 20) off -= 10; |
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1 | ingob | 102 | OCR0A = off; |
2367 | holgerb | 103 | OCR0B = 255-off; |
104 | Delay_ms_Mess(150); |
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1726 | holgerb | 105 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
106 | for(; off < 250;off++) |
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107 | { |
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108 | OCR0A = off; |
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2367 | holgerb | 109 | OCR0B = 255-off; |
110 | Delay_ms_Mess(100); |
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1726 | holgerb | 111 | printf("."); |
112 | if(MessLuftdruck < DESIRED_H_ADC) break; |
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113 | } |
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114 | DruckOffsetSetting = off; |
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115 | SetParamByte(PID_PRESSURE_OFFSET, off); |
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2367 | holgerb | 116 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 5 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
117 | |||
118 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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119 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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120 | // + correction of the altitude error in higher altitudes |
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121 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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122 | CalAthmospheare = 16; |
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123 | if(ACC_AltitudeControl) |
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124 | { |
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125 | if(PlatinenVersion < 23) { if(off < 140) CalAthmospheare += (160 - off) / 26; } |
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126 | else { if(off < 170) CalAthmospheare += (188 - off) / 19; } |
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127 | } |
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128 | Luftdruck = MessLuftdruck * CalAthmospheare; |
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1726 | holgerb | 129 | #endif |
380 | hbuss | 130 | Delay_ms_Mess(300); |
1 | ingob | 131 | } |
132 | |||
1726 | holgerb | 133 | |
918 | hbuss | 134 | void SucheGyroOffset(void) |
135 | { |
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136 | unsigned char i, ready = 0; |
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1219 | hbuss | 137 | int timeout; |
138 | timeout = SetDelay(2000); |
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918 | hbuss | 139 | for(i=140; i != 0; i--) |
140 | { |
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921 | hbuss | 141 | if(ready == 3 && i > 10) i = 9; |
918 | hbuss | 142 | ready = 0; |
143 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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144 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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145 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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1662 | killagreg | 146 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
1765 | killagreg | 147 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
148 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;}; |
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149 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;}; |
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1219 | hbuss | 150 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
1253 | killagreg | 151 | AdReady = 0; |
918 | hbuss | 152 | ANALOG_ON; |
1253 | killagreg | 153 | while(!AdReady); |
1246 | killagreg | 154 | if(i<10) Delay_ms_Mess(10); |
918 | hbuss | 155 | } |
1246 | killagreg | 156 | Delay_ms_Mess(70); |
157 | } |
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1 | ingob | 158 | |
1171 | hbuss | 159 | /* |
160 | |||
161 | 1 r |
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1246 | killagreg | 162 | 2 g |
1171 | hbuss | 163 | 3 y |
164 | 4 x |
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165 | 5 n |
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166 | 6 r |
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167 | 7 u |
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168 | 8 z |
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169 | 9 L |
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1246 | killagreg | 170 | 10 n |
1171 | hbuss | 171 | 11 r |
172 | 12 g |
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173 | 13 y |
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174 | 14 x |
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175 | 15 n |
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176 | 16 r |
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177 | 17 L |
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178 | */ |
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179 | |||
2309 | holgerb | 180 | |
1 | ingob | 181 | //####################################################################################### |
182 | // |
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1561 | killagreg | 183 | ISR(ADC_vect) |
1 | ingob | 184 | //####################################################################################### |
185 | { |
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186 | static unsigned char kanal=0,state = 0; |
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2316 | holgerb | 187 | static signed int subcount = 0; |
1246 | killagreg | 188 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
1687 | holgerb | 189 | static signed int accy, accx; |
1253 | killagreg | 190 | static long tmpLuftdruck = 0; |
191 | static char messanzahl_Druck = 0; |
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1171 | hbuss | 192 | switch(state++) |
193 | { |
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194 | case 0: |
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195 | nick1 = ADC; |
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196 | kanal = AD_ROLL; |
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197 | break; |
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198 | case 1: |
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199 | roll1 = ADC; |
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200 | kanal = AD_GIER; |
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201 | break; |
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202 | case 2: |
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203 | gier1 = ADC; |
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204 | kanal = AD_ACC_Y; |
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205 | break; |
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206 | case 3: |
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207 | Aktuell_ay = NeutralAccY - ADC; |
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208 | accy = Aktuell_ay; |
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209 | kanal = AD_ACC_X; |
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210 | break; |
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211 | case 4: |
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212 | Aktuell_ax = ADC - NeutralAccX; |
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213 | accx = Aktuell_ax; |
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214 | kanal = AD_NICK; |
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215 | break; |
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216 | case 5: |
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217 | nick1 += ADC; |
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218 | kanal = AD_ROLL; |
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219 | break; |
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220 | case 6: |
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221 | roll1 += ADC; |
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222 | kanal = AD_UBAT; |
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223 | break; |
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224 | case 7: |
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1806 | holgerb | 225 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
226 | if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference |
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227 | else |
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228 | #endif |
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229 | UBat = (3 * UBat + ADC / 3) / 4; |
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1171 | hbuss | 230 | kanal = AD_ACC_Z; |
231 | break; |
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232 | case 8: |
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2309 | holgerb | 233 | Aktuell_az = ADC; |
2316 | holgerb | 234 | AdWertAccHoch = Aktuell_az - NeutralAccZ - (int) NeutralAccZfine; |
2309 | holgerb | 235 | if(!ACC_AltitudeControl) // The Offset must be corrected, because of the ACC-Drift from vibrations |
236 | { |
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237 | if(AdWertAccHoch > 1) |
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1171 | hbuss | 238 | { |
2309 | holgerb | 239 | if(NeutralAccZ < 750) |
240 | { |
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241 | subcount += 5; |
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242 | if(modell_fliegt < 500) subcount += 10; |
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2316 | holgerb | 243 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
2309 | holgerb | 244 | } |
1639 | holgerb | 245 | } |
2309 | holgerb | 246 | else if(AdWertAccHoch < -1) |
247 | { |
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248 | if(NeutralAccZ > 550) |
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249 | { |
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250 | subcount -= 5; |
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251 | if(modell_fliegt < 500) subcount -= 10; |
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252 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
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253 | } |
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254 | } |
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1639 | holgerb | 255 | } |
2316 | holgerb | 256 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
257 | else |
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258 | if(CosAttitude > 8192 - 50) // horizontal leveled within 6° |
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259 | { |
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260 | if(AdWertAccHoch > 1) |
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261 | { |
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262 | if(++subcount > 5000) |
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263 | { |
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264 | if(NeutralAccZfine < 6) NeutralAccZfine++; |
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265 | subcount -= 5000; |
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266 | } |
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267 | } |
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268 | else |
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269 | if(AdWertAccHoch < -1) |
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270 | { |
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271 | if(--subcount < -5000) |
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272 | { |
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273 | if(NeutralAccZfine > -6) NeutralAccZfine--; |
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274 | subcount += 5000; |
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275 | } |
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276 | } |
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277 | } |
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278 | #endif |
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1171 | hbuss | 279 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
280 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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281 | kanal = AD_DRUCK; |
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282 | break; |
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1701 | holgerb | 283 | // "case 9:" fehlt hier absichtlich |
1171 | hbuss | 284 | case 10: |
285 | nick1 += ADC; |
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286 | kanal = AD_ROLL; |
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287 | break; |
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288 | case 11: |
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289 | roll1 += ADC; |
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290 | kanal = AD_GIER; |
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291 | break; |
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292 | case 12: |
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293 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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1246 | killagreg | 294 | else |
1660 | holgerb | 295 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
1171 | hbuss | 296 | else AdWertGier = (ADC + gier1); |
297 | kanal = AD_ACC_Y; |
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298 | break; |
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299 | case 13: |
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300 | Aktuell_ay = NeutralAccY - ADC; |
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301 | AdWertAccRoll = (Aktuell_ay + accy); |
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302 | kanal = AD_ACC_X; |
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303 | break; |
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304 | case 14: |
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305 | Aktuell_ax = ADC - NeutralAccX; |
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306 | AdWertAccNick = (Aktuell_ax + accx); |
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307 | kanal = AD_NICK; |
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308 | break; |
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309 | case 15: |
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310 | nick1 += ADC; |
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1173 | hbuss | 311 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
312 | AdWertNick = nick1 / 8; |
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313 | nick_filter = (nick_filter + nick1) / 2; |
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314 | HiResNick = nick_filter - AdNeutralNick; |
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1171 | hbuss | 315 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
316 | kanal = AD_ROLL; |
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317 | break; |
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318 | case 16: |
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319 | roll1 += ADC; |
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1173 | hbuss | 320 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
321 | AdWertRoll = roll1 / 8; |
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322 | roll_filter = (roll_filter + roll1) / 2; |
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323 | HiResRoll = roll_filter - AdNeutralRoll; |
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1171 | hbuss | 324 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
325 | kanal = AD_DRUCK; |
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326 | break; |
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327 | case 17: |
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2309 | holgerb | 328 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
329 | if(ACC_AltitudeControl) |
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330 | { |
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2316 | holgerb | 331 | HoehenWertF = (ACC_AltitudeFusion(0) + SA_FILTER/2)/SA_FILTER; // cm |
2309 | holgerb | 332 | } |
333 | else HoehenWertF = HoehenWert; |
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334 | #else |
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335 | HoehenWertF = HoehenWert; |
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336 | #endif |
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337 | |||
1171 | hbuss | 338 | state = 0; |
339 | AdReady = 1; |
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340 | ZaehlMessungen++; |
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341 | // "break" fehlt hier absichtlich |
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342 | case 9: |
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1253 | killagreg | 343 | MessLuftdruck = ADC; |
2309 | holgerb | 344 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
345 | if(ACC_AltitudeControl) |
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346 | { |
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2367 | holgerb | 347 | // ExpandBaroStep = BaroStep * (long)ExpandBaro; // wird in fc.c aufgerufen |
348 | // tmpLuftdruck = MessLuftdruck - BaroStep * (long)ExpandBaro; // -523 counts per offset step |
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349 | tmpLuftdruck = MessLuftdruck - ExpandBaroStep; // -523 counts per offset step |
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350 | Luftdruck -= Luftdruck / CalAthmospheare; // 16 |
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2309 | holgerb | 351 | Luftdruck += tmpLuftdruck; |
352 | HoehenWert = StartLuftdruck - Luftdruck; // cm |
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353 | } |
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354 | else |
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355 | #endif |
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356 | { // old version (until FC V2.1) |
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357 | tmpLuftdruck += MessLuftdruck; |
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358 | if(++messanzahl_Druck >= 16) // war bis 0.86 "18" |
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359 | { |
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1944 | holgerb | 360 | signed int tmp; |
2367 | holgerb | 361 | // Luftdruck = (7 * Luftdruck + tmpLuftdruck - (16 * BaroStep) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
362 | // ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4; // wird in fc.c aufgerufen |
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363 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - ExpandBaroStep) / 8; // -523.19 counts per 10 counts offset step |
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1253 | killagreg | 364 | HoehenWert = StartLuftdruck - Luftdruck; |
1272 | hbuss | 365 | SummenHoehe -= SummenHoehe/SM_FILTER; |
1253 | killagreg | 366 | SummenHoehe += HoehenWert; |
1944 | holgerb | 367 | tmp = (HoehenWert - SummenHoehe/SM_FILTER); |
1982 | holgerb | 368 | if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024; |
369 | if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16; |
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1944 | holgerb | 370 | else VarioMeter = (31 * VarioMeter + 8 * tmp)/32; |
1272 | hbuss | 371 | tmpLuftdruck /= 2; |
2009 | holgerb | 372 | messanzahl_Druck = 16/2; |
2309 | holgerb | 373 | } |
374 | } |
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1171 | hbuss | 375 | kanal = AD_NICK; |
376 | break; |
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1246 | killagreg | 377 | default: |
1171 | hbuss | 378 | kanal = 0; state = 0; kanal = AD_NICK; |
379 | break; |
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1246 | killagreg | 380 | } |
1171 | hbuss | 381 | ADMUX = kanal; |
382 | if(state != 0) ANALOG_ON; |
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383 | } |
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384 |