Rev 1662 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
1 | ingob | 3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
||
1356 | hbuss | 5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 6 | // + see the File "License.txt" for further Informations |
7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
8 | |||
9 | #include "main.h" |
||
1622 | killagreg | 10 | #include "eeprom.h" |
1 | ingob | 11 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
1166 | hbuss | 12 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
13 | volatile int HiResNick = 2500, HiResRoll = 2500; |
||
380 | hbuss | 14 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
15 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
||
1166 | hbuss | 16 | volatile char messanzahl_AccHoch = 0; |
1 | ingob | 17 | volatile long Luftdruck = 32000; |
1322 | hbuss | 18 | volatile long SummenHoehe = 0; |
1 | ingob | 19 | volatile int StartLuftdruck; |
20 | volatile unsigned int MessLuftdruck = 1023; |
||
21 | unsigned char DruckOffsetSetting; |
||
1036 | hbuss | 22 | signed char ExpandBaro = 0; |
1253 | killagreg | 23 | volatile int VarioMeter = 0; |
1 | ingob | 24 | volatile unsigned int ZaehlMessungen = 0; |
918 | hbuss | 25 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
26 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
||
1168 | hbuss | 27 | volatile unsigned char AdReady = 1; |
1643 | holgerb | 28 | float NeutralAccZ_float; |
1 | ingob | 29 | //####################################################################################### |
30 | // |
||
31 | void ADC_Init(void) |
||
32 | //####################################################################################### |
||
1246 | killagreg | 33 | { |
1 | ingob | 34 | ADMUX = 0;//Referenz ist extern |
1155 | hbuss | 35 | ANALOG_ON; |
1 | ingob | 36 | } |
37 | |||
1352 | hbuss | 38 | #define DESIRED_H_ADC 800 |
1322 | hbuss | 39 | |
1 | ingob | 40 | void SucheLuftruckOffset(void) |
41 | { |
||
42 | unsigned int off; |
||
1622 | killagreg | 43 | off = GetParamByte(PID_PRESSURE_OFFSET); |
173 | holgerb | 44 | if(off > 20) off -= 10; |
45 | OCR0A = off; |
||
1036 | hbuss | 46 | ExpandBaro = 0; |
380 | hbuss | 47 | Delay_ms_Mess(100); |
1322 | hbuss | 48 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
173 | holgerb | 49 | for(; off < 250;off++) |
1 | ingob | 50 | { |
51 | OCR0A = off; |
||
380 | hbuss | 52 | Delay_ms_Mess(50); |
1246 | killagreg | 53 | printf("."); |
1322 | hbuss | 54 | if(MessLuftdruck < DESIRED_H_ADC) break; |
1 | ingob | 55 | } |
1622 | killagreg | 56 | SetParamByte(PID_PRESSURE_OFFSET, off); |
173 | holgerb | 57 | DruckOffsetSetting = off; |
1638 | holgerb | 58 | OCR0A = off; |
380 | hbuss | 59 | Delay_ms_Mess(300); |
1638 | holgerb | 60 | |
1 | ingob | 61 | } |
62 | |||
918 | hbuss | 63 | void SucheGyroOffset(void) |
64 | { |
||
65 | unsigned char i, ready = 0; |
||
1219 | hbuss | 66 | int timeout; |
918 | hbuss | 67 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
1219 | hbuss | 68 | timeout = SetDelay(2000); |
918 | hbuss | 69 | for(i=140; i != 0; i--) |
70 | { |
||
921 | hbuss | 71 | if(ready == 3 && i > 10) i = 9; |
918 | hbuss | 72 | ready = 0; |
73 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
||
74 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
||
75 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
||
1662 | killagreg | 76 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
1246 | killagreg | 77 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
78 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
||
79 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
||
1219 | hbuss | 80 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
1253 | killagreg | 81 | AdReady = 0; |
918 | hbuss | 82 | ANALOG_ON; |
1253 | killagreg | 83 | while(!AdReady); |
1246 | killagreg | 84 | if(i<10) Delay_ms_Mess(10); |
918 | hbuss | 85 | } |
1246 | killagreg | 86 | Delay_ms_Mess(70); |
87 | } |
||
1 | ingob | 88 | |
1171 | hbuss | 89 | /* |
90 | |||
91 | 1 r |
||
1246 | killagreg | 92 | 2 g |
1171 | hbuss | 93 | 3 y |
94 | 4 x |
||
95 | 5 n |
||
96 | 6 r |
||
97 | 7 u |
||
98 | 8 z |
||
99 | 9 L |
||
1246 | killagreg | 100 | 10 n |
1171 | hbuss | 101 | 11 r |
102 | 12 g |
||
103 | 13 y |
||
104 | 14 x |
||
105 | 15 n |
||
106 | 16 r |
||
107 | 17 L |
||
108 | */ |
||
109 | |||
1 | ingob | 110 | //####################################################################################### |
111 | // |
||
1561 | killagreg | 112 | ISR(ADC_vect) |
1 | ingob | 113 | //####################################################################################### |
114 | { |
||
115 | static unsigned char kanal=0,state = 0; |
||
1687 | holgerb | 116 | static signed char subcount = 0; |
1246 | killagreg | 117 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
1687 | holgerb | 118 | static signed int accy, accx; |
1253 | killagreg | 119 | static long tmpLuftdruck = 0; |
120 | static char messanzahl_Druck = 0; |
||
1171 | hbuss | 121 | switch(state++) |
122 | { |
||
123 | case 0: |
||
124 | nick1 = ADC; |
||
125 | kanal = AD_ROLL; |
||
126 | break; |
||
127 | case 1: |
||
128 | roll1 = ADC; |
||
129 | kanal = AD_GIER; |
||
130 | break; |
||
131 | case 2: |
||
132 | gier1 = ADC; |
||
133 | kanal = AD_ACC_Y; |
||
134 | break; |
||
135 | case 3: |
||
136 | Aktuell_ay = NeutralAccY - ADC; |
||
137 | accy = Aktuell_ay; |
||
138 | kanal = AD_ACC_X; |
||
139 | break; |
||
140 | case 4: |
||
141 | Aktuell_ax = ADC - NeutralAccX; |
||
142 | accx = Aktuell_ax; |
||
143 | kanal = AD_NICK; |
||
144 | break; |
||
145 | case 5: |
||
146 | nick1 += ADC; |
||
147 | kanal = AD_ROLL; |
||
148 | break; |
||
149 | case 6: |
||
150 | roll1 += ADC; |
||
151 | kanal = AD_UBAT; |
||
152 | break; |
||
153 | case 7: |
||
154 | UBat = (3 * UBat + ADC / 3) / 4; |
||
155 | kanal = AD_ACC_Z; |
||
156 | break; |
||
157 | case 8: |
||
1643 | holgerb | 158 | |
1171 | hbuss | 159 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
1246 | killagreg | 160 | if(AdWertAccHoch > 1) |
1171 | hbuss | 161 | { |
1246 | killagreg | 162 | if(NeutralAccZ < 750) |
1171 | hbuss | 163 | { |
1639 | holgerb | 164 | subcount += 2; |
1687 | holgerb | 165 | if(modell_fliegt < 500) subcount += 10; |
1639 | holgerb | 166 | } |
1687 | holgerb | 167 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
1639 | holgerb | 168 | } |
169 | else if(AdWertAccHoch < -1) |
||
170 | { |
||
171 | if(NeutralAccZ > 550) |
||
172 | { |
||
173 | subcount -= 2; |
||
1687 | holgerb | 174 | if(modell_fliegt < 500) subcount -= 10; |
175 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
||
1639 | holgerb | 176 | } |
177 | } |
||
178 | /* |
||
1643 | holgerb | 179 | AdWertAccHoch = (signed int) ADC - NeutralAccZ_float; |
1639 | holgerb | 180 | if(AdWertAccHoch > 1) |
181 | { |
||
1643 | holgerb | 182 | if(NeutralAccZ_float < 750) |
1639 | holgerb | 183 | { |
1643 | holgerb | 184 | NeutralAccZ_float += 0.02; |
185 | if(modell_fliegt < 500) NeutralAccZ_float += 0.1; |
||
1246 | killagreg | 186 | } |
187 | } |
||
1171 | hbuss | 188 | else if(AdWertAccHoch < -1) |
189 | { |
||
1643 | holgerb | 190 | if(NeutralAccZ_float > 550) |
1171 | hbuss | 191 | { |
1643 | holgerb | 192 | NeutralAccZ_float-= 0.02; |
193 | if(modell_fliegt < 500) NeutralAccZ_float -= 0.1; |
||
1246 | killagreg | 194 | } |
195 | } |
||
1643 | holgerb | 196 | */ |
1171 | hbuss | 197 | messanzahl_AccHoch = 1; |
198 | Aktuell_az = ADC; |
||
199 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
||
200 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
||
201 | kanal = AD_DRUCK; |
||
202 | break; |
||
203 | // "case 8:" fehlt hier absichtlich |
||
204 | case 10: |
||
205 | nick1 += ADC; |
||
206 | kanal = AD_ROLL; |
||
207 | break; |
||
208 | case 11: |
||
209 | roll1 += ADC; |
||
210 | kanal = AD_GIER; |
||
211 | break; |
||
212 | case 12: |
||
213 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
||
1246 | killagreg | 214 | else |
1660 | holgerb | 215 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
1171 | hbuss | 216 | else AdWertGier = (ADC + gier1); |
217 | kanal = AD_ACC_Y; |
||
218 | break; |
||
219 | case 13: |
||
220 | Aktuell_ay = NeutralAccY - ADC; |
||
221 | AdWertAccRoll = (Aktuell_ay + accy); |
||
222 | kanal = AD_ACC_X; |
||
223 | break; |
||
224 | case 14: |
||
225 | Aktuell_ax = ADC - NeutralAccX; |
||
226 | AdWertAccNick = (Aktuell_ax + accx); |
||
227 | kanal = AD_NICK; |
||
228 | break; |
||
229 | case 15: |
||
230 | nick1 += ADC; |
||
1173 | hbuss | 231 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
232 | AdWertNick = nick1 / 8; |
||
233 | nick_filter = (nick_filter + nick1) / 2; |
||
234 | HiResNick = nick_filter - AdNeutralNick; |
||
1171 | hbuss | 235 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
236 | kanal = AD_ROLL; |
||
237 | break; |
||
238 | case 16: |
||
239 | roll1 += ADC; |
||
1173 | hbuss | 240 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
241 | AdWertRoll = roll1 / 8; |
||
242 | roll_filter = (roll_filter + roll1) / 2; |
||
243 | HiResRoll = roll_filter - AdNeutralRoll; |
||
1171 | hbuss | 244 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
245 | kanal = AD_DRUCK; |
||
246 | break; |
||
247 | case 17: |
||
248 | state = 0; |
||
249 | AdReady = 1; |
||
250 | ZaehlMessungen++; |
||
251 | // "break" fehlt hier absichtlich |
||
252 | case 9: |
||
1253 | killagreg | 253 | MessLuftdruck = ADC; |
254 | tmpLuftdruck += MessLuftdruck; |
||
255 | if(++messanzahl_Druck >= 18) |
||
256 | { |
||
1266 | killagreg | 257 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
1253 | killagreg | 258 | HoehenWert = StartLuftdruck - Luftdruck; |
1272 | hbuss | 259 | SummenHoehe -= SummenHoehe/SM_FILTER; |
1253 | killagreg | 260 | SummenHoehe += HoehenWert; |
1272 | hbuss | 261 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
262 | tmpLuftdruck /= 2; |
||
263 | messanzahl_Druck = 18/2; |
||
1253 | killagreg | 264 | } |
1171 | hbuss | 265 | kanal = AD_NICK; |
266 | break; |
||
1246 | killagreg | 267 | default: |
1171 | hbuss | 268 | kanal = 0; state = 0; kanal = AD_NICK; |
269 | break; |
||
1246 | killagreg | 270 | } |
1171 | hbuss | 271 | ADMUX = kanal; |
272 | if(state != 0) ANALOG_ON; |
||
1320 | hbuss | 273 | |
1171 | hbuss | 274 | } |
275 | |||
276 | |||
277 | |||
278 | /* |
||
279 | //####################################################################################### |
||
280 | // |
||
281 | SIGNAL(SIG_ADC) |
||
282 | //####################################################################################### |
||
283 | { |
||
284 | static unsigned char kanal=0,state = 0; |
||
1166 | hbuss | 285 | static signed int gier1, roll1, nick1; |
1246 | killagreg | 286 | static signed long nick_filter, roll_filter; |
1166 | hbuss | 287 | static signed int accy, accx; |
288 | switch(state++) |
||
289 | { |
||
290 | case 0: |
||
291 | nick1 = ADC; |
||
292 | kanal = AD_ROLL; |
||
293 | break; |
||
294 | case 1: |
||
295 | roll1 = ADC; |
||
296 | kanal = AD_GIER; |
||
297 | break; |
||
298 | case 2: |
||
299 | gier1 = ADC; |
||
300 | kanal = AD_ACC_Y; |
||
301 | break; |
||
302 | case 3: |
||
303 | Aktuell_ay = NeutralAccY - ADC; |
||
304 | accy = Aktuell_ay; |
||
305 | kanal = AD_NICK; |
||
306 | break; |
||
307 | case 4: |
||
308 | nick1 += ADC; |
||
309 | kanal = AD_ROLL; |
||
310 | break; |
||
311 | case 5: |
||
312 | roll1 += ADC; |
||
313 | kanal = AD_ACC_Z; |
||
314 | break; |
||
315 | case 6: |
||
316 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
||
1246 | killagreg | 317 | if(AdWertAccHoch > 1) |
1166 | hbuss | 318 | { |
1246 | killagreg | 319 | if(NeutralAccZ < 750) |
1166 | hbuss | 320 | { |
1246 | killagreg | 321 | NeutralAccZ += 0.02; |
322 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
||
323 | } |
||
324 | } |
||
1166 | hbuss | 325 | else if(AdWertAccHoch < -1) |
326 | { |
||
1246 | killagreg | 327 | if(NeutralAccZ > 550) |
1166 | hbuss | 328 | { |
329 | NeutralAccZ-= 0.02; |
||
1246 | killagreg | 330 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
331 | } |
||
332 | } |
||
1166 | hbuss | 333 | messanzahl_AccHoch = 1; |
334 | Aktuell_az = ADC; |
||
335 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
||
336 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
||
337 | kanal = AD_NICK; |
||
338 | break; |
||
339 | case 7: |
||
340 | nick1 += ADC; |
||
341 | kanal = AD_ROLL; |
||
342 | break; |
||
343 | case 8: |
||
344 | roll1 += ADC; |
||
345 | kanal = AD_ACC_X; |
||
346 | break; |
||
347 | case 9: |
||
348 | Aktuell_ax = ADC - NeutralAccX; |
||
349 | accx = Aktuell_ax; |
||
350 | kanal = AD_GIER; |
||
351 | break; |
||
352 | case 10: |
||
353 | gier1 += ADC; |
||
354 | kanal = AD_NICK; |
||
355 | break; |
||
356 | case 11: |
||
357 | nick1 += ADC; |
||
358 | kanal = AD_ROLL; |
||
359 | break; |
||
360 | case 12: |
||
361 | roll1 += ADC; |
||
362 | kanal = AD_UBAT; |
||
363 | break; |
||
364 | case 13: |
||
365 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
||
366 | kanal = AD_ACC_Y; |
||
367 | break; |
||
368 | case 14: |
||
369 | Aktuell_ay = NeutralAccY - ADC; |
||
370 | accy += Aktuell_ay; |
||
371 | kanal = AD_NICK; |
||
372 | break; |
||
373 | case 15: |
||
374 | nick1 += ADC; |
||
375 | kanal = AD_ROLL; |
||
376 | break; |
||
377 | case 16: |
||
378 | roll1 += ADC; |
||
379 | kanal = AD_ACC_X; |
||
380 | break; |
||
381 | case 17: |
||
382 | Aktuell_ax = ADC - NeutralAccX; |
||
383 | accx += Aktuell_ax; |
||
384 | kanal = AD_NICK; |
||
385 | break; |
||
386 | case 18: |
||
387 | nick1 += ADC; |
||
388 | kanal = AD_ROLL; |
||
389 | break; |
||
390 | case 19: |
||
391 | roll1 += ADC; |
||
392 | kanal = AD_GIER; |
||
393 | break; |
||
394 | case 20: |
||
395 | gier1 += ADC; |
||
396 | kanal = AD_ACC_Y; |
||
397 | break; |
||
398 | case 21: |
||
399 | Aktuell_ay = NeutralAccY - ADC; |
||
400 | accy += Aktuell_ay; |
||
401 | kanal = AD_NICK; |
||
402 | break; |
||
403 | case 22: |
||
404 | nick1 += ADC; |
||
405 | kanal = AD_ROLL; |
||
406 | break; |
||
407 | case 23: |
||
408 | roll1 += ADC; |
||
409 | kanal = AD_DRUCK; |
||
410 | break; |
||
411 | case 24: |
||
412 | tmpLuftdruck += ADC; |
||
1246 | killagreg | 413 | if(++messanzahl_Druck >= 5) |
1166 | hbuss | 414 | { |
415 | MessLuftdruck = ADC; |
||
416 | messanzahl_Druck = 0; |
||
1167 | hbuss | 417 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
1166 | hbuss | 418 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
419 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
||
420 | tmpLuftdruck = 0; |
||
1246 | killagreg | 421 | } |
1166 | hbuss | 422 | kanal = AD_NICK; |
423 | break; |
||
424 | case 25: |
||
425 | nick1 += ADC; |
||
426 | kanal = AD_ROLL; |
||
427 | break; |
||
428 | case 26: |
||
429 | roll1 += ADC; |
||
430 | kanal = AD_ACC_X; |
||
431 | break; |
||
432 | case 27: |
||
433 | Aktuell_ax = ADC - NeutralAccX; |
||
434 | accx += Aktuell_ax; |
||
435 | kanal = AD_GIER; |
||
436 | break; |
||
437 | case 28: |
||
438 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
||
1246 | killagreg | 439 | else |
1660 | holgerb | 440 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
1166 | hbuss | 441 | else AdWertGier = (ADC + gier1 + 1) / 2; |
442 | kanal = AD_NICK; |
||
443 | break; |
||
444 | case 29: |
||
445 | nick1 += ADC; |
||
446 | kanal = AD_ROLL; |
||
447 | break; |
||
448 | case 30: |
||
449 | roll1 += ADC; |
||
450 | kanal = AD_ACC_Y; |
||
451 | break; |
||
452 | case 31: |
||
453 | Aktuell_ay = NeutralAccY - ADC; |
||
454 | AdWertAccRoll = (Aktuell_ay + accy); |
||
455 | kanal = AD_NICK; |
||
456 | break; |
||
457 | case 32: |
||
458 | AdWertNick = (ADC + nick1 + 3) / 5; |
||
459 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
||
460 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
||
461 | HiResNick = nick_filter - 20 * AdNeutralNick; |
||
462 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
||
1246 | killagreg | 463 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
1166 | hbuss | 464 | kanal = AD_ROLL; |
465 | break; |
||
466 | case 33: |
||
467 | AdWertRoll = (ADC + roll1 + 3) / 5; |
||
468 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
||
469 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
||
470 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
||
471 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
||
472 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
||
473 | kanal = AD_ACC_X; |
||
474 | break; |
||
475 | case 34: |
||
476 | Aktuell_ax = ADC - NeutralAccX; |
||
477 | AdWertAccNick = (Aktuell_ax + accx); |
||
478 | kanal = AD_NICK; |
||
479 | state = 0; |
||
480 | AdReady = 1; |
||
481 | ZaehlMessungen++; |
||
482 | break; |
||
1246 | killagreg | 483 | default: |
1166 | hbuss | 484 | kanal = 0; |
485 | state = 0; |
||
486 | break; |
||
1246 | killagreg | 487 | } |
1166 | hbuss | 488 | ADMUX = kanal; |
489 | if(state != 0) ANALOG_ON; |
||
490 | } |
||
1171 | hbuss | 491 | */ |