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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" |
2416 | holgerb | 56 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 150; |
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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2676 | holgerb | 61 | int LuftdruckTemperaturOffset = 0; |
1 | ingob | 62 | volatile long Luftdruck = 32000; |
2676 | holgerb | 63 | volatile long LuftdruckKompensiert = 32000; |
1322 | hbuss | 64 | volatile long SummenHoehe = 0; |
2309 | holgerb | 65 | volatile long StartLuftdruck; |
1 | ingob | 66 | volatile unsigned int MessLuftdruck = 1023; |
67 | unsigned char DruckOffsetSetting; |
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1036 | hbuss | 68 | signed char ExpandBaro = 0; |
1253 | killagreg | 69 | volatile int VarioMeter = 0; |
1 | ingob | 70 | volatile unsigned int ZaehlMessungen = 0; |
918 | hbuss | 71 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
1168 | hbuss | 72 | volatile unsigned char AdReady = 1; |
2367 | holgerb | 73 | unsigned int BaroStep = 500; |
74 | long ExpandBaroStep = 0; |
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2471 | holgerb | 75 | long HoehenWertF = 0; |
76 | long HoehenWert_Mess = 0; |
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2367 | holgerb | 77 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2471 | holgerb | 78 | long HoehenWertF_Mess = 0; |
2367 | holgerb | 79 | unsigned char CalAthmospheare = 16; |
2370 | holgerb | 80 | unsigned char AD_ACC_Y = 6; |
81 | unsigned char AD_ACC_X = 7; |
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2367 | holgerb | 82 | #endif |
83 | |||
1 | ingob | 84 | //####################################################################################### |
85 | void ADC_Init(void) |
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86 | //####################################################################################### |
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1246 | killagreg | 87 | { |
1 | ingob | 88 | ADMUX = 0;//Referenz ist extern |
1155 | hbuss | 89 | ANALOG_ON; |
1 | ingob | 90 | } |
91 | |||
2369 | holgerb | 92 | #define DESIRED_H_ADC 800 |
1322 | hbuss | 93 | |
2367 | holgerb | 94 | void CalcExpandBaroStep(void) |
95 | { |
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96 | if(ACC_AltitudeControl) ExpandBaroStep = BaroStep * (long)ExpandBaro; |
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97 | else ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4; |
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98 | } |
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99 | |||
1 | ingob | 100 | void SucheLuftruckOffset(void) |
101 | { |
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102 | unsigned int off; |
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1036 | hbuss | 103 | ExpandBaro = 0; |
2367 | holgerb | 104 | CalcExpandBaroStep(); |
1726 | holgerb | 105 | off = GetParamByte(PID_PRESSURE_OFFSET); |
2369 | holgerb | 106 | if(off < 240) off += 10; |
1 | ingob | 107 | OCR0A = off; |
2367 | holgerb | 108 | OCR0B = 255-off; |
109 | Delay_ms_Mess(150); |
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2369 | holgerb | 110 | if(MessLuftdruck > DESIRED_H_ADC) off = 240; |
111 | for(; off > 5; off--) |
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1726 | holgerb | 112 | { |
2369 | holgerb | 113 | OCR0A = off; |
114 | OCR0B = 255-off; |
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115 | Delay_ms_Mess(100); |
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116 | printf("."); |
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117 | if(MessLuftdruck > DESIRED_H_ADC) break; |
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1726 | holgerb | 118 | } |
119 | DruckOffsetSetting = off; |
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120 | SetParamByte(PID_PRESSURE_OFFSET, off); |
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2369 | holgerb | 121 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 230)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
2367 | holgerb | 122 | |
123 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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124 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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125 | // + correction of the altitude error in higher altitudes |
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126 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2497 | holgerb | 127 | CalAthmospheare = 15; // re-claibrated from 16 to 15 at 2.09 -> the baro-Altimeter was about 7% too high |
2367 | holgerb | 128 | if(ACC_AltitudeControl) |
129 | { |
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130 | if(PlatinenVersion < 23) { if(off < 140) CalAthmospheare += (160 - off) / 26; } |
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2497 | holgerb | 131 | // else { if(off < 170) CalAthmospheare += (188 - off) / 19; } |
132 | else { if(off < 170) CalAthmospheare += (188 - off) / 15; } // rescaled at 2.09 |
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2367 | holgerb | 133 | } |
134 | Luftdruck = MessLuftdruck * CalAthmospheare; |
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2676 | holgerb | 135 | LuftdruckKompensiert = Luftdruck + LuftdruckTemperaturOffset; |
1726 | holgerb | 136 | #endif |
380 | hbuss | 137 | Delay_ms_Mess(300); |
1 | ingob | 138 | } |
139 | |||
2426 | holgerb | 140 | /* |
918 | hbuss | 141 | void SucheGyroOffset(void) |
142 | { |
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143 | unsigned char i, ready = 0; |
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1219 | hbuss | 144 | int timeout; |
145 | timeout = SetDelay(2000); |
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918 | hbuss | 146 | for(i=140; i != 0; i--) |
147 | { |
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921 | hbuss | 148 | if(ready == 3 && i > 10) i = 9; |
918 | hbuss | 149 | ready = 0; |
150 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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151 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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152 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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1662 | killagreg | 153 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
1765 | killagreg | 154 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
155 | 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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156 | 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 | 157 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
1253 | killagreg | 158 | AdReady = 0; |
918 | hbuss | 159 | ANALOG_ON; |
1253 | killagreg | 160 | while(!AdReady); |
1246 | killagreg | 161 | if(i<10) Delay_ms_Mess(10); |
918 | hbuss | 162 | } |
1246 | killagreg | 163 | Delay_ms_Mess(70); |
164 | } |
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2426 | holgerb | 165 | */ |
1171 | hbuss | 166 | /* |
167 | |||
168 | 1 r |
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1246 | killagreg | 169 | 2 g |
1171 | hbuss | 170 | 3 y |
171 | 4 x |
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172 | 5 n |
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173 | 6 r |
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174 | 7 u |
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175 | 8 z |
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176 | 9 L |
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1246 | killagreg | 177 | 10 n |
1171 | hbuss | 178 | 11 r |
179 | 12 g |
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180 | 13 y |
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181 | 14 x |
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182 | 15 n |
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183 | 16 r |
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184 | 17 L |
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185 | */ |
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186 | |||
2309 | holgerb | 187 | |
1 | ingob | 188 | //####################################################################################### |
189 | // |
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1561 | killagreg | 190 | ISR(ADC_vect) |
1 | ingob | 191 | //####################################################################################### |
192 | { |
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193 | static unsigned char kanal=0,state = 0; |
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2316 | holgerb | 194 | static signed int subcount = 0; |
1246 | killagreg | 195 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
1687 | holgerb | 196 | static signed int accy, accx; |
1253 | killagreg | 197 | static long tmpLuftdruck = 0; |
198 | static char messanzahl_Druck = 0; |
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1171 | hbuss | 199 | switch(state++) |
200 | { |
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201 | case 0: |
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202 | nick1 = ADC; |
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203 | kanal = AD_ROLL; |
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204 | break; |
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205 | case 1: |
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206 | roll1 = ADC; |
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207 | kanal = AD_GIER; |
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208 | break; |
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209 | case 2: |
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210 | gier1 = ADC; |
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211 | kanal = AD_ACC_Y; |
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212 | break; |
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213 | case 3: |
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214 | Aktuell_ay = NeutralAccY - ADC; |
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215 | accy = Aktuell_ay; |
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216 | kanal = AD_ACC_X; |
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217 | break; |
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218 | case 4: |
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219 | Aktuell_ax = ADC - NeutralAccX; |
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220 | accx = Aktuell_ax; |
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221 | kanal = AD_NICK; |
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222 | break; |
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223 | case 5: |
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224 | nick1 += ADC; |
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225 | kanal = AD_ROLL; |
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226 | break; |
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227 | case 6: |
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228 | roll1 += ADC; |
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229 | kanal = AD_UBAT; |
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230 | break; |
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231 | case 7: |
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1806 | holgerb | 232 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
233 | 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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234 | else |
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235 | #endif |
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2416 | holgerb | 236 | { |
237 | static unsigned int tmpVoltage = 0; |
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238 | if(!tmpVoltage) tmpVoltage = (10 * ADC); |
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239 | if(tmpVoltage <= (10 * ADC)) tmpVoltage += 2; else tmpVoltage -= 2; |
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240 | UBat = tmpVoltage / 31; |
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241 | } |
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1171 | hbuss | 242 | kanal = AD_ACC_Z; |
243 | break; |
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244 | case 8: |
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2309 | holgerb | 245 | Aktuell_az = ADC; |
2316 | holgerb | 246 | AdWertAccHoch = Aktuell_az - NeutralAccZ - (int) NeutralAccZfine; |
2309 | holgerb | 247 | if(!ACC_AltitudeControl) // The Offset must be corrected, because of the ACC-Drift from vibrations |
248 | { |
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249 | if(AdWertAccHoch > 1) |
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1171 | hbuss | 250 | { |
2309 | holgerb | 251 | if(NeutralAccZ < 750) |
252 | { |
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253 | subcount += 5; |
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254 | if(modell_fliegt < 500) subcount += 10; |
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2316 | holgerb | 255 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
2309 | holgerb | 256 | } |
1639 | holgerb | 257 | } |
2309 | holgerb | 258 | else if(AdWertAccHoch < -1) |
259 | { |
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260 | if(NeutralAccZ > 550) |
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261 | { |
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262 | subcount -= 5; |
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263 | if(modell_fliegt < 500) subcount -= 10; |
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264 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
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265 | } |
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266 | } |
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1639 | holgerb | 267 | } |
2316 | holgerb | 268 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
269 | else |
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270 | if(CosAttitude > 8192 - 50) // horizontal leveled within 6° |
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271 | { |
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272 | if(AdWertAccHoch > 1) |
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273 | { |
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274 | if(++subcount > 5000) |
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275 | { |
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276 | if(NeutralAccZfine < 6) NeutralAccZfine++; |
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277 | subcount -= 5000; |
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278 | } |
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279 | } |
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280 | else |
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281 | if(AdWertAccHoch < -1) |
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282 | { |
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283 | if(--subcount < -5000) |
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284 | { |
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285 | if(NeutralAccZfine > -6) NeutralAccZfine--; |
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286 | subcount += 5000; |
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287 | } |
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288 | } |
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289 | } |
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290 | #endif |
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1171 | hbuss | 291 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
292 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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293 | kanal = AD_DRUCK; |
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294 | break; |
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1701 | holgerb | 295 | // "case 9:" fehlt hier absichtlich |
1171 | hbuss | 296 | case 10: |
297 | nick1 += ADC; |
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298 | kanal = AD_ROLL; |
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299 | break; |
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300 | case 11: |
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301 | roll1 += ADC; |
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302 | kanal = AD_GIER; |
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303 | break; |
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304 | case 12: |
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2426 | holgerb | 305 | /* if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
1246 | killagreg | 306 | else |
1660 | holgerb | 307 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
1171 | hbuss | 308 | else AdWertGier = (ADC + gier1); |
2426 | holgerb | 309 | */ |
310 | AdWertGier = 2047 - (ADC + gier1); |
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1171 | hbuss | 311 | kanal = AD_ACC_Y; |
312 | break; |
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313 | case 13: |
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314 | Aktuell_ay = NeutralAccY - ADC; |
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315 | AdWertAccRoll = (Aktuell_ay + accy); |
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316 | kanal = AD_ACC_X; |
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317 | break; |
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318 | case 14: |
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319 | Aktuell_ax = ADC - NeutralAccX; |
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320 | AdWertAccNick = (Aktuell_ax + accx); |
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321 | kanal = AD_NICK; |
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322 | break; |
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323 | case 15: |
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324 | nick1 += ADC; |
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2426 | holgerb | 325 | //if(PlatinenVersion == 10) nick1 *= 2; else |
326 | nick1 *= 4; |
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1173 | hbuss | 327 | AdWertNick = nick1 / 8; |
328 | nick_filter = (nick_filter + nick1) / 2; |
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329 | HiResNick = nick_filter - AdNeutralNick; |
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1171 | hbuss | 330 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
331 | kanal = AD_ROLL; |
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332 | break; |
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333 | case 16: |
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334 | roll1 += ADC; |
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2426 | holgerb | 335 | //if(PlatinenVersion == 10) roll1 *= 2; else |
336 | roll1 *= 4; |
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1173 | hbuss | 337 | AdWertRoll = roll1 / 8; |
338 | roll_filter = (roll_filter + roll1) / 2; |
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339 | HiResRoll = roll_filter - AdNeutralRoll; |
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1171 | hbuss | 340 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
341 | kanal = AD_DRUCK; |
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342 | break; |
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343 | case 17: |
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2309 | holgerb | 344 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
345 | if(ACC_AltitudeControl) |
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346 | { |
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2471 | holgerb | 347 | HoehenWertF_Mess = (ACC_AltitudeFusion(0) + SA_FILTER/2)/SA_FILTER; // cm |
2309 | holgerb | 348 | } |
2471 | holgerb | 349 | else HoehenWertF_Mess = HoehenWert; |
2309 | holgerb | 350 | #endif |
1171 | hbuss | 351 | state = 0; |
352 | AdReady = 1; |
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353 | ZaehlMessungen++; |
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354 | // "break" fehlt hier absichtlich |
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355 | case 9: |
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1253 | killagreg | 356 | MessLuftdruck = ADC; |
2309 | holgerb | 357 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
358 | if(ACC_AltitudeControl) |
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359 | { |
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2367 | holgerb | 360 | tmpLuftdruck = MessLuftdruck - ExpandBaroStep; // -523 counts per offset step |
2497 | holgerb | 361 | if(BaroExpandActive) |
362 | { |
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363 | if(BaroExpandActive < 10) Luftdruck = tmpLuftdruck * CalAthmospheare; |
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364 | } |
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365 | else |
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366 | { |
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367 | Luftdruck -= Luftdruck / CalAthmospheare; // 16 |
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368 | Luftdruck += tmpLuftdruck; |
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2676 | holgerb | 369 | LuftdruckKompensiert = Luftdruck + LuftdruckTemperaturOffset; |
370 | HoehenWert_Mess = StartLuftdruck - LuftdruckKompensiert; // cm |
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2497 | holgerb | 371 | } |
2309 | holgerb | 372 | } |
373 | else |
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374 | #endif |
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375 | { // old version (until FC V2.1) |
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376 | tmpLuftdruck += MessLuftdruck; |
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377 | if(++messanzahl_Druck >= 16) // war bis 0.86 "18" |
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378 | { |
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1944 | holgerb | 379 | signed int tmp; |
2367 | holgerb | 380 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - ExpandBaroStep) / 8; // -523.19 counts per 10 counts offset step |
2471 | holgerb | 381 | HoehenWert_Mess = StartLuftdruck - Luftdruck; |
1272 | hbuss | 382 | SummenHoehe -= SummenHoehe/SM_FILTER; |
2471 | holgerb | 383 | SummenHoehe += HoehenWert_Mess; |
384 | tmp = (HoehenWert_Mess - SummenHoehe/SM_FILTER); |
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1982 | holgerb | 385 | if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024; |
386 | if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16; |
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1944 | holgerb | 387 | else VarioMeter = (31 * VarioMeter + 8 * tmp)/32; |
1272 | hbuss | 388 | tmpLuftdruck /= 2; |
2009 | holgerb | 389 | messanzahl_Druck = 16/2; |
2676 | holgerb | 390 | LuftdruckKompensiert = Luftdruck; |
2309 | holgerb | 391 | } |
392 | } |
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1171 | hbuss | 393 | kanal = AD_NICK; |
394 | break; |
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1246 | killagreg | 395 | default: |
1171 | hbuss | 396 | kanal = 0; state = 0; kanal = AD_NICK; |
397 | break; |
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1246 | killagreg | 398 | } |
1171 | hbuss | 399 | ADMUX = kanal; |
400 | if(state != 0) ANALOG_ON; |
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401 | } |
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402 |