WebSVN - FlightCtrl - Diff - Rev 1322 and 1338 - /branches/V0.76g-FredericG/analog.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "main.h"
volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
volatile int  HiResNick = 2500, HiResRoll = 2500;
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
volatile char messanzahl_AccHoch = 0;
volatile long Luftdruck = 32000;
volatile long SummenHoehe = 0;
volatile int  StartLuftdruck;
volatile unsigned int  MessLuftdruck = 1023;
unsigned char DruckOffsetSetting;
signed char ExpandBaro = 0;
volatile int VarioMeter = 0;
volatile unsigned int ZaehlMessungen = 0;
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
volatile unsigned char AdReady = 1;
//#######################################################################################
//
void ADC_Init(void)
//#######################################################################################
{
    ADMUX = 0;//Referenz ist extern
    ANALOG_ON;
}
 
#define DESIRED_H_ADC 850
 
void SucheLuftruckOffset(void)
{
 unsigned int off;
 off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
 if(off > 20) off -= 10;
 OCR0A = off;
 ExpandBaro = 0;
 Delay_ms_Mess(100);
 if(MessLuftdruck < DESIRED_H_ADC) off = 0;
 for(; off < 250;off++)
  {
  OCR0A = off;
  Delay_ms_Mess(50);
  printf(".");
  if(MessLuftdruck < DESIRED_H_ADC) break;
  }
 eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
 DruckOffsetSetting = off;
 Delay_ms_Mess(300);
}
 
void SucheGyroOffset(void)
{
 unsigned char i, ready = 0;
 int timeout;
 GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
 timeout = SetDelay(2000);
 for(i=140; i != 0; i--)
  {
   if(ready == 3 && i > 10) i = 9;
   ready = 0;
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
   twi_state = 8;
   i2c_start();
   if(AnalogOffsetNick < 10)  { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
   AdReady = 0;
   ANALOG_ON;
   while(!AdReady);
   if(i<10) Delay_ms_Mess(10);
  }
   Delay_ms_Mess(70);
}
 
/*
0  n
1  r
2     g
3     y
4     x
5  n
6  r
7     u
8     z
9     L
10 n
11 r
12    g
13    y
14    x
15 n
16 r
17    L
*/
 
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;
        static signed int accy, accx;
 
        static long tmpLuftdruck = 0;
        static char messanzahl_Druck = 0;
    switch(state++)
        {
        case 0:
            nick1 = ADC;
            kanal = AD_ROLL;
            break;
        case 1:
            roll1 = ADC;
                    kanal = AD_GIER;
            break;
        case 2:
            gier1 = ADC;
            kanal = AD_ACC_Y;
            break;
        case 3:
            Aktuell_ay = NeutralAccY - ADC;
            accy = Aktuell_ay;
                    kanal = AD_ACC_X;
            break;
        case 4:
            Aktuell_ax = ADC - NeutralAccX;
            accx =  Aktuell_ax;
            kanal = AD_NICK;
            break;
        case 5:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 6:
            roll1 += ADC;
            kanal = AD_UBAT;
            break;
        case 7:
            UBat = (3 * UBat + ADC / 3) / 4;
                    kanal = AD_ACC_Z;
            break;
       case 8:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                NeutralAccZ += 0.02;
                if(modell_fliegt < 500) NeutralAccZ += 0.1;
               }
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 NeutralAccZ-= 0.02;
                 if(modell_fliegt < 500) NeutralAccZ -= 0.1;
                }
             }
            messanzahl_AccHoch = 1;
            Aktuell_az = ADC;
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
                kanal = AD_DRUCK;
            break;
   // "case 8:" fehlt hier absichtlich
        case 10:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 11:
            roll1 += ADC;
                    kanal = AD_GIER;
            break;
        case 12:
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;
            else
            if(PlatinenVersion == 20)  AdWertGier = 2047 - (ADC + gier1);
                        else                                       AdWertGier = (ADC + gier1);
            kanal = AD_ACC_Y;
            break;
        case 13:
            Aktuell_ay = NeutralAccY - ADC;
            AdWertAccRoll = (Aktuell_ay + accy);
            kanal = AD_ACC_X;
            break;
        case 14:
            Aktuell_ax = ADC - NeutralAccX;
            AdWertAccNick =  (Aktuell_ax + accx);
            kanal = AD_NICK;
            break;
        case 15:
            nick1 += ADC;
            if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4;
            AdWertNick = nick1 / 8;
            nick_filter = (nick_filter + nick1) / 2;
            HiResNick = nick_filter - AdNeutralNick;
            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
            kanal = AD_ROLL;
            break;
        case 16:
            roll1 += ADC;
            if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4;
            AdWertRoll = roll1 / 8;
            roll_filter = (roll_filter + roll1) / 2;
            HiResRoll = roll_filter - AdNeutralRoll;
            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
                kanal = AD_DRUCK;
            break;
        case 17:
            state = 0;
                        AdReady = 1;
            ZaehlMessungen++;
            // "break" fehlt hier absichtlich
        case 9:
                MessLuftdruck = ADC;
            tmpLuftdruck += MessLuftdruck;
            if(++messanzahl_Druck >= 18)
            {
                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
                                HoehenWert = StartLuftdruck - Luftdruck;
                                SummenHoehe -= SummenHoehe/SM_FILTER;
                                SummenHoehe += HoehenWert;
                                VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;
                tmpLuftdruck /= 2;
                messanzahl_Druck = 18/2;
            }
            kanal = AD_NICK;
            break;
        default:
            kanal = 0; state = 0; kanal = AD_NICK;
            break;
        }
    ADMUX = kanal;
    if(state != 0) ANALOG_ON;
 
}
 
 
 
/*
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
    static signed int gier1, roll1, nick1;
        static signed long nick_filter, roll_filter;
        static signed int accy, accx;
    switch(state++)
        {
        case 0:
            nick1 = ADC;
            kanal = AD_ROLL;
            break;
        case 1:
            roll1 = ADC;
                    kanal = AD_GIER;
            break;
        case 2:
            gier1 = ADC;
            kanal = AD_ACC_Y;
            break;
        case 3:
            Aktuell_ay = NeutralAccY - ADC;
            accy = Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 4:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 5:
            roll1 += ADC;
                    kanal = AD_ACC_Z;
            break;
       case 6:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                NeutralAccZ += 0.02;
                if(modell_fliegt < 500) NeutralAccZ += 0.1;
               }
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 NeutralAccZ-= 0.02;
                 if(modell_fliegt < 500) NeutralAccZ -= 0.1;
                }
             }
            messanzahl_AccHoch = 1;
            Aktuell_az = ADC;
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
            kanal = AD_NICK;
            break;
        case 7:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 8:
            roll1 += ADC;
                    kanal = AD_ACC_X;
            break;
        case 9:
            Aktuell_ax = ADC - NeutralAccX;
            accx =  Aktuell_ax;
                    kanal = AD_GIER;
            break;
        case 10:
            gier1 += ADC;
            kanal = AD_NICK;
            break;
        case 11:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 12:
            roll1 += ADC;
            kanal = AD_UBAT;
            break;
        case 13:
            UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19)  / 2;
            kanal = AD_ACC_Y;
            break;
        case 14:
            Aktuell_ay = NeutralAccY - ADC;
            accy += Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 15:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 16:
            roll1 += ADC;
            kanal = AD_ACC_X;
            break;
        case 17:
            Aktuell_ax = ADC - NeutralAccX;
            accx += Aktuell_ax;
                    kanal = AD_NICK;
            break;
        case 18:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 19:
            roll1 += ADC;
                    kanal = AD_GIER;
            break;
        case 20:
            gier1 += ADC;
            kanal = AD_ACC_Y;
            break;
        case 21:
            Aktuell_ay = NeutralAccY - ADC;
            accy += Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 22:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 23:
            roll1 += ADC;
                kanal = AD_DRUCK;
            break;
        case 24:
            tmpLuftdruck += ADC;
            if(++messanzahl_Druck >= 5)
                {
                MessLuftdruck = ADC;
                messanzahl_Druck = 0;
                                HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8;  // D-Anteil = neuerWert - AlterWert
                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
                HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
                tmpLuftdruck = 0;
                }
            kanal = AD_NICK;
            break;
        case 25:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 26:
            roll1 += ADC;
                    kanal = AD_ACC_X;
            break;
        case 27:
            Aktuell_ax = ADC - NeutralAccX;
            accx +=  Aktuell_ax;
                    kanal = AD_GIER;
            break;
        case 28:
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 2) / 4;
            else
            if(PlatinenVersion == 20)  AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
                        else                                       AdWertGier = (ADC + gier1 + 1) / 2;
            kanal = AD_NICK;
            break;
        case 29:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 30:
            roll1 += ADC;
            kanal = AD_ACC_Y;
            break;
        case 31:
            Aktuell_ay = NeutralAccY - ADC;
            AdWertAccRoll = (Aktuell_ay + accy);
            kanal = AD_NICK;
            break;
        case 32:
            AdWertNick = (ADC + nick1 + 3) / 5;
            nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
            if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
            HiResNick = nick_filter - 20 * AdNeutralNick;
            AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
            DebugOut.Analog[21] = AdWertNickFilter / 4;
            kanal = AD_ROLL;
            break;
        case 33:
            AdWertRoll = (ADC + roll1 + 3) / 5;
            roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
            if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
            HiResRoll = roll_filter - 20 * AdNeutralRoll;
            AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
            DebugOut.Analog[22] = AdWertRollFilter / 4;
            kanal = AD_ACC_X;
            break;
        case 34:
            Aktuell_ax = ADC - NeutralAccX;
            AdWertAccNick =  (Aktuell_ax + accx);
                    kanal = AD_NICK;
            state = 0;
                        AdReady = 1;
            ZaehlMessungen++;
            break;
        default:
            kanal = 0;
            state = 0;
            break;
        }
    ADMUX = kanal;
    if(state != 0) ANALOG_ON;
}
*/
 

Rev 1322	Rev 1338
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) Holger Buss, Ingo Busker
3	// + only for non-profit use	3	// + only for non-profit use
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// + see the File "License.txt" for further Informations	5	// + see the File "License.txt" for further Informations
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7		7
8	#include "main.h"	8	#include "main.h"
9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;	9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;	10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
11	volatile int HiResNick = 2500, HiResRoll = 2500;	11	volatile int HiResNick = 2500, HiResRoll = 2500;
12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;	12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;	13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
14	volatile char messanzahl_AccHoch = 0;	14	volatile char messanzahl_AccHoch = 0;
15	volatile long Luftdruck = 32000;	15	volatile long Luftdruck = 32000;
16	volatile long SummenHoehe = 0;	16	volatile long SummenHoehe = 0;
17	volatile int StartLuftdruck;	17	volatile int StartLuftdruck;
18	volatile unsigned int MessLuftdruck = 1023;	18	volatile unsigned int MessLuftdruck = 1023;
19	unsigned char DruckOffsetSetting;	19	unsigned char DruckOffsetSetting;
20	signed char ExpandBaro = 0;	20	signed char ExpandBaro = 0;
21	volatile int VarioMeter = 0;	21	volatile int VarioMeter = 0;
22	volatile unsigned int ZaehlMessungen = 0;	22	volatile unsigned int ZaehlMessungen = 0;
23	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	23	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
24	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;	24	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
25	volatile unsigned char AdReady = 1;	25	volatile unsigned char AdReady = 1;
26	//#######################################################################################	26	//#######################################################################################
27	//	27	//
28	void ADC_Init(void)	28	void ADC_Init(void)
29	//#######################################################################################	29	//#######################################################################################
30	{	30	{
31	ADMUX = 0;//Referenz ist extern	31	ADMUX = 0;//Referenz ist extern
32	ANALOG_ON;	32	ANALOG_ON;
33	}	33	}
34		34
35	#define DESIRED_H_ADC 850	35	#define DESIRED_H_ADC 850
36		36
37	void SucheLuftruckOffset(void)	37	void SucheLuftruckOffset(void)
38	{	38	{
39	unsigned int off;	39	unsigned int off;
40	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);	40	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
41	if(off > 20) off -= 10;	41	if(off > 20) off -= 10;
42	OCR0A = off;	42	OCR0A = off;
43	ExpandBaro = 0;	43	ExpandBaro = 0;
44	Delay_ms_Mess(100);	44	Delay_ms_Mess(100);
45	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	45	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
46	for(; off < 250;off++)	46	for(; off < 250;off++)
47	{	47	{
48	OCR0A = off;	48	OCR0A = off;
49	Delay_ms_Mess(50);	49	Delay_ms_Mess(50);
50	printf(".");	50	printf(".");
51	if(MessLuftdruck < DESIRED_H_ADC) break;	51	if(MessLuftdruck < DESIRED_H_ADC) break;
52	}	52	}
53	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);	53	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
54	DruckOffsetSetting = off;	54	DruckOffsetSetting = off;
55	Delay_ms_Mess(300);	55	Delay_ms_Mess(300);
56	}	56	}
57		57
58	void SucheGyroOffset(void)	58	void SucheGyroOffset(void)
59	{	59	{
60	unsigned char i, ready = 0;	60	unsigned char i, ready = 0;
61	int timeout;	61	int timeout;
62	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	62	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
63	timeout = SetDelay(2000);	63	timeout = SetDelay(2000);
64	for(i=140; i != 0; i--)	64	for(i=140; i != 0; i--)
65	{	65	{
66	if(ready == 3 && i > 10) i = 9;	66	if(ready == 3 && i > 10) i = 9;
67	ready = 0;	67	ready = 0;
68	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	68	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
69	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	69	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
70	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	70	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
71	twi_state = 8;	71	twi_state = 8;
72	i2c_start();	72	i2c_start();
73	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};	73	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
74	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};	74	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
75	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};	75	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
76	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	76	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
77	AdReady = 0;	77	AdReady = 0;
78	ANALOG_ON;	78	ANALOG_ON;
79	while(!AdReady);	79	while(!AdReady);
80	if(i<10) Delay_ms_Mess(10);	80	if(i<10) Delay_ms_Mess(10);
81	}	81	}
82	Delay_ms_Mess(70);	82	Delay_ms_Mess(70);
83	}	83	}
84		84
85	/*	85	/*
86	0 n	86	0 n
87	1 r	87	1 r
88	2 g	88	2 g
89	3 y	89	3 y
90	4 x	90	4 x
91	5 n	91	5 n
92	6 r	92	6 r
93	7 u	93	7 u
94	8 z	94	8 z
95	9 L	95	9 L
96	10 n	96	10 n
97	11 r	97	11 r
98	12 g	98	12 g
99	13 y	99	13 y
100	14 x	100	14 x
101	15 n	101	15 n
102	16 r	102	16 r
103	17 L	103	17 L
104	*/	104	*/
105		105
106	//#######################################################################################	106	//#######################################################################################
107	//	107	//
108	SIGNAL(SIG_ADC)	108	SIGNAL(SIG_ADC)
109	//#######################################################################################	109	//#######################################################################################
110	{	110	{
111	static unsigned char kanal=0,state = 0;	111	static unsigned char kanal=0,state = 0;
112	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	112	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
113	static signed int accy, accx;	113	static signed int accy, accx;
114		114
115	static long tmpLuftdruck = 0;	115	static long tmpLuftdruck = 0;
116	static char messanzahl_Druck = 0;	116	static char messanzahl_Druck = 0;
117	switch(state++)	117	switch(state++)
118	{	118	{
119	case 0:	119	case 0:
120	nick1 = ADC;	120	nick1 = ADC;
121	kanal = AD_ROLL;	121	kanal = AD_ROLL;
122	break;	122	break;
123	case 1:	123	case 1:
124	roll1 = ADC;	124	roll1 = ADC;
125	kanal = AD_GIER;	125	kanal = AD_GIER;
126	break;	126	break;
127	case 2:	127	case 2:
128	gier1 = ADC;	128	gier1 = ADC;
129	kanal = AD_ACC_Y;	129	kanal = AD_ACC_Y;
130	break;	130	break;
131	case 3:	131	case 3:
132	Aktuell_ay = NeutralAccY - ADC;	132	Aktuell_ay = NeutralAccY - ADC;
133	accy = Aktuell_ay;	133	accy = Aktuell_ay;
134	kanal = AD_ACC_X;	134	kanal = AD_ACC_X;
135	break;	135	break;
136	case 4:	136	case 4:
137	Aktuell_ax = ADC - NeutralAccX;	137	Aktuell_ax = ADC - NeutralAccX;
138	accx = Aktuell_ax;	138	accx = Aktuell_ax;
139	kanal = AD_NICK;	139	kanal = AD_NICK;
140	break;	140	break;
141	case 5:	141	case 5:
142	nick1 += ADC;	142	nick1 += ADC;
143	kanal = AD_ROLL;	143	kanal = AD_ROLL;
144	break;	144	break;
145	case 6:	145	case 6:
146	roll1 += ADC;	146	roll1 += ADC;
147	kanal = AD_UBAT;	147	kanal = AD_UBAT;
148	break;	148	break;
149	case 7:	149	case 7:
150	UBat = (3 * UBat + ADC / 3) / 4;	150	UBat = (3 * UBat + ADC / 3) / 4;
151	kanal = AD_ACC_Z;	151	kanal = AD_ACC_Z;
152	break;	152	break;
153	case 8:	153	case 8:
154	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	154	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
155	if(AdWertAccHoch > 1)	155	if(AdWertAccHoch > 1)
156	{	156	{
157	if(NeutralAccZ < 750)	157	if(NeutralAccZ < 750)
158	{	158	{
159	NeutralAccZ += 0.02;	159	NeutralAccZ += 0.02;
160	if(modell_fliegt < 500) NeutralAccZ += 0.1;	160	if(modell_fliegt < 500) NeutralAccZ += 0.1;
161	}	161	}
162	}	162	}
163	else if(AdWertAccHoch < -1)	163	else if(AdWertAccHoch < -1)
164	{	164	{
165	if(NeutralAccZ > 550)	165	if(NeutralAccZ > 550)
166	{	166	{
167	NeutralAccZ-= 0.02;	167	NeutralAccZ-= 0.02;
168	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	168	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
169	}	169	}
170	}	170	}
171	messanzahl_AccHoch = 1;	171	messanzahl_AccHoch = 1;
172	Aktuell_az = ADC;	172	Aktuell_az = ADC;
173	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	173	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
174	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	174	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
175	kanal = AD_DRUCK;	175	kanal = AD_DRUCK;
176	break;	176	break;
177	// "case 8:" fehlt hier absichtlich	177	// "case 8:" fehlt hier absichtlich
178	case 10:	178	case 10:
179	nick1 += ADC;	179	nick1 += ADC;
180	kanal = AD_ROLL;	180	kanal = AD_ROLL;
181	break;	181	break;
182	case 11:	182	case 11:
183	roll1 += ADC;	183	roll1 += ADC;
184	kanal = AD_GIER;	184	kanal = AD_GIER;
185	break;	185	break;
186	case 12:	186	case 12:
187	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	187	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
188	else	188	else
189	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);	189	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);
190	else AdWertGier = (ADC + gier1);	190	else AdWertGier = (ADC + gier1);
191	kanal = AD_ACC_Y;	191	kanal = AD_ACC_Y;
192	break;	192	break;
193	case 13:	193	case 13:
194	Aktuell_ay = NeutralAccY - ADC;	194	Aktuell_ay = NeutralAccY - ADC;
195	AdWertAccRoll = (Aktuell_ay + accy);	195	AdWertAccRoll = (Aktuell_ay + accy);
196	kanal = AD_ACC_X;	196	kanal = AD_ACC_X;
197	break;	197	break;
198	case 14:	198	case 14:
199	Aktuell_ax = ADC - NeutralAccX;	199	Aktuell_ax = ADC - NeutralAccX;
200	AdWertAccNick = (Aktuell_ax + accx);	200	AdWertAccNick = (Aktuell_ax + accx);
201	kanal = AD_NICK;	201	kanal = AD_NICK;
202	break;	202	break;
203	case 15:	203	case 15:
204	nick1 += ADC;	204	nick1 += ADC;
205	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	205	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
206	AdWertNick = nick1 / 8;	206	AdWertNick = nick1 / 8;
207	nick_filter = (nick_filter + nick1) / 2;	207	nick_filter = (nick_filter + nick1) / 2;
208	HiResNick = nick_filter - AdNeutralNick;	208	HiResNick = nick_filter - AdNeutralNick;
209	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	209	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
210	kanal = AD_ROLL;	210	kanal = AD_ROLL;
211	break;	211	break;
212	case 16:	212	case 16:
213	roll1 += ADC;	213	roll1 += ADC;
214	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	214	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
215	AdWertRoll = roll1 / 8;	215	AdWertRoll = roll1 / 8;
216	roll_filter = (roll_filter + roll1) / 2;	216	roll_filter = (roll_filter + roll1) / 2;
217	HiResRoll = roll_filter - AdNeutralRoll;	217	HiResRoll = roll_filter - AdNeutralRoll;
218	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	218	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
219	kanal = AD_DRUCK;	219	kanal = AD_DRUCK;
220	break;	220	break;
221	case 17:	221	case 17:
222	state = 0;	222	state = 0;
223	AdReady = 1;	223	AdReady = 1;
224	ZaehlMessungen++;	224	ZaehlMessungen++;
225	// "break" fehlt hier absichtlich	225	// "break" fehlt hier absichtlich
226	case 9:	226	case 9:
227	MessLuftdruck = ADC;	227	MessLuftdruck = ADC;
228	tmpLuftdruck += MessLuftdruck;	228	tmpLuftdruck += MessLuftdruck;
229	if(++messanzahl_Druck >= 18)	229	if(++messanzahl_Druck >= 18)
230	{	230	{
231	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	231	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
232	HoehenWert = StartLuftdruck - Luftdruck;	232	HoehenWert = StartLuftdruck - Luftdruck;
233	SummenHoehe -= SummenHoehe/SM_FILTER;	233	SummenHoehe -= SummenHoehe/SM_FILTER;
234	SummenHoehe += HoehenWert;	234	SummenHoehe += HoehenWert;
235	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;	235	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;
236	tmpLuftdruck /= 2;	236	tmpLuftdruck /= 2;
237	messanzahl_Druck = 18/2;	237	messanzahl_Druck = 18/2;
238	}	238	}
239	kanal = AD_NICK;	239	kanal = AD_NICK;
240	break;	240	break;
241	default:	241	default:
242	kanal = 0; state = 0; kanal = AD_NICK;	242	kanal = 0; state = 0; kanal = AD_NICK;
243	break;	243	break;
244	}	244	}
245	ADMUX = kanal;	245	ADMUX = kanal;
246	if(state != 0) ANALOG_ON;	246	if(state != 0) ANALOG_ON;
247		247
248	}	248	}
249		249
250		250
251		251
252	/*	252	/*
253	//#######################################################################################	253	//#######################################################################################
254	//	254	//
255	SIGNAL(SIG_ADC)	255	SIGNAL(SIG_ADC)
256	//#######################################################################################	256	//#######################################################################################
257	{	257	{
258	static unsigned char kanal=0,state = 0;	258	static unsigned char kanal=0,state = 0;
259	static signed int gier1, roll1, nick1;	259	static signed int gier1, roll1, nick1;
260	static signed long nick_filter, roll_filter;	260	static signed long nick_filter, roll_filter;
261	static signed int accy, accx;	261	static signed int accy, accx;
262	switch(state++)	262	switch(state++)
263	{	263	{
264	case 0:	264	case 0:
265	nick1 = ADC;	265	nick1 = ADC;
266	kanal = AD_ROLL;	266	kanal = AD_ROLL;
267	break;	267	break;
268	case 1:	268	case 1:
269	roll1 = ADC;	269	roll1 = ADC;
270	kanal = AD_GIER;	270	kanal = AD_GIER;
271	break;	271	break;
272	case 2:	272	case 2:
273	gier1 = ADC;	273	gier1 = ADC;
274	kanal = AD_ACC_Y;	274	kanal = AD_ACC_Y;
275	break;	275	break;
276	case 3:	276	case 3:
277	Aktuell_ay = NeutralAccY - ADC;	277	Aktuell_ay = NeutralAccY - ADC;
278	accy = Aktuell_ay;	278	accy = Aktuell_ay;
279	kanal = AD_NICK;	279	kanal = AD_NICK;
280	break;	280	break;
281	case 4:	281	case 4:
282	nick1 += ADC;	282	nick1 += ADC;
283	kanal = AD_ROLL;	283	kanal = AD_ROLL;
284	break;	284	break;
285	case 5:	285	case 5:
286	roll1 += ADC;	286	roll1 += ADC;
287	kanal = AD_ACC_Z;	287	kanal = AD_ACC_Z;
288	break;	288	break;
289	case 6:	289	case 6:
290	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	290	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
291	if(AdWertAccHoch > 1)	291	if(AdWertAccHoch > 1)
292	{	292	{
293	if(NeutralAccZ < 750)	293	if(NeutralAccZ < 750)
294	{	294	{
295	NeutralAccZ += 0.02;	295	NeutralAccZ += 0.02;
296	if(modell_fliegt < 500) NeutralAccZ += 0.1;	296	if(modell_fliegt < 500) NeutralAccZ += 0.1;
297	}	297	}
298	}	298	}
299	else if(AdWertAccHoch < -1)	299	else if(AdWertAccHoch < -1)
300	{	300	{
301	if(NeutralAccZ > 550)	301	if(NeutralAccZ > 550)
302	{	302	{
303	NeutralAccZ-= 0.02;	303	NeutralAccZ-= 0.02;
304	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	304	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
305	}	305	}
306	}	306	}
307	messanzahl_AccHoch = 1;	307	messanzahl_AccHoch = 1;
308	Aktuell_az = ADC;	308	Aktuell_az = ADC;
309	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	309	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
310	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	310	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
311	kanal = AD_NICK;	311	kanal = AD_NICK;
312	break;	312	break;
313	case 7:	313	case 7:
314	nick1 += ADC;	314	nick1 += ADC;
315	kanal = AD_ROLL;	315	kanal = AD_ROLL;
316	break;	316	break;
317	case 8:	317	case 8:
318	roll1 += ADC;	318	roll1 += ADC;
319	kanal = AD_ACC_X;	319	kanal = AD_ACC_X;
320	break;	320	break;
321	case 9:	321	case 9:
322	Aktuell_ax = ADC - NeutralAccX;	322	Aktuell_ax = ADC - NeutralAccX;
323	accx = Aktuell_ax;	323	accx = Aktuell_ax;
324	kanal = AD_GIER;	324	kanal = AD_GIER;
325	break;	325	break;
326	case 10:	326	case 10:
327	gier1 += ADC;	327	gier1 += ADC;
328	kanal = AD_NICK;	328	kanal = AD_NICK;
329	break;	329	break;
330	case 11:	330	case 11:
331	nick1 += ADC;	331	nick1 += ADC;
332	kanal = AD_ROLL;	332	kanal = AD_ROLL;
333	break;	333	break;
334	case 12:	334	case 12:
335	roll1 += ADC;	335	roll1 += ADC;
336	kanal = AD_UBAT;	336	kanal = AD_UBAT;
337	break;	337	break;
338	case 13:	338	case 13:
339	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	339	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
340	kanal = AD_ACC_Y;	340	kanal = AD_ACC_Y;
341	break;	341	break;
342	case 14:	342	case 14:
343	Aktuell_ay = NeutralAccY - ADC;	343	Aktuell_ay = NeutralAccY - ADC;
344	accy += Aktuell_ay;	344	accy += Aktuell_ay;
345	kanal = AD_NICK;	345	kanal = AD_NICK;
346	break;	346	break;
347	case 15:	347	case 15:
348	nick1 += ADC;	348	nick1 += ADC;
349	kanal = AD_ROLL;	349	kanal = AD_ROLL;
350	break;	350	break;
351	case 16:	351	case 16:
352	roll1 += ADC;	352	roll1 += ADC;
353	kanal = AD_ACC_X;	353	kanal = AD_ACC_X;
354	break;	354	break;
355	case 17:	355	case 17:
356	Aktuell_ax = ADC - NeutralAccX;	356	Aktuell_ax = ADC - NeutralAccX;
357	accx += Aktuell_ax;	357	accx += Aktuell_ax;
358	kanal = AD_NICK;	358	kanal = AD_NICK;
359	break;	359	break;
360	case 18:	360	case 18:
361	nick1 += ADC;	361	nick1 += ADC;
362	kanal = AD_ROLL;	362	kanal = AD_ROLL;
363	break;	363	break;
364	case 19:	364	case 19:
365	roll1 += ADC;	365	roll1 += ADC;
366	kanal = AD_GIER;	366	kanal = AD_GIER;
367	break;	367	break;
368	case 20:	368	case 20:
369	gier1 += ADC;	369	gier1 += ADC;
370	kanal = AD_ACC_Y;	370	kanal = AD_ACC_Y;
371	break;	371	break;
372	case 21:	372	case 21:
373	Aktuell_ay = NeutralAccY - ADC;	373	Aktuell_ay = NeutralAccY - ADC;
374	accy += Aktuell_ay;	374	accy += Aktuell_ay;
375	kanal = AD_NICK;	375	kanal = AD_NICK;
376	break;	376	break;
377	case 22:	377	case 22:
378	nick1 += ADC;	378	nick1 += ADC;
379	kanal = AD_ROLL;	379	kanal = AD_ROLL;
380	break;	380	break;
381	case 23:	381	case 23:
382	roll1 += ADC;	382	roll1 += ADC;
383	kanal = AD_DRUCK;	383	kanal = AD_DRUCK;
384	break;	384	break;
385	case 24:	385	case 24:
386	tmpLuftdruck += ADC;	386	tmpLuftdruck += ADC;
387	if(++messanzahl_Druck >= 5)	387	if(++messanzahl_Druck >= 5)
388	{	388	{
389	MessLuftdruck = ADC;	389	MessLuftdruck = ADC;
390	messanzahl_Druck = 0;	390	messanzahl_Druck = 0;
391	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	391	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
392	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	392	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
393	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	393	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
394	tmpLuftdruck = 0;	394	tmpLuftdruck = 0;
395	}	395	}
396	kanal = AD_NICK;	396	kanal = AD_NICK;
397	break;	397	break;
398	case 25:	398	case 25:
399	nick1 += ADC;	399	nick1 += ADC;
400	kanal = AD_ROLL;	400	kanal = AD_ROLL;
401	break;	401	break;
402	case 26:	402	case 26:
403	roll1 += ADC;	403	roll1 += ADC;
404	kanal = AD_ACC_X;	404	kanal = AD_ACC_X;
405	break;	405	break;
406	case 27:	406	case 27:
407	Aktuell_ax = ADC - NeutralAccX;	407	Aktuell_ax = ADC - NeutralAccX;
408	accx += Aktuell_ax;	408	accx += Aktuell_ax;
409	kanal = AD_GIER;	409	kanal = AD_GIER;
410	break;	410	break;
411	case 28:	411	case 28:
412	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	412	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
413	else	413	else
414	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	414	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
415	else AdWertGier = (ADC + gier1 + 1) / 2;	415	else AdWertGier = (ADC + gier1 + 1) / 2;
416	kanal = AD_NICK;	416	kanal = AD_NICK;
417	break;	417	break;
418	case 29:	418	case 29:
419	nick1 += ADC;	419	nick1 += ADC;
420	kanal = AD_ROLL;	420	kanal = AD_ROLL;
421	break;	421	break;
422	case 30:	422	case 30:
423	roll1 += ADC;	423	roll1 += ADC;
424	kanal = AD_ACC_Y;	424	kanal = AD_ACC_Y;
425	break;	425	break;
426	case 31:	426	case 31:
427	Aktuell_ay = NeutralAccY - ADC;	427	Aktuell_ay = NeutralAccY - ADC;
428	AdWertAccRoll = (Aktuell_ay + accy);	428	AdWertAccRoll = (Aktuell_ay + accy);
429	kanal = AD_NICK;	429	kanal = AD_NICK;
430	break;	430	break;
431	case 32:	431	case 32:
432	AdWertNick = (ADC + nick1 + 3) / 5;	432	AdWertNick = (ADC + nick1 + 3) / 5;
433	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	433	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
434	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	434	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
435	HiResNick = nick_filter - 20 * AdNeutralNick;	435	HiResNick = nick_filter - 20 * AdNeutralNick;
436	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	436	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
437	DebugOut.Analog[21] = AdWertNickFilter / 4;	437	DebugOut.Analog[21] = AdWertNickFilter / 4;
438	kanal = AD_ROLL;	438	kanal = AD_ROLL;
439	break;	439	break;
440	case 33:	440	case 33:
441	AdWertRoll = (ADC + roll1 + 3) / 5;	441	AdWertRoll = (ADC + roll1 + 3) / 5;
442	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	442	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
443	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	443	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
444	HiResRoll = roll_filter - 20 * AdNeutralRoll;	444	HiResRoll = roll_filter - 20 * AdNeutralRoll;
445	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	445	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
446	DebugOut.Analog[22] = AdWertRollFilter / 4;	446	DebugOut.Analog[22] = AdWertRollFilter / 4;
447	kanal = AD_ACC_X;	447	kanal = AD_ACC_X;
448	break;	448	break;
449	case 34:	449	case 34:
450	Aktuell_ax = ADC - NeutralAccX;	450	Aktuell_ax = ADC - NeutralAccX;
451	AdWertAccNick = (Aktuell_ax + accx);	451	AdWertAccNick = (Aktuell_ax + accx);
452	kanal = AD_NICK;	452	kanal = AD_NICK;
453	state = 0;	453	state = 0;
454	AdReady = 1;	454	AdReady = 1;
455	ZaehlMessungen++;	455	ZaehlMessungen++;
456	break;	456	break;
457	default:	457	default:
458	kanal = 0;	458	kanal = 0;
459	state = 0;	459	state = 0;
460	break;	460	break;
461	}	461	}
462	ADMUX = kanal;	462	ADMUX = kanal;
463	if(state != 0) ANALOG_ON;	463	if(state != 0) ANALOG_ON;
464	}	464	}
465	*/	465	*/
466		466

Subversion Repositories FlightCtrl

(root)/branches/V0.76g-FredericG/analog.c @ 1919 - Rev 1322 → 1338