WebSVN - FlightCtrl - Diff - Rev 1596 and 1604 - /branches/V0.78f_ACC-HH


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + 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 800
 
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
*/
 
//#######################################################################################
//
ISR(ADC_vect)
//#######################################################################################
{
    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;
                        /* // MartinR: deaktiviert
            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;
                }
             }
                         */ // MartinR: deaktiviert Ende
                         
            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 1596	Rev 1604
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) Holger Buss, Ingo Busker	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	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	5	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
6	// + see the File "License.txt" for further Informations	6	// + see the File "License.txt" for further Informations
7	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	7	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
8		8
9	#include "main.h"	9	#include "main.h"
10	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;	10	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
11	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;	11	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
12	volatile int HiResNick = 2500, HiResRoll = 2500;	12	volatile int HiResNick = 2500, HiResRoll = 2500;
13	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;	13	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
14	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;	14	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
15	volatile char messanzahl_AccHoch = 0;	15	volatile char messanzahl_AccHoch = 0;
16	volatile long Luftdruck = 32000;	16	volatile long Luftdruck = 32000;
17	volatile long SummenHoehe = 0;	17	volatile long SummenHoehe = 0;
18	volatile int StartLuftdruck;	18	volatile int StartLuftdruck;
19	volatile unsigned int MessLuftdruck = 1023;	19	volatile unsigned int MessLuftdruck = 1023;
20	unsigned char DruckOffsetSetting;	20	unsigned char DruckOffsetSetting;
21	signed char ExpandBaro = 0;	21	signed char ExpandBaro = 0;
22	volatile int VarioMeter = 0;	22	volatile int VarioMeter = 0;
23	volatile unsigned int ZaehlMessungen = 0;	23	volatile unsigned int ZaehlMessungen = 0;
24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;	25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
26	volatile unsigned char AdReady = 1;	26	volatile unsigned char AdReady = 1;
27	//#######################################################################################	27	//#######################################################################################
28	//	28	//
29	void ADC_Init(void)	29	void ADC_Init(void)
30	//#######################################################################################	30	//#######################################################################################
31	{	31	{
32	ADMUX = 0;//Referenz ist extern	32	ADMUX = 0;//Referenz ist extern
33	ANALOG_ON;	33	ANALOG_ON;
34	}	34	}
35		35
36	#define DESIRED_H_ADC 800	36	#define DESIRED_H_ADC 800
37		37
38	void SucheLuftruckOffset(void)	38	void SucheLuftruckOffset(void)
39	{	39	{
40	unsigned int off;	40	unsigned int off;
41	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);	41	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
42	if(off > 20) off -= 10;	42	if(off > 20) off -= 10;
43	OCR0A = off;	43	OCR0A = off;
44	ExpandBaro = 0;	44	ExpandBaro = 0;
45	Delay_ms_Mess(100);	45	Delay_ms_Mess(100);
46	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	46	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
47	for(; off < 250;off++)	47	for(; off < 250;off++)
48	{	48	{
49	OCR0A = off;	49	OCR0A = off;
50	Delay_ms_Mess(50);	50	Delay_ms_Mess(50);
51	printf(".");	51	printf(".");
52	if(MessLuftdruck < DESIRED_H_ADC) break;	52	if(MessLuftdruck < DESIRED_H_ADC) break;
53	}	53	}
54	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);	54	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
55	DruckOffsetSetting = off;	55	DruckOffsetSetting = off;
56	Delay_ms_Mess(300);	56	Delay_ms_Mess(300);
57	}	57	}
58		58
59	void SucheGyroOffset(void)	59	void SucheGyroOffset(void)
60	{	60	{
61	unsigned char i, ready = 0;	61	unsigned char i, ready = 0;
62	int timeout;	62	int timeout;
63	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	63	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
64	timeout = SetDelay(2000);	64	timeout = SetDelay(2000);
65	for(i=140; i != 0; i--)	65	for(i=140; i != 0; i--)
66	{	66	{
67	if(ready == 3 && i > 10) i = 9;	67	if(ready == 3 && i > 10) i = 9;
68	ready = 0;	68	ready = 0;
69	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	69	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
70	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	70	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
71	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	71	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
72	twi_state = 8;	72	twi_state = 8;
73	i2c_start();	73	i2c_start();
74	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};	74	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
75	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};	75	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
76	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};	76	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
77	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	77	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
78	AdReady = 0;	78	AdReady = 0;
79	ANALOG_ON;	79	ANALOG_ON;
80	while(!AdReady);	80	while(!AdReady);
81	if(i<10) Delay_ms_Mess(10);	81	if(i<10) Delay_ms_Mess(10);
82	}	82	}
83	Delay_ms_Mess(70);	83	Delay_ms_Mess(70);
84	}	84	}
85		85
86	/*	86	/*
87	0 n	87	0 n
88	1 r	88	1 r
89	2 g	89	2 g
90	3 y	90	3 y
91	4 x	91	4 x
92	5 n	92	5 n
93	6 r	93	6 r
94	7 u	94	7 u
95	8 z	95	8 z
96	9 L	96	9 L
97	10 n	97	10 n
98	11 r	98	11 r
99	12 g	99	12 g
100	13 y	100	13 y
101	14 x	101	14 x
102	15 n	102	15 n
103	16 r	103	16 r
104	17 L	104	17 L
105	*/	105	*/
106		106
107	//#######################################################################################	107	//#######################################################################################
108	//	108	//
109	ISR(ADC_vect)	109	ISR(ADC_vect)
110	//#######################################################################################	110	//#######################################################################################
111	{	111	{
112	static unsigned char kanal=0,state = 0;	112	static unsigned char kanal=0,state = 0;
113	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	113	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
114	static signed int accy, accx;	114	static signed int accy, accx;
115		115
116	static long tmpLuftdruck = 0;	116	static long tmpLuftdruck = 0;
117	static char messanzahl_Druck = 0;	117	static char messanzahl_Druck = 0;
118	switch(state++)	118	switch(state++)
119	{	119	{
120	case 0:	120	case 0:
121	nick1 = ADC;	121	nick1 = ADC;
122	kanal = AD_ROLL;	122	kanal = AD_ROLL;
123	break;	123	break;
124	case 1:	124	case 1:
125	roll1 = ADC;	125	roll1 = ADC;
126	kanal = AD_GIER;	126	kanal = AD_GIER;
127	break;	127	break;
128	case 2:	128	case 2:
129	gier1 = ADC;	129	gier1 = ADC;
130	kanal = AD_ACC_Y;	130	kanal = AD_ACC_Y;
131	break;	131	break;
132	case 3:	132	case 3:
133	Aktuell_ay = NeutralAccY - ADC;	133	Aktuell_ay = NeutralAccY - ADC;
134	accy = Aktuell_ay;	134	accy = Aktuell_ay;
135	kanal = AD_ACC_X;	135	kanal = AD_ACC_X;
136	break;	136	break;
137	case 4:	137	case 4:
138	Aktuell_ax = ADC - NeutralAccX;	138	Aktuell_ax = ADC - NeutralAccX;
139	accx = Aktuell_ax;	139	accx = Aktuell_ax;
140	kanal = AD_NICK;	140	kanal = AD_NICK;
141	break;	141	break;
142	case 5:	142	case 5:
143	nick1 += ADC;	143	nick1 += ADC;
144	kanal = AD_ROLL;	144	kanal = AD_ROLL;
145	break;	145	break;
146	case 6:	146	case 6:
147	roll1 += ADC;	147	roll1 += ADC;
148	kanal = AD_UBAT;	148	kanal = AD_UBAT;
149	break;	149	break;
150	case 7:	150	case 7:
151	UBat = (3 * UBat + ADC / 3) / 4;	151	UBat = (3 * UBat + ADC / 3) / 4;
152	kanal = AD_ACC_Z;	152	kanal = AD_ACC_Z;
153	break;	153	break;
154	case 8:	154	case 8:
155	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	155	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
-		156	/* // MartinR: deaktiviert
156	if(AdWertAccHoch > 1)	157	if(AdWertAccHoch > 1)
157	{	158	{
158	if(NeutralAccZ < 750)	159	if(NeutralAccZ < 750)
159	{	160	{
160	NeutralAccZ += 0.02;	161	NeutralAccZ += 0.02;
161	if(modell_fliegt < 500) NeutralAccZ += 0.1;	162	if(modell_fliegt < 500) NeutralAccZ += 0.1;
162	}	163	}
163	}	164	}
164	else if(AdWertAccHoch < -1)	165	else if(AdWertAccHoch < -1)
165	{	166	{
166	if(NeutralAccZ > 550)	167	if(NeutralAccZ > 550)
167	{	168	{
168	NeutralAccZ-= 0.02;	169	NeutralAccZ-= 0.02;
169	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	170	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
170	}	171	}
171	}	172	}
-		173	*/ // MartinR: deaktiviert Ende
-		174
172	messanzahl_AccHoch = 1;	175	messanzahl_AccHoch = 1;
173	Aktuell_az = ADC;	176	Aktuell_az = ADC;
174	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	177	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
175	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	178	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
176	kanal = AD_DRUCK;	179	kanal = AD_DRUCK;
177	break;	180	break;
178	// "case 8:" fehlt hier absichtlich	181	// "case 8:" fehlt hier absichtlich
179	case 10:	182	case 10:
180	nick1 += ADC;	183	nick1 += ADC;
181	kanal = AD_ROLL;	184	kanal = AD_ROLL;
182	break;	185	break;
183	case 11:	186	case 11:
184	roll1 += ADC;	187	roll1 += ADC;
185	kanal = AD_GIER;	188	kanal = AD_GIER;
186	break;	189	break;
187	case 12:	190	case 12:
188	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	191	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
189	else	192	else
190	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);	193	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);
191	else AdWertGier = (ADC + gier1);	194	else AdWertGier = (ADC + gier1);
192	kanal = AD_ACC_Y;	195	kanal = AD_ACC_Y;
193	break;	196	break;
194	case 13:	197	case 13:
195	Aktuell_ay = NeutralAccY - ADC;	198	Aktuell_ay = NeutralAccY - ADC;
196	AdWertAccRoll = (Aktuell_ay + accy);	199	AdWertAccRoll = (Aktuell_ay + accy);
197	kanal = AD_ACC_X;	200	kanal = AD_ACC_X;
198	break;	201	break;
199	case 14:	202	case 14:
200	Aktuell_ax = ADC - NeutralAccX;	203	Aktuell_ax = ADC - NeutralAccX;
201	AdWertAccNick = (Aktuell_ax + accx);	204	AdWertAccNick = (Aktuell_ax + accx);
202	kanal = AD_NICK;	205	kanal = AD_NICK;
203	break;	206	break;
204	case 15:	207	case 15:
205	nick1 += ADC;	208	nick1 += ADC;
206	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	209	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
207	AdWertNick = nick1 / 8;	210	AdWertNick = nick1 / 8;
208	nick_filter = (nick_filter + nick1) / 2;	211	nick_filter = (nick_filter + nick1) / 2;
209	HiResNick = nick_filter - AdNeutralNick;	212	HiResNick = nick_filter - AdNeutralNick;
210	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	213	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
211	kanal = AD_ROLL;	214	kanal = AD_ROLL;
212	break;	215	break;
213	case 16:	216	case 16:
214	roll1 += ADC;	217	roll1 += ADC;
215	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	218	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
216	AdWertRoll = roll1 / 8;	219	AdWertRoll = roll1 / 8;
217	roll_filter = (roll_filter + roll1) / 2;	220	roll_filter = (roll_filter + roll1) / 2;
218	HiResRoll = roll_filter - AdNeutralRoll;	221	HiResRoll = roll_filter - AdNeutralRoll;
219	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	222	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
220	kanal = AD_DRUCK;	223	kanal = AD_DRUCK;
221	break;	224	break;
222	case 17:	225	case 17:
223	state = 0;	226	state = 0;
224	AdReady = 1;	227	AdReady = 1;
225	ZaehlMessungen++;	228	ZaehlMessungen++;
226	// "break" fehlt hier absichtlich	229	// "break" fehlt hier absichtlich
227	case 9:	230	case 9:
228	MessLuftdruck = ADC;	231	MessLuftdruck = ADC;
229	tmpLuftdruck += MessLuftdruck;	232	tmpLuftdruck += MessLuftdruck;
230	if(++messanzahl_Druck >= 18)	233	if(++messanzahl_Druck >= 18)
231	{	234	{
232	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	235	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
233	HoehenWert = StartLuftdruck - Luftdruck;	236	HoehenWert = StartLuftdruck - Luftdruck;
234	SummenHoehe -= SummenHoehe/SM_FILTER;	237	SummenHoehe -= SummenHoehe/SM_FILTER;
235	SummenHoehe += HoehenWert;	238	SummenHoehe += HoehenWert;
236	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;	239	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;
237	tmpLuftdruck /= 2;	240	tmpLuftdruck /= 2;
238	messanzahl_Druck = 18/2;	241	messanzahl_Druck = 18/2;
239	}	242	}
240	kanal = AD_NICK;	243	kanal = AD_NICK;
241	break;	244	break;
242	default:	245	default:
243	kanal = 0; state = 0; kanal = AD_NICK;	246	kanal = 0; state = 0; kanal = AD_NICK;
244	break;	247	break;
245	}	248	}
246	ADMUX = kanal;	249	ADMUX = kanal;
247	if(state != 0) ANALOG_ON;	250	if(state != 0) ANALOG_ON;
248		251
249	}	252	}
250		253
251		254
252		255
253	/*	256	/*
254	//#######################################################################################	257	//#######################################################################################
255	//	258	//
256	SIGNAL(SIG_ADC)	259	SIGNAL(SIG_ADC)
257	//#######################################################################################	260	//#######################################################################################
258	{	261	{
259	static unsigned char kanal=0,state = 0;	262	static unsigned char kanal=0,state = 0;
260	static signed int gier1, roll1, nick1;	263	static signed int gier1, roll1, nick1;
261	static signed long nick_filter, roll_filter;	264	static signed long nick_filter, roll_filter;
262	static signed int accy, accx;	265	static signed int accy, accx;
263	switch(state++)	266	switch(state++)
264	{	267	{
265	case 0:	268	case 0:
266	nick1 = ADC;	269	nick1 = ADC;
267	kanal = AD_ROLL;	270	kanal = AD_ROLL;
268	break;	271	break;
269	case 1:	272	case 1:
270	roll1 = ADC;	273	roll1 = ADC;
271	kanal = AD_GIER;	274	kanal = AD_GIER;
272	break;	275	break;
273	case 2:	276	case 2:
274	gier1 = ADC;	277	gier1 = ADC;
275	kanal = AD_ACC_Y;	278	kanal = AD_ACC_Y;
276	break;	279	break;
277	case 3:	280	case 3:
278	Aktuell_ay = NeutralAccY - ADC;	281	Aktuell_ay = NeutralAccY - ADC;
279	accy = Aktuell_ay;	282	accy = Aktuell_ay;
280	kanal = AD_NICK;	283	kanal = AD_NICK;
281	break;	284	break;
282	case 4:	285	case 4:
283	nick1 += ADC;	286	nick1 += ADC;
284	kanal = AD_ROLL;	287	kanal = AD_ROLL;
285	break;	288	break;
286	case 5:	289	case 5:
287	roll1 += ADC;	290	roll1 += ADC;
288	kanal = AD_ACC_Z;	291	kanal = AD_ACC_Z;
289	break;	292	break;
290	case 6:	293	case 6:
291	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	294	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
292	if(AdWertAccHoch > 1)	295	if(AdWertAccHoch > 1)
293	{	296	{
294	if(NeutralAccZ < 750)	297	if(NeutralAccZ < 750)
295	{	298	{
296	NeutralAccZ += 0.02;	299	NeutralAccZ += 0.02;
297	if(modell_fliegt < 500) NeutralAccZ += 0.1;	300	if(modell_fliegt < 500) NeutralAccZ += 0.1;
298	}	301	}
299	}	302	}
300	else if(AdWertAccHoch < -1)	303	else if(AdWertAccHoch < -1)
301	{	304	{
302	if(NeutralAccZ > 550)	305	if(NeutralAccZ > 550)
303	{	306	{
304	NeutralAccZ-= 0.02;	307	NeutralAccZ-= 0.02;
305	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	308	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
306	}	309	}
307	}	310	}
308	messanzahl_AccHoch = 1;	311	messanzahl_AccHoch = 1;
309	Aktuell_az = ADC;	312	Aktuell_az = ADC;
310	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	313	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
311	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	314	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
312	kanal = AD_NICK;	315	kanal = AD_NICK;
313	break;	316	break;
314	case 7:	317	case 7:
315	nick1 += ADC;	318	nick1 += ADC;
316	kanal = AD_ROLL;	319	kanal = AD_ROLL;
317	break;	320	break;
318	case 8:	321	case 8:
319	roll1 += ADC;	322	roll1 += ADC;
320	kanal = AD_ACC_X;	323	kanal = AD_ACC_X;
321	break;	324	break;
322	case 9:	325	case 9:
323	Aktuell_ax = ADC - NeutralAccX;	326	Aktuell_ax = ADC - NeutralAccX;
324	accx = Aktuell_ax;	327	accx = Aktuell_ax;
325	kanal = AD_GIER;	328	kanal = AD_GIER;
326	break;	329	break;
327	case 10:	330	case 10:
328	gier1 += ADC;	331	gier1 += ADC;
329	kanal = AD_NICK;	332	kanal = AD_NICK;
330	break;	333	break;
331	case 11:	334	case 11:
332	nick1 += ADC;	335	nick1 += ADC;
333	kanal = AD_ROLL;	336	kanal = AD_ROLL;
334	break;	337	break;
335	case 12:	338	case 12:
336	roll1 += ADC;	339	roll1 += ADC;
337	kanal = AD_UBAT;	340	kanal = AD_UBAT;
338	break;	341	break;
339	case 13:	342	case 13:
340	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	343	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
341	kanal = AD_ACC_Y;	344	kanal = AD_ACC_Y;
342	break;	345	break;
343	case 14:	346	case 14:
344	Aktuell_ay = NeutralAccY - ADC;	347	Aktuell_ay = NeutralAccY - ADC;
345	accy += Aktuell_ay;	348	accy += Aktuell_ay;
346	kanal = AD_NICK;	349	kanal = AD_NICK;
347	break;	350	break;
348	case 15:	351	case 15:
349	nick1 += ADC;	352	nick1 += ADC;
350	kanal = AD_ROLL;	353	kanal = AD_ROLL;
351	break;	354	break;
352	case 16:	355	case 16:
353	roll1 += ADC;	356	roll1 += ADC;
354	kanal = AD_ACC_X;	357	kanal = AD_ACC_X;
355	break;	358	break;
356	case 17:	359	case 17:
357	Aktuell_ax = ADC - NeutralAccX;	360	Aktuell_ax = ADC - NeutralAccX;
358	accx += Aktuell_ax;	361	accx += Aktuell_ax;
359	kanal = AD_NICK;	362	kanal = AD_NICK;
360	break;	363	break;
361	case 18:	364	case 18:
362	nick1 += ADC;	365	nick1 += ADC;
363	kanal = AD_ROLL;	366	kanal = AD_ROLL;
364	break;	367	break;
365	case 19:	368	case 19:
366	roll1 += ADC;	369	roll1 += ADC;
367	kanal = AD_GIER;	370	kanal = AD_GIER;
368	break;	371	break;
369	case 20:	372	case 20:
370	gier1 += ADC;	373	gier1 += ADC;
371	kanal = AD_ACC_Y;	374	kanal = AD_ACC_Y;
372	break;	375	break;
373	case 21:	376	case 21:
374	Aktuell_ay = NeutralAccY - ADC;	377	Aktuell_ay = NeutralAccY - ADC;
375	accy += Aktuell_ay;	378	accy += Aktuell_ay;
376	kanal = AD_NICK;	379	kanal = AD_NICK;
377	break;	380	break;
378	case 22:	381	case 22:
379	nick1 += ADC;	382	nick1 += ADC;
380	kanal = AD_ROLL;	383	kanal = AD_ROLL;
381	break;	384	break;
382	case 23:	385	case 23:
383	roll1 += ADC;	386	roll1 += ADC;
384	kanal = AD_DRUCK;	387	kanal = AD_DRUCK;
385	break;	388	break;
386	case 24:	389	case 24:
387	tmpLuftdruck += ADC;	390	tmpLuftdruck += ADC;
388	if(++messanzahl_Druck >= 5)	391	if(++messanzahl_Druck >= 5)
389	{	392	{
390	MessLuftdruck = ADC;	393	MessLuftdruck = ADC;
391	messanzahl_Druck = 0;	394	messanzahl_Druck = 0;
392	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	395	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
393	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	396	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
394	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	397	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
395	tmpLuftdruck = 0;	398	tmpLuftdruck = 0;
396	}	399	}
397	kanal = AD_NICK;	400	kanal = AD_NICK;
398	break;	401	break;
399	case 25:	402	case 25:
400	nick1 += ADC;	403	nick1 += ADC;
401	kanal = AD_ROLL;	404	kanal = AD_ROLL;
402	break;	405	break;
403	case 26:	406	case 26:
404	roll1 += ADC;	407	roll1 += ADC;
405	kanal = AD_ACC_X;	408	kanal = AD_ACC_X;
406	break;	409	break;
407	case 27:	410	case 27:
408	Aktuell_ax = ADC - NeutralAccX;	411	Aktuell_ax = ADC - NeutralAccX;
409	accx += Aktuell_ax;	412	accx += Aktuell_ax;
410	kanal = AD_GIER;	413	kanal = AD_GIER;
411	break;	414	break;
412	case 28:	415	case 28:
413	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	416	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
414	else	417	else
415	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	418	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
416	else AdWertGier = (ADC + gier1 + 1) / 2;	419	else AdWertGier = (ADC + gier1 + 1) / 2;
417	kanal = AD_NICK;	420	kanal = AD_NICK;
418	break;	421	break;
419	case 29:	422	case 29:
420	nick1 += ADC;	423	nick1 += ADC;
421	kanal = AD_ROLL;	424	kanal = AD_ROLL;
422	break;	425	break;
423	case 30:	426	case 30:
424	roll1 += ADC;	427	roll1 += ADC;
425	kanal = AD_ACC_Y;	428	kanal = AD_ACC_Y;
426	break;	429	break;
427	case 31:	430	case 31:
428	Aktuell_ay = NeutralAccY - ADC;	431	Aktuell_ay = NeutralAccY - ADC;
429	AdWertAccRoll = (Aktuell_ay + accy);	432	AdWertAccRoll = (Aktuell_ay + accy);
430	kanal = AD_NICK;	433	kanal = AD_NICK;
431	break;	434	break;
432	case 32:	435	case 32:
433	AdWertNick = (ADC + nick1 + 3) / 5;	436	AdWertNick = (ADC + nick1 + 3) / 5;
434	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	437	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
435	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	438	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
436	HiResNick = nick_filter - 20 * AdNeutralNick;	439	HiResNick = nick_filter - 20 * AdNeutralNick;
437	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	440	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
438	DebugOut.Analog[21] = AdWertNickFilter / 4;	441	DebugOut.Analog[21] = AdWertNickFilter / 4;
439	kanal = AD_ROLL;	442	kanal = AD_ROLL;
440	break;	443	break;
441	case 33:	444	case 33:
442	AdWertRoll = (ADC + roll1 + 3) / 5;	445	AdWertRoll = (ADC + roll1 + 3) / 5;
443	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	446	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
444	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	447	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
445	HiResRoll = roll_filter - 20 * AdNeutralRoll;	448	HiResRoll = roll_filter - 20 * AdNeutralRoll;
446	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	449	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
447	DebugOut.Analog[22] = AdWertRollFilter / 4;	450	DebugOut.Analog[22] = AdWertRollFilter / 4;
448	kanal = AD_ACC_X;	451	kanal = AD_ACC_X;
449	break;	452	break;
450	case 34:	453	case 34:
451	Aktuell_ax = ADC - NeutralAccX;	454	Aktuell_ax = ADC - NeutralAccX;
452	AdWertAccNick = (Aktuell_ax + accx);	455	AdWertAccNick = (Aktuell_ax + accx);
453	kanal = AD_NICK;	456	kanal = AD_NICK;
454	state = 0;	457	state = 0;
455	AdReady = 1;	458	AdReady = 1;
456	ZaehlMessungen++;	459	ZaehlMessungen++;
457	break;	460	break;
458	default:	461	default:
459	kanal = 0;	462	kanal = 0;
460	state = 0;	463	state = 0;
461	break;	464	break;
462	}	465	}
463	ADMUX = kanal;	466	ADMUX = kanal;
464	if(state != 0) ANALOG_ON;	467	if(state != 0) ANALOG_ON;
465	}	468	}
466	*/	469	*/
467		470

Subversion Repositories FlightCtrl

(root)/branches/V0.78f_ACC-HH_MartinR/analog.c @ 1632 - Rev 1596 → 1604