WebSVN - FlightCtrl - Diff - Rev 1246 and 1253 - /branches/V0.80f_ACC-HH


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + 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 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;
}
 
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 < 850) off = 0;
 for(; off < 250;off++)
  {
  OCR0A = off;
  Delay_ms_Mess(50);
  printf(".");
  if(MessLuftdruck < 850) 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;
    static long SummenHoehe = 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 * 519 * ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
                                HoehenWert = StartLuftdruck - Luftdruck;
                                SummenHoehe -= SummenHoehe/8;
                                SummenHoehe += HoehenWert;
                                VarioMeter = (3 * VarioMeter + 25 * (int)(HoehenWert - SummenHoehe/8))/4;
                tmpLuftdruck = 0;
                messanzahl_Druck = 0;
 
 
 
 
            }
            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 1246	Rev 1253
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
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 int StartLuftdruck;	16	volatile int StartLuftdruck;
17	volatile unsigned int MessLuftdruck = 1023;	17	volatile unsigned int MessLuftdruck = 1023;
18	unsigned char DruckOffsetSetting;	18	unsigned char DruckOffsetSetting;
19	signed char ExpandBaro = 0;	19	signed char ExpandBaro = 0;
20	volatile int HoeheD = 0;	20	volatile int VarioMeter = 0;
21	volatile char messanzahl_Druck;	-
22	volatile long tmpLuftdruck;	-
23	volatile unsigned int ZaehlMessungen = 0;	21	volatile unsigned int ZaehlMessungen = 0;
24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	22	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;	23	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
26	volatile unsigned char AdReady = 1;	24	volatile unsigned char AdReady = 1;
27	//#######################################################################################	25	//#######################################################################################
28	//	26	//
29	void ADC_Init(void)	27	void ADC_Init(void)
30	//#######################################################################################	28	//#######################################################################################
31	{	29	{
32	ADMUX = 0;//Referenz ist extern	30	ADMUX = 0;//Referenz ist extern
33	ANALOG_ON;	31	ANALOG_ON;
34	}	32	}
35		33
36	void SucheLuftruckOffset(void)	34	void SucheLuftruckOffset(void)
37	{	35	{
38	unsigned int off;	36	unsigned int off;
39	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);	37	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
40	if(off > 20) off -= 10;	38	if(off > 20) off -= 10;
41	OCR0A = off;	39	OCR0A = off;
42	ExpandBaro = 0;	40	ExpandBaro = 0;
43	Delay_ms_Mess(100);	41	Delay_ms_Mess(100);
44	if(MessLuftdruck < 850) off = 0;	42	if(MessLuftdruck < 850) off = 0;
45	for(; off < 250;off++)	43	for(; off < 250;off++)
46	{	44	{
47	OCR0A = off;	45	OCR0A = off;
48	Delay_ms_Mess(50);	46	Delay_ms_Mess(50);
49	printf(".");	47	printf(".");
50	if(MessLuftdruck < 850) break;	48	if(MessLuftdruck < 850) break;
51	}	49	}
52	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);	50	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
53	DruckOffsetSetting = off;	51	DruckOffsetSetting = off;
54	Delay_ms_Mess(300);	52	Delay_ms_Mess(300);
55	}	53	}
56		54
57	void SucheGyroOffset(void)	55	void SucheGyroOffset(void)
58	{	56	{
59	unsigned char i, ready = 0;	57	unsigned char i, ready = 0;
60	int timeout;	58	int timeout;
61	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	59	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
62	timeout = SetDelay(2000);	60	timeout = SetDelay(2000);
63	for(i=140; i != 0; i--)	61	for(i=140; i != 0; i--)
64	{	62	{
65	if(ready == 3 && i > 10) i = 9;	63	if(ready == 3 && i > 10) i = 9;
66	ready = 0;	64	ready = 0;
67	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	65	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
68	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	66	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
69	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	67	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
70	twi_state = 8;	68	twi_state = 8;
71	i2c_start();	69	i2c_start();
72	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};	70	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
73	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};	71	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
74	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};	72	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
75	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	73	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
76	messanzahl_Druck = 0;	74	AdReady = 0;
77	ANALOG_ON;	75	ANALOG_ON;
78	while(messanzahl_Druck == 0);	76	while(!AdReady);
79	if(i<10) Delay_ms_Mess(10);	77	if(i<10) Delay_ms_Mess(10);
80	}	78	}
81	Delay_ms_Mess(70);	79	Delay_ms_Mess(70);
82	}	80	}
83		81
84	/*	82	/*
85	0 n	83	0 n
86	1 r	84	1 r
87	2 g	85	2 g
88	3 y	86	3 y
89	4 x	87	4 x
90	5 n	88	5 n
91	6 r	89	6 r
92	7 u	90	7 u
93	8 z	91	8 z
94	9 L	92	9 L
95	10 n	93	10 n
96	11 r	94	11 r
97	12 g	95	12 g
98	13 y	96	13 y
99	14 x	97	14 x
100	15 n	98	15 n
101	16 r	99	16 r
102	17 L	100	17 L
103	*/	101	*/
104		102
105	//#######################################################################################	103	//#######################################################################################
106	//	104	//
107	SIGNAL(SIG_ADC)	105	SIGNAL(SIG_ADC)
108	//#######################################################################################	106	//#######################################################################################
109	{	107	{
110	static unsigned char kanal=0,state = 0;	108	static unsigned char kanal=0,state = 0;
111	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	109	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
112	static signed int accy, accx;	110	static signed int accy, accx;
-		111
-		112	static long tmpLuftdruck = 0;
-		113	static char messanzahl_Druck = 0;
-		114	static long SummenHoehe = 0;
-		115
113	switch(state++)	116	switch(state++)
114	{	117	{
115	case 0:	118	case 0:
116	nick1 = ADC;	119	nick1 = ADC;
117	kanal = AD_ROLL;	120	kanal = AD_ROLL;
118	break;	121	break;
119	case 1:	122	case 1:
120	roll1 = ADC;	123	roll1 = ADC;
121	kanal = AD_GIER;	124	kanal = AD_GIER;
122	break;	125	break;
123	case 2:	126	case 2:
124	gier1 = ADC;	127	gier1 = ADC;
125	kanal = AD_ACC_Y;	128	kanal = AD_ACC_Y;
126	break;	129	break;
127	case 3:	130	case 3:
128	Aktuell_ay = NeutralAccY - ADC;	131	Aktuell_ay = NeutralAccY - ADC;
129	accy = Aktuell_ay;	132	accy = Aktuell_ay;
130	kanal = AD_ACC_X;	133	kanal = AD_ACC_X;
131	break;	134	break;
132	case 4:	135	case 4:
133	Aktuell_ax = ADC - NeutralAccX;	136	Aktuell_ax = ADC - NeutralAccX;
134	accx = Aktuell_ax;	137	accx = Aktuell_ax;
135	kanal = AD_NICK;	138	kanal = AD_NICK;
136	break;	139	break;
137	case 5:	140	case 5:
138	nick1 += ADC;	141	nick1 += ADC;
139	kanal = AD_ROLL;	142	kanal = AD_ROLL;
140	break;	143	break;
141	case 6:	144	case 6:
142	roll1 += ADC;	145	roll1 += ADC;
143	kanal = AD_UBAT;	146	kanal = AD_UBAT;
144	break;	147	break;
145	case 7:	148	case 7:
146	UBat = (3 * UBat + ADC / 3) / 4;	149	UBat = (3 * UBat + ADC / 3) / 4;
147	kanal = AD_ACC_Z;	150	kanal = AD_ACC_Z;
148	break;	151	break;
149	case 8:	152	case 8:
150	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	153	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
151	if(AdWertAccHoch > 1)	154	if(AdWertAccHoch > 1)
152	{	155	{
153	if(NeutralAccZ < 750)	156	if(NeutralAccZ < 750)
154	{	157	{
155	NeutralAccZ += 0.02;	158	NeutralAccZ += 0.02;
156	if(modell_fliegt < 500) NeutralAccZ += 0.1;	159	if(modell_fliegt < 500) NeutralAccZ += 0.1;
157	}	160	}
158	}	161	}
159	else if(AdWertAccHoch < -1)	162	else if(AdWertAccHoch < -1)
160	{	163	{
161	if(NeutralAccZ > 550)	164	if(NeutralAccZ > 550)
162	{	165	{
163	NeutralAccZ-= 0.02;	166	NeutralAccZ-= 0.02;
164	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	167	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
165	}	168	}
166	}	169	}
167	messanzahl_AccHoch = 1;	170	messanzahl_AccHoch = 1;
168	Aktuell_az = ADC;	171	Aktuell_az = ADC;
169	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	172	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
170	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	173	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
171	kanal = AD_DRUCK;	174	kanal = AD_DRUCK;
172	break;	175	break;
173	// "case 8:" fehlt hier absichtlich	176	// "case 8:" fehlt hier absichtlich
174	case 10:	177	case 10:
175	nick1 += ADC;	178	nick1 += ADC;
176	kanal = AD_ROLL;	179	kanal = AD_ROLL;
177	break;	180	break;
178	case 11:	181	case 11:
179	roll1 += ADC;	182	roll1 += ADC;
180	kanal = AD_GIER;	183	kanal = AD_GIER;
181	break;	184	break;
182	case 12:	185	case 12:
183	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	186	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
184	else	187	else
185	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);	188	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);
186	else AdWertGier = (ADC + gier1);	189	else AdWertGier = (ADC + gier1);
187	kanal = AD_ACC_Y;	190	kanal = AD_ACC_Y;
188	break;	191	break;
189	case 13:	192	case 13:
190	Aktuell_ay = NeutralAccY - ADC;	193	Aktuell_ay = NeutralAccY - ADC;
191	AdWertAccRoll = (Aktuell_ay + accy);	194	AdWertAccRoll = (Aktuell_ay + accy);
192	kanal = AD_ACC_X;	195	kanal = AD_ACC_X;
193	break;	196	break;
194	case 14:	197	case 14:
195	Aktuell_ax = ADC - NeutralAccX;	198	Aktuell_ax = ADC - NeutralAccX;
196	AdWertAccNick = (Aktuell_ax + accx);	199	AdWertAccNick = (Aktuell_ax + accx);
197	kanal = AD_NICK;	200	kanal = AD_NICK;
198	break;	201	break;
199	case 15:	202	case 15:
200	nick1 += ADC;	203	nick1 += ADC;
201	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	204	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
202	AdWertNick = nick1 / 8;	205	AdWertNick = nick1 / 8;
203	nick_filter = (nick_filter + nick1) / 2;	206	nick_filter = (nick_filter + nick1) / 2;
204	HiResNick = nick_filter - AdNeutralNick;	207	HiResNick = nick_filter - AdNeutralNick;
205	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	208	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
206	kanal = AD_ROLL;	209	kanal = AD_ROLL;
207	break;	210	break;
208	case 16:	211	case 16:
209	roll1 += ADC;	212	roll1 += ADC;
210	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	213	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
211	AdWertRoll = roll1 / 8;	214	AdWertRoll = roll1 / 8;
212	roll_filter = (roll_filter + roll1) / 2;	215	roll_filter = (roll_filter + roll1) / 2;
213	HiResRoll = roll_filter - AdNeutralRoll;	216	HiResRoll = roll_filter - AdNeutralRoll;
214	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	217	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
215	kanal = AD_DRUCK;	218	kanal = AD_DRUCK;
216	break;	219	break;
217	case 17:	220	case 17:
218	state = 0;	221	state = 0;
219	AdReady = 1;	222	AdReady = 1;
220	ZaehlMessungen++;	223	ZaehlMessungen++;
221	// "break" fehlt hier absichtlich	224	// "break" fehlt hier absichtlich
222	case 9:	225	case 9:
223	tmpLuftdruck += ADC;	226	MessLuftdruck = ADC;
-		227	tmpLuftdruck += MessLuftdruck;
224	if(++messanzahl_Druck >= 5)	228	if(++messanzahl_Druck >= 18)
225	{	229	{
226	tmpLuftdruck -= 2616L * ExpandBaro; // -523.19 counts per 10 counts offset step	230	Luftdruck = (7 * Luftdruck + tmpLuftdruck - 18 * 519 * ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
227	tmpLuftdruck /= 2;	231	HoehenWert = StartLuftdruck - Luftdruck;
-		232	SummenHoehe -= SummenHoehe/8;
-		233	SummenHoehe += HoehenWert;
-		234	VarioMeter = (3 * VarioMeter + 25 * (int)(HoehenWert - SummenHoehe/8))/4;
228	MessLuftdruck = ADC;	235	tmpLuftdruck = 0;
229	messanzahl_Druck = 0;	236	messanzahl_Druck = 0;
230	HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)((int)(StartLuftdruck - tmpLuftdruck) - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert	-
231	Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;	-
232	HoehenWert = StartLuftdruck - Luftdruck;	-
233	tmpLuftdruck /= 2;	-
234	}	237	}
235	kanal = AD_NICK;	238	kanal = AD_NICK;
236	break;	239	break;
237	default:	240	default:
238	kanal = 0; state = 0; kanal = AD_NICK;	241	kanal = 0; state = 0; kanal = AD_NICK;
239	break;	242	break;
240	}	243	}
241	ADMUX = kanal;	244	ADMUX = kanal;
242	if(state != 0) ANALOG_ON;	245	if(state != 0) ANALOG_ON;
243	}	246	}
244		247
245		248
246		249
247	/*	250	/*
248	//#######################################################################################	251	//#######################################################################################
249	//	252	//
250	SIGNAL(SIG_ADC)	253	SIGNAL(SIG_ADC)
251	//#######################################################################################	254	//#######################################################################################
252	{	255	{
253	static unsigned char kanal=0,state = 0;	256	static unsigned char kanal=0,state = 0;
254	static signed int gier1, roll1, nick1;	257	static signed int gier1, roll1, nick1;
255	static signed long nick_filter, roll_filter;	258	static signed long nick_filter, roll_filter;
256	static signed int accy, accx;	259	static signed int accy, accx;
257	switch(state++)	260	switch(state++)
258	{	261	{
259	case 0:	262	case 0:
260	nick1 = ADC;	263	nick1 = ADC;
261	kanal = AD_ROLL;	264	kanal = AD_ROLL;
262	break;	265	break;
263	case 1:	266	case 1:
264	roll1 = ADC;	267	roll1 = ADC;
265	kanal = AD_GIER;	268	kanal = AD_GIER;
266	break;	269	break;
267	case 2:	270	case 2:
268	gier1 = ADC;	271	gier1 = ADC;
269	kanal = AD_ACC_Y;	272	kanal = AD_ACC_Y;
270	break;	273	break;
271	case 3:	274	case 3:
272	Aktuell_ay = NeutralAccY - ADC;	275	Aktuell_ay = NeutralAccY - ADC;
273	accy = Aktuell_ay;	276	accy = Aktuell_ay;
274	kanal = AD_NICK;	277	kanal = AD_NICK;
275	break;	278	break;
276	case 4:	279	case 4:
277	nick1 += ADC;	280	nick1 += ADC;
278	kanal = AD_ROLL;	281	kanal = AD_ROLL;
279	break;	282	break;
280	case 5:	283	case 5:
281	roll1 += ADC;	284	roll1 += ADC;
282	kanal = AD_ACC_Z;	285	kanal = AD_ACC_Z;
283	break;	286	break;
284	case 6:	287	case 6:
285	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	288	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
286	if(AdWertAccHoch > 1)	289	if(AdWertAccHoch > 1)
287	{	290	{
288	if(NeutralAccZ < 750)	291	if(NeutralAccZ < 750)
289	{	292	{
290	NeutralAccZ += 0.02;	293	NeutralAccZ += 0.02;
291	if(modell_fliegt < 500) NeutralAccZ += 0.1;	294	if(modell_fliegt < 500) NeutralAccZ += 0.1;
292	}	295	}
293	}	296	}
294	else if(AdWertAccHoch < -1)	297	else if(AdWertAccHoch < -1)
295	{	298	{
296	if(NeutralAccZ > 550)	299	if(NeutralAccZ > 550)
297	{	300	{
298	NeutralAccZ-= 0.02;	301	NeutralAccZ-= 0.02;
299	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	302	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
300	}	303	}
301	}	304	}
302	messanzahl_AccHoch = 1;	305	messanzahl_AccHoch = 1;
303	Aktuell_az = ADC;	306	Aktuell_az = ADC;
304	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	307	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
305	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	308	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
306	kanal = AD_NICK;	309	kanal = AD_NICK;
307	break;	310	break;
308	case 7:	311	case 7:
309	nick1 += ADC;	312	nick1 += ADC;
310	kanal = AD_ROLL;	313	kanal = AD_ROLL;
311	break;	314	break;
312	case 8:	315	case 8:
313	roll1 += ADC;	316	roll1 += ADC;
314	kanal = AD_ACC_X;	317	kanal = AD_ACC_X;
315	break;	318	break;
316	case 9:	319	case 9:
317	Aktuell_ax = ADC - NeutralAccX;	320	Aktuell_ax = ADC - NeutralAccX;
318	accx = Aktuell_ax;	321	accx = Aktuell_ax;
319	kanal = AD_GIER;	322	kanal = AD_GIER;
320	break;	323	break;
321	case 10:	324	case 10:
322	gier1 += ADC;	325	gier1 += ADC;
323	kanal = AD_NICK;	326	kanal = AD_NICK;
324	break;	327	break;
325	case 11:	328	case 11:
326	nick1 += ADC;	329	nick1 += ADC;
327	kanal = AD_ROLL;	330	kanal = AD_ROLL;
328	break;	331	break;
329	case 12:	332	case 12:
330	roll1 += ADC;	333	roll1 += ADC;
331	kanal = AD_UBAT;	334	kanal = AD_UBAT;
332	break;	335	break;
333	case 13:	336	case 13:
334	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	337	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
335	kanal = AD_ACC_Y;	338	kanal = AD_ACC_Y;
336	break;	339	break;
337	case 14:	340	case 14:
338	Aktuell_ay = NeutralAccY - ADC;	341	Aktuell_ay = NeutralAccY - ADC;
339	accy += Aktuell_ay;	342	accy += Aktuell_ay;
340	kanal = AD_NICK;	343	kanal = AD_NICK;
341	break;	344	break;
342	case 15:	345	case 15:
343	nick1 += ADC;	346	nick1 += ADC;
344	kanal = AD_ROLL;	347	kanal = AD_ROLL;
345	break;	348	break;
346	case 16:	349	case 16:
347	roll1 += ADC;	350	roll1 += ADC;
348	kanal = AD_ACC_X;	351	kanal = AD_ACC_X;
349	break;	352	break;
350	case 17:	353	case 17:
351	Aktuell_ax = ADC - NeutralAccX;	354	Aktuell_ax = ADC - NeutralAccX;
352	accx += Aktuell_ax;	355	accx += Aktuell_ax;
353	kanal = AD_NICK;	356	kanal = AD_NICK;
354	break;	357	break;
355	case 18:	358	case 18:
356	nick1 += ADC;	359	nick1 += ADC;
357	kanal = AD_ROLL;	360	kanal = AD_ROLL;
358	break;	361	break;
359	case 19:	362	case 19:
360	roll1 += ADC;	363	roll1 += ADC;
361	kanal = AD_GIER;	364	kanal = AD_GIER;
362	break;	365	break;
363	case 20:	366	case 20:
364	gier1 += ADC;	367	gier1 += ADC;
365	kanal = AD_ACC_Y;	368	kanal = AD_ACC_Y;
366	break;	369	break;
367	case 21:	370	case 21:
368	Aktuell_ay = NeutralAccY - ADC;	371	Aktuell_ay = NeutralAccY - ADC;
369	accy += Aktuell_ay;	372	accy += Aktuell_ay;
370	kanal = AD_NICK;	373	kanal = AD_NICK;
371	break;	374	break;
372	case 22:	375	case 22:
373	nick1 += ADC;	376	nick1 += ADC;
374	kanal = AD_ROLL;	377	kanal = AD_ROLL;
375	break;	378	break;
376	case 23:	379	case 23:
377	roll1 += ADC;	380	roll1 += ADC;
378	kanal = AD_DRUCK;	381	kanal = AD_DRUCK;
379	break;	382	break;
380	case 24:	383	case 24:
381	tmpLuftdruck += ADC;	384	tmpLuftdruck += ADC;
382	if(++messanzahl_Druck >= 5)	385	if(++messanzahl_Druck >= 5)
383	{	386	{
384	MessLuftdruck = ADC;	387	MessLuftdruck = ADC;
385	messanzahl_Druck = 0;	388	messanzahl_Druck = 0;
386	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	389	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
387	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	390	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
388	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	391	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
389	tmpLuftdruck = 0;	392	tmpLuftdruck = 0;
390	}	393	}
391	kanal = AD_NICK;	394	kanal = AD_NICK;
392	break;	395	break;
393	case 25:	396	case 25:
394	nick1 += ADC;	397	nick1 += ADC;
395	kanal = AD_ROLL;	398	kanal = AD_ROLL;
396	break;	399	break;
397	case 26:	400	case 26:
398	roll1 += ADC;	401	roll1 += ADC;
399	kanal = AD_ACC_X;	402	kanal = AD_ACC_X;
400	break;	403	break;
401	case 27:	404	case 27:
402	Aktuell_ax = ADC - NeutralAccX;	405	Aktuell_ax = ADC - NeutralAccX;
403	accx += Aktuell_ax;	406	accx += Aktuell_ax;
404	kanal = AD_GIER;	407	kanal = AD_GIER;
405	break;	408	break;
406	case 28:	409	case 28:
407	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	410	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
408	else	411	else
409	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	412	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
410	else AdWertGier = (ADC + gier1 + 1) / 2;	413	else AdWertGier = (ADC + gier1 + 1) / 2;
411	kanal = AD_NICK;	414	kanal = AD_NICK;
412	break;	415	break;
413	case 29:	416	case 29:
414	nick1 += ADC;	417	nick1 += ADC;
415	kanal = AD_ROLL;	418	kanal = AD_ROLL;
416	break;	419	break;
417	case 30:	420	case 30:
418	roll1 += ADC;	421	roll1 += ADC;
419	kanal = AD_ACC_Y;	422	kanal = AD_ACC_Y;
420	break;	423	break;
421	case 31:	424	case 31:
422	Aktuell_ay = NeutralAccY - ADC;	425	Aktuell_ay = NeutralAccY - ADC;
423	AdWertAccRoll = (Aktuell_ay + accy);	426	AdWertAccRoll = (Aktuell_ay + accy);
424	kanal = AD_NICK;	427	kanal = AD_NICK;
425	break;	428	break;
426	case 32:	429	case 32:
427	AdWertNick = (ADC + nick1 + 3) / 5;	430	AdWertNick = (ADC + nick1 + 3) / 5;
428	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	431	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
429	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	432	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
430	HiResNick = nick_filter - 20 * AdNeutralNick;	433	HiResNick = nick_filter - 20 * AdNeutralNick;
431	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	434	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
432	DebugOut.Analog[21] = AdWertNickFilter / 4;	435	DebugOut.Analog[21] = AdWertNickFilter / 4;
433	kanal = AD_ROLL;	436	kanal = AD_ROLL;
434	break;	437	break;
435	case 33:	438	case 33:
436	AdWertRoll = (ADC + roll1 + 3) / 5;	439	AdWertRoll = (ADC + roll1 + 3) / 5;
437	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	440	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
438	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	441	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
439	HiResRoll = roll_filter - 20 * AdNeutralRoll;	442	HiResRoll = roll_filter - 20 * AdNeutralRoll;
440	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	443	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
441	DebugOut.Analog[22] = AdWertRollFilter / 4;	444	DebugOut.Analog[22] = AdWertRollFilter / 4;
442	kanal = AD_ACC_X;	445	kanal = AD_ACC_X;
443	break;	446	break;
444	case 34:	447	case 34:
445	Aktuell_ax = ADC - NeutralAccX;	448	Aktuell_ax = ADC - NeutralAccX;
446	AdWertAccNick = (Aktuell_ax + accx);	449	AdWertAccNick = (Aktuell_ax + accx);
447	kanal = AD_NICK;	450	kanal = AD_NICK;
448	state = 0;	451	state = 0;
449	AdReady = 1;	452	AdReady = 1;
450	ZaehlMessungen++;	453	ZaehlMessungen++;
451	break;	454	break;
452	default:	455	default:
453	kanal = 0;	456	kanal = 0;
454	state = 0;	457	state = 0;
455	break;	458	break;
456	}	459	}
457	ADMUX = kanal;	460	ADMUX = kanal;
458	if(state != 0) ANALOG_ON;	461	if(state != 0) ANALOG_ON;
459	}	462	}
460	*/	463	*/
461		464

Subversion Repositories FlightCtrl

(root)/branches/V0.80f_ACC-HH_MartinR/analog.c @ 1857 - Rev 1246 → 1253