WebSVN - FlightCtrl - Diff - Rev 1702 and 1728 - /branches/V0.80f_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"
#include "eeprom.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;
volatile unsigned char AdReady = 1;
// float NeutralAccZ_float; // MartinR : wozu ??
//#######################################################################################
//
void ADC_Init(void)
//#######################################################################################
{
    ADMUX = 0;//Referenz ist extern
    ANALOG_ON;
}
 
#define DESIRED_H_ADC 800
 
void SucheLuftruckOffset(void)
{
 unsigned int off;
 off = GetParamByte(PID_PRESSURE_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;
  }
 SetParamByte(PID_PRESSURE_OFFSET, off);
 DruckOffsetSetting = off;
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE;
 OCR0A = off;
 Delay_ms_Mess(300);
}
 
void SucheGyroOffset(void)
{
 unsigned char i, ready = 0;
 int timeout;
 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++;
   I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
   if(AnalogOffsetNick < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; 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 char subcount = 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: deaktivieren ????
                       
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                subcount += 5;
                if(modell_fliegt < 500) subcount += 10;
               }
              if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 subcount -= 5;
                 if(modell_fliegt < 500) subcount -= 10;
                 if(subcount < -100) { NeutralAccZ--; subcount += 100;}
                }
             }
                         
                         */ // MartinR: deaktivieren 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 9:" 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 = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
                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;
}
 
 

Rev 1702	Rev 1728
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	#include "eeprom.h"	10	#include "eeprom.h"
11	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;	11	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
12	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;	12	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
13	volatile int HiResNick = 2500, HiResRoll = 2500;	13	volatile int HiResNick = 2500, HiResRoll = 2500;
14	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;	14	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
15	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;	15	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
16	volatile char messanzahl_AccHoch = 0;	16	volatile char messanzahl_AccHoch = 0;
17	volatile long Luftdruck = 32000;	17	volatile long Luftdruck = 32000;
18	volatile long SummenHoehe = 0;	18	volatile long SummenHoehe = 0;
19	volatile int StartLuftdruck;	19	volatile int StartLuftdruck;
20	volatile unsigned int MessLuftdruck = 1023;	20	volatile unsigned int MessLuftdruck = 1023;
21	unsigned char DruckOffsetSetting;	21	unsigned char DruckOffsetSetting;
22	signed char ExpandBaro = 0;	22	signed char ExpandBaro = 0;
23	volatile int VarioMeter = 0;	23	volatile int VarioMeter = 0;
24	volatile unsigned int ZaehlMessungen = 0;	24	volatile unsigned int ZaehlMessungen = 0;
25	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	25	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
26	volatile unsigned char AdReady = 1;	26	volatile unsigned char AdReady = 1;
27	float NeutralAccZ_float;	27	// float NeutralAccZ_float; // MartinR : wozu ??
28	//#######################################################################################	28	//#######################################################################################
29	//	29	//
30	void ADC_Init(void)	30	void ADC_Init(void)
31	//#######################################################################################	31	//#######################################################################################
32	{	32	{
33	ADMUX = 0;//Referenz ist extern	33	ADMUX = 0;//Referenz ist extern
34	ANALOG_ON;	34	ANALOG_ON;
35	}	35	}
36		36
37	#define DESIRED_H_ADC 800	37	#define DESIRED_H_ADC 800
38		38
39	void SucheLuftruckOffset(void)	39	void SucheLuftruckOffset(void)
40	{	40	{
41	unsigned int off;	41	unsigned int off;
42	off = GetParamByte(PID_PRESSURE_OFFSET);	42	off = GetParamByte(PID_PRESSURE_OFFSET);
43	if(off > 20) off -= 10;	43	if(off > 20) off -= 10;
44	OCR0A = off;	44	OCR0A = off;
45	ExpandBaro = 0;	45	ExpandBaro = 0;
46	Delay_ms_Mess(100);	46	Delay_ms_Mess(100);
47	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	47	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
48	for(; off < 250;off++)	48	for(; off < 250;off++)
49	{	49	{
50	OCR0A = off;	50	OCR0A = off;
51	Delay_ms_Mess(50);	51	Delay_ms_Mess(50);
52	printf(".");	52	printf(".");
53	if(MessLuftdruck < DESIRED_H_ADC) break;	53	if(MessLuftdruck < DESIRED_H_ADC) break;
54	}	54	}
55	SetParamByte(PID_PRESSURE_OFFSET, off);	55	SetParamByte(PID_PRESSURE_OFFSET, off);
56	DruckOffsetSetting = off;	56	DruckOffsetSetting = off;
57	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 \|\| DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] \|= DEFEKT_PRESSURE;	57	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 \|\| DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] \|= DEFEKT_PRESSURE;
58	OCR0A = off;	58	OCR0A = off;
59	Delay_ms_Mess(300);	59	Delay_ms_Mess(300);
60	}	60	}
61		61
62	void SucheGyroOffset(void)	62	void SucheGyroOffset(void)
63	{	63	{
64	unsigned char i, ready = 0;	64	unsigned char i, ready = 0;
65	int timeout;	65	int timeout;
66	timeout = SetDelay(2000);	66	timeout = SetDelay(2000);
67	for(i=140; i != 0; i--)	67	for(i=140; i != 0; i--)
68	{	68	{
69	if(ready == 3 && i > 10) i = 9;	69	if(ready == 3 && i > 10) i = 9;
70	ready = 0;	70	ready = 0;
71	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	71	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
72	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	72	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
73	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	73	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
74	I2C_Start(TWI_STATE_GYRO_OFFSET_TX);	74	I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
75	if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_NICK; AnalogOffsetNick = 245;};	75	if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_NICK; AnalogOffsetNick = 245;};
76	if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;};	76	if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;};
77	if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_GIER; AnalogOffsetGier = 245;};	77	if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_GIER; AnalogOffsetGier = 245;};
78	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	78	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
79	AdReady = 0;	79	AdReady = 0;
80	ANALOG_ON;	80	ANALOG_ON;
81	while(!AdReady);	81	while(!AdReady);
82	if(i<10) Delay_ms_Mess(10);	82	if(i<10) Delay_ms_Mess(10);
83	}	83	}
84	Delay_ms_Mess(70);	84	Delay_ms_Mess(70);
85	}	85	}
86		86
87	/*	87	/*
88	0 n	88	0 n
89	1 r	89	1 r
90	2 g	90	2 g
91	3 y	91	3 y
92	4 x	92	4 x
93	5 n	93	5 n
94	6 r	94	6 r
95	7 u	95	7 u
96	8 z	96	8 z
97	9 L	97	9 L
98	10 n	98	10 n
99	11 r	99	11 r
100	12 g	100	12 g
101	13 y	101	13 y
102	14 x	102	14 x
103	15 n	103	15 n
104	16 r	104	16 r
105	17 L	105	17 L
106	*/	106	*/
107		107
108	//#######################################################################################	108	//#######################################################################################
109	//	109	//
110	ISR(ADC_vect)	110	ISR(ADC_vect)
111	//#######################################################################################	111	//#######################################################################################
112	{	112	{
113	static unsigned char kanal=0,state = 0;	113	static unsigned char kanal=0,state = 0;
114	static signed char subcount = 0;	114	// static signed char subcount = 0;
115	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	115	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
116	static signed int accy, accx;	116	static signed int accy, accx;
117	static long tmpLuftdruck = 0;	117	static long tmpLuftdruck = 0;
118	static char messanzahl_Druck = 0;	118	static char messanzahl_Druck = 0;
119	switch(state++)	119	switch(state++)
120	{	120	{
121	case 0:	121	case 0:
122	nick1 = ADC;	122	nick1 = ADC;
123	kanal = AD_ROLL;	123	kanal = AD_ROLL;
124	break;	124	break;
125	case 1:	125	case 1:
126	roll1 = ADC;	126	roll1 = ADC;
127	kanal = AD_GIER;	127	kanal = AD_GIER;
128	break;	128	break;
129	case 2:	129	case 2:
130	gier1 = ADC;	130	gier1 = ADC;
131	kanal = AD_ACC_Y;	131	kanal = AD_ACC_Y;
132	break;	132	break;
133	case 3:	133	case 3:
134	Aktuell_ay = NeutralAccY - ADC;	134	Aktuell_ay = NeutralAccY - ADC;
135	accy = Aktuell_ay;	135	accy = Aktuell_ay;
136	kanal = AD_ACC_X;	136	kanal = AD_ACC_X;
137	break;	137	break;
138	case 4:	138	case 4:
139	Aktuell_ax = ADC - NeutralAccX;	139	Aktuell_ax = ADC - NeutralAccX;
140	accx = Aktuell_ax;	140	accx = Aktuell_ax;
141	kanal = AD_NICK;	141	kanal = AD_NICK;
142	break;	142	break;
143	case 5:	143	case 5:
144	nick1 += ADC;	144	nick1 += ADC;
145	kanal = AD_ROLL;	145	kanal = AD_ROLL;
146	break;	146	break;
147	case 6:	147	case 6:
148	roll1 += ADC;	148	roll1 += ADC;
149	kanal = AD_UBAT;	149	kanal = AD_UBAT;
150	break;	150	break;
151	case 7:	151	case 7:
152	UBat = (3 * UBat + ADC / 3) / 4;	152	UBat = (3 * UBat + ADC / 3) / 4;
153	kanal = AD_ACC_Z;	153	kanal = AD_ACC_Z;
154	break;	154	break;
155	case 8:	155	case 8:
156	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	156	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
-		157
-		158	/* // MartinR: deaktivieren ????
-		159
157	if(AdWertAccHoch > 1)	160	if(AdWertAccHoch > 1)
158	{	161	{
159	if(NeutralAccZ < 750)	162	if(NeutralAccZ < 750)
160	{	163	{
161	subcount += 5;	164	subcount += 5;
162	if(modell_fliegt < 500) subcount += 10;	165	if(modell_fliegt < 500) subcount += 10;
163	}	166	}
164	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}	167	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
165	}	168	}
166	else if(AdWertAccHoch < -1)	169	else if(AdWertAccHoch < -1)
167	{	170	{
168	if(NeutralAccZ > 550)	171	if(NeutralAccZ > 550)
169	{	172	{
170	subcount -= 5;	173	subcount -= 5;
171	if(modell_fliegt < 500) subcount -= 10;	174	if(modell_fliegt < 500) subcount -= 10;
172	if(subcount < -100) { NeutralAccZ--; subcount += 100;}	175	if(subcount < -100) { NeutralAccZ--; subcount += 100;}
173	}	176	}
174	}	177	}
-		178
-		179	*/ // MartinR: deaktivieren Ende
-		180
-		181
175	messanzahl_AccHoch = 1;	182	messanzahl_AccHoch = 1;
176	Aktuell_az = ADC;	183	Aktuell_az = ADC;
177	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	184	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
178	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	185	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
179	kanal = AD_DRUCK;	186	kanal = AD_DRUCK;
180	break;	187	break;
181	// "case 9:" fehlt hier absichtlich	188	// "case 9:" fehlt hier absichtlich
182	case 10:	189	case 10:
183	nick1 += ADC;	190	nick1 += ADC;
184	kanal = AD_ROLL;	191	kanal = AD_ROLL;
185	break;	192	break;
186	case 11:	193	case 11:
187	roll1 += ADC;	194	roll1 += ADC;
188	kanal = AD_GIER;	195	kanal = AD_GIER;
189	break;	196	break;
190	case 12:	197	case 12:
191	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	198	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
192	else	199	else
193	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);	200	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);
194	else AdWertGier = (ADC + gier1);	201	else AdWertGier = (ADC + gier1);
195	kanal = AD_ACC_Y;	202	kanal = AD_ACC_Y;
196	break;	203	break;
197	case 13:	204	case 13:
198	Aktuell_ay = NeutralAccY - ADC;	205	Aktuell_ay = NeutralAccY - ADC;
199	AdWertAccRoll = (Aktuell_ay + accy);	206	AdWertAccRoll = (Aktuell_ay + accy);
200	kanal = AD_ACC_X;	207	kanal = AD_ACC_X;
201	break;	208	break;
202	case 14:	209	case 14:
203	Aktuell_ax = ADC - NeutralAccX;	210	Aktuell_ax = ADC - NeutralAccX;
204	AdWertAccNick = (Aktuell_ax + accx);	211	AdWertAccNick = (Aktuell_ax + accx);
205	kanal = AD_NICK;	212	kanal = AD_NICK;
206	break;	213	break;
207	case 15:	214	case 15:
208	nick1 += ADC;	215	nick1 += ADC;
209	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	216	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
210	AdWertNick = nick1 / 8;	217	AdWertNick = nick1 / 8;
211	nick_filter = (nick_filter + nick1) / 2;	218	nick_filter = (nick_filter + nick1) / 2;
212	HiResNick = nick_filter - AdNeutralNick;	219	HiResNick = nick_filter - AdNeutralNick;
213	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	220	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
214	kanal = AD_ROLL;	221	kanal = AD_ROLL;
215	break;	222	break;
216	case 16:	223	case 16:
217	roll1 += ADC;	224	roll1 += ADC;
218	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	225	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
219	AdWertRoll = roll1 / 8;	226	AdWertRoll = roll1 / 8;
220	roll_filter = (roll_filter + roll1) / 2;	227	roll_filter = (roll_filter + roll1) / 2;
221	HiResRoll = roll_filter - AdNeutralRoll;	228	HiResRoll = roll_filter - AdNeutralRoll;
222	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	229	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
223	kanal = AD_DRUCK;	230	kanal = AD_DRUCK;
224	break;	231	break;
225	case 17:	232	case 17:
226	state = 0;	233	state = 0;
227	AdReady = 1;	234	AdReady = 1;
228	ZaehlMessungen++;	235	ZaehlMessungen++;
229	// "break" fehlt hier absichtlich	236	// "break" fehlt hier absichtlich
230	case 9:	237	case 9:
231	MessLuftdruck = ADC;	238	MessLuftdruck = ADC;
232	tmpLuftdruck += MessLuftdruck;	239	tmpLuftdruck += MessLuftdruck;
233	if(++messanzahl_Druck >= 18)	240	if(++messanzahl_Druck >= 18)
234	{	241	{
235	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	242	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
236	HoehenWert = StartLuftdruck - Luftdruck;	243	HoehenWert = StartLuftdruck - Luftdruck;
237	SummenHoehe -= SummenHoehe/SM_FILTER;	244	SummenHoehe -= SummenHoehe/SM_FILTER;
238	SummenHoehe += HoehenWert;	245	SummenHoehe += HoehenWert;
239	VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;	246	VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
240	tmpLuftdruck /= 2;	247	tmpLuftdruck /= 2;
241	messanzahl_Druck = 18/2;	248	messanzahl_Druck = 18/2;
242	}	249	}
243	kanal = AD_NICK;	250	kanal = AD_NICK;
244	break;	251	break;
245	default:	252	default:
246	kanal = 0; state = 0; kanal = AD_NICK;	253	kanal = 0; state = 0; kanal = AD_NICK;
247	break;	254	break;
248	}	255	}
249	ADMUX = kanal;	256	ADMUX = kanal;
250	if(state != 0) ANALOG_ON;	257	if(state != 0) ANALOG_ON;
251	}	258	}
252		259
253		260

Subversion Repositories FlightCtrl

(root)/branches/V0.80f_ACC-HH_MartinR/analog.c - Rev 1702 → 1728