WebSVN - FlightCtrl - Diff - Rev 1701 and 1702 - /branches/V0.80g_ACC-HH_MartinR


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
//#######################################################################################
//
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;
            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;}
                }
             }
            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 1701	Rev 1702
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	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;	-
27	volatile unsigned char AdReady = 1;	26	volatile unsigned char AdReady = 1;
28	float NeutralAccZ_float;	27	float NeutralAccZ_float;
29	//#######################################################################################	28	//#######################################################################################
30	//	29	//
31	void ADC_Init(void)	30	void ADC_Init(void)
32	//#######################################################################################	31	//#######################################################################################
33	{	32	{
34	ADMUX = 0;//Referenz ist extern	33	ADMUX = 0;//Referenz ist extern
35	ANALOG_ON;	34	ANALOG_ON;
36	}	35	}
37		36
38	#define DESIRED_H_ADC 800	37	#define DESIRED_H_ADC 800
39		38
40	void SucheLuftruckOffset(void)	39	void SucheLuftruckOffset(void)
41	{	40	{
42	unsigned int off;	41	unsigned int off;
43	off = GetParamByte(PID_PRESSURE_OFFSET);	42	off = GetParamByte(PID_PRESSURE_OFFSET);
44	if(off > 20) off -= 10;	43	if(off > 20) off -= 10;
45	OCR0A = off;	44	OCR0A = off;
46	ExpandBaro = 0;	45	ExpandBaro = 0;
47	Delay_ms_Mess(100);	46	Delay_ms_Mess(100);
48	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	47	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
49	for(; off < 250;off++)	48	for(; off < 250;off++)
50	{	49	{
51	OCR0A = off;	50	OCR0A = off;
52	Delay_ms_Mess(50);	51	Delay_ms_Mess(50);
53	printf(".");	52	printf(".");
54	if(MessLuftdruck < DESIRED_H_ADC) break;	53	if(MessLuftdruck < DESIRED_H_ADC) break;
55	}	54	}
56	SetParamByte(PID_PRESSURE_OFFSET, off);	55	SetParamByte(PID_PRESSURE_OFFSET, off);
57	DruckOffsetSetting = off;	56	DruckOffsetSetting = off;
-		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		-
61	}	60	}
62		61
63	void SucheGyroOffset(void)	62	void SucheGyroOffset(void)
64	{	63	{
65	unsigned char i, ready = 0;	64	unsigned char i, ready = 0;
66	int timeout;	65	int timeout;
67	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	-
68	timeout = SetDelay(2000);	66	timeout = SetDelay(2000);
69	for(i=140; i != 0; i--)	67	for(i=140; i != 0; i--)
70	{	68	{
71	if(ready == 3 && i > 10) i = 9;	69	if(ready == 3 && i > 10) i = 9;
72	ready = 0;	70	ready = 0;
73	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	71	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
74	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	72	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
75	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	73	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
76	I2C_Start(TWI_STATE_GYRO_OFFSET_TX);	74	I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
77	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; 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;};
78	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; 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;};
79	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; 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;};
80	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;}
81	AdReady = 0;	79	AdReady = 0;
82	ANALOG_ON;	80	ANALOG_ON;
83	while(!AdReady);	81	while(!AdReady);
84	if(i<10) Delay_ms_Mess(10);	82	if(i<10) Delay_ms_Mess(10);
85	}	83	}
86	Delay_ms_Mess(70);	84	Delay_ms_Mess(70);
87	}	85	}
88		86
89	/*	87	/*
90	0 n	88	0 n
91	1 r	89	1 r
92	2 g	90	2 g
93	3 y	91	3 y
94	4 x	92	4 x
95	5 n	93	5 n
96	6 r	94	6 r
97	7 u	95	7 u
98	8 z	96	8 z
99	9 L	97	9 L
100	10 n	98	10 n
101	11 r	99	11 r
102	12 g	100	12 g
103	13 y	101	13 y
104	14 x	102	14 x
105	15 n	103	15 n
106	16 r	104	16 r
107	17 L	105	17 L
108	*/	106	*/
109		107
110	//#######################################################################################	108	//#######################################################################################
111	//	109	//
112	ISR(ADC_vect)	110	ISR(ADC_vect)
113	//#######################################################################################	111	//#######################################################################################
114	{	112	{
115	static unsigned char kanal=0,state = 0;	113	static unsigned char kanal=0,state = 0;
116	static signed char subcount = 0;	114	static signed char subcount = 0;
117	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	115	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
118	static signed int accy, accx;	116	static signed int accy, accx;
119	static long tmpLuftdruck = 0;	117	static long tmpLuftdruck = 0;
120	static char messanzahl_Druck = 0;	118	static char messanzahl_Druck = 0;
121	switch(state++)	119	switch(state++)
122	{	120	{
123	case 0:	121	case 0:
124	nick1 = ADC;	122	nick1 = ADC;
125	kanal = AD_ROLL;	123	kanal = AD_ROLL;
126	break;	124	break;
127	case 1:	125	case 1:
128	roll1 = ADC;	126	roll1 = ADC;
129	kanal = AD_GIER;	127	kanal = AD_GIER;
130	break;	128	break;
131	case 2:	129	case 2:
132	gier1 = ADC;	130	gier1 = ADC;
133	kanal = AD_ACC_Y;	131	kanal = AD_ACC_Y;
134	break;	132	break;
135	case 3:	133	case 3:
136	Aktuell_ay = NeutralAccY - ADC;	134	Aktuell_ay = NeutralAccY - ADC;
137	accy = Aktuell_ay;	135	accy = Aktuell_ay;
138	kanal = AD_ACC_X;	136	kanal = AD_ACC_X;
139	break;	137	break;
140	case 4:	138	case 4:
141	Aktuell_ax = ADC - NeutralAccX;	139	Aktuell_ax = ADC - NeutralAccX;
142	accx = Aktuell_ax;	140	accx = Aktuell_ax;
143	kanal = AD_NICK;	141	kanal = AD_NICK;
144	break;	142	break;
145	case 5:	143	case 5:
146	nick1 += ADC;	144	nick1 += ADC;
147	kanal = AD_ROLL;	145	kanal = AD_ROLL;
148	break;	146	break;
149	case 6:	147	case 6:
150	roll1 += ADC;	148	roll1 += ADC;
151	kanal = AD_UBAT;	149	kanal = AD_UBAT;
152	break;	150	break;
153	case 7:	151	case 7:
154	UBat = (3 * UBat + ADC / 3) / 4;	152	UBat = (3 * UBat + ADC / 3) / 4;
155	kanal = AD_ACC_Z;	153	kanal = AD_ACC_Z;
156	break;	154	break;
157	case 8:	155	case 8:
158	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	156	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
159	if(AdWertAccHoch > 1)	157	if(AdWertAccHoch > 1)
160	{	158	{
161	if(NeutralAccZ < 750)	159	if(NeutralAccZ < 750)
162	{	160	{
163	subcount += 5;	161	subcount += 5;
164	if(modell_fliegt < 500) subcount += 10;	162	if(modell_fliegt < 500) subcount += 10;
165	}	163	}
166	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}	164	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
167	}	165	}
168	else if(AdWertAccHoch < -1)	166	else if(AdWertAccHoch < -1)
169	{	167	{
170	if(NeutralAccZ > 550)	168	if(NeutralAccZ > 550)
171	{	169	{
172	subcount -= 5;	170	subcount -= 5;
173	if(modell_fliegt < 500) subcount -= 10;	171	if(modell_fliegt < 500) subcount -= 10;
174	if(subcount < -100) { NeutralAccZ--; subcount += 100;}	172	if(subcount < -100) { NeutralAccZ--; subcount += 100;}
175	}	173	}
176	}	174	}
177	messanzahl_AccHoch = 1;	175	messanzahl_AccHoch = 1;
178	Aktuell_az = ADC;	176	Aktuell_az = ADC;
179	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	177	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
180	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	178	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
181	kanal = AD_DRUCK;	179	kanal = AD_DRUCK;
182	break;	180	break;
183	// "case 9:" fehlt hier absichtlich	181	// "case 9:" fehlt hier absichtlich
184	case 10:	182	case 10:
185	nick1 += ADC;	183	nick1 += ADC;
186	kanal = AD_ROLL;	184	kanal = AD_ROLL;
187	break;	185	break;
188	case 11:	186	case 11:
189	roll1 += ADC;	187	roll1 += ADC;
190	kanal = AD_GIER;	188	kanal = AD_GIER;
191	break;	189	break;
192	case 12:	190	case 12:
193	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	191	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
194	else	192	else
195	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);	193	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);
196	else AdWertGier = (ADC + gier1);	194	else AdWertGier = (ADC + gier1);
197	kanal = AD_ACC_Y;	195	kanal = AD_ACC_Y;
198	break;	196	break;
199	case 13:	197	case 13:
200	Aktuell_ay = NeutralAccY - ADC;	198	Aktuell_ay = NeutralAccY - ADC;
201	AdWertAccRoll = (Aktuell_ay + accy);	199	AdWertAccRoll = (Aktuell_ay + accy);
202	kanal = AD_ACC_X;	200	kanal = AD_ACC_X;
203	break;	201	break;
204	case 14:	202	case 14:
205	Aktuell_ax = ADC - NeutralAccX;	203	Aktuell_ax = ADC - NeutralAccX;
206	AdWertAccNick = (Aktuell_ax + accx);	204	AdWertAccNick = (Aktuell_ax + accx);
207	kanal = AD_NICK;	205	kanal = AD_NICK;
208	break;	206	break;
209	case 15:	207	case 15:
210	nick1 += ADC;	208	nick1 += ADC;
211	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	209	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
212	AdWertNick = nick1 / 8;	210	AdWertNick = nick1 / 8;
213	nick_filter = (nick_filter + nick1) / 2;	211	nick_filter = (nick_filter + nick1) / 2;
214	HiResNick = nick_filter - AdNeutralNick;	212	HiResNick = nick_filter - AdNeutralNick;
215	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	213	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
216	kanal = AD_ROLL;	214	kanal = AD_ROLL;
217	break;	215	break;
218	case 16:	216	case 16:
219	roll1 += ADC;	217	roll1 += ADC;
220	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	218	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
221	AdWertRoll = roll1 / 8;	219	AdWertRoll = roll1 / 8;
222	roll_filter = (roll_filter + roll1) / 2;	220	roll_filter = (roll_filter + roll1) / 2;
223	HiResRoll = roll_filter - AdNeutralRoll;	221	HiResRoll = roll_filter - AdNeutralRoll;
224	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	222	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
225	kanal = AD_DRUCK;	223	kanal = AD_DRUCK;
226	break;	224	break;
227	case 17:	225	case 17:
228	state = 0;	226	state = 0;
229	AdReady = 1;	227	AdReady = 1;
230	ZaehlMessungen++;	228	ZaehlMessungen++;
231	// "break" fehlt hier absichtlich	229	// "break" fehlt hier absichtlich
232	case 9:	230	case 9:
233	MessLuftdruck = ADC;	231	MessLuftdruck = ADC;
234	tmpLuftdruck += MessLuftdruck;	232	tmpLuftdruck += MessLuftdruck;
235	if(++messanzahl_Druck >= 18)	233	if(++messanzahl_Druck >= 18)
236	{	234	{
237	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
238	HoehenWert = StartLuftdruck - Luftdruck;	236	HoehenWert = StartLuftdruck - Luftdruck;
239	SummenHoehe -= SummenHoehe/SM_FILTER;	237	SummenHoehe -= SummenHoehe/SM_FILTER;
240	SummenHoehe += HoehenWert;	238	SummenHoehe += HoehenWert;
241	VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;	239	VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
242	tmpLuftdruck /= 2;	240	tmpLuftdruck /= 2;
243	messanzahl_Druck = 18/2;	241	messanzahl_Druck = 18/2;
244	}	242	}
245	kanal = AD_NICK;	243	kanal = AD_NICK;
246	break;	244	break;
247	default:	245	default:
248	kanal = 0; state = 0; kanal = AD_NICK;	246	kanal = 0; state = 0; kanal = AD_NICK;
249	break;	247	break;
250	}	248	}
251	ADMUX = kanal;	249	ADMUX = kanal;
252	if(state != 0) ANALOG_ON;	250	if(state != 0) ANALOG_ON;
253	}	251	}
254		252
255		253

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(root)/branches/V0.80g_ACC-HH_MartinR_HR/analog.c @ 1862 - Rev 1701 → 1702