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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; // MartinR : wozu ? |
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 | ExpandBaro = 0; |
42 | ExpandBaro = 0; |
43 | 43 | ||
44 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
44 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
45 | { |
45 | { |
46 | unsigned char off2; |
46 | unsigned char off2; |
47 | OCR0A = 150; |
47 | OCR0A = 150; |
48 | off2 = GetParamByte(PID_PRESSURE_OFFSET); |
48 | off2 = GetParamByte(PID_PRESSURE_OFFSET); |
49 | if(off2 < 230) off2 += 10; |
49 | if(off2 < 230) off2 += 10; |
50 | OCR0B = off2; |
50 | OCR0B = off2; |
51 | Delay_ms_Mess(100); |
51 | Delay_ms_Mess(100); |
52 | if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
52 | if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
53 | for(; off2 >= 5; off2 -= 5) |
53 | for(; off2 >= 5; off2 -= 5) |
54 | { |
54 | { |
55 | OCR0B = off2; |
55 | OCR0B = off2; |
56 | Delay_ms_Mess(50); |
56 | Delay_ms_Mess(50); |
57 | printf("*"); |
57 | printf("*"); |
58 | if(MessLuftdruck > DESIRED_H_ADC) break; |
58 | if(MessLuftdruck > DESIRED_H_ADC) break; |
59 | } |
59 | } |
60 | SetParamByte(PID_PRESSURE_OFFSET, off2); |
60 | SetParamByte(PID_PRESSURE_OFFSET, off2); |
61 | if(off2 >= 15) off = 140; else off = 0; |
61 | if(off2 >= 15) off = 140; else off = 0; |
62 | for(; off < 250;off++) |
62 | for(; off < 250;off++) |
63 | { |
63 | { |
64 | OCR0A = off; |
64 | OCR0A = off; |
65 | Delay_ms_Mess(50); |
65 | Delay_ms_Mess(50); |
66 | printf("."); |
66 | printf("."); |
67 | if(MessLuftdruck < DESIRED_H_ADC) break; |
67 | if(MessLuftdruck < DESIRED_H_ADC) break; |
68 | } |
68 | } |
69 | DruckOffsetSetting = off; |
69 | DruckOffsetSetting = off; |
70 | } |
70 | } |
71 | #else |
71 | #else |
72 | off = GetParamByte(PID_PRESSURE_OFFSET); |
72 | off = GetParamByte(PID_PRESSURE_OFFSET); |
73 | if(off > 20) off -= 10; |
73 | if(off > 20) off -= 10; |
74 | OCR0A = off; |
74 | OCR0A = off; |
75 | Delay_ms_Mess(100); |
75 | Delay_ms_Mess(100); |
76 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
76 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
77 | for(; off < 250;off++) |
77 | for(; off < 250;off++) |
78 | { |
78 | { |
79 | OCR0A = off; |
79 | OCR0A = off; |
80 | Delay_ms_Mess(50); |
80 | Delay_ms_Mess(50); |
81 | printf("."); |
81 | printf("."); |
82 | if(MessLuftdruck < DESIRED_H_ADC) break; |
82 | if(MessLuftdruck < DESIRED_H_ADC) break; |
83 | } |
83 | } |
84 | DruckOffsetSetting = off; |
84 | DruckOffsetSetting = off; |
85 | SetParamByte(PID_PRESSURE_OFFSET, off); |
85 | SetParamByte(PID_PRESSURE_OFFSET, off); |
86 | #endif |
86 | #endif |
87 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE; |
87 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE; |
88 | OCR0A = off; |
88 | OCR0A = off; |
89 | Delay_ms_Mess(300); |
89 | Delay_ms_Mess(300); |
90 | } |
90 | } |
91 | 91 | ||
92 | 92 | ||
93 | void SucheGyroOffset(void) |
93 | void SucheGyroOffset(void) |
94 | { |
94 | { |
95 | unsigned char i, ready = 0; |
95 | unsigned char i, ready = 0; |
96 | int timeout; |
96 | int timeout; |
97 | timeout = SetDelay(2000); |
97 | timeout = SetDelay(2000); |
98 | for(i=140; i != 0; i--) |
98 | for(i=140; i != 0; i--) |
99 | { |
99 | { |
100 | if(ready == 3 && i > 10) i = 9; |
100 | if(ready == 3 && i > 10) i = 9; |
101 | ready = 0; |
101 | ready = 0; |
102 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
102 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
103 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
103 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
104 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
104 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
105 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
105 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
106 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;}; |
106 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;}; |
107 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;}; |
107 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;}; |
108 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;}; |
108 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;}; |
109 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
109 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
110 | AdReady = 0; |
110 | AdReady = 0; |
111 | ANALOG_ON; |
111 | ANALOG_ON; |
112 | while(!AdReady); |
112 | while(!AdReady); |
113 | if(i<10) Delay_ms_Mess(10); |
113 | if(i<10) Delay_ms_Mess(10); |
114 | } |
114 | } |
115 | Delay_ms_Mess(70); |
115 | Delay_ms_Mess(70); |
116 | } |
116 | } |
117 | 117 | ||
118 | /* |
118 | /* |
119 | 0 n |
119 | 0 n |
120 | 1 r |
120 | 1 r |
121 | 2 g |
121 | 2 g |
122 | 3 y |
122 | 3 y |
123 | 4 x |
123 | 4 x |
124 | 5 n |
124 | 5 n |
125 | 6 r |
125 | 6 r |
126 | 7 u |
126 | 7 u |
127 | 8 z |
127 | 8 z |
128 | 9 L |
128 | 9 L |
129 | 10 n |
129 | 10 n |
130 | 11 r |
130 | 11 r |
131 | 12 g |
131 | 12 g |
132 | 13 y |
132 | 13 y |
133 | 14 x |
133 | 14 x |
134 | 15 n |
134 | 15 n |
135 | 16 r |
135 | 16 r |
136 | 17 L |
136 | 17 L |
137 | */ |
137 | */ |
138 | 138 | ||
139 | //####################################################################################### |
139 | //####################################################################################### |
140 | // |
140 | // |
141 | ISR(ADC_vect) |
141 | ISR(ADC_vect) |
142 | //####################################################################################### |
142 | //####################################################################################### |
143 | { |
143 | { |
144 | static unsigned char kanal=0,state = 0; |
144 | static unsigned char kanal=0,state = 0; |
145 | //static signed char subcount = 0; // MartinR: wird nicht mehr benötigt, da deaktiviert |
145 | //static signed char subcount = 0; // MartinR: wird nicht mehr benötigt, da deaktiviert |
146 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
146 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
147 | static signed int accy, accx; |
147 | static signed int accy, accx; |
148 | static long tmpLuftdruck = 0; |
148 | static long tmpLuftdruck = 0; |
149 | static char messanzahl_Druck = 0; |
149 | static char messanzahl_Druck = 0; |
150 | switch(state++) |
150 | switch(state++) |
151 | { |
151 | { |
152 | case 0: |
152 | case 0: |
153 | nick1 = ADC; |
153 | nick1 = ADC; |
154 | kanal = AD_ROLL; |
154 | kanal = AD_ROLL; |
155 | break; |
155 | break; |
156 | case 1: |
156 | case 1: |
157 | roll1 = ADC; |
157 | roll1 = ADC; |
158 | kanal = AD_GIER; |
158 | kanal = AD_GIER; |
159 | break; |
159 | break; |
160 | case 2: |
160 | case 2: |
161 | gier1 = ADC; |
161 | gier1 = ADC; |
162 | kanal = AD_ACC_Y; |
162 | kanal = AD_ACC_Y; |
163 | break; |
163 | break; |
164 | case 3: |
164 | case 3: |
165 | Aktuell_ay = NeutralAccY - ADC; |
165 | Aktuell_ay = NeutralAccY - ADC; |
166 | accy = Aktuell_ay; |
166 | accy = Aktuell_ay; |
167 | kanal = AD_ACC_X; |
167 | kanal = AD_ACC_X; |
168 | break; |
168 | break; |
169 | case 4: |
169 | case 4: |
170 | Aktuell_ax = ADC - NeutralAccX; |
170 | Aktuell_ax = ADC - NeutralAccX; |
171 | accx = Aktuell_ax; |
171 | accx = Aktuell_ax; |
172 | kanal = AD_NICK; |
172 | kanal = AD_NICK; |
173 | break; |
173 | break; |
174 | case 5: |
174 | case 5: |
175 | nick1 += ADC; |
175 | nick1 += ADC; |
176 | kanal = AD_ROLL; |
176 | kanal = AD_ROLL; |
177 | break; |
177 | break; |
178 | case 6: |
178 | case 6: |
179 | roll1 += ADC; |
179 | roll1 += ADC; |
180 | kanal = AD_UBAT; |
180 | kanal = AD_UBAT; |
181 | break; |
181 | break; |
182 | case 7: |
182 | case 7: |
183 | UBat = (3 * UBat + ADC / 3) / 4; |
183 | UBat = (3 * UBat + ADC / 3) / 4; |
184 | kanal = AD_ACC_Z; |
184 | kanal = AD_ACC_Z; |
185 | break; |
185 | break; |
186 | case 8: |
186 | case 8: |
187 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
187 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
188 | 188 | ||
189 | /* // MartinR: deaktivieren Anfang |
189 | /* // MartinR: deaktivieren Anfang |
190 | |
190 | |
191 | if(AdWertAccHoch > 1) |
191 | if(AdWertAccHoch > 1) |
192 | { |
192 | { |
193 | if(NeutralAccZ < 750) |
193 | if(NeutralAccZ < 750) |
194 | { |
194 | { |
195 | subcount += 5; |
195 | subcount += 5; |
196 | if(modell_fliegt < 500) subcount += 10; |
196 | if(modell_fliegt < 500) subcount += 10; |
197 | } |
197 | } |
198 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
198 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
199 | } |
199 | } |
200 | else if(AdWertAccHoch < -1) |
200 | else if(AdWertAccHoch < -1) |
201 | { |
201 | { |
202 | if(NeutralAccZ > 550) |
202 | if(NeutralAccZ > 550) |
203 | { |
203 | { |
204 | subcount -= 5; |
204 | subcount -= 5; |
205 | if(modell_fliegt < 500) subcount -= 10; |
205 | if(modell_fliegt < 500) subcount -= 10; |
206 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
206 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
207 | } |
207 | } |
208 | } |
208 | } |
209 | |
209 | |
210 | */ // MartinR: deaktivieren Ende |
210 | */ // MartinR: deaktivieren Ende |
211 | 211 | ||
212 | messanzahl_AccHoch = 1; |
212 | messanzahl_AccHoch = 1; |
213 | Aktuell_az = ADC; |
213 | Aktuell_az = ADC; |
214 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
214 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
215 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
215 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
216 | kanal = AD_DRUCK; |
216 | kanal = AD_DRUCK; |
217 | break; |
217 | break; |
218 | // "case 9:" fehlt hier absichtlich |
218 | // "case 9:" fehlt hier absichtlich |
219 | case 10: |
219 | case 10: |
220 | nick1 += ADC; |
220 | nick1 += ADC; |
221 | kanal = AD_ROLL; |
221 | kanal = AD_ROLL; |
222 | break; |
222 | break; |
223 | case 11: |
223 | case 11: |
224 | roll1 += ADC; |
224 | roll1 += ADC; |
225 | kanal = AD_GIER; |
225 | kanal = AD_GIER; |
226 | break; |
226 | break; |
227 | case 12: |
227 | case 12: |
228 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
228 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
229 | else |
229 | else |
230 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
230 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
231 | else AdWertGier = (ADC + gier1); |
231 | else AdWertGier = (ADC + gier1); |
232 | kanal = AD_ACC_Y; |
232 | kanal = AD_ACC_Y; |
233 | break; |
233 | break; |
234 | case 13: |
234 | case 13: |
235 | Aktuell_ay = NeutralAccY - ADC; |
235 | Aktuell_ay = NeutralAccY - ADC; |
236 | AdWertAccRoll = (Aktuell_ay + accy); |
236 | AdWertAccRoll = (Aktuell_ay + accy); |
237 | kanal = AD_ACC_X; |
237 | kanal = AD_ACC_X; |
238 | break; |
238 | break; |
239 | case 14: |
239 | case 14: |
240 | Aktuell_ax = ADC - NeutralAccX; |
240 | Aktuell_ax = ADC - NeutralAccX; |
241 | AdWertAccNick = (Aktuell_ax + accx); |
241 | AdWertAccNick = (Aktuell_ax + accx); |
242 | kanal = AD_NICK; |
242 | kanal = AD_NICK; |
243 | break; |
243 | break; |
244 | case 15: |
244 | case 15: |
245 | nick1 += ADC; |
245 | nick1 += ADC; |
246 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
246 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
247 | AdWertNick = nick1 / 8; |
247 | AdWertNick = nick1 / 8; |
248 | nick_filter = (nick_filter + nick1) / 2; |
248 | nick_filter = (nick_filter + nick1) / 2; |
249 | //HiResNick = nick_filter - AdNeutralNick; // MartinR: so war es |
249 | //HiResNick = nick_filter - AdNeutralNick; // MartinR: so war es |
250 | HiResNick = (nick_filter - AdNeutralNick + 4 ) / 8 ; // MartinR: + 4um Rundungsfehler zu verbessern |
250 | HiResNick = (nick_filter - AdNeutralNick + 4 ) / 8 ; // MartinR: + 4um Rundungsfehler zu verbessern |
251 | // MartinR: /8 von fc.c nach hier verschoben um Code zu sparen |
251 | // MartinR: /8 von fc.c nach hier verschoben um Code zu sparen |
252 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
252 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
253 | kanal = AD_ROLL; |
253 | kanal = AD_ROLL; |
254 | break; |
254 | break; |
255 | case 16: |
255 | case 16: |
256 | roll1 += ADC; |
256 | roll1 += ADC; |
257 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
257 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
258 | AdWertRoll = roll1 / 8; |
258 | AdWertRoll = roll1 / 8; |
259 | roll_filter = (roll_filter + roll1) / 2; |
259 | roll_filter = (roll_filter + roll1) / 2; |
260 | HiResRoll = roll_filter - AdNeutralRoll; // MartinR: so war es |
260 | HiResRoll = roll_filter - AdNeutralRoll; // MartinR: so war es |
261 | HiResRoll = (roll_filter - AdNeutralRoll + 4 ) / 8; // MartinR: + 4um Rundungsfehler zu verbessern |
261 | HiResRoll = (roll_filter - AdNeutralRoll + 4 ) / 8; // MartinR: + 4um Rundungsfehler zu verbessern |
262 | // MartinR: /8 von fc.c nach hier verschoben um Code zu sparen |
262 | // MartinR: /8 von fc.c nach hier verschoben um Code zu sparen |
263 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
263 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
264 | kanal = AD_DRUCK; |
264 | kanal = AD_DRUCK; |
265 | break; |
265 | break; |
266 | case 17: |
266 | case 17: |
267 | state = 0; |
267 | state = 0; |
268 | AdReady = 1; |
268 | AdReady = 1; |
269 | ZaehlMessungen++; |
269 | ZaehlMessungen++; |
270 | // "break" fehlt hier absichtlich |
270 | // "break" fehlt hier absichtlich |
271 | case 9: |
271 | case 9: |
272 | MessLuftdruck = ADC; |
272 | //MessLuftdruck = ADC; // MartinR: so war es |
- | 273 | MessLuftdruck = ADC + ((Parameter_UserParam4 * AdWertAccHoch) / 256) ; // MartinR: |
|
- | 274 | // mit Korrektur der Beschleunigungsempfindlichkeit des Luftdrucksensors |
|
273 | tmpLuftdruck += MessLuftdruck; |
275 | tmpLuftdruck += MessLuftdruck; |
274 | if(++messanzahl_Druck >= 18) |
276 | if(++messanzahl_Druck >= 18) |
275 | { |
277 | { |
276 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
278 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
277 | HoehenWert = StartLuftdruck - Luftdruck; |
279 | HoehenWert = StartLuftdruck - Luftdruck; |
278 | SummenHoehe -= SummenHoehe/SM_FILTER; |
280 | SummenHoehe -= SummenHoehe/SM_FILTER; |
279 | SummenHoehe += HoehenWert; |
281 | SummenHoehe += HoehenWert; |
280 | VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
282 | VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
281 | tmpLuftdruck /= 2; |
283 | tmpLuftdruck /= 2; |
282 | messanzahl_Druck = 18/2; |
284 | messanzahl_Druck = 18/2; |
283 | } |
285 | } |
284 | kanal = AD_NICK; |
286 | kanal = AD_NICK; |
285 | break; |
287 | break; |
286 | default: |
288 | default: |
287 | kanal = 0; state = 0; kanal = AD_NICK; |
289 | kanal = 0; state = 0; kanal = AD_NICK; |
288 | break; |
290 | break; |
289 | } |
291 | } |
290 | ADMUX = kanal; |
292 | ADMUX = kanal; |
291 | if(state != 0) ANALOG_ON; |
293 | if(state != 0) ANALOG_ON; |
292 | } |
294 | } |
293 | 295 | ||
294 | 296 |