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