WebSVN - FlightCtrl - Diff - Rev 1219 and 1246 - /branches/V0.84a-test1/analog.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "main.h"
volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
volatile int  HiResNick = 2500, HiResRoll = 2500;
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
volatile char messanzahl_AccHoch = 0;
volatile long Luftdruck = 32000;
volatile int  StartLuftdruck;
volatile unsigned int  MessLuftdruck = 1023;
unsigned char DruckOffsetSetting;
signed char ExpandBaro = 0;
volatile int HoeheD = 0;
volatile char messanzahl_Druck;
volatile long tmpLuftdruck;
volatile unsigned int ZaehlMessungen = 0;
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
volatile unsigned char AdReady = 1;
//#######################################################################################
//
void ADC_Init(void)
//#######################################################################################
{
    ADMUX = 0;//Referenz ist extern
    ANALOG_ON;
}
 
void SucheLuftruckOffset(void)
{
 unsigned int off;
 off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
 if(off > 20) off -= 10;
 OCR0A = off;
 ExpandBaro = 0;
 Delay_ms_Mess(100);
 if(MessLuftdruck < 850) off = 0;
 for(; off < 250;off++)
  {
  OCR0A = off;
  Delay_ms_Mess(50);
  printf(".");
  if(MessLuftdruck < 850) break;
  }
 eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
 DruckOffsetSetting = off;
 Delay_ms_Mess(300);
}
 
void SucheGyroOffset(void)
{
 unsigned char i, ready = 0;
 int timeout;
 GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
 timeout = SetDelay(2000);
 for(i=140; i != 0; i--)
  {
   if(ready == 3 && i > 10) i = 9;
   ready = 0;
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
   twi_state = 8;
   i2c_start();
   if(AnalogOffsetNick < 10)  { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
   messanzahl_Druck = 0;
   ANALOG_ON;
   while(messanzahl_Druck == 0);
   if(i<10) Delay_ms_Mess(10);
  }
   Delay_ms_Mess(70);
}
 
/*
0  n
1  r
2     g
3     y
4     x
5  n
6  r
7     u
8     z
9     L
10 n
11 r
12    g
13    y
14    x
15 n
16 r
17    L
*/
 
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;
        static signed int accy, accx;
    switch(state++)
        {
        case 0:
            nick1 = ADC;
            kanal = AD_ROLL;
            break;
        case 1:
            roll1 = ADC;
                    kanal = AD_GIER;
            break;
        case 2:
            gier1 = ADC;
            kanal = AD_ACC_Y;
            break;
        case 3:
            Aktuell_ay = NeutralAccY - ADC;
            accy = Aktuell_ay;
                    kanal = AD_ACC_X;
            break;
        case 4:
            Aktuell_ax = ADC - NeutralAccX;
            accx =  Aktuell_ax;
            kanal = AD_NICK;
            break;
        case 5:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 6:
            roll1 += ADC;
            kanal = AD_UBAT;
            break;
        case 7:
            UBat = (3 * UBat + ADC / 3) / 4;
                    kanal = AD_ACC_Z;
            break;
       case 8:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                NeutralAccZ += 0.02;
                if(modell_fliegt < 500) NeutralAccZ += 0.1;
               }
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 NeutralAccZ-= 0.02;
                 if(modell_fliegt < 500) NeutralAccZ -= 0.1;
                }
             }
            messanzahl_AccHoch = 1;
            Aktuell_az = ADC;
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
                kanal = AD_DRUCK;
            break;
   // "case 8:" fehlt hier absichtlich
        case 10:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 11:
            roll1 += ADC;
                    kanal = AD_GIER;
            break;
        case 12:
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;
            else
            if(PlatinenVersion == 20)  AdWertGier = 2047 - (ADC + gier1);
                        else                                       AdWertGier = (ADC + gier1);
            kanal = AD_ACC_Y;
            break;
        case 13:
            Aktuell_ay = NeutralAccY - ADC;
            AdWertAccRoll = (Aktuell_ay + accy);
            kanal = AD_ACC_X;
            break;
        case 14:
            Aktuell_ax = ADC - NeutralAccX;
            AdWertAccNick =  (Aktuell_ax + accx);
            kanal = AD_NICK;
            break;
        case 15:
            nick1 += ADC;
            if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4;
            AdWertNick = nick1 / 8;
            nick_filter = (nick_filter + nick1) / 2;
            HiResNick = nick_filter - AdNeutralNick;
            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
            kanal = AD_ROLL;
            break;
        case 16:
            roll1 += ADC;
            if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4;
            AdWertRoll = roll1 / 8;
            roll_filter = (roll_filter + roll1) / 2;
            HiResRoll = roll_filter - AdNeutralRoll;
            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
                kanal = AD_DRUCK;
            break;
        case 17:
            state = 0;
                        AdReady = 1;
            ZaehlMessungen++;
            // "break" fehlt hier absichtlich
        case 9:
            tmpLuftdruck += ADC;
            if(++messanzahl_Druck >= 5)
                {
                                tmpLuftdruck -= 2616L * ExpandBaro; // -523.19 counts per 10 counts offset step
                                tmpLuftdruck /= 2;
                MessLuftdruck = ADC;
                messanzahl_Druck = 0;
                                HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)((int)(StartLuftdruck - tmpLuftdruck) - HoehenWert))/32;  // D-Anteil = neuerWert - AlterWert
                Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;
                HoehenWert = StartLuftdruck - Luftdruck;
                tmpLuftdruck /= 2;
                }
            kanal = AD_NICK;
            break;
        default:
            kanal = 0; state = 0; kanal = AD_NICK;
            break;
        }
    ADMUX = kanal;
    if(state != 0) ANALOG_ON;
}
 
 
 
/*
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
    static signed int gier1, roll1, nick1;
        static signed long nick_filter, roll_filter;
        static signed int accy, accx;
    switch(state++)
        {
        case 0:
            nick1 = ADC;
            kanal = AD_ROLL;
            break;
        case 1:
            roll1 = ADC;
                    kanal = AD_GIER;
            break;
        case 2:
            gier1 = ADC;
            kanal = AD_ACC_Y;
            break;
        case 3:
            Aktuell_ay = NeutralAccY - ADC;
            accy = Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 4:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 5:
            roll1 += ADC;
                    kanal = AD_ACC_Z;
            break;
       case 6:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                NeutralAccZ += 0.02;
                if(modell_fliegt < 500) NeutralAccZ += 0.1;
               }
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 NeutralAccZ-= 0.02;
                 if(modell_fliegt < 500) NeutralAccZ -= 0.1;
                }
             }
            messanzahl_AccHoch = 1;
            Aktuell_az = ADC;
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
            kanal = AD_NICK;
            break;
        case 7:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 8:
            roll1 += ADC;
                    kanal = AD_ACC_X;
            break;
        case 9:
            Aktuell_ax = ADC - NeutralAccX;
            accx =  Aktuell_ax;
                    kanal = AD_GIER;
            break;
        case 10:
            gier1 += ADC;
            kanal = AD_NICK;
            break;
        case 11:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 12:
            roll1 += ADC;
            kanal = AD_UBAT;
            break;
        case 13:
            UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19)  / 2;
            kanal = AD_ACC_Y;
            break;
        case 14:
            Aktuell_ay = NeutralAccY - ADC;
            accy += Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 15:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 16:
            roll1 += ADC;
            kanal = AD_ACC_X;
            break;
        case 17:
            Aktuell_ax = ADC - NeutralAccX;
            accx += Aktuell_ax;
                    kanal = AD_NICK;
            break;
        case 18:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 19:
            roll1 += ADC;
                    kanal = AD_GIER;
            break;
        case 20:
            gier1 += ADC;
            kanal = AD_ACC_Y;
            break;
        case 21:
            Aktuell_ay = NeutralAccY - ADC;
            accy += Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 22:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 23:
            roll1 += ADC;
                kanal = AD_DRUCK;
            break;
        case 24:
            tmpLuftdruck += ADC;
            if(++messanzahl_Druck >= 5)
                {
                MessLuftdruck = ADC;
                messanzahl_Druck = 0;
                                HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8;  // D-Anteil = neuerWert - AlterWert
                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
                HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
                tmpLuftdruck = 0;
                }
            kanal = AD_NICK;
            break;
        case 25:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 26:
            roll1 += ADC;
                    kanal = AD_ACC_X;
            break;
        case 27:
            Aktuell_ax = ADC - NeutralAccX;
            accx +=  Aktuell_ax;
                    kanal = AD_GIER;
            break;
        case 28:
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 2) / 4;
            else
            if(PlatinenVersion == 20)  AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
                        else                                       AdWertGier = (ADC + gier1 + 1) / 2;
            kanal = AD_NICK;
            break;
        case 29:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 30:
            roll1 += ADC;
            kanal = AD_ACC_Y;
            break;
        case 31:
            Aktuell_ay = NeutralAccY - ADC;
            AdWertAccRoll = (Aktuell_ay + accy);
            kanal = AD_NICK;
            break;
        case 32:
            AdWertNick = (ADC + nick1 + 3) / 5;
            nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
            if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
            HiResNick = nick_filter - 20 * AdNeutralNick;
            AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
            DebugOut.Analog[21] = AdWertNickFilter / 4;
            kanal = AD_ROLL;
            break;
        case 33:
            AdWertRoll = (ADC + roll1 + 3) / 5;
            roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
            if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
            HiResRoll = roll_filter - 20 * AdNeutralRoll;
            AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
            DebugOut.Analog[22] = AdWertRollFilter / 4;
            kanal = AD_ACC_X;
            break;
        case 34:
            Aktuell_ax = ADC - NeutralAccX;
            AdWertAccNick =  (Aktuell_ax + accx);
                    kanal = AD_NICK;
            state = 0;
                        AdReady = 1;
            ZaehlMessungen++;
            break;
        default:
            kanal = 0;
            state = 0;
            break;
        }
    ADMUX = kanal;
    if(state != 0) ANALOG_ON;
}
*/
 

Rev 1219	Rev 1246
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + only for non-profit use	3	// + only for non-profit use
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// + see the File "License.txt" for further Informations	5	// + see the File "License.txt" for further Informations
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7		7
8	#include "main.h"	8	#include "main.h"
9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;	9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;	10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
11	volatile int HiResNick = 2500, HiResRoll = 2500;	11	volatile int HiResNick = 2500, HiResRoll = 2500;
12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;	12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;	13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
14	volatile char messanzahl_AccHoch = 0;	14	volatile char messanzahl_AccHoch = 0;
15	volatile long Luftdruck = 32000;	15	volatile long Luftdruck = 32000;
16	volatile int StartLuftdruck;	16	volatile int StartLuftdruck;
17	volatile unsigned int MessLuftdruck = 1023;	17	volatile unsigned int MessLuftdruck = 1023;
18	unsigned char DruckOffsetSetting;	18	unsigned char DruckOffsetSetting;
19	signed char ExpandBaro = 0;	19	signed char ExpandBaro = 0;
20	volatile int HoeheD = 0;	20	volatile int HoeheD = 0;
21	volatile char messanzahl_Druck;	21	volatile char messanzahl_Druck;
22	volatile int tmpLuftdruck;	22	volatile long tmpLuftdruck;
23	volatile unsigned int ZaehlMessungen = 0;	23	volatile unsigned int ZaehlMessungen = 0;
24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;	25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
26	volatile unsigned char AdReady = 1;	26	volatile unsigned char AdReady = 1;
27	//#######################################################################################	27	//#######################################################################################
28	//	28	//
29	void ADC_Init(void)	29	void ADC_Init(void)
30	//#######################################################################################	30	//#######################################################################################
31	{	31	{
32	ADMUX = 0;//Referenz ist extern	32	ADMUX = 0;//Referenz ist extern
33	ANALOG_ON;	33	ANALOG_ON;
34	}	34	}
35		35
36	void SucheLuftruckOffset(void)	36	void SucheLuftruckOffset(void)
37	{	37	{
38	unsigned int off;	38	unsigned int off;
39	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);	39	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
40	if(off > 20) off -= 10;	40	if(off > 20) off -= 10;
41	OCR0A = off;	41	OCR0A = off;
42	ExpandBaro = 0;	42	ExpandBaro = 0;
43	Delay_ms_Mess(100);	43	Delay_ms_Mess(100);
44	if(MessLuftdruck < 850) off = 0;	44	if(MessLuftdruck < 850) off = 0;
45	for(; off < 250;off++)	45	for(; off < 250;off++)
46	{	46	{
47	OCR0A = off;	47	OCR0A = off;
48	Delay_ms_Mess(50);	48	Delay_ms_Mess(50);
49	printf(".");	49	printf(".");
50	if(MessLuftdruck < 850) break;	50	if(MessLuftdruck < 850) break;
51	}	51	}
52	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);	52	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
53	DruckOffsetSetting = off;	53	DruckOffsetSetting = off;
54	Delay_ms_Mess(300);	54	Delay_ms_Mess(300);
55	}	55	}
56		56
57	void SucheGyroOffset(void)	57	void SucheGyroOffset(void)
58	{	58	{
59	unsigned char i, ready = 0;	59	unsigned char i, ready = 0;
60	int timeout;	60	int timeout;
61	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	61	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
62	timeout = SetDelay(2000);	62	timeout = SetDelay(2000);
63	for(i=140; i != 0; i--)	63	for(i=140; i != 0; i--)
64	{	64	{
65	if(ready == 3 && i > 10) i = 9;	65	if(ready == 3 && i > 10) i = 9;
66	ready = 0;	66	ready = 0;
67	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	67	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
68	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	68	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
69	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	69	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
70	twi_state = 8;	70	twi_state = 8;
71	i2c_start();	71	i2c_start();
72	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};	72	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
73	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};	73	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
74	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};	74	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
75	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	75	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
76	messanzahl_Druck = 0;	76	messanzahl_Druck = 0;
77	ANALOG_ON;	77	ANALOG_ON;
78	while(messanzahl_Druck == 0);	78	while(messanzahl_Druck == 0);
79	if(i<10) Delay_ms_Mess(10);	79	if(i<10) Delay_ms_Mess(10);
80	}	80	}
81	Delay_ms_Mess(70);	81	Delay_ms_Mess(70);
82	}	82	}
83		83
84	/*	84	/*
85	0 n	85	0 n
86	1 r	86	1 r
87	2 g	87	2 g
88	3 y	88	3 y
89	4 x	89	4 x
90	5 n	90	5 n
91	6 r	91	6 r
92	7 u	92	7 u
93	8 z	93	8 z
94	9 L	94	9 L
95	10 n	95	10 n
96	11 r	96	11 r
97	12 g	97	12 g
98	13 y	98	13 y
99	14 x	99	14 x
100	15 n	100	15 n
101	16 r	101	16 r
102	17 L	102	17 L
103	*/	103	*/
104		104
105	//#######################################################################################	105	//#######################################################################################
106	//	106	//
107	SIGNAL(SIG_ADC)	107	SIGNAL(SIG_ADC)
108	//#######################################################################################	108	//#######################################################################################
109	{	109	{
110	static unsigned char kanal=0,state = 0;	110	static unsigned char kanal=0,state = 0;
111	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	111	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
112	static signed int accy, accx;	112	static signed int accy, accx;
113	switch(state++)	113	switch(state++)
114	{	114	{
115	case 0:	115	case 0:
116	nick1 = ADC;	116	nick1 = ADC;
117	kanal = AD_ROLL;	117	kanal = AD_ROLL;
118	break;	118	break;
119	case 1:	119	case 1:
120	roll1 = ADC;	120	roll1 = ADC;
121	kanal = AD_GIER;	121	kanal = AD_GIER;
122	break;	122	break;
123	case 2:	123	case 2:
124	gier1 = ADC;	124	gier1 = ADC;
125	kanal = AD_ACC_Y;	125	kanal = AD_ACC_Y;
126	break;	126	break;
127	case 3:	127	case 3:
128	Aktuell_ay = NeutralAccY - ADC;	128	Aktuell_ay = NeutralAccY - ADC;
129	accy = Aktuell_ay;	129	accy = Aktuell_ay;
130	kanal = AD_ACC_X;	130	kanal = AD_ACC_X;
131	break;	131	break;
132	case 4:	132	case 4:
133	Aktuell_ax = ADC - NeutralAccX;	133	Aktuell_ax = ADC - NeutralAccX;
134	accx = Aktuell_ax;	134	accx = Aktuell_ax;
135	kanal = AD_NICK;	135	kanal = AD_NICK;
136	break;	136	break;
137	case 5:	137	case 5:
138	nick1 += ADC;	138	nick1 += ADC;
139	kanal = AD_ROLL;	139	kanal = AD_ROLL;
140	break;	140	break;
141	case 6:	141	case 6:
142	roll1 += ADC;	142	roll1 += ADC;
143	kanal = AD_UBAT;	143	kanal = AD_UBAT;
144	break;	144	break;
145	case 7:	145	case 7:
146	UBat = (3 * UBat + ADC / 3) / 4;	146	UBat = (3 * UBat + ADC / 3) / 4;
147	kanal = AD_ACC_Z;	147	kanal = AD_ACC_Z;
148	break;	148	break;
149	case 8:	149	case 8:
150	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	150	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
151	if(AdWertAccHoch > 1)	151	if(AdWertAccHoch > 1)
152	{	152	{
153	if(NeutralAccZ < 750)	153	if(NeutralAccZ < 750)
154	{	154	{
155	NeutralAccZ += 0.02;	155	NeutralAccZ += 0.02;
156	if(modell_fliegt < 500) NeutralAccZ += 0.1;	156	if(modell_fliegt < 500) NeutralAccZ += 0.1;
157	}	157	}
158	}	158	}
159	else if(AdWertAccHoch < -1)	159	else if(AdWertAccHoch < -1)
160	{	160	{
161	if(NeutralAccZ > 550)	161	if(NeutralAccZ > 550)
162	{	162	{
163	NeutralAccZ-= 0.02;	163	NeutralAccZ-= 0.02;
164	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	164	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
165	}	165	}
166	}	166	}
167	messanzahl_AccHoch = 1;	167	messanzahl_AccHoch = 1;
168	Aktuell_az = ADC;	168	Aktuell_az = ADC;
169	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	169	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
170	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	170	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
171	kanal = AD_DRUCK;	171	kanal = AD_DRUCK;
172	break;	172	break;
173	// "case 8:" fehlt hier absichtlich	173	// "case 8:" fehlt hier absichtlich
174	case 10:	174	case 10:
175	nick1 += ADC;	175	nick1 += ADC;
176	kanal = AD_ROLL;	176	kanal = AD_ROLL;
177	break;	177	break;
178	case 11:	178	case 11:
179	roll1 += ADC;	179	roll1 += ADC;
180	kanal = AD_GIER;	180	kanal = AD_GIER;
181	break;	181	break;
182	case 12:	182	case 12:
183	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	183	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
184	else	184	else
185	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);	185	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);
186	else AdWertGier = (ADC + gier1);	186	else AdWertGier = (ADC + gier1);
187	kanal = AD_ACC_Y;	187	kanal = AD_ACC_Y;
188	break;	188	break;
189	case 13:	189	case 13:
190	Aktuell_ay = NeutralAccY - ADC;	190	Aktuell_ay = NeutralAccY - ADC;
191	AdWertAccRoll = (Aktuell_ay + accy);	191	AdWertAccRoll = (Aktuell_ay + accy);
192	kanal = AD_ACC_X;	192	kanal = AD_ACC_X;
193	break;	193	break;
194	case 14:	194	case 14:
195	Aktuell_ax = ADC - NeutralAccX;	195	Aktuell_ax = ADC - NeutralAccX;
196	AdWertAccNick = (Aktuell_ax + accx);	196	AdWertAccNick = (Aktuell_ax + accx);
197	kanal = AD_NICK;	197	kanal = AD_NICK;
198	break;	198	break;
199	case 15:	199	case 15:
200	nick1 += ADC;	200	nick1 += ADC;
201	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	201	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
202	AdWertNick = nick1 / 8;	202	AdWertNick = nick1 / 8;
203	nick_filter = (nick_filter + nick1) / 2;	203	nick_filter = (nick_filter + nick1) / 2;
204	HiResNick = nick_filter - AdNeutralNick;	204	HiResNick = nick_filter - AdNeutralNick;
205	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	205	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
206	kanal = AD_ROLL;	206	kanal = AD_ROLL;
207	break;	207	break;
208	case 16:	208	case 16:
209	roll1 += ADC;	209	roll1 += ADC;
210	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	210	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
211	AdWertRoll = roll1 / 8;	211	AdWertRoll = roll1 / 8;
212	roll_filter = (roll_filter + roll1) / 2;	212	roll_filter = (roll_filter + roll1) / 2;
213	HiResRoll = roll_filter - AdNeutralRoll;	213	HiResRoll = roll_filter - AdNeutralRoll;
214	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	214	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
215	kanal = AD_DRUCK;	215	kanal = AD_DRUCK;
216	break;	216	break;
217	case 17:	217	case 17:
218	state = 0;	218	state = 0;
219	AdReady = 1;	219	AdReady = 1;
220	ZaehlMessungen++;	220	ZaehlMessungen++;
221	// "break" fehlt hier absichtlich	221	// "break" fehlt hier absichtlich
222	case 9:	222	case 9:
223	tmpLuftdruck += ADC;	223	tmpLuftdruck += ADC;
224	if(++messanzahl_Druck >= 5)	224	if(++messanzahl_Druck >= 5)
225	{	225	{
-		226	tmpLuftdruck -= 2616L * ExpandBaro; // -523.19 counts per 10 counts offset step
226	tmpLuftdruck /= 2;	227	tmpLuftdruck /= 2;
227	MessLuftdruck = ADC;	228	MessLuftdruck = ADC;
228	messanzahl_Druck = 0;	229	messanzahl_Druck = 0;
229	HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert	230	HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)((int)(StartLuftdruck - tmpLuftdruck) - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert
230	Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;	231	Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;
231	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	232	HoehenWert = StartLuftdruck - Luftdruck;
232	tmpLuftdruck /= 2;	233	tmpLuftdruck /= 2;
233	}	234	}
234	kanal = AD_NICK;	235	kanal = AD_NICK;
235	break;	236	break;
236	default:	237	default:
237	kanal = 0; state = 0; kanal = AD_NICK;	238	kanal = 0; state = 0; kanal = AD_NICK;
238	break;	239	break;
239	}	240	}
240	ADMUX = kanal;	241	ADMUX = kanal;
241	if(state != 0) ANALOG_ON;	242	if(state != 0) ANALOG_ON;
242	}	243	}
243		244
244		245
245		246
246	/*	247	/*
247	//#######################################################################################	248	//#######################################################################################
248	//	249	//
249	SIGNAL(SIG_ADC)	250	SIGNAL(SIG_ADC)
250	//#######################################################################################	251	//#######################################################################################
251	{	252	{
252	static unsigned char kanal=0,state = 0;	253	static unsigned char kanal=0,state = 0;
253	static signed int gier1, roll1, nick1;	254	static signed int gier1, roll1, nick1;
254	static signed long nick_filter, roll_filter;	255	static signed long nick_filter, roll_filter;
255	static signed int accy, accx;	256	static signed int accy, accx;
256	switch(state++)	257	switch(state++)
257	{	258	{
258	case 0:	259	case 0:
259	nick1 = ADC;	260	nick1 = ADC;
260	kanal = AD_ROLL;	261	kanal = AD_ROLL;
261	break;	262	break;
262	case 1:	263	case 1:
263	roll1 = ADC;	264	roll1 = ADC;
264	kanal = AD_GIER;	265	kanal = AD_GIER;
265	break;	266	break;
266	case 2:	267	case 2:
267	gier1 = ADC;	268	gier1 = ADC;
268	kanal = AD_ACC_Y;	269	kanal = AD_ACC_Y;
269	break;	270	break;
270	case 3:	271	case 3:
271	Aktuell_ay = NeutralAccY - ADC;	272	Aktuell_ay = NeutralAccY - ADC;
272	accy = Aktuell_ay;	273	accy = Aktuell_ay;
273	kanal = AD_NICK;	274	kanal = AD_NICK;
274	break;	275	break;
275	case 4:	276	case 4:
276	nick1 += ADC;	277	nick1 += ADC;
277	kanal = AD_ROLL;	278	kanal = AD_ROLL;
278	break;	279	break;
279	case 5:	280	case 5:
280	roll1 += ADC;	281	roll1 += ADC;
281	kanal = AD_ACC_Z;	282	kanal = AD_ACC_Z;
282	break;	283	break;
283	case 6:	284	case 6:
284	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	285	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
285	if(AdWertAccHoch > 1)	286	if(AdWertAccHoch > 1)
286	{	287	{
287	if(NeutralAccZ < 750)	288	if(NeutralAccZ < 750)
288	{	289	{
289	NeutralAccZ += 0.02;	290	NeutralAccZ += 0.02;
290	if(modell_fliegt < 500) NeutralAccZ += 0.1;	291	if(modell_fliegt < 500) NeutralAccZ += 0.1;
291	}	292	}
292	}	293	}
293	else if(AdWertAccHoch < -1)	294	else if(AdWertAccHoch < -1)
294	{	295	{
295	if(NeutralAccZ > 550)	296	if(NeutralAccZ > 550)
296	{	297	{
297	NeutralAccZ-= 0.02;	298	NeutralAccZ-= 0.02;
298	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	299	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
299	}	300	}
300	}	301	}
301	messanzahl_AccHoch = 1;	302	messanzahl_AccHoch = 1;
302	Aktuell_az = ADC;	303	Aktuell_az = ADC;
303	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	304	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
304	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	305	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
305	kanal = AD_NICK;	306	kanal = AD_NICK;
306	break;	307	break;
307	case 7:	308	case 7:
308	nick1 += ADC;	309	nick1 += ADC;
309	kanal = AD_ROLL;	310	kanal = AD_ROLL;
310	break;	311	break;
311	case 8:	312	case 8:
312	roll1 += ADC;	313	roll1 += ADC;
313	kanal = AD_ACC_X;	314	kanal = AD_ACC_X;
314	break;	315	break;
315	case 9:	316	case 9:
316	Aktuell_ax = ADC - NeutralAccX;	317	Aktuell_ax = ADC - NeutralAccX;
317	accx = Aktuell_ax;	318	accx = Aktuell_ax;
318	kanal = AD_GIER;	319	kanal = AD_GIER;
319	break;	320	break;
320	case 10:	321	case 10:
321	gier1 += ADC;	322	gier1 += ADC;
322	kanal = AD_NICK;	323	kanal = AD_NICK;
323	break;	324	break;
324	case 11:	325	case 11:
325	nick1 += ADC;	326	nick1 += ADC;
326	kanal = AD_ROLL;	327	kanal = AD_ROLL;
327	break;	328	break;
328	case 12:	329	case 12:
329	roll1 += ADC;	330	roll1 += ADC;
330	kanal = AD_UBAT;	331	kanal = AD_UBAT;
331	break;	332	break;
332	case 13:	333	case 13:
333	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	334	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
334	kanal = AD_ACC_Y;	335	kanal = AD_ACC_Y;
335	break;	336	break;
336	case 14:	337	case 14:
337	Aktuell_ay = NeutralAccY - ADC;	338	Aktuell_ay = NeutralAccY - ADC;
338	accy += Aktuell_ay;	339	accy += Aktuell_ay;
339	kanal = AD_NICK;	340	kanal = AD_NICK;
340	break;	341	break;
341	case 15:	342	case 15:
342	nick1 += ADC;	343	nick1 += ADC;
343	kanal = AD_ROLL;	344	kanal = AD_ROLL;
344	break;	345	break;
345	case 16:	346	case 16:
346	roll1 += ADC;	347	roll1 += ADC;
347	kanal = AD_ACC_X;	348	kanal = AD_ACC_X;
348	break;	349	break;
349	case 17:	350	case 17:
350	Aktuell_ax = ADC - NeutralAccX;	351	Aktuell_ax = ADC - NeutralAccX;
351	accx += Aktuell_ax;	352	accx += Aktuell_ax;
352	kanal = AD_NICK;	353	kanal = AD_NICK;
353	break;	354	break;
354	case 18:	355	case 18:
355	nick1 += ADC;	356	nick1 += ADC;
356	kanal = AD_ROLL;	357	kanal = AD_ROLL;
357	break;	358	break;
358	case 19:	359	case 19:
359	roll1 += ADC;	360	roll1 += ADC;
360	kanal = AD_GIER;	361	kanal = AD_GIER;
361	break;	362	break;
362	case 20:	363	case 20:
363	gier1 += ADC;	364	gier1 += ADC;
364	kanal = AD_ACC_Y;	365	kanal = AD_ACC_Y;
365	break;	366	break;
366	case 21:	367	case 21:
367	Aktuell_ay = NeutralAccY - ADC;	368	Aktuell_ay = NeutralAccY - ADC;
368	accy += Aktuell_ay;	369	accy += Aktuell_ay;
369	kanal = AD_NICK;	370	kanal = AD_NICK;
370	break;	371	break;
371	case 22:	372	case 22:
372	nick1 += ADC;	373	nick1 += ADC;
373	kanal = AD_ROLL;	374	kanal = AD_ROLL;
374	break;	375	break;
375	case 23:	376	case 23:
376	roll1 += ADC;	377	roll1 += ADC;
377	kanal = AD_DRUCK;	378	kanal = AD_DRUCK;
378	break;	379	break;
379	case 24:	380	case 24:
380	tmpLuftdruck += ADC;	381	tmpLuftdruck += ADC;
381	if(++messanzahl_Druck >= 5)	382	if(++messanzahl_Druck >= 5)
382	{	383	{
383	MessLuftdruck = ADC;	384	MessLuftdruck = ADC;
384	messanzahl_Druck = 0;	385	messanzahl_Druck = 0;
385	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	386	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
386	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	387	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
387	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	388	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
388	tmpLuftdruck = 0;	389	tmpLuftdruck = 0;
389	}	390	}
390	kanal = AD_NICK;	391	kanal = AD_NICK;
391	break;	392	break;
392	case 25:	393	case 25:
393	nick1 += ADC;	394	nick1 += ADC;
394	kanal = AD_ROLL;	395	kanal = AD_ROLL;
395	break;	396	break;
396	case 26:	397	case 26:
397	roll1 += ADC;	398	roll1 += ADC;
398	kanal = AD_ACC_X;	399	kanal = AD_ACC_X;
399	break;	400	break;
400	case 27:	401	case 27:
401	Aktuell_ax = ADC - NeutralAccX;	402	Aktuell_ax = ADC - NeutralAccX;
402	accx += Aktuell_ax;	403	accx += Aktuell_ax;
403	kanal = AD_GIER;	404	kanal = AD_GIER;
404	break;	405	break;
405	case 28:	406	case 28:
406	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	407	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
407	else	408	else
408	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	409	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
409	else AdWertGier = (ADC + gier1 + 1) / 2;	410	else AdWertGier = (ADC + gier1 + 1) / 2;
410	kanal = AD_NICK;	411	kanal = AD_NICK;
411	break;	412	break;
412	case 29:	413	case 29:
413	nick1 += ADC;	414	nick1 += ADC;
414	kanal = AD_ROLL;	415	kanal = AD_ROLL;
415	break;	416	break;
416	case 30:	417	case 30:
417	roll1 += ADC;	418	roll1 += ADC;
418	kanal = AD_ACC_Y;	419	kanal = AD_ACC_Y;
419	break;	420	break;
420	case 31:	421	case 31:
421	Aktuell_ay = NeutralAccY - ADC;	422	Aktuell_ay = NeutralAccY - ADC;
422	AdWertAccRoll = (Aktuell_ay + accy);	423	AdWertAccRoll = (Aktuell_ay + accy);
423	kanal = AD_NICK;	424	kanal = AD_NICK;
424	break;	425	break;
425	case 32:	426	case 32:
426	AdWertNick = (ADC + nick1 + 3) / 5;	427	AdWertNick = (ADC + nick1 + 3) / 5;
427	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	428	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
428	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	429	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
429	HiResNick = nick_filter - 20 * AdNeutralNick;	430	HiResNick = nick_filter - 20 * AdNeutralNick;
430	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	431	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
431	DebugOut.Analog[21] = AdWertNickFilter / 4;	432	DebugOut.Analog[21] = AdWertNickFilter / 4;
432	kanal = AD_ROLL;	433	kanal = AD_ROLL;
433	break;	434	break;
434	case 33:	435	case 33:
435	AdWertRoll = (ADC + roll1 + 3) / 5;	436	AdWertRoll = (ADC + roll1 + 3) / 5;
436	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	437	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
437	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	438	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
438	HiResRoll = roll_filter - 20 * AdNeutralRoll;	439	HiResRoll = roll_filter - 20 * AdNeutralRoll;
439	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	440	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
440	DebugOut.Analog[22] = AdWertRollFilter / 4;	441	DebugOut.Analog[22] = AdWertRollFilter / 4;
441	kanal = AD_ACC_X;	442	kanal = AD_ACC_X;
442	break;	443	break;
443	case 34:	444	case 34:
444	Aktuell_ax = ADC - NeutralAccX;	445	Aktuell_ax = ADC - NeutralAccX;
445	AdWertAccNick = (Aktuell_ax + accx);	446	AdWertAccNick = (Aktuell_ax + accx);
446	kanal = AD_NICK;	447	kanal = AD_NICK;
447	state = 0;	448	state = 0;
448	AdReady = 1;	449	AdReady = 1;
449	ZaehlMessungen++;	450	ZaehlMessungen++;
450	break;	451	break;
451	default:	452	default:
452	kanal = 0;	453	kanal = 0;
453	state = 0;	454	state = 0;
454	break;	455	break;
455	}	456	}
456	ADMUX = kanal;	457	ADMUX = kanal;
457	if(state != 0) ANALOG_ON;	458	if(state != 0) ANALOG_ON;
458	}	459	}
459	*/	460	*/
460		461

Subversion Repositories FlightCtrl

(root)/branches/V0.84a-test1/analog.c @ 2030 - Rev 1219 → 1246