WebSVN - FlightCtrl - Diff - Rev 1622 and 1638 - /branches/V0.84a-test1/analog.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
volatile unsigned char AdReady = 1;
//#######################################################################################
//
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;
 OCR0A = 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 = 18;
   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;}
   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 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)
               {
                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:
                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 = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;
                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;
 
}
 
 
 
/*
//#######################################################################################
//
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 1622	Rev 1638
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

Subversion Repositories FlightCtrl

(root)/branches/V0.84a-test1/analog.c @ 2030 - Rev 1622 → 1638