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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 VarioMeter = 0; |
20 | volatile int VarioMeter = 0; |
21 | volatile unsigned int ZaehlMessungen = 0; |
21 | volatile unsigned int ZaehlMessungen = 0; |
22 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
22 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
23 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
23 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
24 | volatile unsigned char AdReady = 1; |
24 | volatile unsigned char AdReady = 1; |
25 | //####################################################################################### |
25 | //####################################################################################### |
26 | // |
26 | // |
27 | void ADC_Init(void) |
27 | void ADC_Init(void) |
28 | //####################################################################################### |
28 | //####################################################################################### |
29 | { |
29 | { |
30 | ADMUX = 0;//Referenz ist extern |
30 | ADMUX = 0;//Referenz ist extern |
31 | ANALOG_ON; |
31 | ANALOG_ON; |
32 | } |
32 | } |
33 | 33 | ||
34 | void SucheLuftruckOffset(void) |
34 | void SucheLuftruckOffset(void) |
35 | { |
35 | { |
36 | unsigned int off; |
36 | unsigned int off; |
37 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
37 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
38 | if(off > 20) off -= 10; |
38 | if(off > 20) off -= 10; |
39 | OCR0A = off; |
39 | OCR0A = off; |
40 | ExpandBaro = 0; |
40 | ExpandBaro = 0; |
41 | Delay_ms_Mess(100); |
41 | Delay_ms_Mess(100); |
42 | if(MessLuftdruck < 850) off = 0; |
42 | if(MessLuftdruck < 850) off = 0; |
43 | for(; off < 250;off++) |
43 | for(; off < 250;off++) |
44 | { |
44 | { |
45 | OCR0A = off; |
45 | OCR0A = off; |
46 | Delay_ms_Mess(50); |
46 | Delay_ms_Mess(50); |
47 | printf("."); |
47 | printf("."); |
48 | if(MessLuftdruck < 850) break; |
48 | if(MessLuftdruck < 850) break; |
49 | } |
49 | } |
50 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
50 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
51 | DruckOffsetSetting = off; |
51 | DruckOffsetSetting = off; |
52 | Delay_ms_Mess(300); |
52 | Delay_ms_Mess(300); |
53 | } |
53 | } |
54 | 54 | ||
55 | void SucheGyroOffset(void) |
55 | void SucheGyroOffset(void) |
56 | { |
56 | { |
57 | unsigned char i, ready = 0; |
57 | unsigned char i, ready = 0; |
58 | int timeout; |
58 | int timeout; |
59 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
59 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
60 | timeout = SetDelay(2000); |
60 | timeout = SetDelay(2000); |
61 | for(i=140; i != 0; i--) |
61 | for(i=140; i != 0; i--) |
62 | { |
62 | { |
63 | if(ready == 3 && i > 10) i = 9; |
63 | if(ready == 3 && i > 10) i = 9; |
64 | ready = 0; |
64 | ready = 0; |
65 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
65 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
66 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
66 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
67 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
67 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
68 | twi_state = 8; |
68 | twi_state = 8; |
69 | i2c_start(); |
69 | i2c_start(); |
70 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
70 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
71 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
71 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
72 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
72 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
73 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
73 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
74 | AdReady = 0; |
74 | AdReady = 0; |
75 | ANALOG_ON; |
75 | ANALOG_ON; |
76 | while(!AdReady); |
76 | while(!AdReady); |
77 | if(i<10) Delay_ms_Mess(10); |
77 | if(i<10) Delay_ms_Mess(10); |
78 | } |
78 | } |
79 | Delay_ms_Mess(70); |
79 | Delay_ms_Mess(70); |
80 | } |
80 | } |
81 | 81 | ||
82 | /* |
82 | /* |
83 | 0 n |
83 | 0 n |
84 | 1 r |
84 | 1 r |
85 | 2 g |
85 | 2 g |
86 | 3 y |
86 | 3 y |
87 | 4 x |
87 | 4 x |
88 | 5 n |
88 | 5 n |
89 | 6 r |
89 | 6 r |
90 | 7 u |
90 | 7 u |
91 | 8 z |
91 | 8 z |
92 | 9 L |
92 | 9 L |
93 | 10 n |
93 | 10 n |
94 | 11 r |
94 | 11 r |
95 | 12 g |
95 | 12 g |
96 | 13 y |
96 | 13 y |
97 | 14 x |
97 | 14 x |
98 | 15 n |
98 | 15 n |
99 | 16 r |
99 | 16 r |
100 | 17 L |
100 | 17 L |
101 | */ |
101 | */ |
102 | 102 | ||
103 | //####################################################################################### |
103 | //####################################################################################### |
104 | // |
104 | // |
105 | SIGNAL(SIG_ADC) |
105 | SIGNAL(SIG_ADC) |
106 | //####################################################################################### |
106 | //####################################################################################### |
107 | { |
107 | { |
108 | static unsigned char kanal=0,state = 0; |
108 | static unsigned char kanal=0,state = 0; |
109 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
109 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
110 | static signed int accy, accx; |
110 | static signed int accy, accx; |
111 | 111 | ||
112 | static long tmpLuftdruck = 0; |
112 | static long tmpLuftdruck = 0; |
113 | static char messanzahl_Druck = 0; |
113 | static char messanzahl_Druck = 0; |
114 | static long SummenHoehe = 0; |
114 | static long SummenHoehe = 0; |
115 | - | ||
116 | switch(state++) |
115 | switch(state++) |
117 | { |
116 | { |
118 | case 0: |
117 | case 0: |
119 | nick1 = ADC; |
118 | nick1 = ADC; |
120 | kanal = AD_ROLL; |
119 | kanal = AD_ROLL; |
121 | break; |
120 | break; |
122 | case 1: |
121 | case 1: |
123 | roll1 = ADC; |
122 | roll1 = ADC; |
124 | kanal = AD_GIER; |
123 | kanal = AD_GIER; |
125 | break; |
124 | break; |
126 | case 2: |
125 | case 2: |
127 | gier1 = ADC; |
126 | gier1 = ADC; |
128 | kanal = AD_ACC_Y; |
127 | kanal = AD_ACC_Y; |
129 | break; |
128 | break; |
130 | case 3: |
129 | case 3: |
131 | Aktuell_ay = NeutralAccY - ADC; |
130 | Aktuell_ay = NeutralAccY - ADC; |
132 | accy = Aktuell_ay; |
131 | accy = Aktuell_ay; |
133 | kanal = AD_ACC_X; |
132 | kanal = AD_ACC_X; |
134 | break; |
133 | break; |
135 | case 4: |
134 | case 4: |
136 | Aktuell_ax = ADC - NeutralAccX; |
135 | Aktuell_ax = ADC - NeutralAccX; |
137 | accx = Aktuell_ax; |
136 | accx = Aktuell_ax; |
138 | kanal = AD_NICK; |
137 | kanal = AD_NICK; |
139 | break; |
138 | break; |
140 | case 5: |
139 | case 5: |
141 | nick1 += ADC; |
140 | nick1 += ADC; |
142 | kanal = AD_ROLL; |
141 | kanal = AD_ROLL; |
143 | break; |
142 | break; |
144 | case 6: |
143 | case 6: |
145 | roll1 += ADC; |
144 | roll1 += ADC; |
146 | kanal = AD_UBAT; |
145 | kanal = AD_UBAT; |
147 | break; |
146 | break; |
148 | case 7: |
147 | case 7: |
149 | UBat = (3 * UBat + ADC / 3) / 4; |
148 | UBat = (3 * UBat + ADC / 3) / 4; |
150 | kanal = AD_ACC_Z; |
149 | kanal = AD_ACC_Z; |
151 | break; |
150 | break; |
152 | case 8: |
151 | case 8: |
153 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
152 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
154 | if(AdWertAccHoch > 1) |
153 | if(AdWertAccHoch > 1) |
155 | { |
154 | { |
156 | if(NeutralAccZ < 750) |
155 | if(NeutralAccZ < 750) |
157 | { |
156 | { |
158 | NeutralAccZ += 0.02; |
157 | NeutralAccZ += 0.02; |
159 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
158 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
160 | } |
159 | } |
161 | } |
160 | } |
162 | else if(AdWertAccHoch < -1) |
161 | else if(AdWertAccHoch < -1) |
163 | { |
162 | { |
164 | if(NeutralAccZ > 550) |
163 | if(NeutralAccZ > 550) |
165 | { |
164 | { |
166 | NeutralAccZ-= 0.02; |
165 | NeutralAccZ-= 0.02; |
167 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
166 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
168 | } |
167 | } |
169 | } |
168 | } |
170 | messanzahl_AccHoch = 1; |
169 | messanzahl_AccHoch = 1; |
171 | Aktuell_az = ADC; |
170 | Aktuell_az = ADC; |
172 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
171 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
173 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
172 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
174 | kanal = AD_DRUCK; |
173 | kanal = AD_DRUCK; |
175 | break; |
174 | break; |
176 | // "case 8:" fehlt hier absichtlich |
175 | // "case 8:" fehlt hier absichtlich |
177 | case 10: |
176 | case 10: |
178 | nick1 += ADC; |
177 | nick1 += ADC; |
179 | kanal = AD_ROLL; |
178 | kanal = AD_ROLL; |
180 | break; |
179 | break; |
181 | case 11: |
180 | case 11: |
182 | roll1 += ADC; |
181 | roll1 += ADC; |
183 | kanal = AD_GIER; |
182 | kanal = AD_GIER; |
184 | break; |
183 | break; |
185 | case 12: |
184 | case 12: |
186 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
185 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
187 | else |
186 | else |
188 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
187 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
189 | else AdWertGier = (ADC + gier1); |
188 | else AdWertGier = (ADC + gier1); |
190 | kanal = AD_ACC_Y; |
189 | kanal = AD_ACC_Y; |
191 | break; |
190 | break; |
192 | case 13: |
191 | case 13: |
193 | Aktuell_ay = NeutralAccY - ADC; |
192 | Aktuell_ay = NeutralAccY - ADC; |
194 | AdWertAccRoll = (Aktuell_ay + accy); |
193 | AdWertAccRoll = (Aktuell_ay + accy); |
195 | kanal = AD_ACC_X; |
194 | kanal = AD_ACC_X; |
196 | break; |
195 | break; |
197 | case 14: |
196 | case 14: |
198 | Aktuell_ax = ADC - NeutralAccX; |
197 | Aktuell_ax = ADC - NeutralAccX; |
199 | AdWertAccNick = (Aktuell_ax + accx); |
198 | AdWertAccNick = (Aktuell_ax + accx); |
200 | kanal = AD_NICK; |
199 | kanal = AD_NICK; |
201 | break; |
200 | break; |
202 | case 15: |
201 | case 15: |
203 | nick1 += ADC; |
202 | nick1 += ADC; |
204 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
203 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
205 | AdWertNick = nick1 / 8; |
204 | AdWertNick = nick1 / 8; |
206 | nick_filter = (nick_filter + nick1) / 2; |
205 | nick_filter = (nick_filter + nick1) / 2; |
207 | HiResNick = nick_filter - AdNeutralNick; |
206 | HiResNick = nick_filter - AdNeutralNick; |
208 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
207 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
209 | kanal = AD_ROLL; |
208 | kanal = AD_ROLL; |
210 | break; |
209 | break; |
211 | case 16: |
210 | case 16: |
212 | roll1 += ADC; |
211 | roll1 += ADC; |
213 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
212 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
214 | AdWertRoll = roll1 / 8; |
213 | AdWertRoll = roll1 / 8; |
215 | roll_filter = (roll_filter + roll1) / 2; |
214 | roll_filter = (roll_filter + roll1) / 2; |
216 | HiResRoll = roll_filter - AdNeutralRoll; |
215 | HiResRoll = roll_filter - AdNeutralRoll; |
217 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
216 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
218 | kanal = AD_DRUCK; |
217 | kanal = AD_DRUCK; |
219 | break; |
218 | break; |
220 | case 17: |
219 | case 17: |
221 | state = 0; |
220 | state = 0; |
222 | AdReady = 1; |
221 | AdReady = 1; |
223 | ZaehlMessungen++; |
222 | ZaehlMessungen++; |
224 | // "break" fehlt hier absichtlich |
223 | // "break" fehlt hier absichtlich |
225 | case 9: |
224 | case 9: |
226 | MessLuftdruck = ADC; |
225 | MessLuftdruck = ADC; |
227 | tmpLuftdruck += MessLuftdruck; |
226 | tmpLuftdruck += MessLuftdruck; |
228 | #define SM_FILTER 16 |
227 | #define SM_FILTER 16 |
229 | if(++messanzahl_Druck >= 18) |
228 | if(++messanzahl_Druck >= 18) |
230 | { |
229 | { |
231 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
230 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
232 | HoehenWert = StartLuftdruck - Luftdruck; |
231 | HoehenWert = StartLuftdruck - Luftdruck; |
233 | SummenHoehe -= SummenHoehe/SM_FILTER; |
232 | SummenHoehe -= SummenHoehe/SM_FILTER; |
234 | SummenHoehe += HoehenWert; |
233 | SummenHoehe += HoehenWert; |
235 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
234 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
236 | tmpLuftdruck /= 2; |
235 | tmpLuftdruck /= 2; |
237 | messanzahl_Druck = 18/2; |
236 | messanzahl_Druck = 18/2; |
238 | } |
237 | } |
239 | kanal = AD_NICK; |
238 | kanal = AD_NICK; |
240 | break; |
239 | break; |
241 | default: |
240 | default: |
242 | kanal = 0; state = 0; kanal = AD_NICK; |
241 | kanal = 0; state = 0; kanal = AD_NICK; |
243 | break; |
242 | break; |
244 | } |
243 | } |
245 | ADMUX = kanal; |
244 | ADMUX = kanal; |
246 | if(state != 0) ANALOG_ON; |
245 | if(state != 0) ANALOG_ON; |
- | 246 | ||
247 | } |
247 | } |
248 | 248 | ||
249 | 249 | ||
250 | 250 | ||
251 | /* |
251 | /* |
252 | //####################################################################################### |
252 | //####################################################################################### |
253 | // |
253 | // |
254 | SIGNAL(SIG_ADC) |
254 | SIGNAL(SIG_ADC) |
255 | //####################################################################################### |
255 | //####################################################################################### |
256 | { |
256 | { |
257 | static unsigned char kanal=0,state = 0; |
257 | static unsigned char kanal=0,state = 0; |
258 | static signed int gier1, roll1, nick1; |
258 | static signed int gier1, roll1, nick1; |
259 | static signed long nick_filter, roll_filter; |
259 | static signed long nick_filter, roll_filter; |
260 | static signed int accy, accx; |
260 | static signed int accy, accx; |
261 | switch(state++) |
261 | switch(state++) |
262 | { |
262 | { |
263 | case 0: |
263 | case 0: |
264 | nick1 = ADC; |
264 | nick1 = ADC; |
265 | kanal = AD_ROLL; |
265 | kanal = AD_ROLL; |
266 | break; |
266 | break; |
267 | case 1: |
267 | case 1: |
268 | roll1 = ADC; |
268 | roll1 = ADC; |
269 | kanal = AD_GIER; |
269 | kanal = AD_GIER; |
270 | break; |
270 | break; |
271 | case 2: |
271 | case 2: |
272 | gier1 = ADC; |
272 | gier1 = ADC; |
273 | kanal = AD_ACC_Y; |
273 | kanal = AD_ACC_Y; |
274 | break; |
274 | break; |
275 | case 3: |
275 | case 3: |
276 | Aktuell_ay = NeutralAccY - ADC; |
276 | Aktuell_ay = NeutralAccY - ADC; |
277 | accy = Aktuell_ay; |
277 | accy = Aktuell_ay; |
278 | kanal = AD_NICK; |
278 | kanal = AD_NICK; |
279 | break; |
279 | break; |
280 | case 4: |
280 | case 4: |
281 | nick1 += ADC; |
281 | nick1 += ADC; |
282 | kanal = AD_ROLL; |
282 | kanal = AD_ROLL; |
283 | break; |
283 | break; |
284 | case 5: |
284 | case 5: |
285 | roll1 += ADC; |
285 | roll1 += ADC; |
286 | kanal = AD_ACC_Z; |
286 | kanal = AD_ACC_Z; |
287 | break; |
287 | break; |
288 | case 6: |
288 | case 6: |
289 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
289 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
290 | if(AdWertAccHoch > 1) |
290 | if(AdWertAccHoch > 1) |
291 | { |
291 | { |
292 | if(NeutralAccZ < 750) |
292 | if(NeutralAccZ < 750) |
293 | { |
293 | { |
294 | NeutralAccZ += 0.02; |
294 | NeutralAccZ += 0.02; |
295 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
295 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
296 | } |
296 | } |
297 | } |
297 | } |
298 | else if(AdWertAccHoch < -1) |
298 | else if(AdWertAccHoch < -1) |
299 | { |
299 | { |
300 | if(NeutralAccZ > 550) |
300 | if(NeutralAccZ > 550) |
301 | { |
301 | { |
302 | NeutralAccZ-= 0.02; |
302 | NeutralAccZ-= 0.02; |
303 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
303 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
304 | } |
304 | } |
305 | } |
305 | } |
306 | messanzahl_AccHoch = 1; |
306 | messanzahl_AccHoch = 1; |
307 | Aktuell_az = ADC; |
307 | Aktuell_az = ADC; |
308 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
308 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
309 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
309 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
310 | kanal = AD_NICK; |
310 | kanal = AD_NICK; |
311 | break; |
311 | break; |
312 | case 7: |
312 | case 7: |
313 | nick1 += ADC; |
313 | nick1 += ADC; |
314 | kanal = AD_ROLL; |
314 | kanal = AD_ROLL; |
315 | break; |
315 | break; |
316 | case 8: |
316 | case 8: |
317 | roll1 += ADC; |
317 | roll1 += ADC; |
318 | kanal = AD_ACC_X; |
318 | kanal = AD_ACC_X; |
319 | break; |
319 | break; |
320 | case 9: |
320 | case 9: |
321 | Aktuell_ax = ADC - NeutralAccX; |
321 | Aktuell_ax = ADC - NeutralAccX; |
322 | accx = Aktuell_ax; |
322 | accx = Aktuell_ax; |
323 | kanal = AD_GIER; |
323 | kanal = AD_GIER; |
324 | break; |
324 | break; |
325 | case 10: |
325 | case 10: |
326 | gier1 += ADC; |
326 | gier1 += ADC; |
327 | kanal = AD_NICK; |
327 | kanal = AD_NICK; |
328 | break; |
328 | break; |
329 | case 11: |
329 | case 11: |
330 | nick1 += ADC; |
330 | nick1 += ADC; |
331 | kanal = AD_ROLL; |
331 | kanal = AD_ROLL; |
332 | break; |
332 | break; |
333 | case 12: |
333 | case 12: |
334 | roll1 += ADC; |
334 | roll1 += ADC; |
335 | kanal = AD_UBAT; |
335 | kanal = AD_UBAT; |
336 | break; |
336 | break; |
337 | case 13: |
337 | case 13: |
338 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
338 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
339 | kanal = AD_ACC_Y; |
339 | kanal = AD_ACC_Y; |
340 | break; |
340 | break; |
341 | case 14: |
341 | case 14: |
342 | Aktuell_ay = NeutralAccY - ADC; |
342 | Aktuell_ay = NeutralAccY - ADC; |
343 | accy += Aktuell_ay; |
343 | accy += Aktuell_ay; |
344 | kanal = AD_NICK; |
344 | kanal = AD_NICK; |
345 | break; |
345 | break; |
346 | case 15: |
346 | case 15: |
347 | nick1 += ADC; |
347 | nick1 += ADC; |
348 | kanal = AD_ROLL; |
348 | kanal = AD_ROLL; |
349 | break; |
349 | break; |
350 | case 16: |
350 | case 16: |
351 | roll1 += ADC; |
351 | roll1 += ADC; |
352 | kanal = AD_ACC_X; |
352 | kanal = AD_ACC_X; |
353 | break; |
353 | break; |
354 | case 17: |
354 | case 17: |
355 | Aktuell_ax = ADC - NeutralAccX; |
355 | Aktuell_ax = ADC - NeutralAccX; |
356 | accx += Aktuell_ax; |
356 | accx += Aktuell_ax; |
357 | kanal = AD_NICK; |
357 | kanal = AD_NICK; |
358 | break; |
358 | break; |
359 | case 18: |
359 | case 18: |
360 | nick1 += ADC; |
360 | nick1 += ADC; |
361 | kanal = AD_ROLL; |
361 | kanal = AD_ROLL; |
362 | break; |
362 | break; |
363 | case 19: |
363 | case 19: |
364 | roll1 += ADC; |
364 | roll1 += ADC; |
365 | kanal = AD_GIER; |
365 | kanal = AD_GIER; |
366 | break; |
366 | break; |
367 | case 20: |
367 | case 20: |
368 | gier1 += ADC; |
368 | gier1 += ADC; |
369 | kanal = AD_ACC_Y; |
369 | kanal = AD_ACC_Y; |
370 | break; |
370 | break; |
371 | case 21: |
371 | case 21: |
372 | Aktuell_ay = NeutralAccY - ADC; |
372 | Aktuell_ay = NeutralAccY - ADC; |
373 | accy += Aktuell_ay; |
373 | accy += Aktuell_ay; |
374 | kanal = AD_NICK; |
374 | kanal = AD_NICK; |
375 | break; |
375 | break; |
376 | case 22: |
376 | case 22: |
377 | nick1 += ADC; |
377 | nick1 += ADC; |
378 | kanal = AD_ROLL; |
378 | kanal = AD_ROLL; |
379 | break; |
379 | break; |
380 | case 23: |
380 | case 23: |
381 | roll1 += ADC; |
381 | roll1 += ADC; |
382 | kanal = AD_DRUCK; |
382 | kanal = AD_DRUCK; |
383 | break; |
383 | break; |
384 | case 24: |
384 | case 24: |
385 | tmpLuftdruck += ADC; |
385 | tmpLuftdruck += ADC; |
386 | if(++messanzahl_Druck >= 5) |
386 | if(++messanzahl_Druck >= 5) |
387 | { |
387 | { |
388 | MessLuftdruck = ADC; |
388 | MessLuftdruck = ADC; |
389 | messanzahl_Druck = 0; |
389 | messanzahl_Druck = 0; |
390 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
390 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
391 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
391 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
392 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
392 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
393 | tmpLuftdruck = 0; |
393 | tmpLuftdruck = 0; |
394 | } |
394 | } |
395 | kanal = AD_NICK; |
395 | kanal = AD_NICK; |
396 | break; |
396 | break; |
397 | case 25: |
397 | case 25: |
398 | nick1 += ADC; |
398 | nick1 += ADC; |
399 | kanal = AD_ROLL; |
399 | kanal = AD_ROLL; |
400 | break; |
400 | break; |
401 | case 26: |
401 | case 26: |
402 | roll1 += ADC; |
402 | roll1 += ADC; |
403 | kanal = AD_ACC_X; |
403 | kanal = AD_ACC_X; |
404 | break; |
404 | break; |
405 | case 27: |
405 | case 27: |
406 | Aktuell_ax = ADC - NeutralAccX; |
406 | Aktuell_ax = ADC - NeutralAccX; |
407 | accx += Aktuell_ax; |
407 | accx += Aktuell_ax; |
408 | kanal = AD_GIER; |
408 | kanal = AD_GIER; |
409 | break; |
409 | break; |
410 | case 28: |
410 | case 28: |
411 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
411 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
412 | else |
412 | else |
413 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
413 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
414 | else AdWertGier = (ADC + gier1 + 1) / 2; |
414 | else AdWertGier = (ADC + gier1 + 1) / 2; |
415 | kanal = AD_NICK; |
415 | kanal = AD_NICK; |
416 | break; |
416 | break; |
417 | case 29: |
417 | case 29: |
418 | nick1 += ADC; |
418 | nick1 += ADC; |
419 | kanal = AD_ROLL; |
419 | kanal = AD_ROLL; |
420 | break; |
420 | break; |
421 | case 30: |
421 | case 30: |
422 | roll1 += ADC; |
422 | roll1 += ADC; |
423 | kanal = AD_ACC_Y; |
423 | kanal = AD_ACC_Y; |
424 | break; |
424 | break; |
425 | case 31: |
425 | case 31: |
426 | Aktuell_ay = NeutralAccY - ADC; |
426 | Aktuell_ay = NeutralAccY - ADC; |
427 | AdWertAccRoll = (Aktuell_ay + accy); |
427 | AdWertAccRoll = (Aktuell_ay + accy); |
428 | kanal = AD_NICK; |
428 | kanal = AD_NICK; |
429 | break; |
429 | break; |
430 | case 32: |
430 | case 32: |
431 | AdWertNick = (ADC + nick1 + 3) / 5; |
431 | AdWertNick = (ADC + nick1 + 3) / 5; |
432 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
432 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
433 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
433 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
434 | HiResNick = nick_filter - 20 * AdNeutralNick; |
434 | HiResNick = nick_filter - 20 * AdNeutralNick; |
435 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
435 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
436 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
436 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
437 | kanal = AD_ROLL; |
437 | kanal = AD_ROLL; |
438 | break; |
438 | break; |
439 | case 33: |
439 | case 33: |
440 | AdWertRoll = (ADC + roll1 + 3) / 5; |
440 | AdWertRoll = (ADC + roll1 + 3) / 5; |
441 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
441 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
442 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
442 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
443 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
443 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
444 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
444 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
445 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
445 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
446 | kanal = AD_ACC_X; |
446 | kanal = AD_ACC_X; |
447 | break; |
447 | break; |
448 | case 34: |
448 | case 34: |
449 | Aktuell_ax = ADC - NeutralAccX; |
449 | Aktuell_ax = ADC - NeutralAccX; |
450 | AdWertAccNick = (Aktuell_ax + accx); |
450 | AdWertAccNick = (Aktuell_ax + accx); |
451 | kanal = AD_NICK; |
451 | kanal = AD_NICK; |
452 | state = 0; |
452 | state = 0; |
453 | AdReady = 1; |
453 | AdReady = 1; |
454 | ZaehlMessungen++; |
454 | ZaehlMessungen++; |
455 | break; |
455 | break; |
456 | default: |
456 | default: |
457 | kanal = 0; |
457 | kanal = 0; |
458 | state = 0; |
458 | state = 0; |
459 | break; |
459 | break; |
460 | } |
460 | } |
461 | ADMUX = kanal; |
461 | ADMUX = kanal; |
462 | if(state != 0) ANALOG_ON; |
462 | if(state != 0) ANALOG_ON; |
463 | } |
463 | } |
464 | */ |
464 | */ |
465 | 465 |