WebSVN - FlightCtrl - Diff - Rev 1643 and 1660 - /branches/V0.84a_var


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
float NeutralAccZ_float;
//#######################################################################################
//
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,subcount = 0;
 
        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)
               {
                subcount += 2;
                if(modell_fliegt < 500) subcount += 100;
               }
              if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;}
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 subcount -= 2;
                 if(modell_fliegt < 500) subcount -= 100;
                 if(subcount < -1000) { NeutralAccZ--; subcount += 1000;}
                }
             }
/*
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ_float;
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ_float < 750)
               {
                NeutralAccZ_float += 0.02;
                if(modell_fliegt < 500) NeutralAccZ_float += 0.1;
               }
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ_float > 550)
                {
                 NeutralAccZ_float-= 0.02;
                 if(modell_fliegt < 500) NeutralAccZ_float -= 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 1643	Rev 1660
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	float NeutralAccZ_float;	28	float NeutralAccZ_float;
29	//#######################################################################################	29	//#######################################################################################
30	//	30	//
31	void ADC_Init(void)	31	void ADC_Init(void)
32	//#######################################################################################	32	//#######################################################################################
33	{	33	{
34	ADMUX = 0;//Referenz ist extern	34	ADMUX = 0;//Referenz ist extern
35	ANALOG_ON;	35	ANALOG_ON;
36	}	36	}
37		37
38	#define DESIRED_H_ADC 800	38	#define DESIRED_H_ADC 800
39		39
40	void SucheLuftruckOffset(void)	40	void SucheLuftruckOffset(void)
41	{	41	{
42	unsigned int off;	42	unsigned int off;
43	off = GetParamByte(PID_PRESSURE_OFFSET);	43	off = GetParamByte(PID_PRESSURE_OFFSET);
44	if(off > 20) off -= 10;	44	if(off > 20) off -= 10;
45	OCR0A = off;	45	OCR0A = off;
46	ExpandBaro = 0;	46	ExpandBaro = 0;
47	Delay_ms_Mess(100);	47	Delay_ms_Mess(100);
48	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	48	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
49	for(; off < 250;off++)	49	for(; off < 250;off++)
50	{	50	{
51	OCR0A = off;	51	OCR0A = off;
52	Delay_ms_Mess(50);	52	Delay_ms_Mess(50);
53	printf(".");	53	printf(".");
54	if(MessLuftdruck < DESIRED_H_ADC) break;	54	if(MessLuftdruck < DESIRED_H_ADC) break;
55	}	55	}
56	SetParamByte(PID_PRESSURE_OFFSET, off);	56	SetParamByte(PID_PRESSURE_OFFSET, off);
57	DruckOffsetSetting = off;	57	DruckOffsetSetting = off;
58	OCR0A = off;	58	OCR0A = off;
59	Delay_ms_Mess(300);	59	Delay_ms_Mess(300);
60		60
61	}	61	}
62		62
63	void SucheGyroOffset(void)	63	void SucheGyroOffset(void)
64	{	64	{
65	unsigned char i, ready = 0;	65	unsigned char i, ready = 0;
66	int timeout;	66	int timeout;
67	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	67	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
68	timeout = SetDelay(2000);	68	timeout = SetDelay(2000);
69	for(i=140; i != 0; i--)	69	for(i=140; i != 0; i--)
70	{	70	{
71	if(ready == 3 && i > 10) i = 9;	71	if(ready == 3 && i > 10) i = 9;
72	ready = 0;	72	ready = 0;
73	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	73	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
74	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	74	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
75	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	75	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
76	twi_state = 18;	76	twi_state = 18;
77	I2C_Start();	77	I2C_Start();
78	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};	78	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
79	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};	79	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
80	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};	80	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
81	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	81	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
82	AdReady = 0;	82	AdReady = 0;
83	ANALOG_ON;	83	ANALOG_ON;
84	while(!AdReady);	84	while(!AdReady);
85	if(i<10) Delay_ms_Mess(10);	85	if(i<10) Delay_ms_Mess(10);
86	}	86	}
87	Delay_ms_Mess(70);	87	Delay_ms_Mess(70);
88	}	88	}
89		89
90	/*	90	/*
91	0 n	91	0 n
92	1 r	92	1 r
93	2 g	93	2 g
94	3 y	94	3 y
95	4 x	95	4 x
96	5 n	96	5 n
97	6 r	97	6 r
98	7 u	98	7 u
99	8 z	99	8 z
100	9 L	100	9 L
101	10 n	101	10 n
102	11 r	102	11 r
103	12 g	103	12 g
104	13 y	104	13 y
105	14 x	105	14 x
106	15 n	106	15 n
107	16 r	107	16 r
108	17 L	108	17 L
109	*/	109	*/
110		110
111	//#######################################################################################	111	//#######################################################################################
112	//	112	//
113	ISR(ADC_vect)	113	ISR(ADC_vect)
114	//#######################################################################################	114	//#######################################################################################
115	{	115	{
116	static unsigned char kanal=0,state = 0;	116	static unsigned char kanal=0,state = 0;
117	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	117	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
118	static signed int accy, accx,subcount = 0;	118	static signed int accy, accx,subcount = 0;
119		119
120	static long tmpLuftdruck = 0;	120	static long tmpLuftdruck = 0;
121	static char messanzahl_Druck = 0;	121	static char messanzahl_Druck = 0;
122	switch(state++)	122	switch(state++)
123	{	123	{
124	case 0:	124	case 0:
125	nick1 = ADC;	125	nick1 = ADC;
126	kanal = AD_ROLL;	126	kanal = AD_ROLL;
127	break;	127	break;
128	case 1:	128	case 1:
129	roll1 = ADC;	129	roll1 = ADC;
130	kanal = AD_GIER;	130	kanal = AD_GIER;
131	break;	131	break;
132	case 2:	132	case 2:
133	gier1 = ADC;	133	gier1 = ADC;
134	kanal = AD_ACC_Y;	134	kanal = AD_ACC_Y;
135	break;	135	break;
136	case 3:	136	case 3:
137	Aktuell_ay = NeutralAccY - ADC;	137	Aktuell_ay = NeutralAccY - ADC;
138	accy = Aktuell_ay;	138	accy = Aktuell_ay;
139	kanal = AD_ACC_X;	139	kanal = AD_ACC_X;
140	break;	140	break;
141	case 4:	141	case 4:
142	Aktuell_ax = ADC - NeutralAccX;	142	Aktuell_ax = ADC - NeutralAccX;
143	accx = Aktuell_ax;	143	accx = Aktuell_ax;
144	kanal = AD_NICK;	144	kanal = AD_NICK;
145	break;	145	break;
146	case 5:	146	case 5:
147	nick1 += ADC;	147	nick1 += ADC;
148	kanal = AD_ROLL;	148	kanal = AD_ROLL;
149	break;	149	break;
150	case 6:	150	case 6:
151	roll1 += ADC;	151	roll1 += ADC;
152	kanal = AD_UBAT;	152	kanal = AD_UBAT;
153	break;	153	break;
154	case 7:	154	case 7:
155	UBat = (3 * UBat + ADC / 3) / 4;	155	UBat = (3 * UBat + ADC / 3) / 4;
156	kanal = AD_ACC_Z;	156	kanal = AD_ACC_Z;
157	break;	157	break;
158	case 8:	158	case 8:
159		159
160	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	160	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
161	if(AdWertAccHoch > 1)	161	if(AdWertAccHoch > 1)
162	{	162	{
163	if(NeutralAccZ < 750)	163	if(NeutralAccZ < 750)
164	{	164	{
165	subcount += 2;	165	subcount += 2;
166	if(modell_fliegt < 500) subcount += 100;	166	if(modell_fliegt < 500) subcount += 100;
167	}	167	}
168	if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;}	168	if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;}
169	}	169	}
170	else if(AdWertAccHoch < -1)	170	else if(AdWertAccHoch < -1)
171	{	171	{
172	if(NeutralAccZ > 550)	172	if(NeutralAccZ > 550)
173	{	173	{
174	subcount -= 2;	174	subcount -= 2;
175	if(modell_fliegt < 500) subcount -= 100;	175	if(modell_fliegt < 500) subcount -= 100;
176	if(subcount < -1000) { NeutralAccZ--; subcount += 1000;}	176	if(subcount < -1000) { NeutralAccZ--; subcount += 1000;}
177	}	177	}
178	}	178	}
179	/*	179	/*
180	AdWertAccHoch = (signed int) ADC - NeutralAccZ_float;	180	AdWertAccHoch = (signed int) ADC - NeutralAccZ_float;
181	if(AdWertAccHoch > 1)	181	if(AdWertAccHoch > 1)
182	{	182	{
183	if(NeutralAccZ_float < 750)	183	if(NeutralAccZ_float < 750)
184	{	184	{
185	NeutralAccZ_float += 0.02;	185	NeutralAccZ_float += 0.02;
186	if(modell_fliegt < 500) NeutralAccZ_float += 0.1;	186	if(modell_fliegt < 500) NeutralAccZ_float += 0.1;
187	}	187	}
188	}	188	}
189	else if(AdWertAccHoch < -1)	189	else if(AdWertAccHoch < -1)
190	{	190	{
191	if(NeutralAccZ_float > 550)	191	if(NeutralAccZ_float > 550)
192	{	192	{
193	NeutralAccZ_float-= 0.02;	193	NeutralAccZ_float-= 0.02;
194	if(modell_fliegt < 500) NeutralAccZ_float -= 0.1;	194	if(modell_fliegt < 500) NeutralAccZ_float -= 0.1;
195	}	195	}
196	}	196	}
197	*/	197	*/
198	messanzahl_AccHoch = 1;	198	messanzahl_AccHoch = 1;
199	Aktuell_az = ADC;	199	Aktuell_az = ADC;
200	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	200	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
201	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	201	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
202	kanal = AD_DRUCK;	202	kanal = AD_DRUCK;
203	break;	203	break;
204	// "case 8:" fehlt hier absichtlich	204	// "case 8:" fehlt hier absichtlich
205	case 10:	205	case 10:
206	nick1 += ADC;	206	nick1 += ADC;
207	kanal = AD_ROLL;	207	kanal = AD_ROLL;
208	break;	208	break;
209	case 11:	209	case 11:
210	roll1 += ADC;	210	roll1 += ADC;
211	kanal = AD_GIER;	211	kanal = AD_GIER;
212	break;	212	break;
213	case 12:	213	case 12:
214	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	214	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
215	else	215	else
216	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);	216	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);
217	else AdWertGier = (ADC + gier1);	217	else AdWertGier = (ADC + gier1);
218	kanal = AD_ACC_Y;	218	kanal = AD_ACC_Y;
219	break;	219	break;
220	case 13:	220	case 13:
221	Aktuell_ay = NeutralAccY - ADC;	221	Aktuell_ay = NeutralAccY - ADC;
222	AdWertAccRoll = (Aktuell_ay + accy);	222	AdWertAccRoll = (Aktuell_ay + accy);
223	kanal = AD_ACC_X;	223	kanal = AD_ACC_X;
224	break;	224	break;
225	case 14:	225	case 14:
226	Aktuell_ax = ADC - NeutralAccX;	226	Aktuell_ax = ADC - NeutralAccX;
227	AdWertAccNick = (Aktuell_ax + accx);	227	AdWertAccNick = (Aktuell_ax + accx);
228	kanal = AD_NICK;	228	kanal = AD_NICK;
229	break;	229	break;
230	case 15:	230	case 15:
231	nick1 += ADC;	231	nick1 += ADC;
232	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	232	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
233	AdWertNick = nick1 / 8;	233	AdWertNick = nick1 / 8;
234	nick_filter = (nick_filter + nick1) / 2;	234	nick_filter = (nick_filter + nick1) / 2;
235	HiResNick = nick_filter - AdNeutralNick;	235	HiResNick = nick_filter - AdNeutralNick;
236	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	236	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
237	kanal = AD_ROLL;	237	kanal = AD_ROLL;
238	break;	238	break;
239	case 16:	239	case 16:
240	roll1 += ADC;	240	roll1 += ADC;
241	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	241	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
242	AdWertRoll = roll1 / 8;	242	AdWertRoll = roll1 / 8;
243	roll_filter = (roll_filter + roll1) / 2;	243	roll_filter = (roll_filter + roll1) / 2;
244	HiResRoll = roll_filter - AdNeutralRoll;	244	HiResRoll = roll_filter - AdNeutralRoll;
245	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	245	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
246	kanal = AD_DRUCK;	246	kanal = AD_DRUCK;
247	break;	247	break;
248	case 17:	248	case 17:
249	state = 0;	249	state = 0;
250	AdReady = 1;	250	AdReady = 1;
251	ZaehlMessungen++;	251	ZaehlMessungen++;
252	// "break" fehlt hier absichtlich	252	// "break" fehlt hier absichtlich
253	case 9:	253	case 9:
254	MessLuftdruck = ADC;	254	MessLuftdruck = ADC;
255	tmpLuftdruck += MessLuftdruck;	255	tmpLuftdruck += MessLuftdruck;
256	if(++messanzahl_Druck >= 18)	256	if(++messanzahl_Druck >= 18)
257	{	257	{
258	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	258	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
259	HoehenWert = StartLuftdruck - Luftdruck;	259	HoehenWert = StartLuftdruck - Luftdruck;
260	SummenHoehe -= SummenHoehe/SM_FILTER;	260	SummenHoehe -= SummenHoehe/SM_FILTER;
261	SummenHoehe += HoehenWert;	261	SummenHoehe += HoehenWert;
262	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;	262	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;
263	tmpLuftdruck /= 2;	263	tmpLuftdruck /= 2;
264	messanzahl_Druck = 18/2;	264	messanzahl_Druck = 18/2;
265	}	265	}
266	kanal = AD_NICK;	266	kanal = AD_NICK;
267	break;	267	break;
268	default:	268	default:
269	kanal = 0; state = 0; kanal = AD_NICK;	269	kanal = 0; state = 0; kanal = AD_NICK;
270	break;	270	break;
271	}	271	}
272	ADMUX = kanal;	272	ADMUX = kanal;
273	if(state != 0) ANALOG_ON;	273	if(state != 0) ANALOG_ON;
274		274
275	}	275	}
276		276
277		277
278		278
279	/*	279	/*
280	//#######################################################################################	280	//#######################################################################################
281	//	281	//
282	SIGNAL(SIG_ADC)	282	SIGNAL(SIG_ADC)
283	//#######################################################################################	283	//#######################################################################################
284	{	284	{
285	static unsigned char kanal=0,state = 0;	285	static unsigned char kanal=0,state = 0;
286	static signed int gier1, roll1, nick1;	286	static signed int gier1, roll1, nick1;
287	static signed long nick_filter, roll_filter;	287	static signed long nick_filter, roll_filter;
288	static signed int accy, accx;	288	static signed int accy, accx;
289	switch(state++)	289	switch(state++)
290	{	290	{
291	case 0:	291	case 0:
292	nick1 = ADC;	292	nick1 = ADC;
293	kanal = AD_ROLL;	293	kanal = AD_ROLL;
294	break;	294	break;
295	case 1:	295	case 1:
296	roll1 = ADC;	296	roll1 = ADC;
297	kanal = AD_GIER;	297	kanal = AD_GIER;
298	break;	298	break;
299	case 2:	299	case 2:
300	gier1 = ADC;	300	gier1 = ADC;
301	kanal = AD_ACC_Y;	301	kanal = AD_ACC_Y;
302	break;	302	break;
303	case 3:	303	case 3:
304	Aktuell_ay = NeutralAccY - ADC;	304	Aktuell_ay = NeutralAccY - ADC;
305	accy = Aktuell_ay;	305	accy = Aktuell_ay;
306	kanal = AD_NICK;	306	kanal = AD_NICK;
307	break;	307	break;
308	case 4:	308	case 4:
309	nick1 += ADC;	309	nick1 += ADC;
310	kanal = AD_ROLL;	310	kanal = AD_ROLL;
311	break;	311	break;
312	case 5:	312	case 5:
313	roll1 += ADC;	313	roll1 += ADC;
314	kanal = AD_ACC_Z;	314	kanal = AD_ACC_Z;
315	break;	315	break;
316	case 6:	316	case 6:
317	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	317	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
318	if(AdWertAccHoch > 1)	318	if(AdWertAccHoch > 1)
319	{	319	{
320	if(NeutralAccZ < 750)	320	if(NeutralAccZ < 750)
321	{	321	{
322	NeutralAccZ += 0.02;	322	NeutralAccZ += 0.02;
323	if(modell_fliegt < 500) NeutralAccZ += 0.1;	323	if(modell_fliegt < 500) NeutralAccZ += 0.1;
324	}	324	}
325	}	325	}
326	else if(AdWertAccHoch < -1)	326	else if(AdWertAccHoch < -1)
327	{	327	{
328	if(NeutralAccZ > 550)	328	if(NeutralAccZ > 550)
329	{	329	{
330	NeutralAccZ-= 0.02;	330	NeutralAccZ-= 0.02;
331	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	331	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
332	}	332	}
333	}	333	}
334	messanzahl_AccHoch = 1;	334	messanzahl_AccHoch = 1;
335	Aktuell_az = ADC;	335	Aktuell_az = ADC;
336	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	336	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
337	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	337	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
338	kanal = AD_NICK;	338	kanal = AD_NICK;
339	break;	339	break;
340	case 7:	340	case 7:
341	nick1 += ADC;	341	nick1 += ADC;
342	kanal = AD_ROLL;	342	kanal = AD_ROLL;
343	break;	343	break;
344	case 8:	344	case 8:
345	roll1 += ADC;	345	roll1 += ADC;
346	kanal = AD_ACC_X;	346	kanal = AD_ACC_X;
347	break;	347	break;
348	case 9:	348	case 9:
349	Aktuell_ax = ADC - NeutralAccX;	349	Aktuell_ax = ADC - NeutralAccX;
350	accx = Aktuell_ax;	350	accx = Aktuell_ax;
351	kanal = AD_GIER;	351	kanal = AD_GIER;
352	break;	352	break;
353	case 10:	353	case 10:
354	gier1 += ADC;	354	gier1 += ADC;
355	kanal = AD_NICK;	355	kanal = AD_NICK;
356	break;	356	break;
357	case 11:	357	case 11:
358	nick1 += ADC;	358	nick1 += ADC;
359	kanal = AD_ROLL;	359	kanal = AD_ROLL;
360	break;	360	break;
361	case 12:	361	case 12:
362	roll1 += ADC;	362	roll1 += ADC;
363	kanal = AD_UBAT;	363	kanal = AD_UBAT;
364	break;	364	break;
365	case 13:	365	case 13:
366	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	366	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
367	kanal = AD_ACC_Y;	367	kanal = AD_ACC_Y;
368	break;	368	break;
369	case 14:	369	case 14:
370	Aktuell_ay = NeutralAccY - ADC;	370	Aktuell_ay = NeutralAccY - ADC;
371	accy += Aktuell_ay;	371	accy += Aktuell_ay;
372	kanal = AD_NICK;	372	kanal = AD_NICK;
373	break;	373	break;
374	case 15:	374	case 15:
375	nick1 += ADC;	375	nick1 += ADC;
376	kanal = AD_ROLL;	376	kanal = AD_ROLL;
377	break;	377	break;
378	case 16:	378	case 16:
379	roll1 += ADC;	379	roll1 += ADC;
380	kanal = AD_ACC_X;	380	kanal = AD_ACC_X;
381	break;	381	break;
382	case 17:	382	case 17:
383	Aktuell_ax = ADC - NeutralAccX;	383	Aktuell_ax = ADC - NeutralAccX;
384	accx += Aktuell_ax;	384	accx += Aktuell_ax;
385	kanal = AD_NICK;	385	kanal = AD_NICK;
386	break;	386	break;
387	case 18:	387	case 18:
388	nick1 += ADC;	388	nick1 += ADC;
389	kanal = AD_ROLL;	389	kanal = AD_ROLL;
390	break;	390	break;
391	case 19:	391	case 19:
392	roll1 += ADC;	392	roll1 += ADC;
393	kanal = AD_GIER;	393	kanal = AD_GIER;
394	break;	394	break;
395	case 20:	395	case 20:
396	gier1 += ADC;	396	gier1 += ADC;
397	kanal = AD_ACC_Y;	397	kanal = AD_ACC_Y;
398	break;	398	break;
399	case 21:	399	case 21:
400	Aktuell_ay = NeutralAccY - ADC;	400	Aktuell_ay = NeutralAccY - ADC;
401	accy += Aktuell_ay;	401	accy += Aktuell_ay;
402	kanal = AD_NICK;	402	kanal = AD_NICK;
403	break;	403	break;
404	case 22:	404	case 22:
405	nick1 += ADC;	405	nick1 += ADC;
406	kanal = AD_ROLL;	406	kanal = AD_ROLL;
407	break;	407	break;
408	case 23:	408	case 23:
409	roll1 += ADC;	409	roll1 += ADC;
410	kanal = AD_DRUCK;	410	kanal = AD_DRUCK;
411	break;	411	break;
412	case 24:	412	case 24:
413	tmpLuftdruck += ADC;	413	tmpLuftdruck += ADC;
414	if(++messanzahl_Druck >= 5)	414	if(++messanzahl_Druck >= 5)
415	{	415	{
416	MessLuftdruck = ADC;	416	MessLuftdruck = ADC;
417	messanzahl_Druck = 0;	417	messanzahl_Druck = 0;
418	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	418	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
419	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	419	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
420	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	420	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
421	tmpLuftdruck = 0;	421	tmpLuftdruck = 0;
422	}	422	}
423	kanal = AD_NICK;	423	kanal = AD_NICK;
424	break;	424	break;
425	case 25:	425	case 25:
426	nick1 += ADC;	426	nick1 += ADC;
427	kanal = AD_ROLL;	427	kanal = AD_ROLL;
428	break;	428	break;
429	case 26:	429	case 26:
430	roll1 += ADC;	430	roll1 += ADC;
431	kanal = AD_ACC_X;	431	kanal = AD_ACC_X;
432	break;	432	break;
433	case 27:	433	case 27:
434	Aktuell_ax = ADC - NeutralAccX;	434	Aktuell_ax = ADC - NeutralAccX;
435	accx += Aktuell_ax;	435	accx += Aktuell_ax;
436	kanal = AD_GIER;	436	kanal = AD_GIER;
437	break;	437	break;
438	case 28:	438	case 28:
439	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	439	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
440	else	440	else
441	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	441	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
442	else AdWertGier = (ADC + gier1 + 1) / 2;	442	else AdWertGier = (ADC + gier1 + 1) / 2;
443	kanal = AD_NICK;	443	kanal = AD_NICK;
444	break;	444	break;
445	case 29:	445	case 29:
446	nick1 += ADC;	446	nick1 += ADC;
447	kanal = AD_ROLL;	447	kanal = AD_ROLL;
448	break;	448	break;
449	case 30:	449	case 30:
450	roll1 += ADC;	450	roll1 += ADC;
451	kanal = AD_ACC_Y;	451	kanal = AD_ACC_Y;
452	break;	452	break;
453	case 31:	453	case 31:
454	Aktuell_ay = NeutralAccY - ADC;	454	Aktuell_ay = NeutralAccY - ADC;
455	AdWertAccRoll = (Aktuell_ay + accy);	455	AdWertAccRoll = (Aktuell_ay + accy);
456	kanal = AD_NICK;	456	kanal = AD_NICK;
457	break;	457	break;
458	case 32:	458	case 32:
459	AdWertNick = (ADC + nick1 + 3) / 5;	459	AdWertNick = (ADC + nick1 + 3) / 5;
460	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	460	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
461	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	461	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
462	HiResNick = nick_filter - 20 * AdNeutralNick;	462	HiResNick = nick_filter - 20 * AdNeutralNick;
463	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	463	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
464	DebugOut.Analog[21] = AdWertNickFilter / 4;	464	DebugOut.Analog[21] = AdWertNickFilter / 4;
465	kanal = AD_ROLL;	465	kanal = AD_ROLL;
466	break;	466	break;
467	case 33:	467	case 33:
468	AdWertRoll = (ADC + roll1 + 3) / 5;	468	AdWertRoll = (ADC + roll1 + 3) / 5;
469	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	469	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
470	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	470	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
471	HiResRoll = roll_filter - 20 * AdNeutralRoll;	471	HiResRoll = roll_filter - 20 * AdNeutralRoll;
472	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	472	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
473	DebugOut.Analog[22] = AdWertRollFilter / 4;	473	DebugOut.Analog[22] = AdWertRollFilter / 4;
474	kanal = AD_ACC_X;	474	kanal = AD_ACC_X;
475	break;	475	break;
476	case 34:	476	case 34:
477	Aktuell_ax = ADC - NeutralAccX;	477	Aktuell_ax = ADC - NeutralAccX;
478	AdWertAccNick = (Aktuell_ax + accx);	478	AdWertAccNick = (Aktuell_ax + accx);
479	kanal = AD_NICK;	479	kanal = AD_NICK;
480	state = 0;	480	state = 0;
481	AdReady = 1;	481	AdReady = 1;
482	ZaehlMessungen++;	482	ZaehlMessungen++;
483	break;	483	break;
484	default:	484	default:
485	kanal = 0;	485	kanal = 0;
486	state = 0;	486	state = 0;
487	break;	487	break;
488	}	488	}
489	ADMUX = kanal;	489	ADMUX = kanal;
490	if(state != 0) ANALOG_ON;	490	if(state != 0) ANALOG_ON;
491	}	491	}
492	*/	492	*/
493		493

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/analog.c @ 2012 - Rev 1643 → 1660