WebSVN - FlightCtrl - Diff - Rev 1352 and 1356 - /branches/V0.88n_ACC-HH_HR


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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"
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 = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_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;
  }
 eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
 DruckOffsetSetting = off;
 Delay_ms_Mess(300);
}
 
void SucheGyroOffset(void)
{
 unsigned char i, ready = 0;
 int timeout;
 GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
 timeout = SetDelay(2000);
 for(i=140; i != 0; i--)
  {
   if(ready == 3 && i > 10) i = 9;
   ready = 0;
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
   twi_state = 8;
   i2c_start();
   if(AnalogOffsetNick < 10)  { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
   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
*/
 
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;
        static signed int accy, accx;
 
        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 1352	Rev 1356
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	// + see the File "License.txt" for further Informations	6	// + see the File "License.txt" for further Informations
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	7	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7		8
8	#include "main.h"	9	#include "main.h"
9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;	10	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;	11	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
11	volatile int HiResNick = 2500, HiResRoll = 2500;	12	volatile int HiResNick = 2500, HiResRoll = 2500;
12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;	13	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;	14	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
14	volatile char messanzahl_AccHoch = 0;	15	volatile char messanzahl_AccHoch = 0;
15	volatile long Luftdruck = 32000;	16	volatile long Luftdruck = 32000;
16	volatile long SummenHoehe = 0;	17	volatile long SummenHoehe = 0;
17	volatile int StartLuftdruck;	18	volatile int StartLuftdruck;
18	volatile unsigned int MessLuftdruck = 1023;	19	volatile unsigned int MessLuftdruck = 1023;
19	unsigned char DruckOffsetSetting;	20	unsigned char DruckOffsetSetting;
20	signed char ExpandBaro = 0;	21	signed char ExpandBaro = 0;
21	volatile int VarioMeter = 0;	22	volatile int VarioMeter = 0;
22	volatile unsigned int ZaehlMessungen = 0;	23	volatile unsigned int ZaehlMessungen = 0;
23	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
24	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;	25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
25	volatile unsigned char AdReady = 1;	26	volatile unsigned char AdReady = 1;
26	//#######################################################################################	27	//#######################################################################################
27	//	28	//
28	void ADC_Init(void)	29	void ADC_Init(void)
29	//#######################################################################################	30	//#######################################################################################
30	{	31	{
31	ADMUX = 0;//Referenz ist extern	32	ADMUX = 0;//Referenz ist extern
32	ANALOG_ON;	33	ANALOG_ON;
33	}	34	}
34		35
35	#define DESIRED_H_ADC 800	36	#define DESIRED_H_ADC 800
36		37
37	void SucheLuftruckOffset(void)	38	void SucheLuftruckOffset(void)
38	{	39	{
39	unsigned int off;	40	unsigned int off;
40	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);	41	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
41	if(off > 20) off -= 10;	42	if(off > 20) off -= 10;
42	OCR0A = off;	43	OCR0A = off;
43	ExpandBaro = 0;	44	ExpandBaro = 0;
44	Delay_ms_Mess(100);	45	Delay_ms_Mess(100);
45	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	46	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
46	for(; off < 250;off++)	47	for(; off < 250;off++)
47	{	48	{
48	OCR0A = off;	49	OCR0A = off;
49	Delay_ms_Mess(50);	50	Delay_ms_Mess(50);
50	printf(".");	51	printf(".");
51	if(MessLuftdruck < DESIRED_H_ADC) break;	52	if(MessLuftdruck < DESIRED_H_ADC) break;
52	}	53	}
53	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);	54	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
54	DruckOffsetSetting = off;	55	DruckOffsetSetting = off;
55	Delay_ms_Mess(300);	56	Delay_ms_Mess(300);
56	}	57	}
57		58
58	void SucheGyroOffset(void)	59	void SucheGyroOffset(void)
59	{	60	{
60	unsigned char i, ready = 0;	61	unsigned char i, ready = 0;
61	int timeout;	62	int timeout;
62	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	63	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
63	timeout = SetDelay(2000);	64	timeout = SetDelay(2000);
64	for(i=140; i != 0; i--)	65	for(i=140; i != 0; i--)
65	{	66	{
66	if(ready == 3 && i > 10) i = 9;	67	if(ready == 3 && i > 10) i = 9;
67	ready = 0;	68	ready = 0;
68	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	69	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
69	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	70	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
70	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	71	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
71	twi_state = 8;	72	twi_state = 8;
72	i2c_start();	73	i2c_start();
73	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};	74	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
74	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};	75	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
75	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};	76	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
76	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	77	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
77	AdReady = 0;	78	AdReady = 0;
78	ANALOG_ON;	79	ANALOG_ON;
79	while(!AdReady);	80	while(!AdReady);
80	if(i<10) Delay_ms_Mess(10);	81	if(i<10) Delay_ms_Mess(10);
81	}	82	}
82	Delay_ms_Mess(70);	83	Delay_ms_Mess(70);
83	}	84	}
84		85
85	/*	86	/*
86	0 n	87	0 n
87	1 r	88	1 r
88	2 g	89	2 g
89	3 y	90	3 y
90	4 x	91	4 x
91	5 n	92	5 n
92	6 r	93	6 r
93	7 u	94	7 u
94	8 z	95	8 z
95	9 L	96	9 L
96	10 n	97	10 n
97	11 r	98	11 r
98	12 g	99	12 g
99	13 y	100	13 y
100	14 x	101	14 x
101	15 n	102	15 n
102	16 r	103	16 r
103	17 L	104	17 L
104	*/	105	*/
105		106
106	//#######################################################################################	107	//#######################################################################################
107	//	108	//
108	SIGNAL(SIG_ADC)	109	SIGNAL(SIG_ADC)
109	//#######################################################################################	110	//#######################################################################################
110	{	111	{
111	static unsigned char kanal=0,state = 0;	112	static unsigned char kanal=0,state = 0;
112	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	113	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
113	static signed int accy, accx;	114	static signed int accy, accx;
114		115
115	static long tmpLuftdruck = 0;	116	static long tmpLuftdruck = 0;
116	static char messanzahl_Druck = 0;	117	static char messanzahl_Druck = 0;
117	switch(state++)	118	switch(state++)
118	{	119	{
119	case 0:	120	case 0:
120	nick1 = ADC;	121	nick1 = ADC;
121	kanal = AD_ROLL;	122	kanal = AD_ROLL;
122	break;	123	break;
123	case 1:	124	case 1:
124	roll1 = ADC;	125	roll1 = ADC;
125	kanal = AD_GIER;	126	kanal = AD_GIER;
126	break;	127	break;
127	case 2:	128	case 2:
128	gier1 = ADC;	129	gier1 = ADC;
129	kanal = AD_ACC_Y;	130	kanal = AD_ACC_Y;
130	break;	131	break;
131	case 3:	132	case 3:
132	Aktuell_ay = NeutralAccY - ADC;	133	Aktuell_ay = NeutralAccY - ADC;
133	accy = Aktuell_ay;	134	accy = Aktuell_ay;
134	kanal = AD_ACC_X;	135	kanal = AD_ACC_X;
135	break;	136	break;
136	case 4:	137	case 4:
137	Aktuell_ax = ADC - NeutralAccX;	138	Aktuell_ax = ADC - NeutralAccX;
138	accx = Aktuell_ax;	139	accx = Aktuell_ax;
139	kanal = AD_NICK;	140	kanal = AD_NICK;
140	break;	141	break;
141	case 5:	142	case 5:
142	nick1 += ADC;	143	nick1 += ADC;
143	kanal = AD_ROLL;	144	kanal = AD_ROLL;
144	break;	145	break;
145	case 6:	146	case 6:
146	roll1 += ADC;	147	roll1 += ADC;
147	kanal = AD_UBAT;	148	kanal = AD_UBAT;
148	break;	149	break;
149	case 7:	150	case 7:
150	UBat = (3 * UBat + ADC / 3) / 4;	151	UBat = (3 * UBat + ADC / 3) / 4;
151	kanal = AD_ACC_Z;	152	kanal = AD_ACC_Z;
152	break;	153	break;
153	case 8:	154	case 8:
154	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	155	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
155	if(AdWertAccHoch > 1)	156	if(AdWertAccHoch > 1)
156	{	157	{
157	if(NeutralAccZ < 750)	158	if(NeutralAccZ < 750)
158	{	159	{
159	NeutralAccZ += 0.02;	160	NeutralAccZ += 0.02;
160	if(modell_fliegt < 500) NeutralAccZ += 0.1;	161	if(modell_fliegt < 500) NeutralAccZ += 0.1;
161	}	162	}
162	}	163	}
163	else if(AdWertAccHoch < -1)	164	else if(AdWertAccHoch < -1)
164	{	165	{
165	if(NeutralAccZ > 550)	166	if(NeutralAccZ > 550)
166	{	167	{
167	NeutralAccZ-= 0.02;	168	NeutralAccZ-= 0.02;
168	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	169	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
169	}	170	}
170	}	171	}
171	messanzahl_AccHoch = 1;	172	messanzahl_AccHoch = 1;
172	Aktuell_az = ADC;	173	Aktuell_az = ADC;
173	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	174	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
174	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	175	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
175	kanal = AD_DRUCK;	176	kanal = AD_DRUCK;
176	break;	177	break;
177	// "case 8:" fehlt hier absichtlich	178	// "case 8:" fehlt hier absichtlich
178	case 10:	179	case 10:
179	nick1 += ADC;	180	nick1 += ADC;
180	kanal = AD_ROLL;	181	kanal = AD_ROLL;
181	break;	182	break;
182	case 11:	183	case 11:
183	roll1 += ADC;	184	roll1 += ADC;
184	kanal = AD_GIER;	185	kanal = AD_GIER;
185	break;	186	break;
186	case 12:	187	case 12:
187	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	188	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
188	else	189	else
189	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);	190	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);
190	else AdWertGier = (ADC + gier1);	191	else AdWertGier = (ADC + gier1);
191	kanal = AD_ACC_Y;	192	kanal = AD_ACC_Y;
192	break;	193	break;
193	case 13:	194	case 13:
194	Aktuell_ay = NeutralAccY - ADC;	195	Aktuell_ay = NeutralAccY - ADC;
195	AdWertAccRoll = (Aktuell_ay + accy);	196	AdWertAccRoll = (Aktuell_ay + accy);
196	kanal = AD_ACC_X;	197	kanal = AD_ACC_X;
197	break;	198	break;
198	case 14:	199	case 14:
199	Aktuell_ax = ADC - NeutralAccX;	200	Aktuell_ax = ADC - NeutralAccX;
200	AdWertAccNick = (Aktuell_ax + accx);	201	AdWertAccNick = (Aktuell_ax + accx);
201	kanal = AD_NICK;	202	kanal = AD_NICK;
202	break;	203	break;
203	case 15:	204	case 15:
204	nick1 += ADC;	205	nick1 += ADC;
205	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	206	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
206	AdWertNick = nick1 / 8;	207	AdWertNick = nick1 / 8;
207	nick_filter = (nick_filter + nick1) / 2;	208	nick_filter = (nick_filter + nick1) / 2;
208	HiResNick = nick_filter - AdNeutralNick;	209	HiResNick = nick_filter - AdNeutralNick;
209	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	210	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
210	kanal = AD_ROLL;	211	kanal = AD_ROLL;
211	break;	212	break;
212	case 16:	213	case 16:
213	roll1 += ADC;	214	roll1 += ADC;
214	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	215	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
215	AdWertRoll = roll1 / 8;	216	AdWertRoll = roll1 / 8;
216	roll_filter = (roll_filter + roll1) / 2;	217	roll_filter = (roll_filter + roll1) / 2;
217	HiResRoll = roll_filter - AdNeutralRoll;	218	HiResRoll = roll_filter - AdNeutralRoll;
218	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	219	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
219	kanal = AD_DRUCK;	220	kanal = AD_DRUCK;
220	break;	221	break;
221	case 17:	222	case 17:
222	state = 0;	223	state = 0;
223	AdReady = 1;	224	AdReady = 1;
224	ZaehlMessungen++;	225	ZaehlMessungen++;
225	// "break" fehlt hier absichtlich	226	// "break" fehlt hier absichtlich
226	case 9:	227	case 9:
227	MessLuftdruck = ADC;	228	MessLuftdruck = ADC;
228	tmpLuftdruck += MessLuftdruck;	229	tmpLuftdruck += MessLuftdruck;
229	if(++messanzahl_Druck >= 18)	230	if(++messanzahl_Druck >= 18)
230	{	231	{
231	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	232	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
232	HoehenWert = StartLuftdruck - Luftdruck;	233	HoehenWert = StartLuftdruck - Luftdruck;
233	SummenHoehe -= SummenHoehe/SM_FILTER;	234	SummenHoehe -= SummenHoehe/SM_FILTER;
234	SummenHoehe += HoehenWert;	235	SummenHoehe += HoehenWert;
235	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;	236	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;
236	tmpLuftdruck /= 2;	237	tmpLuftdruck /= 2;
237	messanzahl_Druck = 18/2;	238	messanzahl_Druck = 18/2;
238	}	239	}
239	kanal = AD_NICK;	240	kanal = AD_NICK;
240	break;	241	break;
241	default:	242	default:
242	kanal = 0; state = 0; kanal = AD_NICK;	243	kanal = 0; state = 0; kanal = AD_NICK;
243	break;	244	break;
244	}	245	}
245	ADMUX = kanal;	246	ADMUX = kanal;
246	if(state != 0) ANALOG_ON;	247	if(state != 0) ANALOG_ON;
247		248
248	}	249	}
249		250
250		251
251		252
252	/*	253	/*
253	//#######################################################################################	254	//#######################################################################################
254	//	255	//
255	SIGNAL(SIG_ADC)	256	SIGNAL(SIG_ADC)
256	//#######################################################################################	257	//#######################################################################################
257	{	258	{
258	static unsigned char kanal=0,state = 0;	259	static unsigned char kanal=0,state = 0;
259	static signed int gier1, roll1, nick1;	260	static signed int gier1, roll1, nick1;
260	static signed long nick_filter, roll_filter;	261	static signed long nick_filter, roll_filter;
261	static signed int accy, accx;	262	static signed int accy, accx;
262	switch(state++)	263	switch(state++)
263	{	264	{
264	case 0:	265	case 0:
265	nick1 = ADC;	266	nick1 = ADC;
266	kanal = AD_ROLL;	267	kanal = AD_ROLL;
267	break;	268	break;
268	case 1:	269	case 1:
269	roll1 = ADC;	270	roll1 = ADC;
270	kanal = AD_GIER;	271	kanal = AD_GIER;
271	break;	272	break;
272	case 2:	273	case 2:
273	gier1 = ADC;	274	gier1 = ADC;
274	kanal = AD_ACC_Y;	275	kanal = AD_ACC_Y;
275	break;	276	break;
276	case 3:	277	case 3:
277	Aktuell_ay = NeutralAccY - ADC;	278	Aktuell_ay = NeutralAccY - ADC;
278	accy = Aktuell_ay;	279	accy = Aktuell_ay;
279	kanal = AD_NICK;	280	kanal = AD_NICK;
280	break;	281	break;
281	case 4:	282	case 4:
282	nick1 += ADC;	283	nick1 += ADC;
283	kanal = AD_ROLL;	284	kanal = AD_ROLL;
284	break;	285	break;
285	case 5:	286	case 5:
286	roll1 += ADC;	287	roll1 += ADC;
287	kanal = AD_ACC_Z;	288	kanal = AD_ACC_Z;
288	break;	289	break;
289	case 6:	290	case 6:
290	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	291	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
291	if(AdWertAccHoch > 1)	292	if(AdWertAccHoch > 1)
292	{	293	{
293	if(NeutralAccZ < 750)	294	if(NeutralAccZ < 750)
294	{	295	{
295	NeutralAccZ += 0.02;	296	NeutralAccZ += 0.02;
296	if(modell_fliegt < 500) NeutralAccZ += 0.1;	297	if(modell_fliegt < 500) NeutralAccZ += 0.1;
297	}	298	}
298	}	299	}
299	else if(AdWertAccHoch < -1)	300	else if(AdWertAccHoch < -1)
300	{	301	{
301	if(NeutralAccZ > 550)	302	if(NeutralAccZ > 550)
302	{	303	{
303	NeutralAccZ-= 0.02;	304	NeutralAccZ-= 0.02;
304	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	305	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
305	}	306	}
306	}	307	}
307	messanzahl_AccHoch = 1;	308	messanzahl_AccHoch = 1;
308	Aktuell_az = ADC;	309	Aktuell_az = ADC;
309	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	310	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
310	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	311	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
311	kanal = AD_NICK;	312	kanal = AD_NICK;
312	break;	313	break;
313	case 7:	314	case 7:
314	nick1 += ADC;	315	nick1 += ADC;
315	kanal = AD_ROLL;	316	kanal = AD_ROLL;
316	break;	317	break;
317	case 8:	318	case 8:
318	roll1 += ADC;	319	roll1 += ADC;
319	kanal = AD_ACC_X;	320	kanal = AD_ACC_X;
320	break;	321	break;
321	case 9:	322	case 9:
322	Aktuell_ax = ADC - NeutralAccX;	323	Aktuell_ax = ADC - NeutralAccX;
323	accx = Aktuell_ax;	324	accx = Aktuell_ax;
324	kanal = AD_GIER;	325	kanal = AD_GIER;
325	break;	326	break;
326	case 10:	327	case 10:
327	gier1 += ADC;	328	gier1 += ADC;
328	kanal = AD_NICK;	329	kanal = AD_NICK;
329	break;	330	break;
330	case 11:	331	case 11:
331	nick1 += ADC;	332	nick1 += ADC;
332	kanal = AD_ROLL;	333	kanal = AD_ROLL;
333	break;	334	break;
334	case 12:	335	case 12:
335	roll1 += ADC;	336	roll1 += ADC;
336	kanal = AD_UBAT;	337	kanal = AD_UBAT;
337	break;	338	break;
338	case 13:	339	case 13:
339	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	340	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
340	kanal = AD_ACC_Y;	341	kanal = AD_ACC_Y;
341	break;	342	break;
342	case 14:	343	case 14:
343	Aktuell_ay = NeutralAccY - ADC;	344	Aktuell_ay = NeutralAccY - ADC;
344	accy += Aktuell_ay;	345	accy += Aktuell_ay;
345	kanal = AD_NICK;	346	kanal = AD_NICK;
346	break;	347	break;
347	case 15:	348	case 15:
348	nick1 += ADC;	349	nick1 += ADC;
349	kanal = AD_ROLL;	350	kanal = AD_ROLL;
350	break;	351	break;
351	case 16:	352	case 16:
352	roll1 += ADC;	353	roll1 += ADC;
353	kanal = AD_ACC_X;	354	kanal = AD_ACC_X;
354	break;	355	break;
355	case 17:	356	case 17:
356	Aktuell_ax = ADC - NeutralAccX;	357	Aktuell_ax = ADC - NeutralAccX;
357	accx += Aktuell_ax;	358	accx += Aktuell_ax;
358	kanal = AD_NICK;	359	kanal = AD_NICK;
359	break;	360	break;
360	case 18:	361	case 18:
361	nick1 += ADC;	362	nick1 += ADC;
362	kanal = AD_ROLL;	363	kanal = AD_ROLL;
363	break;	364	break;
364	case 19:	365	case 19:
365	roll1 += ADC;	366	roll1 += ADC;
366	kanal = AD_GIER;	367	kanal = AD_GIER;
367	break;	368	break;
368	case 20:	369	case 20:
369	gier1 += ADC;	370	gier1 += ADC;
370	kanal = AD_ACC_Y;	371	kanal = AD_ACC_Y;
371	break;	372	break;
372	case 21:	373	case 21:
373	Aktuell_ay = NeutralAccY - ADC;	374	Aktuell_ay = NeutralAccY - ADC;
374	accy += Aktuell_ay;	375	accy += Aktuell_ay;
375	kanal = AD_NICK;	376	kanal = AD_NICK;
376	break;	377	break;
377	case 22:	378	case 22:
378	nick1 += ADC;	379	nick1 += ADC;
379	kanal = AD_ROLL;	380	kanal = AD_ROLL;
380	break;	381	break;
381	case 23:	382	case 23:
382	roll1 += ADC;	383	roll1 += ADC;
383	kanal = AD_DRUCK;	384	kanal = AD_DRUCK;
384	break;	385	break;
385	case 24:	386	case 24:
386	tmpLuftdruck += ADC;	387	tmpLuftdruck += ADC;
387	if(++messanzahl_Druck >= 5)	388	if(++messanzahl_Druck >= 5)
388	{	389	{
389	MessLuftdruck = ADC;	390	MessLuftdruck = ADC;
390	messanzahl_Druck = 0;	391	messanzahl_Druck = 0;
391	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	392	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
392	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	393	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
393	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	394	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
394	tmpLuftdruck = 0;	395	tmpLuftdruck = 0;
395	}	396	}
396	kanal = AD_NICK;	397	kanal = AD_NICK;
397	break;	398	break;
398	case 25:	399	case 25:
399	nick1 += ADC;	400	nick1 += ADC;
400	kanal = AD_ROLL;	401	kanal = AD_ROLL;
401	break;	402	break;
402	case 26:	403	case 26:
403	roll1 += ADC;	404	roll1 += ADC;
404	kanal = AD_ACC_X;	405	kanal = AD_ACC_X;
405	break;	406	break;
406	case 27:	407	case 27:
407	Aktuell_ax = ADC - NeutralAccX;	408	Aktuell_ax = ADC - NeutralAccX;
408	accx += Aktuell_ax;	409	accx += Aktuell_ax;
409	kanal = AD_GIER;	410	kanal = AD_GIER;
410	break;	411	break;
411	case 28:	412	case 28:
412	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	413	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
413	else	414	else
414	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	415	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
415	else AdWertGier = (ADC + gier1 + 1) / 2;	416	else AdWertGier = (ADC + gier1 + 1) / 2;
416	kanal = AD_NICK;	417	kanal = AD_NICK;
417	break;	418	break;
418	case 29:	419	case 29:
419	nick1 += ADC;	420	nick1 += ADC;
420	kanal = AD_ROLL;	421	kanal = AD_ROLL;
421	break;	422	break;
422	case 30:	423	case 30:
423	roll1 += ADC;	424	roll1 += ADC;
424	kanal = AD_ACC_Y;	425	kanal = AD_ACC_Y;
425	break;	426	break;
426	case 31:	427	case 31:
427	Aktuell_ay = NeutralAccY - ADC;	428	Aktuell_ay = NeutralAccY - ADC;
428	AdWertAccRoll = (Aktuell_ay + accy);	429	AdWertAccRoll = (Aktuell_ay + accy);
429	kanal = AD_NICK;	430	kanal = AD_NICK;
430	break;	431	break;
431	case 32:	432	case 32:
432	AdWertNick = (ADC + nick1 + 3) / 5;	433	AdWertNick = (ADC + nick1 + 3) / 5;
433	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	434	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
434	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	435	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
435	HiResNick = nick_filter - 20 * AdNeutralNick;	436	HiResNick = nick_filter - 20 * AdNeutralNick;
436	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	437	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
437	DebugOut.Analog[21] = AdWertNickFilter / 4;	438	DebugOut.Analog[21] = AdWertNickFilter / 4;
438	kanal = AD_ROLL;	439	kanal = AD_ROLL;
439	break;	440	break;
440	case 33:	441	case 33:
441	AdWertRoll = (ADC + roll1 + 3) / 5;	442	AdWertRoll = (ADC + roll1 + 3) / 5;
442	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	443	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
443	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	444	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
444	HiResRoll = roll_filter - 20 * AdNeutralRoll;	445	HiResRoll = roll_filter - 20 * AdNeutralRoll;
445	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	446	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
446	DebugOut.Analog[22] = AdWertRollFilter / 4;	447	DebugOut.Analog[22] = AdWertRollFilter / 4;
447	kanal = AD_ACC_X;	448	kanal = AD_ACC_X;
448	break;	449	break;
449	case 34:	450	case 34:
450	Aktuell_ax = ADC - NeutralAccX;	451	Aktuell_ax = ADC - NeutralAccX;
451	AdWertAccNick = (Aktuell_ax + accx);	452	AdWertAccNick = (Aktuell_ax + accx);
452	kanal = AD_NICK;	453	kanal = AD_NICK;
453	state = 0;	454	state = 0;
454	AdReady = 1;	455	AdReady = 1;
455	ZaehlMessungen++;	456	ZaehlMessungen++;
456	break;	457	break;
457	default:	458	default:
458	kanal = 0;	459	kanal = 0;
459	state = 0;	460	state = 0;
460	break;	461	break;
461	}	462	}
462	ADMUX = kanal;	463	ADMUX = kanal;
463	if(state != 0) ANALOG_ON;	464	if(state != 0) ANALOG_ON;
464	}	465	}
465	*/	466	*/
466		467

Subversion Repositories FlightCtrl

(root)/branches/V0.88n_ACC-HH_HR_MartinR/analog.c @ 2510 - Rev 1352 → 1356