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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; |
- | |
17 | volatile long Luftdruck = 32000; |
16 | volatile long Luftdruck = 32000; |
18 | volatile long SummenHoehe = 0; |
17 | volatile long SummenHoehe = 0; |
19 | volatile int StartLuftdruck; |
18 | volatile int StartLuftdruck; |
20 | volatile unsigned int MessLuftdruck = 1023; |
19 | volatile unsigned int MessLuftdruck = 1023; |
21 | unsigned char DruckOffsetSetting; |
20 | unsigned char DruckOffsetSetting; |
22 | signed char ExpandBaro = 0; |
21 | signed char ExpandBaro = 0; |
23 | volatile int VarioMeter = 0; |
22 | volatile int VarioMeter = 0; |
24 | volatile unsigned int ZaehlMessungen = 0; |
23 | volatile unsigned int ZaehlMessungen = 0; |
25 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
24 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
26 | volatile unsigned char AdReady = 1; |
25 | volatile unsigned char AdReady = 1; |
27 | float NeutralAccZ_float; |
- | |
- | 26 | ||
28 | //####################################################################################### |
27 | //####################################################################################### |
29 | // |
- | |
30 | void ADC_Init(void) |
28 | void ADC_Init(void) |
31 | //####################################################################################### |
29 | //####################################################################################### |
32 | { |
30 | { |
33 | ADMUX = 0;//Referenz ist extern |
31 | ADMUX = 0;//Referenz ist extern |
34 | ANALOG_ON; |
32 | ANALOG_ON; |
35 | } |
33 | } |
36 | 34 | ||
37 | #define DESIRED_H_ADC 800 |
35 | #define DESIRED_H_ADC 800 |
38 | 36 | ||
39 | void SucheLuftruckOffset(void) |
37 | void SucheLuftruckOffset(void) |
40 | { |
38 | { |
41 | unsigned int off; |
39 | unsigned int off; |
42 | ExpandBaro = 0; |
40 | ExpandBaro = 0; |
43 | 41 | ||
44 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
42 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
45 | { |
43 | { |
46 | unsigned char off2; |
44 | unsigned char off2; |
47 | OCR0A = 150; |
45 | OCR0A = 150; |
48 | off2 = GetParamByte(PID_PRESSURE_OFFSET); |
46 | off2 = GetParamByte(PID_PRESSURE_OFFSET); |
49 | if(off2 < 230) off2 += 10; |
47 | if(off2 < 230) off2 += 10; |
50 | OCR0B = off2; |
48 | OCR0B = off2; |
51 | Delay_ms_Mess(100); |
49 | Delay_ms_Mess(100); |
52 | if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
50 | if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
53 | for(; off2 >= 5; off2 -= 5) |
51 | for(; off2 >= 5; off2 -= 5) |
54 | { |
52 | { |
55 | OCR0B = off2; |
53 | OCR0B = off2; |
56 | Delay_ms_Mess(50); |
54 | Delay_ms_Mess(50); |
57 | printf("*"); |
55 | printf("*"); |
58 | if(MessLuftdruck > DESIRED_H_ADC) break; |
56 | if(MessLuftdruck > DESIRED_H_ADC) break; |
59 | } |
57 | } |
60 | SetParamByte(PID_PRESSURE_OFFSET, off2); |
58 | SetParamByte(PID_PRESSURE_OFFSET, off2); |
61 | if(off2 >= 15) off = 140; else off = 0; |
59 | if(off2 >= 15) off = 140; else off = 0; |
62 | for(; off < 250;off++) |
60 | for(; off < 250;off++) |
63 | { |
61 | { |
64 | OCR0A = off; |
62 | OCR0A = off; |
65 | Delay_ms_Mess(50); |
63 | Delay_ms_Mess(50); |
66 | printf("."); |
64 | printf("."); |
67 | if(MessLuftdruck < DESIRED_H_ADC) break; |
65 | if(MessLuftdruck < DESIRED_H_ADC) break; |
68 | } |
66 | } |
69 | DruckOffsetSetting = off; |
67 | DruckOffsetSetting = off; |
70 | } |
68 | } |
71 | #else |
69 | #else |
72 | off = GetParamByte(PID_PRESSURE_OFFSET); |
70 | off = GetParamByte(PID_PRESSURE_OFFSET); |
73 | if(off > 20) off -= 10; |
71 | if(off > 20) off -= 10; |
74 | OCR0A = off; |
72 | OCR0A = off; |
75 | Delay_ms_Mess(100); |
73 | Delay_ms_Mess(100); |
76 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
74 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
77 | for(; off < 250;off++) |
75 | for(; off < 250;off++) |
78 | { |
76 | { |
79 | OCR0A = off; |
77 | OCR0A = off; |
80 | Delay_ms_Mess(50); |
78 | Delay_ms_Mess(50); |
81 | printf("."); |
79 | printf("."); |
82 | if(MessLuftdruck < DESIRED_H_ADC) break; |
80 | if(MessLuftdruck < DESIRED_H_ADC) break; |
83 | } |
81 | } |
84 | DruckOffsetSetting = off; |
82 | DruckOffsetSetting = off; |
85 | SetParamByte(PID_PRESSURE_OFFSET, off); |
83 | SetParamByte(PID_PRESSURE_OFFSET, off); |
86 | #endif |
84 | #endif |
87 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
85 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
88 | OCR0A = off; |
86 | OCR0A = off; |
89 | Delay_ms_Mess(300); |
87 | Delay_ms_Mess(300); |
90 | } |
88 | } |
91 | 89 | ||
92 | 90 | ||
93 | void SucheGyroOffset(void) |
91 | void SucheGyroOffset(void) |
94 | { |
92 | { |
95 | unsigned char i, ready = 0; |
93 | unsigned char i, ready = 0; |
96 | int timeout; |
94 | int timeout; |
97 | timeout = SetDelay(2000); |
95 | timeout = SetDelay(2000); |
98 | for(i=140; i != 0; i--) |
96 | for(i=140; i != 0; i--) |
99 | { |
97 | { |
100 | if(ready == 3 && i > 10) i = 9; |
98 | if(ready == 3 && i > 10) i = 9; |
101 | ready = 0; |
99 | ready = 0; |
102 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
100 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
103 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
101 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
104 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
102 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
105 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
103 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
106 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
104 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
107 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;}; |
105 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;}; |
108 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;}; |
106 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;}; |
109 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
107 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
110 | AdReady = 0; |
108 | AdReady = 0; |
111 | ANALOG_ON; |
109 | ANALOG_ON; |
112 | while(!AdReady); |
110 | while(!AdReady); |
113 | if(i<10) Delay_ms_Mess(10); |
111 | if(i<10) Delay_ms_Mess(10); |
114 | } |
112 | } |
115 | Delay_ms_Mess(70); |
113 | Delay_ms_Mess(70); |
116 | } |
114 | } |
117 | 115 | ||
118 | /* |
116 | /* |
119 | 0 n |
117 | 0 n |
120 | 1 r |
118 | 1 r |
121 | 2 g |
119 | 2 g |
122 | 3 y |
120 | 3 y |
123 | 4 x |
121 | 4 x |
124 | 5 n |
122 | 5 n |
125 | 6 r |
123 | 6 r |
126 | 7 u |
124 | 7 u |
127 | 8 z |
125 | 8 z |
128 | 9 L |
126 | 9 L |
129 | 10 n |
127 | 10 n |
130 | 11 r |
128 | 11 r |
131 | 12 g |
129 | 12 g |
132 | 13 y |
130 | 13 y |
133 | 14 x |
131 | 14 x |
134 | 15 n |
132 | 15 n |
135 | 16 r |
133 | 16 r |
136 | 17 L |
134 | 17 L |
137 | */ |
135 | */ |
138 | 136 | ||
139 | //####################################################################################### |
137 | //####################################################################################### |
140 | // |
138 | // |
141 | ISR(ADC_vect) |
139 | ISR(ADC_vect) |
142 | //####################################################################################### |
140 | //####################################################################################### |
143 | { |
141 | { |
144 | static unsigned char kanal=0,state = 0; |
142 | static unsigned char kanal=0,state = 0; |
145 | static signed char subcount = 0; |
143 | static signed char subcount = 0; |
146 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
144 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
147 | static signed int accy, accx; |
145 | static signed int accy, accx; |
148 | static long tmpLuftdruck = 0; |
146 | static long tmpLuftdruck = 0; |
149 | static char messanzahl_Druck = 0; |
147 | static char messanzahl_Druck = 0; |
150 | switch(state++) |
148 | switch(state++) |
151 | { |
149 | { |
152 | case 0: |
150 | case 0: |
153 | nick1 = ADC; |
151 | nick1 = ADC; |
154 | kanal = AD_ROLL; |
152 | kanal = AD_ROLL; |
155 | break; |
153 | break; |
156 | case 1: |
154 | case 1: |
157 | roll1 = ADC; |
155 | roll1 = ADC; |
158 | kanal = AD_GIER; |
156 | kanal = AD_GIER; |
159 | break; |
157 | break; |
160 | case 2: |
158 | case 2: |
161 | gier1 = ADC; |
159 | gier1 = ADC; |
162 | kanal = AD_ACC_Y; |
160 | kanal = AD_ACC_Y; |
163 | break; |
161 | break; |
164 | case 3: |
162 | case 3: |
165 | Aktuell_ay = NeutralAccY - ADC; |
163 | Aktuell_ay = NeutralAccY - ADC; |
166 | accy = Aktuell_ay; |
164 | accy = Aktuell_ay; |
167 | kanal = AD_ACC_X; |
165 | kanal = AD_ACC_X; |
168 | break; |
166 | break; |
169 | case 4: |
167 | case 4: |
170 | Aktuell_ax = ADC - NeutralAccX; |
168 | Aktuell_ax = ADC - NeutralAccX; |
171 | accx = Aktuell_ax; |
169 | accx = Aktuell_ax; |
172 | kanal = AD_NICK; |
170 | kanal = AD_NICK; |
173 | break; |
171 | break; |
174 | case 5: |
172 | case 5: |
175 | nick1 += ADC; |
173 | nick1 += ADC; |
176 | kanal = AD_ROLL; |
174 | kanal = AD_ROLL; |
177 | break; |
175 | break; |
178 | case 6: |
176 | case 6: |
179 | roll1 += ADC; |
177 | roll1 += ADC; |
180 | kanal = AD_UBAT; |
178 | kanal = AD_UBAT; |
181 | break; |
179 | break; |
182 | case 7: |
180 | case 7: |
183 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
181 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
184 | if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference |
182 | if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference |
185 | else |
183 | else |
186 | #endif |
184 | #endif |
187 | UBat = (3 * UBat + ADC / 3) / 4; |
185 | UBat = (3 * UBat + ADC / 3) / 4; |
188 | kanal = AD_ACC_Z; |
186 | kanal = AD_ACC_Z; |
189 | break; |
187 | break; |
190 | case 8: |
188 | case 8: |
191 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
189 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
192 | if(AdWertAccHoch > 1) |
190 | if(AdWertAccHoch > 1) |
193 | { |
191 | { |
194 | if(NeutralAccZ < 750) |
192 | if(NeutralAccZ < 750) |
195 | { |
193 | { |
196 | subcount += 5; |
194 | subcount += 5; |
197 | if(modell_fliegt < 500) subcount += 10; |
195 | if(modell_fliegt < 500) subcount += 10; |
198 | } |
196 | } |
199 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
197 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
200 | } |
198 | } |
201 | else if(AdWertAccHoch < -1) |
199 | else if(AdWertAccHoch < -1) |
202 | { |
200 | { |
203 | if(NeutralAccZ > 550) |
201 | if(NeutralAccZ > 550) |
204 | { |
202 | { |
205 | subcount -= 5; |
203 | subcount -= 5; |
206 | if(modell_fliegt < 500) subcount -= 10; |
204 | if(modell_fliegt < 500) subcount -= 10; |
207 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
205 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
208 | } |
206 | } |
209 | } |
207 | } |
210 | messanzahl_AccHoch = 1; |
208 | // messanzahl_AccHoch = 1; |
211 | Aktuell_az = ADC; |
209 | Aktuell_az = ADC; |
212 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
210 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
213 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
211 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
214 | kanal = AD_DRUCK; |
212 | kanal = AD_DRUCK; |
215 | break; |
213 | break; |
216 | // "case 9:" fehlt hier absichtlich |
214 | // "case 9:" fehlt hier absichtlich |
217 | case 10: |
215 | case 10: |
218 | nick1 += ADC; |
216 | nick1 += ADC; |
219 | kanal = AD_ROLL; |
217 | kanal = AD_ROLL; |
220 | break; |
218 | break; |
221 | case 11: |
219 | case 11: |
222 | roll1 += ADC; |
220 | roll1 += ADC; |
223 | kanal = AD_GIER; |
221 | kanal = AD_GIER; |
224 | break; |
222 | break; |
225 | case 12: |
223 | case 12: |
226 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
224 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
227 | else |
225 | else |
228 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
226 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
229 | else AdWertGier = (ADC + gier1); |
227 | else AdWertGier = (ADC + gier1); |
230 | kanal = AD_ACC_Y; |
228 | kanal = AD_ACC_Y; |
231 | break; |
229 | break; |
232 | case 13: |
230 | case 13: |
233 | Aktuell_ay = NeutralAccY - ADC; |
231 | Aktuell_ay = NeutralAccY - ADC; |
234 | AdWertAccRoll = (Aktuell_ay + accy); |
232 | AdWertAccRoll = (Aktuell_ay + accy); |
235 | kanal = AD_ACC_X; |
233 | kanal = AD_ACC_X; |
236 | break; |
234 | break; |
237 | case 14: |
235 | case 14: |
238 | Aktuell_ax = ADC - NeutralAccX; |
236 | Aktuell_ax = ADC - NeutralAccX; |
239 | AdWertAccNick = (Aktuell_ax + accx); |
237 | AdWertAccNick = (Aktuell_ax + accx); |
240 | kanal = AD_NICK; |
238 | kanal = AD_NICK; |
241 | break; |
239 | break; |
242 | case 15: |
240 | case 15: |
243 | nick1 += ADC; |
241 | nick1 += ADC; |
244 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
242 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
245 | AdWertNick = nick1 / 8; |
243 | AdWertNick = nick1 / 8; |
246 | nick_filter = (nick_filter + nick1) / 2; |
244 | nick_filter = (nick_filter + nick1) / 2; |
247 | HiResNick = nick_filter - AdNeutralNick; |
245 | HiResNick = nick_filter - AdNeutralNick; |
248 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
246 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
249 | kanal = AD_ROLL; |
247 | kanal = AD_ROLL; |
250 | break; |
248 | break; |
251 | case 16: |
249 | case 16: |
252 | roll1 += ADC; |
250 | roll1 += ADC; |
253 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
251 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
254 | AdWertRoll = roll1 / 8; |
252 | AdWertRoll = roll1 / 8; |
255 | roll_filter = (roll_filter + roll1) / 2; |
253 | roll_filter = (roll_filter + roll1) / 2; |
256 | HiResRoll = roll_filter - AdNeutralRoll; |
254 | HiResRoll = roll_filter - AdNeutralRoll; |
257 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
255 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
258 | kanal = AD_DRUCK; |
256 | kanal = AD_DRUCK; |
259 | break; |
257 | break; |
260 | case 17: |
258 | case 17: |
261 | state = 0; |
259 | state = 0; |
262 | AdReady = 1; |
260 | AdReady = 1; |
263 | ZaehlMessungen++; |
261 | ZaehlMessungen++; |
264 | // "break" fehlt hier absichtlich |
262 | // "break" fehlt hier absichtlich |
265 | case 9: |
263 | case 9: |
266 | MessLuftdruck = ADC; |
264 | MessLuftdruck = ADC; |
267 | tmpLuftdruck += MessLuftdruck; |
265 | tmpLuftdruck += MessLuftdruck; |
268 | if(++messanzahl_Druck >= 18) |
266 | if(++messanzahl_Druck >= 18) |
269 | { |
267 | { |
270 | signed int tmp; |
268 | signed int tmp; |
271 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
269 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
272 | HoehenWert = StartLuftdruck - Luftdruck; |
270 | HoehenWert = StartLuftdruck - Luftdruck; |
273 | SummenHoehe -= SummenHoehe/SM_FILTER; |
271 | SummenHoehe -= SummenHoehe/SM_FILTER; |
274 | SummenHoehe += HoehenWert; |
272 | SummenHoehe += HoehenWert; |
275 | tmp = (HoehenWert - SummenHoehe/SM_FILTER); |
273 | tmp = (HoehenWert - SummenHoehe/SM_FILTER); |
276 | if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024; |
274 | if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024; |
277 | if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16; |
275 | if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16; |
278 | else VarioMeter = (31 * VarioMeter + 8 * tmp)/32; |
276 | else VarioMeter = (31 * VarioMeter + 8 * tmp)/32; |
279 | tmpLuftdruck /= 2; |
277 | tmpLuftdruck /= 2; |
280 | messanzahl_Druck = 18/2; |
278 | messanzahl_Druck = 18/2; |
281 | } |
279 | } |
282 | kanal = AD_NICK; |
280 | kanal = AD_NICK; |
283 | break; |
281 | break; |
284 | default: |
282 | default: |
285 | kanal = 0; state = 0; kanal = AD_NICK; |
283 | kanal = 0; state = 0; kanal = AD_NICK; |
286 | break; |
284 | break; |
287 | } |
285 | } |
288 | ADMUX = kanal; |
286 | ADMUX = kanal; |
289 | if(state != 0) ANALOG_ON; |
287 | if(state != 0) ANALOG_ON; |
290 | } |
288 | } |
291 | 289 | ||
292 | 290 |