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