WebSVN - FlightCtrl - Diff - Rev 1687 and 1695


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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++;
   I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
   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 char subcount = 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)
               {
                subcount += 5;
//                if(modell_fliegt < 500) subcount += 10;
               }
              if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 subcount -= 5;
//                 if(modell_fliegt < 500) subcount -= 10;
                 if(subcount < -100) { NeutralAccZ--; subcount += 100;}
                }
             }
/*
            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 = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
                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 1687	Rev 1695
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		158
159	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	159	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
160	if(AdWertAccHoch > 1)	160	if(AdWertAccHoch > 1)
161	{	161	{
162	if(NeutralAccZ < 750)	162	if(NeutralAccZ < 750)
163	{	163	{
164	subcount += 2;	164	subcount += 5;
165	if(modell_fliegt < 500) subcount += 10;	165	// if(modell_fliegt < 500) subcount += 10;
166	}	166	}
167	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}	167	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
168	}	168	}
169	else if(AdWertAccHoch < -1)	169	else if(AdWertAccHoch < -1)
170	{	170	{
171	if(NeutralAccZ > 550)	171	if(NeutralAccZ > 550)
172	{	172	{
173	subcount -= 2;	173	subcount -= 5;
174	if(modell_fliegt < 500) subcount -= 10;	174	// if(modell_fliegt < 500) subcount -= 10;
175	if(subcount < -100) { NeutralAccZ--; subcount += 100;}	175	if(subcount < -100) { NeutralAccZ--; subcount += 100;}
176	}	176	}
177	}	177	}
178	/*	178	/*
179	AdWertAccHoch = (signed int) ADC - NeutralAccZ_float;	179	AdWertAccHoch = (signed int) ADC - NeutralAccZ_float;
180	if(AdWertAccHoch > 1)	180	if(AdWertAccHoch > 1)
181	{	181	{
182	if(NeutralAccZ_float < 750)	182	if(NeutralAccZ_float < 750)
183	{	183	{
184	NeutralAccZ_float += 0.02;	184	NeutralAccZ_float += 0.02;
185	if(modell_fliegt < 500) NeutralAccZ_float += 0.1;	185	if(modell_fliegt < 500) NeutralAccZ_float += 0.1;
186	}	186	}
187	}	187	}
188	else if(AdWertAccHoch < -1)	188	else if(AdWertAccHoch < -1)
189	{	189	{
190	if(NeutralAccZ_float > 550)	190	if(NeutralAccZ_float > 550)
191	{	191	{
192	NeutralAccZ_float-= 0.02;	192	NeutralAccZ_float-= 0.02;
193	if(modell_fliegt < 500) NeutralAccZ_float -= 0.1;	193	if(modell_fliegt < 500) NeutralAccZ_float -= 0.1;
194	}	194	}
195	}	195	}
196	*/	196	*/
197	messanzahl_AccHoch = 1;	197	messanzahl_AccHoch = 1;
198	Aktuell_az = ADC;	198	Aktuell_az = ADC;
199	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	199	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
200	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	200	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
201	kanal = AD_DRUCK;	201	kanal = AD_DRUCK;
202	break;	202	break;
203	// "case 8:" fehlt hier absichtlich	203	// "case 8:" fehlt hier absichtlich
204	case 10:	204	case 10:
205	nick1 += ADC;	205	nick1 += ADC;
206	kanal = AD_ROLL;	206	kanal = AD_ROLL;
207	break;	207	break;
208	case 11:	208	case 11:
209	roll1 += ADC;	209	roll1 += ADC;
210	kanal = AD_GIER;	210	kanal = AD_GIER;
211	break;	211	break;
212	case 12:	212	case 12:
213	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	213	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
214	else	214	else
215	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);	215	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);
216	else AdWertGier = (ADC + gier1);	216	else AdWertGier = (ADC + gier1);
217	kanal = AD_ACC_Y;	217	kanal = AD_ACC_Y;
218	break;	218	break;
219	case 13:	219	case 13:
220	Aktuell_ay = NeutralAccY - ADC;	220	Aktuell_ay = NeutralAccY - ADC;
221	AdWertAccRoll = (Aktuell_ay + accy);	221	AdWertAccRoll = (Aktuell_ay + accy);
222	kanal = AD_ACC_X;	222	kanal = AD_ACC_X;
223	break;	223	break;
224	case 14:	224	case 14:
225	Aktuell_ax = ADC - NeutralAccX;	225	Aktuell_ax = ADC - NeutralAccX;
226	AdWertAccNick = (Aktuell_ax + accx);	226	AdWertAccNick = (Aktuell_ax + accx);
227	kanal = AD_NICK;	227	kanal = AD_NICK;
228	break;	228	break;
229	case 15:	229	case 15:
230	nick1 += ADC;	230	nick1 += ADC;
231	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	231	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
232	AdWertNick = nick1 / 8;	232	AdWertNick = nick1 / 8;
233	nick_filter = (nick_filter + nick1) / 2;	233	nick_filter = (nick_filter + nick1) / 2;
234	HiResNick = nick_filter - AdNeutralNick;	234	HiResNick = nick_filter - AdNeutralNick;
235	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	235	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
236	kanal = AD_ROLL;	236	kanal = AD_ROLL;
237	break;	237	break;
238	case 16:	238	case 16:
239	roll1 += ADC;	239	roll1 += ADC;
240	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	240	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
241	AdWertRoll = roll1 / 8;	241	AdWertRoll = roll1 / 8;
242	roll_filter = (roll_filter + roll1) / 2;	242	roll_filter = (roll_filter + roll1) / 2;
243	HiResRoll = roll_filter - AdNeutralRoll;	243	HiResRoll = roll_filter - AdNeutralRoll;
244	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	244	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
245	kanal = AD_DRUCK;	245	kanal = AD_DRUCK;
246	break;	246	break;
247	case 17:	247	case 17:
248	state = 0;	248	state = 0;
249	AdReady = 1;	249	AdReady = 1;
250	ZaehlMessungen++;	250	ZaehlMessungen++;
251	// "break" fehlt hier absichtlich	251	// "break" fehlt hier absichtlich
252	case 9:	252	case 9:
253	MessLuftdruck = ADC;	253	MessLuftdruck = ADC;
254	tmpLuftdruck += MessLuftdruck;	254	tmpLuftdruck += MessLuftdruck;
255	if(++messanzahl_Druck >= 18)	255	if(++messanzahl_Druck >= 18)
256	{	256	{
257	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	257	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
258	HoehenWert = StartLuftdruck - Luftdruck;	258	HoehenWert = StartLuftdruck - Luftdruck;
259	SummenHoehe -= SummenHoehe/SM_FILTER;	259	SummenHoehe -= SummenHoehe/SM_FILTER;
260	SummenHoehe += HoehenWert;	260	SummenHoehe += HoehenWert;
261	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;	261	VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
262	tmpLuftdruck /= 2;	262	tmpLuftdruck /= 2;
263	messanzahl_Druck = 18/2;	263	messanzahl_Druck = 18/2;
264	}	264	}
265	kanal = AD_NICK;	265	kanal = AD_NICK;
266	break;	266	break;
267	default:	267	default:
268	kanal = 0; state = 0; kanal = AD_NICK;	268	kanal = 0; state = 0; kanal = AD_NICK;
269	break;	269	break;
270	}	270	}
271	ADMUX = kanal;	271	ADMUX = kanal;
272	if(state != 0) ANALOG_ON;	272	if(state != 0) ANALOG_ON;
273		273
274	}	274	}
275		275
276		276
277		277
278	/*	278	/*
279	//#######################################################################################	279	//#######################################################################################
280	//	280	//
281	SIGNAL(SIG_ADC)	281	SIGNAL(SIG_ADC)
282	//#######################################################################################	282	//#######################################################################################
283	{	283	{
284	static unsigned char kanal=0,state = 0;	284	static unsigned char kanal=0,state = 0;
285	static signed int gier1, roll1, nick1;	285	static signed int gier1, roll1, nick1;
286	static signed long nick_filter, roll_filter;	286	static signed long nick_filter, roll_filter;
287	static signed int accy, accx;	287	static signed int accy, accx;
288	switch(state++)	288	switch(state++)
289	{	289	{
290	case 0:	290	case 0:
291	nick1 = ADC;	291	nick1 = ADC;
292	kanal = AD_ROLL;	292	kanal = AD_ROLL;
293	break;	293	break;
294	case 1:	294	case 1:
295	roll1 = ADC;	295	roll1 = ADC;
296	kanal = AD_GIER;	296	kanal = AD_GIER;
297	break;	297	break;
298	case 2:	298	case 2:
299	gier1 = ADC;	299	gier1 = ADC;
300	kanal = AD_ACC_Y;	300	kanal = AD_ACC_Y;
301	break;	301	break;
302	case 3:	302	case 3:
303	Aktuell_ay = NeutralAccY - ADC;	303	Aktuell_ay = NeutralAccY - ADC;
304	accy = Aktuell_ay;	304	accy = Aktuell_ay;
305	kanal = AD_NICK;	305	kanal = AD_NICK;
306	break;	306	break;
307	case 4:	307	case 4:
308	nick1 += ADC;	308	nick1 += ADC;
309	kanal = AD_ROLL;	309	kanal = AD_ROLL;
310	break;	310	break;
311	case 5:	311	case 5:
312	roll1 += ADC;	312	roll1 += ADC;
313	kanal = AD_ACC_Z;	313	kanal = AD_ACC_Z;
314	break;	314	break;
315	case 6:	315	case 6:
316	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	316	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
317	if(AdWertAccHoch > 1)	317	if(AdWertAccHoch > 1)
318	{	318	{
319	if(NeutralAccZ < 750)	319	if(NeutralAccZ < 750)
320	{	320	{
321	NeutralAccZ += 0.02;	321	NeutralAccZ += 0.02;
322	if(modell_fliegt < 500) NeutralAccZ += 0.1;	322	if(modell_fliegt < 500) NeutralAccZ += 0.1;
323	}	323	}
324	}	324	}
325	else if(AdWertAccHoch < -1)	325	else if(AdWertAccHoch < -1)
326	{	326	{
327	if(NeutralAccZ > 550)	327	if(NeutralAccZ > 550)
328	{	328	{
329	NeutralAccZ-= 0.02;	329	NeutralAccZ-= 0.02;
330	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	330	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
331	}	331	}
332	}	332	}
333	messanzahl_AccHoch = 1;	333	messanzahl_AccHoch = 1;
334	Aktuell_az = ADC;	334	Aktuell_az = ADC;
335	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	335	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
336	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	336	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
337	kanal = AD_NICK;	337	kanal = AD_NICK;
338	break;	338	break;
339	case 7:	339	case 7:
340	nick1 += ADC;	340	nick1 += ADC;
341	kanal = AD_ROLL;	341	kanal = AD_ROLL;
342	break;	342	break;
343	case 8:	343	case 8:
344	roll1 += ADC;	344	roll1 += ADC;
345	kanal = AD_ACC_X;	345	kanal = AD_ACC_X;
346	break;	346	break;
347	case 9:	347	case 9:
348	Aktuell_ax = ADC - NeutralAccX;	348	Aktuell_ax = ADC - NeutralAccX;
349	accx = Aktuell_ax;	349	accx = Aktuell_ax;
350	kanal = AD_GIER;	350	kanal = AD_GIER;
351	break;	351	break;
352	case 10:	352	case 10:
353	gier1 += ADC;	353	gier1 += ADC;
354	kanal = AD_NICK;	354	kanal = AD_NICK;
355	break;	355	break;
356	case 11:	356	case 11:
357	nick1 += ADC;	357	nick1 += ADC;
358	kanal = AD_ROLL;	358	kanal = AD_ROLL;
359	break;	359	break;
360	case 12:	360	case 12:
361	roll1 += ADC;	361	roll1 += ADC;
362	kanal = AD_UBAT;	362	kanal = AD_UBAT;
363	break;	363	break;
364	case 13:	364	case 13:
365	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	365	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
366	kanal = AD_ACC_Y;	366	kanal = AD_ACC_Y;
367	break;	367	break;
368	case 14:	368	case 14:
369	Aktuell_ay = NeutralAccY - ADC;	369	Aktuell_ay = NeutralAccY - ADC;
370	accy += Aktuell_ay;	370	accy += Aktuell_ay;
371	kanal = AD_NICK;	371	kanal = AD_NICK;
372	break;	372	break;
373	case 15:	373	case 15:
374	nick1 += ADC;	374	nick1 += ADC;
375	kanal = AD_ROLL;	375	kanal = AD_ROLL;
376	break;	376	break;
377	case 16:	377	case 16:
378	roll1 += ADC;	378	roll1 += ADC;
379	kanal = AD_ACC_X;	379	kanal = AD_ACC_X;
380	break;	380	break;
381	case 17:	381	case 17:
382	Aktuell_ax = ADC - NeutralAccX;	382	Aktuell_ax = ADC - NeutralAccX;
383	accx += Aktuell_ax;	383	accx += Aktuell_ax;
384	kanal = AD_NICK;	384	kanal = AD_NICK;
385	break;	385	break;
386	case 18:	386	case 18:
387	nick1 += ADC;	387	nick1 += ADC;
388	kanal = AD_ROLL;	388	kanal = AD_ROLL;
389	break;	389	break;
390	case 19:	390	case 19:
391	roll1 += ADC;	391	roll1 += ADC;
392	kanal = AD_GIER;	392	kanal = AD_GIER;
393	break;	393	break;
394	case 20:	394	case 20:
395	gier1 += ADC;	395	gier1 += ADC;
396	kanal = AD_ACC_Y;	396	kanal = AD_ACC_Y;
397	break;	397	break;
398	case 21:	398	case 21:
399	Aktuell_ay = NeutralAccY - ADC;	399	Aktuell_ay = NeutralAccY - ADC;
400	accy += Aktuell_ay;	400	accy += Aktuell_ay;
401	kanal = AD_NICK;	401	kanal = AD_NICK;
402	break;	402	break;
403	case 22:	403	case 22:
404	nick1 += ADC;	404	nick1 += ADC;
405	kanal = AD_ROLL;	405	kanal = AD_ROLL;
406	break;	406	break;
407	case 23:	407	case 23:
408	roll1 += ADC;	408	roll1 += ADC;
409	kanal = AD_DRUCK;	409	kanal = AD_DRUCK;
410	break;	410	break;
411	case 24:	411	case 24:
412	tmpLuftdruck += ADC;	412	tmpLuftdruck += ADC;
413	if(++messanzahl_Druck >= 5)	413	if(++messanzahl_Druck >= 5)
414	{	414	{
415	MessLuftdruck = ADC;	415	MessLuftdruck = ADC;
416	messanzahl_Druck = 0;	416	messanzahl_Druck = 0;
417	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	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;	418	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
419	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	419	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
420	tmpLuftdruck = 0;	420	tmpLuftdruck = 0;
421	}	421	}
422	kanal = AD_NICK;	422	kanal = AD_NICK;
423	break;	423	break;
424	case 25:	424	case 25:
425	nick1 += ADC;	425	nick1 += ADC;
426	kanal = AD_ROLL;	426	kanal = AD_ROLL;
427	break;	427	break;
428	case 26:	428	case 26:
429	roll1 += ADC;	429	roll1 += ADC;
430	kanal = AD_ACC_X;	430	kanal = AD_ACC_X;
431	break;	431	break;
432	case 27:	432	case 27:
433	Aktuell_ax = ADC - NeutralAccX;	433	Aktuell_ax = ADC - NeutralAccX;
434	accx += Aktuell_ax;	434	accx += Aktuell_ax;
435	kanal = AD_GIER;	435	kanal = AD_GIER;
436	break;	436	break;
437	case 28:	437	case 28:
438	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	438	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
439	else	439	else
440	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	440	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
441	else AdWertGier = (ADC + gier1 + 1) / 2;	441	else AdWertGier = (ADC + gier1 + 1) / 2;
442	kanal = AD_NICK;	442	kanal = AD_NICK;
443	break;	443	break;
444	case 29:	444	case 29:
445	nick1 += ADC;	445	nick1 += ADC;
446	kanal = AD_ROLL;	446	kanal = AD_ROLL;
447	break;	447	break;
448	case 30:	448	case 30:
449	roll1 += ADC;	449	roll1 += ADC;
450	kanal = AD_ACC_Y;	450	kanal = AD_ACC_Y;
451	break;	451	break;
452	case 31:	452	case 31:
453	Aktuell_ay = NeutralAccY - ADC;	453	Aktuell_ay = NeutralAccY - ADC;
454	AdWertAccRoll = (Aktuell_ay + accy);	454	AdWertAccRoll = (Aktuell_ay + accy);
455	kanal = AD_NICK;	455	kanal = AD_NICK;
456	break;	456	break;
457	case 32:	457	case 32:
458	AdWertNick = (ADC + nick1 + 3) / 5;	458	AdWertNick = (ADC + nick1 + 3) / 5;
459	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	459	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
460	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	460	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
461	HiResNick = nick_filter - 20 * AdNeutralNick;	461	HiResNick = nick_filter - 20 * AdNeutralNick;
462	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	462	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
463	DebugOut.Analog[21] = AdWertNickFilter / 4;	463	DebugOut.Analog[21] = AdWertNickFilter / 4;
464	kanal = AD_ROLL;	464	kanal = AD_ROLL;
465	break;	465	break;
466	case 33:	466	case 33:
467	AdWertRoll = (ADC + roll1 + 3) / 5;	467	AdWertRoll = (ADC + roll1 + 3) / 5;
468	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	468	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
469	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	469	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
470	HiResRoll = roll_filter - 20 * AdNeutralRoll;	470	HiResRoll = roll_filter - 20 * AdNeutralRoll;
471	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	471	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
472	DebugOut.Analog[22] = AdWertRollFilter / 4;	472	DebugOut.Analog[22] = AdWertRollFilter / 4;
473	kanal = AD_ACC_X;	473	kanal = AD_ACC_X;
474	break;	474	break;
475	case 34:	475	case 34:
476	Aktuell_ax = ADC - NeutralAccX;	476	Aktuell_ax = ADC - NeutralAccX;
477	AdWertAccNick = (Aktuell_ax + accx);	477	AdWertAccNick = (Aktuell_ax + accx);
478	kanal = AD_NICK;	478	kanal = AD_NICK;
479	state = 0;	479	state = 0;
480	AdReady = 1;	480	AdReady = 1;
481	ZaehlMessungen++;	481	ZaehlMessungen++;
482	break;	482	break;
483	default:	483	default:
484	kanal = 0;	484	kanal = 0;
485	state = 0;	485	state = 0;
486	break;	486	break;
487	}	487	}
488	ADMUX = kanal;	488	ADMUX = kanal;
489	if(state != 0) ANALOG_ON;	489	if(state != 0) ANALOG_ON;
490	}	490	}
491	*/	491	*/
492		492

Subversion Repositories FlightCtrl

(root)/tags/V0.88n/analog.c @ 2647 - Rev 1687 → 1695