WebSVN - FlightCtrl - Diff - Rev 1638 and 1639


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
//#######################################################################################
//
void ADC_Init(void)
//#######################################################################################
{
    ADMUX = 0;//Referenz ist extern
    ANALOG_ON;
}
 
#define DESIRED_H_ADC 800
 
void SucheLuftruckOffset(void)
{
 unsigned int off;
 off = GetParamByte(PID_PRESSURE_OFFSET);
 if(off > 20) off -= 10;
 OCR0A = off;
 ExpandBaro = 0;
 Delay_ms_Mess(100);
 if(MessLuftdruck < DESIRED_H_ADC) off = 0;
 for(; off < 250;off++)
  {
  OCR0A = off;
  Delay_ms_Mess(50);
  printf(".");
  if(MessLuftdruck < DESIRED_H_ADC) break;
  }
 SetParamByte(PID_PRESSURE_OFFSET, off);
 DruckOffsetSetting = off;
 OCR0A = off;
 Delay_ms_Mess(300);
 
}
 
void SucheGyroOffset(void)
{
 unsigned char i, ready = 0;
 int timeout;
 GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
 timeout = SetDelay(2000);
 for(i=140; i != 0; i--)
  {
   if(ready == 3 && i > 10) i = 9;
   ready = 0;
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
   twi_state = 18;
   I2C_Start();
   if(AnalogOffsetNick < 10)  { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
   AdReady = 0;
   ANALOG_ON;
   while(!AdReady);
   if(i<10) Delay_ms_Mess(10);
  }
   Delay_ms_Mess(70);
}
 
/*
0  n
1  r
2     g
3     y
4     x
5  n
6  r
7     u
8     z
9     L
10 n
11 r
12    g
13    y
14    x
15 n
16 r
17    L
*/
 
//#######################################################################################
//
ISR(ADC_vect)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;
        static signed int accy, accx,subcount = 0;
 
        static long tmpLuftdruck = 0;
        static char messanzahl_Druck = 0;
    switch(state++)
        {
        case 0:
            nick1 = ADC;
            kanal = AD_ROLL;
            break;
        case 1:
            roll1 = ADC;
                    kanal = AD_GIER;
            break;
        case 2:
            gier1 = ADC;
            kanal = AD_ACC_Y;
            break;
        case 3:
            Aktuell_ay = NeutralAccY - ADC;
            accy = Aktuell_ay;
                    kanal = AD_ACC_X;
            break;
        case 4:
            Aktuell_ax = ADC - NeutralAccX;
            accx =  Aktuell_ax;
            kanal = AD_NICK;
            break;
        case 5:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 6:
            roll1 += ADC;
            kanal = AD_UBAT;
            break;
        case 7:
            UBat = (3 * UBat + ADC / 3) / 4;
                    kanal = AD_ACC_Z;
            break;
       case 8:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                subcount += 2;
                if(modell_fliegt < 500) subcount += 100;
               }
              if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;}
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 subcount -= 2;
                 if(modell_fliegt < 500) subcount -= 100;
                 if(subcount < -1000) { NeutralAccZ--; subcount += 1000;}
                }
             }
            messanzahl_AccHoch = 1;
            Aktuell_az = ADC;
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
 
/*
            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 1638	Rev 1639
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	//#######################################################################################	28	//#######################################################################################
29	//	29	//
30	void ADC_Init(void)	30	void ADC_Init(void)
31	//#######################################################################################	31	//#######################################################################################
32	{	32	{
33	ADMUX = 0;//Referenz ist extern	33	ADMUX = 0;//Referenz ist extern
34	ANALOG_ON;	34	ANALOG_ON;
35	}	35	}
36		36
37	#define DESIRED_H_ADC 800	37	#define DESIRED_H_ADC 800
38		38
39	void SucheLuftruckOffset(void)	39	void SucheLuftruckOffset(void)
40	{	40	{
41	unsigned int off;	41	unsigned int off;
42	off = GetParamByte(PID_PRESSURE_OFFSET);	42	off = GetParamByte(PID_PRESSURE_OFFSET);
43	if(off > 20) off -= 10;	43	if(off > 20) off -= 10;
44	OCR0A = off;	44	OCR0A = off;
45	ExpandBaro = 0;	45	ExpandBaro = 0;
46	Delay_ms_Mess(100);	46	Delay_ms_Mess(100);
47	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	47	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
48	for(; off < 250;off++)	48	for(; off < 250;off++)
49	{	49	{
50	OCR0A = off;	50	OCR0A = off;
51	Delay_ms_Mess(50);	51	Delay_ms_Mess(50);
52	printf(".");	52	printf(".");
53	if(MessLuftdruck < DESIRED_H_ADC) break;	53	if(MessLuftdruck < DESIRED_H_ADC) break;
54	}	54	}
55	SetParamByte(PID_PRESSURE_OFFSET, off);	55	SetParamByte(PID_PRESSURE_OFFSET, off);
56	DruckOffsetSetting = off;	56	DruckOffsetSetting = off;
57	OCR0A = off;	57	OCR0A = off;
58	Delay_ms_Mess(300);	58	Delay_ms_Mess(300);
59		59
60	}	60	}
61		61
62	void SucheGyroOffset(void)	62	void SucheGyroOffset(void)
63	{	63	{
64	unsigned char i, ready = 0;	64	unsigned char i, ready = 0;
65	int timeout;	65	int timeout;
66	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	66	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
67	timeout = SetDelay(2000);	67	timeout = SetDelay(2000);
68	for(i=140; i != 0; i--)	68	for(i=140; i != 0; i--)
69	{	69	{
70	if(ready == 3 && i > 10) i = 9;	70	if(ready == 3 && i > 10) i = 9;
71	ready = 0;	71	ready = 0;
72	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	72	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
73	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	73	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
74	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	74	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
75	twi_state = 18;	75	twi_state = 18;
76	i2c_start();	76	I2C_Start();
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 int gier1, roll1, nick1, nick_filter, roll_filter;	116	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
117	static signed int accy, accx;	117	static signed int accy, accx,subcount = 0;
118		118
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	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	158	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
159	if(AdWertAccHoch > 1)	159	if(AdWertAccHoch > 1)
160	{	160	{
161	if(NeutralAccZ < 750)	161	if(NeutralAccZ < 750)
162	{	162	{
-		163	subcount += 2;
-		164	if(modell_fliegt < 500) subcount += 100;
-		165	}
-		166	if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;}
-		167	}
-		168	else if(AdWertAccHoch < -1)
-		169	{
-		170	if(NeutralAccZ > 550)
-		171	{
-		172	subcount -= 2;
-		173	if(modell_fliegt < 500) subcount -= 100;
-		174	if(subcount < -1000) { NeutralAccZ--; subcount += 1000;}
-		175	}
-		176	}
-		177	messanzahl_AccHoch = 1;
-		178	Aktuell_az = ADC;
-		179	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
-		180	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
-		181
-		182	/*
-		183	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
-		184	if(AdWertAccHoch > 1)
-		185	{
-		186	if(NeutralAccZ < 750)
-		187	{
163	NeutralAccZ += 0.02;	188	NeutralAccZ += 0.02;
164	if(modell_fliegt < 500) NeutralAccZ += 0.1;	189	if(modell_fliegt < 500) NeutralAccZ += 0.1;
165	}	190	}
166	}	191	}
167	else if(AdWertAccHoch < -1)	192	else if(AdWertAccHoch < -1)
168	{	193	{
169	if(NeutralAccZ > 550)	194	if(NeutralAccZ > 550)
170	{	195	{
171	NeutralAccZ-= 0.02;	196	NeutralAccZ-= 0.02;
172	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	197	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
173	}	198	}
174	}	199	}
175	messanzahl_AccHoch = 1;	200	messanzahl_AccHoch = 1;
176	Aktuell_az = ADC;	201	Aktuell_az = ADC;
177	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	202	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
178	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	203	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
-		204	*/
179	kanal = AD_DRUCK;	205	kanal = AD_DRUCK;
180	break;	206	break;
181	// "case 8:" fehlt hier absichtlich	207	// "case 8:" fehlt hier absichtlich
182	case 10:	208	case 10:
183	nick1 += ADC;	209	nick1 += ADC;
184	kanal = AD_ROLL;	210	kanal = AD_ROLL;
185	break;	211	break;
186	case 11:	212	case 11:
187	roll1 += ADC;	213	roll1 += ADC;
188	kanal = AD_GIER;	214	kanal = AD_GIER;
189	break;	215	break;
190	case 12:	216	case 12:
191	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	217	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
192	else	218	else
193	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);	219	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);
194	else AdWertGier = (ADC + gier1);	220	else AdWertGier = (ADC + gier1);
195	kanal = AD_ACC_Y;	221	kanal = AD_ACC_Y;
196	break;	222	break;
197	case 13:	223	case 13:
198	Aktuell_ay = NeutralAccY - ADC;	224	Aktuell_ay = NeutralAccY - ADC;
199	AdWertAccRoll = (Aktuell_ay + accy);	225	AdWertAccRoll = (Aktuell_ay + accy);
200	kanal = AD_ACC_X;	226	kanal = AD_ACC_X;
201	break;	227	break;
202	case 14:	228	case 14:
203	Aktuell_ax = ADC - NeutralAccX;	229	Aktuell_ax = ADC - NeutralAccX;
204	AdWertAccNick = (Aktuell_ax + accx);	230	AdWertAccNick = (Aktuell_ax + accx);
205	kanal = AD_NICK;	231	kanal = AD_NICK;
206	break;	232	break;
207	case 15:	233	case 15:
208	nick1 += ADC;	234	nick1 += ADC;
209	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	235	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
210	AdWertNick = nick1 / 8;	236	AdWertNick = nick1 / 8;
211	nick_filter = (nick_filter + nick1) / 2;	237	nick_filter = (nick_filter + nick1) / 2;
212	HiResNick = nick_filter - AdNeutralNick;	238	HiResNick = nick_filter - AdNeutralNick;
213	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	239	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
214	kanal = AD_ROLL;	240	kanal = AD_ROLL;
215	break;	241	break;
216	case 16:	242	case 16:
217	roll1 += ADC;	243	roll1 += ADC;
218	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	244	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
219	AdWertRoll = roll1 / 8;	245	AdWertRoll = roll1 / 8;
220	roll_filter = (roll_filter + roll1) / 2;	246	roll_filter = (roll_filter + roll1) / 2;
221	HiResRoll = roll_filter - AdNeutralRoll;	247	HiResRoll = roll_filter - AdNeutralRoll;
222	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	248	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
223	kanal = AD_DRUCK;	249	kanal = AD_DRUCK;
224	break;	250	break;
225	case 17:	251	case 17:
226	state = 0;	252	state = 0;
227	AdReady = 1;	253	AdReady = 1;
228	ZaehlMessungen++;	254	ZaehlMessungen++;
229	// "break" fehlt hier absichtlich	255	// "break" fehlt hier absichtlich
230	case 9:	256	case 9:
231	MessLuftdruck = ADC;	257	MessLuftdruck = ADC;
232	tmpLuftdruck += MessLuftdruck;	258	tmpLuftdruck += MessLuftdruck;
233	if(++messanzahl_Druck >= 18)	259	if(++messanzahl_Druck >= 18)
234	{	260	{
235	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	261	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
236	HoehenWert = StartLuftdruck - Luftdruck;	262	HoehenWert = StartLuftdruck - Luftdruck;
237	SummenHoehe -= SummenHoehe/SM_FILTER;	263	SummenHoehe -= SummenHoehe/SM_FILTER;
238	SummenHoehe += HoehenWert;	264	SummenHoehe += HoehenWert;
239	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;	265	VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16;
240	tmpLuftdruck /= 2;	266	tmpLuftdruck /= 2;
241	messanzahl_Druck = 18/2;	267	messanzahl_Druck = 18/2;
242	}	268	}
243	kanal = AD_NICK;	269	kanal = AD_NICK;
244	break;	270	break;
245	default:	271	default:
246	kanal = 0; state = 0; kanal = AD_NICK;	272	kanal = 0; state = 0; kanal = AD_NICK;
247	break;	273	break;
248	}	274	}
249	ADMUX = kanal;	275	ADMUX = kanal;
250	if(state != 0) ANALOG_ON;	276	if(state != 0) ANALOG_ON;
251		277
252	}	278	}
253		279
254		280
255		281
256	/*	282	/*
257	//#######################################################################################	283	//#######################################################################################
258	//	284	//
259	SIGNAL(SIG_ADC)	285	SIGNAL(SIG_ADC)
260	//#######################################################################################	286	//#######################################################################################
261	{	287	{
262	static unsigned char kanal=0,state = 0;	288	static unsigned char kanal=0,state = 0;
263	static signed int gier1, roll1, nick1;	289	static signed int gier1, roll1, nick1;
264	static signed long nick_filter, roll_filter;	290	static signed long nick_filter, roll_filter;
265	static signed int accy, accx;	291	static signed int accy, accx;
266	switch(state++)	292	switch(state++)
267	{	293	{
268	case 0:	294	case 0:
269	nick1 = ADC;	295	nick1 = ADC;
270	kanal = AD_ROLL;	296	kanal = AD_ROLL;
271	break;	297	break;
272	case 1:	298	case 1:
273	roll1 = ADC;	299	roll1 = ADC;
274	kanal = AD_GIER;	300	kanal = AD_GIER;
275	break;	301	break;
276	case 2:	302	case 2:
277	gier1 = ADC;	303	gier1 = ADC;
278	kanal = AD_ACC_Y;	304	kanal = AD_ACC_Y;
279	break;	305	break;
280	case 3:	306	case 3:
281	Aktuell_ay = NeutralAccY - ADC;	307	Aktuell_ay = NeutralAccY - ADC;
282	accy = Aktuell_ay;	308	accy = Aktuell_ay;
283	kanal = AD_NICK;	309	kanal = AD_NICK;
284	break;	310	break;
285	case 4:	311	case 4:
286	nick1 += ADC;	312	nick1 += ADC;
287	kanal = AD_ROLL;	313	kanal = AD_ROLL;
288	break;	314	break;
289	case 5:	315	case 5:
290	roll1 += ADC;	316	roll1 += ADC;
291	kanal = AD_ACC_Z;	317	kanal = AD_ACC_Z;
292	break;	318	break;
293	case 6:	319	case 6:
294	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	320	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
295	if(AdWertAccHoch > 1)	321	if(AdWertAccHoch > 1)
296	{	322	{
297	if(NeutralAccZ < 750)	323	if(NeutralAccZ < 750)
298	{	324	{
299	NeutralAccZ += 0.02;	325	NeutralAccZ += 0.02;
300	if(modell_fliegt < 500) NeutralAccZ += 0.1;	326	if(modell_fliegt < 500) NeutralAccZ += 0.1;
301	}	327	}
302	}	328	}
303	else if(AdWertAccHoch < -1)	329	else if(AdWertAccHoch < -1)
304	{	330	{
305	if(NeutralAccZ > 550)	331	if(NeutralAccZ > 550)
306	{	332	{
307	NeutralAccZ-= 0.02;	333	NeutralAccZ-= 0.02;
308	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	334	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
309	}	335	}
310	}	336	}
311	messanzahl_AccHoch = 1;	337	messanzahl_AccHoch = 1;
312	Aktuell_az = ADC;	338	Aktuell_az = ADC;
313	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	339	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
314	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	340	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
315	kanal = AD_NICK;	341	kanal = AD_NICK;
316	break;	342	break;
317	case 7:	343	case 7:
318	nick1 += ADC;	344	nick1 += ADC;
319	kanal = AD_ROLL;	345	kanal = AD_ROLL;
320	break;	346	break;
321	case 8:	347	case 8:
322	roll1 += ADC;	348	roll1 += ADC;
323	kanal = AD_ACC_X;	349	kanal = AD_ACC_X;
324	break;	350	break;
325	case 9:	351	case 9:
326	Aktuell_ax = ADC - NeutralAccX;	352	Aktuell_ax = ADC - NeutralAccX;
327	accx = Aktuell_ax;	353	accx = Aktuell_ax;
328	kanal = AD_GIER;	354	kanal = AD_GIER;
329	break;	355	break;
330	case 10:	356	case 10:
331	gier1 += ADC;	357	gier1 += ADC;
332	kanal = AD_NICK;	358	kanal = AD_NICK;
333	break;	359	break;
334	case 11:	360	case 11:
335	nick1 += ADC;	361	nick1 += ADC;
336	kanal = AD_ROLL;	362	kanal = AD_ROLL;
337	break;	363	break;
338	case 12:	364	case 12:
339	roll1 += ADC;	365	roll1 += ADC;
340	kanal = AD_UBAT;	366	kanal = AD_UBAT;
341	break;	367	break;
342	case 13:	368	case 13:
343	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	369	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
344	kanal = AD_ACC_Y;	370	kanal = AD_ACC_Y;
345	break;	371	break;
346	case 14:	372	case 14:
347	Aktuell_ay = NeutralAccY - ADC;	373	Aktuell_ay = NeutralAccY - ADC;
348	accy += Aktuell_ay;	374	accy += Aktuell_ay;
349	kanal = AD_NICK;	375	kanal = AD_NICK;
350	break;	376	break;
351	case 15:	377	case 15:
352	nick1 += ADC;	378	nick1 += ADC;
353	kanal = AD_ROLL;	379	kanal = AD_ROLL;
354	break;	380	break;
355	case 16:	381	case 16:
356	roll1 += ADC;	382	roll1 += ADC;
357	kanal = AD_ACC_X;	383	kanal = AD_ACC_X;
358	break;	384	break;
359	case 17:	385	case 17:
360	Aktuell_ax = ADC - NeutralAccX;	386	Aktuell_ax = ADC - NeutralAccX;
361	accx += Aktuell_ax;	387	accx += Aktuell_ax;
362	kanal = AD_NICK;	388	kanal = AD_NICK;
363	break;	389	break;
364	case 18:	390	case 18:
365	nick1 += ADC;	391	nick1 += ADC;
366	kanal = AD_ROLL;	392	kanal = AD_ROLL;
367	break;	393	break;
368	case 19:	394	case 19:
369	roll1 += ADC;	395	roll1 += ADC;
370	kanal = AD_GIER;	396	kanal = AD_GIER;
371	break;	397	break;
372	case 20:	398	case 20:
373	gier1 += ADC;	399	gier1 += ADC;
374	kanal = AD_ACC_Y;	400	kanal = AD_ACC_Y;
375	break;	401	break;
376	case 21:	402	case 21:
377	Aktuell_ay = NeutralAccY - ADC;	403	Aktuell_ay = NeutralAccY - ADC;
378	accy += Aktuell_ay;	404	accy += Aktuell_ay;
379	kanal = AD_NICK;	405	kanal = AD_NICK;
380	break;	406	break;
381	case 22:	407	case 22:
382	nick1 += ADC;	408	nick1 += ADC;
383	kanal = AD_ROLL;	409	kanal = AD_ROLL;
384	break;	410	break;
385	case 23:	411	case 23:
386	roll1 += ADC;	412	roll1 += ADC;
387	kanal = AD_DRUCK;	413	kanal = AD_DRUCK;
388	break;	414	break;
389	case 24:	415	case 24:
390	tmpLuftdruck += ADC;	416	tmpLuftdruck += ADC;
391	if(++messanzahl_Druck >= 5)	417	if(++messanzahl_Druck >= 5)
392	{	418	{
393	MessLuftdruck = ADC;	419	MessLuftdruck = ADC;
394	messanzahl_Druck = 0;	420	messanzahl_Druck = 0;
395	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	421	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
396	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	422	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
397	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	423	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
398	tmpLuftdruck = 0;	424	tmpLuftdruck = 0;
399	}	425	}
400	kanal = AD_NICK;	426	kanal = AD_NICK;
401	break;	427	break;
402	case 25:	428	case 25:
403	nick1 += ADC;	429	nick1 += ADC;
404	kanal = AD_ROLL;	430	kanal = AD_ROLL;
405	break;	431	break;
406	case 26:	432	case 26:
407	roll1 += ADC;	433	roll1 += ADC;
408	kanal = AD_ACC_X;	434	kanal = AD_ACC_X;
409	break;	435	break;
410	case 27:	436	case 27:
411	Aktuell_ax = ADC - NeutralAccX;	437	Aktuell_ax = ADC - NeutralAccX;
412	accx += Aktuell_ax;	438	accx += Aktuell_ax;
413	kanal = AD_GIER;	439	kanal = AD_GIER;
414	break;	440	break;
415	case 28:	441	case 28:
416	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	442	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
417	else	443	else
418	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	444	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
419	else AdWertGier = (ADC + gier1 + 1) / 2;	445	else AdWertGier = (ADC + gier1 + 1) / 2;
420	kanal = AD_NICK;	446	kanal = AD_NICK;
421	break;	447	break;
422	case 29:	448	case 29:
423	nick1 += ADC;	449	nick1 += ADC;
424	kanal = AD_ROLL;	450	kanal = AD_ROLL;
425	break;	451	break;
426	case 30:	452	case 30:
427	roll1 += ADC;	453	roll1 += ADC;
428	kanal = AD_ACC_Y;	454	kanal = AD_ACC_Y;
429	break;	455	break;
430	case 31:	456	case 31:
431	Aktuell_ay = NeutralAccY - ADC;	457	Aktuell_ay = NeutralAccY - ADC;
432	AdWertAccRoll = (Aktuell_ay + accy);	458	AdWertAccRoll = (Aktuell_ay + accy);
433	kanal = AD_NICK;	459	kanal = AD_NICK;
434	break;	460	break;
435	case 32:	461	case 32:
436	AdWertNick = (ADC + nick1 + 3) / 5;	462	AdWertNick = (ADC + nick1 + 3) / 5;
437	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	463	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
438	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	464	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
439	HiResNick = nick_filter - 20 * AdNeutralNick;	465	HiResNick = nick_filter - 20 * AdNeutralNick;
440	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	466	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
441	DebugOut.Analog[21] = AdWertNickFilter / 4;	467	DebugOut.Analog[21] = AdWertNickFilter / 4;
442	kanal = AD_ROLL;	468	kanal = AD_ROLL;
443	break;	469	break;
444	case 33:	470	case 33:
445	AdWertRoll = (ADC + roll1 + 3) / 5;	471	AdWertRoll = (ADC + roll1 + 3) / 5;
446	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	472	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
447	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	473	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
448	HiResRoll = roll_filter - 20 * AdNeutralRoll;	474	HiResRoll = roll_filter - 20 * AdNeutralRoll;
449	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	475	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
450	DebugOut.Analog[22] = AdWertRollFilter / 4;	476	DebugOut.Analog[22] = AdWertRollFilter / 4;
451	kanal = AD_ACC_X;	477	kanal = AD_ACC_X;
452	break;	478	break;
453	case 34:	479	case 34:
454	Aktuell_ax = ADC - NeutralAccX;	480	Aktuell_ax = ADC - NeutralAccX;
455	AdWertAccNick = (Aktuell_ax + accx);	481	AdWertAccNick = (Aktuell_ax + accx);
456	kanal = AD_NICK;	482	kanal = AD_NICK;
457	state = 0;	483	state = 0;
458	AdReady = 1;	484	AdReady = 1;
459	ZaehlMessungen++;	485	ZaehlMessungen++;
460	break;	486	break;
461	default:	487	default:
462	kanal = 0;	488	kanal = 0;
463	state = 0;	489	state = 0;
464	break;	490	break;
465	}	491	}
466	ADMUX = kanal;	492	ADMUX = kanal;
467	if(state != 0) ANALOG_ON;	493	if(state != 0) ANALOG_ON;
468	}	494	}
469	*/	495	*/
470		496

Subversion Repositories FlightCtrl

(root)/tags/V2.06e/analog.c @ 2690 - Rev 1638 → 1639