WebSVN - FlightCtrl - Diff - Rev 1167 and 1168


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "main.h"
volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
volatile int  HiResNick = 2500, HiResRoll = 2500;
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
volatile char messanzahl_AccHoch = 0;
volatile long Luftdruck = 32000;
volatile int  StartLuftdruck;
volatile unsigned int  MessLuftdruck = 1023;
unsigned char DruckOffsetSetting;
signed char ExpandBaro = 0;
volatile int HoeheD = 0;
volatile char messanzahl_Druck;
volatile int  tmpLuftdruck;
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;
}
 
void SucheLuftruckOffset(void)
{
 unsigned int off;
 off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
 if(off > 20) off -= 10;
 OCR0A = off;
 ExpandBaro = 0;
 Delay_ms_Mess(100);
 if(MessLuftdruck < 850) off = 0;
 for(; off < 250;off++)
  {
  OCR0A = off;
  Delay_ms_Mess(50);
  printf(".");  
  if(MessLuftdruck < 850) break;
  }
 eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
 DruckOffsetSetting = off;
 Delay_ms_Mess(300);
}
 
void SucheGyroOffset(void)
{
 unsigned char i, ready = 0;
 GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
 for(i=140; i != 0; i--)
  {
   if(ready == 3 && i > 10) i = 9;
   ready = 0;
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
   twi_state = 8;  
   i2c_start();
   if(AnalogOffsetNick < 10)  { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
   while(twi_state);
   messanzahl_Druck = 0;
   ANALOG_ON;
   while(messanzahl_Druck == 0);
   if(i<10) Delay_ms_Mess(10);  
  }
   Delay_ms_Mess(70);  
}
 
//#######################################################################################
//
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 1167	Rev 1168
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + only for non-profit use	3	// + only for non-profit use
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// + see the File "License.txt" for further Informations	5	// + see the File "License.txt" for further Informations
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7		7
8	#include "main.h"	8	#include "main.h"
9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;	9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;	10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
11	volatile int HiResNick = 2500, HiResRoll = 2500;	11	volatile int HiResNick = 2500, HiResRoll = 2500;
12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;	12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;	13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
14	volatile char messanzahl_AccHoch = 0;	14	volatile char messanzahl_AccHoch = 0;
15	volatile long Luftdruck = 32000;	15	volatile long Luftdruck = 32000;
16	volatile int StartLuftdruck;	16	volatile int StartLuftdruck;
17	volatile unsigned int MessLuftdruck = 1023;	17	volatile unsigned int MessLuftdruck = 1023;
18	unsigned char DruckOffsetSetting;	18	unsigned char DruckOffsetSetting;
19	signed char ExpandBaro = 0;	19	signed char ExpandBaro = 0;
20	volatile int HoeheD = 0;	20	volatile int HoeheD = 0;
21	volatile char messanzahl_Druck;	21	volatile char messanzahl_Druck;
22	volatile int tmpLuftdruck;	22	volatile int tmpLuftdruck;
23	volatile unsigned int ZaehlMessungen = 0;	23	volatile unsigned int ZaehlMessungen = 0;
24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;	25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
26	unsigned char AdReady = 1;	26	volatile unsigned char AdReady = 1;
27	//#######################################################################################	27	//#######################################################################################
28	//	28	//
29	void ADC_Init(void)	29	void ADC_Init(void)
30	//#######################################################################################	30	//#######################################################################################
31	{	31	{
32	ADMUX = 0;//Referenz ist extern	32	ADMUX = 0;//Referenz ist extern
33	ANALOG_ON;	33	ANALOG_ON;
34	}	34	}
35		35
36	void SucheLuftruckOffset(void)	36	void SucheLuftruckOffset(void)
37	{	37	{
38	unsigned int off;	38	unsigned int off;
39	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);	39	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
40	if(off > 20) off -= 10;	40	if(off > 20) off -= 10;
41	OCR0A = off;	41	OCR0A = off;
42	ExpandBaro = 0;	42	ExpandBaro = 0;
43	Delay_ms_Mess(100);	43	Delay_ms_Mess(100);
44	if(MessLuftdruck < 850) off = 0;	44	if(MessLuftdruck < 850) off = 0;
45	for(; off < 250;off++)	45	for(; off < 250;off++)
46	{	46	{
47	OCR0A = off;	47	OCR0A = off;
48	Delay_ms_Mess(50);	48	Delay_ms_Mess(50);
49	printf(".");	49	printf(".");
50	if(MessLuftdruck < 850) break;	50	if(MessLuftdruck < 850) break;
51	}	51	}
52	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);	52	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
53	DruckOffsetSetting = off;	53	DruckOffsetSetting = off;
54	Delay_ms_Mess(300);	54	Delay_ms_Mess(300);
55	}	55	}
56		56
57	void SucheGyroOffset(void)	57	void SucheGyroOffset(void)
58	{	58	{
59	unsigned char i, ready = 0;	59	unsigned char i, ready = 0;
60	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	60	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
61	for(i=140; i != 0; i--)	61	for(i=140; i != 0; i--)
62	{	62	{
63	if(ready == 3 && i > 10) i = 9;	63	if(ready == 3 && i > 10) i = 9;
64	ready = 0;	64	ready = 0;
65	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	65	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
66	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	66	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
67	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	67	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
68	twi_state = 8;	68	twi_state = 8;
69	i2c_start();	69	i2c_start();
70	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};	70	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
71	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};	71	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
72	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};	72	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
73	while(twi_state);	73	while(twi_state);
74	messanzahl_Druck = 0;	74	messanzahl_Druck = 0;
75	ANALOG_ON;	75	ANALOG_ON;
76	while(messanzahl_Druck == 0);	76	while(messanzahl_Druck == 0);
77	if(i<10) Delay_ms_Mess(10);	77	if(i<10) Delay_ms_Mess(10);
78	}	78	}
79	Delay_ms_Mess(70);	79	Delay_ms_Mess(70);
80	}	80	}
81		81
82	//#######################################################################################	82	//#######################################################################################
83	//	83	//
84	SIGNAL(SIG_ADC)	84	SIGNAL(SIG_ADC)
85	//#######################################################################################	85	//#######################################################################################
86	{	86	{
87	static unsigned char kanal=0,state = 0;	87	static unsigned char kanal=0,state = 0;
88	static signed int gier1, roll1, nick1;	88	static signed int gier1, roll1, nick1;
89	static signed long nick_filter, roll_filter;	89	static signed long nick_filter, roll_filter;
90	static signed int accy, accx;	90	static signed int accy, accx;
91	switch(state++)	91	switch(state++)
92	{	92	{
93	case 0:	93	case 0:
94	nick1 = ADC;	94	nick1 = ADC;
95	kanal = AD_ROLL;	95	kanal = AD_ROLL;
96	break;	96	break;
97	case 1:	97	case 1:
98	roll1 = ADC;	98	roll1 = ADC;
99	kanal = AD_GIER;	99	kanal = AD_GIER;
100	break;	100	break;
101	case 2:	101	case 2:
102	gier1 = ADC;	102	gier1 = ADC;
103	kanal = AD_ACC_Y;	103	kanal = AD_ACC_Y;
104	break;	104	break;
105	case 3:	105	case 3:
106	Aktuell_ay = NeutralAccY - ADC;	106	Aktuell_ay = NeutralAccY - ADC;
107	accy = Aktuell_ay;	107	accy = Aktuell_ay;
108	kanal = AD_NICK;	108	kanal = AD_NICK;
109	break;	109	break;
110	case 4:	110	case 4:
111	nick1 += ADC;	111	nick1 += ADC;
112	kanal = AD_ROLL;	112	kanal = AD_ROLL;
113	break;	113	break;
114	case 5:	114	case 5:
115	roll1 += ADC;	115	roll1 += ADC;
116	kanal = AD_ACC_Z;	116	kanal = AD_ACC_Z;
117	break;	117	break;
118	case 6:	118	case 6:
119	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	119	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
120	if(AdWertAccHoch > 1)	120	if(AdWertAccHoch > 1)
121	{	121	{
122	if(NeutralAccZ < 750)	122	if(NeutralAccZ < 750)
123	{	123	{
124	NeutralAccZ += 0.02;	124	NeutralAccZ += 0.02;
125	if(modell_fliegt < 500) NeutralAccZ += 0.1;	125	if(modell_fliegt < 500) NeutralAccZ += 0.1;
126	}	126	}
127	}	127	}
128	else if(AdWertAccHoch < -1)	128	else if(AdWertAccHoch < -1)
129	{	129	{
130	if(NeutralAccZ > 550)	130	if(NeutralAccZ > 550)
131	{	131	{
132	NeutralAccZ-= 0.02;	132	NeutralAccZ-= 0.02;
133	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	133	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
134	}	134	}
135	}	135	}
136	messanzahl_AccHoch = 1;	136	messanzahl_AccHoch = 1;
137	Aktuell_az = ADC;	137	Aktuell_az = ADC;
138	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	138	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
139	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	139	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
140	kanal = AD_NICK;	140	kanal = AD_NICK;
141	break;	141	break;
142	case 7:	142	case 7:
143	nick1 += ADC;	143	nick1 += ADC;
144	kanal = AD_ROLL;	144	kanal = AD_ROLL;
145	break;	145	break;
146	case 8:	146	case 8:
147	roll1 += ADC;	147	roll1 += ADC;
148	kanal = AD_ACC_X;	148	kanal = AD_ACC_X;
149	break;	149	break;
150	case 9:	150	case 9:
151	Aktuell_ax = ADC - NeutralAccX;	151	Aktuell_ax = ADC - NeutralAccX;
152	accx = Aktuell_ax;	152	accx = Aktuell_ax;
153	kanal = AD_GIER;	153	kanal = AD_GIER;
154	break;	154	break;
155	case 10:	155	case 10:
156	gier1 += ADC;	156	gier1 += ADC;
157	kanal = AD_NICK;	157	kanal = AD_NICK;
158	break;	158	break;
159	case 11:	159	case 11:
160	nick1 += ADC;	160	nick1 += ADC;
161	kanal = AD_ROLL;	161	kanal = AD_ROLL;
162	break;	162	break;
163	case 12:	163	case 12:
164	roll1 += ADC;	164	roll1 += ADC;
165	kanal = AD_UBAT;	165	kanal = AD_UBAT;
166	break;	166	break;
167	case 13:	167	case 13:
168	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	168	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
169	kanal = AD_ACC_Y;	169	kanal = AD_ACC_Y;
170	break;	170	break;
171	case 14:	171	case 14:
172	Aktuell_ay = NeutralAccY - ADC;	172	Aktuell_ay = NeutralAccY - ADC;
173	accy += Aktuell_ay;	173	accy += Aktuell_ay;
174	kanal = AD_NICK;	174	kanal = AD_NICK;
175	break;	175	break;
176	case 15:	176	case 15:
177	nick1 += ADC;	177	nick1 += ADC;
178	kanal = AD_ROLL;	178	kanal = AD_ROLL;
179	break;	179	break;
180	case 16:	180	case 16:
181	roll1 += ADC;	181	roll1 += ADC;
182	kanal = AD_ACC_X;	182	kanal = AD_ACC_X;
183	break;	183	break;
184	case 17:	184	case 17:
185	Aktuell_ax = ADC - NeutralAccX;	185	Aktuell_ax = ADC - NeutralAccX;
186	accx += Aktuell_ax;	186	accx += Aktuell_ax;
187	kanal = AD_NICK;	187	kanal = AD_NICK;
188	break;	188	break;
189	case 18:	189	case 18:
190	nick1 += ADC;	190	nick1 += ADC;
191	kanal = AD_ROLL;	191	kanal = AD_ROLL;
192	break;	192	break;
193	case 19:	193	case 19:
194	roll1 += ADC;	194	roll1 += ADC;
195	kanal = AD_GIER;	195	kanal = AD_GIER;
196	break;	196	break;
197	case 20:	197	case 20:
198	gier1 += ADC;	198	gier1 += ADC;
199	kanal = AD_ACC_Y;	199	kanal = AD_ACC_Y;
200	break;	200	break;
201	case 21:	201	case 21:
202	Aktuell_ay = NeutralAccY - ADC;	202	Aktuell_ay = NeutralAccY - ADC;
203	accy += Aktuell_ay;	203	accy += Aktuell_ay;
204	kanal = AD_NICK;	204	kanal = AD_NICK;
205	break;	205	break;
206	case 22:	206	case 22:
207	nick1 += ADC;	207	nick1 += ADC;
208	kanal = AD_ROLL;	208	kanal = AD_ROLL;
209	break;	209	break;
210	case 23:	210	case 23:
211	roll1 += ADC;	211	roll1 += ADC;
212	kanal = AD_DRUCK;	212	kanal = AD_DRUCK;
213	break;	213	break;
214	case 24:	214	case 24:
215	tmpLuftdruck += ADC;	215	tmpLuftdruck += ADC;
216	if(++messanzahl_Druck >= 5)	216	if(++messanzahl_Druck >= 5)
217	{	217	{
218	MessLuftdruck = ADC;	218	MessLuftdruck = ADC;
219	messanzahl_Druck = 0;	219	messanzahl_Druck = 0;
220	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	220	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
221	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	221	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
222	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	222	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
223	tmpLuftdruck = 0;	223	tmpLuftdruck = 0;
224	}	224	}
225	kanal = AD_NICK;	225	kanal = AD_NICK;
226	break;	226	break;
227	case 25:	227	case 25:
228	nick1 += ADC;	228	nick1 += ADC;
229	kanal = AD_ROLL;	229	kanal = AD_ROLL;
230	break;	230	break;
231	case 26:	231	case 26:
232	roll1 += ADC;	232	roll1 += ADC;
233	kanal = AD_ACC_X;	233	kanal = AD_ACC_X;
234	break;	234	break;
235	case 27:	235	case 27:
236	Aktuell_ax = ADC - NeutralAccX;	236	Aktuell_ax = ADC - NeutralAccX;
237	accx += Aktuell_ax;	237	accx += Aktuell_ax;
238	kanal = AD_GIER;	238	kanal = AD_GIER;
239	break;	239	break;
240	case 28:	240	case 28:
241	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	241	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
242	else	242	else
243	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	243	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
244	else AdWertGier = (ADC + gier1 + 1) / 2;	244	else AdWertGier = (ADC + gier1 + 1) / 2;
245	kanal = AD_NICK;	245	kanal = AD_NICK;
246	break;	246	break;
247	case 29:	247	case 29:
248	nick1 += ADC;	248	nick1 += ADC;
249	kanal = AD_ROLL;	249	kanal = AD_ROLL;
250	break;	250	break;
251	case 30:	251	case 30:
252	roll1 += ADC;	252	roll1 += ADC;
253	kanal = AD_ACC_Y;	253	kanal = AD_ACC_Y;
254	break;	254	break;
255	case 31:	255	case 31:
256	Aktuell_ay = NeutralAccY - ADC;	256	Aktuell_ay = NeutralAccY - ADC;
257	AdWertAccRoll = (Aktuell_ay + accy);	257	AdWertAccRoll = (Aktuell_ay + accy);
258	kanal = AD_NICK;	258	kanal = AD_NICK;
259	break;	259	break;
260	case 32:	260	case 32:
261	AdWertNick = (ADC + nick1 + 3) / 5;	261	AdWertNick = (ADC + nick1 + 3) / 5;
262	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	262	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
263	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	263	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
264	HiResNick = nick_filter - 20 * AdNeutralNick;	264	HiResNick = nick_filter - 20 * AdNeutralNick;
265	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	265	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
266	DebugOut.Analog[21] = AdWertNickFilter / 4;	266	DebugOut.Analog[21] = AdWertNickFilter / 4;
267	kanal = AD_ROLL;	267	kanal = AD_ROLL;
268	break;	268	break;
269	case 33:	269	case 33:
270	AdWertRoll = (ADC + roll1 + 3) / 5;	270	AdWertRoll = (ADC + roll1 + 3) / 5;
271	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	271	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
272	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	272	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
273	HiResRoll = roll_filter - 20 * AdNeutralRoll;	273	HiResRoll = roll_filter - 20 * AdNeutralRoll;
274	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	274	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
275	DebugOut.Analog[22] = AdWertRollFilter / 4;	275	DebugOut.Analog[22] = AdWertRollFilter / 4;
276	kanal = AD_ACC_X;	276	kanal = AD_ACC_X;
277	break;	277	break;
278	case 34:	278	case 34:
279	Aktuell_ax = ADC - NeutralAccX;	279	Aktuell_ax = ADC - NeutralAccX;
280	AdWertAccNick = (Aktuell_ax + accx);	280	AdWertAccNick = (Aktuell_ax + accx);
281	kanal = AD_NICK;	281	kanal = AD_NICK;
282	state = 0;	282	state = 0;
283	AdReady = 1;	283	AdReady = 1;
284	ZaehlMessungen++;	284	ZaehlMessungen++;
285	break;	285	break;
286	default:	286	default:
287	kanal = 0;	287	kanal = 0;
288	state = 0;	288	state = 0;
289	break;	289	break;
290	}	290	}
291	ADMUX = kanal;	291	ADMUX = kanal;
292	if(state != 0) ANALOG_ON;	292	if(state != 0) ANALOG_ON;
293	}	293	}
294		294
295		295

Subversion Repositories FlightCtrl

(root)/tags/V2.06f/analog.c @ 2484 - Rev 1167 → 1168