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| Rev 1219 | Rev 1247 | ||
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| Line 79... | Line 79... | ||
| 79 | if(i<10) Delay_ms_Mess(10); |
79 | if(i<10) Delay_ms_Mess(10); |
| 80 | } |
80 | } |
| 81 | Delay_ms_Mess(70); |
81 | Delay_ms_Mess(70); |
| 82 | } |
82 | } |
| Line 83... | Line 83... | ||
| 83 | 83 | ||
| 84 | /* |
84 | /* // MartinR: so war es |
| 85 | 0 n |
85 | 0 n |
| 86 | 1 r |
86 | 1 r |
| 87 | 2 g |
87 | 2 g |
| 88 | 3 y |
88 | 3 y |
| Line 100... | Line 100... | ||
| 100 | 15 n |
100 | 15 n |
| 101 | 16 r |
101 | 16 r |
| 102 | 17 L |
102 | 17 L |
| 103 | */ |
103 | */ |
| Line -... | Line 104... | ||
| - | 104 | ||
| - | 105 | ||
| - | 106 | /* MartinR : geändert |
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| - | 107 | 0 n |
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| - | 108 | 1 r |
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| - | 109 | 2 g |
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| - | 110 | 3 L |
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| - | 111 | 4 n |
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| - | 112 | 5 r |
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| - | 113 | 6 y |
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| - | 114 | 7 x |
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| - | 115 | 8 n |
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| - | 116 | 9 r |
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| - | 117 | 10 g |
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| - | 118 | 11 L |
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| - | 119 | 12 n |
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| - | 120 | 13 r |
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| - | 121 | 14 u |
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| - | 122 | 15 z |
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| - | 123 | */ |
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| 104 | 124 | ||
| 105 | //####################################################################################### |
125 | //####################################################################################### |
| 106 | // |
126 | // |
| 107 | SIGNAL(SIG_ADC) |
127 | SIGNAL(SIG_ADC) |
| 108 | //####################################################################################### |
128 | //####################################################################################### |
| 109 | { |
129 | { |
| 110 | static unsigned char kanal=0,state = 0; |
130 | static unsigned char kanal=0,state = 0; |
| - | 131 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
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| - | 132 | ||
| - | 133 | static signed int roll_alt1, roll_alt2, roll_alt3, nick_alt1, nick_alt2, nick_alt3; // MartinR: 4x Mittelung |
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| - | 134 | //static signed int roll_alt1, nick_alt1; // MartinR: 2x Mittelung |
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| 111 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
135 | |
| - | 136 | static signed int accy, accx; |
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| - | 137 | ||
| 112 | static signed int accy, accx; |
138 | /* // MartinR : so war es Anfang |
| 113 | switch(state++) |
139 | switch(state++) |
| 114 | { |
140 | { |
| 115 | case 0: |
141 | case 0: |
| 116 | nick1 = ADC; |
142 | nick1 = ADC; |
| Line 235... | Line 261... | ||
| 235 | break; |
261 | break; |
| 236 | default: |
262 | default: |
| 237 | kanal = 0; state = 0; kanal = AD_NICK; |
263 | kanal = 0; state = 0; kanal = AD_NICK; |
| 238 | break; |
264 | break; |
| 239 | } |
265 | } |
| - | 266 | |
|
| - | 267 | */ // MartinR : so war es Ende |
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| - | 268 | ||
| - | 269 | // MartinR : geändert Anfang |
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| - | 270 | ||
| - | 271 | switch(state++) |
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| - | 272 | { |
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| - | 273 | case 0: |
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| - | 274 | nick1 = ADC; |
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| - | 275 | kanal = AD_ROLL; |
|
| - | 276 | break; |
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| - | 277 | case 1: |
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| - | 278 | roll1 = ADC; |
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| - | 279 | kanal = AD_GIER; |
|
| - | 280 | break; |
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| - | 281 | ||
| - | 282 | case 2: |
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| - | 283 | gier1 = ADC; |
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| - | 284 | kanal = AD_DRUCK; |
|
| - | 285 | break; |
|
| - | 286 | case 3: |
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| - | 287 | tmpLuftdruck = ADC; |
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| - | 288 | kanal = AD_NICK; |
|
| - | 289 | break; |
|
| - | 290 | ||
| - | 291 | case 4: |
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| - | 292 | nick1 += ADC; |
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| - | 293 | kanal = AD_ROLL; |
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| - | 294 | break; |
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| - | 295 | case 5: |
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| - | 296 | roll1 += ADC; |
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| - | 297 | kanal = AD_ACC_Y; |
|
| - | 298 | break; |
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| - | 299 | ||
| - | 300 | case 6: |
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| - | 301 | Aktuell_ay = NeutralAccY - ADC; |
|
| - | 302 | AdWertAccRoll = (Aktuell_ay + accy); |
|
| - | 303 | accy = Aktuell_ay; |
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| - | 304 | kanal = AD_ACC_X; |
|
| - | 305 | break; |
|
| - | 306 | case 7: |
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| - | 307 | Aktuell_ax = ADC - NeutralAccX; |
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| - | 308 | AdWertAccNick = (Aktuell_ax + accx); |
|
| - | 309 | accx = Aktuell_ax; |
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| - | 310 | kanal = AD_NICK; |
|
| - | 311 | break; |
|
| - | 312 | ||
| - | 313 | case 8: |
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| - | 314 | nick1 += ADC; |
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| - | 315 | kanal = AD_ROLL; |
|
| - | 316 | break; |
|
| - | 317 | case 9: |
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| - | 318 | roll1 += ADC; |
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| - | 319 | kanal = AD_GIER; |
|
| - | 320 | break; |
|
| - | 321 | ||
| - | 322 | case 10: |
|
| - | 323 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
|
| - | 324 | else |
|
| - | 325 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
|
| - | 326 | else AdWertGier = (ADC + gier1); |
|
| - | 327 | kanal = AD_DRUCK; |
|
| - | 328 | break; |
|
| - | 329 | ||
| - | 330 | case 11: |
|
| - | 331 | /* MartinR: so war es Anfang |
|
| - | 332 | HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
|
| - | 333 | */ //MartinR: so war es Ende |
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| - | 334 | ||
| - | 335 | // MartinR: Änderungen Anfang : |
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| - | 336 | /* |
|
| - | 337 | HoehenWertSumme += HoehenWert ; |
|
| - | 338 | if (++ iHoehe >= 40) // MartinR: Wartezeit um auch kleine Änderungsgeschwindigkeiten erkennen zu können |
|
| - | 339 | { |
|
| - | 340 | HoehenWertSumme = HoehenWertSumme / iHoehe ; // MartinR: Mittelwert während der Wartezeit |
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| - | 341 | HoeheD = (int) Parameter_Luftdruck_D * (HoehenWert - HoehenWertalt) ; |
|
| - | 342 | if (HoeheD < 0) HoeheD += Parameter_Luftdruck_D ; // MartinR: Digitalisierungsrauschen abmindern |
|
| - | 343 | if (HoeheD > 0) HoeheD -= Parameter_Luftdruck_D ; // MartinR: entspricht - 1 Bit vom Höhenwert |
|
| - | 344 | |
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| - | 345 | iHoehe = 0 ; |
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| - | 346 | HoehenWertalt = HoehenWertSumme ; |
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| - | 347 | HoehenWertSumme = 0 ; |
|
| - | 348 | } |
|
| - | 349 | */ |
|
| - | 350 | ||
| - | 351 | // MartinR: neu |
|
| - | 352 | tmpLuftdruck += ADC; |
|
| - | 353 | MessLuftdruck = tmpLuftdruck / 2; |
|
| - | 354 | Luftdruck = (MessLuftdruck + 7 * Luftdruck + 4) / 8; |
|
| - | 355 | // HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; // MartinR: zu Höhenregler |
|
| - | 356 | ||
| - | 357 | kanal = AD_NICK; |
|
| - | 358 | break; |
|
| - | 359 | ||
| - | 360 | case 12: |
|
| - | 361 | nick1 += ADC; |
|
| - | 362 | //if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; // MartinR: so war es |
|
| - | 363 | //if(PlatinenVersion == 10) ; else nick1 *= 2; // MartinR: 2x Mittelung |
|
| - | 364 | if(PlatinenVersion == 10) nick1 /= 2; //else nick1 *= 1; // MartinR: 4x Mittelung |
|
| - | 365 | //AdWertNick = nick1 / 8; // MartinR: so war es |
|
| - | 366 | //AdWertNick = nick1 / 4; // MartinR: 2x Mittelung |
|
| - | 367 | AdWertNick = nick1 / 2; // MartinR: 4x Mittelung |
|
| - | 368 | ||
| - | 369 | // nick_filter = (nick_filter + nick1) / 2; // MartinR: so war es |
|
| - | 370 | //nick_filter = (nick_alt1 + nick1); // MartinR: anderer Nick-Filter: 2x Mittelung |
|
| - | 371 | nick_filter = (nick_alt3 +nick_alt2 +nick_alt1 + nick1); // MartinR: anderer Nick-Filter: 4x Mittelung |
|
| - | 372 | nick_alt3 = nick_alt2; // MartinR: anderer Nick-Filter |
|
| - | 373 | nick_alt2 = nick_alt1; // MartinR: anderer Nick-Filter |
|
| - | 374 | nick_alt1 = nick1; // MartinR: anderer Nick-Filter |
|
| - | 375 | ||
| - | 376 | HiResNick = nick_filter - AdNeutralNick; |
|
| - | 377 | //AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; // MartinR: so war es |
|
| - | 378 | AdWertNickFilter = HiResNick; // MartinR: Filter deaktiviert |
|
| - | 379 | kanal = AD_ROLL; |
|
| - | 380 | ||
| - | 381 | break; |
|
| - | 382 | case 13: |
|
| - | 383 | roll1 += ADC; |
|
| - | 384 | // if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; // MartinR: so war es |
|
| - | 385 | //if(PlatinenVersion == 10) ; else roll1 *= 2; // MartinR: 2x Mittelung |
|
| - | 386 | if(PlatinenVersion == 10) roll1 /= 2; //else roll1 *= 1; // MartinR: 4x Mittelung |
|
| - | 387 | // AdWertRoll = roll1 / 8; // MartinR: so war es |
|
| - | 388 | //AdWertRoll = roll1 / 4; // MartinR: 2x Mittelung |
|
| - | 389 | AdWertRoll = roll1 / 2; // MartinR: 4x Mittelung |
|
| - | 390 | ||
| - | 391 | //roll_filter = (roll_filter + roll1) / 2; // MartinR: so war es |
|
| - | 392 | //roll_filter = (roll_alt1 + roll1); // MartinR: anderer Nick-Filter: 2x Mittelung |
|
| - | 393 | roll_filter = (roll_alt3 + roll_alt2 + roll_alt1 + roll1); // MartinR: anderer Nick-Filter: 4x Mittelung |
|
| - | 394 | roll_alt3 = roll_alt2; // MartinR: anderer Nick-Filter |
|
| - | 395 | roll_alt2 = roll_alt1; // MartinR: anderer Nick-Filter |
|
| - | 396 | roll_alt1 = roll1; // MartinR: anderer Nick-Filter |
|
| - | 397 | ||
| - | 398 | HiResRoll = roll_filter - AdNeutralRoll; |
|
| - | 399 | //AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; // MartinR: so war es |
|
| - | 400 | AdWertRollFilter = HiResRoll; // MartinR: Filter deaktiviert |
|
| - | 401 | ||
| - | 402 | kanal = AD_UBAT; |
|
| - | 403 | ||
| - | 404 | break; |
|
| - | 405 | ||
| - | 406 | case 14: |
|
| - | 407 | UBat = (3 * UBat + ADC / 3) / 4; |
|
| - | 408 | kanal = AD_ACC_Z; |
|
| - | 409 | break; |
|
| - | 410 | ||
| - | 411 | case 15: |
|
| - | 412 | // AdWertAccHoch = (signed int) ADC - NeutralAccZ; // MartinR : so war es |
|
| - | 413 | //AdWertAccHoch = ADC - NeutralAccZ; // MartinR: modifiziert für Tests |
|
| - | 414 | /* // MartinR: deaktiviert |
|
| - | 415 | |
|
| - | 416 | if(AdWertAccHoch > 1) |
|
| - | 417 | { |
|
| - | 418 | if(NeutralAccZ < 750) |
|
| - | 419 | { |
|
| - | 420 | NeutralAccZ += 0.02; |
|
| - | 421 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
|
| - | 422 | } |
|
| - | 423 | } |
|
| - | 424 | else if(AdWertAccHoch < -1) |
|
| - | 425 | { |
|
| - | 426 | if(NeutralAccZ > 550) |
|
| - | 427 | { |
|
| - | 428 | NeutralAccZ -= 0.02; |
|
| - | 429 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
|
| - | 430 | } |
|
| - | 431 | } |
|
| - | 432 | */ // MartinR: deaktiviert Ende |
|
| - | 433 | ||
| - | 434 | // messanzahl_AccHoch = 1; MartinR: deaktiviert, da nicht verwendet |
|
| - | 435 | ||
| - | 436 | Aktuell_az = (Aktuell_az + ADC) / 2; |
|
| - | 437 | AdWertAccHoch = Aktuell_az - NeutralAccZ; // MartinR: modifiziert für Tests |
|
| - | 438 | //Mess_Integral_Hoch += AdWertAccHoch; // Integrieren // MartinR: zu Höhenregler in fc.c verschoben |
|
| - | 439 | //Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen // MartinR: zu Höhenregler in fc.c verschoben |
|
| - | 440 | ||
| - | 441 | AdReady = 1; |
|
| - | 442 | state = 0; |
|
| - | 443 | kanal = AD_NICK; |
|
| - | 444 | break; |
|
| - | 445 | ||
| - | 446 | default: |
|
| - | 447 | kanal = 0; state = 0; kanal = AD_NICK; |
|
| - | 448 | break; |
|
| - | 449 | } |
|
| - | 450 | ||
| - | 451 | // MartinR : geändert Ende |
|
| - | 452 | ||
| - | 453 | ||
| 240 | ADMUX = kanal; |
454 | ADMUX = kanal; |
| 241 | if(state != 0) ANALOG_ON; |
455 | // if(state != 0) ANALOG_ON; // MartinR : so war es |
| - | 456 | // if(state != 0) ANALOG_START; // MartinR verschoben zu timer0 |
|
| - | 457 | ||
| 242 | } |
458 | } |
| Line 243... | Line 459... | ||
| 243 | 459 | ||