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Line 153... | Line 153... | ||
153 | case 7: |
153 | case 7: |
154 | UBat = (3 * UBat + ADC / 3) / 4; |
154 | UBat = (3 * UBat + ADC / 3) / 4; |
155 | kanal = AD_ACC_Z; |
155 | kanal = AD_ACC_Z; |
156 | break; |
156 | break; |
157 | case 8: |
157 | case 8: |
158 | - | ||
159 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
158 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
160 | if(AdWertAccHoch > 1) |
159 | if(AdWertAccHoch > 1) |
161 | { |
160 | { |
162 | if(NeutralAccZ < 750) |
161 | if(NeutralAccZ < 750) |
163 | { |
162 | { |
164 | subcount += 5; |
163 | subcount += 5; |
165 | // if(modell_fliegt < 500) subcount += 10; |
164 | if(modell_fliegt < 500) subcount += 10; |
166 | } |
165 | } |
167 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
166 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
168 | } |
167 | } |
169 | else if(AdWertAccHoch < -1) |
168 | else if(AdWertAccHoch < -1) |
170 | { |
169 | { |
171 | if(NeutralAccZ > 550) |
170 | if(NeutralAccZ > 550) |
172 | { |
171 | { |
173 | subcount -= 5; |
172 | subcount -= 5; |
174 | // if(modell_fliegt < 500) subcount -= 10; |
173 | if(modell_fliegt < 500) subcount -= 10; |
175 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
174 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
176 | } |
175 | } |
177 | } |
176 | } |
178 | /* |
- | |
179 | AdWertAccHoch = (signed int) ADC - NeutralAccZ_float; |
- | |
180 | if(AdWertAccHoch > 1) |
- | |
181 | { |
- | |
182 | if(NeutralAccZ_float < 750) |
- | |
183 | { |
- | |
184 | NeutralAccZ_float += 0.02; |
- | |
185 | if(modell_fliegt < 500) NeutralAccZ_float += 0.1; |
- | |
186 | } |
- | |
187 | } |
- | |
188 | else if(AdWertAccHoch < -1) |
- | |
189 | { |
- | |
190 | if(NeutralAccZ_float > 550) |
- | |
191 | { |
- | |
192 | NeutralAccZ_float-= 0.02; |
- | |
193 | if(modell_fliegt < 500) NeutralAccZ_float -= 0.1; |
- | |
194 | } |
- | |
195 | } |
- | |
196 | */ |
- | |
197 | messanzahl_AccHoch = 1; |
177 | messanzahl_AccHoch = 1; |
198 | Aktuell_az = ADC; |
178 | Aktuell_az = ADC; |
199 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
179 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
200 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
180 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
201 | kanal = AD_DRUCK; |
181 | kanal = AD_DRUCK; |
202 | break; |
182 | break; |
203 | // "case 8:" fehlt hier absichtlich |
183 | // "case 9:" fehlt hier absichtlich |
204 | case 10: |
184 | case 10: |
205 | nick1 += ADC; |
185 | nick1 += ADC; |
206 | kanal = AD_ROLL; |
186 | kanal = AD_ROLL; |
207 | break; |
187 | break; |
208 | case 11: |
188 | case 11: |
Line 268... | Line 248... | ||
268 | kanal = 0; state = 0; kanal = AD_NICK; |
248 | kanal = 0; state = 0; kanal = AD_NICK; |
269 | break; |
249 | break; |
270 | } |
250 | } |
271 | ADMUX = kanal; |
251 | ADMUX = kanal; |
272 | if(state != 0) ANALOG_ON; |
252 | if(state != 0) ANALOG_ON; |
273 | - | ||
274 | } |
253 | } |
Line 275... | Line -... | ||
275 | - | ||
276 | - | ||
277 | - | ||
278 | /* |
- | |
279 | //####################################################################################### |
- | |
280 | // |
- | |
281 | SIGNAL(SIG_ADC) |
- | |
282 | //####################################################################################### |
- | |
283 | { |
- | |
284 | static unsigned char kanal=0,state = 0; |
- | |
285 | static signed int gier1, roll1, nick1; |
- | |
286 | static signed long nick_filter, roll_filter; |
- | |
287 | static signed int accy, accx; |
- | |
288 | switch(state++) |
- | |
289 | { |
- | |
290 | case 0: |
- | |
291 | nick1 = ADC; |
- | |
292 | kanal = AD_ROLL; |
- | |
293 | break; |
- | |
294 | case 1: |
- | |
295 | roll1 = ADC; |
- | |
296 | kanal = AD_GIER; |
- | |
297 | break; |
- | |
298 | case 2: |
- | |
299 | gier1 = ADC; |
- | |
300 | kanal = AD_ACC_Y; |
- | |
301 | break; |
- | |
302 | case 3: |
- | |
303 | Aktuell_ay = NeutralAccY - ADC; |
- | |
304 | accy = Aktuell_ay; |
- | |
305 | kanal = AD_NICK; |
- | |
306 | break; |
- | |
307 | case 4: |
- | |
308 | nick1 += ADC; |
- | |
309 | kanal = AD_ROLL; |
- | |
310 | break; |
- | |
311 | case 5: |
- | |
312 | roll1 += ADC; |
- | |
313 | kanal = AD_ACC_Z; |
- | |
314 | break; |
- | |
315 | case 6: |
- | |
316 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
- | |
317 | if(AdWertAccHoch > 1) |
- | |
318 | { |
- | |
319 | if(NeutralAccZ < 750) |
- | |
320 | { |
- | |
321 | NeutralAccZ += 0.02; |
- | |
322 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
- | |
323 | } |
- | |
324 | } |
- | |
325 | else if(AdWertAccHoch < -1) |
- | |
326 | { |
- | |
327 | if(NeutralAccZ > 550) |
- | |
328 | { |
- | |
329 | NeutralAccZ-= 0.02; |
- | |
330 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
- | |
331 | } |
- | |
332 | } |
- | |
333 | messanzahl_AccHoch = 1; |
- | |
334 | Aktuell_az = ADC; |
- | |
335 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
- | |
336 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
- | |
337 | kanal = AD_NICK; |
- | |
338 | break; |
- | |
339 | case 7: |
- | |
340 | nick1 += ADC; |
- | |
341 | kanal = AD_ROLL; |
- | |
342 | break; |
- | |
343 | case 8: |
- | |
344 | roll1 += ADC; |
- | |
345 | kanal = AD_ACC_X; |
- | |
346 | break; |
- | |
347 | case 9: |
- | |
348 | Aktuell_ax = ADC - NeutralAccX; |
- | |
349 | accx = Aktuell_ax; |
- | |
350 | kanal = AD_GIER; |
- | |
351 | break; |
- | |
352 | case 10: |
- | |
353 | gier1 += ADC; |
- | |
354 | kanal = AD_NICK; |
- | |
355 | break; |
- | |
356 | case 11: |
- | |
357 | nick1 += ADC; |
- | |
358 | kanal = AD_ROLL; |
- | |
359 | break; |
- | |
360 | case 12: |
- | |
361 | roll1 += ADC; |
- | |
362 | kanal = AD_UBAT; |
- | |
363 | break; |
- | |
364 | case 13: |
- | |
365 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
- | |
366 | kanal = AD_ACC_Y; |
- | |
367 | break; |
- | |
368 | case 14: |
- | |
369 | Aktuell_ay = NeutralAccY - ADC; |
- | |
370 | accy += Aktuell_ay; |
- | |
371 | kanal = AD_NICK; |
- | |
372 | break; |
- | |
373 | case 15: |
- | |
374 | nick1 += ADC; |
- | |
375 | kanal = AD_ROLL; |
- | |
376 | break; |
- | |
377 | case 16: |
- | |
378 | roll1 += ADC; |
- | |
379 | kanal = AD_ACC_X; |
- | |
380 | break; |
- | |
381 | case 17: |
- | |
382 | Aktuell_ax = ADC - NeutralAccX; |
- | |
383 | accx += Aktuell_ax; |
- | |
384 | kanal = AD_NICK; |
- | |
385 | break; |
- | |
386 | case 18: |
- | |
387 | nick1 += ADC; |
- | |
388 | kanal = AD_ROLL; |
- | |
389 | break; |
- | |
390 | case 19: |
- | |
391 | roll1 += ADC; |
- | |
392 | kanal = AD_GIER; |
- | |
393 | break; |
- | |
394 | case 20: |
- | |
395 | gier1 += ADC; |
- | |
396 | kanal = AD_ACC_Y; |
- | |
397 | break; |
- | |
398 | case 21: |
- | |
399 | Aktuell_ay = NeutralAccY - ADC; |
- | |
400 | accy += Aktuell_ay; |
- | |
401 | kanal = AD_NICK; |
- | |
402 | break; |
- | |
403 | case 22: |
- | |
404 | nick1 += ADC; |
- | |
405 | kanal = AD_ROLL; |
- | |
406 | break; |
- | |
407 | case 23: |
- | |
408 | roll1 += ADC; |
- | |
409 | kanal = AD_DRUCK; |
- | |
410 | break; |
- | |
411 | case 24: |
- | |
412 | tmpLuftdruck += ADC; |
- | |
413 | if(++messanzahl_Druck >= 5) |
- | |
414 | { |
- | |
415 | MessLuftdruck = ADC; |
- | |
416 | messanzahl_Druck = 0; |
- | |
417 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
- | |
418 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
- | |
419 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
- | |
420 | tmpLuftdruck = 0; |
- | |
421 | } |
- | |
422 | kanal = AD_NICK; |
- | |
423 | break; |
- | |
424 | case 25: |
- | |
425 | nick1 += ADC; |
- | |
426 | kanal = AD_ROLL; |
- | |
427 | break; |
- | |
428 | case 26: |
- | |
429 | roll1 += ADC; |
- | |
430 | kanal = AD_ACC_X; |
- | |
431 | break; |
- | |
432 | case 27: |
- | |
433 | Aktuell_ax = ADC - NeutralAccX; |
- | |
434 | accx += Aktuell_ax; |
- | |
435 | kanal = AD_GIER; |
- | |
436 | break; |
- | |
437 | case 28: |
- | |
438 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
- | |
439 | else |
- | |
440 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
- | |
441 | else AdWertGier = (ADC + gier1 + 1) / 2; |
- | |
442 | kanal = AD_NICK; |
- | |
443 | break; |
- | |
444 | case 29: |
- | |
445 | nick1 += ADC; |
- | |
446 | kanal = AD_ROLL; |
- | |
447 | break; |
- | |
448 | case 30: |
- | |
449 | roll1 += ADC; |
- | |
450 | kanal = AD_ACC_Y; |
- | |
451 | break; |
- | |
452 | case 31: |
- | |
453 | Aktuell_ay = NeutralAccY - ADC; |
- | |
454 | AdWertAccRoll = (Aktuell_ay + accy); |
- | |
455 | kanal = AD_NICK; |
- | |
456 | break; |
- | |
457 | case 32: |
- | |
458 | AdWertNick = (ADC + nick1 + 3) / 5; |
- | |
459 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
- | |
460 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
- | |
461 | HiResNick = nick_filter - 20 * AdNeutralNick; |
- | |
462 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
- | |
463 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
- | |
464 | kanal = AD_ROLL; |
- | |
465 | break; |
- | |
466 | case 33: |
- | |
467 | AdWertRoll = (ADC + roll1 + 3) / 5; |
- | |
468 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
- | |
469 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
- | |
470 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
- | |
471 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
- | |
472 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
- | |
473 | kanal = AD_ACC_X; |
- | |
474 | break; |
- | |
475 | case 34: |
- | |
476 | Aktuell_ax = ADC - NeutralAccX; |
- | |
477 | AdWertAccNick = (Aktuell_ax + accx); |
- | |
478 | kanal = AD_NICK; |
- | |
479 | state = 0; |
- | |
480 | AdReady = 1; |
- | |
481 | ZaehlMessungen++; |
- | |
482 | break; |
- | |
483 | default: |
- | |
484 | kanal = 0; |
- | |
485 | state = 0; |
- | |
486 | break; |
- | |
487 | } |
- | |
488 | ADMUX = kanal; |
- | |
489 | if(state != 0) ANALOG_ON; |
- | |
490 | } |
- |