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// + Copyright (c) 04.2007 Holger Buss
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + only for non-profit use
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// + www.MikroKopter.com
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "analog.h"
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#include "main.h"
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#include "main.h"
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#include "timer0.h"
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#include "fc.h"
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#include "printf_P.h"
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volatile int16_t Current_Nick = 0, Current_Roll = 0, Current_Gier = 0;
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volatile int16_t Current_Nick = 0, Current_Roll = 0, Current_Gier = 0;
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volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
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volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
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volatile int16_t UBat = 100;
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volatile int16_t UBat = 100;
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volatile int32_t Luftdruck = 32000;
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volatile int32_t Luftdruck = 32000;
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volatile int16_t StartLuftdruck;
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volatile int16_t StartLuftdruck;
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volatile uint16_t MessLuftdruck = 1023;
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volatile uint16_t MessLuftdruck = 1023;
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uint8_t DruckOffsetSetting;
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uint8_t DruckOffsetSetting;
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volatile int16_t HoeheD = 0;
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volatile int16_t HoeheD = 0;
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volatile int16_t  tmpLuftdruck;
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volatile int16_t tmpLuftdruck;
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volatile uint16_t ZaehlMessungen = 0;
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volatile uint16_t ZaehlMessungen = 0;
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/*****************************************************/
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/*****************************************************/
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/*     Initialize Analog Digital Converter           */
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/*     Initialize Analog Digital Converter           */
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            AdValueAccNick =  Current_AccX;
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            AdValueAccNick =  Current_AccX;
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                    adc_channel = 0; // set next channel to ADC7 = GIER GYRO
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                    adc_channel = 0; // set next channel to ADC7 = GIER GYRO
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            break;
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            break;
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        case 6:
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        case 6:
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                // average over two samples to create current ADValueGier
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                // average over two samples to create current ADValueGier
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            if(PlatinenVersion == 10)  AdValueGyrGier = (ADC + gier1) / 2;
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            if(BoardRelease == 10)  AdValueGyrGier = (ADC + gier1) / 2;
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                        else                                       AdValueGyrGier = ADC + gier1; // gain is 2 times lower on FC 1.1
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                        else                                       AdValueGyrGier = ADC + gier1; // gain is 2 times lower on FC 1.1
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            adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
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            adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
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            break;
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            break;
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        case 7:
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        case 7:
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                // average over two samples to create current ADValueRoll
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                // average over two samples to create current ADValueRoll
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            if(PlatinenVersion == 10)  AdValueGyrRoll = (ADC + roll1) / 2;
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            if(BoardRelease == 10)  AdValueGyrRoll = (ADC + roll1) / 2;
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                        else                                       AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
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                        else                                       AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
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            adc_channel = 2; // set next channel to ADC2 = NICK GYRO
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            adc_channel = 2; // set next channel to ADC2 = NICK GYRO
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            break;
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            break;
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        case 8:
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        case 8:
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                // average over two samples to create current ADValueNick
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                // average over two samples to create current ADValueNick
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            if(PlatinenVersion == 10)  AdValueGyrNick = (ADC + nick1) / 2;
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            if(BoardRelease == 10)  AdValueGyrNick = (ADC + nick1) / 2;
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                        else                                       AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1
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                        else                                       AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1
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            adc_channel = 5; // set next channel to ADC5 = ACC_Z
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            adc_channel = 5; // set next channel to ADC5 = ACC_Z
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            break;
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            break;
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       case 9:
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       case 9:
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                // get z acceleration
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                // get z acceleration