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#include "timer0.h"
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#include "timer0.h"
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#include "fc.h"
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#include "fc.h"
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#include "printf_P.h"
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#include "printf_P.h"
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#include "eeprom.h"
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#include "eeprom.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_Pitch = 0, Current_Roll = 0, Current_Yaw = 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 int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrGier = 0;
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volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
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volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0;
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volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
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volatile uint8_t messanzahl_AccHoch = 0;
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volatile uint8_t messanzahl_AccHoch = 0;
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volatile int32_t Luftdruck = 32000;
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volatile int32_t AirPressure = 32000;
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volatile int16_t StartLuftdruck;
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volatile int16_t StartAirPressure;
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volatile uint16_t MessLuftdruck = 1023;
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volatile uint16_t ReadingAirPressure = 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 tmpAirPressure;
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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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        ADC_Enable();
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        ADC_Enable();
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    // restore global interrupt flags
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    // restore global interrupt flags
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    SREG = sreg;
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    SREG = sreg;
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}
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}
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void SucheLuftruckOffset(void)
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void SearchAirPressureOffset(void)
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{
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{
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 uint8_t off;
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 uint8_t off;
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 off = GetParamByte(PID_LAST_OFFSET);
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 off = GetParamByte(PID_LAST_OFFSET);
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 if(off > 20) off -= 10;
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 if(off > 20) off -= 10;
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 OCR0A = off;
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 OCR0A = off;
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 Delay_ms_Mess(100);
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 Delay_ms_Mess(100);
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 if(MessLuftdruck < 850) off = 0;
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 if(ReadingAirPressure < 850) off = 0;
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 for(; off < 250;off++)
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 for(; off < 250;off++)
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  {
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  {
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  OCR0A = off;
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  OCR0A = off;
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  Delay_ms_Mess(50);
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  Delay_ms_Mess(50);
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  printf(".");
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  printf(".");
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  if(MessLuftdruck < 900) break;
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  if(ReadingAirPressure < 900) break;
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  }
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  }
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 SetParamByte(PID_LAST_OFFSET, off);
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 SetParamByte(PID_LAST_OFFSET, off);
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 DruckOffsetSetting = off;
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 DruckOffsetSetting = off;
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 Delay_ms_Mess(300);
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 Delay_ms_Mess(300);
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/*     Interrupt Service Routine for ADC             */
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/*     Interrupt Service Routine for ADC             */
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/*****************************************************/
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/*****************************************************/
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ISR(ADC_vect)
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ISR(ADC_vect)
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{
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{
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    static uint8_t adc_channel = 0, state = 0;
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    static uint8_t adc_channel = 0, state = 0;
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    static uint16_t gier1, roll1, nick1;
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    static uint16_t yaw1, roll1, pitch1;
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    static uint8_t messanzahl_Druck = 0;
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    static uint8_t messanzahl_Druck = 0;
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    // disable further AD conversion
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    // disable further AD conversion
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    ADC_Disable();
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    ADC_Disable();
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    // state machine
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    // state machine
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    switch(state++)
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    switch(state++)
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        {
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        {
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        case 0:
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        case 0:
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            gier1 = ADC; // get Gyro Gier Voltage 1st sample
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            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
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            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
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            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
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            ZaehlMessungen++; // increment total measurement counter
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            ZaehlMessungen++; // increment total measurement counter
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            break;
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            break;
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        case 1:
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        case 1:
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            roll1 = ADC; // get Gyro Roll Voltage 1st sample
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            roll1 = ADC; // get Gyro Roll Voltage 1st sample
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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 = PITCH GYRO
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            break;
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            break;
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        case 2:
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        case 2:
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            nick1 = ADC; // get Gyro Nick Voltage 1st sample
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            pitch1 = ADC; // get Gyro Pitch Voltage 1st sample
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            adc_channel = 4; // set next channel to ADC4 = UBAT
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            adc_channel = 4; // set next channel to ADC4 = UBAT
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            break;
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            break;
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        case 3:
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        case 3:
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                // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3
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                // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3
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            UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
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            UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
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            AdValueAccRoll = Current_AccY;
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            AdValueAccRoll = Current_AccY;
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            adc_channel = 7; // set next channel to ADC7 = ACC_X
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            adc_channel = 7; // set next channel to ADC7 = ACC_X
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            break;
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            break;
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        case 5:
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        case 5:
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            Current_AccX = ADC - NeutralAccX; // get acceleration in X direction
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            Current_AccX = ADC - NeutralAccX; // get acceleration in X direction
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            AdValueAccNick =  Current_AccX;
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            AdValueAccPitch =  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 = YAW 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 AdValueGyrYaw
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            if(BoardRelease == 10)  AdValueGyrGier = (ADC + gier1) / 2;
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            if(BoardRelease == 10)  AdValueGyrYaw = (ADC + yaw1) / 2;
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                        else                                       AdValueGyrGier = ADC + gier1; // gain is 2 times lower on FC 1.1
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                        else                                       AdValueGyrYaw = ADC + yaw1; // 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 ADValueGyrRoll
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            if(BoardRelease == 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 = PITCH 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 ADValuePitch
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            if(BoardRelease == 10)  AdValueGyrNick = (ADC + nick1) / 2;
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            if(BoardRelease == 10)  AdValueGyrPitch = (ADC + pitch1) / 2;
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                        else                                       AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1
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                        else                                       AdValueGyrPitch = ADC + pitch1; // 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
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            AdValueAccTop =  (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
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            AdValueAccTop =  (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
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             {
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             {
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              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
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              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
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             }
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             }
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            messanzahl_AccHoch = 1;
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            messanzahl_AccHoch = 1;
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            Current_AccZ = ADC;
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            Current_AccZ = ADC;
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            Mess_Integral_Hoch += AdValueAccTop;      // Integrieren
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            Reading_Integral_Top += AdValueAccTop;      // Integrieren
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            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
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            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
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                adc_channel = 3; // set next channel to ADC3 = air pressure
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                adc_channel = 3; // set next channel to ADC3 = air pressure
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            break;
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            break;
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        case 10:
160
        case 10:
161
            tmpLuftdruck += ADC; // sum vadc values
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            tmpAirPressure += ADC; // sum vadc values
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            if(++messanzahl_Druck >= 5) // if 5 values are summerized for averaging
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            if(++messanzahl_Druck >= 5) // if 5 values are summerized for averaging
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                {
163
                {
164
                MessLuftdruck = ADC; // update measured air pressure
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                ReadingAirPressure = ADC; // update measured air pressure
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                messanzahl_Druck = 0; // reset air pressure measurement counter
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                messanzahl_Druck = 0; // reset air pressure measurement counter
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                                HoeheD = (int16_t)(StartLuftdruck - tmpLuftdruck - HoehenWert);  // D-Anteil = neuerWert - AlterWert
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                                HoeheD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight);  // D-Anteil = neuerWert - AlterWert
167
                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; // averaging using history
167
                AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
168
                HoehenWert = StartLuftdruck - Luftdruck;
168
                ReadingHight = StartAirPressure - AirPressure;
169
                tmpLuftdruck = 0;
169
                tmpAirPressure = 0;
170
                }
170
                }
171
            adc_channel = 0; // set next channel to ADC0 = GIER GYRO
171
            adc_channel = 0; // set next channel to ADC0 = GIER GYRO
172
            state = 0; // reset state
172
            state = 0; // reset state
173
            break;
173
            break;
174
        default:
174
        default: