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| Rev 1638 | Rev 1639 | ||
|---|---|---|---|
| Line 71... | Line 71... | ||
| 71 | ready = 0; |
71 | ready = 0; |
| 72 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
72 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
| 73 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
73 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
| 74 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
74 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
| 75 | twi_state = 18; |
75 | twi_state = 18; |
| 76 | i2c_start(); |
76 | I2C_Start(); |
| 77 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
77 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
| 78 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
78 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
| 79 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
79 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
| 80 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
80 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
| 81 | AdReady = 0; |
81 | AdReady = 0; |
| Line 112... | Line 112... | ||
| 112 | ISR(ADC_vect) |
112 | ISR(ADC_vect) |
| 113 | //####################################################################################### |
113 | //####################################################################################### |
| 114 | { |
114 | { |
| 115 | static unsigned char kanal=0,state = 0; |
115 | static unsigned char kanal=0,state = 0; |
| 116 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
116 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| 117 | static signed int accy, accx; |
117 | static signed int accy, accx,subcount = 0; |
| Line 118... | Line 118... | ||
| 118 | 118 | ||
| 119 | static long tmpLuftdruck = 0; |
119 | static long tmpLuftdruck = 0; |
| 120 | static char messanzahl_Druck = 0; |
120 | static char messanzahl_Druck = 0; |
| 121 | switch(state++) |
121 | switch(state++) |
| Line 158... | Line 158... | ||
| 158 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
158 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| 159 | if(AdWertAccHoch > 1) |
159 | if(AdWertAccHoch > 1) |
| 160 | { |
160 | { |
| 161 | if(NeutralAccZ < 750) |
161 | if(NeutralAccZ < 750) |
| 162 | { |
162 | { |
| - | 163 | subcount += 2; |
|
| - | 164 | if(modell_fliegt < 500) subcount += 100; |
|
| - | 165 | } |
|
| - | 166 | if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;} |
|
| - | 167 | } |
|
| - | 168 | else if(AdWertAccHoch < -1) |
|
| - | 169 | { |
|
| - | 170 | if(NeutralAccZ > 550) |
|
| - | 171 | { |
|
| - | 172 | subcount -= 2; |
|
| - | 173 | if(modell_fliegt < 500) subcount -= 100; |
|
| - | 174 | if(subcount < -1000) { NeutralAccZ--; subcount += 1000;} |
|
| - | 175 | } |
|
| - | 176 | } |
|
| - | 177 | messanzahl_AccHoch = 1; |
|
| - | 178 | Aktuell_az = ADC; |
|
| - | 179 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
|
| - | 180 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
|
| - | 181 | ||
| - | 182 | /* |
|
| - | 183 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
|
| - | 184 | if(AdWertAccHoch > 1) |
|
| - | 185 | { |
|
| - | 186 | if(NeutralAccZ < 750) |
|
| - | 187 | { |
|
| 163 | NeutralAccZ += 0.02; |
188 | NeutralAccZ += 0.02; |
| 164 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
189 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
| 165 | } |
190 | } |
| 166 | } |
191 | } |
| 167 | else if(AdWertAccHoch < -1) |
192 | else if(AdWertAccHoch < -1) |
| Line 174... | Line 199... | ||
| 174 | } |
199 | } |
| 175 | messanzahl_AccHoch = 1; |
200 | messanzahl_AccHoch = 1; |
| 176 | Aktuell_az = ADC; |
201 | Aktuell_az = ADC; |
| 177 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
202 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| 178 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
203 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| - | 204 | */ |
|
| 179 | kanal = AD_DRUCK; |
205 | kanal = AD_DRUCK; |
| 180 | break; |
206 | break; |
| 181 | // "case 8:" fehlt hier absichtlich |
207 | // "case 8:" fehlt hier absichtlich |
| 182 | case 10: |
208 | case 10: |
| 183 | nick1 += ADC; |
209 | nick1 += ADC; |