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Rev 2316 Rev 2367
Line 66... Line 66...
66 
signed char ExpandBaro = 0;
 66 
signed char ExpandBaro = 0;
67 
volatile int VarioMeter = 0;
 67 
volatile int VarioMeter = 0;
68 
volatile unsigned int ZaehlMessungen = 0;
 68 
volatile unsigned int ZaehlMessungen = 0;
69 
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
 69 
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
70 
volatile unsigned char AdReady = 1;
 70 
volatile unsigned char AdReady = 1;
- 
 
 71 
unsigned int BaroStep = 500;
- 
 
 72 
long ExpandBaroStep = 0;
71 
volatile long HoehenWertF = 0;
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volatile long HoehenWertF = 0;
Line -... Line 74...
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 74 
 
- 
 
 75 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
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 76 
unsigned char CalAthmospheare = 16;
- 
 
 77 
#endif
72 
 
 78 
 
73 
//#######################################################################################
 79 
//#######################################################################################
74 
void ADC_Init(void)
 80 
void ADC_Init(void)
75 
//#######################################################################################
 81 
//#######################################################################################
76 
{
 82 
{
77 
    ADMUX = 0;//Referenz ist extern
 83 
    ADMUX = 0;//Referenz ist extern
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    ANALOG_ON;
 84 
    ANALOG_ON;
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}
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}
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 86 
 
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 87 
#define DESIRED_H_ADC 850
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 88 
 
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 89 
void CalcExpandBaroStep(void)
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 90 
{
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 91 
  if(ACC_AltitudeControl) ExpandBaroStep = BaroStep * (long)ExpandBaro;
Line 80... Line 92...
80 
 
 92 
  else ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4;
81 
#define DESIRED_H_ADC 800
 93 
}
82 
 
 94 
 
83 
void SucheLuftruckOffset(void)
 95 
void SucheLuftruckOffset(void)
84 
{
 - 
 
85 
 unsigned int off;
 - 
 
86 
 ExpandBaro = 0;
 - 
 
87 
 
 96 
{
88 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 - 
 
89 
 {
 - 
 
90 
  unsigned char off2;
 - 
 
91 
  OCR0A = 150;
 - 
 
92 
  off2 = GetParamByte(PID_PRESSURE_OFFSET);
 - 
 
93 
  if(off2 < 230) off2 += 10;
 - 
 
94 
  OCR0B = off2;
 - 
 
95 
  Delay_ms_Mess(100);
 - 
 
96 
  if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;
 - 
 
97 
  for(; off2 >= 5; off2 -= 5)
 - 
 
98 
   {
 - 
 
99 
   OCR0B = off2;
 - 
 
100 
   Delay_ms_Mess(50);
 - 
 
101 
   printf("*");
 - 
 
102 
   if(MessLuftdruck > DESIRED_H_ADC) break;
 - 
 
103 
   }
 - 
 
104 
   SetParamByte(PID_PRESSURE_OFFSET, off2);
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105 
  if(off2 >= 15) off = 140; else off = 0;
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106 
  for(; off < 250;off++)
 - 
 
107 
   {
 - 
 
108 
   OCR0A = off;
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109 
   Delay_ms_Mess(50);
 - 
 
110 
   printf(".");
 - 
 
111 
   if(MessLuftdruck < DESIRED_H_ADC) break;
 - 
 
112 
   }
 - 
 
113 
   DruckOffsetSetting = off;
 97 
 unsigned int off;
114 
 }
 98 
 ExpandBaro = 0;
115 
#else
 99 
 CalcExpandBaroStep();
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 100 
  off = GetParamByte(PID_PRESSURE_OFFSET);
116 
  off = GetParamByte(PID_PRESSURE_OFFSET);
 101 
  if(off > 20) off -= 10;
117 
  if(off > 20) off -= 10;
 102 
  OCR0A = off;
118 
  OCR0A = off;
 103 
  OCR0B = 255-off;
119 
  Delay_ms_Mess(100);
 104 
  Delay_ms_Mess(150);
120 
  if(MessLuftdruck < DESIRED_H_ADC) off = 0;
 105 
  if(MessLuftdruck < DESIRED_H_ADC) off = 0;
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 106 
  for(; off < 250;off++)
121 
  for(; off < 250;off++)
 107 
   {
122 
   {
 108 
   OCR0A = off;
123 
   OCR0A = off;
 109 
   OCR0B = 255-off;
124 
   Delay_ms_Mess(50);
 110 
   Delay_ms_Mess(100);
125 
   printf(".");
 111 
   printf(".");
126 
   if(MessLuftdruck < DESIRED_H_ADC) break;
 112 
   if(MessLuftdruck < DESIRED_H_ADC) break;
- 
 
 113 
   }
- 
 
 114 
   DruckOffsetSetting = off;
- 
 
 115 
   SetParamByte(PID_PRESSURE_OFFSET, off);
- 
 
 116 
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 5 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;
- 
 
 117 
 
- 
 
 118 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
- 
 
 119 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- 
 
 120 
// + correction of the altitude error in higher altitudes
- 
 
 121 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- 
 
 122 
 CalAthmospheare = 16;
- 
 
 123 
 if(ACC_AltitudeControl)
- 
 
 124 
  {
- 
 
 125 
   if(PlatinenVersion < 23) { if(off < 140) CalAthmospheare += (160 - off) / 26; }
127 
   }
 126 
   else { if(off < 170) CalAthmospheare += (188 - off) / 19; }
128 
   DruckOffsetSetting = off;
 - 
 
129 
   SetParamByte(PID_PRESSURE_OFFSET, off);
 - 
 
130 
#endif
 127 
  }
131 
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;
 128 
 Luftdruck = MessLuftdruck * CalAthmospheare;
Line 132... Line 129...
132 
 OCR0A = off;
 129 
#endif
Line 345... Line 342...
345 
        case 9:
 342 
        case 9:
346 
                MessLuftdruck = ADC;
 343 
                MessLuftdruck = ADC;
347 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 344 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
348 
                        if(ACC_AltitudeControl)                
 345 
                        if(ACC_AltitudeControl)                
349 
                        {
 346 
                        {
- 
 
 347 
//                              ExpandBaroStep = BaroStep * (long)ExpandBaro; // wird in fc.c aufgerufen
350 
                                tmpLuftdruck = MessLuftdruck - 523 * (long)ExpandBaro;  // -523 counts per offset step
 348 
//                              tmpLuftdruck = MessLuftdruck - BaroStep * (long)ExpandBaro;  // -523 counts per offset step
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 349 
                                tmpLuftdruck = MessLuftdruck - ExpandBaroStep;  // -523 counts per offset step
351 
                                Luftdruck -= Luftdruck/16;
 350 
                                Luftdruck -= Luftdruck / CalAthmospheare; // 16
352 
                                Luftdruck += tmpLuftdruck;
 351 
                                Luftdruck += tmpLuftdruck;
353 
                                HoehenWert = StartLuftdruck - Luftdruck;        // cm
 352 
                                HoehenWert = StartLuftdruck - Luftdruck;        // cm
354 
                        }
 353 
                        }
355 
                        else
 354 
                        else
356 
#endif
 355 
#endif
357 
            {   // old version (until FC V2.1)
 356 
            {   // old version (until FC V2.1)
358 
                                tmpLuftdruck += MessLuftdruck;
 357 
                                tmpLuftdruck += MessLuftdruck;
359 
                                if(++messanzahl_Druck >= 16) // war bis 0.86 "18"
 358 
                                if(++messanzahl_Druck >= 16) // war bis 0.86 "18"
360 
                                {
 359 
                                {
361 
                            signed int tmp;
 360 
                            signed int tmp;
362 
                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - (16 * 523) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
 361 
//                              Luftdruck = (7 * Luftdruck + tmpLuftdruck - (16 * BaroStep) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
- 
 
 362 
//                              ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4; // wird in fc.c aufgerufen
- 
 
 363 
                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - ExpandBaroStep) / 8;  // -523.19 counts per 10 counts offset step
363 
                                HoehenWert = StartLuftdruck - Luftdruck;
 364 
                                HoehenWert = StartLuftdruck - Luftdruck;
364 
                                SummenHoehe -= SummenHoehe/SM_FILTER;
 365 
                                SummenHoehe -= SummenHoehe/SM_FILTER;
365 
                                SummenHoehe += HoehenWert;
 366 
                                SummenHoehe += HoehenWert;
366 
                                tmp = (HoehenWert - SummenHoehe/SM_FILTER);
 367 
                                tmp = (HoehenWert - SummenHoehe/SM_FILTER);
367 
                                if(tmp > 1024) tmp = 1024;      else if(tmp < -1024) tmp = -1024;
 368 
                                if(tmp > 1024) tmp = 1024;      else if(tmp < -1024) tmp = -1024;