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Rev 1134 Rev 1154
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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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- 
 
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#include "main.h"
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#include "main.h"
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#include "parameter.h"
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volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
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volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
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volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
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volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
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volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
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volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
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volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0;
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volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0;
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volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0;
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volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0;
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volatile long Luftdruck = 32000;
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volatile long Luftdruck = 32000;
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volatile int  StartLuftdruck;
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volatile int  StartLuftdruck;
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volatile unsigned int  MessLuftdruck = 1023;
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unsigned char DruckOffsetSetting;
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volatile unsigned int  MessLuftdruck = 1023;
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signed char ExpandBaro = 0;
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unsigned char DruckOffsetSetting;
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volatile int HoeheD = 0;
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volatile int HoeheD = 0;
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volatile char messanzahl_Druck;
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volatile char messanzahl_Druck;
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volatile int  tmpLuftdruck;
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volatile int  tmpLuftdruck;
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volatile unsigned int ZaehlMessungen = 0;
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volatile unsigned int ZaehlMessungen = 0;
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unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
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unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
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int airPressure = 0;
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unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
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unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
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//#######################################################################################
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//#######################################################################################
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//
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//
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void ADC_Init(void)
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void ADC_Init(void)
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{
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{
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 unsigned int off;
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 unsigned int off;
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 off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
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 off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_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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 ExpandBaro = 0;
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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(MessLuftdruck < 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 < 850) break;
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  if(MessLuftdruck < 900) break;
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  }
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  }
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 eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
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 eeprom_write_byte(&EEPromArray[EEPROM_ADR_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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}
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}
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            AdWertAccNick =  Aktuell_ax;
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            AdWertAccNick =  Aktuell_ax;
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                    kanal = 0;
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                    kanal = 0;
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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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            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1) / 2;
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            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1) / 2;
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            else
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            if(PlatinenVersion == 20)  AdWertGier = 1023 - (ADC + gier1);
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                        else                                       AdWertGier = ADC + gier1;
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                        else                                       AdWertGier = ADC + gier1;
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            kanal = 1;
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            kanal = 1;
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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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            if(PlatinenVersion == 10)  AdWertRoll = (ADC + roll1) / 2;
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            if(PlatinenVersion == 10)  AdWertRoll = (ADC + roll1) / 2;
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            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
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            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
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                kanal = 3;
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                kanal = 3;
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            break;
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            break;
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        case 10:
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        case 10:
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            tmpLuftdruck += ADC;
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            tmpLuftdruck += ADC;
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            if(++messanzahl_Druck >= 5) {
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            if(++messanzahl_Druck >= 5)
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                {
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                MessLuftdruck = ADC;
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                MessLuftdruck = ADC;
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                messanzahl_Druck = 0;
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                messanzahl_Druck = 0;
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 - 
 
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                                HoeheD = (7 * HoeheD + (int) PARAM_ALT_D * (int)(StartLuftdruck - tmpLuftdruck - HoehenWert))/8;  // D-Anteil = neuerWert - AlterWert
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                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
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                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
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                airPressure = StartLuftdruck - Luftdruck;
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                HoehenWert = StartLuftdruck - Luftdruck;
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                tmpLuftdruck = 0;
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                tmpLuftdruck = 0;
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                DebugOut.Analog[5] = airPressure;
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            }
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                }
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            kanal = 0;
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            kanal = 0;
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            state = 0;
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            state = 0;
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            break;
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            break;
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        default:
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        default:
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            kanal = 0;
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            kanal = 0;