WebSVN - FlightCtrl - Diff - Rev 1178 and 1340


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "main.h"
volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
volatile int  HiResNick = 2500, HiResRoll = 2500;
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
volatile char messanzahl_AccHoch = 0;
volatile long Luftdruck = 32000;
volatile int  StartLuftdruck;
volatile unsigned int  MessLuftdruck = 1023;
unsigned char DruckOffsetSetting;
signed char ExpandBaro = 0;
volatile int HoeheD = 0;
volatile char messanzahl_Druck;
volatile int  tmpLuftdruck;
volatile unsigned int ZaehlMessungen = 0;
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
volatile unsigned char AdReady = 1;
//#######################################################################################
//
void ADC_Init(void)
//#######################################################################################
{
    ADMUX = 0;//Referenz ist extern
    ANALOG_ON;
}
 
void SucheLuftruckOffset(void)
{
 unsigned int off;
 off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
 if(off > 20) off -= 10;
 OCR0A = off;
 ExpandBaro = 0;
 Delay_ms_Mess(100);
 if(MessLuftdruck < 850) off = 0;
 for(; off < 250;off++)
  {
  OCR0A = off;
  Delay_ms_Mess(50);
  printf(".");  
  if(MessLuftdruck < 850) break;
  }
 eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
 DruckOffsetSetting = off;
 Delay_ms_Mess(300);
}
 
void SucheGyroOffset(void)
{
 unsigned char i, ready = 0;
 GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
 for(i=140; i != 0; i--)
  {
   if(ready == 3 && i > 10) i = 9;
   ready = 0;
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
   twi_state = 8;  
   i2c_start();
   if(AnalogOffsetNick < 10)  { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
   while(twi_state);
   messanzahl_Druck = 0;
   ANALOG_ON;
   while(messanzahl_Druck == 0);
   if(i<10) Delay_ms_Mess(10);  
  }
   Delay_ms_Mess(70);  
}
 
/*
0  n
1  r
2     g
3     y
4     x
5  n
6  r
7     u
8     z
9     L
10 n  
11 r
12    g
13    y
14    x
15 n
16 r
17    L
*/
 
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;   
        static signed int accy, accx;
    switch(state++)
        {
        case 0:
            nick1 = ADC;
            kanal = AD_ROLL;
            break;
        case 1:
            roll1 = ADC;
                    kanal = AD_GIER;
            break;
        case 2:
            gier1 = ADC;
            kanal = AD_ACC_Y;
            break;
        case 3:
            Aktuell_ay = NeutralAccY - ADC;
            accy = Aktuell_ay;
                    kanal = AD_ACC_X;
            break;
        case 4:
            Aktuell_ax = ADC - NeutralAccX;
            accx =  Aktuell_ax;
            kanal = AD_NICK;
            break;
        case 5:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 6:
            roll1 += ADC;
            kanal = AD_UBAT;
            break;
        case 7:
            UBat = (3 * UBat + ADC / 3) / 4;
                    kanal = AD_ACC_Z;
            break;
       case 8:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                NeutralAccZ += 0.02;
                if(modell_fliegt < 500) NeutralAccZ += 0.1;
               }
             }  
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 NeutralAccZ-= 0.02;
                 if(modell_fliegt < 500) NeutralAccZ -= 0.1;              
                }
             }
            messanzahl_AccHoch = 1;
            Aktuell_az = ADC;
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
                kanal = AD_DRUCK;
            break;
   // "case 8:" fehlt hier absichtlich
        case 10:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 11:
            roll1 += ADC;
                    kanal = AD_GIER;
            break;
        case 12:
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;
            else
            if(PlatinenVersion == 20)  AdWertGier = 2047 - (ADC + gier1);
                        else                                       AdWertGier = (ADC + gier1);
            kanal = AD_ACC_Y;
            break;
        case 13:
            Aktuell_ay = NeutralAccY - ADC;
            AdWertAccRoll = (Aktuell_ay + accy);
            kanal = AD_ACC_X;
            break;
        case 14:
            Aktuell_ax = ADC - NeutralAccX;
            AdWertAccNick =  (Aktuell_ax + accx);
            kanal = AD_NICK;
            break;
        case 15:
            nick1 += ADC;
            if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4;
            AdWertNick = nick1 / 8;
            nick_filter = (nick_filter + nick1) / 2;
            HiResNick = nick_filter - AdNeutralNick;
            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
            kanal = AD_ROLL;
            break;
        case 16:
            roll1 += ADC;
            if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4;
            AdWertRoll = roll1 / 8;
            roll_filter = (roll_filter + roll1) / 2;
            HiResRoll = roll_filter - AdNeutralRoll;
            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
                kanal = AD_DRUCK;
            break;
        case 17:
            state = 0;
                        AdReady = 1;
            ZaehlMessungen++;
            // "break" fehlt hier absichtlich
        case 9:
            tmpLuftdruck += ADC;
            if(++messanzahl_Druck >= 5)
                {
                                tmpLuftdruck /= 2;
                MessLuftdruck = ADC;
                messanzahl_Druck = 0;
                                HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32;  // D-Anteil = neuerWert - AlterWert
                Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;
                HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
                tmpLuftdruck /= 2;
                }
            kanal = AD_NICK;
            break;
        default:  
            kanal = 0; state = 0; kanal = AD_NICK;
            break;
        }
    ADMUX = kanal;
    if(state != 0) ANALOG_ON;
}
 
 
 
/*
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
    static signed int gier1, roll1, nick1;
        static signed long nick_filter, roll_filter;   
        static signed int accy, accx;
    switch(state++)
        {
        case 0:
            nick1 = ADC;
            kanal = AD_ROLL;
            break;
        case 1:
            roll1 = ADC;
                    kanal = AD_GIER;
            break;
        case 2:
            gier1 = ADC;
            kanal = AD_ACC_Y;
            break;
        case 3:
            Aktuell_ay = NeutralAccY - ADC;
            accy = Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 4:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 5:
            roll1 += ADC;
                    kanal = AD_ACC_Z;
            break;
       case 6:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                NeutralAccZ += 0.02;
                if(modell_fliegt < 500) NeutralAccZ += 0.1;
               }
             }  
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 NeutralAccZ-= 0.02;
                 if(modell_fliegt < 500) NeutralAccZ -= 0.1;              
                }
             }
            messanzahl_AccHoch = 1;
            Aktuell_az = ADC;
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
            kanal = AD_NICK;
            break;
        case 7:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 8:
            roll1 += ADC;
                    kanal = AD_ACC_X;
            break;
        case 9:
            Aktuell_ax = ADC - NeutralAccX;
            accx =  Aktuell_ax;
                    kanal = AD_GIER;
            break;
        case 10:
            gier1 += ADC;
            kanal = AD_NICK;
            break;
        case 11:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 12:
            roll1 += ADC;
            kanal = AD_UBAT;
            break;
        case 13:
            UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19)  / 2;
            kanal = AD_ACC_Y;
            break;
        case 14:
            Aktuell_ay = NeutralAccY - ADC;
            accy += Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 15:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 16:
            roll1 += ADC;
            kanal = AD_ACC_X;
            break;
        case 17:
            Aktuell_ax = ADC - NeutralAccX;
            accx += Aktuell_ax;
                    kanal = AD_NICK;
            break;
        case 18:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 19:
            roll1 += ADC;
                    kanal = AD_GIER;
            break;
        case 20:
            gier1 += ADC;
            kanal = AD_ACC_Y;
            break;
        case 21:
            Aktuell_ay = NeutralAccY - ADC;
            accy += Aktuell_ay;
            kanal = AD_NICK;
            break;
        case 22:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 23:
            roll1 += ADC;
                kanal = AD_DRUCK;
            break;
        case 24:
            tmpLuftdruck += ADC;
            if(++messanzahl_Druck >= 5)
                {
                MessLuftdruck = ADC;
                messanzahl_Druck = 0;
                                HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8;  // D-Anteil = neuerWert - AlterWert
                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
                HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
                tmpLuftdruck = 0;
                }
            kanal = AD_NICK;
            break;
        case 25:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 26:
            roll1 += ADC;
                    kanal = AD_ACC_X;
            break;
        case 27:
            Aktuell_ax = ADC - NeutralAccX;
            accx +=  Aktuell_ax;
                    kanal = AD_GIER;
            break;
        case 28:
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 2) / 4;
            else
            if(PlatinenVersion == 20)  AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
                        else                                       AdWertGier = (ADC + gier1 + 1) / 2;
            kanal = AD_NICK;
            break;
        case 29:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 30:
            roll1 += ADC;
            kanal = AD_ACC_Y;
            break;
        case 31:
            Aktuell_ay = NeutralAccY - ADC;
            AdWertAccRoll = (Aktuell_ay + accy);
            kanal = AD_NICK;
            break;
        case 32:
            AdWertNick = (ADC + nick1 + 3) / 5;
            nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
            if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
            HiResNick = nick_filter - 20 * AdNeutralNick;
            AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
            DebugOut.Analog[21] = AdWertNickFilter / 4;  
            kanal = AD_ROLL;
            break;
        case 33:
            AdWertRoll = (ADC + roll1 + 3) / 5;
            roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
            if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
            HiResRoll = roll_filter - 20 * AdNeutralRoll;
            AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
            DebugOut.Analog[22] = AdWertRollFilter / 4;
            kanal = AD_ACC_X;
            break;
        case 34:
            Aktuell_ax = ADC - NeutralAccX;
            AdWertAccNick =  (Aktuell_ax + accx);
                    kanal = AD_NICK;
            state = 0;
                        AdReady = 1;
            ZaehlMessungen++;
            break;
        default:
            kanal = 0;
            state = 0;
            break;
        }
    ADMUX = kanal;
    if(state != 0) ANALOG_ON;
}
*/
 

Rev 1178	Rev 1340
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) Holger Buss, Ingo Busker
3	// + only for non-profit use	3	// + only for non-profit use
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// + see the File "License.txt" for further Informations	5	// + see the File "License.txt" for further Informations
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7		7
8	#include "main.h"	8	#include "main.h"
9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;	9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;	10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
11	volatile int HiResNick = 2500, HiResRoll = 2500;	11	volatile int HiResNick = 2500, HiResRoll = 2500;
12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;	12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;	13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
14	volatile char messanzahl_AccHoch = 0;	14	volatile char messanzahl_AccHoch = 0;
15	volatile long Luftdruck = 32000;	15	volatile long Luftdruck = 32000;
16	volatile int StartLuftdruck;	16	volatile int StartLuftdruck;
17	volatile unsigned int MessLuftdruck = 1023;	17	volatile unsigned int MessLuftdruck = 1023;
18	unsigned char DruckOffsetSetting;	18	unsigned char DruckOffsetSetting;
19	signed char ExpandBaro = 0;	19	signed char ExpandBaro = 0;
20	volatile int HoeheD = 0;	20	volatile int HoeheD = 0;
21	volatile char messanzahl_Druck;	21	volatile char messanzahl_Druck;
22	volatile int tmpLuftdruck;	22	volatile int tmpLuftdruck;
23	volatile unsigned int ZaehlMessungen = 0;	23	volatile unsigned int ZaehlMessungen = 0;
24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;	25	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
26	volatile unsigned char AdReady = 1;	26	volatile unsigned char AdReady = 1;
27	//#######################################################################################	27	//#######################################################################################
28	//	28	//
29	void ADC_Init(void)	29	void ADC_Init(void)
30	//#######################################################################################	30	//#######################################################################################
31	{	31	{
32	ADMUX = 0;//Referenz ist extern	32	ADMUX = 0;//Referenz ist extern
33	ANALOG_ON;	33	ANALOG_ON;
34	}	34	}
35		35
36	void SucheLuftruckOffset(void)	36	void SucheLuftruckOffset(void)
37	{	37	{
38	unsigned int off;	38	unsigned int off;
39	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);	39	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
40	if(off > 20) off -= 10;	40	if(off > 20) off -= 10;
41	OCR0A = off;	41	OCR0A = off;
42	ExpandBaro = 0;	42	ExpandBaro = 0;
43	Delay_ms_Mess(100);	43	Delay_ms_Mess(100);
44	if(MessLuftdruck < 850) off = 0;	44	if(MessLuftdruck < 850) off = 0;
45	for(; off < 250;off++)	45	for(; off < 250;off++)
46	{	46	{
47	OCR0A = off;	47	OCR0A = off;
48	Delay_ms_Mess(50);	48	Delay_ms_Mess(50);
49	printf(".");	49	printf(".");
50	if(MessLuftdruck < 850) break;	50	if(MessLuftdruck < 850) break;
51	}	51	}
52	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);	52	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
53	DruckOffsetSetting = off;	53	DruckOffsetSetting = off;
54	Delay_ms_Mess(300);	54	Delay_ms_Mess(300);
55	}	55	}
56		56
57	void SucheGyroOffset(void)	57	void SucheGyroOffset(void)
58	{	58	{
59	unsigned char i, ready = 0;	59	unsigned char i, ready = 0;
60	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;	60	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
61	for(i=140; i != 0; i--)	61	for(i=140; i != 0; i--)
62	{	62	{
63	if(ready == 3 && i > 10) i = 9;	63	if(ready == 3 && i > 10) i = 9;
64	ready = 0;	64	ready = 0;
65	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	65	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
66	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	66	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
67	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	67	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
68	twi_state = 8;	68	twi_state = 8;
69	i2c_start();	69	i2c_start();
70	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};	70	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
71	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};	71	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
72	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};	72	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
73	while(twi_state);	73	while(twi_state);
74	messanzahl_Druck = 0;	74	messanzahl_Druck = 0;
75	ANALOG_ON;	75	ANALOG_ON;
76	while(messanzahl_Druck == 0);	76	while(messanzahl_Druck == 0);
77	if(i<10) Delay_ms_Mess(10);	77	if(i<10) Delay_ms_Mess(10);
78	}	78	}
79	Delay_ms_Mess(70);	79	Delay_ms_Mess(70);
80	}	80	}
81		81
82	/*	82	/*
83	0 n	83	0 n
84	1 r	84	1 r
85	2 g	85	2 g
86	3 y	86	3 y
87	4 x	87	4 x
88	5 n	88	5 n
89	6 r	89	6 r
90	7 u	90	7 u
91	8 z	91	8 z
92	9 L	92	9 L
93	10 n	93	10 n
94	11 r	94	11 r
95	12 g	95	12 g
96	13 y	96	13 y
97	14 x	97	14 x
98	15 n	98	15 n
99	16 r	99	16 r
100	17 L	100	17 L
101	*/	101	*/
102		102
103	//#######################################################################################	103	//#######################################################################################
104	//	104	//
105	SIGNAL(SIG_ADC)	105	SIGNAL(SIG_ADC)
106	//#######################################################################################	106	//#######################################################################################
107	{	107	{
108	static unsigned char kanal=0,state = 0;	108	static unsigned char kanal=0,state = 0;
109	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	109	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
110	static signed int accy, accx;	110	static signed int accy, accx;
111	switch(state++)	111	switch(state++)
112	{	112	{
113	case 0:	113	case 0:
114	nick1 = ADC;	114	nick1 = ADC;
115	kanal = AD_ROLL;	115	kanal = AD_ROLL;
116	break;	116	break;
117	case 1:	117	case 1:
118	roll1 = ADC;	118	roll1 = ADC;
119	kanal = AD_GIER;	119	kanal = AD_GIER;
120	break;	120	break;
121	case 2:	121	case 2:
122	gier1 = ADC;	122	gier1 = ADC;
123	kanal = AD_ACC_Y;	123	kanal = AD_ACC_Y;
124	break;	124	break;
125	case 3:	125	case 3:
126	Aktuell_ay = NeutralAccY - ADC;	126	Aktuell_ay = NeutralAccY - ADC;
127	accy = Aktuell_ay;	127	accy = Aktuell_ay;
128	kanal = AD_ACC_X;	128	kanal = AD_ACC_X;
129	break;	129	break;
130	case 4:	130	case 4:
131	Aktuell_ax = ADC - NeutralAccX;	131	Aktuell_ax = ADC - NeutralAccX;
132	accx = Aktuell_ax;	132	accx = Aktuell_ax;
133	kanal = AD_NICK;	133	kanal = AD_NICK;
134	break;	134	break;
135	case 5:	135	case 5:
136	nick1 += ADC;	136	nick1 += ADC;
137	kanal = AD_ROLL;	137	kanal = AD_ROLL;
138	break;	138	break;
139	case 6:	139	case 6:
140	roll1 += ADC;	140	roll1 += ADC;
141	kanal = AD_UBAT;	141	kanal = AD_UBAT;
142	break;	142	break;
143	case 7:	143	case 7:
144	UBat = (3 * UBat + ADC / 3) / 4;	144	UBat = (3 * UBat + ADC / 3) / 4;
145	kanal = AD_ACC_Z;	145	kanal = AD_ACC_Z;
146	break;	146	break;
147	case 8:	147	case 8:
148	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	148	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
149	if(AdWertAccHoch > 1)	149	if(AdWertAccHoch > 1)
150	{	150	{
151	if(NeutralAccZ < 750)	151	if(NeutralAccZ < 750)
152	{	152	{
153	NeutralAccZ += 0.02;	153	NeutralAccZ += 0.02;
154	if(modell_fliegt < 500) NeutralAccZ += 0.1;	154	if(modell_fliegt < 500) NeutralAccZ += 0.1;
155	}	155	}
156	}	156	}
157	else if(AdWertAccHoch < -1)	157	else if(AdWertAccHoch < -1)
158	{	158	{
159	if(NeutralAccZ > 550)	159	if(NeutralAccZ > 550)
160	{	160	{
161	NeutralAccZ-= 0.02;	161	NeutralAccZ-= 0.02;
162	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	162	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
163	}	163	}
164	}	164	}
165	messanzahl_AccHoch = 1;	165	messanzahl_AccHoch = 1;
166	Aktuell_az = ADC;	166	Aktuell_az = ADC;
167	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	167	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
168	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	168	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
169	kanal = AD_DRUCK;	169	kanal = AD_DRUCK;
170	break;	170	break;
171	// "case 8:" fehlt hier absichtlich	171	// "case 8:" fehlt hier absichtlich
172	case 10:	172	case 10:
173	nick1 += ADC;	173	nick1 += ADC;
174	kanal = AD_ROLL;	174	kanal = AD_ROLL;
175	break;	175	break;
176	case 11:	176	case 11:
177	roll1 += ADC;	177	roll1 += ADC;
178	kanal = AD_GIER;	178	kanal = AD_GIER;
179	break;	179	break;
180	case 12:	180	case 12:
181	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	181	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
182	else	182	else
183	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);	183	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);
184	else AdWertGier = (ADC + gier1);	184	else AdWertGier = (ADC + gier1);
185	kanal = AD_ACC_Y;	185	kanal = AD_ACC_Y;
186	break;	186	break;
187	case 13:	187	case 13:
188	Aktuell_ay = NeutralAccY - ADC;	188	Aktuell_ay = NeutralAccY - ADC;
189	AdWertAccRoll = (Aktuell_ay + accy);	189	AdWertAccRoll = (Aktuell_ay + accy);
190	kanal = AD_ACC_X;	190	kanal = AD_ACC_X;
191	break;	191	break;
192	case 14:	192	case 14:
193	Aktuell_ax = ADC - NeutralAccX;	193	Aktuell_ax = ADC - NeutralAccX;
194	AdWertAccNick = (Aktuell_ax + accx);	194	AdWertAccNick = (Aktuell_ax + accx);
195	kanal = AD_NICK;	195	kanal = AD_NICK;
196	break;	196	break;
197	case 15:	197	case 15:
198	nick1 += ADC;	198	nick1 += ADC;
199	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	199	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
200	AdWertNick = nick1 / 8;	200	AdWertNick = nick1 / 8;
201	nick_filter = (nick_filter + nick1) / 2;	201	nick_filter = (nick_filter + nick1) / 2;
202	HiResNick = nick_filter - AdNeutralNick;	202	HiResNick = nick_filter - AdNeutralNick;
203	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	203	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
204	kanal = AD_ROLL;	204	kanal = AD_ROLL;
205	break;	205	break;
206	case 16:	206	case 16:
207	roll1 += ADC;	207	roll1 += ADC;
208	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	208	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
209	AdWertRoll = roll1 / 8;	209	AdWertRoll = roll1 / 8;
210	roll_filter = (roll_filter + roll1) / 2;	210	roll_filter = (roll_filter + roll1) / 2;
211	HiResRoll = roll_filter - AdNeutralRoll;	211	HiResRoll = roll_filter - AdNeutralRoll;
212	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	212	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
213	kanal = AD_DRUCK;	213	kanal = AD_DRUCK;
214	break;	214	break;
215	case 17:	215	case 17:
216	state = 0;	216	state = 0;
217	AdReady = 1;	217	AdReady = 1;
218	ZaehlMessungen++;	218	ZaehlMessungen++;
219	// "break" fehlt hier absichtlich	219	// "break" fehlt hier absichtlich
220	case 9:	220	case 9:
221	tmpLuftdruck += ADC;	221	tmpLuftdruck += ADC;
222	if(++messanzahl_Druck >= 5)	222	if(++messanzahl_Druck >= 5)
223	{	223	{
224	tmpLuftdruck /= 2;	224	tmpLuftdruck /= 2;
225	MessLuftdruck = ADC;	225	MessLuftdruck = ADC;
226	messanzahl_Druck = 0;	226	messanzahl_Druck = 0;
227	HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert	227	HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert
228	Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;	228	Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;
229	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	229	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
230	tmpLuftdruck /= 2;	230	tmpLuftdruck /= 2;
231	}	231	}
232	kanal = AD_NICK;	232	kanal = AD_NICK;
233	break;	233	break;
234	default:	234	default:
235	kanal = 0; state = 0; kanal = AD_NICK;	235	kanal = 0; state = 0; kanal = AD_NICK;
236	break;	236	break;
237	}	237	}
238	ADMUX = kanal;	238	ADMUX = kanal;
239	if(state != 0) ANALOG_ON;	239	if(state != 0) ANALOG_ON;
240	}	240	}
241		241
242		242
243		243
244	/*	244	/*
245	//#######################################################################################	245	//#######################################################################################
246	//	246	//
247	SIGNAL(SIG_ADC)	247	SIGNAL(SIG_ADC)
248	//#######################################################################################	248	//#######################################################################################
249	{	249	{
250	static unsigned char kanal=0,state = 0;	250	static unsigned char kanal=0,state = 0;
251	static signed int gier1, roll1, nick1;	251	static signed int gier1, roll1, nick1;
252	static signed long nick_filter, roll_filter;	252	static signed long nick_filter, roll_filter;
253	static signed int accy, accx;	253	static signed int accy, accx;
254	switch(state++)	254	switch(state++)
255	{	255	{
256	case 0:	256	case 0:
257	nick1 = ADC;	257	nick1 = ADC;
258	kanal = AD_ROLL;	258	kanal = AD_ROLL;
259	break;	259	break;
260	case 1:	260	case 1:
261	roll1 = ADC;	261	roll1 = ADC;
262	kanal = AD_GIER;	262	kanal = AD_GIER;
263	break;	263	break;
264	case 2:	264	case 2:
265	gier1 = ADC;	265	gier1 = ADC;
266	kanal = AD_ACC_Y;	266	kanal = AD_ACC_Y;
267	break;	267	break;
268	case 3:	268	case 3:
269	Aktuell_ay = NeutralAccY - ADC;	269	Aktuell_ay = NeutralAccY - ADC;
270	accy = Aktuell_ay;	270	accy = Aktuell_ay;
271	kanal = AD_NICK;	271	kanal = AD_NICK;
272	break;	272	break;
273	case 4:	273	case 4:
274	nick1 += ADC;	274	nick1 += ADC;
275	kanal = AD_ROLL;	275	kanal = AD_ROLL;
276	break;	276	break;
277	case 5:	277	case 5:
278	roll1 += ADC;	278	roll1 += ADC;
279	kanal = AD_ACC_Z;	279	kanal = AD_ACC_Z;
280	break;	280	break;
281	case 6:	281	case 6:
282	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	282	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
283	if(AdWertAccHoch > 1)	283	if(AdWertAccHoch > 1)
284	{	284	{
285	if(NeutralAccZ < 750)	285	if(NeutralAccZ < 750)
286	{	286	{
287	NeutralAccZ += 0.02;	287	NeutralAccZ += 0.02;
288	if(modell_fliegt < 500) NeutralAccZ += 0.1;	288	if(modell_fliegt < 500) NeutralAccZ += 0.1;
289	}	289	}
290	}	290	}
291	else if(AdWertAccHoch < -1)	291	else if(AdWertAccHoch < -1)
292	{	292	{
293	if(NeutralAccZ > 550)	293	if(NeutralAccZ > 550)
294	{	294	{
295	NeutralAccZ-= 0.02;	295	NeutralAccZ-= 0.02;
296	if(modell_fliegt < 500) NeutralAccZ -= 0.1;	296	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
297	}	297	}
298	}	298	}
299	messanzahl_AccHoch = 1;	299	messanzahl_AccHoch = 1;
300	Aktuell_az = ADC;	300	Aktuell_az = ADC;
301	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	301	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
302	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	302	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
303	kanal = AD_NICK;	303	kanal = AD_NICK;
304	break;	304	break;
305	case 7:	305	case 7:
306	nick1 += ADC;	306	nick1 += ADC;
307	kanal = AD_ROLL;	307	kanal = AD_ROLL;
308	break;	308	break;
309	case 8:	309	case 8:
310	roll1 += ADC;	310	roll1 += ADC;
311	kanal = AD_ACC_X;	311	kanal = AD_ACC_X;
312	break;	312	break;
313	case 9:	313	case 9:
314	Aktuell_ax = ADC - NeutralAccX;	314	Aktuell_ax = ADC - NeutralAccX;
315	accx = Aktuell_ax;	315	accx = Aktuell_ax;
316	kanal = AD_GIER;	316	kanal = AD_GIER;
317	break;	317	break;
318	case 10:	318	case 10:
319	gier1 += ADC;	319	gier1 += ADC;
320	kanal = AD_NICK;	320	kanal = AD_NICK;
321	break;	321	break;
322	case 11:	322	case 11:
323	nick1 += ADC;	323	nick1 += ADC;
324	kanal = AD_ROLL;	324	kanal = AD_ROLL;
325	break;	325	break;
326	case 12:	326	case 12:
327	roll1 += ADC;	327	roll1 += ADC;
328	kanal = AD_UBAT;	328	kanal = AD_UBAT;
329	break;	329	break;
330	case 13:	330	case 13:
331	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;	331	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
332	kanal = AD_ACC_Y;	332	kanal = AD_ACC_Y;
333	break;	333	break;
334	case 14:	334	case 14:
335	Aktuell_ay = NeutralAccY - ADC;	335	Aktuell_ay = NeutralAccY - ADC;
336	accy += Aktuell_ay;	336	accy += Aktuell_ay;
337	kanal = AD_NICK;	337	kanal = AD_NICK;
338	break;	338	break;
339	case 15:	339	case 15:
340	nick1 += ADC;	340	nick1 += ADC;
341	kanal = AD_ROLL;	341	kanal = AD_ROLL;
342	break;	342	break;
343	case 16:	343	case 16:
344	roll1 += ADC;	344	roll1 += ADC;
345	kanal = AD_ACC_X;	345	kanal = AD_ACC_X;
346	break;	346	break;
347	case 17:	347	case 17:
348	Aktuell_ax = ADC - NeutralAccX;	348	Aktuell_ax = ADC - NeutralAccX;
349	accx += Aktuell_ax;	349	accx += Aktuell_ax;
350	kanal = AD_NICK;	350	kanal = AD_NICK;
351	break;	351	break;
352	case 18:	352	case 18:
353	nick1 += ADC;	353	nick1 += ADC;
354	kanal = AD_ROLL;	354	kanal = AD_ROLL;
355	break;	355	break;
356	case 19:	356	case 19:
357	roll1 += ADC;	357	roll1 += ADC;
358	kanal = AD_GIER;	358	kanal = AD_GIER;
359	break;	359	break;
360	case 20:	360	case 20:
361	gier1 += ADC;	361	gier1 += ADC;
362	kanal = AD_ACC_Y;	362	kanal = AD_ACC_Y;
363	break;	363	break;
364	case 21:	364	case 21:
365	Aktuell_ay = NeutralAccY - ADC;	365	Aktuell_ay = NeutralAccY - ADC;
366	accy += Aktuell_ay;	366	accy += Aktuell_ay;
367	kanal = AD_NICK;	367	kanal = AD_NICK;
368	break;	368	break;
369	case 22:	369	case 22:
370	nick1 += ADC;	370	nick1 += ADC;
371	kanal = AD_ROLL;	371	kanal = AD_ROLL;
372	break;	372	break;
373	case 23:	373	case 23:
374	roll1 += ADC;	374	roll1 += ADC;
375	kanal = AD_DRUCK;	375	kanal = AD_DRUCK;
376	break;	376	break;
377	case 24:	377	case 24:
378	tmpLuftdruck += ADC;	378	tmpLuftdruck += ADC;
379	if(++messanzahl_Druck >= 5)	379	if(++messanzahl_Druck >= 5)
380	{	380	{
381	MessLuftdruck = ADC;	381	MessLuftdruck = ADC;
382	messanzahl_Druck = 0;	382	messanzahl_Druck = 0;
383	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert	383	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
384	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;	384	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
385	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;	385	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
386	tmpLuftdruck = 0;	386	tmpLuftdruck = 0;
387	}	387	}
388	kanal = AD_NICK;	388	kanal = AD_NICK;
389	break;	389	break;
390	case 25:	390	case 25:
391	nick1 += ADC;	391	nick1 += ADC;
392	kanal = AD_ROLL;	392	kanal = AD_ROLL;
393	break;	393	break;
394	case 26:	394	case 26:
395	roll1 += ADC;	395	roll1 += ADC;
396	kanal = AD_ACC_X;	396	kanal = AD_ACC_X;
397	break;	397	break;
398	case 27:	398	case 27:
399	Aktuell_ax = ADC - NeutralAccX;	399	Aktuell_ax = ADC - NeutralAccX;
400	accx += Aktuell_ax;	400	accx += Aktuell_ax;
401	kanal = AD_GIER;	401	kanal = AD_GIER;
402	break;	402	break;
403	case 28:	403	case 28:
404	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;	404	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
405	else	405	else
406	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;	406	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
407	else AdWertGier = (ADC + gier1 + 1) / 2;	407	else AdWertGier = (ADC + gier1 + 1) / 2;
408	kanal = AD_NICK;	408	kanal = AD_NICK;
409	break;	409	break;
410	case 29:	410	case 29:
411	nick1 += ADC;	411	nick1 += ADC;
412	kanal = AD_ROLL;	412	kanal = AD_ROLL;
413	break;	413	break;
414	case 30:	414	case 30:
415	roll1 += ADC;	415	roll1 += ADC;
416	kanal = AD_ACC_Y;	416	kanal = AD_ACC_Y;
417	break;	417	break;
418	case 31:	418	case 31:
419	Aktuell_ay = NeutralAccY - ADC;	419	Aktuell_ay = NeutralAccY - ADC;
420	AdWertAccRoll = (Aktuell_ay + accy);	420	AdWertAccRoll = (Aktuell_ay + accy);
421	kanal = AD_NICK;	421	kanal = AD_NICK;
422	break;	422	break;
423	case 32:	423	case 32:
424	AdWertNick = (ADC + nick1 + 3) / 5;	424	AdWertNick = (ADC + nick1 + 3) / 5;
425	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;	425	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
426	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}	426	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
427	HiResNick = nick_filter - 20 * AdNeutralNick;	427	HiResNick = nick_filter - 20 * AdNeutralNick;
428	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;	428	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
429	DebugOut.Analog[21] = AdWertNickFilter / 4;	429	DebugOut.Analog[21] = AdWertNickFilter / 4;
430	kanal = AD_ROLL;	430	kanal = AD_ROLL;
431	break;	431	break;
432	case 33:	432	case 33:
433	AdWertRoll = (ADC + roll1 + 3) / 5;	433	AdWertRoll = (ADC + roll1 + 3) / 5;
434	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;	434	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
435	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}	435	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
436	HiResRoll = roll_filter - 20 * AdNeutralRoll;	436	HiResRoll = roll_filter - 20 * AdNeutralRoll;
437	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;	437	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
438	DebugOut.Analog[22] = AdWertRollFilter / 4;	438	DebugOut.Analog[22] = AdWertRollFilter / 4;
439	kanal = AD_ACC_X;	439	kanal = AD_ACC_X;
440	break;	440	break;
441	case 34:	441	case 34:
442	Aktuell_ax = ADC - NeutralAccX;	442	Aktuell_ax = ADC - NeutralAccX;
443	AdWertAccNick = (Aktuell_ax + accx);	443	AdWertAccNick = (Aktuell_ax + accx);
444	kanal = AD_NICK;	444	kanal = AD_NICK;
445	state = 0;	445	state = 0;
446	AdReady = 1;	446	AdReady = 1;
447	ZaehlMessungen++;	447	ZaehlMessungen++;
448	break;	448	break;
449	default:	449	default:
450	kanal = 0;	450	kanal = 0;
451	state = 0;	451	state = 0;
452	break;	452	break;
453	}	453	}
454	ADMUX = kanal;	454	ADMUX = kanal;
455	if(state != 0) ANALOG_ON;	455	if(state != 0) ANALOG_ON;
456	}	456	}
457	*/	457	*/
458		458

Subversion Repositories FlightCtrl

(root)/tags/V0.72p/analog.c - Rev 1178 → 1340