//?++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//?+?Copyright?（c）?04.2007?Holger?Buss
//?+?only?for?non-profit?use
//?+?www.MikroKopter.com
//?+?see?the?File?“License.txt“?for?further?Informations
//?++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include?
#include?
#include?

#include?“analog.h“
#include?“main.h“
#include?“timer0.h“
#include?“fc.h“
#include?“printf_P.h“
#include?“eeprom.h“
#include?“twimaster.h“

volatile?int16_t?Current_AccZ?=?0;
volatile?int16_t?UBat?=?100;
volatile?int16_t?AdValueGyrNick?=?0?AdValueGyrRoll?=?0??AdValueGyrYaw?=?0;
uint8_t?AnalogOffsetNick?=?115?AnalogOffsetRoll?=?115?AnalogOffsetYaw?=?115;
uint8_t?GyroDefectNick?=?0?GyroDefectRoll?=?0?GyroDefectYaw?=?0;
volatile?int16_t?AdValueAccRoll?=?0??AdValueAccNick?=?0?AdValueAccTop?=?0;
volatile?int32_t?AirPressure?=?32000;
volatile?uint8_t?average_pressure?=?0;
volatile?int16_t?StartAirPressure;
volatile?uint16_t?ReadingAirPressure?=?1023;
int8_t?ExpandBaro?=?0;
uint8_t?PressureSensorOffset;
volatile?int16_t?HeightD?=?0;
volatile?uint16_t?MeasurementCounter?=?0;

/*****************************************************/
/*?????Initialize?Analog?Digital?Converter???????????*/
/*****************************************************/
void?ADC_Init（void）
{
	uint8_t?sreg?=?SREG;
	//?disable?all?interrupts?before?reconfiguration
	cli（）;
	//ADC0?...?ADC7?is?connected?to?PortA?pin?0?...?7
	DDRA?=?0x00;
	PORTA?=?0x00;
	//?Digital?Input?Disable?Register?0
	//?Disable?digital?input?buffer?for?analog?adc_channel?pins
	DIDR0?=?0xFF;
	//?external?reference?adjust?data?to?the?right
????ADMUX?&=?~（（1?<????//?set?muxer?to?ADC?adc_channel?0?（0?to?7?is?a?valid?choice）
????ADMUX?=?（ADMUX?&?0xE0）?|?0x00;
????//Set?ADC?Control?and?Status?Register?A
????//Auto?Trigger?Enable?Prescaler?Select?Bits?to?Division?Factor?128?i.e.?ADC?clock?=?SYSCKL/128?=?156.25?kHz
????ADCSRA?=?（1<	//Set?ADC?Control?and?Status?Register?B
	//Trigger?Source?to?Free?Running?Mode
	ADCSRB?&=?~（（1?<	//?Enable?AD?conversion
	ADC_Enable（）;
????//?restore?global?interrupt?flags
????SREG?=?sreg;
}

void?SearchAirPressureOffset（void）
{
	uint8_t?off;
	off?=?GetParamByte（PID_PRESSURE_OFFSET）;
	if（off?>?20）?off?-=?10;
	OCR0A?=?off;
	ExpandBaro?=?0;
	Delay_ms_Mess（100）;
	if（ReadingAirPressure?	for（;?off?	{
		OCR0A?=?off;
		Delay_ms_Mess（50）;
		printf（“.“）;
		if（ReadingAirPressure?	}
	SetParamByte（PID_PRESSURE_OFFSET?off）;
	PressureSensorOffset?=?off;
	Delay_ms_Mess（300）;
}


void?SearchGyroOffset（void）
{
	uint8_t?i?ready?=?0;

?	GyroDefectNick?=?0;?GyroDefectRoll?=?0;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????9889??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\analog.c

?????文件???????1014??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\analog.h

?????文件??????16285??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\eeprom.c

?????文件???????6236??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\eeprom.h

?????文件??????60324??2009-04-26?13:53??V0.71h?Code?Redesign?killagreg\fc.c

?????文件???????3446??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\fc.h

?????文件????????499??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\fifo.c

?????文件???????2075??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\fifo.h

?????文件????????833??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\flight.pnproj

?????文件?????????64??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\flight.pnps

?????文件???????8598??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\FlightCtrl.aps

?????文件??????12409??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\gps.c

?????文件????????109??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\gps.h

?????文件???????1519??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\led.c

?????文件????????377??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\led.h

?????文件???????4745??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\License.txt

?????文件???????9981??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\main.c

?????文件????????913??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\main.h

?????文件??????12957??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\makefile

?????文件???????9298??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\menu.c

?????文件????????330??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\menu.h

?????文件???????2323??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\mk3mag.c

?????文件????????352??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\mk3mag.h

?????文件??????14346??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\mm3.c

?????文件????????581??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\mm3.h

?????文件???????4258??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\mymath.c

?????文件????????263??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\mymath.h

?????文件????????726??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\old_macros.h

?????文件??????13755??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\printf_P.c

?????文件????????555??2009-01-05?21:53??V0.71h?Code?Redesign?killagreg\printf_P.h

............此處省略22個文件信息