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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <stdlib.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "analog.h"
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#include "main.h"
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#include "timer0.h"
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#include "fc.h"
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#include "printf_P.h"
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#include "eeprom.h"
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volatile int16_t Current_AccZ = 0;
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volatile int16_t UBat = 100;
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volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0,  AdValueGyrYaw = 0;
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volatile int16_t AdValueAccRoll = 0,  AdValueAccPitch = 0, AdValueAccTop = 0;
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volatile int32_t AirPressure = 32000;
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volatile int16_t StartAirPressure;
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volatile uint16_t ReadingAirPressure = 1023;
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uint8_t PressureSensorOffset;
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volatile int16_t HeightD = 0;
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volatile uint16_t MeasurementCounter = 0;
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/*****************************************************/
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/*     Initialize Analog Digital Converter           */
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/*****************************************************/
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void ADC_Init(void)
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{
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        uint8_t sreg = SREG;
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        // disable all interrupts before reconfiguration
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        cli();
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        //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
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        DDRA = 0x00;
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        PORTA = 0x00;
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        // Digital Input Disable Register 0
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        // Disable digital input buffer for analog adc_channel pins
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        DIDR0 = 0xFF;
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        // external reference, adjust data to the right
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    ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR));
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    // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
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    ADMUX = (ADMUX & 0xE0) | 0x00;
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    //Set ADC Control and Status Register A
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    //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
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    ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
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        //Set ADC Control and Status Register B
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        //Trigger Source to Free Running Mode
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        ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0));
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        // Enable AD conversion
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        ADC_Enable();
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    // restore global interrupt flags
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    SREG = sreg;
1 ingob 57
}
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void SearchAirPressureOffset(void)
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{
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        uint8_t off;
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        off = GetParamByte(PID_PRESSURE_OFFSET);
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        if(off > 20) off -= 10;
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        OCR0A = off;
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        Delay_ms_Mess(100);
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        if(ReadingAirPressure < 850) off = 0;
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        for(; off < 250;off++)
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        {
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                OCR0A = off;
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                Delay_ms_Mess(50);
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                printf(".");
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                if(ReadingAirPressure < 900) break;
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        }
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        SetParamByte(PID_PRESSURE_OFFSET, off);
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        PressureSensorOffset = off;
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        Delay_ms_Mess(300);
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}
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/*****************************************************/
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/*     Interrupt Service Routine for ADC             */
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/*****************************************************/
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// The routine changes the ADC input muxer running
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// thru the state machine by the following order.
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// state 0: ch0 (yaw gyro)
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// state 1: ch1 (roll gyro)
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// state 2: ch2 (pitch gyro)
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// state 3: ch4 (battery voltage -> UBat)
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// state 4: ch6 (acc y -> Current_AccY)
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// state 5: ch7 (acc x -> Current_AccX)
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// state 6: ch0 (yaw gyro average with first reading   -> AdValueGyrYaw)
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// state 7: ch1 (roll gyro average with first reading  -> AdValueGyrRoll)
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// state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch)
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// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)
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// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)
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ISR(ADC_vect)
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{
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    static uint8_t adc_channel = 0, state = 0;
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    static uint16_t yaw1, roll1, pitch1;
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    static uint8_t average_pressure = 0;
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    static int16_t tmpAirPressure = 0;
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    // disable further AD conversion
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    ADC_Disable();
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    // state machine
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    switch(state++)
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        {
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        case 0:
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            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
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            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
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            MeasurementCounter++; // increment total measurement counter
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            break;
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        case 1:
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            roll1 = ADC; // get Gyro Roll Voltage 1st sample
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            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
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            break;
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        case 2:
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            pitch1 = ADC; // get Gyro Pitch Voltage 1st sample
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            adc_channel = 4; // set next channel to ADC4 = UBAT
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            break;
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        case 3:
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                // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3
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            UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
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            adc_channel = 6; // set next channel to ADC6 = ACC_Y
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            break;
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        case 4:
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            AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction
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            adc_channel = 7; // set next channel to ADC7 = ACC_X
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            break;
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        case 5:
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            AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction
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                    adc_channel = 0; // set next channel to ADC7 = YAW GYRO
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            break;
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        case 6:
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                // average over two samples to create current AdValueGyrYaw
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            if(BoardRelease == 10)  AdValueGyrYaw = (ADC + yaw1) / 2;
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                        else                                    AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
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            adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
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            break;
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        case 7:
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                // average over two samples to create current ADValueGyrRoll
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            if(BoardRelease == 10)  AdValueGyrRoll = (ADC + roll1) / 2;
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                        else                                    AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
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            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
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            break;
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        case 8:
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                // average over two samples to create current ADValuePitch
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            if(BoardRelease == 10)  AdValueGyrPitch = (ADC + pitch1) / 2;
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                        else                                    AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1
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            adc_channel = 5; // set next channel to ADC5 = ACC_Z
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            break;
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       case 9:
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                // get z acceleration
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            AdValueAccTop =  (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
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            AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4;
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            if(AdValueAccTop > 1)
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             {
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                if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
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             }
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             else if(AdValueAccTop < -1)
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             {
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                if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
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             }
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            Current_AccZ = ADC;
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            Reading_Integral_Top += AdValueAccTop;      // Integrieren
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            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
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                adc_channel = 3; // set next channel to ADC3 = air pressure
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            break;
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        case 10:
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            tmpAirPressure += ADC; // sum vadc values
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            if(++average_pressure >= 5) // if 5 values are summerized for averaging
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            {
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                ReadingAirPressure = ADC; // update measured air pressure
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                                HeightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight);  // D-Anteil = neuerWert - AlterWert
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                AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
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                ReadingHeight = StartAirPressure - AirPressure;
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                average_pressure = 0; // reset air pressure measurement counter
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                tmpAirPressure = 0;
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            }
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            adc_channel = 0; // set next channel to ADC0 = GIER GYRO
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            state = 0; // reset state machine
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            break;
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        default:
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            adc_channel = 0;
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            state = 0;
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            break;
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        }
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    // set adc muxer to next adc_channel
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    ADMUX = (ADMUX & 0xE0) | adc_channel;
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    // after full cycle stop further interrupts
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    if(state != 0) ADC_Enable();
1 ingob 192
}