WebSVN - FlightCtrl - Diff - Rev 703 and 711 - /branches/V0.68d Code Redesign killagreg/analog.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <avr/io.h>
#include <avr/interrupt.h>
 
#include "analog.h"
#include "main.h"
#include "timer0.h"
#include "fc.h"
#include "printf_P.h"
#include "eeprom.h"
 
volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;
volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
volatile int16_t UBat = 100;
volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
 
volatile int32_t AirPressure = 32000;
volatile int16_t StartAirPressure;
volatile uint16_t ReadingAirPressure = 1023;
uint8_t PressureSensorOffset;
volatile int16_t HightD = 0;
volatile int16_t tmpAirPressure;
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 << REFS1)|(1 << REFS0)|(1 << ADLAR));
    // 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<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
        //Set ADC Control and Status Register B
        //Trigger Source to Free Running Mode
        ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0));
        // Enable AD conversion
        ADC_Enable();
    // restore global interrupt flags
    SREG = sreg;
}
 
void SearchAirPressureOffset(void)
{
 uint8_t off;
 off = GetParamByte(PID_LAST_OFFSET);
 if(off > 20) off -= 10;
 OCR0A = off;
 Delay_ms_Mess(100);
 if(ReadingAirPressure < 850) off = 0;
 for(; off < 250;off++)
  {
  OCR0A = off;
  Delay_ms_Mess(50);
  printf(".");
  if(ReadingAirPressure < 900) break;
  }
 SetParamByte(PID_LAST_OFFSET, off);
 PressureSensorOffset = off;
 Delay_ms_Mess(300);
}
 
 
/*****************************************************/
/*     Interrupt Service Routine for ADC             */
/*****************************************************/
ISR(ADC_vect)
{
    static uint8_t adc_channel = 0, state = 0;
    static uint16_t yaw1, roll1, pitch1;
    static uint8_t average_pressure = 0;
    // disable further AD conversion
    ADC_Disable();
    // state machine
    switch(state++)
        {
        case 0:
            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
            MeasurementCounter++; // increment total measurement counter
            break;
        case 1:
            roll1 = ADC; // get Gyro Roll Voltage 1st sample
            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
            break;
        case 2:
            pitch1 = ADC; // get Gyro Pitch Voltage 1st sample
            adc_channel = 4; // set next channel to ADC4 = UBAT
            break;
        case 3:
                // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3
            UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
            adc_channel = 6; // set next channel to ADC6 = ACC_Y
            break;
        case 4:
            Current_AccY = NeutralAccY - ADC; // get acceleration in Y direction
            AdValueAccRoll = Current_AccY;
            adc_channel = 7; // set next channel to ADC7 = ACC_X
            break;
        case 5:
            Current_AccX = ADC - NeutralAccX; // get acceleration in X direction
            AdValueAccPitch =  Current_AccX;
                    adc_channel = 0; // set next channel to ADC7 = YAW GYRO
            break;
        case 6:
                // average over two samples to create current AdValueGyrYaw
            if(BoardRelease == 10)  AdValueGyrYaw = (ADC + yaw1) / 2;
                        else                                       AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
            adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
            break;
        case 7:
                // average over two samples to create current ADValueGyrRoll
            if(BoardRelease == 10)  AdValueGyrRoll = (ADC + roll1) / 2;
                        else                                       AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
            break;
        case 8:
                // average over two samples to create current ADValuePitch
            if(BoardRelease == 10)  AdValueGyrPitch = (ADC + pitch1) / 2;
                        else                                       AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1
            adc_channel = 5; // set next channel to ADC5 = ACC_Z
            break;
       case 9:
                // get z acceleration
            AdValueAccTop =  (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
            AdValueAccTop += abs(Current_AccY) / 4 + abs(Current_AccX) / 4;
            if(AdValueAccTop > 1)
             {
              if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
             }
             else if(AdValueAccTop < -1)
             {
              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
             }
 
            Current_AccZ = ADC;
            Reading_Integral_Top += AdValueAccTop;      // Integrieren
            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
                adc_channel = 3; // set next channel to ADC3 = air pressure
            break;
        case 10:
            tmpAirPressure += ADC; // sum vadc values
            if(++average_pressure >= 5) // if 5 values are summerized for averaging
                {
                ReadingAirPressure = ADC; // update measured air pressure
                average_pressure = 0; // reset air pressure measurement counter
                                HightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight);  // D-Anteil = neuerWert - AlterWert
                AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
                ReadingHight = StartAirPressure - AirPressure;
                tmpAirPressure = 0;
                }
            adc_channel = 0; // set next channel to ADC0 = GIER GYRO
            state = 0; // reset state
            break;
        default:
            adc_channel = 0;
            state = 0;
            break;
        }
    // set adc muxer to next adc_channel
    ADMUX = (ADMUX & 0xE0) | adc_channel;
    // ??
    if(state != 0) ADC_Enable();
}
 

Rev 703	Rev 711
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
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	#include <stdlib.h>	7	#include <stdlib.h>
8	#include <avr/io.h>	8	#include <avr/io.h>
9	#include <avr/interrupt.h>	9	#include <avr/interrupt.h>
10		10
11	#include "analog.h"	11	#include "analog.h"
12	#include "main.h"	12	#include "main.h"
13	#include "timer0.h"	13	#include "timer0.h"
14	#include "fc.h"	14	#include "fc.h"
15	#include "printf_P.h"	15	#include "printf_P.h"
16	#include "eeprom.h"	16	#include "eeprom.h"
17		17
18	volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;	18	volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;
19	volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;	19	volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
20	volatile int16_t UBat = 100;	20	volatile int16_t UBat = 100;
21	volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;	21	volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
22	volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;	22	volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
23	volatile uint8_t messanzahl_AccHoch = 0;	-
24	volatile int32_t AirPressure = 32000;	23	volatile int32_t AirPressure = 32000;
25	volatile int16_t StartAirPressure;	24	volatile int16_t StartAirPressure;
26	volatile uint16_t ReadingAirPressure = 1023;	25	volatile uint16_t ReadingAirPressure = 1023;
27	uint8_t DruckOffsetSetting;	26	uint8_t PressureSensorOffset;
28	volatile int16_t HightD = 0;	27	volatile int16_t HightD = 0;
29	volatile int16_t tmpAirPressure;	28	volatile int16_t tmpAirPressure;
30	volatile uint16_t ZaehlMessungen = 0;	29	volatile uint16_t MeasurementCounter = 0;
31		30
32	/*****************************************************/	31	/*****************************************************/
33	/* Initialize Analog Digital Converter */	32	/* Initialize Analog Digital Converter */
34	/*****************************************************/	33	/*****************************************************/
35	void ADC_Init(void)	34	void ADC_Init(void)
36	{	35	{
37	uint8_t sreg = SREG;	36	uint8_t sreg = SREG;
38	// disable all interrupts before reconfiguration	37	// disable all interrupts before reconfiguration
39	cli();	38	cli();
40	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7	39	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7
41	DDRA = 0x00;	40	DDRA = 0x00;
42	PORTA = 0x00;	41	PORTA = 0x00;
43	// Digital Input Disable Register 0	42	// Digital Input Disable Register 0
44	// Disable digital input buffer for analog adc_channel pins	43	// Disable digital input buffer for analog adc_channel pins
45	DIDR0 = 0xFF;	44	DIDR0 = 0xFF;
46	// external reference, adjust data to the right	45	// external reference, adjust data to the right
47	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));	46	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));
48	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)	47	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
49	ADMUX = (ADMUX & 0xE0) \| 0x00;	48	ADMUX = (ADMUX & 0xE0) \| 0x00;
50	//Set ADC Control and Status Register A	49	//Set ADC Control and Status Register A
51	//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz	50	//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
52	ADCSRA = (1<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0);	51	ADCSRA = (1<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0);
53	//Set ADC Control and Status Register B	52	//Set ADC Control and Status Register B
54	//Trigger Source to Free Running Mode	53	//Trigger Source to Free Running Mode
55	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));	54	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));
56	// Enable AD conversion	55	// Enable AD conversion
57	ADC_Enable();	56	ADC_Enable();
58	// restore global interrupt flags	57	// restore global interrupt flags
59	SREG = sreg;	58	SREG = sreg;
60	}	59	}
61		60
62	void SearchAirPressureOffset(void)	61	void SearchAirPressureOffset(void)
63	{	62	{
64	uint8_t off;	63	uint8_t off;
65	off = GetParamByte(PID_LAST_OFFSET);	64	off = GetParamByte(PID_LAST_OFFSET);
66	if(off > 20) off -= 10;	65	if(off > 20) off -= 10;
67	OCR0A = off;	66	OCR0A = off;
68	Delay_ms_Mess(100);	67	Delay_ms_Mess(100);
69	if(ReadingAirPressure < 850) off = 0;	68	if(ReadingAirPressure < 850) off = 0;
70	for(; off < 250;off++)	69	for(; off < 250;off++)
71	{	70	{
72	OCR0A = off;	71	OCR0A = off;
73	Delay_ms_Mess(50);	72	Delay_ms_Mess(50);
74	printf(".");	73	printf(".");
75	if(ReadingAirPressure < 900) break;	74	if(ReadingAirPressure < 900) break;
76	}	75	}
77	SetParamByte(PID_LAST_OFFSET, off);	76	SetParamByte(PID_LAST_OFFSET, off);
78	DruckOffsetSetting = off;	77	PressureSensorOffset = off;
79	Delay_ms_Mess(300);	78	Delay_ms_Mess(300);
80	}	79	}
81		80
82		81
83	/*****************************************************/	82	/*****************************************************/
84	/* Interrupt Service Routine for ADC */	83	/* Interrupt Service Routine for ADC */
85	/*****************************************************/	84	/*****************************************************/
86	ISR(ADC_vect)	85	ISR(ADC_vect)
87	{	86	{
88	static uint8_t adc_channel = 0, state = 0;	87	static uint8_t adc_channel = 0, state = 0;
89	static uint16_t yaw1, roll1, pitch1;	88	static uint16_t yaw1, roll1, pitch1;
90	static uint8_t average_pressure = 0;	89	static uint8_t average_pressure = 0;
91	// disable further AD conversion	90	// disable further AD conversion
92	ADC_Disable();	91	ADC_Disable();
93	// state machine	92	// state machine
94	switch(state++)	93	switch(state++)
95	{	94	{
96	case 0:	95	case 0:
97	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample	96	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
98	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO	97	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
99	ZaehlMessungen++; // increment total measurement counter	98	MeasurementCounter++; // increment total measurement counter
100	break;	99	break;
101	case 1:	100	case 1:
102	roll1 = ADC; // get Gyro Roll Voltage 1st sample	101	roll1 = ADC; // get Gyro Roll Voltage 1st sample
103	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO	102	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
104	break;	103	break;
105	case 2:	104	case 2:
106	pitch1 = ADC; // get Gyro Pitch Voltage 1st sample	105	pitch1 = ADC; // get Gyro Pitch Voltage 1st sample
107	adc_channel = 4; // set next channel to ADC4 = UBAT	106	adc_channel = 4; // set next channel to ADC4 = UBAT
108	break;	107	break;
109	case 3:	108	case 3:
110	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3	109	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3
111	UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value	110	UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
112	adc_channel = 6; // set next channel to ADC6 = ACC_Y	111	adc_channel = 6; // set next channel to ADC6 = ACC_Y
113	break;	112	break;
114	case 4:	113	case 4:
115	Current_AccY = NeutralAccY - ADC; // get acceleration in Y direction	114	Current_AccY = NeutralAccY - ADC; // get acceleration in Y direction
116	AdValueAccRoll = Current_AccY;	115	AdValueAccRoll = Current_AccY;
117	adc_channel = 7; // set next channel to ADC7 = ACC_X	116	adc_channel = 7; // set next channel to ADC7 = ACC_X
118	break;	117	break;
119	case 5:	118	case 5:
120	Current_AccX = ADC - NeutralAccX; // get acceleration in X direction	119	Current_AccX = ADC - NeutralAccX; // get acceleration in X direction
121	AdValueAccPitch = Current_AccX;	120	AdValueAccPitch = Current_AccX;
122	adc_channel = 0; // set next channel to ADC7 = YAW GYRO	121	adc_channel = 0; // set next channel to ADC7 = YAW GYRO
123	break;	122	break;
124	case 6:	123	case 6:
125	// average over two samples to create current AdValueGyrYaw	124	// average over two samples to create current AdValueGyrYaw
126	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;	125	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;
127	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1	126	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
128	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO	127	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
129	break;	128	break;
130	case 7:	129	case 7:
131	// average over two samples to create current ADValueGyrRoll	130	// average over two samples to create current ADValueGyrRoll
132	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;	131	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;
133	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1	132	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
134	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO	133	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
135	break;	134	break;
136	case 8:	135	case 8:
137	// average over two samples to create current ADValuePitch	136	// average over two samples to create current ADValuePitch
138	if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2;	137	if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2;
139	else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1	138	else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1
140	adc_channel = 5; // set next channel to ADC5 = ACC_Z	139	adc_channel = 5; // set next channel to ADC5 = ACC_Z
141	break;	140	break;
142	case 9:	141	case 9:
143	// get z acceleration	142	// get z acceleration
144	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction	143	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
145	AdValueAccTop += abs(Current_AccY) / 4 + abs(Current_AccX) / 4;	144	AdValueAccTop += abs(Current_AccY) / 4 + abs(Current_AccX) / 4;
146	if(AdValueAccTop > 1)	145	if(AdValueAccTop > 1)
147	{	146	{
148	if(NeutralAccZ < 800) NeutralAccZ+= 0.02;	147	if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
149	}	148	}
150	else if(AdValueAccTop < -1)	149	else if(AdValueAccTop < -1)
151	{	150	{
152	if(NeutralAccZ > 600) NeutralAccZ-= 0.02;	151	if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
153	}	152	}
154	messanzahl_AccHoch = 1;	-
155	Current_AccZ = ADC;	153	Current_AccZ = ADC;
156	Reading_Integral_Top += AdValueAccTop; // Integrieren	154	Reading_Integral_Top += AdValueAccTop; // Integrieren
157	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen	155	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
158	adc_channel = 3; // set next channel to ADC3 = air pressure	156	adc_channel = 3; // set next channel to ADC3 = air pressure
159	break;	157	break;
160	case 10:	158	case 10:
161	tmpAirPressure += ADC; // sum vadc values	159	tmpAirPressure += ADC; // sum vadc values
162	if(++average_pressure >= 5) // if 5 values are summerized for averaging	160	if(++average_pressure >= 5) // if 5 values are summerized for averaging
163	{	161	{
164	ReadingAirPressure = ADC; // update measured air pressure	162	ReadingAirPressure = ADC; // update measured air pressure
165	average_pressure = 0; // reset air pressure measurement counter	163	average_pressure = 0; // reset air pressure measurement counter
166	HightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight); // D-Anteil = neuerWert - AlterWert	164	HightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight); // D-Anteil = neuerWert - AlterWert
167	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history	165	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
168	ReadingHight = StartAirPressure - AirPressure;	166	ReadingHight = StartAirPressure - AirPressure;
169	tmpAirPressure = 0;	167	tmpAirPressure = 0;
170	}	168	}
171	adc_channel = 0; // set next channel to ADC0 = GIER GYRO	169	adc_channel = 0; // set next channel to ADC0 = GIER GYRO
172	state = 0; // reset state	170	state = 0; // reset state
173	break;	171	break;
174	default:	172	default:
175	adc_channel = 0;	173	adc_channel = 0;
176	state = 0;	174	state = 0;
177	break;	175	break;
178	}	176	}
179	// set adc muxer to next adc_channel	177	// set adc muxer to next adc_channel
180	ADMUX = (ADMUX & 0xE0) \| adc_channel;	178	ADMUX = (ADMUX & 0xE0) \| adc_channel;
181	// ??	179	// ??
182	if(state != 0) ADC_Enable();	180	if(state != 0) ADC_Enable();
183	}	181	}
184		182

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(root)/branches/V0.68d Code Redesign killagreg/analog.c @ 1086 - Rev 703 → 711