四轴代码 analog.c 中问题，（研究过MK源码的请进，谢谢）
（1）ISR(ADC_vect)是ADC中断。（2）ADCMUX是选择器（用来选择下次ADC接受的信号是AD0还是AD2或者其他。。。）
ADMUX = 0; //初始化时候用到
（3）由FC的硬件电路原理图可知如下：
#define AD_GIER 0 //GYRO_GIER
#define AD_ROLL 1 //GYRO_ROLL
#define AD_NICK 2 //GYRO_NICK
#define AD_DRUCK 3 //空气压力传感器
#define AD_UBAT 4 //spannung电压
#define AD_ACC_Z 5 //ACC_H
#define AD_ACC_Y 6 //ACC_R
#define AD_ACC_X 7 //ACC_N
（4）state=0//初始状态0
我的问题如下：
在ISR(ADC_vect)中
case 0:
nick1 = ADC;
kanal = AD_ROLL;
break;
按照上面（3）的硬件逻辑图，ADCMUX=0时候，ADC数据寄存器收到的应该是GYRO_GIER，为什么 case0中却是nick1？
ISR(ADC_vect)
//#######################################################################################
{
static unsigned char kanal=0,state = 0;
static signed char subcount = 0;
static signed int gier1, roll1, nick1, nick_filter, roll_filter;
static signed int accy, accx;
static long tmpLuftdruck = 0;
static char messanzahl_Druck = 0;
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:
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference
else
#endif
UBat = (3 * UBat + ADC / 3) / 4;
kanal = AD_ACC_Z;
break;
case 8:
AdWertAccHoch =(signed int) ADC - NeutralAccZ;
if(AdWertAccHoch > 1)
{
if(NeutralAccZ < 750)
{
subcount += 5;
if(modell_fliegt < 500) subcount += 10;
}
if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
}
else if(AdWertAccHoch < -1)
{
if(NeutralAccZ > 550)
{
subcount -= 5;
if(modell_fliegt < 500) subcount -= 10;
if(subcount < -100) { NeutralAccZ--; subcount += 100;}
}
}
messanzahl_AccHoch = 1;
Aktuell_az = ADC;
Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // d鋗fen
kanal = AD_DRUCK;
break;
// "case 9:" 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:
MessLuftdruck = ADC;
tmpLuftdruck += MessLuftdruck;
if(++messanzahl_Druck >= 18)
{
Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8;// -523.19 counts per 10 counts offset step
HoehenWert = StartLuftdruck - Luftdruck;
SummenHoehe -= SummenHoehe/SM_FILTER;
SummenHoehe += HoehenWert;
VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
tmpLuftdruck /= 2;
messanzahl_Druck = 18/2;
}
kanal = AD_NICK;
break;
default:
kanal = 0; state = 0; kanal = AD_NICK;
break;
}
ADMUX = kanal;
if(state != 0) ANALOG_ON;
} 只要把通道都AD了就行，通道采样的顺序是无所谓的哦
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