File content as of revision 1:0c47899d1aba:

#include "mbed.h"
#include "MMA7660.h" 
#include "Serial_HL.h"
#include "TP1Ord_18.h"

SerialBLK pc(USBTX, USBRX); //Serial Block KLasse: reine serielle Schnitstelle (Baudrate und 2 Pinnamen einstellbar)(PutChar, GetChar, Write, Read)
SvProtocol ua0(&pc);//SvVis Protokoll Klasse

void CommandHandler();

MMA7660 accel(p28, p27);

void Do100Hz_Work();

// 3 Filter anlegen
TP1Ord tpx, tpy, tpz;
int accVal[3];

PwmOut servo(p21);

int main()
{
  pc.format(8,SerialBLK::None,1);
  pc.baud(115200);
	ua0.SvMessage("AccelTest2_2");//Meldung zum PC senden (SvVis)
	//ua0.SvPrintf("TestIntegerwerte: %i %i", int1, int2);//Werte zum PC senden (SvVis)
	
    accel.setSampleRate(120);
	Timer stw; stw.start();
	
	servo.period_ms(20);
	servo.pulsewidth_us(1000);//voll links
	servo.pulsewidth_us(2000);//voll rechts
	
	while(1)
  {
    CommandHandler();
		if( stw.read_ms()>10 ) { // 100Hz
			stw.reset();
			Do100Hz_Work();
			if( ua0.acqON ) {
				ua0.WriteSvI16(1, accVal[0]); // X,Y,Z zum PC senden (SvVis)
				ua0.WriteSvI16(2, tpx.y);//die Achse mit Filter ans HTerm schicken (Tiefpass) Unterschied: mit Tiefpass ändern sich die Werte nicht so schnell (z.B. gegen Vibrationen)
				//ua0.WriteSvI16(2, tpy.y);
				//ua0.WriteSvI16(3, tpz.y);
				
				
				
				// ua0.WriteSvI16(3, accVal[1]);
				// ua0.WriteSvI16(4, tpy.y);
			}
    }
  }
}

void Do100Hz_Work()
{
	accel.readData(accVal); // X,Y,Z vom sensor lesen
	tpx.CalcOneStep(accVal[0]);
	tpy.CalcOneStep(accVal[1]);
	tpz.CalcOneStep(accVal[2]);
}

void CommandHandler()
{
  uint8_t cmd;
  if( !pc.IsDataAvail() )
    return;
  cmd = ua0.GetCommand();
  
  if (cmd==2)
  {
  	float alpha = ua0.ReadF();
  	tpx.SetAlpha(alpha); 
  	tpy.SetAlpha(alpha);
  	tpz.SetAlpha(alpha); 
  }	
  
    if (cmd==3)
  {
  	//im SvVis3 0...1000 eingeben
  	servo.pulsewidth_us(1000 + ua0.ReadI16());
  }	
  
}