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1612 | dongfang | 1 | #ifndef _ANALOG_H |
2 | #define _ANALOG_H |
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3 | #include <inttypes.h> |
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4 | |||
1646 | - | 5 | //#include "invenSense.h" |
6 | //#include "ENC-03_FC1.3.h" |
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1775 | - | 7 | //#include "ADXRS610_FC2.0.h" |
1612 | dongfang | 8 | |
9 | /* |
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1645 | - | 10 | * How much low pass filtering to apply for gyro_PID. |
1612 | dongfang | 11 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
12 | * Temporarily replaced by userparam-configurable variable. |
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13 | */ |
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1646 | - | 14 | // #define GYROS_PID_FILTER 1 |
1612 | dongfang | 15 | |
16 | /* |
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1645 | - | 17 | * How much low pass filtering to apply for gyro_ATT. |
1612 | dongfang | 18 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
19 | * Temporarily replaced by userparam-configurable variable. |
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20 | */ |
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1646 | - | 21 | // #define GYROS_ATT_FILTER 1 |
1612 | dongfang | 22 | |
23 | // Temporarily replaced by userparam-configurable variable. |
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1646 | - | 24 | // #define ACC_FILTER 4 |
1612 | dongfang | 25 | |
26 | /* |
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1645 | - | 27 | About setting constants for different gyros: |
1612 | dongfang | 28 | Main parameters are positive directions and voltage/angular speed gain. |
29 | The "Positive direction" is the rotation direction around an axis where |
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1645 | - | 30 | the corresponding gyro outputs a voltage > the no-rotation voltage. |
1612 | dongfang | 31 | A gyro is considered, in this code, to be "forward" if its positive |
1646 | - | 32 | direction is: |
33 | - Nose down for pitch |
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34 | - Left hand side down for roll |
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35 | - Clockwise seen from above for yaw. |
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1612 | dongfang | 36 | Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and |
37 | GYRO_REVERSE_PITCH #define's if the respective gyros are reverse. |
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38 | |||
39 | Setting gyro gain correctly: All sensor measurements in analog.c take |
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40 | place in a cycle, each cycle comprising all sensors. Some sensors are |
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41 | sampled more than ones, and the results added. The pitch and roll gyros |
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42 | are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74 |
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43 | code. |
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44 | In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0) |
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45 | or 4 (other versions), offset to zero, low pass filtered and then assigned |
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46 | to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or |
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47 | roll. |
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48 | So: |
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49 | |||
1645 | - | 50 | gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4), |
1612 | dongfang | 51 | where V is 2 for FC1.0 and 4 for all others. |
52 | |||
53 | Assuming constant ADCValue, in the H&I code: |
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54 | |||
1645 | - | 55 | gyro = I * ADCValue. |
1612 | dongfang | 56 | |
57 | where I is 8 for FC1.0 and 16 for all others. |
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58 | |||
59 | The relation between rotation rate and ADCValue: |
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60 | ADCValue [units] = |
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61 | rotational speed [deg/s] * |
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62 | gyro sensitivity [V / deg/s] * |
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63 | amplifier gain [units] * |
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64 | 1024 [units] / |
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65 | 3V full range [V] |
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66 | |||
67 | or: H is the number of steps the ADC value changes with, |
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68 | for a 1 deg/s change in rotational velocity: |
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69 | H = ADCValue [units] / rotation rate [deg/s] = |
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70 | gyro sensitivity [V / deg/s] * |
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71 | amplifier gain [units] * |
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72 | 1024 [units] / |
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73 | 3V full range [V] |
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74 | |||
75 | Examples: |
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76 | FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7: |
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77 | H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s). |
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78 | FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers: |
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79 | H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s). |
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80 | My InvenSense copter has 2mV/deg/s gyros and no amplifiers: |
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81 | H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
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82 | (only about half as sensitive as V1.3. But it will take about twice the |
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83 | rotation rate!) |
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84 | |||
1645 | - | 85 | All together: gyro = I * H * rotation rate [units / (deg/s)]. |
1612 | dongfang | 86 | */ |
87 | |||
88 | /* |
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89 | * A factor that the raw gyro values are multiplied by, |
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1645 | - | 90 | * before being filtered and passed to the attitude module. |
1612 | dongfang | 91 | * A value of 1 would cause a little bit of loss of precision in the |
92 | * filtering (on the other hand the values are so noisy in flight that |
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93 | * it will not really matter - but when testing on the desk it might be |
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94 | * noticeable). 4 is fine for the default filtering. |
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1645 | - | 95 | * Experiment: Set it to 1. |
1612 | dongfang | 96 | */ |
97 | #define GYRO_FACTOR_PITCHROLL 4 |
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98 | |||
99 | /* |
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100 | * How many samples are summed in one ADC loop, for pitch&roll and yaw, |
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101 | * respectively. This is = the number of occurences of each channel in the |
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102 | * channelsForStates array in analog.c. |
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103 | */ |
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104 | #define GYRO_SUMMATION_FACTOR_PITCHROLL 4 |
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105 | #define GYRO_SUMMATION_FACTOR_YAW 2 |
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106 | |||
1646 | - | 107 | #define ACC_SUMMATION_FACTOR_PITCHROLL 2 |
108 | #define ACC_SUMMATION_FACTOR_Z 1 |
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109 | |||
1612 | dongfang | 110 | /* |
111 | Integration: |
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112 | The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
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113 | In the Killagreg rewrite of the H&I firmware, the factor 8 is called |
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114 | HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR, |
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115 | and care has been taken that all other constants (gyro to degree factor, and |
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116 | 180 degree flip-over detection limits) are corrected to it. Because the |
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117 | division by the constant takes place in the flight attitude code, the |
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118 | constant is there. |
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119 | |||
120 | The control loop executes every 2ms, and for each iteration |
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1645 | - | 121 | gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL]. |
122 | Assuming a constant rotation rate v and a zero initial gyroIntegral |
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123 | (for this explanation), we get: |
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1612 | dongfang | 124 | |
1645 | - | 125 | gyroIntegral = |
126 | N * gyro / HIRES_GYRO_INTEGRATION_FACTOR = |
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1612 | dongfang | 127 | N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR |
128 | |||
129 | where N is the number of summations; N = t/2ms. |
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130 | |||
131 | For one degree of rotation: t*v = 1: |
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132 | |||
133 | gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR. |
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134 | |||
135 | This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor. |
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136 | |||
137 | Examples: |
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138 | FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304 |
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139 | FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260 |
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140 | My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365 |
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141 | */ |
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142 | |||
143 | /* |
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1645 | - | 144 | * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor. |
1612 | dongfang | 145 | * Will be about 10 or so for InvenSense, and about 33 for ADXRS610. |
146 | */ |
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147 | #define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL) |
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148 | #define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW) |
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149 | |||
150 | /* |
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1645 | - | 151 | * Gyro saturation prevention. |
152 | */ |
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153 | // How far from the end of its range a gyro is considered near-saturated. |
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154 | #define SENSOR_MIN_PITCHROLL 32 |
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155 | // Other end of the range (calculated) |
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156 | #define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL) |
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157 | // Max. boost to add "virtually" to gyro signal at total saturation. |
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158 | #define EXTRAPOLATION_LIMIT 2500 |
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159 | // Slope of the boost (calculated) |
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160 | #define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL) |
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161 | |||
162 | /* |
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1612 | dongfang | 163 | * This value is subtracted from the gyro noise measurement in each iteration, |
164 | * making it return towards zero. |
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165 | */ |
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166 | #define GYRO_NOISE_MEASUREMENT_DAMPING 5 |
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167 | |||
1645 | - | 168 | #define PITCH 0 |
169 | #define ROLL 1 |
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1646 | - | 170 | #define YAW 2 |
171 | #define Z 2 |
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1612 | dongfang | 172 | /* |
173 | * The values that this module outputs |
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1645 | - | 174 | * These first 2 exported arrays are zero-offset. The "PID" ones are used |
175 | * in the attitude control as rotation rates. The "ATT" ones are for |
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176 | * integration to angles. For the same axis, the PID and ATT variables |
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177 | * generally have about the same values. There are just some differences |
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178 | * in filtering, and when a gyro becomes near saturated. |
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179 | * Maybe this distinction is not really necessary. |
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1612 | dongfang | 180 | */ |
1645 | - | 181 | extern volatile int16_t gyro_PID[2]; |
182 | extern volatile int16_t gyro_ATT[2]; |
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183 | extern volatile int16_t gyroD[2]; |
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1775 | - | 184 | extern volatile int16_t yawGyro; |
1645 | - | 185 | |
1612 | dongfang | 186 | extern volatile uint16_t ADCycleCount; |
187 | extern volatile int16_t UBat; |
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188 | |||
1775 | - | 189 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
190 | #define UBAT_AT_5V (int16_t)((5.0 / 3.0) * (1.0/11.0) / (3.0 * 1024)) |
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191 | |||
1612 | dongfang | 192 | /* |
193 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
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194 | */ |
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1646 | - | 195 | extern volatile int16_t rawGyroSum[3]; |
1612 | dongfang | 196 | |
197 | /* |
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1645 | - | 198 | * The acceleration values that this module outputs. They are zero based. |
1612 | dongfang | 199 | */ |
1646 | - | 200 | extern volatile int16_t acc[3]; |
1645 | - | 201 | extern volatile int16_t filteredAcc[2]; |
1612 | dongfang | 202 | |
203 | /* |
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1775 | - | 204 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
205 | * only really reflect the noise level when the copter stands still but with |
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206 | * its motors running. |
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207 | */ |
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208 | extern volatile uint16_t gyroNoisePeak[2]; |
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209 | extern volatile uint16_t accNoisePeak[2]; |
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210 | |||
211 | /* |
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212 | * Air pressure. |
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213 | * The sensor has a sensitivity of 46 mV/kPa. |
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214 | * An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 1195 * 10^-6 * h |
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215 | * |
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216 | */ |
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217 | #define AIRPRESSURE_SUMMATION_FACTOR 14 |
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218 | #define AIRPRESSURE_FILTER 8 |
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219 | // Minimum A/D value before a range change is performed. |
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220 | #define MIN_RAWPRESSURE (200 * 2) |
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221 | // Maximum A/D value before a range change is performed. |
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222 | #define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE) |
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223 | |||
224 | #define MIN_RANGES_EXTRAPOLATION 10 |
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225 | #define MAX_RANGES_EXTRAPOLATION 250 |
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226 | |||
227 | #define PRESSURE_EXTRAPOLATION_COEFF 25L |
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228 | #define AUTORANGE_WAIT_FACTOR 1 |
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229 | |||
230 | extern volatile uint16_t simpleAirPressure; |
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231 | extern volatile int32_t filteredAirPressure; |
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232 | /* |
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233 | * At saturation, the filteredAirPressure may actually be (simulated) negative. |
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234 | */ |
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235 | extern volatile int32_t filteredAirPressure; |
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236 | |||
237 | /* |
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1612 | dongfang | 238 | * Flag: Interrupt handler has done all A/D conversion and processing. |
239 | */ |
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240 | extern volatile uint8_t analogDataReady; |
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241 | |||
242 | |||
243 | void analog_init(void); |
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244 | |||
245 | // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
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246 | #define analog_stop() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE))) |
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247 | |||
248 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
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249 | #define analog_start() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
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250 | |||
251 | /* |
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252 | * "Warm" calibration: Zero-offset gyros. |
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253 | */ |
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254 | void analog_calibrate(void); |
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255 | |||
256 | /* |
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257 | * "Cold" calibration: Zero-offset accelerometers and write the calibration data to EEPROM. |
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258 | */ |
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259 | void analog_calibrateAcc(void); |
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260 | #endif //_ANALOG_H |