Rev 2015 | Rev 2019 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2015 | Rev 2018 | ||
---|---|---|---|
1 | #ifndef _ANALOG_H |
1 | #ifndef _ANALOG_H |
2 | #define _ANALOG_H |
2 | #define _ANALOG_H |
3 | #include <inttypes.h> |
3 | #include <inttypes.h> |
4 | #include "configuration.h" |
4 | #include "configuration.h" |
5 | 5 | ||
6 | /* |
6 | /* |
7 | * How much low pass filtering to apply for gyro_PID. |
7 | * How much low pass filtering to apply for gyro_PID. |
8 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
8 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
9 | * Temporarily replaced by userparam-configurable variable. |
9 | * Temporarily replaced by userparam-configurable variable. |
10 | */ |
10 | */ |
11 | // #define GYROS_PID_FILTER 1 |
11 | // #define GYROS_PID_FILTER 1 |
12 | 12 | ||
13 | /* |
13 | /* |
14 | * How much low pass filtering to apply for gyro_ATT. |
14 | * How much low pass filtering to apply for gyro_ATT. |
15 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
15 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
16 | * Temporarily replaced by userparam-configurable variable. |
16 | * Temporarily replaced by userparam-configurable variable. |
17 | */ |
17 | */ |
18 | // #define GYROS_ATT_FILTER 1 |
18 | // #define GYROS_ATT_FILTER 1 |
19 | // Temporarily replaced by userparam-configurable variable. |
- | |
20 | // #define ACC_FILTER 4 |
19 | // #define ACC_FILTER 4 |
21 | 20 | ||
22 | /* |
21 | /* |
23 | About setting constants for different gyros: |
22 | About setting constants for different gyros: |
24 | Main parameters are positive directions and voltage/angular speed gain. |
23 | Main parameters are positive directions and voltage/angular speed gain. |
25 | The "Positive direction" is the rotation direction around an axis where |
24 | The "Positive direction" is the rotation direction around an axis where |
26 | the corresponding gyro outputs a voltage > the no-rotation voltage. |
25 | the corresponding gyro outputs a voltage > the no-rotation voltage. |
27 | A gyro is considered, in this code, to be "forward" if its positive |
26 | A gyro is considered, in this code, to be "forward" if its positive |
28 | direction is: |
27 | direction is: |
29 | - Nose down for pitch |
28 | - Nose down for pitch |
30 | - Left hand side down for roll |
29 | - Left hand side down for roll |
31 | - Clockwise seen from above for yaw. |
30 | - Clockwise seen from above for yaw. |
32 | Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and |
- | |
33 | GYRO_REVERSE_PITCH #define's if the respective gyros are reverse. |
- | |
34 | 31 | |
|
35 | Setting gyro gain correctly: All sensor measurements in analog.c take |
32 | Setting gyro gain correctly: All sensor measurements in analog.c take |
36 | place in a cycle, each cycle comprising all sensors. Some sensors are |
33 | place in a cycle, each cycle comprising all sensors. Some sensors are |
37 | sampled more than ones, and the results added. The pitch and roll gyros |
34 | sampled more than ones, and the results added. The pitch and roll gyros |
38 | are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74 |
35 | are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74 |
39 | code. |
36 | code. |
40 | In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0) |
37 | In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0) |
41 | or 4 (other versions), offset to zero, low pass filtered and then assigned |
38 | or 4 (other versions), offset to zero, low pass filtered and then assigned |
42 | to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or |
39 | to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or |
43 | roll. |
40 | roll. |
44 | So: |
41 | So: |
45 | 42 | ||
46 | gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4), |
43 | gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4), |
47 | where V is 2 for FC1.0 and 4 for all others. |
44 | where V is 2 for FC1.0 and 4 for all others. |
48 | 45 | ||
49 | Assuming constant ADCValue, in the H&I code: |
46 | Assuming constant ADCValue, in the H&I code: |
50 | |
47 | |
51 | gyro = I * ADCValue. |
48 | gyro = I * ADCValue. |
52 | 49 | ||
53 | where I is 8 for FC1.0 and 16 for all others. |
50 | where I is 8 for FC1.0 and 16 for all others. |
54 | 51 | ||
55 | The relation between rotation rate and ADCValue: |
52 | The relation between rotation rate and ADCValue: |
56 | ADCValue [units] = |
53 | ADCValue [units] = |
57 | rotational speed [deg/s] * |
54 | rotational speed [deg/s] * |
58 | gyro sensitivity [V / deg/s] * |
55 | gyro sensitivity [V / deg/s] * |
59 | amplifier gain [units] * |
56 | amplifier gain [units] * |
60 | 1024 [units] / |
57 | 1024 [units] / |
61 | 3V full range [V] |
58 | 3V full range [V] |
62 | 59 | ||
63 | or: H is the number of steps the ADC value changes with, |
60 | or: H is the number of steps the ADC value changes with, |
64 | for a 1 deg/s change in rotational velocity: |
61 | for a 1 deg/s change in rotational velocity: |
65 | H = ADCValue [units] / rotation rate [deg/s] = |
62 | H = ADCValue [units] / rotation rate [deg/s] = |
66 | gyro sensitivity [V / deg/s] * |
63 | gyro sensitivity [V / deg/s] * |
67 | amplifier gain [units] * |
64 | amplifier gain [units] * |
68 | 1024 [units] / |
65 | 1024 [units] / |
69 | 3V full range [V] |
66 | 3V full range [V] |
70 | 67 | ||
71 | Examples: |
68 | Examples: |
72 | FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7: |
69 | FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7: |
73 | H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s). |
70 | H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s). |
74 | FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers: |
71 | FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers: |
75 | H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s). |
72 | H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s). |
76 | My InvenSense copter has 2mV/deg/s gyros and no amplifiers: |
73 | My InvenSense copter has 2mV/deg/s gyros and no amplifiers: |
77 | H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
74 | H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
78 | (only about half as sensitive as V1.3. But it will take about twice the |
75 | (only about half as sensitive as V1.3. But it will take about twice the |
79 | rotation rate!) |
76 | rotation rate!) |
80 | 77 | ||
81 | All together: gyro = I * H * rotation rate [units / (deg/s)]. |
78 | All together: gyro = I * H * rotation rate [units / (deg/s)]. |
82 | */ |
79 | */ |
83 | 80 | ||
84 | /* |
81 | /* |
85 | * A factor that the raw gyro values are multiplied by, |
82 | * A factor that the raw gyro values are multiplied by, |
86 | * before being filtered and passed to the attitude module. |
83 | * before being filtered and passed to the attitude module. |
87 | * A value of 1 would cause a little bit of loss of precision in the |
84 | * A value of 1 would cause a little bit of loss of precision in the |
88 | * filtering (on the other hand the values are so noisy in flight that |
85 | * filtering (on the other hand the values are so noisy in flight that |
89 | * it will not really matter - but when testing on the desk it might be |
86 | * it will not really matter - but when testing on the desk it might be |
90 | * noticeable). 4 is fine for the default filtering. |
87 | * noticeable). 4 is fine for the default filtering. |
91 | * Experiment: Set it to 1. |
88 | * Experiment: Set it to 1. |
92 | */ |
89 | */ |
93 | #define GYRO_FACTOR_PITCHROLL 1 |
90 | #define GYRO_FACTOR_PITCHROLL 1 |
94 | 91 | ||
95 | /* |
92 | /* |
96 | * How many samples are summed in one ADC loop, for pitch&roll and yaw, |
93 | * How many samples are summed in one ADC loop, for pitch&roll and yaw, |
97 | * respectively. This is = the number of occurences of each channel in the |
94 | * respectively. This is = the number of occurences of each channel in the |
98 | * channelsForStates array in analog.c. |
95 | * channelsForStates array in analog.c. |
99 | */ |
96 | */ |
100 | #define GYRO_SUMMATION_FACTOR_PITCHROLL 4 |
97 | #define GYRO_SUMMATION_FACTOR_PITCHROLL 4 |
101 | #define GYRO_SUMMATION_FACTOR_YAW 2 |
98 | #define GYRO_SUMMATION_FACTOR_YAW 2 |
102 | 99 | ||
103 | #define ACC_SUMMATION_FACTOR_PITCHROLL 2 |
100 | #define ACC_SUMMATION_FACTOR_PITCHROLL 2 |
104 | #define ACC_SUMMATION_FACTOR_Z 1 |
101 | #define ACC_SUMMATION_FACTOR_Z 1 |
105 | 102 | ||
106 | /* |
103 | /* |
107 | Integration: |
104 | Integration: |
108 | The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
105 | The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
109 | In the Killagreg rewrite of the H&I firmware, the factor 8 is called |
106 | In the Killagreg rewrite of the H&I firmware, the factor 8 is called |
110 | HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR, |
107 | HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR, |
111 | and care has been taken that all other constants (gyro to degree factor, and |
108 | and care has been taken that all other constants (gyro to degree factor, and |
112 | 180 degree flip-over detection limits) are corrected to it. Because the |
109 | 180 degree flip-over detection limits) are corrected to it. Because the |
113 | division by the constant takes place in the flight attitude code, the |
110 | division by the constant takes place in the flight attitude code, the |
114 | constant is there. |
111 | constant is there. |
115 | 112 | ||
116 | The control loop executes every 2ms, and for each iteration |
113 | The control loop executes every 2ms, and for each iteration |
117 | gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL]. |
114 | gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL]. |
118 | Assuming a constant rotation rate v and a zero initial gyroIntegral |
115 | Assuming a constant rotation rate v and a zero initial gyroIntegral |
119 | (for this explanation), we get: |
116 | (for this explanation), we get: |
120 | 117 | ||
121 | gyroIntegral = |
118 | gyroIntegral = |
122 | N * gyro / HIRES_GYRO_INTEGRATION_FACTOR = |
119 | N * gyro / HIRES_GYRO_INTEGRATION_FACTOR = |
123 | N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR |
120 | N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR |
124 | 121 | ||
125 | where N is the number of summations; N = t/2ms. |
122 | where N is the number of summations; N = t/2ms. |
126 | 123 | ||
127 | For one degree of rotation: t*v = 1: |
124 | For one degree of rotation: t*v = 1: |
128 | 125 | ||
129 | gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR. |
126 | gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR. |
130 | 127 | ||
131 | This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor. |
128 | This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor. |
132 | 129 | ||
133 | Examples: |
130 | Examples: |
134 | FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304 |
131 | FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304 |
135 | FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260 |
132 | FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260 |
136 | My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365 |
133 | My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365 |
137 | */ |
134 | */ |
138 | 135 | ||
139 | /* |
136 | /* |
140 | * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor. |
137 | * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor. |
141 | * Will be about 10 or so for InvenSense, and about 33 for ADXRS610. |
138 | * Will be about 10 or so for InvenSense, and about 33 for ADXRS610. |
142 | */ |
139 | */ |
143 | #define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL) |
140 | #define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL) |
144 | #define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW) |
141 | #define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW) |
145 | 142 | ||
146 | /* |
143 | /* |
147 | * Gyro saturation prevention. |
144 | * Gyro saturation prevention. |
148 | */ |
145 | */ |
149 | // How far from the end of its range a gyro is considered near-saturated. |
146 | // How far from the end of its range a gyro is considered near-saturated. |
150 | #define SENSOR_MIN_PITCHROLL 32 |
147 | #define SENSOR_MIN_PITCHROLL 32 |
151 | // Other end of the range (calculated) |
148 | // Other end of the range (calculated) |
152 | #define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL) |
149 | #define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL) |
153 | // Max. boost to add "virtually" to gyro signal at total saturation. |
150 | // Max. boost to add "virtually" to gyro signal at total saturation. |
154 | #define EXTRAPOLATION_LIMIT 2500 |
151 | #define EXTRAPOLATION_LIMIT 2500 |
155 | // Slope of the boost (calculated) |
152 | // Slope of the boost (calculated) |
156 | #define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL) |
153 | #define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL) |
157 | 154 | ||
158 | /* |
155 | /* |
159 | * This value is subtracted from the gyro noise measurement in each iteration, |
156 | * This value is subtracted from the gyro noise measurement in each iteration, |
160 | * making it return towards zero. |
157 | * making it return towards zero. |
161 | */ |
158 | */ |
162 | #define GYRO_NOISE_MEASUREMENT_DAMPING 5 |
159 | #define GYRO_NOISE_MEASUREMENT_DAMPING 5 |
163 | 160 | ||
164 | #define PITCH 0 |
161 | #define PITCH 0 |
165 | #define ROLL 1 |
162 | #define ROLL 1 |
166 | #define YAW 2 |
163 | #define YAW 2 |
167 | #define Z 2 |
164 | #define Z 2 |
168 | /* |
165 | /* |
169 | * The values that this module outputs |
166 | * The values that this module outputs |
170 | * These first 2 exported arrays are zero-offset. The "PID" ones are used |
167 | * These first 2 exported arrays are zero-offset. The "PID" ones are used |
171 | * in the attitude control as rotation rates. The "ATT" ones are for |
168 | * in the attitude control as rotation rates. The "ATT" ones are for |
172 | * integration to angles. For the same axis, the PID and ATT variables |
169 | * integration to angles. For the same axis, the PID and ATT variables |
173 | * generally have about the same values. There are just some differences |
170 | * generally have about the same values. There are just some differences |
174 | * in filtering, and when a gyro becomes near saturated. |
171 | * in filtering, and when a gyro becomes near saturated. |
175 | * Maybe this distinction is not really necessary. |
172 | * Maybe this distinction is not really necessary. |
176 | */ |
173 | */ |
177 | extern int16_t gyro_PID[2]; |
174 | extern int16_t gyro_PID[2]; |
178 | extern int16_t gyro_ATT[2]; |
175 | extern int16_t gyro_ATT[2]; |
179 | extern int16_t gyroD[2]; |
176 | extern int16_t gyroD[2]; |
180 | extern int16_t yawGyro; |
177 | extern int16_t yawGyro; |
181 | extern volatile uint16_t ADCycleCount; |
178 | extern volatile uint16_t ADCycleCount; |
182 | extern int16_t UBat; |
179 | extern int16_t UBat; |
183 | 180 | ||
184 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
181 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
185 | #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
182 | #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
186 | 183 | ||
187 | extern sensorOffset_t gyroOffset; |
184 | extern sensorOffset_t gyroOffset; |
188 | extern sensorOffset_t accOffset; |
185 | extern sensorOffset_t accOffset; |
189 | extern sensorOffset_t gyroAmplifierOffset; |
186 | extern sensorOffset_t gyroAmplifierOffset; |
190 | 187 | ||
191 | /* |
188 | /* |
192 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
189 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
193 | */ |
190 | */ |
194 | //extern volatile int16_t rawGyroSum[3]; |
191 | //extern volatile int16_t rawGyroSum[3]; |
195 | 192 | ||
196 | /* |
193 | /* |
197 | * The acceleration values that this module outputs. They are zero based. |
194 | * The acceleration values that this module outputs. They are zero based. |
198 | */ |
195 | */ |
199 | extern int16_t acc[3]; |
196 | extern int16_t acc[3]; |
200 | extern int16_t filteredAcc[3]; |
197 | extern int16_t filteredAcc[3]; |
201 | // extern volatile int32_t stronglyFilteredAcc[3]; |
198 | // extern volatile int32_t stronglyFilteredAcc[3]; |
202 | 199 | ||
203 | /* |
200 | /* |
204 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
201 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
205 | * only really reflect the noise level when the copter stands still but with |
202 | * only really reflect the noise level when the copter stands still but with |
206 | * its motors running. |
203 | * its motors running. |
207 | */ |
204 | */ |
208 | extern uint16_t gyroNoisePeak[3]; |
205 | extern uint16_t gyroNoisePeak[3]; |
209 | extern uint16_t accNoisePeak[3]; |
206 | extern uint16_t accNoisePeak[3]; |
210 | 207 | ||
211 | /* |
208 | /* |
212 | * Air pressure. |
209 | * Air pressure. |
213 | * The sensor has a sensitivity of 45 mV/kPa. |
210 | * The sensor has a sensitivity of 45 mV/kPa. |
214 | * An approximate p(h) formula is = p(h[m])[kPa] = p_0 - 11.95 * 10^-3 * h |
211 | * An approximate p(h) formula is = p(h[m])[kPa] = p_0 - 11.95 * 10^-3 * h |
215 | * p(h[m])[kPa] = 101.3 - 11.95 * 10^-3 * h |
212 | * p(h[m])[kPa] = 101.3 - 11.95 * 10^-3 * h |
216 | * 11.95 * 10^-3 * h = 101.3 - p[kPa] |
213 | * 11.95 * 10^-3 * h = 101.3 - p[kPa] |
217 | * h = (101.3 - p[kPa])/0.01195 |
214 | * h = (101.3 - p[kPa])/0.01195 |
218 | * That is: dV = -45 mV * 11.95 * 10^-3 dh = -0.53775 mV / m. |
215 | * That is: dV = -45 mV * 11.95 * 10^-3 dh = -0.53775 mV / m. |
219 | * That is, with 38.02 * 1.024 / 3 steps per mV: -7 steps / m |
216 | * That is, with 38.02 * 1.024 / 3 steps per mV: -7 steps / m |
220 | 217 | ||
221 | Display pressures |
218 | Display pressures |
222 | 4165 mV-->1084.7 |
219 | 4165 mV-->1084.7 |
223 | 4090 mV-->1602.4 517.7 |
220 | 4090 mV-->1602.4 517.7 |
224 | 3877 mV-->3107.8 1503.4 |
221 | 3877 mV-->3107.8 1503.4 |
225 | 222 | ||
226 | 4165 mV-->1419.1 |
223 | 4165 mV-->1419.1 |
227 | 3503 mV-->208.1 |
224 | 3503 mV-->208.1 |
228 | Diff.: 1211.0 |
225 | Diff.: 1211.0 |
229 | 226 | ||
230 | Calculated Vout = 5V(.009P-0.095) --> 5V .009P = Vout + 5V 0.095 --> P = (Vout + 5V 0.095)/(5V 0.009) |
227 | Calculated Vout = 5V(.009P-0.095) --> 5V .009P = Vout + 5V 0.095 --> P = (Vout + 5V 0.095)/(5V 0.009) |
231 | 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
228 | 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
232 | 4090 mV = 5V(0.009P-0.095) P = 101.44 kPa h = -11.7m 139.7m |
229 | 4090 mV = 5V(0.009P-0.095) P = 101.44 kPa h = -11.7m 139.7m |
233 | 3877 mV = 5V(0.009P-0.095) P = 96.7 kPa h = 385m 396.7m |
230 | 3877 mV = 5V(0.009P-0.095) P = 96.7 kPa h = 385m 396.7m |
234 | 231 | ||
235 | 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
232 | 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
236 | 3503 mV = 5V(0.009P-0.095) P = 88.4 kPa h = 384m Diff: 1079.5m |
233 | 3503 mV = 5V(0.009P-0.095) P = 88.4 kPa h = 384m Diff: 1079.5m |
237 | Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V |
234 | Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V |
238 | This is OCR2 = 143.15 at 1.5V in --> simple pressure = |
235 | This is OCR2 = 143.15 at 1.5V in --> simple pressure = |
239 | */ |
236 | */ |
240 | 237 | ||
241 | #define AIRPRESSURE_SUMMATION_FACTOR 14 |
238 | #define AIRPRESSURE_SUMMATION_FACTOR 14 |
242 | #define AIRPRESSURE_FILTER 8 |
239 | #define AIRPRESSURE_FILTER 8 |
243 | // Minimum A/D value before a range change is performed. |
240 | // Minimum A/D value before a range change is performed. |
244 | #define MIN_RAWPRESSURE (200 * 2) |
241 | #define MIN_RAWPRESSURE (200 * 2) |
245 | // Maximum A/D value before a range change is performed. |
242 | // Maximum A/D value before a range change is performed. |
246 | #define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE) |
243 | #define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE) |
247 | 244 | ||
248 | #define MIN_RANGES_EXTRAPOLATION 15 |
245 | #define MIN_RANGES_EXTRAPOLATION 15 |
249 | #define MAX_RANGES_EXTRAPOLATION 240 |
246 | #define MAX_RANGES_EXTRAPOLATION 240 |
250 | 247 | ||
251 | #define PRESSURE_EXTRAPOLATION_COEFF 25L |
248 | #define PRESSURE_EXTRAPOLATION_COEFF 25L |
252 | #define AUTORANGE_WAIT_FACTOR 1 |
249 | #define AUTORANGE_WAIT_FACTOR 1 |
253 | 250 | ||
254 | #define ABS_ALTITUDE_OFFSET 108205 |
251 | #define ABS_ALTITUDE_OFFSET 108205 |
255 | 252 | ||
256 | extern uint16_t simpleAirPressure; |
253 | extern uint16_t simpleAirPressure; |
257 | /* |
254 | /* |
258 | * At saturation, the filteredAirPressure may actually be (simulated) negative. |
255 | * At saturation, the filteredAirPressure may actually be (simulated) negative. |
259 | */ |
256 | */ |
260 | extern int32_t filteredAirPressure; |
257 | extern int32_t filteredAirPressure; |
261 | 258 | ||
262 | /* |
259 | /* |
263 | * Flag: Interrupt handler has done all A/D conversion and processing. |
260 | * Flag: Interrupt handler has done all A/D conversion and processing. |
264 | */ |
261 | */ |
265 | extern volatile uint8_t analogDataReady; |
262 | extern volatile uint8_t analogDataReady; |
266 | 263 | ||
267 | void analog_init(void); |
264 | void analog_init(void); |
268 | 265 | ||
269 | /* |
266 | /* |
270 | * This is really only for use for the ENC-03 code module, which needs to get the raw value |
267 | * This is really only for use for the ENC-03 code module, which needs to get the raw value |
271 | * for its calibration. The raw value should not be used for anything else. |
268 | * for its calibration. The raw value should not be used for anything else. |
272 | */ |
269 | */ |
273 | uint16_t rawGyroValue(uint8_t axis); |
270 | uint16_t rawGyroValue(uint8_t axis); |
274 | 271 | ||
275 | /* |
272 | /* |
276 | * Start the conversion cycle. It will stop automatically. |
273 | * Start the conversion cycle. It will stop automatically. |
277 | */ |
274 | */ |
278 | void startAnalogConversionCycle(void); |
275 | void startAnalogConversionCycle(void); |
279 | 276 | ||
280 | /* |
277 | /* |
281 | * Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used. |
278 | * Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used. |
282 | */ |
279 | */ |
283 | void analog_update(void); |
280 | void analog_update(void); |
284 | 281 | ||
285 | /* |
282 | /* |
286 | * Read gyro and acc.meter calibration from EEPROM. |
283 | * Read gyro and acc.meter calibration from EEPROM. |
287 | */ |
284 | */ |
288 | void analog_setNeutral(void); |
285 | void analog_setNeutral(void); |
289 | 286 | ||
290 | /* |
287 | /* |
291 | * Zero-offset gyros and write the calibration data to EEPROM. |
288 | * Zero-offset gyros and write the calibration data to EEPROM. |
292 | */ |
289 | */ |
293 | void analog_calibrateGyros(void); |
290 | void analog_calibrateGyros(void); |
294 | 291 | ||
295 | /* |
292 | /* |
296 | * Zero-offset accelerometers and write the calibration data to EEPROM. |
293 | * Zero-offset accelerometers and write the calibration data to EEPROM. |
297 | */ |
294 | */ |
298 | void analog_calibrateAcc(void); |
295 | void analog_calibrateAcc(void); |
299 | #endif //_ANALOG_H |
296 | #endif //_ANALOG_H |
300 | 297 |