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| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| #include <inttypes.h> |
| #include "configuration.h" |
| |
| /* |
| About setting constants for different gyros: |
| Main parameters are positive directions and voltage/angular speed gain. |
| The "Positive direction" is the rotation direction around an axis where |
| the corresponding gyro outputs a voltage > the no-rotation voltage. |
| A gyro is considered, in this code, to be "forward" if its positive |
| direction is: |
| - Nose down for pitch |
| - Left hand side down for roll |
| - Clockwise seen from above for yaw. |
| |
| Setting gyro gain correctly: All sensor measurements in analog.c take |
| place in a cycle, each cycle comprising all sensors. Some sensors are |
| sampled more than once (oversampled), and the results added. |
| In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0) |
| or 4 (other versions), offset to zero, low pass filtered and then assigned |
| to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or |
| roll. The factor 2 or 4 or whatever is called GYRO_FACTOR_PITCHROLL here. |
| */ |
| |
| /* |
| GYRO_HW_FACTOR is the relation between rotation rate and ADCValue: |
| ADCValue [units] = |
| rotational speed [deg/s] * |
| gyro sensitivity [V / deg/s] * |
| amplifier gain [units] * |
| 1024 [units] / |
| 3V full range [V] |
| |
| GYRO_HW_FACTOR is: |
| gyro sensitivity [V / deg/s] * |
| amplifier gain [units] * |
| 1024 [units] / |
| 3V full range [V] |
| |
| Examples: |
| FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7: |
| GYRO_HW_FACTOR = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s). |
| |
| FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers: |
| GYRO_HW_FACTOR = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s). |
| |
| My InvenSense copter has 2mV/deg/s gyros and no amplifiers: |
| GYRO_HW_FACTOR = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
| (only about half as sensitive as V1.3. But it will take about twice the |
| rotation rate!) |
| |
| GYRO_HW_FACTOR is given in the makefile. |
| */ |
| |
| /* |
| * How many samples are added in one ADC loop, for pitch&roll and yaw, |
| * respectively. This is = the number of occurences of each channel in the |
| * channelsForStates array in analog.c. |
| */ |
| #define GYRO_OVERSAMPLING 4 |
| |
| /* |
| * The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate. |
| */ |
| #define GYRO_RATE_FACTOR (GYRO_HW_FACTOR * GYRO_OVERSAMPLING) |
| |
| /* |
| * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor. |
| * Will be about 10 or so for InvenSense, and about 33 for ADXRS610. |
| */ |
| |
| /* |
| * Gyro saturation prevention. |
| */ |
| // How far from the end of its range a gyro is considered near-saturated. |
| #define SENSOR_MIN 32 |
| // Other end of the range (calculated) |
| #define SENSOR_MAX (GYRO_OVERSAMPLING * 1023 - SENSOR_MIN) |
| // Max. boost to add "virtually" to gyro signal at total saturation. |
| #define EXTRAPOLATION_LIMIT 2500 |
| // Slope of the boost (calculated) |
| #define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN) |
| |
| /* |
| * This value is subtracted from the gyro noise measurement in each iteration, |
| * making it return towards zero. |
| */ |
| #define GYRO_NOISE_MEASUREMENT_DAMPING 5 |
| |
| #define PITCH 0 |
| #define ROLL 1 |
| #define YAW 2 |
| //#define Z 2 |
| /* |
| * The values that this module outputs |
| * These first 2 exported arrays are zero-offset. The "PID" ones are used |
| * in the attitude control as rotation rates. The "ATT" ones are for |
| * integration to angles. For the same axis, the PID and ATT variables |
| * generally have about the same values. There are just some differences |
| * in filtering, and when a gyro becomes near saturated. |
| * Maybe this distinction is not really necessary. |
| */ |
| extern int16_t gyro_PID[3]; |
| extern int16_t gyro_ATT[3]; |
| extern int16_t gyroD[3]; |
| |
| #define GYRO_D_WINDOW_LENGTH 8 |
| |
| extern uint16_t UBat; |
| extern uint16_t airspeedVelocity; |
| |
| // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
| #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
| extern sensorOffset_t gyroOffset; |
| extern uint16_t airpressureOffset; |
| |
| /* |
| * This is not really for external use - but the ENC-03 gyro modules needs it. |
| */ |
| //extern volatile int16_t rawGyroSum[3]; |
| |
| /* |
| * The acceleration values that this module outputs. They are zero based. |
| */ |
| //extern int16_t acc[3]; |
| //extern int16_t filteredAcc[3]; |
| // extern volatile int32_t stronglyFilteredAcc[3]; |
| |
| /* |
| * Diagnostics: Gyro noise level because of motor vibrations. The variables |
| * only really reflect the noise level when the copter stands still but with |
| * its motors running. |
| */ |
| extern uint16_t gyroNoisePeak[3]; |
| |
| /* |
| * Air pressure. |
| * The sensor has a sensitivity of 45 mV/kPa. |
| * An approximate p(h) formula is = p(h[m])[kPa] = p_0 - 11.95 * 10^-3 * h |
| * p(h[m])[kPa] = 101.3 - 11.95 * 10^-3 * h |
| * 11.95 * 10^-3 * h = 101.3 - p[kPa] |
| * h = (101.3 - p[kPa])/0.01195 |
| * That is: dV = -45 mV * 11.95 * 10^-3 dh = -0.53775 mV / m. |
| * That is, with 38.02 * 1.024 / 3 steps per mV: -7 steps / m |
| |
| Display pressures |
| 4165 mV-->1084.7 |
| 4090 mV-->1602.4 517.7 |
| 3877 mV-->3107.8 1503.4 |
| |
| 4165 mV-->1419.1 |
| 3503 mV-->208.1 |
| Diff.: 1211.0 |
| |
| Calculated Vout = 5V(.009P-0.095) --> 5V .009P = Vout + 5V 0.095 --> P = (Vout + 5V 0.095)/(5V 0.009) |
| 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
| 4090 mV = 5V(0.009P-0.095) P = 101.44 kPa h = -11.7m 139.7m |
| 3877 mV = 5V(0.009P-0.095) P = 96.7 kPa h = 385m 396.7m |
| |
| 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
| 3503 mV = 5V(0.009P-0.095) P = 88.4 kPa h = 384m Diff: 1079.5m |
| Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V |
| This is OCR2 = 143.15 at 1.5V in --> simple pressure = |
| */ |
| |
| #define AIRPRESSURE_WINDOW_LENGTH 32 |
| extern uint16_t airspeedVelocity; |
| |
| /* |
| * Flag: Interrupt handler has done all A/D conversion and processing. |
| */ |
| #define ADC_DATA_READY 1 |
| #define TWI_DATA_READY 2 |
| #define ALL_DATA_READY (ADC_DATA_READY+TWI_DATA_READY) |
| |
| extern volatile uint8_t sensorDataReady; |
| |
| void analog_init(void); |
| |
| /* |
| * This is really only for use for the ENC-03 code module, which needs to get the raw value |
| * for its calibration. The raw value should not be used for anything else. |
| */ |
| uint16_t rawGyroValue(uint8_t axis); |
| |
| /* |
| * Start the conversion cycle. It will stop automatically. |
| */ |
| void startAnalogConversionCycle(void); |
| |
| /* |
| * Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used. |
| */ |
| void analog_update(void); |
| |
| /* |
| * Read gyro and acc.meter calibration from EEPROM. |
| */ |
| void analog_setNeutral(void); |
| |
| /* |
| * Zero-offset gyros and write the calibration data to EEPROM. |
| */ |
| void analog_calibrate(void); |
| |
| #endif //_ANALOG_H |