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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 | About setting constants for different gyros: |
7 | About setting constants for different gyros: |
8 | Main parameters are positive directions and voltage/angular speed gain. |
8 | Main parameters are positive directions and voltage/angular speed gain. |
9 | The "Positive direction" is the rotation direction around an axis where |
9 | The "Positive direction" is the rotation direction around an axis where |
10 | the corresponding gyro outputs a voltage > the no-rotation voltage. |
10 | the corresponding gyro outputs a voltage > the no-rotation voltage. |
11 | A gyro is considered, in this code, to be "forward" if its positive |
11 | A gyro is considered, in this code, to be "forward" if its positive |
12 | direction is: |
12 | direction is: |
13 | - Nose down for pitch |
13 | - Nose down for pitch |
14 | - Left hand side down for roll |
14 | - Left hand side down for roll |
15 | - Clockwise seen from above for yaw. |
15 | - Clockwise seen from above for yaw. |
16 | |
16 | |
17 | Setting gyro gain correctly: All sensor measurements in analog.c take |
17 | Setting gyro gain correctly: All sensor measurements in analog.c take |
18 | place in a cycle, each cycle comprising all sensors. Some sensors are |
18 | place in a cycle, each cycle comprising all sensors. Some sensors are |
19 | sampled more than once (oversampled), and the results added. |
19 | sampled more than once (oversampled), and the results added. |
20 | In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0) |
20 | In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0) |
21 | or 4 (other versions), offset to zero, low pass filtered and then assigned |
21 | or 4 (other versions), offset to zero, low pass filtered and then assigned |
22 | to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or |
22 | to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or |
23 | roll. The factor 2 or 4 or whatever is called GYRO_FACTOR_PITCHROLL here. |
23 | roll. The factor 2 or 4 or whatever is called GYRO_FACTOR_PITCHROLL here. |
24 | */ |
24 | */ |
25 | 25 | ||
26 | /* |
26 | /* |
27 | GYRO_HW_FACTOR is the relation between rotation rate and ADCValue: |
27 | GYRO_HW_FACTOR is the relation between rotation rate and ADCValue: |
28 | ADCValue [units] = |
28 | ADCValue [units] = |
29 | rotational speed [deg/s] * |
29 | rotational speed [deg/s] * |
30 | gyro sensitivity [V / deg/s] * |
30 | gyro sensitivity [V / deg/s] * |
31 | amplifier gain [units] * |
31 | amplifier gain [units] * |
32 | 1024 [units] / |
32 | 1024 [units] / |
33 | 3V full range [V] |
33 | 3V full range [V] |
34 | 34 | ||
35 | GYRO_HW_FACTOR is: |
35 | GYRO_HW_FACTOR is: |
36 | gyro sensitivity [V / deg/s] * |
36 | gyro sensitivity [V / deg/s] * |
37 | amplifier gain [units] * |
37 | amplifier gain [units] * |
38 | 1024 [units] / |
38 | 1024 [units] / |
39 | 3V full range [V] |
39 | 3V full range [V] |
40 | 40 | ||
41 | Examples: |
41 | Examples: |
42 | FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7: |
42 | FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7: |
43 | GYRO_HW_FACTOR = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s). |
43 | GYRO_HW_FACTOR = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s). |
44 | 44 | ||
45 | FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers: |
45 | FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers: |
46 | GYRO_HW_FACTOR = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s). |
46 | GYRO_HW_FACTOR = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s). |
47 | 47 | ||
48 | My InvenSense copter has 2mV/deg/s gyros and no amplifiers: |
48 | My InvenSense copter has 2mV/deg/s gyros and no amplifiers: |
49 | GYRO_HW_FACTOR = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
49 | GYRO_HW_FACTOR = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
50 | (only about half as sensitive as V1.3. But it will take about twice the |
50 | (only about half as sensitive as V1.3. But it will take about twice the |
51 | rotation rate!) |
51 | rotation rate!) |
52 | 52 | ||
53 | GYRO_HW_FACTOR is given in the makefile. |
53 | GYRO_HW_FACTOR is given in the makefile. |
54 | */ |
54 | */ |
55 | 55 | ||
56 | /* |
56 | /* |
57 | * How many samples are added in one ADC loop, for pitch&roll and yaw, |
57 | * How many samples are added in one ADC loop, for pitch&roll and yaw, |
58 | * respectively. This is = the number of occurences of each channel in the |
58 | * respectively. This is = the number of occurences of each channel in the |
59 | * channelsForStates array in analog.c. |
59 | * channelsForStates array in analog.c. |
60 | */ |
60 | */ |
61 | #define GYRO_OVERSAMPLING 4 |
61 | #define GYRO_OVERSAMPLING 4 |
62 | 62 | ||
63 | /* |
63 | /* |
64 | * The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate. |
64 | * The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate. |
65 | */ |
65 | */ |
66 | #define GYRO_RATE_FACTOR (GYRO_HW_FACTOR * GYRO_OVERSAMPLING) |
66 | #define GYRO_RATE_FACTOR (GYRO_HW_FACTOR * GYRO_OVERSAMPLING) |
67 | 67 | ||
68 | /* |
68 | /* |
69 | * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor. |
69 | * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor. |
70 | * Will be about 10 or so for InvenSense, and about 33 for ADXRS610. |
70 | * Will be about 10 or so for InvenSense, and about 33 for ADXRS610. |
71 | */ |
71 | */ |
72 | 72 | ||
73 | /* |
73 | /* |
74 | * Gyro saturation prevention. |
74 | * Gyro saturation prevention. |
75 | */ |
75 | */ |
76 | // How far from the end of its range a gyro is considered near-saturated. |
76 | // How far from the end of its range a gyro is considered near-saturated. |
77 | #define SENSOR_MIN 32 |
77 | #define SENSOR_MIN 32 |
78 | // Other end of the range (calculated) |
78 | // Other end of the range (calculated) |
79 | #define SENSOR_MAX (GYRO_OVERSAMPLING * 1023 - SENSOR_MIN) |
79 | #define SENSOR_MAX (GYRO_OVERSAMPLING * 1023 - SENSOR_MIN) |
80 | // Max. boost to add "virtually" to gyro signal at total saturation. |
80 | // Max. boost to add "virtually" to gyro signal at total saturation. |
81 | #define EXTRAPOLATION_LIMIT 2500 |
81 | #define EXTRAPOLATION_LIMIT 2500 |
82 | // Slope of the boost (calculated) |
82 | // Slope of the boost (calculated) |
83 | #define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN) |
83 | #define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN) |
84 | 84 | ||
85 | /* |
85 | /* |
86 | * This value is subtracted from the gyro noise measurement in each iteration, |
86 | * This value is subtracted from the gyro noise measurement in each iteration, |
87 | * making it return towards zero. |
87 | * making it return towards zero. |
88 | */ |
88 | */ |
89 | #define GYRO_NOISE_MEASUREMENT_DAMPING 5 |
89 | #define GYRO_NOISE_MEASUREMENT_DAMPING 5 |
90 | 90 | ||
91 | #define PITCH 0 |
91 | #define PITCH 0 |
92 | #define ROLL 1 |
92 | #define ROLL 1 |
93 | #define YAW 2 |
93 | #define YAW 2 |
94 | //#define Z 2 |
94 | //#define Z 2 |
95 | /* |
95 | /* |
96 | * The values that this module outputs |
96 | * The values that this module outputs |
97 | * These first 2 exported arrays are zero-offset. The "PID" ones are used |
97 | * These first 2 exported arrays are zero-offset. The "PID" ones are used |
98 | * in the attitude control as rotation rates. The "ATT" ones are for |
98 | * in the attitude control as rotation rates. The "ATT" ones are for |
99 | * integration to angles. For the same axis, the PID and ATT variables |
99 | * integration to angles. For the same axis, the PID and ATT variables |
100 | * generally have about the same values. There are just some differences |
100 | * generally have about the same values. There are just some differences |
101 | * in filtering, and when a gyro becomes near saturated. |
101 | * in filtering, and when a gyro becomes near saturated. |
102 | * Maybe this distinction is not really necessary. |
102 | * Maybe this distinction is not really necessary. |
103 | */ |
103 | */ |
104 | extern int16_t gyro_PID[3]; |
104 | extern int16_t gyro_PID[3]; |
105 | extern int16_t gyro_ATT[3]; |
105 | extern int16_t gyro_ATT[3]; |
106 | extern int16_t gyroD[3]; |
106 | extern int16_t gyroD[3]; |
107 | 107 | ||
108 | #define GYRO_D_WINDOW_LENGTH 8 |
108 | #define GYRO_D_WINDOW_LENGTH 16 |
109 | 109 | ||
110 | extern uint16_t UBat; |
110 | extern uint16_t UBat; |
111 | extern uint16_t airspeedVelocity; |
111 | extern uint16_t airspeedVelocity; |
112 | 112 | ||
113 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
113 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
114 | #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
114 | #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
115 | extern sensorOffset_t gyroOffset; |
115 | extern sensorOffset_t gyroOffset; |
116 | extern uint16_t airpressureOffset; |
116 | extern uint16_t airpressureOffset; |
117 | 117 | ||
118 | /* |
118 | /* |
119 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
119 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
120 | */ |
120 | */ |
121 | //extern volatile int16_t rawGyroSum[3]; |
121 | //extern volatile int16_t rawGyroSum[3]; |
122 | 122 | ||
123 | /* |
123 | /* |
124 | * The acceleration values that this module outputs. They are zero based. |
124 | * The acceleration values that this module outputs. They are zero based. |
125 | */ |
125 | */ |
126 | //extern int16_t acc[3]; |
126 | //extern int16_t acc[3]; |
127 | //extern int16_t filteredAcc[3]; |
127 | //extern int16_t filteredAcc[3]; |
128 | // extern volatile int32_t stronglyFilteredAcc[3]; |
128 | // extern volatile int32_t stronglyFilteredAcc[3]; |
129 | 129 | ||
130 | /* |
130 | /* |
131 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
131 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
132 | * only really reflect the noise level when the copter stands still but with |
132 | * only really reflect the noise level when the copter stands still but with |
133 | * its motors running. |
133 | * its motors running. |
134 | */ |
134 | */ |
135 | extern uint16_t gyroNoisePeak[3]; |
135 | extern uint16_t gyroNoisePeak[3]; |
136 | 136 | ||
137 | /* |
137 | /* |
138 | * Air pressure. |
138 | * Air pressure. |
139 | * The sensor has a sensitivity of 45 mV/kPa. |
139 | * The sensor has a sensitivity of 45 mV/kPa. |
140 | * An approximate p(h) formula is = p(h[m])[kPa] = p_0 - 11.95 * 10^-3 * h |
140 | * An approximate p(h) formula is = p(h[m])[kPa] = p_0 - 11.95 * 10^-3 * h |
141 | * p(h[m])[kPa] = 101.3 - 11.95 * 10^-3 * h |
141 | * p(h[m])[kPa] = 101.3 - 11.95 * 10^-3 * h |
142 | * 11.95 * 10^-3 * h = 101.3 - p[kPa] |
142 | * 11.95 * 10^-3 * h = 101.3 - p[kPa] |
143 | * h = (101.3 - p[kPa])/0.01195 |
143 | * h = (101.3 - p[kPa])/0.01195 |
144 | * That is: dV = -45 mV * 11.95 * 10^-3 dh = -0.53775 mV / m. |
144 | * That is: dV = -45 mV * 11.95 * 10^-3 dh = -0.53775 mV / m. |
145 | * That is, with 38.02 * 1.024 / 3 steps per mV: -7 steps / m |
145 | * That is, with 38.02 * 1.024 / 3 steps per mV: -7 steps / m |
146 | 146 | ||
147 | Display pressures |
147 | Display pressures |
148 | 4165 mV-->1084.7 |
148 | 4165 mV-->1084.7 |
149 | 4090 mV-->1602.4 517.7 |
149 | 4090 mV-->1602.4 517.7 |
150 | 3877 mV-->3107.8 1503.4 |
150 | 3877 mV-->3107.8 1503.4 |
151 | 151 | ||
152 | 4165 mV-->1419.1 |
152 | 4165 mV-->1419.1 |
153 | 3503 mV-->208.1 |
153 | 3503 mV-->208.1 |
154 | Diff.: 1211.0 |
154 | Diff.: 1211.0 |
155 | 155 | ||
156 | Calculated Vout = 5V(.009P-0.095) --> 5V .009P = Vout + 5V 0.095 --> P = (Vout + 5V 0.095)/(5V 0.009) |
156 | Calculated Vout = 5V(.009P-0.095) --> 5V .009P = Vout + 5V 0.095 --> P = (Vout + 5V 0.095)/(5V 0.009) |
157 | 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
157 | 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
158 | 4090 mV = 5V(0.009P-0.095) P = 101.44 kPa h = -11.7m 139.7m |
158 | 4090 mV = 5V(0.009P-0.095) P = 101.44 kPa h = -11.7m 139.7m |
159 | 3877 mV = 5V(0.009P-0.095) P = 96.7 kPa h = 385m 396.7m |
159 | 3877 mV = 5V(0.009P-0.095) P = 96.7 kPa h = 385m 396.7m |
160 | 160 | ||
161 | 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
161 | 4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m |
162 | 3503 mV = 5V(0.009P-0.095) P = 88.4 kPa h = 384m Diff: 1079.5m |
162 | 3503 mV = 5V(0.009P-0.095) P = 88.4 kPa h = 384m Diff: 1079.5m |
163 | Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V |
163 | Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V |
164 | This is OCR2 = 143.15 at 1.5V in --> simple pressure = |
164 | This is OCR2 = 143.15 at 1.5V in --> simple pressure = |
165 | */ |
165 | */ |
166 | 166 | ||
167 | #define AIRPRESSURE_WINDOW_LENGTH 32 |
167 | #define AIRPRESSURE_WINDOW_LENGTH 32 |
168 | extern uint16_t airspeedVelocity; |
168 | extern uint16_t airspeedVelocity; |
169 | 169 | ||
170 | /* |
170 | /* |
171 | * Flag: Interrupt handler has done all A/D conversion and processing. |
171 | * Flag: Interrupt handler has done all A/D conversion and processing. |
172 | */ |
172 | */ |
173 | extern volatile uint8_t analogDataReady; |
173 | extern volatile uint8_t analogDataReady; |
174 | 174 | ||
175 | 175 | ||
176 | void analog_init(void); |
176 | void analog_init(void); |
177 | 177 | ||
178 | /* |
178 | /* |
179 | * This is really only for use for the ENC-03 code module, which needs to get the raw value |
179 | * This is really only for use for the ENC-03 code module, which needs to get the raw value |
180 | * for its calibration. The raw value should not be used for anything else. |
180 | * for its calibration. The raw value should not be used for anything else. |
181 | */ |
181 | */ |
182 | //uint16_t rawGyroValue(uint8_t axis); |
182 | //uint16_t rawGyroValue(uint8_t axis); |
183 | 183 | ||
184 | /* |
184 | /* |
185 | * Start the conversion cycle. It will stop automatically. |
185 | * Start the conversion cycle. It will stop automatically. |
186 | */ |
186 | */ |
187 | void startAnalogConversionCycle(void); |
187 | void startAnalogConversionCycle(void); |
188 | 188 | ||
189 | /* |
189 | /* |
190 | * Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used. |
190 | * Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used. |
191 | */ |
191 | */ |
192 | void analog_update(void); |
192 | void analog_update(void); |
193 | 193 | ||
194 | /* |
194 | /* |
195 | * Read gyro and acc.meter calibration from EEPROM. |
195 | * Read gyro and acc.meter calibration from EEPROM. |
196 | */ |
196 | */ |
197 | void analog_setNeutral(void); |
197 | void analog_setNeutral(void); |
198 | 198 | ||
199 | /* |
199 | /* |
200 | * Zero-offset gyros and write the calibration data to EEPROM. |
200 | * Zero-offset gyros and write the calibration data to EEPROM. |
201 | */ |
201 | */ |
202 | void analog_calibrate(void); |
202 | void analog_calibrate(void); |
203 | 203 | ||
204 | #endif //_ANALOG_H |
204 | #endif //_ANALOG_H |
205 | 205 |