WebSVN - FlightCtrl - Diff - Rev 2095 and 2097 - /branches/dongfang_FC


#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.
*/
#define GYRO_FACTOR_PITCHROLL 1
 
/*
 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_PITCHROLL 4
#define GYRO_OVERSAMPLING_YAW 2
 
#define ACC_OVERSAMPLING_XY 2
#define ACC_OVERSAMPLING_Z 1
 
/*
 * 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_PITCHROLL (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_PITCHROLL * GYRO_FACTOR_PITCHROLL)
#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_YAW)
 
/*
 * 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_PITCHROLL 32
// Other end of the range (calculated)
#define SENSOR_MAX_PITCHROLL (GYRO_OVERSAMPLING_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)
// 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_PITCHROLL)
 
/*
 * 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[2];
extern int16_t gyro_ATT[2];
#define GYRO_D_WINDOW_LENGTH 8
extern int16_t gyroD[2];
extern int16_t yawGyro;
 
extern int16_t UBat;
 
// 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 sensorOffset_t accOffset;
extern sensorOffset_t gyroAmplifierOffset;
 
/*
 * 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];
extern uint16_t accNoisePeak[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_OVERSAMPLING 14
#define AIRPRESSURE_FILTER 8
// Minimum A/D value before a range change is performed.
#define MIN_RAWPRESSURE (200 * 2)
// Maximum A/D value before a range change is performed.
#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)
 
#define MIN_RANGES_EXTRAPOLATION 15
#define MAX_RANGES_EXTRAPOLATION 240
 
#define PRESSURE_EXTRAPOLATION_COEFF 25L
#define AUTORANGE_WAIT_FACTOR 1
 
#define ABS_ALTITUDE_OFFSET 108205
 
extern uint16_t simpleAirPressure;
/*
 * At saturation, the filteredAirPressure may actually be (simulated) negative.
 */
extern int32_t filteredAirPressure;
 
extern int16_t magneticHeading;
 
extern uint32_t gyroActivity;
 
/*
 * Flag: Interrupt handler has done all A/D conversion and processing.
 */
extern volatile uint8_t analogDataReady;
 
 
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_calibrateGyros(void);
 
/*
 * Zero-offset accelerometers and write the calibration data to EEPROM.
 */
void analog_calibrateAcc(void);
 
 
void analog_setGround(void);
 
int32_t analog_getHeight(void);
int16_t analog_getDHeight(void);
 
#endif //_ANALOG_H
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.h - Rev 2095 → 2097

Rev 2095		Rev 2097
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	#define GYRO_FACTOR_PITCHROLL 1	25	#define GYRO_FACTOR_PITCHROLL 1
26		26
27	/*	27	/*
28	GYRO_HW_FACTOR is the relation between rotation rate and ADCValue:	28	GYRO_HW_FACTOR is the relation between rotation rate and ADCValue:
29	ADCValue [units] =	29	ADCValue [units] =
30	rotational speed [deg/s] *	30	rotational speed [deg/s] *
31	gyro sensitivity [V / deg/s] *	31	gyro sensitivity [V / deg/s] *
32	amplifier gain [units] *	32	amplifier gain [units] *
33	1024 [units] /	33	1024 [units] /
34	3V full range [V]	34	3V full range [V]
35		35
36	GYRO_HW_FACTOR is:	36	GYRO_HW_FACTOR is:
37	gyro sensitivity [V / deg/s] *	37	gyro sensitivity [V / deg/s] *
38	amplifier gain [units] *	38	amplifier gain [units] *
39	1024 [units] /	39	1024 [units] /
40	3V full range [V]	40	3V full range [V]
41		41
42	Examples:	42	Examples:
43	FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7:	43	FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7:
44	GYRO_HW_FACTOR = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s).	44	GYRO_HW_FACTOR = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s).
45		45
46	FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers:	46	FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers:
47	GYRO_HW_FACTOR = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s).	47	GYRO_HW_FACTOR = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s).
48		48
49	My InvenSense copter has 2mV/deg/s gyros and no amplifiers:	49	My InvenSense copter has 2mV/deg/s gyros and no amplifiers:
50	GYRO_HW_FACTOR = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)	50	GYRO_HW_FACTOR = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)
51	(only about half as sensitive as V1.3. But it will take about twice the	51	(only about half as sensitive as V1.3. But it will take about twice the
52	rotation rate!)	52	rotation rate!)
53		53
54	GYRO_HW_FACTOR is given in the makefile.	54	GYRO_HW_FACTOR is given in the makefile.
55	*/	55	*/
56		56
57	/*	57	/*
58	* How many samples are added in one ADC loop, for pitch&roll and yaw,	58	* How many samples are added in one ADC loop, for pitch&roll and yaw,
59	* respectively. This is = the number of occurences of each channel in the	59	* respectively. This is = the number of occurences of each channel in the
60	* channelsForStates array in analog.c.	60	* channelsForStates array in analog.c.
61	*/	61	*/
62	#define GYRO_OVERSAMPLING_PITCHROLL 4	62	#define GYRO_OVERSAMPLING_PITCHROLL 4
63	#define GYRO_OVERSAMPLING_YAW 2	63	#define GYRO_OVERSAMPLING_YAW 2
64		64
65	#define ACC_OVERSAMPLING_XY 2	65	#define ACC_OVERSAMPLING_XY 2
66	#define ACC_OVERSAMPLING_Z 1	66	#define ACC_OVERSAMPLING_Z 1
67		67
68	/*	68	/*
69	* The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate.	69	* The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate.
70	*/	70	*/
71	#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_PITCHROLL * GYRO_FACTOR_PITCHROLL)	71	#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_PITCHROLL * GYRO_FACTOR_PITCHROLL)
72	#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_YAW)	72	#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_YAW)
73		73
74	/*	74	/*
75	* The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.	75	* The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.
76	* Will be about 10 or so for InvenSense, and about 33 for ADXRS610.	76	* Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
77	*/	77	*/
78		78
79	/*	79	/*
80	* Gyro saturation prevention.	80	* Gyro saturation prevention.
81	*/	81	*/
82	// How far from the end of its range a gyro is considered near-saturated.	82	// How far from the end of its range a gyro is considered near-saturated.
83	#define SENSOR_MIN_PITCHROLL 32	83	#define SENSOR_MIN_PITCHROLL 32
84	// Other end of the range (calculated)	84	// Other end of the range (calculated)
85	#define SENSOR_MAX_PITCHROLL (GYRO_OVERSAMPLING_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)	85	#define SENSOR_MAX_PITCHROLL (GYRO_OVERSAMPLING_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)
86	// Max. boost to add "virtually" to gyro signal at total saturation.	86	// Max. boost to add "virtually" to gyro signal at total saturation.
87	#define EXTRAPOLATION_LIMIT 2500	87	#define EXTRAPOLATION_LIMIT 2500
88	// Slope of the boost (calculated)	88	// Slope of the boost (calculated)
89	#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL)	89	#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL)
90		90
91	/*	91	/*
92	* This value is subtracted from the gyro noise measurement in each iteration,	92	* This value is subtracted from the gyro noise measurement in each iteration,
93	* making it return towards zero.	93	* making it return towards zero.
94	*/	94	*/
95	#define GYRO_NOISE_MEASUREMENT_DAMPING 5	95	#define GYRO_NOISE_MEASUREMENT_DAMPING 5
96		96
97	#define PITCH 0	97	#define PITCH 0
98	#define ROLL 1	98	#define ROLL 1
99	#define YAW 2	99	#define YAW 2
100	#define Z 2	100	#define Z 2
101	/*	101	/*
102	* The values that this module outputs	102	* The values that this module outputs
103	* These first 2 exported arrays are zero-offset. The "PID" ones are used	103	* These first 2 exported arrays are zero-offset. The "PID" ones are used
104	* in the attitude control as rotation rates. The "ATT" ones are for	104	* in the attitude control as rotation rates. The "ATT" ones are for
105	* integration to angles. For the same axis, the PID and ATT variables	105	* integration to angles. For the same axis, the PID and ATT variables
106	* generally have about the same values. There are just some differences	106	* generally have about the same values. There are just some differences
107	* in filtering, and when a gyro becomes near saturated.	107	* in filtering, and when a gyro becomes near saturated.
108	* Maybe this distinction is not really necessary.	108	* Maybe this distinction is not really necessary.
109	*/	109	*/
110	extern int16_t gyro_PID[2];	110	extern int16_t gyro_PID[2];
111	extern int16_t gyro_ATT[2];	111	extern int16_t gyro_ATT[2];
112	#define GYRO_D_WINDOW_LENGTH 8	112	#define GYRO_D_WINDOW_LENGTH 8
113	extern int16_t gyroD[2];	113	extern int16_t gyroD[2];
114	extern int16_t yawGyro;	114	extern int16_t yawGyro;
115	extern volatile uint16_t ADCycleCount;	-
116	extern int16_t UBat;	115	extern int16_t UBat;
117		116
118	// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.	117	// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.
119	#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))	118	#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))
120		119
121	extern sensorOffset_t gyroOffset;	120	extern sensorOffset_t gyroOffset;
122	extern sensorOffset_t accOffset;	121	extern sensorOffset_t accOffset;
123	extern sensorOffset_t gyroAmplifierOffset;	122	extern sensorOffset_t gyroAmplifierOffset;
124		123
125	/*	124	/*
126	* This is not really for external use - but the ENC-03 gyro modules needs it.	125	* This is not really for external use - but the ENC-03 gyro modules needs it.
127	*/	126	*/
128	//extern volatile int16_t rawGyroSum[3];	127	//extern volatile int16_t rawGyroSum[3];
129		128
130	/*	129	/*
131	* The acceleration values that this module outputs. They are zero based.	130	* The acceleration values that this module outputs. They are zero based.
132	*/	131	*/
133	extern int16_t acc[3];	132	extern int16_t acc[3];
134	extern int16_t filteredAcc[3];	133	extern int16_t filteredAcc[3];
135	// extern volatile int32_t stronglyFilteredAcc[3];	134	// extern volatile int32_t stronglyFilteredAcc[3];
136		135
137	/*	136	/*
138	* Diagnostics: Gyro noise level because of motor vibrations. The variables	137	* Diagnostics: Gyro noise level because of motor vibrations. The variables
139	* only really reflect the noise level when the copter stands still but with	138	* only really reflect the noise level when the copter stands still but with
140	* its motors running.	139	* its motors running.
141	*/	140	*/
142	extern uint16_t gyroNoisePeak[3];	141	extern uint16_t gyroNoisePeak[3];
143	extern uint16_t accNoisePeak[3];	142	extern uint16_t accNoisePeak[3];
144		143
145	/*	144	/*
146	* Air pressure.	145	* Air pressure.
147	* The sensor has a sensitivity of 45 mV/kPa.	146	* The sensor has a sensitivity of 45 mV/kPa.
148	* An approximate p(h) formula is = p(h[m])[kPa] = p_0 - 11.95 * 10^-3 * h	147	* An approximate p(h) formula is = p(h[m])[kPa] = p_0 - 11.95 * 10^-3 * h
149	* p(h[m])[kPa] = 101.3 - 11.95 * 10^-3 * h	148	* p(h[m])[kPa] = 101.3 - 11.95 * 10^-3 * h
150	* 11.95 * 10^-3 * h = 101.3 - p[kPa]	149	* 11.95 * 10^-3 * h = 101.3 - p[kPa]
151	* h = (101.3 - p[kPa])/0.01195	150	* h = (101.3 - p[kPa])/0.01195
152	* That is: dV = -45 mV * 11.95 * 10^-3 dh = -0.53775 mV / m.	151	* That is: dV = -45 mV * 11.95 * 10^-3 dh = -0.53775 mV / m.
153	* That is, with 38.02 * 1.024 / 3 steps per mV: -7 steps / m	152	* That is, with 38.02 * 1.024 / 3 steps per mV: -7 steps / m
154		153
155	Display pressures	154	Display pressures
156	4165 mV-->1084.7	155	4165 mV-->1084.7
157	4090 mV-->1602.4 517.7	156	4090 mV-->1602.4 517.7
158	3877 mV-->3107.8 1503.4	157	3877 mV-->3107.8 1503.4
159		158
160	4165 mV-->1419.1	159	4165 mV-->1419.1
161	3503 mV-->208.1	160	3503 mV-->208.1
162	Diff.: 1211.0	161	Diff.: 1211.0
163		162
164	Calculated Vout = 5V(.009P-0.095) --> 5V .009P = Vout + 5V 0.095 --> P = (Vout + 5V 0.095)/(5V 0.009)	163	Calculated Vout = 5V(.009P-0.095) --> 5V .009P = Vout + 5V 0.095 --> P = (Vout + 5V 0.095)/(5V 0.009)
165	4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m	164	4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m
166	4090 mV = 5V(0.009P-0.095) P = 101.44 kPa h = -11.7m 139.7m	165	4090 mV = 5V(0.009P-0.095) P = 101.44 kPa h = -11.7m 139.7m
167	3877 mV = 5V(0.009P-0.095) P = 96.7 kPa h = 385m 396.7m	166	3877 mV = 5V(0.009P-0.095) P = 96.7 kPa h = 385m 396.7m
168		167
169	4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m	168	4165 mV = 5V(0.009P-0.095) P = 103.11 kPa h = -151.4m
170	3503 mV = 5V(0.009P-0.095) P = 88.4 kPa h = 384m Diff: 1079.5m	169	3503 mV = 5V(0.009P-0.095) P = 88.4 kPa h = 384m Diff: 1079.5m
171	Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V	170	Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V
172	This is OCR2 = 143.15 at 1.5V in --> simple pressure =	171	This is OCR2 = 143.15 at 1.5V in --> simple pressure =
173	*/	172	*/
174		173
175	#define AIRPRESSURE_OVERSAMPLING 14	174	#define AIRPRESSURE_OVERSAMPLING 14
176	#define AIRPRESSURE_FILTER 8	175	#define AIRPRESSURE_FILTER 8
177	// Minimum A/D value before a range change is performed.	176	// Minimum A/D value before a range change is performed.
178	#define MIN_RAWPRESSURE (200 * 2)	177	#define MIN_RAWPRESSURE (200 * 2)
179	// Maximum A/D value before a range change is performed.	178	// Maximum A/D value before a range change is performed.
180	#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)	179	#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)
181		180
182	#define MIN_RANGES_EXTRAPOLATION 15	181	#define MIN_RANGES_EXTRAPOLATION 15
183	#define MAX_RANGES_EXTRAPOLATION 240	182	#define MAX_RANGES_EXTRAPOLATION 240
184		183
185	#define PRESSURE_EXTRAPOLATION_COEFF 25L	184	#define PRESSURE_EXTRAPOLATION_COEFF 25L
186	#define AUTORANGE_WAIT_FACTOR 1	185	#define AUTORANGE_WAIT_FACTOR 1
187		186
188	#define ABS_ALTITUDE_OFFSET 108205	187	#define ABS_ALTITUDE_OFFSET 108205
189		188
190	extern uint16_t simpleAirPressure;	189	extern uint16_t simpleAirPressure;
191	/*	190	/*
192	* At saturation, the filteredAirPressure may actually be (simulated) negative.	191	* At saturation, the filteredAirPressure may actually be (simulated) negative.
193	*/	192	*/
194	extern int32_t filteredAirPressure;	193	extern int32_t filteredAirPressure;
195		194
196	extern int16_t magneticHeading;	195	extern int16_t magneticHeading;
197		196
198	extern uint32_t gyroActivity;	197	extern uint32_t gyroActivity;
199		198
200	/*	199	/*
201	* Flag: Interrupt handler has done all A/D conversion and processing.	200	* Flag: Interrupt handler has done all A/D conversion and processing.
202	*/	201	*/
203	extern volatile uint8_t analogDataReady;	202	extern volatile uint8_t analogDataReady;
204		203
205		204
206	void analog_init(void);	205	void analog_init(void);
207		206
208	/*	207	/*
209	* This is really only for use for the ENC-03 code module, which needs to get the raw value	208	* This is really only for use for the ENC-03 code module, which needs to get the raw value
210	* for its calibration. The raw value should not be used for anything else.	209	* for its calibration. The raw value should not be used for anything else.
211	*/	210	*/
212	uint16_t rawGyroValue(uint8_t axis);	211	uint16_t rawGyroValue(uint8_t axis);
213		212
214	/*	213	/*
215	* Start the conversion cycle. It will stop automatically.	214	* Start the conversion cycle. It will stop automatically.
216	*/	215	*/
217	void startAnalogConversionCycle(void);	216	void startAnalogConversionCycle(void);
218		217
219	/*	218	/*
220	* Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used.	219	* Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used.
221	*/	220	*/
222	void analog_update(void);	221	void analog_update(void);
223		222
224	/*	223	/*
225	* Read gyro and acc.meter calibration from EEPROM.	224	* Read gyro and acc.meter calibration from EEPROM.
226	*/	225	*/
227	void analog_setNeutral(void);	226	void analog_setNeutral(void);
228		227
229	/*	228	/*
230	* Zero-offset gyros and write the calibration data to EEPROM.	229	* Zero-offset gyros and write the calibration data to EEPROM.
231	*/	230	*/
232	void analog_calibrateGyros(void);	231	void analog_calibrateGyros(void);
233		232
234	/*	233	/*
235	* Zero-offset accelerometers and write the calibration data to EEPROM.	234	* Zero-offset accelerometers and write the calibration data to EEPROM.
236	*/	235	*/
237	void analog_calibrateAcc(void);	236	void analog_calibrateAcc(void);
238		237
239		238
240	void analog_setGround(void);	239	void analog_setGround(void);
241		240
242	int32_t analog_getHeight(void);	241	int32_t analog_getHeight(void);
243	int16_t analog_getDHeight(void);	242	int16_t analog_getDHeight(void);
244		243
245	#endif //_ANALOG_H	244	#endif //_ANALOG_H
246		245