WebSVN - FlightCtrl - Diff - Rev 2133 and 2142 - /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.
*/
 
/*
 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 16
 
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.
 */
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_calibrate(void);
 
#endif //_ANALOG_H
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/analog.h @ 2156 - Rev 2133 → 2142

Rev 2133		Rev 2142
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