WebSVN - FlightCtrl - Diff - Rev 1964 and 1965 - /branches/dongfang_FC


#ifndef _ANALOG_H
#define _ANALOG_H
#include <inttypes.h>
 
#include "configuration.h"
 
 
 
/*
 * How much low pass filtering to apply for gyro_PID.
 * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
 * Temporarily replaced by userparam-configurable variable.
 */
// #define GYROS_PID_FILTER 1
 
/*
 * How much low pass filtering to apply for gyro_ATT.
 * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
 * Temporarily replaced by userparam-configurable variable.
 */
// #define GYROS_ATT_FILTER 1
 
// Temporarily replaced by userparam-configurable variable.
// #define ACC_FILTER 4
 
/*
 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.
 Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and
 GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.
 
 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 ones, and the results added. The pitch and roll gyros
 are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74
 code.
 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.
 So:
 
 gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4),
 where V is 2 for FC1.0 and 4 for all others.
 
 Assuming constant ADCValue, in the H&I code:
 
 gyro = I * ADCValue.
 
 where I is 8 for FC1.0 and 16 for all others.
 
 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]
 
 or: H is the number of steps the ADC value changes with,
 for a 1 deg/s change in rotational velocity:
 H = ADCValue [units] / rotation rate [deg/s] =
 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:
 H = 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:
 H = 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:
 H = 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!)
 
 All together: gyro = I * H * rotation rate [units / (deg/s)].
 */
 
/*
 * A factor that the raw gyro values are multiplied by,
 * before being filtered and passed to the attitude module.
 * A value of 1 would cause a little bit of loss of precision in the
 * filtering (on the other hand the values are so noisy in flight that
 * it will not really matter - but when testing on the desk it might be
 * noticeable). 4 is fine for the default filtering.
 * Experiment: Set it to 1.
 */
#define GYRO_FACTOR_PITCHROLL 1
 
/*
 * How many samples are summed 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_SUMMATION_FACTOR_PITCHROLL 4
#define GYRO_SUMMATION_FACTOR_YAW 2
 
#define ACC_SUMMATION_FACTOR_PITCHROLL 2
#define ACC_SUMMATION_FACTOR_Z 1
 
/*
 Integration:
 The HiResXXXX values are divided by 8 (in H&I firmware) before integration.
 In the Killagreg rewrite of the H&I firmware, the factor 8 is called
 HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR,
 and care has been taken that all other constants (gyro to degree factor, and
 180 degree flip-over detection limits) are corrected to it. Because the
 division by the constant takes place in the flight attitude code, the
 constant is there.
 
 The control loop executes every 2ms, and for each iteration
 gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL].
 Assuming a constant rotation rate v and a zero initial gyroIntegral
 (for this explanation), we get:
 
 gyroIntegral =
 N * gyro / HIRES_GYRO_INTEGRATION_FACTOR =
 N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR
 
 where N is the number of summations; N = t/2ms.
 
 For one degree of rotation: t*v = 1:
 
 gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR.
 
 This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.
 
 Examples:
 FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304
 FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260
 My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365
 */
 
/*
 * 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.
 */
#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)
#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)
 
/*
 * 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_SUMMATION_FACTOR_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 volatile int16_t gyro_PID[2];
extern volatile int16_t gyro_ATT[2];
extern volatile int16_t gyroD[2];
extern volatile int16_t yawGyro;
extern volatile uint16_t ADCycleCount;
extern volatile 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 volatile sensorOffset_t gyroOffset;
extern volatile sensorOffset_t accOffset;
extern volatile sensorOffset_t DACValues;
 
/*
 * 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 volatile int16_t acc[3];
extern volatile int16_t filteredAcc[2];
// 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 volatile uint16_t gyroNoisePeak[2];
extern volatile uint16_t accNoisePeak[2];
 
/*
 * Air pressure.
 * The sensor has a sensitivity of 45 mV/kPa.
 * An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 11.95 * 10^-3 * h
 * That is: dV = 45 mV * 11.95 * 10^-3 dh = 0.53775 mV / m.
 * That is, with 1.024 / 3 steps per mV: 0.183552 steps / m
 */
#define AIRPRESSURE_SUMMATION_FACTOR 54
#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
 
extern volatile uint16_t simpleAirPressure;
/*
 * At saturation, the filteredAirPressure may actually be (simulated) negative.
 */
extern volatile int32_t filteredAirPressure;
 
/*
 * Flag: Interrupt handler has done all A/D conversion and processing.
 */
extern volatile uint8_t analogDataReady;
 
void analog_init(void);
 
/*
 * 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);
#endif //_ANALOG_H
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.h - Rev 1964 → 1965

Rev 1964		Rev 1965
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		-
5	//#include "invenSense.h"	4	#include "configuration.h"
6	//#include "ENC-03_FC1.3.h"	-
7	//#include "ADXRS610_FC2.0.h"	-
8		5
9	/*	6	/*
10	* How much low pass filtering to apply for gyro_PID.	7	* How much low pass filtering to apply for gyro_PID.
11	* 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...
12	* Temporarily replaced by userparam-configurable variable.	9	* Temporarily replaced by userparam-configurable variable.
13	*/	10	*/
14	// #define GYROS_PID_FILTER 1	11	// #define GYROS_PID_FILTER 1
15		12
16	/*	13	/*
17	* How much low pass filtering to apply for gyro_ATT.	14	* How much low pass filtering to apply for gyro_ATT.
18	* 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...
19	* Temporarily replaced by userparam-configurable variable.	16	* Temporarily replaced by userparam-configurable variable.
20	*/	17	*/
21	// #define GYROS_ATT_FILTER 1	18	// #define GYROS_ATT_FILTER 1
22		19
23	// Temporarily replaced by userparam-configurable variable.	20	// Temporarily replaced by userparam-configurable variable.
24	// #define ACC_FILTER 4	21	// #define ACC_FILTER 4
25		22
26	/*	23	/*
27	About setting constants for different gyros:	24	About setting constants for different gyros:
28	Main parameters are positive directions and voltage/angular speed gain.	25	Main parameters are positive directions and voltage/angular speed gain.
29	The "Positive direction" is the rotation direction around an axis where	26	The "Positive direction" is the rotation direction around an axis where
30	the corresponding gyro outputs a voltage > the no-rotation voltage.	27	the corresponding gyro outputs a voltage > the no-rotation voltage.
31	A gyro is considered, in this code, to be "forward" if its positive	28	A gyro is considered, in this code, to be "forward" if its positive
32	direction is:	29	direction is:
33	- Nose down for pitch	30	- Nose down for pitch
34	- Left hand side down for roll	31	- Left hand side down for roll
35	- Clockwise seen from above for yaw.	32	- Clockwise seen from above for yaw.
36	Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and	33	Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and
37	GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.	34	GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.
38		35
39	Setting gyro gain correctly: All sensor measurements in analog.c take	36	Setting gyro gain correctly: All sensor measurements in analog.c take
40	place in a cycle, each cycle comprising all sensors. Some sensors are	37	place in a cycle, each cycle comprising all sensors. Some sensors are
41	sampled more than ones, and the results added. The pitch and roll gyros	38	sampled more than ones, and the results added. The pitch and roll gyros
42	are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74	39	are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74
43	code.	40	code.
44	In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0)	41	In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0)
45	or 4 (other versions), offset to zero, low pass filtered and then assigned	42	or 4 (other versions), offset to zero, low pass filtered and then assigned
46	to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or	43	to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or
47	roll.	44	roll.
48	So:	45	So:
49		46
50	gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4),	47	gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4),
51	where V is 2 for FC1.0 and 4 for all others.	48	where V is 2 for FC1.0 and 4 for all others.
52		49
53	Assuming constant ADCValue, in the H&I code:	50	Assuming constant ADCValue, in the H&I code:
54		51
55	gyro = I * ADCValue.	52	gyro = I * ADCValue.
56		53
57	where I is 8 for FC1.0 and 16 for all others.	54	where I is 8 for FC1.0 and 16 for all others.
58		55
59	The relation between rotation rate and ADCValue:	56	The relation between rotation rate and ADCValue:
60	ADCValue [units] =	57	ADCValue [units] =
61	rotational speed [deg/s] *	58	rotational speed [deg/s] *
62	gyro sensitivity [V / deg/s] *	59	gyro sensitivity [V / deg/s] *
63	amplifier gain [units] *	60	amplifier gain [units] *
64	1024 [units] /	61	1024 [units] /
65	3V full range [V]	62	3V full range [V]
66		63
67	or: H is the number of steps the ADC value changes with,	64	or: H is the number of steps the ADC value changes with,
68	for a 1 deg/s change in rotational velocity:	65	for a 1 deg/s change in rotational velocity:
69	H = ADCValue [units] / rotation rate [deg/s] =	66	H = ADCValue [units] / rotation rate [deg/s] =
70	gyro sensitivity [V / deg/s] *	67	gyro sensitivity [V / deg/s] *
71	amplifier gain [units] *	68	amplifier gain [units] *
72	1024 [units] /	69	1024 [units] /
73	3V full range [V]	70	3V full range [V]
74		71
75	Examples:	72	Examples:
76	FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7:	73	FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7:
77	H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s).	74	H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s).
78	FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers:	75	FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers:
79	H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s).	76	H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s).
80	My InvenSense copter has 2mV/deg/s gyros and no amplifiers:	77	My InvenSense copter has 2mV/deg/s gyros and no amplifiers:
81	H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)	78	H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)
82	(only about half as sensitive as V1.3. But it will take about twice the	79	(only about half as sensitive as V1.3. But it will take about twice the
83	rotation rate!)	80	rotation rate!)
84		81
85	All together: gyro = I * H * rotation rate [units / (deg/s)].	82	All together: gyro = I * H * rotation rate [units / (deg/s)].
86	*/	83	*/
87		84
88	/*	85	/*
89	* A factor that the raw gyro values are multiplied by,	86	* A factor that the raw gyro values are multiplied by,
90	* before being filtered and passed to the attitude module.	87	* before being filtered and passed to the attitude module.
91	* A value of 1 would cause a little bit of loss of precision in the	88	* A value of 1 would cause a little bit of loss of precision in the
92	* filtering (on the other hand the values are so noisy in flight that	89	* filtering (on the other hand the values are so noisy in flight that
93	* it will not really matter - but when testing on the desk it might be	90	* it will not really matter - but when testing on the desk it might be
94	* noticeable). 4 is fine for the default filtering.	91	* noticeable). 4 is fine for the default filtering.
95	* Experiment: Set it to 1.	92	* Experiment: Set it to 1.
96	*/	93	*/
97	#define GYRO_FACTOR_PITCHROLL 1	94	#define GYRO_FACTOR_PITCHROLL 1
98		95
99	/*	96	/*
100	* How many samples are summed in one ADC loop, for pitch&roll and yaw,	97	* How many samples are summed in one ADC loop, for pitch&roll and yaw,
101	* respectively. This is = the number of occurences of each channel in the	98	* respectively. This is = the number of occurences of each channel in the
102	* channelsForStates array in analog.c.	99	* channelsForStates array in analog.c.
103	*/	100	*/
104	#define GYRO_SUMMATION_FACTOR_PITCHROLL 4	101	#define GYRO_SUMMATION_FACTOR_PITCHROLL 4
105	#define GYRO_SUMMATION_FACTOR_YAW 2	102	#define GYRO_SUMMATION_FACTOR_YAW 2
106		103
107	#define ACC_SUMMATION_FACTOR_PITCHROLL 2	104	#define ACC_SUMMATION_FACTOR_PITCHROLL 2
108	#define ACC_SUMMATION_FACTOR_Z 1	105	#define ACC_SUMMATION_FACTOR_Z 1
109		106
110	/*	107	/*
111	Integration:	108	Integration:
112	The HiResXXXX values are divided by 8 (in H&I firmware) before integration.	109	The HiResXXXX values are divided by 8 (in H&I firmware) before integration.
113	In the Killagreg rewrite of the H&I firmware, the factor 8 is called	110	In the Killagreg rewrite of the H&I firmware, the factor 8 is called
114	HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR,	111	HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR,
115	and care has been taken that all other constants (gyro to degree factor, and	112	and care has been taken that all other constants (gyro to degree factor, and
116	180 degree flip-over detection limits) are corrected to it. Because the	113	180 degree flip-over detection limits) are corrected to it. Because the
117	division by the constant takes place in the flight attitude code, the	114	division by the constant takes place in the flight attitude code, the
118	constant is there.	115	constant is there.
119		116
120	The control loop executes every 2ms, and for each iteration	117	The control loop executes every 2ms, and for each iteration
121	gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL].	118	gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL].
122	Assuming a constant rotation rate v and a zero initial gyroIntegral	119	Assuming a constant rotation rate v and a zero initial gyroIntegral
123	(for this explanation), we get:	120	(for this explanation), we get:
124		121
125	gyroIntegral =	122	gyroIntegral =
126	N * gyro / HIRES_GYRO_INTEGRATION_FACTOR =	123	N * gyro / HIRES_GYRO_INTEGRATION_FACTOR =
127	N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR	124	N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR
128		125
129	where N is the number of summations; N = t/2ms.	126	where N is the number of summations; N = t/2ms.
130		127
131	For one degree of rotation: t*v = 1:	128	For one degree of rotation: t*v = 1:
132		129
133	gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR.	130	gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR.
134		131
135	This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.	132	This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.
136		133
137	Examples:	134	Examples:
138	FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304	135	FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304
139	FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260	136	FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260
140	My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365	137	My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365
141	*/	138	*/
142		139
143	/*	140	/*
144	* The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.	141	* The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.
145	* Will be about 10 or so for InvenSense, and about 33 for ADXRS610.	142	* Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
146	*/	143	*/
147	#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)	144	#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)
148	#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)	145	#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)
149		146
150	/*	147	/*
151	* Gyro saturation prevention.	148	* Gyro saturation prevention.
152	*/	149	*/
153	// How far from the end of its range a gyro is considered near-saturated.	150	// How far from the end of its range a gyro is considered near-saturated.
154	#define SENSOR_MIN_PITCHROLL 32	151	#define SENSOR_MIN_PITCHROLL 32
155	// Other end of the range (calculated)	152	// Other end of the range (calculated)
156	#define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)	153	#define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)
157	// Max. boost to add "virtually" to gyro signal at total saturation.	154	// Max. boost to add "virtually" to gyro signal at total saturation.
158	#define EXTRAPOLATION_LIMIT 2500	155	#define EXTRAPOLATION_LIMIT 2500
159	// Slope of the boost (calculated)	156	// Slope of the boost (calculated)
160	#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL)	157	#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL)
161		158
162	/*	159	/*
163	* This value is subtracted from the gyro noise measurement in each iteration,	160	* This value is subtracted from the gyro noise measurement in each iteration,
164	* making it return towards zero.	161	* making it return towards zero.
165	*/	162	*/
166	#define GYRO_NOISE_MEASUREMENT_DAMPING 5	163	#define GYRO_NOISE_MEASUREMENT_DAMPING 5
167		164
168	#define PITCH 0	165	#define PITCH 0
169	#define ROLL 1	166	#define ROLL 1
170	#define YAW 2	167	#define YAW 2
171	#define Z 2	168	#define Z 2
172	/*	169	/*
173	* The values that this module outputs	170	* The values that this module outputs
174	* These first 2 exported arrays are zero-offset. The "PID" ones are used	171	* These first 2 exported arrays are zero-offset. The "PID" ones are used
175	* in the attitude control as rotation rates. The "ATT" ones are for	172	* in the attitude control as rotation rates. The "ATT" ones are for
176	* integration to angles. For the same axis, the PID and ATT variables	173	* integration to angles. For the same axis, the PID and ATT variables
177	* generally have about the same values. There are just some differences	174	* generally have about the same values. There are just some differences
178	* in filtering, and when a gyro becomes near saturated.	175	* in filtering, and when a gyro becomes near saturated.
179	* Maybe this distinction is not really necessary.	176	* Maybe this distinction is not really necessary.
180	*/	177	*/
181	extern volatile int16_t gyro_PID[2];	178	extern volatile int16_t gyro_PID[2];
182	extern volatile int16_t gyro_ATT[2];	179	extern volatile int16_t gyro_ATT[2];
183	extern volatile int16_t gyroD[2];	180	extern volatile int16_t gyroD[2];
184	extern volatile int16_t yawGyro;	181	extern volatile int16_t yawGyro;
185	extern volatile uint16_t ADCycleCount;	182	extern volatile uint16_t ADCycleCount;
186	extern volatile int16_t UBat;	183	extern volatile int16_t UBat;
187		184
188	// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.	185	// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.
189	#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))	186	#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))
190		-
191	typedef struct {	-
192	int16_t offsets[3];	187
193	} sensorOffset_t;	-
194		188	extern volatile sensorOffset_t gyroOffset;
195	extern sensorOffset_t gyroOffset;	189	extern volatile sensorOffset_t accOffset;
196	extern sensorOffset_t accOffset;	190	extern volatile sensorOffset_t DACValues;
197		191
198	/*	192	/*
199	* This is not really for external use - but the ENC-03 gyro modules needs it.	193	* This is not really for external use - but the ENC-03 gyro modules needs it.
200	*/	194	*/
201	extern volatile int16_t rawGyroSum[3];	195	extern volatile int16_t rawGyroSum[3];
202		196
203	/*	197	/*
204	* The acceleration values that this module outputs. They are zero based.	198	* The acceleration values that this module outputs. They are zero based.
205	*/	199	*/
206	extern volatile int16_t acc[3];	200	extern volatile int16_t acc[3];
207	extern volatile int16_t filteredAcc[2];	201	extern volatile int16_t filteredAcc[2];
208	// extern volatile int32_t stronglyFilteredAcc[3];	202	// extern volatile int32_t stronglyFilteredAcc[3];
209		203
210	/*	204	/*
211	* Diagnostics: Gyro noise level because of motor vibrations. The variables	205	* Diagnostics: Gyro noise level because of motor vibrations. The variables
212	* only really reflect the noise level when the copter stands still but with	206	* only really reflect the noise level when the copter stands still but with
213	* its motors running.	207	* its motors running.
214	*/	208	*/
215	extern volatile uint16_t gyroNoisePeak[2];	209	extern volatile uint16_t gyroNoisePeak[2];
216	extern volatile uint16_t accNoisePeak[2];	210	extern volatile uint16_t accNoisePeak[2];
217		211
218	/*	212	/*
219	* Air pressure.	213	* Air pressure.
220	* The sensor has a sensitivity of 45 mV/kPa.	214	* The sensor has a sensitivity of 45 mV/kPa.
221	* An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 11.95 * 10^-3 * h	215	* An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 11.95 * 10^-3 * h
222	* That is: dV = 45 mV * 11.95 * 10^-3 dh = 0.53775 mV / m.	216	* That is: dV = 45 mV * 11.95 * 10^-3 dh = 0.53775 mV / m.
223	* That is, with 1.024 / 3 steps per mV: 0.183552 steps / m	217	* That is, with 1.024 / 3 steps per mV: 0.183552 steps / m
224	*/	218	*/
225	#define AIRPRESSURE_SUMMATION_FACTOR 54	219	#define AIRPRESSURE_SUMMATION_FACTOR 54
226	#define AIRPRESSURE_FILTER 8	220	#define AIRPRESSURE_FILTER 8
227	// Minimum A/D value before a range change is performed.	221	// Minimum A/D value before a range change is performed.
228	#define MIN_RAWPRESSURE (200 * 2)	222	#define MIN_RAWPRESSURE (200 * 2)
229	// Maximum A/D value before a range change is performed.	223	// Maximum A/D value before a range change is performed.
230	#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)	224	#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)
231		225
232	#define MIN_RANGES_EXTRAPOLATION 15	226	#define MIN_RANGES_EXTRAPOLATION 15
233	#define MAX_RANGES_EXTRAPOLATION 240	227	#define MAX_RANGES_EXTRAPOLATION 240
234		228
235	#define PRESSURE_EXTRAPOLATION_COEFF 25L	229	#define PRESSURE_EXTRAPOLATION_COEFF 25L
236	#define AUTORANGE_WAIT_FACTOR 1	230	#define AUTORANGE_WAIT_FACTOR 1
237		231
238	extern volatile uint16_t simpleAirPressure;	232	extern volatile uint16_t simpleAirPressure;
239	/*	233	/*
240	* At saturation, the filteredAirPressure may actually be (simulated) negative.	234	* At saturation, the filteredAirPressure may actually be (simulated) negative.
241	*/	235	*/
242	extern volatile int32_t filteredAirPressure;	236	extern volatile int32_t filteredAirPressure;
243		237
244	/*	238	/*
245	* Flag: Interrupt handler has done all A/D conversion and processing.	239	* Flag: Interrupt handler has done all A/D conversion and processing.
246	*/	240	*/
247	extern volatile uint8_t analogDataReady;	241	extern volatile uint8_t analogDataReady;
248		242
249	void analog_init(void);	243	void analog_init(void);
250		244
251	/*	245	/*
252	* Start the conversion cycle. It will stop automatically.	246	* Start the conversion cycle. It will stop automatically.
253	*/	247	*/
254	void startAnalogConversionCycle(void);	248	void startAnalogConversionCycle(void);
255		249
256	/*	250	/*
257	* Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used.	251	* Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used.
258	*/	252	*/
259	void analog_update(void);	253	void analog_update(void);
260		254
261	/*	255	/*
262	* Read gyro and acc.meter calibration from EEPROM.	256	* Read gyro and acc.meter calibration from EEPROM.
263	*/	257	*/
264	void analog_setNeutral(void);	258	void analog_setNeutral(void);
265		259
266	/*	260	/*
267	* Zero-offset gyros and write the calibration data to EEPROM.	261	* Zero-offset gyros and write the calibration data to EEPROM.
268	*/	262	*/
269	void analog_calibrateGyros(void);	263	void analog_calibrateGyros(void);
270		264
271	/*	265	/*
272	* Zero-offset accelerometers and write the calibration data to EEPROM.	266	* Zero-offset accelerometers and write the calibration data to EEPROM.
273	*/	267	*/
274	void analog_calibrateAcc(void);	268	void analog_calibrateAcc(void);
275	#endif //_ANALOG_H	269	#endif //_ANALOG_H
276		270