WebSVN - FlightCtrl - Diff - Rev 1612 and 1617 - /branches/dongfang_FC


#ifndef _ANALOG_H
#define _ANALOG_H
#include <inttypes.h>
 
#include "invenSense.h"
// #include "ENC-03_FC1.3.h"
 
 
/*
 * How much low pass filtering to apply for hiResPitchGyro and hiResRollGyro.
 * 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_FIRSTORDERFILTER 2
 
/*
 * How much low pass filtering to apply for filteredHiResPitchGyro and filteredHiResRollGyro.
 * 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_SECONDORDERFILTER 2
 
// Temporarily replaced by userparam-configurable variable.
//#define ACC_FILTER 4
 
/*
  About setting constants right 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 gives a voltage > the no-rotation voltage.
  A gyro is considered, in this code, to be "forward" if its positive
  direction is the same as in FC1.0/1.1/1.2/1.3, and reverse otherwise.
  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:
 
  HiResXXXX = 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:
 
  HiResXXXX = 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: HiResXXXX = I * H * rotation rate [units / (deg/s)].
*/
 
/*
 * A factor that the raw gyro values are multiplied by,
 * before being zero-offset, 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.
 */
#define GYRO_FACTOR_PITCHROLL 4
 
/*
 * 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
 
/*
  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
  HiResXXXX is added to gyroIntegralXXXX.
  Assuming a constant rotation rate v and an initial gyroIntegralXXXX (for this
  explanation), we get:
 
  gyroIntegralXXXX =
    N * HiResXXXX / 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 hiResXXXX 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)
 
/*
 * This value is subtracted from the gyro noise measurement in each iteration,
 * making it return towards zero.
 */
#define GYRO_NOISE_MEASUREMENT_DAMPING 5
 
/*
 * The values that this module outputs
 */
extern volatile int16_t hiResPitchGyro, hiResRollGyro;
extern volatile int16_t filteredHiResPitchGyro, filteredHiResRollGyro;
extern volatile int16_t pitchGyroD, rollGyroD;
extern volatile uint16_t ADCycleCount;
extern volatile int16_t UBat;
extern volatile int16_t yawGyro;
 
/*
 * This is not really for external use - but the ENC-03 gyro modules needs it.
 */
extern volatile int16_t rawPitchGyroSum, rawRollGyroSum, rawYawGyroSum;
 
/*
 * The acceleration values that this module outputs
 */
extern volatile int16_t pitchAxisAcc, rollAxisAcc, ZAxisAcc;
extern volatile int16_t filteredPitchAxisAcc, filteredRollAxisAcc;
 
// Only for debugging! Not to be exported! Remove when finished.
// extern volatile int16_t pitchAxisAccOffset, rollAxisAccOffset, ZAxisAccOffset;
 
// Air pressure measurement not supported right now.
// extern volatile int32_t AirPressure;
// extern volatile int16_t HeightD;
// extern volatile uint16_t ReadingAirPressure;
// extern volatile int16_t StartAirPressure;
// extern uint8_t PressureSensorOffset;
// extern int8_t ExpandBaro;
 
/*
 * Flag: Interrupt handler has done all A/D conversion and processing.
 */
extern volatile uint8_t analogDataReady;
 
// 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 pitchGyroNoisePeak, rollGyroNoisePeak;
extern volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak;
 
// void SearchAirPressureOffset(void);
 
void analog_init(void);
 
// clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit
#define analog_stop() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE)))
 
// set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit
#define analog_start() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE))
 
/*
 * "Warm" calibration: Zero-offset gyros.
 */
void analog_calibrate(void);
 
/*
 * "Cold" calibration: 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 @ 2057 - Rev 1612 → 1617

Rev 1612		Rev 1617
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		4
5	//#include "invenSense.h"	5	#include "invenSense.h"
6	#include "ENC-03_FC1.3.h"	6	// #include "ENC-03_FC1.3.h"
7		7
8		8
9	/*	9	/*
10	* How much low pass filtering to apply for hiResPitchGyro and hiResRollGyro.	10	* How much low pass filtering to apply for hiResPitchGyro and hiResRollGyro.
11	* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...	11	* 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.	12	* Temporarily replaced by userparam-configurable variable.
13	*/	13	*/
14	//#define GYROS_FIRSTORDERFILTER 2	14	//#define GYROS_FIRSTORDERFILTER 2
15		15
16	/*	16	/*
17	* How much low pass filtering to apply for filteredHiResPitchGyro and filteredHiResRollGyro.	17	* How much low pass filtering to apply for filteredHiResPitchGyro and filteredHiResRollGyro.
18	* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...	18	* 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.	19	* Temporarily replaced by userparam-configurable variable.
20	*/	20	*/
21	//#define GYROS_SECONDORDERFILTER 2	21	//#define GYROS_SECONDORDERFILTER 2
22		22
23	// Temporarily replaced by userparam-configurable variable.	23	// Temporarily replaced by userparam-configurable variable.
24	//#define ACC_FILTER 4	24	//#define ACC_FILTER 4
25		25
26	/*	26	/*
27	About setting constants right for different gyros:	27	About setting constants right for different gyros:
28	Main parameters are positive directions and voltage/angular speed gain.	28	Main parameters are positive directions and voltage/angular speed gain.
29	The "Positive direction" is the rotation direction around an axis where	29	The "Positive direction" is the rotation direction around an axis where
30	the corresponding gyro gives a voltage > the no-rotation voltage.	30	the corresponding gyro gives a voltage > the no-rotation voltage.
31	A gyro is considered, in this code, to be "forward" if its positive	31	A gyro is considered, in this code, to be "forward" if its positive
32	direction is the same as in FC1.0/1.1/1.2/1.3, and reverse otherwise.	32	direction is the same as in FC1.0/1.1/1.2/1.3, and reverse otherwise.
33	Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and	33	Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and
34	GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.	34	GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.
35		35
36	Setting gyro gain correctly: All sensor measurements in analog.c take	36	Setting gyro gain correctly: All sensor measurements in analog.c take
37	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
38	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
39	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
40	code.	40	code.
41	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)
42	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
43	to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or	43	to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or
44	roll.	44	roll.
45	So:	45	So:
46		46
47	HiResXXXX = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4),	47	HiResXXXX = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4),
48	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.
49		49
50	Assuming constant ADCValue, in the H&I code:	50	Assuming constant ADCValue, in the H&I code:
51		51
52	HiResXXXX = I * ADCValue.	52	HiResXXXX = I * ADCValue.
53		53
54	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.
55		55
56	The relation between rotation rate and ADCValue:	56	The relation between rotation rate and ADCValue:
57	ADCValue [units] =	57	ADCValue [units] =
58	rotational speed [deg/s] *	58	rotational speed [deg/s] *
59	gyro sensitivity [V / deg/s] *	59	gyro sensitivity [V / deg/s] *
60	amplifier gain [units] *	60	amplifier gain [units] *
61	1024 [units] /	61	1024 [units] /
62	3V full range [V]	62	3V full range [V]
63		63
64	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,
65	for a 1 deg/s change in rotational velocity:	65	for a 1 deg/s change in rotational velocity:
66	H = ADCValue [units] / rotation rate [deg/s] =	66	H = ADCValue [units] / rotation rate [deg/s] =
67	gyro sensitivity [V / deg/s] *	67	gyro sensitivity [V / deg/s] *
68	amplifier gain [units] *	68	amplifier gain [units] *
69	1024 [units] /	69	1024 [units] /
70	3V full range [V]	70	3V full range [V]
71		71
72	Examples:	72	Examples:
73	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:
74	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).
75	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:
76	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).
77	My InvenSense copter has 2mV/deg/s gyros and no amplifiers:	77	My InvenSense copter has 2mV/deg/s gyros and no amplifiers:
78	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)
79	(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
80	rotation rate!)	80	rotation rate!)
81		81
82	All together: HiResXXXX = I * H * rotation rate [units / (deg/s)].	82	All together: HiResXXXX = I * H * rotation rate [units / (deg/s)].
83	*/	83	*/
84		84
85	/*	85	/*
86	* A factor that the raw gyro values are multiplied by,	86	* A factor that the raw gyro values are multiplied by,
87	* before being zero-offset, filtered and passed to the attitude module.	87	* before being zero-offset, filtered and passed to the attitude module.
88	* 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
89	* 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
90	* 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
91	* noticeable). 4 is fine for the default filtering.	91	* noticeable). 4 is fine for the default filtering.
92	*/	92	*/
93	#define GYRO_FACTOR_PITCHROLL 4	93	#define GYRO_FACTOR_PITCHROLL 4
94		94
95	/*	95	/*
96	* How many samples are summed in one ADC loop, for pitch&roll and yaw,	96	* How many samples are summed in one ADC loop, for pitch&roll and yaw,
97	* respectively. This is = the number of occurences of each channel in the	97	* respectively. This is = the number of occurences of each channel in the
98	* channelsForStates array in analog.c.	98	* channelsForStates array in analog.c.
99	*/	99	*/
100	#define GYRO_SUMMATION_FACTOR_PITCHROLL 4	100	#define GYRO_SUMMATION_FACTOR_PITCHROLL 4
101	#define GYRO_SUMMATION_FACTOR_YAW 2	101	#define GYRO_SUMMATION_FACTOR_YAW 2
102		102
103	/*	103	/*
104	Integration:	104	Integration:
105	The HiResXXXX values are divided by 8 (in H&I firmware) before integration.	105	The HiResXXXX values are divided by 8 (in H&I firmware) before integration.
106	In the Killagreg rewrite of the H&I firmware, the factor 8 is called	106	In the Killagreg rewrite of the H&I firmware, the factor 8 is called
107	HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR,	107	HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR,
108	and care has been taken that all other constants (gyro to degree factor, and	108	and care has been taken that all other constants (gyro to degree factor, and
109	180 degree flip-over detection limits) are corrected to it. Because the	109	180 degree flip-over detection limits) are corrected to it. Because the
110	division by the constant takes place in the flight attitude code, the	110	division by the constant takes place in the flight attitude code, the
111	constant is there.	111	constant is there.
112		112
113	The control loop executes every 2ms, and for each iteration	113	The control loop executes every 2ms, and for each iteration
114	HiResXXXX is added to gyroIntegralXXXX.	114	HiResXXXX is added to gyroIntegralXXXX.
115	Assuming a constant rotation rate v and an initial gyroIntegralXXXX (for this	115	Assuming a constant rotation rate v and an initial gyroIntegralXXXX (for this
116	explanation), we get:	116	explanation), we get:
117		117
118	gyroIntegralXXXX =	118	gyroIntegralXXXX =
119	N * HiResXXXX / HIRES_GYRO_INTEGRATION_FACTOR =	119	N * HiResXXXX / HIRES_GYRO_INTEGRATION_FACTOR =
120	N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR	120	N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR
121		121
122	where N is the number of summations; N = t/2ms.	122	where N is the number of summations; N = t/2ms.
123		123
124	For one degree of rotation: t*v = 1:	124	For one degree of rotation: t*v = 1:
125		125
126	gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR.	126	gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR.
127		127
128	This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.	128	This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.
129		129
130	Examples:	130	Examples:
131	FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304	131	FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304
132	FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260	132	FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260
133	My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365	133	My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365
134	*/	134	*/
135		135
136	/*	136	/*
137	* The value of hiResXXXX for one deg/s = The hardware factor H * the number of samples * multiplier factor.	137	* The value of hiResXXXX for one deg/s = The hardware factor H * the number of samples * multiplier factor.
138	* Will be about 10 or so for InvenSense, and about 33 for ADXRS610.	138	* Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
139	*/	139	*/
140	#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)	140	#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)
141	#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)	141	#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)
142		142
143	/*	143	/*
144	* This value is subtracted from the gyro noise measurement in each iteration,	144	* This value is subtracted from the gyro noise measurement in each iteration,
145	* making it return towards zero.	145	* making it return towards zero.
146	*/	146	*/
147	#define GYRO_NOISE_MEASUREMENT_DAMPING 5	147	#define GYRO_NOISE_MEASUREMENT_DAMPING 5
148		148
149	/*	149	/*
150	* The values that this module outputs	150	* The values that this module outputs
151	*/	151	*/
152	extern volatile int16_t hiResPitchGyro, hiResRollGyro;	152	extern volatile int16_t hiResPitchGyro, hiResRollGyro;
153	extern volatile int16_t filteredHiResPitchGyro, filteredHiResRollGyro;	153	extern volatile int16_t filteredHiResPitchGyro, filteredHiResRollGyro;
154	extern volatile int16_t pitchGyroD, rollGyroD;	154	extern volatile int16_t pitchGyroD, rollGyroD;
155	extern volatile uint16_t ADCycleCount;	155	extern volatile uint16_t ADCycleCount;
156	extern volatile int16_t UBat;	156	extern volatile int16_t UBat;
157	extern volatile int16_t yawGyro;	157	extern volatile int16_t yawGyro;
158		158
159	/*	159	/*
160	* This is not really for external use - but the ENC-03 gyro modules needs it.	160	* This is not really for external use - but the ENC-03 gyro modules needs it.
161	*/	161	*/
162	extern volatile int16_t rawPitchGyroSum, rawRollGyroSum, rawYawGyroSum;	162	extern volatile int16_t rawPitchGyroSum, rawRollGyroSum, rawYawGyroSum;
163		163
164	/*	164	/*
165	* The acceleration values that this module outputs	165	* The acceleration values that this module outputs
166	*/	166	*/
167	extern volatile int16_t pitchAxisAcc, rollAxisAcc, ZAxisAcc;	167	extern volatile int16_t pitchAxisAcc, rollAxisAcc, ZAxisAcc;
168	extern volatile int16_t filteredPitchAxisAcc, filteredRollAxisAcc;	168	extern volatile int16_t filteredPitchAxisAcc, filteredRollAxisAcc;
169		169
170	// Only for debugging! Not to be exported! Remove when finished.	170	// Only for debugging! Not to be exported! Remove when finished.
171	// extern volatile int16_t pitchAxisAccOffset, rollAxisAccOffset, ZAxisAccOffset;	171	// extern volatile int16_t pitchAxisAccOffset, rollAxisAccOffset, ZAxisAccOffset;
172		172
173	// Air pressure measurement not supported right now.	173	// Air pressure measurement not supported right now.
174	// extern volatile int32_t AirPressure;	174	// extern volatile int32_t AirPressure;
175	// extern volatile int16_t HeightD;	175	// extern volatile int16_t HeightD;
176	// extern volatile uint16_t ReadingAirPressure;	176	// extern volatile uint16_t ReadingAirPressure;
177	// extern volatile int16_t StartAirPressure;	177	// extern volatile int16_t StartAirPressure;
178	// extern uint8_t PressureSensorOffset;	178	// extern uint8_t PressureSensorOffset;
179	// extern int8_t ExpandBaro;	179	// extern int8_t ExpandBaro;
180		180
181	/*	181	/*
182	* Flag: Interrupt handler has done all A/D conversion and processing.	182	* Flag: Interrupt handler has done all A/D conversion and processing.
183	*/	183	*/
184	extern volatile uint8_t analogDataReady;	184	extern volatile uint8_t analogDataReady;
185		185
186	// Diagnostics: Gyro noise level because of motor vibrations. The variables	186	// Diagnostics: Gyro noise level because of motor vibrations. The variables
187	// only really reflect the noise level when the copter stands still but with	187	// only really reflect the noise level when the copter stands still but with
188	// its motors running.	188	// its motors running.
189	extern volatile uint16_t pitchGyroNoisePeak, rollGyroNoisePeak;	189	extern volatile uint16_t pitchGyroNoisePeak, rollGyroNoisePeak;
190	extern volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak;	190	extern volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak;
191		191
192	// void SearchAirPressureOffset(void);	192	// void SearchAirPressureOffset(void);
193		193
194	void analog_init(void);	194	void analog_init(void);
195		195
196	// clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit	196	// clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit
197	#define analog_stop() (ADCSRA &= ~((1<<ADEN)\|(1<<ADSC)\|(1<<ADIE)))	197	#define analog_stop() (ADCSRA &= ~((1<<ADEN)\|(1<<ADSC)\|(1<<ADIE)))
198		198
199	// set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit	199	// set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit
200	#define analog_start() (ADCSRA \|= (1<<ADEN)\|(1<<ADSC)\|(1<<ADIE))	200	#define analog_start() (ADCSRA \|= (1<<ADEN)\|(1<<ADSC)\|(1<<ADIE))
201		201
202	/*	202	/*
203	* "Warm" calibration: Zero-offset gyros.	203	* "Warm" calibration: Zero-offset gyros.
204	*/	204	*/
205	void analog_calibrate(void);	205	void analog_calibrate(void);
206		206
207	/*	207	/*
208	* "Cold" calibration: Zero-offset accelerometers and write the calibration data to EEPROM.	208	* "Cold" calibration: Zero-offset accelerometers and write the calibration data to EEPROM.
209	*/	209	*/
210	void analog_calibrateAcc(void);	210	void analog_calibrateAcc(void);
211	#endif //_ANALOG_H	211	#endif //_ANALOG_H
212		212