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| Rev 2112 | Rev 2160 | ||
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| 304 | // do not restart ADC converter. |
304 | // do not restart ADC converter. |
| 305 | } |
305 | } |
| 306 | } |
306 | } |
| Line 307... | Line 307... | ||
| 307 | 307 | ||
| - | 308 | void measureGyroActivity(int16_t newValue) { |
|
| 308 | void measureGyroActivity(int16_t newValue) { |
309 | gyroActivity += newValue * newValue; |
| 309 | gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
310 | // abs(newValue); // (uint32_t)((int32_t)newValue * newValue); |
| Line 310... | Line 311... | ||
| 310 | } |
311 | } |
| 311 | 312 | ||
| 312 | #define GADAMPING 6 |
313 | #define GADAMPING 6 |
| - | 314 | void dampenGyroActivity(void) { |
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| 313 | void dampenGyroActivity(void) { |
315 | static uint8_t cnt = 0; |
| 314 | static uint8_t cnt = 0; |
316 | |
| 315 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
317 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
| 316 | cnt = 0; |
318 | cnt = 0; |
| 317 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
319 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
| - | 320 | gyroActivity >>= GADAMPING; |
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| - | 321 | } |
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| - | 322 | ||
| - | 323 | /* |
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| - | 324 | if (gyroActivity >= 10) gyroActivity -= 10; |
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| 318 | gyroActivity >>= GADAMPING; |
325 | else if (gyroActivity <=- 10) gyroActivity += 10; |
| Line 319... | Line 326... | ||
| 319 | } |
326 | */ |
| 320 | } |
327 | } |
| 321 | 328 | ||
| Line 467... | Line 474... | ||
| 467 | } |
474 | } |
| 468 | } |
475 | } |
| Line 469... | Line 476... | ||
| 469 | 476 | ||
| 470 | // Even if the sample is off-range, use it. |
477 | // Even if the sample is off-range, use it. |
| 471 | simpleAirPressure = getSimplePressure(rawAirPressure); |
478 | simpleAirPressure = getSimplePressure(rawAirPressure); |
| 472 | debugOut.analog[6] = rawAirPressure; |
479 | // debugOut.analog[6] = rawAirPressure; |
| Line 473... | Line 480... | ||
| 473 | debugOut.analog[7] = simpleAirPressure; |
480 | // debugOut.analog[7] = simpleAirPressure; |
| 474 | 481 | ||
| 475 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
482 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
| 476 | // Danger: pressure near lower end of range. If the measurement saturates, the |
483 | // Danger: pressure near lower end of range. If the measurement saturates, the |