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| 2 | #define _ANALOG_H |
2 | #define _ANALOG_H |
| 3 | #include <inttypes.h> |
3 | #include <inttypes.h> |
| Line 4... | Line 4... | ||
| 4 | 4 | ||
| 5 | //#include "invenSense.h" |
5 | //#include "invenSense.h" |
| 6 | //#include "ENC-03_FC1.3.h" |
6 | //#include "ENC-03_FC1.3.h" |
| Line 7... | Line 7... | ||
| 7 | #include "ADXRS610_FC2.0.h" |
7 | //#include "ADXRS610_FC2.0.h" |
| 8 | 8 | ||
| 9 | /* |
9 | /* |
| 10 | * How much low pass filtering to apply for gyro_PID. |
10 | * How much low pass filtering to apply for gyro_PID. |
| Line 179... | Line 179... | ||
| 179 | * Maybe this distinction is not really necessary. |
179 | * Maybe this distinction is not really necessary. |
| 180 | */ |
180 | */ |
| 181 | extern volatile int16_t gyro_PID[2]; |
181 | extern volatile int16_t gyro_PID[2]; |
| 182 | extern volatile int16_t gyro_ATT[2]; |
182 | extern volatile int16_t gyro_ATT[2]; |
| 183 | extern volatile int16_t gyroD[2]; |
183 | extern volatile int16_t gyroD[2]; |
| - | 184 | extern volatile int16_t yawGyro; |
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| Line 184... | Line 185... | ||
| 184 | 185 | ||
| 185 | extern volatile uint16_t ADCycleCount; |
186 | extern volatile uint16_t ADCycleCount; |
| - | 187 | extern volatile int16_t UBat; |
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| 186 | extern volatile int16_t UBat; |
188 | |
| - | 189 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
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| Line 187... | Line 190... | ||
| 187 | extern volatile int16_t yawGyro; |
190 | #define UBAT_AT_5V (int16_t)((5.0 / 3.0) * (1.0/11.0) / (3.0 * 1024)) |
| 188 | 191 | ||
| 189 | /* |
192 | /* |
| 190 | * 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. |
| Line 196... | Line 199... | ||
| 196 | */ |
199 | */ |
| 197 | extern volatile int16_t acc[3]; |
200 | extern volatile int16_t acc[3]; |
| 198 | extern volatile int16_t filteredAcc[2]; |
201 | extern volatile int16_t filteredAcc[2]; |
| Line 199... | Line 202... | ||
| 199 | 202 | ||
| - | 203 | /* |
|
| 200 | /* |
204 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
| - | 205 | * only really reflect the noise level when the copter stands still but with |
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| 201 | * Flag: Interrupt handler has done all A/D conversion and processing. |
206 | * its motors running. |
| 202 | */ |
- | |
| 203 | extern volatile uint8_t analogDataReady; |
- | |
| 204 | - | ||
| 205 | // Diagnostics: Gyro noise level because of motor vibrations. The variables |
- | |
| 206 | // only really reflect the noise level when the copter stands still but with |
- | |
| 207 | // its motors running. |
207 | */ |
| 208 | extern volatile uint16_t gyroNoisePeak[2]; |
208 | extern volatile uint16_t gyroNoisePeak[2]; |
| Line -... | Line 209... | ||
| - | 209 | extern volatile uint16_t accNoisePeak[2]; |
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| - | 210 | ||
| - | 211 | /* |
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| - | 212 | * Air pressure. |
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| - | 213 | * The sensor has a sensitivity of 46 mV/kPa. |
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| - | 214 | * An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 1195 * 10^-6 * h |
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| - | 215 | * |
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| - | 216 | */ |
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| - | 217 | #define AIRPRESSURE_SUMMATION_FACTOR 14 |
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| - | 218 | #define AIRPRESSURE_FILTER 8 |
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| - | 219 | // Minimum A/D value before a range change is performed. |
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| - | 220 | #define MIN_RAWPRESSURE (200 * 2) |
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| - | 221 | // Maximum A/D value before a range change is performed. |
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| - | 222 | #define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE) |
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| - | 223 | ||
| - | 224 | #define MIN_RANGES_EXTRAPOLATION 10 |
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| - | 225 | #define MAX_RANGES_EXTRAPOLATION 250 |
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| - | 226 | ||
| - | 227 | #define PRESSURE_EXTRAPOLATION_COEFF 25L |
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| - | 228 | #define AUTORANGE_WAIT_FACTOR 1 |
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| - | 229 | ||
| - | 230 | extern volatile uint16_t simpleAirPressure; |
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| - | 231 | extern volatile int32_t filteredAirPressure; |
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| - | 232 | /* |
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| - | 233 | * At saturation, the filteredAirPressure may actually be (simulated) negative. |
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| - | 234 | */ |
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| - | 235 | extern volatile int32_t filteredAirPressure; |
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| - | 236 | ||
| - | 237 | /* |
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| 209 | extern volatile uint16_t accNoisePeak[2]; |
238 | * Flag: Interrupt handler has done all A/D conversion and processing. |
| - | 239 | */ |
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| Line 210... | Line 240... | ||
| 210 | 240 | extern volatile uint8_t analogDataReady; |
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| Line 211... | Line 241... | ||
| 211 | // void SearchAirPressureOffset(void); |
241 | |
| 212 | 242 | ||