Rev 2097 |
Blame |
Compare with Previous |
Last modification |
View Log
| RSS feed
#ifndef _ANALOG_H
#define _ANALOG_H
#include <inttypes.h>
#include "configuration.h"
#include "Vector3.h"
/*
GYRO_HW_FACTOR is the relation between rotation rate and ADCValue:
ADCValue [units] =
rotational speed [rad/s] *
gyro sensitivity [V/rad/s] *
amplifier gain [units] *
1024 [units] /
3V full range [V]
GYRO_HW_FACTOR is:
gyro sensitivity [V/rad/s] *
amplifier gain [units] *
1024 [units] /
3V full range [V]
Examples:
FC1.3 has 38.39 mV/rad/s gyros and amplifiers with a gain of 5.7:
GYRO_HW_FACTOR = 0.03839 V/deg/s*5.7*1024/3V = 74.688 units/rad/s.
FC2.0 has 6*(3/5) mV/rad/s gyros (they are ratiometric) and no amplifiers:
GYRO_HW_FACTOR = 0.006 V/rad/s*1*1024*3V/5V/3V = 70.405 units/(rad/s).
My InvenSense copter has 2mV/deg/s gyros and no amplifiers:
GYRO_HW_FACTOR = 0.002 V/rad/s*1*1024/3V = 39.1139 units/(rad/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.
*/
#define ACCEL_HW_FACTOR 204.8f
// If defined, acceleration is scaled to m/s^2. Else it is scaled to g's.
#define USE_MSSQUARED 1
/*
* 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_XY 8
#define GYRO_RATE_FACTOR_XY (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_XY * GYRO_XY_CORRECTION)
#define GYRO_RATE_FACTOR_XY_MS (GYRO_RATE_FACTOR_XY * 1000.0)
#define GYRO_OVERSAMPLING_Z 4
#define GYRO_RATE_FACTOR_Z (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_Z * GYRO_Z_CORRECTION)
#define GYRO_RATE_FACTOR_Z_MS (GYRO_RATE_FACTOR_Z * 1000.0)
#define ACCEL_OVERSAMPLING_XY 4
#define ACCEL_G_FACTOR_XY (ACCEL_HW_FACTOR * ACCEL_OVERSAMPLING_XY)
#define ACCEL_M_SSQUARED_FACTOR_XY (ACCEL_G_FACTOR_XY / 9.82f)
#define ACCEL_OVERSAMPLING_Z 2
// number of counts per g
#define ACCEL_G_FACTOR_Z (ACCEL_HW_FACTOR * ACCEL_OVERSAMPLING_Z)
// number of counts per m/s^2
#define ACCEL_M_SSQUARED_FACTOR_Z (ACCEL_G_FACTOR_Z / 9.82f)
#ifdef USE_MSSQUARED
#define ACCEL_FACTOR_XY ACCEL_M_SSQUARED_FACTOR_XY
#define ACCEL_FACTOR_Z ACCEL_M_SSQUARED_FACTOR_Z
#else
#define ACCEL_FACTOR_XY ACCEL_G_FACTOR_XY
#define ACCEL_FACTOR_Z ACCEL_G_FACTOR_Z
#endif
/*
* Gyro saturation prevention.
*/
// How far from the end of its range a gyro is considered near-saturated.
#define SENSOR_MIN_XY (32 * GYRO_OVERSAMPLING_XY)
// Other end of the range (calculated)
#define SENSOR_MAX_XY (GYRO_OVERSAMPLING_XY * 1023 - SENSOR_MIN_XY)
// 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_XY)
#define X 0
#define Y 1
#define Z 2
// ADC channels
#define AD_GYRO_Z 0
#define AD_GYRO_X 1
#define AD_GYRO_Y 2
#define AD_AIRPRESSURE 3
#define AD_UBAT 4
#define AD_ACCEL_Z 5
#define AD_ACCEL_Y 6
#define AD_ACCEL_X 7
/*
* 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 Vector3f gyro_attitude;
/*
* The acceleration values that this module outputs. They are zero based.
*/
extern Vector3f accel;
#define GYRO_D_WINDOW_LENGTH 8
extern int16_t gyro_control[3];
extern int16_t gyroD[2];
extern 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 sensorOffset_t gyroOffset;
extern sensorOffset_t accelOffset;
extern sensorOffset_t gyroAmplifierOffset;
typedef enum {
CONTROL_SENSOR_SAMPLING_DATA,
CONTROL_SENSOR_DATA_READY,
} ControlSensorDataStatus;
typedef enum {
ATTITUDE_SENSOR_NO_DATA,
ATTITUDE_SENSOR_DATA_READY,
ATTITUDE_SENSOR_READING_DATA
} AttitudeSensorDataStatus;
extern volatile uint8_t analog_controlDataStatus;
extern volatile uint8_t analog_attitudeDataStatus;
/*
* 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_OVERSAMPLING 28
#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
#define ABS_ALTITUDE_OFFSET 108205
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 gyroValueForFC13DACCalibration(uint8_t axis);
/*
* Start the conversion cycle. It will stop automatically.
*/
void startADCCycle(void);
void waitADCCycle(uint16_t delay);
/*
*/
void analog_updateControlData(void);
void analog_sumAttitudeData(void);
void analog_updateAttitudeData(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);
void analog_setGround(void);
int32_t analog_getHeight(void);
int16_t analog_getDHeight(void);
#endif //_ANALOG_H