I have a few questions again..
In adc.c, I notice that you divide the accumulated readings, to once again have a value that's between 0 and 1024:
Code:
for(i=0; i < num_adc_channels; i++)
{
adc_result[i] = (long)(accum[i] >> adc_result_divisor);
}
But in gyro.c I notice you are factoring in ADC_RANGE in your calculations:
Code:
// Return the calculated gyro angle to the caller.
return(((gyro_angle * GYRO_SENSITIVITY * 5L) / (ADC_RANGE * ADC_UPDATE_RATE * 2L)) * GYRO_CAL_FACTOR);
I guess I'm just a bit confused as to what is happening here. Is there a bit of math that I didn't think about?
I have it set right now to sample four channels at 3200Hz, and to collect 16 samples before an update. This sets ADC_RANGE to 4096 and ADC_UPDATE_RATE to 3200/(16 * 4), which is 50Hz. So the ADC_RANGE seems out of place. Is the down shift of the accumulator in adc.c not supposed to be there, or is it doing something other than what I think it is?