Corrected charger (more current for 2133/2156/2175).
Supposed to include Envelope, TVR, Droop, FM for 2176, 2133, 2175, 2156
UNTESTED: 48V and 12V and CapVoltage is now sent to DSP (as bite)
  humidity reading at 0x48 (72)
  48V reading at 0x50 (74)
  12V reading at 0x51 (75)
  Cap bank V at 0x52 (76).
  
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PLEASE ADD VERSION 15 TESTING EXPERIENCE here
Tested by:
Date:
Observation:


Setup:
   2133 (110kHz) Projector and 2156 (240kHz) Projector in tank
   Hydrophone in tank
   Oscilloscope on hydrophone output

Loaded v15 Firmware for the 2133 and 2156 projectors and used YS2000 7kCenter/GUI software to test varying start and stop chirp frequencies.  Observed expected waveform on oscilloscope for positive and negative FM sweeps on both projectors.  Start/Stop freqs for 2133 were 102.5-117.5kHz.  Start/Stop frequencies for 2156 Projector were 225kHz-255kHz.  


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VERSION 15
Jan 10 2008 AIR
Modified chirp rate to be signed and to make freq<z=freq+chirprate 
work for negative chirprate by extending the sign {bit 15} into the upper 16 bits of the
addition.

VERSION 16
July 2008
Corrected height of 2175 Array.
Introduced a compensation for dead time in the H-bridge in order to extend the linear control range on a fixed SL command with a varying Initial P0 value.
In principle the deadtime of the H-bridge is missing in the output pulse width. The fix here simply adds the dead time to the pulsewidth before it is output to the H-bridge.

As the H bridge not only introduces dead time but also turn on and turn off slopes, control for very low InitialP0 values will never be accurate.
Further more, they will depend on many unspecified H-bridge characteristics of which the gate capatitance is probably the most dominant.