Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

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// + www.MikroKopter.com

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#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/pgmspace.h>

#include "analog.h"

#include "sensors.h"

// for Delay functions

#include "timer0.h"

// For DebugOut

#include "uart0.h"

// For reading and writing acc. meter offsets.

#include "eeprom.h"

// For DebugOut.Digital

#include "output.h"

/*

 * For each A/D conversion cycle, each analog channel is sampled a number of times

 * (see array channelsForStates), and the results for each channel are summed.

 * Here are those for the gyros and the acc. meters. They are not zero-offset.

 * They are exported in the analog.h file - but please do not use them! The only

 * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating

 * the offsets with the DAC.

 */

volatile int16_t rawGyroSum[3];

volatile int16_t acc[3];

volatile int16_t filteredAcc[2] = { 0, 0 };

/*

 * These 4 exported variables are zero-offset. The "PID" ones are used

 * in the attitude control as rotation rates. The "ATT" ones are for

 * integration to angles.

 */

volatile int16_t gyro_PID[2];

volatile int16_t gyro_ATT[2];

volatile int16_t gyroD[2];

volatile int16_t yawGyro;

/*

 * Offset values. These are the raw gyro and acc. meter sums when the copter is

 * standing still. They are used for adjusting the gyro and acc. meter values

 * to be centered on zero.

 */

volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512

                * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW };

volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512

                * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z };

/*

 * This allows some experimentation with the gyro filters.

 * Should be replaced by #define's later on...

 */

volatile uint8_t GYROS_PID_FILTER;

volatile uint8_t GYROS_ATT_FILTER;

volatile uint8_t GYROS_D_FILTER;

volatile uint8_t ACC_FILTER;

/*

 * Air pressure

 */

volatile uint8_t rangewidth = 106;

// Direct from sensor, irrespective of range.

// volatile uint16_t rawAirPressure;

// Value of 2 samples, with range.

volatile uint16_t simpleAirPressure;

// Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered.

volatile int32_t filteredAirPressure;

// Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples.

volatile int32_t airPressureSum;

// The number of samples summed into airPressureSum so far.

volatile uint8_t pressureMeasurementCount;

/*

 * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.

 * That is divided by 3 below, for a final 10.34 per volt.

 * So the initial value of 100 is for 9.7 volts.

 */

volatile int16_t UBat = 100;

/*

 * Control and status.

 */

volatile uint16_t ADCycleCount = 0;

volatile uint8_t analogDataReady = 1;

/*

 * Experiment: Measuring vibration-induced sensor noise.

 */

volatile uint16_t gyroNoisePeak[2];

volatile uint16_t accNoisePeak[2];

// ADC channels

#define AD_GYRO_YAW       0

#define AD_GYRO_ROLL      1

#define AD_GYRO_PITCH     2

#define AD_AIRPRESSURE    3

#define AD_UBAT           4

#define AD_ACC_Z          5

#define AD_ACC_ROLL       6

#define AD_ACC_PITCH      7

/*

 * Table of AD converter inputs for each state.

 * The number of samples summed for each channel is equal to

 * the number of times the channel appears in the array.

 * The max. number of samples that can be taken in 2 ms is:

 * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control

 * loop needs a little time between reading AD values and

 * re-enabling ADC, the real limit is (how much?) lower.

 * The acc. sensor is sampled even if not used - or installed

 * at all. The cost is not significant.

 */

const uint8_t channelsForStates[] PROGMEM = { AD_GYRO_PITCH, AD_GYRO_ROLL,

                AD_GYRO_YAW,

                AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE,

                AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc.

                AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro

                AD_ACC_PITCH, // at 12, finish pitch axis acc.

                AD_ACC_ROLL, // at 13, finish roll axis acc.

                AD_AIRPRESSURE, // at 14, finish air pressure.

                AD_GYRO_PITCH, // at 15, finish pitch gyro

                AD_GYRO_ROLL, // at 16, finish roll gyro

                AD_UBAT // at 17, measure battery.

                };

// Feature removed. Could be reintroduced later - but should work for all gyro types then.

// uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;

void analog_init(void) {

        uint8_t sreg = SREG;

        // disable all interrupts before reconfiguration

        cli();

        //ADC0 ... ADC7 is connected to PortA pin 0 ... 7

        DDRA = 0x00;

        PORTA = 0x00;

        // Digital Input Disable Register 0

        // Disable digital input buffer for analog adc_channel pins

        DIDR0 = 0xFF;

        // external reference, adjust data to the right

        ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR));

        // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)

        ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;

        //Set ADC Control and Status Register A

        //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz

        ADCSRA = (0 << ADEN) | (0 << ADSC) | (0 << ADATE) | (1 << ADPS2) | (1

                        << ADPS1) | (1 << ADPS0) | (0 << ADIE);

        //Set ADC Control and Status Register B

        //Trigger Source to Free Running Mode

        ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0));

        // Start AD conversion

        analog_start();

        // restore global interrupt flags

        SREG = sreg;

}

void measureNoise(const int16_t sensor,

                volatile uint16_t* const noiseMeasurement, const uint8_t damping) {

        if (sensor > (int16_t) (*noiseMeasurement)) {

                *noiseMeasurement = sensor;

        } else if (-sensor > (int16_t) (*noiseMeasurement)) {

                *noiseMeasurement = -sensor;

        } else if (*noiseMeasurement > damping) {

                *noiseMeasurement -= damping;

        } else {

                *noiseMeasurement = 0;

        }

}

/*

 * Min.: 0

 * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.

 */

uint16_t getSimplePressure(int advalue) {

        return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;

}

/*****************************************************

 * Interrupt Service Routine for ADC

 * Runs at 312.5 kHz or 3.2 µs. When all states are

 * processed the interrupt is disabled and further

 * AD conversions are stopped.

 *****************************************************/

ISR(ADC_vect)

{

        static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;

        static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };

        static uint16_t pressureAutorangingWait = 25;

        uint16_t rawAirPressure;

        uint8_t i, axis;

        int16_t newrange;

        // for various filters...

        int16_t tempOffsetGyro, tempGyro;

        sensorInputs[ad_channel] += ADC;

        /*

         * Actually we don't need this "switch". We could do all the sampling into the

         * sensorInputs array first, and all the processing after the last sample.

         */

        switch (state++) {

        case 8: // Z acc

                if (ACC_REVERSED[Z])

                        acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];

                else

                        acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];

                break;

        case 11: // yaw gyro

                rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];

                if (GYRO_REVERSED[YAW])

                        yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];

                else

                        yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];

                break;

        case 12: // pitch axis acc.

                if (ACC_REVERSED[PITCH])

                        acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];

                else

                        acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];

                filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH])

                                / ACC_FILTER;

                measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);

                break;

        case 13: // roll axis acc.

                if (ACC_REVERSED[ROLL])

                        acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];

                else

                        acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];

                filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL])

                                / ACC_FILTER;

                measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);

                break;

        case 14: // air pressure

                if (pressureAutorangingWait) {

                        //A range switch was done recently. Wait for steadying.

                        pressureAutorangingWait--;

                        DebugOut.Analog[27] = (uint16_t) OCR0A;

                        DebugOut.Analog[31] = simpleAirPressure;

                        break;

                }

                rawAirPressure = sensorInputs[AD_AIRPRESSURE];

                if (rawAirPressure < MIN_RAWPRESSURE) {

                        // value is too low, so decrease voltage on the op amp minus input, making the value higher.

                        newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;

                        if (newrange > MIN_RANGES_EXTRAPOLATION) {

                                pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +

                                OCR0A = newrange;

                        } else {

                                if (OCR0A) {

                                        OCR0A--;

                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;

                                }

                        }

                } else if (rawAirPressure > MAX_RAWPRESSURE) {

                        // value is too high, so increase voltage on the op amp minus input, making the value lower.

                        // If near the end, make a limited increase

                        newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;

                        if (newrange < MAX_RANGES_EXTRAPOLATION) {

                                pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;

                                OCR0A = newrange;

                        } else {

                                if (OCR0A < 254) {

                                        OCR0A++;

                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;

                                }

                        }

                }

                // Even if the sample is off-range, use it.

                simpleAirPressure = getSimplePressure(rawAirPressure);

                DebugOut.Analog[27] = (uint16_t) OCR0A;

                DebugOut.Analog[31] = simpleAirPressure;

                if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {

                        // Danger: pressure near lower end of range. If the measurement saturates, the

                        // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.

                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;

                        airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth

                                        + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION

                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;

                } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {

                        // Danger: pressure near upper end of range. If the measurement saturates, the

                        // copter may descend uncontrolledly... Simulate a drastic increase in pressure.

                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;

                        airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth

                                        + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION

                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;

                } else {

                        // normal case.

                        // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.

                        // The 2 cases above (end of range) are ignored for this.

                        DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT;

                        if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)

                                airPressureSum += simpleAirPressure / 2;

                        else

                                airPressureSum += simpleAirPressure;

                }

                // 2 samples were added.

                pressureMeasurementCount += 2;

                if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {

                        filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)

                                        + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;

                        pressureMeasurementCount = airPressureSum = 0;

                }

                break;

        case 15:

        case 16: // pitch or roll gyro.

                axis = state - 16;

                tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];

                // DebugOut.Analog[6 + 3 * axis ] = tempGyro;

                /*

                 * Process the gyro data for the PID controller.

                 */

                // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a

                //    gyro with a wider range, and helps counter saturation at full control.

                if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {

                        if (tempGyro < SENSOR_MIN_PITCHROLL) {

                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;

                                tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;

                        } else if (tempGyro > SENSOR_MAX_PITCHROLL) {

                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;

                                tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE

                                                + SENSOR_MAX_PITCHROLL;

                        } else {

                                DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT;

                        }

                }

                // 2) Apply sign and offset, scale before filtering.

                if (GYRO_REVERSED[axis]) {

                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;

                } else {

                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;

                }

                // 3) Scale and filter.

                tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro)

                                / GYROS_PID_FILTER;

                // 4) Measure noise.

                measureNoise(tempOffsetGyro, &gyroNoisePeak[axis],

                                GYRO_NOISE_MEASUREMENT_DAMPING);

                // 5) Differential measurement.

                gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro

                                - gyro_PID[axis])) / GYROS_D_FILTER;

                // 6) Done.

                gyro_PID[axis] = tempOffsetGyro;

                /*

                 * Now process the data for attitude angles.

                 */

                tempGyro = rawGyroSum[axis];

                // 1) Apply sign and offset, scale before filtering.

                if (GYRO_REVERSED[axis]) {

                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;

                } else {

                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;

                }

                // 2) Filter.

                gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro)

                                / GYROS_ATT_FILTER;

                break;

        case 17:

                // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).

                // This is divided by 3 --> 10.34 counts per volt.

                UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;

                DebugOut.Analog[11] = UBat;

                analogDataReady = 1; // mark

                ADCycleCount++;

                // Stop the sampling. Cycle is over.

                state = 0;

                for (i = 0; i < 8; i++) {

                        sensorInputs[i] = 0;

                }

                break;

        default: {

        } // do nothing.

        }

        // set up for next state.

        ad_channel = pgm_read_byte(&channelsForStates[state]);

        // ad_channel = channelsForStates[state];

        // set adc muxer to next ad_channel

        ADMUX = (ADMUX & 0xE0) | ad_channel;

        // after full cycle stop further interrupts

        if (state)

                analog_start();

}

void analog_calibrate(void) {

#define GYRO_OFFSET_CYCLES 32

        uint8_t i, axis;

        int32_t deltaOffsets[3] = { 0, 0, 0 };

        // Set the filters... to be removed again, once some good settings are found.

        GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;

        GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;

        GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;

        ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;

        gyro_calibrate();

        // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)

        for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {

                Delay_ms_Mess(20);

                for (axis = PITCH; axis <= YAW; axis++) {

                        deltaOffsets[axis] += rawGyroSum[axis];

                }

        }

        for (axis = PITCH; axis <= YAW; axis++) {

                gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2)

                                / GYRO_OFFSET_CYCLES;

                DebugOut.Analog[20 + axis] = gyroOffset[axis];

        }

        // Noise is relative to offset. So, reset noise measurements when changing offsets.

        gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;

        accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);

        accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);

        accOffset[Z] = GetParamWord(PID_ACC_Z);

        // Rough estimate. Hmm no nothing happens at calibration anyway.

        // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);

        // pressureMeasurementCount = 0;

        Delay_ms_Mess(100);

}

/*

 * Find acc. offsets for a neutral reading, and write them to EEPROM.

 * Does not (!} update the local variables. This must be done with a

 * call to analog_calibrate() - this always (?) is done by the caller

 * anyway. There would be nothing wrong with updating the variables

 * directly from here, though.

 */

void analog_calibrateAcc(void) {

#define ACC_OFFSET_CYCLES 10

        uint8_t i, axis;

        int32_t deltaOffset[3] = { 0, 0, 0 };

        int16_t filteredDelta;

        // int16_t pressureDiff, savedRawAirPressure;

        for (i = 0; i < ACC_OFFSET_CYCLES; i++) {

                Delay_ms_Mess(10);

                for (axis = PITCH; axis <= YAW; axis++) {

                        deltaOffset[axis] += acc[axis];

                }

        }

        for (axis = PITCH; axis <= YAW; axis++) {

                filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2)

                                / ACC_OFFSET_CYCLES;

                accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;

        }

        // Save ACC neutral settings to eeprom

        SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);

        SetParamWord(PID_ACC_ROLL, accOffset[ROLL]);

        SetParamWord(PID_ACC_Z, accOffset[Z]);

        // Noise is relative to offset. So, reset noise measurements when

        // changing offsets.

        accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;

        // Setting offset values has an influence in the analog.c ISR

        // Therefore run measurement for 100ms to achive stable readings

        Delay_ms_Mess(100);

        // Set the feedback so that air pressure ends up in the middle of the range.

        // (raw pressure high --> OCR0A also high...)

        /*

         OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;

         Delay_ms_Mess(1000);

         pressureDiff = 0;

         // DebugOut.Analog[16] = rawAirPressure;

         #define PRESSURE_CAL_CYCLE_COUNT 5

         for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {

         savedRawAirPressure = rawAirPressure;

         OCR0A+=2;

         Delay_ms_Mess(500);

         // raw pressure will decrease.

         pressureDiff += (savedRawAirPressure - rawAirPressure);

         savedRawAirPressure = rawAirPressure;

         OCR0A-=2;

         Delay_ms_Mess(500);

         // raw pressure will increase.

         pressureDiff += (rawAirPressure - savedRawAirPressure);

         }

         rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);

         DebugOut.Analog[27] = rangewidth;

         */

}