| 0,0 → 1,596 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/pgmspace.h> |
| |
| #include "analog.h" |
| #include "attitude.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 }; |
| // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
| |
| /* |
| * 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]; |
| |
| /* |
| stronglyFilteredAcc[Z] = |
| (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
| */ |
| |
| 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; |
| |
| /* |
| stronglyFilteredAcc[PITCH] = |
| (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
| */ |
| |
| 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; |
| |
| /* |
| stronglyFilteredAcc[ROLL] = |
| (stronglyFilteredAcc[ROLL] * 99 + acc[ROLL] * 10) / 100; |
| */ |
| |
| 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 relativ 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; |
| */ |
| } |