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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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" |
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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 |
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| // + Commercial use (for excample: 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 |
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| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| // + 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 "sensors.h" |
| |
| // for Delay functions |
| #include "timer0.h" |
| |
| // For DebugOut |
| #include "uart0.h" |
| |
| // For reading and writing acc. meter offsets. |
| #include "eeprom.h" |
| |
| /* |
| * Arrays could have been used arrays for the 2 * 3 axes, but despite some repetition, |
| * the code is easier to read without. |
| * |
| * For each A/D conversion cycle, each channel (eg. the yaw gyro, or the Z axis |
| * accelerometer) 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 rawPitchGyroSum, rawRollGyroSum, rawYawGyroSum; |
| volatile int16_t pitchAxisAcc = 0, rollAxisAcc = 0, ZAxisAcc = 0; |
| volatile int16_t filteredPitchAxisAcc = 0, filteredRollAxisAcc = 0; |
| |
| // that float one - "Top" - is missing. |
| |
| /* |
| * These 4 exported variables are zero-offset. The "filtered" ones are |
| * (if configured to with the GYROS_SECONDORDERFILTER define) low pass |
| * filtered versions of the other 2. |
| * They are derived from the "raw" values above, by zero-offsetting. |
| */ |
| volatile int16_t hiResPitchGyro = 0, hiResRollGyro = 0; |
| volatile int16_t filteredHiResPitchGyro = 0, filteredHiResRollGyro = 0; |
| volatile int16_t pitchGyroD = 0, rollGyroD = 0; |
| volatile int16_t yawGyro = 0; |
| |
| /* |
| * 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 zero when the copter stands still. |
| */ |
| volatile int16_t pitchOffset, rollOffset, yawOffset; |
| volatile int16_t pitchAxisAccOffset, rollAxisAccOffset, ZAxisAccOffset; |
| |
| /* |
| * This allows some experimentation with the gyro filters. |
| * Should be replaced by #define's later on... |
| */ |
| volatile uint8_t GYROS_FIRSTORDERFILTER; |
| volatile uint8_t GYROS_SECONDORDERFILTER; |
| volatile uint8_t GYROS_DFILTER; |
| volatile uint8_t ACC_FILTER; |
| |
| // Air pressure (no support right now). |
| // volatile int32_t AirPressure = 32000; |
| // volatile uint8_t average_pressure = 0; |
| // volatile int16_t StartAirPressure; |
| // volatile uint16_t ReadingAirPressure = 1023; |
| // volatile int16_t HeightD = 0; |
| |
| /* |
| * 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 pitchGyroNoisePeak, rollGyroNoisePeak; |
| volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak; |
| |
| // 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_ROLL, |
| AD_ACC_PITCH, |
| |
| AD_GYRO_PITCH, |
| AD_GYRO_ROLL, |
| |
| AD_ACC_Z, // at 7, finish Z acc. |
| |
| AD_GYRO_PITCH, |
| AD_GYRO_ROLL, |
| AD_GYRO_YAW, // at 10, finish yaw gyro |
| |
| AD_ACC_PITCH, // at 11, finish pitch axis acc. |
| AD_ACC_ROLL, // at 12, finish roll axis acc. |
| |
| AD_GYRO_PITCH, // at 13, finish pitch gyro |
| AD_GYRO_ROLL, // at 14, finish roll gyro |
| |
| AD_UBAT // at 15, 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; |
| } |
| } |
| |
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| // Runs at 312.5 kHz or 3.2 µs |
| // When all states are processed the interrupt is disabled |
| // and the update of further AD conversions is 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}; |
| |
| uint8_t i; |
| |
| // for various filters... |
| static int16_t pitchGyroFilter, rollGyroFilter, tempOffsetGyro; |
| |
| 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 7: // Z acc |
| #ifdef ACC_REVERSE_ZAXIS |
| ZAxisAcc = -ZAxisAccOffset - sensorInputs[AD_ACC_Z]; |
| #else |
| ZAxisAcc = sensorInputs[AD_ACC_Z] - ZAxisAccOffset; |
| #endif |
| break; |
| |
| case 10: // yaw gyro |
| rawYawGyroSum = sensorInputs[AD_GYRO_YAW]; |
| #ifdef GYRO_REVERSE_YAW |
| yawGyro = rawYawGyroSum - yawOffset; |
| #else |
| yawGyro = yawOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3). |
| #endif |
| break; |
| |
| case 11: // pitch axis acc. |
| #ifdef ACC_REVERSE_PITCHAXIS |
| pitchAxisAcc = -pitchAxisAccOffset - sensorInputs[AD_ACC_PITCH]; |
| #else |
| pitchAxisAcc = sensorInputs[AD_ACC_PITCH] - pitchAxisAccOffset; |
| #endif |
| filteredPitchAxisAcc = (filteredPitchAxisAcc * (ACC_FILTER-1) + pitchAxisAcc) / ACC_FILTER; |
| |
| measureNoise(pitchAxisAcc, &pitchAccNoisePeak, 1); |
| break; |
| |
| case 12: // roll axis acc. |
| #ifdef ACC_REVERSE_ROLLAXIS |
| rollAxisAcc = sensorInputs[AD_ACC_ROLL] - rollAxisAccOffset; |
| #else |
| rollAxisAcc = -rollAxisAccOffset - sensorInputs[AD_ACC_ROLL]; |
| #endif |
| filteredRollAxisAcc = (filteredRollAxisAcc * (ACC_FILTER-1) + rollAxisAcc) / ACC_FILTER; |
| measureNoise(rollAxisAcc, &rollAccNoisePeak, 1); |
| break; |
| |
| case 13: // pitch gyro |
| rawPitchGyroSum = sensorInputs[AD_GYRO_PITCH]; |
| // Filter already before offsetting. The offsetting resolution improvement obtained by divding by |
| // GYROS_FIRSTORDERFILTER _after_ offsetting is too small to be worth pursuing. |
| pitchGyroFilter = (pitchGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawPitchGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER; |
| // Offset to 0. |
| #ifdef GYROS_REVERSE_PITCH |
| tempOffsetGyro = pitchOffset - pitchGyroFilter; |
| #else |
| tempOffsetGyro = pitchGyroFilter - pitchOffset; |
| #endif |
| // Calculate the delta from last shot and filter it. |
| pitchGyroD = (pitchGyroD * (GYROS_DFILTER-1) + (tempOffsetGyro - hiResPitchGyro)) / GYROS_DFILTER; |
| // How we can overwrite the last value. This value is used for the D part of the PID controller. |
| hiResPitchGyro = tempOffsetGyro; |
| // Filter a little more. This value is used in integration to angles. |
| filteredHiResPitchGyro = (filteredHiResPitchGyro * (GYROS_SECONDORDERFILTER-1) + hiResPitchGyro) / GYROS_SECONDORDERFILTER; |
| measureNoise(hiResPitchGyro, &pitchGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING); |
| break; |
| |
| case 14: // Roll gyro. Works the same as pitch. |
| rawRollGyroSum = sensorInputs[AD_GYRO_ROLL]; |
| rollGyroFilter = (rollGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawRollGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER; |
| #ifdef GYRO_REVERSE_ROLL |
| tempOffsetGyro = rollOffset - rollGyroFilter; |
| #else |
| tempOffsetGyro = rollGyroFilter - rollOffset; |
| #endif |
| rollGyroD = (rollGyroD * (GYROS_DFILTER-1) + (tempOffsetGyro - hiResRollGyro)) / GYROS_DFILTER; |
| hiResRollGyro = tempOffsetGyro; |
| filteredHiResRollGyro = (filteredHiResRollGyro * (GYROS_SECONDORDERFILTER-1) + hiResRollGyro) / GYROS_SECONDORDERFILTER; |
| measureNoise(hiResRollGyro, &rollGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING); |
| break; |
| |
| case 15: |
| // battery |
| UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| 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; |
| int32_t _pitchOffset = 0, _rollOffset = 0, _yawOffset = 0; |
| |
| // Set the filters... to be removed again, once some good settings are found. |
| GYROS_FIRSTORDERFILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
| GYROS_SECONDORDERFILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
| GYROS_DFILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
| ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
| |
| pitchOffset = rollOffset = yawOffset = 0; |
| |
| 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(10); |
| _pitchOffset += rawPitchGyroSum * GYRO_FACTOR_PITCHROLL; |
| _rollOffset += rawRollGyroSum * GYRO_FACTOR_PITCHROLL; |
| _yawOffset += rawYawGyroSum; |
| } |
| |
| pitchOffset = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| rollOffset = (_rollOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| yawOffset = (_yawOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| |
| filteredHiResPitchGyro = filteredHiResRollGyro = 0; |
| |
| pitchAxisAccOffset = (int16_t)GetParamWord(PID_ACC_NICK); |
| rollAxisAccOffset = (int16_t)GetParamWord(PID_ACC_ROLL); |
| ZAxisAccOffset = (int16_t)GetParamWord(PID_ACC_TOP); |
| |
| // Noise is relative to offset. So, reset noise measurements when |
| // changing offsets. |
| pitchGyroNoisePeak = rollGyroNoisePeak = 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); |
| } |
| |
| /* |
| * 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; |
| int32_t _pitchAxisOffset = 0, _rollAxisOffset = 0, _ZAxisOffset = 0; |
| |
| pitchAxisAccOffset = rollAxisAccOffset = ZAxisAccOffset = 0; |
| |
| for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
| Delay_ms_Mess(10); |
| _pitchAxisOffset += pitchAxisAcc; |
| _rollAxisOffset += rollAxisAcc; |
| _ZAxisOffset += ZAxisAcc; |
| } |
| |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_NICK, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)((_rollAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
| SetParamWord(PID_ACC_TOP, (uint16_t)((_ZAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
| |
| // Noise is relative to offset. So, reset noise measurements when |
| // changing offsets. |
| pitchAccNoisePeak = rollAccNoisePeak = 0; |
| } |