WebSVN - FlightCtrl - Diff - Rev 1775 and 1796 - /branches/dongfang_FC

 #include "uart0.h"
 // For reading and writing acc. meter offsets.
+#include "eeprom.h"
+// For DebugOut.Digital
-#include "eeprom.h"
+#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.
   } 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;
+}
   case 14: // air pressure
     if (pressureAutorangingWait) {
       //A range switch was done recently. Wait for steadying.
+      pressureAutorangingWait--;
+      DebugOut.Analog[27] = (uint16_t)OCR0A;
-      pressureAutorangingWait--;
+      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 - rawAirPressure) / rangewidth - 1;
+      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;
+        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 + (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1;
+      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 {
+      }
+    }
     // Even if the sample is off-range, use it.
+    simpleAirPressure = getSimplePressure(rawAirPressure);
+    DebugOut.Analog[27] = (uint16_t)OCR0A;
+    DebugOut.Analog[31] = simpleAirPressure;
     simpleAirPressure = getSimplePressure(rawAirPressure);
     if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
       // Danger: pressure near lower end of range. If the measurement saturates, the
-      // copter may climb uncontrolled... Simulate a drastic reduction in pressure.
+      // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
-      airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
+      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 fall uncontrolled... Simulate a drastic increase in pressure.
+      // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
-      airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
+      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.
+      if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
+        airPressureSum += simpleAirPressure / 2;
-      // normal case.
+      else
-      airPressureSum += simpleAirPressure;
+        airPressureSum += simpleAirPressure;
     }
     // 2 samples were added.
     pressureMeasurementCount += 2;
-    if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR) {
+    if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
       filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER-1) + airPressureSum + AIRPRESSURE_FILTER/2) / AIRPRESSURE_FILTER;
       pressureMeasurementCount = airPressureSum = 0;
-    }
-    // DebugOut.Analog[14] = OCR0A;
-    // DebugOut.Analog[15] = simpleAirPressure;
     DebugOut.Analog[11] = UBat;
     DebugOut.Analog[27] = acc[Z];
     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;
-    UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
+    DebugOut.Analog[11] = UBat;
     analogDataReady = 1; // mark
     ADCycleCount++;
     // Stop the sampling. Cycle is over.
     state = 0;
   // Rough estimate. Hmm no nothing happens at calibration anyway.
   // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
-  // pressureMeasurementCount = 0;
-  // Experiment!
-  // filteredAirPressureOffset = filteredAirPressure - 1000L;
+  // pressureMeasurementCount = 0;
   Delay_ms_Mess(100);
+}
   // 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 - 512) / rangewidth;
-  // Delay_ms_Mess(500);
   // (raw pressure high --> OCR0A also high...)
   /*
-    pressureDiff = 0;
+  OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
+  Delay_ms_Mess(1000);
+  pressureDiff = 0;
-    // DebugOut.Analog[16] = rawAirPressure;
+  // DebugOut.Analog[16] = rawAirPressure;
-    #define PRESSURE_CAL_CYCLE_COUNT 2
+#define PRESSURE_CAL_CYCLE_COUNT 5
-    for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
+  for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
     savedRawAirPressure = rawAirPressure;
-    OCR0A++;
+    OCR0A+=2;
-    Delay_ms_Mess(200);
+    Delay_ms_Mess(500);
-    // raw pressure will decrease.
-    pressureDiff += (savedRawAirPressure - rawAirPressure);
+    // raw pressure will decrease.
+    pressureDiff += (savedRawAirPressure - rawAirPressure);
     savedRawAirPressure = rawAirPressure;
-    OCR0A--;
+    OCR0A-=2;
-    Delay_ms_Mess(200);
+    Delay_ms_Mess(500);
     // raw pressure will increase.
     pressureDiff += (rawAirPressure - savedRawAirPressure);
-    }
+  }
-    // DebugOut.Analog[16] =
+  rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);
-    rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2);
+  DebugOut.Analog[27] = rangewidth;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.c - Rev 1775 → 1796