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Rev | Author | Line No. | Line |
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2096 | - | 1 | #include <avr/io.h> |
1910 | - | 2 | #include <avr/interrupt.h> |
3 | #include <avr/pgmspace.h> |
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2096 | - | 4 | #include <stdlib.h> |
1910 | - | 5 | |
6 | #include "analog.h" |
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7 | #include "attitude.h" |
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8 | #include "sensors.h" |
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2096 | - | 9 | #include "printf_P.h" |
10 | #include "mk3mag.h" |
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1910 | - | 11 | |
12 | // for Delay functions |
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13 | #include "timer0.h" |
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14 | |||
15 | // For reading and writing acc. meter offsets. |
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16 | #include "eeprom.h" |
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17 | |||
2096 | - | 18 | // For debugOut |
1910 | - | 19 | #include "output.h" |
20 | |||
2096 | - | 21 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
22 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
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23 | |||
24 | const char* recal = ", recalibration needed."; |
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25 | |||
1910 | - | 26 | /* |
27 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
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28 | * (see array channelsForStates), and the results for each channel are summed. |
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29 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
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30 | * They are exported in the analog.h file - but please do not use them! The only |
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31 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
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32 | * the offsets with the DAC. |
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33 | */ |
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2096 | - | 34 | volatile uint16_t sensorInputs[8]; |
35 | int16_t acc[3]; |
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36 | int16_t filteredAcc[3] = { 0,0,0 }; |
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1910 | - | 37 | |
38 | /* |
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39 | * These 4 exported variables are zero-offset. The "PID" ones are used |
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40 | * in the attitude control as rotation rates. The "ATT" ones are for |
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41 | * integration to angles. |
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42 | */ |
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2096 | - | 43 | int16_t gyro_PID[2]; |
44 | int16_t gyro_ATT[2]; |
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45 | int16_t gyroD[2]; |
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46 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
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47 | uint8_t gyroDWindowIdx = 0; |
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48 | int16_t yawGyro; |
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49 | int16_t magneticHeading; |
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1910 | - | 50 | |
2096 | - | 51 | int32_t groundPressure; |
52 | int16_t dHeight; |
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53 | |||
54 | uint32_t gyroActivity; |
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55 | |||
1910 | - | 56 | /* |
57 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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58 | * standing still. They are used for adjusting the gyro and acc. meter values |
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59 | * to be centered on zero. |
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60 | */ |
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61 | |||
2096 | - | 62 | sensorOffset_t gyroOffset; |
63 | sensorOffset_t accOffset; |
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64 | sensorOffset_t gyroAmplifierOffset; |
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1910 | - | 65 | |
66 | /* |
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2096 | - | 67 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
68 | * If a sensor is used in an orientation where one but not both of the axes has |
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69 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
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70 | * Transform: |
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71 | * pitch <- pp*pitch + pr*roll |
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72 | * roll <- rp*pitch + rr*roll |
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73 | * Not reversed, GYRO_QUADRANT: |
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74 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
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75 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
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76 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
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77 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
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78 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
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79 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
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80 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
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81 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
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82 | * Reversed, GYRO_QUADRANT: |
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83 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
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84 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
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85 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
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86 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
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87 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
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88 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
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89 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
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90 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
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91 | */ |
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92 | |||
93 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
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94 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
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95 | // Pitch to Pitch part |
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96 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
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97 | // Roll to Pitch part |
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98 | int8_t xy = rotationTab[(quadrant+2)%8]; |
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99 | // Pitch to Roll part |
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100 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
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101 | // Roll to Roll part |
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102 | int8_t yy = rotationTab[quadrant]; |
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103 | |||
104 | int16_t xIn = result[0]; |
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105 | result[0] = xx*xIn + xy*result[1]; |
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106 | result[1] = yx*xIn + yy*result[1]; |
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107 | |||
108 | if (quadrant & 1) { |
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109 | // A rotation was used above, where the factors were too large by sqrt(2). |
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110 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
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111 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
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112 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
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113 | result[0] = (result[0]*11) >> 4; |
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114 | result[1] = (result[1]*11) >> 4; |
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115 | } |
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116 | } |
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117 | |||
118 | /* |
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1910 | - | 119 | * Air pressure |
120 | */ |
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2096 | - | 121 | volatile uint8_t rangewidth = 105; |
1910 | - | 122 | |
123 | // Direct from sensor, irrespective of range. |
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124 | // volatile uint16_t rawAirPressure; |
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125 | |||
126 | // Value of 2 samples, with range. |
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2096 | - | 127 | uint16_t simpleAirPressure; |
1910 | - | 128 | |
2096 | - | 129 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
130 | int32_t filteredAirPressure; |
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1910 | - | 131 | |
2096 | - | 132 | #define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
133 | //int32_t lastFilteredAirPressure; |
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134 | int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
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135 | uint8_t dWindowPtr = 0; |
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136 | |||
137 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
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138 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
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139 | int32_t windowedAirPressure; |
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140 | uint8_t windowPtr = 0; |
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141 | |||
1910 | - | 142 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
2096 | - | 143 | int32_t airPressureSum; |
1910 | - | 144 | |
145 | // The number of samples summed into airPressureSum so far. |
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2096 | - | 146 | uint8_t pressureMeasurementCount; |
1910 | - | 147 | |
148 | /* |
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149 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
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150 | * That is divided by 3 below, for a final 10.34 per volt. |
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151 | * So the initial value of 100 is for 9.7 volts. |
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152 | */ |
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2096 | - | 153 | int16_t UBat = 100; |
1910 | - | 154 | |
155 | /* |
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156 | * Control and status. |
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157 | */ |
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158 | volatile uint8_t analogDataReady = 1; |
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159 | |||
160 | /* |
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161 | * Experiment: Measuring vibration-induced sensor noise. |
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162 | */ |
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2096 | - | 163 | uint16_t gyroNoisePeak[3]; |
164 | uint16_t accNoisePeak[3]; |
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1910 | - | 165 | |
2096 | - | 166 | volatile uint8_t adState; |
167 | volatile uint8_t adChannel; |
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168 | |||
1910 | - | 169 | // ADC channels |
170 | #define AD_GYRO_YAW 0 |
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171 | #define AD_GYRO_ROLL 1 |
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172 | #define AD_GYRO_PITCH 2 |
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173 | #define AD_AIRPRESSURE 3 |
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174 | #define AD_UBAT 4 |
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175 | #define AD_ACC_Z 5 |
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176 | #define AD_ACC_ROLL 6 |
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177 | #define AD_ACC_PITCH 7 |
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178 | |||
179 | /* |
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180 | * Table of AD converter inputs for each state. |
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181 | * The number of samples summed for each channel is equal to |
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182 | * the number of times the channel appears in the array. |
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183 | * The max. number of samples that can be taken in 2 ms is: |
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184 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
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185 | * loop needs a little time between reading AD values and |
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186 | * re-enabling ADC, the real limit is (how much?) lower. |
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187 | * The acc. sensor is sampled even if not used - or installed |
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188 | * at all. The cost is not significant. |
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189 | */ |
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190 | |||
191 | const uint8_t channelsForStates[] PROGMEM = { |
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192 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
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193 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
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194 | |||
195 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
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196 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
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197 | |||
198 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
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199 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
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200 | AD_AIRPRESSURE, // at 14, finish air pressure. |
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201 | |||
202 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
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203 | AD_GYRO_ROLL, // at 16, finish roll gyro |
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204 | AD_UBAT // at 17, measure battery. |
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205 | }; |
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206 | |||
207 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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208 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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209 | |||
210 | void analog_init(void) { |
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211 | uint8_t sreg = SREG; |
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212 | // disable all interrupts before reconfiguration |
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213 | cli(); |
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214 | |||
215 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
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216 | DDRA = 0x00; |
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217 | PORTA = 0x00; |
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218 | // Digital Input Disable Register 0 |
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219 | // Disable digital input buffer for analog adc_channel pins |
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220 | DIDR0 = 0xFF; |
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221 | // external reference, adjust data to the right |
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2096 | - | 222 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
1910 | - | 223 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
2096 | - | 224 | ADMUX = (ADMUX & 0xE0); |
1910 | - | 225 | //Set ADC Control and Status Register A |
226 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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2096 | - | 227 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
1910 | - | 228 | //Set ADC Control and Status Register B |
229 | //Trigger Source to Free Running Mode |
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2096 | - | 230 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
231 | |||
232 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
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233 | airPressureWindow[i] = 0; |
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234 | } |
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235 | windowedAirPressure = 0; |
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236 | |||
237 | startAnalogConversionCycle(); |
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238 | |||
1910 | - | 239 | // restore global interrupt flags |
240 | SREG = sreg; |
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241 | } |
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242 | |||
2096 | - | 243 | uint16_t rawGyroValue(uint8_t axis) { |
244 | return sensorInputs[AD_GYRO_PITCH-axis]; |
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245 | } |
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246 | |||
247 | uint16_t rawAccValue(uint8_t axis) { |
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248 | return sensorInputs[AD_ACC_PITCH-axis]; |
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249 | } |
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250 | |||
1910 | - | 251 | void measureNoise(const int16_t sensor, |
252 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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253 | if (sensor > (int16_t) (*noiseMeasurement)) { |
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254 | *noiseMeasurement = sensor; |
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255 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
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256 | *noiseMeasurement = -sensor; |
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257 | } else if (*noiseMeasurement > damping) { |
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258 | *noiseMeasurement -= damping; |
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259 | } else { |
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260 | *noiseMeasurement = 0; |
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261 | } |
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262 | } |
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263 | |||
264 | /* |
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265 | * Min.: 0 |
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266 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
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267 | */ |
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268 | uint16_t getSimplePressure(int advalue) { |
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2096 | - | 269 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
270 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
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271 | return result; |
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1910 | - | 272 | } |
273 | |||
2096 | - | 274 | void startAnalogConversionCycle(void) { |
275 | analogDataReady = 0; |
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276 | |||
277 | // Stop the sampling. Cycle is over. |
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278 | for (uint8_t i = 0; i < 8; i++) { |
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279 | sensorInputs[i] = 0; |
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280 | } |
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281 | adState = 0; |
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282 | adChannel = AD_GYRO_PITCH; |
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283 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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284 | startADC(); |
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1910 | - | 285 | } |
286 | |||
287 | /***************************************************** |
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288 | * Interrupt Service Routine for ADC |
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2096 | - | 289 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
290 | * processed further conversions are stopped. |
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1910 | - | 291 | *****************************************************/ |
292 | ISR(ADC_vect) { |
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2096 | - | 293 | sensorInputs[adChannel] += ADC; |
294 | // set up for next state. |
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295 | adState++; |
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296 | if (adState < sizeof(channelsForStates)) { |
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297 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
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298 | // set adc muxer to next adChannel |
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299 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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300 | // after full cycle stop further interrupts |
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301 | startADC(); |
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302 | } else { |
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303 | analogDataReady = 1; |
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304 | // do not restart ADC converter. |
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305 | } |
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306 | } |
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1910 | - | 307 | |
2096 | - | 308 | void measureGyroActivity(int16_t newValue) { |
309 | gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
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310 | } |
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1910 | - | 311 | |
2096 | - | 312 | #define GADAMPING 6 |
313 | void dampenGyroActivity(void) { |
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314 | static uint8_t cnt = 0; |
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315 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
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316 | cnt = 0; |
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317 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
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318 | gyroActivity >>= GADAMPING; |
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319 | } |
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320 | } |
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321 | /* |
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322 | void dampenGyroActivity(void) { |
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323 | if (gyroActivity >= 2000) { |
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324 | gyroActivity -= 2000; |
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325 | } |
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326 | } |
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327 | */ |
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1910 | - | 328 | |
2096 | - | 329 | void analog_updateGyros(void) { |
330 | // for various filters... |
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331 | int16_t tempOffsetGyro[2], tempGyro; |
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332 | |||
333 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
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334 | for (uint8_t axis=0; axis<2; axis++) { |
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335 | tempGyro = rawGyroValue(axis); |
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336 | /* |
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337 | * Process the gyro data for the PID controller. |
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338 | */ |
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339 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
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340 | // gyro with a wider range, and helps counter saturation at full control. |
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341 | |||
342 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
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343 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
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344 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
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345 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
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346 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
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347 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
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348 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
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349 | } |
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350 | } |
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1910 | - | 351 | |
2096 | - | 352 | // 2) Apply sign and offset, scale before filtering. |
353 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
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354 | } |
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1910 | - | 355 | |
2096 | - | 356 | // 2.1: Transform axes. |
357 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
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1910 | - | 358 | |
2096 | - | 359 | for (uint8_t axis=0; axis<2; axis++) { |
360 | // 3) Filter. |
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361 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
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1910 | - | 362 | |
2096 | - | 363 | // 4) Measure noise. |
364 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
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1910 | - | 365 | |
2096 | - | 366 | // 5) Differential measurement. |
367 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
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368 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
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369 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
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370 | gyroD[axis] += diff; |
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371 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
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1910 | - | 372 | |
2096 | - | 373 | // 6) Done. |
374 | gyro_PID[axis] = tempOffsetGyro[axis]; |
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1910 | - | 375 | |
2096 | - | 376 | // Prepare tempOffsetGyro for next calculation below... |
377 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
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378 | } |
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1910 | - | 379 | |
2096 | - | 380 | /* |
381 | * Now process the data for attitude angles. |
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382 | */ |
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383 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
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1910 | - | 384 | |
2096 | - | 385 | dampenGyroActivity(); |
386 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
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387 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
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1910 | - | 388 | |
2096 | - | 389 | /* |
390 | measureGyroActivity(tempOffsetGyro[PITCH]); |
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391 | measureGyroActivity(tempOffsetGyro[ROLL]); |
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392 | */ |
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393 | measureGyroActivity(gyroD[PITCH]); |
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394 | measureGyroActivity(gyroD[ROLL]); |
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1910 | - | 395 | |
2096 | - | 396 | // We measure activity of yaw by plain gyro value and not d/dt, because: |
397 | // - There is no drift correction anyway |
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398 | // - Effect of steady circular flight would vanish (it should have effect). |
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399 | // int16_t diff = yawGyro; |
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400 | // Yaw gyro. |
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401 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
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402 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
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403 | else |
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404 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
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1910 | - | 405 | |
2096 | - | 406 | // diff -= yawGyro; |
407 | // gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
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408 | // gyroD[YAW] += diff; |
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409 | // gyroDWindow[YAW][gyroDWindowIdx] = diff; |
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1910 | - | 410 | |
2096 | - | 411 | // gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
412 | measureGyroActivity(yawGyro); |
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1910 | - | 413 | |
2096 | - | 414 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
415 | gyroDWindowIdx = 0; |
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416 | } |
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417 | } |
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1910 | - | 418 | |
2096 | - | 419 | void analog_updateAccelerometers(void) { |
420 | // Pitch and roll axis accelerations. |
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421 | for (uint8_t axis=0; axis<2; axis++) { |
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422 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
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423 | } |
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1910 | - | 424 | |
2096 | - | 425 | rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
426 | for(uint8_t axis=0; axis<3; axis++) { |
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427 | filteredAcc[axis] = (filteredAcc[axis] * (IMUConfig.accFilterConstant - 1) + acc[axis]) / IMUConfig.accFilterConstant; |
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428 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
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429 | } |
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1910 | - | 430 | |
2096 | - | 431 | // Z acc. |
432 | if (IMUConfig.imuReversedFlags & 8) |
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433 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
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434 | else |
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435 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
||
1910 | - | 436 | |
2096 | - | 437 | // debugOut.analog[29] = acc[Z]; |
438 | } |
||
1910 | - | 439 | |
2096 | - | 440 | void analog_updateAirPressure(void) { |
441 | static uint16_t pressureAutorangingWait = 25; |
||
442 | uint16_t rawAirPressure; |
||
443 | int16_t newrange; |
||
444 | // air pressure |
||
445 | if (pressureAutorangingWait) { |
||
446 | //A range switch was done recently. Wait for steadying. |
||
447 | pressureAutorangingWait--; |
||
448 | } else { |
||
449 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
||
450 | if (rawAirPressure < MIN_RAWPRESSURE) { |
||
451 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
||
452 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
||
453 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
||
454 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
||
455 | OCR0A = newrange; |
||
456 | } else { |
||
457 | if (OCR0A) { |
||
458 | OCR0A--; |
||
459 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
||
460 | } |
||
461 | } |
||
462 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
||
463 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
||
464 | // If near the end, make a limited increase |
||
465 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
||
466 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
||
467 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
||
468 | OCR0A = newrange; |
||
469 | } else { |
||
470 | if (OCR0A < 254) { |
||
471 | OCR0A++; |
||
472 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
||
473 | } |
||
474 | } |
||
475 | } |
||
476 | |||
477 | // Even if the sample is off-range, use it. |
||
478 | simpleAirPressure = getSimplePressure(rawAirPressure); |
||
479 | debugOut.analog[6] = rawAirPressure; |
||
480 | debugOut.analog[7] = simpleAirPressure; |
||
481 | |||
482 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
||
483 | // Danger: pressure near lower end of range. If the measurement saturates, the |
||
484 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
||
485 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
||
486 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
||
487 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
||
488 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
||
489 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
||
490 | // Danger: pressure near upper end of range. If the measurement saturates, the |
||
491 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
||
492 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
||
493 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
||
494 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
||
495 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
||
496 | } else { |
||
497 | // normal case. |
||
498 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
||
499 | // The 2 cases above (end of range) are ignored for this. |
||
500 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
||
501 | airPressureSum += simpleAirPressure; |
||
502 | } |
||
503 | |||
504 | // 2 samples were added. |
||
505 | pressureMeasurementCount += 2; |
||
506 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
||
507 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
||
1910 | - | 508 | |
2096 | - | 509 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
510 | airPressureSum += simpleAirPressure >> 2; |
||
1910 | - | 511 | |
2096 | - | 512 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
1910 | - | 513 | |
2096 | - | 514 | if (!staticParams.airpressureWindowLength) { |
515 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
||
516 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
||
517 | } else { |
||
518 | // use windowed. |
||
519 | windowedAirPressure += simpleAirPressure; |
||
520 | windowedAirPressure -= airPressureWindow[windowPtr]; |
||
521 | airPressureWindow[windowPtr++] = simpleAirPressure; |
||
522 | if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
||
523 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
||
524 | } |
||
1910 | - | 525 | |
2096 | - | 526 | // positive diff of pressure |
527 | int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
||
528 | // is a negative diff of height. |
||
529 | dHeight -= diff; |
||
530 | // remove old sample (fifo) from window. |
||
531 | dHeight += dAirPressureWindow[dWindowPtr]; |
||
532 | dAirPressureWindow[dWindowPtr++] = diff; |
||
533 | if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
||
534 | pressureMeasurementCount = airPressureSum = 0; |
||
535 | } |
||
536 | } |
||
537 | } |
||
1910 | - | 538 | |
2096 | - | 539 | void analog_updateBatteryVoltage(void) { |
540 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
||
541 | // This is divided by 3 --> 10.34 counts per volt. |
||
542 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
||
1910 | - | 543 | } |
544 | |||
2096 | - | 545 | void analog_update(void) { |
546 | analog_updateGyros(); |
||
547 | analog_updateAccelerometers(); |
||
548 | analog_updateAirPressure(); |
||
549 | analog_updateBatteryVoltage(); |
||
550 | #ifdef USE_MK3MAG |
||
551 | magneticHeading = volatileMagneticHeading; |
||
552 | #endif |
||
553 | } |
||
1910 | - | 554 | |
2096 | - | 555 | void analog_setNeutral() { |
556 | gyro_init(); |
||
557 | |||
558 | if (gyroOffset_readFromEEProm()) { |
||
559 | printf("gyro offsets invalid%s",recal); |
||
560 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
||
561 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
||
562 | } |
||
563 | |||
564 | if (accOffset_readFromEEProm()) { |
||
565 | printf("acc. meter offsets invalid%s",recal); |
||
566 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
||
567 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
||
568 | } |
||
1910 | - | 569 | |
2096 | - | 570 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
571 | for (uint8_t i=PITCH; i<=ROLL; i++) { |
||
572 | gyroNoisePeak[i] = 0; |
||
573 | accNoisePeak[i] = 0; |
||
574 | gyroD[i] = 0; |
||
575 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
||
576 | gyroDWindow[i][j] = 0; |
||
577 | } |
||
578 | } |
||
579 | // Setting offset values has an influence in the analog.c ISR |
||
580 | // Therefore run measurement for 100ms to achive stable readings |
||
581 | delay_ms_with_adc_measurement(100, 0); |
||
1910 | - | 582 | |
2096 | - | 583 | gyroActivity = 0; |
584 | } |
||
1910 | - | 585 | |
2096 | - | 586 | void analog_calibrateGyros(void) { |
587 | #define GYRO_OFFSET_CYCLES 32 |
||
588 | uint8_t i, axis; |
||
589 | int32_t offsets[3] = { 0, 0, 0 }; |
||
590 | gyro_calibrate(); |
||
591 | |||
592 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
||
593 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
||
594 | delay_ms_with_adc_measurement(10, 1); |
||
595 | for (axis = PITCH; axis <= YAW; axis++) { |
||
596 | offsets[axis] += rawGyroValue(axis); |
||
597 | } |
||
598 | } |
||
599 | |||
600 | for (axis = PITCH; axis <= YAW; axis++) { |
||
601 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
||
1910 | - | 602 | |
2096 | - | 603 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
604 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
||
605 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
||
606 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
||
607 | } |
||
1910 | - | 608 | |
2096 | - | 609 | gyroOffset_writeToEEProm(); |
610 | startAnalogConversionCycle(); |
||
1910 | - | 611 | } |
612 | |||
613 | /* |
||
614 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
||
615 | * Does not (!} update the local variables. This must be done with a |
||
616 | * call to analog_calibrate() - this always (?) is done by the caller |
||
617 | * anyway. There would be nothing wrong with updating the variables |
||
618 | * directly from here, though. |
||
619 | */ |
||
620 | void analog_calibrateAcc(void) { |
||
2096 | - | 621 | #define ACC_OFFSET_CYCLES 32 |
622 | uint8_t i, axis; |
||
623 | int32_t offsets[3] = { 0, 0, 0 }; |
||
1910 | - | 624 | |
2096 | - | 625 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
626 | delay_ms_with_adc_measurement(10, 1); |
||
627 | for (axis = PITCH; axis <= YAW; axis++) { |
||
628 | offsets[axis] += rawAccValue(axis); |
||
629 | } |
||
630 | } |
||
1910 | - | 631 | |
2096 | - | 632 | for (axis = PITCH; axis <= YAW; axis++) { |
633 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
||
634 | int16_t min,max; |
||
635 | if (axis==Z) { |
||
636 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
||
637 | // TODO: This assumes a sensitivity of +/- 2g. |
||
638 | min = (256-200) * ACC_OVERSAMPLING_Z; |
||
639 | max = (256+200) * ACC_OVERSAMPLING_Z; |
||
640 | } else { |
||
641 | // TODO: This assumes a sensitivity of +/- 2g. |
||
642 | min = (768-200) * ACC_OVERSAMPLING_Z; |
||
643 | max = (768+200) * ACC_OVERSAMPLING_Z; |
||
644 | } |
||
645 | } else { |
||
646 | min = (512-200) * ACC_OVERSAMPLING_XY; |
||
647 | max = (512+200) * ACC_OVERSAMPLING_XY; |
||
648 | } |
||
649 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
||
650 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
||
651 | } |
||
652 | } |
||
1910 | - | 653 | |
2096 | - | 654 | accOffset_writeToEEProm(); |
655 | startAnalogConversionCycle(); |
||
656 | } |
||
1910 | - | 657 | |
2096 | - | 658 | void analog_setGround() { |
659 | groundPressure = filteredAirPressure; |
||
660 | } |
||
1910 | - | 661 | |
2096 | - | 662 | int32_t analog_getHeight(void) { |
663 | return groundPressure - filteredAirPressure; |
||
664 | } |
||
1910 | - | 665 | |
2096 | - | 666 | int16_t analog_getDHeight(void) { |
667 | /* |
||
668 | int16_t result = 0; |
||
669 | for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
||
670 | result -= dAirPressureWindow[i]; // minus pressure is plus height. |
||
671 | } |
||
672 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
||
673 | return result; |
||
674 | */ |
||
675 | return dHeight; |
||
1910 | - | 676 | } |