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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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2096 | - | 8 | #include "printf_P.h" |
2102 | - | 9 | #include "isqrt.h" |
1910 | - | 10 | |
11 | // for Delay functions |
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12 | #include "timer0.h" |
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13 | |||
14 | // For reading and writing acc. meter offsets. |
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15 | #include "eeprom.h" |
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16 | |||
2096 | - | 17 | // For debugOut |
1910 | - | 18 | #include "output.h" |
19 | |||
2096 | - | 20 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
21 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
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22 | |||
23 | const char* recal = ", recalibration needed."; |
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24 | |||
1910 | - | 25 | /* |
26 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
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27 | * (see array channelsForStates), and the results for each channel are summed. |
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28 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
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29 | * They are exported in the analog.h file - but please do not use them! The only |
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30 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
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31 | * the offsets with the DAC. |
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32 | */ |
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2096 | - | 33 | volatile uint16_t sensorInputs[8]; |
1910 | - | 34 | |
2104 | - | 35 | |
1910 | - | 36 | /* |
37 | * These 4 exported variables are zero-offset. The "PID" ones are used |
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38 | * in the attitude control as rotation rates. The "ATT" ones are for |
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39 | * integration to angles. |
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40 | */ |
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2099 | - | 41 | int16_t gyro_PID[3]; |
42 | int16_t gyro_ATT[3]; |
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43 | int16_t gyroD[3]; |
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2103 | - | 44 | int16_t gyroDWindow[3][GYRO_D_WINDOW_LENGTH]; |
2096 | - | 45 | uint8_t gyroDWindowIdx = 0; |
46 | |||
1910 | - | 47 | /* |
2109 | - | 48 | * Airspeed |
49 | */ |
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50 | int16_t airpressure; |
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51 | uint16_t airspeedVelocity = 0; |
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52 | //int16_t airpressureWindow[AIRPRESSURE_WINDOW_LENGTH]; |
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53 | //uint8_t airpressureWindowIdx = 0; |
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54 | |||
55 | /* |
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1910 | - | 56 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
57 | * standing still. They are used for adjusting the gyro and acc. meter values |
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58 | * to be centered on zero. |
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59 | */ |
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2096 | - | 60 | sensorOffset_t gyroOffset; |
2106 | - | 61 | uint16_t airpressureOffset; |
1910 | - | 62 | |
63 | /* |
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2096 | - | 64 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
65 | * If a sensor is used in an orientation where one but not both of the axes has |
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66 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
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67 | * Transform: |
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68 | * pitch <- pp*pitch + pr*roll |
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69 | * roll <- rp*pitch + rr*roll |
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70 | * Not reversed, GYRO_QUADRANT: |
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71 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
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72 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
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73 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
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74 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
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75 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
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76 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
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77 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
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78 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
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79 | * Reversed, GYRO_QUADRANT: |
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80 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
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81 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
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82 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
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83 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
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84 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
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85 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
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86 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
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87 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
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88 | */ |
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89 | |||
2099 | - | 90 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reversePR, uint8_t reverseYaw) { |
2096 | - | 91 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
92 | // Pitch to Pitch part |
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2099 | - | 93 | int8_t xx = reversePR ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
2096 | - | 94 | // Roll to Pitch part |
95 | int8_t xy = rotationTab[(quadrant+2)%8]; |
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96 | // Pitch to Roll part |
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2099 | - | 97 | int8_t yx = reversePR ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
2096 | - | 98 | // Roll to Roll part |
99 | int8_t yy = rotationTab[quadrant]; |
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100 | |||
101 | int16_t xIn = result[0]; |
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102 | result[0] = xx*xIn + xy*result[1]; |
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103 | result[1] = yx*xIn + yy*result[1]; |
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104 | |||
105 | if (quadrant & 1) { |
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106 | // A rotation was used above, where the factors were too large by sqrt(2). |
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107 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
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108 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
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109 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
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110 | result[0] = (result[0]*11) >> 4; |
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111 | result[1] = (result[1]*11) >> 4; |
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112 | } |
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2099 | - | 113 | |
114 | if (reverseYaw) |
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115 | result[3] =-result[3]; |
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2096 | - | 116 | } |
117 | |||
118 | /* |
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1910 | - | 119 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
120 | * That is divided by 3 below, for a final 10.34 per volt. |
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121 | * So the initial value of 100 is for 9.7 volts. |
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122 | */ |
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2104 | - | 123 | uint16_t UBat = 100; |
1910 | - | 124 | |
125 | /* |
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126 | * Control and status. |
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127 | */ |
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128 | volatile uint8_t analogDataReady = 1; |
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129 | |||
130 | /* |
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131 | * Experiment: Measuring vibration-induced sensor noise. |
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132 | */ |
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2096 | - | 133 | uint16_t gyroNoisePeak[3]; |
1910 | - | 134 | |
2096 | - | 135 | volatile uint8_t adState; |
136 | volatile uint8_t adChannel; |
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137 | |||
1910 | - | 138 | // ADC channels |
139 | #define AD_GYRO_YAW 0 |
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140 | #define AD_GYRO_ROLL 1 |
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141 | #define AD_GYRO_PITCH 2 |
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142 | #define AD_AIRPRESSURE 3 |
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143 | #define AD_UBAT 4 |
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144 | #define AD_ACC_Z 5 |
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145 | #define AD_ACC_ROLL 6 |
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146 | #define AD_ACC_PITCH 7 |
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147 | |||
148 | /* |
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149 | * Table of AD converter inputs for each state. |
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150 | * The number of samples summed for each channel is equal to |
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151 | * the number of times the channel appears in the array. |
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152 | * The max. number of samples that can be taken in 2 ms is: |
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153 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
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154 | * loop needs a little time between reading AD values and |
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155 | * re-enabling ADC, the real limit is (how much?) lower. |
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156 | * The acc. sensor is sampled even if not used - or installed |
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157 | * at all. The cost is not significant. |
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158 | */ |
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159 | |||
160 | const uint8_t channelsForStates[] PROGMEM = { |
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2099 | - | 161 | AD_GYRO_PITCH, |
162 | AD_GYRO_ROLL, |
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163 | AD_GYRO_YAW, |
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1910 | - | 164 | |
2099 | - | 165 | AD_AIRPRESSURE, |
166 | |||
167 | AD_GYRO_PITCH, |
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168 | AD_GYRO_ROLL, |
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169 | AD_GYRO_YAW, |
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170 | |||
171 | AD_UBAT, |
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172 | |||
173 | AD_GYRO_PITCH, |
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174 | AD_GYRO_ROLL, |
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175 | AD_GYRO_YAW, |
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1910 | - | 176 | |
2099 | - | 177 | AD_AIRPRESSURE, |
1910 | - | 178 | |
2099 | - | 179 | AD_GYRO_PITCH, |
180 | AD_GYRO_ROLL, |
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181 | AD_GYRO_YAW |
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1910 | - | 182 | }; |
183 | |||
184 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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185 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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186 | |||
187 | void analog_init(void) { |
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188 | uint8_t sreg = SREG; |
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189 | // disable all interrupts before reconfiguration |
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190 | cli(); |
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191 | |||
192 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
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193 | DDRA = 0x00; |
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194 | PORTA = 0x00; |
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195 | // Digital Input Disable Register 0 |
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196 | // Disable digital input buffer for analog adc_channel pins |
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197 | DIDR0 = 0xFF; |
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198 | // external reference, adjust data to the right |
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2096 | - | 199 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
1910 | - | 200 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
2096 | - | 201 | ADMUX = (ADMUX & 0xE0); |
1910 | - | 202 | //Set ADC Control and Status Register A |
203 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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2096 | - | 204 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
1910 | - | 205 | //Set ADC Control and Status Register B |
206 | //Trigger Source to Free Running Mode |
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2096 | - | 207 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
208 | |||
209 | startAnalogConversionCycle(); |
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210 | |||
1910 | - | 211 | // restore global interrupt flags |
212 | SREG = sreg; |
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213 | } |
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214 | |||
2096 | - | 215 | uint16_t rawGyroValue(uint8_t axis) { |
216 | return sensorInputs[AD_GYRO_PITCH-axis]; |
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217 | } |
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218 | |||
2099 | - | 219 | /* |
2096 | - | 220 | uint16_t rawAccValue(uint8_t axis) { |
221 | return sensorInputs[AD_ACC_PITCH-axis]; |
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222 | } |
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2099 | - | 223 | */ |
2096 | - | 224 | |
1910 | - | 225 | void measureNoise(const int16_t sensor, |
226 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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227 | if (sensor > (int16_t) (*noiseMeasurement)) { |
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228 | *noiseMeasurement = sensor; |
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229 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
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230 | *noiseMeasurement = -sensor; |
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231 | } else if (*noiseMeasurement > damping) { |
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232 | *noiseMeasurement -= damping; |
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233 | } else { |
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234 | *noiseMeasurement = 0; |
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235 | } |
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236 | } |
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237 | |||
2096 | - | 238 | void startAnalogConversionCycle(void) { |
239 | analogDataReady = 0; |
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240 | |||
241 | // Stop the sampling. Cycle is over. |
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242 | for (uint8_t i = 0; i < 8; i++) { |
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243 | sensorInputs[i] = 0; |
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244 | } |
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245 | adState = 0; |
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246 | adChannel = AD_GYRO_PITCH; |
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247 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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248 | startADC(); |
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1910 | - | 249 | } |
250 | |||
251 | /***************************************************** |
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252 | * Interrupt Service Routine for ADC |
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2096 | - | 253 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
254 | * processed further conversions are stopped. |
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1910 | - | 255 | *****************************************************/ |
256 | ISR(ADC_vect) { |
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2096 | - | 257 | sensorInputs[adChannel] += ADC; |
258 | // set up for next state. |
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259 | adState++; |
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260 | if (adState < sizeof(channelsForStates)) { |
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261 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
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262 | // set adc muxer to next adChannel |
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263 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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264 | // after full cycle stop further interrupts |
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265 | startADC(); |
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266 | } else { |
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267 | analogDataReady = 1; |
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268 | // do not restart ADC converter. |
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269 | } |
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270 | } |
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1910 | - | 271 | |
2096 | - | 272 | void analog_updateGyros(void) { |
273 | // for various filters... |
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2099 | - | 274 | int16_t tempOffsetGyro[3], tempGyro; |
2096 | - | 275 | |
276 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
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2103 | - | 277 | |
2099 | - | 278 | for (uint8_t axis=0; axis<3; axis++) { |
2096 | - | 279 | tempGyro = rawGyroValue(axis); |
280 | /* |
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281 | * Process the gyro data for the PID controller. |
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282 | */ |
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283 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
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284 | // gyro with a wider range, and helps counter saturation at full control. |
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285 | |||
286 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
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2099 | - | 287 | if (tempGyro < SENSOR_MIN) { |
2096 | - | 288 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
289 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
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2099 | - | 290 | } else if (tempGyro > SENSOR_MAX) { |
2096 | - | 291 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
2099 | - | 292 | tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
2096 | - | 293 | } |
294 | } |
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1910 | - | 295 | |
2096 | - | 296 | // 2) Apply sign and offset, scale before filtering. |
2099 | - | 297 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
2096 | - | 298 | } |
1910 | - | 299 | |
2096 | - | 300 | // 2.1: Transform axes. |
2099 | - | 301 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
1910 | - | 302 | |
2099 | - | 303 | for (uint8_t axis=0; axis<3; axis++) { |
2096 | - | 304 | // 3) Filter. |
305 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
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1910 | - | 306 | |
2096 | - | 307 | // 4) Measure noise. |
308 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
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1910 | - | 309 | |
2096 | - | 310 | // 5) Differential measurement. |
311 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
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312 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
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313 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
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314 | gyroD[axis] += diff; |
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315 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
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1910 | - | 316 | |
2096 | - | 317 | // 6) Done. |
318 | gyro_PID[axis] = tempOffsetGyro[axis]; |
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1910 | - | 319 | |
2096 | - | 320 | // Prepare tempOffsetGyro for next calculation below... |
2099 | - | 321 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
2096 | - | 322 | } |
1910 | - | 323 | |
2096 | - | 324 | /* |
325 | * Now process the data for attitude angles. |
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326 | */ |
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2099 | - | 327 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
1910 | - | 328 | |
2099 | - | 329 | // dampenGyroActivity(); |
330 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
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331 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
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2103 | - | 332 | gyro_ATT[YAW] = tempOffsetGyro[YAW]; |
1910 | - | 333 | |
2096 | - | 334 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
335 | gyroDWindowIdx = 0; |
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336 | } |
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337 | } |
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1910 | - | 338 | |
2105 | - | 339 | // probably wanna aim at 1/10 m/s/unit. |
2109 | - | 340 | #define LOG_AIRSPEED_FACTOR 0 |
2105 | - | 341 | |
342 | void analog_updateAirspeed(void) { |
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2109 | - | 343 | uint16_t rawAirpressure = sensorInputs[AD_AIRPRESSURE]; |
344 | int16_t temp = airpressureOffset - rawAirpressure; |
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345 | //airpressure -= airpressureWindow[airpressureWindowIdx]; |
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346 | //airpressure += temp; |
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347 | //airpressureWindow[airpressureWindowIdx] = temp; |
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348 | //airpressureWindowIdx++; |
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349 | //if (airpressureWindowIdx == AIRPRESSURE_WINDOW_LENGTH) { |
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350 | // airpressureWindowIdx = 0; |
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351 | //} |
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352 | |||
353 | #define AIRPRESSURE_FILTER 16 |
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354 | airpressure = ((int32_t)airpressure * (AIRPRESSURE_FILTER-1) + (AIRPRESSURE_FILTER/2) + temp) / AIRPRESSURE_FILTER; |
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355 | |||
356 | uint16_t p2 = (airpressure<0) ? 0 : airpressure; |
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357 | airspeedVelocity = (staticParams.airspeedCorrection * isqrt16(p2)) >> LOG_AIRSPEED_FACTOR; |
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358 | |||
359 | debugOut.analog[17] = airpressure; |
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360 | debugOut.analog[18] = airpressureOffset; |
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361 | debugOut.analog[19] = airspeedVelocity; |
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362 | |||
363 | isFlying = 0; //(airspeedVelocity >= staticParams.isFlyingThreshold); |
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2096 | - | 364 | } |
1910 | - | 365 | |
2096 | - | 366 | void analog_updateBatteryVoltage(void) { |
367 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
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368 | // This is divided by 3 --> 10.34 counts per volt. |
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369 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
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1910 | - | 370 | } |
371 | |||
2096 | - | 372 | void analog_update(void) { |
373 | analog_updateGyros(); |
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2099 | - | 374 | // analog_updateAccelerometers(); |
2106 | - | 375 | analog_updateAirspeed(); |
2096 | - | 376 | analog_updateBatteryVoltage(); |
377 | #ifdef USE_MK3MAG |
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378 | magneticHeading = volatileMagneticHeading; |
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379 | #endif |
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380 | } |
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1910 | - | 381 | |
2096 | - | 382 | void analog_setNeutral() { |
383 | gyro_init(); |
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384 | |||
385 | if (gyroOffset_readFromEEProm()) { |
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386 | printf("gyro offsets invalid%s",recal); |
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2099 | - | 387 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
388 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
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2096 | - | 389 | } |
2099 | - | 390 | |
2096 | - | 391 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
2099 | - | 392 | for (uint8_t i=PITCH; i<=YAW; i++) { |
2096 | - | 393 | gyroNoisePeak[i] = 0; |
394 | gyroD[i] = 0; |
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395 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
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396 | gyroDWindow[i][j] = 0; |
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397 | } |
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398 | } |
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399 | // Setting offset values has an influence in the analog.c ISR |
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400 | // Therefore run measurement for 100ms to achive stable readings |
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401 | delay_ms_with_adc_measurement(100, 0); |
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1910 | - | 402 | |
2102 | - | 403 | // gyroActivity = 0; |
2096 | - | 404 | } |
1910 | - | 405 | |
2105 | - | 406 | void analog_calibrate(void) { |
407 | #define OFFSET_CYCLES 64 |
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2096 | - | 408 | uint8_t i, axis; |
2105 | - | 409 | int32_t offsets[4] = { 0, 0, 0, 0}; |
2096 | - | 410 | gyro_calibrate(); |
411 | |||
412 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
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2105 | - | 413 | for (i = 0; i < OFFSET_CYCLES; i++) { |
2096 | - | 414 | delay_ms_with_adc_measurement(10, 1); |
415 | for (axis = PITCH; axis <= YAW; axis++) { |
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416 | offsets[axis] += rawGyroValue(axis); |
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417 | } |
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2105 | - | 418 | offsets[3] += sensorInputs[AD_AIRPRESSURE]; |
2096 | - | 419 | } |
420 | |||
421 | for (axis = PITCH; axis <= YAW; axis++) { |
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2106 | - | 422 | gyroOffset.offsets[axis] = (offsets[axis] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
2099 | - | 423 | int16_t min = (512-200) * GYRO_OVERSAMPLING; |
424 | int16_t max = (512+200) * GYRO_OVERSAMPLING; |
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2096 | - | 425 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
426 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
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427 | } |
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1910 | - | 428 | |
2105 | - | 429 | airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
430 | int16_t min = 200; |
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2110 | - | 431 | int16_t max = 1024-200; |
2106 | - | 432 | if(airpressureOffset < min || airpressureOffset > max) |
2105 | - | 433 | versionInfo.hardwareErrors[0] |= FC_ERROR0_PRESSURE; |
434 | |||
435 | gyroOffset_writeToEEProm(); |
||
436 | |||
2096 | - | 437 | startAnalogConversionCycle(); |
1910 | - | 438 | } |