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2108 | - | 1 | #include <avr/io.h> |
2 | #include <avr/interrupt.h> |
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3 | #include <avr/pgmspace.h> |
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4 | #include <stdlib.h> |
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5 | |||
6 | #include "analog.h" |
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7 | #include "configuration.h" |
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8 | #include "attitude.h" |
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9 | #include "sensors.h" |
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10 | #include "printf_P.h" |
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11 | #include "isqrt.h" |
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12 | #include "twimaster.h" |
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13 | |||
14 | // for Delay functions |
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15 | #include "timer0.h" |
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16 | |||
17 | // For reading and writing acc. meter offsets. |
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18 | #include "eeprom.h" |
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19 | |||
20 | // For debugOut |
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21 | #include "output.h" |
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22 | |||
23 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
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24 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
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25 | |||
26 | const char* recal = ", recalibration needed."; |
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27 | |||
28 | volatile uint16_t ADSensorInputs[8]; |
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29 | |||
30 | |||
31 | /* |
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32 | * These 4 exported variables are zero-offset. The "PID" ones are used |
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33 | * in the attitude control as rotation rates. The "ATT" ones are for |
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34 | * integration to angles. |
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35 | */ |
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36 | int16_t gyro_PID[3]; |
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37 | int16_t gyro_ATT[3]; |
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38 | int16_t gyroD[3]; |
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39 | int16_t gyroDWindow[3][GYRO_D_WINDOW_LENGTH]; |
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40 | uint8_t gyroDWindowIdx = 0; |
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41 | |||
42 | /* |
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43 | * Airspeed |
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44 | */ |
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45 | uint32_t airpressure; |
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46 | uint16_t airspeedVelocity = 0; |
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2109 | - | 47 | //int16_t airpressureWindow[AIRPRESSURE_WINDOW_LENGTH]; |
48 | //uint8_t airpressureWindowIdx = 0; |
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2108 | - | 49 | |
50 | /* |
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51 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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52 | * standing still. They are used for adjusting the gyro and acc. meter values |
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53 | * to be centered on zero. |
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54 | */ |
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55 | sensorOffset_t gyroOffset; |
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56 | uint16_t airpressureOffset; |
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57 | |||
58 | /* |
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59 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
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60 | * If a sensor is used in an orientation where one but not both of the axes has |
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61 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
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62 | * Transform: |
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63 | * pitch <- pp*pitch + pr*roll |
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64 | * roll <- rp*pitch + rr*roll |
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65 | * Not reversed, GYRO_QUADRANT: |
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66 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
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67 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
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68 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
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69 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
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70 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
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71 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
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72 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
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73 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
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74 | * Reversed, GYRO_QUADRANT: |
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75 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
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76 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
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77 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
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78 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
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79 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
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80 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
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81 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
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82 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
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83 | */ |
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84 | |||
85 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reversePR, uint8_t reverseYaw) { |
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86 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
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87 | // Pitch to Pitch part |
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88 | int8_t xx = reversePR ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
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89 | // Roll to Pitch part |
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90 | int8_t xy = rotationTab[(quadrant+2)%8]; |
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91 | // Pitch to Roll part |
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92 | int8_t yx = reversePR ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
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93 | // Roll to Roll part |
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94 | int8_t yy = rotationTab[quadrant]; |
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95 | |||
96 | int16_t xIn = result[0]; |
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97 | result[0] = xx*xIn + xy*result[1]; |
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98 | result[1] = yx*xIn + yy*result[1]; |
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99 | |||
100 | if (quadrant & 1) { |
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101 | // A rotation was used above, where the factors were too large by sqrt(2). |
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102 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
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103 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
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104 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
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105 | result[0] = (result[0]*11) >> 4; |
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106 | result[1] = (result[1]*11) >> 4; |
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107 | } |
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108 | |||
109 | if (reverseYaw) |
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110 | result[3] =-result[3]; |
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111 | } |
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112 | |||
113 | /* |
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114 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
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115 | * That is divided by 3 below, for a final 10.34 per volt. |
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116 | * So the initial value of 100 is for 9.7 volts. |
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117 | */ |
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118 | uint16_t UBat = 100; |
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119 | |||
120 | /* |
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121 | * Control and status. |
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122 | */ |
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123 | volatile uint8_t sensorDataReady = ALL_DATA_READY; |
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124 | |||
125 | /* |
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126 | * Experiment: Measuring vibration-induced sensor noise. |
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127 | */ |
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128 | uint16_t gyroNoisePeak[3]; |
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129 | |||
130 | volatile uint8_t adState; |
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131 | volatile uint8_t adChannel; |
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132 | |||
133 | // ADC channels |
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134 | #define AD_UBAT 6 |
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135 | #define AD_AIRPRESSURE 7 |
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136 | |||
137 | /* |
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138 | * Table of AD converter inputs for each state. |
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139 | * The number of samples summed for each channel is equal to |
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140 | * the number of times the channel appears in the array. |
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141 | * The max. number of samples that can be taken in 2 ms is: |
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142 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
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143 | * loop needs a little time between reading AD values and |
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144 | * re-enabling ADC, the real limit is (how much?) lower. |
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145 | * The acc. sensor is sampled even if not used - or installed |
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146 | * at all. The cost is not significant. |
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147 | */ |
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148 | |||
149 | const uint8_t channelsForStates[] PROGMEM = { |
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150 | AD_AIRPRESSURE, |
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151 | AD_UBAT, |
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152 | AD_AIRPRESSURE, |
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153 | AD_AIRPRESSURE, |
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154 | AD_AIRPRESSURE, |
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155 | }; |
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156 | |||
157 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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158 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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159 | |||
160 | void analog_init(void) { |
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161 | uint8_t sreg = SREG; |
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162 | // disable all interrupts before reconfiguration |
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163 | cli(); |
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164 | |||
165 | // ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
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166 | // DDRA = 0x00; |
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167 | // PORTA = 0x00; |
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168 | // Digital Input Disable Register 0 |
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169 | // Disable digital input buffer for analog adc_channel pins |
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170 | // DIDR0 = 0xFF; |
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171 | // external reference, adjust data to the right |
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172 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
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173 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
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174 | ADMUX = (ADMUX & 0xE0); |
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175 | //Set ADC Control and Status Register A |
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176 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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177 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
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178 | //Set ADC Control and Status Register B |
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179 | //Trigger Source to Free Running Mode |
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180 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
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181 | |||
182 | startAnalogConversionCycle(); |
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183 | |||
184 | // restore global interrupt flags |
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185 | SREG = sreg; |
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186 | } |
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187 | |||
188 | /* |
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189 | * Here the axes of the sensor can be shuffled around. |
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190 | */ |
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191 | uint16_t rawGyroValue(uint8_t axis) { |
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192 | return IMU3200SensorInputs[axis+1]; // skip temperature mesaurement in any case.. |
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193 | } |
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194 | |||
195 | /* |
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196 | uint16_t rawAccValue(uint8_t axis) { |
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197 | return sensorInputs[AD_ACC_PITCH-axis]; |
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198 | } |
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199 | */ |
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200 | |||
201 | void measureNoise(const int16_t sensor, |
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202 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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203 | if (sensor > (int16_t) (*noiseMeasurement)) { |
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204 | *noiseMeasurement = sensor; |
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205 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
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206 | *noiseMeasurement = -sensor; |
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207 | } else if (*noiseMeasurement > damping) { |
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208 | *noiseMeasurement -= damping; |
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209 | } else { |
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210 | *noiseMeasurement = 0; |
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211 | } |
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212 | } |
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213 | |||
214 | void startAnalogConversionCycle(void) { |
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215 | // Stop the sampling. Cycle is over. |
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216 | for (uint8_t i = 0; i<8; i++) { |
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217 | ADSensorInputs[i] = 0; |
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218 | } |
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219 | |||
220 | adState = 0; |
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221 | adChannel = AD_AIRPRESSURE; |
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222 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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223 | startADC(); |
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224 | twimaster_startCycle(); |
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2109 | - | 225 | sensorDataReady = 0; |
2108 | - | 226 | } |
227 | |||
228 | /***************************************************** |
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229 | * Interrupt Service Routine for ADC |
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230 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
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231 | * processed further conversions are stopped. |
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232 | *****************************************************/ |
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233 | ISR(ADC_vect) { |
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234 | ADSensorInputs[adChannel] += ADC; |
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235 | // set up for next state. |
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236 | adState++; |
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237 | if (adState < sizeof(channelsForStates)) { |
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238 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
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239 | // set adc muxer to next adChannel |
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240 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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241 | // after full cycle stop further interrupts |
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242 | startADC(); |
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243 | } else { |
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244 | sensorDataReady |= ADC_DATA_READY; |
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245 | // do not restart ADC converter. |
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246 | } |
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247 | } |
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248 | |||
249 | void analog_updateGyros(void) { |
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250 | // for various filters... |
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251 | int16_t tempOffsetGyro[3], tempGyro; |
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252 | |||
253 | for (uint8_t axis=0; axis<3; axis++) { |
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254 | tempGyro = rawGyroValue(axis); |
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255 | /* |
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256 | * Process the gyro data for the PID controller. |
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257 | */ |
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258 | |||
259 | // Saturation prevention was removed. No airplane rotates more than 2000 deg/s. |
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260 | |||
261 | // 2) Apply sign and offset, scale before filtering. |
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262 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
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263 | } |
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264 | |||
265 | // 2.1: Transform axes. |
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266 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
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267 | |||
268 | for (uint8_t axis=0; axis<3; axis++) { |
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269 | // 3) Filter. |
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270 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
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271 | |||
272 | // 4) Measure noise. |
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273 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
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274 | |||
275 | // 5) Differential measurement. |
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276 | // TODO: Examine effects of overruns here, they are quite possible. |
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277 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
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278 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
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279 | gyroD[axis] += diff; |
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280 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
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281 | |||
282 | // 6) Done. |
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283 | gyro_PID[axis] = tempOffsetGyro[axis]; |
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284 | |||
285 | // Prepare tempOffsetGyro for next calculation below... |
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286 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
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287 | } |
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288 | |||
289 | /* |
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290 | * Now process the data for attitude angles. |
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291 | */ |
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292 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
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293 | |||
294 | // dampenGyroActivity(); |
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295 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
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296 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
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297 | gyro_ATT[YAW] = tempOffsetGyro[YAW]; |
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298 | |||
299 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
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300 | gyroDWindowIdx = 0; |
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301 | } |
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302 | } |
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303 | |||
304 | // probably wanna aim at 1/10 m/s/unit. |
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305 | #define LOG_AIRSPEED_FACTOR 2 |
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306 | |||
307 | void analog_updateAirspeed(void) { |
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308 | uint16_t rawAirpressure = ADSensorInputs[AD_AIRPRESSURE]; |
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309 | int16_t temp = rawAirpressure - airpressureOffset; |
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2109 | - | 310 | // airpressure -= airpressureWindow[airpressureWindowIdx]; |
311 | // airpressure += temp; |
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312 | // airpressureWindow[airpressureWindowIdx] = temp; |
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313 | // airpressureWindowIdx++; |
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314 | // if (airpressureWindowIdx == AIRPRESSURE_WINDOW_LENGTH) { |
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315 | // airpressureWindowIdx = 0; |
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316 | // } |
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2108 | - | 317 | |
2109 | - | 318 | #define AIRPRESSURE_FILTER 16 |
319 | airpressure = ((int32_t)airpressure * (AIRPRESSURE_FILTER-1) + (AIRPRESSURE_FILTER/2) + temp) / AIRPRESSURE_FILTER; |
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320 | |||
321 | uint16_t p2 = (airpressure<0) ? 0 : airpressure; |
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322 | airspeedVelocity = (staticParams.airspeedCorrection * isqrt16(p2)) >> LOG_AIRSPEED_FACTOR; |
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323 | |||
324 | debugOut.analog[17] = airpressure; |
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325 | debugOut.analog[18] = airpressureOffset; |
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326 | debugOut.analog[19] = airspeedVelocity; |
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327 | |||
328 | isFlying = 0; //(airspeedVelocity >= staticParams.isFlyingThreshold); |
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2108 | - | 329 | } |
330 | |||
331 | void analog_updateBatteryVoltage(void) { |
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332 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
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333 | // This is divided by 3 --> 10.34 counts per volt. |
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334 | UBat = (3 * UBat + ADSensorInputs[AD_UBAT] / 3) / 4; |
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335 | } |
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336 | |||
337 | void analog_update(void) { |
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338 | analog_updateGyros(); |
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339 | // analog_updateAccelerometers(); |
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340 | analog_updateAirspeed(); |
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341 | analog_updateBatteryVoltage(); |
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342 | #ifdef USE_MK3MAG |
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343 | magneticHeading = volatileMagneticHeading; |
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344 | #endif |
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345 | } |
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346 | |||
347 | void analog_setNeutral() { |
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348 | twimaster_setNeutral(); |
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349 | |||
350 | if (gyroOffset_readFromEEProm()) { |
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351 | printf("gyro offsets invalid%s",recal); |
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352 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
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353 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
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354 | } |
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355 | |||
356 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
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357 | for (uint8_t i=PITCH; i<=YAW; i++) { |
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358 | gyroNoisePeak[i] = 0; |
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359 | gyroD[i] = 0; |
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360 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
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361 | gyroDWindow[i][j] = 0; |
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362 | } |
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363 | } |
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364 | |||
365 | // Setting offset values has an influence in the analog.c ISR |
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366 | // Therefore run measurement for 100ms to achive stable readings |
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367 | delay_ms_with_adc_measurement(100, 0); |
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368 | |||
369 | // gyroActivity = 0; |
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370 | } |
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371 | |||
372 | void analog_calibrate(void) { |
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2109 | - | 373 | #define OFFSET_CYCLES 32 |
2108 | - | 374 | uint8_t i, axis; |
375 | int32_t offsets[4] = { 0, 0, 0, 0}; |
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376 | |||
377 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
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378 | for (i = 0; i < OFFSET_CYCLES; i++) { |
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379 | delay_ms_with_adc_measurement(10, 1); |
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380 | for (axis = PITCH; axis <= YAW; axis++) { |
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381 | offsets[axis] += rawGyroValue(axis); |
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382 | } |
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383 | offsets[3] += ADSensorInputs[AD_AIRPRESSURE]; |
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384 | } |
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385 | |||
386 | for (axis = PITCH; axis <= YAW; axis++) { |
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387 | gyroOffset.offsets[axis] = (offsets[axis] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
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388 | } |
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389 | |||
390 | airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
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391 | int16_t min = 200; |
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2109 | - | 392 | int16_t max = 1024-200; |
393 | |||
2108 | - | 394 | if(airpressureOffset < min || airpressureOffset > max) |
395 | versionInfo.hardwareErrors[0] |= FC_ERROR0_PRESSURE; |
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396 | |||
397 | gyroOffset_writeToEEProm(); |
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398 | |||
399 | startAnalogConversionCycle(); |
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400 | } |