Rev 1635 | Rev 1646 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
||
3 | // + Nur für den privaten Gebrauch |
||
4 | // + www.MikroKopter.com |
||
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
11 | // + Verkauf von Luftbildaufnahmen, usw. |
||
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
18 | // + eindeutig als Ursprung verlinkt werden |
||
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
21 | // + Benutzung auf eigene Gefahr |
||
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
25 | // + mit unserer Zustimmung zulässig |
||
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
30 | // + this list of conditions and the following disclaimer. |
||
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
32 | // + from this software without specific prior written permission. |
||
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
||
34 | // + for non-commercial use (directly or indirectly) |
||
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
36 | // + with our written permission |
||
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
38 | // + clearly linked as origin |
||
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
||
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
49 | // + POSSIBILITY OF SUCH DAMAGE. |
||
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
51 | #include <avr/io.h> |
||
52 | #include <avr/interrupt.h> |
||
53 | #include <avr/pgmspace.h> |
||
54 | #include "analog.h" |
||
55 | |||
56 | #include "sensors.h" |
||
57 | |||
58 | // for Delay functions |
||
59 | #include "timer0.h" |
||
60 | |||
61 | // For DebugOut |
||
62 | #include "uart0.h" |
||
63 | |||
64 | // For reading and writing acc. meter offsets. |
||
65 | #include "eeprom.h" |
||
66 | |||
67 | /* |
||
1645 | - | 68 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
69 | * (see array channelsForStates), and the results for each channel are summed. |
||
70 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
||
1612 | dongfang | 71 | * They are exported in the analog.h file - but please do not use them! The only |
72 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
||
73 | * the offsets with the DAC. |
||
74 | */ |
||
1645 | - | 75 | volatile int16_t rawGyroSum[2], rawYawGyroSum; |
76 | volatile int16_t acc[2] = {0,0}, ZAcc = 0; |
||
77 | volatile int16_t filteredAcc[2] = {0,0}; |
||
1612 | dongfang | 78 | |
79 | /* |
||
1645 | - | 80 | * These 4 exported variables are zero-offset. The "PID" ones are used |
81 | * in the attitude control as rotation rates. The "ATT" ones are for |
||
82 | * integration to angles. |
||
1612 | dongfang | 83 | */ |
1645 | - | 84 | volatile int16_t gyro_PID[2]; |
85 | volatile int16_t gyro_ATT[2]; |
||
86 | volatile int16_t gyroD[2]; |
||
1612 | dongfang | 87 | volatile int16_t yawGyro = 0; |
88 | |||
89 | /* |
||
90 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
||
91 | * standing still. They are used for adjusting the gyro and acc. meter values |
||
1645 | - | 92 | * to be centered on zero. |
1612 | dongfang | 93 | */ |
1645 | - | 94 | volatile int16_t gyroOffset[2], yawGyroOffset; |
95 | volatile int16_t accOffset[2], ZAccOffset; |
||
1612 | dongfang | 96 | |
97 | /* |
||
98 | * This allows some experimentation with the gyro filters. |
||
99 | * Should be replaced by #define's later on... |
||
100 | */ |
||
101 | volatile uint8_t GYROS_FIRSTORDERFILTER; |
||
102 | volatile uint8_t GYROS_SECONDORDERFILTER; |
||
103 | volatile uint8_t GYROS_DFILTER; |
||
104 | volatile uint8_t ACC_FILTER; |
||
105 | |||
1645 | - | 106 | /* |
107 | * Air pressure measurement. |
||
108 | */ |
||
109 | #define MIN_RAWPRESSURE 200 |
||
110 | #define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE) |
||
111 | volatile uint8_t rangewidth = 53; |
||
112 | volatile uint16_t rawAirPressure; |
||
113 | volatile uint16_t filteredAirPressure; |
||
1612 | dongfang | 114 | |
115 | /* |
||
116 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
||
117 | * That is divided by 3 below, for a final 10.34 per volt. |
||
118 | * So the initial value of 100 is for 9.7 volts. |
||
119 | */ |
||
120 | volatile int16_t UBat = 100; |
||
121 | |||
122 | /* |
||
123 | * Control and status. |
||
124 | */ |
||
125 | volatile uint16_t ADCycleCount = 0; |
||
126 | volatile uint8_t analogDataReady = 1; |
||
127 | |||
128 | /* |
||
129 | * Experiment: Measuring vibration-induced sensor noise. |
||
130 | */ |
||
1645 | - | 131 | volatile uint16_t gyroNoisePeak[2]; |
132 | volatile uint16_t accNoisePeak[2]; |
||
1612 | dongfang | 133 | |
134 | // ADC channels |
||
1645 | - | 135 | #define AD_GYRO_YAW 0 |
136 | #define AD_GYRO_ROLL 1 |
||
1634 | - | 137 | #define AD_GYRO_PITCH 2 |
138 | #define AD_AIRPRESSURE 3 |
||
1645 | - | 139 | #define AD_UBAT 4 |
140 | #define AD_ACC_Z 5 |
||
141 | #define AD_ACC_ROLL 6 |
||
142 | #define AD_ACC_PITCH 7 |
||
1612 | dongfang | 143 | |
144 | /* |
||
145 | * Table of AD converter inputs for each state. |
||
146 | * The number of samples summed for each channel is equal to |
||
147 | * the number of times the channel appears in the array. |
||
148 | * The max. number of samples that can be taken in 2 ms is: |
||
149 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
||
150 | * loop needs a little time between reading AD values and |
||
151 | * re-enabling ADC, the real limit is (how much?) lower. |
||
152 | * The acc. sensor is sampled even if not used - or installed |
||
153 | * at all. The cost is not significant. |
||
154 | */ |
||
155 | |||
156 | const uint8_t channelsForStates[] PROGMEM = { |
||
157 | AD_GYRO_PITCH, |
||
158 | AD_GYRO_ROLL, |
||
159 | AD_GYRO_YAW, |
||
160 | |||
1634 | - | 161 | AD_ACC_PITCH, |
1612 | dongfang | 162 | AD_ACC_ROLL, |
1634 | - | 163 | // AD_AIRPRESSURE, |
1612 | dongfang | 164 | |
165 | AD_GYRO_PITCH, |
||
166 | AD_GYRO_ROLL, |
||
1634 | - | 167 | AD_ACC_Z, // at 7, measure Z acc. |
1612 | dongfang | 168 | |
169 | AD_GYRO_PITCH, |
||
170 | AD_GYRO_ROLL, |
||
171 | AD_GYRO_YAW, // at 10, finish yaw gyro |
||
172 | |||
173 | AD_ACC_PITCH, // at 11, finish pitch axis acc. |
||
174 | AD_ACC_ROLL, // at 12, finish roll axis acc. |
||
1634 | - | 175 | AD_AIRPRESSURE, // at 13, finish air pressure. |
1612 | dongfang | 176 | |
1634 | - | 177 | AD_GYRO_PITCH, // at 14, finish pitch gyro |
178 | AD_GYRO_ROLL, // at 15, finish roll gyro |
||
179 | AD_UBAT // at 16, measure battery. |
||
1612 | dongfang | 180 | }; |
181 | |||
182 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
||
183 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
||
184 | |||
185 | void analog_init(void) { |
||
186 | uint8_t sreg = SREG; |
||
187 | // disable all interrupts before reconfiguration |
||
188 | cli(); |
||
189 | |||
190 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
||
191 | DDRA = 0x00; |
||
192 | PORTA = 0x00; |
||
193 | // Digital Input Disable Register 0 |
||
194 | // Disable digital input buffer for analog adc_channel pins |
||
195 | DIDR0 = 0xFF; |
||
196 | // external reference, adjust data to the right |
||
197 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
||
198 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
||
199 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
||
200 | //Set ADC Control and Status Register A |
||
201 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
||
202 | ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
||
203 | //Set ADC Control and Status Register B |
||
204 | //Trigger Source to Free Running Mode |
||
205 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
||
206 | // Start AD conversion |
||
207 | analog_start(); |
||
208 | // restore global interrupt flags |
||
209 | SREG = sreg; |
||
210 | } |
||
211 | |||
212 | void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
||
213 | if (sensor > (int16_t)(*noiseMeasurement)) { |
||
214 | *noiseMeasurement = sensor; |
||
215 | } else if (-sensor > (int16_t)(*noiseMeasurement)) { |
||
216 | *noiseMeasurement = -sensor; |
||
217 | } else if (*noiseMeasurement > damping) { |
||
218 | *noiseMeasurement -= damping; |
||
219 | } else { |
||
220 | *noiseMeasurement = 0; |
||
221 | } |
||
222 | } |
||
223 | |||
1634 | - | 224 | uint16_t getAbsPressure(int advalue) { |
1645 | - | 225 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
1634 | - | 226 | } |
227 | |||
228 | uint16_t filterAirPressure(uint16_t rawpressure) { |
||
229 | return rawpressure; |
||
230 | } |
||
231 | |||
1645 | - | 232 | /***************************************************** |
233 | * Interrupt Service Routine for ADC |
||
234 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
||
235 | * processed the interrupt is disabled and further |
||
236 | * AD conversions are stopped. |
||
237 | *****************************************************/ |
||
1612 | dongfang | 238 | ISR(ADC_vect) { |
239 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
||
240 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
||
1645 | - | 241 | static uint8_t pressure_wait = 10; |
242 | uint8_t i, axis; |
||
243 | int16_t range; |
||
1634 | - | 244 | |
1612 | dongfang | 245 | // for various filters... |
1645 | - | 246 | int16_t tempOffsetGyro, tempGyro; |
1612 | dongfang | 247 | |
248 | sensorInputs[ad_channel] += ADC; |
||
249 | |||
250 | /* |
||
251 | * Actually we don't need this "switch". We could do all the sampling into the |
||
252 | * sensorInputs array first, and all the processing after the last sample. |
||
253 | */ |
||
254 | switch(state++) { |
||
255 | case 7: // Z acc |
||
256 | #ifdef ACC_REVERSE_ZAXIS |
||
1645 | - | 257 | ZAcc = -ZAccOffset - sensorInputs[AD_ACC_Z]; |
1612 | dongfang | 258 | #else |
1645 | - | 259 | ZAcc = sensorInputs[AD_ACC_Z] - ZAccOffset; |
1612 | dongfang | 260 | #endif |
261 | break; |
||
262 | |||
263 | case 10: // yaw gyro |
||
264 | rawYawGyroSum = sensorInputs[AD_GYRO_YAW]; |
||
265 | #ifdef GYRO_REVERSE_YAW |
||
1645 | - | 266 | yawGyro = rawYawGyroSum - yawGyroOffset; |
1612 | dongfang | 267 | #else |
1645 | - | 268 | yawGyro = yawGyroOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3). |
1612 | dongfang | 269 | #endif |
270 | break; |
||
271 | |||
272 | case 11: // pitch axis acc. |
||
273 | #ifdef ACC_REVERSE_PITCHAXIS |
||
1645 | - | 274 | acc[PITCH] = -accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
1612 | dongfang | 275 | #else |
1645 | - | 276 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
1612 | dongfang | 277 | #endif |
1645 | - | 278 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
1612 | dongfang | 279 | |
1645 | - | 280 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
1612 | dongfang | 281 | break; |
282 | |||
283 | case 12: // roll axis acc. |
||
284 | #ifdef ACC_REVERSE_ROLLAXIS |
||
1645 | - | 285 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
1612 | dongfang | 286 | #else |
1645 | - | 287 | acc[ROLL] = -accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
1612 | dongfang | 288 | #endif |
1645 | - | 289 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
290 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
||
1612 | dongfang | 291 | break; |
1645 | - | 292 | |
1634 | - | 293 | case 13: // air pressure |
1645 | - | 294 | if (pressure_wait) { |
295 | // A range switch was done recently. Wait for steadying. |
||
296 | pressure_wait--; |
||
297 | break; |
||
298 | } |
||
299 | range = OCR0A; |
||
300 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
||
301 | if (rawAirPressure < MIN_RAWPRESSURE) { |
||
1634 | - | 302 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
1645 | - | 303 | range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
304 | if (range < 0) range = 0; |
||
305 | pressure_wait = (OCR0A - range) * 4; |
||
306 | OCR0A = range; |
||
307 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
||
1634 | - | 308 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
1645 | - | 309 | range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
310 | if (range > 254) range = 254; |
||
311 | pressure_wait = (range - OCR0A) * 4; |
||
312 | OCR0A = range; |
||
1634 | - | 313 | } else { |
1645 | - | 314 | filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure)); |
1634 | - | 315 | } |
1645 | - | 316 | |
317 | DebugOut.Analog[12] = range; |
||
318 | DebugOut.Analog[13] = rawAirPressure; |
||
319 | DebugOut.Analog[14] = filteredAirPressure; |
||
1634 | - | 320 | break; |
321 | |||
1645 | - | 322 | case 14: |
323 | case 15: // pitch or roll gyro. |
||
324 | axis = state - 15; |
||
325 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
||
326 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
||
327 | /* |
||
328 | * Process the gyro data for the PID controller. |
||
329 | */ |
||
330 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
||
331 | // gyro with a wider range, and helps counter saturation at full control. |
||
332 | |||
333 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
||
334 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
||
335 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
||
336 | } |
||
337 | else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
||
338 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
||
339 | } |
||
340 | } |
||
341 | |||
342 | // 2) Apply sign and offset, scale before filtering. |
||
343 | if (GYROS_REVERSE[axis]) { |
||
344 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
||
345 | } else { |
||
346 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
||
347 | } |
||
348 | |||
349 | // 3) Scale and filter. |
||
350 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PIDFILTER-1) + tempOffsetGyro) / GYROS_PIDFILTER; |
||
351 | |||
352 | // 4) Measure noise. |
||
353 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
||
354 | |||
355 | // 5) Differential measurement. |
||
356 | gyroD[axis] = (gyroD[axis] * (GYROS_DFILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_DFILTER; |
||
357 | |||
358 | // 6) Done. |
||
359 | gyro_PID[axis] = tempOffsetGyro; |
||
360 | |||
361 | /* |
||
362 | * Now process the data for attitude angles. |
||
363 | */ |
||
364 | tempGyro = rawGyroSum[axis]; |
||
365 | |||
366 | // 1) Apply sign and offset, scale before filtering. |
||
367 | if (GYROS_REVERSE[axis]) { |
||
368 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
||
369 | } else { |
||
370 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
||
371 | } |
||
372 | |||
373 | // 2) Filter. |
||
374 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_INTEGRALFILTER-1) + tempOffsetGyro) / GYROS_INTEGRALFILTER; |
||
1612 | dongfang | 375 | break; |
376 | |||
1634 | - | 377 | case 16: |
1612 | dongfang | 378 | // battery |
379 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
||
380 | analogDataReady = 1; // mark |
||
381 | ADCycleCount++; |
||
382 | // Stop the sampling. Cycle is over. |
||
383 | state = 0; |
||
384 | for (i=0; i<8; i++) { |
||
385 | sensorInputs[i] = 0; |
||
386 | } |
||
387 | break; |
||
388 | default: {} // do nothing. |
||
389 | } |
||
390 | |||
391 | // set up for next state. |
||
392 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
||
393 | // ad_channel = channelsForStates[state]; |
||
394 | |||
395 | // set adc muxer to next ad_channel |
||
396 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
||
397 | // after full cycle stop further interrupts |
||
398 | if(state) analog_start(); |
||
399 | } |
||
400 | |||
401 | void analog_calibrate(void) { |
||
402 | #define GYRO_OFFSET_CYCLES 32 |
||
403 | uint8_t i; |
||
404 | int32_t _pitchOffset = 0, _rollOffset = 0, _yawOffset = 0; |
||
405 | |||
406 | // Set the filters... to be removed again, once some good settings are found. |
||
407 | GYROS_FIRSTORDERFILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
||
408 | GYROS_SECONDORDERFILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
||
409 | GYROS_DFILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
||
410 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
||
411 | |||
1645 | - | 412 | gyroOffset[PITCH] = gyroOffset[ROLL] = yawGyroOffset = 0; |
1612 | dongfang | 413 | |
414 | gyro_calibrate(); |
||
415 | |||
416 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
||
417 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
||
418 | Delay_ms_Mess(10); |
||
1645 | - | 419 | _pitchOffset += rawGyroSum[PITCH]; |
420 | _rollOffset += rawGyroSum[ROLL]; |
||
1612 | dongfang | 421 | _yawOffset += rawYawGyroSum; |
422 | } |
||
423 | |||
1645 | - | 424 | gyroOffset[PITCH] = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
425 | gyroOffset[ROLL] = (_rollOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
||
426 | yawGyroOffset = (_yawOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
||
1612 | dongfang | 427 | |
1645 | - | 428 | gyro_PID[PITCH] = gyro_PID[ROLL] = 0; |
429 | gyro_ATT[PITCH] = gyro_ATT[ROLL] = 0; |
||
1612 | dongfang | 430 | |
431 | // Noise is relative to offset. So, reset noise measurements when |
||
432 | // changing offsets. |
||
1645 | - | 433 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
1612 | dongfang | 434 | |
1645 | - | 435 | accOffset[PITCH] = (int16_t)GetParamWord(PID_ACC_PITCH); |
436 | accOffset[ROLL] = (int16_t)GetParamWord(PID_ACC_ROLL); |
||
437 | ZAccOffset = (int16_t)GetParamWord(PID_ACC_TOP); |
||
1612 | dongfang | 438 | } |
439 | |||
440 | /* |
||
441 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
||
442 | * Does not (!} update the local variables. This must be done with a |
||
443 | * call to analog_calibrate() - this always (?) is done by the caller |
||
444 | * anyway. There would be nothing wrong with updating the variables |
||
445 | * directly from here, though. |
||
446 | */ |
||
447 | void analog_calibrateAcc(void) { |
||
448 | #define ACC_OFFSET_CYCLES 10 |
||
449 | uint8_t i; |
||
450 | int32_t _pitchAxisOffset = 0, _rollAxisOffset = 0, _ZAxisOffset = 0; |
||
1645 | - | 451 | // int16_t pressureDiff, savedRawAirPressure; |
1612 | dongfang | 452 | |
1645 | - | 453 | accOffset[PITCH] = accOffset[ROLL] = ZAccOffset = 0; |
1612 | dongfang | 454 | |
455 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
||
456 | Delay_ms_Mess(10); |
||
1645 | - | 457 | _pitchAxisOffset += acc[PITCH]; |
458 | _rollAxisOffset += acc[ROLL]; |
||
459 | _ZAxisOffset += ZAcc; |
||
1612 | dongfang | 460 | } |
461 | |||
462 | // Save ACC neutral settings to eeprom |
||
1645 | - | 463 | SetParamWord(PID_ACC_PITCH, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
1612 | dongfang | 464 | SetParamWord(PID_ACC_ROLL, (uint16_t)((_rollAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
465 | SetParamWord(PID_ACC_TOP, (uint16_t)((_ZAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
||
466 | |||
467 | // Noise is relative to offset. So, reset noise measurements when |
||
468 | // changing offsets. |
||
1645 | - | 469 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
470 | // Setting offset values has an influence in the analog.c ISR |
||
471 | // Therefore run measurement for 100ms to achive stable readings |
||
472 | // Delay_ms_Mess(100); |
||
473 | |||
474 | // Set the feedback so that air pressure ends up in the middle of the range. |
||
475 | // (raw pressure high --> OCR0A also high...) |
||
476 | // OCR0A += (rawAirPressure - 512) / rangewidth; |
||
477 | // Delay_ms_Mess(500); |
||
478 | |||
479 | /* |
||
480 | pressureDiff = 0; |
||
481 | DebugOut.Analog[16] = rawAirPressure; |
||
482 | |||
483 | #define PRESSURE_CAL_CYCLE_COUNT 2 |
||
484 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
||
485 | savedRawAirPressure = rawAirPressure; |
||
486 | OCR0A++; |
||
487 | Delay_ms_Mess(200); |
||
488 | // raw pressure will decrease. |
||
489 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
||
490 | |||
491 | savedRawAirPressure = rawAirPressure; |
||
492 | OCR0A--; |
||
493 | Delay_ms_Mess(200); |
||
494 | // raw pressure will increase. |
||
495 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
||
496 | } |
||
497 | |||
498 | DebugOut.Analog[15] = rangewidth = |
||
499 | (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
||
500 | */ |
||
1612 | dongfang | 501 | } |