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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <avr/io.h> |
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52 | #include <avr/interrupt.h> |
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53 | #include <avr/pgmspace.h> |
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1864 | - | 54 | |
1612 | dongfang | 55 | #include "analog.h" |
1864 | - | 56 | #include "attitude.h" |
1612 | dongfang | 57 | #include "sensors.h" |
58 | |||
59 | // for Delay functions |
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60 | #include "timer0.h" |
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61 | |||
1955 | - | 62 | // For debugOut |
1612 | dongfang | 63 | #include "uart0.h" |
64 | |||
65 | // For reading and writing acc. meter offsets. |
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66 | #include "eeprom.h" |
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67 | |||
1955 | - | 68 | // For debugOut.digital |
1796 | - | 69 | #include "output.h" |
70 | |||
1952 | - | 71 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
72 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
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73 | |||
1854 | - | 74 | /* |
75 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
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76 | * (see array channelsForStates), and the results for each channel are summed. |
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1645 | - | 77 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
1612 | dongfang | 78 | * They are exported in the analog.h file - but please do not use them! The only |
79 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
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80 | * the offsets with the DAC. |
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81 | */ |
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1952 | - | 82 | volatile uint16_t sensorInputs[8]; |
1646 | - | 83 | volatile int16_t rawGyroSum[3]; |
84 | volatile int16_t acc[3]; |
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1869 | - | 85 | volatile int16_t filteredAcc[2] = { 0,0 }; |
1872 | - | 86 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
1612 | dongfang | 87 | |
88 | /* |
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1645 | - | 89 | * These 4 exported variables are zero-offset. The "PID" ones are used |
90 | * in the attitude control as rotation rates. The "ATT" ones are for |
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1854 | - | 91 | * integration to angles. |
1612 | dongfang | 92 | */ |
1645 | - | 93 | volatile int16_t gyro_PID[2]; |
94 | volatile int16_t gyro_ATT[2]; |
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95 | volatile int16_t gyroD[2]; |
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1646 | - | 96 | volatile int16_t yawGyro; |
1612 | dongfang | 97 | |
98 | /* |
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99 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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100 | * standing still. They are used for adjusting the gyro and acc. meter values |
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1645 | - | 101 | * to be centered on zero. |
1612 | dongfang | 102 | */ |
1960 | - | 103 | /* |
1821 | - | 104 | volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 |
105 | * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW }; |
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1612 | dongfang | 106 | |
1821 | - | 107 | volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512 |
108 | * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z }; |
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1960 | - | 109 | */ |
1646 | - | 110 | |
1960 | - | 111 | sensorOffset_t gyroOffset; |
112 | sensorOffset_t accOffset; |
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113 | |||
1612 | dongfang | 114 | /* |
115 | * This allows some experimentation with the gyro filters. |
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116 | * Should be replaced by #define's later on... |
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117 | */ |
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118 | |||
1645 | - | 119 | /* |
1775 | - | 120 | * Air pressure |
1645 | - | 121 | */ |
1775 | - | 122 | volatile uint8_t rangewidth = 106; |
1612 | dongfang | 123 | |
1775 | - | 124 | // Direct from sensor, irrespective of range. |
125 | // volatile uint16_t rawAirPressure; |
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126 | |||
127 | // Value of 2 samples, with range. |
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128 | volatile uint16_t simpleAirPressure; |
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129 | |||
130 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
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131 | volatile int32_t filteredAirPressure; |
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132 | |||
133 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
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134 | volatile int32_t airPressureSum; |
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135 | |||
136 | // The number of samples summed into airPressureSum so far. |
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137 | volatile uint8_t pressureMeasurementCount; |
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138 | |||
1612 | dongfang | 139 | /* |
1854 | - | 140 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
1612 | dongfang | 141 | * That is divided by 3 below, for a final 10.34 per volt. |
142 | * So the initial value of 100 is for 9.7 volts. |
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143 | */ |
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144 | volatile int16_t UBat = 100; |
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145 | |||
146 | /* |
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147 | * Control and status. |
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148 | */ |
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149 | volatile uint16_t ADCycleCount = 0; |
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150 | volatile uint8_t analogDataReady = 1; |
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151 | |||
152 | /* |
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153 | * Experiment: Measuring vibration-induced sensor noise. |
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154 | */ |
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1645 | - | 155 | volatile uint16_t gyroNoisePeak[2]; |
156 | volatile uint16_t accNoisePeak[2]; |
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1612 | dongfang | 157 | |
158 | // ADC channels |
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1645 | - | 159 | #define AD_GYRO_YAW 0 |
160 | #define AD_GYRO_ROLL 1 |
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1634 | - | 161 | #define AD_GYRO_PITCH 2 |
162 | #define AD_AIRPRESSURE 3 |
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1645 | - | 163 | #define AD_UBAT 4 |
164 | #define AD_ACC_Z 5 |
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165 | #define AD_ACC_ROLL 6 |
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166 | #define AD_ACC_PITCH 7 |
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1612 | dongfang | 167 | |
168 | /* |
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169 | * Table of AD converter inputs for each state. |
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1854 | - | 170 | * The number of samples summed for each channel is equal to |
1612 | dongfang | 171 | * the number of times the channel appears in the array. |
172 | * The max. number of samples that can be taken in 2 ms is: |
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1854 | - | 173 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
174 | * loop needs a little time between reading AD values and |
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1612 | dongfang | 175 | * re-enabling ADC, the real limit is (how much?) lower. |
176 | * The acc. sensor is sampled even if not used - or installed |
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177 | * at all. The cost is not significant. |
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178 | */ |
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179 | |||
1870 | - | 180 | const uint8_t channelsForStates[] PROGMEM = { |
181 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
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182 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
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1612 | dongfang | 183 | |
1870 | - | 184 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
185 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
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186 | |||
187 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
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188 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
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189 | AD_AIRPRESSURE, // at 14, finish air pressure. |
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190 | |||
191 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
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192 | AD_GYRO_ROLL, // at 16, finish roll gyro |
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193 | AD_UBAT // at 17, measure battery. |
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194 | }; |
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1612 | dongfang | 195 | |
196 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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197 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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198 | |||
199 | void analog_init(void) { |
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1821 | - | 200 | uint8_t sreg = SREG; |
201 | // disable all interrupts before reconfiguration |
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202 | cli(); |
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1612 | dongfang | 203 | |
1821 | - | 204 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
205 | DDRA = 0x00; |
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206 | PORTA = 0x00; |
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207 | // Digital Input Disable Register 0 |
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208 | // Disable digital input buffer for analog adc_channel pins |
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209 | DIDR0 = 0xFF; |
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210 | // external reference, adjust data to the right |
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1952 | - | 211 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
1821 | - | 212 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
1952 | - | 213 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
1821 | - | 214 | //Set ADC Control and Status Register A |
215 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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1952 | - | 216 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
1821 | - | 217 | //Set ADC Control and Status Register B |
218 | //Trigger Source to Free Running Mode |
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1952 | - | 219 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
220 | |||
221 | startAnalogConversionCycle(); |
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222 | |||
1821 | - | 223 | // restore global interrupt flags |
224 | SREG = sreg; |
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1612 | dongfang | 225 | } |
226 | |||
1821 | - | 227 | void measureNoise(const int16_t sensor, |
228 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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229 | if (sensor > (int16_t) (*noiseMeasurement)) { |
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230 | *noiseMeasurement = sensor; |
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231 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
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232 | *noiseMeasurement = -sensor; |
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233 | } else if (*noiseMeasurement > damping) { |
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234 | *noiseMeasurement -= damping; |
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235 | } else { |
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236 | *noiseMeasurement = 0; |
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237 | } |
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1612 | dongfang | 238 | } |
239 | |||
1796 | - | 240 | /* |
241 | * Min.: 0 |
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242 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
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243 | */ |
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1775 | - | 244 | uint16_t getSimplePressure(int advalue) { |
1821 | - | 245 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
1634 | - | 246 | } |
247 | |||
1952 | - | 248 | void startAnalogConversionCycle(void) { |
1960 | - | 249 | analogDataReady = 0; |
1952 | - | 250 | // Stop the sampling. Cycle is over. |
251 | for (uint8_t i = 0; i < 8; i++) { |
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252 | sensorInputs[i] = 0; |
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253 | } |
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254 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
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255 | startADC(); |
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256 | } |
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257 | |||
1645 | - | 258 | /***************************************************** |
1854 | - | 259 | * Interrupt Service Routine for ADC |
260 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
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1952 | - | 261 | * processed further conversions are stopped. |
1645 | - | 262 | *****************************************************/ |
1870 | - | 263 | ISR(ADC_vect) { |
1952 | - | 264 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
265 | sensorInputs[ad_channel] += ADC; |
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266 | // set up for next state. |
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267 | state++; |
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268 | if (state < 18) { |
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269 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
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270 | // set adc muxer to next ad_channel |
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271 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
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272 | // after full cycle stop further interrupts |
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273 | startADC(); |
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274 | } else { |
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275 | state = 0; |
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276 | ADCycleCount++; |
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277 | analogDataReady = 1; |
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278 | // do not restart ADC converter. |
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279 | } |
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280 | } |
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1612 | dongfang | 281 | |
1952 | - | 282 | void analog_updateGyros(void) { |
283 | // for various filters... |
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284 | int16_t tempOffsetGyro, tempGyro; |
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285 | |||
286 | for (uint8_t axis=0; axis<2; axis++) { |
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287 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
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288 | /* |
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289 | * Process the gyro data for the PID controller. |
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290 | */ |
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291 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
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292 | // gyro with a wider range, and helps counter saturation at full control. |
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293 | |||
1960 | - | 294 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
1952 | - | 295 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
1955 | - | 296 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
1952 | - | 297 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
298 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
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1955 | - | 299 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
1952 | - | 300 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
301 | + SENSOR_MAX_PITCHROLL; |
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302 | } else { |
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1955 | - | 303 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
1952 | - | 304 | } |
305 | } |
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306 | |||
307 | // 2) Apply sign and offset, scale before filtering. |
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308 | if (GYRO_REVERSED[axis]) { |
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1960 | - | 309 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
1952 | - | 310 | } else { |
1960 | - | 311 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
1952 | - | 312 | } |
313 | |||
314 | // 3) Scale and filter. |
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1960 | - | 315 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
1952 | - | 316 | |
317 | // 4) Measure noise. |
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318 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
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319 | |||
320 | // 5) Differential measurement. |
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1960 | - | 321 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
1952 | - | 322 | |
323 | // 6) Done. |
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324 | gyro_PID[axis] = tempOffsetGyro; |
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325 | |||
326 | /* |
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327 | * Now process the data for attitude angles. |
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328 | */ |
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329 | tempGyro = rawGyroSum[axis]; |
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330 | |||
331 | // 1) Apply sign and offset, scale before filtering. |
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332 | if (GYRO_REVERSED[axis]) { |
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1960 | - | 333 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
1952 | - | 334 | } else { |
1960 | - | 335 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
1952 | - | 336 | } |
337 | |||
338 | // 2) Filter. |
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1960 | - | 339 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
1952 | - | 340 | } |
341 | |||
342 | // Yaw gyro. |
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343 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
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344 | if (GYRO_REVERSED[YAW]) |
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1960 | - | 345 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
1952 | - | 346 | else |
1960 | - | 347 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
1955 | - | 348 | |
349 | debugOut.analog[3] = gyro_ATT[PITCH]; |
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350 | debugOut.analog[4] = gyro_ATT[ROLL]; |
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351 | debugOut.analog[5] = yawGyro; |
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1952 | - | 352 | } |
1775 | - | 353 | |
1952 | - | 354 | void analog_updateAccelerometers(void) { |
355 | // Pitch and roll axis accelerations. |
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356 | for (uint8_t axis=0; axis<2; axis++) { |
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357 | if (ACC_REVERSED[axis]) |
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1960 | - | 358 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
1952 | - | 359 | else |
1960 | - | 360 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
1952 | - | 361 | |
1960 | - | 362 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
1952 | - | 363 | |
364 | /* |
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365 | stronglyFilteredAcc[PITCH] = |
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366 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
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367 | */ |
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368 | |||
369 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
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370 | } |
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371 | |||
372 | // Z acc. |
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373 | if (ACC_REVERSED[Z]) |
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1960 | - | 374 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
1952 | - | 375 | else |
1960 | - | 376 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
1646 | - | 377 | |
1952 | - | 378 | /* |
379 | stronglyFilteredAcc[Z] = |
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380 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
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381 | */ |
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382 | } |
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1645 | - | 383 | |
1952 | - | 384 | void analog_updateAirPressure(void) { |
385 | static uint16_t pressureAutorangingWait = 25; |
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386 | uint16_t rawAirPressure; |
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387 | int16_t newrange; |
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388 | // air pressure |
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389 | if (pressureAutorangingWait) { |
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390 | //A range switch was done recently. Wait for steadying. |
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391 | pressureAutorangingWait--; |
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1955 | - | 392 | debugOut.analog[27] = (uint16_t) OCR0A; |
393 | debugOut.analog[31] = simpleAirPressure; |
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1952 | - | 394 | } else { |
395 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
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396 | if (rawAirPressure < MIN_RAWPRESSURE) { |
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397 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
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398 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
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399 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
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400 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
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401 | OCR0A = newrange; |
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402 | } else { |
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403 | if (OCR0A) { |
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404 | OCR0A--; |
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405 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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1821 | - | 406 | } |
1952 | - | 407 | } |
408 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
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409 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
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410 | // If near the end, make a limited increase |
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411 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
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412 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
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413 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
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414 | OCR0A = newrange; |
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415 | } else { |
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416 | if (OCR0A < 254) { |
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417 | OCR0A++; |
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418 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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419 | } |
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420 | } |
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421 | } |
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422 | |||
423 | // Even if the sample is off-range, use it. |
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424 | simpleAirPressure = getSimplePressure(rawAirPressure); |
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1955 | - | 425 | debugOut.analog[27] = (uint16_t) OCR0A; |
426 | debugOut.analog[31] = simpleAirPressure; |
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1952 | - | 427 | |
428 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
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429 | // Danger: pressure near lower end of range. If the measurement saturates, the |
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430 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
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1955 | - | 431 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
1952 | - | 432 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
433 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
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434 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
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435 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
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436 | // Danger: pressure near upper end of range. If the measurement saturates, the |
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437 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
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1955 | - | 438 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
1952 | - | 439 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
440 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
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441 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
||
442 | } else { |
||
443 | // normal case. |
||
444 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
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445 | // The 2 cases above (end of range) are ignored for this. |
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1955 | - | 446 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
1952 | - | 447 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
448 | airPressureSum += simpleAirPressure / 2; |
||
449 | else |
||
450 | airPressureSum += simpleAirPressure; |
||
451 | } |
||
452 | |||
453 | // 2 samples were added. |
||
454 | pressureMeasurementCount += 2; |
||
455 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
||
456 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
||
457 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
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458 | pressureMeasurementCount = airPressureSum = 0; |
||
459 | } |
||
460 | } |
||
461 | } |
||
1821 | - | 462 | |
1952 | - | 463 | void analog_updateBatteryVoltage(void) { |
464 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
||
465 | // This is divided by 3 --> 10.34 counts per volt. |
||
466 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
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1955 | - | 467 | debugOut.analog[11] = UBat; |
1952 | - | 468 | } |
1821 | - | 469 | |
1952 | - | 470 | void analog_update(void) { |
471 | analog_updateGyros(); |
||
472 | analog_updateAccelerometers(); |
||
473 | analog_updateAirPressure(); |
||
474 | analog_updateBatteryVoltage(); |
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1612 | dongfang | 475 | } |
476 | |||
477 | void analog_calibrate(void) { |
||
478 | #define GYRO_OFFSET_CYCLES 32 |
||
1952 | - | 479 | uint8_t i, axis; |
480 | int32_t deltaOffsets[3] = { 0, 0, 0 }; |
||
481 | gyro_calibrate(); |
||
482 | |||
483 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
||
484 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
||
485 | delay_ms_Mess(20); |
||
486 | for (axis = PITCH; axis <= YAW; axis++) { |
||
487 | deltaOffsets[axis] += rawGyroSum[axis]; |
||
488 | } |
||
489 | } |
||
490 | |||
491 | for (axis = PITCH; axis <= YAW; axis++) { |
||
1960 | - | 492 | gyroOffset.offsets[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
493 | debugOut.analog[6+axis] = gyroOffset.offsets[axis]; |
||
1952 | - | 494 | } |
495 | |||
496 | // Noise is relativ to offset. So, reset noise measurements when changing offsets. |
||
497 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
||
498 | |||
1960 | - | 499 | accOffset_readFromEEProm(); |
500 | // accOffset[PITCH] = getParamWord(PID_ACC_PITCH); |
||
501 | // accOffset[ROLL] = getParamWord(PID_ACC_ROLL); |
||
502 | // accOffset[Z] = getParamWord(PID_ACC_Z); |
||
1952 | - | 503 | |
504 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
||
505 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
||
506 | // pressureMeasurementCount = 0; |
||
507 | |||
508 | delay_ms_Mess(100); |
||
1612 | dongfang | 509 | } |
510 | |||
511 | /* |
||
512 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
||
513 | * Does not (!} update the local variables. This must be done with a |
||
514 | * call to analog_calibrate() - this always (?) is done by the caller |
||
515 | * anyway. There would be nothing wrong with updating the variables |
||
516 | * directly from here, though. |
||
517 | */ |
||
518 | void analog_calibrateAcc(void) { |
||
519 | #define ACC_OFFSET_CYCLES 10 |
||
1960 | - | 520 | uint8_t i, axis; |
521 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
||
522 | int16_t filteredDelta; |
||
523 | // int16_t pressureDiff, savedRawAirPressure; |
||
524 | |||
525 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
||
526 | delay_ms_Mess(10); |
||
527 | for (axis = PITCH; axis <= YAW; axis++) { |
||
528 | deltaOffset[axis] += acc[axis]; |
||
529 | } |
||
530 | } |
||
531 | |||
532 | for (axis = PITCH; axis <= YAW; axis++) { |
||
533 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
||
534 | / ACC_OFFSET_CYCLES; |
||
535 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
||
536 | } |
||
537 | |||
538 | // Save ACC neutral settings to eeprom |
||
539 | // setParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
||
540 | // setParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
||
541 | // setParamWord(PID_ACC_Z, accOffset[Z]); |
||
542 | accOffset_writeToEEProm(); |
||
1612 | dongfang | 543 | |
1960 | - | 544 | // Noise is relative to offset. So, reset noise measurements when |
545 | // changing offsets. |
||
546 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
||
547 | |||
548 | // Setting offset values has an influence in the analog.c ISR |
||
549 | // Therefore run measurement for 100ms to achive stable readings |
||
550 | delay_ms_Mess(100); |
||
1612 | dongfang | 551 | } |