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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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1963 | - | 7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
1612 | dongfang | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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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1963 | - | 17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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1612 | dongfang | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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1963 | - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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1612 | dongfang | 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | #include <avr/io.h> |
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53 | #include <avr/interrupt.h> |
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54 | #include <avr/pgmspace.h> |
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1864 | - | 55 | |
1612 | dongfang | 56 | #include "analog.h" |
1864 | - | 57 | #include "attitude.h" |
1612 | dongfang | 58 | #include "sensors.h" |
1964 | - | 59 | #include "printf_P.h" |
1612 | dongfang | 60 | |
61 | // for Delay functions |
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62 | #include "timer0.h" |
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63 | |||
1955 | - | 64 | // For debugOut |
1612 | dongfang | 65 | #include "uart0.h" |
66 | |||
67 | // For reading and writing acc. meter offsets. |
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68 | #include "eeprom.h" |
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69 | |||
1955 | - | 70 | // For debugOut.digital |
1796 | - | 71 | #include "output.h" |
72 | |||
1952 | - | 73 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
74 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
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75 | |||
1854 | - | 76 | /* |
77 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
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78 | * (see array channelsForStates), and the results for each channel are summed. |
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1645 | - | 79 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
1612 | dongfang | 80 | * They are exported in the analog.h file - but please do not use them! The only |
81 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
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82 | * the offsets with the DAC. |
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83 | */ |
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1952 | - | 84 | volatile uint16_t sensorInputs[8]; |
1646 | - | 85 | volatile int16_t rawGyroSum[3]; |
86 | volatile int16_t acc[3]; |
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1869 | - | 87 | volatile int16_t filteredAcc[2] = { 0,0 }; |
1872 | - | 88 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
1612 | dongfang | 89 | |
90 | /* |
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1645 | - | 91 | * These 4 exported variables are zero-offset. The "PID" ones are used |
92 | * in the attitude control as rotation rates. The "ATT" ones are for |
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1854 | - | 93 | * integration to angles. |
1612 | dongfang | 94 | */ |
1645 | - | 95 | volatile int16_t gyro_PID[2]; |
96 | volatile int16_t gyro_ATT[2]; |
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97 | volatile int16_t gyroD[2]; |
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1646 | - | 98 | volatile int16_t yawGyro; |
1612 | dongfang | 99 | |
100 | /* |
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101 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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102 | * standing still. They are used for adjusting the gyro and acc. meter values |
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1645 | - | 103 | * to be centered on zero. |
1612 | dongfang | 104 | */ |
105 | |||
1965 | - | 106 | volatile sensorOffset_t gyroOffset; |
107 | volatile sensorOffset_t accOffset; |
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1967 | - | 108 | volatile sensorOffset_t gyroAmplifierOffset; |
1960 | - | 109 | |
1612 | dongfang | 110 | /* |
111 | * This allows some experimentation with the gyro filters. |
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112 | * Should be replaced by #define's later on... |
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113 | */ |
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114 | |||
1645 | - | 115 | /* |
1775 | - | 116 | * Air pressure |
1645 | - | 117 | */ |
1775 | - | 118 | volatile uint8_t rangewidth = 106; |
1612 | dongfang | 119 | |
1775 | - | 120 | // Direct from sensor, irrespective of range. |
121 | // volatile uint16_t rawAirPressure; |
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122 | |||
123 | // Value of 2 samples, with range. |
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124 | volatile uint16_t simpleAirPressure; |
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125 | |||
126 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
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127 | volatile int32_t filteredAirPressure; |
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128 | |||
129 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
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130 | volatile int32_t airPressureSum; |
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131 | |||
132 | // The number of samples summed into airPressureSum so far. |
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133 | volatile uint8_t pressureMeasurementCount; |
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134 | |||
1612 | dongfang | 135 | /* |
1854 | - | 136 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
1612 | dongfang | 137 | * That is divided by 3 below, for a final 10.34 per volt. |
138 | * So the initial value of 100 is for 9.7 volts. |
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139 | */ |
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140 | volatile int16_t UBat = 100; |
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141 | |||
142 | /* |
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143 | * Control and status. |
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144 | */ |
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145 | volatile uint16_t ADCycleCount = 0; |
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146 | volatile uint8_t analogDataReady = 1; |
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147 | |||
148 | /* |
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149 | * Experiment: Measuring vibration-induced sensor noise. |
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150 | */ |
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1645 | - | 151 | volatile uint16_t gyroNoisePeak[2]; |
152 | volatile uint16_t accNoisePeak[2]; |
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1612 | dongfang | 153 | |
154 | // ADC channels |
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1645 | - | 155 | #define AD_GYRO_YAW 0 |
156 | #define AD_GYRO_ROLL 1 |
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1634 | - | 157 | #define AD_GYRO_PITCH 2 |
158 | #define AD_AIRPRESSURE 3 |
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1645 | - | 159 | #define AD_UBAT 4 |
160 | #define AD_ACC_Z 5 |
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161 | #define AD_ACC_ROLL 6 |
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162 | #define AD_ACC_PITCH 7 |
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1612 | dongfang | 163 | |
164 | /* |
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165 | * Table of AD converter inputs for each state. |
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1854 | - | 166 | * The number of samples summed for each channel is equal to |
1612 | dongfang | 167 | * the number of times the channel appears in the array. |
168 | * The max. number of samples that can be taken in 2 ms is: |
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1854 | - | 169 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
170 | * loop needs a little time between reading AD values and |
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1612 | dongfang | 171 | * re-enabling ADC, the real limit is (how much?) lower. |
172 | * The acc. sensor is sampled even if not used - or installed |
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173 | * at all. The cost is not significant. |
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174 | */ |
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175 | |||
1870 | - | 176 | const uint8_t channelsForStates[] PROGMEM = { |
177 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
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178 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
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1612 | dongfang | 179 | |
1870 | - | 180 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
181 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
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182 | |||
183 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
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184 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
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185 | AD_AIRPRESSURE, // at 14, finish air pressure. |
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186 | |||
187 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
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188 | AD_GYRO_ROLL, // at 16, finish roll gyro |
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189 | AD_UBAT // at 17, measure battery. |
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190 | }; |
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1612 | dongfang | 191 | |
192 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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193 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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194 | |||
195 | void analog_init(void) { |
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1821 | - | 196 | uint8_t sreg = SREG; |
197 | // disable all interrupts before reconfiguration |
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198 | cli(); |
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1612 | dongfang | 199 | |
1821 | - | 200 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
201 | DDRA = 0x00; |
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202 | PORTA = 0x00; |
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203 | // Digital Input Disable Register 0 |
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204 | // Disable digital input buffer for analog adc_channel pins |
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205 | DIDR0 = 0xFF; |
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206 | // external reference, adjust data to the right |
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1952 | - | 207 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
1821 | - | 208 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
1952 | - | 209 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
1821 | - | 210 | //Set ADC Control and Status Register A |
211 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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1952 | - | 212 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
1821 | - | 213 | //Set ADC Control and Status Register B |
214 | //Trigger Source to Free Running Mode |
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1952 | - | 215 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
216 | |||
217 | startAnalogConversionCycle(); |
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218 | |||
1821 | - | 219 | // restore global interrupt flags |
220 | SREG = sreg; |
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1612 | dongfang | 221 | } |
222 | |||
1821 | - | 223 | void measureNoise(const int16_t sensor, |
224 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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225 | if (sensor > (int16_t) (*noiseMeasurement)) { |
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226 | *noiseMeasurement = sensor; |
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227 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
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228 | *noiseMeasurement = -sensor; |
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229 | } else if (*noiseMeasurement > damping) { |
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230 | *noiseMeasurement -= damping; |
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231 | } else { |
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232 | *noiseMeasurement = 0; |
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233 | } |
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1612 | dongfang | 234 | } |
235 | |||
1796 | - | 236 | /* |
237 | * Min.: 0 |
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238 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
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239 | */ |
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1775 | - | 240 | uint16_t getSimplePressure(int advalue) { |
1821 | - | 241 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
1634 | - | 242 | } |
243 | |||
1952 | - | 244 | void startAnalogConversionCycle(void) { |
1960 | - | 245 | analogDataReady = 0; |
1952 | - | 246 | // Stop the sampling. Cycle is over. |
247 | for (uint8_t i = 0; i < 8; i++) { |
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248 | sensorInputs[i] = 0; |
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249 | } |
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250 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
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251 | startADC(); |
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252 | } |
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253 | |||
1645 | - | 254 | /***************************************************** |
1854 | - | 255 | * Interrupt Service Routine for ADC |
1963 | - | 256 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
1952 | - | 257 | * processed further conversions are stopped. |
1645 | - | 258 | *****************************************************/ |
1870 | - | 259 | ISR(ADC_vect) { |
1952 | - | 260 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
261 | sensorInputs[ad_channel] += ADC; |
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262 | // set up for next state. |
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263 | state++; |
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264 | if (state < 18) { |
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265 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
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266 | // set adc muxer to next ad_channel |
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267 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
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268 | // after full cycle stop further interrupts |
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269 | startADC(); |
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270 | } else { |
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271 | state = 0; |
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272 | ADCycleCount++; |
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273 | analogDataReady = 1; |
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274 | // do not restart ADC converter. |
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275 | } |
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276 | } |
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1612 | dongfang | 277 | |
1952 | - | 278 | void analog_updateGyros(void) { |
279 | // for various filters... |
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280 | int16_t tempOffsetGyro, tempGyro; |
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281 | |||
282 | for (uint8_t axis=0; axis<2; axis++) { |
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283 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
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1967 | - | 284 | |
1952 | - | 285 | /* |
286 | * Process the gyro data for the PID controller. |
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287 | */ |
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288 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
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289 | // gyro with a wider range, and helps counter saturation at full control. |
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290 | |||
1960 | - | 291 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
1952 | - | 292 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
1955 | - | 293 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
1952 | - | 294 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
295 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
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1955 | - | 296 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
1952 | - | 297 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
298 | + SENSOR_MAX_PITCHROLL; |
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299 | } else { |
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1955 | - | 300 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
1952 | - | 301 | } |
302 | } |
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303 | |||
304 | // 2) Apply sign and offset, scale before filtering. |
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305 | if (GYRO_REVERSED[axis]) { |
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1960 | - | 306 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
1952 | - | 307 | } else { |
1960 | - | 308 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
1952 | - | 309 | } |
310 | |||
311 | // 3) Scale and filter. |
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1960 | - | 312 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
1952 | - | 313 | |
314 | // 4) Measure noise. |
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315 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
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316 | |||
317 | // 5) Differential measurement. |
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1960 | - | 318 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
1952 | - | 319 | |
320 | // 6) Done. |
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321 | gyro_PID[axis] = tempOffsetGyro; |
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322 | |||
323 | /* |
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324 | * Now process the data for attitude angles. |
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325 | */ |
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326 | tempGyro = rawGyroSum[axis]; |
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327 | |||
328 | // 1) Apply sign and offset, scale before filtering. |
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329 | if (GYRO_REVERSED[axis]) { |
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1960 | - | 330 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
1952 | - | 331 | } else { |
1960 | - | 332 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
1952 | - | 333 | } |
334 | |||
335 | // 2) Filter. |
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1960 | - | 336 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
1952 | - | 337 | } |
338 | |||
339 | // Yaw gyro. |
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340 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
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341 | if (GYRO_REVERSED[YAW]) |
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1960 | - | 342 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
1952 | - | 343 | else |
1960 | - | 344 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
1955 | - | 345 | |
1967 | - | 346 | debugOut.analog[3] = rawGyroSum[0]; |
347 | debugOut.analog[4] = rawGyroSum[1]; |
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348 | debugOut.analog[5] = rawGyroSum[2]; |
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1952 | - | 349 | } |
1775 | - | 350 | |
1952 | - | 351 | void analog_updateAccelerometers(void) { |
352 | // Pitch and roll axis accelerations. |
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353 | for (uint8_t axis=0; axis<2; axis++) { |
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354 | if (ACC_REVERSED[axis]) |
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1960 | - | 355 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
1952 | - | 356 | else |
1960 | - | 357 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
1952 | - | 358 | |
1960 | - | 359 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
1952 | - | 360 | |
361 | /* |
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362 | stronglyFilteredAcc[PITCH] = |
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363 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
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364 | */ |
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365 | |||
366 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
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367 | } |
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368 | |||
369 | // Z acc. |
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370 | if (ACC_REVERSED[Z]) |
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1960 | - | 371 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
1952 | - | 372 | else |
1960 | - | 373 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
1646 | - | 374 | |
1952 | - | 375 | /* |
376 | stronglyFilteredAcc[Z] = |
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377 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
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378 | */ |
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379 | } |
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1645 | - | 380 | |
1952 | - | 381 | void analog_updateAirPressure(void) { |
382 | static uint16_t pressureAutorangingWait = 25; |
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383 | uint16_t rawAirPressure; |
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384 | int16_t newrange; |
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385 | // air pressure |
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386 | if (pressureAutorangingWait) { |
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387 | //A range switch was done recently. Wait for steadying. |
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388 | pressureAutorangingWait--; |
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1955 | - | 389 | debugOut.analog[27] = (uint16_t) OCR0A; |
390 | debugOut.analog[31] = simpleAirPressure; |
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1952 | - | 391 | } else { |
392 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
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393 | if (rawAirPressure < MIN_RAWPRESSURE) { |
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394 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
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395 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
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396 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
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397 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
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398 | OCR0A = newrange; |
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399 | } else { |
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400 | if (OCR0A) { |
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401 | OCR0A--; |
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402 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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1821 | - | 403 | } |
1952 | - | 404 | } |
405 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
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406 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
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407 | // If near the end, make a limited increase |
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408 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
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409 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
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410 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
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411 | OCR0A = newrange; |
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412 | } else { |
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413 | if (OCR0A < 254) { |
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414 | OCR0A++; |
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415 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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416 | } |
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417 | } |
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418 | } |
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419 | |||
420 | // Even if the sample is off-range, use it. |
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421 | simpleAirPressure = getSimplePressure(rawAirPressure); |
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1955 | - | 422 | debugOut.analog[27] = (uint16_t) OCR0A; |
423 | debugOut.analog[31] = simpleAirPressure; |
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1952 | - | 424 | |
425 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
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426 | // Danger: pressure near lower end of range. If the measurement saturates, the |
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427 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
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1955 | - | 428 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
1952 | - | 429 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
430 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
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431 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
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432 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
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433 | // Danger: pressure near upper end of range. If the measurement saturates, the |
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434 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
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1955 | - | 435 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
1952 | - | 436 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
437 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
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438 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
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439 | } else { |
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440 | // normal case. |
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441 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
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442 | // The 2 cases above (end of range) are ignored for this. |
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1955 | - | 443 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
1952 | - | 444 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
445 | airPressureSum += simpleAirPressure / 2; |
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446 | else |
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447 | airPressureSum += simpleAirPressure; |
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448 | } |
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449 | |||
450 | // 2 samples were added. |
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451 | pressureMeasurementCount += 2; |
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452 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
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453 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
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454 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
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455 | pressureMeasurementCount = airPressureSum = 0; |
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456 | } |
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457 | } |
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458 | } |
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1821 | - | 459 | |
1952 | - | 460 | void analog_updateBatteryVoltage(void) { |
461 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
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462 | // This is divided by 3 --> 10.34 counts per volt. |
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463 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
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1955 | - | 464 | debugOut.analog[11] = UBat; |
1952 | - | 465 | } |
1821 | - | 466 | |
1952 | - | 467 | void analog_update(void) { |
468 | analog_updateGyros(); |
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469 | analog_updateAccelerometers(); |
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470 | analog_updateAirPressure(); |
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471 | analog_updateBatteryVoltage(); |
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1612 | dongfang | 472 | } |
473 | |||
1961 | - | 474 | void analog_setNeutral() { |
1967 | - | 475 | if (gyroAmplifierOffset_readFromEEProm()) { |
476 | printf("gyro amp invalid, you must recalibrate."); |
||
477 | gyro_loadOffsets(1); |
||
478 | } |
||
479 | |||
1961 | - | 480 | if (gyroOffset_readFromEEProm()) { |
1964 | - | 481 | printf("gyro offsets invalid, you must recalibrate."); |
1961 | - | 482 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
483 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
||
484 | } |
||
1964 | - | 485 | |
486 | debugOut.analog[6] = gyroOffset.offsets[PITCH]; |
||
487 | debugOut.analog[7] = gyroOffset.offsets[ROLL]; |
||
1961 | - | 488 | |
489 | if (accOffset_readFromEEProm()) { |
||
1964 | - | 490 | printf("acc. meter offsets invalid, you must recalibrate."); |
1961 | - | 491 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
492 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
||
493 | } |
||
494 | |||
495 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
||
496 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
||
497 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
||
498 | |||
499 | // Setting offset values has an influence in the analog.c ISR |
||
500 | // Therefore run measurement for 100ms to achive stable readings |
||
1967 | - | 501 | delay_ms_with_adc_measurement(100); |
1961 | - | 502 | |
503 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
||
504 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
||
505 | // pressureMeasurementCount = 0; |
||
506 | } |
||
507 | |||
508 | void analog_calibrateGyros(void) { |
||
1612 | dongfang | 509 | #define GYRO_OFFSET_CYCLES 32 |
1952 | - | 510 | uint8_t i, axis; |
1963 | - | 511 | int32_t offsets[3] = { 0, 0, 0 }; |
1952 | - | 512 | gyro_calibrate(); |
513 | |||
514 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
||
515 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
||
1967 | - | 516 | delay_ms_with_adc_measurement(20); |
1952 | - | 517 | for (axis = PITCH; axis <= YAW; axis++) { |
1963 | - | 518 | offsets[axis] += rawGyroSum[axis]; |
1952 | - | 519 | } |
520 | } |
||
521 | |||
522 | for (axis = PITCH; axis <= YAW; axis++) { |
||
1963 | - | 523 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
1952 | - | 524 | } |
1961 | - | 525 | |
526 | gyroOffset_writeToEEProm(); |
||
1612 | dongfang | 527 | } |
528 | |||
529 | /* |
||
530 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
||
531 | * Does not (!} update the local variables. This must be done with a |
||
532 | * call to analog_calibrate() - this always (?) is done by the caller |
||
533 | * anyway. There would be nothing wrong with updating the variables |
||
534 | * directly from here, though. |
||
535 | */ |
||
536 | void analog_calibrateAcc(void) { |
||
537 | #define ACC_OFFSET_CYCLES 10 |
||
1960 | - | 538 | uint8_t i, axis; |
539 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
||
540 | int16_t filteredDelta; |
||
541 | |||
542 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
||
1967 | - | 543 | delay_ms_with_adc_measurement(10); |
1960 | - | 544 | for (axis = PITCH; axis <= YAW; axis++) { |
545 | deltaOffset[axis] += acc[axis]; |
||
546 | } |
||
547 | } |
||
548 | |||
549 | for (axis = PITCH; axis <= YAW; axis++) { |
||
550 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
||
551 | / ACC_OFFSET_CYCLES; |
||
552 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
||
553 | } |
||
1961 | - | 554 | |
1960 | - | 555 | accOffset_writeToEEProm(); |
1612 | dongfang | 556 | } |