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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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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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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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54 | #include "analog.h" |
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55 | |||
56 | #include "sensors.h" |
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57 | |||
58 | // for Delay functions |
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59 | #include "timer0.h" |
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60 | |||
61 | // For DebugOut |
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62 | #include "uart0.h" |
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63 | |||
64 | // For reading and writing acc. meter offsets. |
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65 | #include "eeprom.h" |
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66 | |||
1796 | - | 67 | // For DebugOut.Digital |
68 | #include "output.h" |
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69 | |||
1612 | dongfang | 70 | /* |
1645 | - | 71 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
72 | * (see array channelsForStates), and the results for each channel are summed. |
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73 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
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1612 | dongfang | 74 | * They are exported in the analog.h file - but please do not use them! The only |
75 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
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76 | * the offsets with the DAC. |
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77 | */ |
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1646 | - | 78 | volatile int16_t rawGyroSum[3]; |
79 | volatile int16_t acc[3]; |
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80 | volatile int16_t filteredAcc[2]={0,0}; |
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1612 | dongfang | 81 | |
82 | /* |
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1645 | - | 83 | * These 4 exported variables are zero-offset. The "PID" ones are used |
84 | * in the attitude control as rotation rates. The "ATT" ones are for |
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85 | * integration to angles. |
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1612 | dongfang | 86 | */ |
1645 | - | 87 | volatile int16_t gyro_PID[2]; |
88 | volatile int16_t gyro_ATT[2]; |
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89 | volatile int16_t gyroD[2]; |
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1646 | - | 90 | volatile int16_t yawGyro; |
1612 | dongfang | 91 | |
92 | /* |
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93 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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94 | * standing still. They are used for adjusting the gyro and acc. meter values |
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1645 | - | 95 | * to be centered on zero. |
1612 | dongfang | 96 | */ |
1646 | - | 97 | volatile int16_t gyroOffset[3] = { |
98 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
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99 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
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100 | 512 * GYRO_SUMMATION_FACTOR_YAW |
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101 | }; |
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1612 | dongfang | 102 | |
1646 | - | 103 | volatile int16_t accOffset[3] = { |
104 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
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105 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
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106 | 512 * ACC_SUMMATION_FACTOR_Z |
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107 | }; |
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108 | |||
1612 | dongfang | 109 | /* |
110 | * This allows some experimentation with the gyro filters. |
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111 | * Should be replaced by #define's later on... |
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112 | */ |
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1646 | - | 113 | volatile uint8_t GYROS_PID_FILTER; |
114 | volatile uint8_t GYROS_ATT_FILTER; |
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115 | volatile uint8_t GYROS_D_FILTER; |
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1612 | dongfang | 116 | volatile uint8_t ACC_FILTER; |
117 | |||
1645 | - | 118 | /* |
1775 | - | 119 | * Air pressure |
1645 | - | 120 | */ |
1775 | - | 121 | volatile uint8_t rangewidth = 106; |
1612 | dongfang | 122 | |
1775 | - | 123 | // Direct from sensor, irrespective of range. |
124 | // volatile uint16_t rawAirPressure; |
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125 | |||
126 | // Value of 2 samples, with range. |
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127 | volatile uint16_t simpleAirPressure; |
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128 | |||
129 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
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130 | volatile int32_t filteredAirPressure; |
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131 | |||
132 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
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133 | volatile int32_t airPressureSum; |
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134 | |||
135 | // The number of samples summed into airPressureSum so far. |
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136 | volatile uint8_t pressureMeasurementCount; |
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137 | |||
1612 | dongfang | 138 | /* |
139 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
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140 | * That is divided by 3 below, for a final 10.34 per volt. |
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141 | * So the initial value of 100 is for 9.7 volts. |
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142 | */ |
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143 | volatile int16_t UBat = 100; |
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144 | |||
145 | /* |
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146 | * Control and status. |
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147 | */ |
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148 | volatile uint16_t ADCycleCount = 0; |
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149 | volatile uint8_t analogDataReady = 1; |
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150 | |||
151 | /* |
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152 | * Experiment: Measuring vibration-induced sensor noise. |
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153 | */ |
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1645 | - | 154 | volatile uint16_t gyroNoisePeak[2]; |
155 | volatile uint16_t accNoisePeak[2]; |
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1612 | dongfang | 156 | |
157 | // ADC channels |
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1645 | - | 158 | #define AD_GYRO_YAW 0 |
159 | #define AD_GYRO_ROLL 1 |
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1634 | - | 160 | #define AD_GYRO_PITCH 2 |
161 | #define AD_AIRPRESSURE 3 |
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1645 | - | 162 | #define AD_UBAT 4 |
163 | #define AD_ACC_Z 5 |
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164 | #define AD_ACC_ROLL 6 |
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165 | #define AD_ACC_PITCH 7 |
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1612 | dongfang | 166 | |
167 | /* |
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168 | * Table of AD converter inputs for each state. |
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169 | * The number of samples summed for each channel is equal to |
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170 | * the number of times the channel appears in the array. |
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171 | * The max. number of samples that can be taken in 2 ms is: |
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172 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
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173 | * loop needs a little time between reading AD values and |
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174 | * re-enabling ADC, the real limit is (how much?) lower. |
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175 | * The acc. sensor is sampled even if not used - or installed |
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176 | * at all. The cost is not significant. |
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177 | */ |
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178 | |||
179 | const uint8_t channelsForStates[] PROGMEM = { |
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180 | AD_GYRO_PITCH, |
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181 | AD_GYRO_ROLL, |
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182 | AD_GYRO_YAW, |
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183 | |||
1634 | - | 184 | AD_ACC_PITCH, |
1612 | dongfang | 185 | AD_ACC_ROLL, |
1775 | - | 186 | AD_AIRPRESSURE, |
1612 | dongfang | 187 | |
188 | AD_GYRO_PITCH, |
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189 | AD_GYRO_ROLL, |
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1775 | - | 190 | AD_ACC_Z, // at 8, measure Z acc. |
1612 | dongfang | 191 | |
192 | AD_GYRO_PITCH, |
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193 | AD_GYRO_ROLL, |
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1775 | - | 194 | AD_GYRO_YAW, // at 11, finish yaw gyro |
1612 | dongfang | 195 | |
1775 | - | 196 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
197 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
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198 | AD_AIRPRESSURE, // at 14, finish air pressure. |
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1612 | dongfang | 199 | |
1775 | - | 200 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
201 | AD_GYRO_ROLL, // at 16, finish roll gyro |
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202 | AD_UBAT // at 17, measure battery. |
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1612 | dongfang | 203 | }; |
204 | |||
205 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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206 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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207 | |||
208 | void analog_init(void) { |
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209 | uint8_t sreg = SREG; |
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210 | // disable all interrupts before reconfiguration |
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211 | cli(); |
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212 | |||
213 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
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214 | DDRA = 0x00; |
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215 | PORTA = 0x00; |
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216 | // Digital Input Disable Register 0 |
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217 | // Disable digital input buffer for analog adc_channel pins |
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218 | DIDR0 = 0xFF; |
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219 | // external reference, adjust data to the right |
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220 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
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221 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
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222 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
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223 | //Set ADC Control and Status Register A |
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224 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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225 | ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
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226 | //Set ADC Control and Status Register B |
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227 | //Trigger Source to Free Running Mode |
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228 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
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229 | // Start AD conversion |
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230 | analog_start(); |
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231 | // restore global interrupt flags |
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232 | SREG = sreg; |
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233 | } |
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234 | |||
235 | void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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236 | if (sensor > (int16_t)(*noiseMeasurement)) { |
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237 | *noiseMeasurement = sensor; |
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238 | } else if (-sensor > (int16_t)(*noiseMeasurement)) { |
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239 | *noiseMeasurement = -sensor; |
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240 | } else if (*noiseMeasurement > damping) { |
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241 | *noiseMeasurement -= damping; |
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242 | } else { |
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243 | *noiseMeasurement = 0; |
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244 | } |
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245 | } |
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246 | |||
1796 | - | 247 | /* |
248 | * Min.: 0 |
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249 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
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250 | */ |
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1775 | - | 251 | uint16_t getSimplePressure(int advalue) { |
1645 | - | 252 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
1634 | - | 253 | } |
254 | |||
1645 | - | 255 | /***************************************************** |
256 | * Interrupt Service Routine for ADC |
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257 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
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258 | * processed the interrupt is disabled and further |
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259 | * AD conversions are stopped. |
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260 | *****************************************************/ |
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1612 | dongfang | 261 | ISR(ADC_vect) { |
262 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
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263 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
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1775 | - | 264 | static uint16_t pressureAutorangingWait = 25; |
265 | uint16_t rawAirPressure; |
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1645 | - | 266 | uint8_t i, axis; |
1775 | - | 267 | int16_t newrange; |
1634 | - | 268 | |
1612 | dongfang | 269 | // for various filters... |
1645 | - | 270 | int16_t tempOffsetGyro, tempGyro; |
1612 | dongfang | 271 | |
272 | sensorInputs[ad_channel] += ADC; |
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273 | |||
274 | /* |
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275 | * Actually we don't need this "switch". We could do all the sampling into the |
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276 | * sensorInputs array first, and all the processing after the last sample. |
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277 | */ |
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278 | switch(state++) { |
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1775 | - | 279 | |
280 | case 8: // Z acc |
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1646 | - | 281 | if (ACC_REVERSED[Z]) |
282 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
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283 | else |
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284 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
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285 | break; |
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1612 | dongfang | 286 | |
1775 | - | 287 | case 11: // yaw gyro |
1646 | - | 288 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
289 | if (GYRO_REVERSED[YAW]) |
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290 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
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291 | else |
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292 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
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1612 | dongfang | 293 | break; |
294 | |||
1775 | - | 295 | case 12: // pitch axis acc. |
1646 | - | 296 | if (ACC_REVERSED[PITCH]) |
297 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
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298 | else |
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299 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
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300 | |||
1645 | - | 301 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
302 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
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1612 | dongfang | 303 | break; |
304 | |||
1775 | - | 305 | case 13: // roll axis acc. |
1646 | - | 306 | if (ACC_REVERSED[ROLL]) |
307 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
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308 | else |
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309 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
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1645 | - | 310 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
311 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
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1612 | dongfang | 312 | break; |
1645 | - | 313 | |
1775 | - | 314 | case 14: // air pressure |
315 | if (pressureAutorangingWait) { |
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316 | //A range switch was done recently. Wait for steadying. |
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317 | pressureAutorangingWait--; |
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1796 | - | 318 | DebugOut.Analog[27] = (uint16_t)OCR0A; |
319 | DebugOut.Analog[31] = simpleAirPressure; |
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1645 | - | 320 | break; |
321 | } |
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1796 | - | 322 | |
1645 | - | 323 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
324 | if (rawAirPressure < MIN_RAWPRESSURE) { |
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1634 | - | 325 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
1796 | - | 326 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
1775 | - | 327 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
1796 | - | 328 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
1775 | - | 329 | OCR0A = newrange; |
330 | } else { |
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331 | if (OCR0A) { |
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332 | OCR0A--; |
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333 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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334 | } |
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335 | } |
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1645 | - | 336 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
1634 | - | 337 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
1775 | - | 338 | // If near the end, make a limited increase |
1796 | - | 339 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
1775 | - | 340 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
341 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
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342 | OCR0A = newrange; |
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343 | } else { |
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344 | if (OCR0A<254) { |
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345 | OCR0A++; |
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346 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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347 | } |
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348 | } |
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349 | } |
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350 | |||
351 | // Even if the sample is off-range, use it. |
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352 | simpleAirPressure = getSimplePressure(rawAirPressure); |
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1796 | - | 353 | DebugOut.Analog[27] = (uint16_t)OCR0A; |
354 | DebugOut.Analog[31] = simpleAirPressure; |
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355 | |||
1775 | - | 356 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
357 | // Danger: pressure near lower end of range. If the measurement saturates, the |
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1796 | - | 358 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
359 | airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
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1775 | - | 360 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
361 | // Danger: pressure near upper end of range. If the measurement saturates, the |
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1796 | - | 362 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
363 | airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
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1634 | - | 364 | } else { |
1775 | - | 365 | // normal case. |
1796 | - | 366 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
367 | // The 2 cases above (end of range) are ignored for this. |
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368 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
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369 | airPressureSum += simpleAirPressure / 2; |
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370 | else |
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371 | airPressureSum += simpleAirPressure; |
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1634 | - | 372 | } |
1796 | - | 373 | |
1775 | - | 374 | // 2 samples were added. |
375 | pressureMeasurementCount += 2; |
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1796 | - | 376 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
1775 | - | 377 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER-1) + airPressureSum + AIRPRESSURE_FILTER/2) / AIRPRESSURE_FILTER; |
378 | pressureMeasurementCount = airPressureSum = 0; |
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379 | } |
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380 | |||
1634 | - | 381 | break; |
382 | |||
1775 | - | 383 | case 15: |
384 | case 16: // pitch or roll gyro. |
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385 | axis = state - 16; |
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1645 | - | 386 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
387 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
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388 | /* |
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389 | * Process the gyro data for the PID controller. |
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390 | */ |
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391 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
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392 | // gyro with a wider range, and helps counter saturation at full control. |
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393 | |||
394 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
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395 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
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396 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
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397 | } |
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398 | else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
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399 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
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400 | } |
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401 | } |
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402 | |||
403 | // 2) Apply sign and offset, scale before filtering. |
||
1646 | - | 404 | if (GYRO_REVERSED[axis]) { |
1645 | - | 405 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
406 | } else { |
||
407 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
||
408 | } |
||
409 | |||
410 | // 3) Scale and filter. |
||
1646 | - | 411 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER; |
1645 | - | 412 | |
413 | // 4) Measure noise. |
||
414 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
||
415 | |||
416 | // 5) Differential measurement. |
||
1646 | - | 417 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
1645 | - | 418 | |
419 | // 6) Done. |
||
420 | gyro_PID[axis] = tempOffsetGyro; |
||
421 | |||
422 | /* |
||
423 | * Now process the data for attitude angles. |
||
424 | */ |
||
425 | tempGyro = rawGyroSum[axis]; |
||
426 | |||
427 | // 1) Apply sign and offset, scale before filtering. |
||
1646 | - | 428 | if (GYRO_REVERSED[axis]) { |
1645 | - | 429 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
430 | } else { |
||
431 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
||
432 | } |
||
433 | |||
434 | // 2) Filter. |
||
1646 | - | 435 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
1612 | dongfang | 436 | break; |
437 | |||
1775 | - | 438 | case 17: |
439 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
||
440 | // This is divided by 3 --> 10.34 counts per volt. |
||
1612 | dongfang | 441 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
1796 | - | 442 | DebugOut.Analog[11] = UBat; |
1612 | dongfang | 443 | analogDataReady = 1; // mark |
444 | ADCycleCount++; |
||
445 | // Stop the sampling. Cycle is over. |
||
446 | state = 0; |
||
447 | for (i=0; i<8; i++) { |
||
448 | sensorInputs[i] = 0; |
||
449 | } |
||
450 | break; |
||
451 | default: {} // do nothing. |
||
452 | } |
||
453 | |||
454 | // set up for next state. |
||
455 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
||
456 | // ad_channel = channelsForStates[state]; |
||
457 | |||
458 | // set adc muxer to next ad_channel |
||
459 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
||
460 | // after full cycle stop further interrupts |
||
461 | if(state) analog_start(); |
||
462 | } |
||
463 | |||
464 | void analog_calibrate(void) { |
||
465 | #define GYRO_OFFSET_CYCLES 32 |
||
1646 | - | 466 | uint8_t i, axis; |
467 | int32_t deltaOffsets[3] = {0,0,0}; |
||
1612 | dongfang | 468 | |
469 | // Set the filters... to be removed again, once some good settings are found. |
||
1646 | - | 470 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
471 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
||
472 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
||
473 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
||
1612 | dongfang | 474 | |
475 | gyro_calibrate(); |
||
476 | |||
477 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
||
478 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
||
1775 | - | 479 | Delay_ms_Mess(20); |
480 | for (axis=PITCH; axis<=YAW; axis++) { |
||
481 | deltaOffsets[axis] += rawGyroSum[axis]; |
||
1646 | - | 482 | } |
1612 | dongfang | 483 | } |
1646 | - | 484 | |
1775 | - | 485 | for (axis=PITCH; axis<=YAW; axis++) { |
486 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES/2) / GYRO_OFFSET_CYCLES; |
||
487 | DebugOut.Analog[20+axis] = gyroOffset[axis]; |
||
1646 | - | 488 | } |
489 | |||
490 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
||
1645 | - | 491 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
1612 | dongfang | 492 | |
1646 | - | 493 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
494 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
||
495 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
||
496 | |||
1775 | - | 497 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
498 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
||
499 | // pressureMeasurementCount = 0; |
||
500 | |||
1646 | - | 501 | Delay_ms_Mess(100); |
1612 | dongfang | 502 | } |
503 | |||
504 | /* |
||
505 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
||
506 | * Does not (!} update the local variables. This must be done with a |
||
507 | * call to analog_calibrate() - this always (?) is done by the caller |
||
508 | * anyway. There would be nothing wrong with updating the variables |
||
509 | * directly from here, though. |
||
510 | */ |
||
511 | void analog_calibrateAcc(void) { |
||
512 | #define ACC_OFFSET_CYCLES 10 |
||
1646 | - | 513 | uint8_t i, axis; |
514 | int32_t deltaOffset[3] = {0,0,0}; |
||
515 | int16_t filteredDelta; |
||
1645 | - | 516 | // int16_t pressureDiff, savedRawAirPressure; |
1612 | dongfang | 517 | |
518 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
||
519 | Delay_ms_Mess(10); |
||
1775 | - | 520 | for (axis=PITCH; axis<=YAW; axis++) { |
521 | deltaOffset[axis] += acc[axis]; |
||
522 | } |
||
1612 | dongfang | 523 | } |
524 | |||
1775 | - | 525 | for (axis=PITCH; axis<=YAW; axis++) { |
1646 | - | 526 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
527 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
||
528 | } |
||
529 | |||
1612 | dongfang | 530 | // Save ACC neutral settings to eeprom |
1646 | - | 531 | SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
532 | SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
||
533 | SetParamWord(PID_ACC_Z, accOffset[Z]); |
||
1612 | dongfang | 534 | |
535 | // Noise is relative to offset. So, reset noise measurements when |
||
536 | // changing offsets. |
||
1645 | - | 537 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
1646 | - | 538 | |
1645 | - | 539 | // Setting offset values has an influence in the analog.c ISR |
540 | // Therefore run measurement for 100ms to achive stable readings |
||
1646 | - | 541 | Delay_ms_Mess(100); |
1645 | - | 542 | |
543 | // Set the feedback so that air pressure ends up in the middle of the range. |
||
544 | // (raw pressure high --> OCR0A also high...) |
||
545 | /* |
||
1796 | - | 546 | OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1; |
547 | Delay_ms_Mess(1000); |
||
1645 | - | 548 | |
1796 | - | 549 | pressureDiff = 0; |
550 | // DebugOut.Analog[16] = rawAirPressure; |
||
551 | |||
552 | #define PRESSURE_CAL_CYCLE_COUNT 5 |
||
553 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
||
1645 | - | 554 | savedRawAirPressure = rawAirPressure; |
1796 | - | 555 | OCR0A+=2; |
556 | Delay_ms_Mess(500); |
||
1645 | - | 557 | // raw pressure will decrease. |
558 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
||
559 | savedRawAirPressure = rawAirPressure; |
||
1796 | - | 560 | OCR0A-=2; |
561 | Delay_ms_Mess(500); |
||
1645 | - | 562 | // raw pressure will increase. |
563 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
||
1796 | - | 564 | } |
565 | |||
566 | rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2); |
||
567 | DebugOut.Analog[27] = rangewidth; |
||
1645 | - | 568 | */ |
1612 | dongfang | 569 | } |