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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25
// + mit unserer Zustimmung zulässig
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34
// +     for non-commercial use (directly or indirectly)
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
38
// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49
// +  POSSIBILITY OF SUCH DAMAGE.
50
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51
#include <avr/io.h>
52
#include <avr/interrupt.h>
53
#include <avr/pgmspace.h>
1864 - 54
 
1612 dongfang 55
#include "analog.h"
1864 - 56
#include "attitude.h"
1612 dongfang 57
#include "sensors.h"
58
 
59
// for Delay functions
60
#include "timer0.h"
61
 
1955 - 62
// For debugOut
1612 dongfang 63
#include "uart0.h"
64
 
65
// For reading and writing acc. meter offsets.
66
#include "eeprom.h"
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))
73
 
1854 - 74
/*
75
 * For each A/D conversion cycle, each analog channel is sampled a number of times
76
 * (see array channelsForStates), and the results for each channel are summed.
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
80
 * the offsets with the DAC.
81
 */
1952 - 82
volatile uint16_t sensorInputs[8];
1646 - 83
volatile int16_t rawGyroSum[3];
84
volatile int16_t acc[3];
1869 - 85
volatile int16_t filteredAcc[2] = { 0,0 };
1872 - 86
// volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 };
1612 dongfang 87
 
88
/*
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
1854 - 91
 * integration to angles.
1612 dongfang 92
 */
1645 - 93
volatile int16_t gyro_PID[2];
94
volatile int16_t gyro_ATT[2];
95
volatile int16_t gyroD[2];
1646 - 96
volatile int16_t yawGyro;
1612 dongfang 97
 
98
/*
99
 * Offset values. These are the raw gyro and acc. meter sums when the copter is
100
 * standing still. They are used for adjusting the gyro and acc. meter values
1645 - 101
 * to be centered on zero.
1612 dongfang 102
 */
1821 - 103
volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512
104
                * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW };
1612 dongfang 105
 
1821 - 106
volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512
107
                * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z };
1646 - 108
 
1612 dongfang 109
/*
110
 * This allows some experimentation with the gyro filters.
111
 * Should be replaced by #define's later on...
112
 */
1646 - 113
volatile uint8_t GYROS_PID_FILTER;
114
volatile uint8_t GYROS_ATT_FILTER;
115
volatile uint8_t GYROS_D_FILTER;
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;
125
 
126
// Value of 2 samples, with range.
127
volatile uint16_t simpleAirPressure;
128
 
129
// Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered.
130
volatile int32_t filteredAirPressure;
131
 
132
// Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples.
133
volatile int32_t airPressureSum;
134
 
135
// The number of samples summed into airPressureSum so far.
136
volatile uint8_t pressureMeasurementCount;
137
 
1612 dongfang 138
/*
1854 - 139
 * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
1612 dongfang 140
 * That is divided by 3 below, for a final 10.34 per volt.
141
 * So the initial value of 100 is for 9.7 volts.
142
 */
143
volatile int16_t UBat = 100;
144
 
145
/*
146
 * Control and status.
147
 */
148
volatile uint16_t ADCycleCount = 0;
149
volatile uint8_t analogDataReady = 1;
150
 
151
/*
152
 * Experiment: Measuring vibration-induced sensor noise.
153
 */
1645 - 154
volatile uint16_t gyroNoisePeak[2];
155
volatile uint16_t accNoisePeak[2];
1612 dongfang 156
 
157
// ADC channels
1645 - 158
#define AD_GYRO_YAW       0
159
#define AD_GYRO_ROLL      1
1634 - 160
#define AD_GYRO_PITCH     2
161
#define AD_AIRPRESSURE    3
1645 - 162
#define AD_UBAT           4
163
#define AD_ACC_Z          5
164
#define AD_ACC_ROLL       6
165
#define AD_ACC_PITCH      7
1612 dongfang 166
 
167
/*
168
 * Table of AD converter inputs for each state.
1854 - 169
 * The number of samples summed for each channel is equal to
1612 dongfang 170
 * the number of times the channel appears in the array.
171
 * The max. number of samples that can be taken in 2 ms is:
1854 - 172
 * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control
173
 * loop needs a little time between reading AD values and
1612 dongfang 174
 * re-enabling ADC, the real limit is (how much?) lower.
175
 * The acc. sensor is sampled even if not used - or installed
176
 * at all. The cost is not significant.
177
 */
178
 
1870 - 179
const uint8_t channelsForStates[] PROGMEM = {
180
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW,
181
  AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE,
1612 dongfang 182
 
1870 - 183
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc.
184
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro
185
 
186
  AD_ACC_PITCH,   // at 12, finish pitch axis acc.
187
  AD_ACC_ROLL,    // at 13, finish roll axis acc.
188
  AD_AIRPRESSURE, // at 14, finish air pressure.
189
 
190
  AD_GYRO_PITCH,  // at 15, finish pitch gyro
191
  AD_GYRO_ROLL,   // at 16, finish roll gyro
192
  AD_UBAT         // at 17, measure battery.
193
};
1612 dongfang 194
 
195
// Feature removed. Could be reintroduced later - but should work for all gyro types then.
196
// uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
197
 
198
void analog_init(void) {
1821 - 199
        uint8_t sreg = SREG;
200
        // disable all interrupts before reconfiguration
201
        cli();
1612 dongfang 202
 
1821 - 203
        //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
204
        DDRA = 0x00;
205
        PORTA = 0x00;
206
        // Digital Input Disable Register 0
207
        // Disable digital input buffer for analog adc_channel pins
208
        DIDR0 = 0xFF;
209
        // external reference, adjust data to the right
1952 - 210
        ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR));
1821 - 211
        // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
1952 - 212
        ADMUX = (ADMUX & 0xE0) | channelsForStates[0];
1821 - 213
        //Set ADC Control and Status Register A
214
        //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
1952 - 215
        ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
1821 - 216
        //Set ADC Control and Status Register B
217
        //Trigger Source to Free Running Mode
1952 - 218
        ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0));
219
 
220
        startAnalogConversionCycle();
221
 
1821 - 222
        // restore global interrupt flags
223
        SREG = sreg;
1612 dongfang 224
}
225
 
1821 - 226
void measureNoise(const int16_t sensor,
227
                volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
228
        if (sensor > (int16_t) (*noiseMeasurement)) {
229
                *noiseMeasurement = sensor;
230
        } else if (-sensor > (int16_t) (*noiseMeasurement)) {
231
                *noiseMeasurement = -sensor;
232
        } else if (*noiseMeasurement > damping) {
233
                *noiseMeasurement -= damping;
234
        } else {
235
                *noiseMeasurement = 0;
236
        }
1612 dongfang 237
}
238
 
1796 - 239
/*
240
 * Min.: 0
241
 * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.
242
 */
1775 - 243
uint16_t getSimplePressure(int advalue) {
1821 - 244
        return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
1634 - 245
}
246
 
1952 - 247
void startAnalogConversionCycle(void) {
248
  // Stop the sampling. Cycle is over.
249
  for (uint8_t i = 0; i < 8; i++) {
250
    sensorInputs[i] = 0;
251
  }
252
  ADMUX = (ADMUX & 0xE0) | channelsForStates[0];
253
  startADC();
254
}
255
 
1645 - 256
/*****************************************************
1854 - 257
 * Interrupt Service Routine for ADC
258
 * Runs at 312.5 kHz or 3.2 µs. When all states are
1952 - 259
 * processed further conversions are stopped.
1645 - 260
 *****************************************************/
1870 - 261
ISR(ADC_vect) {
1952 - 262
  static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
263
  sensorInputs[ad_channel] += ADC;
264
  // set up for next state.
265
  state++;
266
  if (state < 18) {
267
    ad_channel = pgm_read_byte(&channelsForStates[state]);
268
    // set adc muxer to next ad_channel
269
    ADMUX = (ADMUX & 0xE0) | ad_channel;
270
    // after full cycle stop further interrupts
271
    startADC();
272
  } else {
273
    state = 0;
274
    ADCycleCount++;
275
    analogDataReady = 1;
276
    // do not restart ADC converter. 
277
  }
278
}
1612 dongfang 279
 
1952 - 280
void analog_updateGyros(void) {
281
  // for various filters...
282
  int16_t tempOffsetGyro, tempGyro;
283
 
284
  for (uint8_t axis=0; axis<2; axis++) {
285
    tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis];
286
    /*
287
     * Process the gyro data for the PID controller.
288
     */
289
    // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
290
    //    gyro with a wider range, and helps counter saturation at full control.
291
 
292
    if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
293
      if (tempGyro < SENSOR_MIN_PITCHROLL) {
1955 - 294
        debugOut.digital[0] |= DEBUG_SENSORLIMIT;
1952 - 295
        tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
296
      } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
1955 - 297
        debugOut.digital[0] |= DEBUG_SENSORLIMIT;
1952 - 298
        tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE
299
          + SENSOR_MAX_PITCHROLL;
300
      } else {
1955 - 301
        debugOut.digital[0] &= ~DEBUG_SENSORLIMIT;
1952 - 302
      }
303
    }
304
 
305
    // 2) Apply sign and offset, scale before filtering.
306
    if (GYRO_REVERSED[axis]) {
307
      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
308
    } else {
309
      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
310
    }
311
 
312
    // 3) Scale and filter.
313
    tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro) / GYROS_PID_FILTER;
314
 
315
    // 4) Measure noise.
316
    measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
317
 
318
    // 5) Differential measurement.
319
    gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER;
320
 
321
    // 6) Done.
322
    gyro_PID[axis] = tempOffsetGyro;
323
 
324
    /*
325
     * Now process the data for attitude angles.
326
     */
327
    tempGyro = rawGyroSum[axis];
328
 
329
    // 1) Apply sign and offset, scale before filtering.
330
    if (GYRO_REVERSED[axis]) {
331
      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
332
    } else {
333
      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
334
    }
335
 
336
    // 2) Filter.
337
    gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro) / GYROS_ATT_FILTER;
338
  }
339
 
340
  // Yaw gyro.
341
  rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
342
  if (GYRO_REVERSED[YAW])
343
    yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
344
  else
345
    yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
1955 - 346
 
347
  debugOut.analog[3] = gyro_ATT[PITCH];
348
  debugOut.analog[4] = gyro_ATT[ROLL];
349
  debugOut.analog[5] = yawGyro;
1952 - 350
}
1775 - 351
 
1952 - 352
void analog_updateAccelerometers(void) {
353
  // Pitch and roll axis accelerations.
354
  for (uint8_t axis=0; axis<2; axis++) {
355
    if (ACC_REVERSED[axis])
356
      acc[axis] = accOffset[axis] - sensorInputs[AD_ACC_PITCH-axis];
357
    else
358
      acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset[axis];
359
 
360
    filteredAcc[axis] = (filteredAcc[axis] * (ACC_FILTER - 1) + acc[axis]) / ACC_FILTER;
361
 
362
    /*
363
      stronglyFilteredAcc[PITCH] =
364
      (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;
365
    */
366
 
367
    measureNoise(acc[axis], &accNoisePeak[axis], 1);
368
  }
369
 
370
  // Z acc.
371
  if (ACC_REVERSED[Z])
372
    acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
373
  else
374
    acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
1646 - 375
 
1952 - 376
  /*
377
    stronglyFilteredAcc[Z] =
378
    (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;
379
  */
1955 - 380
 
381
  debugOut.analog[6] = acc[PITCH];
382
  debugOut.analog[7] = acc[ROLL];
1952 - 383
}
1645 - 384
 
1952 - 385
void analog_updateAirPressure(void) {
386
  static uint16_t pressureAutorangingWait = 25;
387
  uint16_t rawAirPressure;
388
  int16_t newrange;
389
  // air pressure
390
  if (pressureAutorangingWait) {
391
    //A range switch was done recently. Wait for steadying.
392
    pressureAutorangingWait--;
1955 - 393
    debugOut.analog[27] = (uint16_t) OCR0A;
394
    debugOut.analog[31] = simpleAirPressure;
1952 - 395
  } else {
396
    rawAirPressure = sensorInputs[AD_AIRPRESSURE];
397
    if (rawAirPressure < MIN_RAWPRESSURE) {
398
      // value is too low, so decrease voltage on the op amp minus input, making the value higher.
399
      newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
400
      if (newrange > MIN_RANGES_EXTRAPOLATION) {
401
        pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
402
        OCR0A = newrange;
403
      } else {
404
        if (OCR0A) {
405
          OCR0A--;
406
          pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
1821 - 407
        }
1952 - 408
      }
409
    } else if (rawAirPressure > MAX_RAWPRESSURE) {
410
      // value is too high, so increase voltage on the op amp minus input, making the value lower.
411
      // If near the end, make a limited increase
412
      newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
413
      if (newrange < MAX_RANGES_EXTRAPOLATION) {
414
        pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
415
        OCR0A = newrange;
416
      } else {
417
        if (OCR0A < 254) {
418
          OCR0A++;
419
          pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
420
        }
421
      }
422
    }
423
 
424
    // Even if the sample is off-range, use it.
425
    simpleAirPressure = getSimplePressure(rawAirPressure);
1955 - 426
    debugOut.analog[27] = (uint16_t) OCR0A;
427
    debugOut.analog[31] = simpleAirPressure;
1952 - 428
 
429
    if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
430
      // Danger: pressure near lower end of range. If the measurement saturates, the
431
      // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
1955 - 432
      debugOut.digital[1] |= DEBUG_SENSORLIMIT;
1952 - 433
      airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth
434
        + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION
435
           * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
436
    } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
437
      // Danger: pressure near upper end of range. If the measurement saturates, the
438
      // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
1955 - 439
      debugOut.digital[1] |= DEBUG_SENSORLIMIT;
1952 - 440
      airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth
441
        + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION
442
           * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
443
    } else {
444
      // normal case.
445
      // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
446
      // The 2 cases above (end of range) are ignored for this.
1955 - 447
      debugOut.digital[1] &= ~DEBUG_SENSORLIMIT;
1952 - 448
      if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
449
        airPressureSum += simpleAirPressure / 2;
450
      else
451
        airPressureSum += simpleAirPressure;
452
    }
453
 
454
    // 2 samples were added.
455
    pressureMeasurementCount += 2;
456
    if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
457
      filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
458
                             + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
459
      pressureMeasurementCount = airPressureSum = 0;
460
    }
461
  }
462
}
1821 - 463
 
1952 - 464
void analog_updateBatteryVoltage(void) {
465
  // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
466
  // This is divided by 3 --> 10.34 counts per volt.
467
  UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
1955 - 468
  debugOut.analog[11] = UBat;
1952 - 469
}
1821 - 470
 
1952 - 471
void analog_update(void) {
472
  analog_updateGyros();
473
  analog_updateAccelerometers();
474
  analog_updateAirPressure();
475
  analog_updateBatteryVoltage();
1612 dongfang 476
}
477
 
478
void analog_calibrate(void) {
479
#define GYRO_OFFSET_CYCLES 32
1952 - 480
  uint8_t i, axis;
481
  int32_t deltaOffsets[3] = { 0, 0, 0 };
482
 
483
  // Set the filters... to be removed again, once some good settings are found.
484
  GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
485
  GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
486
  GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
487
  ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;
488
 
489
  gyro_calibrate();
490
 
491
  // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
492
  for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
493
    delay_ms_Mess(20);
494
    for (axis = PITCH; axis <= YAW; axis++) {
495
      deltaOffsets[axis] += rawGyroSum[axis];
496
    }
497
  }
498
 
499
  for (axis = PITCH; axis <= YAW; axis++) {
500
    gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
501
    // DebugOut.Analog[20 + axis] = gyroOffset[axis];
502
  }
503
 
504
  // Noise is relativ to offset. So, reset noise measurements when changing offsets.
505
  gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
506
 
507
  accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
508
  accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
509
  accOffset[Z] = GetParamWord(PID_ACC_Z);
510
 
511
  // Rough estimate. Hmm no nothing happens at calibration anyway.
512
  // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
513
  // pressureMeasurementCount = 0;
514
 
515
  delay_ms_Mess(100);
1612 dongfang 516
}
517
 
518
/*
519
 * Find acc. offsets for a neutral reading, and write them to EEPROM.
520
 * Does not (!} update the local variables. This must be done with a
521
 * call to analog_calibrate() - this always (?) is done by the caller
522
 * anyway. There would be nothing wrong with updating the variables
523
 * directly from here, though.
524
 */
525
void analog_calibrateAcc(void) {
526
#define ACC_OFFSET_CYCLES 10
1821 - 527
        uint8_t i, axis;
528
        int32_t deltaOffset[3] = { 0, 0, 0 };
529
        int16_t filteredDelta;
530
        // int16_t pressureDiff, savedRawAirPressure;
1612 dongfang 531
 
1821 - 532
        for (i = 0; i < ACC_OFFSET_CYCLES; i++) {
1887 - 533
                delay_ms_Mess(10);
1821 - 534
                for (axis = PITCH; axis <= YAW; axis++) {
535
                        deltaOffset[axis] += acc[axis];
536
                }
537
        }
1612 dongfang 538
 
1821 - 539
        for (axis = PITCH; axis <= YAW; axis++) {
540
                filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2)
541
                                / ACC_OFFSET_CYCLES;
542
                accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
543
        }
1646 - 544
 
1821 - 545
        // Save ACC neutral settings to eeprom
546
        SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
547
        SetParamWord(PID_ACC_ROLL, accOffset[ROLL]);
548
        SetParamWord(PID_ACC_Z, accOffset[Z]);
1612 dongfang 549
 
1821 - 550
        // Noise is relative to offset. So, reset noise measurements when
551
        // changing offsets.
552
        accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
1645 - 553
 
1821 - 554
        // Setting offset values has an influence in the analog.c ISR
555
        // Therefore run measurement for 100ms to achive stable readings
1887 - 556
        delay_ms_Mess(100);
1821 - 557
 
558
        // Set the feedback so that air pressure ends up in the middle of the range.
559
        // (raw pressure high --> OCR0A also high...)
560
        /*
561
         OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
1887 - 562
         delay_ms_Mess(1000);
1821 - 563
 
564
         pressureDiff = 0;
565
         // DebugOut.Analog[16] = rawAirPressure;
566
 
567
         #define PRESSURE_CAL_CYCLE_COUNT 5
568
         for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
569
         savedRawAirPressure = rawAirPressure;
570
         OCR0A+=2;
1887 - 571
         delay_ms_Mess(500);
1821 - 572
         // raw pressure will decrease.
573
         pressureDiff += (savedRawAirPressure - rawAirPressure);
574
         savedRawAirPressure = rawAirPressure;
575
         OCR0A-=2;
1887 - 576
         delay_ms_Mess(500);
1821 - 577
         // raw pressure will increase.
578
         pressureDiff += (rawAirPressure - savedRawAirPressure);
579
         }
580
 
581
         rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);
582
         DebugOut.Analog[27] = rangewidth;
583
         */
1612 dongfang 584
}