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1612 | dongfang | 1 | #include <avr/io.h> |
2 | #include <avr/interrupt.h> |
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3 | #include <avr/pgmspace.h> |
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1864 | - | 4 | |
1612 | dongfang | 5 | #include "analog.h" |
1864 | - | 6 | #include "attitude.h" |
1612 | dongfang | 7 | #include "sensors.h" |
1964 | - | 8 | #include "printf_P.h" |
2051 | - | 9 | #include "mk3mag.h" |
1612 | dongfang | 10 | |
11 | // for Delay functions |
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12 | #include "timer0.h" |
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13 | |||
14 | // For reading and writing acc. meter offsets. |
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15 | #include "eeprom.h" |
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16 | |||
2052 | - | 17 | // For debugOut |
1796 | - | 18 | #include "output.h" |
19 | |||
1952 | - | 20 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
21 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
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22 | |||
1969 | - | 23 | const char* recal = ", recalibration needed."; |
24 | |||
1854 | - | 25 | /* |
26 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
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27 | * (see array channelsForStates), and the results for each channel are summed. |
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1645 | - | 28 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
1612 | dongfang | 29 | * They are exported in the analog.h file - but please do not use them! The only |
30 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
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31 | * the offsets with the DAC. |
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32 | */ |
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1952 | - | 33 | volatile uint16_t sensorInputs[8]; |
2015 | - | 34 | int16_t acc[3]; |
35 | int16_t filteredAcc[3] = { 0,0,0 }; |
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1612 | dongfang | 36 | |
37 | /* |
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1645 | - | 38 | * These 4 exported variables are zero-offset. The "PID" ones are used |
39 | * in the attitude control as rotation rates. The "ATT" ones are for |
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1854 | - | 40 | * integration to angles. |
1612 | dongfang | 41 | */ |
2015 | - | 42 | int16_t gyro_PID[2]; |
43 | int16_t gyro_ATT[2]; |
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44 | int16_t gyroD[2]; |
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45 | int16_t yawGyro; |
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2051 | - | 46 | int16_t magneticHeading; |
1612 | dongfang | 47 | |
2033 | - | 48 | int32_t groundPressure; |
49 | |||
1612 | dongfang | 50 | /* |
51 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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52 | * standing still. They are used for adjusting the gyro and acc. meter values |
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1645 | - | 53 | * to be centered on zero. |
1612 | dongfang | 54 | */ |
55 | |||
1969 | - | 56 | sensorOffset_t gyroOffset; |
57 | sensorOffset_t accOffset; |
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58 | sensorOffset_t gyroAmplifierOffset; |
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1960 | - | 59 | |
1612 | dongfang | 60 | /* |
2015 | - | 61 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
62 | * If a sensor is used in an orientation where one but not both of the axes has |
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63 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
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64 | * Transform: |
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65 | * pitch <- pp*pitch + pr*roll |
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66 | * roll <- rp*pitch + rr*roll |
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67 | * Not reversed, GYRO_QUADRANT: |
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68 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
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69 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
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70 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
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71 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
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72 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
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73 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
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74 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
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75 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
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76 | * Reversed, GYRO_QUADRANT: |
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77 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
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78 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
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79 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
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80 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
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81 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
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82 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
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83 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
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84 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
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1612 | dongfang | 85 | */ |
86 | |||
2015 | - | 87 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
88 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
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89 | // Pitch to Pitch part |
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2020 | - | 90 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
2015 | - | 91 | // Roll to Pitch part |
92 | int8_t xy = rotationTab[(quadrant+2)%8]; |
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93 | // Pitch to Roll part |
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94 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
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95 | // Roll to Roll part |
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96 | int8_t yy = rotationTab[quadrant]; |
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97 | |||
98 | int16_t xIn = result[0]; |
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2019 | - | 99 | result[0] = xx*xIn + xy*result[1]; |
2015 | - | 100 | result[1] = yx*xIn + yy*result[1]; |
101 | |||
102 | if (quadrant & 1) { |
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103 | // A rotation was used above, where the factors were too large by sqrt(2). |
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104 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
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105 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
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106 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
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107 | result[0] = (result[0]*11) >> 4; |
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108 | result[1] = (result[1]*11) >> 4; |
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109 | } |
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110 | } |
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2019 | - | 111 | |
1645 | - | 112 | /* |
1775 | - | 113 | * Air pressure |
1645 | - | 114 | */ |
1970 | - | 115 | volatile uint8_t rangewidth = 105; |
1612 | dongfang | 116 | |
1775 | - | 117 | // Direct from sensor, irrespective of range. |
118 | // volatile uint16_t rawAirPressure; |
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119 | |||
120 | // Value of 2 samples, with range. |
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2015 | - | 121 | uint16_t simpleAirPressure; |
1775 | - | 122 | |
2019 | - | 123 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
2015 | - | 124 | int32_t filteredAirPressure; |
2033 | - | 125 | int32_t lastFilteredAirPressure; |
1775 | - | 126 | |
2036 | - | 127 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
2026 | - | 128 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
129 | int32_t windowedAirPressure; |
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130 | uint8_t windowPtr; |
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131 | |||
1775 | - | 132 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
2015 | - | 133 | int32_t airPressureSum; |
1775 | - | 134 | |
135 | // The number of samples summed into airPressureSum so far. |
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2015 | - | 136 | uint8_t pressureMeasurementCount; |
1775 | - | 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. |
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142 | */ |
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2015 | - | 143 | int16_t UBat = 100; |
1612 | dongfang | 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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2015 | - | 154 | uint16_t gyroNoisePeak[3]; |
155 | uint16_t accNoisePeak[3]; |
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1612 | dongfang | 156 | |
1986 | - | 157 | volatile uint8_t adState; |
1987 | - | 158 | volatile uint8_t adChannel; |
1986 | - | 159 | |
1612 | dongfang | 160 | // ADC channels |
1645 | - | 161 | #define AD_GYRO_YAW 0 |
162 | #define AD_GYRO_ROLL 1 |
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1634 | - | 163 | #define AD_GYRO_PITCH 2 |
164 | #define AD_AIRPRESSURE 3 |
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1645 | - | 165 | #define AD_UBAT 4 |
166 | #define AD_ACC_Z 5 |
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167 | #define AD_ACC_ROLL 6 |
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168 | #define AD_ACC_PITCH 7 |
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1612 | dongfang | 169 | |
170 | /* |
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171 | * Table of AD converter inputs for each state. |
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1854 | - | 172 | * The number of samples summed for each channel is equal to |
1612 | dongfang | 173 | * the number of times the channel appears in the array. |
174 | * The max. number of samples that can be taken in 2 ms is: |
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1854 | - | 175 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
176 | * loop needs a little time between reading AD values and |
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1612 | dongfang | 177 | * re-enabling ADC, the real limit is (how much?) lower. |
178 | * The acc. sensor is sampled even if not used - or installed |
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179 | * at all. The cost is not significant. |
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180 | */ |
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181 | |||
1870 | - | 182 | const uint8_t channelsForStates[] PROGMEM = { |
183 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
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184 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
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1612 | dongfang | 185 | |
1870 | - | 186 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
187 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
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188 | |||
189 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
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190 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
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191 | AD_AIRPRESSURE, // at 14, finish air pressure. |
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192 | |||
193 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
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194 | AD_GYRO_ROLL, // at 16, finish roll gyro |
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195 | AD_UBAT // at 17, measure battery. |
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196 | }; |
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1612 | dongfang | 197 | |
198 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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199 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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200 | |||
201 | void analog_init(void) { |
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1821 | - | 202 | uint8_t sreg = SREG; |
203 | // disable all interrupts before reconfiguration |
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204 | cli(); |
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1612 | dongfang | 205 | |
1821 | - | 206 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
207 | DDRA = 0x00; |
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208 | PORTA = 0x00; |
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209 | // Digital Input Disable Register 0 |
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210 | // Disable digital input buffer for analog adc_channel pins |
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211 | DIDR0 = 0xFF; |
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212 | // external reference, adjust data to the right |
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1952 | - | 213 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
1821 | - | 214 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
1987 | - | 215 | ADMUX = (ADMUX & 0xE0); |
1821 | - | 216 | //Set ADC Control and Status Register A |
217 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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1952 | - | 218 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
1821 | - | 219 | //Set ADC Control and Status Register B |
220 | //Trigger Source to Free Running Mode |
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1952 | - | 221 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
222 | |||
2026 | - | 223 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
224 | airPressureWindow[i] = 0; |
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225 | } |
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2036 | - | 226 | windowedAirPressure = 0; |
2026 | - | 227 | |
1952 | - | 228 | startAnalogConversionCycle(); |
229 | |||
1821 | - | 230 | // restore global interrupt flags |
231 | SREG = sreg; |
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1612 | dongfang | 232 | } |
233 | |||
2015 | - | 234 | uint16_t rawGyroValue(uint8_t axis) { |
235 | return sensorInputs[AD_GYRO_PITCH-axis]; |
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236 | } |
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237 | |||
238 | uint16_t rawAccValue(uint8_t axis) { |
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239 | return sensorInputs[AD_ACC_PITCH-axis]; |
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240 | } |
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241 | |||
1821 | - | 242 | void measureNoise(const int16_t sensor, |
243 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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244 | if (sensor > (int16_t) (*noiseMeasurement)) { |
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245 | *noiseMeasurement = sensor; |
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246 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
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247 | *noiseMeasurement = -sensor; |
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248 | } else if (*noiseMeasurement > damping) { |
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249 | *noiseMeasurement -= damping; |
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250 | } else { |
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251 | *noiseMeasurement = 0; |
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252 | } |
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1612 | dongfang | 253 | } |
254 | |||
1796 | - | 255 | /* |
256 | * Min.: 0 |
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257 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
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258 | */ |
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1775 | - | 259 | uint16_t getSimplePressure(int advalue) { |
2026 | - | 260 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
261 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
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262 | return result; |
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1634 | - | 263 | } |
264 | |||
1952 | - | 265 | void startAnalogConversionCycle(void) { |
1960 | - | 266 | analogDataReady = 0; |
2017 | - | 267 | |
1952 | - | 268 | // Stop the sampling. Cycle is over. |
269 | for (uint8_t i = 0; i < 8; i++) { |
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270 | sensorInputs[i] = 0; |
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271 | } |
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1986 | - | 272 | adState = 0; |
1987 | - | 273 | adChannel = AD_GYRO_PITCH; |
274 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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1952 | - | 275 | startADC(); |
276 | } |
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277 | |||
1645 | - | 278 | /***************************************************** |
1854 | - | 279 | * Interrupt Service Routine for ADC |
1963 | - | 280 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
1952 | - | 281 | * processed further conversions are stopped. |
1645 | - | 282 | *****************************************************/ |
1870 | - | 283 | ISR(ADC_vect) { |
1986 | - | 284 | sensorInputs[adChannel] += ADC; |
1952 | - | 285 | // set up for next state. |
1986 | - | 286 | adState++; |
287 | if (adState < sizeof(channelsForStates)) { |
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288 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
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289 | // set adc muxer to next adChannel |
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290 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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1952 | - | 291 | // after full cycle stop further interrupts |
292 | startADC(); |
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293 | } else { |
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294 | ADCycleCount++; |
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295 | analogDataReady = 1; |
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296 | // do not restart ADC converter. |
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297 | } |
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298 | } |
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1612 | dongfang | 299 | |
2055 | - | 300 | // Experimental gyro shake takeoff detect! |
301 | uint16_t gyroActivity = 0; |
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302 | void measureGyroActivityAndUpdateGyro(uint8_t axis, int16_t newValue) { |
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303 | int16_t tmp = gyro_ATT[axis]; |
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304 | gyro_ATT[axis] = newValue; |
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305 | |||
306 | tmp -= newValue; |
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307 | tmp = (tmp*tmp) >> 4; |
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308 | |||
309 | if (gyroActivity + (uint16_t)tmp < 0x8000) |
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310 | gyroActivity += tmp; |
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311 | } |
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312 | |||
313 | #define GADAMPING 10 |
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314 | void dampenGyroActivity(void) { |
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315 | uint32_t tmp = gyroActivity; |
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316 | tmp *= ((1<<GADAMPING)-1); |
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317 | tmp >>= GADAMPING; |
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318 | gyroActivity = tmp; |
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319 | } |
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320 | |||
1952 | - | 321 | void analog_updateGyros(void) { |
322 | // for various filters... |
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2015 | - | 323 | int16_t tempOffsetGyro[2], tempGyro; |
1952 | - | 324 | |
1991 | - | 325 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
1952 | - | 326 | for (uint8_t axis=0; axis<2; axis++) { |
2015 | - | 327 | tempGyro = rawGyroValue(axis); |
1952 | - | 328 | /* |
329 | * Process the gyro data for the PID controller. |
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330 | */ |
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331 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
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332 | // gyro with a wider range, and helps counter saturation at full control. |
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333 | |||
1960 | - | 334 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
1952 | - | 335 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
2015 | - | 336 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
337 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
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1952 | - | 338 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
2015 | - | 339 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
340 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
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1952 | - | 341 | } |
342 | } |
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2015 | - | 343 | |
1952 | - | 344 | // 2) Apply sign and offset, scale before filtering. |
2015 | - | 345 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
346 | } |
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347 | |||
348 | // 2.1: Transform axes. |
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2020 | - | 349 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
2015 | - | 350 | |
351 | for (uint8_t axis=0; axis<2; axis++) { |
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352 | // 3) Filter. |
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353 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
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354 | |||
1952 | - | 355 | // 4) Measure noise. |
2015 | - | 356 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
357 | |||
1952 | - | 358 | // 5) Differential measurement. |
2015 | - | 359 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
360 | |||
1952 | - | 361 | // 6) Done. |
2015 | - | 362 | gyro_PID[axis] = tempOffsetGyro[axis]; |
363 | |||
364 | // Prepare tempOffsetGyro for next calculation below... |
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365 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
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1952 | - | 366 | } |
367 | |||
2015 | - | 368 | /* |
369 | * Now process the data for attitude angles. |
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370 | */ |
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2020 | - | 371 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
2015 | - | 372 | |
2055 | - | 373 | measureGyroActivityAndUpdateGyro(0, tempOffsetGyro[PITCH]); |
374 | measureGyroActivityAndUpdateGyro(1, tempOffsetGyro[ROLL]); |
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375 | dampenGyroActivity(); |
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2017 | - | 376 | |
1952 | - | 377 | // Yaw gyro. |
2020 | - | 378 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
1960 | - | 379 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
1952 | - | 380 | else |
1960 | - | 381 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
1952 | - | 382 | } |
1775 | - | 383 | |
1952 | - | 384 | void analog_updateAccelerometers(void) { |
385 | // Pitch and roll axis accelerations. |
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386 | for (uint8_t axis=0; axis<2; axis++) { |
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2015 | - | 387 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
1979 | - | 388 | } |
2015 | - | 389 | |
2020 | - | 390 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
2015 | - | 391 | for(uint8_t axis=0; axis<3; axis++) { |
1960 | - | 392 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
1952 | - | 393 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
394 | } |
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2015 | - | 395 | |
396 | // Z acc. |
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397 | if (staticParams.imuReversedFlags & 8) |
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398 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
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399 | else |
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400 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
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1952 | - | 401 | } |
1645 | - | 402 | |
1952 | - | 403 | void analog_updateAirPressure(void) { |
404 | static uint16_t pressureAutorangingWait = 25; |
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405 | uint16_t rawAirPressure; |
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406 | int16_t newrange; |
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407 | // air pressure |
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408 | if (pressureAutorangingWait) { |
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409 | //A range switch was done recently. Wait for steadying. |
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410 | pressureAutorangingWait--; |
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411 | } else { |
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412 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
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413 | if (rawAirPressure < MIN_RAWPRESSURE) { |
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414 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
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415 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
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416 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
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417 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
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418 | OCR0A = newrange; |
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419 | } else { |
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420 | if (OCR0A) { |
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421 | OCR0A--; |
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422 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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1821 | - | 423 | } |
1952 | - | 424 | } |
425 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
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426 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
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427 | // If near the end, make a limited increase |
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428 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
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429 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
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430 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
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431 | OCR0A = newrange; |
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432 | } else { |
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433 | if (OCR0A < 254) { |
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434 | OCR0A++; |
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435 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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436 | } |
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437 | } |
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438 | } |
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439 | |||
440 | // Even if the sample is off-range, use it. |
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441 | simpleAirPressure = getSimplePressure(rawAirPressure); |
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2055 | - | 442 | debugOut.analog[6] = rawAirPressure; |
443 | debugOut.analog[7] = simpleAirPressure; |
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1952 | - | 444 | |
445 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
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446 | // Danger: pressure near lower end of range. If the measurement saturates, the |
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447 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
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1955 | - | 448 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
1952 | - | 449 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
450 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
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451 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
||
452 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
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453 | // Danger: pressure near upper end of range. If the measurement saturates, the |
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454 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
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1955 | - | 455 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
1952 | - | 456 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
457 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
||
458 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
||
459 | } else { |
||
460 | // normal case. |
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2026 | - | 461 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
1952 | - | 462 | // The 2 cases above (end of range) are ignored for this. |
1955 | - | 463 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
2035 | - | 464 | airPressureSum += simpleAirPressure; |
1952 | - | 465 | } |
466 | |||
467 | // 2 samples were added. |
||
468 | pressureMeasurementCount += 2; |
||
2035 | - | 469 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
470 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
||
471 | |||
472 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
||
473 | airPressureSum += simpleAirPressure >> 2; |
||
474 | |||
2033 | - | 475 | lastFilteredAirPressure = filteredAirPressure; |
2035 | - | 476 | |
2036 | - | 477 | |
2035 | - | 478 | if (!staticParams.airpressureWindowLength) { |
479 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
||
480 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
||
481 | } else { |
||
482 | // use windowed. |
||
2036 | - | 483 | windowedAirPressure += simpleAirPressure; |
484 | windowedAirPressure -= airPressureWindow[windowPtr]; |
||
485 | airPressureWindow[windowPtr] = simpleAirPressure; |
||
486 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
||
487 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
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2035 | - | 488 | } |
2036 | - | 489 | |
1952 | - | 490 | pressureMeasurementCount = airPressureSum = 0; |
491 | } |
||
492 | } |
||
493 | } |
||
1821 | - | 494 | |
1952 | - | 495 | void analog_updateBatteryVoltage(void) { |
496 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
||
497 | // This is divided by 3 --> 10.34 counts per volt. |
||
498 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
||
499 | } |
||
1821 | - | 500 | |
1952 | - | 501 | void analog_update(void) { |
502 | analog_updateGyros(); |
||
503 | analog_updateAccelerometers(); |
||
504 | analog_updateAirPressure(); |
||
505 | analog_updateBatteryVoltage(); |
||
2052 | - | 506 | #ifdef USE_MK3MAG |
2055 | - | 507 | magneticHeading = volatileMagneticHeading; |
2052 | - | 508 | #endif |
1612 | dongfang | 509 | } |
510 | |||
1961 | - | 511 | void analog_setNeutral() { |
2018 | - | 512 | gyro_init(); |
513 | |||
1961 | - | 514 | if (gyroOffset_readFromEEProm()) { |
1969 | - | 515 | printf("gyro offsets invalid%s",recal); |
2019 | - | 516 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
517 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
||
1961 | - | 518 | } |
1964 | - | 519 | |
1961 | - | 520 | if (accOffset_readFromEEProm()) { |
1969 | - | 521 | printf("acc. meter offsets invalid%s",recal); |
2019 | - | 522 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
523 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
||
1961 | - | 524 | } |
525 | |||
526 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
||
527 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
||
528 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
||
529 | |||
530 | // Setting offset values has an influence in the analog.c ISR |
||
531 | // Therefore run measurement for 100ms to achive stable readings |
||
2015 | - | 532 | delay_ms_with_adc_measurement(100, 0); |
1961 | - | 533 | |
2055 | - | 534 | gyroActivity = 0; |
1961 | - | 535 | } |
536 | |||
537 | void analog_calibrateGyros(void) { |
||
1612 | dongfang | 538 | #define GYRO_OFFSET_CYCLES 32 |
1952 | - | 539 | uint8_t i, axis; |
1963 | - | 540 | int32_t offsets[3] = { 0, 0, 0 }; |
1952 | - | 541 | gyro_calibrate(); |
542 | |||
543 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
||
544 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
||
2015 | - | 545 | delay_ms_with_adc_measurement(10, 1); |
1952 | - | 546 | for (axis = PITCH; axis <= YAW; axis++) { |
2015 | - | 547 | offsets[axis] += rawGyroValue(axis); |
1952 | - | 548 | } |
549 | } |
||
550 | |||
551 | for (axis = PITCH; axis <= YAW; axis++) { |
||
1963 | - | 552 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
2018 | - | 553 | |
2019 | - | 554 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
555 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
||
2018 | - | 556 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
557 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
||
1952 | - | 558 | } |
1961 | - | 559 | |
560 | gyroOffset_writeToEEProm(); |
||
2015 | - | 561 | startAnalogConversionCycle(); |
1612 | dongfang | 562 | } |
563 | |||
564 | /* |
||
565 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
||
566 | * Does not (!} update the local variables. This must be done with a |
||
567 | * call to analog_calibrate() - this always (?) is done by the caller |
||
568 | * anyway. There would be nothing wrong with updating the variables |
||
569 | * directly from here, though. |
||
570 | */ |
||
571 | void analog_calibrateAcc(void) { |
||
2015 | - | 572 | #define ACC_OFFSET_CYCLES 32 |
1960 | - | 573 | uint8_t i, axis; |
2015 | - | 574 | int32_t offsets[3] = { 0, 0, 0 }; |
575 | |||
1960 | - | 576 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
2015 | - | 577 | delay_ms_with_adc_measurement(10, 1); |
1960 | - | 578 | for (axis = PITCH; axis <= YAW; axis++) { |
2015 | - | 579 | offsets[axis] += rawAccValue(axis); |
1960 | - | 580 | } |
581 | } |
||
2015 | - | 582 | |
1960 | - | 583 | for (axis = PITCH; axis <= YAW; axis++) { |
2015 | - | 584 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
2018 | - | 585 | int16_t min,max; |
586 | if (axis==Z) { |
||
2020 | - | 587 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
2018 | - | 588 | // TODO: This assumes a sensitivity of +/- 2g. |
2019 | - | 589 | min = (256-200) * ACC_OVERSAMPLING_Z; |
590 | max = (256+200) * ACC_OVERSAMPLING_Z; |
||
2018 | - | 591 | } else { |
592 | // TODO: This assumes a sensitivity of +/- 2g. |
||
2019 | - | 593 | min = (768-200) * ACC_OVERSAMPLING_Z; |
594 | max = (768+200) * ACC_OVERSAMPLING_Z; |
||
2018 | - | 595 | } |
596 | } else { |
||
2019 | - | 597 | min = (512-200) * ACC_OVERSAMPLING_XY; |
598 | max = (512+200) * ACC_OVERSAMPLING_XY; |
||
2018 | - | 599 | } |
600 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
||
601 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
||
602 | } |
||
1960 | - | 603 | } |
1961 | - | 604 | |
2015 | - | 605 | accOffset_writeToEEProm(); |
606 | startAnalogConversionCycle(); |
||
1612 | dongfang | 607 | } |
2033 | - | 608 | |
609 | void analog_setGround() { |
||
610 | groundPressure = filteredAirPressure; |
||
611 | } |
||
612 | |||
613 | int32_t analog_getHeight(void) { |
||
614 | return groundPressure - filteredAirPressure; |
||
615 | } |
||
616 | |||
617 | int16_t analog_getDHeight(void) { |
||
618 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
||
619 | return lastFilteredAirPressure - filteredAirPressure; |
||
620 | } |