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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <avr/io.h> |
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52 | #include <avr/interrupt.h> |
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53 | #include <avr/pgmspace.h> |
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1864 | - | 54 | |
1612 | dongfang | 55 | #include "analog.h" |
1864 | - | 56 | #include "attitude.h" |
1612 | dongfang | 57 | #include "sensors.h" |
58 | |||
59 | // for Delay functions |
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60 | #include "timer0.h" |
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61 | |||
62 | // For DebugOut |
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63 | #include "uart0.h" |
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64 | |||
65 | // For reading and writing acc. meter offsets. |
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66 | #include "eeprom.h" |
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67 | |||
1796 | - | 68 | // For DebugOut.Digital |
69 | #include "output.h" |
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70 | |||
1952 | - | 71 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
72 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
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73 | |||
1854 | - | 74 | /* |
75 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
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76 | * (see array channelsForStates), and the results for each channel are summed. |
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1645 | - | 77 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
1612 | dongfang | 78 | * They are exported in the analog.h file - but please do not use them! The only |
79 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
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80 | * the offsets with the DAC. |
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81 | */ |
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1952 | - | 82 | volatile uint16_t sensorInputs[8]; |
1646 | - | 83 | volatile int16_t rawGyroSum[3]; |
84 | volatile int16_t acc[3]; |
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1869 | - | 85 | volatile int16_t filteredAcc[2] = { 0,0 }; |
1872 | - | 86 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
1612 | dongfang | 87 | |
88 | /* |
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1645 | - | 89 | * These 4 exported variables are zero-offset. The "PID" ones are used |
90 | * in the attitude control as rotation rates. The "ATT" ones are for |
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1854 | - | 91 | * integration to angles. |
1612 | dongfang | 92 | */ |
1645 | - | 93 | volatile int16_t gyro_PID[2]; |
94 | volatile int16_t gyro_ATT[2]; |
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95 | volatile int16_t gyroD[2]; |
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1646 | - | 96 | volatile int16_t yawGyro; |
1612 | dongfang | 97 | |
98 | /* |
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99 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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100 | * standing still. They are used for adjusting the gyro and acc. meter values |
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1645 | - | 101 | * to be centered on zero. |
1612 | dongfang | 102 | */ |
1821 | - | 103 | volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 |
104 | * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW }; |
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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 }; |
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1646 | - | 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 | /* |
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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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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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: |
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1854 | - | 172 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
173 | * loop needs a little time between reading AD values and |
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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 |
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176 | * at all. The cost is not significant. |
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177 | */ |
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178 | |||
1870 | - | 179 | const uint8_t channelsForStates[] PROGMEM = { |
180 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
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181 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
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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 |
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185 | |||
186 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
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187 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
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188 | AD_AIRPRESSURE, // at 14, finish air pressure. |
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189 | |||
190 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
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191 | AD_GYRO_ROLL, // at 16, finish roll gyro |
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192 | AD_UBAT // at 17, measure battery. |
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193 | }; |
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1612 | dongfang | 194 | |
195 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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196 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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197 | |||
198 | void analog_init(void) { |
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1821 | - | 199 | uint8_t sreg = SREG; |
200 | // disable all interrupts before reconfiguration |
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201 | cli(); |
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1612 | dongfang | 202 | |
1821 | - | 203 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
204 | DDRA = 0x00; |
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205 | PORTA = 0x00; |
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206 | // Digital Input Disable Register 0 |
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207 | // Disable digital input buffer for analog adc_channel pins |
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208 | DIDR0 = 0xFF; |
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209 | // external reference, adjust data to the right |
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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 |
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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 |
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1952 | - | 218 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
219 | |||
220 | startAnalogConversionCycle(); |
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221 | |||
1821 | - | 222 | // restore global interrupt flags |
223 | SREG = sreg; |
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1612 | dongfang | 224 | } |
225 | |||
1821 | - | 226 | void measureNoise(const int16_t sensor, |
227 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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228 | if (sensor > (int16_t) (*noiseMeasurement)) { |
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229 | *noiseMeasurement = sensor; |
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230 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
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231 | *noiseMeasurement = -sensor; |
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232 | } else if (*noiseMeasurement > damping) { |
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233 | *noiseMeasurement -= damping; |
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234 | } else { |
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235 | *noiseMeasurement = 0; |
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236 | } |
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1612 | dongfang | 237 | } |
238 | |||
1796 | - | 239 | /* |
240 | * Min.: 0 |
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241 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
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242 | */ |
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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. |
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249 | for (uint8_t i = 0; i < 8; i++) { |
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250 | sensorInputs[i] = 0; |
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251 | } |
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252 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
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253 | startADC(); |
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254 | } |
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255 | |||
1645 | - | 256 | /***************************************************** |
1854 | - | 257 | * Interrupt Service Routine for ADC |
258 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
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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; |
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264 | // set up for next state. |
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265 | state++; |
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266 | if (state < 18) { |
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267 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
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268 | // set adc muxer to next ad_channel |
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269 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
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270 | // after full cycle stop further interrupts |
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271 | startADC(); |
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272 | } else { |
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273 | state = 0; |
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274 | ADCycleCount++; |
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275 | analogDataReady = 1; |
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276 | // do not restart ADC converter. |
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277 | } |
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278 | } |
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1612 | dongfang | 279 | |
1952 | - | 280 | void analog_updateGyros(void) { |
281 | // for various filters... |
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282 | int16_t tempOffsetGyro, tempGyro; |
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283 | |||
284 | for (uint8_t axis=0; axis<2; axis++) { |
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285 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
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286 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
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287 | /* |
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288 | * Process the gyro data for the PID controller. |
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289 | */ |
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290 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
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291 | // gyro with a wider range, and helps counter saturation at full control. |
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292 | |||
293 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
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294 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
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295 | DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
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296 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
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297 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
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298 | DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
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299 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
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300 | + SENSOR_MAX_PITCHROLL; |
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301 | } else { |
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302 | DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT; |
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303 | } |
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304 | } |
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305 | |||
306 | // 2) Apply sign and offset, scale before filtering. |
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307 | if (GYRO_REVERSED[axis]) { |
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308 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
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309 | } else { |
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310 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
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311 | } |
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312 | |||
313 | // 3) Scale and filter. |
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314 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro) / GYROS_PID_FILTER; |
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315 | |||
316 | // 4) Measure noise. |
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317 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
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318 | |||
319 | // 5) Differential measurement. |
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320 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
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321 | |||
322 | // 6) Done. |
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323 | gyro_PID[axis] = tempOffsetGyro; |
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324 | |||
325 | /* |
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326 | * Now process the data for attitude angles. |
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327 | */ |
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328 | tempGyro = rawGyroSum[axis]; |
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329 | |||
330 | // 1) Apply sign and offset, scale before filtering. |
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331 | if (GYRO_REVERSED[axis]) { |
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332 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
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333 | } else { |
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334 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
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335 | } |
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336 | |||
337 | // 2) Filter. |
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338 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
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339 | } |
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340 | |||
341 | // Yaw gyro. |
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342 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
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343 | if (GYRO_REVERSED[YAW]) |
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344 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
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345 | else |
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346 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
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347 | } |
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1775 | - | 348 | |
1952 | - | 349 | void analog_updateAccelerometers(void) { |
350 | // Pitch and roll axis accelerations. |
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351 | for (uint8_t axis=0; axis<2; axis++) { |
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352 | if (ACC_REVERSED[axis]) |
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353 | acc[axis] = accOffset[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
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354 | else |
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355 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset[axis]; |
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356 | |||
357 | filteredAcc[axis] = (filteredAcc[axis] * (ACC_FILTER - 1) + acc[axis]) / ACC_FILTER; |
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358 | |||
359 | /* |
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360 | stronglyFilteredAcc[PITCH] = |
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361 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
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362 | */ |
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363 | |||
364 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
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365 | } |
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366 | |||
367 | // Z acc. |
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368 | if (ACC_REVERSED[Z]) |
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369 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
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370 | else |
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371 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
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1646 | - | 372 | |
1952 | - | 373 | /* |
374 | stronglyFilteredAcc[Z] = |
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375 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
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376 | */ |
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377 | } |
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1645 | - | 378 | |
1952 | - | 379 | void analog_updateAirPressure(void) { |
380 | static uint16_t pressureAutorangingWait = 25; |
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381 | uint16_t rawAirPressure; |
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382 | int16_t newrange; |
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383 | // air pressure |
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384 | if (pressureAutorangingWait) { |
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385 | //A range switch was done recently. Wait for steadying. |
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386 | pressureAutorangingWait--; |
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387 | DebugOut.Analog[27] = (uint16_t) OCR0A; |
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388 | DebugOut.Analog[31] = simpleAirPressure; |
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389 | } else { |
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390 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
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391 | if (rawAirPressure < MIN_RAWPRESSURE) { |
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392 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
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393 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
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394 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
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395 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
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396 | OCR0A = newrange; |
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397 | } else { |
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398 | if (OCR0A) { |
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399 | OCR0A--; |
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400 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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1821 | - | 401 | } |
1952 | - | 402 | } |
403 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
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404 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
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405 | // If near the end, make a limited increase |
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406 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
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407 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
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408 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
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409 | OCR0A = newrange; |
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410 | } else { |
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411 | if (OCR0A < 254) { |
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412 | OCR0A++; |
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413 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
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414 | } |
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415 | } |
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416 | } |
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417 | |||
418 | // Even if the sample is off-range, use it. |
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419 | simpleAirPressure = getSimplePressure(rawAirPressure); |
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420 | DebugOut.Analog[27] = (uint16_t) OCR0A; |
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421 | DebugOut.Analog[31] = simpleAirPressure; |
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422 | |||
423 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
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424 | // Danger: pressure near lower end of range. If the measurement saturates, the |
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425 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
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426 | DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
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427 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
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428 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
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429 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
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430 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
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431 | // Danger: pressure near upper end of range. If the measurement saturates, the |
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432 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
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433 | DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
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434 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
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435 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
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436 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
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437 | } else { |
||
438 | // normal case. |
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439 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
||
440 | // The 2 cases above (end of range) are ignored for this. |
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441 | DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT; |
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442 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
||
443 | airPressureSum += simpleAirPressure / 2; |
||
444 | else |
||
445 | airPressureSum += simpleAirPressure; |
||
446 | } |
||
447 | |||
448 | // 2 samples were added. |
||
449 | pressureMeasurementCount += 2; |
||
450 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
||
451 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
||
452 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
||
453 | pressureMeasurementCount = airPressureSum = 0; |
||
454 | } |
||
455 | } |
||
456 | } |
||
1821 | - | 457 | |
1952 | - | 458 | void analog_updateBatteryVoltage(void) { |
459 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
||
460 | // This is divided by 3 --> 10.34 counts per volt. |
||
461 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
||
462 | DebugOut.Analog[11] = UBat; |
||
463 | } |
||
1821 | - | 464 | |
1952 | - | 465 | void analog_update(void) { |
466 | analog_updateGyros(); |
||
467 | analog_updateAccelerometers(); |
||
468 | analog_updateAirPressure(); |
||
469 | analog_updateBatteryVoltage(); |
||
1612 | dongfang | 470 | } |
471 | |||
472 | void analog_calibrate(void) { |
||
473 | #define GYRO_OFFSET_CYCLES 32 |
||
1952 | - | 474 | uint8_t i, axis; |
475 | int32_t deltaOffsets[3] = { 0, 0, 0 }; |
||
476 | |||
477 | // Set the filters... to be removed again, once some good settings are found. |
||
478 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
||
479 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
||
480 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
||
481 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
||
482 | |||
483 | gyro_calibrate(); |
||
484 | |||
485 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
||
486 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
||
487 | delay_ms_Mess(20); |
||
488 | for (axis = PITCH; axis <= YAW; axis++) { |
||
489 | deltaOffsets[axis] += rawGyroSum[axis]; |
||
490 | } |
||
491 | } |
||
492 | |||
493 | for (axis = PITCH; axis <= YAW; axis++) { |
||
494 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
||
495 | // DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
||
496 | } |
||
497 | |||
498 | // Noise is relativ to offset. So, reset noise measurements when changing offsets. |
||
499 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
||
500 | |||
501 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
||
502 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
||
503 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
||
504 | |||
505 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
||
506 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
||
507 | // pressureMeasurementCount = 0; |
||
508 | |||
509 | delay_ms_Mess(100); |
||
1612 | dongfang | 510 | } |
511 | |||
512 | /* |
||
513 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
||
514 | * Does not (!} update the local variables. This must be done with a |
||
515 | * call to analog_calibrate() - this always (?) is done by the caller |
||
516 | * anyway. There would be nothing wrong with updating the variables |
||
517 | * directly from here, though. |
||
518 | */ |
||
519 | void analog_calibrateAcc(void) { |
||
520 | #define ACC_OFFSET_CYCLES 10 |
||
1821 | - | 521 | uint8_t i, axis; |
522 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
||
523 | int16_t filteredDelta; |
||
524 | // int16_t pressureDiff, savedRawAirPressure; |
||
1612 | dongfang | 525 | |
1821 | - | 526 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
1887 | - | 527 | delay_ms_Mess(10); |
1821 | - | 528 | for (axis = PITCH; axis <= YAW; axis++) { |
529 | deltaOffset[axis] += acc[axis]; |
||
530 | } |
||
531 | } |
||
1612 | dongfang | 532 | |
1821 | - | 533 | for (axis = PITCH; axis <= YAW; axis++) { |
534 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
||
535 | / ACC_OFFSET_CYCLES; |
||
536 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
||
537 | } |
||
1646 | - | 538 | |
1821 | - | 539 | // Save ACC neutral settings to eeprom |
540 | SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
||
541 | SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
||
542 | SetParamWord(PID_ACC_Z, accOffset[Z]); |
||
1612 | dongfang | 543 | |
1821 | - | 544 | // Noise is relative to offset. So, reset noise measurements when |
545 | // changing offsets. |
||
546 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
||
1645 | - | 547 | |
1821 | - | 548 | // Setting offset values has an influence in the analog.c ISR |
549 | // Therefore run measurement for 100ms to achive stable readings |
||
1887 | - | 550 | delay_ms_Mess(100); |
1821 | - | 551 | |
552 | // Set the feedback so that air pressure ends up in the middle of the range. |
||
553 | // (raw pressure high --> OCR0A also high...) |
||
554 | /* |
||
555 | OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1; |
||
1887 | - | 556 | delay_ms_Mess(1000); |
1821 | - | 557 | |
558 | pressureDiff = 0; |
||
559 | // DebugOut.Analog[16] = rawAirPressure; |
||
560 | |||
561 | #define PRESSURE_CAL_CYCLE_COUNT 5 |
||
562 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
||
563 | savedRawAirPressure = rawAirPressure; |
||
564 | OCR0A+=2; |
||
1887 | - | 565 | delay_ms_Mess(500); |
1821 | - | 566 | // raw pressure will decrease. |
567 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
||
568 | savedRawAirPressure = rawAirPressure; |
||
569 | OCR0A-=2; |
||
1887 | - | 570 | delay_ms_Mess(500); |
1821 | - | 571 | // raw pressure will increase. |
572 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
||
573 | } |
||
574 | |||
575 | rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2); |
||
576 | DebugOut.Analog[27] = rangewidth; |
||
577 | */ |
||
1612 | dongfang | 578 | } |