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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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2086 | - | 45 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
46 | uint8_t gyroDWindowIdx = 0; |
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2015 | - | 47 | int16_t yawGyro; |
2051 | - | 48 | int16_t magneticHeading; |
1612 | dongfang | 49 | |
2033 | - | 50 | int32_t groundPressure; |
2086 | - | 51 | int16_t dHeight; |
2033 | - | 52 | |
2089 | - | 53 | uint32_t gyroActivity; |
54 | |||
1612 | dongfang | 55 | /* |
56 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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57 | * standing still. They are used for adjusting the gyro and acc. meter values |
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1645 | - | 58 | * to be centered on zero. |
1612 | dongfang | 59 | */ |
60 | |||
1969 | - | 61 | sensorOffset_t gyroOffset; |
62 | sensorOffset_t accOffset; |
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63 | sensorOffset_t gyroAmplifierOffset; |
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1960 | - | 64 | |
1612 | dongfang | 65 | /* |
2015 | - | 66 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
67 | * If a sensor is used in an orientation where one but not both of the axes has |
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68 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
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69 | * Transform: |
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70 | * pitch <- pp*pitch + pr*roll |
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71 | * roll <- rp*pitch + rr*roll |
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72 | * Not reversed, GYRO_QUADRANT: |
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73 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
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74 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
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75 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
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76 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
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77 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
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78 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
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79 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
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80 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
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81 | * Reversed, GYRO_QUADRANT: |
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82 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
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83 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
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84 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
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85 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
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86 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
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87 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
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88 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
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89 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
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1612 | dongfang | 90 | */ |
91 | |||
2015 | - | 92 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
93 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
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94 | // Pitch to Pitch part |
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2020 | - | 95 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
2015 | - | 96 | // Roll to Pitch part |
97 | int8_t xy = rotationTab[(quadrant+2)%8]; |
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98 | // Pitch to Roll part |
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99 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
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100 | // Roll to Roll part |
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101 | int8_t yy = rotationTab[quadrant]; |
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102 | |||
103 | int16_t xIn = result[0]; |
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2019 | - | 104 | result[0] = xx*xIn + xy*result[1]; |
2015 | - | 105 | result[1] = yx*xIn + yy*result[1]; |
106 | |||
107 | if (quadrant & 1) { |
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108 | // A rotation was used above, where the factors were too large by sqrt(2). |
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109 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
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110 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
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111 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
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112 | result[0] = (result[0]*11) >> 4; |
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113 | result[1] = (result[1]*11) >> 4; |
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114 | } |
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115 | } |
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2019 | - | 116 | |
1645 | - | 117 | /* |
1775 | - | 118 | * Air pressure |
1645 | - | 119 | */ |
1970 | - | 120 | volatile uint8_t rangewidth = 105; |
1612 | dongfang | 121 | |
1775 | - | 122 | // Direct from sensor, irrespective of range. |
123 | // volatile uint16_t rawAirPressure; |
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124 | |||
125 | // Value of 2 samples, with range. |
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2015 | - | 126 | uint16_t simpleAirPressure; |
1775 | - | 127 | |
2019 | - | 128 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
2015 | - | 129 | int32_t filteredAirPressure; |
1775 | - | 130 | |
2073 | - | 131 | #define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
2071 | - | 132 | //int32_t lastFilteredAirPressure; |
133 | int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
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2073 | - | 134 | uint8_t dWindowPtr = 0; |
2071 | - | 135 | |
2036 | - | 136 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
2026 | - | 137 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
138 | int32_t windowedAirPressure; |
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2073 | - | 139 | uint8_t windowPtr = 0; |
2026 | - | 140 | |
1775 | - | 141 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
2015 | - | 142 | int32_t airPressureSum; |
1775 | - | 143 | |
144 | // The number of samples summed into airPressureSum so far. |
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2015 | - | 145 | uint8_t pressureMeasurementCount; |
1775 | - | 146 | |
1612 | dongfang | 147 | /* |
1854 | - | 148 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
1612 | dongfang | 149 | * That is divided by 3 below, for a final 10.34 per volt. |
150 | * So the initial value of 100 is for 9.7 volts. |
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151 | */ |
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2015 | - | 152 | int16_t UBat = 100; |
1612 | dongfang | 153 | |
154 | /* |
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155 | * Control and status. |
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156 | */ |
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157 | volatile uint16_t ADCycleCount = 0; |
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158 | volatile uint8_t analogDataReady = 1; |
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159 | |||
160 | /* |
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161 | * Experiment: Measuring vibration-induced sensor noise. |
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162 | */ |
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2015 | - | 163 | uint16_t gyroNoisePeak[3]; |
164 | uint16_t accNoisePeak[3]; |
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1612 | dongfang | 165 | |
1986 | - | 166 | volatile uint8_t adState; |
1987 | - | 167 | volatile uint8_t adChannel; |
1986 | - | 168 | |
1612 | dongfang | 169 | // ADC channels |
1645 | - | 170 | #define AD_GYRO_YAW 0 |
171 | #define AD_GYRO_ROLL 1 |
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1634 | - | 172 | #define AD_GYRO_PITCH 2 |
173 | #define AD_AIRPRESSURE 3 |
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1645 | - | 174 | #define AD_UBAT 4 |
175 | #define AD_ACC_Z 5 |
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176 | #define AD_ACC_ROLL 6 |
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177 | #define AD_ACC_PITCH 7 |
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1612 | dongfang | 178 | |
179 | /* |
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180 | * Table of AD converter inputs for each state. |
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1854 | - | 181 | * The number of samples summed for each channel is equal to |
1612 | dongfang | 182 | * the number of times the channel appears in the array. |
183 | * The max. number of samples that can be taken in 2 ms is: |
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1854 | - | 184 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
185 | * loop needs a little time between reading AD values and |
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1612 | dongfang | 186 | * re-enabling ADC, the real limit is (how much?) lower. |
187 | * The acc. sensor is sampled even if not used - or installed |
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188 | * at all. The cost is not significant. |
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189 | */ |
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190 | |||
1870 | - | 191 | const uint8_t channelsForStates[] PROGMEM = { |
192 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
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193 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
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1612 | dongfang | 194 | |
1870 | - | 195 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
196 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
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197 | |||
198 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
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199 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
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200 | AD_AIRPRESSURE, // at 14, finish air pressure. |
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201 | |||
202 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
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203 | AD_GYRO_ROLL, // at 16, finish roll gyro |
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204 | AD_UBAT // at 17, measure battery. |
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205 | }; |
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1612 | dongfang | 206 | |
207 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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208 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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209 | |||
210 | void analog_init(void) { |
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1821 | - | 211 | uint8_t sreg = SREG; |
212 | // disable all interrupts before reconfiguration |
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213 | cli(); |
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1612 | dongfang | 214 | |
1821 | - | 215 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
216 | DDRA = 0x00; |
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217 | PORTA = 0x00; |
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218 | // Digital Input Disable Register 0 |
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219 | // Disable digital input buffer for analog adc_channel pins |
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220 | DIDR0 = 0xFF; |
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221 | // external reference, adjust data to the right |
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1952 | - | 222 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
1821 | - | 223 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
1987 | - | 224 | ADMUX = (ADMUX & 0xE0); |
1821 | - | 225 | //Set ADC Control and Status Register A |
226 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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1952 | - | 227 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
1821 | - | 228 | //Set ADC Control and Status Register B |
229 | //Trigger Source to Free Running Mode |
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1952 | - | 230 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
231 | |||
2026 | - | 232 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
233 | airPressureWindow[i] = 0; |
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234 | } |
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2036 | - | 235 | windowedAirPressure = 0; |
2026 | - | 236 | |
1952 | - | 237 | startAnalogConversionCycle(); |
238 | |||
1821 | - | 239 | // restore global interrupt flags |
240 | SREG = sreg; |
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1612 | dongfang | 241 | } |
242 | |||
2015 | - | 243 | uint16_t rawGyroValue(uint8_t axis) { |
244 | return sensorInputs[AD_GYRO_PITCH-axis]; |
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245 | } |
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246 | |||
247 | uint16_t rawAccValue(uint8_t axis) { |
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248 | return sensorInputs[AD_ACC_PITCH-axis]; |
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249 | } |
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250 | |||
1821 | - | 251 | void measureNoise(const int16_t sensor, |
252 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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253 | if (sensor > (int16_t) (*noiseMeasurement)) { |
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254 | *noiseMeasurement = sensor; |
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255 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
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256 | *noiseMeasurement = -sensor; |
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257 | } else if (*noiseMeasurement > damping) { |
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258 | *noiseMeasurement -= damping; |
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259 | } else { |
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260 | *noiseMeasurement = 0; |
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261 | } |
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1612 | dongfang | 262 | } |
263 | |||
1796 | - | 264 | /* |
265 | * Min.: 0 |
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266 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
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267 | */ |
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1775 | - | 268 | uint16_t getSimplePressure(int advalue) { |
2026 | - | 269 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
270 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
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271 | return result; |
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1634 | - | 272 | } |
273 | |||
1952 | - | 274 | void startAnalogConversionCycle(void) { |
1960 | - | 275 | analogDataReady = 0; |
2017 | - | 276 | |
1952 | - | 277 | // Stop the sampling. Cycle is over. |
278 | for (uint8_t i = 0; i < 8; i++) { |
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279 | sensorInputs[i] = 0; |
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280 | } |
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1986 | - | 281 | adState = 0; |
1987 | - | 282 | adChannel = AD_GYRO_PITCH; |
283 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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1952 | - | 284 | startADC(); |
285 | } |
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286 | |||
1645 | - | 287 | /***************************************************** |
1854 | - | 288 | * Interrupt Service Routine for ADC |
1963 | - | 289 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
1952 | - | 290 | * processed further conversions are stopped. |
1645 | - | 291 | *****************************************************/ |
1870 | - | 292 | ISR(ADC_vect) { |
1986 | - | 293 | sensorInputs[adChannel] += ADC; |
1952 | - | 294 | // set up for next state. |
1986 | - | 295 | adState++; |
296 | if (adState < sizeof(channelsForStates)) { |
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297 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
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298 | // set adc muxer to next adChannel |
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299 | ADMUX = (ADMUX & 0xE0) | adChannel; |
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1952 | - | 300 | // after full cycle stop further interrupts |
301 | startADC(); |
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302 | } else { |
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303 | ADCycleCount++; |
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304 | analogDataReady = 1; |
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305 | // do not restart ADC converter. |
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306 | } |
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307 | } |
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1612 | dongfang | 308 | |
2089 | - | 309 | void measureGyroActivity(int16_t newValue) { |
310 | gyroActivity += abs(newValue); |
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2055 | - | 311 | } |
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. |
2086 | - | 359 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
360 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
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361 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
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362 | gyroD[axis] += diff; |
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363 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
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2015 | - | 364 | |
1952 | - | 365 | // 6) Done. |
2015 | - | 366 | gyro_PID[axis] = tempOffsetGyro[axis]; |
367 | |||
368 | // Prepare tempOffsetGyro for next calculation below... |
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369 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
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1952 | - | 370 | } |
2086 | - | 371 | |
372 | if (gyroDWindowIdx >= GYRO_D_WINDOW_LENGTH) { |
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373 | gyroDWindowIdx = 0; |
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374 | } |
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375 | |||
2015 | - | 376 | /* |
377 | * Now process the data for attitude angles. |
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378 | */ |
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2020 | - | 379 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
2015 | - | 380 | |
2055 | - | 381 | dampenGyroActivity(); |
2089 | - | 382 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
383 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
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2017 | - | 384 | |
2089 | - | 385 | measureGyroActivity(tempOffsetGyro[PITCH]); |
386 | measureGyroActivity(tempOffsetGyro[ROLL]); |
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387 | |||
1952 | - | 388 | // Yaw gyro. |
2020 | - | 389 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
1960 | - | 390 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
1952 | - | 391 | else |
1960 | - | 392 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
2089 | - | 393 | |
394 | measureGyroActivity(yawGyro*staticParams.yawRateFactor); |
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1952 | - | 395 | } |
1775 | - | 396 | |
1952 | - | 397 | void analog_updateAccelerometers(void) { |
398 | // Pitch and roll axis accelerations. |
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399 | for (uint8_t axis=0; axis<2; axis++) { |
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2015 | - | 400 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
1979 | - | 401 | } |
2015 | - | 402 | |
2020 | - | 403 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
2015 | - | 404 | for(uint8_t axis=0; axis<3; axis++) { |
1960 | - | 405 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
1952 | - | 406 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
407 | } |
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2015 | - | 408 | |
409 | // Z acc. |
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410 | if (staticParams.imuReversedFlags & 8) |
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411 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
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412 | else |
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413 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
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2069 | - | 414 | |
2089 | - | 415 | // debugOut.analog[29] = acc[Z]; |
1952 | - | 416 | } |
1645 | - | 417 | |
1952 | - | 418 | void analog_updateAirPressure(void) { |
419 | static uint16_t pressureAutorangingWait = 25; |
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420 | uint16_t rawAirPressure; |
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421 | int16_t newrange; |
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422 | // air pressure |
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423 | if (pressureAutorangingWait) { |
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424 | //A range switch was done recently. Wait for steadying. |
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425 | pressureAutorangingWait--; |
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426 | } else { |
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427 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
||
428 | if (rawAirPressure < MIN_RAWPRESSURE) { |
||
429 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
||
430 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
||
431 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
||
432 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
||
433 | OCR0A = newrange; |
||
434 | } else { |
||
435 | if (OCR0A) { |
||
436 | OCR0A--; |
||
437 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
||
1821 | - | 438 | } |
1952 | - | 439 | } |
440 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
||
441 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
||
442 | // If near the end, make a limited increase |
||
443 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
||
444 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
||
445 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
||
446 | OCR0A = newrange; |
||
447 | } else { |
||
448 | if (OCR0A < 254) { |
||
449 | OCR0A++; |
||
450 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
||
451 | } |
||
452 | } |
||
453 | } |
||
454 | |||
455 | // Even if the sample is off-range, use it. |
||
456 | simpleAirPressure = getSimplePressure(rawAirPressure); |
||
2055 | - | 457 | debugOut.analog[6] = rawAirPressure; |
458 | debugOut.analog[7] = simpleAirPressure; |
||
1952 | - | 459 | |
460 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
||
461 | // Danger: pressure near lower end of range. If the measurement saturates, the |
||
462 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
||
1955 | - | 463 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
1952 | - | 464 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
465 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
||
466 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
||
467 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
||
468 | // Danger: pressure near upper end of range. If the measurement saturates, the |
||
469 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
||
1955 | - | 470 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
1952 | - | 471 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
472 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
||
473 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
||
474 | } else { |
||
475 | // normal case. |
||
2026 | - | 476 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
1952 | - | 477 | // The 2 cases above (end of range) are ignored for this. |
1955 | - | 478 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
2035 | - | 479 | airPressureSum += simpleAirPressure; |
1952 | - | 480 | } |
481 | |||
482 | // 2 samples were added. |
||
483 | pressureMeasurementCount += 2; |
||
2035 | - | 484 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
485 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
||
486 | |||
487 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
||
488 | airPressureSum += simpleAirPressure >> 2; |
||
489 | |||
2071 | - | 490 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
2035 | - | 491 | |
492 | if (!staticParams.airpressureWindowLength) { |
||
493 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
||
494 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
||
495 | } else { |
||
496 | // use windowed. |
||
2036 | - | 497 | windowedAirPressure += simpleAirPressure; |
498 | windowedAirPressure -= airPressureWindow[windowPtr]; |
||
2071 | - | 499 | airPressureWindow[windowPtr++] = simpleAirPressure; |
2073 | - | 500 | if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
2036 | - | 501 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
2035 | - | 502 | } |
2036 | - | 503 | |
2086 | - | 504 | // positive diff of pressure |
505 | int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
||
506 | // is a negative diff of height. |
||
507 | dHeight -= diff; |
||
508 | // remove old sample (fifo) from window. |
||
509 | dHeight += dAirPressureWindow[dWindowPtr]; |
||
510 | dAirPressureWindow[dWindowPtr++] = diff; |
||
2073 | - | 511 | if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
1952 | - | 512 | pressureMeasurementCount = airPressureSum = 0; |
513 | } |
||
514 | } |
||
515 | } |
||
1821 | - | 516 | |
1952 | - | 517 | void analog_updateBatteryVoltage(void) { |
518 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
||
519 | // This is divided by 3 --> 10.34 counts per volt. |
||
520 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
||
521 | } |
||
1821 | - | 522 | |
1952 | - | 523 | void analog_update(void) { |
524 | analog_updateGyros(); |
||
525 | analog_updateAccelerometers(); |
||
526 | analog_updateAirPressure(); |
||
527 | analog_updateBatteryVoltage(); |
||
2052 | - | 528 | #ifdef USE_MK3MAG |
2055 | - | 529 | magneticHeading = volatileMagneticHeading; |
2052 | - | 530 | #endif |
1612 | dongfang | 531 | } |
532 | |||
1961 | - | 533 | void analog_setNeutral() { |
2018 | - | 534 | gyro_init(); |
535 | |||
1961 | - | 536 | if (gyroOffset_readFromEEProm()) { |
1969 | - | 537 | printf("gyro offsets invalid%s",recal); |
2019 | - | 538 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
539 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
||
1961 | - | 540 | } |
1964 | - | 541 | |
1961 | - | 542 | if (accOffset_readFromEEProm()) { |
1969 | - | 543 | printf("acc. meter offsets invalid%s",recal); |
2019 | - | 544 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
545 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
||
1961 | - | 546 | } |
547 | |||
548 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
||
2086 | - | 549 | for (uint8_t i=PITCH; i<=ROLL; i++) { |
550 | gyroNoisePeak[i] = 0; |
||
551 | accNoisePeak[i] = 0; |
||
552 | gyroD[i] = 0; |
||
553 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
||
554 | gyroDWindow[i][j] = 0; |
||
555 | } |
||
556 | } |
||
1961 | - | 557 | // Setting offset values has an influence in the analog.c ISR |
558 | // Therefore run measurement for 100ms to achive stable readings |
||
2015 | - | 559 | delay_ms_with_adc_measurement(100, 0); |
1961 | - | 560 | |
2055 | - | 561 | gyroActivity = 0; |
1961 | - | 562 | } |
563 | |||
564 | void analog_calibrateGyros(void) { |
||
1612 | dongfang | 565 | #define GYRO_OFFSET_CYCLES 32 |
1952 | - | 566 | uint8_t i, axis; |
1963 | - | 567 | int32_t offsets[3] = { 0, 0, 0 }; |
1952 | - | 568 | gyro_calibrate(); |
569 | |||
570 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
||
571 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
||
2015 | - | 572 | delay_ms_with_adc_measurement(10, 1); |
1952 | - | 573 | for (axis = PITCH; axis <= YAW; axis++) { |
2015 | - | 574 | offsets[axis] += rawGyroValue(axis); |
1952 | - | 575 | } |
576 | } |
||
577 | |||
578 | for (axis = PITCH; axis <= YAW; axis++) { |
||
1963 | - | 579 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
2018 | - | 580 | |
2019 | - | 581 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
582 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
||
2018 | - | 583 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
584 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
||
1952 | - | 585 | } |
1961 | - | 586 | |
587 | gyroOffset_writeToEEProm(); |
||
2015 | - | 588 | startAnalogConversionCycle(); |
1612 | dongfang | 589 | } |
590 | |||
591 | /* |
||
592 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
||
593 | * Does not (!} update the local variables. This must be done with a |
||
594 | * call to analog_calibrate() - this always (?) is done by the caller |
||
595 | * anyway. There would be nothing wrong with updating the variables |
||
596 | * directly from here, though. |
||
597 | */ |
||
598 | void analog_calibrateAcc(void) { |
||
2015 | - | 599 | #define ACC_OFFSET_CYCLES 32 |
1960 | - | 600 | uint8_t i, axis; |
2015 | - | 601 | int32_t offsets[3] = { 0, 0, 0 }; |
602 | |||
1960 | - | 603 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
2015 | - | 604 | delay_ms_with_adc_measurement(10, 1); |
1960 | - | 605 | for (axis = PITCH; axis <= YAW; axis++) { |
2015 | - | 606 | offsets[axis] += rawAccValue(axis); |
1960 | - | 607 | } |
608 | } |
||
2015 | - | 609 | |
1960 | - | 610 | for (axis = PITCH; axis <= YAW; axis++) { |
2015 | - | 611 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
2018 | - | 612 | int16_t min,max; |
613 | if (axis==Z) { |
||
2020 | - | 614 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
2018 | - | 615 | // TODO: This assumes a sensitivity of +/- 2g. |
2019 | - | 616 | min = (256-200) * ACC_OVERSAMPLING_Z; |
617 | max = (256+200) * ACC_OVERSAMPLING_Z; |
||
2018 | - | 618 | } else { |
619 | // TODO: This assumes a sensitivity of +/- 2g. |
||
2019 | - | 620 | min = (768-200) * ACC_OVERSAMPLING_Z; |
621 | max = (768+200) * ACC_OVERSAMPLING_Z; |
||
2018 | - | 622 | } |
623 | } else { |
||
2019 | - | 624 | min = (512-200) * ACC_OVERSAMPLING_XY; |
625 | max = (512+200) * ACC_OVERSAMPLING_XY; |
||
2018 | - | 626 | } |
627 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
||
628 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
||
629 | } |
||
1960 | - | 630 | } |
1961 | - | 631 | |
2015 | - | 632 | accOffset_writeToEEProm(); |
633 | startAnalogConversionCycle(); |
||
1612 | dongfang | 634 | } |
2033 | - | 635 | |
636 | void analog_setGround() { |
||
637 | groundPressure = filteredAirPressure; |
||
638 | } |
||
639 | |||
640 | int32_t analog_getHeight(void) { |
||
641 | return groundPressure - filteredAirPressure; |
||
642 | } |
||
643 | |||
644 | int16_t analog_getDHeight(void) { |
||
2088 | - | 645 | /* |
646 | int16_t result = 0; |
||
647 | for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
||
648 | result -= dAirPressureWindow[i]; // minus pressure is plus height. |
||
649 | } |
||
650 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
||
651 | return result; |
||
652 | */ |
||
2086 | - | 653 | return dHeight; |
2033 | - | 654 | } |