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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <avr/io.h> |
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52 | #include <avr/interrupt.h> |
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53 | #include <avr/pgmspace.h> |
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54 | #include "analog.h" |
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55 | |||
56 | #include "sensors.h" |
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57 | |||
58 | // for Delay functions |
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59 | #include "timer0.h" |
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60 | |||
61 | // For DebugOut |
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62 | #include "uart0.h" |
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63 | |||
64 | // For reading and writing acc. meter offsets. |
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65 | #include "eeprom.h" |
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66 | |||
67 | /* |
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1645 | - | 68 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
69 | * (see array channelsForStates), and the results for each channel are summed. |
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70 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
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1612 | dongfang | 71 | * They are exported in the analog.h file - but please do not use them! The only |
72 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
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73 | * the offsets with the DAC. |
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74 | */ |
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1646 | - | 75 | volatile int16_t rawGyroSum[3]; |
76 | volatile int16_t acc[3]; |
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77 | volatile int16_t filteredAcc[2]={0,0}; |
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1612 | dongfang | 78 | |
79 | /* |
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1645 | - | 80 | * These 4 exported variables are zero-offset. The "PID" ones are used |
81 | * in the attitude control as rotation rates. The "ATT" ones are for |
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82 | * integration to angles. |
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1612 | dongfang | 83 | */ |
1645 | - | 84 | volatile int16_t gyro_PID[2]; |
85 | volatile int16_t gyro_ATT[2]; |
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86 | volatile int16_t gyroD[2]; |
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1646 | - | 87 | volatile int16_t yawGyro; |
1612 | dongfang | 88 | |
89 | /* |
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90 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
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91 | * standing still. They are used for adjusting the gyro and acc. meter values |
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1645 | - | 92 | * to be centered on zero. |
1612 | dongfang | 93 | */ |
1646 | - | 94 | volatile int16_t gyroOffset[3] = { |
95 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
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96 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
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97 | 512 * GYRO_SUMMATION_FACTOR_YAW |
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98 | }; |
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1612 | dongfang | 99 | |
1646 | - | 100 | volatile int16_t accOffset[3] = { |
101 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
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102 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
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103 | 512 * ACC_SUMMATION_FACTOR_Z |
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104 | }; |
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105 | |||
1612 | dongfang | 106 | /* |
107 | * This allows some experimentation with the gyro filters. |
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108 | * Should be replaced by #define's later on... |
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109 | */ |
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1646 | - | 110 | volatile uint8_t GYROS_PID_FILTER; |
111 | volatile uint8_t GYROS_ATT_FILTER; |
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112 | volatile uint8_t GYROS_D_FILTER; |
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1612 | dongfang | 113 | volatile uint8_t ACC_FILTER; |
114 | |||
1645 | - | 115 | /* |
116 | * Air pressure measurement. |
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117 | */ |
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118 | #define MIN_RAWPRESSURE 200 |
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119 | #define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE) |
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120 | volatile uint8_t rangewidth = 53; |
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121 | volatile uint16_t rawAirPressure; |
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122 | volatile uint16_t filteredAirPressure; |
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1612 | dongfang | 123 | |
124 | /* |
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125 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
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126 | * That is divided by 3 below, for a final 10.34 per volt. |
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127 | * So the initial value of 100 is for 9.7 volts. |
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128 | */ |
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129 | volatile int16_t UBat = 100; |
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130 | |||
131 | /* |
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132 | * Control and status. |
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133 | */ |
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134 | volatile uint16_t ADCycleCount = 0; |
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135 | volatile uint8_t analogDataReady = 1; |
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136 | |||
137 | /* |
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138 | * Experiment: Measuring vibration-induced sensor noise. |
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139 | */ |
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1645 | - | 140 | volatile uint16_t gyroNoisePeak[2]; |
141 | volatile uint16_t accNoisePeak[2]; |
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1612 | dongfang | 142 | |
143 | // ADC channels |
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1645 | - | 144 | #define AD_GYRO_YAW 0 |
145 | #define AD_GYRO_ROLL 1 |
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1634 | - | 146 | #define AD_GYRO_PITCH 2 |
147 | #define AD_AIRPRESSURE 3 |
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1645 | - | 148 | #define AD_UBAT 4 |
149 | #define AD_ACC_Z 5 |
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150 | #define AD_ACC_ROLL 6 |
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151 | #define AD_ACC_PITCH 7 |
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1612 | dongfang | 152 | |
153 | /* |
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154 | * Table of AD converter inputs for each state. |
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155 | * The number of samples summed for each channel is equal to |
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156 | * the number of times the channel appears in the array. |
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157 | * The max. number of samples that can be taken in 2 ms is: |
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158 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
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159 | * loop needs a little time between reading AD values and |
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160 | * re-enabling ADC, the real limit is (how much?) lower. |
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161 | * The acc. sensor is sampled even if not used - or installed |
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162 | * at all. The cost is not significant. |
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163 | */ |
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164 | |||
165 | const uint8_t channelsForStates[] PROGMEM = { |
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166 | AD_GYRO_PITCH, |
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167 | AD_GYRO_ROLL, |
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168 | AD_GYRO_YAW, |
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169 | |||
1634 | - | 170 | AD_ACC_PITCH, |
1612 | dongfang | 171 | AD_ACC_ROLL, |
1634 | - | 172 | // AD_AIRPRESSURE, |
1612 | dongfang | 173 | |
174 | AD_GYRO_PITCH, |
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175 | AD_GYRO_ROLL, |
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1634 | - | 176 | AD_ACC_Z, // at 7, measure Z acc. |
1612 | dongfang | 177 | |
178 | AD_GYRO_PITCH, |
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179 | AD_GYRO_ROLL, |
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180 | AD_GYRO_YAW, // at 10, finish yaw gyro |
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181 | |||
182 | AD_ACC_PITCH, // at 11, finish pitch axis acc. |
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183 | AD_ACC_ROLL, // at 12, finish roll axis acc. |
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1634 | - | 184 | AD_AIRPRESSURE, // at 13, finish air pressure. |
1612 | dongfang | 185 | |
1634 | - | 186 | AD_GYRO_PITCH, // at 14, finish pitch gyro |
187 | AD_GYRO_ROLL, // at 15, finish roll gyro |
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188 | AD_UBAT // at 16, measure battery. |
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1612 | dongfang | 189 | }; |
190 | |||
191 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
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192 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
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193 | |||
194 | void analog_init(void) { |
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195 | uint8_t sreg = SREG; |
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196 | // disable all interrupts before reconfiguration |
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197 | cli(); |
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198 | |||
199 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
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200 | DDRA = 0x00; |
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201 | PORTA = 0x00; |
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202 | // Digital Input Disable Register 0 |
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203 | // Disable digital input buffer for analog adc_channel pins |
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204 | DIDR0 = 0xFF; |
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205 | // external reference, adjust data to the right |
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206 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
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207 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
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208 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
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209 | //Set ADC Control and Status Register A |
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210 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
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211 | ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
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212 | //Set ADC Control and Status Register B |
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213 | //Trigger Source to Free Running Mode |
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214 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
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215 | // Start AD conversion |
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216 | analog_start(); |
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217 | // restore global interrupt flags |
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218 | SREG = sreg; |
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219 | } |
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220 | |||
221 | void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
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222 | if (sensor > (int16_t)(*noiseMeasurement)) { |
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223 | *noiseMeasurement = sensor; |
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224 | } else if (-sensor > (int16_t)(*noiseMeasurement)) { |
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225 | *noiseMeasurement = -sensor; |
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226 | } else if (*noiseMeasurement > damping) { |
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227 | *noiseMeasurement -= damping; |
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228 | } else { |
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229 | *noiseMeasurement = 0; |
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230 | } |
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231 | } |
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232 | |||
1634 | - | 233 | uint16_t getAbsPressure(int advalue) { |
1645 | - | 234 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
1634 | - | 235 | } |
236 | |||
237 | uint16_t filterAirPressure(uint16_t rawpressure) { |
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238 | return rawpressure; |
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239 | } |
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240 | |||
1645 | - | 241 | /***************************************************** |
242 | * Interrupt Service Routine for ADC |
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243 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
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244 | * processed the interrupt is disabled and further |
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245 | * AD conversions are stopped. |
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246 | *****************************************************/ |
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1612 | dongfang | 247 | ISR(ADC_vect) { |
248 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
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249 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
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1645 | - | 250 | static uint8_t pressure_wait = 10; |
251 | uint8_t i, axis; |
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252 | int16_t range; |
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1634 | - | 253 | |
1612 | dongfang | 254 | // for various filters... |
1645 | - | 255 | int16_t tempOffsetGyro, tempGyro; |
1612 | dongfang | 256 | |
257 | sensorInputs[ad_channel] += ADC; |
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258 | |||
259 | /* |
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260 | * Actually we don't need this "switch". We could do all the sampling into the |
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261 | * sensorInputs array first, and all the processing after the last sample. |
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262 | */ |
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263 | switch(state++) { |
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264 | case 7: // Z acc |
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1646 | - | 265 | if (ACC_REVERSED[Z]) |
266 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
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267 | else |
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268 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
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269 | break; |
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1612 | dongfang | 270 | |
271 | case 10: // yaw gyro |
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1646 | - | 272 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
273 | if (GYRO_REVERSED[YAW]) |
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274 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
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275 | else |
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276 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
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1612 | dongfang | 277 | break; |
278 | |||
279 | case 11: // pitch axis acc. |
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1646 | - | 280 | if (ACC_REVERSED[PITCH]) |
281 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
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282 | else |
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283 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
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284 | |||
1645 | - | 285 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
286 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
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1612 | dongfang | 287 | break; |
288 | |||
289 | case 12: // roll axis acc. |
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1646 | - | 290 | if (ACC_REVERSED[ROLL]) |
291 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
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292 | else |
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293 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
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1645 | - | 294 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
295 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
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1612 | dongfang | 296 | break; |
1645 | - | 297 | |
1634 | - | 298 | case 13: // air pressure |
1645 | - | 299 | if (pressure_wait) { |
300 | // A range switch was done recently. Wait for steadying. |
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301 | pressure_wait--; |
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302 | break; |
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303 | } |
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304 | range = OCR0A; |
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305 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
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306 | if (rawAirPressure < MIN_RAWPRESSURE) { |
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1634 | - | 307 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
1645 | - | 308 | range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
309 | if (range < 0) range = 0; |
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310 | pressure_wait = (OCR0A - range) * 4; |
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311 | OCR0A = range; |
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312 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
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1634 | - | 313 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
1645 | - | 314 | range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
315 | if (range > 254) range = 254; |
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316 | pressure_wait = (range - OCR0A) * 4; |
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317 | OCR0A = range; |
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1634 | - | 318 | } else { |
1645 | - | 319 | filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure)); |
1634 | - | 320 | } |
1645 | - | 321 | |
1646 | - | 322 | DebugOut.Analog[13] = range; |
323 | DebugOut.Analog[14] = rawAirPressure; |
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324 | DebugOut.Analog[15] = filteredAirPressure; |
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1634 | - | 325 | break; |
326 | |||
1645 | - | 327 | case 14: |
328 | case 15: // pitch or roll gyro. |
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329 | axis = state - 15; |
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330 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
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331 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
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332 | /* |
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333 | * Process the gyro data for the PID controller. |
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334 | */ |
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335 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
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336 | // gyro with a wider range, and helps counter saturation at full control. |
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337 | |||
338 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
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339 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
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340 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
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341 | } |
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342 | else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
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343 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
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344 | } |
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345 | } |
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346 | |||
347 | // 2) Apply sign and offset, scale before filtering. |
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1646 | - | 348 | if (GYRO_REVERSED[axis]) { |
1645 | - | 349 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
350 | } else { |
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351 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
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352 | } |
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353 | |||
354 | // 3) Scale and filter. |
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1646 | - | 355 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER; |
1645 | - | 356 | |
357 | // 4) Measure noise. |
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358 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
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359 | |||
360 | // 5) Differential measurement. |
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1646 | - | 361 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
1645 | - | 362 | |
363 | // 6) Done. |
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364 | gyro_PID[axis] = tempOffsetGyro; |
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365 | |||
366 | /* |
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367 | * Now process the data for attitude angles. |
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368 | */ |
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369 | tempGyro = rawGyroSum[axis]; |
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370 | |||
371 | // 1) Apply sign and offset, scale before filtering. |
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1646 | - | 372 | if (GYRO_REVERSED[axis]) { |
1645 | - | 373 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
374 | } else { |
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375 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
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376 | } |
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377 | |||
378 | // 2) Filter. |
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1646 | - | 379 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
1612 | dongfang | 380 | break; |
381 | |||
1634 | - | 382 | case 16: |
1612 | dongfang | 383 | // battery |
384 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
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385 | analogDataReady = 1; // mark |
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386 | ADCycleCount++; |
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387 | // Stop the sampling. Cycle is over. |
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388 | state = 0; |
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389 | for (i=0; i<8; i++) { |
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390 | sensorInputs[i] = 0; |
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391 | } |
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392 | break; |
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393 | default: {} // do nothing. |
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394 | } |
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395 | |||
396 | // set up for next state. |
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397 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
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398 | // ad_channel = channelsForStates[state]; |
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399 | |||
400 | // set adc muxer to next ad_channel |
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401 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
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402 | // after full cycle stop further interrupts |
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403 | if(state) analog_start(); |
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404 | } |
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405 | |||
406 | void analog_calibrate(void) { |
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407 | #define GYRO_OFFSET_CYCLES 32 |
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1646 | - | 408 | uint8_t i, axis; |
409 | int32_t deltaOffsets[3] = {0,0,0}; |
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410 | int16_t filteredDelta; |
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1612 | dongfang | 411 | |
412 | // Set the filters... to be removed again, once some good settings are found. |
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1646 | - | 413 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
414 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
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415 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
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416 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
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1612 | dongfang | 417 | |
418 | gyro_calibrate(); |
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419 | |||
420 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
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421 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
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422 | Delay_ms_Mess(10); |
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1646 | - | 423 | for (axis=0; axis<=YAW; axis++) { |
424 | deltaOffsets[axis] += rawGyroSum[axis] - gyroOffset[axis]; |
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425 | } |
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1612 | dongfang | 426 | } |
1646 | - | 427 | |
428 | for (axis=0; axis<=YAW; axis++) { |
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429 | filteredDelta = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
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430 | gyroOffset[axis] += filteredDelta; |
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431 | } |
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432 | |||
433 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
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1645 | - | 434 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
1612 | dongfang | 435 | |
1646 | - | 436 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
437 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
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438 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
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439 | |||
440 | Delay_ms_Mess(100); |
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1612 | dongfang | 441 | } |
442 | |||
443 | /* |
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444 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
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445 | * Does not (!} update the local variables. This must be done with a |
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446 | * call to analog_calibrate() - this always (?) is done by the caller |
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447 | * anyway. There would be nothing wrong with updating the variables |
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448 | * directly from here, though. |
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449 | */ |
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450 | void analog_calibrateAcc(void) { |
||
451 | #define ACC_OFFSET_CYCLES 10 |
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1646 | - | 452 | uint8_t i, axis; |
453 | int32_t deltaOffset[3] = {0,0,0}; |
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454 | int16_t filteredDelta; |
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1645 | - | 455 | // int16_t pressureDiff, savedRawAirPressure; |
1612 | dongfang | 456 | |
457 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
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458 | Delay_ms_Mess(10); |
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1646 | - | 459 | for (axis=0; axis<=YAW; axis++) { |
460 | deltaOffset[axis] += acc[axis]; |
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461 | } |
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1612 | dongfang | 462 | } |
463 | |||
1646 | - | 464 | for (axis=0; axis<=YAW; axis++) { |
465 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
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466 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
||
467 | } |
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468 | |||
1612 | dongfang | 469 | // Save ACC neutral settings to eeprom |
1646 | - | 470 | SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
471 | SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
||
472 | SetParamWord(PID_ACC_Z, accOffset[Z]); |
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1612 | dongfang | 473 | |
474 | // Noise is relative to offset. So, reset noise measurements when |
||
475 | // changing offsets. |
||
1645 | - | 476 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
1646 | - | 477 | |
1645 | - | 478 | // Setting offset values has an influence in the analog.c ISR |
479 | // Therefore run measurement for 100ms to achive stable readings |
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1646 | - | 480 | Delay_ms_Mess(100); |
1645 | - | 481 | |
482 | // Set the feedback so that air pressure ends up in the middle of the range. |
||
483 | // (raw pressure high --> OCR0A also high...) |
||
484 | // OCR0A += (rawAirPressure - 512) / rangewidth; |
||
485 | // Delay_ms_Mess(500); |
||
486 | |||
487 | /* |
||
488 | pressureDiff = 0; |
||
489 | DebugOut.Analog[16] = rawAirPressure; |
||
490 | |||
491 | #define PRESSURE_CAL_CYCLE_COUNT 2 |
||
492 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
||
493 | savedRawAirPressure = rawAirPressure; |
||
494 | OCR0A++; |
||
495 | Delay_ms_Mess(200); |
||
496 | // raw pressure will decrease. |
||
497 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
||
498 | |||
499 | savedRawAirPressure = rawAirPressure; |
||
500 | OCR0A--; |
||
501 | Delay_ms_Mess(200); |
||
502 | // raw pressure will increase. |
||
503 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
||
504 | } |
||
505 | |||
1646 | - | 506 | DebugOut.Analog[16] = rangewidth = |
1645 | - | 507 | (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
508 | */ |
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1612 | dongfang | 509 | } |