| 0,0 → 1,355 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| |
| #include "analog.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "fc.h" |
| #include "printf_P.h" |
| #include "eeprom.h" |
| #include "twimaster.h" |
| |
| volatile uint16_t Test = 0; |
| |
| volatile int16_t UBat = 100; |
| volatile int16_t AdValueGyroNick = 0, AdValueGyroRoll = 0, AdValueGyroYaw = 0; |
| volatile int16_t FilterHiResGyroNick = 0, FilterHiResGyroRoll = 0; |
| volatile int16_t HiResGyroNick = 2500, HiResGyroRoll = 2500; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0, AdValueAccZ = 0; |
| volatile int32_t AirPressure = 32000; |
| volatile uint8_t average_pressure = 0; |
| volatile int16_t StartAirPressure; |
| volatile uint16_t ReadingAirPressure = 1023; |
| volatile int16_t HeightD = 0; |
| volatile uint16_t MeasurementCounter = 0; |
| volatile uint8_t ADReady = 1; |
| |
| uint8_t DacOffsetGyroNick = 115, DacOffsetGyroRoll = 115, DacOffsetGyroYaw = 115; |
| uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
| int8_t ExpandBaro = 0; |
| uint8_t PressureSensorOffset; |
| |
| /*****************************************************/ |
| /* Initialize Analog Digital Converter */ |
| /*****************************************************/ |
| void ADC_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
| DDRA = 0x00; |
| PORTA = 0x00; |
| // Digital Input Disable Register 0 |
| // Disable digital input buffer for analog adc_channel pins |
| DIDR0 = 0xFF; |
| // external reference, adjust data to the right |
| ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
| // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| ADMUX = (ADMUX & 0xE0) | 0x00; |
| //Set ADC Control and Status Register A |
| //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
| //Set ADC Control and Status Register B |
| //Trigger Source to Free Running Mode |
| ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
| // Start AD conversion |
| ADC_Enable(); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| |
| void SearchAirPressureOffset(void) |
| { |
| uint8_t off; |
| off = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| ExpandBaro = 0; |
| Delay_ms_Mess(100); |
| if(ReadingAirPressure < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(ReadingAirPressure < 850) break; |
| } |
| SetParamByte(PID_PRESSURE_OFFSET, off); |
| PressureSensorOffset = off; |
| Delay_ms_Mess(300); |
| } |
| |
| |
| void SearchDacGyroOffset(void) |
| { |
| uint8_t i, ready = 0; |
| uint16_t timeout ; |
| |
| GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| |
| timeout = SetDelay(2000); |
| if(BoardRelease == 13) // the auto offset calibration is available only at board release 1.3 |
| { |
| for(i = 140; i != 0; i--) |
| { |
| if(ready == 3 && i > 10) i = 9; |
| ready = 0; |
| if(AdValueGyroNick < 1020) DacOffsetGyroNick--; else if(AdValueGyroNick > 1030) DacOffsetGyroNick++; else ready++; |
| if(AdValueGyroRoll < 1020) DacOffsetGyroRoll--; else if(AdValueGyroRoll > 1030) DacOffsetGyroRoll++; else ready++; |
| if(AdValueGyroYaw < 1020) DacOffsetGyroYaw-- ; else if(AdValueGyroYaw > 1030) DacOffsetGyroYaw++ ; else ready++; |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| if(DacOffsetGyroNick < 10) { GyroDefectNick = 1; DacOffsetGyroNick = 10;}; if(DacOffsetGyroNick > 245) { GyroDefectNick = 1; DacOffsetGyroNick = 245;}; |
| if(DacOffsetGyroRoll < 10) { GyroDefectRoll = 1; DacOffsetGyroRoll = 10;}; if(DacOffsetGyroRoll > 245) { GyroDefectRoll = 1; DacOffsetGyroRoll = 245;}; |
| if(DacOffsetGyroYaw < 10) { GyroDefectYaw = 1; DacOffsetGyroYaw = 10;}; if(DacOffsetGyroYaw > 245) { GyroDefectYaw = 1; DacOffsetGyroYaw = 245;}; |
| while(twi_state) |
| { |
| if(CheckDelay(timeout)) |
| { |
| printf("\r\n DAC or I2C Error1 check I2C, 3Vref, DAC, and BL-Ctrl"); |
| break; |
| } |
| } // wait for end of data transmission |
| average_pressure = 0; |
| ADC_Enable(); |
| while(average_pressure == 0); |
| if(i < 10) Delay_ms_Mess(10); |
| } |
| Delay_ms_Mess(70); |
| } |
| } |
| |
| |
| |
| |
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| // runs at 312.5 kHz or 3.2 µs |
| // if after (60.8µs) all 19 states are processed the interrupt is disabled |
| // and the update of further ads is stopped |
| |
| /* |
| 0 nickgyro |
| 1 rollgyro |
| 2 yawgyro |
| 3 accroll |
| 4 accnick |
| 5 nickgyro |
| 6 rollgyro |
| 7 ubat |
| 8 acctop |
| 9 air pressure |
| 10 nickgyro |
| 11 rollgyro |
| 12 yawgyro |
| 13 accroll |
| 14 accnick |
| 15 gyronick |
| 16 gyroroll |
| 17 airpressure |
| */ |
| |
| |
| #define AD_GYRO_YAW 0 |
| #define AD_GYRO_ROLL 1 |
| #define AD_GYRO_NICK 2 |
| #define AD_AIRPRESS 3 |
| #define AD_UBAT 4 |
| #define AD_ACC_TOP 5 |
| #define AD_ACC_ROLL 6 |
| #define AD_ACC_NICK 7 |
| |
| ISR(ADC_vect) |
| { |
| static uint8_t ad_channel = AD_GYRO_NICK, state = 0; |
| static uint16_t gyroyaw, gyroroll, gyronick, accroll, accnick; |
| static int32_t filtergyronick, filtergyroroll; |
| static int16_t tmpAirPressure = 0; |
| |
| // state machine |
| switch(state++) |
| { |
| case 0: |
| gyronick = ADC; // get nick gyro voltage 1st sample |
| ad_channel = AD_GYRO_ROLL; |
| break; |
| case 1: |
| gyroroll = ADC; // get roll gyro voltage 1st sample |
| ad_channel = AD_GYRO_YAW; |
| break; |
| case 2: |
| gyroyaw = ADC; // get yaw gyro voltage 1st sample |
| ad_channel = AD_ACC_ROLL; |
| break; |
| case 3: |
| accroll = ADC; // get roll acc voltage 1st sample |
| ad_channel = AD_ACC_NICK; |
| break; |
| case 4: |
| accnick = ADC; // get nick acc voltage 1st sample |
| ad_channel = AD_GYRO_NICK; |
| break; |
| case 5: |
| gyronick += ADC; // get nick gyro voltage 2nd sample |
| ad_channel = AD_GYRO_ROLL; |
| break; |
| case 6: |
| gyroroll += ADC; // get roll gyro voltage 2nd sample |
| ad_channel = AD_UBAT; |
| break; |
| case 7: |
| // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
| UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
| ad_channel = AD_ACC_TOP; |
| break; |
| case 8: |
| AdValueAccZ = ADC; // get plain acceleration in Z direction |
| AdValueAccTop = (int16_t)ADC - AdBiasAccTop; // get acceleration in Z direction |
| if(AdValueAccTop > 1) |
| { |
| if(AdBiasAccTop < 750) |
| { |
| AdBiasAccTop += 0.02; |
| if(ModelIsFlying < 500) AdBiasAccTop += 0.1; |
| } |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(AdBiasAccTop > 550) |
| { |
| AdBiasAccTop -= 0.02; |
| if(ModelIsFlying < 500) AdBiasAccTop -= 0.1; |
| } |
| } |
| ReadingIntegralTop += AdValueAccTop; // load |
| ReadingIntegralTop -= ReadingIntegralTop / 1024; // discharge |
| ad_channel = AD_AIRPRESS; |
| break; |
| // case 9 is moved to the end |
| case 10: |
| gyronick += ADC; // get nick gyro voltage 3rd sample |
| ad_channel = AD_GYRO_ROLL; |
| break; |
| case 11: |
| gyroroll += ADC; // get roll gyro voltage 3rd sample |
| ad_channel = AD_GYRO_YAW; |
| break; |
| case 12: |
| gyroyaw += ADC; // get yaw gyro voltage 2nd sample |
| if(BoardRelease == 10) AdValueGyroYaw = (gyroyaw + 1) / 2; // analog gain on board 1.0 is 2 times higher |
| else |
| if(BoardRelease == 20) AdValueGyroYaw = 2047 - gyroyaw; // 2 times higher than a single sample |
| else AdValueGyroYaw = gyroyaw; // 2 times higher than a single sample |
| ad_channel = AD_ACC_ROLL; |
| break; |
| case 13: |
| accroll += ADC; // get roll acc voltage 2nd sample |
| AdValueAccRoll = AdBiasAccRoll - accroll; // subtract bias |
| ad_channel = AD_ACC_NICK; |
| break; |
| case 14: |
| accnick += ADC; // get nick acc voltage 2nd sample |
| AdValueAccNick = accnick - AdBiasAccNick; // subtract bias |
| ad_channel = AD_GYRO_NICK; |
| break; |
| case 15: |
| gyronick += ADC; // get nick gyro voltage 4th sample |
| if(BoardRelease == 10) gyronick *= 2; // 8 times higer than a single sample, HW gain x2 |
| else gyronick *= 4; // 16 times higer than a single sample |
| AdValueGyroNick = gyronick / 8; // 2 times higher than a single sample |
| filtergyronick = (filtergyronick + gyronick) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY |
| HiResGyroNick = filtergyronick - BiasHiResGyroNick; |
| FilterHiResGyroNick = (FilterHiResGyroNick + HiResGyroNick) / 2; |
| ad_channel = AD_GYRO_ROLL; |
| break; |
| case 16: |
| gyroroll += ADC; // get roll gyro voltage 4th sample |
| if(BoardRelease == 10) gyroroll *= 2; // 8 times higer than a single sample, HW gain x2 |
| else gyroroll *= 4; // 16 times higer than a single sample |
| AdValueGyroRoll = gyroroll / 8; // 2 times higher than a single sample |
| filtergyroroll = (filtergyroroll + gyroroll) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY |
| HiResGyroRoll = filtergyroroll - BiasHiResGyroRoll; |
| FilterHiResGyroRoll = (FilterHiResGyroRoll + HiResGyroRoll) / 2; |
| ad_channel = AD_AIRPRESS; |
| break; |
| case 17: |
| state = 0; // restart sequence from beginning |
| ADReady = 1; // mark |
| MeasurementCounter++; // increment total measurement counter |
| // "break;" is missing to enable fall thru case 9 at the end of the sequence |
| case 9: |
| tmpAirPressure += ADC; // sum adc values |
| if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| { |
| tmpAirPressure /= 2; |
| ReadingAirPressure = ADC; // update meassured air pressure |
| HeightD = (31 * HeightD + (int16_t)FCParam.HeightD * (int16_t)(255 * ExpandBaro + StartAirPressure - tmpAirPressure - ReadingHeight)) / 32; // D-Part = CurrentValue - OldValue |
| AirPressure = (tmpAirPressure + 7 * AirPressure + 4) / 8; // averaging using history |
| ReadingHeight = 255 * ExpandBaro + StartAirPressure - AirPressure; |
| average_pressure = 0; // reset air pressure measurement counter |
| tmpAirPressure /= 2; |
| } |
| ad_channel = AD_GYRO_NICK; |
| break; |
| default: |
| ad_channel = AD_GYRO_NICK; |
| state = 0; |
| break; |
| } |
| // set adc muxer to next ad_channel |
| ADMUX = (ADMUX & 0xE0) | ad_channel; |
| // after full cycle stop further interrupts |
| if(state != 0) ADC_Enable(); |
| } |