| 1,22 → 1,28 |
|---|
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/pgmspace.h> |
| #include <stdlib.h> |
| |
| #include "analog.h" |
| #include "attitude.h" |
| #include "sensors.h" |
| #include "printf_P.h" |
| #include "mk3mag.h" |
| |
| // for Delay functions |
| #include "timer0.h" |
| |
| // For DebugOut |
| #include "uart0.h" |
| |
| // For reading and writing acc. meter offsets. |
| #include "eeprom.h" |
| |
| // For DebugOut.Digital |
| // For debugOut |
| #include "output.h" |
| |
| // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
| |
| const char* recal = ", recalibration needed."; |
| |
| /* |
| * For each A/D conversion cycle, each analog channel is sampled a number of times |
| * (see array channelsForStates), and the results for each channel are summed. |
| 25,9 → 31,9 |
|---|
| * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
| * the offsets with the DAC. |
| */ |
| volatile int16_t rawGyroSum[3]; |
| volatile int16_t acc[3]; |
| volatile int16_t filteredAcc[2] = { 0,0 }; |
| volatile uint16_t sensorInputs[8]; |
| int16_t acc[3]; |
| int16_t filteredAcc[3] = { 0,0,0 }; |
| |
| /* |
| * These 4 exported variables are zero-offset. The "PID" ones are used |
| 34,41 → 40,110 |
|---|
| * in the attitude control as rotation rates. The "ATT" ones are for |
| * integration to angles. |
| */ |
| volatile int16_t gyro_PID[2]; |
| volatile int16_t gyro_ATT[2]; |
| volatile int16_t gyroD[3]; |
| volatile int16_t yawGyro; |
| int16_t gyro_PID[2]; |
| int16_t gyro_ATT[2]; |
| int16_t gyroD[2]; |
| int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
| uint8_t gyroDWindowIdx = 0; |
| int16_t yawGyro; |
| int16_t magneticHeading; |
| |
| int32_t groundPressure; |
| int16_t dHeight; |
| |
| uint32_t gyroActivity; |
| |
| /* |
| * Offset values. These are the raw gyro and acc. meter sums when the copter is |
| * standing still. They are used for adjusting the gyro and acc. meter values |
| * to be centered on zero. |
| */ |
| volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 |
| * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW }; |
| |
| volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512 |
| * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z }; |
| sensorOffset_t gyroOffset; |
| sensorOffset_t accOffset; |
| sensorOffset_t gyroAmplifierOffset; |
| |
| /* |
| * In the MK coordinate system, nose-down is positive and left-roll is positive. |
| * If a sensor is used in an orientation where one but not both of the axes has |
| * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
| * Transform: |
| * pitch <- pp*pitch + pr*roll |
| * roll <- rp*pitch + rr*roll |
| * Not reversed, GYRO_QUADRANT: |
| * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
| * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
| * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
| * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
| * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
| * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
| * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
| * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
| * Reversed, GYRO_QUADRANT: |
| * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
| * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
| * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
| * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
| * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
| * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
| * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
| * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
| */ |
| |
| void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
| static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
| // Pitch to Pitch part |
| int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
| // Roll to Pitch part |
| int8_t xy = rotationTab[(quadrant+2)%8]; |
| // Pitch to Roll part |
| int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
| // Roll to Roll part |
| int8_t yy = rotationTab[quadrant]; |
| |
| int16_t xIn = result[0]; |
| result[0] = xx*xIn + xy*result[1]; |
| result[1] = yx*xIn + yy*result[1]; |
| |
| if (quadrant & 1) { |
| // A rotation was used above, where the factors were too large by sqrt(2). |
| // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
| // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
| // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
| result[0] = (result[0]*11) >> 4; |
| result[1] = (result[1]*11) >> 4; |
| } |
| } |
| |
| /* |
| * Air pressure |
| */ |
| volatile uint8_t rangewidth = 106; |
| volatile uint8_t rangewidth = 105; |
| |
| // Direct from sensor, irrespective of range. |
| // volatile uint16_t rawAirPressure; |
| |
| // Value of 2 samples, with range. |
| volatile uint16_t simpleAirPressure; |
| uint16_t simpleAirPressure; |
| |
| // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
| volatile int32_t filteredAirPressure; |
| // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
| int32_t filteredAirPressure; |
| |
| #define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
| //int32_t lastFilteredAirPressure; |
| int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
| uint8_t dWindowPtr = 0; |
| |
| #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
| int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
| int32_t windowedAirPressure; |
| uint8_t windowPtr = 0; |
| |
| // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
| volatile int32_t airPressureSum; |
| int32_t airPressureSum; |
| |
| // The number of samples summed into airPressureSum so far. |
| volatile uint8_t pressureMeasurementCount; |
| uint8_t pressureMeasurementCount; |
| |
| /* |
| * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
| 75,20 → 150,22 |
|---|
| * That is divided by 3 below, for a final 10.34 per volt. |
| * So the initial value of 100 is for 9.7 volts. |
| */ |
| volatile int16_t UBat = 100; |
| int16_t UBat = 100; |
| |
| /* |
| * Control and status. |
| */ |
| volatile uint16_t ADCycleCount = 0; |
| volatile uint8_t analogDataReady = 1; |
| |
| /* |
| * Experiment: Measuring vibration-induced sensor noise. |
| */ |
| volatile uint16_t gyroNoisePeak[2]; |
| volatile uint16_t accNoisePeak[2]; |
| uint16_t gyroNoisePeak[3]; |
| uint16_t accNoisePeak[3]; |
| |
| volatile uint8_t adState; |
| volatile uint8_t adChannel; |
| |
| // ADC channels |
| #define AD_GYRO_YAW 0 |
| #define AD_GYRO_ROLL 1 |
| 142,22 → 219,35 |
|---|
| // 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)); |
| ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
| // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
| ADMUX = (ADMUX & 0xE0); |
| //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); |
| ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
| //Set ADC Control and Status Register B |
| //Trigger Source to Free Running Mode |
| ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0)); |
| // Start AD conversion |
| analog_start(); |
| ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
| |
| for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
| airPressureWindow[i] = 0; |
| } |
| windowedAirPressure = 0; |
| |
| startAnalogConversionCycle(); |
| |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| |
| uint16_t rawGyroValue(uint8_t axis) { |
| return sensorInputs[AD_GYRO_PITCH-axis]; |
| } |
| |
| uint16_t rawAccValue(uint8_t axis) { |
| return sensorInputs[AD_ACC_PITCH-axis]; |
| } |
| |
| void measureNoise(const int16_t sensor, |
| volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
| if (sensor > (int16_t) (*noiseMeasurement)) { |
| 176,280 → 266,348 |
|---|
| * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
| */ |
| uint16_t getSimplePressure(int advalue) { |
| return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
| uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
| result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
| return result; |
| } |
| |
| /* |
| * In the MK coordinate system, nose-down is positive and left-roll is positive. |
| * If a sensor is used in an orientation where one but not both of the axes has |
| * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
| */ |
| void transformPRGyro(int16_t* result) { |
| static const uint8_t tab[] = {1,1,0,0-1,-1,-1,0,1}; |
| // Pitch to Pitch part |
| int8_t pp = PR_GYROS_ORIENTATION_REVERSED ? tab[(GYRO_QUADRANT+4)%8] : tab[GYRO_QUADRANT]; |
| // Pitch to Roll part |
| int8_t pr = tab[(GYRO_QUADRANT+2)%8]; |
| // Roll to Roll part |
| int8_t rp = PR_GYROS_ORIENTATION_REVERSED ? tab[(GYRO_QUADRANT+2)%8] : tab[(GYRO_QUADRANT+6)%8]; |
| // Roll to Roll part |
| int8_t rr = tab[GYRO_QUADRANT]; |
| |
| int16_t pitchIn = result[PITCH]; |
| |
| result[PITCH] = pp*result[PITCH] + pr*result[ROLL]; |
| result[ROLL] = rp*pitchIn + rr*result[ROLL]; |
| void startAnalogConversionCycle(void) { |
| analogDataReady = 0; |
| |
| // Stop the sampling. Cycle is over. |
| for (uint8_t i = 0; i < 8; i++) { |
| sensorInputs[i] = 0; |
| } |
| adState = 0; |
| adChannel = AD_GYRO_PITCH; |
| ADMUX = (ADMUX & 0xE0) | adChannel; |
| startADC(); |
| } |
| |
| /***************************************************** |
| * Interrupt Service Routine for ADC |
| * Runs at 312.5 kHz or 3.2 us. When all states are |
| * processed the interrupt is disabled and further |
| * AD conversions are stopped. |
| * Runs at 312.5 kHz or 3.2 �s. When all states are |
| * processed further conversions are stopped. |
| *****************************************************/ |
| ISR(ADC_vect) { |
| static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
| static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 }; |
| static uint16_t pressureAutorangingWait = 25; |
| uint16_t rawAirPressure; |
| uint8_t i, axis; |
| int16_t newrange; |
| sensorInputs[adChannel] += ADC; |
| // set up for next state. |
| adState++; |
| if (adState < sizeof(channelsForStates)) { |
| adChannel = pgm_read_byte(&channelsForStates[adState]); |
| // set adc muxer to next adChannel |
| ADMUX = (ADMUX & 0xE0) | adChannel; |
| // after full cycle stop further interrupts |
| startADC(); |
| } else { |
| analogDataReady = 1; |
| // do not restart ADC converter. |
| } |
| } |
| |
| // for various filters... |
| int16_t tempOffsetGyro[2]; |
| void measureGyroActivity(int16_t newValue) { |
| gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
| } |
| |
| sensorInputs[ad_channel] += ADC; |
| #define GADAMPING 6 |
| void dampenGyroActivity(void) { |
| static uint8_t cnt = 0; |
| if (++cnt >= IMUConfig.gyroActivityDamping) { |
| cnt = 0; |
| gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
| gyroActivity >>= GADAMPING; |
| } |
| } |
| /* |
| void dampenGyroActivity(void) { |
| if (gyroActivity >= 2000) { |
| gyroActivity -= 2000; |
| } |
| } |
| */ |
| |
| /* |
| * Actually we don't need this "switch". We could do all the sampling into the |
| * sensorInputs array first, and all the processing after the last sample. |
| */ |
| switch (state++) { |
| void analog_updateGyros(void) { |
| // for various filters... |
| int16_t tempOffsetGyro[2], tempGyro; |
| |
| debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
| for (uint8_t axis=0; axis<2; axis++) { |
| tempGyro = rawGyroValue(axis); |
| /* |
| * Process the gyro data for the PID controller. |
| */ |
| // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
| // gyro with a wider range, and helps counter saturation at full control. |
| |
| if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
| if (tempGyro < SENSOR_MIN_PITCHROLL) { |
| debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
| debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
| } |
| } |
| |
| case 8: // Z acc |
| if (Z_ACC_REVERSED) |
| acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
| // 2) Apply sign and offset, scale before filtering. |
| tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| |
| /* |
| stronglyFilteredAcc[Z] = |
| (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
| */ |
| // 2.1: Transform axes. |
| rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
| |
| break; |
| for (uint8_t axis=0; axis<2; axis++) { |
| // 3) Filter. |
| tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
| |
| case 11: // yaw gyro |
| rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
| if (YAW_GYRO_REVERSED) |
| tempOffsetGyro[0] = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
| else |
| tempOffsetGyro[0] = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
| gyroD[YAW] = (gyroD[YAW] * (staticParams.DGyroFilter - 1) + (tempOffsetGyro[0] - yawGyro)) / staticParams.DGyroFilter; |
| yawGyro = tempOffsetGyro[0]; |
| break; |
| case 13: // roll axis acc. |
| // 4) Measure noise. |
| measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
| |
| // We have no sensor installed... |
| acc[PITCH] = acc[ROLL] = 0; |
| // 5) Differential measurement. |
| // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
| int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
| gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
| gyroD[axis] += diff; |
| gyroDWindow[axis][gyroDWindowIdx] = diff; |
| |
| for (axis=0; axis<2; axis++) { |
| filteredAcc[axis] = |
| (filteredAcc[axis] * (staticParams.accFilter - 1) + acc[axis]) / staticParams.accFilter; |
| measureNoise(acc[axis], &accNoisePeak[axis], 1); |
| } |
| break; |
| // 6) Done. |
| gyro_PID[axis] = tempOffsetGyro[axis]; |
| |
| case 14: // air pressure |
| if (pressureAutorangingWait) { |
| //A range switch was done recently. Wait for steadying. |
| pressureAutorangingWait--; |
| DebugOut.Analog[27] = (uint16_t) OCR0A; |
| DebugOut.Analog[31] = simpleAirPressure; |
| break; |
| } |
| // Prepare tempOffsetGyro for next calculation below... |
| tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| |
| rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
| if (rawAirPressure < MIN_RAWPRESSURE) { |
| // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
| newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
| if (newrange > MIN_RANGES_EXTRAPOLATION) { |
| pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
| OCR0A = newrange; |
| } else { |
| if (OCR0A) { |
| OCR0A--; |
| pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
| } |
| } |
| } else if (rawAirPressure > MAX_RAWPRESSURE) { |
| // value is too high, so increase voltage on the op amp minus input, making the value lower. |
| // If near the end, make a limited increase |
| newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
| if (newrange < MAX_RANGES_EXTRAPOLATION) { |
| pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
| OCR0A = newrange; |
| } else { |
| if (OCR0A < 254) { |
| OCR0A++; |
| pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
| } |
| } |
| } |
| /* |
| * Now process the data for attitude angles. |
| */ |
| rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
| |
| // Even if the sample is off-range, use it. |
| simpleAirPressure = getSimplePressure(rawAirPressure); |
| DebugOut.Analog[27] = (uint16_t) OCR0A; |
| DebugOut.Analog[31] = simpleAirPressure; |
| dampenGyroActivity(); |
| gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
| gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
| |
| if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near lower end of range. If the measurement saturates, the |
| // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
| DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
| airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
| + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
| * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near upper end of range. If the measurement saturates, the |
| // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
| DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
| airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
| + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
| * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| } else { |
| // normal case. |
| // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
| // The 2 cases above (end of range) are ignored for this. |
| DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT; |
| if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
| airPressureSum += simpleAirPressure / 2; |
| else |
| airPressureSum += simpleAirPressure; |
| } |
| /* |
| measureGyroActivity(tempOffsetGyro[PITCH]); |
| measureGyroActivity(tempOffsetGyro[ROLL]); |
| */ |
| measureGyroActivity(gyroD[PITCH]); |
| measureGyroActivity(gyroD[ROLL]); |
| |
| // 2 samples were added. |
| pressureMeasurementCount += 2; |
| if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
| filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
| + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
| pressureMeasurementCount = airPressureSum = 0; |
| } |
| // We measure activity of yaw by plain gyro value and not d/dt, because: |
| // - There is no drift correction anyway |
| // - Effect of steady circular flight would vanish (it should have effect). |
| // int16_t diff = yawGyro; |
| // Yaw gyro. |
| if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
| yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
| else |
| yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
| |
| break; |
| // diff -= yawGyro; |
| // gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
| // gyroD[YAW] += diff; |
| // gyroDWindow[YAW][gyroDWindowIdx] = diff; |
| |
| case 16: // pitch and roll gyro. |
| for (axis=0; axis<2; axis++) { |
| tempOffsetGyro[axis] = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
| // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
| // gyro with a wider range, and helps counter saturation at full control. |
| // gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
| measureGyroActivity(yawGyro); |
| |
| if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
| if (tempOffsetGyro[axis] < SENSOR_MIN_PITCHROLL) { |
| DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
| tempOffsetGyro[axis] = tempOffsetGyro[axis] * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| } else if (tempOffsetGyro[axis] > SENSOR_MAX_PITCHROLL) { |
| DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
| tempOffsetGyro[axis] = (tempOffsetGyro[axis] - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
| } else { |
| DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT; |
| } |
| } |
| if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
| gyroDWindowIdx = 0; |
| } |
| } |
| |
| // 2) Apply sign and offset, scale before filtering. |
| tempOffsetGyro[axis] = (tempOffsetGyro[axis] - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| void analog_updateAccelerometers(void) { |
| // Pitch and roll axis accelerations. |
| for (uint8_t axis=0; axis<2; axis++) { |
| acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
| } |
| |
| // 2.1: Transform axis if configured to. |
| transformPRGyro(tempOffsetGyro); |
| rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
| for(uint8_t axis=0; axis<3; axis++) { |
| filteredAcc[axis] = (filteredAcc[axis] * (IMUConfig.accFilterConstant - 1) + acc[axis]) / IMUConfig.accFilterConstant; |
| measureNoise(acc[axis], &accNoisePeak[axis], 1); |
| } |
| |
| // 3) Scale and filter. |
| for (axis=0; axis<2; axis++) { |
| tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.PIDGyroFilter - 1) + tempOffsetGyro[axis]) / staticParams.PIDGyroFilter; |
| // Z acc. |
| if (IMUConfig.imuReversedFlags & 8) |
| acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
| |
| // 4) Measure noise. |
| measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
| // debugOut.analog[29] = acc[Z]; |
| } |
| |
| // 5) Differential measurement. |
| gyroD[axis] = (gyroD[axis] * (staticParams.DGyroFilter - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.DGyroFilter; |
| void analog_updateAirPressure(void) { |
| static uint16_t pressureAutorangingWait = 25; |
| uint16_t rawAirPressure; |
| int16_t newrange; |
| // air pressure |
| if (pressureAutorangingWait) { |
| //A range switch was done recently. Wait for steadying. |
| pressureAutorangingWait--; |
| } else { |
| rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
| if (rawAirPressure < MIN_RAWPRESSURE) { |
| // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
| newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
| if (newrange > MIN_RANGES_EXTRAPOLATION) { |
| pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
| OCR0A = newrange; |
| } else { |
| if (OCR0A) { |
| OCR0A--; |
| pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
| } |
| } |
| } else if (rawAirPressure > MAX_RAWPRESSURE) { |
| // value is too high, so increase voltage on the op amp minus input, making the value lower. |
| // If near the end, make a limited increase |
| newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
| if (newrange < MAX_RANGES_EXTRAPOLATION) { |
| pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
| OCR0A = newrange; |
| } else { |
| if (OCR0A < 254) { |
| OCR0A++; |
| pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
| } |
| } |
| } |
| |
| // Even if the sample is off-range, use it. |
| simpleAirPressure = getSimplePressure(rawAirPressure); |
| debugOut.analog[6] = rawAirPressure; |
| debugOut.analog[7] = simpleAirPressure; |
| |
| if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near lower end of range. If the measurement saturates, the |
| // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
| debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
| airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
| + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
| * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near upper end of range. If the measurement saturates, the |
| // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
| debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
| airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
| + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
| * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| } else { |
| // normal case. |
| // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
| // The 2 cases above (end of range) are ignored for this. |
| debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
| airPressureSum += simpleAirPressure; |
| } |
| |
| // 2 samples were added. |
| pressureMeasurementCount += 2; |
| // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
| if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
| |
| // 6) Done. |
| gyro_PID[axis] = tempOffsetGyro[axis]; |
| } |
| // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
| airPressureSum += simpleAirPressure >> 2; |
| |
| /* |
| * Now process the data for attitude angles. |
| */ |
| for (axis=0; axis<2; axis++) { |
| tempOffsetGyro[axis] = (rawGyroSum[axis] - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| uint32_t lastFilteredAirPressure = filteredAirPressure; |
| |
| transformPRGyro(tempOffsetGyro); |
| |
| // 2) Filter. This should really be quite unnecessary. The integration should gobble up any noise anyway and the values are not used for anything else. |
| gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
| gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
| break; |
| |
| case 17: |
| // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| // This is divided by 3 --> 10.34 counts per volt. |
| UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| DebugOut.Analog[20] = UBat; |
| analogDataReady = 1; // mark |
| ADCycleCount++; |
| // Stop the sampling. Cycle is over. |
| state = 0; |
| for (i = 0; i < 8; i++) { |
| sensorInputs[i] = 0; |
| } |
| break; |
| default: { |
| } // do nothing. |
| } |
| if (!staticParams.airpressureWindowLength) { |
| filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
| + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
| } else { |
| // use windowed. |
| windowedAirPressure += simpleAirPressure; |
| windowedAirPressure -= airPressureWindow[windowPtr]; |
| airPressureWindow[windowPtr++] = simpleAirPressure; |
| if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
| filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
| } |
| |
| // set up for next state. |
| ad_channel = pgm_read_byte(&channelsForStates[state]); |
| // ad_channel = channelsForStates[state]; |
| // positive diff of pressure |
| int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
| // is a negative diff of height. |
| dHeight -= diff; |
| // remove old sample (fifo) from window. |
| dHeight += dAirPressureWindow[dWindowPtr]; |
| dAirPressureWindow[dWindowPtr++] = diff; |
| if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
| pressureMeasurementCount = airPressureSum = 0; |
| } |
| } |
| } |
| |
| // set adc muxer to next ad_channel |
| ADMUX = (ADMUX & 0xE0) | ad_channel; |
| // after full cycle stop further interrupts |
| if (state) |
| analog_start(); |
| void analog_updateBatteryVoltage(void) { |
| // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| // This is divided by 3 --> 10.34 counts per volt. |
| UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| } |
| |
| void analog_calibrate(void) { |
| #define GYRO_OFFSET_CYCLES 32 |
| uint8_t i, axis; |
| int32_t deltaOffsets[3] = { 0, 0, 0 }; |
| void analog_update(void) { |
| analog_updateGyros(); |
| analog_updateAccelerometers(); |
| analog_updateAirPressure(); |
| analog_updateBatteryVoltage(); |
| #ifdef USE_MK3MAG |
| magneticHeading = volatileMagneticHeading; |
| #endif |
| } |
| |
| gyro_calibrate(); |
| void analog_setNeutral() { |
| gyro_init(); |
| |
| if (gyroOffset_readFromEEProm()) { |
| printf("gyro offsets invalid%s",recal); |
| gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
| gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
| } |
| |
| if (accOffset_readFromEEProm()) { |
| printf("acc. meter offsets invalid%s",recal); |
| accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
| accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
| } |
| |
| // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
| for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
| delay_ms_Mess(20); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| deltaOffsets[axis] += rawGyroSum[axis]; |
| } |
| } |
| // Noise is relative to offset. So, reset noise measurements when changing offsets. |
| for (uint8_t i=PITCH; i<=ROLL; i++) { |
| gyroNoisePeak[i] = 0; |
| accNoisePeak[i] = 0; |
| gyroD[i] = 0; |
| for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
| gyroDWindow[i][j] = 0; |
| } |
| } |
| // Setting offset values has an influence in the analog.c ISR |
| // Therefore run measurement for 100ms to achive stable readings |
| delay_ms_with_adc_measurement(100, 0); |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| // DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
| } |
| gyroActivity = 0; |
| } |
| |
| // Noise is relativ to offset. So, reset noise measurements when changing offsets. |
| gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
| void analog_calibrateGyros(void) { |
| #define GYRO_OFFSET_CYCLES 32 |
| uint8_t i, axis; |
| int32_t offsets[3] = { 0, 0, 0 }; |
| gyro_calibrate(); |
| |
| // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
| for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
| delay_ms_with_adc_measurement(10, 1); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| offsets[axis] += rawGyroValue(axis); |
| } |
| } |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| |
| accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
| accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
| accOffset[Z] = GetParamWord(PID_ACC_Z); |
| int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
| int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
| if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
| versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
| } |
| |
| // Rough estimate. Hmm no nothing happens at calibration anyway. |
| // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
| // pressureMeasurementCount = 0; |
| |
| delay_ms_Mess(100); |
| gyroOffset_writeToEEProm(); |
| startAnalogConversionCycle(); |
| } |
| |
| /* |
| 460,64 → 618,59 |
|---|
| * directly from here, though. |
| */ |
| void analog_calibrateAcc(void) { |
| #define ACC_OFFSET_CYCLES 10 |
| /* |
| uint8_t i, axis; |
| int32_t deltaOffset[3] = { 0, 0, 0 }; |
| int16_t filteredDelta; |
| // int16_t pressureDiff, savedRawAirPressure; |
| #define ACC_OFFSET_CYCLES 32 |
| uint8_t i, axis; |
| int32_t offsets[3] = { 0, 0, 0 }; |
| |
| for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
| delay_ms_Mess(10); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| deltaOffset[axis] += acc[axis]; |
| } |
| } |
| for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
| delay_ms_with_adc_measurement(10, 1); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| offsets[axis] += rawAccValue(axis); |
| } |
| } |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
| / ACC_OFFSET_CYCLES; |
| accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
| } |
| for (axis = PITCH; axis <= YAW; axis++) { |
| accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
| int16_t min,max; |
| if (axis==Z) { |
| if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
| // TODO: This assumes a sensitivity of +/- 2g. |
| min = (256-200) * ACC_OVERSAMPLING_Z; |
| max = (256+200) * ACC_OVERSAMPLING_Z; |
| } else { |
| // TODO: This assumes a sensitivity of +/- 2g. |
| min = (768-200) * ACC_OVERSAMPLING_Z; |
| max = (768+200) * ACC_OVERSAMPLING_Z; |
| } |
| } else { |
| min = (512-200) * ACC_OVERSAMPLING_XY; |
| max = (512+200) * ACC_OVERSAMPLING_XY; |
| } |
| if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
| versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
| } |
| } |
| |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
| SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
| SetParamWord(PID_ACC_Z, accOffset[Z]); |
| accOffset_writeToEEProm(); |
| startAnalogConversionCycle(); |
| } |
| |
| // Noise is relative to offset. So, reset noise measurements when |
| // changing offsets. |
| accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
| void analog_setGround() { |
| groundPressure = filteredAirPressure; |
| } |
| |
| // Setting offset values has an influence in the analog.c ISR |
| // Therefore run measurement for 100ms to achive stable readings |
| delay_ms_Mess(100); |
| int32_t analog_getHeight(void) { |
| return groundPressure - filteredAirPressure; |
| } |
| |
| */ |
| // Set the feedback so that air pressure ends up in the middle of the range. |
| // (raw pressure high --> OCR0A also high...) |
| /* |
| OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1; |
| delay_ms_Mess(1000); |
| |
| pressureDiff = 0; |
| // DebugOut.Analog[16] = rawAirPressure; |
| |
| #define PRESSURE_CAL_CYCLE_COUNT 5 |
| for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
| savedRawAirPressure = rawAirPressure; |
| OCR0A+=2; |
| delay_ms_Mess(500); |
| // raw pressure will decrease. |
| pressureDiff += (savedRawAirPressure - rawAirPressure); |
| savedRawAirPressure = rawAirPressure; |
| OCR0A-=2; |
| delay_ms_Mess(500); |
| // raw pressure will increase. |
| pressureDiff += (rawAirPressure - savedRawAirPressure); |
| } |
| |
| rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2); |
| DebugOut.Analog[27] = rangewidth; |
| */ |
| int16_t analog_getDHeight(void) { |
| /* |
| int16_t result = 0; |
| for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
| result -= dAirPressureWindow[i]; // minus pressure is plus height. |
| } |
| // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
| return result; |
| */ |
| return dHeight; |
| } |