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" |
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// 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)) |
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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; |
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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; |
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// Value of 2 samples, with range. |
volatile uint16_t simpleAirPressure; |
uint16_t simpleAirPressure; |
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// 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]; |
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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)); |
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for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
airPressureWindow[i] = 0; |
} |
windowedAirPressure = 0; |
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startAnalogConversionCycle(); |
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// restore global interrupt flags |
SREG = sreg; |
} |
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uint16_t rawGyroValue(uint8_t axis) { |
return sensorInputs[AD_GYRO_PITCH-axis]; |
} |
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uint16_t rawAccValue(uint8_t axis) { |
return sensorInputs[AD_ACC_PITCH-axis]; |
} |
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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]; |
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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(); |
} |
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/***************************************************** |
* 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; |
} |