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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur f�r den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
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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 ver�ffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen 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 Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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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 zul�ssig |
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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 example: 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 |
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48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | #include <avr/io.h> |
1 | #include <avr/io.h> |
53 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
54 | #include <avr/pgmspace.h> |
3 | #include <avr/pgmspace.h> |
55 | 4 | ||
56 | #include "analog.h" |
5 | #include "analog.h" |
57 | #include "attitude.h" |
6 | #include "attitude.h" |
58 | #include "sensors.h" |
7 | #include "sensors.h" |
59 | #include "printf_P.h" |
8 | #include "printf_P.h" |
60 | 9 | ||
61 | // for Delay functions |
10 | // for Delay functions |
62 | #include "timer0.h" |
11 | #include "timer0.h" |
63 | 12 | ||
64 | // For debugOut |
13 | // For debugOut |
65 | #include "uart0.h" |
14 | #include "uart0.h" |
66 | 15 | ||
67 | // For reading and writing acc. meter offsets. |
16 | // For reading and writing acc. meter offsets. |
68 | #include "eeprom.h" |
17 | #include "eeprom.h" |
69 | 18 | ||
70 | // For debugOut.digital |
19 | // For debugOut.digital |
71 | #include "output.h" |
20 | #include "output.h" |
72 | 21 | ||
73 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
22 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
74 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
23 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
75 | 24 | ||
76 | const char* recal = ", recalibration needed."; |
25 | const char* recal = ", recalibration needed."; |
77 | 26 | ||
78 | /* |
27 | /* |
79 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
28 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
80 | * (see array channelsForStates), and the results for each channel are summed. |
29 | * (see array channelsForStates), and the results for each channel are summed. |
81 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
30 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
82 | * They are exported in the analog.h file - but please do not use them! The only |
31 | * They are exported in the analog.h file - but please do not use them! The only |
83 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
32 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
84 | * the offsets with the DAC. |
33 | * the offsets with the DAC. |
85 | */ |
34 | */ |
86 | volatile uint16_t sensorInputs[8]; |
35 | volatile uint16_t sensorInputs[8]; |
87 | int16_t acc[3]; |
36 | int16_t acc[3]; |
88 | int16_t filteredAcc[3] = { 0,0,0 }; |
37 | int16_t filteredAcc[3] = { 0,0,0 }; |
89 | 38 | ||
90 | /* |
39 | /* |
91 | * These 4 exported variables are zero-offset. The "PID" ones are used |
40 | * These 4 exported variables are zero-offset. The "PID" ones are used |
92 | * in the attitude control as rotation rates. The "ATT" ones are for |
41 | * in the attitude control as rotation rates. The "ATT" ones are for |
93 | * integration to angles. |
42 | * integration to angles. |
94 | */ |
43 | */ |
95 | int16_t gyro_PID[2]; |
44 | int16_t gyro_PID[2]; |
96 | int16_t gyro_ATT[2]; |
45 | int16_t gyro_ATT[2]; |
97 | int16_t gyroD[2]; |
46 | int16_t gyroD[2]; |
98 | int16_t yawGyro; |
47 | int16_t yawGyro; |
99 | 48 | ||
100 | int32_t groundPressure; |
49 | int32_t groundPressure; |
101 | 50 | ||
102 | /* |
51 | /* |
103 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
52 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
104 | * standing still. They are used for adjusting the gyro and acc. meter values |
53 | * standing still. They are used for adjusting the gyro and acc. meter values |
105 | * to be centered on zero. |
54 | * to be centered on zero. |
106 | */ |
55 | */ |
107 | 56 | ||
108 | sensorOffset_t gyroOffset; |
57 | sensorOffset_t gyroOffset; |
109 | sensorOffset_t accOffset; |
58 | sensorOffset_t accOffset; |
110 | sensorOffset_t gyroAmplifierOffset; |
59 | sensorOffset_t gyroAmplifierOffset; |
111 | 60 | ||
112 | /* |
61 | /* |
113 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
62 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
114 | * If a sensor is used in an orientation where one but not both of the axes has |
63 | * If a sensor is used in an orientation where one but not both of the axes has |
115 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
64 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
116 | * Transform: |
65 | * Transform: |
117 | * pitch <- pp*pitch + pr*roll |
66 | * pitch <- pp*pitch + pr*roll |
118 | * roll <- rp*pitch + rr*roll |
67 | * roll <- rp*pitch + rr*roll |
119 | * Not reversed, GYRO_QUADRANT: |
68 | * Not reversed, GYRO_QUADRANT: |
120 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
69 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
121 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
70 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
122 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
71 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
123 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
72 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
124 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
73 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
125 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
74 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
126 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
75 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
127 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
76 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
128 | * Reversed, GYRO_QUADRANT: |
77 | * Reversed, GYRO_QUADRANT: |
129 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
78 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
130 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
79 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
131 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
80 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
132 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
81 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
133 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
82 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
134 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
83 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
135 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
84 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
136 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
85 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
137 | */ |
86 | */ |
138 | 87 | ||
139 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
88 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
140 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
89 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
141 | // Pitch to Pitch part |
90 | // Pitch to Pitch part |
142 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
91 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
143 | // Roll to Pitch part |
92 | // Roll to Pitch part |
144 | int8_t xy = rotationTab[(quadrant+2)%8]; |
93 | int8_t xy = rotationTab[(quadrant+2)%8]; |
145 | // Pitch to Roll part |
94 | // Pitch to Roll part |
146 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
95 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
147 | // Roll to Roll part |
96 | // Roll to Roll part |
148 | int8_t yy = rotationTab[quadrant]; |
97 | int8_t yy = rotationTab[quadrant]; |
149 | 98 | ||
150 | int16_t xIn = result[0]; |
99 | int16_t xIn = result[0]; |
151 | result[0] = xx*xIn + xy*result[1]; |
100 | result[0] = xx*xIn + xy*result[1]; |
152 | result[1] = yx*xIn + yy*result[1]; |
101 | result[1] = yx*xIn + yy*result[1]; |
153 | 102 | ||
154 | if (quadrant & 1) { |
103 | if (quadrant & 1) { |
155 | // A rotation was used above, where the factors were too large by sqrt(2). |
104 | // A rotation was used above, where the factors were too large by sqrt(2). |
156 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
105 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
157 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
106 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
158 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
107 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
159 | result[0] = (result[0]*11) >> 4; |
108 | result[0] = (result[0]*11) >> 4; |
160 | result[1] = (result[1]*11) >> 4; |
109 | result[1] = (result[1]*11) >> 4; |
161 | } |
110 | } |
162 | } |
111 | } |
163 | 112 | ||
164 | /* |
113 | /* |
165 | * Air pressure |
114 | * Air pressure |
166 | */ |
115 | */ |
167 | volatile uint8_t rangewidth = 105; |
116 | volatile uint8_t rangewidth = 105; |
168 | 117 | ||
169 | // Direct from sensor, irrespective of range. |
118 | // Direct from sensor, irrespective of range. |
170 | // volatile uint16_t rawAirPressure; |
119 | // volatile uint16_t rawAirPressure; |
171 | 120 | ||
172 | // Value of 2 samples, with range. |
121 | // Value of 2 samples, with range. |
173 | uint16_t simpleAirPressure; |
122 | uint16_t simpleAirPressure; |
174 | 123 | ||
175 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
124 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
176 | int32_t filteredAirPressure; |
125 | int32_t filteredAirPressure; |
177 | int32_t lastFilteredAirPressure; |
126 | int32_t lastFilteredAirPressure; |
178 | 127 | ||
179 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 64 |
128 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
180 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
129 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
181 | int32_t windowedAirPressure; |
130 | int32_t windowedAirPressure; |
182 | uint8_t windowPtr; |
131 | uint8_t windowPtr; |
183 | 132 | ||
184 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
133 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
185 | int32_t airPressureSum; |
134 | int32_t airPressureSum; |
186 | 135 | ||
187 | // The number of samples summed into airPressureSum so far. |
136 | // The number of samples summed into airPressureSum so far. |
188 | uint8_t pressureMeasurementCount; |
137 | uint8_t pressureMeasurementCount; |
189 | 138 | ||
190 | /* |
139 | /* |
191 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
140 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
192 | * That is divided by 3 below, for a final 10.34 per volt. |
141 | * That is divided by 3 below, for a final 10.34 per volt. |
193 | * So the initial value of 100 is for 9.7 volts. |
142 | * So the initial value of 100 is for 9.7 volts. |
194 | */ |
143 | */ |
195 | int16_t UBat = 100; |
144 | int16_t UBat = 100; |
196 | 145 | ||
197 | /* |
146 | /* |
198 | * Control and status. |
147 | * Control and status. |
199 | */ |
148 | */ |
200 | volatile uint16_t ADCycleCount = 0; |
149 | volatile uint16_t ADCycleCount = 0; |
201 | volatile uint8_t analogDataReady = 1; |
150 | volatile uint8_t analogDataReady = 1; |
202 | 151 | ||
203 | /* |
152 | /* |
204 | * Experiment: Measuring vibration-induced sensor noise. |
153 | * Experiment: Measuring vibration-induced sensor noise. |
205 | */ |
154 | */ |
206 | uint16_t gyroNoisePeak[3]; |
155 | uint16_t gyroNoisePeak[3]; |
207 | uint16_t accNoisePeak[3]; |
156 | uint16_t accNoisePeak[3]; |
208 | 157 | ||
209 | volatile uint8_t adState; |
158 | volatile uint8_t adState; |
210 | volatile uint8_t adChannel; |
159 | volatile uint8_t adChannel; |
211 | 160 | ||
212 | // ADC channels |
161 | // ADC channels |
213 | #define AD_GYRO_YAW 0 |
162 | #define AD_GYRO_YAW 0 |
214 | #define AD_GYRO_ROLL 1 |
163 | #define AD_GYRO_ROLL 1 |
215 | #define AD_GYRO_PITCH 2 |
164 | #define AD_GYRO_PITCH 2 |
216 | #define AD_AIRPRESSURE 3 |
165 | #define AD_AIRPRESSURE 3 |
217 | #define AD_UBAT 4 |
166 | #define AD_UBAT 4 |
218 | #define AD_ACC_Z 5 |
167 | #define AD_ACC_Z 5 |
219 | #define AD_ACC_ROLL 6 |
168 | #define AD_ACC_ROLL 6 |
220 | #define AD_ACC_PITCH 7 |
169 | #define AD_ACC_PITCH 7 |
221 | 170 | ||
222 | /* |
171 | /* |
223 | * Table of AD converter inputs for each state. |
172 | * Table of AD converter inputs for each state. |
224 | * The number of samples summed for each channel is equal to |
173 | * The number of samples summed for each channel is equal to |
225 | * the number of times the channel appears in the array. |
174 | * the number of times the channel appears in the array. |
226 | * The max. number of samples that can be taken in 2 ms is: |
175 | * The max. number of samples that can be taken in 2 ms is: |
227 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
176 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
228 | * loop needs a little time between reading AD values and |
177 | * loop needs a little time between reading AD values and |
229 | * re-enabling ADC, the real limit is (how much?) lower. |
178 | * re-enabling ADC, the real limit is (how much?) lower. |
230 | * The acc. sensor is sampled even if not used - or installed |
179 | * The acc. sensor is sampled even if not used - or installed |
231 | * at all. The cost is not significant. |
180 | * at all. The cost is not significant. |
232 | */ |
181 | */ |
233 | 182 | ||
234 | const uint8_t channelsForStates[] PROGMEM = { |
183 | const uint8_t channelsForStates[] PROGMEM = { |
235 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
184 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
236 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
185 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
237 | 186 | ||
238 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
187 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
239 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
188 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
240 | 189 | ||
241 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
190 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
242 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
191 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
243 | AD_AIRPRESSURE, // at 14, finish air pressure. |
192 | AD_AIRPRESSURE, // at 14, finish air pressure. |
244 | 193 | ||
245 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
194 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
246 | AD_GYRO_ROLL, // at 16, finish roll gyro |
195 | AD_GYRO_ROLL, // at 16, finish roll gyro |
247 | AD_UBAT // at 17, measure battery. |
196 | AD_UBAT // at 17, measure battery. |
248 | }; |
197 | }; |
249 | 198 | ||
250 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
199 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
251 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
200 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
252 | 201 | ||
253 | void analog_init(void) { |
202 | void analog_init(void) { |
254 | uint8_t sreg = SREG; |
203 | uint8_t sreg = SREG; |
255 | // disable all interrupts before reconfiguration |
204 | // disable all interrupts before reconfiguration |
256 | cli(); |
205 | cli(); |
257 | 206 | ||
258 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
207 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
259 | DDRA = 0x00; |
208 | DDRA = 0x00; |
260 | PORTA = 0x00; |
209 | PORTA = 0x00; |
261 | // Digital Input Disable Register 0 |
210 | // Digital Input Disable Register 0 |
262 | // Disable digital input buffer for analog adc_channel pins |
211 | // Disable digital input buffer for analog adc_channel pins |
263 | DIDR0 = 0xFF; |
212 | DIDR0 = 0xFF; |
264 | // external reference, adjust data to the right |
213 | // external reference, adjust data to the right |
265 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
214 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
266 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
215 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
267 | ADMUX = (ADMUX & 0xE0); |
216 | ADMUX = (ADMUX & 0xE0); |
268 | //Set ADC Control and Status Register A |
217 | //Set ADC Control and Status Register A |
269 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
218 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
270 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
219 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
271 | //Set ADC Control and Status Register B |
220 | //Set ADC Control and Status Register B |
272 | //Trigger Source to Free Running Mode |
221 | //Trigger Source to Free Running Mode |
273 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
222 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
274 | 223 | ||
275 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
224 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
276 | airPressureWindow[i] = 0; |
225 | airPressureWindow[i] = 0; |
277 | } |
226 | } |
278 | - | ||
279 | windowedAirPressure = 0; |
227 | windowedAirPressure = 0; |
280 | 228 | ||
281 | startAnalogConversionCycle(); |
229 | startAnalogConversionCycle(); |
282 | 230 | ||
283 | // restore global interrupt flags |
231 | // restore global interrupt flags |
284 | SREG = sreg; |
232 | SREG = sreg; |
285 | } |
233 | } |
286 | 234 | ||
287 | uint16_t rawGyroValue(uint8_t axis) { |
235 | uint16_t rawGyroValue(uint8_t axis) { |
288 | return sensorInputs[AD_GYRO_PITCH-axis]; |
236 | return sensorInputs[AD_GYRO_PITCH-axis]; |
289 | } |
237 | } |
290 | 238 | ||
291 | uint16_t rawAccValue(uint8_t axis) { |
239 | uint16_t rawAccValue(uint8_t axis) { |
292 | return sensorInputs[AD_ACC_PITCH-axis]; |
240 | return sensorInputs[AD_ACC_PITCH-axis]; |
293 | } |
241 | } |
294 | 242 | ||
295 | void measureNoise(const int16_t sensor, |
243 | void measureNoise(const int16_t sensor, |
296 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
244 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
297 | if (sensor > (int16_t) (*noiseMeasurement)) { |
245 | if (sensor > (int16_t) (*noiseMeasurement)) { |
298 | *noiseMeasurement = sensor; |
246 | *noiseMeasurement = sensor; |
299 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
247 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
300 | *noiseMeasurement = -sensor; |
248 | *noiseMeasurement = -sensor; |
301 | } else if (*noiseMeasurement > damping) { |
249 | } else if (*noiseMeasurement > damping) { |
302 | *noiseMeasurement -= damping; |
250 | *noiseMeasurement -= damping; |
303 | } else { |
251 | } else { |
304 | *noiseMeasurement = 0; |
252 | *noiseMeasurement = 0; |
305 | } |
253 | } |
306 | } |
254 | } |
307 | 255 | ||
308 | /* |
256 | /* |
309 | * Min.: 0 |
257 | * Min.: 0 |
310 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
258 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
311 | */ |
259 | */ |
312 | uint16_t getSimplePressure(int advalue) { |
260 | uint16_t getSimplePressure(int advalue) { |
313 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
261 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
314 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
262 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
315 | return result; |
263 | return result; |
316 | } |
264 | } |
317 | 265 | ||
318 | void startAnalogConversionCycle(void) { |
266 | void startAnalogConversionCycle(void) { |
319 | analogDataReady = 0; |
267 | analogDataReady = 0; |
320 | 268 | ||
321 | // Stop the sampling. Cycle is over. |
269 | // Stop the sampling. Cycle is over. |
322 | for (uint8_t i = 0; i < 8; i++) { |
270 | for (uint8_t i = 0; i < 8; i++) { |
323 | sensorInputs[i] = 0; |
271 | sensorInputs[i] = 0; |
324 | } |
272 | } |
325 | adState = 0; |
273 | adState = 0; |
326 | adChannel = AD_GYRO_PITCH; |
274 | adChannel = AD_GYRO_PITCH; |
327 | ADMUX = (ADMUX & 0xE0) | adChannel; |
275 | ADMUX = (ADMUX & 0xE0) | adChannel; |
328 | startADC(); |
276 | startADC(); |
329 | } |
277 | } |
330 | 278 | ||
331 | /***************************************************** |
279 | /***************************************************** |
332 | * Interrupt Service Routine for ADC |
280 | * Interrupt Service Routine for ADC |
333 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
281 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
334 | * processed further conversions are stopped. |
282 | * processed further conversions are stopped. |
335 | *****************************************************/ |
283 | *****************************************************/ |
336 | ISR(ADC_vect) { |
284 | ISR(ADC_vect) { |
337 | sensorInputs[adChannel] += ADC; |
285 | sensorInputs[adChannel] += ADC; |
338 | // set up for next state. |
286 | // set up for next state. |
339 | adState++; |
287 | adState++; |
340 | if (adState < sizeof(channelsForStates)) { |
288 | if (adState < sizeof(channelsForStates)) { |
341 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
289 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
342 | // set adc muxer to next adChannel |
290 | // set adc muxer to next adChannel |
343 | ADMUX = (ADMUX & 0xE0) | adChannel; |
291 | ADMUX = (ADMUX & 0xE0) | adChannel; |
344 | // after full cycle stop further interrupts |
292 | // after full cycle stop further interrupts |
345 | startADC(); |
293 | startADC(); |
346 | } else { |
294 | } else { |
347 | ADCycleCount++; |
295 | ADCycleCount++; |
348 | analogDataReady = 1; |
296 | analogDataReady = 1; |
349 | // do not restart ADC converter. |
297 | // do not restart ADC converter. |
350 | } |
298 | } |
351 | } |
299 | } |
352 | 300 | ||
353 | void analog_updateGyros(void) { |
301 | void analog_updateGyros(void) { |
354 | // for various filters... |
302 | // for various filters... |
355 | int16_t tempOffsetGyro[2], tempGyro; |
303 | int16_t tempOffsetGyro[2], tempGyro; |
356 | 304 | ||
357 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
305 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
358 | for (uint8_t axis=0; axis<2; axis++) { |
306 | for (uint8_t axis=0; axis<2; axis++) { |
359 | tempGyro = rawGyroValue(axis); |
307 | tempGyro = rawGyroValue(axis); |
360 | /* |
308 | /* |
361 | * Process the gyro data for the PID controller. |
309 | * Process the gyro data for the PID controller. |
362 | */ |
310 | */ |
363 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
311 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
364 | // gyro with a wider range, and helps counter saturation at full control. |
312 | // gyro with a wider range, and helps counter saturation at full control. |
365 | 313 | ||
366 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
314 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
367 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
315 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
368 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
316 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
369 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
317 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
370 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
318 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
371 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
319 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
372 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
320 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
373 | } |
321 | } |
374 | } |
322 | } |
375 | 323 | ||
376 | // 2) Apply sign and offset, scale before filtering. |
324 | // 2) Apply sign and offset, scale before filtering. |
377 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
325 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
378 | } |
326 | } |
379 | 327 | ||
380 | // 2.1: Transform axes. |
328 | // 2.1: Transform axes. |
381 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
329 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
382 | 330 | ||
383 | for (uint8_t axis=0; axis<2; axis++) { |
331 | for (uint8_t axis=0; axis<2; axis++) { |
384 | // 3) Filter. |
332 | // 3) Filter. |
385 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
333 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
386 | 334 | ||
387 | // 4) Measure noise. |
335 | // 4) Measure noise. |
388 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
336 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
389 | 337 | ||
390 | // 5) Differential measurement. |
338 | // 5) Differential measurement. |
391 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
339 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
392 | 340 | ||
393 | // 6) Done. |
341 | // 6) Done. |
394 | gyro_PID[axis] = tempOffsetGyro[axis]; |
342 | gyro_PID[axis] = tempOffsetGyro[axis]; |
395 | 343 | ||
396 | // Prepare tempOffsetGyro for next calculation below... |
344 | // Prepare tempOffsetGyro for next calculation below... |
397 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
345 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
398 | } |
346 | } |
399 | 347 | ||
400 | /* |
348 | /* |
401 | * Now process the data for attitude angles. |
349 | * Now process the data for attitude angles. |
402 | */ |
350 | */ |
403 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
351 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
404 | 352 | ||
405 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
353 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
406 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
354 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
407 | 355 | ||
408 | debugOut.analog[22 + 0] = gyro_PID[0]; |
356 | debugOut.analog[22 + 0] = gyro_PID[0]; |
409 | debugOut.analog[22 + 1] = gyro_PID[1]; |
357 | debugOut.analog[22 + 1] = gyro_PID[1]; |
410 | 358 | ||
411 | debugOut.analog[24 + 0] = gyro_ATT[0]; |
359 | debugOut.analog[24 + 0] = gyro_ATT[0]; |
412 | debugOut.analog[24 + 1] = gyro_ATT[1]; |
360 | debugOut.analog[24 + 1] = gyro_ATT[1]; |
413 | 361 | ||
414 | // 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. |
362 | // 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. |
415 | // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
363 | // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
416 | // gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
364 | // gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
417 | 365 | ||
418 | // Yaw gyro. |
366 | // Yaw gyro. |
419 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
367 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
420 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
368 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
421 | else |
369 | else |
422 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
370 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
423 | } |
371 | } |
424 | 372 | ||
425 | void analog_updateAccelerometers(void) { |
373 | void analog_updateAccelerometers(void) { |
426 | // Pitch and roll axis accelerations. |
374 | // Pitch and roll axis accelerations. |
427 | for (uint8_t axis=0; axis<2; axis++) { |
375 | for (uint8_t axis=0; axis<2; axis++) { |
428 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
376 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
429 | } |
377 | } |
430 | 378 | ||
431 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
379 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
432 | for(uint8_t axis=0; axis<3; axis++) { |
380 | for(uint8_t axis=0; axis<3; axis++) { |
433 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
381 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
434 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
382 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
435 | } |
383 | } |
436 | 384 | ||
437 | // Z acc. |
385 | // Z acc. |
438 | if (staticParams.imuReversedFlags & 8) |
386 | if (staticParams.imuReversedFlags & 8) |
439 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
387 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
440 | else |
388 | else |
441 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
389 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
442 | } |
390 | } |
443 | 391 | ||
444 | void analog_updateAirPressure(void) { |
392 | void analog_updateAirPressure(void) { |
445 | static uint16_t pressureAutorangingWait = 25; |
393 | static uint16_t pressureAutorangingWait = 25; |
446 | uint16_t rawAirPressure; |
394 | uint16_t rawAirPressure; |
447 | int16_t newrange; |
395 | int16_t newrange; |
448 | // air pressure |
396 | // air pressure |
449 | if (pressureAutorangingWait) { |
397 | if (pressureAutorangingWait) { |
450 | //A range switch was done recently. Wait for steadying. |
398 | //A range switch was done recently. Wait for steadying. |
451 | pressureAutorangingWait--; |
399 | pressureAutorangingWait--; |
452 | } else { |
400 | } else { |
453 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
401 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
454 | if (rawAirPressure < MIN_RAWPRESSURE) { |
402 | if (rawAirPressure < MIN_RAWPRESSURE) { |
455 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
403 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
456 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
404 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
457 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
405 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
458 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
406 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
459 | OCR0A = newrange; |
407 | OCR0A = newrange; |
460 | } else { |
408 | } else { |
461 | if (OCR0A) { |
409 | if (OCR0A) { |
462 | OCR0A--; |
410 | OCR0A--; |
463 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
411 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
464 | } |
412 | } |
465 | } |
413 | } |
466 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
414 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
467 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
415 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
468 | // If near the end, make a limited increase |
416 | // If near the end, make a limited increase |
469 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
417 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
470 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
418 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
471 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
419 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
472 | OCR0A = newrange; |
420 | OCR0A = newrange; |
473 | } else { |
421 | } else { |
474 | if (OCR0A < 254) { |
422 | if (OCR0A < 254) { |
475 | OCR0A++; |
423 | OCR0A++; |
476 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
424 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
477 | } |
425 | } |
478 | } |
426 | } |
479 | } |
427 | } |
480 | 428 | ||
481 | // Even if the sample is off-range, use it. |
429 | // Even if the sample is off-range, use it. |
482 | simpleAirPressure = getSimplePressure(rawAirPressure); |
430 | simpleAirPressure = getSimplePressure(rawAirPressure); |
483 | 431 | ||
484 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
432 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
485 | // Danger: pressure near lower end of range. If the measurement saturates, the |
433 | // Danger: pressure near lower end of range. If the measurement saturates, the |
486 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
434 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
487 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
435 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
488 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
436 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
489 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
437 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
490 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
438 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
491 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
439 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
492 | // Danger: pressure near upper end of range. If the measurement saturates, the |
440 | // Danger: pressure near upper end of range. If the measurement saturates, the |
493 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
441 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
494 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
442 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
495 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
443 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
496 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
444 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
497 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
445 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
498 | } else { |
446 | } else { |
499 | // normal case. |
447 | // normal case. |
500 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
448 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
501 | // The 2 cases above (end of range) are ignored for this. |
449 | // The 2 cases above (end of range) are ignored for this. |
502 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
450 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
503 | airPressureSum += simpleAirPressure; |
451 | airPressureSum += simpleAirPressure; |
504 | } |
452 | } |
505 | 453 | ||
506 | // 2 samples were added. |
454 | // 2 samples were added. |
507 | pressureMeasurementCount += 2; |
455 | pressureMeasurementCount += 2; |
508 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
456 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
509 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
457 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
510 | 458 | ||
511 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
459 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
512 | airPressureSum += simpleAirPressure >> 2; |
460 | airPressureSum += simpleAirPressure >> 2; |
513 | 461 | ||
514 | lastFilteredAirPressure = filteredAirPressure; |
462 | lastFilteredAirPressure = filteredAirPressure; |
- | 463 | ||
515 | 464 | ||
516 | if (!staticParams.airpressureWindowLength) { |
465 | if (!staticParams.airpressureWindowLength) { |
517 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
466 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
518 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
467 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
519 | } else { |
468 | } else { |
520 | // use windowed. |
469 | // use windowed. |
521 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
- | |
522 | } |
- | |
523 | pressureMeasurementCount = airPressureSum = 0; |
- | |
524 | } |
- | |
525 | //int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
- | |
526 | //int32_t windowedAirPressure = 0; |
- | |
527 | //uint8_t windowPtr; |
- | |
528 | windowedAirPressure += simpleAirPressure; |
470 | windowedAirPressure += simpleAirPressure; |
529 | windowedAirPressure -= airPressureWindow[windowPtr]; |
471 | windowedAirPressure -= airPressureWindow[windowPtr]; |
530 | airPressureWindow[windowPtr] = simpleAirPressure; |
472 | airPressureWindow[windowPtr] = simpleAirPressure; |
531 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
473 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
- | 474 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
|
- | 475 | } |
|
- | 476 | ||
- | 477 | pressureMeasurementCount = airPressureSum = 0; |
|
- | 478 | } |
|
532 | } |
479 | } |
533 | } |
480 | } |
534 | 481 | ||
535 | void analog_updateBatteryVoltage(void) { |
482 | void analog_updateBatteryVoltage(void) { |
536 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
483 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
537 | // This is divided by 3 --> 10.34 counts per volt. |
484 | // This is divided by 3 --> 10.34 counts per volt. |
538 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
485 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
539 | } |
486 | } |
540 | 487 | ||
541 | void analog_update(void) { |
488 | void analog_update(void) { |
542 | analog_updateGyros(); |
489 | analog_updateGyros(); |
543 | analog_updateAccelerometers(); |
490 | analog_updateAccelerometers(); |
544 | analog_updateAirPressure(); |
491 | analog_updateAirPressure(); |
545 | analog_updateBatteryVoltage(); |
492 | analog_updateBatteryVoltage(); |
546 | } |
493 | } |
547 | 494 | ||
548 | void analog_setNeutral() { |
495 | void analog_setNeutral() { |
549 | gyro_init(); |
496 | gyro_init(); |
550 | 497 | ||
551 | if (gyroOffset_readFromEEProm()) { |
498 | if (gyroOffset_readFromEEProm()) { |
552 | printf("gyro offsets invalid%s",recal); |
499 | printf("gyro offsets invalid%s",recal); |
553 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
500 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
554 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
501 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
555 | } |
502 | } |
556 | 503 | ||
557 | if (accOffset_readFromEEProm()) { |
504 | if (accOffset_readFromEEProm()) { |
558 | printf("acc. meter offsets invalid%s",recal); |
505 | printf("acc. meter offsets invalid%s",recal); |
559 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
506 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
560 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
507 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
561 | } |
508 | } |
562 | 509 | ||
563 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
510 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
564 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
511 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
565 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
512 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
566 | 513 | ||
567 | // Setting offset values has an influence in the analog.c ISR |
514 | // Setting offset values has an influence in the analog.c ISR |
568 | // Therefore run measurement for 100ms to achive stable readings |
515 | // Therefore run measurement for 100ms to achive stable readings |
569 | delay_ms_with_adc_measurement(100, 0); |
516 | delay_ms_with_adc_measurement(100, 0); |
570 | 517 | ||
571 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
518 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
572 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_OVERSAMPLING/2); |
519 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_OVERSAMPLING/2); |
573 | // pressureMeasurementCount = 0; |
520 | // pressureMeasurementCount = 0; |
574 | } |
521 | } |
575 | 522 | ||
576 | void analog_calibrateGyros(void) { |
523 | void analog_calibrateGyros(void) { |
577 | #define GYRO_OFFSET_CYCLES 32 |
524 | #define GYRO_OFFSET_CYCLES 32 |
578 | uint8_t i, axis; |
525 | uint8_t i, axis; |
579 | int32_t offsets[3] = { 0, 0, 0 }; |
526 | int32_t offsets[3] = { 0, 0, 0 }; |
580 | gyro_calibrate(); |
527 | gyro_calibrate(); |
581 | 528 | ||
582 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
529 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
583 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
530 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
584 | delay_ms_with_adc_measurement(10, 1); |
531 | delay_ms_with_adc_measurement(10, 1); |
585 | for (axis = PITCH; axis <= YAW; axis++) { |
532 | for (axis = PITCH; axis <= YAW; axis++) { |
586 | offsets[axis] += rawGyroValue(axis); |
533 | offsets[axis] += rawGyroValue(axis); |
587 | } |
534 | } |
588 | } |
535 | } |
589 | 536 | ||
590 | for (axis = PITCH; axis <= YAW; axis++) { |
537 | for (axis = PITCH; axis <= YAW; axis++) { |
591 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
538 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
592 | 539 | ||
593 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
540 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
594 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
541 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
595 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
542 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
596 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
543 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
597 | } |
544 | } |
598 | 545 | ||
599 | gyroOffset_writeToEEProm(); |
546 | gyroOffset_writeToEEProm(); |
600 | startAnalogConversionCycle(); |
547 | startAnalogConversionCycle(); |
601 | } |
548 | } |
602 | 549 | ||
603 | /* |
550 | /* |
604 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
551 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
605 | * Does not (!} update the local variables. This must be done with a |
552 | * Does not (!} update the local variables. This must be done with a |
606 | * call to analog_calibrate() - this always (?) is done by the caller |
553 | * call to analog_calibrate() - this always (?) is done by the caller |
607 | * anyway. There would be nothing wrong with updating the variables |
554 | * anyway. There would be nothing wrong with updating the variables |
608 | * directly from here, though. |
555 | * directly from here, though. |
609 | */ |
556 | */ |
610 | void analog_calibrateAcc(void) { |
557 | void analog_calibrateAcc(void) { |
611 | #define ACC_OFFSET_CYCLES 32 |
558 | #define ACC_OFFSET_CYCLES 32 |
612 | uint8_t i, axis; |
559 | uint8_t i, axis; |
613 | int32_t offsets[3] = { 0, 0, 0 }; |
560 | int32_t offsets[3] = { 0, 0, 0 }; |
614 | 561 | ||
615 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
562 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
616 | delay_ms_with_adc_measurement(10, 1); |
563 | delay_ms_with_adc_measurement(10, 1); |
617 | for (axis = PITCH; axis <= YAW; axis++) { |
564 | for (axis = PITCH; axis <= YAW; axis++) { |
618 | offsets[axis] += rawAccValue(axis); |
565 | offsets[axis] += rawAccValue(axis); |
619 | } |
566 | } |
620 | } |
567 | } |
621 | 568 | ||
622 | for (axis = PITCH; axis <= YAW; axis++) { |
569 | for (axis = PITCH; axis <= YAW; axis++) { |
623 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
570 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
624 | int16_t min,max; |
571 | int16_t min,max; |
625 | if (axis==Z) { |
572 | if (axis==Z) { |
626 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
573 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
627 | // TODO: This assumes a sensitivity of +/- 2g. |
574 | // TODO: This assumes a sensitivity of +/- 2g. |
628 | min = (256-200) * ACC_OVERSAMPLING_Z; |
575 | min = (256-200) * ACC_OVERSAMPLING_Z; |
629 | max = (256+200) * ACC_OVERSAMPLING_Z; |
576 | max = (256+200) * ACC_OVERSAMPLING_Z; |
630 | } else { |
577 | } else { |
631 | // TODO: This assumes a sensitivity of +/- 2g. |
578 | // TODO: This assumes a sensitivity of +/- 2g. |
632 | min = (768-200) * ACC_OVERSAMPLING_Z; |
579 | min = (768-200) * ACC_OVERSAMPLING_Z; |
633 | max = (768+200) * ACC_OVERSAMPLING_Z; |
580 | max = (768+200) * ACC_OVERSAMPLING_Z; |
634 | } |
581 | } |
635 | } else { |
582 | } else { |
636 | min = (512-200) * ACC_OVERSAMPLING_XY; |
583 | min = (512-200) * ACC_OVERSAMPLING_XY; |
637 | max = (512+200) * ACC_OVERSAMPLING_XY; |
584 | max = (512+200) * ACC_OVERSAMPLING_XY; |
638 | } |
585 | } |
639 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
586 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
640 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
587 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
641 | } |
588 | } |
642 | } |
589 | } |
643 | 590 | ||
644 | accOffset_writeToEEProm(); |
591 | accOffset_writeToEEProm(); |
645 | startAnalogConversionCycle(); |
592 | startAnalogConversionCycle(); |
646 | } |
593 | } |
647 | 594 | ||
648 | void analog_setGround() { |
595 | void analog_setGround() { |
649 | groundPressure = filteredAirPressure; |
596 | groundPressure = filteredAirPressure; |
650 | } |
597 | } |
651 | 598 | ||
652 | int32_t analog_getHeight(void) { |
599 | int32_t analog_getHeight(void) { |
653 | return groundPressure - filteredAirPressure; |
600 | return groundPressure - filteredAirPressure; |
654 | } |
601 | } |
655 | 602 | ||
656 | int16_t analog_getDHeight(void) { |
603 | int16_t analog_getDHeight(void) { |
657 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
604 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
658 | return lastFilteredAirPressure - filteredAirPressure; |
605 | return lastFilteredAirPressure - filteredAirPressure; |
659 | } |
606 | } |
660 | 607 |