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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + only for non-profit use |
3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | #include <stdlib.h> |
7 | #include <stdlib.h> |
8 | #include <avr/io.h> |
8 | #include <avr/io.h> |
9 | #include <avr/interrupt.h> |
9 | #include <avr/interrupt.h> |
10 | 10 | ||
11 | #include "analog.h" |
11 | #include "analog.h" |
12 | #include "main.h" |
12 | #include "main.h" |
13 | #include "timer0.h" |
13 | #include "timer0.h" |
14 | #include "fc.h" |
14 | #include "fc.h" |
15 | #include "printf_P.h" |
15 | #include "printf_P.h" |
16 | #include "eeprom.h" |
16 | #include "eeprom.h" |
- | 17 | #include "twimaster.h" |
|
17 | 18 | ||
18 | volatile int16_t Current_AccZ = 0; |
19 | volatile int16_t Current_AccZ = 0; |
19 | volatile int16_t UBat = 100; |
20 | volatile int16_t UBat = 100; |
20 | volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
21 | volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
- | 22 | uint8_t AnalogOffsetNick = 115, AnalogOffsetRoll = 115, AnalogOffsetYaw = 115; |
|
- | 23 | uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
|
21 | volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0; |
24 | volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0; |
22 | volatile int32_t AirPressure = 32000; |
25 | volatile int32_t AirPressure = 32000; |
- | 26 | volatile uint8_t average_pressure = 0; |
|
23 | volatile int16_t StartAirPressure; |
27 | volatile int16_t StartAirPressure; |
24 | volatile uint16_t ReadingAirPressure = 1023; |
28 | volatile uint16_t ReadingAirPressure = 1023; |
25 | uint8_t PressureSensorOffset; |
29 | uint8_t PressureSensorOffset; |
26 | volatile int16_t HeightD = 0; |
30 | volatile int16_t HeightD = 0; |
27 | volatile uint16_t MeasurementCounter = 0; |
31 | volatile uint16_t MeasurementCounter = 0; |
28 | 32 | ||
29 | /*****************************************************/ |
33 | /*****************************************************/ |
30 | /* Initialize Analog Digital Converter */ |
34 | /* Initialize Analog Digital Converter */ |
31 | /*****************************************************/ |
35 | /*****************************************************/ |
32 | void ADC_Init(void) |
36 | void ADC_Init(void) |
33 | { |
37 | { |
34 | uint8_t sreg = SREG; |
38 | uint8_t sreg = SREG; |
35 | // disable all interrupts before reconfiguration |
39 | // disable all interrupts before reconfiguration |
36 | cli(); |
40 | cli(); |
37 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
41 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
38 | DDRA = 0x00; |
42 | DDRA = 0x00; |
39 | PORTA = 0x00; |
43 | PORTA = 0x00; |
40 | // Digital Input Disable Register 0 |
44 | // Digital Input Disable Register 0 |
41 | // Disable digital input buffer for analog adc_channel pins |
45 | // Disable digital input buffer for analog adc_channel pins |
42 | DIDR0 = 0xFF; |
46 | DIDR0 = 0xFF; |
43 | // external reference, adjust data to the right |
47 | // external reference, adjust data to the right |
44 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
48 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
45 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
49 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
46 | ADMUX = (ADMUX & 0xE0) | 0x00; |
50 | ADMUX = (ADMUX & 0xE0) | 0x00; |
47 | //Set ADC Control and Status Register A |
51 | //Set ADC Control and Status Register A |
48 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
52 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
49 | ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
53 | ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
50 | //Set ADC Control and Status Register B |
54 | //Set ADC Control and Status Register B |
51 | //Trigger Source to Free Running Mode |
55 | //Trigger Source to Free Running Mode |
52 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
56 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
53 | // Enable AD conversion |
57 | // Enable AD conversion |
54 | ADC_Enable(); |
58 | ADC_Enable(); |
55 | // restore global interrupt flags |
59 | // restore global interrupt flags |
56 | SREG = sreg; |
60 | SREG = sreg; |
57 | } |
61 | } |
58 | 62 | ||
59 | void SearchAirPressureOffset(void) |
63 | void SearchAirPressureOffset(void) |
60 | { |
64 | { |
61 | uint8_t off; |
65 | uint8_t off; |
62 | off = GetParamByte(PID_PRESSURE_OFFSET); |
66 | off = GetParamByte(PID_PRESSURE_OFFSET); |
63 | if(off > 20) off -= 10; |
67 | if(off > 20) off -= 10; |
64 | OCR0A = off; |
68 | OCR0A = off; |
65 | Delay_ms_Mess(100); |
69 | Delay_ms_Mess(100); |
66 | if(ReadingAirPressure < 850) off = 0; |
70 | if(ReadingAirPressure < 850) off = 0; |
67 | for(; off < 250;off++) |
71 | for(; off < 250;off++) |
68 | { |
72 | { |
69 | OCR0A = off; |
73 | OCR0A = off; |
70 | Delay_ms_Mess(50); |
74 | Delay_ms_Mess(50); |
71 | printf("."); |
75 | printf("."); |
72 | if(ReadingAirPressure < 900) break; |
76 | if(ReadingAirPressure < 900) break; |
73 | } |
77 | } |
74 | SetParamByte(PID_PRESSURE_OFFSET, off); |
78 | SetParamByte(PID_PRESSURE_OFFSET, off); |
75 | PressureSensorOffset = off; |
79 | PressureSensorOffset = off; |
76 | Delay_ms_Mess(300); |
80 | Delay_ms_Mess(300); |
77 | } |
81 | } |
78 | 82 | ||
- | 83 | ||
- | 84 | void SearchGyroOffset(void) |
|
- | 85 | { |
|
- | 86 | uint8_t i, ready = 0; |
|
- | 87 | ||
- | 88 | GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
|
- | 89 | for(i = 140; i != 0; i--) |
|
- | 90 | { |
|
- | 91 | if(ready == 3 && i > 10) i = 9; |
|
- | 92 | ready = 0; |
|
- | 93 | if(AdValueGyrNick < 1020) AnalogOffsetNick--; else if(AdValueGyrNick > 1030) AnalogOffsetNick++; else ready++; |
|
- | 94 | if(AdValueGyrRoll < 1020) AnalogOffsetRoll--; else if(AdValueGyrRoll > 1030) AnalogOffsetRoll++; else ready++; |
|
- | 95 | if(AdValueGyrYaw < 1020) AnalogOffsetYaw-- ; else if(AdValueGyrYaw > 1030) AnalogOffsetYaw++ ; else ready++; |
|
- | 96 | twi_state = TWI_STATE_GYRO_OFFSET_TX; // set twi_state in TWI ISR to start of Gyro Offset |
|
- | 97 | I2C_Start(); // initiate data transmission |
|
- | 98 | if(AnalogOffsetNick < 10) { GyroDefectNick = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefectNick = 1; AnalogOffsetNick = 245;}; |
|
- | 99 | if(AnalogOffsetRoll < 10) { GyroDefectRoll = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefectRoll = 1; AnalogOffsetRoll = 245;}; |
|
- | 100 | if(AnalogOffsetYaw < 10) { GyroDefectYaw = 1; AnalogOffsetYaw = 10;}; if(AnalogOffsetYaw > 245) { GyroDefectYaw = 1; AnalogOffsetYaw = 245;}; |
|
- | 101 | while(twi_state); // wait for end of data transmission |
|
- | 102 | average_pressure = 0; |
|
- | 103 | ADC_Enable(); |
|
- | 104 | while(average_pressure == 0); |
|
- | 105 | if(i < 10) Delay_ms_Mess(10); |
|
- | 106 | } |
|
- | 107 | Delay_ms_Mess(70); |
|
- | 108 | } |
|
- | 109 | ||
- | 110 | ||
- | 111 | ||
79 | 112 | ||
80 | /*****************************************************/ |
113 | /*****************************************************/ |
81 | /* Interrupt Service Routine for ADC */ |
114 | /* Interrupt Service Routine for ADC */ |
82 | /*****************************************************/ |
115 | /*****************************************************/ |
83 | // runs at 156.25 kHz or 6.4 µs |
116 | // runs at 156.25 kHz or 6.4 µs |
84 | // if after (70.4µs) all 11 states are processed the interrupt is disabled |
117 | // if after (70.4µs) all 11 states are processed the interrupt is disabled |
85 | // and the update of further ads is stopped |
118 | // and the update of further ads is stopped |
86 | // The routine changes the ADC input muxer running |
119 | // The routine changes the ADC input muxer running |
87 | // thru the state machine by the following order. |
120 | // thru the state machine by the following order. |
88 | // state 0: ch0 (yaw gyro) |
121 | // state 0: ch0 (yaw gyro) |
89 | // state 1: ch1 (roll gyro) |
122 | // state 1: ch1 (roll gyro) |
90 | // state 2: ch2 (nick gyro) |
123 | // state 2: ch2 (nick gyro) |
91 | // state 3: ch4 (battery voltage -> UBat) |
124 | // state 3: ch4 (battery voltage -> UBat) |
92 | // state 4: ch6 (acc y -> Current_AccY) |
125 | // state 4: ch6 (acc y -> Current_AccY) |
93 | // state 5: ch7 (acc x -> Current_AccX) |
126 | // state 5: ch7 (acc x -> Current_AccX) |
94 | // state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw) |
127 | // state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw) |
95 | // state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll) |
128 | // state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll) |
96 | // state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick) |
129 | // state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick) |
97 | // state 9: ch5 (acc z add also 4th part of acc x and acc y to reading) |
130 | // state 9: ch5 (acc z add also 4th part of acc x and acc y to reading) |
98 | // state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure) |
131 | // state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure) |
99 | 132 | ||
100 | ISR(ADC_vect) |
133 | ISR(ADC_vect) |
101 | { |
134 | { |
102 | static uint8_t adc_channel = 0, state = 0; |
135 | static uint8_t adc_channel = 0, state = 0; |
103 | static uint16_t yaw1, roll1, nick1; |
136 | static uint16_t yaw1, roll1, nick1; |
104 | static uint8_t average_pressure = 0; |
- | |
105 | static int16_t tmpAirPressure = 0; |
137 | static int16_t tmpAirPressure = 0; |
106 | // disable further AD conversion |
138 | // disable further AD conversion |
107 | ADC_Disable(); |
139 | ADC_Disable(); |
108 | // state machine |
140 | // state machine |
109 | switch(state++) |
141 | switch(state++) |
110 | { |
142 | { |
111 | case 0: |
143 | case 0: |
112 | yaw1 = ADC; // get Gyro Yaw Voltage 1st sample |
144 | yaw1 = ADC; // get Gyro Yaw Voltage 1st sample |
113 | adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
145 | adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
114 | MeasurementCounter++; // increment total measurement counter |
146 | MeasurementCounter++; // increment total measurement counter |
115 | break; |
147 | break; |
116 | case 1: |
148 | case 1: |
117 | roll1 = ADC; // get Gyro Roll Voltage 1st sample |
149 | roll1 = ADC; // get Gyro Roll Voltage 1st sample |
118 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
150 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
119 | break; |
151 | break; |
120 | case 2: |
152 | case 2: |
121 | nick1 = ADC; // get Gyro Nick Voltage 1st sample |
153 | nick1 = ADC; // get Gyro Nick Voltage 1st sample |
122 | adc_channel = 4; // set next channel to ADC4 = UBAT |
154 | adc_channel = 4; // set next channel to ADC4 = UBAT |
123 | break; |
155 | break; |
124 | case 3: |
156 | case 3: |
125 | // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
157 | // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
126 | UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
158 | UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
127 | adc_channel = 6; // set next channel to ADC6 = ACC_Y |
159 | adc_channel = 6; // set next channel to ADC6 = ACC_Y |
128 | break; |
160 | break; |
129 | case 4: |
161 | case 4: |
130 | AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
162 | AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
131 | adc_channel = 7; // set next channel to ADC7 = ACC_X |
163 | adc_channel = 7; // set next channel to ADC7 = ACC_X |
132 | break; |
164 | break; |
133 | case 5: |
165 | case 5: |
134 | AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction |
166 | AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction |
135 | adc_channel = 0; // set next channel to ADC7 = YAW GYRO |
167 | adc_channel = 0; // set next channel to ADC7 = YAW GYRO |
136 | break; |
168 | break; |
137 | case 6: |
169 | case 6: |
138 | // average over two samples to create current AdValueGyrYaw |
170 | // average over two samples to create current AdValueGyrYaw |
139 | if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2; |
171 | if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2; |
140 | else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1 |
172 | else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1 |
141 | adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
173 | adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
142 | break; |
174 | break; |
143 | case 7: |
175 | case 7: |
144 | // average over two samples to create current ADValueGyrRoll |
176 | // average over two samples to create current ADValueGyrRoll |
145 | if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
177 | if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
146 | else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
178 | else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
147 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
179 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
148 | break; |
180 | break; |
149 | case 8: |
181 | case 8: |
150 | // average over two samples to create current ADValueNick |
182 | // average over two samples to create current ADValueNick |
151 | if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2; |
183 | if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2; |
152 | else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1 |
184 | else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1 |
153 | adc_channel = 5; // set next channel to ADC5 = ACC_Z |
185 | adc_channel = 5; // set next channel to ADC5 = ACC_Z |
154 | break; |
186 | break; |
155 | case 9: |
187 | case 9: |
156 | // get z acceleration |
188 | // get z acceleration |
157 | AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
189 | AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
158 | AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4; |
190 | AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4; |
159 | if(AdValueAccTop > 1) |
191 | if(AdValueAccTop > 1) |
160 | { |
192 | { |
161 | if(NeutralAccZ < 750) |
193 | if(NeutralAccZ < 750) |
162 | { |
194 | { |
163 | NeutralAccZ += 0.02; |
195 | NeutralAccZ += 0.02; |
164 | if(Model_Is_Flying < 500) NeutralAccZ += 0.1; |
196 | if(Model_Is_Flying < 500) NeutralAccZ += 0.1; |
165 | } |
197 | } |
166 | } |
198 | } |
167 | else if(AdValueAccTop < -1) |
199 | else if(AdValueAccTop < -1) |
168 | { |
200 | { |
169 | if(NeutralAccZ > 550) |
201 | if(NeutralAccZ > 550) |
170 | { |
202 | { |
171 | NeutralAccZ-= 0.02; |
203 | NeutralAccZ-= 0.02; |
172 | if(Model_Is_Flying < 500) NeutralAccZ -= 0.1; |
204 | if(Model_Is_Flying < 500) NeutralAccZ -= 0.1; |
173 | } |
205 | } |
174 | } |
206 | } |
175 | Current_AccZ = ADC; |
207 | Current_AccZ = ADC; |
176 | Reading_Integral_Top += AdValueAccTop; // Integrieren |
208 | Reading_Integral_Top += AdValueAccTop; // Integrieren |
177 | Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
209 | Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
178 | adc_channel = 3; // set next channel to ADC3 = air pressure |
210 | adc_channel = 3; // set next channel to ADC3 = air pressure |
179 | break; |
211 | break; |
180 | case 10: |
212 | case 10: |
181 | tmpAirPressure += ADC; // sum vadc values |
213 | tmpAirPressure += ADC; // sum vadc values |
182 | if(++average_pressure >= 5) // if 5 values are summerized for averaging |
214 | if(++average_pressure >= 5) // if 5 values are summerized for averaging |
183 | { |
215 | { |
184 | ReadingAirPressure = ADC; // update measured air pressure |
216 | ReadingAirPressure = ADC; // update measured air pressure |
185 | HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue |
217 | HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue |
186 | AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
218 | AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
187 | ReadingHeight = StartAirPressure - AirPressure; |
219 | ReadingHeight = StartAirPressure - AirPressure; |
188 | average_pressure = 0; // reset air pressure measurement counter |
220 | average_pressure = 0; // reset air pressure measurement counter |
189 | tmpAirPressure = 0; |
221 | tmpAirPressure = 0; |
190 | } |
222 | } |
191 | adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
223 | adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
192 | state = 0; // reset state machine |
224 | state = 0; // reset state machine |
193 | break; |
225 | break; |
194 | default: |
226 | default: |
195 | adc_channel = 0; |
227 | adc_channel = 0; |
196 | state = 0; |
228 | state = 0; |
197 | break; |
229 | break; |
198 | } |
230 | } |
199 | // set adc muxer to next adc_channel |
231 | // set adc muxer to next adc_channel |
200 | ADMUX = (ADMUX & 0xE0) | adc_channel; |
232 | ADMUX = (ADMUX & 0xE0) | adc_channel; |
201 | // after full cycle stop further interrupts |
233 | // after full cycle stop further interrupts |
202 | if(state != 0) ADC_Enable(); |
234 | if(state != 0) ADC_Enable(); |
203 | } |
235 | } |
204 | 236 |