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1 | #include <avr/io.h> |
1 | #include <avr/io.h> |
2 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
3 | #include <avr/pgmspace.h> |
3 | #include <avr/pgmspace.h> |
4 | #include <stdlib.h> |
4 | #include <stdlib.h> |
5 | 5 | ||
6 | #include "analog.h" |
6 | #include "analog.h" |
7 | #include "attitude.h" |
7 | #include "attitude.h" |
8 | #include "sensors.h" |
8 | #include "sensors.h" |
9 | #include "printf_P.h" |
9 | #include "printf_P.h" |
10 | #include "isqrt.h" |
10 | #include "isqrt.h" |
11 | 11 | ||
12 | // for Delay functions |
12 | // for Delay functions |
13 | #include "timer0.h" |
13 | #include "timer0.h" |
14 | 14 | ||
15 | // For reading and writing acc. meter offsets. |
15 | // For reading and writing acc. meter offsets. |
16 | #include "eeprom.h" |
16 | #include "eeprom.h" |
17 | 17 | ||
18 | // For debugOut |
18 | // For debugOut |
19 | #include "output.h" |
19 | #include "output.h" |
20 | 20 | ||
21 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
21 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
22 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
22 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
23 | 23 | ||
24 | const char* recal = ", recalibration needed."; |
24 | const char* recal = ", recalibration needed."; |
25 | 25 | ||
26 | /* |
26 | /* |
27 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
27 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
28 | * (see array channelsForStates), and the results for each channel are summed. |
28 | * (see array channelsForStates), and the results for each channel are summed. |
29 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
29 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
30 | * They are exported in the analog.h file - but please do not use them! The only |
30 | * They are exported in the analog.h file - but please do not use them! The only |
31 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
31 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
32 | * the offsets with the DAC. |
32 | * the offsets with the DAC. |
33 | */ |
33 | */ |
34 | volatile uint16_t sensorInputs[8]; |
34 | volatile uint16_t sensorInputs[8]; |
35 | //int16_t acc[3]; |
35 | //int16_t acc[3]; |
36 | //int16_t filteredAcc[3] = { 0,0,0 }; |
36 | //int16_t filteredAcc[3] = { 0,0,0 }; |
37 | 37 | ||
38 | /* |
38 | /* |
39 | * These 4 exported variables are zero-offset. The "PID" ones are used |
39 | * These 4 exported variables are zero-offset. The "PID" ones are used |
40 | * in the attitude control as rotation rates. The "ATT" ones are for |
40 | * in the attitude control as rotation rates. The "ATT" ones are for |
41 | * integration to angles. |
41 | * integration to angles. |
42 | */ |
42 | */ |
43 | int16_t gyro_PID[3]; |
43 | int16_t gyro_PID[3]; |
44 | int16_t gyro_ATT[3]; |
44 | int16_t gyro_ATT[3]; |
45 | int16_t gyroD[3]; |
45 | int16_t gyroD[3]; |
46 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
46 | int16_t gyroDWindow[3][GYRO_D_WINDOW_LENGTH]; |
47 | uint8_t gyroDWindowIdx = 0; |
47 | uint8_t gyroDWindowIdx = 0; |
48 | //int16_t dHeight; |
48 | //int16_t dHeight; |
49 | //uint32_t gyroActivity; |
49 | //uint32_t gyroActivity; |
50 | 50 | ||
51 | /* |
51 | /* |
52 | * 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 |
53 | * 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 |
54 | * to be centered on zero. |
54 | * to be centered on zero. |
55 | */ |
55 | */ |
56 | 56 | ||
57 | sensorOffset_t gyroOffset; |
57 | sensorOffset_t gyroOffset; |
58 | sensorOffset_t accOffset; |
58 | sensorOffset_t accOffset; |
59 | sensorOffset_t gyroAmplifierOffset; |
59 | sensorOffset_t gyroAmplifierOffset; |
60 | 60 | ||
61 | /* |
61 | /* |
62 | * 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. |
63 | * 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 |
64 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
64 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
65 | * Transform: |
65 | * Transform: |
66 | * pitch <- pp*pitch + pr*roll |
66 | * pitch <- pp*pitch + pr*roll |
67 | * roll <- rp*pitch + rr*roll |
67 | * roll <- rp*pitch + rr*roll |
68 | * Not reversed, GYRO_QUADRANT: |
68 | * Not reversed, GYRO_QUADRANT: |
69 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
69 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
70 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
70 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
71 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
71 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
72 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
72 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
73 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
73 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
74 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
74 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
75 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
75 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
76 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
76 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
77 | * Reversed, GYRO_QUADRANT: |
77 | * Reversed, GYRO_QUADRANT: |
78 | * 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 |
79 | * 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 |
80 | * 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 |
81 | * 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 |
82 | * 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 |
83 | * 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 |
84 | * 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 |
85 | * 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 |
86 | */ |
86 | */ |
87 | 87 | ||
88 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reversePR, uint8_t reverseYaw) { |
88 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reversePR, uint8_t reverseYaw) { |
89 | 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}; |
90 | // Pitch to Pitch part |
90 | // Pitch to Pitch part |
91 | int8_t xx = reversePR ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
91 | int8_t xx = reversePR ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
92 | // Roll to Pitch part |
92 | // Roll to Pitch part |
93 | int8_t xy = rotationTab[(quadrant+2)%8]; |
93 | int8_t xy = rotationTab[(quadrant+2)%8]; |
94 | // Pitch to Roll part |
94 | // Pitch to Roll part |
95 | int8_t yx = reversePR ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
95 | int8_t yx = reversePR ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
96 | // Roll to Roll part |
96 | // Roll to Roll part |
97 | int8_t yy = rotationTab[quadrant]; |
97 | int8_t yy = rotationTab[quadrant]; |
98 | 98 | ||
99 | int16_t xIn = result[0]; |
99 | int16_t xIn = result[0]; |
100 | result[0] = xx*xIn + xy*result[1]; |
100 | result[0] = xx*xIn + xy*result[1]; |
101 | result[1] = yx*xIn + yy*result[1]; |
101 | result[1] = yx*xIn + yy*result[1]; |
102 | 102 | ||
103 | if (quadrant & 1) { |
103 | if (quadrant & 1) { |
104 | // 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). |
105 | // 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). |
106 | // 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 |
107 | // 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... |
108 | result[0] = (result[0]*11) >> 4; |
108 | result[0] = (result[0]*11) >> 4; |
109 | result[1] = (result[1]*11) >> 4; |
109 | result[1] = (result[1]*11) >> 4; |
110 | } |
110 | } |
111 | 111 | ||
112 | if (reverseYaw) |
112 | if (reverseYaw) |
113 | result[3] =-result[3]; |
113 | result[3] =-result[3]; |
114 | } |
114 | } |
115 | 115 | ||
116 | /* |
116 | /* |
117 | * Airspeed |
117 | * Airspeed |
118 | */ |
118 | */ |
119 | uint16_t simpleAirPressure; |
119 | uint16_t simpleAirPressure; |
120 | uint16_t airspeedVelocity; |
120 | uint16_t airspeedVelocity; |
121 | - | ||
122 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
- | |
123 | // int32_t filteredAirPressure; |
- | |
124 | - | ||
125 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
- | |
126 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
- | |
127 | int32_t windowedAirPressure; |
- | |
128 | uint8_t windowPtr = 0; |
- | |
129 | - | ||
130 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
- | |
131 | int32_t airPressureSum; |
- | |
132 | - | ||
133 | // The number of samples summed into airPressureSum so far. |
- | |
134 | uint8_t pressureMeasurementCount; |
- | |
135 | - | ||
136 | 121 | ||
137 | /* |
122 | /* |
138 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
123 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
139 | * That is divided by 3 below, for a final 10.34 per volt. |
124 | * That is divided by 3 below, for a final 10.34 per volt. |
140 | * So the initial value of 100 is for 9.7 volts. |
125 | * So the initial value of 100 is for 9.7 volts. |
141 | */ |
126 | */ |
142 | int16_t UBat = 100; |
127 | int16_t UBat = 100; |
143 | 128 | ||
144 | /* |
129 | /* |
145 | * Control and status. |
130 | * Control and status. |
146 | */ |
131 | */ |
147 | volatile uint8_t analogDataReady = 1; |
132 | volatile uint8_t analogDataReady = 1; |
148 | 133 | ||
149 | /* |
134 | /* |
150 | * Experiment: Measuring vibration-induced sensor noise. |
135 | * Experiment: Measuring vibration-induced sensor noise. |
151 | */ |
136 | */ |
152 | uint16_t gyroNoisePeak[3]; |
137 | uint16_t gyroNoisePeak[3]; |
153 | 138 | ||
154 | volatile uint8_t adState; |
139 | volatile uint8_t adState; |
155 | volatile uint8_t adChannel; |
140 | volatile uint8_t adChannel; |
156 | 141 | ||
157 | // ADC channels |
142 | // ADC channels |
158 | #define AD_GYRO_YAW 0 |
143 | #define AD_GYRO_YAW 0 |
159 | #define AD_GYRO_ROLL 1 |
144 | #define AD_GYRO_ROLL 1 |
160 | #define AD_GYRO_PITCH 2 |
145 | #define AD_GYRO_PITCH 2 |
161 | #define AD_AIRPRESSURE 3 |
146 | #define AD_AIRPRESSURE 3 |
162 | #define AD_UBAT 4 |
147 | #define AD_UBAT 4 |
163 | #define AD_ACC_Z 5 |
148 | #define AD_ACC_Z 5 |
164 | #define AD_ACC_ROLL 6 |
149 | #define AD_ACC_ROLL 6 |
165 | #define AD_ACC_PITCH 7 |
150 | #define AD_ACC_PITCH 7 |
166 | 151 | ||
167 | /* |
152 | /* |
168 | * Table of AD converter inputs for each state. |
153 | * Table of AD converter inputs for each state. |
169 | * The number of samples summed for each channel is equal to |
154 | * The number of samples summed for each channel is equal to |
170 | * the number of times the channel appears in the array. |
155 | * the number of times the channel appears in the array. |
171 | * The max. number of samples that can be taken in 2 ms is: |
156 | * The max. number of samples that can be taken in 2 ms is: |
172 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
157 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
173 | * loop needs a little time between reading AD values and |
158 | * loop needs a little time between reading AD values and |
174 | * re-enabling ADC, the real limit is (how much?) lower. |
159 | * re-enabling ADC, the real limit is (how much?) lower. |
175 | * The acc. sensor is sampled even if not used - or installed |
160 | * The acc. sensor is sampled even if not used - or installed |
176 | * at all. The cost is not significant. |
161 | * at all. The cost is not significant. |
177 | */ |
162 | */ |
178 | 163 | ||
179 | const uint8_t channelsForStates[] PROGMEM = { |
164 | const uint8_t channelsForStates[] PROGMEM = { |
180 | AD_GYRO_PITCH, |
165 | AD_GYRO_PITCH, |
181 | AD_GYRO_ROLL, |
166 | AD_GYRO_ROLL, |
182 | AD_GYRO_YAW, |
167 | AD_GYRO_YAW, |
183 | 168 | ||
184 | AD_AIRPRESSURE, |
169 | AD_AIRPRESSURE, |
185 | 170 | ||
186 | AD_GYRO_PITCH, |
171 | AD_GYRO_PITCH, |
187 | AD_GYRO_ROLL, |
172 | AD_GYRO_ROLL, |
188 | AD_GYRO_YAW, |
173 | AD_GYRO_YAW, |
189 | 174 | ||
190 | AD_UBAT, |
175 | AD_UBAT, |
191 | 176 | ||
192 | AD_GYRO_PITCH, |
177 | AD_GYRO_PITCH, |
193 | AD_GYRO_ROLL, |
178 | AD_GYRO_ROLL, |
194 | AD_GYRO_YAW, |
179 | AD_GYRO_YAW, |
195 | 180 | ||
196 | AD_AIRPRESSURE, |
181 | AD_AIRPRESSURE, |
197 | 182 | ||
198 | AD_GYRO_PITCH, |
183 | AD_GYRO_PITCH, |
199 | AD_GYRO_ROLL, |
184 | AD_GYRO_ROLL, |
200 | AD_GYRO_YAW |
185 | AD_GYRO_YAW |
201 | }; |
186 | }; |
202 | 187 | ||
203 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
188 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
204 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
189 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
205 | 190 | ||
206 | void analog_init(void) { |
191 | void analog_init(void) { |
207 | uint8_t sreg = SREG; |
192 | uint8_t sreg = SREG; |
208 | // disable all interrupts before reconfiguration |
193 | // disable all interrupts before reconfiguration |
209 | cli(); |
194 | cli(); |
210 | 195 | ||
211 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
196 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
212 | DDRA = 0x00; |
197 | DDRA = 0x00; |
213 | PORTA = 0x00; |
198 | PORTA = 0x00; |
214 | // Digital Input Disable Register 0 |
199 | // Digital Input Disable Register 0 |
215 | // Disable digital input buffer for analog adc_channel pins |
200 | // Disable digital input buffer for analog adc_channel pins |
216 | DIDR0 = 0xFF; |
201 | DIDR0 = 0xFF; |
217 | // external reference, adjust data to the right |
202 | // external reference, adjust data to the right |
218 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
203 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
219 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
204 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
220 | ADMUX = (ADMUX & 0xE0); |
205 | ADMUX = (ADMUX & 0xE0); |
221 | //Set ADC Control and Status Register A |
206 | //Set ADC Control and Status Register A |
222 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
207 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
223 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
208 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
224 | //Set ADC Control and Status Register B |
209 | //Set ADC Control and Status Register B |
225 | //Trigger Source to Free Running Mode |
210 | //Trigger Source to Free Running Mode |
226 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
211 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
227 | - | ||
228 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
- | |
229 | airPressureWindow[i] = 0; |
- | |
230 | } |
- | |
231 | windowedAirPressure = 0; |
- | |
232 | 212 | ||
233 | startAnalogConversionCycle(); |
213 | startAnalogConversionCycle(); |
234 | 214 | ||
235 | // restore global interrupt flags |
215 | // restore global interrupt flags |
236 | SREG = sreg; |
216 | SREG = sreg; |
237 | } |
217 | } |
238 | 218 | ||
239 | uint16_t rawGyroValue(uint8_t axis) { |
219 | uint16_t rawGyroValue(uint8_t axis) { |
240 | return sensorInputs[AD_GYRO_PITCH-axis]; |
220 | return sensorInputs[AD_GYRO_PITCH-axis]; |
241 | } |
221 | } |
242 | 222 | ||
243 | /* |
223 | /* |
244 | uint16_t rawAccValue(uint8_t axis) { |
224 | uint16_t rawAccValue(uint8_t axis) { |
245 | return sensorInputs[AD_ACC_PITCH-axis]; |
225 | return sensorInputs[AD_ACC_PITCH-axis]; |
246 | } |
226 | } |
247 | */ |
227 | */ |
248 | 228 | ||
249 | void measureNoise(const int16_t sensor, |
229 | void measureNoise(const int16_t sensor, |
250 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
230 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
251 | if (sensor > (int16_t) (*noiseMeasurement)) { |
231 | if (sensor > (int16_t) (*noiseMeasurement)) { |
252 | *noiseMeasurement = sensor; |
232 | *noiseMeasurement = sensor; |
253 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
233 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
254 | *noiseMeasurement = -sensor; |
234 | *noiseMeasurement = -sensor; |
255 | } else if (*noiseMeasurement > damping) { |
235 | } else if (*noiseMeasurement > damping) { |
256 | *noiseMeasurement -= damping; |
236 | *noiseMeasurement -= damping; |
257 | } else { |
237 | } else { |
258 | *noiseMeasurement = 0; |
238 | *noiseMeasurement = 0; |
259 | } |
239 | } |
260 | } |
240 | } |
261 | 241 | ||
262 | /* |
242 | /* |
263 | * Min.: 0 |
243 | * Min.: 0 |
264 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
244 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
265 | */ |
245 | */ |
266 | uint16_t getSimplePressure(int advalue) { |
246 | uint16_t getSimplePressure(int advalue) { |
267 | return advalue; |
247 | return advalue; |
268 | } |
248 | } |
269 | 249 | ||
270 | void startAnalogConversionCycle(void) { |
250 | void startAnalogConversionCycle(void) { |
271 | analogDataReady = 0; |
251 | analogDataReady = 0; |
272 | 252 | ||
273 | // Stop the sampling. Cycle is over. |
253 | // Stop the sampling. Cycle is over. |
274 | for (uint8_t i = 0; i < 8; i++) { |
254 | for (uint8_t i = 0; i < 8; i++) { |
275 | sensorInputs[i] = 0; |
255 | sensorInputs[i] = 0; |
276 | } |
256 | } |
277 | adState = 0; |
257 | adState = 0; |
278 | adChannel = AD_GYRO_PITCH; |
258 | adChannel = AD_GYRO_PITCH; |
279 | ADMUX = (ADMUX & 0xE0) | adChannel; |
259 | ADMUX = (ADMUX & 0xE0) | adChannel; |
280 | startADC(); |
260 | startADC(); |
281 | } |
261 | } |
282 | 262 | ||
283 | /***************************************************** |
263 | /***************************************************** |
284 | * Interrupt Service Routine for ADC |
264 | * Interrupt Service Routine for ADC |
285 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
265 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
286 | * processed further conversions are stopped. |
266 | * processed further conversions are stopped. |
287 | *****************************************************/ |
267 | *****************************************************/ |
288 | ISR(ADC_vect) { |
268 | ISR(ADC_vect) { |
289 | sensorInputs[adChannel] += ADC; |
269 | sensorInputs[adChannel] += ADC; |
290 | // set up for next state. |
270 | // set up for next state. |
291 | adState++; |
271 | adState++; |
292 | if (adState < sizeof(channelsForStates)) { |
272 | if (adState < sizeof(channelsForStates)) { |
293 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
273 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
294 | // set adc muxer to next adChannel |
274 | // set adc muxer to next adChannel |
295 | ADMUX = (ADMUX & 0xE0) | adChannel; |
275 | ADMUX = (ADMUX & 0xE0) | adChannel; |
296 | // after full cycle stop further interrupts |
276 | // after full cycle stop further interrupts |
297 | startADC(); |
277 | startADC(); |
298 | } else { |
278 | } else { |
299 | analogDataReady = 1; |
279 | analogDataReady = 1; |
300 | // do not restart ADC converter. |
280 | // do not restart ADC converter. |
301 | } |
281 | } |
302 | } |
282 | } |
303 | 283 | ||
304 | /* |
284 | /* |
305 | void measureGyroActivity(int16_t newValue) { |
285 | void measureGyroActivity(int16_t newValue) { |
306 | gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
286 | gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
307 | } |
287 | } |
308 | 288 | ||
309 | #define GADAMPING 6 |
289 | #define GADAMPING 6 |
310 | void dampenGyroActivity(void) { |
290 | void dampenGyroActivity(void) { |
311 | static uint8_t cnt = 0; |
291 | static uint8_t cnt = 0; |
312 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
292 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
313 | cnt = 0; |
293 | cnt = 0; |
314 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
294 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
315 | gyroActivity >>= GADAMPING; |
295 | gyroActivity >>= GADAMPING; |
316 | } |
296 | } |
317 | } |
297 | } |
318 | */ |
298 | */ |
319 | 299 | ||
320 | void analog_updateGyros(void) { |
300 | void analog_updateGyros(void) { |
321 | // for various filters... |
301 | // for various filters... |
322 | int16_t tempOffsetGyro[3], tempGyro; |
302 | int16_t tempOffsetGyro[3], tempGyro; |
323 | 303 | ||
324 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
304 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
- | 305 | ||
325 | for (uint8_t axis=0; axis<3; axis++) { |
306 | for (uint8_t axis=0; axis<3; axis++) { |
326 | tempGyro = rawGyroValue(axis); |
307 | tempGyro = rawGyroValue(axis); |
327 | /* |
308 | /* |
328 | * Process the gyro data for the PID controller. |
309 | * Process the gyro data for the PID controller. |
329 | */ |
310 | */ |
330 | // 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 |
331 | // 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. |
332 | 313 | ||
333 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
314 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
334 | if (tempGyro < SENSOR_MIN) { |
315 | if (tempGyro < SENSOR_MIN) { |
335 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
316 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
336 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
317 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
337 | } else if (tempGyro > SENSOR_MAX) { |
318 | } else if (tempGyro > SENSOR_MAX) { |
338 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
319 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
339 | tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
320 | tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
340 | } |
321 | } |
341 | } |
322 | } |
342 | 323 | ||
343 | // 2) Apply sign and offset, scale before filtering. |
324 | // 2) Apply sign and offset, scale before filtering. |
344 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
325 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
345 | } |
326 | } |
346 | 327 | ||
347 | // 2.1: Transform axes. |
328 | // 2.1: Transform axes. |
348 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
329 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
349 | 330 | ||
350 | for (uint8_t axis=0; axis<3; axis++) { |
331 | for (uint8_t axis=0; axis<3; axis++) { |
351 | // 3) Filter. |
332 | // 3) Filter. |
352 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
333 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
353 | 334 | ||
354 | // 4) Measure noise. |
335 | // 4) Measure noise. |
355 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
336 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
356 | 337 | ||
357 | // 5) Differential measurement. |
338 | // 5) Differential measurement. |
358 | // 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; |
359 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
340 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
360 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
341 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
361 | gyroD[axis] += diff; |
342 | gyroD[axis] += diff; |
362 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
343 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
363 | 344 | ||
364 | // 6) Done. |
345 | // 6) Done. |
365 | gyro_PID[axis] = tempOffsetGyro[axis]; |
346 | gyro_PID[axis] = tempOffsetGyro[axis]; |
366 | 347 | ||
367 | // Prepare tempOffsetGyro for next calculation below... |
348 | // Prepare tempOffsetGyro for next calculation below... |
368 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
349 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
369 | } |
350 | } |
370 | 351 | ||
371 | /* |
352 | /* |
372 | * Now process the data for attitude angles. |
353 | * Now process the data for attitude angles. |
373 | */ |
354 | */ |
374 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
355 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
375 | 356 | ||
376 | // dampenGyroActivity(); |
357 | // dampenGyroActivity(); |
377 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
358 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
378 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
359 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
- | 360 | gyro_ATT[YAW] = tempOffsetGyro[YAW]; |
|
379 | 361 | ||
380 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
362 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
381 | gyroDWindowIdx = 0; |
363 | gyroDWindowIdx = 0; |
382 | } |
364 | } |
383 | } |
365 | } |
384 | 366 | ||
385 | void analog_updateAirPressure(void) { |
367 | void analog_updateAirPressure(void) { |
386 | uint16_t rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
368 | uint16_t rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
387 | simpleAirPressure = rawAirPressure; |
369 | simpleAirPressure = rawAirPressure; |
388 | airspeedVelocity = isqrt16(simpleAirPressure); |
370 | airspeedVelocity = isqrt16(simpleAirPressure); |
389 | } |
371 | } |
390 | 372 | ||
391 | void analog_updateBatteryVoltage(void) { |
373 | void analog_updateBatteryVoltage(void) { |
392 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
374 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
393 | // This is divided by 3 --> 10.34 counts per volt. |
375 | // This is divided by 3 --> 10.34 counts per volt. |
394 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
376 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
395 | } |
377 | } |
396 | 378 | ||
397 | void analog_update(void) { |
379 | void analog_update(void) { |
398 | analog_updateGyros(); |
380 | analog_updateGyros(); |
399 | // analog_updateAccelerometers(); |
381 | // analog_updateAccelerometers(); |
400 | analog_updateAirPressure(); |
382 | analog_updateAirPressure(); |
401 | analog_updateBatteryVoltage(); |
383 | analog_updateBatteryVoltage(); |
402 | #ifdef USE_MK3MAG |
384 | #ifdef USE_MK3MAG |
403 | magneticHeading = volatileMagneticHeading; |
385 | magneticHeading = volatileMagneticHeading; |
404 | #endif |
386 | #endif |
405 | - | ||
406 | } |
387 | } |
407 | 388 | ||
408 | void analog_setNeutral() { |
389 | void analog_setNeutral() { |
409 | gyro_init(); |
390 | gyro_init(); |
410 | 391 | ||
411 | if (gyroOffset_readFromEEProm()) { |
392 | if (gyroOffset_readFromEEProm()) { |
412 | printf("gyro offsets invalid%s",recal); |
393 | printf("gyro offsets invalid%s",recal); |
413 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
394 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
414 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
395 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
415 | } |
396 | } |
416 | 397 | ||
417 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
398 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
418 | for (uint8_t i=PITCH; i<=YAW; i++) { |
399 | for (uint8_t i=PITCH; i<=YAW; i++) { |
419 | gyroNoisePeak[i] = 0; |
400 | gyroNoisePeak[i] = 0; |
420 | gyroD[i] = 0; |
401 | gyroD[i] = 0; |
421 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
402 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
422 | gyroDWindow[i][j] = 0; |
403 | gyroDWindow[i][j] = 0; |
423 | } |
404 | } |
424 | } |
405 | } |
425 | // Setting offset values has an influence in the analog.c ISR |
406 | // Setting offset values has an influence in the analog.c ISR |
426 | // Therefore run measurement for 100ms to achive stable readings |
407 | // Therefore run measurement for 100ms to achive stable readings |
427 | delay_ms_with_adc_measurement(100, 0); |
408 | delay_ms_with_adc_measurement(100, 0); |
428 | 409 | ||
429 | // gyroActivity = 0; |
410 | // gyroActivity = 0; |
430 | } |
411 | } |
431 | 412 | ||
432 | void analog_calibrateGyros(void) { |
413 | void analog_calibrateGyros(void) { |
433 | #define GYRO_OFFSET_CYCLES 32 |
414 | #define GYRO_OFFSET_CYCLES 64 |
434 | uint8_t i, axis; |
415 | uint8_t i, axis; |
435 | int32_t offsets[3] = { 0, 0, 0 }; |
416 | int32_t offsets[3] = { 0, 0, 0 }; |
436 | gyro_calibrate(); |
417 | gyro_calibrate(); |
437 | 418 | ||
438 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
419 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
439 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
420 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
440 | delay_ms_with_adc_measurement(10, 1); |
421 | delay_ms_with_adc_measurement(10, 1); |
441 | for (axis = PITCH; axis <= YAW; axis++) { |
422 | for (axis = PITCH; axis <= YAW; axis++) { |
442 | offsets[axis] += rawGyroValue(axis); |
423 | offsets[axis] += rawGyroValue(axis); |
443 | } |
424 | } |
444 | } |
425 | } |
445 | 426 | ||
446 | for (axis = PITCH; axis <= YAW; axis++) { |
427 | for (axis = PITCH; axis <= YAW; axis++) { |
447 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
428 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
448 | 429 | ||
449 | int16_t min = (512-200) * GYRO_OVERSAMPLING; |
430 | int16_t min = (512-200) * GYRO_OVERSAMPLING; |
450 | int16_t max = (512+200) * GYRO_OVERSAMPLING; |
431 | int16_t max = (512+200) * GYRO_OVERSAMPLING; |
451 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
432 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
452 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
433 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
453 | } |
434 | } |
454 | 435 | ||
455 | gyroOffset_writeToEEProm(); |
436 | gyroOffset_writeToEEProm(); |
456 | startAnalogConversionCycle(); |
437 | startAnalogConversionCycle(); |
457 | } |
438 | } |
458 | 439 |