Rev 2022 | Rev 2099 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2022 | Rev 2096 | ||
---|---|---|---|
- | 1 | #include <avr/io.h> |
|
1 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
2 | #include <avr/pgmspace.h> |
3 | #include <avr/pgmspace.h> |
- | 4 | #include <stdlib.h> |
|
3 | 5 | ||
4 | #include "analog.h" |
6 | #include "analog.h" |
5 | #include "attitude.h" |
7 | #include "attitude.h" |
6 | #include "sensors.h" |
8 | #include "sensors.h" |
- | 9 | #include "printf_P.h" |
|
- | 10 | #include "mk3mag.h" |
|
7 | 11 | ||
8 | // for Delay functions |
12 | // for Delay functions |
9 | #include "timer0.h" |
13 | #include "timer0.h" |
10 | - | ||
11 | // For DebugOut |
- | |
12 | #include "uart0.h" |
- | |
13 | 14 | ||
14 | // For reading and writing acc. meter offsets. |
15 | // For reading and writing acc. meter offsets. |
15 | #include "eeprom.h" |
16 | #include "eeprom.h" |
16 | 17 | ||
17 | // For DebugOut.Digital |
18 | // For debugOut |
- | 19 | #include "output.h" |
|
- | 20 | ||
- | 21 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
|
- | 22 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
|
- | 23 | ||
18 | #include "output.h" |
24 | const char* recal = ", recalibration needed."; |
19 | 25 | ||
20 | /* |
26 | /* |
21 | * 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 |
22 | * (see array channelsForStates), and the results for each channel are summed. |
28 | * (see array channelsForStates), and the results for each channel are summed. |
23 | * 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. |
24 | * 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 |
25 | * 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 |
26 | * the offsets with the DAC. |
32 | * the offsets with the DAC. |
27 | */ |
33 | */ |
28 | volatile int16_t rawGyroSum[3]; |
34 | volatile uint16_t sensorInputs[8]; |
29 | volatile int16_t acc[3]; |
35 | int16_t acc[3]; |
30 | volatile int16_t filteredAcc[2] = { 0,0 }; |
36 | int16_t filteredAcc[3] = { 0,0,0 }; |
31 | 37 | ||
32 | /* |
38 | /* |
33 | * 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 |
34 | * 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 |
35 | * integration to angles. |
41 | * integration to angles. |
36 | */ |
42 | */ |
37 | volatile int16_t gyro_PID[2]; |
43 | int16_t gyro_PID[2]; |
38 | volatile int16_t gyro_ATT[2]; |
44 | int16_t gyro_ATT[2]; |
39 | volatile int16_t gyroD[3]; |
45 | int16_t gyroD[2]; |
- | 46 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
|
- | 47 | uint8_t gyroDWindowIdx = 0; |
|
40 | volatile int16_t yawGyro; |
48 | int16_t yawGyro; |
- | 49 | int16_t magneticHeading; |
|
- | 50 | ||
- | 51 | int32_t groundPressure; |
|
- | 52 | int16_t dHeight; |
|
- | 53 | ||
- | 54 | uint32_t gyroActivity; |
|
41 | 55 | ||
42 | /* |
56 | /* |
43 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
57 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
44 | * standing still. They are used for adjusting the gyro and acc. meter values |
58 | * standing still. They are used for adjusting the gyro and acc. meter values |
45 | * to be centered on zero. |
59 | * to be centered on zero. |
46 | */ |
60 | */ |
47 | volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 |
- | |
48 | * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW }; |
- | |
- | 61 | ||
- | 62 | sensorOffset_t gyroOffset; |
|
- | 63 | sensorOffset_t accOffset; |
|
- | 64 | sensorOffset_t gyroAmplifierOffset; |
|
- | 65 | ||
- | 66 | /* |
|
- | 67 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
|
- | 68 | * If a sensor is used in an orientation where one but not both of the axes has |
|
- | 69 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
|
- | 70 | * Transform: |
|
- | 71 | * pitch <- pp*pitch + pr*roll |
|
- | 72 | * roll <- rp*pitch + rr*roll |
|
- | 73 | * Not reversed, GYRO_QUADRANT: |
|
- | 74 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
|
- | 75 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
|
- | 76 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
|
- | 77 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
|
- | 78 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
|
- | 79 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
|
- | 80 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
|
- | 81 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
|
- | 82 | * Reversed, GYRO_QUADRANT: |
|
- | 83 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
|
- | 84 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
|
- | 85 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
|
- | 86 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
|
- | 87 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
|
- | 88 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
|
- | 89 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
|
- | 90 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
|
- | 91 | */ |
|
49 | 92 | ||
50 | volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512 |
93 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
- | 94 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
|
- | 95 | // Pitch to Pitch part |
|
- | 96 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
|
- | 97 | // Roll to Pitch part |
|
- | 98 | int8_t xy = rotationTab[(quadrant+2)%8]; |
|
- | 99 | // Pitch to Roll part |
|
- | 100 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
|
- | 101 | // Roll to Roll part |
|
- | 102 | int8_t yy = rotationTab[quadrant]; |
|
- | 103 | ||
- | 104 | int16_t xIn = result[0]; |
|
- | 105 | result[0] = xx*xIn + xy*result[1]; |
|
- | 106 | result[1] = yx*xIn + yy*result[1]; |
|
- | 107 | ||
- | 108 | if (quadrant & 1) { |
|
- | 109 | // A rotation was used above, where the factors were too large by sqrt(2). |
|
- | 110 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
|
- | 111 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
|
- | 112 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
|
- | 113 | result[0] = (result[0]*11) >> 4; |
|
- | 114 | result[1] = (result[1]*11) >> 4; |
|
- | 115 | } |
|
51 | * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z }; |
116 | } |
52 | 117 | ||
53 | /* |
118 | /* |
54 | * Air pressure |
119 | * Air pressure |
55 | */ |
120 | */ |
56 | volatile uint8_t rangewidth = 106; |
121 | volatile uint8_t rangewidth = 105; |
57 | 122 | ||
58 | // Direct from sensor, irrespective of range. |
123 | // Direct from sensor, irrespective of range. |
59 | // volatile uint16_t rawAirPressure; |
124 | // volatile uint16_t rawAirPressure; |
60 | 125 | ||
61 | // Value of 2 samples, with range. |
126 | // Value of 2 samples, with range. |
62 | volatile uint16_t simpleAirPressure; |
127 | uint16_t simpleAirPressure; |
- | 128 | ||
- | 129 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
|
- | 130 | int32_t filteredAirPressure; |
|
63 | 131 | ||
64 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
132 | #define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
- | 133 | //int32_t lastFilteredAirPressure; |
|
- | 134 | int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
|
- | 135 | uint8_t dWindowPtr = 0; |
|
- | 136 | ||
- | 137 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
|
- | 138 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
|
- | 139 | int32_t windowedAirPressure; |
|
65 | volatile int32_t filteredAirPressure; |
140 | uint8_t windowPtr = 0; |
66 | 141 | ||
67 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
142 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
68 | volatile int32_t airPressureSum; |
143 | int32_t airPressureSum; |
69 | 144 | ||
70 | // The number of samples summed into airPressureSum so far. |
145 | // The number of samples summed into airPressureSum so far. |
71 | volatile uint8_t pressureMeasurementCount; |
146 | uint8_t pressureMeasurementCount; |
72 | 147 | ||
73 | /* |
148 | /* |
74 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
149 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
75 | * That is divided by 3 below, for a final 10.34 per volt. |
150 | * That is divided by 3 below, for a final 10.34 per volt. |
76 | * So the initial value of 100 is for 9.7 volts. |
151 | * So the initial value of 100 is for 9.7 volts. |
77 | */ |
152 | */ |
78 | volatile int16_t UBat = 100; |
153 | int16_t UBat = 100; |
79 | 154 | ||
80 | /* |
155 | /* |
81 | * Control and status. |
156 | * Control and status. |
82 | */ |
157 | */ |
83 | volatile uint16_t ADCycleCount = 0; |
- | |
84 | volatile uint8_t analogDataReady = 1; |
158 | volatile uint8_t analogDataReady = 1; |
85 | 159 | ||
86 | /* |
160 | /* |
87 | * Experiment: Measuring vibration-induced sensor noise. |
161 | * Experiment: Measuring vibration-induced sensor noise. |
88 | */ |
162 | */ |
89 | volatile uint16_t gyroNoisePeak[2]; |
163 | uint16_t gyroNoisePeak[3]; |
90 | volatile uint16_t accNoisePeak[2]; |
164 | uint16_t accNoisePeak[3]; |
- | 165 | ||
- | 166 | volatile uint8_t adState; |
|
- | 167 | volatile uint8_t adChannel; |
|
91 | 168 | ||
92 | // ADC channels |
169 | // ADC channels |
93 | #define AD_GYRO_YAW 0 |
170 | #define AD_GYRO_YAW 0 |
94 | #define AD_GYRO_ROLL 1 |
171 | #define AD_GYRO_ROLL 1 |
95 | #define AD_GYRO_PITCH 2 |
172 | #define AD_GYRO_PITCH 2 |
96 | #define AD_AIRPRESSURE 3 |
173 | #define AD_AIRPRESSURE 3 |
97 | #define AD_UBAT 4 |
174 | #define AD_UBAT 4 |
98 | #define AD_ACC_Z 5 |
175 | #define AD_ACC_Z 5 |
99 | #define AD_ACC_ROLL 6 |
176 | #define AD_ACC_ROLL 6 |
100 | #define AD_ACC_PITCH 7 |
177 | #define AD_ACC_PITCH 7 |
101 | 178 | ||
102 | /* |
179 | /* |
103 | * Table of AD converter inputs for each state. |
180 | * Table of AD converter inputs for each state. |
104 | * The number of samples summed for each channel is equal to |
181 | * The number of samples summed for each channel is equal to |
105 | * the number of times the channel appears in the array. |
182 | * the number of times the channel appears in the array. |
106 | * The max. number of samples that can be taken in 2 ms is: |
183 | * The max. number of samples that can be taken in 2 ms is: |
107 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
184 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
108 | * loop needs a little time between reading AD values and |
185 | * loop needs a little time between reading AD values and |
109 | * re-enabling ADC, the real limit is (how much?) lower. |
186 | * re-enabling ADC, the real limit is (how much?) lower. |
110 | * The acc. sensor is sampled even if not used - or installed |
187 | * The acc. sensor is sampled even if not used - or installed |
111 | * at all. The cost is not significant. |
188 | * at all. The cost is not significant. |
112 | */ |
189 | */ |
113 | 190 | ||
114 | const uint8_t channelsForStates[] PROGMEM = { |
191 | const uint8_t channelsForStates[] PROGMEM = { |
115 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
192 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
116 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
193 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
117 | 194 | ||
118 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
195 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
119 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
196 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
120 | 197 | ||
121 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
198 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
122 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
199 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
123 | AD_AIRPRESSURE, // at 14, finish air pressure. |
200 | AD_AIRPRESSURE, // at 14, finish air pressure. |
124 | 201 | ||
125 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
202 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
126 | AD_GYRO_ROLL, // at 16, finish roll gyro |
203 | AD_GYRO_ROLL, // at 16, finish roll gyro |
127 | AD_UBAT // at 17, measure battery. |
204 | AD_UBAT // at 17, measure battery. |
128 | }; |
205 | }; |
129 | 206 | ||
130 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
207 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
131 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
208 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
132 | 209 | ||
133 | void analog_init(void) { |
210 | void analog_init(void) { |
134 | uint8_t sreg = SREG; |
211 | uint8_t sreg = SREG; |
135 | // disable all interrupts before reconfiguration |
212 | // disable all interrupts before reconfiguration |
136 | cli(); |
213 | cli(); |
137 | 214 | ||
138 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
215 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
139 | DDRA = 0x00; |
216 | DDRA = 0x00; |
140 | PORTA = 0x00; |
217 | PORTA = 0x00; |
141 | // Digital Input Disable Register 0 |
218 | // Digital Input Disable Register 0 |
142 | // Disable digital input buffer for analog adc_channel pins |
219 | // Disable digital input buffer for analog adc_channel pins |
143 | DIDR0 = 0xFF; |
220 | DIDR0 = 0xFF; |
144 | // external reference, adjust data to the right |
221 | // external reference, adjust data to the right |
145 | ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR)); |
222 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
146 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
223 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
147 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
224 | ADMUX = (ADMUX & 0xE0); |
148 | //Set ADC Control and Status Register A |
225 | //Set ADC Control and Status Register A |
149 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
226 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
150 | ADCSRA = (0 << ADEN) | (0 << ADSC) | (0 << ADATE) | (1 << ADPS2) | (1 |
- | |
151 | << ADPS1) | (1 << ADPS0) | (0 << ADIE); |
227 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
152 | //Set ADC Control and Status Register B |
228 | //Set ADC Control and Status Register B |
153 | //Trigger Source to Free Running Mode |
229 | //Trigger Source to Free Running Mode |
154 | ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0)); |
230 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
- | 231 | ||
- | 232 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
|
155 | // Start AD conversion |
233 | airPressureWindow[i] = 0; |
- | 234 | } |
|
- | 235 | windowedAirPressure = 0; |
|
- | 236 | ||
156 | analog_start(); |
237 | startAnalogConversionCycle(); |
- | 238 | ||
157 | // restore global interrupt flags |
239 | // restore global interrupt flags |
158 | SREG = sreg; |
240 | SREG = sreg; |
159 | } |
241 | } |
- | 242 | ||
- | 243 | uint16_t rawGyroValue(uint8_t axis) { |
|
- | 244 | return sensorInputs[AD_GYRO_PITCH-axis]; |
|
- | 245 | } |
|
- | 246 | ||
- | 247 | uint16_t rawAccValue(uint8_t axis) { |
|
- | 248 | return sensorInputs[AD_ACC_PITCH-axis]; |
|
- | 249 | } |
|
160 | 250 | ||
161 | void measureNoise(const int16_t sensor, |
251 | void measureNoise(const int16_t sensor, |
162 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
252 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
163 | if (sensor > (int16_t) (*noiseMeasurement)) { |
253 | if (sensor > (int16_t) (*noiseMeasurement)) { |
164 | *noiseMeasurement = sensor; |
254 | *noiseMeasurement = sensor; |
165 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
255 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
166 | *noiseMeasurement = -sensor; |
256 | *noiseMeasurement = -sensor; |
167 | } else if (*noiseMeasurement > damping) { |
257 | } else if (*noiseMeasurement > damping) { |
168 | *noiseMeasurement -= damping; |
258 | *noiseMeasurement -= damping; |
169 | } else { |
259 | } else { |
170 | *noiseMeasurement = 0; |
260 | *noiseMeasurement = 0; |
171 | } |
261 | } |
172 | } |
262 | } |
173 | 263 | ||
174 | /* |
264 | /* |
175 | * Min.: 0 |
265 | * Min.: 0 |
176 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
266 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
177 | */ |
267 | */ |
178 | uint16_t getSimplePressure(int advalue) { |
268 | uint16_t getSimplePressure(int advalue) { |
179 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
269 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
- | 270 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
|
- | 271 | return result; |
|
180 | } |
272 | } |
181 | - | ||
182 | /* |
- | |
183 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
273 | |
184 | * If a sensor is used in an orientation where one but not both of the axes has |
274 | void startAnalogConversionCycle(void) { |
185 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
275 | analogDataReady = 0; |
186 | */ |
276 | |
187 | void transformPRGyro(int16_t* result) { |
277 | // Stop the sampling. Cycle is over. |
188 | static const uint8_t tab[] = {1,1,0,0-1,-1,-1,0,1}; |
278 | for (uint8_t i = 0; i < 8; i++) { |
189 | // Pitch to Pitch part |
- | |
190 | int8_t pp = PR_GYROS_ORIENTATION_REVERSED ? tab[(GYRO_QUADRANT+4)%8] : tab[GYRO_QUADRANT]; |
- | |
191 | // Pitch to Roll part |
- | |
192 | int8_t pr = tab[(GYRO_QUADRANT+2)%8]; |
279 | sensorInputs[i] = 0; |
193 | // Roll to Roll part |
- | |
194 | int8_t rp = PR_GYROS_ORIENTATION_REVERSED ? tab[(GYRO_QUADRANT+2)%8] : tab[(GYRO_QUADRANT+6)%8]; |
280 | } |
195 | // Roll to Roll part |
281 | adState = 0; |
196 | int8_t rr = tab[GYRO_QUADRANT]; |
- | |
197 | 282 | adChannel = AD_GYRO_PITCH; |
|
198 | int16_t pitchIn = result[PITCH]; |
- | |
199 | - | ||
200 | result[PITCH] = pp*result[PITCH] + pr*result[ROLL]; |
283 | ADMUX = (ADMUX & 0xE0) | adChannel; |
201 | result[ROLL] = rp*pitchIn + rr*result[ROLL]; |
284 | startADC(); |
202 | } |
285 | } |
203 | 286 | ||
204 | /***************************************************** |
287 | /***************************************************** |
205 | * Interrupt Service Routine for ADC |
288 | * Interrupt Service Routine for ADC |
206 | * Runs at 312.5 kHz or 3.2 us. When all states are |
289 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
207 | * processed the interrupt is disabled and further |
- | |
208 | * AD conversions are stopped. |
290 | * processed further conversions are stopped. |
209 | *****************************************************/ |
291 | *****************************************************/ |
210 | ISR(ADC_vect) { |
292 | ISR(ADC_vect) { |
211 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
- | |
212 | static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 }; |
- | |
213 | static uint16_t pressureAutorangingWait = 25; |
- | |
214 | uint16_t rawAirPressure; |
- | |
215 | uint8_t i, axis; |
- | |
216 | int16_t newrange; |
- | |
217 | - | ||
218 | // for various filters... |
- | |
219 | int16_t tempOffsetGyro[2]; |
- | |
220 | - | ||
221 | sensorInputs[ad_channel] += ADC; |
293 | sensorInputs[adChannel] += ADC; |
222 | - | ||
223 | /* |
- | |
224 | * Actually we don't need this "switch". We could do all the sampling into the |
- | |
225 | * sensorInputs array first, and all the processing after the last sample. |
- | |
226 | */ |
- | |
227 | switch (state++) { |
- | |
228 | - | ||
229 | case 8: // Z acc |
294 | // set up for next state. |
230 | if (Z_ACC_REVERSED) |
- | |
231 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
- | |
232 | else |
- | |
233 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
- | |
234 | - | ||
235 | /* |
- | |
236 | stronglyFilteredAcc[Z] = |
- | |
237 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
- | |
238 | */ |
295 | adState++; |
239 | - | ||
240 | break; |
- | |
241 | - | ||
242 | case 11: // yaw gyro |
- | |
243 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
296 | if (adState < sizeof(channelsForStates)) { |
244 | if (YAW_GYRO_REVERSED) |
- | |
245 | tempOffsetGyro[0] = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
297 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
246 | else |
- | |
247 | tempOffsetGyro[0] = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
- | |
248 | gyroD[YAW] = (gyroD[YAW] * (staticParams.DGyroFilter - 1) + (tempOffsetGyro[0] - yawGyro)) / staticParams.DGyroFilter; |
- | |
249 | yawGyro = tempOffsetGyro[0]; |
- | |
250 | break; |
- | |
251 | case 13: // roll axis acc. |
- | |
252 | - | ||
253 | // We have no sensor installed... |
298 | // set adc muxer to next adChannel |
254 | acc[PITCH] = acc[ROLL] = 0; |
- | |
255 | - | ||
256 | for (axis=0; axis<2; axis++) { |
299 | ADMUX = (ADMUX & 0xE0) | adChannel; |
257 | filteredAcc[axis] = |
- | |
258 | (filteredAcc[axis] * (staticParams.accFilter - 1) + acc[axis]) / staticParams.accFilter; |
- | |
259 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
- | |
260 | } |
- | |
261 | break; |
- | |
262 | - | ||
263 | case 14: // air pressure |
- | |
264 | if (pressureAutorangingWait) { |
- | |
265 | //A range switch was done recently. Wait for steadying. |
- | |
266 | pressureAutorangingWait--; |
- | |
267 | DebugOut.Analog[27] = (uint16_t) OCR0A; |
- | |
268 | DebugOut.Analog[31] = simpleAirPressure; |
- | |
269 | break; |
- | |
270 | } |
- | |
271 | - | ||
272 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
- | |
273 | if (rawAirPressure < MIN_RAWPRESSURE) { |
- | |
274 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
- | |
275 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
- | |
276 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
- | |
277 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
- | |
278 | OCR0A = newrange; |
- | |
279 | } else { |
- | |
280 | if (OCR0A) { |
- | |
281 | OCR0A--; |
- | |
282 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
- | |
283 | } |
- | |
284 | } |
- | |
285 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
- | |
286 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
- | |
287 | // If near the end, make a limited increase |
300 | // after full cycle stop further interrupts |
288 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
- | |
289 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
- | |
290 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
- | |
291 | OCR0A = newrange; |
- | |
292 | } else { |
- | |
293 | if (OCR0A < 254) { |
- | |
294 | OCR0A++; |
301 | startADC(); |
295 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
- | |
296 | } |
- | |
297 | } |
- | |
298 | } |
- | |
299 | - | ||
300 | // Even if the sample is off-range, use it. |
- | |
301 | simpleAirPressure = getSimplePressure(rawAirPressure); |
- | |
302 | DebugOut.Analog[27] = (uint16_t) OCR0A; |
- | |
303 | DebugOut.Analog[31] = simpleAirPressure; |
- | |
304 | - | ||
305 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
- | |
306 | // Danger: pressure near lower end of range. If the measurement saturates, the |
- | |
307 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
- | |
308 | DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
- | |
309 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
- | |
310 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
- | |
311 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
- | |
312 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
- | |
313 | // Danger: pressure near upper end of range. If the measurement saturates, the |
- | |
314 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
- | |
315 | DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
- | |
316 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
- | |
317 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
- | |
318 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
- | |
319 | } else { |
302 | } else { |
320 | // normal case. |
- | |
321 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
- | |
322 | // The 2 cases above (end of range) are ignored for this. |
- | |
323 | DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT; |
- | |
324 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
- | |
325 | airPressureSum += simpleAirPressure / 2; |
- | |
326 | else |
- | |
327 | airPressureSum += simpleAirPressure; |
- | |
328 | } |
- | |
329 | - | ||
330 | // 2 samples were added. |
- | |
331 | pressureMeasurementCount += 2; |
- | |
332 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
- | |
333 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
- | |
334 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
- | |
335 | pressureMeasurementCount = airPressureSum = 0; |
- | |
336 | } |
- | |
337 | - | ||
338 | break; |
- | |
339 | - | ||
340 | case 16: // pitch and roll gyro. |
- | |
341 | for (axis=0; axis<2; axis++) { |
- | |
342 | tempOffsetGyro[axis] = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
- | |
343 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
- | |
344 | // gyro with a wider range, and helps counter saturation at full control. |
- | |
345 | - | ||
346 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
- | |
347 | if (tempOffsetGyro[axis] < SENSOR_MIN_PITCHROLL) { |
- | |
348 | DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
- | |
349 | tempOffsetGyro[axis] = tempOffsetGyro[axis] * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
- | |
350 | } else if (tempOffsetGyro[axis] > SENSOR_MAX_PITCHROLL) { |
- | |
351 | DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
- | |
352 | tempOffsetGyro[axis] = (tempOffsetGyro[axis] - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
- | |
353 | } else { |
- | |
354 | DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT; |
- | |
355 | } |
- | |
356 | } |
- | |
357 | - | ||
358 | // 2) Apply sign and offset, scale before filtering. |
- | |
359 | tempOffsetGyro[axis] = (tempOffsetGyro[axis] - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
- | |
360 | } |
- | |
361 | - | ||
362 | // 2.1: Transform axis if configured to. |
- | |
363 | transformPRGyro(tempOffsetGyro); |
- | |
364 | - | ||
365 | // 3) Scale and filter. |
- | |
366 | for (axis=0; axis<2; axis++) { |
- | |
367 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.PIDGyroFilter - 1) + tempOffsetGyro[axis]) / staticParams.PIDGyroFilter; |
- | |
368 | - | ||
369 | // 4) Measure noise. |
- | |
370 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
- | |
371 | - | ||
372 | // 5) Differential measurement. |
- | |
373 | gyroD[axis] = (gyroD[axis] * (staticParams.DGyroFilter - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.DGyroFilter; |
- | |
374 | - | ||
375 | // 6) Done. |
- | |
376 | gyro_PID[axis] = tempOffsetGyro[axis]; |
- | |
377 | } |
- | |
378 | - | ||
379 | /* |
- | |
380 | * Now process the data for attitude angles. |
- | |
381 | */ |
- | |
382 | for (axis=0; axis<2; axis++) { |
- | |
383 | tempOffsetGyro[axis] = (rawGyroSum[axis] - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
- | |
384 | } |
- | |
385 | - | ||
386 | transformPRGyro(tempOffsetGyro); |
- | |
387 | - | ||
388 | // 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. |
- | |
389 | gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
- | |
390 | gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
- | |
391 | break; |
- | |
392 | - | ||
393 | case 17: |
- | |
394 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
- | |
395 | // This is divided by 3 --> 10.34 counts per volt. |
- | |
396 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
- | |
397 | DebugOut.Analog[20] = UBat; |
- | |
398 | analogDataReady = 1; // mark |
303 | analogDataReady = 1; |
399 | ADCycleCount++; |
- | |
400 | // Stop the sampling. Cycle is over. |
304 | // do not restart ADC converter. |
401 | state = 0; |
- | |
402 | for (i = 0; i < 8; i++) { |
- | |
403 | sensorInputs[i] = 0; |
- | |
404 | } |
305 | } |
405 | break; |
- | |
406 | default: { |
- | |
407 | } // do nothing. |
- | |
408 | } |
306 | } |
409 | 307 | ||
410 | // set up for next state. |
308 | void measureGyroActivity(int16_t newValue) { |
411 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
- | |
412 | // ad_channel = channelsForStates[state]; |
- | |
413 | - | ||
414 | // set adc muxer to next ad_channel |
- | |
415 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
- | |
416 | // after full cycle stop further interrupts |
- | |
417 | if (state) |
- | |
418 | analog_start(); |
309 | gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
- | 310 | } |
|
419 | } |
311 | |
420 | 312 | #define GADAMPING 6 |
|
- | 313 | void dampenGyroActivity(void) { |
|
421 | void analog_calibrate(void) { |
314 | static uint8_t cnt = 0; |
- | 315 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
|
- | 316 | cnt = 0; |
|
- | 317 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
|
- | 318 | gyroActivity >>= GADAMPING; |
|
- | 319 | } |
|
- | 320 | } |
|
422 | #define GYRO_OFFSET_CYCLES 32 |
321 | /* |
- | 322 | void dampenGyroActivity(void) { |
|
- | 323 | if (gyroActivity >= 2000) { |
|
- | 324 | gyroActivity -= 2000; |
|
- | 325 | } |
|
- | 326 | } |
|
- | 327 | */ |
|
- | 328 | ||
- | 329 | void analog_updateGyros(void) { |
|
- | 330 | // for various filters... |
|
- | 331 | int16_t tempOffsetGyro[2], tempGyro; |
|
- | 332 | ||
- | 333 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
|
- | 334 | for (uint8_t axis=0; axis<2; axis++) { |
|
- | 335 | tempGyro = rawGyroValue(axis); |
|
- | 336 | /* |
|
- | 337 | * Process the gyro data for the PID controller. |
|
- | 338 | */ |
|
- | 339 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
|
- | 340 | // gyro with a wider range, and helps counter saturation at full control. |
|
- | 341 | ||
- | 342 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
|
- | 343 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
|
- | 344 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
|
- | 345 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
|
- | 346 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
|
- | 347 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
|
- | 348 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
|
- | 349 | } |
|
- | 350 | } |
|
- | 351 | ||
- | 352 | // 2) Apply sign and offset, scale before filtering. |
|
- | 353 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
|
- | 354 | } |
|
- | 355 | ||
- | 356 | // 2.1: Transform axes. |
|
- | 357 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
|
- | 358 | ||
- | 359 | for (uint8_t axis=0; axis<2; axis++) { |
|
- | 360 | // 3) Filter. |
|
- | 361 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
|
- | 362 | ||
- | 363 | // 4) Measure noise. |
|
- | 364 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
|
- | 365 | ||
- | 366 | // 5) Differential measurement. |
|
- | 367 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
|
- | 368 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
|
- | 369 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
|
- | 370 | gyroD[axis] += diff; |
|
- | 371 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
|
- | 372 | ||
- | 373 | // 6) Done. |
|
- | 374 | gyro_PID[axis] = tempOffsetGyro[axis]; |
|
- | 375 | ||
- | 376 | // Prepare tempOffsetGyro for next calculation below... |
|
- | 377 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
|
- | 378 | } |
|
- | 379 | ||
- | 380 | /* |
|
- | 381 | * Now process the data for attitude angles. |
|
423 | uint8_t i, axis; |
382 | */ |
- | 383 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
|
- | 384 | ||
- | 385 | dampenGyroActivity(); |
|
- | 386 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
|
- | 387 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
|
- | 388 | ||
- | 389 | /* |
|
- | 390 | measureGyroActivity(tempOffsetGyro[PITCH]); |
|
- | 391 | measureGyroActivity(tempOffsetGyro[ROLL]); |
|
- | 392 | */ |
|
- | 393 | measureGyroActivity(gyroD[PITCH]); |
|
- | 394 | measureGyroActivity(gyroD[ROLL]); |
|
- | 395 | ||
- | 396 | // We measure activity of yaw by plain gyro value and not d/dt, because: |
|
- | 397 | // - There is no drift correction anyway |
|
- | 398 | // - Effect of steady circular flight would vanish (it should have effect). |
|
- | 399 | // int16_t diff = yawGyro; |
|
- | 400 | // Yaw gyro. |
|
- | 401 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
|
- | 402 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
|
- | 403 | else |
|
- | 404 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
|
- | 405 | ||
- | 406 | // diff -= yawGyro; |
|
- | 407 | // gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
|
- | 408 | // gyroD[YAW] += diff; |
|
- | 409 | // gyroDWindow[YAW][gyroDWindowIdx] = diff; |
|
- | 410 | ||
- | 411 | // gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
|
- | 412 | measureGyroActivity(yawGyro); |
|
- | 413 | ||
- | 414 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
|
424 | int32_t deltaOffsets[3] = { 0, 0, 0 }; |
415 | gyroDWindowIdx = 0; |
425 | 416 | } |
|
426 | gyro_calibrate(); |
417 | } |
- | 418 | ||
- | 419 | void analog_updateAccelerometers(void) { |
|
- | 420 | // Pitch and roll axis accelerations. |
|
- | 421 | for (uint8_t axis=0; axis<2; axis++) { |
|
427 | 422 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
|
- | 423 | } |
|
428 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
424 | |
429 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
425 | rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
430 | delay_ms_Mess(20); |
426 | for(uint8_t axis=0; axis<3; axis++) { |
- | 427 | filteredAcc[axis] = (filteredAcc[axis] * (IMUConfig.accFilterConstant - 1) + acc[axis]) / IMUConfig.accFilterConstant; |
|
- | 428 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
|
- | 429 | } |
|
- | 430 | ||
- | 431 | // Z acc. |
|
- | 432 | if (IMUConfig.imuReversedFlags & 8) |
|
- | 433 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
|
- | 434 | else |
|
- | 435 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
|
- | 436 | ||
- | 437 | // debugOut.analog[29] = acc[Z]; |
|
- | 438 | } |
|
- | 439 | ||
- | 440 | void analog_updateAirPressure(void) { |
|
- | 441 | static uint16_t pressureAutorangingWait = 25; |
|
- | 442 | uint16_t rawAirPressure; |
|
- | 443 | int16_t newrange; |
|
- | 444 | // air pressure |
|
431 | for (axis = PITCH; axis <= YAW; axis++) { |
445 | if (pressureAutorangingWait) { |
- | 446 | //A range switch was done recently. Wait for steadying. |
|
- | 447 | pressureAutorangingWait--; |
|
- | 448 | } else { |
|
432 | deltaOffsets[axis] += rawGyroSum[axis]; |
449 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
- | 450 | if (rawAirPressure < MIN_RAWPRESSURE) { |
|
- | 451 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
|
- | 452 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
|
- | 453 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
|
- | 454 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
|
- | 455 | OCR0A = newrange; |
|
- | 456 | } else { |
|
- | 457 | if (OCR0A) { |
|
- | 458 | OCR0A--; |
|
- | 459 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
- | 460 | } |
|
- | 461 | } |
|
- | 462 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
|
- | 463 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
|
- | 464 | // If near the end, make a limited increase |
|
- | 465 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
|
- | 466 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
|
433 | } |
467 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
434 | } |
468 | OCR0A = newrange; |
- | 469 | } else { |
|
- | 470 | if (OCR0A < 254) { |
|
- | 471 | OCR0A++; |
|
- | 472 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
- | 473 | } |
|
- | 474 | } |
|
- | 475 | } |
|
- | 476 | ||
- | 477 | // Even if the sample is off-range, use it. |
|
- | 478 | simpleAirPressure = getSimplePressure(rawAirPressure); |
|
- | 479 | debugOut.analog[6] = rawAirPressure; |
|
- | 480 | debugOut.analog[7] = simpleAirPressure; |
|
- | 481 | ||
- | 482 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
|
- | 483 | // Danger: pressure near lower end of range. If the measurement saturates, the |
|
- | 484 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
|
- | 485 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
|
- | 486 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
|
- | 487 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
|
- | 488 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
- | 489 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
|
- | 490 | // Danger: pressure near upper end of range. If the measurement saturates, the |
|
- | 491 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
|
- | 492 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
|
- | 493 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
|
- | 494 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
|
- | 495 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
- | 496 | } else { |
|
- | 497 | // normal case. |
|
- | 498 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
|
- | 499 | // The 2 cases above (end of range) are ignored for this. |
|
- | 500 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
|
- | 501 | airPressureSum += simpleAirPressure; |
|
- | 502 | } |
|
- | 503 | ||
- | 504 | // 2 samples were added. |
|
- | 505 | pressureMeasurementCount += 2; |
|
- | 506 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
|
- | 507 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
|
- | 508 | ||
- | 509 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
|
- | 510 | airPressureSum += simpleAirPressure >> 2; |
|
- | 511 | ||
- | 512 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
|
- | 513 | ||
- | 514 | if (!staticParams.airpressureWindowLength) { |
|
- | 515 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
|
- | 516 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
|
- | 517 | } else { |
|
- | 518 | // use windowed. |
|
- | 519 | windowedAirPressure += simpleAirPressure; |
|
- | 520 | windowedAirPressure -= airPressureWindow[windowPtr]; |
|
- | 521 | airPressureWindow[windowPtr++] = simpleAirPressure; |
|
- | 522 | if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
|
- | 523 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
|
- | 524 | } |
|
- | 525 | ||
- | 526 | // positive diff of pressure |
|
- | 527 | int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
|
- | 528 | // is a negative diff of height. |
|
- | 529 | dHeight -= diff; |
|
- | 530 | // remove old sample (fifo) from window. |
|
- | 531 | dHeight += dAirPressureWindow[dWindowPtr]; |
|
- | 532 | dAirPressureWindow[dWindowPtr++] = diff; |
|
- | 533 | if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
|
- | 534 | pressureMeasurementCount = airPressureSum = 0; |
|
435 | 535 | } |
|
436 | for (axis = PITCH; axis <= YAW; axis++) { |
536 | } |
- | 537 | } |
|
437 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
538 | |
438 | // DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
539 | void analog_updateBatteryVoltage(void) { |
439 | } |
540 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
440 | - | ||
441 | // Noise is relativ to offset. So, reset noise measurements when changing offsets. |
541 | // This is divided by 3 --> 10.34 counts per volt. |
442 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
542 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
- | 543 | } |
|
443 | 544 | ||
- | 545 | void analog_update(void) { |
|
- | 546 | analog_updateGyros(); |
|
- | 547 | analog_updateAccelerometers(); |
|
- | 548 | analog_updateAirPressure(); |
|
- | 549 | analog_updateBatteryVoltage(); |
|
- | 550 | #ifdef USE_MK3MAG |
|
- | 551 | magneticHeading = volatileMagneticHeading; |
|
- | 552 | #endif |
|
- | 553 | } |
|
- | 554 | ||
- | 555 | void analog_setNeutral() { |
|
- | 556 | gyro_init(); |
|
- | 557 | ||
- | 558 | if (gyroOffset_readFromEEProm()) { |
|
- | 559 | printf("gyro offsets invalid%s",recal); |
|
- | 560 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
|
- | 561 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
|
- | 562 | } |
|
- | 563 | ||
- | 564 | if (accOffset_readFromEEProm()) { |
|
- | 565 | printf("acc. meter offsets invalid%s",recal); |
|
- | 566 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
|
- | 567 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
|
- | 568 | } |
|
- | 569 | ||
- | 570 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
|
- | 571 | for (uint8_t i=PITCH; i<=ROLL; i++) { |
|
- | 572 | gyroNoisePeak[i] = 0; |
|
444 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
573 | accNoisePeak[i] = 0; |
- | 574 | gyroD[i] = 0; |
|
- | 575 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
|
- | 576 | gyroDWindow[i][j] = 0; |
|
- | 577 | } |
|
- | 578 | } |
|
- | 579 | // Setting offset values has an influence in the analog.c ISR |
|
- | 580 | // Therefore run measurement for 100ms to achive stable readings |
|
- | 581 | delay_ms_with_adc_measurement(100, 0); |
|
- | 582 | ||
- | 583 | gyroActivity = 0; |
|
- | 584 | } |
|
- | 585 | ||
- | 586 | void analog_calibrateGyros(void) { |
|
- | 587 | #define GYRO_OFFSET_CYCLES 32 |
|
- | 588 | uint8_t i, axis; |
|
- | 589 | int32_t offsets[3] = { 0, 0, 0 }; |
|
- | 590 | gyro_calibrate(); |
|
- | 591 | ||
- | 592 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
|
- | 593 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
|
- | 594 | delay_ms_with_adc_measurement(10, 1); |
|
- | 595 | for (axis = PITCH; axis <= YAW; axis++) { |
|
- | 596 | offsets[axis] += rawGyroValue(axis); |
|
- | 597 | } |
|
- | 598 | } |
|
- | 599 | ||
- | 600 | for (axis = PITCH; axis <= YAW; axis++) { |
|
- | 601 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
|
- | 602 | ||
445 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
603 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
446 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
604 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
447 | 605 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
|
448 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
606 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
449 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
607 | } |
450 | // pressureMeasurementCount = 0; |
608 | |
451 | 609 | gyroOffset_writeToEEProm(); |
|
452 | delay_ms_Mess(100); |
610 | startAnalogConversionCycle(); |
453 | } |
611 | } |
454 | 612 | ||
455 | /* |
613 | /* |
456 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
614 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
457 | * Does not (!} update the local variables. This must be done with a |
615 | * Does not (!} update the local variables. This must be done with a |
458 | * call to analog_calibrate() - this always (?) is done by the caller |
616 | * call to analog_calibrate() - this always (?) is done by the caller |
459 | * anyway. There would be nothing wrong with updating the variables |
617 | * anyway. There would be nothing wrong with updating the variables |
460 | * directly from here, though. |
618 | * directly from here, though. |
461 | */ |
619 | */ |
462 | void analog_calibrateAcc(void) { |
620 | void analog_calibrateAcc(void) { |
463 | #define ACC_OFFSET_CYCLES 10 |
621 | #define ACC_OFFSET_CYCLES 32 |
464 | /* |
- | |
465 | uint8_t i, axis; |
622 | uint8_t i, axis; |
466 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
623 | int32_t offsets[3] = { 0, 0, 0 }; |
467 | int16_t filteredDelta; |
- | |
468 | // int16_t pressureDiff, savedRawAirPressure; |
- | |
469 | 624 | ||
470 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
625 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
471 | delay_ms_Mess(10); |
626 | delay_ms_with_adc_measurement(10, 1); |
472 | for (axis = PITCH; axis <= YAW; axis++) { |
627 | for (axis = PITCH; axis <= YAW; axis++) { |
473 | deltaOffset[axis] += acc[axis]; |
628 | offsets[axis] += rawAccValue(axis); |
- | 629 | } |
|
474 | } |
630 | } |
- | 631 | ||
- | 632 | for (axis = PITCH; axis <= YAW; axis++) { |
|
- | 633 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
|
- | 634 | int16_t min,max; |
|
- | 635 | if (axis==Z) { |
|
- | 636 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
|
- | 637 | // TODO: This assumes a sensitivity of +/- 2g. |
|
- | 638 | min = (256-200) * ACC_OVERSAMPLING_Z; |
|
- | 639 | max = (256+200) * ACC_OVERSAMPLING_Z; |
|
- | 640 | } else { |
|
- | 641 | // TODO: This assumes a sensitivity of +/- 2g. |
|
- | 642 | min = (768-200) * ACC_OVERSAMPLING_Z; |
|
- | 643 | max = (768+200) * ACC_OVERSAMPLING_Z; |
|
- | 644 | } |
|
- | 645 | } else { |
|
- | 646 | min = (512-200) * ACC_OVERSAMPLING_XY; |
|
- | 647 | max = (512+200) * ACC_OVERSAMPLING_XY; |
|
- | 648 | } |
|
- | 649 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
|
- | 650 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
|
- | 651 | } |
|
475 | } |
652 | } |
476 | 653 | ||
477 | for (axis = PITCH; axis <= YAW; axis++) { |
654 | accOffset_writeToEEProm(); |
- | 655 | startAnalogConversionCycle(); |
|
- | 656 | } |
|
478 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
657 | |
479 | / ACC_OFFSET_CYCLES; |
658 | void analog_setGround() { |
480 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
659 | groundPressure = filteredAirPressure; |
481 | } |
660 | } |
482 | - | ||
483 | // Save ACC neutral settings to eeprom |
661 | |
484 | SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
- | |
485 | SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
662 | int32_t analog_getHeight(void) { |
486 | SetParamWord(PID_ACC_Z, accOffset[Z]); |
- | |
487 | - | ||
488 | // Noise is relative to offset. So, reset noise measurements when |
- | |
489 | // changing offsets. |
663 | return groundPressure - filteredAirPressure; |
490 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
- | |
491 | - | ||
492 | // Setting offset values has an influence in the analog.c ISR |
664 | } |
493 | // Therefore run measurement for 100ms to achive stable readings |
- | |
494 | delay_ms_Mess(100); |
- | |
495 | - | ||
496 | */ |
- | |
497 | // Set the feedback so that air pressure ends up in the middle of the range. |
665 | |
498 | // (raw pressure high --> OCR0A also high...) |
- | |
499 | /* |
- | |
500 | OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1; |
- | |
501 | delay_ms_Mess(1000); |
666 | int16_t analog_getDHeight(void) { |
502 | - | ||
503 | pressureDiff = 0; |
- | |
504 | // DebugOut.Analog[16] = rawAirPressure; |
- | |
505 | 667 | /* |
|
506 | #define PRESSURE_CAL_CYCLE_COUNT 5 |
- | |
507 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
- | |
508 | savedRawAirPressure = rawAirPressure; |
- | |
509 | OCR0A+=2; |
- | |
510 | delay_ms_Mess(500); |
- | |
511 | // raw pressure will decrease. |
- | |
512 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
- | |
513 | savedRawAirPressure = rawAirPressure; |
- | |
514 | OCR0A-=2; |
- | |
515 | delay_ms_Mess(500); |
668 | int16_t result = 0; |
516 | // raw pressure will increase. |
669 | for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
517 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
- | |
518 | } |
670 | result -= dAirPressureWindow[i]; // minus pressure is plus height. |
519 | 671 | } |
|
520 | rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2); |
672 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
- | 673 | return result; |
|
521 | DebugOut.Analog[27] = rangewidth; |
674 | */ |
522 | */ |
675 | return dHeight; |
523 | } |
676 | } |
524 | 677 |