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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 "mk3mag.h" |
- | |
11 | 10 | ||
12 | // for Delay functions |
11 | // for Delay functions |
13 | #include "timer0.h" |
12 | #include "timer0.h" |
14 | 13 | ||
15 | // For reading and writing acc. meter offsets. |
14 | // For reading and writing acc. meter offsets. |
16 | #include "eeprom.h" |
15 | #include "eeprom.h" |
17 | 16 | ||
18 | // For debugOut |
17 | // For debugOut |
19 | #include "output.h" |
18 | #include "output.h" |
20 | 19 | ||
21 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
20 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
22 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
21 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
23 | 22 | ||
24 | const char* recal = ", recalibration needed."; |
23 | const char* recal = ", recalibration needed."; |
25 | 24 | ||
26 | /* |
25 | /* |
27 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
26 | * 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. |
27 | * (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. |
28 | * 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 |
29 | * 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 |
30 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
32 | * the offsets with the DAC. |
31 | * the offsets with the DAC. |
33 | */ |
32 | */ |
34 | volatile uint16_t sensorInputs[8]; |
33 | volatile uint16_t sensorInputs[8]; |
35 | int16_t acc[3]; |
34 | //int16_t acc[3]; |
36 | int16_t filteredAcc[3] = { 0,0,0 }; |
35 | //int16_t filteredAcc[3] = { 0,0,0 }; |
37 | 36 | ||
38 | /* |
37 | /* |
39 | * These 4 exported variables are zero-offset. The "PID" ones are used |
38 | * 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 |
39 | * in the attitude control as rotation rates. The "ATT" ones are for |
41 | * integration to angles. |
40 | * integration to angles. |
42 | */ |
41 | */ |
43 | int16_t gyro_PID[2]; |
42 | int16_t gyro_PID[3]; |
44 | int16_t gyro_ATT[2]; |
43 | int16_t gyro_ATT[3]; |
45 | int16_t gyroD[2]; |
44 | int16_t gyroD[3]; |
46 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
45 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
47 | uint8_t gyroDWindowIdx = 0; |
46 | uint8_t gyroDWindowIdx = 0; |
48 | int16_t yawGyro; |
- | |
49 | int16_t magneticHeading; |
- | |
50 | - | ||
51 | int32_t groundPressure; |
- | |
52 | int16_t dHeight; |
47 | int16_t dHeight; |
53 | - | ||
54 | uint32_t gyroActivity; |
48 | uint32_t gyroActivity; |
55 | 49 | ||
56 | /* |
50 | /* |
57 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
51 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
58 | * standing still. They are used for adjusting the gyro and acc. meter values |
52 | * standing still. They are used for adjusting the gyro and acc. meter values |
59 | * to be centered on zero. |
53 | * to be centered on zero. |
60 | */ |
54 | */ |
61 | 55 | ||
62 | sensorOffset_t gyroOffset; |
56 | sensorOffset_t gyroOffset; |
63 | sensorOffset_t accOffset; |
57 | sensorOffset_t accOffset; |
64 | sensorOffset_t gyroAmplifierOffset; |
58 | sensorOffset_t gyroAmplifierOffset; |
65 | 59 | ||
66 | /* |
60 | /* |
67 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
61 | * 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 |
62 | * 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). |
63 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
70 | * Transform: |
64 | * Transform: |
71 | * pitch <- pp*pitch + pr*roll |
65 | * pitch <- pp*pitch + pr*roll |
72 | * roll <- rp*pitch + rr*roll |
66 | * roll <- rp*pitch + rr*roll |
73 | * Not reversed, GYRO_QUADRANT: |
67 | * Not reversed, GYRO_QUADRANT: |
74 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
68 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
75 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
69 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
76 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
70 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
77 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
71 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
78 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
72 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
79 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
73 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
80 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
74 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
81 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
75 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
82 | * Reversed, GYRO_QUADRANT: |
76 | * Reversed, GYRO_QUADRANT: |
83 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
77 | * 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 |
78 | * 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 |
79 | * 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 |
80 | * 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 |
81 | * 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 |
82 | * 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 |
83 | * 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 |
84 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
91 | */ |
85 | */ |
92 | 86 | ||
93 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
87 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reversePR, uint8_t reverseYaw) { |
94 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
88 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
95 | // Pitch to Pitch part |
89 | // Pitch to Pitch part |
96 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
90 | int8_t xx = reversePR ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
97 | // Roll to Pitch part |
91 | // Roll to Pitch part |
98 | int8_t xy = rotationTab[(quadrant+2)%8]; |
92 | int8_t xy = rotationTab[(quadrant+2)%8]; |
99 | // Pitch to Roll part |
93 | // Pitch to Roll part |
100 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
94 | int8_t yx = reversePR ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
101 | // Roll to Roll part |
95 | // Roll to Roll part |
102 | int8_t yy = rotationTab[quadrant]; |
96 | int8_t yy = rotationTab[quadrant]; |
103 | 97 | ||
104 | int16_t xIn = result[0]; |
98 | int16_t xIn = result[0]; |
105 | result[0] = xx*xIn + xy*result[1]; |
99 | result[0] = xx*xIn + xy*result[1]; |
106 | result[1] = yx*xIn + yy*result[1]; |
100 | result[1] = yx*xIn + yy*result[1]; |
107 | 101 | ||
108 | if (quadrant & 1) { |
102 | if (quadrant & 1) { |
109 | // A rotation was used above, where the factors were too large by sqrt(2). |
103 | // 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). |
104 | // 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 |
105 | // 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... |
106 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
113 | result[0] = (result[0]*11) >> 4; |
107 | result[0] = (result[0]*11) >> 4; |
114 | result[1] = (result[1]*11) >> 4; |
108 | result[1] = (result[1]*11) >> 4; |
115 | } |
109 | } |
- | 110 | ||
- | 111 | if (reverseYaw) |
|
- | 112 | result[3] =-result[3]; |
|
116 | } |
113 | } |
117 | 114 | ||
118 | /* |
115 | /* |
119 | * Air pressure |
116 | * Airspeed |
120 | */ |
117 | */ |
121 | volatile uint8_t rangewidth = 105; |
- | |
122 | - | ||
123 | // Direct from sensor, irrespective of range. |
- | |
124 | // volatile uint16_t rawAirPressure; |
- | |
125 | - | ||
126 | // Value of 2 samples, with range. |
- | |
127 | uint16_t simpleAirPressure; |
118 | uint16_t simpleAirPressure; |
128 | 119 | ||
129 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
120 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
130 | int32_t filteredAirPressure; |
121 | // int32_t filteredAirPressure; |
131 | - | ||
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 | 122 | ||
137 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
123 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
138 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
124 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
139 | int32_t windowedAirPressure; |
125 | int32_t windowedAirPressure; |
140 | uint8_t windowPtr = 0; |
126 | uint8_t windowPtr = 0; |
141 | 127 | ||
142 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
128 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
143 | int32_t airPressureSum; |
129 | int32_t airPressureSum; |
144 | 130 | ||
145 | // The number of samples summed into airPressureSum so far. |
131 | // The number of samples summed into airPressureSum so far. |
146 | uint8_t pressureMeasurementCount; |
132 | uint8_t pressureMeasurementCount; |
- | 133 | ||
147 | 134 | ||
148 | /* |
135 | /* |
149 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
136 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
150 | * That is divided by 3 below, for a final 10.34 per volt. |
137 | * That is divided by 3 below, for a final 10.34 per volt. |
151 | * So the initial value of 100 is for 9.7 volts. |
138 | * So the initial value of 100 is for 9.7 volts. |
152 | */ |
139 | */ |
153 | int16_t UBat = 100; |
140 | int16_t UBat = 100; |
154 | 141 | ||
155 | /* |
142 | /* |
156 | * Control and status. |
143 | * Control and status. |
157 | */ |
144 | */ |
158 | volatile uint8_t analogDataReady = 1; |
145 | volatile uint8_t analogDataReady = 1; |
159 | 146 | ||
160 | /* |
147 | /* |
161 | * Experiment: Measuring vibration-induced sensor noise. |
148 | * Experiment: Measuring vibration-induced sensor noise. |
162 | */ |
149 | */ |
163 | uint16_t gyroNoisePeak[3]; |
150 | uint16_t gyroNoisePeak[3]; |
164 | uint16_t accNoisePeak[3]; |
- | |
165 | 151 | ||
166 | volatile uint8_t adState; |
152 | volatile uint8_t adState; |
167 | volatile uint8_t adChannel; |
153 | volatile uint8_t adChannel; |
168 | 154 | ||
169 | // ADC channels |
155 | // ADC channels |
170 | #define AD_GYRO_YAW 0 |
156 | #define AD_GYRO_YAW 0 |
171 | #define AD_GYRO_ROLL 1 |
157 | #define AD_GYRO_ROLL 1 |
172 | #define AD_GYRO_PITCH 2 |
158 | #define AD_GYRO_PITCH 2 |
173 | #define AD_AIRPRESSURE 3 |
159 | #define AD_AIRPRESSURE 3 |
174 | #define AD_UBAT 4 |
160 | #define AD_UBAT 4 |
175 | #define AD_ACC_Z 5 |
161 | #define AD_ACC_Z 5 |
176 | #define AD_ACC_ROLL 6 |
162 | #define AD_ACC_ROLL 6 |
177 | #define AD_ACC_PITCH 7 |
163 | #define AD_ACC_PITCH 7 |
178 | 164 | ||
179 | /* |
165 | /* |
180 | * Table of AD converter inputs for each state. |
166 | * Table of AD converter inputs for each state. |
181 | * The number of samples summed for each channel is equal to |
167 | * The number of samples summed for each channel is equal to |
182 | * the number of times the channel appears in the array. |
168 | * the number of times the channel appears in the array. |
183 | * The max. number of samples that can be taken in 2 ms is: |
169 | * The max. number of samples that can be taken in 2 ms is: |
184 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
170 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
185 | * loop needs a little time between reading AD values and |
171 | * loop needs a little time between reading AD values and |
186 | * re-enabling ADC, the real limit is (how much?) lower. |
172 | * re-enabling ADC, the real limit is (how much?) lower. |
187 | * The acc. sensor is sampled even if not used - or installed |
173 | * The acc. sensor is sampled even if not used - or installed |
188 | * at all. The cost is not significant. |
174 | * at all. The cost is not significant. |
189 | */ |
175 | */ |
190 | 176 | ||
191 | const uint8_t channelsForStates[] PROGMEM = { |
177 | const uint8_t channelsForStates[] PROGMEM = { |
192 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
178 | AD_GYRO_PITCH, |
- | 179 | AD_GYRO_ROLL, |
|
- | 180 | AD_GYRO_YAW, |
|
- | 181 | ||
193 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
182 | AD_AIRPRESSURE, |
- | 183 | ||
- | 184 | AD_GYRO_PITCH, |
|
- | 185 | AD_GYRO_ROLL, |
|
- | 186 | AD_GYRO_YAW, |
|
- | 187 | ||
- | 188 | AD_UBAT, |
|
194 | 189 | ||
195 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
190 | AD_GYRO_PITCH, |
- | 191 | AD_GYRO_ROLL, |
|
196 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
- | |
197 | - | ||
198 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
192 | AD_GYRO_YAW, |
199 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
193 | |
200 | AD_AIRPRESSURE, // at 14, finish air pressure. |
194 | AD_AIRPRESSURE, |
201 | 195 | ||
202 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
196 | AD_GYRO_PITCH, |
203 | AD_GYRO_ROLL, // at 16, finish roll gyro |
197 | AD_GYRO_ROLL, |
204 | AD_UBAT // at 17, measure battery. |
198 | AD_GYRO_YAW |
205 | }; |
199 | }; |
206 | 200 | ||
207 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
201 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
208 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
202 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
209 | 203 | ||
210 | void analog_init(void) { |
204 | void analog_init(void) { |
211 | uint8_t sreg = SREG; |
205 | uint8_t sreg = SREG; |
212 | // disable all interrupts before reconfiguration |
206 | // disable all interrupts before reconfiguration |
213 | cli(); |
207 | cli(); |
214 | 208 | ||
215 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
209 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
216 | DDRA = 0x00; |
210 | DDRA = 0x00; |
217 | PORTA = 0x00; |
211 | PORTA = 0x00; |
218 | // Digital Input Disable Register 0 |
212 | // Digital Input Disable Register 0 |
219 | // Disable digital input buffer for analog adc_channel pins |
213 | // Disable digital input buffer for analog adc_channel pins |
220 | DIDR0 = 0xFF; |
214 | DIDR0 = 0xFF; |
221 | // external reference, adjust data to the right |
215 | // external reference, adjust data to the right |
222 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
216 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
223 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
217 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
224 | ADMUX = (ADMUX & 0xE0); |
218 | ADMUX = (ADMUX & 0xE0); |
225 | //Set ADC Control and Status Register A |
219 | //Set ADC Control and Status Register A |
226 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
220 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
227 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
221 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
228 | //Set ADC Control and Status Register B |
222 | //Set ADC Control and Status Register B |
229 | //Trigger Source to Free Running Mode |
223 | //Trigger Source to Free Running Mode |
230 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
224 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
231 | 225 | ||
232 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
226 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
233 | airPressureWindow[i] = 0; |
227 | airPressureWindow[i] = 0; |
234 | } |
228 | } |
235 | windowedAirPressure = 0; |
229 | windowedAirPressure = 0; |
236 | 230 | ||
237 | startAnalogConversionCycle(); |
231 | startAnalogConversionCycle(); |
238 | 232 | ||
239 | // restore global interrupt flags |
233 | // restore global interrupt flags |
240 | SREG = sreg; |
234 | SREG = sreg; |
241 | } |
235 | } |
242 | 236 | ||
243 | uint16_t rawGyroValue(uint8_t axis) { |
237 | uint16_t rawGyroValue(uint8_t axis) { |
244 | return sensorInputs[AD_GYRO_PITCH-axis]; |
238 | return sensorInputs[AD_GYRO_PITCH-axis]; |
245 | } |
239 | } |
- | 240 | ||
246 | 241 | /* |
|
247 | uint16_t rawAccValue(uint8_t axis) { |
242 | uint16_t rawAccValue(uint8_t axis) { |
248 | return sensorInputs[AD_ACC_PITCH-axis]; |
243 | return sensorInputs[AD_ACC_PITCH-axis]; |
249 | } |
244 | } |
- | 245 | */ |
|
250 | 246 | ||
251 | void measureNoise(const int16_t sensor, |
247 | void measureNoise(const int16_t sensor, |
252 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
248 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
253 | if (sensor > (int16_t) (*noiseMeasurement)) { |
249 | if (sensor > (int16_t) (*noiseMeasurement)) { |
254 | *noiseMeasurement = sensor; |
250 | *noiseMeasurement = sensor; |
255 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
251 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
256 | *noiseMeasurement = -sensor; |
252 | *noiseMeasurement = -sensor; |
257 | } else if (*noiseMeasurement > damping) { |
253 | } else if (*noiseMeasurement > damping) { |
258 | *noiseMeasurement -= damping; |
254 | *noiseMeasurement -= damping; |
259 | } else { |
255 | } else { |
260 | *noiseMeasurement = 0; |
256 | *noiseMeasurement = 0; |
261 | } |
257 | } |
262 | } |
258 | } |
263 | 259 | ||
264 | /* |
260 | /* |
265 | * Min.: 0 |
261 | * Min.: 0 |
266 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
262 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
267 | */ |
263 | */ |
268 | uint16_t getSimplePressure(int advalue) { |
264 | uint16_t getSimplePressure(int advalue) { |
269 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
- | |
270 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
- | |
271 | return result; |
265 | return advalue; |
272 | } |
266 | } |
273 | 267 | ||
274 | void startAnalogConversionCycle(void) { |
268 | void startAnalogConversionCycle(void) { |
275 | analogDataReady = 0; |
269 | analogDataReady = 0; |
276 | 270 | ||
277 | // Stop the sampling. Cycle is over. |
271 | // Stop the sampling. Cycle is over. |
278 | for (uint8_t i = 0; i < 8; i++) { |
272 | for (uint8_t i = 0; i < 8; i++) { |
279 | sensorInputs[i] = 0; |
273 | sensorInputs[i] = 0; |
280 | } |
274 | } |
281 | adState = 0; |
275 | adState = 0; |
282 | adChannel = AD_GYRO_PITCH; |
276 | adChannel = AD_GYRO_PITCH; |
283 | ADMUX = (ADMUX & 0xE0) | adChannel; |
277 | ADMUX = (ADMUX & 0xE0) | adChannel; |
284 | startADC(); |
278 | startADC(); |
285 | } |
279 | } |
286 | 280 | ||
287 | /***************************************************** |
281 | /***************************************************** |
288 | * Interrupt Service Routine for ADC |
282 | * Interrupt Service Routine for ADC |
289 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
283 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
290 | * processed further conversions are stopped. |
284 | * processed further conversions are stopped. |
291 | *****************************************************/ |
285 | *****************************************************/ |
292 | ISR(ADC_vect) { |
286 | ISR(ADC_vect) { |
293 | sensorInputs[adChannel] += ADC; |
287 | sensorInputs[adChannel] += ADC; |
294 | // set up for next state. |
288 | // set up for next state. |
295 | adState++; |
289 | adState++; |
296 | if (adState < sizeof(channelsForStates)) { |
290 | if (adState < sizeof(channelsForStates)) { |
297 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
291 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
298 | // set adc muxer to next adChannel |
292 | // set adc muxer to next adChannel |
299 | ADMUX = (ADMUX & 0xE0) | adChannel; |
293 | ADMUX = (ADMUX & 0xE0) | adChannel; |
300 | // after full cycle stop further interrupts |
294 | // after full cycle stop further interrupts |
301 | startADC(); |
295 | startADC(); |
302 | } else { |
296 | } else { |
303 | analogDataReady = 1; |
297 | analogDataReady = 1; |
304 | // do not restart ADC converter. |
298 | // do not restart ADC converter. |
305 | } |
299 | } |
306 | } |
300 | } |
- | 301 | ||
307 | 302 | /* |
|
308 | void measureGyroActivity(int16_t newValue) { |
303 | void measureGyroActivity(int16_t newValue) { |
309 | gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
304 | gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
310 | } |
305 | } |
311 | 306 | ||
312 | #define GADAMPING 6 |
307 | #define GADAMPING 6 |
313 | void dampenGyroActivity(void) { |
308 | void dampenGyroActivity(void) { |
314 | static uint8_t cnt = 0; |
309 | static uint8_t cnt = 0; |
315 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
310 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
316 | cnt = 0; |
311 | cnt = 0; |
317 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
312 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
318 | gyroActivity >>= GADAMPING; |
313 | gyroActivity >>= GADAMPING; |
319 | } |
314 | } |
320 | } |
315 | } |
321 | /* |
- | |
322 | void dampenGyroActivity(void) { |
- | |
323 | if (gyroActivity >= 2000) { |
- | |
324 | gyroActivity -= 2000; |
- | |
325 | } |
- | |
326 | } |
- | |
327 | */ |
316 | */ |
328 | 317 | ||
329 | void analog_updateGyros(void) { |
318 | void analog_updateGyros(void) { |
330 | // for various filters... |
319 | // for various filters... |
331 | int16_t tempOffsetGyro[2], tempGyro; |
320 | int16_t tempOffsetGyro[3], tempGyro; |
332 | 321 | ||
333 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
322 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
334 | for (uint8_t axis=0; axis<2; axis++) { |
323 | for (uint8_t axis=0; axis<3; axis++) { |
335 | tempGyro = rawGyroValue(axis); |
324 | tempGyro = rawGyroValue(axis); |
336 | /* |
325 | /* |
337 | * Process the gyro data for the PID controller. |
326 | * Process the gyro data for the PID controller. |
338 | */ |
327 | */ |
339 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
328 | // 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. |
329 | // gyro with a wider range, and helps counter saturation at full control. |
341 | 330 | ||
342 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
331 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
343 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
332 | if (tempGyro < SENSOR_MIN) { |
344 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
333 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
345 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
334 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
346 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
335 | } else if (tempGyro > SENSOR_MAX) { |
347 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
336 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
348 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
337 | tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
349 | } |
338 | } |
350 | } |
339 | } |
351 | 340 | ||
352 | // 2) Apply sign and offset, scale before filtering. |
341 | // 2) Apply sign and offset, scale before filtering. |
353 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
342 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
354 | } |
343 | } |
355 | 344 | ||
356 | // 2.1: Transform axes. |
345 | // 2.1: Transform axes. |
357 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
346 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
358 | 347 | ||
359 | for (uint8_t axis=0; axis<2; axis++) { |
348 | for (uint8_t axis=0; axis<3; axis++) { |
360 | // 3) Filter. |
349 | // 3) Filter. |
361 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
350 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
362 | 351 | ||
363 | // 4) Measure noise. |
352 | // 4) Measure noise. |
364 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
353 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
365 | 354 | ||
366 | // 5) Differential measurement. |
355 | // 5) Differential measurement. |
367 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
356 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
368 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
357 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
369 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
358 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
370 | gyroD[axis] += diff; |
359 | gyroD[axis] += diff; |
371 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
360 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
372 | 361 | ||
373 | // 6) Done. |
362 | // 6) Done. |
374 | gyro_PID[axis] = tempOffsetGyro[axis]; |
363 | gyro_PID[axis] = tempOffsetGyro[axis]; |
375 | 364 | ||
376 | // Prepare tempOffsetGyro for next calculation below... |
365 | // Prepare tempOffsetGyro for next calculation below... |
377 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
366 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
378 | } |
367 | } |
379 | 368 | ||
380 | /* |
369 | /* |
381 | * Now process the data for attitude angles. |
370 | * Now process the data for attitude angles. |
382 | */ |
371 | */ |
383 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
372 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
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 | 373 | ||
406 | // diff -= yawGyro; |
374 | // dampenGyroActivity(); |
407 | // gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
- | |
408 | // gyroD[YAW] += diff; |
375 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
- | 376 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
|
409 | // gyroDWindow[YAW][gyroDWindowIdx] = diff; |
377 | |
- | 378 | /* |
|
410 | 379 | measureGyroActivity(gyroD[PITCH]); |
|
- | 380 | measureGyroActivity(gyroD[ROLL]); |
|
411 | // gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
381 | measureGyroActivity(yawGyro); |
412 | measureGyroActivity(yawGyro); |
382 | */ |
413 | 383 | ||
414 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
384 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
415 | gyroDWindowIdx = 0; |
385 | gyroDWindowIdx = 0; |
416 | } |
386 | } |
417 | } |
387 | } |
418 | - | ||
419 | void analog_updateAccelerometers(void) { |
- | |
420 | // Pitch and roll axis accelerations. |
- | |
421 | for (uint8_t axis=0; axis<2; axis++) { |
- | |
422 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
- | |
423 | } |
- | |
424 | - | ||
425 | rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
- | |
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 | 388 | ||
440 | void analog_updateAirPressure(void) { |
- | |
441 | static uint16_t pressureAutorangingWait = 25; |
- | |
442 | uint16_t rawAirPressure; |
- | |
443 | int16_t newrange; |
- | |
444 | // air pressure |
- | |
445 | if (pressureAutorangingWait) { |
- | |
446 | //A range switch was done recently. Wait for steadying. |
- | |
447 | pressureAutorangingWait--; |
- | |
448 | } else { |
389 | void analog_updateAirPressure(void) { |
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) { |
- | |
467 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
- | |
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; |
390 | uint16_t rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
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; |
- | |
535 | } |
- | |
536 | } |
391 | simpleAirPressure = rawAirPressure; |
537 | } |
392 | } |
538 | 393 | ||
539 | void analog_updateBatteryVoltage(void) { |
394 | void analog_updateBatteryVoltage(void) { |
540 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
395 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
541 | // This is divided by 3 --> 10.34 counts per volt. |
396 | // This is divided by 3 --> 10.34 counts per volt. |
542 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
397 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
543 | } |
398 | } |
544 | 399 | ||
545 | void analog_update(void) { |
400 | void analog_update(void) { |
546 | analog_updateGyros(); |
401 | analog_updateGyros(); |
547 | analog_updateAccelerometers(); |
402 | // analog_updateAccelerometers(); |
548 | analog_updateAirPressure(); |
403 | analog_updateAirPressure(); |
549 | analog_updateBatteryVoltage(); |
404 | analog_updateBatteryVoltage(); |
550 | #ifdef USE_MK3MAG |
405 | #ifdef USE_MK3MAG |
551 | magneticHeading = volatileMagneticHeading; |
406 | magneticHeading = volatileMagneticHeading; |
552 | #endif |
407 | #endif |
- | 408 | ||
553 | } |
409 | } |
554 | 410 | ||
555 | void analog_setNeutral() { |
411 | void analog_setNeutral() { |
556 | gyro_init(); |
412 | gyro_init(); |
557 | 413 | ||
558 | if (gyroOffset_readFromEEProm()) { |
414 | if (gyroOffset_readFromEEProm()) { |
559 | printf("gyro offsets invalid%s",recal); |
415 | printf("gyro offsets invalid%s",recal); |
560 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
416 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
561 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
417 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
562 | } |
418 | } |
563 | 419 | ||
- | 420 | /* |
|
564 | if (accOffset_readFromEEProm()) { |
421 | if (accOffset_readFromEEProm()) { |
565 | printf("acc. meter offsets invalid%s",recal); |
422 | printf("acc. meter offsets invalid%s",recal); |
566 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
423 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
567 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
424 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
568 | } |
425 | } |
- | 426 | */ |
|
569 | 427 | ||
570 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
428 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
571 | for (uint8_t i=PITCH; i<=ROLL; i++) { |
429 | for (uint8_t i=PITCH; i<=YAW; i++) { |
572 | gyroNoisePeak[i] = 0; |
- | |
573 | accNoisePeak[i] = 0; |
430 | gyroNoisePeak[i] = 0; |
574 | gyroD[i] = 0; |
431 | gyroD[i] = 0; |
575 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
432 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
576 | gyroDWindow[i][j] = 0; |
433 | gyroDWindow[i][j] = 0; |
577 | } |
434 | } |
578 | } |
435 | } |
579 | // Setting offset values has an influence in the analog.c ISR |
436 | // Setting offset values has an influence in the analog.c ISR |
580 | // Therefore run measurement for 100ms to achive stable readings |
437 | // Therefore run measurement for 100ms to achive stable readings |
581 | delay_ms_with_adc_measurement(100, 0); |
438 | delay_ms_with_adc_measurement(100, 0); |
582 | 439 | ||
583 | gyroActivity = 0; |
440 | gyroActivity = 0; |
584 | } |
441 | } |
585 | 442 | ||
586 | void analog_calibrateGyros(void) { |
443 | void analog_calibrateGyros(void) { |
587 | #define GYRO_OFFSET_CYCLES 32 |
444 | #define GYRO_OFFSET_CYCLES 32 |
588 | uint8_t i, axis; |
445 | uint8_t i, axis; |
589 | int32_t offsets[3] = { 0, 0, 0 }; |
446 | int32_t offsets[3] = { 0, 0, 0 }; |
590 | gyro_calibrate(); |
447 | gyro_calibrate(); |
591 | 448 | ||
592 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
449 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
593 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
450 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
594 | delay_ms_with_adc_measurement(10, 1); |
451 | delay_ms_with_adc_measurement(10, 1); |
595 | for (axis = PITCH; axis <= YAW; axis++) { |
452 | for (axis = PITCH; axis <= YAW; axis++) { |
596 | offsets[axis] += rawGyroValue(axis); |
453 | offsets[axis] += rawGyroValue(axis); |
597 | } |
454 | } |
598 | } |
455 | } |
599 | 456 | ||
600 | for (axis = PITCH; axis <= YAW; axis++) { |
457 | for (axis = PITCH; axis <= YAW; axis++) { |
601 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
458 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
602 | 459 | ||
603 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
460 | int16_t min = (512-200) * GYRO_OVERSAMPLING; |
604 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
461 | int16_t max = (512+200) * GYRO_OVERSAMPLING; |
605 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
462 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
606 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
463 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
607 | } |
464 | } |
608 | 465 | ||
609 | gyroOffset_writeToEEProm(); |
466 | gyroOffset_writeToEEProm(); |
610 | startAnalogConversionCycle(); |
467 | startAnalogConversionCycle(); |
611 | } |
468 | } |
612 | - | ||
613 | /* |
- | |
614 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
- | |
615 | * Does not (!} update the local variables. This must be done with a |
- | |
616 | * call to analog_calibrate() - this always (?) is done by the caller |
- | |
617 | * anyway. There would be nothing wrong with updating the variables |
- | |
618 | * directly from here, though. |
- | |
619 | */ |
- | |
620 | void analog_calibrateAcc(void) { |
- | |
621 | #define ACC_OFFSET_CYCLES 32 |
- | |
622 | uint8_t i, axis; |
- | |
623 | int32_t offsets[3] = { 0, 0, 0 }; |
- | |
624 | - | ||
625 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
- | |
626 | delay_ms_with_adc_measurement(10, 1); |
- | |
627 | for (axis = PITCH; axis <= YAW; axis++) { |
- | |
628 | offsets[axis] += rawAccValue(axis); |
- | |
629 | } |
- | |
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 | } |
- | |
652 | } |
- | |
653 | - | ||
654 | accOffset_writeToEEProm(); |
- | |
655 | startAnalogConversionCycle(); |
- | |
656 | } |
- | |
657 | - | ||
658 | void analog_setGround() { |
- | |
659 | groundPressure = filteredAirPressure; |
- | |
660 | } |
- | |
661 | - | ||
662 | int32_t analog_getHeight(void) { |
- | |
663 | return groundPressure - filteredAirPressure; |
- | |
664 | } |
- | |
665 | - | ||
666 | int16_t analog_getDHeight(void) { |
- | |
667 | /* |
- | |
668 | int16_t result = 0; |
- | |
669 | for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
- | |
670 | result -= dAirPressureWindow[i]; // minus pressure is plus height. |
- | |
671 | } |
- | |
672 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
- | |
673 | return result; |
- | |
674 | */ |
- | |
675 | return dHeight; |
- | |
676 | } |
- | |
677 | 469 |