WebSVN - FlightCtrl - Diff - Rev 1645 and 1646 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
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#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include "analog.h"
 
#include "sensors.h"
 
// for Delay functions
#include "timer0.h"
 
// For DebugOut
#include "uart0.h"
 
// For reading and writing acc. meter offsets.
#include "eeprom.h"
 
/*
 * For each A/D conversion cycle, each analog channel is sampled a number of times
 * (see array channelsForStates), and the results for each channel are summed.
 * Here are those for the gyros and the acc. meters. They are not zero-offset.
 * They are exported in the analog.h file - but please do not use them! The only
 * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
 * the offsets with the DAC.
 */
volatile int16_t rawGyroSum[3];
volatile int16_t acc[3];
volatile int16_t filteredAcc[2]={0,0};
 
/*
 * These 4 exported variables are zero-offset. The "PID" ones are used
 * in the attitude control as rotation rates. The "ATT" ones are for
 * integration to angles.
 */
volatile int16_t gyro_PID[2];
volatile int16_t gyro_ATT[2];
volatile int16_t gyroD[2];
volatile int16_t yawGyro;
 
/*
 * Offset values. These are the raw gyro and acc. meter sums when the copter is
 * standing still. They are used for adjusting the gyro and acc. meter values
 * to be centered on zero.
 */
volatile int16_t gyroOffset[3] = {
        512 * GYRO_SUMMATION_FACTOR_PITCHROLL,
        512 * GYRO_SUMMATION_FACTOR_PITCHROLL,
        512 * GYRO_SUMMATION_FACTOR_YAW
};
 
volatile int16_t accOffset[3] = {
        512 * ACC_SUMMATION_FACTOR_PITCHROLL,
        512 * ACC_SUMMATION_FACTOR_PITCHROLL,
        512 * ACC_SUMMATION_FACTOR_Z
};
 
/*
 * This allows some experimentation with the gyro filters.
 * Should be replaced by #define's later on...
 */
volatile uint8_t GYROS_PID_FILTER;
volatile uint8_t GYROS_ATT_FILTER;
volatile uint8_t GYROS_D_FILTER;
volatile uint8_t ACC_FILTER;
 
/*
 * Air pressure measurement.
 */
#define MIN_RAWPRESSURE 200
#define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE)
volatile uint8_t rangewidth = 53;
volatile uint16_t rawAirPressure;
volatile uint16_t filteredAirPressure;
 
/*
 * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
 * That is divided by 3 below, for a final 10.34 per volt.
 * So the initial value of 100 is for 9.7 volts.
 */
volatile int16_t UBat = 100;
 
/*
 * Control and status.
 */
volatile uint16_t ADCycleCount = 0;
volatile uint8_t analogDataReady = 1;
 
/*
 * Experiment: Measuring vibration-induced sensor noise.
 */
volatile uint16_t gyroNoisePeak[2];
volatile uint16_t accNoisePeak[2];
 
// ADC channels
#define AD_GYRO_YAW       0
#define AD_GYRO_ROLL      1
#define AD_GYRO_PITCH     2
#define AD_AIRPRESSURE    3
#define AD_UBAT           4
#define AD_ACC_Z          5
#define AD_ACC_ROLL       6
#define AD_ACC_PITCH      7
 
/*
 * Table of AD converter inputs for each state.
 * The number of samples summed for each channel is equal to
 * the number of times the channel appears in the array.
 * The max. number of samples that can be taken in 2 ms is:
 * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control
 * loop needs a little time between reading AD values and
 * re-enabling ADC, the real limit is (how much?) lower.
 * The acc. sensor is sampled even if not used - or installed
 * at all. The cost is not significant.
 */
 
const uint8_t channelsForStates[] PROGMEM = {
  AD_GYRO_PITCH,
  AD_GYRO_ROLL,
  AD_GYRO_YAW,
 
  AD_ACC_PITCH,
  AD_ACC_ROLL,
  // AD_AIRPRESSURE,
 
  AD_GYRO_PITCH,
  AD_GYRO_ROLL,
  AD_ACC_Z,       // at 7, measure Z acc.
 
  AD_GYRO_PITCH,
  AD_GYRO_ROLL,
  AD_GYRO_YAW,    // at 10, finish yaw gyro
 
  AD_ACC_PITCH,   // at 11, finish pitch axis acc.
  AD_ACC_ROLL,    // at 12, finish roll axis acc.
  AD_AIRPRESSURE, // at 13, finish air pressure.
 
  AD_GYRO_PITCH,  // at 14, finish pitch gyro
  AD_GYRO_ROLL,   // at 15, finish roll gyro
  AD_UBAT         // at 16, measure battery.
};
 
// Feature removed. Could be reintroduced later - but should work for all gyro types then.
// uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
 
void analog_init(void) {
  uint8_t sreg = SREG;
  // disable all interrupts before reconfiguration
  cli();
 
  //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
  DDRA = 0x00;
  PORTA = 0x00;
  // Digital Input Disable Register 0
  // Disable digital input buffer for analog adc_channel pins
  DIDR0 = 0xFF;
  // external reference, adjust data to the right
  ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR));
  // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
  ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;
  //Set ADC Control and Status Register A
  //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
  ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE);
  //Set ADC Control and Status Register B
  //Trigger Source to Free Running Mode
  ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0));
  // Start AD conversion
  analog_start();
  // restore global interrupt flags
  SREG = sreg;
}
 
void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
  if (sensor > (int16_t)(*noiseMeasurement)) {
    *noiseMeasurement = sensor;
  } else if (-sensor > (int16_t)(*noiseMeasurement)) {
    *noiseMeasurement = -sensor;
  } else if (*noiseMeasurement > damping) {
    *noiseMeasurement -= damping;
  } else {
    *noiseMeasurement = 0;
  }
}
 
uint16_t getAbsPressure(int advalue) {
  return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue;
}
 
uint16_t filterAirPressure(uint16_t rawpressure) {
  return rawpressure;
}
 
/*****************************************************
 * Interrupt Service Routine for ADC            
 * Runs at 312.5 kHz or 3.2 µs. When all states are
 * processed the interrupt is disabled and further
 * AD conversions are stopped.
 *****************************************************/
ISR(ADC_vect) {
  static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
  static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0};
  static uint8_t pressure_wait = 10;
  uint8_t i, axis;
  int16_t range;
 
  // for various filters...
  int16_t tempOffsetGyro, tempGyro;
 
  sensorInputs[ad_channel] += ADC;
 
  /*
   * Actually we don't need this "switch". We could do all the sampling into the
   * sensorInputs array first, and all the processing after the last sample.
   */
  switch(state++) {
  case 7: // Z acc      
  if (ACC_REVERSED[Z])
    acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
  else
    acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
 
  break;
   
  case 10: // yaw gyro
    rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
    if (GYRO_REVERSED[YAW])
      yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
    else
 
      yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
    break;
   
  case 11: // pitch axis acc.
    if (ACC_REVERSED[PITCH])
      acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];
    else
      acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];
 
 
 
    filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER;
    measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);
    break;
   
  case 12: // roll axis acc.
    if (ACC_REVERSED[ROLL])
      acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];
    else
      acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];
 
    filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER;
    measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);
    break;
 
  case 13: // air pressure
    if (pressure_wait) {
      // A range switch was done recently. Wait for steadying.
      pressure_wait--;
      break;
    }
    range = OCR0A;
    rawAirPressure = sensorInputs[AD_AIRPRESSURE];
    if (rawAirPressure < MIN_RAWPRESSURE) {
      // value is too low, so decrease voltage on the op amp minus input, making the value higher.
      range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1;
      if (range < 0) range = 0;
      pressure_wait = (OCR0A - range) * 4;
      OCR0A = range;
    } else if (rawAirPressure > MAX_RAWPRESSURE) {
      // value is too high, so increase voltage on the op amp minus input, making the value lower.
      range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1;
      if (range > 254) range = 254;
      pressure_wait = (range - OCR0A) * 4;
      OCR0A = range;
    } else {
      filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure));
    }
   
    DebugOut.Analog[13] = range;
    DebugOut.Analog[14] = rawAirPressure;
    DebugOut.Analog[15] = filteredAirPressure;
    break;
 
  case 14:
  case 15: // pitch or roll gyro.
    axis = state - 15;
    tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];
        // DebugOut.Analog[6 + 3 * axis ] = tempGyro;
    /*
     * Process the gyro data for the PID controller.
     */
    // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
    //    gyro with a wider range, and helps counter saturation at full control.
 
    if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
      if (tempGyro < SENSOR_MIN_PITCHROLL) {
        tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
      }
      else if (tempGyro > SENSOR_MAX_PITCHROLL) {
        tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL;
      }
    }
 
    // 2) Apply sign and offset, scale before filtering.
    if (GYRO_REVERSED[axis]) {
      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
    } else {
      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
    }
 
    // 3) Scale and filter.
    tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER;
 
    // 4) Measure noise.
    measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
 
    // 5) Differential measurement. 
    gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER;
 
    // 6) Done.
    gyro_PID[axis] = tempOffsetGyro;
 
    /*
     * Now process the data for attitude angles.
     */
    tempGyro = rawGyroSum[axis];
   
    // 1) Apply sign and offset, scale before filtering.
    if (GYRO_REVERSED[axis]) {
      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
    } else {
      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
    }
   
    // 2) Filter.
    gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER;
    break;
   
  case 16:
    // battery
    UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
    analogDataReady = 1; // mark
    ADCycleCount++;
    // Stop the sampling. Cycle is over.
    state = 0;
    for (i=0; i<8; i++) {
      sensorInputs[i] = 0;
    }
    break;
  default: {} // do nothing.
  }
 
  // set up for next state.
  ad_channel = pgm_read_byte(&channelsForStates[state]);
  // ad_channel = channelsForStates[state];
     
  // set adc muxer to next ad_channel
  ADMUX = (ADMUX & 0xE0) | ad_channel;
  // after full cycle stop further interrupts
  if(state) analog_start();
}
 
void analog_calibrate(void) {
#define GYRO_OFFSET_CYCLES 32
  uint8_t i, axis;
  int32_t deltaOffsets[3] = {0,0,0};
  int16_t filteredDelta;
 
  // Set the filters... to be removed again, once some good settings are found.
  GYROS_PID_FILTER = (dynamicParams.UserParams[4]   & 0b00000011)       + 1;
  GYROS_ATT_FILTER = ((dynamicParams.UserParams[4]  & 0b00001100) >> 2) + 1;
  GYROS_D_FILTER = ((dynamicParams.UserParams[4]    & 0b00110000) >> 4) + 1;
 
 
  ACC_FILTER = ((dynamicParams.UserParams[4]        & 0b11000000) >> 6) + 1;
 
  gyro_calibrate();
 
  // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
  for(i=0; i < GYRO_OFFSET_CYCLES; i++) {
    Delay_ms_Mess(10);
    for (axis=0; axis<=YAW; axis++) {
      deltaOffsets[axis] += rawGyroSum[axis] - gyroOffset[axis];
    }
  }
 
  for (axis=0; axis<=YAW; axis++) {
    filteredDelta = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
    gyroOffset[axis] += filteredDelta;
  }
 
 
 
  // Noise is relative to offset. So, reset noise measurements when changing offsets.
 
  gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
 
  accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
  accOffset[ROLL]  = GetParamWord(PID_ACC_ROLL);
  accOffset[Z]     = GetParamWord(PID_ACC_Z);
 
  Delay_ms_Mess(100);
}
 
/*
 * Find acc. offsets for a neutral reading, and write them to EEPROM.
 * Does not (!} update the local variables. This must be done with a
 * call to analog_calibrate() - this always (?) is done by the caller
 * anyway. There would be nothing wrong with updating the variables
 * directly from here, though.
 */
void analog_calibrateAcc(void) {
#define ACC_OFFSET_CYCLES 10
  uint8_t i, axis;
  int32_t deltaOffset[3] = {0,0,0};
  int16_t filteredDelta;
  // int16_t pressureDiff, savedRawAirPressure;
 
 
 
  for(i=0; i < ACC_OFFSET_CYCLES; i++) {
    Delay_ms_Mess(10);
    for (axis=0; axis<=YAW; axis++) {
          deltaOffset[axis] += acc[axis];
        }
  }
 
  for (axis=0; axis<=YAW; axis++) {
    filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES;
    accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
  }
 
  // Save ACC neutral settings to eeprom
  SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
  SetParamWord(PID_ACC_ROLL,  accOffset[ROLL]);
  SetParamWord(PID_ACC_Z,     accOffset[Z]);
 
  // Noise is relative to offset. So, reset noise measurements when
  // changing offsets.
  accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
 
  // Setting offset values has an influence in the analog.c ISR
  // Therefore run measurement for 100ms to achive stable readings
  Delay_ms_Mess(100);
 
  // Set the feedback so that air pressure ends up in the middle of the range.
  // (raw pressure high --> OCR0A also high...)
  // OCR0A += (rawAirPressure - 512) / rangewidth;
  // Delay_ms_Mess(500);
 
  /*
    pressureDiff = 0;
    DebugOut.Analog[16] = rawAirPressure;
 
    #define PRESSURE_CAL_CYCLE_COUNT 2
    for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
    savedRawAirPressure = rawAirPressure;
    OCR0A++;
    Delay_ms_Mess(200);
    // raw pressure will decrease.
    pressureDiff += (savedRawAirPressure - rawAirPressure);
 
    savedRawAirPressure = rawAirPressure;
    OCR0A--;
    Delay_ms_Mess(200);
    // raw pressure will increase.
    pressureDiff += (rawAirPressure - savedRawAirPressure);
    }
 
    DebugOut.Analog[16] = rangewidth =
    (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2);
  */
}
 

Rev 1645	Rev 1646
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt werden	18	// + eindeutig als Ursprung verlinkt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49	// + POSSIBILITY OF SUCH DAMAGE.	49	// + POSSIBILITY OF SUCH DAMAGE.
50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51	#include <avr/io.h>	51	#include <avr/io.h>
52	#include <avr/interrupt.h>	52	#include <avr/interrupt.h>
53	#include <avr/pgmspace.h>	53	#include <avr/pgmspace.h>
54	#include "analog.h"	54	#include "analog.h"
55		55
56	#include "sensors.h"	56	#include "sensors.h"
57		57
58	// for Delay functions	58	// for Delay functions
59	#include "timer0.h"	59	#include "timer0.h"
60		60
61	// For DebugOut	61	// For DebugOut
62	#include "uart0.h"	62	#include "uart0.h"
63		63
64	// For reading and writing acc. meter offsets.	64	// For reading and writing acc. meter offsets.
65	#include "eeprom.h"	65	#include "eeprom.h"
66		66
67	/*	67	/*
68	* For each A/D conversion cycle, each analog channel is sampled a number of times	68	* For each A/D conversion cycle, each analog channel is sampled a number of times
69	* (see array channelsForStates), and the results for each channel are summed.	69	* (see array channelsForStates), and the results for each channel are summed.
70	* Here are those for the gyros and the acc. meters. They are not zero-offset.	70	* Here are those for the gyros and the acc. meters. They are not zero-offset.
71	* They are exported in the analog.h file - but please do not use them! The only	71	* They are exported in the analog.h file - but please do not use them! The only
72	* reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating	72	* reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
73	* the offsets with the DAC.	73	* the offsets with the DAC.
74	*/	74	*/
75	volatile int16_t rawGyroSum[2], rawYawGyroSum;	75	volatile int16_t rawGyroSum[3];
76	volatile int16_t acc[2] = {0,0}, ZAcc = 0;	76	volatile int16_t acc[3];
77	volatile int16_t filteredAcc[2] = {0,0};	77	volatile int16_t filteredAcc[2]={0,0};
78		78
79	/*	79	/*
80	* These 4 exported variables are zero-offset. The "PID" ones are used	80	* These 4 exported variables are zero-offset. The "PID" ones are used
81	* in the attitude control as rotation rates. The "ATT" ones are for	81	* in the attitude control as rotation rates. The "ATT" ones are for
82	* integration to angles.	82	* integration to angles.
83	*/	83	*/
84	volatile int16_t gyro_PID[2];	84	volatile int16_t gyro_PID[2];
85	volatile int16_t gyro_ATT[2];	85	volatile int16_t gyro_ATT[2];
86	volatile int16_t gyroD[2];	86	volatile int16_t gyroD[2];
87	volatile int16_t yawGyro = 0;	87	volatile int16_t yawGyro;
88		88
89	/*	89	/*
90	* Offset values. These are the raw gyro and acc. meter sums when the copter is	90	* Offset values. These are the raw gyro and acc. meter sums when the copter is
91	* standing still. They are used for adjusting the gyro and acc. meter values	91	* standing still. They are used for adjusting the gyro and acc. meter values
92	* to be centered on zero.	92	* to be centered on zero.
93	*/	93	*/
94	volatile int16_t gyroOffset[2], yawGyroOffset;	94	volatile int16_t gyroOffset[3] = {
-		95	512 * GYRO_SUMMATION_FACTOR_PITCHROLL,
-		96	512 * GYRO_SUMMATION_FACTOR_PITCHROLL,
-		97	512 * GYRO_SUMMATION_FACTOR_YAW
-		98	};
-		99
95	volatile int16_t accOffset[2], ZAccOffset;	100	volatile int16_t accOffset[3] = {
-		101	512 * ACC_SUMMATION_FACTOR_PITCHROLL,
-		102	512 * ACC_SUMMATION_FACTOR_PITCHROLL,
-		103	512 * ACC_SUMMATION_FACTOR_Z
-		104	};
96		105
97	/*	106	/*
98	* This allows some experimentation with the gyro filters.	107	* This allows some experimentation with the gyro filters.
99	* Should be replaced by #define's later on...	108	* Should be replaced by #define's later on...
100	*/	109	*/
101	volatile uint8_t GYROS_FIRSTORDERFILTER;	110	volatile uint8_t GYROS_PID_FILTER;
102	volatile uint8_t GYROS_SECONDORDERFILTER;	111	volatile uint8_t GYROS_ATT_FILTER;
103	volatile uint8_t GYROS_DFILTER;	112	volatile uint8_t GYROS_D_FILTER;
104	volatile uint8_t ACC_FILTER;	113	volatile uint8_t ACC_FILTER;
105		114
106	/*	115	/*
107	* Air pressure measurement.	116	* Air pressure measurement.
108	*/	117	*/
109	#define MIN_RAWPRESSURE 200	118	#define MIN_RAWPRESSURE 200
110	#define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE)	119	#define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE)
111	volatile uint8_t rangewidth = 53;	120	volatile uint8_t rangewidth = 53;
112	volatile uint16_t rawAirPressure;	121	volatile uint16_t rawAirPressure;
113	volatile uint16_t filteredAirPressure;	122	volatile uint16_t filteredAirPressure;
114		123
115	/*	124	/*
116	* Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.	125	* Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
117	* That is divided by 3 below, for a final 10.34 per volt.	126	* That is divided by 3 below, for a final 10.34 per volt.
118	* So the initial value of 100 is for 9.7 volts.	127	* So the initial value of 100 is for 9.7 volts.
119	*/	128	*/
120	volatile int16_t UBat = 100;	129	volatile int16_t UBat = 100;
121		130
122	/*	131	/*
123	* Control and status.	132	* Control and status.
124	*/	133	*/
125	volatile uint16_t ADCycleCount = 0;	134	volatile uint16_t ADCycleCount = 0;
126	volatile uint8_t analogDataReady = 1;	135	volatile uint8_t analogDataReady = 1;
127		136
128	/*	137	/*
129	* Experiment: Measuring vibration-induced sensor noise.	138	* Experiment: Measuring vibration-induced sensor noise.
130	*/	139	*/
131	volatile uint16_t gyroNoisePeak[2];	140	volatile uint16_t gyroNoisePeak[2];
132	volatile uint16_t accNoisePeak[2];	141	volatile uint16_t accNoisePeak[2];
133		142
134	// ADC channels	143	// ADC channels
135	#define AD_GYRO_YAW 0	144	#define AD_GYRO_YAW 0
136	#define AD_GYRO_ROLL 1	145	#define AD_GYRO_ROLL 1
137	#define AD_GYRO_PITCH 2	146	#define AD_GYRO_PITCH 2
138	#define AD_AIRPRESSURE 3	147	#define AD_AIRPRESSURE 3
139	#define AD_UBAT 4	148	#define AD_UBAT 4
140	#define AD_ACC_Z 5	149	#define AD_ACC_Z 5
141	#define AD_ACC_ROLL 6	150	#define AD_ACC_ROLL 6
142	#define AD_ACC_PITCH 7	151	#define AD_ACC_PITCH 7
143		152
144	/*	153	/*
145	* Table of AD converter inputs for each state.	154	* Table of AD converter inputs for each state.
146	* The number of samples summed for each channel is equal to	155	* The number of samples summed for each channel is equal to
147	* the number of times the channel appears in the array.	156	* the number of times the channel appears in the array.
148	* The max. number of samples that can be taken in 2 ms is:	157	* The max. number of samples that can be taken in 2 ms is:
149	* 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control	158	* 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control
150	* loop needs a little time between reading AD values and	159	* loop needs a little time between reading AD values and
151	* re-enabling ADC, the real limit is (how much?) lower.	160	* re-enabling ADC, the real limit is (how much?) lower.
152	* The acc. sensor is sampled even if not used - or installed	161	* The acc. sensor is sampled even if not used - or installed
153	* at all. The cost is not significant.	162	* at all. The cost is not significant.
154	*/	163	*/
155		164
156	const uint8_t channelsForStates[] PROGMEM = {	165	const uint8_t channelsForStates[] PROGMEM = {
157	AD_GYRO_PITCH,	166	AD_GYRO_PITCH,
158	AD_GYRO_ROLL,	167	AD_GYRO_ROLL,
159	AD_GYRO_YAW,	168	AD_GYRO_YAW,
160		169
161	AD_ACC_PITCH,	170	AD_ACC_PITCH,
162	AD_ACC_ROLL,	171	AD_ACC_ROLL,
163	// AD_AIRPRESSURE,	172	// AD_AIRPRESSURE,
164		173
165	AD_GYRO_PITCH,	174	AD_GYRO_PITCH,
166	AD_GYRO_ROLL,	175	AD_GYRO_ROLL,
167	AD_ACC_Z, // at 7, measure Z acc.	176	AD_ACC_Z, // at 7, measure Z acc.
168		177
169	AD_GYRO_PITCH,	178	AD_GYRO_PITCH,
170	AD_GYRO_ROLL,	179	AD_GYRO_ROLL,
171	AD_GYRO_YAW, // at 10, finish yaw gyro	180	AD_GYRO_YAW, // at 10, finish yaw gyro
172		181
173	AD_ACC_PITCH, // at 11, finish pitch axis acc.	182	AD_ACC_PITCH, // at 11, finish pitch axis acc.
174	AD_ACC_ROLL, // at 12, finish roll axis acc.	183	AD_ACC_ROLL, // at 12, finish roll axis acc.
175	AD_AIRPRESSURE, // at 13, finish air pressure.	184	AD_AIRPRESSURE, // at 13, finish air pressure.
176		185
177	AD_GYRO_PITCH, // at 14, finish pitch gyro	186	AD_GYRO_PITCH, // at 14, finish pitch gyro
178	AD_GYRO_ROLL, // at 15, finish roll gyro	187	AD_GYRO_ROLL, // at 15, finish roll gyro
179	AD_UBAT // at 16, measure battery.	188	AD_UBAT // at 16, measure battery.
180	};	189	};
181		190
182	// Feature removed. Could be reintroduced later - but should work for all gyro types then.	191	// Feature removed. Could be reintroduced later - but should work for all gyro types then.
183	// uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;	192	// uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
184		193
185	void analog_init(void) {	194	void analog_init(void) {
186	uint8_t sreg = SREG;	195	uint8_t sreg = SREG;
187	// disable all interrupts before reconfiguration	196	// disable all interrupts before reconfiguration
188	cli();	197	cli();
189		198
190	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7	199	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7
191	DDRA = 0x00;	200	DDRA = 0x00;
192	PORTA = 0x00;	201	PORTA = 0x00;
193	// Digital Input Disable Register 0	202	// Digital Input Disable Register 0
194	// Disable digital input buffer for analog adc_channel pins	203	// Disable digital input buffer for analog adc_channel pins
195	DIDR0 = 0xFF;	204	DIDR0 = 0xFF;
196	// external reference, adjust data to the right	205	// external reference, adjust data to the right
197	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));	206	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));
198	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)	207	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
199	ADMUX = (ADMUX & 0xE0) \| AD_GYRO_PITCH;	208	ADMUX = (ADMUX & 0xE0) \| AD_GYRO_PITCH;
200	//Set ADC Control and Status Register A	209	//Set ADC Control and Status Register A
201	//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz	210	//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
202	ADCSRA = (0<<ADEN)\|(0<<ADSC)\|(0<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0)\|(0<<ADIE);	211	ADCSRA = (0<<ADEN)\|(0<<ADSC)\|(0<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0)\|(0<<ADIE);
203	//Set ADC Control and Status Register B	212	//Set ADC Control and Status Register B
204	//Trigger Source to Free Running Mode	213	//Trigger Source to Free Running Mode
205	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));	214	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));
206	// Start AD conversion	215	// Start AD conversion
207	analog_start();	216	analog_start();
208	// restore global interrupt flags	217	// restore global interrupt flags
209	SREG = sreg;	218	SREG = sreg;
210	}	219	}
211		220
212	void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) {	221	void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
213	if (sensor > (int16_t)(*noiseMeasurement)) {	222	if (sensor > (int16_t)(*noiseMeasurement)) {
214	*noiseMeasurement = sensor;	223	*noiseMeasurement = sensor;
215	} else if (-sensor > (int16_t)(*noiseMeasurement)) {	224	} else if (-sensor > (int16_t)(*noiseMeasurement)) {
216	*noiseMeasurement = -sensor;	225	*noiseMeasurement = -sensor;
217	} else if (*noiseMeasurement > damping) {	226	} else if (*noiseMeasurement > damping) {
218	*noiseMeasurement -= damping;	227	*noiseMeasurement -= damping;
219	} else {	228	} else {
220	*noiseMeasurement = 0;	229	*noiseMeasurement = 0;
221	}	230	}
222	}	231	}
223		232
224	uint16_t getAbsPressure(int advalue) {	233	uint16_t getAbsPressure(int advalue) {
225	return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue;	234	return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue;
226	}	235	}
227		236
228	uint16_t filterAirPressure(uint16_t rawpressure) {	237	uint16_t filterAirPressure(uint16_t rawpressure) {
229	return rawpressure;	238	return rawpressure;
230	}	239	}
231		240
232	/*****************************************************	241	/*****************************************************
233	* Interrupt Service Routine for ADC	242	* Interrupt Service Routine for ADC
234	* Runs at 312.5 kHz or 3.2 µs. When all states are	243	* Runs at 312.5 kHz or 3.2 µs. When all states are
235	* processed the interrupt is disabled and further	244	* processed the interrupt is disabled and further
236	* AD conversions are stopped.	245	* AD conversions are stopped.
237	*****************************************************/	246	*****************************************************/
238	ISR(ADC_vect) {	247	ISR(ADC_vect) {
239	static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;	248	static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
240	static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0};	249	static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0};
241	static uint8_t pressure_wait = 10;	250	static uint8_t pressure_wait = 10;
242	uint8_t i, axis;	251	uint8_t i, axis;
243	int16_t range;	252	int16_t range;
244		253
245	// for various filters...	254	// for various filters...
246	int16_t tempOffsetGyro, tempGyro;	255	int16_t tempOffsetGyro, tempGyro;
247		256
248	sensorInputs[ad_channel] += ADC;	257	sensorInputs[ad_channel] += ADC;
249		258
250	/*	259	/*
251	* Actually we don't need this "switch". We could do all the sampling into the	260	* Actually we don't need this "switch". We could do all the sampling into the
252	* sensorInputs array first, and all the processing after the last sample.	261	* sensorInputs array first, and all the processing after the last sample.
253	*/	262	*/
254	switch(state++) {	263	switch(state++) {
255	case 7: // Z acc	264	case 7: // Z acc
256	#ifdef ACC_REVERSE_ZAXIS	265	if (ACC_REVERSED[Z])
257	ZAcc = -ZAccOffset - sensorInputs[AD_ACC_Z];	266	acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
258	#else	267	else
259	ZAcc = sensorInputs[AD_ACC_Z] - ZAccOffset;	268	acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
260	#endif	-
261	break;	269	break;
262		270
263	case 10: // yaw gyro	271	case 10: // yaw gyro
264	rawYawGyroSum = sensorInputs[AD_GYRO_YAW];	272	rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
265	#ifdef GYRO_REVERSE_YAW	273	if (GYRO_REVERSED[YAW])
266	yawGyro = rawYawGyroSum - yawGyroOffset;	274	yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
267	#else	275	else
268	yawGyro = yawGyroOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3).	-
269	#endif	276	yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
270	break;	277	break;
271		278
272	case 11: // pitch axis acc.	279	case 11: // pitch axis acc.
273	#ifdef ACC_REVERSE_PITCHAXIS	280	if (ACC_REVERSED[PITCH])
274	acc[PITCH] = -accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];	281	acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];
275	#else	282	else
276	acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];	283	acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];
277	#endif	-
278	filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER;	-
-		284
279		285	filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER;
280	measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);	286	measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);
281	break;	287	break;
282		288
283	case 12: // roll axis acc.	289	case 12: // roll axis acc.
284	#ifdef ACC_REVERSE_ROLLAXIS	290	if (ACC_REVERSED[ROLL])
285	acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];	291	acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];
286	#else	292	else
287	acc[ROLL] = -accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];	293	acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];
288	#endif	-
289	filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER;	294	filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER;
290	measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);	295	measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);
291	break;	296	break;
292		297
293	case 13: // air pressure	298	case 13: // air pressure
294	if (pressure_wait) {	299	if (pressure_wait) {
295	// A range switch was done recently. Wait for steadying.	300	// A range switch was done recently. Wait for steadying.
296	pressure_wait--;	301	pressure_wait--;
297	break;	302	break;
298	}	303	}
299	range = OCR0A;	304	range = OCR0A;
300	rawAirPressure = sensorInputs[AD_AIRPRESSURE];	305	rawAirPressure = sensorInputs[AD_AIRPRESSURE];
301	if (rawAirPressure < MIN_RAWPRESSURE) {	306	if (rawAirPressure < MIN_RAWPRESSURE) {
302	// value is too low, so decrease voltage on the op amp minus input, making the value higher.	307	// value is too low, so decrease voltage on the op amp minus input, making the value higher.
303	range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1;	308	range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1;
304	if (range < 0) range = 0;	309	if (range < 0) range = 0;
305	pressure_wait = (OCR0A - range) * 4;	310	pressure_wait = (OCR0A - range) * 4;
306	OCR0A = range;	311	OCR0A = range;
307	} else if (rawAirPressure > MAX_RAWPRESSURE) {	312	} else if (rawAirPressure > MAX_RAWPRESSURE) {
308	// value is too high, so increase voltage on the op amp minus input, making the value lower.	313	// value is too high, so increase voltage on the op amp minus input, making the value lower.
309	range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1;	314	range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1;
310	if (range > 254) range = 254;	315	if (range > 254) range = 254;
311	pressure_wait = (range - OCR0A) * 4;	316	pressure_wait = (range - OCR0A) * 4;
312	OCR0A = range;	317	OCR0A = range;
313	} else {	318	} else {
314	filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure));	319	filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure));
315	}	320	}
316		321
317	DebugOut.Analog[12] = range;	322	DebugOut.Analog[13] = range;
318	DebugOut.Analog[13] = rawAirPressure;	323	DebugOut.Analog[14] = rawAirPressure;
319	DebugOut.Analog[14] = filteredAirPressure;	324	DebugOut.Analog[15] = filteredAirPressure;
320	break;	325	break;
321		326
322	case 14:	327	case 14:
323	case 15: // pitch or roll gyro.	328	case 15: // pitch or roll gyro.
324	axis = state - 15;	329	axis = state - 15;
325	tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];	330	tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];
326	// DebugOut.Analog[6 + 3 * axis ] = tempGyro;	331	// DebugOut.Analog[6 + 3 * axis ] = tempGyro;
327	/*	332	/*
328	* Process the gyro data for the PID controller.	333	* Process the gyro data for the PID controller.
329	*/	334	*/
330	// 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a	335	// 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
331	// gyro with a wider range, and helps counter saturation at full control.	336	// gyro with a wider range, and helps counter saturation at full control.
332		337
333	if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {	338	if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
334	if (tempGyro < SENSOR_MIN_PITCHROLL) {	339	if (tempGyro < SENSOR_MIN_PITCHROLL) {
335	tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;	340	tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
336	}	341	}
337	else if (tempGyro > SENSOR_MAX_PITCHROLL) {	342	else if (tempGyro > SENSOR_MAX_PITCHROLL) {
338	tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL;	343	tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL;
339	}	344	}
340	}	345	}
341		346
342	// 2) Apply sign and offset, scale before filtering.	347	// 2) Apply sign and offset, scale before filtering.
343	if (GYROS_REVERSE[axis]) {	348	if (GYRO_REVERSED[axis]) {
344	tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;	349	tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
345	} else {	350	} else {
346	tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;	351	tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
347	}	352	}
348		353
349	// 3) Scale and filter.	354	// 3) Scale and filter.
350	tempOffsetGyro = (gyro_PID[axis] * (GYROS_PIDFILTER-1) + tempOffsetGyro) / GYROS_PIDFILTER;	355	tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER;
351		356
352	// 4) Measure noise.	357	// 4) Measure noise.
353	measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);	358	measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
354		359
355	// 5) Differential measurement.	360	// 5) Differential measurement.
356	gyroD[axis] = (gyroD[axis] * (GYROS_DFILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_DFILTER;	361	gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER;
357		362
358	// 6) Done.	363	// 6) Done.
359	gyro_PID[axis] = tempOffsetGyro;	364	gyro_PID[axis] = tempOffsetGyro;
360		365
361	/*	366	/*
362	* Now process the data for attitude angles.	367	* Now process the data for attitude angles.
363	*/	368	*/
364	tempGyro = rawGyroSum[axis];	369	tempGyro = rawGyroSum[axis];
365		370
366	// 1) Apply sign and offset, scale before filtering.	371	// 1) Apply sign and offset, scale before filtering.
367	if (GYROS_REVERSE[axis]) {	372	if (GYRO_REVERSED[axis]) {
368	tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;	373	tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
369	} else {	374	} else {
370	tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;	375	tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
371	}	376	}
372		377
373	// 2) Filter.	378	// 2) Filter.
374	gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_INTEGRALFILTER-1) + tempOffsetGyro) / GYROS_INTEGRALFILTER;	379	gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER;
375	break;	380	break;
376		381
377	case 16:	382	case 16:
378	// battery	383	// battery
379	UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;	384	UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
380	analogDataReady = 1; // mark	385	analogDataReady = 1; // mark
381	ADCycleCount++;	386	ADCycleCount++;
382	// Stop the sampling. Cycle is over.	387	// Stop the sampling. Cycle is over.
383	state = 0;	388	state = 0;
384	for (i=0; i<8; i++) {	389	for (i=0; i<8; i++) {
385	sensorInputs[i] = 0;	390	sensorInputs[i] = 0;
386	}	391	}
387	break;	392	break;
388	default: {} // do nothing.	393	default: {} // do nothing.
389	}	394	}
390		395
391	// set up for next state.	396	// set up for next state.
392	ad_channel = pgm_read_byte(&channelsForStates[state]);	397	ad_channel = pgm_read_byte(&channelsForStates[state]);
393	// ad_channel = channelsForStates[state];	398	// ad_channel = channelsForStates[state];
394		399
395	// set adc muxer to next ad_channel	400	// set adc muxer to next ad_channel
396	ADMUX = (ADMUX & 0xE0) \| ad_channel;	401	ADMUX = (ADMUX & 0xE0) \| ad_channel;
397	// after full cycle stop further interrupts	402	// after full cycle stop further interrupts
398	if(state) analog_start();	403	if(state) analog_start();
399	}	404	}
400		405
401	void analog_calibrate(void) {	406	void analog_calibrate(void) {
402	#define GYRO_OFFSET_CYCLES 32	407	#define GYRO_OFFSET_CYCLES 32
403	uint8_t i;	408	uint8_t i, axis;
404	int32_t _pitchOffset = 0, _rollOffset = 0, _yawOffset = 0;	409	int32_t deltaOffsets[3] = {0,0,0};
-		410	int16_t filteredDelta;
405		411
406	// Set the filters... to be removed again, once some good settings are found.	412	// Set the filters... to be removed again, once some good settings are found.
407	GYROS_FIRSTORDERFILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;	413	GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
408	GYROS_SECONDORDERFILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;	414	GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
409	GYROS_DFILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;	415	GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
410	ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;	-
411		-
412	gyroOffset[PITCH] = gyroOffset[ROLL] = yawGyroOffset = 0;	416	ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;
413		417
414	gyro_calibrate();	418	gyro_calibrate();
415		419
416	// determine gyro bias by averaging (requires that the copter does not rotate around any axis!)	420	// determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
417	for(i=0; i < GYRO_OFFSET_CYCLES; i++) {	421	for(i=0; i < GYRO_OFFSET_CYCLES; i++) {
418	Delay_ms_Mess(10);	422	Delay_ms_Mess(10);
419	_pitchOffset += rawGyroSum[PITCH];	423	for (axis=0; axis<=YAW; axis++) {
420	_rollOffset += rawGyroSum[ROLL];	424	deltaOffsets[axis] += rawGyroSum[axis] - gyroOffset[axis];
421	_yawOffset += rawYawGyroSum;	425	}
422	}	426	}
423		427
424	gyroOffset[PITCH] = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;	428	for (axis=0; axis<=YAW; axis++) {
425	gyroOffset[ROLL] = (_rollOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;	429	filteredDelta = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
426	yawGyroOffset = (_yawOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;	430	gyroOffset[axis] += filteredDelta;
427		431	}
428	gyro_PID[PITCH] = gyro_PID[ROLL] = 0;	-
429	gyro_ATT[PITCH] = gyro_ATT[ROLL] = 0;	-
430		432
431	// Noise is relative to offset. So, reset noise measurements when	433	// Noise is relative to offset. So, reset noise measurements when changing offsets.
432	// changing offsets.	-
433	gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;	434	gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
434		435
435	accOffset[PITCH] = (int16_t)GetParamWord(PID_ACC_PITCH);	436	accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
436	accOffset[ROLL] = (int16_t)GetParamWord(PID_ACC_ROLL);	437	accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
-		438	accOffset[Z] = GetParamWord(PID_ACC_Z);
-		439
437	ZAccOffset = (int16_t)GetParamWord(PID_ACC_TOP);	440	Delay_ms_Mess(100);
438	}	441	}
439		442
440	/*	443	/*
441	* Find acc. offsets for a neutral reading, and write them to EEPROM.	444	* Find acc. offsets for a neutral reading, and write them to EEPROM.
442	* Does not (!} update the local variables. This must be done with a	445	* Does not (!} update the local variables. This must be done with a
443	* call to analog_calibrate() - this always (?) is done by the caller	446	* call to analog_calibrate() - this always (?) is done by the caller
444	* anyway. There would be nothing wrong with updating the variables	447	* anyway. There would be nothing wrong with updating the variables
445	* directly from here, though.	448	* directly from here, though.
446	*/	449	*/
447	void analog_calibrateAcc(void) {	450	void analog_calibrateAcc(void) {
448	#define ACC_OFFSET_CYCLES 10	451	#define ACC_OFFSET_CYCLES 10
449	uint8_t i;	452	uint8_t i, axis;
450	int32_t _pitchAxisOffset = 0, _rollAxisOffset = 0, _ZAxisOffset = 0;	453	int32_t deltaOffset[3] = {0,0,0};
-		454	int16_t filteredDelta;
451	// int16_t pressureDiff, savedRawAirPressure;	455	// int16_t pressureDiff, savedRawAirPressure;
452		-
453	accOffset[PITCH] = accOffset[ROLL] = ZAccOffset = 0;	-
454		456
455	for(i=0; i < ACC_OFFSET_CYCLES; i++) {	457	for(i=0; i < ACC_OFFSET_CYCLES; i++) {
456	Delay_ms_Mess(10);	458	Delay_ms_Mess(10);
457	_pitchAxisOffset += acc[PITCH];	459	for (axis=0; axis<=YAW; axis++) {
458	_rollAxisOffset += acc[ROLL];	460	deltaOffset[axis] += acc[axis];
-		461	}
-		462	}
-		463
459	_ZAxisOffset += ZAcc;	464	for (axis=0; axis<=YAW; axis++) {
-		465	filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES;
-		466	accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
460	}	467	}
461		468
462	// Save ACC neutral settings to eeprom	469	// Save ACC neutral settings to eeprom
463	SetParamWord(PID_ACC_PITCH, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES));	470	SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
464	SetParamWord(PID_ACC_ROLL, (uint16_t)((_rollAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES));	471	SetParamWord(PID_ACC_ROLL, accOffset[ROLL]);
465	SetParamWord(PID_ACC_TOP, (uint16_t)((_ZAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES));	472	SetParamWord(PID_ACC_Z, accOffset[Z]);
466		473
467	// Noise is relative to offset. So, reset noise measurements when	474	// Noise is relative to offset. So, reset noise measurements when
468	// changing offsets.	475	// changing offsets.
469	accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;	476	accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
-		477
470	// Setting offset values has an influence in the analog.c ISR	478	// Setting offset values has an influence in the analog.c ISR
471	// Therefore run measurement for 100ms to achive stable readings	479	// Therefore run measurement for 100ms to achive stable readings
472	// Delay_ms_Mess(100);	480	Delay_ms_Mess(100);
473		481
474	// Set the feedback so that air pressure ends up in the middle of the range.	482	// Set the feedback so that air pressure ends up in the middle of the range.
475	// (raw pressure high --> OCR0A also high...)	483	// (raw pressure high --> OCR0A also high...)
476	// OCR0A += (rawAirPressure - 512) / rangewidth;	484	// OCR0A += (rawAirPressure - 512) / rangewidth;
477	// Delay_ms_Mess(500);	485	// Delay_ms_Mess(500);
478		486
479	/*	487	/*
480	pressureDiff = 0;	488	pressureDiff = 0;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.c - Rev 1645 → 1646