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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[3]; |
75 | volatile int16_t rawGyroSum[3]; |
76 | volatile int16_t acc[3]; |
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; |
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[3] = { |
94 | volatile int16_t gyroOffset[3] = { |
95 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
95 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
96 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
96 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
97 | 512 * GYRO_SUMMATION_FACTOR_YAW |
97 | 512 * GYRO_SUMMATION_FACTOR_YAW |
98 | }; |
98 | }; |
99 | 99 | ||
100 | volatile int16_t accOffset[3] = { |
100 | volatile int16_t accOffset[3] = { |
101 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
101 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
102 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
102 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
103 | 512 * ACC_SUMMATION_FACTOR_Z |
103 | 512 * ACC_SUMMATION_FACTOR_Z |
104 | }; |
104 | }; |
105 | 105 | ||
106 | /* |
106 | /* |
107 | * This allows some experimentation with the gyro filters. |
107 | * This allows some experimentation with the gyro filters. |
108 | * Should be replaced by #define's later on... |
108 | * Should be replaced by #define's later on... |
109 | */ |
109 | */ |
110 | volatile uint8_t GYROS_PID_FILTER; |
110 | volatile uint8_t GYROS_PID_FILTER; |
111 | volatile uint8_t GYROS_ATT_FILTER; |
111 | volatile uint8_t GYROS_ATT_FILTER; |
112 | volatile uint8_t GYROS_D_FILTER; |
112 | volatile uint8_t GYROS_D_FILTER; |
113 | volatile uint8_t ACC_FILTER; |
113 | volatile uint8_t ACC_FILTER; |
114 | 114 | ||
115 | /* |
115 | /* |
116 | * Air pressure measurement. |
116 | * Air pressure |
117 | */ |
117 | */ |
118 | #define MIN_RAWPRESSURE 200 |
118 | volatile uint8_t rangewidth = 106; |
- | 119 | ||
119 | #define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE) |
120 | // Direct from sensor, irrespective of range. |
120 | volatile uint8_t rangewidth = 53; |
121 | // volatile uint16_t rawAirPressure; |
- | 122 | ||
- | 123 | // Value of 2 samples, with range. |
|
121 | volatile uint16_t rawAirPressure; |
124 | volatile uint16_t simpleAirPressure; |
- | 125 | ||
- | 126 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
|
122 | volatile uint16_t filteredAirPressure; |
127 | volatile int32_t filteredAirPressure; |
- | 128 | ||
- | 129 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
|
- | 130 | volatile int32_t airPressureSum; |
|
- | 131 | ||
- | 132 | // The number of samples summed into airPressureSum so far. |
|
- | 133 | volatile uint8_t pressureMeasurementCount; |
|
123 | 134 | ||
124 | /* |
135 | /* |
125 | * 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. |
126 | * 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. |
127 | * So the initial value of 100 is for 9.7 volts. |
138 | * So the initial value of 100 is for 9.7 volts. |
128 | */ |
139 | */ |
129 | volatile int16_t UBat = 100; |
140 | volatile int16_t UBat = 100; |
130 | 141 | ||
131 | /* |
142 | /* |
132 | * Control and status. |
143 | * Control and status. |
133 | */ |
144 | */ |
134 | volatile uint16_t ADCycleCount = 0; |
145 | volatile uint16_t ADCycleCount = 0; |
135 | volatile uint8_t analogDataReady = 1; |
146 | volatile uint8_t analogDataReady = 1; |
136 | 147 | ||
137 | /* |
148 | /* |
138 | * Experiment: Measuring vibration-induced sensor noise. |
149 | * Experiment: Measuring vibration-induced sensor noise. |
139 | */ |
150 | */ |
140 | volatile uint16_t gyroNoisePeak[2]; |
151 | volatile uint16_t gyroNoisePeak[2]; |
141 | volatile uint16_t accNoisePeak[2]; |
152 | volatile uint16_t accNoisePeak[2]; |
142 | 153 | ||
143 | // ADC channels |
154 | // ADC channels |
144 | #define AD_GYRO_YAW 0 |
155 | #define AD_GYRO_YAW 0 |
145 | #define AD_GYRO_ROLL 1 |
156 | #define AD_GYRO_ROLL 1 |
146 | #define AD_GYRO_PITCH 2 |
157 | #define AD_GYRO_PITCH 2 |
147 | #define AD_AIRPRESSURE 3 |
158 | #define AD_AIRPRESSURE 3 |
148 | #define AD_UBAT 4 |
159 | #define AD_UBAT 4 |
149 | #define AD_ACC_Z 5 |
160 | #define AD_ACC_Z 5 |
150 | #define AD_ACC_ROLL 6 |
161 | #define AD_ACC_ROLL 6 |
151 | #define AD_ACC_PITCH 7 |
162 | #define AD_ACC_PITCH 7 |
152 | 163 | ||
153 | /* |
164 | /* |
154 | * Table of AD converter inputs for each state. |
165 | * Table of AD converter inputs for each state. |
155 | * The number of samples summed for each channel is equal to |
166 | * The number of samples summed for each channel is equal to |
156 | * the number of times the channel appears in the array. |
167 | * the number of times the channel appears in the array. |
157 | * The max. number of samples that can be taken in 2 ms is: |
168 | * The max. number of samples that can be taken in 2 ms is: |
158 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
169 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
159 | * loop needs a little time between reading AD values and |
170 | * loop needs a little time between reading AD values and |
160 | * re-enabling ADC, the real limit is (how much?) lower. |
171 | * re-enabling ADC, the real limit is (how much?) lower. |
161 | * The acc. sensor is sampled even if not used - or installed |
172 | * The acc. sensor is sampled even if not used - or installed |
162 | * at all. The cost is not significant. |
173 | * at all. The cost is not significant. |
163 | */ |
174 | */ |
164 | 175 | ||
165 | const uint8_t channelsForStates[] PROGMEM = { |
176 | const uint8_t channelsForStates[] PROGMEM = { |
166 | AD_GYRO_PITCH, |
177 | AD_GYRO_PITCH, |
167 | AD_GYRO_ROLL, |
178 | AD_GYRO_ROLL, |
168 | AD_GYRO_YAW, |
179 | AD_GYRO_YAW, |
169 | 180 | ||
170 | AD_ACC_PITCH, |
181 | AD_ACC_PITCH, |
171 | AD_ACC_ROLL, |
182 | AD_ACC_ROLL, |
172 | // AD_AIRPRESSURE, |
183 | AD_AIRPRESSURE, |
173 | 184 | ||
174 | AD_GYRO_PITCH, |
185 | AD_GYRO_PITCH, |
175 | AD_GYRO_ROLL, |
186 | AD_GYRO_ROLL, |
176 | AD_ACC_Z, // at 7, measure Z acc. |
187 | AD_ACC_Z, // at 8, measure Z acc. |
177 | 188 | ||
178 | AD_GYRO_PITCH, |
189 | AD_GYRO_PITCH, |
179 | AD_GYRO_ROLL, |
190 | AD_GYRO_ROLL, |
180 | AD_GYRO_YAW, // at 10, finish yaw gyro |
191 | AD_GYRO_YAW, // at 11, finish yaw gyro |
181 | 192 | ||
182 | AD_ACC_PITCH, // at 11, finish pitch axis acc. |
193 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
183 | AD_ACC_ROLL, // at 12, finish roll axis acc. |
194 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
184 | AD_AIRPRESSURE, // at 13, finish air pressure. |
195 | AD_AIRPRESSURE, // at 14, finish air pressure. |
185 | 196 | ||
186 | AD_GYRO_PITCH, // at 14, finish pitch gyro |
197 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
187 | AD_GYRO_ROLL, // at 15, finish roll gyro |
198 | AD_GYRO_ROLL, // at 16, finish roll gyro |
188 | AD_UBAT // at 16, measure battery. |
199 | AD_UBAT // at 17, measure battery. |
189 | }; |
200 | }; |
190 | 201 | ||
191 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
202 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
192 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
203 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
193 | 204 | ||
194 | void analog_init(void) { |
205 | void analog_init(void) { |
195 | uint8_t sreg = SREG; |
206 | uint8_t sreg = SREG; |
196 | // disable all interrupts before reconfiguration |
207 | // disable all interrupts before reconfiguration |
197 | cli(); |
208 | cli(); |
198 | 209 | ||
199 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
210 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
200 | DDRA = 0x00; |
211 | DDRA = 0x00; |
201 | PORTA = 0x00; |
212 | PORTA = 0x00; |
202 | // Digital Input Disable Register 0 |
213 | // Digital Input Disable Register 0 |
203 | // Disable digital input buffer for analog adc_channel pins |
214 | // Disable digital input buffer for analog adc_channel pins |
204 | DIDR0 = 0xFF; |
215 | DIDR0 = 0xFF; |
205 | // external reference, adjust data to the right |
216 | // external reference, adjust data to the right |
206 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
217 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
207 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
218 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
208 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
219 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
209 | //Set ADC Control and Status Register A |
220 | //Set ADC Control and Status Register A |
210 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
221 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
211 | ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
222 | ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
212 | //Set ADC Control and Status Register B |
223 | //Set ADC Control and Status Register B |
213 | //Trigger Source to Free Running Mode |
224 | //Trigger Source to Free Running Mode |
214 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
225 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
215 | // Start AD conversion |
226 | // Start AD conversion |
216 | analog_start(); |
227 | analog_start(); |
217 | // restore global interrupt flags |
228 | // restore global interrupt flags |
218 | SREG = sreg; |
229 | SREG = sreg; |
219 | } |
230 | } |
220 | 231 | ||
221 | void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
232 | void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
222 | if (sensor > (int16_t)(*noiseMeasurement)) { |
233 | if (sensor > (int16_t)(*noiseMeasurement)) { |
223 | *noiseMeasurement = sensor; |
234 | *noiseMeasurement = sensor; |
224 | } else if (-sensor > (int16_t)(*noiseMeasurement)) { |
235 | } else if (-sensor > (int16_t)(*noiseMeasurement)) { |
225 | *noiseMeasurement = -sensor; |
236 | *noiseMeasurement = -sensor; |
226 | } else if (*noiseMeasurement > damping) { |
237 | } else if (*noiseMeasurement > damping) { |
227 | *noiseMeasurement -= damping; |
238 | *noiseMeasurement -= damping; |
228 | } else { |
239 | } else { |
229 | *noiseMeasurement = 0; |
240 | *noiseMeasurement = 0; |
230 | } |
241 | } |
231 | } |
242 | } |
232 | 243 | ||
233 | uint16_t getAbsPressure(int advalue) { |
244 | uint16_t getSimplePressure(int advalue) { |
234 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
245 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
235 | } |
246 | } |
236 | - | ||
237 | uint16_t filterAirPressure(uint16_t rawpressure) { |
- | |
238 | return rawpressure; |
- | |
239 | } |
- | |
240 | 247 | ||
241 | /***************************************************** |
248 | /***************************************************** |
242 | * Interrupt Service Routine for ADC |
249 | * Interrupt Service Routine for ADC |
243 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
250 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
244 | * processed the interrupt is disabled and further |
251 | * processed the interrupt is disabled and further |
245 | * AD conversions are stopped. |
252 | * AD conversions are stopped. |
246 | *****************************************************/ |
253 | *****************************************************/ |
247 | ISR(ADC_vect) { |
254 | ISR(ADC_vect) { |
248 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
255 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
249 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
256 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
250 | static uint8_t pressure_wait = 10; |
257 | static uint16_t pressureAutorangingWait = 25; |
- | 258 | uint16_t rawAirPressure; |
|
251 | uint8_t i, axis; |
259 | uint8_t i, axis; |
252 | int16_t range; |
260 | int16_t newrange; |
253 | 261 | ||
254 | // for various filters... |
262 | // for various filters... |
255 | int16_t tempOffsetGyro, tempGyro; |
263 | int16_t tempOffsetGyro, tempGyro; |
256 | 264 | ||
257 | sensorInputs[ad_channel] += ADC; |
265 | sensorInputs[ad_channel] += ADC; |
258 | 266 | ||
259 | /* |
267 | /* |
260 | * Actually we don't need this "switch". We could do all the sampling into the |
268 | * Actually we don't need this "switch". We could do all the sampling into the |
261 | * sensorInputs array first, and all the processing after the last sample. |
269 | * sensorInputs array first, and all the processing after the last sample. |
262 | */ |
270 | */ |
263 | switch(state++) { |
271 | switch(state++) { |
- | 272 | ||
264 | case 7: // Z acc |
273 | case 8: // Z acc |
265 | if (ACC_REVERSED[Z]) |
274 | if (ACC_REVERSED[Z]) |
266 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
275 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
267 | else |
276 | else |
268 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
277 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
269 | break; |
278 | break; |
270 | 279 | ||
271 | case 10: // yaw gyro |
280 | case 11: // yaw gyro |
272 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
281 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
273 | if (GYRO_REVERSED[YAW]) |
282 | if (GYRO_REVERSED[YAW]) |
274 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
283 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
275 | else |
284 | else |
276 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
285 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
277 | break; |
286 | break; |
278 | 287 | ||
279 | case 11: // pitch axis acc. |
288 | case 12: // pitch axis acc. |
280 | if (ACC_REVERSED[PITCH]) |
289 | if (ACC_REVERSED[PITCH]) |
281 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
290 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
282 | else |
291 | else |
283 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
292 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
284 | 293 | ||
285 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
294 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
286 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
295 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
287 | break; |
296 | break; |
288 | 297 | ||
289 | case 12: // roll axis acc. |
298 | case 13: // roll axis acc. |
290 | if (ACC_REVERSED[ROLL]) |
299 | if (ACC_REVERSED[ROLL]) |
291 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
300 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
292 | else |
301 | else |
293 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
302 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
294 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
303 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
295 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
304 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
296 | break; |
305 | break; |
297 | 306 | ||
298 | case 13: // air pressure |
307 | case 14: // air pressure |
299 | if (pressure_wait) { |
308 | if (pressureAutorangingWait) { |
300 | // A range switch was done recently. Wait for steadying. |
309 | //A range switch was done recently. Wait for steadying. |
301 | pressure_wait--; |
310 | pressureAutorangingWait--; |
302 | break; |
311 | break; |
303 | } |
- | |
304 | range = OCR0A; |
312 | } |
305 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
313 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
306 | if (rawAirPressure < MIN_RAWPRESSURE) { |
314 | if (rawAirPressure < MIN_RAWPRESSURE) { |
307 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
315 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
308 | range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
316 | newrange = OCR0A - (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
309 | if (range < 0) range = 0; |
317 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
310 | pressure_wait = (OCR0A - range) * 4; |
318 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; |
311 | OCR0A = range; |
319 | OCR0A = newrange; |
- | 320 | } else { |
|
- | 321 | if (OCR0A) { |
|
- | 322 | OCR0A--; |
|
- | 323 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
- | 324 | } |
|
- | 325 | } |
|
312 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
326 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
313 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
327 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
- | 328 | // If near the end, make a limited increase |
|
314 | range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
329 | newrange = OCR0A + (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
315 | if (range > 254) range = 254; |
330 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
316 | pressure_wait = (range - OCR0A) * 4; |
331 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
317 | OCR0A = range; |
332 | OCR0A = newrange; |
- | 333 | } else { |
|
- | 334 | if (OCR0A<254) { |
|
- | 335 | OCR0A++; |
|
- | 336 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
- | 337 | } |
|
- | 338 | } |
|
- | 339 | } |
|
- | 340 | ||
- | 341 | // Even if the sample is off-range, use it. |
|
- | 342 | simpleAirPressure = getSimplePressure(rawAirPressure); |
|
- | 343 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
|
- | 344 | // Danger: pressure near lower end of range. If the measurement saturates, the |
|
- | 345 | // copter may climb uncontrolled... Simulate a drastic reduction in pressure. |
|
- | 346 | airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
- | 347 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
|
- | 348 | // Danger: pressure near upper end of range. If the measurement saturates, the |
|
- | 349 | // copter may fall uncontrolled... Simulate a drastic increase in pressure. |
|
- | 350 | airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
318 | } else { |
351 | } else { |
- | 352 | // normal case. |
|
319 | filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure)); |
353 | airPressureSum += simpleAirPressure; |
320 | } |
354 | } |
- | 355 | ||
- | 356 | // 2 samples were added. |
|
- | 357 | pressureMeasurementCount += 2; |
|
- | 358 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR) { |
|
- | 359 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER-1) + airPressureSum + AIRPRESSURE_FILTER/2) / AIRPRESSURE_FILTER; |
|
- | 360 | pressureMeasurementCount = airPressureSum = 0; |
|
- | 361 | } |
|
321 | 362 | ||
322 | DebugOut.Analog[13] = range; |
363 | // DebugOut.Analog[14] = OCR0A; |
323 | DebugOut.Analog[14] = rawAirPressure; |
364 | // DebugOut.Analog[15] = simpleAirPressure; |
- | 365 | DebugOut.Analog[11] = UBat; |
|
324 | DebugOut.Analog[15] = filteredAirPressure; |
366 | DebugOut.Analog[27] = acc[Z]; |
325 | break; |
367 | break; |
326 | 368 | ||
327 | case 14: |
369 | case 15: |
328 | case 15: // pitch or roll gyro. |
370 | case 16: // pitch or roll gyro. |
329 | axis = state - 15; |
371 | axis = state - 16; |
330 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
372 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
331 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
373 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
332 | /* |
374 | /* |
333 | * Process the gyro data for the PID controller. |
375 | * Process the gyro data for the PID controller. |
334 | */ |
376 | */ |
335 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
377 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
336 | // gyro with a wider range, and helps counter saturation at full control. |
378 | // gyro with a wider range, and helps counter saturation at full control. |
337 | 379 | ||
338 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
380 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
339 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
381 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
340 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
382 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
341 | } |
383 | } |
342 | else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
384 | else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
343 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
385 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
344 | } |
386 | } |
345 | } |
387 | } |
346 | 388 | ||
347 | // 2) Apply sign and offset, scale before filtering. |
389 | // 2) Apply sign and offset, scale before filtering. |
348 | if (GYRO_REVERSED[axis]) { |
390 | if (GYRO_REVERSED[axis]) { |
349 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
391 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
350 | } else { |
392 | } else { |
351 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
393 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
352 | } |
394 | } |
353 | 395 | ||
354 | // 3) Scale and filter. |
396 | // 3) Scale and filter. |
355 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER; |
397 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER; |
356 | 398 | ||
357 | // 4) Measure noise. |
399 | // 4) Measure noise. |
358 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
400 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
359 | 401 | ||
360 | // 5) Differential measurement. |
402 | // 5) Differential measurement. |
361 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
403 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
362 | 404 | ||
363 | // 6) Done. |
405 | // 6) Done. |
364 | gyro_PID[axis] = tempOffsetGyro; |
406 | gyro_PID[axis] = tempOffsetGyro; |
365 | 407 | ||
366 | /* |
408 | /* |
367 | * Now process the data for attitude angles. |
409 | * Now process the data for attitude angles. |
368 | */ |
410 | */ |
369 | tempGyro = rawGyroSum[axis]; |
411 | tempGyro = rawGyroSum[axis]; |
370 | 412 | ||
371 | // 1) Apply sign and offset, scale before filtering. |
413 | // 1) Apply sign and offset, scale before filtering. |
372 | if (GYRO_REVERSED[axis]) { |
414 | if (GYRO_REVERSED[axis]) { |
373 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
415 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
374 | } else { |
416 | } else { |
375 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
417 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
376 | } |
418 | } |
377 | 419 | ||
378 | // 2) Filter. |
420 | // 2) Filter. |
379 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
421 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
380 | break; |
422 | break; |
381 | 423 | ||
- | 424 | case 17: |
|
382 | case 16: |
425 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
383 | // battery |
426 | // This is divided by 3 --> 10.34 counts per volt. |
384 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
427 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
385 | analogDataReady = 1; // mark |
428 | analogDataReady = 1; // mark |
386 | ADCycleCount++; |
429 | ADCycleCount++; |
387 | // Stop the sampling. Cycle is over. |
430 | // Stop the sampling. Cycle is over. |
388 | state = 0; |
431 | state = 0; |
389 | for (i=0; i<8; i++) { |
432 | for (i=0; i<8; i++) { |
390 | sensorInputs[i] = 0; |
433 | sensorInputs[i] = 0; |
391 | } |
434 | } |
392 | break; |
435 | break; |
393 | default: {} // do nothing. |
436 | default: {} // do nothing. |
394 | } |
437 | } |
395 | 438 | ||
396 | // set up for next state. |
439 | // set up for next state. |
397 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
440 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
398 | // ad_channel = channelsForStates[state]; |
441 | // ad_channel = channelsForStates[state]; |
399 | 442 | ||
400 | // set adc muxer to next ad_channel |
443 | // set adc muxer to next ad_channel |
401 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
444 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
402 | // after full cycle stop further interrupts |
445 | // after full cycle stop further interrupts |
403 | if(state) analog_start(); |
446 | if(state) analog_start(); |
404 | } |
447 | } |
405 | 448 | ||
406 | void analog_calibrate(void) { |
449 | void analog_calibrate(void) { |
407 | #define GYRO_OFFSET_CYCLES 32 |
450 | #define GYRO_OFFSET_CYCLES 32 |
408 | uint8_t i, axis; |
451 | uint8_t i, axis; |
409 | int32_t deltaOffsets[3] = {0,0,0}; |
452 | int32_t deltaOffsets[3] = {0,0,0}; |
410 | int16_t filteredDelta; |
- | |
411 | 453 | ||
412 | // Set the filters... to be removed again, once some good settings are found. |
454 | // Set the filters... to be removed again, once some good settings are found. |
413 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
455 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
414 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
456 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
415 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
457 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
416 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
458 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
417 | 459 | ||
418 | gyro_calibrate(); |
460 | gyro_calibrate(); |
419 | 461 | ||
420 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
462 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
421 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
463 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
422 | Delay_ms_Mess(10); |
464 | Delay_ms_Mess(20); |
423 | for (axis=0; axis<=YAW; axis++) { |
465 | for (axis=PITCH; axis<=YAW; axis++) { |
424 | deltaOffsets[axis] += rawGyroSum[axis] - gyroOffset[axis]; |
466 | deltaOffsets[axis] += rawGyroSum[axis]; |
425 | } |
467 | } |
426 | } |
468 | } |
427 | 469 | ||
428 | for (axis=0; axis<=YAW; axis++) { |
470 | for (axis=PITCH; axis<=YAW; axis++) { |
429 | filteredDelta = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
471 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES/2) / GYRO_OFFSET_CYCLES; |
430 | gyroOffset[axis] += filteredDelta; |
472 | DebugOut.Analog[20+axis] = gyroOffset[axis]; |
431 | } |
473 | } |
432 | 474 | ||
433 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
475 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
434 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
476 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
435 | 477 | ||
436 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
478 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
437 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
479 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
438 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
480 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
- | 481 | ||
- | 482 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
|
- | 483 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
|
- | 484 | // pressureMeasurementCount = 0; |
|
- | 485 | ||
- | 486 | // Experiment! |
|
- | 487 | // filteredAirPressureOffset = filteredAirPressure - 1000L; |
|
439 | 488 | ||
440 | Delay_ms_Mess(100); |
489 | Delay_ms_Mess(100); |
441 | } |
490 | } |
442 | 491 | ||
443 | /* |
492 | /* |
444 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
493 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
445 | * Does not (!} update the local variables. This must be done with a |
494 | * Does not (!} update the local variables. This must be done with a |
446 | * call to analog_calibrate() - this always (?) is done by the caller |
495 | * call to analog_calibrate() - this always (?) is done by the caller |
447 | * anyway. There would be nothing wrong with updating the variables |
496 | * anyway. There would be nothing wrong with updating the variables |
448 | * directly from here, though. |
497 | * directly from here, though. |
449 | */ |
498 | */ |
450 | void analog_calibrateAcc(void) { |
499 | void analog_calibrateAcc(void) { |
451 | #define ACC_OFFSET_CYCLES 10 |
500 | #define ACC_OFFSET_CYCLES 10 |
452 | uint8_t i, axis; |
501 | uint8_t i, axis; |
453 | int32_t deltaOffset[3] = {0,0,0}; |
502 | int32_t deltaOffset[3] = {0,0,0}; |
454 | int16_t filteredDelta; |
503 | int16_t filteredDelta; |
455 | // int16_t pressureDiff, savedRawAirPressure; |
504 | // int16_t pressureDiff, savedRawAirPressure; |
456 | 505 | ||
457 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
506 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
458 | Delay_ms_Mess(10); |
507 | Delay_ms_Mess(10); |
459 | for (axis=0; axis<=YAW; axis++) { |
508 | for (axis=PITCH; axis<=YAW; axis++) { |
460 | deltaOffset[axis] += acc[axis]; |
509 | deltaOffset[axis] += acc[axis]; |
461 | } |
510 | } |
462 | } |
511 | } |
463 | 512 | ||
464 | for (axis=0; axis<=YAW; axis++) { |
513 | for (axis=PITCH; axis<=YAW; axis++) { |
465 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
514 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
466 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
515 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
467 | } |
516 | } |
468 | 517 | ||
469 | // Save ACC neutral settings to eeprom |
518 | // Save ACC neutral settings to eeprom |
470 | SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
519 | SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
471 | SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
520 | SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
472 | SetParamWord(PID_ACC_Z, accOffset[Z]); |
521 | SetParamWord(PID_ACC_Z, accOffset[Z]); |
473 | 522 | ||
474 | // Noise is relative to offset. So, reset noise measurements when |
523 | // Noise is relative to offset. So, reset noise measurements when |
475 | // changing offsets. |
524 | // changing offsets. |
476 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
525 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
477 | 526 | ||
478 | // Setting offset values has an influence in the analog.c ISR |
527 | // Setting offset values has an influence in the analog.c ISR |
479 | // Therefore run measurement for 100ms to achive stable readings |
528 | // Therefore run measurement for 100ms to achive stable readings |
480 | Delay_ms_Mess(100); |
529 | Delay_ms_Mess(100); |
481 | 530 | ||
482 | // Set the feedback so that air pressure ends up in the middle of the range. |
531 | // Set the feedback so that air pressure ends up in the middle of the range. |
483 | // (raw pressure high --> OCR0A also high...) |
532 | // (raw pressure high --> OCR0A also high...) |
484 | // OCR0A += (rawAirPressure - 512) / rangewidth; |
533 | // OCR0A += (rawAirPressure - 512) / rangewidth; |
485 | // Delay_ms_Mess(500); |
534 | // Delay_ms_Mess(500); |
486 | 535 | ||
487 | /* |
536 | /* |
488 | pressureDiff = 0; |
537 | pressureDiff = 0; |
489 | DebugOut.Analog[16] = rawAirPressure; |
538 | // DebugOut.Analog[16] = rawAirPressure; |
490 | 539 | ||
491 | #define PRESSURE_CAL_CYCLE_COUNT 2 |
540 | #define PRESSURE_CAL_CYCLE_COUNT 2 |
492 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
541 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
493 | savedRawAirPressure = rawAirPressure; |
542 | savedRawAirPressure = rawAirPressure; |
494 | OCR0A++; |
543 | OCR0A++; |
495 | Delay_ms_Mess(200); |
544 | Delay_ms_Mess(200); |
496 | // raw pressure will decrease. |
545 | // raw pressure will decrease. |
497 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
546 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
498 | 547 | ||
499 | savedRawAirPressure = rawAirPressure; |
548 | savedRawAirPressure = rawAirPressure; |
500 | OCR0A--; |
549 | OCR0A--; |
501 | Delay_ms_Mess(200); |
550 | Delay_ms_Mess(200); |
502 | // raw pressure will increase. |
551 | // raw pressure will increase. |
503 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
552 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
504 | } |
553 | } |
505 | 554 | ||
506 | DebugOut.Analog[16] = rangewidth = |
555 | // DebugOut.Analog[16] = |
507 | (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
556 | rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
508 | */ |
557 | */ |
509 | } |
558 | } |
510 | 559 |