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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + 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
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <avr/io.h>
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#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
 
54
 
55
#include "analog.h"
55
#include "analog.h"
56
#include "attitude.h"
56
#include "attitude.h"
57
#include "sensors.h"
57
#include "sensors.h"
58
 
58
 
59
// for Delay functions
59
// for Delay functions
60
#include "timer0.h"
60
#include "timer0.h"
61
 
61
 
62
// For DebugOut
62
// For DebugOut
63
#include "uart0.h"
63
#include "uart0.h"
64
 
64
 
65
// For reading and writing acc. meter offsets.
65
// For reading and writing acc. meter offsets.
66
#include "eeprom.h"
66
#include "eeprom.h"
67
 
67
 
68
// For DebugOut.Digital
68
// For DebugOut.Digital
69
#include "output.h"
69
#include "output.h"
70
 
70
 
71
/*
71
/*
72
 * For each A/D conversion cycle, each analog channel is sampled a number of times
72
 * For each A/D conversion cycle, each analog channel is sampled a number of times
73
 * (see array channelsForStates), and the results for each channel are summed.
73
 * (see array channelsForStates), and the results for each channel are summed.
74
 * Here are those for the gyros and the acc. meters. They are not zero-offset.
74
 * Here are those for the gyros and the acc. meters. They are not zero-offset.
75
 * They are exported in the analog.h file - but please do not use them! The only
75
 * They are exported in the analog.h file - but please do not use them! The only
76
 * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
76
 * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
77
 * the offsets with the DAC.
77
 * the offsets with the DAC.
78
 */
78
 */
79
volatile int16_t rawGyroSum[3];
79
volatile int16_t rawGyroSum[3];
80
volatile int16_t acc[3];
80
volatile int16_t acc[3];
81
volatile int16_t filteredAcc[2] = { 0,0 };
81
volatile int16_t filteredAcc[2] = { 0,0 };
82
// volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 };
82
// volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 };
83
 
83
 
84
/*
84
/*
85
 * These 4 exported variables are zero-offset. The "PID" ones are used
85
 * These 4 exported variables are zero-offset. The "PID" ones are used
86
 * in the attitude control as rotation rates. The "ATT" ones are for
86
 * in the attitude control as rotation rates. The "ATT" ones are for
87
 * integration to angles.
87
 * integration to angles.
88
 */
88
 */
89
volatile int16_t gyro_PID[2];
89
volatile int16_t gyro_PID[2];
90
volatile int16_t gyro_ATT[2];
90
volatile int16_t gyro_ATT[2];
91
volatile int16_t gyroD[2];
91
volatile int16_t gyroD[2];
92
volatile int16_t yawGyro;
92
volatile int16_t yawGyro;
93
 
93
 
94
/*
94
/*
95
 * Offset values. These are the raw gyro and acc. meter sums when the copter is
95
 * Offset values. These are the raw gyro and acc. meter sums when the copter is
96
 * standing still. They are used for adjusting the gyro and acc. meter values
96
 * standing still. They are used for adjusting the gyro and acc. meter values
97
 * to be centered on zero.
97
 * to be centered on zero.
98
 */
98
 */
99
volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512
99
volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512
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                * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW };
100
                * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW };
101
 
101
 
102
volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512
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volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512
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                * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z };
103
                * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z };
104
 
104
 
105
/*
105
/*
106
 * This allows some experimentation with the gyro filters.
106
 * This allows some experimentation with the gyro filters.
107
 * Should be replaced by #define's later on...
107
 * Should be replaced by #define's later on...
108
 */
108
 */
109
volatile uint8_t GYROS_PID_FILTER;
109
volatile uint8_t GYROS_PID_FILTER;
110
volatile uint8_t GYROS_ATT_FILTER;
110
volatile uint8_t GYROS_ATT_FILTER;
111
volatile uint8_t GYROS_D_FILTER;
111
volatile uint8_t GYROS_D_FILTER;
112
volatile uint8_t ACC_FILTER;
112
volatile uint8_t ACC_FILTER;
113
 
113
 
114
/*
114
/*
115
 * Air pressure
115
 * Air pressure
116
 */
116
 */
117
volatile uint8_t rangewidth = 106;
117
volatile uint8_t rangewidth = 106;
118
 
118
 
119
// Direct from sensor, irrespective of range.
119
// Direct from sensor, irrespective of range.
120
// volatile uint16_t rawAirPressure;
120
// volatile uint16_t rawAirPressure;
121
 
121
 
122
// Value of 2 samples, with range.
122
// Value of 2 samples, with range.
123
volatile uint16_t simpleAirPressure;
123
volatile uint16_t simpleAirPressure;
124
 
124
 
125
// Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered.
125
// Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered.
126
volatile int32_t filteredAirPressure;
126
volatile int32_t filteredAirPressure;
127
 
127
 
128
// Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples.
128
// Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples.
129
volatile int32_t airPressureSum;
129
volatile int32_t airPressureSum;
130
 
130
 
131
// The number of samples summed into airPressureSum so far.
131
// The number of samples summed into airPressureSum so far.
132
volatile uint8_t pressureMeasurementCount;
132
volatile uint8_t pressureMeasurementCount;
133
 
133
 
134
/*
134
/*
135
 * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
135
 * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
136
 * That is divided by 3 below, for a final 10.34 per volt.
136
 * That is divided by 3 below, for a final 10.34 per volt.
137
 * So the initial value of 100 is for 9.7 volts.
137
 * So the initial value of 100 is for 9.7 volts.
138
 */
138
 */
139
volatile int16_t UBat = 100;
139
volatile int16_t UBat = 100;
140
 
140
 
141
/*
141
/*
142
 * Control and status.
142
 * Control and status.
143
 */
143
 */
144
volatile uint16_t ADCycleCount = 0;
144
volatile uint16_t ADCycleCount = 0;
145
volatile uint8_t analogDataReady = 1;
145
volatile uint8_t analogDataReady = 1;
146
 
146
 
147
/*
147
/*
148
 * Experiment: Measuring vibration-induced sensor noise.
148
 * Experiment: Measuring vibration-induced sensor noise.
149
 */
149
 */
150
volatile uint16_t gyroNoisePeak[2];
150
volatile uint16_t gyroNoisePeak[2];
151
volatile uint16_t accNoisePeak[2];
151
volatile uint16_t accNoisePeak[2];
152
 
152
 
153
// ADC channels
153
// ADC channels
154
#define AD_GYRO_YAW       0
154
#define AD_GYRO_YAW       0
155
#define AD_GYRO_ROLL      1
155
#define AD_GYRO_ROLL      1
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#define AD_GYRO_PITCH     2
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#define AD_GYRO_PITCH     2
157
#define AD_AIRPRESSURE    3
157
#define AD_AIRPRESSURE    3
158
#define AD_UBAT           4
158
#define AD_UBAT           4
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#define AD_ACC_Z          5
159
#define AD_ACC_Z          5
160
#define AD_ACC_ROLL       6
160
#define AD_ACC_ROLL       6
161
#define AD_ACC_PITCH      7
161
#define AD_ACC_PITCH      7
162
 
162
 
163
/*
163
/*
164
 * Table of AD converter inputs for each state.
164
 * Table of AD converter inputs for each state.
165
 * The number of samples summed for each channel is equal to
165
 * The number of samples summed for each channel is equal to
166
 * the number of times the channel appears in the array.
166
 * the number of times the channel appears in the array.
167
 * The max. number of samples that can be taken in 2 ms is:
167
 * The max. number of samples that can be taken in 2 ms is:
168
 * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control
168
 * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control
169
 * loop needs a little time between reading AD values and
169
 * loop needs a little time between reading AD values and
170
 * re-enabling ADC, the real limit is (how much?) lower.
170
 * re-enabling ADC, the real limit is (how much?) lower.
171
 * The acc. sensor is sampled even if not used - or installed
171
 * The acc. sensor is sampled even if not used - or installed
172
 * at all. The cost is not significant.
172
 * at all. The cost is not significant.
173
 */
173
 */
174
 
174
 
175
const uint8_t channelsForStates[] PROGMEM = {
175
const uint8_t channelsForStates[] PROGMEM = {
176
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW,
176
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW,
177
  AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE,
177
  AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE,
178
 
178
 
179
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc.
179
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc.
180
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro
180
  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro
181
 
181
 
182
  AD_ACC_PITCH,   // at 12, finish pitch axis acc.
182
  AD_ACC_PITCH,   // at 12, finish pitch axis acc.
183
  AD_ACC_ROLL,    // at 13, finish roll axis acc.
183
  AD_ACC_ROLL,    // at 13, finish roll axis acc.
184
  AD_AIRPRESSURE, // at 14, finish air pressure.
184
  AD_AIRPRESSURE, // at 14, finish air pressure.
185
 
185
 
186
  AD_GYRO_PITCH,  // at 15, finish pitch gyro
186
  AD_GYRO_PITCH,  // at 15, finish pitch gyro
187
  AD_GYRO_ROLL,   // at 16, finish roll gyro
187
  AD_GYRO_ROLL,   // at 16, finish roll gyro
188
  AD_UBAT         // at 17, measure battery.
188
  AD_UBAT         // at 17, measure battery.
189
};
189
};
190
 
190
 
191
// 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.
192
// uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
192
// uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
193
 
193
 
194
void analog_init(void) {
194
void analog_init(void) {
195
        uint8_t sreg = SREG;
195
        uint8_t sreg = SREG;
196
        // disable all interrupts before reconfiguration
196
        // disable all interrupts before reconfiguration
197
        cli();
197
        cli();
198
 
198
 
199
        //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
199
        //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
200
        DDRA = 0x00;
200
        DDRA = 0x00;
201
        PORTA = 0x00;
201
        PORTA = 0x00;
202
        // Digital Input Disable Register 0
202
        // Digital Input Disable Register 0
203
        // Disable digital input buffer for analog adc_channel pins
203
        // Disable digital input buffer for analog adc_channel pins
204
        DIDR0 = 0xFF;
204
        DIDR0 = 0xFF;
205
        // external reference, adjust data to the right
205
        // external reference, adjust data to the right
206
        ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR));
206
        ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR));
207
        // 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)
208
        ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;
208
        ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;
209
        //Set ADC Control and Status Register A
209
        //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
210
        //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
211
        ADCSRA = (0 << ADEN) | (0 << ADSC) | (0 << ADATE) | (1 << ADPS2) | (1
212
                        << ADPS1) | (1 << ADPS0) | (0 << ADIE);
212
                        << ADPS1) | (1 << ADPS0) | (0 << ADIE);
213
        //Set ADC Control and Status Register B
213
        //Set ADC Control and Status Register B
214
        //Trigger Source to Free Running Mode
214
        //Trigger Source to Free Running Mode
215
        ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0));
215
        ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0));
216
        // Start AD conversion
216
        // Start AD conversion
217
        analog_start();
217
        analog_start();
218
        // restore global interrupt flags
218
        // restore global interrupt flags
219
        SREG = sreg;
219
        SREG = sreg;
220
}
220
}
221
 
221
 
222
void measureNoise(const int16_t sensor,
222
void measureNoise(const int16_t sensor,
223
                volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
223
                volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
224
        if (sensor > (int16_t) (*noiseMeasurement)) {
224
        if (sensor > (int16_t) (*noiseMeasurement)) {
225
                *noiseMeasurement = sensor;
225
                *noiseMeasurement = sensor;
226
        } else if (-sensor > (int16_t) (*noiseMeasurement)) {
226
        } else if (-sensor > (int16_t) (*noiseMeasurement)) {
227
                *noiseMeasurement = -sensor;
227
                *noiseMeasurement = -sensor;
228
        } else if (*noiseMeasurement > damping) {
228
        } else if (*noiseMeasurement > damping) {
229
                *noiseMeasurement -= damping;
229
                *noiseMeasurement -= damping;
230
        } else {
230
        } else {
231
                *noiseMeasurement = 0;
231
                *noiseMeasurement = 0;
232
        }
232
        }
233
}
233
}
234
 
234
 
235
/*
235
/*
236
 * Min.: 0
236
 * Min.: 0
237
 * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.
237
 * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.
238
 */
238
 */
239
uint16_t getSimplePressure(int advalue) {
239
uint16_t getSimplePressure(int advalue) {
240
        return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
240
        return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
241
}
241
}
242
 
242
 
243
/*****************************************************
243
/*****************************************************
244
 * Interrupt Service Routine for ADC
244
 * Interrupt Service Routine for ADC
245
 * Runs at 312.5 kHz or 3.2 µs. When all states are
245
 * Runs at 312.5 kHz or 3.2 µs. When all states are
246
 * processed the interrupt is disabled and further
246
 * processed the interrupt is disabled and further
247
 * AD conversions are stopped.
247
 * AD conversions are stopped.
248
 *****************************************************/
248
 *****************************************************/
249
ISR(ADC_vect) {
249
ISR(ADC_vect) {
250
        static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
250
        static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
251
        static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
251
        static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
252
        static uint16_t pressureAutorangingWait = 25;
252
        static uint16_t pressureAutorangingWait = 25;
253
        uint16_t rawAirPressure;
253
        uint16_t rawAirPressure;
254
        uint8_t i, axis;
254
        uint8_t i, axis;
255
        int16_t newrange;
255
        int16_t newrange;
256
 
256
 
257
        // for various filters...
257
        // for various filters...
258
        int16_t tempOffsetGyro, tempGyro;
258
        int16_t tempOffsetGyro, tempGyro;
259
 
259
 
260
        sensorInputs[ad_channel] += ADC;
260
        sensorInputs[ad_channel] += ADC;
261
 
261
 
262
        /*
262
        /*
263
         * Actually we don't need this "switch". We could do all the sampling into the
263
         * Actually we don't need this "switch". We could do all the sampling into the
264
         * sensorInputs array first, and all the processing after the last sample.
264
         * sensorInputs array first, and all the processing after the last sample.
265
         */
265
         */
266
        switch (state++) {
266
        switch (state++) {
267
 
267
 
268
        case 8: // Z acc
268
        case 8: // Z acc
269
                if (ACC_REVERSED[Z])
269
                if (ACC_REVERSED[Z])
270
                        acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
270
                        acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
271
                else
271
                else
272
                        acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
272
                        acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
273
 
273
 
274
                /*
274
                /*
275
        stronglyFilteredAcc[Z] =
275
        stronglyFilteredAcc[Z] =
276
            (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;
276
            (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;
277
        */
277
        */
278
 
278
 
279
                break;
279
                break;
280
 
280
 
281
        case 11: // yaw gyro
281
        case 11: // yaw gyro
282
                rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
282
                rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
283
                if (GYRO_REVERSED[YAW])
283
                if (GYRO_REVERSED[YAW])
284
                        yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
284
                        yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
285
                else
285
                else
286
                        yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
286
                        yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
287
                break;
287
                break;
288
 
288
 
289
        case 12: // pitch axis acc.
289
        case 12: // pitch axis acc.
290
                if (ACC_REVERSED[PITCH])
290
                if (ACC_REVERSED[PITCH])
291
                        acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];
291
                        acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];
292
                else
292
                else
293
                        acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];
293
                        acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];
294
 
294
 
295
                filteredAcc[PITCH] =
295
                filteredAcc[PITCH] =
296
                    (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH]) / ACC_FILTER;
296
                    (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH]) / ACC_FILTER;
297
 
297
 
298
                /*
298
                /*
299
                stronglyFilteredAcc[PITCH] =
299
                stronglyFilteredAcc[PITCH] =
300
                    (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;
300
                    (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;
301
                */
301
                */
302
 
302
 
303
                measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);
303
                measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);
304
                break;
304
                break;
305
 
305
 
306
        case 13: // roll axis acc.
306
        case 13: // roll axis acc.
307
                if (ACC_REVERSED[ROLL])
307
                if (ACC_REVERSED[ROLL])
308
                        acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];
308
                        acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];
309
                else
309
                else
310
                        acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];
310
                        acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];
311
                filteredAcc[ROLL] =
311
                filteredAcc[ROLL] =
312
                    (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) / ACC_FILTER;
312
                    (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) / ACC_FILTER;
313
 
313
 
314
                /*
314
                /*
315
        stronglyFilteredAcc[ROLL] =
315
        stronglyFilteredAcc[ROLL] =
316
            (stronglyFilteredAcc[ROLL] * 99 + acc[ROLL] * 10) / 100;
316
            (stronglyFilteredAcc[ROLL] * 99 + acc[ROLL] * 10) / 100;
317
        */
317
        */
318
 
318
 
319
                measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);
319
                measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);
320
                break;
320
                break;
321
 
321
 
322
        case 14: // air pressure
322
        case 14: // air pressure
323
                if (pressureAutorangingWait) {
323
                if (pressureAutorangingWait) {
324
                        //A range switch was done recently. Wait for steadying.
324
                        //A range switch was done recently. Wait for steadying.
325
                        pressureAutorangingWait--;
325
                        pressureAutorangingWait--;
326
                        DebugOut.Analog[27] = (uint16_t) OCR0A;
326
                        DebugOut.Analog[27] = (uint16_t) OCR0A;
327
                        DebugOut.Analog[31] = simpleAirPressure;
327
                        DebugOut.Analog[31] = simpleAirPressure;
328
                        break;
328
                        break;
329
                }
329
                }
330
 
330
 
331
                rawAirPressure = sensorInputs[AD_AIRPRESSURE];
331
                rawAirPressure = sensorInputs[AD_AIRPRESSURE];
332
                if (rawAirPressure < MIN_RAWPRESSURE) {
332
                if (rawAirPressure < MIN_RAWPRESSURE) {
333
                        // value is too low, so decrease voltage on the op amp minus input, making the value higher.
333
                        // value is too low, so decrease voltage on the op amp minus input, making the value higher.
334
                        newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
334
                        newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
335
                        if (newrange > MIN_RANGES_EXTRAPOLATION) {
335
                        if (newrange > MIN_RANGES_EXTRAPOLATION) {
336
                                pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
336
                                pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
337
                                OCR0A = newrange;
337
                                OCR0A = newrange;
338
                        } else {
338
                        } else {
339
                                if (OCR0A) {
339
                                if (OCR0A) {
340
                                        OCR0A--;
340
                                        OCR0A--;
341
                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
341
                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
342
                                }
342
                                }
343
                        }
343
                        }
344
                } else if (rawAirPressure > MAX_RAWPRESSURE) {
344
                } else if (rawAirPressure > MAX_RAWPRESSURE) {
345
                        // value is too high, so increase voltage on the op amp minus input, making the value lower.
345
                        // value is too high, so increase voltage on the op amp minus input, making the value lower.
346
                        // If near the end, make a limited increase
346
                        // If near the end, make a limited increase
347
                        newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
347
                        newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
348
                        if (newrange < MAX_RANGES_EXTRAPOLATION) {
348
                        if (newrange < MAX_RANGES_EXTRAPOLATION) {
349
                                pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
349
                                pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
350
                                OCR0A = newrange;
350
                                OCR0A = newrange;
351
                        } else {
351
                        } else {
352
                                if (OCR0A < 254) {
352
                                if (OCR0A < 254) {
353
                                        OCR0A++;
353
                                        OCR0A++;
354
                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
354
                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
355
                                }
355
                                }
356
                        }
356
                        }
357
                }
357
                }
358
 
358
 
359
                // Even if the sample is off-range, use it.
359
                // Even if the sample is off-range, use it.
360
                simpleAirPressure = getSimplePressure(rawAirPressure);
360
                simpleAirPressure = getSimplePressure(rawAirPressure);
361
                DebugOut.Analog[27] = (uint16_t) OCR0A;
361
                DebugOut.Analog[27] = (uint16_t) OCR0A;
362
                DebugOut.Analog[31] = simpleAirPressure;
362
                DebugOut.Analog[31] = simpleAirPressure;
363
 
363
 
364
                if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
364
                if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
365
                        // Danger: pressure near lower end of range. If the measurement saturates, the
365
                        // Danger: pressure near lower end of range. If the measurement saturates, the
366
                        // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
366
                        // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
367
                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
367
                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
368
                        airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth
368
                        airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth
369
                                        + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION
369
                                        + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION
370
                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
370
                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
371
                } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
371
                } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
372
                        // Danger: pressure near upper end of range. If the measurement saturates, the
372
                        // Danger: pressure near upper end of range. If the measurement saturates, the
373
                        // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
373
                        // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
374
                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
374
                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
375
                        airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth
375
                        airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth
376
                                        + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION
376
                                        + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION
377
                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
377
                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
378
                } else {
378
                } else {
379
                        // normal case.
379
                        // normal case.
380
                        // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
380
                        // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
381
                        // The 2 cases above (end of range) are ignored for this.
381
                        // The 2 cases above (end of range) are ignored for this.
382
                        DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT;
382
                        DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT;
383
                        if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
383
                        if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
384
                                airPressureSum += simpleAirPressure / 2;
384
                                airPressureSum += simpleAirPressure / 2;
385
                        else
385
                        else
386
                                airPressureSum += simpleAirPressure;
386
                                airPressureSum += simpleAirPressure;
387
                }
387
                }
388
 
388
 
389
                // 2 samples were added.
389
                // 2 samples were added.
390
                pressureMeasurementCount += 2;
390
                pressureMeasurementCount += 2;
391
                if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
391
                if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
392
                        filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
392
                        filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
393
                                        + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
393
                                        + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
394
                        pressureMeasurementCount = airPressureSum = 0;
394
                        pressureMeasurementCount = airPressureSum = 0;
395
                }
395
                }
396
 
396
 
397
                break;
397
                break;
398
 
398
 
399
        case 15:
399
        case 15:
400
        case 16: // pitch or roll gyro.
400
        case 16: // pitch or roll gyro.
401
                axis = state - 16;
401
                axis = state - 16;
402
                tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];
402
                tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];
403
                // DebugOut.Analog[6 + 3 * axis ] = tempGyro;
403
                // DebugOut.Analog[6 + 3 * axis ] = tempGyro;
404
                /*
404
                /*
405
                 * Process the gyro data for the PID controller.
405
                 * Process the gyro data for the PID controller.
406
                 */
406
                 */
407
                // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
407
                // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
408
                //    gyro with a wider range, and helps counter saturation at full control.
408
                //    gyro with a wider range, and helps counter saturation at full control.
409
 
409
 
410
                if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
410
                if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
411
                        if (tempGyro < SENSOR_MIN_PITCHROLL) {
411
                        if (tempGyro < SENSOR_MIN_PITCHROLL) {
412
                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
412
                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
413
                                tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
413
                                tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
414
                        } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
414
                        } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
415
                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
415
                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
416
                                tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE
416
                                tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE
417
                                                + SENSOR_MAX_PITCHROLL;
417
                                                + SENSOR_MAX_PITCHROLL;
418
                        } else {
418
                        } else {
419
                                DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT;
419
                                DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT;
420
                        }
420
                        }
421
                }
421
                }
422
 
422
 
423
                // 2) Apply sign and offset, scale before filtering.
423
                // 2) Apply sign and offset, scale before filtering.
424
                if (GYRO_REVERSED[axis]) {
424
                if (GYRO_REVERSED[axis]) {
425
                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
425
                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
426
                } else {
426
                } else {
427
                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
427
                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
428
                }
428
                }
429
 
429
 
430
                // 3) Scale and filter.
430
                // 3) Scale and filter.
431
                tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro)
431
                tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro)
432
                                / GYROS_PID_FILTER;
432
                                / GYROS_PID_FILTER;
433
 
433
 
434
                // 4) Measure noise.
434
                // 4) Measure noise.
435
                measureNoise(tempOffsetGyro, &gyroNoisePeak[axis],
435
                measureNoise(tempOffsetGyro, &gyroNoisePeak[axis],
436
                                GYRO_NOISE_MEASUREMENT_DAMPING);
436
                                GYRO_NOISE_MEASUREMENT_DAMPING);
437
 
437
 
438
                // 5) Differential measurement.
438
                // 5) Differential measurement.
439
                gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro
439
                gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro
440
                                - gyro_PID[axis])) / GYROS_D_FILTER;
440
                                - gyro_PID[axis])) / GYROS_D_FILTER;
441
 
441
 
442
                // 6) Done.
442
                // 6) Done.
443
                gyro_PID[axis] = tempOffsetGyro;
443
                gyro_PID[axis] = tempOffsetGyro;
444
 
444
 
445
                /*
445
                /*
446
                 * Now process the data for attitude angles.
446
                 * Now process the data for attitude angles.
447
                 */
447
                 */
448
                tempGyro = rawGyroSum[axis];
448
                tempGyro = rawGyroSum[axis];
449
 
449
 
450
                // 1) Apply sign and offset, scale before filtering.
450
                // 1) Apply sign and offset, scale before filtering.
451
                if (GYRO_REVERSED[axis]) {
451
                if (GYRO_REVERSED[axis]) {
452
                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
452
                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
453
                } else {
453
                } else {
454
                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
454
                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
455
                }
455
                }
456
 
456
 
457
                // 2) Filter.
457
                // 2) Filter.
458
                gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro)
458
                gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro)
459
                                / GYROS_ATT_FILTER;
459
                                / GYROS_ATT_FILTER;
460
                break;
460
                break;
461
 
461
 
462
        case 17:
462
        case 17:
463
                // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
463
                // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
464
                // This is divided by 3 --> 10.34 counts per volt.
464
                // This is divided by 3 --> 10.34 counts per volt.
465
                UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
465
                UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
466
                DebugOut.Analog[11] = UBat;
466
                DebugOut.Analog[11] = UBat;
467
                analogDataReady = 1; // mark
467
                analogDataReady = 1; // mark
468
                ADCycleCount++;
468
                ADCycleCount++;
469
                // Stop the sampling. Cycle is over.
469
                // Stop the sampling. Cycle is over.
470
                state = 0;
470
                state = 0;
471
                for (i = 0; i < 8; i++) {
471
                for (i = 0; i < 8; i++) {
472
                        sensorInputs[i] = 0;
472
                        sensorInputs[i] = 0;
473
                }
473
                }
474
                break;
474
                break;
475
        default: {
475
        default: {
476
        } // do nothing.
476
        } // do nothing.
477
        }
477
        }
478
 
478
 
479
        // set up for next state.
479
        // set up for next state.
480
        ad_channel = pgm_read_byte(&channelsForStates[state]);
480
        ad_channel = pgm_read_byte(&channelsForStates[state]);
481
        // ad_channel = channelsForStates[state];
481
        // ad_channel = channelsForStates[state];
482
 
482
 
483
        // set adc muxer to next ad_channel
483
        // set adc muxer to next ad_channel
484
        ADMUX = (ADMUX & 0xE0) | ad_channel;
484
        ADMUX = (ADMUX & 0xE0) | ad_channel;
485
        // after full cycle stop further interrupts
485
        // after full cycle stop further interrupts
486
        if (state)
486
        if (state)
487
                analog_start();
487
                analog_start();
488
}
488
}
489
 
489
 
490
void analog_calibrate(void) {
490
void analog_calibrate(void) {
491
#define GYRO_OFFSET_CYCLES 32
491
#define GYRO_OFFSET_CYCLES 32
492
        uint8_t i, axis;
492
        uint8_t i, axis;
493
        int32_t deltaOffsets[3] = { 0, 0, 0 };
493
        int32_t deltaOffsets[3] = { 0, 0, 0 };
494
 
494
 
495
        // Set the filters... to be removed again, once some good settings are found.
495
        // Set the filters... to be removed again, once some good settings are found.
496
        GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
496
        GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
497
        GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
497
        GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
498
        GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
498
        GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
499
        ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;
499
        ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;
500
 
500
 
501
        gyro_calibrate();
501
        gyro_calibrate();
502
 
502
 
503
        // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
503
        // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
504
        for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
504
        for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
505
                Delay_ms_Mess(20);
505
                delay_ms_Mess(20);
506
                for (axis = PITCH; axis <= YAW; axis++) {
506
                for (axis = PITCH; axis <= YAW; axis++) {
507
                        deltaOffsets[axis] += rawGyroSum[axis];
507
                        deltaOffsets[axis] += rawGyroSum[axis];
508
                }
508
                }
509
        }
509
        }
510
 
510
 
511
        for (axis = PITCH; axis <= YAW; axis++) {
511
        for (axis = PITCH; axis <= YAW; axis++) {
512
                gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
512
                gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
513
                // DebugOut.Analog[20 + axis] = gyroOffset[axis];
513
                // DebugOut.Analog[20 + axis] = gyroOffset[axis];
514
        }
514
        }
515
 
515
 
516
        // Noise is relativ to offset. So, reset noise measurements when changing offsets.
516
        // Noise is relativ to offset. So, reset noise measurements when changing offsets.
517
        gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
517
        gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
518
 
518
 
519
        accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
519
        accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
520
        accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
520
        accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
521
        accOffset[Z] = GetParamWord(PID_ACC_Z);
521
        accOffset[Z] = GetParamWord(PID_ACC_Z);
522
 
522
 
523
        // Rough estimate. Hmm no nothing happens at calibration anyway.
523
        // Rough estimate. Hmm no nothing happens at calibration anyway.
524
        // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
524
        // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
525
        // pressureMeasurementCount = 0;
525
        // pressureMeasurementCount = 0;
526
 
526
 
527
        Delay_ms_Mess(100);
527
        delay_ms_Mess(100);
528
}
528
}
529
 
529
 
530
/*
530
/*
531
 * Find acc. offsets for a neutral reading, and write them to EEPROM.
531
 * Find acc. offsets for a neutral reading, and write them to EEPROM.
532
 * Does not (!} update the local variables. This must be done with a
532
 * Does not (!} update the local variables. This must be done with a
533
 * call to analog_calibrate() - this always (?) is done by the caller
533
 * call to analog_calibrate() - this always (?) is done by the caller
534
 * anyway. There would be nothing wrong with updating the variables
534
 * anyway. There would be nothing wrong with updating the variables
535
 * directly from here, though.
535
 * directly from here, though.
536
 */
536
 */
537
void analog_calibrateAcc(void) {
537
void analog_calibrateAcc(void) {
538
#define ACC_OFFSET_CYCLES 10
538
#define ACC_OFFSET_CYCLES 10
539
        uint8_t i, axis;
539
        uint8_t i, axis;
540
        int32_t deltaOffset[3] = { 0, 0, 0 };
540
        int32_t deltaOffset[3] = { 0, 0, 0 };
541
        int16_t filteredDelta;
541
        int16_t filteredDelta;
542
        // int16_t pressureDiff, savedRawAirPressure;
542
        // int16_t pressureDiff, savedRawAirPressure;
543
 
543
 
544
        for (i = 0; i < ACC_OFFSET_CYCLES; i++) {
544
        for (i = 0; i < ACC_OFFSET_CYCLES; i++) {
545
                Delay_ms_Mess(10);
545
                delay_ms_Mess(10);
546
                for (axis = PITCH; axis <= YAW; axis++) {
546
                for (axis = PITCH; axis <= YAW; axis++) {
547
                        deltaOffset[axis] += acc[axis];
547
                        deltaOffset[axis] += acc[axis];
548
                }
548
                }
549
        }
549
        }
550
 
550
 
551
        for (axis = PITCH; axis <= YAW; axis++) {
551
        for (axis = PITCH; axis <= YAW; axis++) {
552
                filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2)
552
                filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2)
553
                                / ACC_OFFSET_CYCLES;
553
                                / ACC_OFFSET_CYCLES;
554
                accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
554
                accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
555
        }
555
        }
556
 
556
 
557
        // Save ACC neutral settings to eeprom
557
        // Save ACC neutral settings to eeprom
558
        SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
558
        SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
559
        SetParamWord(PID_ACC_ROLL, accOffset[ROLL]);
559
        SetParamWord(PID_ACC_ROLL, accOffset[ROLL]);
560
        SetParamWord(PID_ACC_Z, accOffset[Z]);
560
        SetParamWord(PID_ACC_Z, accOffset[Z]);
561
 
561
 
562
        // Noise is relative to offset. So, reset noise measurements when
562
        // Noise is relative to offset. So, reset noise measurements when
563
        // changing offsets.
563
        // changing offsets.
564
        accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
564
        accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
565
 
565
 
566
        // Setting offset values has an influence in the analog.c ISR
566
        // Setting offset values has an influence in the analog.c ISR
567
        // Therefore run measurement for 100ms to achive stable readings
567
        // Therefore run measurement for 100ms to achive stable readings
568
        Delay_ms_Mess(100);
568
        delay_ms_Mess(100);
569
 
569
 
570
        // Set the feedback so that air pressure ends up in the middle of the range.
570
        // Set the feedback so that air pressure ends up in the middle of the range.
571
        // (raw pressure high --> OCR0A also high...)
571
        // (raw pressure high --> OCR0A also high...)
572
        /*
572
        /*
573
         OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
573
         OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
574
         Delay_ms_Mess(1000);
574
         delay_ms_Mess(1000);
575
 
575
 
576
         pressureDiff = 0;
576
         pressureDiff = 0;
577
         // DebugOut.Analog[16] = rawAirPressure;
577
         // DebugOut.Analog[16] = rawAirPressure;
578
 
578
 
579
         #define PRESSURE_CAL_CYCLE_COUNT 5
579
         #define PRESSURE_CAL_CYCLE_COUNT 5
580
         for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
580
         for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
581
         savedRawAirPressure = rawAirPressure;
581
         savedRawAirPressure = rawAirPressure;
582
         OCR0A+=2;
582
         OCR0A+=2;
583
         Delay_ms_Mess(500);
583
         delay_ms_Mess(500);
584
         // raw pressure will decrease.
584
         // raw pressure will decrease.
585
         pressureDiff += (savedRawAirPressure - rawAirPressure);
585
         pressureDiff += (savedRawAirPressure - rawAirPressure);
586
         savedRawAirPressure = rawAirPressure;
586
         savedRawAirPressure = rawAirPressure;
587
         OCR0A-=2;
587
         OCR0A-=2;
588
         Delay_ms_Mess(500);
588
         delay_ms_Mess(500);
589
         // raw pressure will increase.
589
         // raw pressure will increase.
590
         pressureDiff += (rawAirPressure - savedRawAirPressure);
590
         pressureDiff += (rawAirPressure - savedRawAirPressure);
591
         }
591
         }
592
 
592
 
593
         rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);
593
         rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);
594
         DebugOut.Analog[27] = rangewidth;
594
         DebugOut.Analog[27] = rangewidth;
595
         */
595
         */
596
}
596
}
597
 
597