WebSVN - FlightCtrl - Diff - Rev 1887 and 1952 - /branches/dongfang_FC

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 // + Copyright (c) 04.2007 Holger Buss
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 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/pgmspace.h>
 #include "analog.h"
 #include "attitude.h"
 #include "sensors.h"
 // for Delay functions
 #include "timer0.h"
 // For DebugOut
 #include "uart0.h"
 // For reading and writing acc. meter offsets.
 #include "eeprom.h"
 // For DebugOut.Digital
 #include "output.h"
+// set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit
+#define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE))
 /*
  * For each A/D conversion cycle, each analog channel is sampled a number of times
  * (see array channelsForStates), and the results for each channel are summed.
  * Here are those for the gyros and the acc. meters. They are not zero-offset.
  * They are exported in the analog.h file - but please do not use them! The only
  * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
  * the offsets with the DAC.
  */
+volatile uint16_t sensorInputs[8];
 volatile int16_t rawGyroSum[3];
 volatile int16_t acc[3];
 volatile int16_t filteredAcc[2] = { 0,0 };
 // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 };
 /*
  * These 4 exported variables are zero-offset. The "PID" ones are used
  * in the attitude control as rotation rates. The "ATT" ones are for
  * integration to angles.
  */
 volatile int16_t gyro_PID[2];
 volatile int16_t gyro_ATT[2];
 volatile int16_t gyroD[2];
 volatile int16_t yawGyro;
 /*
  * Offset values. These are the raw gyro and acc. meter sums when the copter is
  * standing still. They are used for adjusting the gyro and acc. meter values
  * to be centered on zero.
  */
 volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512
                 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW };
 volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512
                 * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z };
 /*
  * This allows some experimentation with the gyro filters.
  * Should be replaced by #define's later on...
  */
 volatile uint8_t GYROS_PID_FILTER;
 volatile uint8_t GYROS_ATT_FILTER;
 volatile uint8_t GYROS_D_FILTER;
 volatile uint8_t ACC_FILTER;
 /*
  * Air pressure
  */
 volatile uint8_t rangewidth = 106;
 // Direct from sensor, irrespective of range.
 // volatile uint16_t rawAirPressure;
 // Value of 2 samples, with range.
 volatile uint16_t simpleAirPressure;
 // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered.
 volatile int32_t filteredAirPressure;
 // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples.
 volatile int32_t airPressureSum;
 // The number of samples summed into airPressureSum so far.
 volatile uint8_t pressureMeasurementCount;
 /*
  * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
  * That is divided by 3 below, for a final 10.34 per volt.
  * So the initial value of 100 is for 9.7 volts.
  */
 volatile int16_t UBat = 100;
 /*
  * Control and status.
  */
 volatile uint16_t ADCycleCount = 0;
 volatile uint8_t analogDataReady = 1;
 /*
  * Experiment: Measuring vibration-induced sensor noise.
  */
 volatile uint16_t gyroNoisePeak[2];
 volatile uint16_t accNoisePeak[2];
 // ADC channels
 #define AD_GYRO_YAW       0
 #define AD_GYRO_ROLL      1
 #define AD_GYRO_PITCH     2
 #define AD_AIRPRESSURE    3
 #define AD_UBAT           4
 #define AD_ACC_Z          5
 #define AD_ACC_ROLL       6
 #define AD_ACC_PITCH      7
 /*
  * Table of AD converter inputs for each state.
  * The number of samples summed for each channel is equal to
  * the number of times the channel appears in the array.
  * The max. number of samples that can be taken in 2 ms is:
  * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control
  * loop needs a little time between reading AD values and
  * re-enabling ADC, the real limit is (how much?) lower.
  * The acc. sensor is sampled even if not used - or installed
  * at all. The cost is not significant.
  */
 const uint8_t channelsForStates[] PROGMEM = {
   AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW,
   AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE,
   AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc.
   AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro
   AD_ACC_PITCH,   // at 12, finish pitch axis acc.
   AD_ACC_ROLL,    // at 13, finish roll axis acc.
   AD_AIRPRESSURE, // at 14, finish air pressure.
   AD_GYRO_PITCH,  // at 15, finish pitch gyro
   AD_GYRO_ROLL,   // at 16, finish roll gyro
   AD_UBAT         // at 17, measure battery.
 };
 // Feature removed. Could be reintroduced later - but should work for all gyro types then.
 // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
 void analog_init(void) {
         uint8_t sreg = SREG;
         // disable all interrupts before reconfiguration
         cli();
         //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
         DDRA = 0x00;
         PORTA = 0x00;
         // Digital Input Disable Register 0
         // Disable digital input buffer for analog adc_channel pins
         DIDR0 = 0xFF;
         // external reference, adjust data to the right
-        ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR));
+        ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR));
         // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
-        ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;
+        ADMUX = (ADMUX & 0xE0) | channelsForStates[0];
         //Set ADC Control and Status Register A
         //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
-        ADCSRA = (0 << ADEN) | (0 << ADSC) | (0 << ADATE) | (1 << ADPS2) | (1
-                        << ADPS1) | (1 << ADPS0) | (0 << ADIE);
+        ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
         //Set ADC Control and Status Register B
         //Trigger Source to Free Running Mode
-        ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0));
+        ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0));
-        // Start AD conversion
+        startAnalogConversionCycle();
-        analog_start();
         // restore global interrupt flags
         SREG = sreg;
+}
 void measureNoise(const int16_t sensor,
                 volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
         if (sensor > (int16_t) (*noiseMeasurement)) {
                 *noiseMeasurement = sensor;
         } else if (-sensor > (int16_t) (*noiseMeasurement)) {
                 *noiseMeasurement = -sensor;
         } else if (*noiseMeasurement > damping) {
                 *noiseMeasurement -= damping;
         } else {
                 *noiseMeasurement = 0;
+        }
+}
 /*
  * Min.: 0
  * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.
  */
 uint16_t getSimplePressure(int advalue) {
         return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
+}
+void startAnalogConversionCycle(void) {
+  // Stop the sampling. Cycle is over.
+  for (uint8_t i = 0; i < 8; i++) {
+    sensorInputs[i] = 0;
+  }
+  ADMUX = (ADMUX & 0xE0) | channelsForStates[0];
+  startADC();
+}
 /*****************************************************
  * Interrupt Service Routine for ADC
  * Runs at 312.5 kHz or 3.2 µs. When all states are
- * processed the interrupt is disabled and further
- * AD conversions are stopped.
+ * processed further conversions are stopped.
  *****************************************************/
 ISR(ADC_vect) {
-        static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
+  static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
-        static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
-        static uint16_t pressureAutorangingWait = 25;
-        uint16_t rawAirPressure;
-        uint8_t i, axis;
-        int16_t newrange;
-        // for various filters...
-        int16_t tempOffsetGyro, tempGyro;
-        sensorInputs[ad_channel] += ADC;
+  sensorInputs[ad_channel] += ADC;
-        /*
-         * Actually we don't need this "switch". We could do all the sampling into the
-         * sensorInputs array first, and all the processing after the last sample.
-         */
-        switch (state++) {
-        case 8: // Z acc
-                if (ACC_REVERSED[Z])
-                        acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
-                else
-                        acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
-                /*
-        stronglyFilteredAcc[Z] =
-            (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;
-        */
-                break;
-        case 11: // yaw gyro
-                rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
-                if (GYRO_REVERSED[YAW])
-                        yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
-                else
-                        yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
-                break;
-        case 12: // pitch axis acc.
-                if (ACC_REVERSED[PITCH])
-                        acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];
-                else
-                        acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];
-                filteredAcc[PITCH] =
-                    (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH]) / ACC_FILTER;
-                /*
-                stronglyFilteredAcc[PITCH] =
-                    (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;
-                */
-                measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);
-                break;
-        case 13: // roll axis acc.
+  // set up for next state.
-                if (ACC_REVERSED[ROLL])
-                        acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];
-                else
-                        acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];
-                filteredAcc[ROLL] =
-                    (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) / ACC_FILTER;
-                /*
-        stronglyFilteredAcc[ROLL] =
-            (stronglyFilteredAcc[ROLL] * 99 + acc[ROLL] * 10) / 100;
-        */
+  state++;
-                measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);
-                break;
-        case 14: // air pressure
-                if (pressureAutorangingWait) {
-                        //A range switch was done recently. Wait for steadying.
-                        pressureAutorangingWait--;
-                        DebugOut.Analog[27] = (uint16_t) OCR0A;
-                        DebugOut.Analog[31] = simpleAirPressure;
-                        break;
-                }
-                rawAirPressure = sensorInputs[AD_AIRPRESSURE];
-                if (rawAirPressure < MIN_RAWPRESSURE) {
-                        // value is too low, so decrease voltage on the op amp minus input, making the value higher.
-                        newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
-                        if (newrange > MIN_RANGES_EXTRAPOLATION) {
-                                pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
-                                OCR0A = newrange;
-                        } else {
-                                if (OCR0A) {
-                                        OCR0A--;
-                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
-                                }
-                        }
-                } else if (rawAirPressure > MAX_RAWPRESSURE) {
-                        // value is too high, so increase voltage on the op amp minus input, making the value lower.
-                        // If near the end, make a limited increase
-                        newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
-                        if (newrange < MAX_RANGES_EXTRAPOLATION) {
-                                pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
-                                OCR0A = newrange;
-                        } else {
-                                if (OCR0A < 254) {
+  if (state < 18) {
-                                        OCR0A++;
-                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
-                                }
-                        }
-                }
-                // Even if the sample is off-range, use it.
-                simpleAirPressure = getSimplePressure(rawAirPressure);
+    ad_channel = pgm_read_byte(&channelsForStates[state]);
-                DebugOut.Analog[27] = (uint16_t) OCR0A;
+    // set adc muxer to next ad_channel
-                DebugOut.Analog[31] = simpleAirPressure;
+    ADMUX = (ADMUX & 0xE0) | ad_channel;
-                if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
-                        // Danger: pressure near lower end of range. If the measurement saturates, the
-                        // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
-                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
-                        airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth
-                                        + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION
-                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
-                } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
-                        // Danger: pressure near upper end of range. If the measurement saturates, the
-                        // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
-                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
-                        airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth
-                                        + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION
-                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
-                } else {
-                        // normal case.
-                        // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
-                        // The 2 cases above (end of range) are ignored for this.
+    // after full cycle stop further interrupts
-                        DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT;
-                        if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
-                                airPressureSum += simpleAirPressure / 2;
-                        else
-                                airPressureSum += simpleAirPressure;
-                }
-                // 2 samples were added.
-                pressureMeasurementCount += 2;
-                if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
-                        filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
-                                        + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
-                        pressureMeasurementCount = airPressureSum = 0;
-                }
-                break;
-        case 15:
-        case 16: // pitch or roll gyro.
-                axis = state - 16;
+    startADC();
-                tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];
-                // DebugOut.Analog[6 + 3 * axis ] = tempGyro;
-                /*
-                 * Process the gyro data for the PID controller.
-                 */
-                // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
-                //    gyro with a wider range, and helps counter saturation at full control.
-                if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
-                        if (tempGyro < SENSOR_MIN_PITCHROLL) {
-                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
-                                tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
-                        } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
-                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
-                                tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE
-                                                + SENSOR_MAX_PITCHROLL;
-                        } else {
-                                DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT;
-                        }
-                }
-                // 2) Apply sign and offset, scale before filtering.
-                if (GYRO_REVERSED[axis]) {
-                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
-                } else {
+  } else {
-                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
-                }
-                // 3) Scale and filter.
-                tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro)
-                                / GYROS_PID_FILTER;
-                // 4) Measure noise.
-                measureNoise(tempOffsetGyro, &gyroNoisePeak[axis],
-                                GYRO_NOISE_MEASUREMENT_DAMPING);
-                // 5) Differential measurement.
-                gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro
-                                - gyro_PID[axis])) / GYROS_D_FILTER;
-                // 6) Done.
-                gyro_PID[axis] = tempOffsetGyro;
-                /*
-                 * Now process the data for attitude angles.
-                 */
-                tempGyro = rawGyroSum[axis];
-                // 1) Apply sign and offset, scale before filtering.
-                if (GYRO_REVERSED[axis]) {
-                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
-                } else {
+    state = 0;
-                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
-                }
-                // 2) Filter.
-                gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro)
-                                / GYROS_ATT_FILTER;
-                break;
-        case 17:
-                // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
-                // This is divided by 3 --> 10.34 counts per volt.
-                UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
-                DebugOut.Analog[11] = UBat;
-                analogDataReady = 1; // mark
-                ADCycleCount++;
+    ADCycleCount++;
-                // Stop the sampling. Cycle is over.
-                state = 0;
+    analogDataReady = 1;
-                for (i = 0; i < 8; i++) {
+    // do not restart ADC converter.
-                        sensorInputs[i] = 0;
-                }
+  }
-                break;
-        default: {
-        } // do nothing.
-        }
+}
+void analog_updateGyros(void) {
+  // for various filters...
+  int16_t tempOffsetGyro, tempGyro;
-        // set up for next state.
+  for (uint8_t axis=0; axis<2; axis++) {
-        ad_channel = pgm_read_byte(&channelsForStates[state]);
+    tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis];
+    // DebugOut.Analog[6 + 3 * axis ] = tempGyro;
+    /*
+     * Process the gyro data for the PID controller.
+     */
+    // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
+    //    gyro with a wider range, and helps counter saturation at full control.
+    if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
+      if (tempGyro < SENSOR_MIN_PITCHROLL) {
+        DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
+        tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
+      } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
+        DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
+        tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE
+          + SENSOR_MAX_PITCHROLL;
+      } else {
+        DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT;
+      }
+    }
+    // 2) Apply sign and offset, scale before filtering.
+    if (GYRO_REVERSED[axis]) {
+      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
+    } else {
+      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
+    }
+    // 3) Scale and filter.
+    tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro) / GYROS_PID_FILTER;
+    // 4) Measure noise.
-        // ad_channel = channelsForStates[state];
+    measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
+    // 5) Differential measurement.
+    gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER;
-        // set adc muxer to next ad_channel
+    // 6) Done.
+    gyro_PID[axis] = tempOffsetGyro;
-        ADMUX = (ADMUX & 0xE0) | ad_channel;
+    /*
+     * Now process the data for attitude angles.
+     */
+    tempGyro = rawGyroSum[axis];
+    // 1) Apply sign and offset, scale before filtering.
+    if (GYRO_REVERSED[axis]) {
-        // after full cycle stop further interrupts
+      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
+    } else {
+      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
+    }
-        if (state)
+    // 2) Filter.
+    gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro) / GYROS_ATT_FILTER;
+  }
+  // Yaw gyro.
+  rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
+  if (GYRO_REVERSED[YAW])
+    yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
+  else
-                analog_start();
+    yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
 }
+void analog_updateAccelerometers(void) {
+  // Pitch and roll axis accelerations.
+  for (uint8_t axis=0; axis<2; axis++) {
+    if (ACC_REVERSED[axis])
+      acc[axis] = accOffset[axis] - sensorInputs[AD_ACC_PITCH-axis];
+    else
+      acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset[axis];
+    filteredAcc[axis] = (filteredAcc[axis] * (ACC_FILTER - 1) + acc[axis]) / ACC_FILTER;
+    /*
+      stronglyFilteredAcc[PITCH] =
+      (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;
+    */
+    measureNoise(acc[axis], &accNoisePeak[axis], 1);
-void analog_calibrate(void) {
+  }
-#define GYRO_OFFSET_CYCLES 32
+  // Z acc.
+  if (ACC_REVERSED[Z])
+    acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
+  else
+    acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
+  /*
+    stronglyFilteredAcc[Z] =
+    (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;
+  */
-        uint8_t i, axis;
+}
+void analog_updateAirPressure(void) {
+  static uint16_t pressureAutorangingWait = 25;
-        int32_t deltaOffsets[3] = { 0, 0, 0 };
+  uint16_t rawAirPressure;
+  int16_t newrange;
+  // air pressure
-        // Set the filters... to be removed again, once some good settings are found.
+  if (pressureAutorangingWait) {
-        GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
+    //A range switch was done recently. Wait for steadying.
-        GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
+    pressureAutorangingWait--;
+    DebugOut.Analog[27] = (uint16_t) OCR0A;
-        GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
+    DebugOut.Analog[31] = simpleAirPressure;
-        ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;
+  } else {
+    rawAirPressure = sensorInputs[AD_AIRPRESSURE];
-        gyro_calibrate();
+    if (rawAirPressure < MIN_RAWPRESSURE) {
+      // value is too low, so decrease voltage on the op amp minus input, making the value higher.
+      newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
-        // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
+      if (newrange > MIN_RANGES_EXTRAPOLATION) {
-        for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
+        pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
-                delay_ms_Mess(20);
+        OCR0A = newrange;
+      } else {
-                for (axis = PITCH; axis <= YAW; axis++) {
+        if (OCR0A) {
-                        deltaOffsets[axis] += rawGyroSum[axis];
+          OCR0A--;
-                }
+          pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
+        }
+      }
+    } else if (rawAirPressure > MAX_RAWPRESSURE) {
+      // value is too high, so increase voltage on the op amp minus input, making the value lower.
-        }
+      // If near the end, make a limited increase
+      newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
+      if (newrange < MAX_RANGES_EXTRAPOLATION) {
+        pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
+        OCR0A = newrange;
+      } else {
-        for (axis = PITCH; axis <= YAW; axis++) {
+        if (OCR0A < 254) {
+          OCR0A++;
+          pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
+        }
+      }
+    }
+    // Even if the sample is off-range, use it.
+    simpleAirPressure = getSimplePressure(rawAirPressure);
+    DebugOut.Analog[27] = (uint16_t) OCR0A;
+    DebugOut.Analog[31] = simpleAirPressure;
+    if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
+      // Danger: pressure near lower end of range. If the measurement saturates, the
+      // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
+      DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
+      airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth
+        + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION
+           * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
+    } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
+      // Danger: pressure near upper end of range. If the measurement saturates, the
+      // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
+      DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
+      airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth
+        + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION
+           * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
+    } else {
+      // normal case.
+      // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
+      // The 2 cases above (end of range) are ignored for this.
+      DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT;
+      if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
+        airPressureSum += simpleAirPressure / 2;
+      else
+        airPressureSum += simpleAirPressure;
+    }
+    // 2 samples were added.
+    pressureMeasurementCount += 2;
+    if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
+      filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
+                             + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
+      pressureMeasurementCount = airPressureSum = 0;
+    }
+  }
-                gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
+}
-                // DebugOut.Analog[20 + axis] = gyroOffset[axis];
+void analog_updateBatteryVoltage(void) {
+  // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
+  // This is divided by 3 --> 10.34 counts per volt.
+  UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
-        }
+  DebugOut.Analog[11] = UBat;
+}
-        // Noise is relativ to offset. So, reset noise measurements when changing offsets.
-        gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
+void analog_update(void) {
-        accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
-        accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
+  analog_updateGyros();
+  analog_updateAccelerometers();
+  analog_updateAirPressure();
+  analog_updateBatteryVoltage();
+}
+void analog_calibrate(void) {
+#define GYRO_OFFSET_CYCLES 32
+  uint8_t i, axis;
+  int32_t deltaOffsets[3] = { 0, 0, 0 };
+  // Set the filters... to be removed again, once some good settings are found.
+  GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
+  GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
+  GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
+  ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;
+  gyro_calibrate();
+  // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
+  for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
+    delay_ms_Mess(20);
+    for (axis = PITCH; axis <= YAW; axis++) {
+      deltaOffsets[axis] += rawGyroSum[axis];
+    }
+  }
+  for (axis = PITCH; axis <= YAW; axis++) {
+    gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
+    // DebugOut.Analog[20 + axis] = gyroOffset[axis];
+  }
+  // Noise is relativ to offset. So, reset noise measurements when changing offsets.
+  gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
+  accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
+  accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
-        accOffset[Z] = GetParamWord(PID_ACC_Z);
+  accOffset[Z] = GetParamWord(PID_ACC_Z);
-        // Rough estimate. Hmm no nothing happens at calibration anyway.
+  // Rough estimate. Hmm no nothing happens at calibration anyway.
-        // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
+  // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
-        // pressureMeasurementCount = 0;
+  // pressureMeasurementCount = 0;
-        delay_ms_Mess(100);
+  delay_ms_Mess(100);
+}
 /*
  * Find acc. offsets for a neutral reading, and write them to EEPROM.
  * Does not (!} update the local variables. This must be done with a
  * call to analog_calibrate() - this always (?) is done by the caller
  * anyway. There would be nothing wrong with updating the variables
  * directly from here, though.
  */
 void analog_calibrateAcc(void) {
 #define ACC_OFFSET_CYCLES 10
         uint8_t i, axis;
         int32_t deltaOffset[3] = { 0, 0, 0 };
         int16_t filteredDelta;
         // int16_t pressureDiff, savedRawAirPressure;
         for (i = 0; i < ACC_OFFSET_CYCLES; i++) {
                 delay_ms_Mess(10);
                 for (axis = PITCH; axis <= YAW; axis++) {
                         deltaOffset[axis] += acc[axis];
+                }
+        }
         for (axis = PITCH; axis <= YAW; axis++) {
                 filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2)
                                 / ACC_OFFSET_CYCLES;
                 accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
+        }
         // Save ACC neutral settings to eeprom
         SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
         SetParamWord(PID_ACC_ROLL, accOffset[ROLL]);
         SetParamWord(PID_ACC_Z, accOffset[Z]);
         // Noise is relative to offset. So, reset noise measurements when
         // changing offsets.
         accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
         // Setting offset values has an influence in the analog.c ISR
         // Therefore run measurement for 100ms to achive stable readings
         delay_ms_Mess(100);
         // Set the feedback so that air pressure ends up in the middle of the range.
         // (raw pressure high --> OCR0A also high...)
         /*
          OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
          delay_ms_Mess(1000);
          pressureDiff = 0;
          // DebugOut.Analog[16] = rawAirPressure;
          #define PRESSURE_CAL_CYCLE_COUNT 5
          for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
          savedRawAirPressure = rawAirPressure;
          OCR0A+=2;
          delay_ms_Mess(500);
          // raw pressure will decrease.
          pressureDiff += (savedRawAirPressure - rawAirPressure);
          savedRawAirPressure = rawAirPressure;
          OCR0A-=2;
          delay_ms_Mess(500);
          // raw pressure will increase.
          pressureDiff += (rawAirPressure - savedRawAirPressure);
+         }
          rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);
          DebugOut.Analog[27] = rangewidth;
          */
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.c @ 1792 - Rev 1887 → 1952