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1 | #include <avr/io.h> |
1 | #include <avr/io.h> |
2 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
3 | #include <avr/pgmspace.h> |
3 | #include <avr/pgmspace.h> |
4 | 4 | ||
5 | #include "analog.h" |
5 | #include "analog.h" |
6 | #include "attitude.h" |
6 | #include "attitude.h" |
7 | #include "sensors.h" |
7 | #include "sensors.h" |
8 | #include "printf_P.h" |
8 | #include "printf_P.h" |
9 | #include "mk3mag.h" |
9 | #include "mk3mag.h" |
10 | 10 | ||
11 | // for Delay functions |
11 | // for Delay functions |
12 | #include "timer0.h" |
12 | #include "timer0.h" |
13 | 13 | ||
14 | // For reading and writing acc. meter offsets. |
14 | // For reading and writing acc. meter offsets. |
15 | #include "eeprom.h" |
15 | #include "eeprom.h" |
16 | 16 | ||
17 | // For debugOut |
17 | // For debugOut |
18 | #include "output.h" |
18 | #include "output.h" |
19 | 19 | ||
20 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
20 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
21 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
21 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
22 | 22 | ||
23 | const char* recal = ", recalibration needed."; |
23 | const char* recal = ", recalibration needed."; |
24 | 24 | ||
25 | /* |
25 | /* |
26 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
26 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
27 | * (see array channelsForStates), and the results for each channel are summed. |
27 | * (see array channelsForStates), and the results for each channel are summed. |
28 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
28 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
29 | * They are exported in the analog.h file - but please do not use them! The only |
29 | * They are exported in the analog.h file - but please do not use them! The only |
30 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
30 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
31 | * the offsets with the DAC. |
31 | * the offsets with the DAC. |
32 | */ |
32 | */ |
33 | volatile uint16_t sensorInputs[8]; |
33 | volatile uint16_t sensorInputs[8]; |
34 | int16_t acc[3]; |
34 | int16_t acc[3]; |
35 | int16_t filteredAcc[3] = { 0,0,0 }; |
35 | int16_t filteredAcc[3] = { 0,0,0 }; |
36 | 36 | ||
37 | /* |
37 | /* |
38 | * These 4 exported variables are zero-offset. The "PID" ones are used |
38 | * These 4 exported variables are zero-offset. The "PID" ones are used |
39 | * in the attitude control as rotation rates. The "ATT" ones are for |
39 | * in the attitude control as rotation rates. The "ATT" ones are for |
40 | * integration to angles. |
40 | * integration to angles. |
41 | */ |
41 | */ |
42 | int16_t gyro_PID[2]; |
42 | int16_t gyro_PID[2]; |
43 | int16_t gyro_ATT[2]; |
43 | int16_t gyro_ATT[2]; |
44 | int16_t gyroD[2]; |
44 | int16_t gyroD[2]; |
45 | int16_t yawGyro; |
45 | int16_t yawGyro; |
46 | int16_t magneticHeading; |
46 | int16_t magneticHeading; |
47 | 47 | ||
48 | int32_t groundPressure; |
48 | int32_t groundPressure; |
49 | 49 | ||
50 | /* |
50 | /* |
51 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
51 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
52 | * standing still. They are used for adjusting the gyro and acc. meter values |
52 | * standing still. They are used for adjusting the gyro and acc. meter values |
53 | * to be centered on zero. |
53 | * to be centered on zero. |
54 | */ |
54 | */ |
55 | 55 | ||
56 | sensorOffset_t gyroOffset; |
56 | sensorOffset_t gyroOffset; |
57 | sensorOffset_t accOffset; |
57 | sensorOffset_t accOffset; |
58 | sensorOffset_t gyroAmplifierOffset; |
58 | sensorOffset_t gyroAmplifierOffset; |
59 | 59 | ||
60 | /* |
60 | /* |
61 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
61 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
62 | * If a sensor is used in an orientation where one but not both of the axes has |
62 | * If a sensor is used in an orientation where one but not both of the axes has |
63 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
63 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
64 | * Transform: |
64 | * Transform: |
65 | * pitch <- pp*pitch + pr*roll |
65 | * pitch <- pp*pitch + pr*roll |
66 | * roll <- rp*pitch + rr*roll |
66 | * roll <- rp*pitch + rr*roll |
67 | * Not reversed, GYRO_QUADRANT: |
67 | * Not reversed, GYRO_QUADRANT: |
68 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
68 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
69 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
69 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
70 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
70 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
71 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
71 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
72 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
72 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
73 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
73 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
74 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
74 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
75 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
75 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
76 | * Reversed, GYRO_QUADRANT: |
76 | * Reversed, GYRO_QUADRANT: |
77 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
77 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
78 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
78 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
79 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
79 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
80 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
80 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
81 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
81 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
82 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
82 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
83 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
83 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
84 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
84 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
85 | */ |
85 | */ |
86 | 86 | ||
87 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
87 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
88 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
88 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
89 | // Pitch to Pitch part |
89 | // Pitch to Pitch part |
90 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
90 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
91 | // Roll to Pitch part |
91 | // Roll to Pitch part |
92 | int8_t xy = rotationTab[(quadrant+2)%8]; |
92 | int8_t xy = rotationTab[(quadrant+2)%8]; |
93 | // Pitch to Roll part |
93 | // Pitch to Roll part |
94 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
94 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
95 | // Roll to Roll part |
95 | // Roll to Roll part |
96 | int8_t yy = rotationTab[quadrant]; |
96 | int8_t yy = rotationTab[quadrant]; |
97 | 97 | ||
98 | int16_t xIn = result[0]; |
98 | int16_t xIn = result[0]; |
99 | result[0] = xx*xIn + xy*result[1]; |
99 | result[0] = xx*xIn + xy*result[1]; |
100 | result[1] = yx*xIn + yy*result[1]; |
100 | result[1] = yx*xIn + yy*result[1]; |
101 | 101 | ||
102 | if (quadrant & 1) { |
102 | if (quadrant & 1) { |
103 | // A rotation was used above, where the factors were too large by sqrt(2). |
103 | // A rotation was used above, where the factors were too large by sqrt(2). |
104 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
104 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
105 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
105 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
106 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
106 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
107 | result[0] = (result[0]*11) >> 4; |
107 | result[0] = (result[0]*11) >> 4; |
108 | result[1] = (result[1]*11) >> 4; |
108 | result[1] = (result[1]*11) >> 4; |
109 | } |
109 | } |
110 | } |
110 | } |
111 | 111 | ||
112 | /* |
112 | /* |
113 | * Air pressure |
113 | * Air pressure |
114 | */ |
114 | */ |
115 | volatile uint8_t rangewidth = 105; |
115 | volatile uint8_t rangewidth = 105; |
116 | 116 | ||
117 | // Direct from sensor, irrespective of range. |
117 | // Direct from sensor, irrespective of range. |
118 | // volatile uint16_t rawAirPressure; |
118 | // volatile uint16_t rawAirPressure; |
119 | 119 | ||
120 | // Value of 2 samples, with range. |
120 | // Value of 2 samples, with range. |
121 | uint16_t simpleAirPressure; |
121 | uint16_t simpleAirPressure; |
122 | 122 | ||
123 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
123 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
124 | int32_t filteredAirPressure; |
124 | int32_t filteredAirPressure; |
125 | int32_t lastFilteredAirPressure; |
125 | int32_t lastFilteredAirPressure; |
126 | 126 | ||
127 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
127 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
128 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
128 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
129 | int32_t windowedAirPressure; |
129 | int32_t windowedAirPressure; |
130 | uint8_t windowPtr; |
130 | uint8_t windowPtr; |
131 | 131 | ||
132 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
132 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
133 | int32_t airPressureSum; |
133 | int32_t airPressureSum; |
134 | 134 | ||
135 | // The number of samples summed into airPressureSum so far. |
135 | // The number of samples summed into airPressureSum so far. |
136 | uint8_t pressureMeasurementCount; |
136 | uint8_t pressureMeasurementCount; |
137 | 137 | ||
138 | /* |
138 | /* |
139 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
139 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
140 | * That is divided by 3 below, for a final 10.34 per volt. |
140 | * That is divided by 3 below, for a final 10.34 per volt. |
141 | * So the initial value of 100 is for 9.7 volts. |
141 | * So the initial value of 100 is for 9.7 volts. |
142 | */ |
142 | */ |
143 | int16_t UBat = 100; |
143 | int16_t UBat = 100; |
144 | 144 | ||
145 | /* |
145 | /* |
146 | * Control and status. |
146 | * Control and status. |
147 | */ |
147 | */ |
148 | volatile uint16_t ADCycleCount = 0; |
148 | volatile uint16_t ADCycleCount = 0; |
149 | volatile uint8_t analogDataReady = 1; |
149 | volatile uint8_t analogDataReady = 1; |
150 | 150 | ||
151 | /* |
151 | /* |
152 | * Experiment: Measuring vibration-induced sensor noise. |
152 | * Experiment: Measuring vibration-induced sensor noise. |
153 | */ |
153 | */ |
154 | uint16_t gyroNoisePeak[3]; |
154 | uint16_t gyroNoisePeak[3]; |
155 | uint16_t accNoisePeak[3]; |
155 | uint16_t accNoisePeak[3]; |
156 | 156 | ||
157 | volatile uint8_t adState; |
157 | volatile uint8_t adState; |
158 | volatile uint8_t adChannel; |
158 | volatile uint8_t adChannel; |
159 | 159 | ||
160 | // ADC channels |
160 | // ADC channels |
161 | #define AD_GYRO_YAW 0 |
161 | #define AD_GYRO_YAW 0 |
162 | #define AD_GYRO_ROLL 1 |
162 | #define AD_GYRO_ROLL 1 |
163 | #define AD_GYRO_PITCH 2 |
163 | #define AD_GYRO_PITCH 2 |
164 | #define AD_AIRPRESSURE 3 |
164 | #define AD_AIRPRESSURE 3 |
165 | #define AD_UBAT 4 |
165 | #define AD_UBAT 4 |
166 | #define AD_ACC_Z 5 |
166 | #define AD_ACC_Z 5 |
167 | #define AD_ACC_ROLL 6 |
167 | #define AD_ACC_ROLL 6 |
168 | #define AD_ACC_PITCH 7 |
168 | #define AD_ACC_PITCH 7 |
169 | 169 | ||
170 | /* |
170 | /* |
171 | * Table of AD converter inputs for each state. |
171 | * Table of AD converter inputs for each state. |
172 | * The number of samples summed for each channel is equal to |
172 | * The number of samples summed for each channel is equal to |
173 | * the number of times the channel appears in the array. |
173 | * the number of times the channel appears in the array. |
174 | * The max. number of samples that can be taken in 2 ms is: |
174 | * The max. number of samples that can be taken in 2 ms is: |
175 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
175 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
176 | * loop needs a little time between reading AD values and |
176 | * loop needs a little time between reading AD values and |
177 | * re-enabling ADC, the real limit is (how much?) lower. |
177 | * re-enabling ADC, the real limit is (how much?) lower. |
178 | * The acc. sensor is sampled even if not used - or installed |
178 | * The acc. sensor is sampled even if not used - or installed |
179 | * at all. The cost is not significant. |
179 | * at all. The cost is not significant. |
180 | */ |
180 | */ |
181 | 181 | ||
182 | const uint8_t channelsForStates[] PROGMEM = { |
182 | const uint8_t channelsForStates[] PROGMEM = { |
183 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
183 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
184 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
184 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
185 | 185 | ||
186 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
186 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
187 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
187 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
188 | 188 | ||
189 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
189 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
190 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
190 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
191 | AD_AIRPRESSURE, // at 14, finish air pressure. |
191 | AD_AIRPRESSURE, // at 14, finish air pressure. |
192 | 192 | ||
193 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
193 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
194 | AD_GYRO_ROLL, // at 16, finish roll gyro |
194 | AD_GYRO_ROLL, // at 16, finish roll gyro |
195 | AD_UBAT // at 17, measure battery. |
195 | AD_UBAT // at 17, measure battery. |
196 | }; |
196 | }; |
197 | 197 | ||
198 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
198 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
199 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
199 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
200 | 200 | ||
201 | void analog_init(void) { |
201 | void analog_init(void) { |
202 | uint8_t sreg = SREG; |
202 | uint8_t sreg = SREG; |
203 | // disable all interrupts before reconfiguration |
203 | // disable all interrupts before reconfiguration |
204 | cli(); |
204 | cli(); |
205 | 205 | ||
206 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
206 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
207 | DDRA = 0x00; |
207 | DDRA = 0x00; |
208 | PORTA = 0x00; |
208 | PORTA = 0x00; |
209 | // Digital Input Disable Register 0 |
209 | // Digital Input Disable Register 0 |
210 | // Disable digital input buffer for analog adc_channel pins |
210 | // Disable digital input buffer for analog adc_channel pins |
211 | DIDR0 = 0xFF; |
211 | DIDR0 = 0xFF; |
212 | // external reference, adjust data to the right |
212 | // external reference, adjust data to the right |
213 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
213 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
214 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
214 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
215 | ADMUX = (ADMUX & 0xE0); |
215 | ADMUX = (ADMUX & 0xE0); |
216 | //Set ADC Control and Status Register A |
216 | //Set ADC Control and Status Register A |
217 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
217 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
218 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
218 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
219 | //Set ADC Control and Status Register B |
219 | //Set ADC Control and Status Register B |
220 | //Trigger Source to Free Running Mode |
220 | //Trigger Source to Free Running Mode |
221 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
221 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
222 | 222 | ||
223 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
223 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
224 | airPressureWindow[i] = 0; |
224 | airPressureWindow[i] = 0; |
225 | } |
225 | } |
226 | windowedAirPressure = 0; |
226 | windowedAirPressure = 0; |
227 | 227 | ||
228 | startAnalogConversionCycle(); |
228 | startAnalogConversionCycle(); |
229 | 229 | ||
230 | // restore global interrupt flags |
230 | // restore global interrupt flags |
231 | SREG = sreg; |
231 | SREG = sreg; |
232 | } |
232 | } |
233 | 233 | ||
234 | uint16_t rawGyroValue(uint8_t axis) { |
234 | uint16_t rawGyroValue(uint8_t axis) { |
235 | return sensorInputs[AD_GYRO_PITCH-axis]; |
235 | return sensorInputs[AD_GYRO_PITCH-axis]; |
236 | } |
236 | } |
237 | 237 | ||
238 | uint16_t rawAccValue(uint8_t axis) { |
238 | uint16_t rawAccValue(uint8_t axis) { |
239 | return sensorInputs[AD_ACC_PITCH-axis]; |
239 | return sensorInputs[AD_ACC_PITCH-axis]; |
240 | } |
240 | } |
241 | 241 | ||
242 | void measureNoise(const int16_t sensor, |
242 | void measureNoise(const int16_t sensor, |
243 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
243 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
244 | if (sensor > (int16_t) (*noiseMeasurement)) { |
244 | if (sensor > (int16_t) (*noiseMeasurement)) { |
245 | *noiseMeasurement = sensor; |
245 | *noiseMeasurement = sensor; |
246 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
246 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
247 | *noiseMeasurement = -sensor; |
247 | *noiseMeasurement = -sensor; |
248 | } else if (*noiseMeasurement > damping) { |
248 | } else if (*noiseMeasurement > damping) { |
249 | *noiseMeasurement -= damping; |
249 | *noiseMeasurement -= damping; |
250 | } else { |
250 | } else { |
251 | *noiseMeasurement = 0; |
251 | *noiseMeasurement = 0; |
252 | } |
252 | } |
253 | } |
253 | } |
254 | 254 | ||
255 | /* |
255 | /* |
256 | * Min.: 0 |
256 | * Min.: 0 |
257 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
257 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
258 | */ |
258 | */ |
259 | uint16_t getSimplePressure(int advalue) { |
259 | uint16_t getSimplePressure(int advalue) { |
260 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
260 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
261 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
261 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
262 | return result; |
262 | return result; |
263 | } |
263 | } |
264 | 264 | ||
265 | void startAnalogConversionCycle(void) { |
265 | void startAnalogConversionCycle(void) { |
266 | analogDataReady = 0; |
266 | analogDataReady = 0; |
267 | 267 | ||
268 | // Stop the sampling. Cycle is over. |
268 | // Stop the sampling. Cycle is over. |
269 | for (uint8_t i = 0; i < 8; i++) { |
269 | for (uint8_t i = 0; i < 8; i++) { |
270 | sensorInputs[i] = 0; |
270 | sensorInputs[i] = 0; |
271 | } |
271 | } |
272 | adState = 0; |
272 | adState = 0; |
273 | adChannel = AD_GYRO_PITCH; |
273 | adChannel = AD_GYRO_PITCH; |
274 | ADMUX = (ADMUX & 0xE0) | adChannel; |
274 | ADMUX = (ADMUX & 0xE0) | adChannel; |
275 | startADC(); |
275 | startADC(); |
276 | } |
276 | } |
277 | 277 | ||
278 | /***************************************************** |
278 | /***************************************************** |
279 | * Interrupt Service Routine for ADC |
279 | * Interrupt Service Routine for ADC |
280 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
280 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
281 | * processed further conversions are stopped. |
281 | * processed further conversions are stopped. |
282 | *****************************************************/ |
282 | *****************************************************/ |
283 | ISR(ADC_vect) { |
283 | ISR(ADC_vect) { |
284 | sensorInputs[adChannel] += ADC; |
284 | sensorInputs[adChannel] += ADC; |
285 | // set up for next state. |
285 | // set up for next state. |
286 | adState++; |
286 | adState++; |
287 | if (adState < sizeof(channelsForStates)) { |
287 | if (adState < sizeof(channelsForStates)) { |
288 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
288 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
289 | // set adc muxer to next adChannel |
289 | // set adc muxer to next adChannel |
290 | ADMUX = (ADMUX & 0xE0) | adChannel; |
290 | ADMUX = (ADMUX & 0xE0) | adChannel; |
291 | // after full cycle stop further interrupts |
291 | // after full cycle stop further interrupts |
292 | startADC(); |
292 | startADC(); |
293 | } else { |
293 | } else { |
294 | ADCycleCount++; |
294 | ADCycleCount++; |
295 | analogDataReady = 1; |
295 | analogDataReady = 1; |
296 | // do not restart ADC converter. |
296 | // do not restart ADC converter. |
297 | } |
297 | } |
298 | } |
298 | } |
299 | 299 | ||
300 | // Experimental gyro shake takeoff detect! |
300 | // Experimental gyro shake takeoff detect! |
301 | uint16_t gyroActivity = 0; |
301 | uint16_t gyroActivity = 0; |
302 | void measureGyroActivityAndUpdateGyro(uint8_t axis, int16_t newValue) { |
302 | void measureGyroActivityAndUpdateGyro(uint8_t axis, int16_t newValue) { |
303 | int16_t tmp = gyro_ATT[axis]; |
303 | int16_t tmp = gyro_ATT[axis]; |
304 | gyro_ATT[axis] = newValue; |
304 | gyro_ATT[axis] = newValue; |
305 | 305 | ||
306 | tmp -= newValue; |
306 | tmp -= newValue; |
307 | tmp = (tmp*tmp) >> 4; |
307 | tmp = (tmp*tmp) >> 4; |
308 | 308 | ||
309 | if (gyroActivity + (uint16_t)tmp < 0x8000) |
309 | if (gyroActivity + (uint16_t)tmp < 0x8000) |
310 | gyroActivity += tmp; |
310 | gyroActivity += tmp; |
311 | } |
311 | } |
312 | 312 | ||
313 | #define GADAMPING 10 |
313 | #define GADAMPING 10 |
314 | void dampenGyroActivity(void) { |
314 | void dampenGyroActivity(void) { |
315 | uint32_t tmp = gyroActivity; |
315 | uint32_t tmp = gyroActivity; |
316 | tmp *= ((1<<GADAMPING)-1); |
316 | tmp *= ((1<<GADAMPING)-1); |
317 | tmp >>= GADAMPING; |
317 | tmp >>= GADAMPING; |
318 | gyroActivity = tmp; |
318 | gyroActivity = tmp; |
319 | } |
319 | } |
320 | 320 | ||
321 | void analog_updateGyros(void) { |
321 | void analog_updateGyros(void) { |
322 | // for various filters... |
322 | // for various filters... |
323 | int16_t tempOffsetGyro[2], tempGyro; |
323 | int16_t tempOffsetGyro[2], tempGyro; |
324 | 324 | ||
325 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
325 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
326 | for (uint8_t axis=0; axis<2; axis++) { |
326 | for (uint8_t axis=0; axis<2; axis++) { |
327 | tempGyro = rawGyroValue(axis); |
327 | tempGyro = rawGyroValue(axis); |
328 | /* |
328 | /* |
329 | * Process the gyro data for the PID controller. |
329 | * Process the gyro data for the PID controller. |
330 | */ |
330 | */ |
331 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
331 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
332 | // gyro with a wider range, and helps counter saturation at full control. |
332 | // gyro with a wider range, and helps counter saturation at full control. |
333 | 333 | ||
334 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
334 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
335 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
335 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
336 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
336 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
337 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
337 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
338 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
338 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
339 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
339 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
340 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
340 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
341 | } |
341 | } |
342 | } |
342 | } |
343 | 343 | ||
344 | // 2) Apply sign and offset, scale before filtering. |
344 | // 2) Apply sign and offset, scale before filtering. |
345 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
345 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
346 | } |
346 | } |
347 | 347 | ||
348 | // 2.1: Transform axes. |
348 | // 2.1: Transform axes. |
349 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
349 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
350 | 350 | ||
351 | for (uint8_t axis=0; axis<2; axis++) { |
351 | for (uint8_t axis=0; axis<2; axis++) { |
352 | // 3) Filter. |
352 | // 3) Filter. |
353 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
353 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
354 | 354 | ||
355 | // 4) Measure noise. |
355 | // 4) Measure noise. |
356 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
356 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
357 | 357 | ||
358 | // 5) Differential measurement. |
358 | // 5) Differential measurement. |
359 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
359 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
360 | 360 | ||
361 | // 6) Done. |
361 | // 6) Done. |
362 | gyro_PID[axis] = tempOffsetGyro[axis]; |
362 | gyro_PID[axis] = tempOffsetGyro[axis]; |
363 | 363 | ||
364 | // Prepare tempOffsetGyro for next calculation below... |
364 | // Prepare tempOffsetGyro for next calculation below... |
365 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
365 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
366 | } |
366 | } |
367 | 367 | ||
368 | /* |
368 | /* |
369 | * Now process the data for attitude angles. |
369 | * Now process the data for attitude angles. |
370 | */ |
370 | */ |
371 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
371 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
372 | 372 | ||
373 | measureGyroActivityAndUpdateGyro(0, tempOffsetGyro[PITCH]); |
373 | measureGyroActivityAndUpdateGyro(0, tempOffsetGyro[PITCH]); |
374 | measureGyroActivityAndUpdateGyro(1, tempOffsetGyro[ROLL]); |
374 | measureGyroActivityAndUpdateGyro(1, tempOffsetGyro[ROLL]); |
375 | dampenGyroActivity(); |
375 | dampenGyroActivity(); |
376 | 376 | ||
377 | // Yaw gyro. |
377 | // Yaw gyro. |
378 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
378 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
379 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
379 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
380 | else |
380 | else |
381 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
381 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
382 | } |
382 | } |
383 | 383 | ||
384 | void analog_updateAccelerometers(void) { |
384 | void analog_updateAccelerometers(void) { |
385 | // Pitch and roll axis accelerations. |
385 | // Pitch and roll axis accelerations. |
386 | for (uint8_t axis=0; axis<2; axis++) { |
386 | for (uint8_t axis=0; axis<2; axis++) { |
387 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
387 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
388 | } |
388 | } |
389 | 389 | ||
390 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
390 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
391 | for(uint8_t axis=0; axis<3; axis++) { |
391 | for(uint8_t axis=0; axis<3; axis++) { |
392 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
392 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
393 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
393 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
394 | } |
394 | } |
395 | 395 | ||
396 | // Z acc. |
396 | // Z acc. |
397 | if (staticParams.imuReversedFlags & 8) |
397 | if (staticParams.imuReversedFlags & 8) |
398 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
398 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
399 | else |
399 | else |
400 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
400 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
- | 401 | ||
- | 402 | debugOut.analog[29] = acc[Z]; |
|
401 | } |
403 | } |
402 | 404 | ||
403 | void analog_updateAirPressure(void) { |
405 | void analog_updateAirPressure(void) { |
404 | static uint16_t pressureAutorangingWait = 25; |
406 | static uint16_t pressureAutorangingWait = 25; |
405 | uint16_t rawAirPressure; |
407 | uint16_t rawAirPressure; |
406 | int16_t newrange; |
408 | int16_t newrange; |
407 | // air pressure |
409 | // air pressure |
408 | if (pressureAutorangingWait) { |
410 | if (pressureAutorangingWait) { |
409 | //A range switch was done recently. Wait for steadying. |
411 | //A range switch was done recently. Wait for steadying. |
410 | pressureAutorangingWait--; |
412 | pressureAutorangingWait--; |
411 | } else { |
413 | } else { |
412 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
414 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
413 | if (rawAirPressure < MIN_RAWPRESSURE) { |
415 | if (rawAirPressure < MIN_RAWPRESSURE) { |
414 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
416 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
415 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
417 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
416 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
418 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
417 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
419 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
418 | OCR0A = newrange; |
420 | OCR0A = newrange; |
419 | } else { |
421 | } else { |
420 | if (OCR0A) { |
422 | if (OCR0A) { |
421 | OCR0A--; |
423 | OCR0A--; |
422 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
424 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
423 | } |
425 | } |
424 | } |
426 | } |
425 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
427 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
426 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
428 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
427 | // If near the end, make a limited increase |
429 | // If near the end, make a limited increase |
428 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
430 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
429 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
431 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
430 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
432 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
431 | OCR0A = newrange; |
433 | OCR0A = newrange; |
432 | } else { |
434 | } else { |
433 | if (OCR0A < 254) { |
435 | if (OCR0A < 254) { |
434 | OCR0A++; |
436 | OCR0A++; |
435 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
437 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
436 | } |
438 | } |
437 | } |
439 | } |
438 | } |
440 | } |
439 | 441 | ||
440 | // Even if the sample is off-range, use it. |
442 | // Even if the sample is off-range, use it. |
441 | simpleAirPressure = getSimplePressure(rawAirPressure); |
443 | simpleAirPressure = getSimplePressure(rawAirPressure); |
442 | debugOut.analog[6] = rawAirPressure; |
444 | debugOut.analog[6] = rawAirPressure; |
443 | debugOut.analog[7] = simpleAirPressure; |
445 | debugOut.analog[7] = simpleAirPressure; |
444 | 446 | ||
445 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
447 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
446 | // Danger: pressure near lower end of range. If the measurement saturates, the |
448 | // Danger: pressure near lower end of range. If the measurement saturates, the |
447 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
449 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
448 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
450 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
449 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
451 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
450 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
452 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
451 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
453 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
452 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
454 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
453 | // Danger: pressure near upper end of range. If the measurement saturates, the |
455 | // Danger: pressure near upper end of range. If the measurement saturates, the |
454 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
456 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
455 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
457 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
456 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
458 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
457 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
459 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
458 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
460 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
459 | } else { |
461 | } else { |
460 | // normal case. |
462 | // normal case. |
461 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
463 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
462 | // The 2 cases above (end of range) are ignored for this. |
464 | // The 2 cases above (end of range) are ignored for this. |
463 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
465 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
464 | airPressureSum += simpleAirPressure; |
466 | airPressureSum += simpleAirPressure; |
465 | } |
467 | } |
466 | 468 | ||
467 | // 2 samples were added. |
469 | // 2 samples were added. |
468 | pressureMeasurementCount += 2; |
470 | pressureMeasurementCount += 2; |
469 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
471 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
470 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
472 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
471 | 473 | ||
472 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
474 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
473 | airPressureSum += simpleAirPressure >> 2; |
475 | airPressureSum += simpleAirPressure >> 2; |
474 | 476 | ||
475 | lastFilteredAirPressure = filteredAirPressure; |
477 | lastFilteredAirPressure = filteredAirPressure; |
476 | 478 | ||
477 | 479 | ||
478 | if (!staticParams.airpressureWindowLength) { |
480 | if (!staticParams.airpressureWindowLength) { |
479 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
481 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
480 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
482 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
481 | } else { |
483 | } else { |
482 | // use windowed. |
484 | // use windowed. |
483 | windowedAirPressure += simpleAirPressure; |
485 | windowedAirPressure += simpleAirPressure; |
484 | windowedAirPressure -= airPressureWindow[windowPtr]; |
486 | windowedAirPressure -= airPressureWindow[windowPtr]; |
485 | airPressureWindow[windowPtr] = simpleAirPressure; |
487 | airPressureWindow[windowPtr] = simpleAirPressure; |
486 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
488 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
487 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
489 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
488 | } |
490 | } |
489 | 491 | ||
490 | pressureMeasurementCount = airPressureSum = 0; |
492 | pressureMeasurementCount = airPressureSum = 0; |
491 | } |
493 | } |
492 | } |
494 | } |
493 | } |
495 | } |
494 | 496 | ||
495 | void analog_updateBatteryVoltage(void) { |
497 | void analog_updateBatteryVoltage(void) { |
496 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
498 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
497 | // This is divided by 3 --> 10.34 counts per volt. |
499 | // This is divided by 3 --> 10.34 counts per volt. |
498 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
500 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
499 | } |
501 | } |
500 | 502 | ||
501 | void analog_update(void) { |
503 | void analog_update(void) { |
502 | analog_updateGyros(); |
504 | analog_updateGyros(); |
503 | analog_updateAccelerometers(); |
505 | analog_updateAccelerometers(); |
504 | analog_updateAirPressure(); |
506 | analog_updateAirPressure(); |
505 | analog_updateBatteryVoltage(); |
507 | analog_updateBatteryVoltage(); |
506 | #ifdef USE_MK3MAG |
508 | #ifdef USE_MK3MAG |
507 | magneticHeading = volatileMagneticHeading; |
509 | magneticHeading = volatileMagneticHeading; |
508 | #endif |
510 | #endif |
509 | } |
511 | } |
510 | 512 | ||
511 | void analog_setNeutral() { |
513 | void analog_setNeutral() { |
512 | gyro_init(); |
514 | gyro_init(); |
513 | 515 | ||
514 | if (gyroOffset_readFromEEProm()) { |
516 | if (gyroOffset_readFromEEProm()) { |
515 | printf("gyro offsets invalid%s",recal); |
517 | printf("gyro offsets invalid%s",recal); |
516 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
518 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
517 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
519 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
518 | } |
520 | } |
519 | 521 | ||
520 | if (accOffset_readFromEEProm()) { |
522 | if (accOffset_readFromEEProm()) { |
521 | printf("acc. meter offsets invalid%s",recal); |
523 | printf("acc. meter offsets invalid%s",recal); |
522 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
524 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
523 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
525 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
524 | } |
526 | } |
525 | 527 | ||
526 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
528 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
527 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
529 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
528 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
530 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
529 | 531 | ||
530 | // Setting offset values has an influence in the analog.c ISR |
532 | // Setting offset values has an influence in the analog.c ISR |
531 | // Therefore run measurement for 100ms to achive stable readings |
533 | // Therefore run measurement for 100ms to achive stable readings |
532 | delay_ms_with_adc_measurement(100, 0); |
534 | delay_ms_with_adc_measurement(100, 0); |
533 | 535 | ||
534 | gyroActivity = 0; |
536 | gyroActivity = 0; |
535 | } |
537 | } |
536 | 538 | ||
537 | void analog_calibrateGyros(void) { |
539 | void analog_calibrateGyros(void) { |
538 | #define GYRO_OFFSET_CYCLES 32 |
540 | #define GYRO_OFFSET_CYCLES 32 |
539 | uint8_t i, axis; |
541 | uint8_t i, axis; |
540 | int32_t offsets[3] = { 0, 0, 0 }; |
542 | int32_t offsets[3] = { 0, 0, 0 }; |
541 | gyro_calibrate(); |
543 | gyro_calibrate(); |
542 | 544 | ||
543 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
545 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
544 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
546 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
545 | delay_ms_with_adc_measurement(10, 1); |
547 | delay_ms_with_adc_measurement(10, 1); |
546 | for (axis = PITCH; axis <= YAW; axis++) { |
548 | for (axis = PITCH; axis <= YAW; axis++) { |
547 | offsets[axis] += rawGyroValue(axis); |
549 | offsets[axis] += rawGyroValue(axis); |
548 | } |
550 | } |
549 | } |
551 | } |
550 | 552 | ||
551 | for (axis = PITCH; axis <= YAW; axis++) { |
553 | for (axis = PITCH; axis <= YAW; axis++) { |
552 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
554 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
553 | 555 | ||
554 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
556 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
555 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
557 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
556 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
558 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
557 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
559 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
558 | } |
560 | } |
559 | 561 | ||
560 | gyroOffset_writeToEEProm(); |
562 | gyroOffset_writeToEEProm(); |
561 | startAnalogConversionCycle(); |
563 | startAnalogConversionCycle(); |
562 | } |
564 | } |
563 | 565 | ||
564 | /* |
566 | /* |
565 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
567 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
566 | * Does not (!} update the local variables. This must be done with a |
568 | * Does not (!} update the local variables. This must be done with a |
567 | * call to analog_calibrate() - this always (?) is done by the caller |
569 | * call to analog_calibrate() - this always (?) is done by the caller |
568 | * anyway. There would be nothing wrong with updating the variables |
570 | * anyway. There would be nothing wrong with updating the variables |
569 | * directly from here, though. |
571 | * directly from here, though. |
570 | */ |
572 | */ |
571 | void analog_calibrateAcc(void) { |
573 | void analog_calibrateAcc(void) { |
572 | #define ACC_OFFSET_CYCLES 32 |
574 | #define ACC_OFFSET_CYCLES 32 |
573 | uint8_t i, axis; |
575 | uint8_t i, axis; |
574 | int32_t offsets[3] = { 0, 0, 0 }; |
576 | int32_t offsets[3] = { 0, 0, 0 }; |
575 | 577 | ||
576 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
578 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
577 | delay_ms_with_adc_measurement(10, 1); |
579 | delay_ms_with_adc_measurement(10, 1); |
578 | for (axis = PITCH; axis <= YAW; axis++) { |
580 | for (axis = PITCH; axis <= YAW; axis++) { |
579 | offsets[axis] += rawAccValue(axis); |
581 | offsets[axis] += rawAccValue(axis); |
580 | } |
582 | } |
581 | } |
583 | } |
582 | 584 | ||
583 | for (axis = PITCH; axis <= YAW; axis++) { |
585 | for (axis = PITCH; axis <= YAW; axis++) { |
584 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
586 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
585 | int16_t min,max; |
587 | int16_t min,max; |
586 | if (axis==Z) { |
588 | if (axis==Z) { |
587 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
589 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
588 | // TODO: This assumes a sensitivity of +/- 2g. |
590 | // TODO: This assumes a sensitivity of +/- 2g. |
589 | min = (256-200) * ACC_OVERSAMPLING_Z; |
591 | min = (256-200) * ACC_OVERSAMPLING_Z; |
590 | max = (256+200) * ACC_OVERSAMPLING_Z; |
592 | max = (256+200) * ACC_OVERSAMPLING_Z; |
591 | } else { |
593 | } else { |
592 | // TODO: This assumes a sensitivity of +/- 2g. |
594 | // TODO: This assumes a sensitivity of +/- 2g. |
593 | min = (768-200) * ACC_OVERSAMPLING_Z; |
595 | min = (768-200) * ACC_OVERSAMPLING_Z; |
594 | max = (768+200) * ACC_OVERSAMPLING_Z; |
596 | max = (768+200) * ACC_OVERSAMPLING_Z; |
595 | } |
597 | } |
596 | } else { |
598 | } else { |
597 | min = (512-200) * ACC_OVERSAMPLING_XY; |
599 | min = (512-200) * ACC_OVERSAMPLING_XY; |
598 | max = (512+200) * ACC_OVERSAMPLING_XY; |
600 | max = (512+200) * ACC_OVERSAMPLING_XY; |
599 | } |
601 | } |
600 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
602 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
601 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
603 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
602 | } |
604 | } |
603 | } |
605 | } |
604 | 606 | ||
605 | accOffset_writeToEEProm(); |
607 | accOffset_writeToEEProm(); |
606 | startAnalogConversionCycle(); |
608 | startAnalogConversionCycle(); |
607 | } |
609 | } |
608 | 610 | ||
609 | void analog_setGround() { |
611 | void analog_setGround() { |
610 | groundPressure = filteredAirPressure; |
612 | groundPressure = filteredAirPressure; |
611 | } |
613 | } |
612 | 614 | ||
613 | int32_t analog_getHeight(void) { |
615 | int32_t analog_getHeight(void) { |
614 | return groundPressure - filteredAirPressure; |
616 | return groundPressure - filteredAirPressure; |
615 | } |
617 | } |
616 | 618 | ||
617 | int16_t analog_getDHeight(void) { |
619 | int16_t analog_getDHeight(void) { |
618 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
620 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
619 | return lastFilteredAirPressure - filteredAirPressure; |
621 | return lastFilteredAirPressure - filteredAirPressure; |
620 | } |
622 | } |
621 | 623 |