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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include <avr/io.h> |
52 | #include <avr/io.h> |
53 | #include <avr/interrupt.h> |
53 | #include <avr/interrupt.h> |
54 | #include <avr/pgmspace.h> |
54 | #include <avr/pgmspace.h> |
55 | 55 | ||
56 | #include "analog.h" |
56 | #include "analog.h" |
57 | #include "attitude.h" |
57 | #include "attitude.h" |
58 | #include "sensors.h" |
58 | #include "sensors.h" |
59 | #include "printf_P.h" |
59 | #include "printf_P.h" |
60 | 60 | ||
61 | // for Delay functions |
61 | // for Delay functions |
62 | #include "timer0.h" |
62 | #include "timer0.h" |
63 | 63 | ||
64 | // For debugOut |
64 | // For debugOut |
65 | #include "uart0.h" |
65 | #include "uart0.h" |
66 | 66 | ||
67 | // For reading and writing acc. meter offsets. |
67 | // For reading and writing acc. meter offsets. |
68 | #include "eeprom.h" |
68 | #include "eeprom.h" |
69 | 69 | ||
70 | // For debugOut.digital |
70 | // For debugOut.digital |
71 | #include "output.h" |
71 | #include "output.h" |
72 | 72 | ||
73 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
73 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
74 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
74 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
75 | 75 | ||
76 | /* |
76 | /* |
77 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
77 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
78 | * (see array channelsForStates), and the results for each channel are summed. |
78 | * (see array channelsForStates), and the results for each channel are summed. |
79 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
79 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
80 | * They are exported in the analog.h file - but please do not use them! The only |
80 | * They are exported in the analog.h file - but please do not use them! The only |
81 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
81 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
82 | * the offsets with the DAC. |
82 | * the offsets with the DAC. |
83 | */ |
83 | */ |
84 | volatile uint16_t sensorInputs[8]; |
84 | volatile uint16_t sensorInputs[8]; |
85 | volatile int16_t rawGyroSum[3]; |
85 | volatile int16_t rawGyroSum[3]; |
86 | volatile int16_t acc[3]; |
86 | volatile int16_t acc[3]; |
87 | volatile int16_t filteredAcc[2] = { 0,0 }; |
87 | volatile int16_t filteredAcc[2] = { 0,0 }; |
88 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
88 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
89 | 89 | ||
90 | /* |
90 | /* |
91 | * These 4 exported variables are zero-offset. The "PID" ones are used |
91 | * These 4 exported variables are zero-offset. The "PID" ones are used |
92 | * in the attitude control as rotation rates. The "ATT" ones are for |
92 | * in the attitude control as rotation rates. The "ATT" ones are for |
93 | * integration to angles. |
93 | * integration to angles. |
94 | */ |
94 | */ |
95 | volatile int16_t gyro_PID[2]; |
95 | volatile int16_t gyro_PID[2]; |
96 | volatile int16_t gyro_ATT[2]; |
96 | volatile int16_t gyro_ATT[2]; |
97 | volatile int16_t gyroD[2]; |
97 | volatile int16_t gyroD[2]; |
98 | volatile int16_t yawGyro; |
98 | volatile int16_t yawGyro; |
99 | 99 | ||
100 | /* |
100 | /* |
101 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
101 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
102 | * standing still. They are used for adjusting the gyro and acc. meter values |
102 | * standing still. They are used for adjusting the gyro and acc. meter values |
103 | * to be centered on zero. |
103 | * to be centered on zero. |
104 | */ |
104 | */ |
105 | 105 | ||
106 | volatile sensorOffset_t gyroOffset; |
106 | volatile sensorOffset_t gyroOffset; |
107 | volatile sensorOffset_t accOffset; |
107 | volatile sensorOffset_t accOffset; |
108 | volatile sensorOffset_t DACValues; |
108 | volatile sensorOffset_t gyroAmplifierOffset; |
109 | 109 | ||
110 | /* |
110 | /* |
111 | * This allows some experimentation with the gyro filters. |
111 | * This allows some experimentation with the gyro filters. |
112 | * Should be replaced by #define's later on... |
112 | * Should be replaced by #define's later on... |
113 | */ |
113 | */ |
114 | 114 | ||
115 | /* |
115 | /* |
116 | * Air pressure |
116 | * Air pressure |
117 | */ |
117 | */ |
118 | volatile uint8_t rangewidth = 106; |
118 | volatile uint8_t rangewidth = 106; |
119 | 119 | ||
120 | // Direct from sensor, irrespective of range. |
120 | // Direct from sensor, irrespective of range. |
121 | // volatile uint16_t rawAirPressure; |
121 | // volatile uint16_t rawAirPressure; |
122 | 122 | ||
123 | // Value of 2 samples, with range. |
123 | // Value of 2 samples, with range. |
124 | volatile uint16_t simpleAirPressure; |
124 | volatile uint16_t simpleAirPressure; |
125 | 125 | ||
126 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
126 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
127 | volatile int32_t filteredAirPressure; |
127 | volatile int32_t filteredAirPressure; |
128 | 128 | ||
129 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
129 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
130 | volatile int32_t airPressureSum; |
130 | volatile int32_t airPressureSum; |
131 | 131 | ||
132 | // The number of samples summed into airPressureSum so far. |
132 | // The number of samples summed into airPressureSum so far. |
133 | volatile uint8_t pressureMeasurementCount; |
133 | volatile uint8_t pressureMeasurementCount; |
134 | 134 | ||
135 | /* |
135 | /* |
136 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
136 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
137 | * That is divided by 3 below, for a final 10.34 per volt. |
137 | * That is divided by 3 below, for a final 10.34 per volt. |
138 | * So the initial value of 100 is for 9.7 volts. |
138 | * So the initial value of 100 is for 9.7 volts. |
139 | */ |
139 | */ |
140 | volatile int16_t UBat = 100; |
140 | volatile int16_t UBat = 100; |
141 | 141 | ||
142 | /* |
142 | /* |
143 | * Control and status. |
143 | * Control and status. |
144 | */ |
144 | */ |
145 | volatile uint16_t ADCycleCount = 0; |
145 | volatile uint16_t ADCycleCount = 0; |
146 | volatile uint8_t analogDataReady = 1; |
146 | volatile uint8_t analogDataReady = 1; |
147 | 147 | ||
148 | /* |
148 | /* |
149 | * Experiment: Measuring vibration-induced sensor noise. |
149 | * Experiment: Measuring vibration-induced sensor noise. |
150 | */ |
150 | */ |
151 | volatile uint16_t gyroNoisePeak[2]; |
151 | volatile uint16_t gyroNoisePeak[2]; |
152 | volatile uint16_t accNoisePeak[2]; |
152 | volatile uint16_t accNoisePeak[2]; |
153 | 153 | ||
154 | // ADC channels |
154 | // ADC channels |
155 | #define AD_GYRO_YAW 0 |
155 | #define AD_GYRO_YAW 0 |
156 | #define AD_GYRO_ROLL 1 |
156 | #define AD_GYRO_ROLL 1 |
157 | #define AD_GYRO_PITCH 2 |
157 | #define AD_GYRO_PITCH 2 |
158 | #define AD_AIRPRESSURE 3 |
158 | #define AD_AIRPRESSURE 3 |
159 | #define AD_UBAT 4 |
159 | #define AD_UBAT 4 |
160 | #define AD_ACC_Z 5 |
160 | #define AD_ACC_Z 5 |
161 | #define AD_ACC_ROLL 6 |
161 | #define AD_ACC_ROLL 6 |
162 | #define AD_ACC_PITCH 7 |
162 | #define AD_ACC_PITCH 7 |
163 | 163 | ||
164 | /* |
164 | /* |
165 | * Table of AD converter inputs for each state. |
165 | * Table of AD converter inputs for each state. |
166 | * The number of samples summed for each channel is equal to |
166 | * The number of samples summed for each channel is equal to |
167 | * the number of times the channel appears in the array. |
167 | * the number of times the channel appears in the array. |
168 | * The max. number of samples that can be taken in 2 ms is: |
168 | * The max. number of samples that can be taken in 2 ms is: |
169 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
169 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
170 | * loop needs a little time between reading AD values and |
170 | * loop needs a little time between reading AD values and |
171 | * re-enabling ADC, the real limit is (how much?) lower. |
171 | * re-enabling ADC, the real limit is (how much?) lower. |
172 | * The acc. sensor is sampled even if not used - or installed |
172 | * The acc. sensor is sampled even if not used - or installed |
173 | * at all. The cost is not significant. |
173 | * at all. The cost is not significant. |
174 | */ |
174 | */ |
175 | 175 | ||
176 | const uint8_t channelsForStates[] PROGMEM = { |
176 | const uint8_t channelsForStates[] PROGMEM = { |
177 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
177 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
178 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
178 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
179 | 179 | ||
180 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
180 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
181 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
181 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
182 | 182 | ||
183 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
183 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
184 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
184 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
185 | AD_AIRPRESSURE, // at 14, finish air pressure. |
185 | AD_AIRPRESSURE, // at 14, finish air pressure. |
186 | 186 | ||
187 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
187 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
188 | AD_GYRO_ROLL, // at 16, finish roll gyro |
188 | AD_GYRO_ROLL, // at 16, finish roll gyro |
189 | AD_UBAT // at 17, measure battery. |
189 | AD_UBAT // at 17, measure battery. |
190 | }; |
190 | }; |
191 | 191 | ||
192 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
192 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
193 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
193 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
194 | 194 | ||
195 | void analog_init(void) { |
195 | void analog_init(void) { |
196 | uint8_t sreg = SREG; |
196 | uint8_t sreg = SREG; |
197 | // disable all interrupts before reconfiguration |
197 | // disable all interrupts before reconfiguration |
198 | cli(); |
198 | cli(); |
199 | 199 | ||
200 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
200 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
201 | DDRA = 0x00; |
201 | DDRA = 0x00; |
202 | PORTA = 0x00; |
202 | PORTA = 0x00; |
203 | // Digital Input Disable Register 0 |
203 | // Digital Input Disable Register 0 |
204 | // Disable digital input buffer for analog adc_channel pins |
204 | // Disable digital input buffer for analog adc_channel pins |
205 | DIDR0 = 0xFF; |
205 | DIDR0 = 0xFF; |
206 | // external reference, adjust data to the right |
206 | // external reference, adjust data to the right |
207 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
207 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
208 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
208 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
209 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
209 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
210 | //Set ADC Control and Status Register A |
210 | //Set ADC Control and Status Register A |
211 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
211 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
212 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
212 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
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 | 216 | ||
217 | startAnalogConversionCycle(); |
217 | startAnalogConversionCycle(); |
218 | 218 | ||
219 | // restore global interrupt flags |
219 | // restore global interrupt flags |
220 | SREG = sreg; |
220 | SREG = sreg; |
221 | } |
221 | } |
222 | 222 | ||
223 | void measureNoise(const int16_t sensor, |
223 | void measureNoise(const int16_t sensor, |
224 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
224 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
225 | if (sensor > (int16_t) (*noiseMeasurement)) { |
225 | if (sensor > (int16_t) (*noiseMeasurement)) { |
226 | *noiseMeasurement = sensor; |
226 | *noiseMeasurement = sensor; |
227 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
227 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
228 | *noiseMeasurement = -sensor; |
228 | *noiseMeasurement = -sensor; |
229 | } else if (*noiseMeasurement > damping) { |
229 | } else if (*noiseMeasurement > damping) { |
230 | *noiseMeasurement -= damping; |
230 | *noiseMeasurement -= damping; |
231 | } else { |
231 | } else { |
232 | *noiseMeasurement = 0; |
232 | *noiseMeasurement = 0; |
233 | } |
233 | } |
234 | } |
234 | } |
235 | 235 | ||
236 | /* |
236 | /* |
237 | * Min.: 0 |
237 | * Min.: 0 |
238 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
238 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
239 | */ |
239 | */ |
240 | uint16_t getSimplePressure(int advalue) { |
240 | uint16_t getSimplePressure(int advalue) { |
241 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
241 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
242 | } |
242 | } |
243 | 243 | ||
244 | void startAnalogConversionCycle(void) { |
244 | void startAnalogConversionCycle(void) { |
245 | analogDataReady = 0; |
245 | analogDataReady = 0; |
246 | // Stop the sampling. Cycle is over. |
246 | // Stop the sampling. Cycle is over. |
247 | for (uint8_t i = 0; i < 8; i++) { |
247 | for (uint8_t i = 0; i < 8; i++) { |
248 | sensorInputs[i] = 0; |
248 | sensorInputs[i] = 0; |
249 | } |
249 | } |
250 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
250 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
251 | startADC(); |
251 | startADC(); |
252 | } |
252 | } |
253 | 253 | ||
254 | /***************************************************** |
254 | /***************************************************** |
255 | * Interrupt Service Routine for ADC |
255 | * Interrupt Service Routine for ADC |
256 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
256 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
257 | * processed further conversions are stopped. |
257 | * processed further conversions are stopped. |
258 | *****************************************************/ |
258 | *****************************************************/ |
259 | ISR(ADC_vect) { |
259 | ISR(ADC_vect) { |
260 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
260 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
261 | sensorInputs[ad_channel] += ADC; |
261 | sensorInputs[ad_channel] += ADC; |
262 | // set up for next state. |
262 | // set up for next state. |
263 | state++; |
263 | state++; |
264 | if (state < 18) { |
264 | if (state < 18) { |
265 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
265 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
266 | // set adc muxer to next ad_channel |
266 | // set adc muxer to next ad_channel |
267 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
267 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
268 | // after full cycle stop further interrupts |
268 | // after full cycle stop further interrupts |
269 | startADC(); |
269 | startADC(); |
270 | } else { |
270 | } else { |
271 | state = 0; |
271 | state = 0; |
272 | ADCycleCount++; |
272 | ADCycleCount++; |
273 | analogDataReady = 1; |
273 | analogDataReady = 1; |
274 | // do not restart ADC converter. |
274 | // do not restart ADC converter. |
275 | } |
275 | } |
276 | } |
276 | } |
277 | 277 | ||
278 | void analog_updateGyros(void) { |
278 | void analog_updateGyros(void) { |
279 | // for various filters... |
279 | // for various filters... |
280 | int16_t tempOffsetGyro, tempGyro; |
280 | int16_t tempOffsetGyro, tempGyro; |
281 | 281 | ||
282 | for (uint8_t axis=0; axis<2; axis++) { |
282 | for (uint8_t axis=0; axis<2; axis++) { |
283 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
283 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
- | 284 | ||
284 | /* |
285 | /* |
285 | * Process the gyro data for the PID controller. |
286 | * Process the gyro data for the PID controller. |
286 | */ |
287 | */ |
287 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
288 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
288 | // gyro with a wider range, and helps counter saturation at full control. |
289 | // gyro with a wider range, and helps counter saturation at full control. |
289 | 290 | ||
290 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
291 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
291 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
292 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
292 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
293 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
293 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
294 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
294 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
295 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
295 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
296 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
296 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
297 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
297 | + SENSOR_MAX_PITCHROLL; |
298 | + SENSOR_MAX_PITCHROLL; |
298 | } else { |
299 | } else { |
299 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
300 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
300 | } |
301 | } |
301 | } |
302 | } |
302 | 303 | ||
303 | // 2) Apply sign and offset, scale before filtering. |
304 | // 2) Apply sign and offset, scale before filtering. |
304 | if (GYRO_REVERSED[axis]) { |
305 | if (GYRO_REVERSED[axis]) { |
305 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
306 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
306 | } else { |
307 | } else { |
307 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
308 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
308 | } |
309 | } |
309 | 310 | ||
310 | // 3) Scale and filter. |
311 | // 3) Scale and filter. |
311 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
312 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
312 | 313 | ||
313 | // 4) Measure noise. |
314 | // 4) Measure noise. |
314 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
315 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
315 | 316 | ||
316 | // 5) Differential measurement. |
317 | // 5) Differential measurement. |
317 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
318 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
318 | 319 | ||
319 | // 6) Done. |
320 | // 6) Done. |
320 | gyro_PID[axis] = tempOffsetGyro; |
321 | gyro_PID[axis] = tempOffsetGyro; |
321 | 322 | ||
322 | /* |
323 | /* |
323 | * Now process the data for attitude angles. |
324 | * Now process the data for attitude angles. |
324 | */ |
325 | */ |
325 | tempGyro = rawGyroSum[axis]; |
326 | tempGyro = rawGyroSum[axis]; |
326 | 327 | ||
327 | // 1) Apply sign and offset, scale before filtering. |
328 | // 1) Apply sign and offset, scale before filtering. |
328 | if (GYRO_REVERSED[axis]) { |
329 | if (GYRO_REVERSED[axis]) { |
329 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
330 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
330 | } else { |
331 | } else { |
331 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
332 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
332 | } |
333 | } |
333 | 334 | ||
334 | // 2) Filter. |
335 | // 2) Filter. |
335 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
336 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
336 | } |
337 | } |
337 | 338 | ||
338 | // Yaw gyro. |
339 | // Yaw gyro. |
339 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
340 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
340 | if (GYRO_REVERSED[YAW]) |
341 | if (GYRO_REVERSED[YAW]) |
341 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
342 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
342 | else |
343 | else |
343 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
344 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
344 | 345 | ||
345 | debugOut.analog[3] = gyro_ATT[PITCH]; |
346 | debugOut.analog[3] = rawGyroSum[0]; |
346 | debugOut.analog[4] = gyro_ATT[ROLL]; |
347 | debugOut.analog[4] = rawGyroSum[1]; |
347 | debugOut.analog[5] = yawGyro; |
348 | debugOut.analog[5] = rawGyroSum[2]; |
348 | } |
349 | } |
349 | 350 | ||
350 | void analog_updateAccelerometers(void) { |
351 | void analog_updateAccelerometers(void) { |
351 | // Pitch and roll axis accelerations. |
352 | // Pitch and roll axis accelerations. |
352 | for (uint8_t axis=0; axis<2; axis++) { |
353 | for (uint8_t axis=0; axis<2; axis++) { |
353 | if (ACC_REVERSED[axis]) |
354 | if (ACC_REVERSED[axis]) |
354 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
355 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
355 | else |
356 | else |
356 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
357 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
357 | 358 | ||
358 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
359 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
359 | 360 | ||
360 | /* |
361 | /* |
361 | stronglyFilteredAcc[PITCH] = |
362 | stronglyFilteredAcc[PITCH] = |
362 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
363 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
363 | */ |
364 | */ |
364 | 365 | ||
365 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
366 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
366 | } |
367 | } |
367 | 368 | ||
368 | // Z acc. |
369 | // Z acc. |
369 | if (ACC_REVERSED[Z]) |
370 | if (ACC_REVERSED[Z]) |
370 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
371 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
371 | else |
372 | else |
372 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
373 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
373 | 374 | ||
374 | /* |
375 | /* |
375 | stronglyFilteredAcc[Z] = |
376 | stronglyFilteredAcc[Z] = |
376 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
377 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
377 | */ |
378 | */ |
378 | } |
379 | } |
379 | 380 | ||
380 | void analog_updateAirPressure(void) { |
381 | void analog_updateAirPressure(void) { |
381 | static uint16_t pressureAutorangingWait = 25; |
382 | static uint16_t pressureAutorangingWait = 25; |
382 | uint16_t rawAirPressure; |
383 | uint16_t rawAirPressure; |
383 | int16_t newrange; |
384 | int16_t newrange; |
384 | // air pressure |
385 | // air pressure |
385 | if (pressureAutorangingWait) { |
386 | if (pressureAutorangingWait) { |
386 | //A range switch was done recently. Wait for steadying. |
387 | //A range switch was done recently. Wait for steadying. |
387 | pressureAutorangingWait--; |
388 | pressureAutorangingWait--; |
388 | debugOut.analog[27] = (uint16_t) OCR0A; |
389 | debugOut.analog[27] = (uint16_t) OCR0A; |
389 | debugOut.analog[31] = simpleAirPressure; |
390 | debugOut.analog[31] = simpleAirPressure; |
390 | } else { |
391 | } else { |
391 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
392 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
392 | if (rawAirPressure < MIN_RAWPRESSURE) { |
393 | if (rawAirPressure < MIN_RAWPRESSURE) { |
393 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
394 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
394 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
395 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
395 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
396 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
396 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
397 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
397 | OCR0A = newrange; |
398 | OCR0A = newrange; |
398 | } else { |
399 | } else { |
399 | if (OCR0A) { |
400 | if (OCR0A) { |
400 | OCR0A--; |
401 | OCR0A--; |
401 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
402 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
402 | } |
403 | } |
403 | } |
404 | } |
404 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
405 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
405 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
406 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
406 | // If near the end, make a limited increase |
407 | // If near the end, make a limited increase |
407 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
408 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
408 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
409 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
409 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
410 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
410 | OCR0A = newrange; |
411 | OCR0A = newrange; |
411 | } else { |
412 | } else { |
412 | if (OCR0A < 254) { |
413 | if (OCR0A < 254) { |
413 | OCR0A++; |
414 | OCR0A++; |
414 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
415 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
415 | } |
416 | } |
416 | } |
417 | } |
417 | } |
418 | } |
418 | 419 | ||
419 | // Even if the sample is off-range, use it. |
420 | // Even if the sample is off-range, use it. |
420 | simpleAirPressure = getSimplePressure(rawAirPressure); |
421 | simpleAirPressure = getSimplePressure(rawAirPressure); |
421 | debugOut.analog[27] = (uint16_t) OCR0A; |
422 | debugOut.analog[27] = (uint16_t) OCR0A; |
422 | debugOut.analog[31] = simpleAirPressure; |
423 | debugOut.analog[31] = simpleAirPressure; |
423 | 424 | ||
424 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
425 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
425 | // Danger: pressure near lower end of range. If the measurement saturates, the |
426 | // Danger: pressure near lower end of range. If the measurement saturates, the |
426 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
427 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
427 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
428 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
428 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
429 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
429 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
430 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
430 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
431 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
431 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
432 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
432 | // Danger: pressure near upper end of range. If the measurement saturates, the |
433 | // Danger: pressure near upper end of range. If the measurement saturates, the |
433 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
434 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
434 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
435 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
435 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
436 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
436 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
437 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
437 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
438 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
438 | } else { |
439 | } else { |
439 | // normal case. |
440 | // normal case. |
440 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
441 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
441 | // The 2 cases above (end of range) are ignored for this. |
442 | // The 2 cases above (end of range) are ignored for this. |
442 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
443 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
443 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
444 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
444 | airPressureSum += simpleAirPressure / 2; |
445 | airPressureSum += simpleAirPressure / 2; |
445 | else |
446 | else |
446 | airPressureSum += simpleAirPressure; |
447 | airPressureSum += simpleAirPressure; |
447 | } |
448 | } |
448 | 449 | ||
449 | // 2 samples were added. |
450 | // 2 samples were added. |
450 | pressureMeasurementCount += 2; |
451 | pressureMeasurementCount += 2; |
451 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
452 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
452 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
453 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
453 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
454 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
454 | pressureMeasurementCount = airPressureSum = 0; |
455 | pressureMeasurementCount = airPressureSum = 0; |
455 | } |
456 | } |
456 | } |
457 | } |
457 | } |
458 | } |
458 | 459 | ||
459 | void analog_updateBatteryVoltage(void) { |
460 | void analog_updateBatteryVoltage(void) { |
460 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
461 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
461 | // This is divided by 3 --> 10.34 counts per volt. |
462 | // This is divided by 3 --> 10.34 counts per volt. |
462 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
463 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
463 | debugOut.analog[11] = UBat; |
464 | debugOut.analog[11] = UBat; |
464 | } |
465 | } |
465 | 466 | ||
466 | void analog_update(void) { |
467 | void analog_update(void) { |
467 | analog_updateGyros(); |
468 | analog_updateGyros(); |
468 | analog_updateAccelerometers(); |
469 | analog_updateAccelerometers(); |
469 | analog_updateAirPressure(); |
470 | analog_updateAirPressure(); |
470 | analog_updateBatteryVoltage(); |
471 | analog_updateBatteryVoltage(); |
471 | } |
472 | } |
472 | 473 | ||
473 | void analog_setNeutral() { |
474 | void analog_setNeutral() { |
- | 475 | if (gyroAmplifierOffset_readFromEEProm()) { |
|
- | 476 | printf("gyro amp invalid, you must recalibrate."); |
|
- | 477 | gyro_loadOffsets(1); |
|
- | 478 | } |
|
- | 479 | ||
474 | if (gyroOffset_readFromEEProm()) { |
480 | if (gyroOffset_readFromEEProm()) { |
475 | printf("gyro offsets invalid, you must recalibrate."); |
481 | printf("gyro offsets invalid, you must recalibrate."); |
476 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
482 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
477 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
483 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
478 | } |
484 | } |
479 | 485 | ||
480 | debugOut.analog[6] = gyroOffset.offsets[PITCH]; |
486 | debugOut.analog[6] = gyroOffset.offsets[PITCH]; |
481 | debugOut.analog[7] = gyroOffset.offsets[ROLL]; |
487 | debugOut.analog[7] = gyroOffset.offsets[ROLL]; |
482 | 488 | ||
483 | if (accOffset_readFromEEProm()) { |
489 | if (accOffset_readFromEEProm()) { |
484 | printf("acc. meter offsets invalid, you must recalibrate."); |
490 | printf("acc. meter offsets invalid, you must recalibrate."); |
485 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
491 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
486 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
492 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
487 | } |
493 | } |
488 | 494 | ||
489 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
495 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
490 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
496 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
491 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
497 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
492 | 498 | ||
493 | // Setting offset values has an influence in the analog.c ISR |
499 | // Setting offset values has an influence in the analog.c ISR |
494 | // Therefore run measurement for 100ms to achive stable readings |
500 | // Therefore run measurement for 100ms to achive stable readings |
495 | delay_ms_Mess(100); |
501 | delay_ms_with_adc_measurement(100); |
496 | 502 | ||
497 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
503 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
498 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
504 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
499 | // pressureMeasurementCount = 0; |
505 | // pressureMeasurementCount = 0; |
500 | } |
506 | } |
501 | 507 | ||
502 | void analog_calibrateGyros(void) { |
508 | void analog_calibrateGyros(void) { |
503 | #define GYRO_OFFSET_CYCLES 32 |
509 | #define GYRO_OFFSET_CYCLES 32 |
504 | uint8_t i, axis; |
510 | uint8_t i, axis; |
505 | int32_t offsets[3] = { 0, 0, 0 }; |
511 | int32_t offsets[3] = { 0, 0, 0 }; |
506 | gyro_calibrate(); |
512 | gyro_calibrate(); |
507 | 513 | ||
508 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
514 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
509 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
515 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
510 | delay_ms_Mess(20); |
516 | delay_ms_with_adc_measurement(20); |
511 | for (axis = PITCH; axis <= YAW; axis++) { |
517 | for (axis = PITCH; axis <= YAW; axis++) { |
512 | offsets[axis] += rawGyroSum[axis]; |
518 | offsets[axis] += rawGyroSum[axis]; |
513 | } |
519 | } |
514 | } |
520 | } |
515 | 521 | ||
516 | for (axis = PITCH; axis <= YAW; axis++) { |
522 | for (axis = PITCH; axis <= YAW; axis++) { |
517 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
523 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
518 | } |
524 | } |
519 | 525 | ||
520 | gyroOffset_writeToEEProm(); |
526 | gyroOffset_writeToEEProm(); |
521 | } |
527 | } |
522 | 528 | ||
523 | /* |
529 | /* |
524 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
530 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
525 | * Does not (!} update the local variables. This must be done with a |
531 | * Does not (!} update the local variables. This must be done with a |
526 | * call to analog_calibrate() - this always (?) is done by the caller |
532 | * call to analog_calibrate() - this always (?) is done by the caller |
527 | * anyway. There would be nothing wrong with updating the variables |
533 | * anyway. There would be nothing wrong with updating the variables |
528 | * directly from here, though. |
534 | * directly from here, though. |
529 | */ |
535 | */ |
530 | void analog_calibrateAcc(void) { |
536 | void analog_calibrateAcc(void) { |
531 | #define ACC_OFFSET_CYCLES 10 |
537 | #define ACC_OFFSET_CYCLES 10 |
532 | uint8_t i, axis; |
538 | uint8_t i, axis; |
533 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
539 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
534 | int16_t filteredDelta; |
540 | int16_t filteredDelta; |
535 | 541 | ||
536 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
542 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
537 | delay_ms_Mess(10); |
543 | delay_ms_with_adc_measurement(10); |
538 | for (axis = PITCH; axis <= YAW; axis++) { |
544 | for (axis = PITCH; axis <= YAW; axis++) { |
539 | deltaOffset[axis] += acc[axis]; |
545 | deltaOffset[axis] += acc[axis]; |
540 | } |
546 | } |
541 | } |
547 | } |
542 | 548 | ||
543 | for (axis = PITCH; axis <= YAW; axis++) { |
549 | for (axis = PITCH; axis <= YAW; axis++) { |
544 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
550 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
545 | / ACC_OFFSET_CYCLES; |
551 | / ACC_OFFSET_CYCLES; |
546 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
552 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
547 | } |
553 | } |
548 | 554 | ||
549 | accOffset_writeToEEProm(); |
555 | accOffset_writeToEEProm(); |
550 | } |
556 | } |
551 | 557 |