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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 | const char* recal = ", recalibration needed."; |
76 | const char* recal = ", recalibration needed."; |
77 | 77 | ||
78 | /* |
78 | /* |
79 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
79 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
80 | * (see array channelsForStates), and the results for each channel are summed. |
80 | * (see array channelsForStates), and the results for each channel are summed. |
81 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
81 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
82 | * They are exported in the analog.h file - but please do not use them! The only |
82 | * They are exported in the analog.h file - but please do not use them! The only |
83 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
83 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
84 | * the offsets with the DAC. |
84 | * the offsets with the DAC. |
85 | */ |
85 | */ |
86 | volatile uint16_t sensorInputs[8]; |
86 | volatile uint16_t sensorInputs[8]; |
87 | volatile int16_t rawGyroSum[3]; |
87 | volatile int16_t rawGyroSum[3]; |
88 | volatile int16_t acc[3]; |
88 | volatile int16_t acc[3]; |
89 | volatile int16_t filteredAcc[2] = { 0,0 }; |
89 | volatile int16_t filteredAcc[2] = { 0,0 }; |
90 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
90 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
91 | 91 | ||
92 | /* |
92 | /* |
93 | * These 4 exported variables are zero-offset. The "PID" ones are used |
93 | * These 4 exported variables are zero-offset. The "PID" ones are used |
94 | * in the attitude control as rotation rates. The "ATT" ones are for |
94 | * in the attitude control as rotation rates. The "ATT" ones are for |
95 | * integration to angles. |
95 | * integration to angles. |
96 | */ |
96 | */ |
97 | volatile int16_t gyro_PID[2]; |
97 | volatile int16_t gyro_PID[2]; |
98 | volatile int16_t gyro_ATT[2]; |
98 | volatile int16_t gyro_ATT[2]; |
99 | volatile int16_t gyroD[2]; |
99 | volatile int16_t gyroD[2]; |
100 | volatile int16_t yawGyro; |
100 | volatile int16_t yawGyro; |
101 | 101 | ||
102 | /* |
102 | /* |
103 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
103 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
104 | * standing still. They are used for adjusting the gyro and acc. meter values |
104 | * standing still. They are used for adjusting the gyro and acc. meter values |
105 | * to be centered on zero. |
105 | * to be centered on zero. |
106 | */ |
106 | */ |
107 | 107 | ||
108 | sensorOffset_t gyroOffset; |
108 | sensorOffset_t gyroOffset; |
109 | sensorOffset_t accOffset; |
109 | sensorOffset_t accOffset; |
110 | sensorOffset_t gyroAmplifierOffset; |
110 | sensorOffset_t gyroAmplifierOffset; |
111 | 111 | ||
112 | /* |
112 | /* |
113 | * This allows some experimentation with the gyro filters. |
113 | * This allows some experimentation with the gyro filters. |
114 | * Should be replaced by #define's later on... |
114 | * Should be replaced by #define's later on... |
115 | */ |
115 | */ |
116 | 116 | ||
117 | /* |
117 | /* |
118 | * Air pressure |
118 | * Air pressure |
119 | */ |
119 | */ |
120 | volatile uint8_t rangewidth = 106; |
120 | volatile uint8_t rangewidth = 105; |
121 | 121 | ||
122 | // Direct from sensor, irrespective of range. |
122 | // Direct from sensor, irrespective of range. |
123 | // volatile uint16_t rawAirPressure; |
123 | // volatile uint16_t rawAirPressure; |
124 | 124 | ||
125 | // Value of 2 samples, with range. |
125 | // Value of 2 samples, with range. |
126 | volatile uint16_t simpleAirPressure; |
126 | volatile uint16_t simpleAirPressure; |
127 | 127 | ||
128 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
128 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
129 | volatile int32_t filteredAirPressure; |
129 | volatile int32_t filteredAirPressure; |
130 | 130 | ||
131 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
131 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
132 | volatile int32_t airPressureSum; |
132 | volatile int32_t airPressureSum; |
133 | 133 | ||
134 | // The number of samples summed into airPressureSum so far. |
134 | // The number of samples summed into airPressureSum so far. |
135 | volatile uint8_t pressureMeasurementCount; |
135 | volatile uint8_t pressureMeasurementCount; |
136 | 136 | ||
137 | /* |
137 | /* |
138 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
138 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
139 | * That is divided by 3 below, for a final 10.34 per volt. |
139 | * That is divided by 3 below, for a final 10.34 per volt. |
140 | * So the initial value of 100 is for 9.7 volts. |
140 | * So the initial value of 100 is for 9.7 volts. |
141 | */ |
141 | */ |
142 | volatile int16_t UBat = 100; |
142 | volatile int16_t UBat = 100; |
143 | 143 | ||
144 | /* |
144 | /* |
145 | * Control and status. |
145 | * Control and status. |
146 | */ |
146 | */ |
147 | volatile uint16_t ADCycleCount = 0; |
147 | volatile uint16_t ADCycleCount = 0; |
148 | volatile uint8_t analogDataReady = 1; |
148 | volatile uint8_t analogDataReady = 1; |
149 | 149 | ||
150 | /* |
150 | /* |
151 | * Experiment: Measuring vibration-induced sensor noise. |
151 | * Experiment: Measuring vibration-induced sensor noise. |
152 | */ |
152 | */ |
153 | volatile uint16_t gyroNoisePeak[2]; |
153 | volatile uint16_t gyroNoisePeak[2]; |
154 | volatile uint16_t accNoisePeak[2]; |
154 | volatile uint16_t accNoisePeak[2]; |
155 | 155 | ||
156 | // ADC channels |
156 | // ADC channels |
157 | #define AD_GYRO_YAW 0 |
157 | #define AD_GYRO_YAW 0 |
158 | #define AD_GYRO_ROLL 1 |
158 | #define AD_GYRO_ROLL 1 |
159 | #define AD_GYRO_PITCH 2 |
159 | #define AD_GYRO_PITCH 2 |
160 | #define AD_AIRPRESSURE 3 |
160 | #define AD_AIRPRESSURE 3 |
161 | #define AD_UBAT 4 |
161 | #define AD_UBAT 4 |
162 | #define AD_ACC_Z 5 |
162 | #define AD_ACC_Z 5 |
163 | #define AD_ACC_ROLL 6 |
163 | #define AD_ACC_ROLL 6 |
164 | #define AD_ACC_PITCH 7 |
164 | #define AD_ACC_PITCH 7 |
165 | 165 | ||
166 | /* |
166 | /* |
167 | * Table of AD converter inputs for each state. |
167 | * Table of AD converter inputs for each state. |
168 | * The number of samples summed for each channel is equal to |
168 | * The number of samples summed for each channel is equal to |
169 | * the number of times the channel appears in the array. |
169 | * the number of times the channel appears in the array. |
170 | * The max. number of samples that can be taken in 2 ms is: |
170 | * The max. number of samples that can be taken in 2 ms is: |
171 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
171 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
172 | * loop needs a little time between reading AD values and |
172 | * loop needs a little time between reading AD values and |
173 | * re-enabling ADC, the real limit is (how much?) lower. |
173 | * re-enabling ADC, the real limit is (how much?) lower. |
174 | * The acc. sensor is sampled even if not used - or installed |
174 | * The acc. sensor is sampled even if not used - or installed |
175 | * at all. The cost is not significant. |
175 | * at all. The cost is not significant. |
176 | */ |
176 | */ |
177 | 177 | ||
178 | const uint8_t channelsForStates[] PROGMEM = { |
178 | const uint8_t channelsForStates[] PROGMEM = { |
179 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
179 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
180 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
180 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
181 | 181 | ||
182 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
182 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
183 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
183 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
184 | 184 | ||
185 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
185 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
186 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
186 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
187 | AD_AIRPRESSURE, // at 14, finish air pressure. |
187 | AD_AIRPRESSURE, // at 14, finish air pressure. |
188 | 188 | ||
189 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
189 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
190 | AD_GYRO_ROLL, // at 16, finish roll gyro |
190 | AD_GYRO_ROLL, // at 16, finish roll gyro |
191 | AD_UBAT // at 17, measure battery. |
191 | AD_UBAT // at 17, measure battery. |
192 | }; |
192 | }; |
193 | 193 | ||
194 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
194 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
195 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
195 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
196 | 196 | ||
197 | void analog_init(void) { |
197 | void analog_init(void) { |
198 | uint8_t sreg = SREG; |
198 | uint8_t sreg = SREG; |
199 | // disable all interrupts before reconfiguration |
199 | // disable all interrupts before reconfiguration |
200 | cli(); |
200 | cli(); |
201 | 201 | ||
202 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
202 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
203 | DDRA = 0x00; |
203 | DDRA = 0x00; |
204 | PORTA = 0x00; |
204 | PORTA = 0x00; |
205 | // Digital Input Disable Register 0 |
205 | // Digital Input Disable Register 0 |
206 | // Disable digital input buffer for analog adc_channel pins |
206 | // Disable digital input buffer for analog adc_channel pins |
207 | DIDR0 = 0xFF; |
207 | DIDR0 = 0xFF; |
208 | // external reference, adjust data to the right |
208 | // external reference, adjust data to the right |
209 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
209 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
210 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
210 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
211 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
211 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
212 | //Set ADC Control and Status Register A |
212 | //Set ADC Control and Status Register A |
213 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
213 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
214 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
214 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
215 | //Set ADC Control and Status Register B |
215 | //Set ADC Control and Status Register B |
216 | //Trigger Source to Free Running Mode |
216 | //Trigger Source to Free Running Mode |
217 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
217 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
218 | 218 | ||
219 | startAnalogConversionCycle(); |
219 | startAnalogConversionCycle(); |
220 | 220 | ||
221 | // restore global interrupt flags |
221 | // restore global interrupt flags |
222 | SREG = sreg; |
222 | SREG = sreg; |
223 | } |
223 | } |
224 | 224 | ||
225 | void measureNoise(const int16_t sensor, |
225 | void measureNoise(const int16_t sensor, |
226 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
226 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
227 | if (sensor > (int16_t) (*noiseMeasurement)) { |
227 | if (sensor > (int16_t) (*noiseMeasurement)) { |
228 | *noiseMeasurement = sensor; |
228 | *noiseMeasurement = sensor; |
229 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
229 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
230 | *noiseMeasurement = -sensor; |
230 | *noiseMeasurement = -sensor; |
231 | } else if (*noiseMeasurement > damping) { |
231 | } else if (*noiseMeasurement > damping) { |
232 | *noiseMeasurement -= damping; |
232 | *noiseMeasurement -= damping; |
233 | } else { |
233 | } else { |
234 | *noiseMeasurement = 0; |
234 | *noiseMeasurement = 0; |
235 | } |
235 | } |
236 | } |
236 | } |
237 | 237 | ||
238 | /* |
238 | /* |
239 | * Min.: 0 |
239 | * Min.: 0 |
240 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
240 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
241 | */ |
241 | */ |
242 | uint16_t getSimplePressure(int advalue) { |
242 | uint16_t getSimplePressure(int advalue) { |
243 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
243 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
244 | } |
244 | } |
245 | 245 | ||
246 | void startAnalogConversionCycle(void) { |
246 | void startAnalogConversionCycle(void) { |
247 | analogDataReady = 0; |
247 | analogDataReady = 0; |
248 | // Stop the sampling. Cycle is over. |
248 | // Stop the sampling. Cycle is over. |
249 | for (uint8_t i = 0; i < 8; i++) { |
249 | for (uint8_t i = 0; i < 8; i++) { |
250 | sensorInputs[i] = 0; |
250 | sensorInputs[i] = 0; |
251 | } |
251 | } |
252 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
252 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
253 | startADC(); |
253 | startADC(); |
254 | } |
254 | } |
255 | 255 | ||
256 | /***************************************************** |
256 | /***************************************************** |
257 | * Interrupt Service Routine for ADC |
257 | * Interrupt Service Routine for ADC |
258 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
258 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
259 | * processed further conversions are stopped. |
259 | * processed further conversions are stopped. |
260 | *****************************************************/ |
260 | *****************************************************/ |
261 | ISR(ADC_vect) { |
261 | ISR(ADC_vect) { |
262 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
262 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
263 | sensorInputs[ad_channel] += ADC; |
263 | sensorInputs[ad_channel] += ADC; |
264 | // set up for next state. |
264 | // set up for next state. |
265 | state++; |
265 | state++; |
266 | if (state < 18) { |
266 | if (state < 18) { |
267 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
267 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
268 | // set adc muxer to next ad_channel |
268 | // set adc muxer to next ad_channel |
269 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
269 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
270 | // after full cycle stop further interrupts |
270 | // after full cycle stop further interrupts |
271 | startADC(); |
271 | startADC(); |
272 | } else { |
272 | } else { |
273 | state = 0; |
273 | state = 0; |
274 | ADCycleCount++; |
274 | ADCycleCount++; |
275 | analogDataReady = 1; |
275 | analogDataReady = 1; |
276 | // do not restart ADC converter. |
276 | // do not restart ADC converter. |
277 | } |
277 | } |
278 | } |
278 | } |
279 | 279 | ||
280 | void analog_updateGyros(void) { |
280 | void analog_updateGyros(void) { |
281 | // for various filters... |
281 | // for various filters... |
282 | int16_t tempOffsetGyro, tempGyro; |
282 | int16_t tempOffsetGyro, tempGyro; |
283 | 283 | ||
284 | for (uint8_t axis=0; axis<2; axis++) { |
284 | for (uint8_t axis=0; axis<2; axis++) { |
285 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
285 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
286 | 286 | ||
287 | /* |
287 | /* |
288 | * Process the gyro data for the PID controller. |
288 | * Process the gyro data for the PID controller. |
289 | */ |
289 | */ |
290 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
290 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
291 | // gyro with a wider range, and helps counter saturation at full control. |
291 | // gyro with a wider range, and helps counter saturation at full control. |
292 | 292 | ||
293 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
293 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
294 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
294 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
295 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
295 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
296 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
296 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
297 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
297 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
298 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
298 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
299 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
299 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
300 | + SENSOR_MAX_PITCHROLL; |
300 | + SENSOR_MAX_PITCHROLL; |
301 | } else { |
301 | } else { |
302 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
302 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
303 | } |
303 | } |
304 | } |
304 | } |
305 | 305 | ||
306 | // 2) Apply sign and offset, scale before filtering. |
306 | // 2) Apply sign and offset, scale before filtering. |
307 | if (GYRO_REVERSED[axis]) { |
307 | if (GYRO_REVERSED[axis]) { |
308 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
308 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
309 | } else { |
309 | } else { |
310 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
310 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
311 | } |
311 | } |
312 | 312 | ||
313 | // 3) Scale and filter. |
313 | // 3) Scale and filter. |
314 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
314 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
315 | 315 | ||
316 | // 4) Measure noise. |
316 | // 4) Measure noise. |
317 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
317 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
318 | 318 | ||
319 | // 5) Differential measurement. |
319 | // 5) Differential measurement. |
320 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
320 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
321 | 321 | ||
322 | // 6) Done. |
322 | // 6) Done. |
323 | gyro_PID[axis] = tempOffsetGyro; |
323 | gyro_PID[axis] = tempOffsetGyro; |
324 | 324 | ||
325 | /* |
325 | /* |
326 | * Now process the data for attitude angles. |
326 | * Now process the data for attitude angles. |
327 | */ |
327 | */ |
328 | tempGyro = rawGyroSum[axis]; |
328 | tempGyro = rawGyroSum[axis]; |
329 | 329 | ||
330 | // 1) Apply sign and offset, scale before filtering. |
330 | // 1) Apply sign and offset, scale before filtering. |
331 | if (GYRO_REVERSED[axis]) { |
331 | if (GYRO_REVERSED[axis]) { |
332 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
332 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
333 | } else { |
333 | } else { |
334 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
334 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
335 | } |
335 | } |
336 | 336 | ||
337 | // 2) Filter. |
337 | // 2) Filter. |
338 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
338 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
339 | } |
339 | } |
340 | 340 | ||
341 | // Yaw gyro. |
341 | // Yaw gyro. |
342 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
342 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
343 | if (GYRO_REVERSED[YAW]) |
343 | if (GYRO_REVERSED[YAW]) |
344 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
344 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
345 | else |
345 | else |
346 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
346 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
347 | } |
347 | } |
348 | 348 | ||
349 | void analog_updateAccelerometers(void) { |
349 | void analog_updateAccelerometers(void) { |
350 | // Pitch and roll axis accelerations. |
350 | // Pitch and roll axis accelerations. |
351 | for (uint8_t axis=0; axis<2; axis++) { |
351 | for (uint8_t axis=0; axis<2; axis++) { |
352 | if (ACC_REVERSED[axis]) |
352 | if (ACC_REVERSED[axis]) |
353 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
353 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
354 | else |
354 | else |
355 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
355 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
356 | 356 | ||
357 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
357 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
358 | 358 | ||
359 | /* |
359 | /* |
360 | stronglyFilteredAcc[PITCH] = |
360 | stronglyFilteredAcc[PITCH] = |
361 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
361 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
362 | */ |
362 | */ |
363 | 363 | ||
364 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
364 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
365 | } |
365 | } |
366 | 366 | ||
367 | // Z acc. |
367 | // Z acc. |
368 | if (ACC_REVERSED[Z]) |
368 | if (ACC_REVERSED[Z]) |
369 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
369 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
370 | else |
370 | else |
371 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
371 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
372 | 372 | ||
373 | /* |
373 | /* |
374 | stronglyFilteredAcc[Z] = |
374 | stronglyFilteredAcc[Z] = |
375 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
375 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
376 | */ |
376 | */ |
377 | } |
377 | } |
378 | 378 | ||
379 | void analog_updateAirPressure(void) { |
379 | void analog_updateAirPressure(void) { |
380 | static uint16_t pressureAutorangingWait = 25; |
380 | static uint16_t pressureAutorangingWait = 25; |
381 | uint16_t rawAirPressure; |
381 | uint16_t rawAirPressure; |
382 | int16_t newrange; |
382 | int16_t newrange; |
383 | // air pressure |
383 | // air pressure |
384 | if (pressureAutorangingWait) { |
384 | if (pressureAutorangingWait) { |
385 | //A range switch was done recently. Wait for steadying. |
385 | //A range switch was done recently. Wait for steadying. |
386 | pressureAutorangingWait--; |
386 | pressureAutorangingWait--; |
387 | debugOut.analog[27] = (uint16_t) OCR0A; |
387 | debugOut.analog[27] = (uint16_t) OCR0A; |
388 | debugOut.analog[31] = simpleAirPressure; |
388 | debugOut.analog[31] = simpleAirPressure; |
389 | } else { |
389 | } else { |
390 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
390 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
391 | if (rawAirPressure < MIN_RAWPRESSURE) { |
391 | if (rawAirPressure < MIN_RAWPRESSURE) { |
392 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
392 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
393 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
393 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
394 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
394 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
395 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
395 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
396 | OCR0A = newrange; |
396 | OCR0A = newrange; |
397 | } else { |
397 | } else { |
398 | if (OCR0A) { |
398 | if (OCR0A) { |
399 | OCR0A--; |
399 | OCR0A--; |
400 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
400 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
401 | } |
401 | } |
402 | } |
402 | } |
403 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
403 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
404 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
404 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
405 | // If near the end, make a limited increase |
405 | // If near the end, make a limited increase |
406 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
406 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
407 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
407 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
408 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
408 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
409 | OCR0A = newrange; |
409 | OCR0A = newrange; |
410 | } else { |
410 | } else { |
411 | if (OCR0A < 254) { |
411 | if (OCR0A < 254) { |
412 | OCR0A++; |
412 | OCR0A++; |
413 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
413 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
414 | } |
414 | } |
415 | } |
415 | } |
416 | } |
416 | } |
417 | 417 | ||
418 | // Even if the sample is off-range, use it. |
418 | // Even if the sample is off-range, use it. |
419 | simpleAirPressure = getSimplePressure(rawAirPressure); |
419 | simpleAirPressure = getSimplePressure(rawAirPressure); |
420 | debugOut.analog[27] = (uint16_t) OCR0A; |
420 | debugOut.analog[27] = (uint16_t) OCR0A; |
421 | debugOut.analog[31] = simpleAirPressure; |
421 | debugOut.analog[31] = simpleAirPressure; |
422 | 422 | ||
423 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
423 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
424 | // Danger: pressure near lower end of range. If the measurement saturates, the |
424 | // Danger: pressure near lower end of range. If the measurement saturates, the |
425 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
425 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
426 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
426 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
427 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
427 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
428 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
428 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
429 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
429 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
430 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
430 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
431 | // Danger: pressure near upper end of range. If the measurement saturates, the |
431 | // Danger: pressure near upper end of range. If the measurement saturates, the |
432 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
432 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
433 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
433 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
434 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
434 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
435 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
435 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
436 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
436 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
437 | } else { |
437 | } else { |
438 | // normal case. |
438 | // normal case. |
439 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
439 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
440 | // The 2 cases above (end of range) are ignored for this. |
440 | // The 2 cases above (end of range) are ignored for this. |
441 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
441 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
442 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
442 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
443 | airPressureSum += simpleAirPressure / 2; |
443 | airPressureSum += simpleAirPressure / 2; |
444 | else |
444 | else |
445 | airPressureSum += simpleAirPressure; |
445 | airPressureSum += simpleAirPressure; |
446 | } |
446 | } |
447 | 447 | ||
448 | // 2 samples were added. |
448 | // 2 samples were added. |
449 | pressureMeasurementCount += 2; |
449 | pressureMeasurementCount += 2; |
450 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
450 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
451 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
451 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
452 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
452 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
453 | pressureMeasurementCount = airPressureSum = 0; |
453 | pressureMeasurementCount = airPressureSum = 0; |
454 | } |
454 | } |
455 | } |
455 | } |
456 | } |
456 | } |
457 | 457 | ||
458 | void analog_updateBatteryVoltage(void) { |
458 | void analog_updateBatteryVoltage(void) { |
459 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
459 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
460 | // This is divided by 3 --> 10.34 counts per volt. |
460 | // This is divided by 3 --> 10.34 counts per volt. |
461 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
461 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
462 | debugOut.analog[11] = UBat; |
462 | debugOut.analog[11] = UBat; |
463 | } |
463 | } |
464 | 464 | ||
465 | void analog_update(void) { |
465 | void analog_update(void) { |
466 | analog_updateGyros(); |
466 | analog_updateGyros(); |
467 | analog_updateAccelerometers(); |
467 | analog_updateAccelerometers(); |
468 | analog_updateAirPressure(); |
468 | analog_updateAirPressure(); |
469 | analog_updateBatteryVoltage(); |
469 | analog_updateBatteryVoltage(); |
470 | } |
470 | } |
471 | 471 | ||
472 | void analog_setNeutral() { |
472 | void analog_setNeutral() { |
473 | if (gyroAmplifierOffset_readFromEEProm()) { |
473 | if (gyroAmplifierOffset_readFromEEProm()) { |
474 | printf("gyro amp invalid%s",recal); |
474 | printf("gyro amp invalid%s",recal); |
475 | gyro_loadOffsets(1); |
475 | gyro_loadOffsets(1); |
476 | } else |
476 | } else |
477 | gyro_loadOffsets(0); |
477 | gyro_loadOffsets(0); |
478 | 478 | ||
479 | if (gyroOffset_readFromEEProm()) { |
479 | if (gyroOffset_readFromEEProm()) { |
480 | printf("gyro offsets invalid%s",recal); |
480 | printf("gyro offsets invalid%s",recal); |
481 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
481 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
482 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
482 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
483 | } |
483 | } |
484 | 484 | ||
485 | debugOut.analog[6] = gyroOffset.offsets[PITCH]; |
485 | debugOut.analog[6] = gyroOffset.offsets[PITCH]; |
486 | debugOut.analog[7] = gyroOffset.offsets[ROLL]; |
486 | debugOut.analog[7] = gyroOffset.offsets[ROLL]; |
487 | 487 | ||
488 | if (accOffset_readFromEEProm()) { |
488 | if (accOffset_readFromEEProm()) { |
489 | printf("acc. meter offsets invalid%s",recal); |
489 | printf("acc. meter offsets invalid%s",recal); |
490 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
490 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
491 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
491 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
492 | } |
492 | } |
493 | 493 | ||
494 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
494 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
495 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
495 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
496 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
496 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
497 | 497 | ||
498 | // Setting offset values has an influence in the analog.c ISR |
498 | // Setting offset values has an influence in the analog.c ISR |
499 | // Therefore run measurement for 100ms to achive stable readings |
499 | // Therefore run measurement for 100ms to achive stable readings |
500 | delay_ms_with_adc_measurement(100); |
500 | delay_ms_with_adc_measurement(100); |
501 | 501 | ||
502 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
502 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
503 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
503 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
504 | // pressureMeasurementCount = 0; |
504 | // pressureMeasurementCount = 0; |
505 | } |
505 | } |
506 | 506 | ||
507 | void analog_calibrateGyros(void) { |
507 | void analog_calibrateGyros(void) { |
508 | #define GYRO_OFFSET_CYCLES 32 |
508 | #define GYRO_OFFSET_CYCLES 32 |
509 | uint8_t i, axis; |
509 | uint8_t i, axis; |
510 | int32_t offsets[3] = { 0, 0, 0 }; |
510 | int32_t offsets[3] = { 0, 0, 0 }; |
511 | gyro_calibrate(); |
511 | gyro_calibrate(); |
512 | 512 | ||
513 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
513 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
514 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
514 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
515 | delay_ms_with_adc_measurement(20); |
515 | delay_ms_with_adc_measurement(20); |
516 | for (axis = PITCH; axis <= YAW; axis++) { |
516 | for (axis = PITCH; axis <= YAW; axis++) { |
517 | offsets[axis] += rawGyroSum[axis]; |
517 | offsets[axis] += rawGyroSum[axis]; |
518 | } |
518 | } |
519 | } |
519 | } |
520 | 520 | ||
521 | for (axis = PITCH; axis <= YAW; axis++) { |
521 | for (axis = PITCH; axis <= YAW; axis++) { |
522 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
522 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
523 | } |
523 | } |
524 | 524 | ||
525 | gyroOffset_writeToEEProm(); |
525 | gyroOffset_writeToEEProm(); |
526 | } |
526 | } |
527 | 527 | ||
528 | /* |
528 | /* |
529 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
529 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
530 | * Does not (!} update the local variables. This must be done with a |
530 | * Does not (!} update the local variables. This must be done with a |
531 | * call to analog_calibrate() - this always (?) is done by the caller |
531 | * call to analog_calibrate() - this always (?) is done by the caller |
532 | * anyway. There would be nothing wrong with updating the variables |
532 | * anyway. There would be nothing wrong with updating the variables |
533 | * directly from here, though. |
533 | * directly from here, though. |
534 | */ |
534 | */ |
535 | void analog_calibrateAcc(void) { |
535 | void analog_calibrateAcc(void) { |
536 | #define ACC_OFFSET_CYCLES 10 |
536 | #define ACC_OFFSET_CYCLES 10 |
537 | uint8_t i, axis; |
537 | uint8_t i, axis; |
538 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
538 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
539 | int16_t filteredDelta; |
539 | int16_t filteredDelta; |
540 | 540 | ||
541 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
541 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
542 | delay_ms_with_adc_measurement(10); |
542 | delay_ms_with_adc_measurement(10); |
543 | for (axis = PITCH; axis <= YAW; axis++) { |
543 | for (axis = PITCH; axis <= YAW; axis++) { |
544 | deltaOffset[axis] += acc[axis]; |
544 | deltaOffset[axis] += acc[axis]; |
545 | } |
545 | } |
546 | } |
546 | } |
547 | 547 | ||
548 | for (axis = PITCH; axis <= YAW; axis++) { |
548 | for (axis = PITCH; axis <= YAW; axis++) { |
549 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
549 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
550 | / ACC_OFFSET_CYCLES; |
550 | / ACC_OFFSET_CYCLES; |
551 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
551 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
552 | } |
552 | } |
553 | 553 | ||
554 | accOffset_writeToEEProm(); |
554 | accOffset_writeToEEProm(); |
555 | } |
555 | } |
556 | 556 |