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1 | #include <avr/io.h> |
1 | #include <avr/io.h> |
2 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
3 | #include <avr/pgmspace.h> |
3 | #include <avr/pgmspace.h> |
4 | #include <stdlib.h> |
4 | #include <stdlib.h> |
5 | 5 | ||
6 | #include "analog.h" |
6 | #include "analog.h" |
7 | #include "attitude.h" |
7 | #include "attitude.h" |
8 | #include "sensors.h" |
8 | #include "sensors.h" |
9 | #include "printf_P.h" |
9 | #include "printf_P.h" |
10 | #include "mk3mag.h" |
10 | #include "mk3mag.h" |
11 | 11 | ||
12 | // for Delay functions |
12 | // for Delay functions |
13 | #include "timer0.h" |
13 | #include "timer0.h" |
14 | 14 | ||
15 | // For reading and writing acc. meter offsets. |
15 | // For reading and writing acc. meter offsets. |
16 | #include "eeprom.h" |
16 | #include "eeprom.h" |
17 | 17 | ||
18 | // For debugOut |
18 | // For debugOut |
19 | #include "output.h" |
19 | #include "output.h" |
20 | 20 | ||
21 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
21 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
22 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
22 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
23 | 23 | ||
24 | const char* recal = ", recalibration needed."; |
24 | const char* recal = ", recalibration needed."; |
25 | 25 | ||
26 | /* |
26 | /* |
27 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
27 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
28 | * (see array channelsForStates), and the results for each channel are summed. |
28 | * (see array channelsForStates), and the results for each channel are summed. |
29 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
29 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
30 | * They are exported in the analog.h file - but please do not use them! The only |
30 | * They are exported in the analog.h file - but please do not use them! The only |
31 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
31 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
32 | * the offsets with the DAC. |
32 | * the offsets with the DAC. |
33 | */ |
33 | */ |
34 | volatile uint16_t sensorInputs[8]; |
34 | volatile uint16_t sensorInputs[8]; |
35 | int16_t acc[3]; |
35 | int16_t acc[3]; |
36 | int16_t filteredAcc[3] = { 0,0,0 }; |
36 | int16_t filteredAcc[3] = { 0,0,0 }; |
37 | 37 | ||
38 | /* |
38 | /* |
39 | * These 4 exported variables are zero-offset. The "PID" ones are used |
39 | * These 4 exported variables are zero-offset. The "PID" ones are used |
40 | * in the attitude control as rotation rates. The "ATT" ones are for |
40 | * in the attitude control as rotation rates. The "ATT" ones are for |
41 | * integration to angles. |
41 | * integration to angles. |
42 | */ |
42 | */ |
43 | int16_t gyro_PID[2]; |
43 | int16_t gyro_PID[2]; |
44 | int16_t gyro_ATT[2]; |
44 | int16_t gyro_ATT[2]; |
45 | int16_t gyroD[2]; |
45 | int16_t gyroD[2]; |
46 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
46 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
47 | uint8_t gyroDWindowIdx = 0; |
47 | uint8_t gyroDWindowIdx = 0; |
48 | int16_t yawGyro; |
48 | int16_t yawGyro; |
49 | int16_t magneticHeading; |
49 | int16_t magneticHeading; |
50 | 50 | ||
51 | int32_t groundPressure; |
51 | int32_t groundPressure; |
52 | int16_t dHeight; |
52 | int16_t dHeight; |
53 | 53 | ||
54 | uint32_t gyroActivity; |
54 | uint32_t gyroActivity; |
55 | 55 | ||
56 | /* |
56 | /* |
57 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
57 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
58 | * standing still. They are used for adjusting the gyro and acc. meter values |
58 | * standing still. They are used for adjusting the gyro and acc. meter values |
59 | * to be centered on zero. |
59 | * to be centered on zero. |
60 | */ |
60 | */ |
61 | 61 | ||
62 | sensorOffset_t gyroOffset; |
62 | sensorOffset_t gyroOffset; |
63 | sensorOffset_t accOffset; |
63 | sensorOffset_t accOffset; |
64 | sensorOffset_t gyroAmplifierOffset; |
64 | sensorOffset_t gyroAmplifierOffset; |
65 | 65 | ||
66 | /* |
66 | /* |
67 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
67 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
68 | * If a sensor is used in an orientation where one but not both of the axes has |
68 | * If a sensor is used in an orientation where one but not both of the axes has |
69 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
69 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
70 | * Transform: |
70 | * Transform: |
71 | * pitch <- pp*pitch + pr*roll |
71 | * pitch <- pp*pitch + pr*roll |
72 | * roll <- rp*pitch + rr*roll |
72 | * roll <- rp*pitch + rr*roll |
73 | * Not reversed, GYRO_QUADRANT: |
73 | * Not reversed, GYRO_QUADRANT: |
74 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
74 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
75 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
75 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
76 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
76 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
77 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
77 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
78 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
78 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
79 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
79 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
80 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
80 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
81 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
81 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
82 | * Reversed, GYRO_QUADRANT: |
82 | * Reversed, GYRO_QUADRANT: |
83 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
83 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
84 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
84 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
85 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
85 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
86 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
86 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
87 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
87 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
88 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
88 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
89 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
89 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
90 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
90 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
91 | */ |
91 | */ |
92 | 92 | ||
93 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
93 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
94 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
94 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
95 | // Pitch to Pitch part |
95 | // Pitch to Pitch part |
96 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
96 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
97 | // Roll to Pitch part |
97 | // Roll to Pitch part |
98 | int8_t xy = rotationTab[(quadrant+2)%8]; |
98 | int8_t xy = rotationTab[(quadrant+2)%8]; |
99 | // Pitch to Roll part |
99 | // Pitch to Roll part |
100 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
100 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
101 | // Roll to Roll part |
101 | // Roll to Roll part |
102 | int8_t yy = rotationTab[quadrant]; |
102 | int8_t yy = rotationTab[quadrant]; |
103 | 103 | ||
104 | int16_t xIn = result[0]; |
104 | int16_t xIn = result[0]; |
105 | result[0] = xx*xIn + xy*result[1]; |
105 | result[0] = xx*xIn + xy*result[1]; |
106 | result[1] = yx*xIn + yy*result[1]; |
106 | result[1] = yx*xIn + yy*result[1]; |
107 | 107 | ||
108 | if (quadrant & 1) { |
108 | if (quadrant & 1) { |
109 | // A rotation was used above, where the factors were too large by sqrt(2). |
109 | // A rotation was used above, where the factors were too large by sqrt(2). |
110 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
110 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
111 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
111 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
112 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
112 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
113 | result[0] = (result[0]*11) >> 4; |
113 | result[0] = (result[0]*11) >> 4; |
114 | result[1] = (result[1]*11) >> 4; |
114 | result[1] = (result[1]*11) >> 4; |
115 | } |
115 | } |
116 | } |
116 | } |
117 | 117 | ||
118 | /* |
118 | /* |
119 | * Air pressure |
119 | * Air pressure |
120 | */ |
120 | */ |
121 | volatile uint8_t rangewidth = 105; |
121 | volatile uint8_t rangewidth = 105; |
122 | 122 | ||
123 | // Direct from sensor, irrespective of range. |
123 | // Direct from sensor, irrespective of range. |
124 | // volatile uint16_t rawAirPressure; |
124 | // volatile uint16_t rawAirPressure; |
125 | 125 | ||
126 | // Value of 2 samples, with range. |
126 | // Value of 2 samples, with range. |
127 | uint16_t simpleAirPressure; |
127 | uint16_t simpleAirPressure; |
128 | 128 | ||
129 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
129 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
130 | int32_t filteredAirPressure; |
130 | int32_t filteredAirPressure; |
131 | 131 | ||
132 | #define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
132 | #define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
133 | //int32_t lastFilteredAirPressure; |
133 | //int32_t lastFilteredAirPressure; |
134 | int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
134 | int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
135 | uint8_t dWindowPtr = 0; |
135 | uint8_t dWindowPtr = 0; |
136 | 136 | ||
137 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
137 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
138 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
138 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
139 | int32_t windowedAirPressure; |
139 | int32_t windowedAirPressure; |
140 | uint8_t windowPtr = 0; |
140 | uint8_t windowPtr = 0; |
141 | 141 | ||
142 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
142 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
143 | int32_t airPressureSum; |
143 | int32_t airPressureSum; |
144 | 144 | ||
145 | // The number of samples summed into airPressureSum so far. |
145 | // The number of samples summed into airPressureSum so far. |
146 | uint8_t pressureMeasurementCount; |
146 | uint8_t pressureMeasurementCount; |
147 | 147 | ||
148 | /* |
148 | /* |
149 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
149 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
150 | * That is divided by 3 below, for a final 10.34 per volt. |
150 | * That is divided by 3 below, for a final 10.34 per volt. |
151 | * So the initial value of 100 is for 9.7 volts. |
151 | * So the initial value of 100 is for 9.7 volts. |
152 | */ |
152 | */ |
153 | int16_t UBat = 100; |
153 | int16_t UBat = 100; |
154 | 154 | ||
155 | /* |
155 | /* |
156 | * Control and status. |
156 | * Control and status. |
157 | */ |
157 | */ |
158 | volatile uint8_t analogDataReady = 1; |
158 | volatile uint8_t analogDataReady = 1; |
159 | 159 | ||
160 | /* |
160 | /* |
161 | * Experiment: Measuring vibration-induced sensor noise. |
161 | * Experiment: Measuring vibration-induced sensor noise. |
162 | */ |
162 | */ |
163 | uint16_t gyroNoisePeak[3]; |
163 | uint16_t gyroNoisePeak[3]; |
164 | uint16_t accNoisePeak[3]; |
164 | uint16_t accNoisePeak[3]; |
165 | 165 | ||
166 | volatile uint8_t adState; |
166 | volatile uint8_t adState; |
167 | volatile uint8_t adChannel; |
167 | volatile uint8_t adChannel; |
168 | 168 | ||
169 | // ADC channels |
169 | // ADC channels |
170 | #define AD_GYRO_YAW 0 |
170 | #define AD_GYRO_YAW 0 |
171 | #define AD_GYRO_ROLL 1 |
171 | #define AD_GYRO_ROLL 1 |
172 | #define AD_GYRO_PITCH 2 |
172 | #define AD_GYRO_PITCH 2 |
173 | #define AD_AIRPRESSURE 3 |
173 | #define AD_AIRPRESSURE 3 |
174 | #define AD_UBAT 4 |
174 | #define AD_UBAT 4 |
175 | #define AD_ACC_Z 5 |
175 | #define AD_ACC_Z 5 |
176 | #define AD_ACC_ROLL 6 |
176 | #define AD_ACC_ROLL 6 |
177 | #define AD_ACC_PITCH 7 |
177 | #define AD_ACC_PITCH 7 |
178 | 178 | ||
179 | /* |
179 | /* |
180 | * Table of AD converter inputs for each state. |
180 | * Table of AD converter inputs for each state. |
181 | * The number of samples summed for each channel is equal to |
181 | * The number of samples summed for each channel is equal to |
182 | * the number of times the channel appears in the array. |
182 | * the number of times the channel appears in the array. |
183 | * The max. number of samples that can be taken in 2 ms is: |
183 | * The max. number of samples that can be taken in 2 ms is: |
184 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
184 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
185 | * loop needs a little time between reading AD values and |
185 | * loop needs a little time between reading AD values and |
186 | * re-enabling ADC, the real limit is (how much?) lower. |
186 | * re-enabling ADC, the real limit is (how much?) lower. |
187 | * The acc. sensor is sampled even if not used - or installed |
187 | * The acc. sensor is sampled even if not used - or installed |
188 | * at all. The cost is not significant. |
188 | * at all. The cost is not significant. |
189 | */ |
189 | */ |
190 | 190 | ||
191 | const uint8_t channelsForStates[] PROGMEM = { |
191 | const uint8_t channelsForStates[] PROGMEM = { |
192 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
192 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
193 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
193 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
194 | 194 | ||
195 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
195 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
196 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
196 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
197 | 197 | ||
198 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
198 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
199 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
199 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
200 | AD_AIRPRESSURE, // at 14, finish air pressure. |
200 | AD_AIRPRESSURE, // at 14, finish air pressure. |
201 | 201 | ||
202 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
202 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
203 | AD_GYRO_ROLL, // at 16, finish roll gyro |
203 | AD_GYRO_ROLL, // at 16, finish roll gyro |
204 | AD_UBAT // at 17, measure battery. |
204 | AD_UBAT // at 17, measure battery. |
205 | }; |
205 | }; |
206 | 206 | ||
207 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
207 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
208 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
208 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
209 | 209 | ||
210 | void analog_init(void) { |
210 | void analog_init(void) { |
211 | uint8_t sreg = SREG; |
211 | uint8_t sreg = SREG; |
212 | // disable all interrupts before reconfiguration |
212 | // disable all interrupts before reconfiguration |
213 | cli(); |
213 | cli(); |
214 | 214 | ||
215 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
215 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
216 | DDRA = 0x00; |
216 | DDRA = 0x00; |
217 | PORTA = 0x00; |
217 | PORTA = 0x00; |
218 | // Digital Input Disable Register 0 |
218 | // Digital Input Disable Register 0 |
219 | // Disable digital input buffer for analog adc_channel pins |
219 | // Disable digital input buffer for analog adc_channel pins |
220 | DIDR0 = 0xFF; |
220 | DIDR0 = 0xFF; |
221 | // external reference, adjust data to the right |
221 | // external reference, adjust data to the right |
222 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
222 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
223 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
223 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
224 | ADMUX = (ADMUX & 0xE0); |
224 | ADMUX = (ADMUX & 0xE0); |
225 | //Set ADC Control and Status Register A |
225 | //Set ADC Control and Status Register A |
226 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
226 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
227 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
227 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
228 | //Set ADC Control and Status Register B |
228 | //Set ADC Control and Status Register B |
229 | //Trigger Source to Free Running Mode |
229 | //Trigger Source to Free Running Mode |
230 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
230 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
231 | 231 | ||
232 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
232 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
233 | airPressureWindow[i] = 0; |
233 | airPressureWindow[i] = 0; |
234 | } |
234 | } |
235 | windowedAirPressure = 0; |
235 | windowedAirPressure = 0; |
236 | 236 | ||
237 | startAnalogConversionCycle(); |
237 | startAnalogConversionCycle(); |
238 | 238 | ||
239 | // restore global interrupt flags |
239 | // restore global interrupt flags |
240 | SREG = sreg; |
240 | SREG = sreg; |
241 | } |
241 | } |
242 | 242 | ||
243 | uint16_t rawGyroValue(uint8_t axis) { |
243 | uint16_t rawGyroValue(uint8_t axis) { |
244 | return sensorInputs[AD_GYRO_PITCH-axis]; |
244 | return sensorInputs[AD_GYRO_PITCH-axis]; |
245 | } |
245 | } |
246 | 246 | ||
247 | uint16_t rawAccValue(uint8_t axis) { |
247 | uint16_t rawAccValue(uint8_t axis) { |
248 | return sensorInputs[AD_ACC_PITCH-axis]; |
248 | return sensorInputs[AD_ACC_PITCH-axis]; |
249 | } |
249 | } |
250 | 250 | ||
251 | void measureNoise(const int16_t sensor, |
251 | void measureNoise(const int16_t sensor, |
252 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
252 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
253 | if (sensor > (int16_t) (*noiseMeasurement)) { |
253 | if (sensor > (int16_t) (*noiseMeasurement)) { |
254 | *noiseMeasurement = sensor; |
254 | *noiseMeasurement = sensor; |
255 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
255 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
256 | *noiseMeasurement = -sensor; |
256 | *noiseMeasurement = -sensor; |
257 | } else if (*noiseMeasurement > damping) { |
257 | } else if (*noiseMeasurement > damping) { |
258 | *noiseMeasurement -= damping; |
258 | *noiseMeasurement -= damping; |
259 | } else { |
259 | } else { |
260 | *noiseMeasurement = 0; |
260 | *noiseMeasurement = 0; |
261 | } |
261 | } |
262 | } |
262 | } |
263 | 263 | ||
264 | /* |
264 | /* |
265 | * Min.: 0 |
265 | * Min.: 0 |
266 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
266 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
267 | */ |
267 | */ |
268 | uint16_t getSimplePressure(int advalue) { |
268 | uint16_t getSimplePressure(int advalue) { |
269 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
269 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
270 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
270 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
271 | return result; |
271 | return result; |
272 | } |
272 | } |
273 | 273 | ||
274 | void startAnalogConversionCycle(void) { |
274 | void startAnalogConversionCycle(void) { |
275 | analogDataReady = 0; |
275 | analogDataReady = 0; |
276 | 276 | ||
277 | // Stop the sampling. Cycle is over. |
277 | // Stop the sampling. Cycle is over. |
278 | for (uint8_t i = 0; i < 8; i++) { |
278 | for (uint8_t i = 0; i < 8; i++) { |
279 | sensorInputs[i] = 0; |
279 | sensorInputs[i] = 0; |
280 | } |
280 | } |
281 | adState = 0; |
281 | adState = 0; |
282 | adChannel = AD_GYRO_PITCH; |
282 | adChannel = AD_GYRO_PITCH; |
283 | ADMUX = (ADMUX & 0xE0) | adChannel; |
283 | ADMUX = (ADMUX & 0xE0) | adChannel; |
284 | startADC(); |
284 | startADC(); |
285 | } |
285 | } |
286 | 286 | ||
287 | /***************************************************** |
287 | /***************************************************** |
288 | * Interrupt Service Routine for ADC |
288 | * Interrupt Service Routine for ADC |
289 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
289 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
290 | * processed further conversions are stopped. |
290 | * processed further conversions are stopped. |
291 | *****************************************************/ |
291 | *****************************************************/ |
292 | ISR(ADC_vect) { |
292 | ISR(ADC_vect) { |
293 | sensorInputs[adChannel] += ADC; |
293 | sensorInputs[adChannel] += ADC; |
294 | // set up for next state. |
294 | // set up for next state. |
295 | adState++; |
295 | adState++; |
296 | if (adState < sizeof(channelsForStates)) { |
296 | if (adState < sizeof(channelsForStates)) { |
297 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
297 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
298 | // set adc muxer to next adChannel |
298 | // set adc muxer to next adChannel |
299 | ADMUX = (ADMUX & 0xE0) | adChannel; |
299 | ADMUX = (ADMUX & 0xE0) | adChannel; |
300 | // after full cycle stop further interrupts |
300 | // after full cycle stop further interrupts |
301 | startADC(); |
301 | startADC(); |
302 | } else { |
302 | } else { |
303 | analogDataReady = 1; |
303 | analogDataReady = 1; |
304 | // do not restart ADC converter. |
304 | // do not restart ADC converter. |
305 | } |
305 | } |
306 | } |
306 | } |
307 | 307 | ||
308 | void measureGyroActivity(int16_t newValue) { |
308 | void measureGyroActivity(int16_t newValue) { |
309 | gyroActivity += newValue * newValue; |
309 | gyroActivity += newValue * newValue; |
310 | // abs(newValue); // (uint32_t)((int32_t)newValue * newValue); |
310 | // abs(newValue); // (uint32_t)((int32_t)newValue * newValue); |
311 | } |
311 | } |
312 | 312 | ||
313 | #define GADAMPING 6 |
313 | #define GADAMPING 6 |
314 | void dampenGyroActivity(void) { |
314 | void dampenGyroActivity(void) { |
315 | static uint8_t cnt = 0; |
315 | static uint8_t cnt = 0; |
316 | 316 | ||
317 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
317 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
318 | cnt = 0; |
318 | cnt = 0; |
319 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
319 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
320 | gyroActivity >>= GADAMPING; |
320 | gyroActivity >>= GADAMPING; |
321 | } |
321 | } |
322 | 322 | ||
323 | /* |
323 | /* |
324 | if (gyroActivity >= 10) gyroActivity -= 10; |
324 | if (gyroActivity >= 10) gyroActivity -= 10; |
325 | else if (gyroActivity <=- 10) gyroActivity += 10; |
325 | else if (gyroActivity <=- 10) gyroActivity += 10; |
326 | */ |
326 | */ |
327 | } |
327 | } |
328 | 328 | ||
329 | void analog_updateGyros(void) { |
329 | void analog_updateGyros(void) { |
330 | // for various filters... |
330 | // for various filters... |
331 | int16_t tempOffsetGyro[2], tempGyro; |
331 | int16_t tempOffsetGyro[2], tempGyro; |
332 | 332 | ||
333 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
333 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
334 | for (uint8_t axis=0; axis<2; axis++) { |
334 | for (uint8_t axis=0; axis<2; axis++) { |
335 | tempGyro = rawGyroValue(axis); |
335 | tempGyro = rawGyroValue(axis); |
336 | /* |
336 | /* |
337 | * Process the gyro data for the PID controller. |
337 | * Process the gyro data for the PID controller. |
338 | */ |
338 | */ |
339 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
339 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
340 | // gyro with a wider range, and helps counter saturation at full control. |
340 | // gyro with a wider range, and helps counter saturation at full control. |
341 | 341 | ||
342 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
342 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
343 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
343 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
344 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
344 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
345 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
345 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
346 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
346 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
347 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
347 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
348 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
348 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
349 | } |
349 | } |
350 | } |
350 | } |
351 | 351 | ||
352 | // 2) Apply sign and offset, scale before filtering. |
352 | // 2) Apply sign and offset, scale before filtering. |
353 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
353 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
354 | } |
354 | } |
355 | 355 | ||
356 | // 2.1: Transform axes. |
356 | // 2.1: Transform axes. |
357 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
357 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
358 | 358 | ||
359 | for (uint8_t axis=0; axis<2; axis++) { |
359 | for (uint8_t axis=0; axis<2; axis++) { |
360 | // 3) Filter. |
360 | // 3) Filter. |
361 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
361 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
362 | 362 | ||
363 | // 4) Measure noise. |
363 | // 4) Measure noise. |
364 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
364 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
365 | 365 | ||
366 | // 5) Differential measurement. |
366 | // 5) Differential measurement. |
367 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
367 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
368 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
368 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
369 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
369 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
370 | gyroD[axis] += diff; |
370 | gyroD[axis] += diff; |
371 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
371 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
372 | 372 | ||
373 | // 6) Done. |
373 | // 6) Done. |
374 | gyro_PID[axis] = tempOffsetGyro[axis]; |
374 | gyro_PID[axis] = tempOffsetGyro[axis]; |
375 | 375 | ||
376 | // Prepare tempOffsetGyro for next calculation below... |
376 | // Prepare tempOffsetGyro for next calculation below... |
377 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
377 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
378 | } |
378 | } |
379 | 379 | ||
380 | /* |
380 | /* |
381 | * Now process the data for attitude angles. |
381 | * Now process the data for attitude angles. |
382 | */ |
382 | */ |
383 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
383 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
384 | 384 | ||
385 | dampenGyroActivity(); |
385 | dampenGyroActivity(); |
386 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
386 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
387 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
387 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
388 | 388 | ||
389 | /* |
389 | /* |
390 | measureGyroActivity(tempOffsetGyro[PITCH]); |
390 | measureGyroActivity(tempOffsetGyro[PITCH]); |
391 | measureGyroActivity(tempOffsetGyro[ROLL]); |
391 | measureGyroActivity(tempOffsetGyro[ROLL]); |
392 | */ |
392 | */ |
393 | measureGyroActivity(gyroD[PITCH]); |
393 | measureGyroActivity(gyroD[PITCH]); |
394 | measureGyroActivity(gyroD[ROLL]); |
394 | measureGyroActivity(gyroD[ROLL]); |
395 | 395 | ||
396 | // We measure activity of yaw by plain gyro value and not d/dt, because: |
396 | // We measure activity of yaw by plain gyro value and not d/dt, because: |
397 | // - There is no drift correction anyway |
397 | // - There is no drift correction anyway |
398 | // - Effect of steady circular flight would vanish (it should have effect). |
398 | // - Effect of steady circular flight would vanish (it should have effect). |
399 | // int16_t diff = yawGyro; |
399 | // int16_t diff = yawGyro; |
400 | // Yaw gyro. |
400 | // Yaw gyro. |
401 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
401 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
402 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
402 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
403 | else |
403 | else |
404 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
404 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
405 | 405 | ||
406 | // diff -= yawGyro; |
406 | // diff -= yawGyro; |
407 | // gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
407 | // gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
408 | // gyroD[YAW] += diff; |
408 | // gyroD[YAW] += diff; |
409 | // gyroDWindow[YAW][gyroDWindowIdx] = diff; |
409 | // gyroDWindow[YAW][gyroDWindowIdx] = diff; |
410 | 410 | ||
411 | // gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
411 | // gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
412 | measureGyroActivity(yawGyro); |
412 | measureGyroActivity(yawGyro); |
413 | 413 | ||
414 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
414 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
415 | gyroDWindowIdx = 0; |
415 | gyroDWindowIdx = 0; |
416 | } |
416 | } |
417 | } |
417 | } |
418 | 418 | ||
419 | void analog_updateAccelerometers(void) { |
419 | void analog_updateAccelerometers(void) { |
420 | // Pitch and roll axis accelerations. |
420 | // Pitch and roll axis accelerations. |
421 | for (uint8_t axis=0; axis<2; axis++) { |
421 | for (uint8_t axis=0; axis<2; axis++) { |
422 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
422 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
423 | } |
423 | } |
424 | 424 | ||
425 | rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
425 | rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
426 | for(uint8_t axis=0; axis<3; axis++) { |
426 | for(uint8_t axis=0; axis<3; axis++) { |
427 | filteredAcc[axis] = (filteredAcc[axis] * (IMUConfig.accFilterConstant - 1) + acc[axis]) / IMUConfig.accFilterConstant; |
427 | filteredAcc[axis] = (filteredAcc[axis] * (IMUConfig.accFilterConstant - 1) + acc[axis]) / IMUConfig.accFilterConstant; |
428 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
428 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
429 | } |
429 | } |
430 | 430 | ||
431 | // Z acc. |
431 | // Z acc. |
432 | if (IMUConfig.imuReversedFlags & 8) |
432 | if (IMUConfig.imuReversedFlags & 8) |
433 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
433 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
434 | else |
434 | else |
435 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
435 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
436 | 436 | ||
437 | // debugOut.analog[29] = acc[Z]; |
437 | // debugOut.analog[29] = acc[Z]; |
438 | } |
438 | } |
439 | 439 | ||
440 | void analog_updateAirPressure(void) { |
440 | void analog_updateAirPressure(void) { |
441 | static uint16_t pressureAutorangingWait = 25; |
441 | static uint16_t pressureAutorangingWait = 25; |
442 | uint16_t rawAirPressure; |
442 | uint16_t rawAirPressure; |
443 | int16_t newrange; |
443 | int16_t newrange; |
444 | // air pressure |
444 | // air pressure |
445 | if (pressureAutorangingWait) { |
445 | if (pressureAutorangingWait) { |
446 | //A range switch was done recently. Wait for steadying. |
446 | //A range switch was done recently. Wait for steadying. |
447 | pressureAutorangingWait--; |
447 | pressureAutorangingWait--; |
448 | } else { |
448 | } else { |
449 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
449 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
450 | if (rawAirPressure < MIN_RAWPRESSURE) { |
450 | if (rawAirPressure < MIN_RAWPRESSURE) { |
451 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
451 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
452 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
452 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
453 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
453 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
454 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
454 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
455 | OCR0A = newrange; |
455 | OCR0A = newrange; |
456 | } else { |
456 | } else { |
457 | if (OCR0A) { |
457 | if (OCR0A) { |
458 | OCR0A--; |
458 | OCR0A--; |
459 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
459 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
460 | } |
460 | } |
461 | } |
461 | } |
462 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
462 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
463 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
463 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
464 | // If near the end, make a limited increase |
464 | // If near the end, make a limited increase |
465 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
465 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
466 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
466 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
467 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
467 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
468 | OCR0A = newrange; |
468 | OCR0A = newrange; |
469 | } else { |
469 | } else { |
470 | if (OCR0A < 254) { |
470 | if (OCR0A < 254) { |
471 | OCR0A++; |
471 | OCR0A++; |
472 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
472 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
473 | } |
473 | } |
474 | } |
474 | } |
475 | } |
475 | } |
476 | 476 | ||
477 | // Even if the sample is off-range, use it. |
477 | // Even if the sample is off-range, use it. |
478 | simpleAirPressure = getSimplePressure(rawAirPressure); |
478 | simpleAirPressure = getSimplePressure(rawAirPressure); |
479 | // debugOut.analog[6] = rawAirPressure; |
- | |
480 | // debugOut.analog[7] = simpleAirPressure; |
- | |
481 | 479 | ||
482 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
480 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
483 | // Danger: pressure near lower end of range. If the measurement saturates, the |
481 | // Danger: pressure near lower end of range. If the measurement saturates, the |
484 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
482 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
485 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
483 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
486 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
484 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
487 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
485 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
488 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
486 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
489 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
487 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
490 | // Danger: pressure near upper end of range. If the measurement saturates, the |
488 | // Danger: pressure near upper end of range. If the measurement saturates, the |
491 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
489 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
492 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
490 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
493 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
491 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
494 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
492 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
495 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
493 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
496 | } else { |
494 | } else { |
497 | // normal case. |
495 | // normal case. |
498 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
496 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
499 | // The 2 cases above (end of range) are ignored for this. |
497 | // The 2 cases above (end of range) are ignored for this. |
500 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
498 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
501 | airPressureSum += simpleAirPressure; |
499 | airPressureSum += simpleAirPressure; |
502 | } |
500 | } |
503 | 501 | ||
504 | // 2 samples were added. |
502 | // 2 samples were added. |
505 | pressureMeasurementCount += 2; |
503 | pressureMeasurementCount += 2; |
506 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
504 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
507 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
505 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
508 | 506 | ||
509 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
507 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
510 | airPressureSum += simpleAirPressure >> 2; |
508 | airPressureSum += simpleAirPressure >> 2; |
511 | 509 | ||
512 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
510 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
513 | 511 | ||
514 | if (!staticParams.airpressureWindowLength) { |
512 | if (!staticParams.airpressureWindowLength) { |
515 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
513 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
516 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
514 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
517 | } else { |
515 | } else { |
518 | // use windowed. |
516 | // use windowed. |
519 | windowedAirPressure += simpleAirPressure; |
517 | windowedAirPressure += simpleAirPressure; |
520 | windowedAirPressure -= airPressureWindow[windowPtr]; |
518 | windowedAirPressure -= airPressureWindow[windowPtr]; |
521 | airPressureWindow[windowPtr++] = simpleAirPressure; |
519 | airPressureWindow[windowPtr++] = simpleAirPressure; |
522 | if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
520 | if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
523 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
521 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
524 | } |
522 | } |
525 | 523 | ||
526 | // positive diff of pressure |
524 | // positive diff of pressure |
527 | int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
525 | int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
528 | // is a negative diff of height. |
526 | // is a negative diff of height. |
529 | dHeight -= diff; |
527 | dHeight -= diff; |
530 | // remove old sample (fifo) from window. |
528 | // remove old sample (fifo) from window. |
531 | dHeight += dAirPressureWindow[dWindowPtr]; |
529 | dHeight += dAirPressureWindow[dWindowPtr]; |
532 | dAirPressureWindow[dWindowPtr++] = diff; |
530 | dAirPressureWindow[dWindowPtr++] = diff; |
533 | if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
531 | if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
534 | pressureMeasurementCount = airPressureSum = 0; |
532 | pressureMeasurementCount = airPressureSum = 0; |
535 | } |
533 | } |
536 | } |
534 | } |
537 | } |
535 | } |
538 | 536 | ||
539 | void analog_updateBatteryVoltage(void) { |
537 | void analog_updateBatteryVoltage(void) { |
540 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
538 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
541 | // This is divided by 3 --> 10.34 counts per volt. |
539 | // This is divided by 3 --> 10.34 counts per volt. |
542 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
540 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
543 | } |
541 | } |
544 | 542 | ||
545 | void analog_update(void) { |
543 | void analog_update(void) { |
546 | analog_updateGyros(); |
544 | analog_updateGyros(); |
547 | analog_updateAccelerometers(); |
545 | analog_updateAccelerometers(); |
548 | analog_updateAirPressure(); |
546 | analog_updateAirPressure(); |
549 | analog_updateBatteryVoltage(); |
547 | analog_updateBatteryVoltage(); |
550 | #ifdef USE_MK3MAG |
548 | #ifdef USE_MK3MAG |
551 | magneticHeading = volatileMagneticHeading; |
549 | magneticHeading = volatileMagneticHeading; |
552 | #endif |
550 | #endif |
553 | } |
551 | } |
554 | 552 | ||
555 | void analog_setNeutral() { |
553 | void analog_setNeutral() { |
556 | gyro_init(); |
554 | gyro_init(); |
557 | 555 | ||
558 | if (gyroOffset_readFromEEProm()) { |
556 | if (gyroOffset_readFromEEProm()) { |
559 | printf("gyro offsets invalid%s",recal); |
557 | printf("gyro offsets invalid%s",recal); |
560 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
558 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
561 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
559 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
562 | } |
560 | } |
563 | 561 | ||
564 | if (accOffset_readFromEEProm()) { |
562 | if (accOffset_readFromEEProm()) { |
565 | printf("acc. meter offsets invalid%s",recal); |
563 | printf("acc. meter offsets invalid%s",recal); |
566 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
564 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
567 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
565 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
568 | } |
566 | } |
569 | 567 | ||
570 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
568 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
571 | for (uint8_t i=PITCH; i<=ROLL; i++) { |
569 | for (uint8_t i=PITCH; i<=ROLL; i++) { |
572 | gyroNoisePeak[i] = 0; |
570 | gyroNoisePeak[i] = 0; |
573 | gyroD[i] = 0; |
571 | gyroD[i] = 0; |
574 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
572 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
575 | gyroDWindow[i][j] = 0; |
573 | gyroDWindow[i][j] = 0; |
576 | } |
574 | } |
577 | } |
575 | } |
578 | // Setting offset values has an influence in the analog.c ISR |
576 | // Setting offset values has an influence in the analog.c ISR |
579 | // Therefore run measurement for 100ms to achive stable readings |
577 | // Therefore run measurement for 100ms to achive stable readings |
580 | delay_ms_with_adc_measurement(100, 0); |
578 | delay_ms_with_adc_measurement(100, 0); |
581 | 579 | ||
582 | gyroActivity = 0; |
580 | gyroActivity = 0; |
583 | } |
581 | } |
584 | 582 | ||
585 | void analog_calibrateGyros(void) { |
583 | void analog_calibrateGyros(void) { |
586 | #define GYRO_OFFSET_CYCLES 32 |
584 | #define GYRO_OFFSET_CYCLES 32 |
587 | uint8_t i, axis; |
585 | uint8_t i, axis; |
588 | int32_t offsets[3] = { 0, 0, 0 }; |
586 | int32_t offsets[3] = { 0, 0, 0 }; |
589 | gyro_calibrate(); |
587 | gyro_calibrate(); |
590 | 588 | ||
591 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
589 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
592 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
590 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
593 | delay_ms_with_adc_measurement(10, 1); |
591 | delay_ms_with_adc_measurement(10, 1); |
594 | for (axis = PITCH; axis <= YAW; axis++) { |
592 | for (axis = PITCH; axis <= YAW; axis++) { |
595 | offsets[axis] += rawGyroValue(axis); |
593 | offsets[axis] += rawGyroValue(axis); |
596 | } |
594 | } |
597 | } |
595 | } |
598 | 596 | ||
599 | for (axis = PITCH; axis <= YAW; axis++) { |
597 | for (axis = PITCH; axis <= YAW; axis++) { |
600 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
598 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
601 | 599 | ||
602 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
600 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
603 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
601 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
604 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
602 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
605 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
603 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
606 | } |
604 | } |
607 | 605 | ||
608 | gyroOffset_writeToEEProm(); |
606 | gyroOffset_writeToEEProm(); |
609 | startAnalogConversionCycle(); |
607 | startAnalogConversionCycle(); |
610 | } |
608 | } |
611 | 609 | ||
612 | /* |
610 | /* |
613 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
611 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
614 | * Does not (!} update the local variables. This must be done with a |
612 | * Does not (!} update the local variables. This must be done with a |
615 | * call to analog_calibrate() - this always (?) is done by the caller |
613 | * call to analog_calibrate() - this always (?) is done by the caller |
616 | * anyway. There would be nothing wrong with updating the variables |
614 | * anyway. There would be nothing wrong with updating the variables |
617 | * directly from here, though. |
615 | * directly from here, though. |
618 | */ |
616 | */ |
619 | void analog_calibrateAcc(void) { |
617 | void analog_calibrateAcc(void) { |
620 | #define ACC_OFFSET_CYCLES 32 |
618 | #define ACC_OFFSET_CYCLES 32 |
621 | uint8_t i, axis; |
619 | uint8_t i, axis; |
622 | int32_t offsets[3] = { 0, 0, 0 }; |
620 | int32_t offsets[3] = { 0, 0, 0 }; |
623 | 621 | ||
624 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
622 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
625 | delay_ms_with_adc_measurement(10, 1); |
623 | delay_ms_with_adc_measurement(10, 1); |
626 | for (axis = PITCH; axis <= YAW; axis++) { |
624 | for (axis = PITCH; axis <= YAW; axis++) { |
627 | offsets[axis] += rawAccValue(axis); |
625 | offsets[axis] += rawAccValue(axis); |
628 | } |
626 | } |
629 | } |
627 | } |
630 | 628 | ||
631 | for (axis = PITCH; axis <= YAW; axis++) { |
629 | for (axis = PITCH; axis <= YAW; axis++) { |
632 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
630 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
633 | int16_t min,max; |
631 | int16_t min,max; |
634 | if (axis==Z) { |
632 | if (axis==Z) { |
635 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
633 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
636 | // TODO: This assumes a sensitivity of +/- 2g. |
634 | // TODO: This assumes a sensitivity of +/- 2g. |
637 | min = (256-200) * ACC_OVERSAMPLING_Z; |
635 | min = (256-200) * ACC_OVERSAMPLING_Z; |
638 | max = (256+200) * ACC_OVERSAMPLING_Z; |
636 | max = (256+200) * ACC_OVERSAMPLING_Z; |
639 | } else { |
637 | } else { |
640 | // TODO: This assumes a sensitivity of +/- 2g. |
638 | // TODO: This assumes a sensitivity of +/- 2g. |
641 | min = (768-200) * ACC_OVERSAMPLING_Z; |
639 | min = (768-200) * ACC_OVERSAMPLING_Z; |
642 | max = (768+200) * ACC_OVERSAMPLING_Z; |
640 | max = (768+200) * ACC_OVERSAMPLING_Z; |
643 | } |
641 | } |
644 | } else { |
642 | } else { |
645 | min = (512-200) * ACC_OVERSAMPLING_XY; |
643 | min = (512-200) * ACC_OVERSAMPLING_XY; |
646 | max = (512+200) * ACC_OVERSAMPLING_XY; |
644 | max = (512+200) * ACC_OVERSAMPLING_XY; |
647 | } |
645 | } |
648 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
646 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
649 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
647 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
650 | } |
648 | } |
651 | } |
649 | } |
652 | 650 | ||
653 | accOffset_writeToEEProm(); |
651 | accOffset_writeToEEProm(); |
654 | startAnalogConversionCycle(); |
652 | startAnalogConversionCycle(); |
655 | } |
653 | } |
656 | 654 | ||
657 | void analog_setGround() { |
655 | void analog_setGround() { |
658 | groundPressure = filteredAirPressure; |
656 | groundPressure = filteredAirPressure; |
659 | } |
657 | } |
660 | 658 | ||
661 | int32_t analog_getHeight(void) { |
659 | int32_t analog_getHeight(void) { |
662 | return groundPressure - filteredAirPressure; |
660 | return groundPressure - filteredAirPressure; |
663 | } |
661 | } |
664 | 662 | ||
665 | int16_t analog_getDHeight(void) { |
663 | int16_t analog_getDHeight(void) { |
666 | /* |
664 | /* |
667 | int16_t result = 0; |
665 | int16_t result = 0; |
668 | for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
666 | for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
669 | result -= dAirPressureWindow[i]; // minus pressure is plus height. |
667 | result -= dAirPressureWindow[i]; // minus pressure is plus height. |
670 | } |
668 | } |
671 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
669 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
672 | return result; |
670 | return result; |
673 | */ |
671 | */ |
674 | return dHeight; |
672 | return dHeight; |
675 | } |
673 | } |
676 | 674 |