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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 für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (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 sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt 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// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | #include <avr/io.h> |
51 | #include <avr/io.h> |
52 | #include <avr/interrupt.h> |
52 | #include <avr/interrupt.h> |
53 | #include <avr/pgmspace.h> |
53 | #include <avr/pgmspace.h> |
54 | 54 | ||
55 | #include "analog.h" |
55 | #include "analog.h" |
56 | #include "attitude.h" |
56 | #include "attitude.h" |
57 | #include "sensors.h" |
57 | #include "sensors.h" |
58 | 58 | ||
59 | // for Delay functions |
59 | // for Delay functions |
60 | #include "timer0.h" |
60 | #include "timer0.h" |
61 | 61 | ||
62 | // For debugOut |
62 | // For debugOut |
63 | #include "uart0.h" |
63 | #include "uart0.h" |
64 | 64 | ||
65 | // For reading and writing acc. meter offsets. |
65 | // For reading and writing acc. meter offsets. |
66 | #include "eeprom.h" |
66 | #include "eeprom.h" |
67 | 67 | ||
68 | // For debugOut.digital |
68 | // For debugOut.digital |
69 | #include "output.h" |
69 | #include "output.h" |
70 | 70 | ||
71 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
71 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
72 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
72 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
73 | 73 | ||
74 | /* |
74 | /* |
75 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
75 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
76 | * (see array channelsForStates), and the results for each channel are summed. |
76 | * (see array channelsForStates), and the results for each channel are summed. |
77 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
77 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
78 | * They are exported in the analog.h file - but please do not use them! The only |
78 | * They are exported in the analog.h file - but please do not use them! The only |
79 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
79 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
80 | * the offsets with the DAC. |
80 | * the offsets with the DAC. |
81 | */ |
81 | */ |
82 | volatile uint16_t sensorInputs[8]; |
82 | volatile uint16_t sensorInputs[8]; |
83 | volatile int16_t rawGyroSum[3]; |
83 | volatile int16_t rawGyroSum[3]; |
84 | volatile int16_t acc[3]; |
84 | volatile int16_t acc[3]; |
85 | volatile int16_t filteredAcc[2] = { 0,0 }; |
85 | volatile int16_t filteredAcc[2] = { 0,0 }; |
86 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
86 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
87 | 87 | ||
88 | /* |
88 | /* |
89 | * These 4 exported variables are zero-offset. The "PID" ones are used |
89 | * These 4 exported variables are zero-offset. The "PID" ones are used |
90 | * in the attitude control as rotation rates. The "ATT" ones are for |
90 | * in the attitude control as rotation rates. The "ATT" ones are for |
91 | * integration to angles. |
91 | * integration to angles. |
92 | */ |
92 | */ |
93 | volatile int16_t gyro_PID[2]; |
93 | volatile int16_t gyro_PID[2]; |
94 | volatile int16_t gyro_ATT[2]; |
94 | volatile int16_t gyro_ATT[2]; |
95 | volatile int16_t gyroD[2]; |
95 | volatile int16_t gyroD[2]; |
96 | volatile int16_t yawGyro; |
96 | volatile int16_t yawGyro; |
97 | 97 | ||
98 | /* |
98 | /* |
99 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
99 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
100 | * standing still. They are used for adjusting the gyro and acc. meter values |
100 | * standing still. They are used for adjusting the gyro and acc. meter values |
101 | * to be centered on zero. |
101 | * to be centered on zero. |
102 | */ |
102 | */ |
103 | /* |
- | |
104 | volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 |
- | |
105 | * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW }; |
- | |
106 | - | ||
107 | volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512 |
- | |
108 | * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z }; |
- | |
109 | */ |
- | |
110 | 103 | ||
111 | sensorOffset_t gyroOffset; |
104 | sensorOffset_t gyroOffset; |
112 | sensorOffset_t accOffset; |
105 | sensorOffset_t accOffset; |
113 | 106 | ||
114 | /* |
107 | /* |
115 | * This allows some experimentation with the gyro filters. |
108 | * This allows some experimentation with the gyro filters. |
116 | * Should be replaced by #define's later on... |
109 | * Should be replaced by #define's later on... |
117 | */ |
110 | */ |
118 | 111 | ||
119 | /* |
112 | /* |
120 | * Air pressure |
113 | * Air pressure |
121 | */ |
114 | */ |
122 | volatile uint8_t rangewidth = 106; |
115 | volatile uint8_t rangewidth = 106; |
123 | 116 | ||
124 | // Direct from sensor, irrespective of range. |
117 | // Direct from sensor, irrespective of range. |
125 | // volatile uint16_t rawAirPressure; |
118 | // volatile uint16_t rawAirPressure; |
126 | 119 | ||
127 | // Value of 2 samples, with range. |
120 | // Value of 2 samples, with range. |
128 | volatile uint16_t simpleAirPressure; |
121 | volatile uint16_t simpleAirPressure; |
129 | 122 | ||
130 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
123 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
131 | volatile int32_t filteredAirPressure; |
124 | volatile int32_t filteredAirPressure; |
132 | 125 | ||
133 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
126 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
134 | volatile int32_t airPressureSum; |
127 | volatile int32_t airPressureSum; |
135 | 128 | ||
136 | // The number of samples summed into airPressureSum so far. |
129 | // The number of samples summed into airPressureSum so far. |
137 | volatile uint8_t pressureMeasurementCount; |
130 | volatile uint8_t pressureMeasurementCount; |
138 | 131 | ||
139 | /* |
132 | /* |
140 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
133 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
141 | * That is divided by 3 below, for a final 10.34 per volt. |
134 | * That is divided by 3 below, for a final 10.34 per volt. |
142 | * So the initial value of 100 is for 9.7 volts. |
135 | * So the initial value of 100 is for 9.7 volts. |
143 | */ |
136 | */ |
144 | volatile int16_t UBat = 100; |
137 | volatile int16_t UBat = 100; |
145 | 138 | ||
146 | /* |
139 | /* |
147 | * Control and status. |
140 | * Control and status. |
148 | */ |
141 | */ |
149 | volatile uint16_t ADCycleCount = 0; |
142 | volatile uint16_t ADCycleCount = 0; |
150 | volatile uint8_t analogDataReady = 1; |
143 | volatile uint8_t analogDataReady = 1; |
151 | 144 | ||
152 | /* |
145 | /* |
153 | * Experiment: Measuring vibration-induced sensor noise. |
146 | * Experiment: Measuring vibration-induced sensor noise. |
154 | */ |
147 | */ |
155 | volatile uint16_t gyroNoisePeak[2]; |
148 | volatile uint16_t gyroNoisePeak[2]; |
156 | volatile uint16_t accNoisePeak[2]; |
149 | volatile uint16_t accNoisePeak[2]; |
157 | 150 | ||
158 | // ADC channels |
151 | // ADC channels |
159 | #define AD_GYRO_YAW 0 |
152 | #define AD_GYRO_YAW 0 |
160 | #define AD_GYRO_ROLL 1 |
153 | #define AD_GYRO_ROLL 1 |
161 | #define AD_GYRO_PITCH 2 |
154 | #define AD_GYRO_PITCH 2 |
162 | #define AD_AIRPRESSURE 3 |
155 | #define AD_AIRPRESSURE 3 |
163 | #define AD_UBAT 4 |
156 | #define AD_UBAT 4 |
164 | #define AD_ACC_Z 5 |
157 | #define AD_ACC_Z 5 |
165 | #define AD_ACC_ROLL 6 |
158 | #define AD_ACC_ROLL 6 |
166 | #define AD_ACC_PITCH 7 |
159 | #define AD_ACC_PITCH 7 |
167 | 160 | ||
168 | /* |
161 | /* |
169 | * Table of AD converter inputs for each state. |
162 | * Table of AD converter inputs for each state. |
170 | * The number of samples summed for each channel is equal to |
163 | * The number of samples summed for each channel is equal to |
171 | * the number of times the channel appears in the array. |
164 | * the number of times the channel appears in the array. |
172 | * The max. number of samples that can be taken in 2 ms is: |
165 | * The max. number of samples that can be taken in 2 ms is: |
173 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
166 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
174 | * loop needs a little time between reading AD values and |
167 | * loop needs a little time between reading AD values and |
175 | * re-enabling ADC, the real limit is (how much?) lower. |
168 | * re-enabling ADC, the real limit is (how much?) lower. |
176 | * The acc. sensor is sampled even if not used - or installed |
169 | * The acc. sensor is sampled even if not used - or installed |
177 | * at all. The cost is not significant. |
170 | * at all. The cost is not significant. |
178 | */ |
171 | */ |
179 | 172 | ||
180 | const uint8_t channelsForStates[] PROGMEM = { |
173 | const uint8_t channelsForStates[] PROGMEM = { |
181 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
174 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
182 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
175 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
183 | 176 | ||
184 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
177 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
185 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
178 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
186 | 179 | ||
187 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
180 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
188 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
181 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
189 | AD_AIRPRESSURE, // at 14, finish air pressure. |
182 | AD_AIRPRESSURE, // at 14, finish air pressure. |
190 | 183 | ||
191 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
184 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
192 | AD_GYRO_ROLL, // at 16, finish roll gyro |
185 | AD_GYRO_ROLL, // at 16, finish roll gyro |
193 | AD_UBAT // at 17, measure battery. |
186 | AD_UBAT // at 17, measure battery. |
194 | }; |
187 | }; |
195 | 188 | ||
196 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
189 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
197 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
190 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
198 | 191 | ||
199 | void analog_init(void) { |
192 | void analog_init(void) { |
200 | uint8_t sreg = SREG; |
193 | uint8_t sreg = SREG; |
201 | // disable all interrupts before reconfiguration |
194 | // disable all interrupts before reconfiguration |
202 | cli(); |
195 | cli(); |
203 | 196 | ||
204 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
197 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
205 | DDRA = 0x00; |
198 | DDRA = 0x00; |
206 | PORTA = 0x00; |
199 | PORTA = 0x00; |
207 | // Digital Input Disable Register 0 |
200 | // Digital Input Disable Register 0 |
208 | // Disable digital input buffer for analog adc_channel pins |
201 | // Disable digital input buffer for analog adc_channel pins |
209 | DIDR0 = 0xFF; |
202 | DIDR0 = 0xFF; |
210 | // external reference, adjust data to the right |
203 | // external reference, adjust data to the right |
211 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
204 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
212 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
205 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
213 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
206 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
214 | //Set ADC Control and Status Register A |
207 | //Set ADC Control and Status Register A |
215 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
208 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
216 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
209 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
217 | //Set ADC Control and Status Register B |
210 | //Set ADC Control and Status Register B |
218 | //Trigger Source to Free Running Mode |
211 | //Trigger Source to Free Running Mode |
219 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
212 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
220 | 213 | ||
221 | startAnalogConversionCycle(); |
214 | startAnalogConversionCycle(); |
222 | 215 | ||
223 | // restore global interrupt flags |
216 | // restore global interrupt flags |
224 | SREG = sreg; |
217 | SREG = sreg; |
225 | } |
218 | } |
226 | 219 | ||
227 | void measureNoise(const int16_t sensor, |
220 | void measureNoise(const int16_t sensor, |
228 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
221 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
229 | if (sensor > (int16_t) (*noiseMeasurement)) { |
222 | if (sensor > (int16_t) (*noiseMeasurement)) { |
230 | *noiseMeasurement = sensor; |
223 | *noiseMeasurement = sensor; |
231 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
224 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
232 | *noiseMeasurement = -sensor; |
225 | *noiseMeasurement = -sensor; |
233 | } else if (*noiseMeasurement > damping) { |
226 | } else if (*noiseMeasurement > damping) { |
234 | *noiseMeasurement -= damping; |
227 | *noiseMeasurement -= damping; |
235 | } else { |
228 | } else { |
236 | *noiseMeasurement = 0; |
229 | *noiseMeasurement = 0; |
237 | } |
230 | } |
238 | } |
231 | } |
239 | 232 | ||
240 | /* |
233 | /* |
241 | * Min.: 0 |
234 | * Min.: 0 |
242 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
235 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
243 | */ |
236 | */ |
244 | uint16_t getSimplePressure(int advalue) { |
237 | uint16_t getSimplePressure(int advalue) { |
245 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
238 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
246 | } |
239 | } |
247 | 240 | ||
248 | void startAnalogConversionCycle(void) { |
241 | void startAnalogConversionCycle(void) { |
249 | analogDataReady = 0; |
242 | analogDataReady = 0; |
250 | // Stop the sampling. Cycle is over. |
243 | // Stop the sampling. Cycle is over. |
251 | for (uint8_t i = 0; i < 8; i++) { |
244 | for (uint8_t i = 0; i < 8; i++) { |
252 | sensorInputs[i] = 0; |
245 | sensorInputs[i] = 0; |
253 | } |
246 | } |
254 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
247 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
255 | startADC(); |
248 | startADC(); |
256 | } |
249 | } |
257 | 250 | ||
258 | /***************************************************** |
251 | /***************************************************** |
259 | * Interrupt Service Routine for ADC |
252 | * Interrupt Service Routine for ADC |
260 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
253 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
261 | * processed further conversions are stopped. |
254 | * processed further conversions are stopped. |
262 | *****************************************************/ |
255 | *****************************************************/ |
263 | ISR(ADC_vect) { |
256 | ISR(ADC_vect) { |
264 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
257 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
265 | sensorInputs[ad_channel] += ADC; |
258 | sensorInputs[ad_channel] += ADC; |
266 | // set up for next state. |
259 | // set up for next state. |
267 | state++; |
260 | state++; |
268 | if (state < 18) { |
261 | if (state < 18) { |
269 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
262 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
270 | // set adc muxer to next ad_channel |
263 | // set adc muxer to next ad_channel |
271 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
264 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
272 | // after full cycle stop further interrupts |
265 | // after full cycle stop further interrupts |
273 | startADC(); |
266 | startADC(); |
274 | } else { |
267 | } else { |
275 | state = 0; |
268 | state = 0; |
276 | ADCycleCount++; |
269 | ADCycleCount++; |
277 | analogDataReady = 1; |
270 | analogDataReady = 1; |
278 | // do not restart ADC converter. |
271 | // do not restart ADC converter. |
279 | } |
272 | } |
280 | } |
273 | } |
281 | 274 | ||
282 | void analog_updateGyros(void) { |
275 | void analog_updateGyros(void) { |
283 | // for various filters... |
276 | // for various filters... |
284 | int16_t tempOffsetGyro, tempGyro; |
277 | int16_t tempOffsetGyro, tempGyro; |
285 | 278 | ||
286 | for (uint8_t axis=0; axis<2; axis++) { |
279 | for (uint8_t axis=0; axis<2; axis++) { |
287 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
280 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
288 | /* |
281 | /* |
289 | * Process the gyro data for the PID controller. |
282 | * Process the gyro data for the PID controller. |
290 | */ |
283 | */ |
291 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
284 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
292 | // gyro with a wider range, and helps counter saturation at full control. |
285 | // gyro with a wider range, and helps counter saturation at full control. |
293 | 286 | ||
294 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
287 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
295 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
288 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
296 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
289 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
297 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
290 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
298 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
291 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
299 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
292 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
300 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
293 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
301 | + SENSOR_MAX_PITCHROLL; |
294 | + SENSOR_MAX_PITCHROLL; |
302 | } else { |
295 | } else { |
303 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
296 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
304 | } |
297 | } |
305 | } |
298 | } |
306 | 299 | ||
307 | // 2) Apply sign and offset, scale before filtering. |
300 | // 2) Apply sign and offset, scale before filtering. |
308 | if (GYRO_REVERSED[axis]) { |
301 | if (GYRO_REVERSED[axis]) { |
309 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
302 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
310 | } else { |
303 | } else { |
311 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
304 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
312 | } |
305 | } |
313 | 306 | ||
314 | // 3) Scale and filter. |
307 | // 3) Scale and filter. |
315 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
308 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
316 | 309 | ||
317 | // 4) Measure noise. |
310 | // 4) Measure noise. |
318 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
311 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
319 | 312 | ||
320 | // 5) Differential measurement. |
313 | // 5) Differential measurement. |
321 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
314 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
322 | 315 | ||
323 | // 6) Done. |
316 | // 6) Done. |
324 | gyro_PID[axis] = tempOffsetGyro; |
317 | gyro_PID[axis] = tempOffsetGyro; |
325 | 318 | ||
326 | /* |
319 | /* |
327 | * Now process the data for attitude angles. |
320 | * Now process the data for attitude angles. |
328 | */ |
321 | */ |
329 | tempGyro = rawGyroSum[axis]; |
322 | tempGyro = rawGyroSum[axis]; |
330 | 323 | ||
331 | // 1) Apply sign and offset, scale before filtering. |
324 | // 1) Apply sign and offset, scale before filtering. |
332 | if (GYRO_REVERSED[axis]) { |
325 | if (GYRO_REVERSED[axis]) { |
333 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
326 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
334 | } else { |
327 | } else { |
335 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
328 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
336 | } |
329 | } |
337 | 330 | ||
338 | // 2) Filter. |
331 | // 2) Filter. |
339 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
332 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
340 | } |
333 | } |
341 | 334 | ||
342 | // Yaw gyro. |
335 | // Yaw gyro. |
343 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
336 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
344 | if (GYRO_REVERSED[YAW]) |
337 | if (GYRO_REVERSED[YAW]) |
345 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
338 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
346 | else |
339 | else |
347 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
340 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
348 | 341 | ||
349 | debugOut.analog[3] = gyro_ATT[PITCH]; |
342 | debugOut.analog[3] = gyro_ATT[PITCH]; |
350 | debugOut.analog[4] = gyro_ATT[ROLL]; |
343 | debugOut.analog[4] = gyro_ATT[ROLL]; |
351 | debugOut.analog[5] = yawGyro; |
344 | debugOut.analog[5] = yawGyro; |
352 | } |
345 | } |
353 | 346 | ||
354 | void analog_updateAccelerometers(void) { |
347 | void analog_updateAccelerometers(void) { |
355 | // Pitch and roll axis accelerations. |
348 | // Pitch and roll axis accelerations. |
356 | for (uint8_t axis=0; axis<2; axis++) { |
349 | for (uint8_t axis=0; axis<2; axis++) { |
357 | if (ACC_REVERSED[axis]) |
350 | if (ACC_REVERSED[axis]) |
358 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
351 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
359 | else |
352 | else |
360 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
353 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
361 | 354 | ||
362 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
355 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
363 | 356 | ||
364 | /* |
357 | /* |
365 | stronglyFilteredAcc[PITCH] = |
358 | stronglyFilteredAcc[PITCH] = |
366 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
359 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
367 | */ |
360 | */ |
368 | 361 | ||
369 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
362 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
370 | } |
363 | } |
371 | 364 | ||
372 | // Z acc. |
365 | // Z acc. |
373 | if (ACC_REVERSED[Z]) |
366 | if (ACC_REVERSED[Z]) |
374 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
367 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
375 | else |
368 | else |
376 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
369 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
377 | 370 | ||
378 | /* |
371 | /* |
379 | stronglyFilteredAcc[Z] = |
372 | stronglyFilteredAcc[Z] = |
380 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
373 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
381 | */ |
374 | */ |
382 | } |
375 | } |
383 | 376 | ||
384 | void analog_updateAirPressure(void) { |
377 | void analog_updateAirPressure(void) { |
385 | static uint16_t pressureAutorangingWait = 25; |
378 | static uint16_t pressureAutorangingWait = 25; |
386 | uint16_t rawAirPressure; |
379 | uint16_t rawAirPressure; |
387 | int16_t newrange; |
380 | int16_t newrange; |
388 | // air pressure |
381 | // air pressure |
389 | if (pressureAutorangingWait) { |
382 | if (pressureAutorangingWait) { |
390 | //A range switch was done recently. Wait for steadying. |
383 | //A range switch was done recently. Wait for steadying. |
391 | pressureAutorangingWait--; |
384 | pressureAutorangingWait--; |
392 | debugOut.analog[27] = (uint16_t) OCR0A; |
385 | debugOut.analog[27] = (uint16_t) OCR0A; |
393 | debugOut.analog[31] = simpleAirPressure; |
386 | debugOut.analog[31] = simpleAirPressure; |
394 | } else { |
387 | } else { |
395 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
388 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
396 | if (rawAirPressure < MIN_RAWPRESSURE) { |
389 | if (rawAirPressure < MIN_RAWPRESSURE) { |
397 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
390 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
398 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
391 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
399 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
392 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
400 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
393 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
401 | OCR0A = newrange; |
394 | OCR0A = newrange; |
402 | } else { |
395 | } else { |
403 | if (OCR0A) { |
396 | if (OCR0A) { |
404 | OCR0A--; |
397 | OCR0A--; |
405 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
398 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
406 | } |
399 | } |
407 | } |
400 | } |
408 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
401 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
409 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
402 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
410 | // If near the end, make a limited increase |
403 | // If near the end, make a limited increase |
411 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
404 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
412 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
405 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
413 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
406 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
414 | OCR0A = newrange; |
407 | OCR0A = newrange; |
415 | } else { |
408 | } else { |
416 | if (OCR0A < 254) { |
409 | if (OCR0A < 254) { |
417 | OCR0A++; |
410 | OCR0A++; |
418 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
411 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
419 | } |
412 | } |
420 | } |
413 | } |
421 | } |
414 | } |
422 | 415 | ||
423 | // Even if the sample is off-range, use it. |
416 | // Even if the sample is off-range, use it. |
424 | simpleAirPressure = getSimplePressure(rawAirPressure); |
417 | simpleAirPressure = getSimplePressure(rawAirPressure); |
425 | debugOut.analog[27] = (uint16_t) OCR0A; |
418 | debugOut.analog[27] = (uint16_t) OCR0A; |
426 | debugOut.analog[31] = simpleAirPressure; |
419 | debugOut.analog[31] = simpleAirPressure; |
427 | 420 | ||
428 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
421 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
429 | // Danger: pressure near lower end of range. If the measurement saturates, the |
422 | // Danger: pressure near lower end of range. If the measurement saturates, the |
430 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
423 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
431 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
424 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
432 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
425 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
433 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
426 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
434 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
427 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
435 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
428 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
436 | // Danger: pressure near upper end of range. If the measurement saturates, the |
429 | // Danger: pressure near upper end of range. If the measurement saturates, the |
437 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
430 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
438 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
431 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
439 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
432 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
440 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
433 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
441 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
434 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
442 | } else { |
435 | } else { |
443 | // normal case. |
436 | // normal case. |
444 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
437 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
445 | // The 2 cases above (end of range) are ignored for this. |
438 | // The 2 cases above (end of range) are ignored for this. |
446 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
439 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
447 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
440 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
448 | airPressureSum += simpleAirPressure / 2; |
441 | airPressureSum += simpleAirPressure / 2; |
449 | else |
442 | else |
450 | airPressureSum += simpleAirPressure; |
443 | airPressureSum += simpleAirPressure; |
451 | } |
444 | } |
452 | 445 | ||
453 | // 2 samples were added. |
446 | // 2 samples were added. |
454 | pressureMeasurementCount += 2; |
447 | pressureMeasurementCount += 2; |
455 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
448 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
456 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
449 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
457 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
450 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
458 | pressureMeasurementCount = airPressureSum = 0; |
451 | pressureMeasurementCount = airPressureSum = 0; |
459 | } |
452 | } |
460 | } |
453 | } |
461 | } |
454 | } |
462 | 455 | ||
463 | void analog_updateBatteryVoltage(void) { |
456 | void analog_updateBatteryVoltage(void) { |
464 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
457 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
465 | // This is divided by 3 --> 10.34 counts per volt. |
458 | // This is divided by 3 --> 10.34 counts per volt. |
466 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
459 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
467 | debugOut.analog[11] = UBat; |
460 | debugOut.analog[11] = UBat; |
468 | } |
461 | } |
469 | 462 | ||
470 | void analog_update(void) { |
463 | void analog_update(void) { |
471 | analog_updateGyros(); |
464 | analog_updateGyros(); |
472 | analog_updateAccelerometers(); |
465 | analog_updateAccelerometers(); |
473 | analog_updateAirPressure(); |
466 | analog_updateAirPressure(); |
474 | analog_updateBatteryVoltage(); |
467 | analog_updateBatteryVoltage(); |
475 | } |
468 | } |
- | 469 | ||
- | 470 | void analog_setNeutral() { |
|
- | 471 | if (gyroOffset_readFromEEProm()) { |
|
- | 472 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
|
- | 473 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
|
- | 474 | } |
|
- | 475 | ||
- | 476 | if (accOffset_readFromEEProm()) { |
|
- | 477 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
|
- | 478 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
|
- | 479 | } |
|
- | 480 | ||
- | 481 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
|
- | 482 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
|
- | 483 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
|
- | 484 | ||
- | 485 | // Setting offset values has an influence in the analog.c ISR |
|
- | 486 | // Therefore run measurement for 100ms to achive stable readings |
|
- | 487 | delay_ms_Mess(100); |
|
- | 488 | ||
- | 489 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
|
- | 490 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
|
- | 491 | // pressureMeasurementCount = 0; |
|
- | 492 | } |
|
476 | 493 | ||
477 | void analog_calibrate(void) { |
494 | void analog_calibrateGyros(void) { |
478 | #define GYRO_OFFSET_CYCLES 32 |
495 | #define GYRO_OFFSET_CYCLES 32 |
479 | uint8_t i, axis; |
496 | uint8_t i, axis; |
480 | int32_t deltaOffsets[3] = { 0, 0, 0 }; |
497 | int32_t deltaOffsets[3] = { 0, 0, 0 }; |
481 | gyro_calibrate(); |
498 | gyro_calibrate(); |
482 | 499 | ||
483 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
500 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
484 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
501 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
485 | delay_ms_Mess(20); |
502 | delay_ms_Mess(20); |
486 | for (axis = PITCH; axis <= YAW; axis++) { |
503 | for (axis = PITCH; axis <= YAW; axis++) { |
487 | deltaOffsets[axis] += rawGyroSum[axis]; |
504 | deltaOffsets[axis] += rawGyroSum[axis]; |
488 | } |
505 | } |
489 | } |
506 | } |
490 | 507 | ||
491 | for (axis = PITCH; axis <= YAW; axis++) { |
508 | for (axis = PITCH; axis <= YAW; axis++) { |
492 | gyroOffset.offsets[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
509 | gyroOffset.offsets[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
493 | debugOut.analog[6+axis] = gyroOffset.offsets[axis]; |
510 | debugOut.analog[6+axis] = gyroOffset.offsets[axis]; |
494 | } |
511 | } |
495 | 512 | ||
496 | // Noise is relativ to offset. So, reset noise measurements when changing offsets. |
- | |
497 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
- | |
498 | - | ||
499 | accOffset_readFromEEProm(); |
513 | gyroOffset_writeToEEProm(); |
500 | // accOffset[PITCH] = getParamWord(PID_ACC_PITCH); |
- | |
501 | // accOffset[ROLL] = getParamWord(PID_ACC_ROLL); |
- | |
502 | // accOffset[Z] = getParamWord(PID_ACC_Z); |
- | |
503 | - | ||
504 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
- | |
505 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
- | |
506 | // pressureMeasurementCount = 0; |
- | |
507 | - | ||
508 | delay_ms_Mess(100); |
- | |
509 | } |
514 | } |
510 | 515 | ||
511 | /* |
516 | /* |
512 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
517 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
513 | * Does not (!} update the local variables. This must be done with a |
518 | * Does not (!} update the local variables. This must be done with a |
514 | * call to analog_calibrate() - this always (?) is done by the caller |
519 | * call to analog_calibrate() - this always (?) is done by the caller |
515 | * anyway. There would be nothing wrong with updating the variables |
520 | * anyway. There would be nothing wrong with updating the variables |
516 | * directly from here, though. |
521 | * directly from here, though. |
517 | */ |
522 | */ |
518 | void analog_calibrateAcc(void) { |
523 | void analog_calibrateAcc(void) { |
519 | #define ACC_OFFSET_CYCLES 10 |
524 | #define ACC_OFFSET_CYCLES 10 |
520 | uint8_t i, axis; |
525 | uint8_t i, axis; |
521 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
526 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
522 | int16_t filteredDelta; |
527 | int16_t filteredDelta; |
523 | // int16_t pressureDiff, savedRawAirPressure; |
528 | // int16_t pressureDiff, savedRawAirPressure; |
524 | 529 | ||
525 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
530 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
526 | delay_ms_Mess(10); |
531 | delay_ms_Mess(10); |
527 | for (axis = PITCH; axis <= YAW; axis++) { |
532 | for (axis = PITCH; axis <= YAW; axis++) { |
528 | deltaOffset[axis] += acc[axis]; |
533 | deltaOffset[axis] += acc[axis]; |
529 | } |
534 | } |
530 | } |
535 | } |
531 | 536 | ||
532 | for (axis = PITCH; axis <= YAW; axis++) { |
537 | for (axis = PITCH; axis <= YAW; axis++) { |
533 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
538 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
534 | / ACC_OFFSET_CYCLES; |
539 | / ACC_OFFSET_CYCLES; |
535 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
540 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
536 | } |
541 | } |
537 | - | ||
538 | // Save ACC neutral settings to eeprom |
- | |
539 | // setParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
- | |
540 | // setParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
- | |
541 | // setParamWord(PID_ACC_Z, accOffset[Z]); |
- | |
542 | accOffset_writeToEEProm(); |
- | |
543 | - | ||
544 | // Noise is relative to offset. So, reset noise measurements when |
- | |
545 | // changing offsets. |
- | |
546 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
- | |
547 | - | ||
548 | // Setting offset values has an influence in the analog.c ISR |
- | |
549 | // Therefore run measurement for 100ms to achive stable readings |
542 | |
550 | delay_ms_Mess(100); |
543 | accOffset_writeToEEProm(); |
551 | } |
544 | } |
552 | 545 |