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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include <avr/io.h> |
52 | #include <avr/io.h> |
53 | #include <avr/interrupt.h> |
53 | #include <avr/interrupt.h> |
54 | #include <avr/pgmspace.h> |
54 | #include <avr/pgmspace.h> |
55 | 55 | ||
56 | #include "analog.h" |
56 | #include "analog.h" |
57 | #include "attitude.h" |
57 | #include "attitude.h" |
58 | #include "sensors.h" |
58 | #include "sensors.h" |
- | 59 | #include "printf_P.h" |
|
59 | 60 | ||
60 | // for Delay functions |
61 | // for Delay functions |
61 | #include "timer0.h" |
62 | #include "timer0.h" |
62 | 63 | ||
63 | // For debugOut |
64 | // For debugOut |
64 | #include "uart0.h" |
65 | #include "uart0.h" |
65 | 66 | ||
66 | // For reading and writing acc. meter offsets. |
67 | // For reading and writing acc. meter offsets. |
67 | #include "eeprom.h" |
68 | #include "eeprom.h" |
68 | 69 | ||
69 | // For debugOut.digital |
70 | // For debugOut.digital |
70 | #include "output.h" |
71 | #include "output.h" |
71 | 72 | ||
72 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
73 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
73 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
74 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
74 | 75 | ||
75 | /* |
76 | /* |
76 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
77 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
77 | * (see array channelsForStates), and the results for each channel are summed. |
78 | * (see array channelsForStates), and the results for each channel are summed. |
78 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
79 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
79 | * They are exported in the analog.h file - but please do not use them! The only |
80 | * They are exported in the analog.h file - but please do not use them! The only |
80 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
81 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
81 | * the offsets with the DAC. |
82 | * the offsets with the DAC. |
82 | */ |
83 | */ |
83 | volatile uint16_t sensorInputs[8]; |
84 | volatile uint16_t sensorInputs[8]; |
84 | volatile int16_t rawGyroSum[3]; |
85 | volatile int16_t rawGyroSum[3]; |
85 | volatile int16_t acc[3]; |
86 | volatile int16_t acc[3]; |
86 | volatile int16_t filteredAcc[2] = { 0,0 }; |
87 | volatile int16_t filteredAcc[2] = { 0,0 }; |
87 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
88 | // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
88 | 89 | ||
89 | /* |
90 | /* |
90 | * These 4 exported variables are zero-offset. The "PID" ones are used |
91 | * These 4 exported variables are zero-offset. The "PID" ones are used |
91 | * in the attitude control as rotation rates. The "ATT" ones are for |
92 | * in the attitude control as rotation rates. The "ATT" ones are for |
92 | * integration to angles. |
93 | * integration to angles. |
93 | */ |
94 | */ |
94 | volatile int16_t gyro_PID[2]; |
95 | volatile int16_t gyro_PID[2]; |
95 | volatile int16_t gyro_ATT[2]; |
96 | volatile int16_t gyro_ATT[2]; |
96 | volatile int16_t gyroD[2]; |
97 | volatile int16_t gyroD[2]; |
97 | volatile int16_t yawGyro; |
98 | volatile int16_t yawGyro; |
98 | 99 | ||
99 | /* |
100 | /* |
100 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
101 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
101 | * standing still. They are used for adjusting the gyro and acc. meter values |
102 | * standing still. They are used for adjusting the gyro and acc. meter values |
102 | * to be centered on zero. |
103 | * to be centered on zero. |
103 | */ |
104 | */ |
104 | 105 | ||
105 | sensorOffset_t gyroOffset; |
106 | sensorOffset_t gyroOffset; |
106 | sensorOffset_t accOffset; |
107 | sensorOffset_t accOffset; |
107 | 108 | ||
108 | /* |
109 | /* |
109 | * This allows some experimentation with the gyro filters. |
110 | * This allows some experimentation with the gyro filters. |
110 | * Should be replaced by #define's later on... |
111 | * Should be replaced by #define's later on... |
111 | */ |
112 | */ |
112 | 113 | ||
113 | /* |
114 | /* |
114 | * Air pressure |
115 | * Air pressure |
115 | */ |
116 | */ |
116 | volatile uint8_t rangewidth = 106; |
117 | volatile uint8_t rangewidth = 106; |
117 | 118 | ||
118 | // Direct from sensor, irrespective of range. |
119 | // Direct from sensor, irrespective of range. |
119 | // volatile uint16_t rawAirPressure; |
120 | // volatile uint16_t rawAirPressure; |
120 | 121 | ||
121 | // Value of 2 samples, with range. |
122 | // Value of 2 samples, with range. |
122 | volatile uint16_t simpleAirPressure; |
123 | volatile uint16_t simpleAirPressure; |
123 | 124 | ||
124 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
125 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
125 | volatile int32_t filteredAirPressure; |
126 | volatile int32_t filteredAirPressure; |
126 | 127 | ||
127 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
128 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
128 | volatile int32_t airPressureSum; |
129 | volatile int32_t airPressureSum; |
129 | 130 | ||
130 | // The number of samples summed into airPressureSum so far. |
131 | // The number of samples summed into airPressureSum so far. |
131 | volatile uint8_t pressureMeasurementCount; |
132 | volatile uint8_t pressureMeasurementCount; |
132 | 133 | ||
133 | /* |
134 | /* |
134 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
135 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
135 | * That is divided by 3 below, for a final 10.34 per volt. |
136 | * That is divided by 3 below, for a final 10.34 per volt. |
136 | * So the initial value of 100 is for 9.7 volts. |
137 | * So the initial value of 100 is for 9.7 volts. |
137 | */ |
138 | */ |
138 | volatile int16_t UBat = 100; |
139 | volatile int16_t UBat = 100; |
139 | 140 | ||
140 | /* |
141 | /* |
141 | * Control and status. |
142 | * Control and status. |
142 | */ |
143 | */ |
143 | volatile uint16_t ADCycleCount = 0; |
144 | volatile uint16_t ADCycleCount = 0; |
144 | volatile uint8_t analogDataReady = 1; |
145 | volatile uint8_t analogDataReady = 1; |
145 | 146 | ||
146 | /* |
147 | /* |
147 | * Experiment: Measuring vibration-induced sensor noise. |
148 | * Experiment: Measuring vibration-induced sensor noise. |
148 | */ |
149 | */ |
149 | volatile uint16_t gyroNoisePeak[2]; |
150 | volatile uint16_t gyroNoisePeak[2]; |
150 | volatile uint16_t accNoisePeak[2]; |
151 | volatile uint16_t accNoisePeak[2]; |
151 | 152 | ||
152 | // ADC channels |
153 | // ADC channels |
153 | #define AD_GYRO_YAW 0 |
154 | #define AD_GYRO_YAW 0 |
154 | #define AD_GYRO_ROLL 1 |
155 | #define AD_GYRO_ROLL 1 |
155 | #define AD_GYRO_PITCH 2 |
156 | #define AD_GYRO_PITCH 2 |
156 | #define AD_AIRPRESSURE 3 |
157 | #define AD_AIRPRESSURE 3 |
157 | #define AD_UBAT 4 |
158 | #define AD_UBAT 4 |
158 | #define AD_ACC_Z 5 |
159 | #define AD_ACC_Z 5 |
159 | #define AD_ACC_ROLL 6 |
160 | #define AD_ACC_ROLL 6 |
160 | #define AD_ACC_PITCH 7 |
161 | #define AD_ACC_PITCH 7 |
161 | 162 | ||
162 | /* |
163 | /* |
163 | * Table of AD converter inputs for each state. |
164 | * Table of AD converter inputs for each state. |
164 | * The number of samples summed for each channel is equal to |
165 | * The number of samples summed for each channel is equal to |
165 | * the number of times the channel appears in the array. |
166 | * the number of times the channel appears in the array. |
166 | * The max. number of samples that can be taken in 2 ms is: |
167 | * The max. number of samples that can be taken in 2 ms is: |
167 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
168 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
168 | * loop needs a little time between reading AD values and |
169 | * loop needs a little time between reading AD values and |
169 | * re-enabling ADC, the real limit is (how much?) lower. |
170 | * re-enabling ADC, the real limit is (how much?) lower. |
170 | * The acc. sensor is sampled even if not used - or installed |
171 | * The acc. sensor is sampled even if not used - or installed |
171 | * at all. The cost is not significant. |
172 | * at all. The cost is not significant. |
172 | */ |
173 | */ |
173 | 174 | ||
174 | const uint8_t channelsForStates[] PROGMEM = { |
175 | const uint8_t channelsForStates[] PROGMEM = { |
175 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
176 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
176 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
177 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
177 | 178 | ||
178 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
179 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
179 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
180 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
180 | 181 | ||
181 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
182 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
182 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
183 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
183 | AD_AIRPRESSURE, // at 14, finish air pressure. |
184 | AD_AIRPRESSURE, // at 14, finish air pressure. |
184 | 185 | ||
185 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
186 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
186 | AD_GYRO_ROLL, // at 16, finish roll gyro |
187 | AD_GYRO_ROLL, // at 16, finish roll gyro |
187 | AD_UBAT // at 17, measure battery. |
188 | AD_UBAT // at 17, measure battery. |
188 | }; |
189 | }; |
189 | 190 | ||
190 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
191 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
191 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
192 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
192 | 193 | ||
193 | void analog_init(void) { |
194 | void analog_init(void) { |
194 | uint8_t sreg = SREG; |
195 | uint8_t sreg = SREG; |
195 | // disable all interrupts before reconfiguration |
196 | // disable all interrupts before reconfiguration |
196 | cli(); |
197 | cli(); |
197 | 198 | ||
198 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
199 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
199 | DDRA = 0x00; |
200 | DDRA = 0x00; |
200 | PORTA = 0x00; |
201 | PORTA = 0x00; |
201 | // Digital Input Disable Register 0 |
202 | // Digital Input Disable Register 0 |
202 | // Disable digital input buffer for analog adc_channel pins |
203 | // Disable digital input buffer for analog adc_channel pins |
203 | DIDR0 = 0xFF; |
204 | DIDR0 = 0xFF; |
204 | // external reference, adjust data to the right |
205 | // external reference, adjust data to the right |
205 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
206 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
206 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
207 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
207 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
208 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
208 | //Set ADC Control and Status Register A |
209 | //Set ADC Control and Status Register A |
209 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
210 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
210 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
211 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
211 | //Set ADC Control and Status Register B |
212 | //Set ADC Control and Status Register B |
212 | //Trigger Source to Free Running Mode |
213 | //Trigger Source to Free Running Mode |
213 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
214 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
214 | 215 | ||
215 | startAnalogConversionCycle(); |
216 | startAnalogConversionCycle(); |
216 | 217 | ||
217 | // restore global interrupt flags |
218 | // restore global interrupt flags |
218 | SREG = sreg; |
219 | SREG = sreg; |
219 | } |
220 | } |
220 | 221 | ||
221 | void measureNoise(const int16_t sensor, |
222 | void measureNoise(const int16_t sensor, |
222 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
223 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
223 | if (sensor > (int16_t) (*noiseMeasurement)) { |
224 | if (sensor > (int16_t) (*noiseMeasurement)) { |
224 | *noiseMeasurement = sensor; |
225 | *noiseMeasurement = sensor; |
225 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
226 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
226 | *noiseMeasurement = -sensor; |
227 | *noiseMeasurement = -sensor; |
227 | } else if (*noiseMeasurement > damping) { |
228 | } else if (*noiseMeasurement > damping) { |
228 | *noiseMeasurement -= damping; |
229 | *noiseMeasurement -= damping; |
229 | } else { |
230 | } else { |
230 | *noiseMeasurement = 0; |
231 | *noiseMeasurement = 0; |
231 | } |
232 | } |
232 | } |
233 | } |
233 | 234 | ||
234 | /* |
235 | /* |
235 | * Min.: 0 |
236 | * Min.: 0 |
236 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
237 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
237 | */ |
238 | */ |
238 | uint16_t getSimplePressure(int advalue) { |
239 | uint16_t getSimplePressure(int advalue) { |
239 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
240 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
240 | } |
241 | } |
241 | 242 | ||
242 | void startAnalogConversionCycle(void) { |
243 | void startAnalogConversionCycle(void) { |
243 | analogDataReady = 0; |
244 | analogDataReady = 0; |
244 | // Stop the sampling. Cycle is over. |
245 | // Stop the sampling. Cycle is over. |
245 | for (uint8_t i = 0; i < 8; i++) { |
246 | for (uint8_t i = 0; i < 8; i++) { |
246 | sensorInputs[i] = 0; |
247 | sensorInputs[i] = 0; |
247 | } |
248 | } |
248 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
249 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
249 | startADC(); |
250 | startADC(); |
250 | } |
251 | } |
251 | 252 | ||
252 | /***************************************************** |
253 | /***************************************************** |
253 | * Interrupt Service Routine for ADC |
254 | * Interrupt Service Routine for ADC |
254 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
255 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
255 | * processed further conversions are stopped. |
256 | * processed further conversions are stopped. |
256 | *****************************************************/ |
257 | *****************************************************/ |
257 | ISR(ADC_vect) { |
258 | ISR(ADC_vect) { |
258 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
259 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
259 | sensorInputs[ad_channel] += ADC; |
260 | sensorInputs[ad_channel] += ADC; |
260 | // set up for next state. |
261 | // set up for next state. |
261 | state++; |
262 | state++; |
262 | if (state < 18) { |
263 | if (state < 18) { |
263 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
264 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
264 | // set adc muxer to next ad_channel |
265 | // set adc muxer to next ad_channel |
265 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
266 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
266 | // after full cycle stop further interrupts |
267 | // after full cycle stop further interrupts |
267 | startADC(); |
268 | startADC(); |
268 | } else { |
269 | } else { |
269 | state = 0; |
270 | state = 0; |
270 | ADCycleCount++; |
271 | ADCycleCount++; |
271 | analogDataReady = 1; |
272 | analogDataReady = 1; |
272 | // do not restart ADC converter. |
273 | // do not restart ADC converter. |
273 | } |
274 | } |
274 | } |
275 | } |
275 | 276 | ||
276 | void analog_updateGyros(void) { |
277 | void analog_updateGyros(void) { |
277 | // for various filters... |
278 | // for various filters... |
278 | int16_t tempOffsetGyro, tempGyro; |
279 | int16_t tempOffsetGyro, tempGyro; |
279 | 280 | ||
280 | for (uint8_t axis=0; axis<2; axis++) { |
281 | for (uint8_t axis=0; axis<2; axis++) { |
281 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
282 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
282 | /* |
283 | /* |
283 | * Process the gyro data for the PID controller. |
284 | * Process the gyro data for the PID controller. |
284 | */ |
285 | */ |
285 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
286 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
286 | // gyro with a wider range, and helps counter saturation at full control. |
287 | // gyro with a wider range, and helps counter saturation at full control. |
287 | 288 | ||
288 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
289 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
289 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
290 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
290 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
291 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
291 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
292 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
292 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
293 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
293 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
294 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
294 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
295 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
295 | + SENSOR_MAX_PITCHROLL; |
296 | + SENSOR_MAX_PITCHROLL; |
296 | } else { |
297 | } else { |
297 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
298 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
298 | } |
299 | } |
299 | } |
300 | } |
300 | 301 | ||
301 | // 2) Apply sign and offset, scale before filtering. |
302 | // 2) Apply sign and offset, scale before filtering. |
302 | if (GYRO_REVERSED[axis]) { |
303 | if (GYRO_REVERSED[axis]) { |
303 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
304 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
304 | } else { |
305 | } else { |
305 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
306 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
306 | } |
307 | } |
307 | 308 | ||
308 | // 3) Scale and filter. |
309 | // 3) Scale and filter. |
309 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
310 | tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
310 | 311 | ||
311 | // 4) Measure noise. |
312 | // 4) Measure noise. |
312 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
313 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
313 | 314 | ||
314 | // 5) Differential measurement. |
315 | // 5) Differential measurement. |
315 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
316 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
316 | 317 | ||
317 | // 6) Done. |
318 | // 6) Done. |
318 | gyro_PID[axis] = tempOffsetGyro; |
319 | gyro_PID[axis] = tempOffsetGyro; |
319 | 320 | ||
320 | /* |
321 | /* |
321 | * Now process the data for attitude angles. |
322 | * Now process the data for attitude angles. |
322 | */ |
323 | */ |
323 | tempGyro = rawGyroSum[axis]; |
324 | tempGyro = rawGyroSum[axis]; |
324 | 325 | ||
325 | // 1) Apply sign and offset, scale before filtering. |
326 | // 1) Apply sign and offset, scale before filtering. |
326 | if (GYRO_REVERSED[axis]) { |
327 | if (GYRO_REVERSED[axis]) { |
327 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
328 | tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
328 | } else { |
329 | } else { |
329 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
330 | tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
330 | } |
331 | } |
331 | 332 | ||
332 | // 2) Filter. |
333 | // 2) Filter. |
333 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
334 | gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
334 | } |
335 | } |
335 | 336 | ||
336 | // Yaw gyro. |
337 | // Yaw gyro. |
337 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
338 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
338 | if (GYRO_REVERSED[YAW]) |
339 | if (GYRO_REVERSED[YAW]) |
339 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
340 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
340 | else |
341 | else |
341 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
342 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
342 | 343 | ||
343 | debugOut.analog[3] = gyro_ATT[PITCH]; |
344 | debugOut.analog[3] = gyro_ATT[PITCH]; |
344 | debugOut.analog[4] = gyro_ATT[ROLL]; |
345 | debugOut.analog[4] = gyro_ATT[ROLL]; |
345 | debugOut.analog[5] = yawGyro; |
346 | debugOut.analog[5] = yawGyro; |
346 | } |
347 | } |
347 | 348 | ||
348 | void analog_updateAccelerometers(void) { |
349 | void analog_updateAccelerometers(void) { |
349 | // Pitch and roll axis accelerations. |
350 | // Pitch and roll axis accelerations. |
350 | for (uint8_t axis=0; axis<2; axis++) { |
351 | for (uint8_t axis=0; axis<2; axis++) { |
351 | if (ACC_REVERSED[axis]) |
352 | if (ACC_REVERSED[axis]) |
352 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
353 | acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
353 | else |
354 | else |
354 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
355 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
355 | 356 | ||
356 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
357 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
357 | 358 | ||
358 | /* |
359 | /* |
359 | stronglyFilteredAcc[PITCH] = |
360 | stronglyFilteredAcc[PITCH] = |
360 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
361 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
361 | */ |
362 | */ |
362 | 363 | ||
363 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
364 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
364 | } |
365 | } |
365 | 366 | ||
366 | // Z acc. |
367 | // Z acc. |
367 | if (ACC_REVERSED[Z]) |
368 | if (ACC_REVERSED[Z]) |
368 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
369 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
369 | else |
370 | else |
370 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
371 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
371 | 372 | ||
372 | /* |
373 | /* |
373 | stronglyFilteredAcc[Z] = |
374 | stronglyFilteredAcc[Z] = |
374 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
375 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
375 | */ |
376 | */ |
376 | } |
377 | } |
377 | 378 | ||
378 | void analog_updateAirPressure(void) { |
379 | void analog_updateAirPressure(void) { |
379 | static uint16_t pressureAutorangingWait = 25; |
380 | static uint16_t pressureAutorangingWait = 25; |
380 | uint16_t rawAirPressure; |
381 | uint16_t rawAirPressure; |
381 | int16_t newrange; |
382 | int16_t newrange; |
382 | // air pressure |
383 | // air pressure |
383 | if (pressureAutorangingWait) { |
384 | if (pressureAutorangingWait) { |
384 | //A range switch was done recently. Wait for steadying. |
385 | //A range switch was done recently. Wait for steadying. |
385 | pressureAutorangingWait--; |
386 | pressureAutorangingWait--; |
386 | debugOut.analog[27] = (uint16_t) OCR0A; |
387 | debugOut.analog[27] = (uint16_t) OCR0A; |
387 | debugOut.analog[31] = simpleAirPressure; |
388 | debugOut.analog[31] = simpleAirPressure; |
388 | } else { |
389 | } else { |
389 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
390 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
390 | if (rawAirPressure < MIN_RAWPRESSURE) { |
391 | if (rawAirPressure < MIN_RAWPRESSURE) { |
391 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
392 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
392 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
393 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
393 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
394 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
394 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
395 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
395 | OCR0A = newrange; |
396 | OCR0A = newrange; |
396 | } else { |
397 | } else { |
397 | if (OCR0A) { |
398 | if (OCR0A) { |
398 | OCR0A--; |
399 | OCR0A--; |
399 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
400 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
400 | } |
401 | } |
401 | } |
402 | } |
402 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
403 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
403 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
404 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
404 | // If near the end, make a limited increase |
405 | // If near the end, make a limited increase |
405 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
406 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
406 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
407 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
407 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
408 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
408 | OCR0A = newrange; |
409 | OCR0A = newrange; |
409 | } else { |
410 | } else { |
410 | if (OCR0A < 254) { |
411 | if (OCR0A < 254) { |
411 | OCR0A++; |
412 | OCR0A++; |
412 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
413 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
413 | } |
414 | } |
414 | } |
415 | } |
415 | } |
416 | } |
416 | 417 | ||
417 | // Even if the sample is off-range, use it. |
418 | // Even if the sample is off-range, use it. |
418 | simpleAirPressure = getSimplePressure(rawAirPressure); |
419 | simpleAirPressure = getSimplePressure(rawAirPressure); |
419 | debugOut.analog[27] = (uint16_t) OCR0A; |
420 | debugOut.analog[27] = (uint16_t) OCR0A; |
420 | debugOut.analog[31] = simpleAirPressure; |
421 | debugOut.analog[31] = simpleAirPressure; |
421 | 422 | ||
422 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
423 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
423 | // Danger: pressure near lower end of range. If the measurement saturates, the |
424 | // Danger: pressure near lower end of range. If the measurement saturates, the |
424 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
425 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
425 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
426 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
426 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
427 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
427 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
428 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
428 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
429 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
429 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
430 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
430 | // Danger: pressure near upper end of range. If the measurement saturates, the |
431 | // Danger: pressure near upper end of range. If the measurement saturates, the |
431 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
432 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
432 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
433 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
433 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
434 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
434 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
435 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
435 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
436 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
436 | } else { |
437 | } else { |
437 | // normal case. |
438 | // normal case. |
438 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
439 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
439 | // The 2 cases above (end of range) are ignored for this. |
440 | // The 2 cases above (end of range) are ignored for this. |
440 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
441 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
441 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
442 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
442 | airPressureSum += simpleAirPressure / 2; |
443 | airPressureSum += simpleAirPressure / 2; |
443 | else |
444 | else |
444 | airPressureSum += simpleAirPressure; |
445 | airPressureSum += simpleAirPressure; |
445 | } |
446 | } |
446 | 447 | ||
447 | // 2 samples were added. |
448 | // 2 samples were added. |
448 | pressureMeasurementCount += 2; |
449 | pressureMeasurementCount += 2; |
449 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
450 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
450 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
451 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
451 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
452 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
452 | pressureMeasurementCount = airPressureSum = 0; |
453 | pressureMeasurementCount = airPressureSum = 0; |
453 | } |
454 | } |
454 | } |
455 | } |
455 | } |
456 | } |
456 | 457 | ||
457 | void analog_updateBatteryVoltage(void) { |
458 | void analog_updateBatteryVoltage(void) { |
458 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
459 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
459 | // This is divided by 3 --> 10.34 counts per volt. |
460 | // This is divided by 3 --> 10.34 counts per volt. |
460 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
461 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
461 | debugOut.analog[11] = UBat; |
462 | debugOut.analog[11] = UBat; |
462 | } |
463 | } |
463 | 464 | ||
464 | void analog_update(void) { |
465 | void analog_update(void) { |
465 | analog_updateGyros(); |
466 | analog_updateGyros(); |
466 | analog_updateAccelerometers(); |
467 | analog_updateAccelerometers(); |
467 | analog_updateAirPressure(); |
468 | analog_updateAirPressure(); |
468 | analog_updateBatteryVoltage(); |
469 | analog_updateBatteryVoltage(); |
469 | } |
470 | } |
470 | 471 | ||
471 | void analog_setNeutral() { |
472 | void analog_setNeutral() { |
472 | if (gyroOffset_readFromEEProm()) { |
473 | if (gyroOffset_readFromEEProm()) { |
- | 474 | printf("gyro offsets invalid, you must recalibrate."); |
|
473 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
475 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
474 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
476 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
475 | } |
477 | } |
- | 478 | ||
- | 479 | debugOut.analog[6] = gyroOffset.offsets[PITCH]; |
|
- | 480 | debugOut.analog[7] = gyroOffset.offsets[ROLL]; |
|
476 | 481 | ||
- | 482 | if (accOffset_readFromEEProm()) { |
|
477 | if (accOffset_readFromEEProm()) { |
483 | printf("acc. meter offsets invalid, you must recalibrate."); |
478 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
484 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
479 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
485 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
480 | } |
486 | } |
481 | 487 | ||
482 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
488 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
483 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
489 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
484 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
490 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
485 | 491 | ||
486 | // Setting offset values has an influence in the analog.c ISR |
492 | // Setting offset values has an influence in the analog.c ISR |
487 | // Therefore run measurement for 100ms to achive stable readings |
493 | // Therefore run measurement for 100ms to achive stable readings |
488 | delay_ms_Mess(100); |
494 | delay_ms_Mess(100); |
489 | 495 | ||
490 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
496 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
491 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
497 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
492 | // pressureMeasurementCount = 0; |
498 | // pressureMeasurementCount = 0; |
493 | } |
499 | } |
494 | 500 | ||
495 | void analog_calibrateGyros(void) { |
501 | void analog_calibrateGyros(void) { |
496 | #define GYRO_OFFSET_CYCLES 32 |
502 | #define GYRO_OFFSET_CYCLES 32 |
497 | uint8_t i, axis; |
503 | uint8_t i, axis; |
498 | int32_t offsets[3] = { 0, 0, 0 }; |
504 | int32_t offsets[3] = { 0, 0, 0 }; |
499 | gyro_calibrate(); |
505 | gyro_calibrate(); |
500 | 506 | ||
501 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
507 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
502 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
508 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
503 | delay_ms_Mess(20); |
509 | delay_ms_Mess(20); |
504 | for (axis = PITCH; axis <= YAW; axis++) { |
510 | for (axis = PITCH; axis <= YAW; axis++) { |
505 | offsets[axis] += rawGyroSum[axis]; |
511 | offsets[axis] += rawGyroSum[axis]; |
506 | } |
512 | } |
507 | } |
513 | } |
508 | 514 | ||
509 | for (axis = PITCH; axis <= YAW; axis++) { |
515 | for (axis = PITCH; axis <= YAW; axis++) { |
510 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
516 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
511 | } |
517 | } |
512 | 518 | ||
513 | gyroOffset_writeToEEProm(); |
519 | gyroOffset_writeToEEProm(); |
514 | } |
520 | } |
515 | 521 | ||
516 | /* |
522 | /* |
517 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
523 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
518 | * Does not (!} update the local variables. This must be done with a |
524 | * Does not (!} update the local variables. This must be done with a |
519 | * call to analog_calibrate() - this always (?) is done by the caller |
525 | * call to analog_calibrate() - this always (?) is done by the caller |
520 | * anyway. There would be nothing wrong with updating the variables |
526 | * anyway. There would be nothing wrong with updating the variables |
521 | * directly from here, though. |
527 | * directly from here, though. |
522 | */ |
528 | */ |
523 | void analog_calibrateAcc(void) { |
529 | void analog_calibrateAcc(void) { |
524 | #define ACC_OFFSET_CYCLES 10 |
530 | #define ACC_OFFSET_CYCLES 10 |
525 | uint8_t i, axis; |
531 | uint8_t i, axis; |
526 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
532 | int32_t deltaOffset[3] = { 0, 0, 0 }; |
527 | int16_t filteredDelta; |
533 | int16_t filteredDelta; |
528 | 534 | ||
529 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
535 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
530 | delay_ms_Mess(10); |
536 | delay_ms_Mess(10); |
531 | for (axis = PITCH; axis <= YAW; axis++) { |
537 | for (axis = PITCH; axis <= YAW; axis++) { |
532 | deltaOffset[axis] += acc[axis]; |
538 | deltaOffset[axis] += acc[axis]; |
533 | } |
539 | } |
534 | } |
540 | } |
535 | 541 | ||
536 | for (axis = PITCH; axis <= YAW; axis++) { |
542 | for (axis = PITCH; axis <= YAW; axis++) { |
537 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
543 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
538 | / ACC_OFFSET_CYCLES; |
544 | / ACC_OFFSET_CYCLES; |
539 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
545 | accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
540 | } |
546 | } |
541 | 547 | ||
542 | accOffset_writeToEEProm(); |
548 | accOffset_writeToEEProm(); |
543 | } |
549 | } |
544 | 550 |