Rev 2033 | Rev 2036 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2033 | Rev 2035 | ||
---|---|---|---|
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur f�r den privaten Gebrauch |
3 | // + Nur f�r den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen 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 ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien ver�ffentlicht 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 Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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 zul�ssig |
25 | // + mit unserer Zustimmung zul�ssig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include <avr/io.h> |
52 | #include <avr/io.h> |
53 | #include <avr/interrupt.h> |
53 | #include <avr/interrupt.h> |
54 | #include <avr/pgmspace.h> |
54 | #include <avr/pgmspace.h> |
55 | 55 | ||
56 | #include "analog.h" |
56 | #include "analog.h" |
57 | #include "attitude.h" |
57 | #include "attitude.h" |
58 | #include "sensors.h" |
58 | #include "sensors.h" |
59 | #include "printf_P.h" |
59 | #include "printf_P.h" |
60 | 60 | ||
61 | // for Delay functions |
61 | // for Delay functions |
62 | #include "timer0.h" |
62 | #include "timer0.h" |
63 | 63 | ||
64 | // For debugOut |
64 | // For debugOut |
65 | #include "uart0.h" |
65 | #include "uart0.h" |
66 | 66 | ||
67 | // For reading and writing acc. meter offsets. |
67 | // For reading and writing acc. meter offsets. |
68 | #include "eeprom.h" |
68 | #include "eeprom.h" |
69 | 69 | ||
70 | // For debugOut.digital |
70 | // For debugOut.digital |
71 | #include "output.h" |
71 | #include "output.h" |
72 | 72 | ||
73 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
73 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
74 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
74 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
75 | 75 | ||
76 | const char* recal = ", recalibration needed."; |
76 | const char* recal = ", recalibration needed."; |
77 | 77 | ||
78 | /* |
78 | /* |
79 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
79 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
80 | * (see array channelsForStates), and the results for each channel are summed. |
80 | * (see array channelsForStates), and the results for each channel are summed. |
81 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
81 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
82 | * They are exported in the analog.h file - but please do not use them! The only |
82 | * They are exported in the analog.h file - but please do not use them! The only |
83 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
83 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
84 | * the offsets with the DAC. |
84 | * the offsets with the DAC. |
85 | */ |
85 | */ |
86 | volatile uint16_t sensorInputs[8]; |
86 | volatile uint16_t sensorInputs[8]; |
87 | int16_t acc[3]; |
87 | int16_t acc[3]; |
88 | int16_t filteredAcc[3] = { 0,0,0 }; |
88 | int16_t filteredAcc[3] = { 0,0,0 }; |
89 | 89 | ||
90 | /* |
90 | /* |
91 | * These 4 exported variables are zero-offset. The "PID" ones are used |
91 | * These 4 exported variables are zero-offset. The "PID" ones are used |
92 | * in the attitude control as rotation rates. The "ATT" ones are for |
92 | * in the attitude control as rotation rates. The "ATT" ones are for |
93 | * integration to angles. |
93 | * integration to angles. |
94 | */ |
94 | */ |
95 | int16_t gyro_PID[2]; |
95 | int16_t gyro_PID[2]; |
96 | int16_t gyro_ATT[2]; |
96 | int16_t gyro_ATT[2]; |
97 | int16_t gyroD[2]; |
97 | int16_t gyroD[2]; |
98 | int16_t yawGyro; |
98 | int16_t yawGyro; |
99 | 99 | ||
100 | int32_t groundPressure; |
100 | int32_t groundPressure; |
101 | 101 | ||
102 | /* |
102 | /* |
103 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
103 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
104 | * standing still. They are used for adjusting the gyro and acc. meter values |
104 | * standing still. They are used for adjusting the gyro and acc. meter values |
105 | * to be centered on zero. |
105 | * to be centered on zero. |
106 | */ |
106 | */ |
107 | 107 | ||
108 | sensorOffset_t gyroOffset; |
108 | sensorOffset_t gyroOffset; |
109 | sensorOffset_t accOffset; |
109 | sensorOffset_t accOffset; |
110 | sensorOffset_t gyroAmplifierOffset; |
110 | sensorOffset_t gyroAmplifierOffset; |
111 | 111 | ||
112 | /* |
112 | /* |
113 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
113 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
114 | * If a sensor is used in an orientation where one but not both of the axes has |
114 | * If a sensor is used in an orientation where one but not both of the axes has |
115 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
115 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
116 | * Transform: |
116 | * Transform: |
117 | * pitch <- pp*pitch + pr*roll |
117 | * pitch <- pp*pitch + pr*roll |
118 | * roll <- rp*pitch + rr*roll |
118 | * roll <- rp*pitch + rr*roll |
119 | * Not reversed, GYRO_QUADRANT: |
119 | * Not reversed, GYRO_QUADRANT: |
120 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
120 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
121 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
121 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
122 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
122 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
123 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
123 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
124 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
124 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
125 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
125 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
126 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
126 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
127 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
127 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
128 | * Reversed, GYRO_QUADRANT: |
128 | * Reversed, GYRO_QUADRANT: |
129 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
129 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
130 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
130 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
131 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
131 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
132 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
132 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
133 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
133 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
134 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
134 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
135 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
135 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
136 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
136 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
137 | */ |
137 | */ |
138 | 138 | ||
139 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
139 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
140 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
140 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
141 | // Pitch to Pitch part |
141 | // Pitch to Pitch part |
142 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
142 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
143 | // Roll to Pitch part |
143 | // Roll to Pitch part |
144 | int8_t xy = rotationTab[(quadrant+2)%8]; |
144 | int8_t xy = rotationTab[(quadrant+2)%8]; |
145 | // Pitch to Roll part |
145 | // Pitch to Roll part |
146 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
146 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
147 | // Roll to Roll part |
147 | // Roll to Roll part |
148 | int8_t yy = rotationTab[quadrant]; |
148 | int8_t yy = rotationTab[quadrant]; |
149 | 149 | ||
150 | int16_t xIn = result[0]; |
150 | int16_t xIn = result[0]; |
151 | result[0] = xx*xIn + xy*result[1]; |
151 | result[0] = xx*xIn + xy*result[1]; |
152 | result[1] = yx*xIn + yy*result[1]; |
152 | result[1] = yx*xIn + yy*result[1]; |
153 | 153 | ||
154 | if (quadrant & 1) { |
154 | if (quadrant & 1) { |
155 | // A rotation was used above, where the factors were too large by sqrt(2). |
155 | // A rotation was used above, where the factors were too large by sqrt(2). |
156 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
156 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
157 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
157 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
158 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
158 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
159 | result[0] = (result[0]*11) >> 4; |
159 | result[0] = (result[0]*11) >> 4; |
160 | result[1] = (result[1]*11) >> 4; |
160 | result[1] = (result[1]*11) >> 4; |
161 | } |
161 | } |
162 | } |
162 | } |
163 | 163 | ||
164 | /* |
164 | /* |
165 | * Air pressure |
165 | * Air pressure |
166 | */ |
166 | */ |
167 | volatile uint8_t rangewidth = 105; |
167 | volatile uint8_t rangewidth = 105; |
168 | 168 | ||
169 | // Direct from sensor, irrespective of range. |
169 | // Direct from sensor, irrespective of range. |
170 | // volatile uint16_t rawAirPressure; |
170 | // volatile uint16_t rawAirPressure; |
171 | 171 | ||
172 | // Value of 2 samples, with range. |
172 | // Value of 2 samples, with range. |
173 | uint16_t simpleAirPressure; |
173 | uint16_t simpleAirPressure; |
174 | 174 | ||
175 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
175 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
176 | int32_t filteredAirPressure; |
176 | int32_t filteredAirPressure; |
177 | int32_t lastFilteredAirPressure; |
177 | int32_t lastFilteredAirPressure; |
178 | 178 | ||
179 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 64 |
179 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 64 |
180 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
180 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
181 | int32_t windowedAirPressure; |
181 | int32_t windowedAirPressure; |
182 | uint8_t windowPtr; |
182 | uint8_t windowPtr; |
183 | 183 | ||
184 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
184 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
185 | int32_t airPressureSum; |
185 | int32_t airPressureSum; |
186 | 186 | ||
187 | // The number of samples summed into airPressureSum so far. |
187 | // The number of samples summed into airPressureSum so far. |
188 | uint8_t pressureMeasurementCount; |
188 | uint8_t pressureMeasurementCount; |
189 | 189 | ||
190 | /* |
190 | /* |
191 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
191 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
192 | * That is divided by 3 below, for a final 10.34 per volt. |
192 | * That is divided by 3 below, for a final 10.34 per volt. |
193 | * So the initial value of 100 is for 9.7 volts. |
193 | * So the initial value of 100 is for 9.7 volts. |
194 | */ |
194 | */ |
195 | int16_t UBat = 100; |
195 | int16_t UBat = 100; |
196 | 196 | ||
197 | /* |
197 | /* |
198 | * Control and status. |
198 | * Control and status. |
199 | */ |
199 | */ |
200 | volatile uint16_t ADCycleCount = 0; |
200 | volatile uint16_t ADCycleCount = 0; |
201 | volatile uint8_t analogDataReady = 1; |
201 | volatile uint8_t analogDataReady = 1; |
202 | 202 | ||
203 | /* |
203 | /* |
204 | * Experiment: Measuring vibration-induced sensor noise. |
204 | * Experiment: Measuring vibration-induced sensor noise. |
205 | */ |
205 | */ |
206 | uint16_t gyroNoisePeak[3]; |
206 | uint16_t gyroNoisePeak[3]; |
207 | uint16_t accNoisePeak[3]; |
207 | uint16_t accNoisePeak[3]; |
208 | 208 | ||
209 | volatile uint8_t adState; |
209 | volatile uint8_t adState; |
210 | volatile uint8_t adChannel; |
210 | volatile uint8_t adChannel; |
211 | 211 | ||
212 | // ADC channels |
212 | // ADC channels |
213 | #define AD_GYRO_YAW 0 |
213 | #define AD_GYRO_YAW 0 |
214 | #define AD_GYRO_ROLL 1 |
214 | #define AD_GYRO_ROLL 1 |
215 | #define AD_GYRO_PITCH 2 |
215 | #define AD_GYRO_PITCH 2 |
216 | #define AD_AIRPRESSURE 3 |
216 | #define AD_AIRPRESSURE 3 |
217 | #define AD_UBAT 4 |
217 | #define AD_UBAT 4 |
218 | #define AD_ACC_Z 5 |
218 | #define AD_ACC_Z 5 |
219 | #define AD_ACC_ROLL 6 |
219 | #define AD_ACC_ROLL 6 |
220 | #define AD_ACC_PITCH 7 |
220 | #define AD_ACC_PITCH 7 |
221 | 221 | ||
222 | /* |
222 | /* |
223 | * Table of AD converter inputs for each state. |
223 | * Table of AD converter inputs for each state. |
224 | * The number of samples summed for each channel is equal to |
224 | * The number of samples summed for each channel is equal to |
225 | * the number of times the channel appears in the array. |
225 | * the number of times the channel appears in the array. |
226 | * The max. number of samples that can be taken in 2 ms is: |
226 | * The max. number of samples that can be taken in 2 ms is: |
227 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
227 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
228 | * loop needs a little time between reading AD values and |
228 | * loop needs a little time between reading AD values and |
229 | * re-enabling ADC, the real limit is (how much?) lower. |
229 | * re-enabling ADC, the real limit is (how much?) lower. |
230 | * The acc. sensor is sampled even if not used - or installed |
230 | * The acc. sensor is sampled even if not used - or installed |
231 | * at all. The cost is not significant. |
231 | * at all. The cost is not significant. |
232 | */ |
232 | */ |
233 | 233 | ||
234 | const uint8_t channelsForStates[] PROGMEM = { |
234 | const uint8_t channelsForStates[] PROGMEM = { |
235 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
235 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
236 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
236 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
237 | 237 | ||
238 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
238 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
239 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
239 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
240 | 240 | ||
241 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
241 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
242 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
242 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
243 | AD_AIRPRESSURE, // at 14, finish air pressure. |
243 | AD_AIRPRESSURE, // at 14, finish air pressure. |
244 | 244 | ||
245 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
245 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
246 | AD_GYRO_ROLL, // at 16, finish roll gyro |
246 | AD_GYRO_ROLL, // at 16, finish roll gyro |
247 | AD_UBAT // at 17, measure battery. |
247 | AD_UBAT // at 17, measure battery. |
248 | }; |
248 | }; |
249 | 249 | ||
250 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
250 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
251 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
251 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
252 | 252 | ||
253 | void analog_init(void) { |
253 | void analog_init(void) { |
254 | uint8_t sreg = SREG; |
254 | uint8_t sreg = SREG; |
255 | // disable all interrupts before reconfiguration |
255 | // disable all interrupts before reconfiguration |
256 | cli(); |
256 | cli(); |
257 | 257 | ||
258 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
258 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
259 | DDRA = 0x00; |
259 | DDRA = 0x00; |
260 | PORTA = 0x00; |
260 | PORTA = 0x00; |
261 | // Digital Input Disable Register 0 |
261 | // Digital Input Disable Register 0 |
262 | // Disable digital input buffer for analog adc_channel pins |
262 | // Disable digital input buffer for analog adc_channel pins |
263 | DIDR0 = 0xFF; |
263 | DIDR0 = 0xFF; |
264 | // external reference, adjust data to the right |
264 | // external reference, adjust data to the right |
265 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
265 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
266 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
266 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
267 | ADMUX = (ADMUX & 0xE0); |
267 | ADMUX = (ADMUX & 0xE0); |
268 | //Set ADC Control and Status Register A |
268 | //Set ADC Control and Status Register A |
269 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
269 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
270 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
270 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
271 | //Set ADC Control and Status Register B |
271 | //Set ADC Control and Status Register B |
272 | //Trigger Source to Free Running Mode |
272 | //Trigger Source to Free Running Mode |
273 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
273 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
274 | 274 | ||
275 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
275 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
276 | airPressureWindow[i] = 0; |
276 | airPressureWindow[i] = 0; |
277 | } |
277 | } |
278 | 278 | ||
279 | windowedAirPressure = 0; |
279 | windowedAirPressure = 0; |
280 | 280 | ||
281 | startAnalogConversionCycle(); |
281 | startAnalogConversionCycle(); |
282 | 282 | ||
283 | // restore global interrupt flags |
283 | // restore global interrupt flags |
284 | SREG = sreg; |
284 | SREG = sreg; |
285 | } |
285 | } |
286 | 286 | ||
287 | uint16_t rawGyroValue(uint8_t axis) { |
287 | uint16_t rawGyroValue(uint8_t axis) { |
288 | return sensorInputs[AD_GYRO_PITCH-axis]; |
288 | return sensorInputs[AD_GYRO_PITCH-axis]; |
289 | } |
289 | } |
290 | 290 | ||
291 | uint16_t rawAccValue(uint8_t axis) { |
291 | uint16_t rawAccValue(uint8_t axis) { |
292 | return sensorInputs[AD_ACC_PITCH-axis]; |
292 | return sensorInputs[AD_ACC_PITCH-axis]; |
293 | } |
293 | } |
294 | 294 | ||
295 | void measureNoise(const int16_t sensor, |
295 | void measureNoise(const int16_t sensor, |
296 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
296 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
297 | if (sensor > (int16_t) (*noiseMeasurement)) { |
297 | if (sensor > (int16_t) (*noiseMeasurement)) { |
298 | *noiseMeasurement = sensor; |
298 | *noiseMeasurement = sensor; |
299 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
299 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
300 | *noiseMeasurement = -sensor; |
300 | *noiseMeasurement = -sensor; |
301 | } else if (*noiseMeasurement > damping) { |
301 | } else if (*noiseMeasurement > damping) { |
302 | *noiseMeasurement -= damping; |
302 | *noiseMeasurement -= damping; |
303 | } else { |
303 | } else { |
304 | *noiseMeasurement = 0; |
304 | *noiseMeasurement = 0; |
305 | } |
305 | } |
306 | } |
306 | } |
307 | 307 | ||
308 | /* |
308 | /* |
309 | * Min.: 0 |
309 | * Min.: 0 |
310 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
310 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
311 | */ |
311 | */ |
312 | uint16_t getSimplePressure(int advalue) { |
312 | uint16_t getSimplePressure(int advalue) { |
313 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
313 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
314 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
314 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
315 | return result; |
315 | return result; |
316 | } |
316 | } |
317 | 317 | ||
318 | void startAnalogConversionCycle(void) { |
318 | void startAnalogConversionCycle(void) { |
319 | analogDataReady = 0; |
319 | analogDataReady = 0; |
320 | 320 | ||
321 | // Stop the sampling. Cycle is over. |
321 | // Stop the sampling. Cycle is over. |
322 | for (uint8_t i = 0; i < 8; i++) { |
322 | for (uint8_t i = 0; i < 8; i++) { |
323 | sensorInputs[i] = 0; |
323 | sensorInputs[i] = 0; |
324 | } |
324 | } |
325 | adState = 0; |
325 | adState = 0; |
326 | adChannel = AD_GYRO_PITCH; |
326 | adChannel = AD_GYRO_PITCH; |
327 | ADMUX = (ADMUX & 0xE0) | adChannel; |
327 | ADMUX = (ADMUX & 0xE0) | adChannel; |
328 | startADC(); |
328 | startADC(); |
329 | } |
329 | } |
330 | 330 | ||
331 | /***************************************************** |
331 | /***************************************************** |
332 | * Interrupt Service Routine for ADC |
332 | * Interrupt Service Routine for ADC |
333 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
333 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
334 | * processed further conversions are stopped. |
334 | * processed further conversions are stopped. |
335 | *****************************************************/ |
335 | *****************************************************/ |
336 | ISR(ADC_vect) { |
336 | ISR(ADC_vect) { |
337 | sensorInputs[adChannel] += ADC; |
337 | sensorInputs[adChannel] += ADC; |
338 | // set up for next state. |
338 | // set up for next state. |
339 | adState++; |
339 | adState++; |
340 | if (adState < sizeof(channelsForStates)) { |
340 | if (adState < sizeof(channelsForStates)) { |
341 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
341 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
342 | // set adc muxer to next adChannel |
342 | // set adc muxer to next adChannel |
343 | ADMUX = (ADMUX & 0xE0) | adChannel; |
343 | ADMUX = (ADMUX & 0xE0) | adChannel; |
344 | // after full cycle stop further interrupts |
344 | // after full cycle stop further interrupts |
345 | startADC(); |
345 | startADC(); |
346 | } else { |
346 | } else { |
347 | ADCycleCount++; |
347 | ADCycleCount++; |
348 | analogDataReady = 1; |
348 | analogDataReady = 1; |
349 | // do not restart ADC converter. |
349 | // do not restart ADC converter. |
350 | } |
350 | } |
351 | } |
351 | } |
352 | 352 | ||
353 | void analog_updateGyros(void) { |
353 | void analog_updateGyros(void) { |
354 | // for various filters... |
354 | // for various filters... |
355 | int16_t tempOffsetGyro[2], tempGyro; |
355 | int16_t tempOffsetGyro[2], tempGyro; |
356 | 356 | ||
357 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
357 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
358 | for (uint8_t axis=0; axis<2; axis++) { |
358 | for (uint8_t axis=0; axis<2; axis++) { |
359 | tempGyro = rawGyroValue(axis); |
359 | tempGyro = rawGyroValue(axis); |
360 | /* |
360 | /* |
361 | * Process the gyro data for the PID controller. |
361 | * Process the gyro data for the PID controller. |
362 | */ |
362 | */ |
363 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
363 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
364 | // gyro with a wider range, and helps counter saturation at full control. |
364 | // gyro with a wider range, and helps counter saturation at full control. |
365 | 365 | ||
366 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
366 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
367 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
367 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
368 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
368 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
369 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
369 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
370 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
370 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
371 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
371 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
372 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
372 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
373 | } |
373 | } |
374 | } |
374 | } |
375 | 375 | ||
376 | // 2) Apply sign and offset, scale before filtering. |
376 | // 2) Apply sign and offset, scale before filtering. |
377 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
377 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
378 | } |
378 | } |
379 | 379 | ||
380 | // 2.1: Transform axes. |
380 | // 2.1: Transform axes. |
381 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
381 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
382 | 382 | ||
383 | for (uint8_t axis=0; axis<2; axis++) { |
383 | for (uint8_t axis=0; axis<2; axis++) { |
384 | // 3) Filter. |
384 | // 3) Filter. |
385 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
385 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
386 | 386 | ||
387 | // 4) Measure noise. |
387 | // 4) Measure noise. |
388 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
388 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
389 | 389 | ||
390 | // 5) Differential measurement. |
390 | // 5) Differential measurement. |
391 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
391 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
392 | 392 | ||
393 | // 6) Done. |
393 | // 6) Done. |
394 | gyro_PID[axis] = tempOffsetGyro[axis]; |
394 | gyro_PID[axis] = tempOffsetGyro[axis]; |
395 | 395 | ||
396 | // Prepare tempOffsetGyro for next calculation below... |
396 | // Prepare tempOffsetGyro for next calculation below... |
397 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
397 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
398 | } |
398 | } |
399 | 399 | ||
400 | /* |
400 | /* |
401 | * Now process the data for attitude angles. |
401 | * Now process the data for attitude angles. |
402 | */ |
402 | */ |
403 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
403 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
404 | 404 | ||
405 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
405 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
406 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
406 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
407 | 407 | ||
408 | debugOut.analog[22 + 0] = gyro_PID[0]; |
408 | debugOut.analog[22 + 0] = gyro_PID[0]; |
409 | debugOut.analog[22 + 1] = gyro_PID[1]; |
409 | debugOut.analog[22 + 1] = gyro_PID[1]; |
410 | 410 | ||
411 | debugOut.analog[24 + 0] = gyro_ATT[0]; |
411 | debugOut.analog[24 + 0] = gyro_ATT[0]; |
412 | debugOut.analog[24 + 1] = gyro_ATT[1]; |
412 | debugOut.analog[24 + 1] = gyro_ATT[1]; |
413 | 413 | ||
414 | // 2) Filter. This should really be quite unnecessary. The integration should gobble up any noise anyway and the values are not used for anything else. |
414 | // 2) Filter. This should really be quite unnecessary. The integration should gobble up any noise anyway and the values are not used for anything else. |
415 | // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
415 | // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
416 | // gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
416 | // gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
417 | 417 | ||
418 | // Yaw gyro. |
418 | // Yaw gyro. |
419 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
419 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
420 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
420 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
421 | else |
421 | else |
422 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
422 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
423 | } |
423 | } |
424 | 424 | ||
425 | void analog_updateAccelerometers(void) { |
425 | void analog_updateAccelerometers(void) { |
426 | // Pitch and roll axis accelerations. |
426 | // Pitch and roll axis accelerations. |
427 | for (uint8_t axis=0; axis<2; axis++) { |
427 | for (uint8_t axis=0; axis<2; axis++) { |
428 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
428 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
429 | } |
429 | } |
430 | 430 | ||
431 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
431 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
432 | for(uint8_t axis=0; axis<3; axis++) { |
432 | for(uint8_t axis=0; axis<3; axis++) { |
433 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
433 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
434 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
434 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
435 | } |
435 | } |
436 | 436 | ||
437 | // Z acc. |
437 | // Z acc. |
438 | if (staticParams.imuReversedFlags & 8) |
438 | if (staticParams.imuReversedFlags & 8) |
439 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
439 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
440 | else |
440 | else |
441 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
441 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
442 | } |
442 | } |
443 | 443 | ||
444 | void analog_updateAirPressure(void) { |
444 | void analog_updateAirPressure(void) { |
445 | static uint16_t pressureAutorangingWait = 25; |
445 | static uint16_t pressureAutorangingWait = 25; |
446 | uint16_t rawAirPressure; |
446 | uint16_t rawAirPressure; |
447 | int16_t newrange; |
447 | int16_t newrange; |
448 | // air pressure |
448 | // air pressure |
449 | if (pressureAutorangingWait) { |
449 | if (pressureAutorangingWait) { |
450 | //A range switch was done recently. Wait for steadying. |
450 | //A range switch was done recently. Wait for steadying. |
451 | pressureAutorangingWait--; |
451 | pressureAutorangingWait--; |
452 | } else { |
452 | } else { |
453 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
453 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
454 | if (rawAirPressure < MIN_RAWPRESSURE) { |
454 | if (rawAirPressure < MIN_RAWPRESSURE) { |
455 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
455 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
456 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
456 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
457 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
457 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
458 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
458 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
459 | OCR0A = newrange; |
459 | OCR0A = newrange; |
460 | } else { |
460 | } else { |
461 | if (OCR0A) { |
461 | if (OCR0A) { |
462 | OCR0A--; |
462 | OCR0A--; |
463 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
463 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
464 | } |
464 | } |
465 | } |
465 | } |
466 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
466 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
467 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
467 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
468 | // If near the end, make a limited increase |
468 | // If near the end, make a limited increase |
469 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
469 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
470 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
470 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
471 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
471 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
472 | OCR0A = newrange; |
472 | OCR0A = newrange; |
473 | } else { |
473 | } else { |
474 | if (OCR0A < 254) { |
474 | if (OCR0A < 254) { |
475 | OCR0A++; |
475 | OCR0A++; |
476 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
476 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
477 | } |
477 | } |
478 | } |
478 | } |
479 | } |
479 | } |
480 | 480 | ||
481 | // Even if the sample is off-range, use it. |
481 | // Even if the sample is off-range, use it. |
482 | simpleAirPressure = getSimplePressure(rawAirPressure); |
482 | simpleAirPressure = getSimplePressure(rawAirPressure); |
483 | 483 | ||
484 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
484 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
485 | // Danger: pressure near lower end of range. If the measurement saturates, the |
485 | // Danger: pressure near lower end of range. If the measurement saturates, the |
486 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
486 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
487 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
487 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
488 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
488 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
489 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
489 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
490 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
490 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
491 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
491 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
492 | // Danger: pressure near upper end of range. If the measurement saturates, the |
492 | // Danger: pressure near upper end of range. If the measurement saturates, the |
493 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
493 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
494 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
494 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
495 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
495 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
496 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
496 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
497 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
497 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
498 | } else { |
498 | } else { |
499 | // normal case. |
499 | // normal case. |
500 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
500 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
501 | // The 2 cases above (end of range) are ignored for this. |
501 | // The 2 cases above (end of range) are ignored for this. |
502 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
502 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
503 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING - 1) |
- | |
504 | airPressureSum += simpleAirPressure / 2; |
- | |
505 | else |
- | |
506 | airPressureSum += simpleAirPressure; |
503 | airPressureSum += simpleAirPressure; |
507 | } |
504 | } |
508 | 505 | ||
509 | // 2 samples were added. |
506 | // 2 samples were added. |
510 | pressureMeasurementCount += 2; |
507 | pressureMeasurementCount += 2; |
- | 508 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
|
511 | if (pressureMeasurementCount >= AIRPRESSURE_OVERSAMPLING) { |
509 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
- | 510 | ||
- | 511 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
|
- | 512 | airPressureSum += simpleAirPressure >> 2; |
|
- | 513 | ||
512 | lastFilteredAirPressure = filteredAirPressure; |
514 | lastFilteredAirPressure = filteredAirPressure; |
- | 515 | ||
- | 516 | if (!staticParams.airpressureWindowLength) { |
|
513 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
517 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
514 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
518 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
- | 519 | } else { |
|
- | 520 | // use windowed. |
|
- | 521 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
|
- | 522 | } |
|
515 | pressureMeasurementCount = airPressureSum = 0; |
523 | pressureMeasurementCount = airPressureSum = 0; |
516 | } |
524 | } |
517 | //int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
525 | //int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
518 | //int32_t windowedAirPressure = 0; |
526 | //int32_t windowedAirPressure = 0; |
519 | //uint8_t windowPtr; |
527 | //uint8_t windowPtr; |
520 | windowedAirPressure += simpleAirPressure; |
528 | windowedAirPressure += simpleAirPressure; |
521 | windowedAirPressure -= airPressureWindow[windowPtr]; |
529 | windowedAirPressure -= airPressureWindow[windowPtr]; |
522 | airPressureWindow[windowPtr] = simpleAirPressure; |
530 | airPressureWindow[windowPtr] = simpleAirPressure; |
523 | windowPtr = (windowPtr+1) % MAX_AIRPRESSURE_WINDOW_LENGTH; |
531 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
524 | } |
532 | } |
525 | } |
533 | } |
526 | 534 | ||
527 | void analog_updateBatteryVoltage(void) { |
535 | void analog_updateBatteryVoltage(void) { |
528 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
536 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
529 | // This is divided by 3 --> 10.34 counts per volt. |
537 | // This is divided by 3 --> 10.34 counts per volt. |
530 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
538 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
531 | } |
539 | } |
532 | 540 | ||
533 | void analog_update(void) { |
541 | void analog_update(void) { |
534 | analog_updateGyros(); |
542 | analog_updateGyros(); |
535 | analog_updateAccelerometers(); |
543 | analog_updateAccelerometers(); |
536 | analog_updateAirPressure(); |
544 | analog_updateAirPressure(); |
537 | analog_updateBatteryVoltage(); |
545 | analog_updateBatteryVoltage(); |
538 | } |
546 | } |
539 | 547 | ||
540 | void analog_setNeutral() { |
548 | void analog_setNeutral() { |
541 | gyro_init(); |
549 | gyro_init(); |
542 | 550 | ||
543 | if (gyroOffset_readFromEEProm()) { |
551 | if (gyroOffset_readFromEEProm()) { |
544 | printf("gyro offsets invalid%s",recal); |
552 | printf("gyro offsets invalid%s",recal); |
545 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
553 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
546 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
554 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
547 | } |
555 | } |
548 | 556 | ||
549 | if (accOffset_readFromEEProm()) { |
557 | if (accOffset_readFromEEProm()) { |
550 | printf("acc. meter offsets invalid%s",recal); |
558 | printf("acc. meter offsets invalid%s",recal); |
551 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
559 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
552 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
560 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
553 | } |
561 | } |
554 | 562 | ||
555 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
563 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
556 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
564 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
557 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
565 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
558 | 566 | ||
559 | // Setting offset values has an influence in the analog.c ISR |
567 | // Setting offset values has an influence in the analog.c ISR |
560 | // Therefore run measurement for 100ms to achive stable readings |
568 | // Therefore run measurement for 100ms to achive stable readings |
561 | delay_ms_with_adc_measurement(100, 0); |
569 | delay_ms_with_adc_measurement(100, 0); |
562 | 570 | ||
563 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
571 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
564 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_OVERSAMPLING/2); |
572 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_OVERSAMPLING/2); |
565 | // pressureMeasurementCount = 0; |
573 | // pressureMeasurementCount = 0; |
566 | } |
574 | } |
567 | 575 | ||
568 | void analog_calibrateGyros(void) { |
576 | void analog_calibrateGyros(void) { |
569 | #define GYRO_OFFSET_CYCLES 32 |
577 | #define GYRO_OFFSET_CYCLES 32 |
570 | uint8_t i, axis; |
578 | uint8_t i, axis; |
571 | int32_t offsets[3] = { 0, 0, 0 }; |
579 | int32_t offsets[3] = { 0, 0, 0 }; |
572 | gyro_calibrate(); |
580 | gyro_calibrate(); |
573 | 581 | ||
574 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
582 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
575 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
583 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
576 | delay_ms_with_adc_measurement(10, 1); |
584 | delay_ms_with_adc_measurement(10, 1); |
577 | for (axis = PITCH; axis <= YAW; axis++) { |
585 | for (axis = PITCH; axis <= YAW; axis++) { |
578 | offsets[axis] += rawGyroValue(axis); |
586 | offsets[axis] += rawGyroValue(axis); |
579 | } |
587 | } |
580 | } |
588 | } |
581 | 589 | ||
582 | for (axis = PITCH; axis <= YAW; axis++) { |
590 | for (axis = PITCH; axis <= YAW; axis++) { |
583 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
591 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
584 | 592 | ||
585 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
593 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
586 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
594 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
587 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
595 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
588 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
596 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
589 | } |
597 | } |
590 | 598 | ||
591 | gyroOffset_writeToEEProm(); |
599 | gyroOffset_writeToEEProm(); |
592 | startAnalogConversionCycle(); |
600 | startAnalogConversionCycle(); |
593 | } |
601 | } |
594 | 602 | ||
595 | /* |
603 | /* |
596 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
604 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
597 | * Does not (!} update the local variables. This must be done with a |
605 | * Does not (!} update the local variables. This must be done with a |
598 | * call to analog_calibrate() - this always (?) is done by the caller |
606 | * call to analog_calibrate() - this always (?) is done by the caller |
599 | * anyway. There would be nothing wrong with updating the variables |
607 | * anyway. There would be nothing wrong with updating the variables |
600 | * directly from here, though. |
608 | * directly from here, though. |
601 | */ |
609 | */ |
602 | void analog_calibrateAcc(void) { |
610 | void analog_calibrateAcc(void) { |
603 | #define ACC_OFFSET_CYCLES 32 |
611 | #define ACC_OFFSET_CYCLES 32 |
604 | uint8_t i, axis; |
612 | uint8_t i, axis; |
605 | int32_t offsets[3] = { 0, 0, 0 }; |
613 | int32_t offsets[3] = { 0, 0, 0 }; |
606 | 614 | ||
607 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
615 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
608 | delay_ms_with_adc_measurement(10, 1); |
616 | delay_ms_with_adc_measurement(10, 1); |
609 | for (axis = PITCH; axis <= YAW; axis++) { |
617 | for (axis = PITCH; axis <= YAW; axis++) { |
610 | offsets[axis] += rawAccValue(axis); |
618 | offsets[axis] += rawAccValue(axis); |
611 | } |
619 | } |
612 | } |
620 | } |
613 | 621 | ||
614 | for (axis = PITCH; axis <= YAW; axis++) { |
622 | for (axis = PITCH; axis <= YAW; axis++) { |
615 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
623 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
616 | int16_t min,max; |
624 | int16_t min,max; |
617 | if (axis==Z) { |
625 | if (axis==Z) { |
618 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
626 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
619 | // TODO: This assumes a sensitivity of +/- 2g. |
627 | // TODO: This assumes a sensitivity of +/- 2g. |
620 | min = (256-200) * ACC_OVERSAMPLING_Z; |
628 | min = (256-200) * ACC_OVERSAMPLING_Z; |
621 | max = (256+200) * ACC_OVERSAMPLING_Z; |
629 | max = (256+200) * ACC_OVERSAMPLING_Z; |
622 | } else { |
630 | } else { |
623 | // TODO: This assumes a sensitivity of +/- 2g. |
631 | // TODO: This assumes a sensitivity of +/- 2g. |
624 | min = (768-200) * ACC_OVERSAMPLING_Z; |
632 | min = (768-200) * ACC_OVERSAMPLING_Z; |
625 | max = (768+200) * ACC_OVERSAMPLING_Z; |
633 | max = (768+200) * ACC_OVERSAMPLING_Z; |
626 | } |
634 | } |
627 | } else { |
635 | } else { |
628 | min = (512-200) * ACC_OVERSAMPLING_XY; |
636 | min = (512-200) * ACC_OVERSAMPLING_XY; |
629 | max = (512+200) * ACC_OVERSAMPLING_XY; |
637 | max = (512+200) * ACC_OVERSAMPLING_XY; |
630 | } |
638 | } |
631 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
639 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
632 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
640 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
633 | } |
641 | } |
634 | } |
642 | } |
635 | 643 | ||
636 | accOffset_writeToEEProm(); |
644 | accOffset_writeToEEProm(); |
637 | startAnalogConversionCycle(); |
645 | startAnalogConversionCycle(); |
638 | } |
646 | } |
639 | 647 | ||
640 | void analog_setGround() { |
648 | void analog_setGround() { |
641 | groundPressure = filteredAirPressure; |
649 | groundPressure = filteredAirPressure; |
642 | } |
650 | } |
643 | 651 | ||
644 | int32_t analog_getHeight(void) { |
652 | int32_t analog_getHeight(void) { |
645 | return groundPressure - filteredAirPressure; |
653 | return groundPressure - filteredAirPressure; |
646 | } |
654 | } |
647 | 655 | ||
648 | int16_t analog_getDHeight(void) { |
656 | int16_t analog_getDHeight(void) { |
649 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
657 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
650 | return lastFilteredAirPressure - filteredAirPressure; |
658 | return lastFilteredAirPressure - filteredAirPressure; |
651 | } |
659 | } |
652 | 660 |