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1 | #include <avr/io.h> |
1 | #include <avr/io.h> |
2 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
3 | #include <avr/pgmspace.h> |
3 | #include <avr/pgmspace.h> |
4 | 4 | ||
5 | #include "analog.h" |
5 | #include "analog.h" |
6 | #include "attitude.h" |
6 | #include "attitude.h" |
7 | #include "sensors.h" |
7 | #include "sensors.h" |
8 | #include "printf_P.h" |
8 | #include "printf_P.h" |
- | 9 | #include "mk3mag.h" |
|
9 | 10 | ||
10 | // for Delay functions |
11 | // for Delay functions |
11 | #include "timer0.h" |
12 | #include "timer0.h" |
12 | 13 | ||
13 | // For debugOut |
14 | // For debugOut |
14 | #include "uart0.h" |
15 | #include "uart0.h" |
15 | 16 | ||
16 | // For reading and writing acc. meter offsets. |
17 | // For reading and writing acc. meter offsets. |
17 | #include "eeprom.h" |
18 | #include "eeprom.h" |
18 | 19 | ||
19 | // For debugOut.digital |
20 | // For debugOut.digital |
20 | #include "output.h" |
21 | #include "output.h" |
21 | 22 | ||
22 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
23 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
23 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
24 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
24 | 25 | ||
25 | const char* recal = ", recalibration needed."; |
26 | const char* recal = ", recalibration needed."; |
26 | 27 | ||
27 | /* |
28 | /* |
28 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
29 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
29 | * (see array channelsForStates), and the results for each channel are summed. |
30 | * (see array channelsForStates), and the results for each channel are summed. |
30 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
31 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
31 | * They are exported in the analog.h file - but please do not use them! The only |
32 | * They are exported in the analog.h file - but please do not use them! The only |
32 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
33 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
33 | * the offsets with the DAC. |
34 | * the offsets with the DAC. |
34 | */ |
35 | */ |
35 | volatile uint16_t sensorInputs[8]; |
36 | volatile uint16_t sensorInputs[8]; |
36 | int16_t acc[3]; |
37 | int16_t acc[3]; |
37 | int16_t filteredAcc[3] = { 0,0,0 }; |
38 | int16_t filteredAcc[3] = { 0,0,0 }; |
38 | 39 | ||
39 | /* |
40 | /* |
40 | * These 4 exported variables are zero-offset. The "PID" ones are used |
41 | * These 4 exported variables are zero-offset. The "PID" ones are used |
41 | * in the attitude control as rotation rates. The "ATT" ones are for |
42 | * in the attitude control as rotation rates. The "ATT" ones are for |
42 | * integration to angles. |
43 | * integration to angles. |
43 | */ |
44 | */ |
44 | int16_t gyro_PID[2]; |
45 | int16_t gyro_PID[2]; |
45 | int16_t gyro_ATT[2]; |
46 | int16_t gyro_ATT[2]; |
46 | int16_t gyroD[2]; |
47 | int16_t gyroD[2]; |
47 | int16_t yawGyro; |
48 | int16_t yawGyro; |
- | 49 | int16_t magneticHeading; |
|
48 | 50 | ||
49 | int32_t groundPressure; |
51 | int32_t groundPressure; |
50 | 52 | ||
51 | /* |
53 | /* |
52 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
54 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
53 | * standing still. They are used for adjusting the gyro and acc. meter values |
55 | * standing still. They are used for adjusting the gyro and acc. meter values |
54 | * to be centered on zero. |
56 | * to be centered on zero. |
55 | */ |
57 | */ |
56 | 58 | ||
57 | sensorOffset_t gyroOffset; |
59 | sensorOffset_t gyroOffset; |
58 | sensorOffset_t accOffset; |
60 | sensorOffset_t accOffset; |
59 | sensorOffset_t gyroAmplifierOffset; |
61 | sensorOffset_t gyroAmplifierOffset; |
60 | 62 | ||
61 | /* |
63 | /* |
62 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
64 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
63 | * If a sensor is used in an orientation where one but not both of the axes has |
65 | * If a sensor is used in an orientation where one but not both of the axes has |
64 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
66 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
65 | * Transform: |
67 | * Transform: |
66 | * pitch <- pp*pitch + pr*roll |
68 | * pitch <- pp*pitch + pr*roll |
67 | * roll <- rp*pitch + rr*roll |
69 | * roll <- rp*pitch + rr*roll |
68 | * Not reversed, GYRO_QUADRANT: |
70 | * Not reversed, GYRO_QUADRANT: |
69 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
71 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
70 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
72 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
71 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
73 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
72 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
74 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
73 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
75 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
74 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
76 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
75 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
77 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
76 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
78 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
77 | * Reversed, GYRO_QUADRANT: |
79 | * Reversed, GYRO_QUADRANT: |
78 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
80 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
79 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
81 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
80 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
82 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
81 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
83 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
82 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
84 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
83 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
85 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
84 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
86 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
85 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
87 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
86 | */ |
88 | */ |
87 | 89 | ||
88 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
90 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
89 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
91 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
90 | // Pitch to Pitch part |
92 | // Pitch to Pitch part |
91 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
93 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
92 | // Roll to Pitch part |
94 | // Roll to Pitch part |
93 | int8_t xy = rotationTab[(quadrant+2)%8]; |
95 | int8_t xy = rotationTab[(quadrant+2)%8]; |
94 | // Pitch to Roll part |
96 | // Pitch to Roll part |
95 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
97 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
96 | // Roll to Roll part |
98 | // Roll to Roll part |
97 | int8_t yy = rotationTab[quadrant]; |
99 | int8_t yy = rotationTab[quadrant]; |
98 | 100 | ||
99 | int16_t xIn = result[0]; |
101 | int16_t xIn = result[0]; |
100 | result[0] = xx*xIn + xy*result[1]; |
102 | result[0] = xx*xIn + xy*result[1]; |
101 | result[1] = yx*xIn + yy*result[1]; |
103 | result[1] = yx*xIn + yy*result[1]; |
102 | 104 | ||
103 | if (quadrant & 1) { |
105 | if (quadrant & 1) { |
104 | // A rotation was used above, where the factors were too large by sqrt(2). |
106 | // A rotation was used above, where the factors were too large by sqrt(2). |
105 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
107 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
106 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
108 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
107 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
109 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
108 | result[0] = (result[0]*11) >> 4; |
110 | result[0] = (result[0]*11) >> 4; |
109 | result[1] = (result[1]*11) >> 4; |
111 | result[1] = (result[1]*11) >> 4; |
110 | } |
112 | } |
111 | } |
113 | } |
112 | 114 | ||
113 | /* |
115 | /* |
114 | * Air pressure |
116 | * Air pressure |
115 | */ |
117 | */ |
116 | volatile uint8_t rangewidth = 105; |
118 | volatile uint8_t rangewidth = 105; |
117 | 119 | ||
118 | // Direct from sensor, irrespective of range. |
120 | // Direct from sensor, irrespective of range. |
119 | // volatile uint16_t rawAirPressure; |
121 | // volatile uint16_t rawAirPressure; |
120 | 122 | ||
121 | // Value of 2 samples, with range. |
123 | // Value of 2 samples, with range. |
122 | uint16_t simpleAirPressure; |
124 | uint16_t simpleAirPressure; |
123 | 125 | ||
124 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
126 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
125 | int32_t filteredAirPressure; |
127 | int32_t filteredAirPressure; |
126 | int32_t lastFilteredAirPressure; |
128 | int32_t lastFilteredAirPressure; |
127 | 129 | ||
128 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
130 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
129 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
131 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
130 | int32_t windowedAirPressure; |
132 | int32_t windowedAirPressure; |
131 | uint8_t windowPtr; |
133 | uint8_t windowPtr; |
132 | 134 | ||
133 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
135 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
134 | int32_t airPressureSum; |
136 | int32_t airPressureSum; |
135 | 137 | ||
136 | // The number of samples summed into airPressureSum so far. |
138 | // The number of samples summed into airPressureSum so far. |
137 | uint8_t pressureMeasurementCount; |
139 | uint8_t pressureMeasurementCount; |
138 | 140 | ||
139 | /* |
141 | /* |
140 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
142 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
141 | * That is divided by 3 below, for a final 10.34 per volt. |
143 | * That is divided by 3 below, for a final 10.34 per volt. |
142 | * So the initial value of 100 is for 9.7 volts. |
144 | * So the initial value of 100 is for 9.7 volts. |
143 | */ |
145 | */ |
144 | int16_t UBat = 100; |
146 | int16_t UBat = 100; |
145 | 147 | ||
146 | /* |
148 | /* |
147 | * Control and status. |
149 | * Control and status. |
148 | */ |
150 | */ |
149 | volatile uint16_t ADCycleCount = 0; |
151 | volatile uint16_t ADCycleCount = 0; |
150 | volatile uint8_t analogDataReady = 1; |
152 | volatile uint8_t analogDataReady = 1; |
151 | 153 | ||
152 | /* |
154 | /* |
153 | * Experiment: Measuring vibration-induced sensor noise. |
155 | * Experiment: Measuring vibration-induced sensor noise. |
154 | */ |
156 | */ |
155 | uint16_t gyroNoisePeak[3]; |
157 | uint16_t gyroNoisePeak[3]; |
156 | uint16_t accNoisePeak[3]; |
158 | uint16_t accNoisePeak[3]; |
157 | 159 | ||
158 | volatile uint8_t adState; |
160 | volatile uint8_t adState; |
159 | volatile uint8_t adChannel; |
161 | volatile uint8_t adChannel; |
160 | 162 | ||
161 | // ADC channels |
163 | // ADC channels |
162 | #define AD_GYRO_YAW 0 |
164 | #define AD_GYRO_YAW 0 |
163 | #define AD_GYRO_ROLL 1 |
165 | #define AD_GYRO_ROLL 1 |
164 | #define AD_GYRO_PITCH 2 |
166 | #define AD_GYRO_PITCH 2 |
165 | #define AD_AIRPRESSURE 3 |
167 | #define AD_AIRPRESSURE 3 |
166 | #define AD_UBAT 4 |
168 | #define AD_UBAT 4 |
167 | #define AD_ACC_Z 5 |
169 | #define AD_ACC_Z 5 |
168 | #define AD_ACC_ROLL 6 |
170 | #define AD_ACC_ROLL 6 |
169 | #define AD_ACC_PITCH 7 |
171 | #define AD_ACC_PITCH 7 |
170 | 172 | ||
171 | /* |
173 | /* |
172 | * Table of AD converter inputs for each state. |
174 | * Table of AD converter inputs for each state. |
173 | * The number of samples summed for each channel is equal to |
175 | * The number of samples summed for each channel is equal to |
174 | * the number of times the channel appears in the array. |
176 | * the number of times the channel appears in the array. |
175 | * The max. number of samples that can be taken in 2 ms is: |
177 | * The max. number of samples that can be taken in 2 ms is: |
176 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
178 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
177 | * loop needs a little time between reading AD values and |
179 | * loop needs a little time between reading AD values and |
178 | * re-enabling ADC, the real limit is (how much?) lower. |
180 | * re-enabling ADC, the real limit is (how much?) lower. |
179 | * The acc. sensor is sampled even if not used - or installed |
181 | * The acc. sensor is sampled even if not used - or installed |
180 | * at all. The cost is not significant. |
182 | * at all. The cost is not significant. |
181 | */ |
183 | */ |
182 | 184 | ||
183 | const uint8_t channelsForStates[] PROGMEM = { |
185 | const uint8_t channelsForStates[] PROGMEM = { |
184 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
186 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
185 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
187 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
186 | 188 | ||
187 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
189 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
188 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
190 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
189 | 191 | ||
190 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
192 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
191 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
193 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
192 | AD_AIRPRESSURE, // at 14, finish air pressure. |
194 | AD_AIRPRESSURE, // at 14, finish air pressure. |
193 | 195 | ||
194 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
196 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
195 | AD_GYRO_ROLL, // at 16, finish roll gyro |
197 | AD_GYRO_ROLL, // at 16, finish roll gyro |
196 | AD_UBAT // at 17, measure battery. |
198 | AD_UBAT // at 17, measure battery. |
197 | }; |
199 | }; |
198 | 200 | ||
199 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
201 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
200 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
202 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
201 | 203 | ||
202 | void analog_init(void) { |
204 | void analog_init(void) { |
203 | uint8_t sreg = SREG; |
205 | uint8_t sreg = SREG; |
204 | // disable all interrupts before reconfiguration |
206 | // disable all interrupts before reconfiguration |
205 | cli(); |
207 | cli(); |
206 | 208 | ||
207 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
209 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
208 | DDRA = 0x00; |
210 | DDRA = 0x00; |
209 | PORTA = 0x00; |
211 | PORTA = 0x00; |
210 | // Digital Input Disable Register 0 |
212 | // Digital Input Disable Register 0 |
211 | // Disable digital input buffer for analog adc_channel pins |
213 | // Disable digital input buffer for analog adc_channel pins |
212 | DIDR0 = 0xFF; |
214 | DIDR0 = 0xFF; |
213 | // external reference, adjust data to the right |
215 | // external reference, adjust data to the right |
214 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
216 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
215 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
217 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
216 | ADMUX = (ADMUX & 0xE0); |
218 | ADMUX = (ADMUX & 0xE0); |
217 | //Set ADC Control and Status Register A |
219 | //Set ADC Control and Status Register A |
218 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
220 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
219 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
221 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
220 | //Set ADC Control and Status Register B |
222 | //Set ADC Control and Status Register B |
221 | //Trigger Source to Free Running Mode |
223 | //Trigger Source to Free Running Mode |
222 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
224 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
223 | 225 | ||
224 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
226 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
225 | airPressureWindow[i] = 0; |
227 | airPressureWindow[i] = 0; |
226 | } |
228 | } |
227 | windowedAirPressure = 0; |
229 | windowedAirPressure = 0; |
228 | 230 | ||
229 | startAnalogConversionCycle(); |
231 | startAnalogConversionCycle(); |
230 | 232 | ||
231 | // restore global interrupt flags |
233 | // restore global interrupt flags |
232 | SREG = sreg; |
234 | SREG = sreg; |
233 | } |
235 | } |
234 | 236 | ||
235 | uint16_t rawGyroValue(uint8_t axis) { |
237 | uint16_t rawGyroValue(uint8_t axis) { |
236 | return sensorInputs[AD_GYRO_PITCH-axis]; |
238 | return sensorInputs[AD_GYRO_PITCH-axis]; |
237 | } |
239 | } |
238 | 240 | ||
239 | uint16_t rawAccValue(uint8_t axis) { |
241 | uint16_t rawAccValue(uint8_t axis) { |
240 | return sensorInputs[AD_ACC_PITCH-axis]; |
242 | return sensorInputs[AD_ACC_PITCH-axis]; |
241 | } |
243 | } |
242 | 244 | ||
243 | void measureNoise(const int16_t sensor, |
245 | void measureNoise(const int16_t sensor, |
244 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
246 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
245 | if (sensor > (int16_t) (*noiseMeasurement)) { |
247 | if (sensor > (int16_t) (*noiseMeasurement)) { |
246 | *noiseMeasurement = sensor; |
248 | *noiseMeasurement = sensor; |
247 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
249 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
248 | *noiseMeasurement = -sensor; |
250 | *noiseMeasurement = -sensor; |
249 | } else if (*noiseMeasurement > damping) { |
251 | } else if (*noiseMeasurement > damping) { |
250 | *noiseMeasurement -= damping; |
252 | *noiseMeasurement -= damping; |
251 | } else { |
253 | } else { |
252 | *noiseMeasurement = 0; |
254 | *noiseMeasurement = 0; |
253 | } |
255 | } |
254 | } |
256 | } |
255 | 257 | ||
256 | /* |
258 | /* |
257 | * Min.: 0 |
259 | * Min.: 0 |
258 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
260 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
259 | */ |
261 | */ |
260 | uint16_t getSimplePressure(int advalue) { |
262 | uint16_t getSimplePressure(int advalue) { |
261 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
263 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
262 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
264 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
263 | return result; |
265 | return result; |
264 | } |
266 | } |
265 | 267 | ||
266 | void startAnalogConversionCycle(void) { |
268 | void startAnalogConversionCycle(void) { |
267 | analogDataReady = 0; |
269 | analogDataReady = 0; |
268 | 270 | ||
269 | // Stop the sampling. Cycle is over. |
271 | // Stop the sampling. Cycle is over. |
270 | for (uint8_t i = 0; i < 8; i++) { |
272 | for (uint8_t i = 0; i < 8; i++) { |
271 | sensorInputs[i] = 0; |
273 | sensorInputs[i] = 0; |
272 | } |
274 | } |
273 | adState = 0; |
275 | adState = 0; |
274 | adChannel = AD_GYRO_PITCH; |
276 | adChannel = AD_GYRO_PITCH; |
275 | ADMUX = (ADMUX & 0xE0) | adChannel; |
277 | ADMUX = (ADMUX & 0xE0) | adChannel; |
276 | startADC(); |
278 | startADC(); |
277 | } |
279 | } |
278 | 280 | ||
279 | /***************************************************** |
281 | /***************************************************** |
280 | * Interrupt Service Routine for ADC |
282 | * Interrupt Service Routine for ADC |
281 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
283 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
282 | * processed further conversions are stopped. |
284 | * processed further conversions are stopped. |
283 | *****************************************************/ |
285 | *****************************************************/ |
284 | ISR(ADC_vect) { |
286 | ISR(ADC_vect) { |
285 | sensorInputs[adChannel] += ADC; |
287 | sensorInputs[adChannel] += ADC; |
286 | // set up for next state. |
288 | // set up for next state. |
287 | adState++; |
289 | adState++; |
288 | if (adState < sizeof(channelsForStates)) { |
290 | if (adState < sizeof(channelsForStates)) { |
289 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
291 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
290 | // set adc muxer to next adChannel |
292 | // set adc muxer to next adChannel |
291 | ADMUX = (ADMUX & 0xE0) | adChannel; |
293 | ADMUX = (ADMUX & 0xE0) | adChannel; |
292 | // after full cycle stop further interrupts |
294 | // after full cycle stop further interrupts |
293 | startADC(); |
295 | startADC(); |
294 | } else { |
296 | } else { |
295 | ADCycleCount++; |
297 | ADCycleCount++; |
296 | analogDataReady = 1; |
298 | analogDataReady = 1; |
297 | // do not restart ADC converter. |
299 | // do not restart ADC converter. |
298 | } |
300 | } |
299 | } |
301 | } |
300 | 302 | ||
301 | void analog_updateGyros(void) { |
303 | void analog_updateGyros(void) { |
302 | // for various filters... |
304 | // for various filters... |
303 | int16_t tempOffsetGyro[2], tempGyro; |
305 | int16_t tempOffsetGyro[2], tempGyro; |
304 | 306 | ||
305 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
307 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
306 | for (uint8_t axis=0; axis<2; axis++) { |
308 | for (uint8_t axis=0; axis<2; axis++) { |
307 | tempGyro = rawGyroValue(axis); |
309 | tempGyro = rawGyroValue(axis); |
308 | /* |
310 | /* |
309 | * Process the gyro data for the PID controller. |
311 | * Process the gyro data for the PID controller. |
310 | */ |
312 | */ |
311 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
313 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
312 | // gyro with a wider range, and helps counter saturation at full control. |
314 | // gyro with a wider range, and helps counter saturation at full control. |
313 | 315 | ||
314 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
316 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
315 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
317 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
316 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
318 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
317 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
319 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
318 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
320 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
319 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
321 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
320 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
322 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
321 | } |
323 | } |
322 | } |
324 | } |
323 | 325 | ||
324 | // 2) Apply sign and offset, scale before filtering. |
326 | // 2) Apply sign and offset, scale before filtering. |
325 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
327 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
326 | } |
328 | } |
327 | 329 | ||
328 | // 2.1: Transform axes. |
330 | // 2.1: Transform axes. |
329 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
331 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
330 | 332 | ||
331 | for (uint8_t axis=0; axis<2; axis++) { |
333 | for (uint8_t axis=0; axis<2; axis++) { |
332 | // 3) Filter. |
334 | // 3) Filter. |
333 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
335 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
334 | 336 | ||
335 | // 4) Measure noise. |
337 | // 4) Measure noise. |
336 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
338 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
337 | 339 | ||
338 | // 5) Differential measurement. |
340 | // 5) Differential measurement. |
339 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
341 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
340 | 342 | ||
341 | // 6) Done. |
343 | // 6) Done. |
342 | gyro_PID[axis] = tempOffsetGyro[axis]; |
344 | gyro_PID[axis] = tempOffsetGyro[axis]; |
343 | 345 | ||
344 | // Prepare tempOffsetGyro for next calculation below... |
346 | // Prepare tempOffsetGyro for next calculation below... |
345 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
347 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
346 | } |
348 | } |
347 | 349 | ||
348 | /* |
350 | /* |
349 | * Now process the data for attitude angles. |
351 | * Now process the data for attitude angles. |
350 | */ |
352 | */ |
351 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
353 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
352 | 354 | ||
353 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
355 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
354 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
356 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
355 | 357 | ||
356 | debugOut.analog[22 + 0] = gyro_PID[0]; |
358 | debugOut.analog[22 + 0] = gyro_PID[0]; |
357 | debugOut.analog[22 + 1] = gyro_PID[1]; |
359 | debugOut.analog[22 + 1] = gyro_PID[1]; |
358 | 360 | ||
359 | debugOut.analog[24 + 0] = gyro_ATT[0]; |
361 | debugOut.analog[24 + 0] = gyro_ATT[0]; |
360 | debugOut.analog[24 + 1] = gyro_ATT[1]; |
362 | debugOut.analog[24 + 1] = gyro_ATT[1]; |
361 | 363 | ||
362 | // 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. |
364 | // 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. |
363 | // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
365 | // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
364 | // gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
366 | // gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
365 | 367 | ||
366 | // Yaw gyro. |
368 | // Yaw gyro. |
367 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
369 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
368 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
370 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
369 | else |
371 | else |
370 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
372 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
371 | } |
373 | } |
372 | 374 | ||
373 | void analog_updateAccelerometers(void) { |
375 | void analog_updateAccelerometers(void) { |
374 | // Pitch and roll axis accelerations. |
376 | // Pitch and roll axis accelerations. |
375 | for (uint8_t axis=0; axis<2; axis++) { |
377 | for (uint8_t axis=0; axis<2; axis++) { |
376 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
378 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
377 | } |
379 | } |
378 | 380 | ||
379 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
381 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
380 | for(uint8_t axis=0; axis<3; axis++) { |
382 | for(uint8_t axis=0; axis<3; axis++) { |
381 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
383 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
382 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
384 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
383 | } |
385 | } |
384 | 386 | ||
385 | // Z acc. |
387 | // Z acc. |
386 | if (staticParams.imuReversedFlags & 8) |
388 | if (staticParams.imuReversedFlags & 8) |
387 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
389 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
388 | else |
390 | else |
389 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
391 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
390 | } |
392 | } |
391 | 393 | ||
392 | void analog_updateAirPressure(void) { |
394 | void analog_updateAirPressure(void) { |
393 | static uint16_t pressureAutorangingWait = 25; |
395 | static uint16_t pressureAutorangingWait = 25; |
394 | uint16_t rawAirPressure; |
396 | uint16_t rawAirPressure; |
395 | int16_t newrange; |
397 | int16_t newrange; |
396 | // air pressure |
398 | // air pressure |
397 | if (pressureAutorangingWait) { |
399 | if (pressureAutorangingWait) { |
398 | //A range switch was done recently. Wait for steadying. |
400 | //A range switch was done recently. Wait for steadying. |
399 | pressureAutorangingWait--; |
401 | pressureAutorangingWait--; |
400 | } else { |
402 | } else { |
401 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
403 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
402 | if (rawAirPressure < MIN_RAWPRESSURE) { |
404 | if (rawAirPressure < MIN_RAWPRESSURE) { |
403 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
405 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
404 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
406 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
405 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
407 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
406 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
408 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
407 | OCR0A = newrange; |
409 | OCR0A = newrange; |
408 | } else { |
410 | } else { |
409 | if (OCR0A) { |
411 | if (OCR0A) { |
410 | OCR0A--; |
412 | OCR0A--; |
411 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
413 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
412 | } |
414 | } |
413 | } |
415 | } |
414 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
416 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
415 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
417 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
416 | // If near the end, make a limited increase |
418 | // If near the end, make a limited increase |
417 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
419 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
418 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
420 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
419 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
421 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
420 | OCR0A = newrange; |
422 | OCR0A = newrange; |
421 | } else { |
423 | } else { |
422 | if (OCR0A < 254) { |
424 | if (OCR0A < 254) { |
423 | OCR0A++; |
425 | OCR0A++; |
424 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
426 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
425 | } |
427 | } |
426 | } |
428 | } |
427 | } |
429 | } |
428 | 430 | ||
429 | // Even if the sample is off-range, use it. |
431 | // Even if the sample is off-range, use it. |
430 | simpleAirPressure = getSimplePressure(rawAirPressure); |
432 | simpleAirPressure = getSimplePressure(rawAirPressure); |
431 | 433 | ||
432 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
434 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
433 | // Danger: pressure near lower end of range. If the measurement saturates, the |
435 | // Danger: pressure near lower end of range. If the measurement saturates, the |
434 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
436 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
435 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
437 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
436 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
438 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
437 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
439 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
438 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
440 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
439 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
441 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
440 | // Danger: pressure near upper end of range. If the measurement saturates, the |
442 | // Danger: pressure near upper end of range. If the measurement saturates, the |
441 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
443 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
442 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
444 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
443 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
445 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
444 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
446 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
445 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
447 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
446 | } else { |
448 | } else { |
447 | // normal case. |
449 | // normal case. |
448 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
450 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
449 | // The 2 cases above (end of range) are ignored for this. |
451 | // The 2 cases above (end of range) are ignored for this. |
450 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
452 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
451 | airPressureSum += simpleAirPressure; |
453 | airPressureSum += simpleAirPressure; |
452 | } |
454 | } |
453 | 455 | ||
454 | // 2 samples were added. |
456 | // 2 samples were added. |
455 | pressureMeasurementCount += 2; |
457 | pressureMeasurementCount += 2; |
456 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
458 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
457 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
459 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
458 | 460 | ||
459 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
461 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
460 | airPressureSum += simpleAirPressure >> 2; |
462 | airPressureSum += simpleAirPressure >> 2; |
461 | 463 | ||
462 | lastFilteredAirPressure = filteredAirPressure; |
464 | lastFilteredAirPressure = filteredAirPressure; |
463 | 465 | ||
464 | 466 | ||
465 | if (!staticParams.airpressureWindowLength) { |
467 | if (!staticParams.airpressureWindowLength) { |
466 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
468 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
467 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
469 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
468 | } else { |
470 | } else { |
469 | // use windowed. |
471 | // use windowed. |
470 | windowedAirPressure += simpleAirPressure; |
472 | windowedAirPressure += simpleAirPressure; |
471 | windowedAirPressure -= airPressureWindow[windowPtr]; |
473 | windowedAirPressure -= airPressureWindow[windowPtr]; |
472 | airPressureWindow[windowPtr] = simpleAirPressure; |
474 | airPressureWindow[windowPtr] = simpleAirPressure; |
473 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
475 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
474 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
476 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
475 | } |
477 | } |
476 | 478 | ||
477 | pressureMeasurementCount = airPressureSum = 0; |
479 | pressureMeasurementCount = airPressureSum = 0; |
478 | } |
480 | } |
479 | } |
481 | } |
480 | } |
482 | } |
481 | 483 | ||
482 | void analog_updateBatteryVoltage(void) { |
484 | void analog_updateBatteryVoltage(void) { |
483 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
485 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
484 | // This is divided by 3 --> 10.34 counts per volt. |
486 | // This is divided by 3 --> 10.34 counts per volt. |
485 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
487 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
486 | } |
488 | } |
487 | 489 | ||
488 | void analog_update(void) { |
490 | void analog_update(void) { |
489 | analog_updateGyros(); |
491 | analog_updateGyros(); |
490 | analog_updateAccelerometers(); |
492 | analog_updateAccelerometers(); |
491 | analog_updateAirPressure(); |
493 | analog_updateAirPressure(); |
492 | analog_updateBatteryVoltage(); |
494 | analog_updateBatteryVoltage(); |
- | 495 | debugOut.analog[12] = magneticHeading = volatileMagneticHeading; |
|
493 | } |
496 | } |
494 | 497 | ||
495 | void analog_setNeutral() { |
498 | void analog_setNeutral() { |
496 | gyro_init(); |
499 | gyro_init(); |
497 | 500 | ||
498 | if (gyroOffset_readFromEEProm()) { |
501 | if (gyroOffset_readFromEEProm()) { |
499 | printf("gyro offsets invalid%s",recal); |
502 | printf("gyro offsets invalid%s",recal); |
500 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
503 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
501 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
504 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
502 | } |
505 | } |
503 | 506 | ||
504 | if (accOffset_readFromEEProm()) { |
507 | if (accOffset_readFromEEProm()) { |
505 | printf("acc. meter offsets invalid%s",recal); |
508 | printf("acc. meter offsets invalid%s",recal); |
506 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
509 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
507 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
510 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
508 | } |
511 | } |
509 | 512 | ||
510 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
513 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
511 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
514 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
512 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
515 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
513 | 516 | ||
514 | // Setting offset values has an influence in the analog.c ISR |
517 | // Setting offset values has an influence in the analog.c ISR |
515 | // Therefore run measurement for 100ms to achive stable readings |
518 | // Therefore run measurement for 100ms to achive stable readings |
516 | delay_ms_with_adc_measurement(100, 0); |
519 | delay_ms_with_adc_measurement(100, 0); |
517 | 520 | ||
518 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
521 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
519 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_OVERSAMPLING/2); |
522 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_OVERSAMPLING/2); |
520 | // pressureMeasurementCount = 0; |
523 | // pressureMeasurementCount = 0; |
521 | } |
524 | } |
522 | 525 | ||
523 | void analog_calibrateGyros(void) { |
526 | void analog_calibrateGyros(void) { |
524 | #define GYRO_OFFSET_CYCLES 32 |
527 | #define GYRO_OFFSET_CYCLES 32 |
525 | uint8_t i, axis; |
528 | uint8_t i, axis; |
526 | int32_t offsets[3] = { 0, 0, 0 }; |
529 | int32_t offsets[3] = { 0, 0, 0 }; |
527 | gyro_calibrate(); |
530 | gyro_calibrate(); |
528 | 531 | ||
529 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
532 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
530 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
533 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
531 | delay_ms_with_adc_measurement(10, 1); |
534 | delay_ms_with_adc_measurement(10, 1); |
532 | for (axis = PITCH; axis <= YAW; axis++) { |
535 | for (axis = PITCH; axis <= YAW; axis++) { |
533 | offsets[axis] += rawGyroValue(axis); |
536 | offsets[axis] += rawGyroValue(axis); |
534 | } |
537 | } |
535 | } |
538 | } |
536 | 539 | ||
537 | for (axis = PITCH; axis <= YAW; axis++) { |
540 | for (axis = PITCH; axis <= YAW; axis++) { |
538 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
541 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
539 | 542 | ||
540 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
543 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
541 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
544 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
542 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
545 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
543 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
546 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
544 | } |
547 | } |
545 | 548 | ||
546 | gyroOffset_writeToEEProm(); |
549 | gyroOffset_writeToEEProm(); |
547 | startAnalogConversionCycle(); |
550 | startAnalogConversionCycle(); |
548 | } |
551 | } |
549 | 552 | ||
550 | /* |
553 | /* |
551 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
554 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
552 | * Does not (!} update the local variables. This must be done with a |
555 | * Does not (!} update the local variables. This must be done with a |
553 | * call to analog_calibrate() - this always (?) is done by the caller |
556 | * call to analog_calibrate() - this always (?) is done by the caller |
554 | * anyway. There would be nothing wrong with updating the variables |
557 | * anyway. There would be nothing wrong with updating the variables |
555 | * directly from here, though. |
558 | * directly from here, though. |
556 | */ |
559 | */ |
557 | void analog_calibrateAcc(void) { |
560 | void analog_calibrateAcc(void) { |
558 | #define ACC_OFFSET_CYCLES 32 |
561 | #define ACC_OFFSET_CYCLES 32 |
559 | uint8_t i, axis; |
562 | uint8_t i, axis; |
560 | int32_t offsets[3] = { 0, 0, 0 }; |
563 | int32_t offsets[3] = { 0, 0, 0 }; |
561 | 564 | ||
562 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
565 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
563 | delay_ms_with_adc_measurement(10, 1); |
566 | delay_ms_with_adc_measurement(10, 1); |
564 | for (axis = PITCH; axis <= YAW; axis++) { |
567 | for (axis = PITCH; axis <= YAW; axis++) { |
565 | offsets[axis] += rawAccValue(axis); |
568 | offsets[axis] += rawAccValue(axis); |
566 | } |
569 | } |
567 | } |
570 | } |
568 | 571 | ||
569 | for (axis = PITCH; axis <= YAW; axis++) { |
572 | for (axis = PITCH; axis <= YAW; axis++) { |
570 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
573 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
571 | int16_t min,max; |
574 | int16_t min,max; |
572 | if (axis==Z) { |
575 | if (axis==Z) { |
573 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
576 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
574 | // TODO: This assumes a sensitivity of +/- 2g. |
577 | // TODO: This assumes a sensitivity of +/- 2g. |
575 | min = (256-200) * ACC_OVERSAMPLING_Z; |
578 | min = (256-200) * ACC_OVERSAMPLING_Z; |
576 | max = (256+200) * ACC_OVERSAMPLING_Z; |
579 | max = (256+200) * ACC_OVERSAMPLING_Z; |
577 | } else { |
580 | } else { |
578 | // TODO: This assumes a sensitivity of +/- 2g. |
581 | // TODO: This assumes a sensitivity of +/- 2g. |
579 | min = (768-200) * ACC_OVERSAMPLING_Z; |
582 | min = (768-200) * ACC_OVERSAMPLING_Z; |
580 | max = (768+200) * ACC_OVERSAMPLING_Z; |
583 | max = (768+200) * ACC_OVERSAMPLING_Z; |
581 | } |
584 | } |
582 | } else { |
585 | } else { |
583 | min = (512-200) * ACC_OVERSAMPLING_XY; |
586 | min = (512-200) * ACC_OVERSAMPLING_XY; |
584 | max = (512+200) * ACC_OVERSAMPLING_XY; |
587 | max = (512+200) * ACC_OVERSAMPLING_XY; |
585 | } |
588 | } |
586 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
589 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
587 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
590 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
588 | } |
591 | } |
589 | } |
592 | } |
590 | 593 | ||
591 | accOffset_writeToEEProm(); |
594 | accOffset_writeToEEProm(); |
592 | startAnalogConversionCycle(); |
595 | startAnalogConversionCycle(); |
593 | } |
596 | } |
594 | 597 | ||
595 | void analog_setGround() { |
598 | void analog_setGround() { |
596 | groundPressure = filteredAirPressure; |
599 | groundPressure = filteredAirPressure; |
597 | } |
600 | } |
598 | 601 | ||
599 | int32_t analog_getHeight(void) { |
602 | int32_t analog_getHeight(void) { |
600 | return groundPressure - filteredAirPressure; |
603 | return groundPressure - filteredAirPressure; |
601 | } |
604 | } |
602 | 605 | ||
603 | int16_t analog_getDHeight(void) { |
606 | int16_t analog_getDHeight(void) { |
604 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
607 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
605 | return lastFilteredAirPressure - filteredAirPressure; |
608 | return lastFilteredAirPressure - filteredAirPressure; |
606 | } |
609 | } |
607 | 610 |