WebSVN - FlightCtrl - Diff - Rev 1991 and 2015 - /branches/dongfang_FC

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
 // + Nur für den privaten Gebrauch
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
 // + dass eine Nutzung (auch auszugsweise) nur fï¿½r den privaten und nicht-kommerziellen Gebrauch zulässig ist.
 // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
 // + bzgl. der Nutzungsbedingungen aufzunehmen.
 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt und genannt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zulässig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
 // +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 // +     from this software without specific prior written permission.
 // +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
 // +     for non-commercial use (directly or indirectly)
 // +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 // +     with our written permission
 // +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
 // +     clearly linked as origin
 // +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 // +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 // +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 // +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/pgmspace.h>
 #include "analog.h"
 #include "attitude.h"
 #include "sensors.h"
 #include "printf_P.h"
 // for Delay functions
 #include "timer0.h"
 // For debugOut
 #include "uart0.h"
 // For reading and writing acc. meter offsets.
 #include "eeprom.h"
 // For debugOut.digital
 #include "output.h"
 // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit
 #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE))
 const char* recal = ", recalibration needed.";
 /*
  * For each A/D conversion cycle, each analog channel is sampled a number of times
  * (see array channelsForStates), and the results for each channel are summed.
  * Here are those for the gyros and the acc. meters. They are not zero-offset.
  * They are exported in the analog.h file - but please do not use them! The only
  * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
  * the offsets with the DAC.
  */
 volatile uint16_t sensorInputs[8];
-volatile int16_t rawGyroSum[3];
-volatile int16_t acc[3];
+int16_t acc[3];
-volatile int16_t filteredAcc[3] = { 0,0,0 };
+int16_t filteredAcc[3] = { 0,0,0 };
-// volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 };
 /*
  * These 4 exported variables are zero-offset. The "PID" ones are used
  * in the attitude control as rotation rates. The "ATT" ones are for
  * integration to angles.
  */
-volatile int16_t gyro_PID[2];
+int16_t gyro_PID[2];
-volatile int16_t gyro_ATT[2];
+int16_t gyro_ATT[2];
-volatile int16_t gyroD[2];
+int16_t gyroD[2];
-volatile int16_t yawGyro;
+int16_t yawGyro;
 /*
  * Offset values. These are the raw gyro and acc. meter sums when the copter is
  * standing still. They are used for adjusting the gyro and acc. meter values
  * to be centered on zero.
  */
 sensorOffset_t gyroOffset;
 sensorOffset_t accOffset;
 sensorOffset_t gyroAmplifierOffset;
 /*
+ * In the MK coordinate system, nose-down is positive and left-roll is positive.
- * This allows some experimentation with the gyro filters.
+ * If a sensor is used in an orientation where one but not both of the axes has
+ * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true).
+ * Transform:
+ * pitch <- pp*pitch + pr*roll
- * Should be replaced by #define's later on...
+ * roll  <- rp*pitch + rr*roll
+ * Not reversed, GYRO_QUADRANT:
+ * 0: pp=1, pr=0, rp=0, rr=1  // 0    degrees
+ * 1: pp=1, pr=-1,rp=1, rr=1  // +45  degrees
+ * 2: pp=0, pr=-1,rp=1, rr=0  // +90  degrees
+ * 3: pp=-1,pr=-1,rp=1, rr=1  // +135 degrees
+ * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees
+ * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees
+ * 6: pp=0, pr=1, rp=-1,rr=0  // +270 degrees
+ * 7: pp=1, pr=1, rp=-1,rr=1  // +315 degrees
+ * Reversed, GYRO_QUADRANT:
+ * 0: pp=-1,pr=0, rp=0, rr=1  // 0    degrees with pitch reversed
+ * 1: pp=-1,pr=-1,rp=-1,rr=1  // +45  degrees with pitch reversed
+ * 2: pp=0, pr=-1,rp=-1,rr=0  // +90  degrees with pitch reversed
+ * 3: pp=1, pr=-1,rp=-1,rr=1  // +135 degrees with pitch reversed
+ * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed
+ * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed
+ * 6: pp=0, pr=1, rp=1, rr=0  // +270 degrees with pitch reversed
+ * 7: pp=-1,pr=1, rp=1, rr=1  // +315 degrees with pitch reversed
  */
+void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) {
+  static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1};
+  // Pitch to Pitch part
+  int8_t xx = (reverse & 1) ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant];
+  // Roll to Pitch part
+  int8_t xy = rotationTab[(quadrant+2)%8];
+  // Pitch to Roll part
+  int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8];
+  // Roll to Roll part
+  int8_t yy = rotationTab[quadrant];
+  int16_t xIn = result[0];
+  result[0] = xx*result[0] + xy*result[1];
+  result[1] = yx*xIn + yy*result[1];
+  if (quadrant & 1) {
+        // A rotation was used above, where the factors were too large by sqrt(2).
+        // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2).
+        // A suitable value for n: Sample is 11 bits. After transformation it is the sum
+        // of 2 11 bit numbers, so 12 bits. We have 4 bits left...
+        result[0] = (result[0]*11) >> 4;
+        result[1] = (result[1]*11) >> 4;
+  }
+}
 /*
  * Air pressure
  */
 volatile uint8_t rangewidth = 105;
 // Direct from sensor, irrespective of range.
 // volatile uint16_t rawAirPressure;
 // Value of 2 samples, with range.
-volatile uint16_t simpleAirPressure;
+uint16_t simpleAirPressure;
 // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered.
-volatile int32_t filteredAirPressure;
+int32_t filteredAirPressure;
 // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples.
-volatile int32_t airPressureSum;
+int32_t airPressureSum;
 // The number of samples summed into airPressureSum so far.
-volatile uint8_t pressureMeasurementCount;
+uint8_t pressureMeasurementCount;
 /*
  * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
  * That is divided by 3 below, for a final 10.34 per volt.
  * So the initial value of 100 is for 9.7 volts.
  */
-volatile int16_t UBat = 100;
+int16_t UBat = 100;
 /*
  * Control and status.
  */
 volatile uint16_t ADCycleCount = 0;
 volatile uint8_t analogDataReady = 1;
 /*
  * Experiment: Measuring vibration-induced sensor noise.
  */
-volatile uint16_t gyroNoisePeak[3];
+uint16_t gyroNoisePeak[3];
-volatile uint16_t accNoisePeak[3];
+uint16_t accNoisePeak[3];
 volatile uint8_t adState;
 volatile uint8_t adChannel;
 // ADC channels
 #define AD_GYRO_YAW       0
 #define AD_GYRO_ROLL      1
 #define AD_GYRO_PITCH     2
 #define AD_AIRPRESSURE    3
 #define AD_UBAT           4
 #define AD_ACC_Z          5
 #define AD_ACC_ROLL       6
 #define AD_ACC_PITCH      7
 /*
  * Table of AD converter inputs for each state.
  * The number of samples summed for each channel is equal to
  * the number of times the channel appears in the array.
  * The max. number of samples that can be taken in 2 ms is:
  * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control
  * loop needs a little time between reading AD values and
  * re-enabling ADC, the real limit is (how much?) lower.
  * The acc. sensor is sampled even if not used - or installed
  * at all. The cost is not significant.
  */
 const uint8_t channelsForStates[] PROGMEM = {
   AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW,
   AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE,
   AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc.
   AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro
   AD_ACC_PITCH,   // at 12, finish pitch axis acc.
   AD_ACC_ROLL,    // at 13, finish roll axis acc.
   AD_AIRPRESSURE, // at 14, finish air pressure.
   AD_GYRO_PITCH,  // at 15, finish pitch gyro
   AD_GYRO_ROLL,   // at 16, finish roll gyro
   AD_UBAT         // at 17, measure battery.
 };
 // Feature removed. Could be reintroduced later - but should work for all gyro types then.
 // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
 void analog_init(void) {
         uint8_t sreg = SREG;
         // disable all interrupts before reconfiguration
         cli();
         //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
         DDRA = 0x00;
         PORTA = 0x00;
         // Digital Input Disable Register 0
         // Disable digital input buffer for analog adc_channel pins
         DIDR0 = 0xFF;
         // external reference, adjust data to the right
         ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR));
         // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
         ADMUX = (ADMUX & 0xE0);
         //Set ADC Control and Status Register A
         //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
         ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
         //Set ADC Control and Status Register B
         //Trigger Source to Free Running Mode
         ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0));
         startAnalogConversionCycle();
         // restore global interrupt flags
         SREG = sreg;
+}
+uint16_t rawGyroValue(uint8_t axis) {
+        return sensorInputs[AD_GYRO_PITCH-axis];
+}
+uint16_t rawAccValue(uint8_t axis) {
+        return sensorInputs[AD_ACC_PITCH-axis];
+}
 void measureNoise(const int16_t sensor,
                 volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
         if (sensor > (int16_t) (*noiseMeasurement)) {
                 *noiseMeasurement = sensor;
         } else if (-sensor > (int16_t) (*noiseMeasurement)) {
                 *noiseMeasurement = -sensor;
         } else if (*noiseMeasurement > damping) {
                 *noiseMeasurement -= damping;
         } else {
                 *noiseMeasurement = 0;
+        }
+}
 /*
  * Min.: 0
  * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.
  */
 uint16_t getSimplePressure(int advalue) {
         return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
+}
 void startAnalogConversionCycle(void) {
   analogDataReady = 0;
   // Stop the sampling. Cycle is over.
   for (uint8_t i = 0; i < 8; i++) {
     sensorInputs[i] = 0;
+  }
   adState = 0;
   adChannel = AD_GYRO_PITCH;
   ADMUX = (ADMUX & 0xE0) | adChannel;
   startADC();
+}
 /*****************************************************
  * Interrupt Service Routine for ADC
  * Runs at 312.5 kHz or 3.2 �s. When all states are
  * processed further conversions are stopped.
  *****************************************************/
 ISR(ADC_vect) {
   sensorInputs[adChannel] += ADC;
   // set up for next state.
   adState++;
   if (adState < sizeof(channelsForStates)) {
     adChannel = pgm_read_byte(&channelsForStates[adState]);
     // set adc muxer to next adChannel
     ADMUX = (ADMUX & 0xE0) | adChannel;
     // after full cycle stop further interrupts
     startADC();
   } else {
     ADCycleCount++;
     analogDataReady = 1;
     // do not restart ADC converter.
+  }
+}
 void analog_updateGyros(void) {
   // for various filters...
-  int16_t tempOffsetGyro, tempGyro;
+  int16_t tempOffsetGyro[2], tempGyro;
   debugOut.digital[0] &= ~DEBUG_SENSORLIMIT;
   for (uint8_t axis=0; axis<2; axis++) {
-    tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis];
+    tempGyro = rawGyroValue(axis);
     /*
      * Process the gyro data for the PID controller.
      */
     // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
     //    gyro with a wider range, and helps counter saturation at full control.
     if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) {
       if (tempGyro < SENSOR_MIN_PITCHROLL) {
-        debugOut.digital[0] |= DEBUG_SENSORLIMIT;
+                debugOut.digital[0] |= DEBUG_SENSORLIMIT;
-        tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
+                tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
       } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
-        debugOut.digital[0] |= DEBUG_SENSORLIMIT;
+                debugOut.digital[0] |= DEBUG_SENSORLIMIT;
-        tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE
+                tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL;
-          + SENSOR_MAX_PITCHROLL;
+      }
+    }
     // 2) Apply sign and offset, scale before filtering.
-    if (GYRO_REVERSED[axis]) {
-      tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
+    tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL;
+  }
-    } else {
+  // 2.1: Transform axes.
-      tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL;
+  rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & 1);
-    }
+  for (uint8_t axis=0; axis<2; axis++) {
-    // 3) Scale and filter.
+        // 3) Filter.
-    tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant;
+    tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant;
     // 4) Measure noise.
-    measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
+    measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
     // 5) Differential measurement.
-    gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant;
+    gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant;
     // 6) Done.
-    gyro_PID[axis] = tempOffsetGyro;
+    gyro_PID[axis] = tempOffsetGyro[axis];
-    /*
-     * Now process the data for attitude angles.
-     */
-    tempGyro = rawGyroSum[axis];
-    // 1) Apply sign and offset, scale before filtering.
+    // Prepare tempOffsetGyro for next calculation below...
-    if (GYRO_REVERSED[axis]) {
-      tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
-    } else {
-      tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL;
+    tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL;
-    }
-    // 2) Filter.
-    gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant;
+  }
+  /*
+   * Now process the data for attitude angles.
+   */
+   rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & 1);
+  // 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.
+  // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter;
+  // gyro_ATT[ROLL]  = (gyro_ATT[ROLL]  * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL])  / staticParams.attitudeGyroFilter;
-  // Yaw gyro.
-  rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
+  // Yaw gyro.
-  if (GYRO_REVERSED[YAW])
+  if (staticParams.imuReversedFlags & 2)
     yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW];
   else
     yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW];
+}
 void analog_updateAccelerometers(void) {
-  // Z acc.
-  if (ACC_REVERSED[Z])
-    acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z];
-  else
-    acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z];
   // Pitch and roll axis accelerations.
   for (uint8_t axis=0; axis<2; axis++) {
-    if (ACC_REVERSED[axis])
-      acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis];
-    else
-      acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis];
+    acc[axis] = rawAccValue(axis) - accOffset.offsets[axis];
+  }
+  rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & 4);
-  for (uint8_t axis=0; axis<3; axis++) {
+  for(uint8_t axis=0; axis<3; axis++) {
     filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant;
     measureNoise(acc[axis], &accNoisePeak[axis], 1);
+  }
+  // Z acc.
+  if (staticParams.imuReversedFlags & 8)
+    acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z];
+  else
+    acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z];
+}
 void analog_updateAirPressure(void) {
   static uint16_t pressureAutorangingWait = 25;
   uint16_t rawAirPressure;
   int16_t newrange;
   // air pressure
   if (pressureAutorangingWait) {
     //A range switch was done recently. Wait for steadying.
     pressureAutorangingWait--;
     debugOut.analog[27] = (uint16_t) OCR0A;
     debugOut.analog[31] = simpleAirPressure;
   } else {
     rawAirPressure = sensorInputs[AD_AIRPRESSURE];
     if (rawAirPressure < MIN_RAWPRESSURE) {
       // value is too low, so decrease voltage on the op amp minus input, making the value higher.
       newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
       if (newrange > MIN_RANGES_EXTRAPOLATION) {
         pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
         OCR0A = newrange;
       } else {
         if (OCR0A) {
           OCR0A--;
           pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
+        }
+      }
     } else if (rawAirPressure > MAX_RAWPRESSURE) {
       // value is too high, so increase voltage on the op amp minus input, making the value lower.
       // If near the end, make a limited increase
       newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
       if (newrange < MAX_RANGES_EXTRAPOLATION) {
         pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
         OCR0A = newrange;
       } else {
         if (OCR0A < 254) {
           OCR0A++;
           pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
+        }
+      }
+    }
     // Even if the sample is off-range, use it.
     simpleAirPressure = getSimplePressure(rawAirPressure);
     debugOut.analog[27] = (uint16_t) OCR0A;
     debugOut.analog[31] = simpleAirPressure;
     if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
       // Danger: pressure near lower end of range. If the measurement saturates, the
       // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
       debugOut.digital[1] |= DEBUG_SENSORLIMIT;
       airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth
         + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION
            * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
     } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
       // Danger: pressure near upper end of range. If the measurement saturates, the
       // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
       debugOut.digital[1] |= DEBUG_SENSORLIMIT;
       airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth
         + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION
            * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
     } else {
       // normal case.
       // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
       // The 2 cases above (end of range) are ignored for this.
       debugOut.digital[1] &= ~DEBUG_SENSORLIMIT;
       if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
         airPressureSum += simpleAirPressure / 2;
       else
         airPressureSum += simpleAirPressure;
+    }
     // 2 samples were added.
     pressureMeasurementCount += 2;
     if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
       filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
                              + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
       pressureMeasurementCount = airPressureSum = 0;
+    }
+  }
+}
 void analog_updateBatteryVoltage(void) {
   // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
   // This is divided by 3 --> 10.34 counts per volt.
   UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
   debugOut.analog[11] = UBat;
   debugOut.analog[21] = sensorInputs[AD_UBAT];
+}
 void analog_update(void) {
   analog_updateGyros();
   analog_updateAccelerometers();
   analog_updateAirPressure();
   analog_updateBatteryVoltage();
+}
 void analog_setNeutral() {
   if (gyroAmplifierOffset_readFromEEProm()) {
     printf("gyro amp invalid%s",recal);
     gyro_loadAmplifierOffsets(1);
   } else
       gyro_loadAmplifierOffsets(0);
   if (gyroOffset_readFromEEProm()) {
     printf("gyro offsets invalid%s",recal);
     gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL;
     gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW;
+  }
   if (accOffset_readFromEEProm()) {
     printf("acc. meter offsets invalid%s",recal);
     accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL;
     accOffset.offsets[Z] = 717 * ACC_SUMMATION_FACTOR_Z;
+  }
   // Noise is relative to offset. So, reset noise measurements when changing offsets.
   gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
   accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
   // Setting offset values has an influence in the analog.c ISR
   // Therefore run measurement for 100ms to achive stable readings
-  delay_ms_with_adc_measurement(100);
+  delay_ms_with_adc_measurement(100, 0);
   // Rough estimate. Hmm no nothing happens at calibration anyway.
   // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
   // pressureMeasurementCount = 0;
+}
 void analog_calibrateGyros(void) {
 #define GYRO_OFFSET_CYCLES 32
   uint8_t i, axis;
   int32_t offsets[3] = { 0, 0, 0 };
   gyro_calibrate();
   // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
   for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
-    delay_ms_with_adc_measurement(20);
+    delay_ms_with_adc_measurement(10, 1);
     for (axis = PITCH; axis <= YAW; axis++) {
-      offsets[axis] += rawGyroSum[axis];
+      offsets[axis] += rawGyroValue(axis);
+    }
+  }
   for (axis = PITCH; axis <= YAW; axis++) {
     gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
+  }
   gyroOffset_writeToEEProm();
+  startAnalogConversionCycle();
+}
 /*
  * Find acc. offsets for a neutral reading, and write them to EEPROM.
  * Does not (!} update the local variables. This must be done with a
  * call to analog_calibrate() - this always (?) is done by the caller
  * anyway. There would be nothing wrong with updating the variables
  * directly from here, though.
  */
 void analog_calibrateAcc(void) {
-#define ACC_OFFSET_CYCLES 10
+#define ACC_OFFSET_CYCLES 32
   uint8_t i, axis;
-  int32_t deltaOffset[3] = { 0, 0, 0 };
+  int32_t offsets[3] = { 0, 0, 0 };
   int16_t filteredDelta;
   for (i = 0; i < ACC_OFFSET_CYCLES; i++) {
-    delay_ms_with_adc_measurement(10);
+    delay_ms_with_adc_measurement(10, 1);
     for (axis = PITCH; axis <= YAW; axis++) {
-      deltaOffset[axis] += acc[axis];
+      offsets[axis] += rawAccValue(axis);
+    }
+  }
   for (axis = PITCH; axis <= YAW; axis++) {
-    filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2)
+    accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES;
-      / ACC_OFFSET_CYCLES;
-    accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
+  }
+  accOffset_writeToEEProm();
-  accOffset_writeToEEProm();
+  startAnalogConversionCycle();
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.c @ 2218 - Rev 1991 → 2015