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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | #include <avr/io.h> |
51 | #include <avr/io.h> |
52 | #include <avr/interrupt.h> |
52 | #include <avr/interrupt.h> |
53 | #include <avr/pgmspace.h> |
53 | #include <avr/pgmspace.h> |
54 | #include "analog.h" |
54 | #include "analog.h" |
55 | 55 | ||
56 | #include "sensors.h" |
56 | #include "sensors.h" |
57 | 57 | ||
58 | // for Delay functions |
58 | // for Delay functions |
59 | #include "timer0.h" |
59 | #include "timer0.h" |
60 | 60 | ||
61 | // For DebugOut |
61 | // For DebugOut |
62 | #include "uart0.h" |
62 | #include "uart0.h" |
63 | 63 | ||
64 | // For reading and writing acc. meter offsets. |
64 | // For reading and writing acc. meter offsets. |
65 | #include "eeprom.h" |
65 | #include "eeprom.h" |
- | 66 | ||
- | 67 | // For DebugOut.Digital |
|
- | 68 | #include "output.h" |
|
66 | 69 | ||
67 | /* |
70 | /* |
68 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
71 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
69 | * (see array channelsForStates), and the results for each channel are summed. |
72 | * (see array channelsForStates), and the results for each channel are summed. |
70 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
73 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
71 | * They are exported in the analog.h file - but please do not use them! The only |
74 | * They are exported in the analog.h file - but please do not use them! The only |
72 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
75 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
73 | * the offsets with the DAC. |
76 | * the offsets with the DAC. |
74 | */ |
77 | */ |
75 | volatile int16_t rawGyroSum[3]; |
78 | volatile int16_t rawGyroSum[3]; |
76 | volatile int16_t acc[3]; |
79 | volatile int16_t acc[3]; |
77 | volatile int16_t filteredAcc[2]={0,0}; |
80 | volatile int16_t filteredAcc[2]={0,0}; |
78 | 81 | ||
79 | /* |
82 | /* |
80 | * These 4 exported variables are zero-offset. The "PID" ones are used |
83 | * These 4 exported variables are zero-offset. The "PID" ones are used |
81 | * in the attitude control as rotation rates. The "ATT" ones are for |
84 | * in the attitude control as rotation rates. The "ATT" ones are for |
82 | * integration to angles. |
85 | * integration to angles. |
83 | */ |
86 | */ |
84 | volatile int16_t gyro_PID[2]; |
87 | volatile int16_t gyro_PID[2]; |
85 | volatile int16_t gyro_ATT[2]; |
88 | volatile int16_t gyro_ATT[2]; |
86 | volatile int16_t gyroD[2]; |
89 | volatile int16_t gyroD[2]; |
87 | volatile int16_t yawGyro; |
90 | volatile int16_t yawGyro; |
88 | 91 | ||
89 | /* |
92 | /* |
90 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
93 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
91 | * standing still. They are used for adjusting the gyro and acc. meter values |
94 | * standing still. They are used for adjusting the gyro and acc. meter values |
92 | * to be centered on zero. |
95 | * to be centered on zero. |
93 | */ |
96 | */ |
94 | volatile int16_t gyroOffset[3] = { |
97 | volatile int16_t gyroOffset[3] = { |
95 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
98 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
96 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
99 | 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
97 | 512 * GYRO_SUMMATION_FACTOR_YAW |
100 | 512 * GYRO_SUMMATION_FACTOR_YAW |
98 | }; |
101 | }; |
99 | 102 | ||
100 | volatile int16_t accOffset[3] = { |
103 | volatile int16_t accOffset[3] = { |
101 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
104 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
102 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
105 | 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
103 | 512 * ACC_SUMMATION_FACTOR_Z |
106 | 512 * ACC_SUMMATION_FACTOR_Z |
104 | }; |
107 | }; |
105 | 108 | ||
106 | /* |
109 | /* |
107 | * This allows some experimentation with the gyro filters. |
110 | * This allows some experimentation with the gyro filters. |
108 | * Should be replaced by #define's later on... |
111 | * Should be replaced by #define's later on... |
109 | */ |
112 | */ |
110 | volatile uint8_t GYROS_PID_FILTER; |
113 | volatile uint8_t GYROS_PID_FILTER; |
111 | volatile uint8_t GYROS_ATT_FILTER; |
114 | volatile uint8_t GYROS_ATT_FILTER; |
112 | volatile uint8_t GYROS_D_FILTER; |
115 | volatile uint8_t GYROS_D_FILTER; |
113 | volatile uint8_t ACC_FILTER; |
116 | volatile uint8_t ACC_FILTER; |
114 | 117 | ||
115 | /* |
118 | /* |
116 | * Air pressure |
119 | * Air pressure |
117 | */ |
120 | */ |
118 | volatile uint8_t rangewidth = 106; |
121 | volatile uint8_t rangewidth = 106; |
119 | 122 | ||
120 | // Direct from sensor, irrespective of range. |
123 | // Direct from sensor, irrespective of range. |
121 | // volatile uint16_t rawAirPressure; |
124 | // volatile uint16_t rawAirPressure; |
122 | 125 | ||
123 | // Value of 2 samples, with range. |
126 | // Value of 2 samples, with range. |
124 | volatile uint16_t simpleAirPressure; |
127 | volatile uint16_t simpleAirPressure; |
125 | 128 | ||
126 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
129 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
127 | volatile int32_t filteredAirPressure; |
130 | volatile int32_t filteredAirPressure; |
128 | 131 | ||
129 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
132 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
130 | volatile int32_t airPressureSum; |
133 | volatile int32_t airPressureSum; |
131 | 134 | ||
132 | // The number of samples summed into airPressureSum so far. |
135 | // The number of samples summed into airPressureSum so far. |
133 | volatile uint8_t pressureMeasurementCount; |
136 | volatile uint8_t pressureMeasurementCount; |
134 | 137 | ||
135 | /* |
138 | /* |
136 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
139 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
137 | * That is divided by 3 below, for a final 10.34 per volt. |
140 | * That is divided by 3 below, for a final 10.34 per volt. |
138 | * So the initial value of 100 is for 9.7 volts. |
141 | * So the initial value of 100 is for 9.7 volts. |
139 | */ |
142 | */ |
140 | volatile int16_t UBat = 100; |
143 | volatile int16_t UBat = 100; |
141 | 144 | ||
142 | /* |
145 | /* |
143 | * Control and status. |
146 | * Control and status. |
144 | */ |
147 | */ |
145 | volatile uint16_t ADCycleCount = 0; |
148 | volatile uint16_t ADCycleCount = 0; |
146 | volatile uint8_t analogDataReady = 1; |
149 | volatile uint8_t analogDataReady = 1; |
147 | 150 | ||
148 | /* |
151 | /* |
149 | * Experiment: Measuring vibration-induced sensor noise. |
152 | * Experiment: Measuring vibration-induced sensor noise. |
150 | */ |
153 | */ |
151 | volatile uint16_t gyroNoisePeak[2]; |
154 | volatile uint16_t gyroNoisePeak[2]; |
152 | volatile uint16_t accNoisePeak[2]; |
155 | volatile uint16_t accNoisePeak[2]; |
153 | 156 | ||
154 | // ADC channels |
157 | // ADC channels |
155 | #define AD_GYRO_YAW 0 |
158 | #define AD_GYRO_YAW 0 |
156 | #define AD_GYRO_ROLL 1 |
159 | #define AD_GYRO_ROLL 1 |
157 | #define AD_GYRO_PITCH 2 |
160 | #define AD_GYRO_PITCH 2 |
158 | #define AD_AIRPRESSURE 3 |
161 | #define AD_AIRPRESSURE 3 |
159 | #define AD_UBAT 4 |
162 | #define AD_UBAT 4 |
160 | #define AD_ACC_Z 5 |
163 | #define AD_ACC_Z 5 |
161 | #define AD_ACC_ROLL 6 |
164 | #define AD_ACC_ROLL 6 |
162 | #define AD_ACC_PITCH 7 |
165 | #define AD_ACC_PITCH 7 |
163 | 166 | ||
164 | /* |
167 | /* |
165 | * Table of AD converter inputs for each state. |
168 | * Table of AD converter inputs for each state. |
166 | * The number of samples summed for each channel is equal to |
169 | * The number of samples summed for each channel is equal to |
167 | * the number of times the channel appears in the array. |
170 | * the number of times the channel appears in the array. |
168 | * The max. number of samples that can be taken in 2 ms is: |
171 | * The max. number of samples that can be taken in 2 ms is: |
169 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
172 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
170 | * loop needs a little time between reading AD values and |
173 | * loop needs a little time between reading AD values and |
171 | * re-enabling ADC, the real limit is (how much?) lower. |
174 | * re-enabling ADC, the real limit is (how much?) lower. |
172 | * The acc. sensor is sampled even if not used - or installed |
175 | * The acc. sensor is sampled even if not used - or installed |
173 | * at all. The cost is not significant. |
176 | * at all. The cost is not significant. |
174 | */ |
177 | */ |
175 | 178 | ||
176 | const uint8_t channelsForStates[] PROGMEM = { |
179 | const uint8_t channelsForStates[] PROGMEM = { |
177 | AD_GYRO_PITCH, |
180 | AD_GYRO_PITCH, |
178 | AD_GYRO_ROLL, |
181 | AD_GYRO_ROLL, |
179 | AD_GYRO_YAW, |
182 | AD_GYRO_YAW, |
180 | 183 | ||
181 | AD_ACC_PITCH, |
184 | AD_ACC_PITCH, |
182 | AD_ACC_ROLL, |
185 | AD_ACC_ROLL, |
183 | AD_AIRPRESSURE, |
186 | AD_AIRPRESSURE, |
184 | 187 | ||
185 | AD_GYRO_PITCH, |
188 | AD_GYRO_PITCH, |
186 | AD_GYRO_ROLL, |
189 | AD_GYRO_ROLL, |
187 | AD_ACC_Z, // at 8, measure Z acc. |
190 | AD_ACC_Z, // at 8, measure Z acc. |
188 | 191 | ||
189 | AD_GYRO_PITCH, |
192 | AD_GYRO_PITCH, |
190 | AD_GYRO_ROLL, |
193 | AD_GYRO_ROLL, |
191 | AD_GYRO_YAW, // at 11, finish yaw gyro |
194 | AD_GYRO_YAW, // at 11, finish yaw gyro |
192 | 195 | ||
193 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
196 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
194 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
197 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
195 | AD_AIRPRESSURE, // at 14, finish air pressure. |
198 | AD_AIRPRESSURE, // at 14, finish air pressure. |
196 | 199 | ||
197 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
200 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
198 | AD_GYRO_ROLL, // at 16, finish roll gyro |
201 | AD_GYRO_ROLL, // at 16, finish roll gyro |
199 | AD_UBAT // at 17, measure battery. |
202 | AD_UBAT // at 17, measure battery. |
200 | }; |
203 | }; |
201 | 204 | ||
202 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
205 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
203 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
206 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
204 | 207 | ||
205 | void analog_init(void) { |
208 | void analog_init(void) { |
206 | uint8_t sreg = SREG; |
209 | uint8_t sreg = SREG; |
207 | // disable all interrupts before reconfiguration |
210 | // disable all interrupts before reconfiguration |
208 | cli(); |
211 | cli(); |
209 | 212 | ||
210 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
213 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
211 | DDRA = 0x00; |
214 | DDRA = 0x00; |
212 | PORTA = 0x00; |
215 | PORTA = 0x00; |
213 | // Digital Input Disable Register 0 |
216 | // Digital Input Disable Register 0 |
214 | // Disable digital input buffer for analog adc_channel pins |
217 | // Disable digital input buffer for analog adc_channel pins |
215 | DIDR0 = 0xFF; |
218 | DIDR0 = 0xFF; |
216 | // external reference, adjust data to the right |
219 | // external reference, adjust data to the right |
217 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
220 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
218 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
221 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
219 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
222 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
220 | //Set ADC Control and Status Register A |
223 | //Set ADC Control and Status Register A |
221 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
224 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
222 | ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
225 | ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
223 | //Set ADC Control and Status Register B |
226 | //Set ADC Control and Status Register B |
224 | //Trigger Source to Free Running Mode |
227 | //Trigger Source to Free Running Mode |
225 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
228 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
226 | // Start AD conversion |
229 | // Start AD conversion |
227 | analog_start(); |
230 | analog_start(); |
228 | // restore global interrupt flags |
231 | // restore global interrupt flags |
229 | SREG = sreg; |
232 | SREG = sreg; |
230 | } |
233 | } |
231 | 234 | ||
232 | void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
235 | void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
233 | if (sensor > (int16_t)(*noiseMeasurement)) { |
236 | if (sensor > (int16_t)(*noiseMeasurement)) { |
234 | *noiseMeasurement = sensor; |
237 | *noiseMeasurement = sensor; |
235 | } else if (-sensor > (int16_t)(*noiseMeasurement)) { |
238 | } else if (-sensor > (int16_t)(*noiseMeasurement)) { |
236 | *noiseMeasurement = -sensor; |
239 | *noiseMeasurement = -sensor; |
237 | } else if (*noiseMeasurement > damping) { |
240 | } else if (*noiseMeasurement > damping) { |
238 | *noiseMeasurement -= damping; |
241 | *noiseMeasurement -= damping; |
239 | } else { |
242 | } else { |
240 | *noiseMeasurement = 0; |
243 | *noiseMeasurement = 0; |
241 | } |
244 | } |
242 | } |
245 | } |
- | 246 | ||
- | 247 | /* |
|
- | 248 | * Min.: 0 |
|
- | 249 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
|
243 | 250 | */ |
|
244 | uint16_t getSimplePressure(int advalue) { |
251 | uint16_t getSimplePressure(int advalue) { |
245 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
252 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
246 | } |
253 | } |
247 | 254 | ||
248 | /***************************************************** |
255 | /***************************************************** |
249 | * Interrupt Service Routine for ADC |
256 | * Interrupt Service Routine for ADC |
250 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
257 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
251 | * processed the interrupt is disabled and further |
258 | * processed the interrupt is disabled and further |
252 | * AD conversions are stopped. |
259 | * AD conversions are stopped. |
253 | *****************************************************/ |
260 | *****************************************************/ |
254 | ISR(ADC_vect) { |
261 | ISR(ADC_vect) { |
255 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
262 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
256 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
263 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
257 | static uint16_t pressureAutorangingWait = 25; |
264 | static uint16_t pressureAutorangingWait = 25; |
258 | uint16_t rawAirPressure; |
265 | uint16_t rawAirPressure; |
259 | uint8_t i, axis; |
266 | uint8_t i, axis; |
260 | int16_t newrange; |
267 | int16_t newrange; |
261 | 268 | ||
262 | // for various filters... |
269 | // for various filters... |
263 | int16_t tempOffsetGyro, tempGyro; |
270 | int16_t tempOffsetGyro, tempGyro; |
264 | 271 | ||
265 | sensorInputs[ad_channel] += ADC; |
272 | sensorInputs[ad_channel] += ADC; |
266 | 273 | ||
267 | /* |
274 | /* |
268 | * Actually we don't need this "switch". We could do all the sampling into the |
275 | * Actually we don't need this "switch". We could do all the sampling into the |
269 | * sensorInputs array first, and all the processing after the last sample. |
276 | * sensorInputs array first, and all the processing after the last sample. |
270 | */ |
277 | */ |
271 | switch(state++) { |
278 | switch(state++) { |
272 | 279 | ||
273 | case 8: // Z acc |
280 | case 8: // Z acc |
274 | if (ACC_REVERSED[Z]) |
281 | if (ACC_REVERSED[Z]) |
275 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
282 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
276 | else |
283 | else |
277 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
284 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
278 | break; |
285 | break; |
279 | 286 | ||
280 | case 11: // yaw gyro |
287 | case 11: // yaw gyro |
281 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
288 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
282 | if (GYRO_REVERSED[YAW]) |
289 | if (GYRO_REVERSED[YAW]) |
283 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
290 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
284 | else |
291 | else |
285 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
292 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
286 | break; |
293 | break; |
287 | 294 | ||
288 | case 12: // pitch axis acc. |
295 | case 12: // pitch axis acc. |
289 | if (ACC_REVERSED[PITCH]) |
296 | if (ACC_REVERSED[PITCH]) |
290 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
297 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
291 | else |
298 | else |
292 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
299 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
293 | 300 | ||
294 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
301 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
295 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
302 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
296 | break; |
303 | break; |
297 | 304 | ||
298 | case 13: // roll axis acc. |
305 | case 13: // roll axis acc. |
299 | if (ACC_REVERSED[ROLL]) |
306 | if (ACC_REVERSED[ROLL]) |
300 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
307 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
301 | else |
308 | else |
302 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
309 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
303 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
310 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
304 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
311 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
305 | break; |
312 | break; |
306 | 313 | ||
307 | case 14: // air pressure |
314 | case 14: // air pressure |
308 | if (pressureAutorangingWait) { |
315 | if (pressureAutorangingWait) { |
309 | //A range switch was done recently. Wait for steadying. |
316 | //A range switch was done recently. Wait for steadying. |
310 | pressureAutorangingWait--; |
317 | pressureAutorangingWait--; |
- | 318 | DebugOut.Analog[27] = (uint16_t)OCR0A; |
|
- | 319 | DebugOut.Analog[31] = simpleAirPressure; |
|
311 | break; |
320 | break; |
312 | } |
321 | } |
- | 322 | ||
313 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
323 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
314 | if (rawAirPressure < MIN_RAWPRESSURE) { |
324 | if (rawAirPressure < MIN_RAWPRESSURE) { |
315 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
325 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
316 | newrange = OCR0A - (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
326 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
317 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
327 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
318 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; |
328 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
319 | OCR0A = newrange; |
329 | OCR0A = newrange; |
320 | } else { |
330 | } else { |
321 | if (OCR0A) { |
331 | if (OCR0A) { |
322 | OCR0A--; |
332 | OCR0A--; |
323 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
333 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
324 | } |
334 | } |
325 | } |
335 | } |
326 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
336 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
327 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
337 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
328 | // If near the end, make a limited increase |
338 | // If near the end, make a limited increase |
329 | newrange = OCR0A + (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
339 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
330 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
340 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
331 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
341 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
332 | OCR0A = newrange; |
342 | OCR0A = newrange; |
333 | } else { |
343 | } else { |
334 | if (OCR0A<254) { |
344 | if (OCR0A<254) { |
335 | OCR0A++; |
345 | OCR0A++; |
336 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
346 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
337 | } |
347 | } |
338 | } |
348 | } |
339 | } |
349 | } |
340 | 350 | ||
341 | // Even if the sample is off-range, use it. |
351 | // Even if the sample is off-range, use it. |
342 | simpleAirPressure = getSimplePressure(rawAirPressure); |
352 | simpleAirPressure = getSimplePressure(rawAirPressure); |
- | 353 | DebugOut.Analog[27] = (uint16_t)OCR0A; |
|
- | 354 | DebugOut.Analog[31] = simpleAirPressure; |
|
- | 355 | ||
343 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
356 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
344 | // Danger: pressure near lower end of range. If the measurement saturates, the |
357 | // Danger: pressure near lower end of range. If the measurement saturates, the |
345 | // copter may climb uncontrolled... Simulate a drastic reduction in pressure. |
358 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
346 | airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
359 | airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
347 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
360 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
348 | // Danger: pressure near upper end of range. If the measurement saturates, the |
361 | // Danger: pressure near upper end of range. If the measurement saturates, the |
349 | // copter may fall uncontrolled... Simulate a drastic increase in pressure. |
362 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
350 | airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
363 | airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
351 | } else { |
364 | } else { |
352 | // normal case. |
365 | // normal case. |
- | 366 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
|
- | 367 | // The 2 cases above (end of range) are ignored for this. |
|
- | 368 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
|
- | 369 | airPressureSum += simpleAirPressure / 2; |
|
- | 370 | else |
|
353 | airPressureSum += simpleAirPressure; |
371 | airPressureSum += simpleAirPressure; |
354 | } |
372 | } |
355 | 373 | ||
356 | // 2 samples were added. |
374 | // 2 samples were added. |
357 | pressureMeasurementCount += 2; |
375 | pressureMeasurementCount += 2; |
358 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR) { |
376 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
359 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER-1) + airPressureSum + AIRPRESSURE_FILTER/2) / AIRPRESSURE_FILTER; |
377 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER-1) + airPressureSum + AIRPRESSURE_FILTER/2) / AIRPRESSURE_FILTER; |
360 | pressureMeasurementCount = airPressureSum = 0; |
378 | pressureMeasurementCount = airPressureSum = 0; |
361 | } |
379 | } |
362 | - | ||
363 | // DebugOut.Analog[14] = OCR0A; |
- | |
364 | // DebugOut.Analog[15] = simpleAirPressure; |
- | |
365 | DebugOut.Analog[11] = UBat; |
- | |
366 | DebugOut.Analog[27] = acc[Z]; |
380 | |
367 | break; |
381 | break; |
368 | 382 | ||
369 | case 15: |
383 | case 15: |
370 | case 16: // pitch or roll gyro. |
384 | case 16: // pitch or roll gyro. |
371 | axis = state - 16; |
385 | axis = state - 16; |
372 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
386 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
373 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
387 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
374 | /* |
388 | /* |
375 | * Process the gyro data for the PID controller. |
389 | * Process the gyro data for the PID controller. |
376 | */ |
390 | */ |
377 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
391 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
378 | // gyro with a wider range, and helps counter saturation at full control. |
392 | // gyro with a wider range, and helps counter saturation at full control. |
379 | 393 | ||
380 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
394 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
381 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
395 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
382 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
396 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
383 | } |
397 | } |
384 | else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
398 | else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
385 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
399 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
386 | } |
400 | } |
387 | } |
401 | } |
388 | 402 | ||
389 | // 2) Apply sign and offset, scale before filtering. |
403 | // 2) Apply sign and offset, scale before filtering. |
390 | if (GYRO_REVERSED[axis]) { |
404 | if (GYRO_REVERSED[axis]) { |
391 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
405 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
392 | } else { |
406 | } else { |
393 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
407 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
394 | } |
408 | } |
395 | 409 | ||
396 | // 3) Scale and filter. |
410 | // 3) Scale and filter. |
397 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER; |
411 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER; |
398 | 412 | ||
399 | // 4) Measure noise. |
413 | // 4) Measure noise. |
400 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
414 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
401 | 415 | ||
402 | // 5) Differential measurement. |
416 | // 5) Differential measurement. |
403 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
417 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
404 | 418 | ||
405 | // 6) Done. |
419 | // 6) Done. |
406 | gyro_PID[axis] = tempOffsetGyro; |
420 | gyro_PID[axis] = tempOffsetGyro; |
407 | 421 | ||
408 | /* |
422 | /* |
409 | * Now process the data for attitude angles. |
423 | * Now process the data for attitude angles. |
410 | */ |
424 | */ |
411 | tempGyro = rawGyroSum[axis]; |
425 | tempGyro = rawGyroSum[axis]; |
412 | 426 | ||
413 | // 1) Apply sign and offset, scale before filtering. |
427 | // 1) Apply sign and offset, scale before filtering. |
414 | if (GYRO_REVERSED[axis]) { |
428 | if (GYRO_REVERSED[axis]) { |
415 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
429 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
416 | } else { |
430 | } else { |
417 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
431 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
418 | } |
432 | } |
419 | 433 | ||
420 | // 2) Filter. |
434 | // 2) Filter. |
421 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
435 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
422 | break; |
436 | break; |
423 | 437 | ||
424 | case 17: |
438 | case 17: |
425 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
439 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
426 | // This is divided by 3 --> 10.34 counts per volt. |
440 | // This is divided by 3 --> 10.34 counts per volt. |
427 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
441 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
- | 442 | DebugOut.Analog[11] = UBat; |
|
428 | analogDataReady = 1; // mark |
443 | analogDataReady = 1; // mark |
429 | ADCycleCount++; |
444 | ADCycleCount++; |
430 | // Stop the sampling. Cycle is over. |
445 | // Stop the sampling. Cycle is over. |
431 | state = 0; |
446 | state = 0; |
432 | for (i=0; i<8; i++) { |
447 | for (i=0; i<8; i++) { |
433 | sensorInputs[i] = 0; |
448 | sensorInputs[i] = 0; |
434 | } |
449 | } |
435 | break; |
450 | break; |
436 | default: {} // do nothing. |
451 | default: {} // do nothing. |
437 | } |
452 | } |
438 | 453 | ||
439 | // set up for next state. |
454 | // set up for next state. |
440 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
455 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
441 | // ad_channel = channelsForStates[state]; |
456 | // ad_channel = channelsForStates[state]; |
442 | 457 | ||
443 | // set adc muxer to next ad_channel |
458 | // set adc muxer to next ad_channel |
444 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
459 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
445 | // after full cycle stop further interrupts |
460 | // after full cycle stop further interrupts |
446 | if(state) analog_start(); |
461 | if(state) analog_start(); |
447 | } |
462 | } |
448 | 463 | ||
449 | void analog_calibrate(void) { |
464 | void analog_calibrate(void) { |
450 | #define GYRO_OFFSET_CYCLES 32 |
465 | #define GYRO_OFFSET_CYCLES 32 |
451 | uint8_t i, axis; |
466 | uint8_t i, axis; |
452 | int32_t deltaOffsets[3] = {0,0,0}; |
467 | int32_t deltaOffsets[3] = {0,0,0}; |
453 | 468 | ||
454 | // Set the filters... to be removed again, once some good settings are found. |
469 | // Set the filters... to be removed again, once some good settings are found. |
455 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
470 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
456 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
471 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
457 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
472 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
458 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
473 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
459 | 474 | ||
460 | gyro_calibrate(); |
475 | gyro_calibrate(); |
461 | 476 | ||
462 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
477 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
463 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
478 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
464 | Delay_ms_Mess(20); |
479 | Delay_ms_Mess(20); |
465 | for (axis=PITCH; axis<=YAW; axis++) { |
480 | for (axis=PITCH; axis<=YAW; axis++) { |
466 | deltaOffsets[axis] += rawGyroSum[axis]; |
481 | deltaOffsets[axis] += rawGyroSum[axis]; |
467 | } |
482 | } |
468 | } |
483 | } |
469 | 484 | ||
470 | for (axis=PITCH; axis<=YAW; axis++) { |
485 | for (axis=PITCH; axis<=YAW; axis++) { |
471 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES/2) / GYRO_OFFSET_CYCLES; |
486 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES/2) / GYRO_OFFSET_CYCLES; |
472 | DebugOut.Analog[20+axis] = gyroOffset[axis]; |
487 | DebugOut.Analog[20+axis] = gyroOffset[axis]; |
473 | } |
488 | } |
474 | 489 | ||
475 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
490 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
476 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
491 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
477 | 492 | ||
478 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
493 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
479 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
494 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
480 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
495 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
481 | 496 | ||
482 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
497 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
483 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
498 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
484 | // pressureMeasurementCount = 0; |
499 | // pressureMeasurementCount = 0; |
485 | - | ||
486 | // Experiment! |
- | |
487 | // filteredAirPressureOffset = filteredAirPressure - 1000L; |
- | |
488 | 500 | ||
489 | Delay_ms_Mess(100); |
501 | Delay_ms_Mess(100); |
490 | } |
502 | } |
491 | 503 | ||
492 | /* |
504 | /* |
493 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
505 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
494 | * Does not (!} update the local variables. This must be done with a |
506 | * Does not (!} update the local variables. This must be done with a |
495 | * call to analog_calibrate() - this always (?) is done by the caller |
507 | * call to analog_calibrate() - this always (?) is done by the caller |
496 | * anyway. There would be nothing wrong with updating the variables |
508 | * anyway. There would be nothing wrong with updating the variables |
497 | * directly from here, though. |
509 | * directly from here, though. |
498 | */ |
510 | */ |
499 | void analog_calibrateAcc(void) { |
511 | void analog_calibrateAcc(void) { |
500 | #define ACC_OFFSET_CYCLES 10 |
512 | #define ACC_OFFSET_CYCLES 10 |
501 | uint8_t i, axis; |
513 | uint8_t i, axis; |
502 | int32_t deltaOffset[3] = {0,0,0}; |
514 | int32_t deltaOffset[3] = {0,0,0}; |
503 | int16_t filteredDelta; |
515 | int16_t filteredDelta; |
504 | // int16_t pressureDiff, savedRawAirPressure; |
516 | // int16_t pressureDiff, savedRawAirPressure; |
505 | 517 | ||
506 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
518 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
507 | Delay_ms_Mess(10); |
519 | Delay_ms_Mess(10); |
508 | for (axis=PITCH; axis<=YAW; axis++) { |
520 | for (axis=PITCH; axis<=YAW; axis++) { |
509 | deltaOffset[axis] += acc[axis]; |
521 | deltaOffset[axis] += acc[axis]; |
510 | } |
522 | } |
511 | } |
523 | } |
512 | 524 | ||
513 | for (axis=PITCH; axis<=YAW; axis++) { |
525 | for (axis=PITCH; axis<=YAW; axis++) { |
514 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
526 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
515 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
527 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
516 | } |
528 | } |
517 | 529 | ||
518 | // Save ACC neutral settings to eeprom |
530 | // Save ACC neutral settings to eeprom |
519 | SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
531 | SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
520 | SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
532 | SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
521 | SetParamWord(PID_ACC_Z, accOffset[Z]); |
533 | SetParamWord(PID_ACC_Z, accOffset[Z]); |
522 | 534 | ||
523 | // Noise is relative to offset. So, reset noise measurements when |
535 | // Noise is relative to offset. So, reset noise measurements when |
524 | // changing offsets. |
536 | // changing offsets. |
525 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
537 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
526 | 538 | ||
527 | // Setting offset values has an influence in the analog.c ISR |
539 | // Setting offset values has an influence in the analog.c ISR |
528 | // Therefore run measurement for 100ms to achive stable readings |
540 | // Therefore run measurement for 100ms to achive stable readings |
529 | Delay_ms_Mess(100); |
541 | Delay_ms_Mess(100); |
530 | 542 | ||
531 | // Set the feedback so that air pressure ends up in the middle of the range. |
543 | // Set the feedback so that air pressure ends up in the middle of the range. |
532 | // (raw pressure high --> OCR0A also high...) |
544 | // (raw pressure high --> OCR0A also high...) |
533 | // OCR0A += (rawAirPressure - 512) / rangewidth; |
- | |
534 | // Delay_ms_Mess(500); |
- | |
535 | - | ||
536 | /* |
545 | /* |
537 | pressureDiff = 0; |
546 | OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1; |
538 | // DebugOut.Analog[16] = rawAirPressure; |
547 | Delay_ms_Mess(1000); |
- | 548 | ||
- | 549 | pressureDiff = 0; |
|
- | 550 | // DebugOut.Analog[16] = rawAirPressure; |
|
539 | 551 | |
|
540 | #define PRESSURE_CAL_CYCLE_COUNT 2 |
552 | #define PRESSURE_CAL_CYCLE_COUNT 5 |
541 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
553 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
542 | savedRawAirPressure = rawAirPressure; |
554 | savedRawAirPressure = rawAirPressure; |
543 | OCR0A++; |
555 | OCR0A+=2; |
544 | Delay_ms_Mess(200); |
556 | Delay_ms_Mess(500); |
545 | // raw pressure will decrease. |
557 | // raw pressure will decrease. |
546 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
- | |
547 | 558 | pressureDiff += (savedRawAirPressure - rawAirPressure); |
|
548 | savedRawAirPressure = rawAirPressure; |
559 | savedRawAirPressure = rawAirPressure; |
549 | OCR0A--; |
560 | OCR0A-=2; |
550 | Delay_ms_Mess(200); |
561 | Delay_ms_Mess(500); |
551 | // raw pressure will increase. |
562 | // raw pressure will increase. |
552 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
563 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
553 | } |
564 | } |
554 | - | ||
555 | // DebugOut.Analog[16] = |
565 | |
- | 566 | rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2); |
|
556 | rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
567 | DebugOut.Analog[27] = rangewidth; |
557 | */ |
568 | */ |
558 | } |
569 | } |
559 | 570 |