WebSVN - FlightCtrl - Diff - Rev 1612 and 1634 - /branches/dongfang_FC

  * 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;
+volatile int16_t filteredAirPressure;
 /*
  * Control and status.
  */
 volatile uint16_t ADCycleCount = 0;
  */
 volatile uint16_t pitchGyroNoisePeak, rollGyroNoisePeak;
 volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak;
 // ADC channels
-#define AD_GYRO_YAW             0
+#define AD_GYRO_YAW       0
-#define AD_GYRO_ROLL            1
+#define AD_GYRO_ROLL      1
-#define AD_GYRO_PITCH           2
+#define AD_GYRO_PITCH     2
-#define AD_AIRPRESSURE          3
+#define AD_AIRPRESSURE    3
-#define AD_UBAT                 4
+#define AD_UBAT           4
-#define AD_ACC_Z                5
+#define AD_ACC_Z          5
-#define AD_ACC_ROLL             6
+#define AD_ACC_ROLL       6
-#define AD_ACC_PITCH            7
+#define AD_ACC_PITCH      7
 /*
  * Table of AD converter inputs for each state.
 const uint8_t channelsForStates[] PROGMEM = {
   AD_GYRO_PITCH,
   AD_GYRO_ROLL,
   AD_GYRO_YAW,
   AD_ACC_ROLL,
+  AD_ACC_PITCH,
+  AD_ACC_ROLL,
-  AD_ACC_PITCH,
+  // AD_AIRPRESSURE,
-  AD_GYRO_PITCH,
-  AD_GYRO_ROLL,
+  AD_GYRO_PITCH,
   AD_GYRO_ROLL,
-  AD_ACC_Z,       // at 7, finish Z acc.
+  AD_ACC_Z,       // at 7, measure Z acc.
   AD_GYRO_PITCH,
   AD_GYRO_ROLL,
+  AD_GYRO_YAW,    // at 10, finish yaw gyro
-  AD_GYRO_YAW,    // at 10, finish yaw gyro
+  AD_ACC_PITCH,   // at 11, finish pitch axis acc.
-  AD_ACC_PITCH,   // at 11, finish pitch axis acc.
   AD_ACC_ROLL,    // at 12, finish roll axis acc.
   AD_AIRPRESSURE, // at 13, finish air pressure.
   AD_GYRO_PITCH,  // at 13, finish pitch gyro
-  AD_GYRO_ROLL,   // at 14, finish roll gyro
+  AD_GYRO_PITCH,  // at 14, finish pitch gyro
   } else {
     *noiseMeasurement = 0;
+  }
+}
+#define ADCENTER (1023/2)
+#define HALFRANGE 400
+uint8_t stepsize = 53;
+uint16_t getAbsPressure(int advalue) {
+  return (uint16_t)OCR0A * (uint16_t)stepsize + advalue;
+}
+uint16_t filterAirPressure(uint16_t rawpressure) {
+  return rawpressure;
+}
 /*****************************************************/
 /*     Interrupt Service Routine for ADC             */
 /*****************************************************/
 // Runs at 312.5 kHz or 3.2 µs
 ISR(ADC_vect) {
   static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
   static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0};
+  uint8_t i;
-  uint8_t i;
+  int16_t step = OCR0A;
   // for various filters...
   static int16_t pitchGyroFilter, rollGyroFilter, tempOffsetGyro;
 #endif
     filteredRollAxisAcc = (filteredRollAxisAcc * (ACC_FILTER-1) + rollAxisAcc) / ACC_FILTER;
     measureNoise(rollAxisAcc, &rollAccNoisePeak, 1);
     break;
+  case 13: // air pressure
+    if (sensorInputs[AD_AIRPRESSURE] < ADCENTER-HALFRANGE) {
+      // value is too low, so decrease voltage on the op amp minus input, making the value higher.
+      step -= ((HALFRANGE-sensorInputs[AD_AIRPRESSURE]) / stepsize + 1);
+      if (step<0) step = 0;
+      OCR0A = step;
+      // wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off)
+    } else if (sensorInputs[AD_AIRPRESSURE] > ADCENTER+HALFRANGE) {
+      // value is too high, so increase voltage on the op amp minus input, making the value lower.
+      step += ((sensorInputs[AD_AIRPRESSURE] - HALFRANGE)/stepsize + 1);
+      if (step>254) step = 254;
+      OCR0A = step;
+      // wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off)
+    } else {
+      filteredAirPressure = filterAirPressure(getAbsPressure(sensorInputs[AD_AIRPRESSURE]));
+    }
+    break;
-  case 13: // pitch gyro
+  case 14: // pitch gyro
     rawPitchGyroSum = sensorInputs[AD_GYRO_PITCH];
     // Filter already before offsetting. The offsetting resolution improvement obtained by divding by
     // GYROS_FIRSTORDERFILTER _after_ offsetting is too small to be worth pursuing.
     pitchGyroFilter = (pitchGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawPitchGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER;
     // Filter a little more. This value is used in integration to angles.
     filteredHiResPitchGyro = (filteredHiResPitchGyro * (GYROS_SECONDORDERFILTER-1) + hiResPitchGyro) / GYROS_SECONDORDERFILTER;
     measureNoise(hiResPitchGyro, &pitchGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING);
     break;
-  case 14: // Roll gyro. Works the same as pitch.
+  case 15: // Roll gyro. Works the same as pitch.
     rawRollGyroSum = sensorInputs[AD_GYRO_ROLL];
     rollGyroFilter = (rollGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawRollGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER;
 #ifdef GYRO_REVERSE_ROLL
     tempOffsetGyro = rollOffset - rollGyroFilter;
     hiResRollGyro = tempOffsetGyro;
     filteredHiResRollGyro = (filteredHiResRollGyro * (GYROS_SECONDORDERFILTER-1) + hiResRollGyro) / GYROS_SECONDORDERFILTER;
     measureNoise(hiResRollGyro, &rollGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING);
     break;
-  case 15:
+  case 16:
     // battery
     UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
     analogDataReady = 1; // mark
     ADCycleCount++;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.c @ 1651 - Rev 1612 → 1634