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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 | #include <stdlib.h> |
4 | #include <stdlib.h> |
| - | 5 | #include <stdio.h> |
|
| Line 5... | Line 6... | ||
| 5 | 6 | ||
| 6 | #include "analog.h" |
- | |
| 7 | #include "attitude.h" |
7 | #include "analog.h" |
| 8 | #include "sensors.h" |
- | |
| 9 | #include "printf_P.h" |
- | |
| 10 | #include "mk3mag.h" |
- | |
| 11 | 8 | #include "sensors.h" |
|
| 12 | // for Delay functions |
9 | // for Delay functions used in calibration. |
| 13 | #include "timer0.h" |
- | |
| 14 | 10 | #include "timer0.h" |
|
| 15 | // For reading and writing acc. meter offsets. |
11 | // For reading and writing acc. meter offsets. |
| 16 | #include "eeprom.h" |
- | |
| 17 | - | ||
| 18 | // For debugOut |
12 | #include "eeprom.h" |
| Line 19... | Line 13... | ||
| 19 | #include "output.h" |
13 | #include "debug.h" |
| 20 | 14 | ||
| Line -... | Line 15... | ||
| - | 15 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
|
| 21 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
16 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
| Line 22... | Line 17... | ||
| 22 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
17 | |
| 23 | 18 | // TODO: Off to PROGMEM . |
|
| 24 | const char* recal = ", recalibration needed."; |
19 | const char* recal = ", recalibration needed."; |
| 25 | 20 | ||
| 26 | /* |
21 | /* |
| - | 22 | * Gyro and accelerometer values for attitude computation. |
|
| 27 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
23 | * Unfiltered (this is unnecessary as noise should get absorbed in DCM). |
| 28 | * (see array channelsForStates), and the results for each channel are summed. |
24 | * Normalized to rad/s. |
| 29 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
25 | * Data flow: ADCs (1 iteration) --> samplingADCData --offsetting--> gyro_attitude_tmp |
| 30 | * They are exported in the analog.h file - but please do not use them! The only |
26 | * --rotation--> |
| 31 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
27 | * [filtering] --> gyro_attitude. |
| 32 | * the offsets with the DAC. |
- | |
| 33 | */ |
28 | * Altimeter is also considered part of the "long" attitude loop. |
| 34 | volatile uint16_t sensorInputs[8]; |
29 | */ |
| 35 | int16_t acc[3]; |
30 | Vector3f gyro_attitude; |
| 36 | int16_t filteredAcc[3] = { 0,0,0 }; |
31 | Vector3f accel; |
| - | 32 | ||
| 37 | 33 | /* |
|
| 38 | /* |
34 | * This stuff is for the aircraft control thread. It runs in unprocessed integers. |
| 39 | * These 4 exported variables are zero-offset. The "PID" ones are used |
- | |
| 40 | * in the attitude control as rotation rates. The "ATT" ones are for |
35 | * (well some sort of scaling will be required). |
| 41 | * integration to angles. |
36 | * Data flow: ADCs (1 iteration) -> samplingADCData -> [offsetting and rotation] -> |
| 42 | */ |
37 | * [filtering] --> gyro_control |
| 43 | int16_t gyro_PID[2]; |
38 | */ |
| 44 | int16_t gyro_ATT[2]; |
- | |
| 45 | int16_t gyroD[2]; |
- | |
| Line -... | Line 39... | ||
| - | 39 | int16_t gyro_control[3]; |
|
| - | 40 | int16_t gyroD[2]; |
|
| - | 41 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
|
| 46 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
42 | uint8_t gyroDWindowIdx; |
| 47 | uint8_t gyroDWindowIdx = 0; |
43 | |
| Line 48... | Line -... | ||
| 48 | int16_t yawGyro; |
- | |
| 49 | int16_t magneticHeading; |
- | |
| 50 | 44 | /* |
|
| 51 | int32_t groundPressure; |
45 | * Air pressure. TODO: Might as well convert to floats / well known units. |
| 52 | int16_t dHeight; |
46 | */ |
| 53 | 47 | int32_t groundPressure; |
|
| 54 | uint32_t gyroActivity; |
48 | int16_t dHeight; |
| 55 | - | ||
| 56 | /* |
49 | |
| 57 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
50 | /* |
| 58 | * standing still. They are used for adjusting the gyro and acc. meter values |
51 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
| Line 59... | Line 52... | ||
| 59 | * to be centered on zero. |
52 | * standing still. They are used for adjusting the gyro and acc. meter values |
| 60 | */ |
- | |
| 61 | - | ||
| 62 | sensorOffset_t gyroOffset; |
- | |
| 63 | sensorOffset_t accOffset; |
- | |
| 64 | sensorOffset_t gyroAmplifierOffset; |
- | |
| 65 | - | ||
| 66 | /* |
- | |
| 67 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
- | |
| 68 | * If a sensor is used in an orientation where one but not both of the axes has |
- | |
| 69 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
- | |
| 70 | * Transform: |
- | |
| 71 | * pitch <- pp*pitch + pr*roll |
- | |
| 72 | * roll <- rp*pitch + rr*roll |
- | |
| 73 | * Not reversed, GYRO_QUADRANT: |
- | |
| 74 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
- | |
| 75 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
- | |
| 76 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
53 | * to be centered on zero. |
| 77 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
- | |
| 78 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
- | |
| 79 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
- | |
| 80 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
- | |
| 81 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
- | |
| 82 | * Reversed, GYRO_QUADRANT: |
- | |
| 83 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
- | |
| 84 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
54 | */ |
| 85 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
- | |
| 86 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
55 | sensorOffset_t gyroOffset; |
| 87 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
56 | sensorOffset_t accelOffset; |
| 88 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
57 | sensorOffset_t gyroAmplifierOffset; |
| 89 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
58 | |
| 90 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
59 | /* |
| 91 | */ |
60 | * Redo this to that quadrant 0 is normal with an FC2.x. |
| 92 | 61 | */ |
|
| 93 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
62 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
| 94 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
63 | static const int8_t rotationTab[] = { 1, 1, 0, -1, -1, -1, 0, 1 }; |
| 95 | // Pitch to Pitch part |
64 | // Pitch to Pitch part |
| 96 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
65 | int8_t xx = reverse ? rotationTab[(quadrant + 4) & 7] : rotationTab[quadrant]; // 1 |
| 97 | // Roll to Pitch part |
66 | // Roll to Pitch part |
| - | 67 | int8_t xy = rotationTab[(quadrant + 2) & 7]; // -1 |
|
| - | 68 | // Pitch to Roll part |
|
| 98 | int8_t xy = rotationTab[(quadrant+2)%8]; |
69 | int8_t yx = reverse ? rotationTab[(quadrant + 2) & 7] : rotationTab[(quadrant + 6) & 7]; // -1 |
| 99 | // Pitch to Roll part |
70 | // Roll to Roll part |
| 100 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
71 | int8_t yy = rotationTab[quadrant]; // -1 |
| 101 | // Roll to Roll part |
72 | |
| 102 | int8_t yy = rotationTab[quadrant]; |
73 | int16_t xIn = result[0]; |
| 103 | - | ||
| 104 | int16_t xIn = result[0]; |
- | |
| 105 | result[0] = xx*xIn + xy*result[1]; |
74 | int32_t tmp0, tmp1; |
| - | 75 | ||
| - | 76 | tmp0 = xx * xIn + xy * result[1]; |
|
| 106 | result[1] = yx*xIn + yy*result[1]; |
77 | tmp1 = yx * xIn + yy * result[1]; |
| 107 | 78 | ||
| 108 | if (quadrant & 1) { |
- | |
| 109 | // A rotation was used above, where the factors were too large by sqrt(2). |
79 | if (quadrant & 1) { |
| Line 110... | Line 80... | ||
| 110 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
80 | tmp0 = (tmp0 * 181L) >> 8; |
| 111 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
81 | tmp1 = (tmp1 * 181L) >> 8; |
| 112 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
82 | } |
| 113 | result[0] = (result[0]*11) >> 4; |
83 | |
| Line 114... | Line 84... | ||
| 114 | result[1] = (result[1]*11) >> 4; |
84 | result[0] = (int16_t) tmp0; |
| 115 | } |
- | |
| Line 116... | Line 85... | ||
| 116 | } |
85 | result[1] = (int16_t) tmp1; |
| 117 | 86 | } |
|
| Line 118... | Line 87... | ||
| 118 | /* |
87 | |
| Line 141... | Line 110... | ||
| 141 | 110 | ||
| 142 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
111 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
| Line 143... | Line 112... | ||
| 143 | int32_t airPressureSum; |
112 | int32_t airPressureSum; |
| 144 | 113 | ||
| Line 145... | Line 114... | ||
| 145 | // The number of samples summed into airPressureSum so far. |
114 | // The number of samples summed into airPressureSum so far. |
| 146 | uint8_t pressureMeasurementCount; |
115 | uint8_t pressureSumCount; |
| 147 | 116 | ||
| 148 | /* |
117 | /* |
| Line 153... | Line 122... | ||
| 153 | int16_t UBat = 100; |
122 | int16_t UBat = 100; |
| Line 154... | Line 123... | ||
| 154 | 123 | ||
| 155 | /* |
124 | /* |
| 156 | * Control and status. |
125 | * Control and status. |
| 157 | */ |
126 | */ |
| - | 127 | volatile uint16_t samplingADCData[8]; |
|
| Line 158... | Line -... | ||
| 158 | volatile uint8_t analogDataReady = 1; |
- | |
| - | 128 | volatile uint16_t attitudeADCData[8]; |
|
| 159 | 129 | ||
| 160 | /* |
- | |
| 161 | * Experiment: Measuring vibration-induced sensor noise. |
130 | volatile uint8_t analog_controlDataStatus = CONTROL_SENSOR_DATA_READY; |
| 162 | */ |
131 | volatile uint8_t analog_attitudeDataStatus = ATTITUDE_SENSOR_NO_DATA; |
| Line 163... | Line 132... | ||
| 163 | uint16_t gyroNoisePeak[3]; |
132 | // Number of ADC iterations done for current attitude loop. |
| 164 | uint16_t accNoisePeak[3]; |
133 | volatile uint8_t attitudeSumCount; |
| Line -... | Line 134... | ||
| - | 134 | ||
| - | 135 | volatile uint8_t ADCSampleCount; |
|
| 165 | 136 | volatile uint8_t adChannel; |
|
| 166 | volatile uint8_t adState; |
137 | |
| 167 | volatile uint8_t adChannel; |
138 | |
| - | 139 | const uint8_t channelsForStates[] PROGMEM = { |
|
| 168 | 140 | AD_GYRO_X, |
|
| 169 | // ADC channels |
141 | AD_GYRO_Y, |
| - | 142 | AD_GYRO_Z, |
|
| - | 143 | ||
| 170 | #define AD_GYRO_YAW 0 |
144 | AD_ACCEL_X, |
| 171 | #define AD_GYRO_ROLL 1 |
145 | AD_ACCEL_Y, |
| - | 146 | ||
| 172 | #define AD_GYRO_PITCH 2 |
147 | AD_GYRO_X, |
| 173 | #define AD_AIRPRESSURE 3 |
148 | AD_GYRO_Y, |
| 174 | #define AD_UBAT 4 |
149 | //AD_GYRO_Z, |
| - | 150 | ||
| - | 151 | AD_ACCEL_Z, |
|
| - | 152 | AD_AIRPRESSURE, |
|
| 175 | #define AD_ACC_Z 5 |
153 | |
| 176 | #define AD_ACC_ROLL 6 |
154 | AD_GYRO_X, |
| 177 | #define AD_ACC_PITCH 7 |
155 | AD_GYRO_Y, |
| - | 156 | AD_GYRO_Z, |
|
| 178 | 157 | ||
| 179 | /* |
158 | AD_ACCEL_X, |
| 180 | * Table of AD converter inputs for each state. |
159 | AD_ACCEL_Y, |
| - | 160 | ||
| 181 | * The number of samples summed for each channel is equal to |
161 | AD_GYRO_X, |
| 182 | * the number of times the channel appears in the array. |
162 | AD_GYRO_Y, |
| - | 163 | //AD_GYRO_Z, |
|
| - | 164 | ||
| 183 | * The max. number of samples that can be taken in 2 ms is: |
165 | //AD_ACCEL_Z, |
| 184 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
166 | //AD_AIRPRESSURE, |
| 185 | * loop needs a little time between reading AD values and |
167 | |
| - | 168 | AD_GYRO_X, |
|
| - | 169 | AD_GYRO_Y, |
|
| 186 | * re-enabling ADC, the real limit is (how much?) lower. |
170 | AD_GYRO_Z, |
| 187 | * The acc. sensor is sampled even if not used - or installed |
171 | |
| 188 | * at all. The cost is not significant. |
172 | AD_ACCEL_X, |
| - | 173 | AD_ACCEL_Y, |
|
| - | 174 | ||
| - | 175 | AD_GYRO_X, |
|
| 189 | */ |
176 | AD_GYRO_Y, |
| 190 | 177 | //AD_GYRO_Z, |
|
| - | 178 | ||
| 191 | const uint8_t channelsForStates[] PROGMEM = { |
179 | AD_ACCEL_Z, |
| 192 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
180 | AD_AIRPRESSURE, |
| 193 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
181 | |
| 194 | 182 | AD_GYRO_Y, |
|
| 195 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
183 | AD_GYRO_X, |
| - | 184 | AD_GYRO_Z, |
|
| - | 185 | ||
| - | 186 | AD_ACCEL_X, |
|
| 196 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
187 | AD_ACCEL_Y, |
| 197 | 188 | ||
| 198 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
189 | AD_GYRO_X, |
| 199 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
190 | AD_GYRO_Y, |
| 200 | AD_AIRPRESSURE, // at 14, finish air pressure. |
191 | // AD_GYRO_Z, |
| 201 | 192 | ||
| Line 202... | Line 193... | ||
| 202 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
193 | //AD_ACCEL_Z, |
| 203 | AD_GYRO_ROLL, // at 16, finish roll gyro |
194 | //AD_AIRPRESSURE, |
| Line 204... | Line 195... | ||
| 204 | AD_UBAT // at 17, measure battery. |
195 | AD_UBAT |
| 205 | }; |
196 | }; |
| 206 | 197 | ||
| 207 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
198 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
| 208 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
199 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
| 209 | 200 | ||
| 210 | void analog_init(void) { |
201 | void analog_init(void) { |
| 211 | uint8_t sreg = SREG; |
202 | uint8_t sreg = SREG; |
| 212 | // disable all interrupts before reconfiguration |
203 | // disable all interrupts before reconfiguration |
| 213 | cli(); |
204 | cli(); |
| 214 | 205 | ||
| 215 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
206 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
| 216 | DDRA = 0x00; |
207 | DDRA = 0x00; |
| 217 | PORTA = 0x00; |
208 | PORTA = 0x00; |
| 218 | // Digital Input Disable Register 0 |
209 | // Digital Input Disable Register 0 |
| 219 | // Disable digital input buffer for analog adc_channel pins |
210 | // Disable digital input buffer for analog adc_channel pins |
| 220 | DIDR0 = 0xFF; |
211 | DIDR0 = 0xFF; |
| 221 | // external reference, adjust data to the right |
212 | // external reference, adjust data to the right |
| 222 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
213 | ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR)); |
| 223 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
214 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| 224 | ADMUX = (ADMUX & 0xE0); |
215 | ADMUX = (ADMUX & 0xE0); |
| 225 | //Set ADC Control and Status Register A |
216 | //Set ADC Control and Status Register A |
| 226 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
217 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| 227 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
218 | ADCSRA = (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0); |
| - | 219 | //Set ADC Control and Status Register B |
|
| 228 | //Set ADC Control and Status Register B |
220 | //Trigger Source to Free Running Mode |
| 229 | //Trigger Source to Free Running Mode |
221 | ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0)); |
| Line 230... | Line 222... | ||
| 230 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
222 | |
| Line 231... | Line 223... | ||
| 231 | 223 | for (uint8_t i = 0; i < MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
|
| 232 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
224 | airPressureWindow[i] = 0; |
| 233 | airPressureWindow[i] = 0; |
225 | } |
| Line -... | Line 226... | ||
| - | 226 | ||
| 234 | } |
227 | windowedAirPressure = 0; |
| - | 228 | ||
| - | 229 | startADCCycle(); |
|
| - | 230 | ||
| - | 231 | // restore global interrupt flags |
|
| - | 232 | SREG = sreg; |
|
| - | 233 | } |
|
| 235 | windowedAirPressure = 0; |
234 | |
| - | 235 | // Convert axis number (X, Y, Z to ADC channel mapping (1, 2, 0) |
|
| - | 236 | uint16_t gyroValue(uint8_t axis, volatile uint16_t dataArray[]) { |
|
| - | 237 | switch (axis) { |
|
| 236 | 238 | case X: |
|
| Line 237... | Line 239... | ||
| 237 | startAnalogConversionCycle(); |
239 | return dataArray[AD_GYRO_X]; |
| 238 | 240 | case Y: |
|
| 239 | // restore global interrupt flags |
241 | return dataArray[AD_GYRO_Y]; |
| Line 240... | Line 242... | ||
| 240 | SREG = sreg; |
242 | case Z: |
| 241 | } |
243 | return dataArray[AD_GYRO_Z]; |
| 242 | 244 | default: |
|
| 243 | uint16_t rawGyroValue(uint8_t axis) { |
245 | return 0; // should never happen. |
| 244 | return sensorInputs[AD_GYRO_PITCH-axis]; |
246 | } |
| 245 | } |
247 | } |
| 246 | 248 | ||
| - | 249 | uint16_t gyroValueForFC13DACCalibration(uint8_t axis) { |
|
| 247 | uint16_t rawAccValue(uint8_t axis) { |
250 | return gyroValue(axis, samplingADCData); |
| 248 | return sensorInputs[AD_ACC_PITCH-axis]; |
251 | } |
| 249 | } |
252 | |
| 250 | 253 | // Convert axis number (X, Y, Z to ADC channel mapping (6, 7, 5) |
|
| 251 | void measureNoise(const int16_t sensor, |
254 | uint16_t accValue(uint8_t axis, volatile uint16_t dataArray[]) { |
| Line 252... | Line 255... | ||
| 252 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
255 | switch (axis) { |
| 253 | if (sensor > (int16_t) (*noiseMeasurement)) { |
256 | case X: |
| 254 | *noiseMeasurement = sensor; |
257 | return dataArray[AD_ACCEL_X]; |
| 255 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
258 | case Y: |
| 256 | *noiseMeasurement = -sensor; |
259 | return dataArray[AD_ACCEL_Y]; |
| 257 | } else if (*noiseMeasurement > damping) { |
260 | case Z: |
| 258 | *noiseMeasurement -= damping; |
261 | return dataArray[AD_ACCEL_Z]; |
| 259 | } else { |
262 | default: |
| 260 | *noiseMeasurement = 0; |
263 | return 0; // should never happen. |
| 261 | } |
264 | } |
| 262 | } |
265 | } |
| 263 | - | ||
| 264 | /* |
- | |
| 265 | * Min.: 0 |
- | |
| 266 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
266 | |
| 267 | */ |
267 | /* |
| 268 | uint16_t getSimplePressure(int advalue) { |
268 | * Min.: 0 |
| 269 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
269 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
| 270 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
270 | */ |
| 271 | return result; |
271 | uint16_t getSimplePressure(int advalue) { |
| - | 272 | uint16_t result = (uint16_t) OCR0A * /*(uint16_t)*/ rangewidth + advalue; |
|
| - | 273 | result += (/*accel.z*/0 * (staticParams.airpressureAccZCorrection - 128)) >> 10; |
|
| 272 | } |
274 | return result; |
| 273 | 275 | } |
|
| Line 274... | Line 276... | ||
| 274 | void startAnalogConversionCycle(void) { |
276 | |
| 275 | analogDataReady = 0; |
277 | void startADCCycle(void) { |
| 276 | 278 | for (uint8_t i=0; i<8; i++) { |
|
| 277 | // Stop the sampling. Cycle is over. |
279 | samplingADCData[i] = 0; |
| 278 | for (uint8_t i = 0; i < 8; i++) { |
280 | } |
| 279 | sensorInputs[i] = 0; |
281 | ADCSampleCount = 0; |
| 280 | } |
282 | adChannel = AD_GYRO_X; |
| 281 | adState = 0; |
283 | ADMUX = (ADMUX & 0xE0) | adChannel; |
| 282 | adChannel = AD_GYRO_PITCH; |
284 | analog_controlDataStatus = CONTROL_SENSOR_SAMPLING_DATA; |
| 283 | ADMUX = (ADMUX & 0xE0) | adChannel; |
285 | J4HIGH; |
| 284 | startADC(); |
286 | startADC(); |
| 285 | } |
287 | } |
| 286 | 288 | ||
| 287 | /***************************************************** |
289 | /***************************************************** |
| 288 | * Interrupt Service Routine for ADC |
290 | * Interrupt Service Routine for ADC |
| 289 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
291 | * Runs at 12 kHz. When all states are processed |
| 290 | * processed further conversions are stopped. |
292 | * further conversions are stopped. |
| - | 293 | *****************************************************/ |
|
| 291 | *****************************************************/ |
294 | ISR( ADC_vect) { |
| 292 | ISR(ADC_vect) { |
295 | samplingADCData[adChannel] += ADC; |
| 293 | sensorInputs[adChannel] += ADC; |
296 | // set up for next state. |
| 294 | // set up for next state. |
297 | ADCSampleCount++; |
| 295 | adState++; |
- | |
| 296 | if (adState < sizeof(channelsForStates)) { |
- | |
| 297 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
- | |
| 298 | // set adc muxer to next adChannel |
298 | if (ADCSampleCount < sizeof(channelsForStates)) { |
| 299 | ADMUX = (ADMUX & 0xE0) | adChannel; |
- | |
| 300 | // after full cycle stop further interrupts |
- | |
| 301 | startADC(); |
299 | adChannel = pgm_read_byte(&channelsForStates[ADCSampleCount]); |
| 302 | } else { |
300 | // set adc muxer to next adChannel |
| 303 | analogDataReady = 1; |
301 | ADMUX = (ADMUX & 0xE0) | adChannel; |
| 304 | // do not restart ADC converter. |
302 | // after full cycle stop further interrupts |
| 305 | } |
303 | startADC(); |
| 306 | } |
- | |
| 307 | 304 | } else { |
|
| 308 | void measureGyroActivity(int16_t newValue) { |
- | |
| 309 | gyroActivity += newValue * newValue; |
- | |
| 310 | // abs(newValue); // (uint32_t)((int32_t)newValue * newValue); |
- | |
| 311 | } |
- | |
| 312 | 305 | J4LOW; |
|
| 313 | #define GADAMPING 6 |
306 | analog_controlDataStatus = CONTROL_SENSOR_DATA_READY; |
| 314 | void dampenGyroActivity(void) { |
307 | // do not restart ADC converter. |
| 315 | static uint8_t cnt = 0; |
308 | } |
| 316 | 309 | } |
|
| 317 | if (++cnt >= IMUConfig.gyroActivityDamping) { |
- | |
| 318 | cnt = 0; |
- | |
| 319 | gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
- | |
| 320 | gyroActivity >>= GADAMPING; |
- | |
| 321 | } |
- | |
| 322 | - | ||
| 323 | /* |
310 | |
| 324 | if (gyroActivity >= 10) gyroActivity -= 10; |
311 | /* |
| - | 312 | * Used in calibration only! |
|
| - | 313 | * Wait the specified number of millis, and then run a full sensor ADC cycle. |
|
| - | 314 | */ |
|
| - | 315 | void waitADCCycle(uint16_t delay) { |
|
| 325 | else if (gyroActivity <=- 10) gyroActivity += 10; |
316 | delay_ms(delay); |
| - | 317 | startADCCycle(); |
|
| 326 | */ |
318 | while(analog_controlDataStatus != CONTROL_SENSOR_DATA_READY) |
| 327 | } |
319 | ; |
| Line 328... | Line -... | ||
| 328 | - | ||
| 329 | void analog_updateGyros(void) { |
- | |
| 330 | // for various filters... |
- | |
| 331 | int16_t tempOffsetGyro[2], tempGyro; |
- | |
| 332 | - | ||
| 333 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
- | |
| 334 | for (uint8_t axis=0; axis<2; axis++) { |
- | |
| 335 | tempGyro = rawGyroValue(axis); |
- | |
| 336 | /* |
- | |
| 337 | * Process the gyro data for the PID controller. |
- | |
| 338 | */ |
- | |
| 339 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
- | |
| 340 | // gyro with a wider range, and helps counter saturation at full control. |
- | |
| 341 | - | ||
| 342 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
- | |
| 343 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
- | |
| 344 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
- | |
| 345 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
320 | } |
| 346 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
- | |
| 347 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
- | |
| 348 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
- | |
| 349 | } |
- | |
| 350 | } |
- | |
| 351 | - | ||
| 352 | // 2) Apply sign and offset, scale before filtering. |
- | |
| 353 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
- | |
| 354 | } |
- | |
| 355 | 321 | ||
| 356 | // 2.1: Transform axes. |
- | |
| 357 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
- | |
| 358 | - | ||
| 359 | for (uint8_t axis=0; axis<2; axis++) { |
- | |
| 360 | // 3) Filter. |
322 | void analog_updateControlData(void) { |
| 361 | tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
- | |
| 362 | 323 | /* |
|
| 363 | // 4) Measure noise. |
- | |
| 364 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
- | |
| 365 | 324 | * 1) Near-saturation boost (dont bother with Z) |
|
| 366 | // 5) Differential measurement. |
325 | * 2) Offset |
| 367 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
326 | * 3) Rotation |
| 368 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
327 | * 4) Filter |
| 369 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
328 | * 5) Extract gyroD (should this be without near-saturation boost really? Ignore issue) |
| 370 | gyroD[axis] += diff; |
- | |
| 371 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
- | |
| 372 | - | ||
| 373 | // 6) Done. |
- | |
| 374 | gyro_PID[axis] = tempOffsetGyro[axis]; |
- | |
| 375 | - | ||
| 376 | // Prepare tempOffsetGyro for next calculation below... |
- | |
| 377 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
- | |
| 378 | } |
- | |
| 379 | - | ||
| 380 | /* |
- | |
| 381 | * Now process the data for attitude angles. |
- | |
| 382 | */ |
329 | */ |
| 383 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
330 | |
| 384 | - | ||
| 385 | dampenGyroActivity(); |
- | |
| 386 | gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
- | |
| 387 | gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
- | |
| 388 | - | ||
| 389 | /* |
- | |
| 390 | measureGyroActivity(tempOffsetGyro[PITCH]); |
- | |
| 391 | measureGyroActivity(tempOffsetGyro[ROLL]); |
331 | int16_t tempOffsetGyro[2]; |
| 392 | */ |
- | |
| 393 | measureGyroActivity(gyroD[PITCH]); |
332 | int16_t tempGyro; |
| 394 | measureGyroActivity(gyroD[ROLL]); |
- | |
| 395 | 333 | ||
| 396 | // We measure activity of yaw by plain gyro value and not d/dt, because: |
- | |
| 397 | // - There is no drift correction anyway |
334 | for (uint8_t axis=X; axis<=Y; axis++) { |
| 398 | // - Effect of steady circular flight would vanish (it should have effect). |
- | |
| 399 | // int16_t diff = yawGyro; |
- | |
| 400 | // Yaw gyro. |
335 | tempGyro = gyroValue(axis, samplingADCData); |
| 401 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
- | |
| 402 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
- | |
| 403 | else |
- | |
| 404 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
- | |
| 405 | - | ||
| 406 | // diff -= yawGyro; |
- | |
| 407 | // gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
336 | //debugOut.analog[3 + axis] = tempGyro; |
| 408 | // gyroD[YAW] += diff; |
337 | //debugOut.analog[3 + 2] = gyroValue(Z, samplingADCData); |
| 409 | // gyroDWindow[YAW][gyroDWindowIdx] = diff; |
- | |
| 410 | - | ||
| 411 | // gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
338 | |
| 412 | measureGyroActivity(yawGyro); |
- | |
| 413 | - | ||
| 414 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
- | |
| 415 | gyroDWindowIdx = 0; |
- | |
| 416 | } |
- | |
| 417 | } |
339 | /* |
| 418 | - | ||
| 419 | void analog_updateAccelerometers(void) { |
- | |
| 420 | // Pitch and roll axis accelerations. |
340 | * Process the gyro data for the PID controller. |
| 421 | for (uint8_t axis=0; axis<2; axis++) { |
- | |
| Line 422... | Line 341... | ||
| 422 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
341 | */ |
| - | 342 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
|
| 423 | } |
343 | // gyro with a wider range, and helps counter saturation at full control. |
| Line 424... | Line -... | ||
| 424 | - | ||
| 425 | rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
- | |
| 426 | for(uint8_t axis=0; axis<3; axis++) { |
- | |
| 427 | filteredAcc[axis] = (filteredAcc[axis] * (IMUConfig.accFilterConstant - 1) + acc[axis]) / IMUConfig.accFilterConstant; |
- | |
| 428 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
344 | // There is hardly any reason to bother extrapolating yaw. |
| 429 | } |
- | |
| 430 | 345 | ||
| 431 | // Z acc. |
- | |
| 432 | if (IMUConfig.imuReversedFlags & 8) |
346 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
| 433 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
- | |
| 434 | else |
347 | if (tempGyro < SENSOR_MIN_XY) { |
| 435 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
348 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| - | 349 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
|
| 436 | 350 | } else if (tempGyro > SENSOR_MAX_XY) { |
|
| 437 | // debugOut.analog[29] = acc[Z]; |
351 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| 438 | } |
352 | tempGyro = (tempGyro - SENSOR_MAX_XY) * EXTRAPOLATION_SLOPE + SENSOR_MAX_XY; |
| 439 | 353 | } |
|
| 440 | void analog_updateAirPressure(void) { |
354 | } |
| 441 | static uint16_t pressureAutorangingWait = 25; |
- | |
| 442 | uint16_t rawAirPressure; |
- | |
| 443 | int16_t newrange; |
355 | |
| 444 | // air pressure |
356 | // 2) Apply offset (rotation will take care of signs). |
| 445 | if (pressureAutorangingWait) { |
357 | tempOffsetGyro[axis] = tempGyro - gyroOffset.offsets[axis]; |
| 446 | //A range switch was done recently. Wait for steadying. |
- | |
| 447 | pressureAutorangingWait--; |
- | |
| 448 | } else { |
358 | } |
| 449 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
- | |
| 450 | if (rawAirPressure < MIN_RAWPRESSURE) { |
- | |
| 451 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
- | |
| 452 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
- | |
| 453 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
359 | |
| 454 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
- | |
| 455 | OCR0A = newrange; |
- | |
| 456 | } else { |
- | |
| 457 | if (OCR0A) { |
360 | // 2.1: Transform axes. |
| - | 361 | rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_XY); |
|
| 458 | OCR0A--; |
362 | |
| 459 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
363 | for (uint8_t axis=X; axis<=Y; axis++) { |
| Line 460... | Line 364... | ||
| 460 | } |
364 | // Filter. There is no filter for Z and no need for one. |
| 461 | } |
365 | |
| - | 366 | tempGyro = (gyro_control[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
|
| - | 367 | // 5) Differential measurement. |
|
| - | 368 | int16_t diff = tempGyro - gyro_control[axis]; |
|
| - | 369 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
|
| Line -... | Line 370... | ||
| - | 370 | gyroD[axis] += diff; |
|
| - | 371 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
|
| - | 372 | ||
| - | 373 | // 6) Done. |
|
| 462 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
374 | gyro_control[axis] = tempGyro; |
| - | 375 | } |
|
| 463 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
376 | |
| - | 377 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
|
| - | 378 | gyroDWindowIdx = 0; |
|
| - | 379 | } |
|
| - | 380 | ||
| - | 381 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_Z) |
|
| 464 | // If near the end, make a limited increase |
382 | tempGyro = gyroOffset.offsets[Z] - gyroValue(Z, samplingADCData); |
| - | 383 | else |
|
| - | 384 | tempGyro = gyroValue(Z, samplingADCData) - gyroOffset.offsets[Z]; |
|
| - | 385 | ||
| - | 386 | gyro_control[Z] = tempGyro; |
|
| - | 387 | ||
| - | 388 | startADCCycle(); |
|
| - | 389 | } |
|
| - | 390 | ||
| - | 391 | /* |
|
| 465 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
392 | * The uint16s can take a max. of 1<<16-10) = 64 samples summed. |
| - | 393 | * Assuming a max oversampling count of 8 for the control loop, this is 8 control loop iterations |
|
| - | 394 | * summed. After 8 are reached, we just throw away all further data. This (that the attitude loop |
|
| - | 395 | * is more than 8 times slower than the control loop) should not happen anyway so there is no waste. |
|
| - | 396 | */ |
|
| - | 397 | #define MAX_OVEROVERSAMPLING_COUNT 8 |
|
| - | 398 | ||
| - | 399 | void analog_sumAttitudeData(void) { |
|
| - | 400 | // From when this procedure completes, there is attitude data available. |
|
| - | 401 | if (analog_attitudeDataStatus == ATTITUDE_SENSOR_NO_DATA) |
|
| - | 402 | analog_attitudeDataStatus = ATTITUDE_SENSOR_DATA_READY; |
|
| - | 403 | ||
| - | 404 | ||
| - | 405 | if (analog_attitudeDataStatus == ATTITUDE_SENSOR_DATA_READY && attitudeSumCount < MAX_OVEROVERSAMPLING_COUNT) { |
|
| - | 406 | for (uint8_t i = 0; i < 8; i++) { |
|
| - | 407 | attitudeADCData[i] += samplingADCData[i]; |
|
| - | 408 | } |
|
| - | 409 | attitudeSumCount++; |
|
| - | 410 | debugOut.analog[24] = attitudeSumCount; |
|
| - | 411 | } |
|
| - | 412 | } |
|
| 466 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
413 | |
| - | 414 | void clearAttitudeData(void) { |
|
| 467 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
415 | for (uint8_t i = 0; i < 8; i++) { |
| - | 416 | attitudeADCData[i] = 0; |
|
| - | 417 | } |
|
| - | 418 | attitudeSumCount = 0; |
|
| - | 419 | analog_attitudeDataStatus = ATTITUDE_SENSOR_NO_DATA; |
|
| - | 420 | } |
|
| - | 421 | ||
| - | 422 | void updateAttitudeVectors(void) { |
|
| - | 423 | /* |
|
| - | 424 | int16_t gyro_attitude_tmp[3]; |
|
| - | 425 | Vector3f gyro_attitude; |
|
| - | 426 | Vector3f accel; |
|
| - | 427 | */ |
|
| - | 428 | ||
| - | 429 | int16_t tmpSensor[3]; |
|
| - | 430 | ||
| 468 | OCR0A = newrange; |
431 | // prevent gyro_attitude_tmp and attitudeSumCount from being updated. |
| - | 432 | // TODO: This only prevents interrupts from starting. Well its good enough really? |
|
| - | 433 | analog_attitudeDataStatus = ATTITUDE_SENSOR_READING_DATA; |
|
| - | 434 | ||
| - | 435 | tmpSensor[X] = gyroValue(X, attitudeADCData) - gyroOffset.offsets[X] * attitudeSumCount; |
|
| - | 436 | tmpSensor[Y] = gyroValue(Y, attitudeADCData) - gyroOffset.offsets[Y] * attitudeSumCount; |
|
| - | 437 | ||
| 469 | } else { |
438 | rotate(tmpSensor, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_XY); |
| - | 439 | ||
| - | 440 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_Z) |
|
| 470 | if (OCR0A < 254) { |
441 | tmpSensor[Z] = gyroOffset.offsets[Z] * attitudeSumCount - gyroValue(Z, attitudeADCData); |
| - | 442 | else |
|
| 471 | OCR0A++; |
443 | tmpSensor[Z] = gyroValue(Z, attitudeADCData) - gyroOffset.offsets[Z] * attitudeSumCount; |
| - | 444 | ||
| - | 445 | gyro_attitude.x = ((float) tmpSensor[X]) / (GYRO_RATE_FACTOR_XY * attitudeSumCount); |
|
| - | 446 | gyro_attitude.y = ((float) tmpSensor[Y]) / (GYRO_RATE_FACTOR_XY * attitudeSumCount); |
|
| - | 447 | gyro_attitude.z = ((float) tmpSensor[Z]) / (GYRO_RATE_FACTOR_Z * attitudeSumCount); |
|
| - | 448 | ||
| 472 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
449 | // Done with gyros. Now accelerometer: |
| 473 | } |
450 | tmpSensor[X] = accValue(X, attitudeADCData) - accelOffset.offsets[X] * attitudeSumCount; |
| - | 451 | tmpSensor[Y] = accValue(Y, attitudeADCData) - accelOffset.offsets[Y] * attitudeSumCount; |
|
| - | 452 | ||
| - | 453 | rotate(tmpSensor, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_XY); |
|
| - | 454 | ||
| 474 | } |
455 | // Z acc. |
| - | 456 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_Z) |
|
| - | 457 | tmpSensor[Z] = accelOffset.offsets[Z] * attitudeSumCount - accValue(Z, attitudeADCData); |
|
| - | 458 | else |
|
| - | 459 | tmpSensor[Z] = accValue(Z, attitudeADCData) - accelOffset.offsets[Z] * attitudeSumCount; |
|
| 475 | } |
460 | |
| - | 461 | // Blarh!!! We just skip acc filtering. There are trillions of samples already. |
|
| 476 | 462 | accel.x = (float)tmpSensor[X] / (ACCEL_FACTOR_XY * attitudeSumCount); // (accel.x + (float)tmpSensor[X] / (ACCEL_FACTOR_XY * attitudeSumCount)) / 2.0; |
|
| - | 463 | accel.y = (float)tmpSensor[Y] / (ACCEL_FACTOR_XY * attitudeSumCount); // (accel.y + (float)tmpSensor[Y] / (ACCEL_FACTOR_XY * attitudeSumCount)) / 2.0; |
|
| - | 464 | accel.z = (float)tmpSensor[Z] / (ACCEL_FACTOR_Z * attitudeSumCount); // (accel.z + (float)tmpSensor[Z] / (ACCEL_FACTOR_Z * attitudeSumCount)) / 2.0; |
|
| - | 465 | ||
| - | 466 | for (uint8_t i=0; i<3; i++) { |
|
| - | 467 | debugOut.analog[3 + i] = (int16_t)(gyro_attitude[i] * 100); |
|
| - | 468 | debugOut.analog[6 + i] = (int16_t)(accel[i] * 100); |
|
| - | 469 | } |
|
| - | 470 | } |
|
| - | 471 | ||
| - | 472 | void analog_updateAirPressure(void) { |
|
| - | 473 | static uint16_t pressureAutorangingWait = 25; |
|
| - | 474 | uint16_t rawAirPressure; |
|
| - | 475 | int16_t newrange; |
|
| - | 476 | // air pressure |
|
| - | 477 | if (pressureAutorangingWait) { |
|
| - | 478 | //A range switch was done recently. Wait for steadying. |
|
| - | 479 | pressureAutorangingWait--; |
|
| - | 480 | } else { |
|
| - | 481 | rawAirPressure = attitudeADCData[AD_AIRPRESSURE] / attitudeSumCount; |
|
| - | 482 | if (rawAirPressure < MIN_RAWPRESSURE) { |
|
| - | 483 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
|
| - | 484 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); |
|
| - | 485 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
|
| - | 486 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
|
| - | 487 | OCR0A = newrange; |
|
| - | 488 | } else { |
|
| - | 489 | if (OCR0A) { |
|
| - | 490 | OCR0A--; |
|
| - | 491 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
| - | 492 | } |
|
| - | 493 | } |
|
| - | 494 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
|
| - | 495 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
|
| - | 496 | // If near the end, make a limited increase |
|
| - | 497 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); |
|
| - | 498 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
|
| - | 499 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
|
| - | 500 | OCR0A = newrange; |
|
| - | 501 | } else { |
|
| - | 502 | if (OCR0A < 254) { |
|
| - | 503 | OCR0A++; |
|
| - | 504 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
| - | 505 | } |
|
| - | 506 | } |
|
| - | 507 | } |
|
| - | 508 | ||
| 477 | // Even if the sample is off-range, use it. |
509 | // Even if the sample is off-range, use it. |
| 478 | simpleAirPressure = getSimplePressure(rawAirPressure); |
510 | simpleAirPressure = getSimplePressure(rawAirPressure); |
| 479 | 511 | ||
| 480 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
512 | if (simpleAirPressure < (uint16_t)(MIN_RANGES_EXTRAPOLATION * rangewidth)) { |
| 481 | // Danger: pressure near lower end of range. If the measurement saturates, the |
513 | // Danger: pressure near lower end of range. If the measurement saturates, the |
| - | 514 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
|
| - | 515 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
|
| - | 516 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
|
| - | 517 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
|
| - | 518 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
| - | 519 | } else if (simpleAirPressure > (uint16_t)(MAX_RANGES_EXTRAPOLATION * rangewidth)) { |
|
| - | 520 | // Danger: pressure near upper end of range. If the measurement saturates, the |
|
| - | 521 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
|
| - | 522 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
|
| - | 523 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
|
| - | 524 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
|
| - | 525 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
| - | 526 | } else { |
|
| - | 527 | // normal case. |
|
| - | 528 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
|
| - | 529 | // The 2 cases above (end of range) are ignored for this. |
|
| - | 530 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
|
| - | 531 | airPressureSum += simpleAirPressure; |
|
| - | 532 | } |
|
| - | 533 | ||
| - | 534 | // 2 samples were added. |
|
| - | 535 | pressureSumCount += 2; |
|
| - | 536 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 28...) |
|
| - | 537 | if (pressureSumCount == AIRPRESSURE_OVERSAMPLING) { |
|
| - | 538 | ||
| - | 539 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
|
| - | 540 | airPressureSum += simpleAirPressure >> 2; |
|
| - | 541 | ||
| - | 542 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
|
| - | 543 | ||
| - | 544 | if (!staticParams.airpressureWindowLength) { |
|
| - | 545 | filteredAirPressure = (filteredAirPressure |
|
| - | 546 | * (staticParams.airpressureFilterConstant - 1) |
|
| - | 547 | + airPressureSum |
|
| - | 548 | + staticParams.airpressureFilterConstant / 2) |
|
| - | 549 | / staticParams.airpressureFilterConstant; |
|
| - | 550 | } else { |
|
| - | 551 | // use windowed. |
|
| - | 552 | windowedAirPressure += simpleAirPressure; |
|
| 482 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
553 | windowedAirPressure -= airPressureWindow[windowPtr]; |
| Line 483... | Line -... | ||
| 483 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
- | |
| 484 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
- | |
| 485 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
- | |
| 486 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
- | |
| 487 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
- | |
| 488 | // Danger: pressure near upper end of range. If the measurement saturates, the |
- | |
| 489 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
- | |
| 490 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
- | |
| 491 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
- | |
| 492 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
- | |
| 493 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
- | |
| 494 | } else { |
- | |
| 495 | // normal case. |
- | |
| 496 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
- | |
| 497 | // The 2 cases above (end of range) are ignored for this. |
- | |
| 498 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
554 | airPressureWindow[windowPtr++] = simpleAirPressure; |
| 499 | airPressureSum += simpleAirPressure; |
- | |
| 500 | } |
- | |
| 501 | - | ||
| 502 | // 2 samples were added. |
- | |
| 503 | pressureMeasurementCount += 2; |
- | |
| 504 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
- | |
| 505 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
555 | if (windowPtr >= staticParams.airpressureWindowLength) |
| 506 | 556 | windowPtr = 0; |
|
| 507 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
- | |
| 508 | airPressureSum += simpleAirPressure >> 2; |
- | |
| 509 | - | ||
| 510 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
- | |
| 511 | - | ||
| 512 | if (!staticParams.airpressureWindowLength) { |
- | |
| 513 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
- | |
| 514 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
- | |
| 515 | } else { |
- | |
| 516 | // use windowed. |
557 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
| Line 517... | Line 558... | ||
| 517 | windowedAirPressure += simpleAirPressure; |
558 | } |
| 518 | windowedAirPressure -= airPressureWindow[windowPtr]; |
559 | |
| 519 | airPressureWindow[windowPtr++] = simpleAirPressure; |
560 | // positive diff of pressure |
| 520 | if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
561 | int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
| 521 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
562 | // is a negative diff of height. |
| Line 522... | Line 563... | ||
| 522 | } |
563 | dHeight -= diff; |
| 523 | 564 | // remove old sample (fifo) from window. |
|
| - | 565 | dHeight += dAirPressureWindow[dWindowPtr]; |
|
| 524 | // positive diff of pressure |
566 | dAirPressureWindow[dWindowPtr++] = diff; |
| 525 | int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
567 | if (dWindowPtr >= staticParams.airpressureDWindowLength) |
| 526 | // is a negative diff of height. |
568 | dWindowPtr = 0; |
| 527 | dHeight -= diff; |
- | |
| - | 569 | pressureSumCount = airPressureSum = 0; |
|
| 528 | // remove old sample (fifo) from window. |
570 | } |
| 529 | dHeight += dAirPressureWindow[dWindowPtr]; |
- | |
| 530 | dAirPressureWindow[dWindowPtr++] = diff; |
571 | } |
| Line 531... | Line 572... | ||
| 531 | if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
572 | |
| 532 | pressureMeasurementCount = airPressureSum = 0; |
573 | debugOut.analog[25] = simpleAirPressure; |
| 533 | } |
- | |
| 534 | } |
- | |
| 535 | } |
- | |
| 536 | - | ||
| 537 | void analog_updateBatteryVoltage(void) { |
- | |
| 538 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
- | |
| 539 | // This is divided by 3 --> 10.34 counts per volt. |
- | |
| 540 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
- | |
| 541 | } |
- | |
| 542 | - | ||
| 543 | void analog_update(void) { |
- | |
| 544 | analog_updateGyros(); |
- | |
| 545 | analog_updateAccelerometers(); |
- | |
| 546 | analog_updateAirPressure(); |
- | |
| 547 | analog_updateBatteryVoltage(); |
- | |
| 548 | #ifdef USE_MK3MAG |
- | |
| 549 | magneticHeading = volatileMagneticHeading; |
- | |
| 550 | #endif |
- | |
| 551 | } |
- | |
| 552 | - | ||
| 553 | void analog_setNeutral() { |
- | |
| 554 | gyro_init(); |
- | |
| 555 | - | ||
| 556 | if (gyroOffset_readFromEEProm()) { |
- | |
| Line -... | Line 574... | ||
| - | 574 | debugOut.analog[26] = OCR0A; |
|
| - | 575 | debugOut.analog[27] = filteredAirPressure; |
|
| - | 576 | } |
|
| - | 577 | ||
| - | 578 | void analog_updateBatteryVoltage(void) { |
|
| - | 579 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
|
| - | 580 | // This is divided by 3 --> 10.34 counts per volt. |
|
| - | 581 | UBat = (3 * UBat + attitudeADCData[AD_UBAT] / 3) / 4; |
|
| - | 582 | } |
|
| - | 583 | ||
| - | 584 | void analog_updateAttitudeData(void) { |
|
| - | 585 | updateAttitudeVectors(); |
|
| - | 586 | ||
| - | 587 | // TODO: These are waaaay off by now. |
|
| - | 588 | analog_updateAirPressure(); |
|
| - | 589 | analog_updateBatteryVoltage(); |
|
| - | 590 | ||
| - | 591 | clearAttitudeData(); |
|
| - | 592 | } |
|
| - | 593 | ||
| - | 594 | void analog_setNeutral() { |
|
| - | 595 | gyro_init(); |
|
| 557 | printf("gyro offsets invalid%s",recal); |
596 | |
| - | 597 | if (gyroOffset_readFromEEProm()) { |
|
| - | 598 | printf("gyro offsets invalid%s", recal); |
|
| - | 599 | gyroOffset.offsets[X] = gyroOffset.offsets[Y] = 512 * GYRO_OVERSAMPLING_XY; |
|
| - | 600 | gyroOffset.offsets[Z] = 512 * GYRO_OVERSAMPLING_Z; |
|
| - | 601 | // This will get the DACs for FC1.3 to offset to a reasonable value. |
|
| - | 602 | gyro_calibrate(); |
|
| - | 603 | } |
|
| 558 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
604 | |
| Line 559... | Line 605... | ||
| 559 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
605 | if (accelOffset_readFromEEProm()) { |
| 560 | } |
606 | printf("acc. meter offsets invalid%s", recal); |
| 561 | 607 | accelOffset.offsets[X] = accelOffset.offsets[Y] = 512 * ACCEL_OVERSAMPLING_XY; |
|
| 562 | if (accOffset_readFromEEProm()) { |
608 | accelOffset.offsets[Z] = 512 * ACCEL_OVERSAMPLING_Z; |
| - | 609 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_Z) { |
|
| - | 610 | accelOffset.offsets[Z] -= ACCEL_G_FACTOR_Z; |
|
| - | 611 | } else { |
|
| - | 612 | accelOffset.offsets[Z] += ACCEL_G_FACTOR_Z; |
|
| 563 | printf("acc. meter offsets invalid%s",recal); |
613 | } |
| 564 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
614 | } |
| 565 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
615 | |
| 566 | } |
616 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
| 567 | 617 | for (uint8_t i=X; i<=Y; i++) { |
|
| 568 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
618 | // gyroNoisePeak[i] = 0; |
| 569 | for (uint8_t i=PITCH; i<=ROLL; i++) { |
619 | gyroD[i] = 0; |
| 570 | gyroNoisePeak[i] = 0; |
620 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
| 571 | gyroD[i] = 0; |
- | |
| 572 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
- | |
| 573 | gyroDWindow[i][j] = 0; |
- | |
| 574 | } |
- | |
| 575 | } |
- | |
| 576 | // Setting offset values has an influence in the analog.c ISR |
- | |
| 577 | // Therefore run measurement for 100ms to achive stable readings |
- | |
| 578 | delay_ms_with_adc_measurement(100, 0); |
- | |
| 579 | - | ||
| 580 | gyroActivity = 0; |
621 | gyroDWindow[i][j] = 0; |
| Line -... | Line 622... | ||
| - | 622 | } |
|
| - | 623 | } |
|
| - | 624 | // Setting offset values has an influence in the analog.c ISR |
|
| - | 625 | // Therefore run measurement for 100ms to achive stable readings |
|
| - | 626 | waitADCCycle(100); |
|
| - | 627 | } |
|
| - | 628 | ||
| - | 629 | void analog_calibrateGyros(void) { |
|
| 581 | } |
630 | #define GYRO_OFFSET_CYCLES 100 |
| 582 | 631 | uint8_t i, axis; |
|
| 583 | void analog_calibrateGyros(void) { |
632 | int32_t offsets[3] = { 0, 0, 0 }; |
| Line 584... | Line 633... | ||
| 584 | #define GYRO_OFFSET_CYCLES 32 |
633 | |
| 585 | uint8_t i, axis; |
634 | flightControlStatus = BLOCKED_FOR_CALIBRATION; |
| 586 | int32_t offsets[3] = { 0, 0, 0 }; |
635 | delay_ms(10); |
| 587 | gyro_calibrate(); |
636 | |
| 588 | 637 | gyro_calibrate(); |
|
| 589 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
638 | |
| 590 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
639 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
| 591 | delay_ms_with_adc_measurement(10, 1); |
640 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
| 592 | for (axis = PITCH; axis <= YAW; axis++) { |
641 | waitADCCycle(5); |
| 593 | offsets[axis] += rawGyroValue(axis); |
642 | for (axis=X; axis<=Z; axis++) { |
| 594 | } |
643 | offsets[axis] += gyroValue(axis, samplingADCData); |
| 595 | } |
644 | } |
| 596 | 645 | } |
|
| 597 | for (axis = PITCH; axis <= YAW; axis++) { |
646 | |
| 598 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
- | |
| 599 | - | ||
| 600 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
- | |
| 601 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
- | |
| 602 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
647 | for (axis=X; axis<=Z; axis++) { |
| 603 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
648 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES/2) / GYRO_OFFSET_CYCLES; |
| 604 | } |
- | |
| 605 | 649 | int16_t min = (512 - 200) * (axis==Z) ? GYRO_OVERSAMPLING_Z : GYRO_OVERSAMPLING_XY; |
|
| 606 | gyroOffset_writeToEEProm(); |
650 | int16_t max = (512 + 200) * (axis==Z) ? GYRO_OVERSAMPLING_Z : GYRO_OVERSAMPLING_XY; |
| 607 | startAnalogConversionCycle(); |
- | |
| 608 | } |
- | |
| 609 | - | ||
| 610 | /* |
- | |
| 611 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
- | |
| 612 | * Does not (!} update the local variables. This must be done with a |
651 | if (gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
| 613 | * call to analog_calibrate() - this always (?) is done by the caller |
- | |
| 614 | * anyway. There would be nothing wrong with updating the variables |
- | |
| 615 | * directly from here, though. |
652 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_X << axis; |
| 616 | */ |
- | |
| 617 | void analog_calibrateAcc(void) { |
- | |
| 618 | #define ACC_OFFSET_CYCLES 32 |
- | |
| 619 | uint8_t i, axis; |
653 | } |
| - | 654 | ||
| - | 655 | gyroOffset_writeToEEProm(); |
|
| - | 656 | //startADCCycle(); |
|
| - | 657 | } |
|
| - | 658 | ||
| - | 659 | /* |
|
| - | 660 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
|
| - | 661 | * Does not (!} update the local variables. This must be done with a |
|
| - | 662 | * call to analog_calibrate() - this always (?) is done by the caller |
|
| - | 663 | * anyway. There would be nothing wrong with updating the variables |
|
| - | 664 | * directly from here, though. |
|
| - | 665 | */ |
|
| - | 666 | void analog_calibrateAcc(void) { |
|
| - | 667 | #define ACCEL_OFFSET_CYCLES 100 |
|
| - | 668 | uint8_t i, axis; |
|
| - | 669 | int32_t offsets[3] = { 0, 0, 0 }; |
|
| - | 670 | ||
| - | 671 | flightControlStatus = BLOCKED_FOR_CALIBRATION; |
|
| 620 | int32_t offsets[3] = { 0, 0, 0 }; |
672 | delay_ms(10); |
| 621 | 673 | ||
| - | 674 | for (i = 0; i < ACCEL_OFFSET_CYCLES; i++) { |
|
| 622 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
675 | waitADCCycle(5); |
| 623 | delay_ms_with_adc_measurement(10, 1); |
- | |
| Line -... | Line 676... | ||
| - | 676 | for (axis=X; axis<=Z; axis++) { |
|
| - | 677 | offsets[axis] += accValue(axis, samplingADCData); |
|
| - | 678 | } |
|
| - | 679 | } |
|
| - | 680 | ||
| - | 681 | for (axis=X; axis<=Z; axis++) { |
|
| 624 | for (axis = PITCH; axis <= YAW; axis++) { |
682 | accelOffset.offsets[axis] = (offsets[axis] + ACCEL_OFFSET_CYCLES / 2) / ACCEL_OFFSET_CYCLES; |
| 625 | offsets[axis] += rawAccValue(axis); |
683 | int16_t min, max; |
| 626 | } |
684 | if (axis == Z) { |
| Line 627... | Line 685... | ||
| 627 | } |
685 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_Z) { |
| 628 | 686 | // TODO: This assumes a sensitivity of +/- 2g. |
|
| 629 | for (axis = PITCH; axis <= YAW; axis++) { |
687 | min = (256 - 200) * ACCEL_OVERSAMPLING_Z; |
| Line 630... | Line 688... | ||
| 630 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
688 | max = (256 + 200) * ACCEL_OVERSAMPLING_Z; |
| 631 | int16_t min,max; |
689 | } else { |
| - | 690 | // TODO: This assumes a sensitivity of +/- 2g. |
|
| - | 691 | min = (768 - 200) * ACCEL_OVERSAMPLING_Z; |
|
| 632 | if (axis==Z) { |
692 | max = (768 + 200) * ACCEL_OVERSAMPLING_Z; |
| Line 633... | Line 693... | ||
| 633 | if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
693 | } |
| 634 | // TODO: This assumes a sensitivity of +/- 2g. |
- | |
| 635 | min = (256-200) * ACC_OVERSAMPLING_Z; |
- | |
| 636 | max = (256+200) * ACC_OVERSAMPLING_Z; |
- | |
| 637 | } else { |
- | |
| 638 | // TODO: This assumes a sensitivity of +/- 2g. |
- | |
| 639 | min = (768-200) * ACC_OVERSAMPLING_Z; |
- | |
| 640 | max = (768+200) * ACC_OVERSAMPLING_Z; |
- | |
| 641 | } |
- | |
| 642 | } else { |
694 | } else { |
| 643 | min = (512-200) * ACC_OVERSAMPLING_XY; |
695 | min = (512 - 200) * ACCEL_OVERSAMPLING_XY; |