WebSVN - FlightCtrl - Diff - Rev 1887 and 1952 - /branches/dongfang_FC

 #include "eeprom.h"
 // For DebugOut.Digital
+#include "output.h"
+// set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit
-#include "output.h"
+#define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE))
 /*
  * For each A/D conversion cycle, each analog channel is sampled a number of times
  * (see array channelsForStates), and the results for each channel are summed.
  * Here are those for the gyros and the acc. meters. They are not zero-offset.
  * They are exported in the analog.h file - but please do not use them! The only
  * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
+ * the offsets with the DAC.
- * the offsets with the DAC.
+ */
- */
+volatile uint16_t sensorInputs[8];
 volatile int16_t rawGyroSum[3];
 volatile int16_t acc[3];
         PORTA = 0x00;
         // Digital Input Disable Register 0
         // Disable digital input buffer for analog adc_channel pins
         DIDR0 = 0xFF;
         // external reference, adjust data to the right
-        ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR));
+        ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR));
         // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
-        ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;
+        ADMUX = (ADMUX & 0xE0) | channelsForStates[0];
         //Set ADC Control and Status Register A
         //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
-        ADCSRA = (0 << ADEN) | (0 << ADSC) | (0 << ADATE) | (1 << ADPS2) | (1
-                        << ADPS1) | (1 << ADPS0) | (0 << ADIE);
+        ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
         //Set ADC Control and Status Register B
         //Trigger Source to Free Running Mode
-        ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0));
+        ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0));
-        // Start AD conversion
+        startAnalogConversionCycle();
-        analog_start();
         // restore global interrupt flags
         SREG = sreg;
+}
  */
 uint16_t getSimplePressure(int advalue) {
         return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
+}
+void startAnalogConversionCycle(void) {
+  // Stop the sampling. Cycle is over.
+  for (uint8_t i = 0; i < 8; i++) {
+    sensorInputs[i] = 0;
+  }
+  ADMUX = (ADMUX & 0xE0) | channelsForStates[0];
+  startADC();
+}
 /*****************************************************
  * Interrupt Service Routine for ADC
- * Runs at 312.5 kHz or 3.2 µs. When all states are
- * processed the interrupt is disabled and further
+ * Runs at 312.5 kHz or 3.2 µs. When all states are
- * AD conversions are stopped.
+ * processed further conversions are stopped.
  *****************************************************/
 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 };
-        static uint16_t pressureAutorangingWait = 25;
-        uint16_t rawAirPressure;
-        uint8_t i, axis;
-        int16_t newrange;
-        // for various filters...
-        int16_t tempOffsetGyro, tempGyro;
+  static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
-        sensorInputs[ad_channel] += ADC;
-        /*
-         * Actually we don't need this "switch". We could do all the sampling into the
-         * sensorInputs array first, and all the processing after the last sample.
-         */
-        switch (state++) {
-        case 8: // Z acc
-                if (ACC_REVERSED[Z])
-                        acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
-                else
-                        acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
-                /*
-        stronglyFilteredAcc[Z] =
-            (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;
-        */
-                break;
-        case 11: // yaw gyro
-                rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
-                if (GYRO_REVERSED[YAW])
-                        yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
-                else
-                        yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
-                break;
-        case 12: // pitch axis acc.
-                if (ACC_REVERSED[PITCH])
-                        acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];
-                else
-                        acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];
-                filteredAcc[PITCH] =
-                    (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH]) / ACC_FILTER;
-                /*
-                stronglyFilteredAcc[PITCH] =
-                    (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;
-                */
-                measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);
-                break;
+  sensorInputs[ad_channel] += ADC;
-        case 13: // roll axis acc.
-                if (ACC_REVERSED[ROLL])
-                        acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];
-                else
-                        acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];
-                filteredAcc[ROLL] =
-                    (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) / ACC_FILTER;
-                /*
-        stronglyFilteredAcc[ROLL] =
-            (stronglyFilteredAcc[ROLL] * 99 + acc[ROLL] * 10) / 100;
+  // set up for next state.
-        */
-                measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);
-                break;
-        case 14: // air pressure
-                if (pressureAutorangingWait) {
-                        //A range switch was done recently. Wait for steadying.
-                        pressureAutorangingWait--;
-                        DebugOut.Analog[27] = (uint16_t) OCR0A;
-                        DebugOut.Analog[31] = simpleAirPressure;
-                        break;
-                }
-                rawAirPressure = sensorInputs[AD_AIRPRESSURE];
-                if (rawAirPressure < MIN_RAWPRESSURE) {
-                        // value is too low, so decrease voltage on the op amp minus input, making the value higher.
-                        newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
-                        if (newrange > MIN_RANGES_EXTRAPOLATION) {
-                                pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
-                                OCR0A = newrange;
-                        } else {
-                                if (OCR0A) {
-                                        OCR0A--;
-                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
-                                }
-                        }
-                } else if (rawAirPressure > MAX_RAWPRESSURE) {
-                        // value is too high, so increase voltage on the op amp minus input, making the value lower.
-                        // If near the end, make a limited increase
-                        newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
-                        if (newrange < MAX_RANGES_EXTRAPOLATION) {
-                                pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
-                                OCR0A = newrange;
-                        } else {
+  state++;
-                                if (OCR0A < 254) {
-                                        OCR0A++;
-                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
-                                }
-                        }
-                }
-                // Even if the sample is off-range, use it.
+  if (state < 18) {
-                simpleAirPressure = getSimplePressure(rawAirPressure);
+    ad_channel = pgm_read_byte(&channelsForStates[state]);
-                DebugOut.Analog[27] = (uint16_t) OCR0A;
+    // set adc muxer to next ad_channel
-                DebugOut.Analog[31] = simpleAirPressure;
-                if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
-                        // Danger: pressure near lower end of range. If the measurement saturates, the
-                        // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
-                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
-                        airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth
-                                        + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION
-                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
-                } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
-                        // Danger: pressure near upper end of range. If the measurement saturates, the
-                        // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
-                        DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
-                        airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth
-                                        + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION
-                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
-                } else {
-                        // normal case.
-                        // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
+    ADMUX = (ADMUX & 0xE0) | ad_channel;
-                        // The 2 cases above (end of range) are ignored for this.
-                        DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT;
-                        if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
-                                airPressureSum += simpleAirPressure / 2;
-                        else
-                                airPressureSum += simpleAirPressure;
-                }
-                // 2 samples were added.
-                pressureMeasurementCount += 2;
-                if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
-                        filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
-                                        + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
-                        pressureMeasurementCount = airPressureSum = 0;
-                }
-                break;
-        case 15:
-        case 16: // pitch or roll gyro.
+    // after full cycle stop further interrupts
-                axis = state - 16;
-                tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];
-                // DebugOut.Analog[6 + 3 * axis ] = tempGyro;
-                /*
-                 * Process the gyro data for the PID controller.
-                 */
-                // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
-                //    gyro with a wider range, and helps counter saturation at full control.
-                if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
-                        if (tempGyro < SENSOR_MIN_PITCHROLL) {
-                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
-                                tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
-                        } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
-                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
-                                tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE
-                                                + SENSOR_MAX_PITCHROLL;
-                        } else {
-                                DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT;
-                        }
-                }
-                // 2) Apply sign and offset, scale before filtering.
-                if (GYRO_REVERSED[axis]) {
-                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
+    startADC();
-                } else {
-                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
-                }
-                // 3) Scale and filter.
-                tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro)
-                                / GYROS_PID_FILTER;
-                // 4) Measure noise.
-                measureNoise(tempOffsetGyro, &gyroNoisePeak[axis],
-                                GYRO_NOISE_MEASUREMENT_DAMPING);
-                // 5) Differential measurement.
-                gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro
-                                - gyro_PID[axis])) / GYROS_D_FILTER;
-                // 6) Done.
-                gyro_PID[axis] = tempOffsetGyro;
-                /*
-                 * Now process the data for attitude angles.
-                 */
-                tempGyro = rawGyroSum[axis];
-                // 1) Apply sign and offset, scale before filtering.
-                if (GYRO_REVERSED[axis]) {
-                        tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
+  } else {
-                } else {
-                        tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
-                }
-                // 2) Filter.
-                gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro)
-                                / GYROS_ATT_FILTER;
-                break;
-        case 17:
-                // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
-                // This is divided by 3 --> 10.34 counts per volt.
-                UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
-                DebugOut.Analog[11] = UBat;
-                analogDataReady = 1; // mark
+    state = 0;
-                ADCycleCount++;
-                // Stop the sampling. Cycle is over.
+    ADCycleCount++;
-                state = 0;
+    analogDataReady = 1;
-                for (i = 0; i < 8; i++) {
-                        sensorInputs[i] = 0;
+    // do not restart ADC converter.
-                }
-                break;
-        default: {
-        } // do nothing.
+  }
+}
-        }
+void analog_updateGyros(void) {
+  // for various filters...
+  int16_t tempOffsetGyro, tempGyro;
-        // set up for next state.
+  for (uint8_t axis=0; axis<2; axis++) {
+    tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis];
+    // DebugOut.Analog[6 + 3 * axis ] = tempGyro;
+    /*
+     * Process the gyro data for the PID controller.
+     */
+    // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
+    //    gyro with a wider range, and helps counter saturation at full control.
+    if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
+      if (tempGyro < SENSOR_MIN_PITCHROLL) {
+        DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
+        tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
+      } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
+        DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
+        tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE
+          + SENSOR_MAX_PITCHROLL;
+      } else {
+        DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT;
+      }
+    }
+    // 2) Apply sign and offset, scale before filtering.
+    if (GYRO_REVERSED[axis]) {
+      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
+    } else {
+      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
+    }
+    // 3) Scale and filter.
+    tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro) / GYROS_PID_FILTER;
-        ad_channel = pgm_read_byte(&channelsForStates[state]);
+    // 4) Measure noise.
-        // ad_channel = channelsForStates[state];
+    measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
+    // 5) Differential measurement.
+    gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER;
+    // 6) Done.
+    gyro_PID[axis] = tempOffsetGyro;
-        // set adc muxer to next ad_channel
+    /*
+     * Now process the data for attitude angles.
+     */
+    tempGyro = rawGyroSum[axis];
+    // 1) Apply sign and offset, scale before filtering.
-        ADMUX = (ADMUX & 0xE0) | ad_channel;
+    if (GYRO_REVERSED[axis]) {
+      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
+    } else {
+      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
-        // after full cycle stop further interrupts
+    }
+    // 2) Filter.
+    gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro) / GYROS_ATT_FILTER;
+  }
+  // Yaw gyro.
+  rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
+  if (GYRO_REVERSED[YAW])
+    yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
-        if (state)
+  else
-                analog_start();
+    yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
+}
-}
+void analog_updateAccelerometers(void) {
+  // Pitch and roll axis accelerations.
+  for (uint8_t axis=0; axis<2; axis++) {
+    if (ACC_REVERSED[axis])
+      acc[axis] = accOffset[axis] - sensorInputs[AD_ACC_PITCH-axis];
+    else
+      acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset[axis];
+    filteredAcc[axis] = (filteredAcc[axis] * (ACC_FILTER - 1) + acc[axis]) / ACC_FILTER;
+    /*
+      stronglyFilteredAcc[PITCH] =
+      (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;
+    */
+    measureNoise(acc[axis], &accNoisePeak[axis], 1);
+  }
-void analog_calibrate(void) {
+  // Z acc.
+  if (ACC_REVERSED[Z])
+    acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
+  else
+    acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
+  /*
+    stronglyFilteredAcc[Z] =
+    (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;
-#define GYRO_OFFSET_CYCLES 32
+  */
+}
+void analog_updateAirPressure(void) {
-        uint8_t i, axis;
+  static uint16_t pressureAutorangingWait = 25;
-        int32_t deltaOffsets[3] = { 0, 0, 0 };
+  uint16_t rawAirPressure;
+  int16_t newrange;
+  // air pressure
-        // Set the filters... to be removed again, once some good settings are found.
+  if (pressureAutorangingWait) {
-        GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
+    //A range switch was done recently. Wait for steadying.
+    pressureAutorangingWait--;
-        GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
+    DebugOut.Analog[27] = (uint16_t) OCR0A;
-        GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
-        ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;
+    DebugOut.Analog[31] = simpleAirPressure;
+  } else {
+    rawAirPressure = sensorInputs[AD_AIRPRESSURE];
+    if (rawAirPressure < MIN_RAWPRESSURE) {
-        gyro_calibrate();
+      // value is too low, so decrease voltage on the op amp minus input, making the value higher.
+      newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
-        // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
+      if (newrange > MIN_RANGES_EXTRAPOLATION) {
-        for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
+        pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
+        OCR0A = newrange;
-                delay_ms_Mess(20);
+      } else {
-                for (axis = PITCH; axis <= YAW; axis++) {
+        if (OCR0A) {
-                        deltaOffsets[axis] += rawGyroSum[axis];
+          OCR0A--;
+          pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
+        }
+      }
+    } else if (rawAirPressure > MAX_RAWPRESSURE) {
-                }
+      // value is too high, so increase voltage on the op amp minus input, making the value lower.
+      // If near the end, make a limited increase
+      newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
+      if (newrange < MAX_RANGES_EXTRAPOLATION) {
+        pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
-        }
+        OCR0A = newrange;
       } else {
+        if (OCR0A < 254) {
+          OCR0A++;
+          pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
+        }
+      }
+    }
+    // Even if the sample is off-range, use it.
+    simpleAirPressure = getSimplePressure(rawAirPressure);
+    DebugOut.Analog[27] = (uint16_t) OCR0A;
+    DebugOut.Analog[31] = simpleAirPressure;
+    if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
+      // Danger: pressure near lower end of range. If the measurement saturates, the
+      // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
+      DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
+      airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth
+        + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION
+           * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
+    } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
+      // Danger: pressure near upper end of range. If the measurement saturates, the
+      // copter may descend uncontrolledly... Simulate a drastic increase in pressure.
+      DebugOut.Digital[1] |= DEBUG_SENSORLIMIT;
+      airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth
+        + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION
+           * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
+    } else {
+      // normal case.
+      // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
+      // The 2 cases above (end of range) are ignored for this.
+      DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT;
+      if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
+        airPressureSum += simpleAirPressure / 2;
+      else
+        airPressureSum += simpleAirPressure;
+    }
+    // 2 samples were added.
+    pressureMeasurementCount += 2;
+    if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
+      filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
+                             + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
+      pressureMeasurementCount = airPressureSum = 0;
+    }
-        for (axis = PITCH; axis <= YAW; axis++) {
+  }
-                gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
+}
+void analog_updateBatteryVoltage(void) {
+  // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
+  // This is divided by 3 --> 10.34 counts per volt.
-                // DebugOut.Analog[20 + axis] = gyroOffset[axis];
+  UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
-        }
+  DebugOut.Analog[11] = UBat;
+}
-        // Noise is relativ to offset. So, reset noise measurements when changing offsets.
-        gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
-        accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
+void analog_update(void) {
+  analog_updateGyros();
+  analog_updateAccelerometers();
+  analog_updateAirPressure();
+  analog_updateBatteryVoltage();
+}
+void analog_calibrate(void) {
+#define GYRO_OFFSET_CYCLES 32
+  uint8_t i, axis;
+  int32_t deltaOffsets[3] = { 0, 0, 0 };
+  // Set the filters... to be removed again, once some good settings are found.
+  GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
+  GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
+  GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
+  ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1;
+  gyro_calibrate();
+  // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
+  for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
+    delay_ms_Mess(20);
+    for (axis = PITCH; axis <= YAW; axis++) {
+      deltaOffsets[axis] += rawGyroSum[axis];
+    }
+  }
+  for (axis = PITCH; axis <= YAW; axis++) {
+    gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
+    // DebugOut.Analog[20 + axis] = gyroOffset[axis];
+  }
+  // Noise is relativ to offset. So, reset noise measurements when changing offsets.
+  gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
+  accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
-        accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
+  accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
-        accOffset[Z] = GetParamWord(PID_ACC_Z);
+  accOffset[Z] = GetParamWord(PID_ACC_Z);
-        // Rough estimate. Hmm no nothing happens at calibration anyway.
+  // Rough estimate. Hmm no nothing happens at calibration anyway.
-        // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
+  // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.c @ 1792 - Rev 1887 → 1952