WebSVN - FlightCtrl - Diff - Rev 1796 and 1821 - /branches/dongfang_FC

  * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
  * the offsets with the DAC.
  */
 volatile int16_t rawGyroSum[3];
 volatile int16_t acc[3];
-volatile int16_t filteredAcc[2]={0,0};
+volatile int16_t filteredAcc[2] = { 0, 0 };
 /*
  * These 4 exported variables are zero-offset. The "PID" ones are used
  * in the attitude control as rotation rates. The "ATT" ones are for
 /*
  * Offset values. These are the raw gyro and acc. meter sums when the copter is
  * standing still. They are used for adjusting the gyro and acc. meter values
  * to be centered on zero.
  */
-volatile int16_t gyroOffset[3] = {
-* GYRO_SUMMATION_FACTOR_PITCHROLL,
+volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512
-* GYRO_SUMMATION_FACTOR_PITCHROLL,
+                * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW };
-* GYRO_SUMMATION_FACTOR_YAW
-};
-volatile int16_t accOffset[3] = {
-* ACC_SUMMATION_FACTOR_PITCHROLL,
+volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512
-* ACC_SUMMATION_FACTOR_PITCHROLL,
+                * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z };
-* ACC_SUMMATION_FACTOR_Z
-};
 /*
  * This allows some experimentation with the gyro filters.
  * Should be replaced by #define's later on...
  * re-enabling ADC, the real limit is (how much?) lower.
  * The acc. sensor is sampled even if not used - or installed
  * at all. The cost is not significant.
  */
-const uint8_t channelsForStates[] PROGMEM = {
-  AD_GYRO_PITCH,
-  AD_GYRO_ROLL,
+const uint8_t channelsForStates[] PROGMEM = { AD_GYRO_PITCH, AD_GYRO_ROLL,
-  AD_GYRO_YAW,
+                AD_GYRO_YAW,
-  AD_ACC_PITCH,
-  AD_ACC_ROLL,
-  AD_AIRPRESSURE,
+                AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE,
-  AD_GYRO_PITCH,
-  AD_GYRO_ROLL,
-  AD_ACC_Z,       // at 8, measure Z acc.
+                AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc.
-  AD_GYRO_PITCH,
-  AD_GYRO_ROLL,
-  AD_GYRO_YAW,    // at 11, finish yaw gyro
+                AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro
-  AD_ACC_PITCH,   // at 12, finish pitch axis acc.
+                AD_ACC_PITCH, // at 12, finish pitch axis acc.
-  AD_ACC_ROLL,    // at 13, finish roll axis acc.
+                AD_ACC_ROLL, // at 13, finish roll axis acc.
-  AD_AIRPRESSURE, // at 14, finish air pressure.
+                AD_AIRPRESSURE, // at 14, finish air pressure.
-  AD_GYRO_PITCH,  // at 15, finish pitch gyro
+                AD_GYRO_PITCH, // at 15, finish pitch gyro
-  AD_GYRO_ROLL,   // at 16, finish roll gyro
+                AD_GYRO_ROLL, // at 16, finish roll gyro
-  AD_UBAT         // at 17, measure battery.
+                AD_UBAT // at 17, measure battery.
-};
+                };
 // Feature removed. Could be reintroduced later - but should work for all gyro types then.
 // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
 void analog_init(void) {
-  uint8_t sreg = SREG;
+        uint8_t sreg = SREG;
-  // disable all interrupts before reconfiguration
+        // disable all interrupts before reconfiguration
-  cli();
+        cli();
-  //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
+        //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
-  DDRA = 0x00;
+        DDRA = 0x00;
-  PORTA = 0x00;
+        PORTA = 0x00;
-  // Digital Input Disable Register 0
+        // Digital Input Disable Register 0
-  // Disable digital input buffer for analog adc_channel pins
+        // Disable digital input buffer for analog adc_channel pins
-  DIDR0 = 0xFF;
+        DIDR0 = 0xFF;
-  // external reference, adjust data to the right
+        // 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)
+        // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
-  ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;
+        ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;
+        //Set ADC Control and Status Register A
-  //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
-  //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
-  ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE);
+                        << ADPS1) | (1 << ADPS0) | (0 << ADIE);
-  //Set ADC Control and Status Register B
+        //Set ADC Control and Status Register B
-  //Trigger Source to Free Running Mode
+        //Trigger Source to Free Running Mode
-  ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0));
+        ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0));
-  // Start AD conversion
+        // Start AD conversion
-  analog_start();
+        analog_start();
+        // restore global interrupt flags
-  // restore global interrupt flags
+        SREG = sreg;
-  SREG = sreg;
+}
-}
+void measureNoise(const int16_t sensor,
-void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
+                volatile uint16_t* const noiseMeasurement, const uint8_t damping) {
-  if (sensor > (int16_t)(*noiseMeasurement)) {
+        if (sensor > (int16_t) (*noiseMeasurement)) {
-    *noiseMeasurement = sensor;
+                *noiseMeasurement = sensor;
-  } else if (-sensor > (int16_t)(*noiseMeasurement)) {
+        } else if (-sensor > (int16_t) (*noiseMeasurement)) {
-    *noiseMeasurement = -sensor;
+                *noiseMeasurement = -sensor;
-  } else if (*noiseMeasurement > damping) {
+        } else if (*noiseMeasurement > damping) {
-    *noiseMeasurement -= damping;
+                *noiseMeasurement -= damping;
-  } else {
+        } else {
-    *noiseMeasurement = 0;
+                *noiseMeasurement = 0;
+        }
+}
 /*
  * Min.: 0
  * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.
  */
 uint16_t getSimplePressure(int advalue) {
-  return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue;
+        return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
+}
-        pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
+                for (i = 0; i < 8; i++) {
-        OCR0A = newrange;
-      } else {
-        if (OCR0A) {
-          OCR0A--;
-          pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
-        }
-      }
-    } else if (rawAirPressure > MAX_RAWPRESSURE) {
-      // value is too high, so increase voltage on the op amp minus input, making the value lower.
-      // If near the end, make a limited increase
-      newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
-      if (newrange < MAX_RANGES_EXTRAPOLATION) {
-      pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
-      OCR0A = newrange;
-      } else {
-        if (OCR0A<254) {
-          OCR0A++;
-          pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
-        }
-      }
-    }
-    // Even if the sample is off-range, use it.
-    simpleAirPressure = getSimplePressure(rawAirPressure);
-    DebugOut.Analog[27] = (uint16_t)OCR0A;
-    DebugOut.Analog[31] = simpleAirPressure;
-    if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
-      // Danger: pressure near lower end of range. If the measurement saturates, the
-      // copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
-      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.
-      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.
-      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.
-    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) {
-        tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
-      }
-      else if (tempGyro > SENSOR_MAX_PITCHROLL) {
-        tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL;
-      }
-    }
-    // 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;
-    // 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 {
-      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
-    ADCycleCount++;
-    // Stop the sampling. Cycle is over.
-    state = 0;
-    for (i=0; i<8; i++) {
+                        sensorInputs[i] = 0;
-      sensorInputs[i] = 0;
+                }
-    }
+                break;
-    break;
+        default: {
-  default: {} // do nothing.
+        } // do nothing.
-  }
+        }
+        // set up for next state.
-  // set up for next state.
+        ad_channel = pgm_read_byte(&channelsForStates[state]);
-  ad_channel = pgm_read_byte(&channelsForStates[state]);
+        // ad_channel = channelsForStates[state];
   // ad_channel = channelsForStates[state];
         // set adc muxer to next ad_channel
-  // set adc muxer to next ad_channel
+        ADMUX = (ADMUX & 0xE0) | ad_channel;
-  ADMUX = (ADMUX & 0xE0) | ad_channel;
+        // after full cycle stop further interrupts
-  // after full cycle stop further interrupts
+        if (state)
-  if(state) analog_start();
+                analog_start();
 }
 void analog_calibrate(void) {
 #define GYRO_OFFSET_CYCLES 32
-  uint8_t i, axis;
+        uint8_t i, axis;
-  int32_t deltaOffsets[3] = {0,0,0};
+        int32_t deltaOffsets[3] = { 0, 0, 0 };
-  // Set the filters... to be removed again, once some good settings are found.
+        // Set the filters... to be removed again, once some good settings are found.
-  GYROS_PID_FILTER = (dynamicParams.UserParams[4]   & 0b00000011)       + 1;
+        GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1;
-  GYROS_ATT_FILTER = ((dynamicParams.UserParams[4]  & 0b00001100) >> 2) + 1;
+        GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
-  GYROS_D_FILTER = ((dynamicParams.UserParams[4]    & 0b00110000) >> 4) + 1;
+        GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1;
-  ACC_FILTER = ((dynamicParams.UserParams[4]        & 0b11000000) >> 6) + 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 relative to offset. So, reset noise measurements when changing offsets.
+        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 relative to offset. So, reset noise measurements when changing offsets.
-  gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
+        gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
-  accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
+        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);
  * anyway. There would be nothing wrong with updating the variables
  * directly from here, though.
  */
 void analog_calibrateAcc(void) {
 #define ACC_OFFSET_CYCLES 10
-  uint8_t i, axis;
+        uint8_t i, axis;
-  int32_t deltaOffset[3] = {0,0,0};
+        int32_t deltaOffset[3] = { 0, 0, 0 };
-  int16_t filteredDelta;
+        int16_t filteredDelta;
-  // int16_t pressureDiff, savedRawAirPressure;
+        // int16_t pressureDiff, savedRawAirPressure;
-  for(i=0; i < ACC_OFFSET_CYCLES; i++) {
+        for (i = 0; i < ACC_OFFSET_CYCLES; i++) {
-    Delay_ms_Mess(10);
+                Delay_ms_Mess(10);
-    for (axis=PITCH; axis<=YAW; axis++) {
+                for (axis = PITCH; axis <= YAW; axis++) {
-      deltaOffset[axis] += acc[axis];
+                        deltaOffset[axis] += acc[axis];
-    }
+                }
-  }
+        }
-  for (axis=PITCH; axis<=YAW; axis++) {
+        for (axis = PITCH; axis <= YAW; axis++) {
-    filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES;
+                filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2)
+                                / ACC_OFFSET_CYCLES;
-    accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
+                accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
-  }
+        }
-  // Save ACC neutral settings to eeprom
+        // Save ACC neutral settings to eeprom
-  SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
+        SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
-  SetParamWord(PID_ACC_ROLL,  accOffset[ROLL]);
+        SetParamWord(PID_ACC_ROLL, accOffset[ROLL]);
-  SetParamWord(PID_ACC_Z,     accOffset[Z]);
+        SetParamWord(PID_ACC_Z, accOffset[Z]);
-  // Noise is relative to offset. So, reset noise measurements when
+        // Noise is relative to offset. So, reset noise measurements when
-  // changing offsets.
+        // changing offsets.
-  accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
+        accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
-  // Setting offset values has an influence in the analog.c ISR
+        // Setting offset values has an influence in the analog.c ISR
-  // Therefore run measurement for 100ms to achive stable readings
+        // Therefore run measurement for 100ms to achive stable readings
-  Delay_ms_Mess(100);
+        Delay_ms_Mess(100);
-  // Set the feedback so that air pressure ends up in the middle of the range.
+        // Set the feedback so that air pressure ends up in the middle of the range.
-  // (raw pressure high --> OCR0A also high...)
+        // (raw pressure high --> OCR0A also high...)
-  /*
+        /*
-  OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
+         OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
-  Delay_ms_Mess(1000);
+         Delay_ms_Mess(1000);
-  pressureDiff = 0;
+         pressureDiff = 0;
-  // DebugOut.Analog[16] = rawAirPressure;
+         // DebugOut.Analog[16] = rawAirPressure;
-#define PRESSURE_CAL_CYCLE_COUNT 5
+         #define PRESSURE_CAL_CYCLE_COUNT 5
-  for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
+         for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
-    savedRawAirPressure = rawAirPressure;
+         savedRawAirPressure = rawAirPressure;
-    OCR0A+=2;
+         OCR0A+=2;
-    Delay_ms_Mess(500);
+         Delay_ms_Mess(500);
-    // raw pressure will decrease.
+         // raw pressure will decrease.
-    pressureDiff += (savedRawAirPressure - rawAirPressure);
+         pressureDiff += (savedRawAirPressure - rawAirPressure);
-    savedRawAirPressure = rawAirPressure;
+         savedRawAirPressure = rawAirPressure;
-    OCR0A-=2;
+         OCR0A-=2;
-    Delay_ms_Mess(500);
+         Delay_ms_Mess(500);
-    // raw pressure will increase.
+         // raw pressure will increase.
-    pressureDiff += (rawAirPressure - savedRawAirPressure);
+         pressureDiff += (rawAirPressure - savedRawAirPressure);
-  }
+         }
-  rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);
+         rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);
-  DebugOut.Analog[27] = rangewidth;
+         DebugOut.Analog[27] = rangewidth;
-  */
+         */
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.c @ 1845 - Rev 1796 → 1821