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Rev 1887 | Rev 1952 | ||
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Line 66... | Line 66... | ||
66 | #include "eeprom.h" |
66 | #include "eeprom.h" |
Line 67... | Line 67... | ||
67 | 67 | ||
68 | // For DebugOut.Digital |
68 | // For DebugOut.Digital |
Line -... | Line 69... | ||
- | 69 | #include "output.h" |
|
- | 70 | ||
- | 71 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
|
69 | #include "output.h" |
72 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
70 | 73 | ||
71 | /* |
74 | /* |
72 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
75 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
73 | * (see array channelsForStates), and the results for each channel are summed. |
76 | * (see array channelsForStates), and the results for each channel are summed. |
74 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
77 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
75 | * They are exported in the analog.h file - but please do not use them! The only |
78 | * They are exported in the analog.h file - but please do not use them! The only |
76 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
79 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
- | 80 | * the offsets with the DAC. |
|
77 | * the offsets with the DAC. |
81 | */ |
78 | */ |
82 | volatile uint16_t sensorInputs[8]; |
79 | volatile int16_t rawGyroSum[3]; |
83 | volatile int16_t rawGyroSum[3]; |
80 | volatile int16_t acc[3]; |
84 | volatile int16_t acc[3]; |
Line 201... | Line 205... | ||
201 | PORTA = 0x00; |
205 | PORTA = 0x00; |
202 | // Digital Input Disable Register 0 |
206 | // Digital Input Disable Register 0 |
203 | // Disable digital input buffer for analog adc_channel pins |
207 | // Disable digital input buffer for analog adc_channel pins |
204 | DIDR0 = 0xFF; |
208 | DIDR0 = 0xFF; |
205 | // external reference, adjust data to the right |
209 | // external reference, adjust data to the right |
206 | ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR)); |
210 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
207 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
211 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
208 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
212 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
209 | //Set ADC Control and Status Register A |
213 | //Set ADC Control and Status Register A |
210 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
214 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
211 | ADCSRA = (0 << ADEN) | (0 << ADSC) | (0 << ADATE) | (1 << ADPS2) | (1 |
- | |
212 | << ADPS1) | (1 << ADPS0) | (0 << ADIE); |
215 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
213 | //Set ADC Control and Status Register B |
216 | //Set ADC Control and Status Register B |
214 | //Trigger Source to Free Running Mode |
217 | //Trigger Source to Free Running Mode |
215 | ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0)); |
218 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
- | 219 | ||
216 | // Start AD conversion |
220 | startAnalogConversionCycle(); |
217 | analog_start(); |
- | |
- | 221 | ||
218 | // restore global interrupt flags |
222 | // restore global interrupt flags |
219 | SREG = sreg; |
223 | SREG = sreg; |
220 | } |
224 | } |
Line 221... | Line 225... | ||
221 | 225 | ||
Line 238... | Line 242... | ||
238 | */ |
242 | */ |
239 | uint16_t getSimplePressure(int advalue) { |
243 | uint16_t getSimplePressure(int advalue) { |
240 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
244 | return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
241 | } |
245 | } |
Line -... | Line 246... | ||
- | 246 | ||
- | 247 | void startAnalogConversionCycle(void) { |
|
- | 248 | // Stop the sampling. Cycle is over. |
|
- | 249 | for (uint8_t i = 0; i < 8; i++) { |
|
- | 250 | sensorInputs[i] = 0; |
|
- | 251 | } |
|
- | 252 | ADMUX = (ADMUX & 0xE0) | channelsForStates[0]; |
|
- | 253 | startADC(); |
|
- | 254 | } |
|
242 | 255 | ||
243 | /***************************************************** |
256 | /***************************************************** |
244 | * Interrupt Service Routine for ADC |
257 | * Interrupt Service Routine for ADC |
245 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
- | |
246 | * processed the interrupt is disabled and further |
258 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
247 | * AD conversions are stopped. |
259 | * processed further conversions are stopped. |
248 | *****************************************************/ |
260 | *****************************************************/ |
249 | ISR(ADC_vect) { |
261 | ISR(ADC_vect) { |
250 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
- | |
251 | static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 }; |
- | |
252 | static uint16_t pressureAutorangingWait = 25; |
- | |
253 | uint16_t rawAirPressure; |
- | |
254 | uint8_t i, axis; |
- | |
255 | int16_t newrange; |
- | |
256 | - | ||
257 | // for various filters... |
- | |
258 | int16_t tempOffsetGyro, tempGyro; |
- | |
259 | 262 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
|
260 | sensorInputs[ad_channel] += ADC; |
- | |
261 | - | ||
262 | /* |
- | |
263 | * Actually we don't need this "switch". We could do all the sampling into the |
- | |
264 | * sensorInputs array first, and all the processing after the last sample. |
- | |
265 | */ |
- | |
266 | switch (state++) { |
- | |
267 | - | ||
268 | case 8: // Z acc |
- | |
269 | if (ACC_REVERSED[Z]) |
- | |
270 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
- | |
271 | else |
- | |
272 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
- | |
273 | - | ||
274 | /* |
- | |
275 | stronglyFilteredAcc[Z] = |
- | |
276 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
- | |
277 | */ |
- | |
278 | - | ||
279 | break; |
- | |
280 | - | ||
281 | case 11: // yaw gyro |
- | |
282 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
- | |
283 | if (GYRO_REVERSED[YAW]) |
- | |
284 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
- | |
285 | else |
- | |
286 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
- | |
287 | break; |
- | |
288 | - | ||
289 | case 12: // pitch axis acc. |
- | |
290 | if (ACC_REVERSED[PITCH]) |
- | |
291 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
- | |
292 | else |
- | |
293 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
- | |
294 | - | ||
295 | filteredAcc[PITCH] = |
- | |
296 | (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH]) / ACC_FILTER; |
- | |
297 | - | ||
298 | /* |
- | |
299 | stronglyFilteredAcc[PITCH] = |
- | |
300 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
- | |
301 | */ |
- | |
302 | - | ||
303 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
- | |
304 | break; |
- | |
305 | 263 | sensorInputs[ad_channel] += ADC; |
|
306 | case 13: // roll axis acc. |
- | |
307 | if (ACC_REVERSED[ROLL]) |
- | |
308 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
- | |
309 | else |
- | |
310 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
- | |
311 | filteredAcc[ROLL] = |
- | |
312 | (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) / ACC_FILTER; |
- | |
313 | - | ||
314 | /* |
- | |
315 | stronglyFilteredAcc[ROLL] = |
- | |
316 | (stronglyFilteredAcc[ROLL] * 99 + acc[ROLL] * 10) / 100; |
264 | // set up for next state. |
317 | */ |
- | |
318 | - | ||
319 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
- | |
320 | break; |
- | |
321 | - | ||
322 | case 14: // air pressure |
- | |
323 | if (pressureAutorangingWait) { |
- | |
324 | //A range switch was done recently. Wait for steadying. |
- | |
325 | pressureAutorangingWait--; |
- | |
326 | DebugOut.Analog[27] = (uint16_t) OCR0A; |
- | |
327 | DebugOut.Analog[31] = simpleAirPressure; |
- | |
328 | break; |
- | |
329 | } |
- | |
330 | - | ||
331 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
- | |
332 | if (rawAirPressure < MIN_RAWPRESSURE) { |
- | |
333 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
- | |
334 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
- | |
335 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
- | |
336 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
- | |
337 | OCR0A = newrange; |
- | |
338 | } else { |
- | |
339 | if (OCR0A) { |
- | |
340 | OCR0A--; |
- | |
341 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
- | |
342 | } |
- | |
343 | } |
- | |
344 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
- | |
345 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
- | |
346 | // If near the end, make a limited increase |
- | |
347 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
- | |
348 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
- | |
349 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
- | |
350 | OCR0A = newrange; |
- | |
351 | } else { |
265 | state++; |
352 | if (OCR0A < 254) { |
- | |
353 | OCR0A++; |
- | |
354 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
- | |
355 | } |
- | |
356 | } |
- | |
357 | } |
- | |
358 | - | ||
359 | // Even if the sample is off-range, use it. |
266 | if (state < 18) { |
360 | simpleAirPressure = getSimplePressure(rawAirPressure); |
267 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
361 | DebugOut.Analog[27] = (uint16_t) OCR0A; |
268 | // set adc muxer to next ad_channel |
362 | DebugOut.Analog[31] = simpleAirPressure; |
- | |
363 | - | ||
364 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
- | |
365 | // Danger: pressure near lower end of range. If the measurement saturates, the |
- | |
366 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
- | |
367 | DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
- | |
368 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
- | |
369 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
- | |
370 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
- | |
371 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
- | |
372 | // Danger: pressure near upper end of range. If the measurement saturates, the |
- | |
373 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
- | |
374 | DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
- | |
375 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
- | |
376 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
- | |
377 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
- | |
378 | } else { |
- | |
379 | // normal case. |
- | |
380 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
269 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
381 | // The 2 cases above (end of range) are ignored for this. |
- | |
382 | DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT; |
- | |
383 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
- | |
384 | airPressureSum += simpleAirPressure / 2; |
- | |
385 | else |
- | |
386 | airPressureSum += simpleAirPressure; |
- | |
387 | } |
- | |
388 | - | ||
389 | // 2 samples were added. |
- | |
390 | pressureMeasurementCount += 2; |
- | |
391 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
- | |
392 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
- | |
393 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
- | |
394 | pressureMeasurementCount = airPressureSum = 0; |
- | |
395 | } |
- | |
396 | - | ||
397 | break; |
- | |
398 | - | ||
399 | case 15: |
- | |
400 | case 16: // pitch or roll gyro. |
270 | // after full cycle stop further interrupts |
401 | axis = state - 16; |
- | |
402 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
- | |
403 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
- | |
404 | /* |
- | |
405 | * Process the gyro data for the PID controller. |
- | |
406 | */ |
- | |
407 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
- | |
408 | // gyro with a wider range, and helps counter saturation at full control. |
- | |
409 | - | ||
410 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
- | |
411 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
- | |
412 | DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
- | |
413 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
- | |
414 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
- | |
415 | DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
- | |
416 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
- | |
417 | + SENSOR_MAX_PITCHROLL; |
- | |
418 | } else { |
- | |
419 | DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT; |
- | |
420 | } |
- | |
421 | } |
- | |
422 | - | ||
423 | // 2) Apply sign and offset, scale before filtering. |
- | |
424 | if (GYRO_REVERSED[axis]) { |
- | |
425 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
271 | startADC(); |
426 | } else { |
- | |
427 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
- | |
428 | } |
- | |
429 | - | ||
430 | // 3) Scale and filter. |
- | |
431 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro) |
- | |
432 | / GYROS_PID_FILTER; |
- | |
433 | - | ||
434 | // 4) Measure noise. |
- | |
435 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], |
- | |
436 | GYRO_NOISE_MEASUREMENT_DAMPING); |
- | |
437 | - | ||
438 | // 5) Differential measurement. |
- | |
439 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro |
- | |
440 | - gyro_PID[axis])) / GYROS_D_FILTER; |
- | |
441 | - | ||
442 | // 6) Done. |
- | |
443 | gyro_PID[axis] = tempOffsetGyro; |
- | |
444 | - | ||
445 | /* |
- | |
446 | * Now process the data for attitude angles. |
- | |
447 | */ |
- | |
448 | tempGyro = rawGyroSum[axis]; |
- | |
449 | - | ||
450 | // 1) Apply sign and offset, scale before filtering. |
- | |
451 | if (GYRO_REVERSED[axis]) { |
- | |
452 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
272 | } else { |
453 | } else { |
- | |
454 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
- | |
455 | } |
- | |
456 | - | ||
457 | // 2) Filter. |
- | |
458 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro) |
- | |
459 | / GYROS_ATT_FILTER; |
- | |
460 | break; |
- | |
461 | - | ||
462 | case 17: |
- | |
463 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
- | |
464 | // This is divided by 3 --> 10.34 counts per volt. |
- | |
465 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
- | |
466 | DebugOut.Analog[11] = UBat; |
- | |
467 | analogDataReady = 1; // mark |
273 | state = 0; |
468 | ADCycleCount++; |
- | |
469 | // Stop the sampling. Cycle is over. |
274 | ADCycleCount++; |
470 | state = 0; |
275 | analogDataReady = 1; |
471 | for (i = 0; i < 8; i++) { |
- | |
472 | sensorInputs[i] = 0; |
276 | // do not restart ADC converter. |
473 | } |
- | |
474 | break; |
- | |
475 | default: { |
- | |
476 | } // do nothing. |
277 | } |
Line -... | Line 278... | ||
- | 278 | } |
|
477 | } |
279 | |
- | 280 | void analog_updateGyros(void) { |
|
- | 281 | // for various filters... |
|
- | 282 | int16_t tempOffsetGyro, tempGyro; |
|
478 | 283 | ||
479 | // set up for next state. |
284 | for (uint8_t axis=0; axis<2; axis++) { |
- | 285 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
|
- | 286 | // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
|
- | 287 | /* |
|
- | 288 | * Process the gyro data for the PID controller. |
|
- | 289 | */ |
|
- | 290 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
|
- | 291 | // gyro with a wider range, and helps counter saturation at full control. |
|
- | 292 | ||
- | 293 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
|
- | 294 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
|
- | 295 | DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
|
- | 296 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
|
- | 297 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
|
- | 298 | DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
|
- | 299 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
|
- | 300 | + SENSOR_MAX_PITCHROLL; |
|
- | 301 | } else { |
|
- | 302 | DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT; |
|
- | 303 | } |
|
- | 304 | } |
|
- | 305 | ||
- | 306 | // 2) Apply sign and offset, scale before filtering. |
|
- | 307 | if (GYRO_REVERSED[axis]) { |
|
- | 308 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
|
- | 309 | } else { |
|
- | 310 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
|
- | 311 | } |
|
- | 312 | ||
- | 313 | // 3) Scale and filter. |
|
- | 314 | tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro) / GYROS_PID_FILTER; |
|
- | 315 | ||
480 | ad_channel = pgm_read_byte(&channelsForStates[state]); |
316 | // 4) Measure noise. |
481 | // ad_channel = channelsForStates[state]; |
317 | measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
- | 318 | ||
- | 319 | // 5) Differential measurement. |
|
- | 320 | gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
|
482 | 321 | ||
- | 322 | // 6) Done. |
|
- | 323 | gyro_PID[axis] = tempOffsetGyro; |
|
483 | // set adc muxer to next ad_channel |
324 | |
- | 325 | /* |
|
- | 326 | * Now process the data for attitude angles. |
|
- | 327 | */ |
|
- | 328 | tempGyro = rawGyroSum[axis]; |
|
- | 329 | ||
- | 330 | // 1) Apply sign and offset, scale before filtering. |
|
484 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
331 | if (GYRO_REVERSED[axis]) { |
- | 332 | tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
|
- | 333 | } else { |
|
- | 334 | tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
|
485 | // after full cycle stop further interrupts |
335 | } |
- | 336 | ||
- | 337 | // 2) Filter. |
|
- | 338 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
|
- | 339 | } |
|
- | 340 | ||
- | 341 | // Yaw gyro. |
|
- | 342 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
|
- | 343 | if (GYRO_REVERSED[YAW]) |
|
- | 344 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
|
486 | if (state) |
345 | else |
Line 487... | Line 346... | ||
487 | analog_start(); |
346 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
- | 347 | } |
|
- | 348 | ||
488 | } |
349 | void analog_updateAccelerometers(void) { |
- | 350 | // Pitch and roll axis accelerations. |
|
- | 351 | for (uint8_t axis=0; axis<2; axis++) { |
|
- | 352 | if (ACC_REVERSED[axis]) |
|
- | 353 | acc[axis] = accOffset[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
|
- | 354 | else |
|
- | 355 | acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset[axis]; |
|
- | 356 | ||
- | 357 | filteredAcc[axis] = (filteredAcc[axis] * (ACC_FILTER - 1) + acc[axis]) / ACC_FILTER; |
|
- | 358 | ||
- | 359 | /* |
|
- | 360 | stronglyFilteredAcc[PITCH] = |
|
- | 361 | (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
|
- | 362 | */ |
|
- | 363 | ||
489 | 364 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
|
- | 365 | } |
|
490 | void analog_calibrate(void) { |
366 | |
- | 367 | // Z acc. |
|
- | 368 | if (ACC_REVERSED[Z]) |
|
- | 369 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
|
- | 370 | else |
|
- | 371 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
|
- | 372 | ||
- | 373 | /* |
|
- | 374 | stronglyFilteredAcc[Z] = |
|
Line -... | Line 375... | ||
- | 375 | (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
|
491 | #define GYRO_OFFSET_CYCLES 32 |
376 | */ |
- | 377 | } |
|
- | 378 | ||
- | 379 | void analog_updateAirPressure(void) { |
|
492 | uint8_t i, axis; |
380 | static uint16_t pressureAutorangingWait = 25; |
493 | int32_t deltaOffsets[3] = { 0, 0, 0 }; |
381 | uint16_t rawAirPressure; |
- | 382 | int16_t newrange; |
|
494 | 383 | // air pressure |
|
495 | // Set the filters... to be removed again, once some good settings are found. |
384 | if (pressureAutorangingWait) { |
496 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
385 | //A range switch was done recently. Wait for steadying. |
- | 386 | pressureAutorangingWait--; |
|
497 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
387 | DebugOut.Analog[27] = (uint16_t) OCR0A; |
498 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
- | |
499 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
388 | DebugOut.Analog[31] = simpleAirPressure; |
- | 389 | } else { |
|
500 | 390 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
|
- | 391 | if (rawAirPressure < MIN_RAWPRESSURE) { |
|
501 | gyro_calibrate(); |
392 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
502 | 393 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
|
503 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
394 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
504 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
395 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
- | 396 | OCR0A = newrange; |
|
505 | delay_ms_Mess(20); |
397 | } else { |
506 | for (axis = PITCH; axis <= YAW; axis++) { |
398 | if (OCR0A) { |
507 | deltaOffsets[axis] += rawGyroSum[axis]; |
399 | OCR0A--; |
- | 400 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
- | 401 | } |
|
- | 402 | } |
|
- | 403 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
|
508 | } |
404 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
- | 405 | // If near the end, make a limited increase |
|
- | 406 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
|
- | 407 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
|
- | 408 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
|
509 | } |
409 | OCR0A = newrange; |
510 | 410 | } else { |
|
- | 411 | if (OCR0A < 254) { |
|
- | 412 | OCR0A++; |
|
- | 413 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
- | 414 | } |
|
- | 415 | } |
|
- | 416 | } |
|
- | 417 | ||
- | 418 | // Even if the sample is off-range, use it. |
|
- | 419 | simpleAirPressure = getSimplePressure(rawAirPressure); |
|
- | 420 | DebugOut.Analog[27] = (uint16_t) OCR0A; |
|
- | 421 | DebugOut.Analog[31] = simpleAirPressure; |
|
- | 422 | ||
- | 423 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
|
- | 424 | // Danger: pressure near lower end of range. If the measurement saturates, the |
|
- | 425 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
|
- | 426 | DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
|
- | 427 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
|
- | 428 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
|
- | 429 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
- | 430 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
|
- | 431 | // Danger: pressure near upper end of range. If the measurement saturates, the |
|
- | 432 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
|
- | 433 | DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
|
- | 434 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
|
- | 435 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
|
- | 436 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
- | 437 | } else { |
|
- | 438 | // normal case. |
|
- | 439 | // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
|
- | 440 | // The 2 cases above (end of range) are ignored for this. |
|
- | 441 | DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT; |
|
- | 442 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
|
- | 443 | airPressureSum += simpleAirPressure / 2; |
|
- | 444 | else |
|
- | 445 | airPressureSum += simpleAirPressure; |
|
- | 446 | } |
|
- | 447 | ||
- | 448 | // 2 samples were added. |
|
- | 449 | pressureMeasurementCount += 2; |
|
- | 450 | if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
|
- | 451 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
|
- | 452 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
|
Line -... | Line 453... | ||
- | 453 | pressureMeasurementCount = airPressureSum = 0; |
|
- | 454 | } |
|
511 | for (axis = PITCH; axis <= YAW; axis++) { |
455 | } |
512 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
456 | } |
- | 457 | ||
- | 458 | void analog_updateBatteryVoltage(void) { |
|
Line -... | Line 459... | ||
- | 459 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
|
- | 460 | // This is divided by 3 --> 10.34 counts per volt. |
|
513 | // DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
461 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
514 | } |
462 | DebugOut.Analog[11] = UBat; |
515 | 463 | } |
|
516 | // Noise is relativ to offset. So, reset noise measurements when changing offsets. |
464 | |
517 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
- | |
518 | - | ||
519 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
- | |
Line -... | Line 465... | ||
- | 465 | void analog_update(void) { |
|
- | 466 | analog_updateGyros(); |
|
- | 467 | analog_updateAccelerometers(); |
|
- | 468 | analog_updateAirPressure(); |
|
- | 469 | analog_updateBatteryVoltage(); |
|
- | 470 | } |
|
- | 471 | ||
- | 472 | void analog_calibrate(void) { |
|
- | 473 | #define GYRO_OFFSET_CYCLES 32 |
|
- | 474 | uint8_t i, axis; |
|
- | 475 | int32_t deltaOffsets[3] = { 0, 0, 0 }; |
|
- | 476 | ||
- | 477 | // Set the filters... to be removed again, once some good settings are found. |
|
- | 478 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
|
- | 479 | GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
|
- | 480 | GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
|
- | 481 | ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
|
- | 482 | ||
- | 483 | gyro_calibrate(); |
|
- | 484 | ||
- | 485 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
|
- | 486 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
|
- | 487 | delay_ms_Mess(20); |
|
- | 488 | for (axis = PITCH; axis <= YAW; axis++) { |
|
- | 489 | deltaOffsets[axis] += rawGyroSum[axis]; |
|
- | 490 | } |
|
- | 491 | } |
|
- | 492 | ||
- | 493 | for (axis = PITCH; axis <= YAW; axis++) { |
|
- | 494 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
|
- | 495 | // DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
|
- | 496 | } |
|
- | 497 | ||
- | 498 | // Noise is relativ to offset. So, reset noise measurements when changing offsets. |
|
- | 499 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
|
- | 500 | ||
- | 501 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
|
520 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
502 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
521 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
503 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
Line 522... | Line 504... | ||
522 | 504 | ||
523 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
505 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
524 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
506 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |