WebSVN - FlightCtrl - Diff - Rev 1635 and 1645 - /branches/dongfang_FC

 // For reading and writing acc. meter offsets.
 #include "eeprom.h"
-/*
- * Arrays could have been used for the 2 * 3 axes, but despite some repetition,
- * the code is easier to read without.
- *
- * For each A/D conversion cycle, each channel (eg. the yaw gyro, or the Z axis
+/*
- * accelerometer) is sampled a number of times (see array channelsForStates), and
+ * For each A/D conversion cycle, each analog channel is sampled a number of times
- * the results for each channel are summed. Here are those for the gyros and the
+ * (see array channelsForStates), and the results for each channel are summed.
- * acc. meters. They are not zero-offset.
+ * 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.
  */
-volatile int16_t rawPitchGyroSum, rawRollGyroSum, rawYawGyroSum;
+volatile int16_t rawGyroSum[2], rawYawGyroSum;
-volatile int16_t pitchAxisAcc = 0, rollAxisAcc = 0, ZAxisAcc = 0;
-volatile int16_t filteredPitchAxisAcc = 0, filteredRollAxisAcc = 0;
 volatile int16_t acc[2] = {0,0}, ZAcc = 0;
-// that float one - "Top" - is missing.
+volatile int16_t filteredAcc[2] = {0,0};
 /*
- * These 4 exported variables are zero-offset. The "filtered" ones are
- * (if configured to with the GYROS_SECONDORDERFILTER define) low pass
+ * These 4 exported variables are zero-offset. The "PID" ones are used
- * filtered versions of the other 2.
+ * in the attitude control as rotation rates. The "ATT" ones are for
- * They are derived from the "raw" values above, by zero-offsetting.
+ * integration to angles.
  */
-volatile int16_t hiResPitchGyro = 0, hiResRollGyro = 0;
+volatile int16_t gyro_PID[2];
-volatile int16_t filteredHiResPitchGyro = 0, filteredHiResRollGyro = 0;
+volatile int16_t gyro_ATT[2];
-volatile int16_t pitchGyroD = 0, rollGyroD = 0;
+volatile int16_t gyroD[2];
 volatile int16_t yawGyro = 0;
 /*
  * 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 zero when the copter stands still.
+ * to be centered on zero.
  */
-volatile int16_t pitchOffset, rollOffset, yawOffset;
+volatile int16_t gyroOffset[2], yawGyroOffset;
-volatile int16_t pitchAxisAccOffset, rollAxisAccOffset, ZAxisAccOffset;
+volatile int16_t accOffset[2], ZAccOffset;
 /*
  * This allows some experimentation with the gyro filters.
  * Should be replaced by #define's later on...
+ */
- */
+volatile uint8_t GYROS_FIRSTORDERFILTER;
+volatile uint8_t GYROS_SECONDORDERFILTER;
-volatile uint8_t GYROS_FIRSTORDERFILTER;
+volatile uint8_t GYROS_DFILTER;
-volatile uint8_t GYROS_SECONDORDERFILTER;
+volatile uint8_t ACC_FILTER;
-volatile uint8_t GYROS_DFILTER;
-volatile uint8_t ACC_FILTER;
+/*
+ * Air pressure measurement.
-// Air pressure (no support right now).
+ */
-// volatile int32_t AirPressure = 32000;
+#define MIN_RAWPRESSURE 200
-// volatile uint8_t average_pressure = 0;
+#define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE)
-// volatile int16_t StartAirPressure;
+volatile uint8_t rangewidth = 53;
-// volatile uint16_t ReadingAirPressure = 1023;
+volatile uint16_t rawAirPressure;
-// volatile int16_t HeightD = 0;
+volatile uint16_t filteredAirPressure;
-/*
  * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
- * That is divided by 3 below, for a final 10.34 per volt.
+/*
- * So the initial value of 100 is for 9.7 volts.
+ * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
- */
+ * That is divided by 3 below, for a final 10.34 per volt.
-volatile int16_t UBat = 100;
+ * So the initial value of 100 is for 9.7 volts.
  */
-volatile int16_t filteredAirPressure;
+volatile int16_t UBat = 100;
 /*
  * Control and status.
  */
 volatile uint16_t ADCycleCount = 0;
 volatile uint8_t analogDataReady = 1;
 /*
  * Experiment: Measuring vibration-induced sensor noise.
  */
-volatile uint16_t pitchGyroNoisePeak, rollGyroNoisePeak;
+volatile uint16_t gyroNoisePeak[2];
-volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak;
+volatile uint16_t accNoisePeak[2];
 // ADC channels
 #define AD_GYRO_YAW       0
-#define AD_GYRO_ROLL      1
+#define AD_GYRO_ROLL      1
   } else {
     *noiseMeasurement = 0;
+  }
+}
-#define ADCENTER (1023/2)
-#define HALFRANGE 400
-uint8_t stepsize = 53;
 uint16_t getAbsPressure(int advalue) {
-  return (uint16_t)OCR0A * (uint16_t)stepsize + advalue;
+  return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue;
+}
 uint16_t filterAirPressure(uint16_t rawpressure) {
   return rawpressure;
 }
-/*****************************************************/
-/*     Interrupt Service Routine for ADC             */
+/*****************************************************
-/*****************************************************/
+ * Interrupt Service Routine for ADC
-// Runs at 312.5 kHz or 3.2 µs
+ * Runs at 312.5 kHz or 3.2 µs. When all states are
-// When all states are processed the interrupt is disabled
+ * processed the interrupt is disabled and further
-// and the update of further AD conversions is stopped.
+ * AD conversions are stopped.
  *****************************************************/
-ISR(ADC_vect) {
+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 uint8_t pressure_wait = 10;
-  uint8_t i;
+  uint8_t i, axis;
-  int16_t step = OCR0A;
+  int16_t range;
   // for various filters...
-  static int16_t pitchGyroFilter, rollGyroFilter, tempOffsetGyro;
+  int16_t tempOffsetGyro, tempGyro;
   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 7: // Z acc
 #ifdef ACC_REVERSE_ZAXIS
-    ZAxisAcc = -ZAxisAccOffset - sensorInputs[AD_ACC_Z];
+    ZAcc = -ZAccOffset - sensorInputs[AD_ACC_Z];
 #else
-    ZAxisAcc = sensorInputs[AD_ACC_Z] - ZAxisAccOffset;
+    ZAcc = sensorInputs[AD_ACC_Z] - ZAccOffset;
 #endif
     break;
   case 10: // yaw gyro
     rawYawGyroSum = sensorInputs[AD_GYRO_YAW];
 #ifdef GYRO_REVERSE_YAW
-    yawGyro = rawYawGyroSum - yawOffset;
+    yawGyro = rawYawGyroSum - yawGyroOffset;
 #else
-    yawGyro = yawOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3).
+    yawGyro = yawGyroOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3).
 #endif
     break;
   case 11: // pitch axis acc.
 #ifdef ACC_REVERSE_PITCHAXIS
-    pitchAxisAcc = -pitchAxisAccOffset - sensorInputs[AD_ACC_PITCH];
+    acc[PITCH] = -accOffset[PITCH] - sensorInputs[AD_ACC_PITCH];
 #else
-    pitchAxisAcc = sensorInputs[AD_ACC_PITCH] - pitchAxisAccOffset;
+    acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];
 #endif
-    filteredPitchAxisAcc = (filteredPitchAxisAcc * (ACC_FILTER-1) + pitchAxisAcc) / ACC_FILTER;
+    filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER;
-    measureNoise(pitchAxisAcc, &pitchAccNoisePeak, 1);
+    measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1);
     break;
   case 12: // roll axis acc.
+#ifdef ACC_REVERSE_ROLLAXIS
+    acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];
+#else
+    acc[ROLL] = -accOffset[ROLL] - sensorInputs[AD_ACC_ROLL];
+#endif
+    filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER;
-#ifdef ACC_REVERSE_ROLLAXIS
+    measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);
+    break;
     rollAxisAcc = sensorInputs[AD_ACC_ROLL] - rollAxisAccOffset;
-#else
+  case 13: // air pressure
-    rollAxisAcc = -rollAxisAccOffset - sensorInputs[AD_ACC_ROLL];
+    if (pressure_wait) {
+      // A range switch was done recently. Wait for steadying.
-#endif
+      pressure_wait--;
-    filteredRollAxisAcc = (filteredRollAxisAcc * (ACC_FILTER-1) + rollAxisAcc) / ACC_FILTER;
-    measureNoise(rollAxisAcc, &rollAccNoisePeak, 1);
+      break;
     break;
+    range = OCR0A;
-  case 13: // air pressure
+    rawAirPressure = sensorInputs[AD_AIRPRESSURE];
+    if (rawAirPressure < MIN_RAWPRESSURE) {
-    if (sensorInputs[AD_AIRPRESSURE] < ADCENTER-HALFRANGE) {
+      // value is too low, so decrease voltage on the op amp minus input, making the value higher.
-      // value is too low, so decrease voltage on the op amp minus input, making the value higher.
-      step -= ((HALFRANGE-sensorInputs[AD_AIRPRESSURE]) / stepsize + 1);
+      range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1;
-      if (step<0) step = 0;
+      if (range < 0) range = 0;
-      OCR0A = step;
+      pressure_wait = (OCR0A - range) * 4;
+      OCR0A = range;
+    } else if (rawAirPressure > MAX_RAWPRESSURE) {
+      // value is too high, so increase voltage on the op amp minus input, making the value lower.
+      range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1;
-      // wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off)
+      if (range > 254) range = 254;
+      pressure_wait = (range - OCR0A) * 4;
-    } else if (sensorInputs[AD_AIRPRESSURE] > ADCENTER+HALFRANGE) {
+      OCR0A = range;
+    } else {
-      // value is too high, so increase voltage on the op amp minus input, making the value lower.
+      filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure));
+    }
+    DebugOut.Analog[12] = range;
+    DebugOut.Analog[13] = rawAirPressure;
-      step += ((sensorInputs[AD_AIRPRESSURE] - HALFRANGE)/stepsize + 1);
+    DebugOut.Analog[14] = filteredAirPressure;
-      if (step>254) step = 254;
+    break;
+  case 14:
+  case 15: // pitch or roll gyro.
+    axis = state - 15;
+    tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];
+        // DebugOut.Analog[6 + 3 * axis ] = tempGyro;
-      OCR0A = step;
+    /*
-      // wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off)
+     * 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.
-    } else {
-      filteredAirPressure = filterAirPressure(getAbsPressure(sensorInputs[AD_AIRPRESSURE]));
+    if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
-    }
+      if (tempGyro < SENSOR_MIN_PITCHROLL) {
-    break;
+        tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
+      }
+      else if (tempGyro > SENSOR_MAX_PITCHROLL) {
-  case 14: // pitch gyro
+        tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL;
-    rawPitchGyroSum = sensorInputs[AD_GYRO_PITCH];
+      }
+    }
-    // Filter already before offsetting. The offsetting resolution improvement obtained by divding by
-    // GYROS_FIRSTORDERFILTER _after_ offsetting is too small to be worth pursuing.
+    // 2) Apply sign and offset, scale before filtering.
+    if (GYROS_REVERSE[axis]) {
-    pitchGyroFilter = (pitchGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawPitchGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER;
+      tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL;
-    // Offset to 0.
+    } else {
-#ifdef GYROS_REVERSE_PITCH
+      tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
-    tempOffsetGyro = pitchOffset - pitchGyroFilter;
+    }
-#else
+    // 3) Scale and filter.
+    tempOffsetGyro = (gyro_PID[axis] * (GYROS_PIDFILTER-1) + tempOffsetGyro) / GYROS_PIDFILTER;
-    tempOffsetGyro = pitchGyroFilter - pitchOffset;
+    // 4) Measure noise.
-#endif
+    measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
-    // Calculate the delta from last shot and filter it.
+    // 5) Differential measurement.
-    pitchGyroD = (pitchGyroD * (GYROS_DFILTER-1) + (tempOffsetGyro - hiResPitchGyro)) / GYROS_DFILTER;
+    gyroD[axis] = (gyroD[axis] * (GYROS_DFILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_DFILTER;
-    // How we can overwrite the last value. This value is used for the D part of the PID controller.
-    hiResPitchGyro = tempOffsetGyro;
+    // 6) Done.
-    // Filter a little more. This value is used in integration to angles.
+    gyro_PID[axis] = tempOffsetGyro;
-    filteredHiResPitchGyro = (filteredHiResPitchGyro * (GYROS_SECONDORDERFILTER-1) + hiResPitchGyro) / GYROS_SECONDORDERFILTER;
-    measureNoise(hiResPitchGyro, &pitchGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING);
+    /*
-    break;
+     * Now process the data for attitude angles.
+     */
-  case 15: // Roll gyro. Works the same as pitch.
-    rawRollGyroSum = sensorInputs[AD_GYRO_ROLL];
+    tempGyro = rawGyroSum[axis];
     rollGyroFilter = (rollGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawRollGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER;
-#ifdef GYRO_REVERSE_ROLL
+    // 1) Apply sign and offset, scale before filtering.
-    tempOffsetGyro = rollOffset - rollGyroFilter;
+    if (GYROS_REVERSE[axis]) {
   GYROS_FIRSTORDERFILTER = (dynamicParams.UserParams[4]   & 0b00000011)       + 1;
   GYROS_SECONDORDERFILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1;
   GYROS_DFILTER = ((dynamicParams.UserParams[4]           & 0b00110000) >> 4) + 1;
   ACC_FILTER = ((dynamicParams.UserParams[4]              & 0b11000000) >> 6) + 1;
-  pitchOffset = rollOffset = yawOffset = 0;
+  gyroOffset[PITCH] = gyroOffset[ROLL] = yawGyroOffset = 0;
   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(10);
-    _pitchOffset += rawPitchGyroSum * GYRO_FACTOR_PITCHROLL;
+    _pitchOffset += rawGyroSum[PITCH];
-    _rollOffset  += rawRollGyroSum * GYRO_FACTOR_PITCHROLL;
+    _rollOffset  += rawGyroSum[ROLL];
     _yawOffset   += rawYawGyroSum;
   }
-  pitchOffset = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
-  rollOffset  = (_rollOffset  + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
-  yawOffset   = (_yawOffset   + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
+  gyroOffset[PITCH] = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
-  filteredHiResPitchGyro = filteredHiResRollGyro = 0;
+  gyroOffset[ROLL] = (_rollOffset  + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
   yawGyroOffset   = (_yawOffset   + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
-  pitchAxisAccOffset = (int16_t)GetParamWord(PID_ACC_NICK);
-  rollAxisAccOffset  = (int16_t)GetParamWord(PID_ACC_ROLL);
+  gyro_PID[PITCH] = gyro_PID[ROLL] = 0;
-  ZAxisAccOffset     = (int16_t)GetParamWord(PID_ACC_TOP);
+  gyro_ATT[PITCH] = gyro_ATT[ROLL] = 0;
   // Noise is relative to offset. So, reset noise measurements when
   // changing offsets.
-  pitchGyroNoisePeak = rollGyroNoisePeak = 0;
+  gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
  */
 void analog_calibrateAcc(void) {
 #define ACC_OFFSET_CYCLES 10
   uint8_t i;
   int32_t _pitchAxisOffset = 0, _rollAxisOffset = 0, _ZAxisOffset = 0;
+  // int16_t pressureDiff, savedRawAirPressure;
-  pitchAxisAccOffset = rollAxisAccOffset = ZAxisAccOffset = 0;
+  accOffset[PITCH] = accOffset[ROLL] = ZAccOffset = 0;
   for(i=0; i < ACC_OFFSET_CYCLES; i++) {
     Delay_ms_Mess(10);
-    _pitchAxisOffset += pitchAxisAcc;
+    _pitchAxisOffset += acc[PITCH];
-    _rollAxisOffset += rollAxisAcc;
+    _rollAxisOffset  += acc[ROLL];
-    _ZAxisOffset += ZAxisAcc;
+    _ZAxisOffset += ZAcc;
   }
   // Save ACC neutral settings to eeprom
-  SetParamWord(PID_ACC_NICK, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES));
+  SetParamWord(PID_ACC_PITCH, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES));
   SetParamWord(PID_ACC_ROLL, (uint16_t)((_rollAxisOffset  + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES));
   SetParamWord(PID_ACC_TOP,  (uint16_t)((_ZAxisOffset     + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES));
+  // Noise is relative to offset. So, reset noise measurements when
+  // changing offsets.
+  accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
+  // Setting offset values has an influence in the analog.c ISR
+  // Therefore run measurement for 100ms to achive stable readings
+  // Delay_ms_Mess(100);
+  // Set the feedback so that air pressure ends up in the middle of the range.
+  // (raw pressure high --> OCR0A also high...)
+  // OCR0A += (rawAirPressure - 512) / rangewidth;
+  // Delay_ms_Mess(500);
+  /*
+    pressureDiff = 0;
+    DebugOut.Analog[16] = rawAirPressure;
+    #define PRESSURE_CAL_CYCLE_COUNT 2
+    for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
+    savedRawAirPressure = rawAirPressure;
+    OCR0A++;
+    Delay_ms_Mess(200);
+    // raw pressure will decrease.
+    pressureDiff += (savedRawAirPressure - rawAirPressure);
+    savedRawAirPressure = rawAirPressure;
+    OCR0A--;
+    Delay_ms_Mess(200);
+    // raw pressure will increase.
+    pressureDiff += (rawAirPressure - savedRawAirPressure);
+    }

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.c @ 1969 - Rev 1635 → 1645