WebSVN - FlightCtrl - Rev 1342 - /branches/V0.74d_CRD_killagreg_Batteriekappazitaet

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
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// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <avr/io.h>
#include <avr/interrupt.h>

#include "analog.h"
#include "main.h"
#include "timer0.h"
#include "fc.h"
#include "printf_P.h"
#include "eeprom.h"
#include "twimaster.h"

volatile uint16_t Test = 0;

volatile int16_t UBat = 100;
volatile int16_t AdValueGyroNick = 0, AdValueGyroRoll = 0, AdValueGyroYaw = 0;
volatile int16_t FilterHiResGyroNick = 0, FilterHiResGyroRoll = 0;
volatile int16_t HiResGyroNick = 2500, HiResGyroRoll = 2500;
volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0, AdValueAccZ = 0;
volatile int32_t AirPressure = 32000;
volatile uint8_t average_pressure = 0;
volatile int16_t StartAirPressure;
volatile uint16_t ReadingAirPressure = 1023;
volatile int16_t HeightD = 0;
volatile uint16_t MeasurementCounter = 0;
volatile uint8_t ADReady = 1;

uint8_t DacOffsetGyroNick = 115, DacOffsetGyroRoll = 115, DacOffsetGyroYaw = 115;
uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
int8_t ExpandBaro = 0;
uint8_t PressureSensorOffset;

/*****************************************************/
/* Initialize Analog Digital Converter */
/*****************************************************/
void ADC_Init(void)
{
uint8_t sreg = SREG;
// disable all interrupts before reconfiguration
cli();
//ADC0 ... ADC7 is connected to PortA pin 0 ... 7
DDRA = 0x00;
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));
// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
ADMUX = (ADMUX & 0xE0) | 0x00;
//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);
//Set ADC Control and Status Register B
//Trigger Source to Free Running Mode
ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0));
// Start AD conversion
ADC_Enable();
// restore global interrupt flags
SREG = sreg;
}

void SearchAirPressureOffset(void)
{
uint8_t off;
off = GetParamByte(PID_PRESSURE_OFFSET);
if(off > 20) off -= 10;
OCR0A = off;
ExpandBaro = 0;
Delay_ms_Mess(100);
if(ReadingAirPressure < 850) off = 0;
for(; off < 250;off++)
{
OCR0A = off;
Delay_ms_Mess(50);
printf(".");
if(ReadingAirPressure < 850) break;
}
SetParamByte(PID_PRESSURE_OFFSET, off);
PressureSensorOffset = off;
Delay_ms_Mess(300);
}

void SearchDacGyroOffset(void)
{
uint8_t i, ready = 0;
uint16_t timeout ;

GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;

timeout = SetDelay(2000);
if(BoardRelease == 13) // the auto offset calibration is available only at board release 1.3
{
for(i = 140; i != 0; i--)
{
if(ready == 3 && i > 10) i = 9;
ready = 0;
if(AdValueGyroNick < 1020) DacOffsetGyroNick--; else if(AdValueGyroNick > 1030) DacOffsetGyroNick++; else ready++;
if(AdValueGyroRoll < 1020) DacOffsetGyroRoll--; else if(AdValueGyroRoll > 1030) DacOffsetGyroRoll++; else ready++;
if(AdValueGyroYaw < 1020) DacOffsetGyroYaw-- ; else if(AdValueGyroYaw > 1030) DacOffsetGyroYaw++ ; else ready++;
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission
if(DacOffsetGyroNick < 10) { GyroDefectNick = 1; DacOffsetGyroNick = 10;}; if(DacOffsetGyroNick > 245) { GyroDefectNick = 1; DacOffsetGyroNick = 245;};
if(DacOffsetGyroRoll < 10) { GyroDefectRoll = 1; DacOffsetGyroRoll = 10;}; if(DacOffsetGyroRoll > 245) { GyroDefectRoll = 1; DacOffsetGyroRoll = 245;};
if(DacOffsetGyroYaw < 10) { GyroDefectYaw = 1; DacOffsetGyroYaw = 10;}; if(DacOffsetGyroYaw > 245) { GyroDefectYaw = 1; DacOffsetGyroYaw = 245;};
while(twi_state)
{
if(CheckDelay(timeout))
{
printf("\r\n DAC or I2C Error1 check I2C, 3Vref, DAC, and BL-Ctrl");
break;
}
} // wait for end of data transmission
average_pressure = 0;
ADC_Enable();
while(average_pressure == 0);
if(i < 10) Delay_ms_Mess(10);
}
Delay_ms_Mess(70);
}
}

/*****************************************************/
/* Interrupt Service Routine for ADC */
/*****************************************************/
// runs at 312.5 kHz or 3.2 µs
// if after (60.8µs) all 19 states are processed the interrupt is disabled
// and the update of further ads is stopped

/*
0 nickgyro
1 rollgyro
2 yawgyro
3 accroll
4 accnick
5 nickgyro
6 rollgyro
7 ubat
8 acctop
9 air pressure
10 nickgyro
11 rollgyro
12 yawgyro
13 accroll
14 accnick
15 gyronick
16 gyroroll
17 airpressure
*/

#define AD_GYRO_YAW 0
#define AD_GYRO_ROLL 1
#define AD_GYRO_NICK 2
#define AD_AIRPRESS 3
#define AD_UBAT 4
#define AD_ACC_TOP 5
#define AD_ACC_ROLL 6
#define AD_ACC_NICK 7

ISR(ADC_vect)
{
static uint8_t ad_channel = AD_GYRO_NICK, state = 0;
static uint16_t gyroyaw, gyroroll, gyronick, accroll, accnick;
static int32_t filtergyronick, filtergyroroll;
static int16_t tmpAirPressure = 0;

// state machine
switch(state++)
{
case 0:
gyronick = ADC; // get nick gyro voltage 1st sample
ad_channel = AD_GYRO_ROLL;
break;
case 1:
gyroroll = ADC; // get roll gyro voltage 1st sample
ad_channel = AD_GYRO_YAW;
break;
case 2:
gyroyaw = ADC; // get yaw gyro voltage 1st sample
ad_channel = AD_ACC_ROLL;
break;
case 3:
accroll = ADC; // get roll acc voltage 1st sample
ad_channel = AD_ACC_NICK;
break;
case 4:
accnick = ADC; // get nick acc voltage 1st sample
ad_channel = AD_GYRO_NICK;
break;
case 5:
gyronick += ADC; // get nick gyro voltage 2nd sample
ad_channel = AD_GYRO_ROLL;
break;
case 6:
gyroroll += ADC; // get roll gyro voltage 2nd sample
ad_channel = AD_UBAT;
break;
case 7:
// get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3
UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
ad_channel = AD_ACC_TOP;
break;
case 8:
AdValueAccZ = ADC; // get plain acceleration in Z direction
AdValueAccTop = (int16_t)ADC - AdBiasAccTop; // get acceleration in Z direction
if(AdValueAccTop > 1)
{
if(AdBiasAccTop < 750)
{
AdBiasAccTop += 0.02;
if(ModelIsFlying < 500) AdBiasAccTop += 0.1;
}
}
else if(AdValueAccTop < -1)
{
if(AdBiasAccTop > 550)
{
AdBiasAccTop -= 0.02;
if(ModelIsFlying < 500) AdBiasAccTop -= 0.1;
}
}
ReadingIntegralTop += AdValueAccTop; // load
ReadingIntegralTop -= ReadingIntegralTop / 1024; // discharge
ad_channel = AD_AIRPRESS;
break;
// case 9 is moved to the end
case 10:
gyronick += ADC; // get nick gyro voltage 3rd sample
ad_channel = AD_GYRO_ROLL;
break;
case 11:
gyroroll += ADC; // get roll gyro voltage 3rd sample
ad_channel = AD_GYRO_YAW;
break;
case 12:
gyroyaw += ADC; // get yaw gyro voltage 2nd sample
if(BoardRelease == 10) AdValueGyroYaw = (gyroyaw + 1) / 2; // analog gain on board 1.0 is 2 times higher
else
if(BoardRelease == 20) AdValueGyroYaw = 2047 - gyroyaw; // 2 times higher than a single sample
else AdValueGyroYaw = gyroyaw; // 2 times higher than a single sample
ad_channel = AD_ACC_ROLL;
break;
case 13:
accroll += ADC; // get roll acc voltage 2nd sample
AdValueAccRoll = AdBiasAccRoll - accroll; // subtract bias
ad_channel = AD_ACC_NICK;
break;
case 14:
accnick += ADC; // get nick acc voltage 2nd sample
AdValueAccNick = accnick - AdBiasAccNick; // subtract bias
ad_channel = AD_GYRO_NICK;
break;
case 15:
gyronick += ADC; // get nick gyro voltage 4th sample
if(BoardRelease == 10) gyronick *= 2; // 8 times higer than a single sample, HW gain x2
else gyronick *= 4; // 16 times higer than a single sample
AdValueGyroNick = gyronick / 8; // 2 times higher than a single sample
filtergyronick = (filtergyronick + gyronick) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY
HiResGyroNick = filtergyronick - BiasHiResGyroNick;
FilterHiResGyroNick = (FilterHiResGyroNick + HiResGyroNick) / 2;
ad_channel = AD_GYRO_ROLL;
break;
case 16:
gyroroll += ADC; // get roll gyro voltage 4th sample
if(BoardRelease == 10) gyroroll *= 2; // 8 times higer than a single sample, HW gain x2
else gyroroll *= 4; // 16 times higer than a single sample
AdValueGyroRoll = gyroroll / 8; // 2 times higher than a single sample
filtergyroroll = (filtergyroroll + gyroroll) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY
HiResGyroRoll = filtergyroroll - BiasHiResGyroRoll;
FilterHiResGyroRoll = (FilterHiResGyroRoll + HiResGyroRoll) / 2;
ad_channel = AD_AIRPRESS;
break;
case 17:
state = 0; // restart sequence from beginning
ADReady = 1; // mark
MeasurementCounter++; // increment total measurement counter
// "break;" is missing to enable fall thru case 9 at the end of the sequence
case 9:
tmpAirPressure += ADC; // sum adc values
if(++average_pressure >= 5) // if 5 values are summerized for averaging
{
tmpAirPressure /= 2;
ReadingAirPressure = ADC; // update meassured air pressure
HeightD = (31 * HeightD + (int16_t)FCParam.HeightD * (int16_t)(255 * ExpandBaro + StartAirPressure - tmpAirPressure - ReadingHeight)) / 32; // D-Part = CurrentValue - OldValue
AirPressure = (tmpAirPressure + 7 * AirPressure + 4) / 8; // averaging using history
ReadingHeight = 255 * ExpandBaro + StartAirPressure - AirPressure;
average_pressure = 0; // reset air pressure measurement counter
tmpAirPressure /= 2;
}
ad_channel = AD_GYRO_NICK;
break;
default:
ad_channel = AD_GYRO_NICK;
state = 0;
break;
}
// set adc muxer to next ad_channel
ADMUX = (ADMUX & 0xE0) | ad_channel;
// after full cycle stop further interrupts
if(state != 0) ADC_Enable();
}

Subversion Repositories FlightCtrl

(root)/branches/V0.74d_CRD_killagreg_Batteriekappazitaet_Lion/analog.c - Rev 1342