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OP-156 AHRS_ADC: Make the ADC system use a callback to better separate ADC code
from the AHRS code (which will facilitate code integration with new INS) and also will help set up a fifo queue for the downsampled data to allow gyro data output from AHRS faster than EKF output. Also decreased ADC interrupt priority so the SPI comms don't drop out. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2190 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
6f1e7b4e41
commit
45e3ed27a7
@ -39,7 +39,6 @@
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#include "insgps.h"
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#include "CoordinateConversions.h"
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#define MAX_OVERSAMPLING 50 /* cannot have more than 50 samples */
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#define INSGPS_GPS_TIMEOUT 2 /* 2 seconds triggers reinit of position */
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#define INSGPS_GPS_MINSAT 6 /* 2 seconds triggers reinit of position */
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#define INSGPS_GPS_MINPDOP 3.5 /* minimum PDOP for postition updates */
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@ -59,7 +58,7 @@ void ins_indoor_update();
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void simple_update();
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/* Data accessors */
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void downsample_data(void);
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void adc_callback(float *);
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void process_mag_data();
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void reset_values();
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void calibrate_sensors(void);
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@ -80,8 +79,6 @@ void settings_callback(AhrsObjHandle obj);
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* @{
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* Public data. Used by both EKF and the sender
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*/
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//! Filter coefficients used in decimation. Limited order so filter can't run between samples
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int16_t fir_coeffs[MAX_OVERSAMPLING];
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//! Contains the data from the mag sensor chip
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struct mag_sensor mag_data;
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@ -107,6 +104,12 @@ static uint8_t adc_oversampling = 30;
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//! Offset correction of barometric alt, to match gps data
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static float baro_offset = 0;
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typedef enum { AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING } states;
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volatile states ahrs_state;
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volatile int32_t ekf_too_slow;
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volatile int32_t total_conversion_blocks;
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/**
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* @}
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*/
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@ -389,7 +392,7 @@ void print_ekf_binary() {}
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*/
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void print_ahrs_raw()
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{
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int result;
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/*int result;
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static int previous_conversion = 0;
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uint8_t framing[16] =
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@ -420,7 +423,7 @@ void print_ahrs_raw()
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PIOS_LED_Off(LED1);
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else {
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PIOS_LED_On(LED1);
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}
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} */
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}
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/**
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@ -451,6 +454,7 @@ int main()
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/* ADC system */
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AHRS_ADC_Config(adc_oversampling);
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AHRS_ADC_SetCallback(adc_callback);
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/* Setup the Accelerometer FS (Full-Scale) GPIO */
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PIOS_GPIO_Enable(0);
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@ -472,12 +476,6 @@ int main()
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ahrs_state = AHRS_IDLE;
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while(!AhrsLinkReady()) {
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AhrsPoll();
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while(ahrs_state != AHRS_DATA_READY) ;
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ahrs_state = AHRS_PROCESSING;
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downsample_data();
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ahrs_state = AHRS_IDLE;
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if((total_conversion_blocks % 10) == 0)
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PIOS_LED_Toggle(LED1);
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}
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/* we didn't connect the callbacks before because we have to wait
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for all data to be up to date before doing anything*/
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@ -490,12 +488,6 @@ for all data to be up to date before doing anything*/
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calibration_callback(AHRSCalibrationHandle()); //force an update
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/* Use simple averaging filter for now */
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for (int i = 0; i < adc_oversampling; i++)
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fir_coeffs[i] = 1;
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fir_coeffs[adc_oversampling] = adc_oversampling;
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#ifdef DUMP_RAW
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while (1) {
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AhrsPoll();
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@ -543,7 +535,6 @@ for all data to be up to date before doing anything*/
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idle_counts = counter_val - last_counter_idle_start;
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last_counter_idle_end = counter_val;
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downsample_data();
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process_mag_data();
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print_ekf_binary();
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@ -584,68 +575,33 @@ for all data to be up to date before doing anything*/
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* The accel_data values are converted into a coordinate system where X is forwards along
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* the fuselage, Y is along right the wing, and Z is down.
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*/
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void downsample_data()
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void adc_callback(float * downsampled_data)
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{
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uint16_t i;
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// Accel data is (y,x,z) in first third and fifth byte. Convert to m/s
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accel_data.filtered.y = (downsampled_data[0] * accel_data.calibration.scale[1]) + accel_data.calibration.bias[1];
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accel_data.filtered.x = (downsampled_data[2] * accel_data.calibration.scale[0]) + accel_data.calibration.bias[0];
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accel_data.filtered.z = (downsampled_data[4] * accel_data.calibration.scale[2]) + accel_data.calibration.bias[2];
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// Get the Y data. Third byte in. Convert to m/s
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accel_data.filtered.y = 0;
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for (i = 0; i < adc_oversampling; i++)
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accel_data.filtered.y += valid_data_buffer[0 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
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accel_data.filtered.y /= (float) fir_coeffs[adc_oversampling];
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accel_data.filtered.y = (accel_data.filtered.y * accel_data.calibration.scale[1]) + accel_data.calibration.bias[1];
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// Get the X data which projects forward/backwards. Fifth byte in. Convert to m/s
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accel_data.filtered.x = 0;
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for (i = 0; i < adc_oversampling; i++)
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accel_data.filtered.x += valid_data_buffer[2 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
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accel_data.filtered.x /= (float) fir_coeffs[adc_oversampling];
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accel_data.filtered.x = (accel_data.filtered.x * accel_data.calibration.scale[0]) + accel_data.calibration.bias[0];
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// Get the Z data. Third byte in. Convert to m/s
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accel_data.filtered.z = 0;
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for (i = 0; i < adc_oversampling; i++)
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accel_data.filtered.z += valid_data_buffer[4 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
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accel_data.filtered.z /= (float) fir_coeffs[adc_oversampling];
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accel_data.filtered.z = (accel_data.filtered.z * accel_data.calibration.scale[2]) + accel_data.calibration.bias[2];
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// Get the X gyro data. Seventh byte in. Convert to deg/s.
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gyro_data.filtered.x = 0;
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for (i = 0; i < adc_oversampling; i++)
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gyro_data.filtered.x += valid_data_buffer[1 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
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gyro_data.filtered.x /= fir_coeffs[adc_oversampling];
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gyro_data.filtered.x = (gyro_data.filtered.x * gyro_data.calibration.scale[0]) + gyro_data.calibration.bias[0];
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// Get the Y gyro data. Second byte in. Convert to deg/s.
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gyro_data.filtered.y = 0;
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for (i = 0; i < adc_oversampling; i++)
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gyro_data.filtered.y += valid_data_buffer[3 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
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gyro_data.filtered.y /= fir_coeffs[adc_oversampling];
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gyro_data.filtered.y = (gyro_data.filtered.y * gyro_data.calibration.scale[1]) + gyro_data.calibration.bias[1];
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// Get the Z gyro data. Fifth byte in. Convert to deg/s.
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gyro_data.filtered.z = 0;
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for (i = 0; i < adc_oversampling; i++)
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gyro_data.filtered.z += valid_data_buffer[5 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
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gyro_data.filtered.z /= fir_coeffs[adc_oversampling];
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gyro_data.filtered.z = (gyro_data.filtered.z * gyro_data.calibration.scale[2]) + gyro_data.calibration.bias[2];
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// Gyro data is (x,y,z) in second, fifth and seventh byte. Convert to rad/s
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gyro_data.filtered.x = (downsampled_data[1] * gyro_data.calibration.scale[0]) + gyro_data.calibration.bias[0];
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gyro_data.filtered.y = (downsampled_data[3] * gyro_data.calibration.scale[1]) + gyro_data.calibration.bias[1];
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gyro_data.filtered.z = (downsampled_data[5] * gyro_data.calibration.scale[2]) + gyro_data.calibration.bias[2];
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AttitudeRawData raw;
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raw.gyros[0] = valid_data_buffer[1];
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raw.gyros[1] = valid_data_buffer[3];
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raw.gyros[2] = valid_data_buffer[5];
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raw.gyrotemp[0] = valid_data_buffer[6];
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raw.gyrotemp[1] = valid_data_buffer[7];
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raw.accels[0] = downsampled_data[2];
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raw.accels[1] = downsampled_data[0];
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raw.accels[2] = downsampled_data[4];
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raw.gyros[0] = downsampled_data[1];
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raw.gyros[1] = downsampled_data[3];
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raw.gyros[2] = downsampled_data[5];
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raw.gyrotemp[0] = downsampled_data[6];
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raw.gyrotemp[1] = downsampled_data[7];
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raw.gyros_filtered[0] = gyro_data.filtered.x * 180 / M_PI;
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raw.gyros_filtered[1] = gyro_data.filtered.y * 180 / M_PI;
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raw.gyros_filtered[2] = gyro_data.filtered.z * 180 / M_PI;
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raw.accels[0] = valid_data_buffer[2];
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raw.accels[1] = valid_data_buffer[0];
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raw.accels[2] = valid_data_buffer[4];
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raw.accels_filtered[0] = accel_data.filtered.x;
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raw.accels_filtered[1] = accel_data.filtered.y;
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raw.accels_filtered[2] = accel_data.filtered.z;
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@ -666,6 +622,14 @@ void downsample_data()
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}
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AttitudeRawSet(&raw);
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if (ahrs_state == AHRS_IDLE) {
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ahrs_state = AHRS_DATA_READY;
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} else {
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// Track how many times an interrupt occurred before EKF finished processing
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ekf_too_slow++;
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}
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total_conversion_blocks++;
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}
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#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
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@ -729,7 +693,7 @@ void calibrate_sensors()
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for (i = 0, j = 0; i < NBIAS; i++) {
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while (ahrs_state != AHRS_DATA_READY) ;
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ahrs_state = AHRS_PROCESSING;
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downsample_data();
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gyro_bias[0] += gyro_data.filtered.x / NBIAS;
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gyro_bias[1] += gyro_data.filtered.y / NBIAS;
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gyro_bias[2] += gyro_data.filtered.z / NBIAS;
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@ -769,7 +733,7 @@ void calibrate_sensors()
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for (i = 0, j = 0; j < NVAR; j++) {
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while (ahrs_state != AHRS_DATA_READY) ;
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ahrs_state = AHRS_PROCESSING;
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downsample_data();
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gyro_data.calibration.variance[0] += pow(gyro_data.filtered.x-gyro_bias[0],2) / NVAR;
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gyro_data.calibration.variance[1] += pow(gyro_data.filtered.y-gyro_bias[1],2) / NVAR;
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gyro_data.calibration.variance[2] += pow(gyro_data.filtered.z-gyro_bias[2],2) / NVAR;
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@ -989,12 +953,6 @@ void settings_callback(AhrsObjHandle obj)
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AHRSSettingsSet(&settings);
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}
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AHRS_ADC_Config(adc_oversampling);
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/* Use simple averaging filter for now */
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for (int i = 0; i < adc_oversampling; i++)
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fir_coeffs[i] = 1;
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fir_coeffs[adc_oversampling] = adc_oversampling;
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}
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}
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@ -39,12 +39,18 @@ void DMA1_Channel1_IRQHandler()
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//! Where the raw data is stored
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volatile int16_t raw_data_buffer[MAX_SAMPLES]; // Double buffer that DMA just used
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//! Swapped by interrupt handler to achieve double buffering
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//! Various configuration settings
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struct {
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volatile int16_t *valid_data_buffer;
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volatile int32_t total_conversion_blocks;
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volatile int32_t ekf_too_slow;
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volatile uint8_t adc_oversample;
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volatile states ahrs_state;
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int16_t fir_coeffs[MAX_OVERSAMPLING];
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} adc_config;
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//! Filter coefficients used in decimation. Limited order so filter can't run between samples
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float downsampled_buffer[PIOS_ADC_NUM_PINS];
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static ADCCallback callback_function = (ADCCallback) NULL;
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/* Local Variables */
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static GPIO_TypeDef *ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
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@ -69,6 +75,8 @@ uint8_t AHRS_ADC_Config(int32_t adc_oversample)
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int32_t i;
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adc_config.adc_oversample = adc_oversample;
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ADC_DeInit(ADC1);
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ADC_DeInit(ADC2);
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@ -185,9 +193,66 @@ uint8_t AHRS_ADC_Config(int32_t adc_oversample)
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/* Finally start initial conversion */
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ADC_SoftwareStartConvCmd(ADC1, ENABLE);
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/* Use simple averaging filter for now */
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for (int i = 0; i < adc_oversample; i++)
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adc_config.fir_coeffs[i] = 1;
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adc_config.fir_coeffs[adc_oversample] = adc_oversample;
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return 1;
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}
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/**
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* @brief Set a callback function that is executed whenever
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* the ADC double buffer swaps
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*/
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void AHRS_ADC_SetCallback(ADCCallback new_function)
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{
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callback_function = new_function;
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}
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/**
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* @brief Return the address of the downsampled data buffer
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*/
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float * AHRS_ADC_GetBuffer()
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{
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return downsampled_buffer;
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}
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/**
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* @brief Set the fir coefficients. Takes as many samples as the
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* current filter order plus one (normalization)
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*
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* @param new_filter Array of adc_oversampling floats plus one for the
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* filter coefficients
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*/
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void AHRS_ADC_SetFIRCoefficients(float * new_filter)
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{
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// Less than or equal to get normalization constant
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for(int i = 0; i <= adc_config.adc_oversample; i++)
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adc_config.fir_coeffs[i] = new_filter[i];
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}
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/**
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* @brief Downsample the data for each of the channels then call
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* callback function if installed
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*/
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void AHRS_ADC_downsample_data()
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{
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uint16_t chan;
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uint16_t sample;
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for (chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
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downsampled_buffer[chan] = 0;
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for (sample = 0; sample < adc_config.adc_oversample; sample++) {
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downsampled_buffer[chan] += adc_config.valid_data_buffer[chan + sample * PIOS_ADC_NUM_CHANNELS] * adc_config.fir_coeffs[sample];
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}
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downsampled_buffer[chan] /= (float) adc_config.fir_coeffs[adc_config.adc_oversample];
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}
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if(callback_function != NULL)
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callback_function(downsampled_buffer);
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}
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/**
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* @brief Interrupt for half and full buffer transfer
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*
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@ -199,32 +264,22 @@ uint8_t AHRS_ADC_Config(int32_t adc_oversample)
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*/
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void AHRS_ADC_DMA_Handler(void)
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{
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if (ahrs_state == AHRS_IDLE) {
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// Ideally this would have a mutex, but I think we can avoid it (and don't have RTOS features)
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if (DMA_GetFlagStatus(DMA1_IT_TC1)) { // whole double buffer filled
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valid_data_buffer =
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adc_config.valid_data_buffer =
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&raw_data_buffer[1 * PIOS_ADC_NUM_CHANNELS *
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adc_oversample];
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adc_config.adc_oversample];
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DMA_ClearFlag(DMA1_IT_TC1);
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AHRS_ADC_downsample_data();
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}
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else if (DMA_GetFlagStatus(DMA1_IT_HT1)) {
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valid_data_buffer =
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adc_config.valid_data_buffer =
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&raw_data_buffer[0 * PIOS_ADC_NUM_CHANNELS *
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adc_oversample];
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adc_config.adc_oversample];
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DMA_ClearFlag(DMA1_IT_HT1);
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AHRS_ADC_downsample_data();
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}
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else {
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// This should not happen, probably due to transfer errors
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DMA_ClearFlag(DMA1_FLAG_GL1);
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}
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ahrs_state = AHRS_DATA_READY;
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} else {
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// Track how many times an interrupt occurred before EKF finished processing
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ekf_too_slow++;
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DMA_ClearFlag(DMA1_IT_GL1);
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}
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total_conversion_blocks++;
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}
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@ -37,17 +37,16 @@
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#include <pios.h>
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// Maximum of 50 oversampled points
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#define MAX_SAMPLES (8*50*2)
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#define MAX_OVERSAMPLING 50 /* cannot have more than 50 samples */
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#define MAX_SAMPLES (PIOS_ADC_NUM_CHANNELS*MAX_OVERSAMPLING*2)
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typedef void (*ADCCallback) (float * data);
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// Public API:
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uint8_t AHRS_ADC_Config(int32_t adc_oversample);
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void AHRS_ADC_DMA_Handler(void);
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typedef enum { AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING } states;
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extern volatile states ahrs_state;
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extern volatile int16_t *valid_data_buffer;
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//! Counts how many times the EKF wasn't idle when DMA handler called
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extern volatile int32_t total_conversion_blocks;
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//! Total number of data blocks converted
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extern volatile int32_t ekf_too_slow;
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void AHRS_ADC_SetCallback(ADCCallback);
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void AHRS_ADC_SetFIRCoefficients(float * new_filter);
|
||||
float * AHRS_ADC_GetBuffer();
|
||||
|
||||
#endif
|
||||
|
||||
@ -222,7 +222,7 @@ TIM8 | | | |
|
||||
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
|
||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
|
||||
|
||||
// Currently analog acquistion hard coded at 480 Hz
|
||||
// PCKL2 = HCLK / 16
|
||||
|
||||
Loading…
Reference in New Issue
Block a user