From f74268b5e5b4dd74d4417eeb7ca8859fc89c1a5b Mon Sep 17 00:00:00 2001 From: peabody124 Date: Mon, 16 Aug 2010 16:58:24 +0000 Subject: [PATCH] Cleanup and documentation. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1304 ebee16cc-31ac-478f-84a7-5cbb03baadba --- flight/AHRS/ahrs.c | 151 +++++++++++++++++++++++++++------------------ 1 file changed, 92 insertions(+), 59 deletions(-) diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c index fcc2bb0c5..51cd9d485 100644 --- a/flight/AHRS/ahrs.c +++ b/flight/AHRS/ahrs.c @@ -45,6 +45,7 @@ * @arg AHRS_PROCESSING - Performing update on the available data */ enum {AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING} ahrs_state; +enum {SIMPLE_Algo, INSGPS_Algo} ahrs_algorithm; /** * @addtogroup AHRS_ADC_Configuration ADC Configuration @@ -67,7 +68,6 @@ void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler"))) #define ADC_CONTINUOUS_CHANNELS PIOS_ADC_NUM_PINS #define PREDICTION_COUNT 4 -// TODO: Define calibration procedure including changes over temperature #define VDD 3.3 /* supply voltage for ADC */ #define FULL_RANGE 4096 /* 12 bit ADC */ #define ACCEL_RANGE 2 /* adjustable by FS input */ @@ -80,6 +80,9 @@ void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler"))) #define RAD_PER_DEGREE ( 3.14159 / 180 ) #define GYRO_SCALE ( (VDD / FULL_RANGE) / GYRO_SENSITIVITY * RAD_PER_DEGREE ) #define GYRO_OFFSET -1675 /* From data sheet, zero accel output is 1.35 v */ +/** + * @} + */ /** * @addtogroup AHRS_Local Local Variables @@ -136,9 +139,6 @@ struct attitude_solution { float yaw; } euler; }; -/** - * @} - */ struct altitude_sensor { float altitude; @@ -149,9 +149,7 @@ struct altitude_sensor { static struct mag_sensor mag_data; static struct accel_sensor accel_data; static struct gyro_sensor gyro_data; - static struct altitude_sensor altitude_data; - static struct attitude_solution attitude_data = { .quaternion = { .q1 = 1.011, @@ -165,6 +163,10 @@ static struct attitude_solution attitude_data = { .yaw = 6.066, }, }; +/** + * @} + */ + /* Function Prototypes */ void process_spi_request(void); @@ -210,6 +212,8 @@ int main() { float gyro[3] = {0,0,0}, accel[3] = {0,0,-9.81}, mag[3] = {100,0,0}; float pos[3] = {0,0,0}, vel[3] = {0,0,0}, BaroAlt = 0; + ahrs_algorithm = INSGPS_Algo; + /* Brings up System using CMSIS functions, enables the LEDs. */ PIOS_SYS_Init(); @@ -265,17 +269,19 @@ int main() // TODO: There needs to be a calibration mode, then this is received from the SD card // otherwise if we reset in air during a snap, this will be all wrong calibrate_sensors(); - INSGPSInit(); - INSSetGyroBias(gyro_bias); - INSSetAccelVar(accel_var); - INSSetGyroVar(gyro_var); - // INS algo wants noise on magnetometer in unit length variance - float scaled_mag_var[3]; - float mag_length = mag_bias[0] * mag_bias[0] + mag_bias[1] * mag_bias[1] + mag_bias[2] * mag_bias[2]; - scaled_mag_var[0] = mag_var[0] / mag_length; - scaled_mag_var[1] = mag_var[1] / mag_length; - scaled_mag_var[2] = mag_var[2] / mag_length; - INSSetMagVar(scaled_mag_var); + if(ahrs_algorithm == INSGPS_Algo) { + INSGPSInit(); + INSSetGyroBias(gyro_bias); + INSSetAccelVar(accel_var); + INSSetGyroVar(gyro_var); + // INS algo wants noise on magnetometer in unit length variance + float scaled_mag_var[3]; + float mag_length = mag_bias[0] * mag_bias[0] + mag_bias[1] * mag_bias[1] + mag_bias[2] * mag_bias[2]; + scaled_mag_var[0] = mag_var[0] / mag_length; + scaled_mag_var[1] = mag_var[1] / mag_length; + scaled_mag_var[2] = mag_var[2] / mag_length; + INSSetMagVar(scaled_mag_var); + } /******************* Main EKF loop ****************************/ while (1) { @@ -290,37 +296,6 @@ int main() ahrs_state = AHRS_PROCESSING; downsample_data(); - - /******************** INS ALGORITHM **************************/ - // format data for INS algo - gyro[0] = gyro_data.filtered.x; - gyro[1] = gyro_data.filtered.y; - gyro[2] = gyro_data.filtered.z; - accel[0] = accel_data.filtered.x, - accel[1] = accel_data.filtered.y, - accel[2] = accel_data.filtered.z, - mag[0] = mag_data.raw.axis[0]; - mag[1] = mag_data.raw.axis[1]; - mag[2] = mag_data.raw.axis[2]; - - INSPrediction(gyro, accel, 1 / (float) EKF_RATE); - if ( 0 ) - MagCorrection(mag); - else - FullCorrection(mag,pos,vel,BaroAlt); - - - - attitude_data.quaternion.q1 = Nav.q[0]; - attitude_data.quaternion.q2 = Nav.q[1]; - attitude_data.quaternion.q3 = Nav.q[2]; - attitude_data.quaternion.q4 = Nav.q[3]; - attitude_data.euler.roll = atan2( (double) 2 * (Nav.q[0] * Nav.q[1] + Nav.q[2] * Nav.q[3]), - (double) (1 - 2 * (Nav.q[1] * Nav.q[1] + Nav.q[2] * Nav.q[2])) ) * 180 / M_PI; - attitude_data.euler.pitch = asin( (double) 2 * (Nav.q[0] * Nav.q[2] - Nav.q[3] * Nav.q[1] ) ) * 180 / M_PI; - attitude_data.euler.yaw = atan2( (double) 2 * (Nav.q[0] * Nav.q[3] + Nav.q[1] * Nav.q[2]), - (double) (1 - 2 * (Nav.q[2] * Nav.q[2] + Nav.q[3] * Nav.q[3]) ) ) * 180 / M_PI; - if(attitude_data.euler.yaw < 0) attitude_data.euler.yaw += 360; /***************** SEND BACK SOME RAW DATA ************************/ // Hacky - grab one sample from buffer to populate this. Need to send back @@ -334,12 +309,42 @@ int main() gyro_data.raw.z = valid_data_buffer[5]; gyro_data.temp.xy = valid_data_buffer[6]; - gyro_data.temp.z = valid_data_buffer[7]; + gyro_data.temp.z = valid_data_buffer[7]; - ahrs_state = AHRS_IDLE; - - /***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/ - if( 0 ) { + if(ahrs_algorithm == INSGPS_Algo) + { + /******************** INS ALGORITHM **************************/ + // format data for INS algo + gyro[0] = gyro_data.filtered.x; + gyro[1] = gyro_data.filtered.y; + gyro[2] = gyro_data.filtered.z; + accel[0] = accel_data.filtered.x, + accel[1] = accel_data.filtered.y, + accel[2] = accel_data.filtered.z, + mag[0] = mag_data.raw.axis[0]; + mag[1] = mag_data.raw.axis[1]; + mag[2] = mag_data.raw.axis[2]; + + INSPrediction(gyro, accel, 1 / (float) EKF_RATE); + if ( 0 ) + MagCorrection(mag); + else + FullCorrection(mag,pos,vel,BaroAlt); + + attitude_data.quaternion.q1 = Nav.q[0]; + attitude_data.quaternion.q2 = Nav.q[1]; + attitude_data.quaternion.q3 = Nav.q[2]; + attitude_data.quaternion.q4 = Nav.q[3]; + attitude_data.euler.roll = atan2( (double) 2 * (Nav.q[0] * Nav.q[1] + Nav.q[2] * Nav.q[3]), + (double) (1 - 2 * (Nav.q[1] * Nav.q[1] + Nav.q[2] * Nav.q[2])) ) * 180 / M_PI; + attitude_data.euler.pitch = asin( (double) 2 * (Nav.q[0] * Nav.q[2] - Nav.q[3] * Nav.q[1] ) ) * 180 / M_PI; + attitude_data.euler.yaw = atan2( (double) 2 * (Nav.q[0] * Nav.q[3] + Nav.q[1] * Nav.q[2]), + (double) (1 - 2 * (Nav.q[2] * Nav.q[2] + Nav.q[3] * Nav.q[3]) ) ) * 180 / M_PI; + if(attitude_data.euler.yaw < 0) attitude_data.euler.yaw += 360; + } + else if( ahrs_algorithm == SIMPLE_Algo ) + { + /***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/ /* Very simple computation of the heading and attitude from accel. */ attitude_data.euler.yaw = atan2((mag_data.raw.axis[0]), (-1 * mag_data.raw.axis[1])) * 180 / M_PI; attitude_data.euler.pitch = atan2(accel_data.filtered.y, accel_data.filtered.z) * 180 / M_PI; @@ -360,6 +365,8 @@ int main() attitude_data.quaternion.q4 =c1*s2*c3 - s1*c2*s3; } + ahrs_state = AHRS_IDLE; + process_spi_request(); } @@ -492,11 +499,24 @@ void calibrate_sensors() { mag_var[2] /= i; } +/** + * @addtogroup AHRS_SPI SPI Messaging + * @{ + * @brief SPI protocol handling requests for data from OP mainboard + */ + +/** + * @brief What is this meant to do + * @param[in] port + * @param[in] prefix + * @param[in] data + * @param[in] len + * @return None + */ void dump_spi_message(uint8_t port, const char * prefix, uint8_t * data, uint32_t len) { } - static struct opahrs_msg_v1 link_tx_v1; static struct opahrs_msg_v1 link_rx_v1; static struct opahrs_msg_v1 user_rx_v1; @@ -613,10 +633,10 @@ void process_spi_request(void) lfsm_user_set_rx_v1 (&user_rx_v1); lfsm_user_done (); } - /** - * ADC Configuration local variabels + * @} */ + /* Local Variables */ static GPIO_TypeDef* ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS; static const uint32_t ADC_GPIO_PIN[PIOS_ADC_NUM_PINS] = PIOS_ADC_PINS; @@ -627,8 +647,12 @@ static const uint32_t ADC_CHANNEL_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNEL_ /** - * Initialise the ADC Peripheral - * @params ekf_rate + * @brief Initialise the ADC Peripheral + * @param[in] ekf_rate + * @param[in] adc_oversample + * + * Currently ignores rates and uses hardcoded values. Need a little logic to + * map from sampling rates and such to ADC constants. */ void AHRS_ADC_Config(int32_t ekf_rate, int32_t adc_oversample) { @@ -740,6 +764,15 @@ void AHRS_ADC_Config(int32_t ekf_rate, int32_t adc_oversample) ADC_SoftwareStartConvCmd(ADC1, ENABLE); } +/** + * @brief Interrupt for half and full buffer transfer + * + * This interrupt handler swaps between the two halfs of the double buffer to make + * sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but + * really this is a pretense of a sanity check since the DMA engine is consantly + * running in the background. Keep an eye on the ekf_too_slow variable to make sure + * it's keeping up. + */ void AHRS_ADC_DMA_Handler(void) { if ( ahrs_state == AHRS_IDLE ) @@ -749,7 +782,7 @@ void AHRS_ADC_DMA_Handler(void) if( DMA_GetFlagStatus( DMA1_IT_TC1 ) ) // whole double buffer filled valid_data_buffer = &raw_data_buffer[ ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE ]; else if ( DMA_GetFlagStatus(DMA1_IT_HT1) ) - valid_data_buffer = &raw_data_buffer[ ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE ]; + valid_data_buffer = &raw_data_buffer[ 0 * ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE ]; else { // lets cause a seg fault and catch whatever is going on valid_data_buffer = 0;