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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_16 by
Diff: main.cpp
- Revision:
- 0:17f575135219
- Child:
- 1:f383708a5a52
diff -r 000000000000 -r 17f575135219 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Sep 07 04:11:48 2018 +0000 @@ -0,0 +1,1216 @@ +//mbed +#include "mbed.h" +#include "FATFileSystem.h" +#include "SDFileSystem.h" +//C +#include "math.h" +//sensor +#include "MPU6050_DMP6.h" +//#include "MPU9250.h" +//#include "BMP280.h" +#include "hcsr04.h" +//device +#include "sbus.h" +//config +#include "SkipperSv2.h" +#include "falfalla.h" +//other +#include "pid.h" + +#define DEBUG_SEMIAUTO 0 +#define DEBUG_PRINT_INLOOP 1 + +#define KP_ELE 2.0 +#define KI_ELE 0.0 +#define KD_ELE 0.0 +#define KP_RUD 3.0 +#define KI_RUD 0.0 +#define KD_RUD 0.0 + +#define GAIN_CONTROLVALUE_TO_PWM 3.0 + +#define RIGHT_ROLL -12.0 +#define RIGHT_PITCH -5.0 +#define LEFT_ROLL 12.0 +#define LEFT_PITCH -5.0 +#define STRAIGHT_ROLL 4.0 +#define STRAIGHT_PITCH 3.0 +#define TAKEOFF_THR 0.8 +#define LOOP_THR 0.6 + +#define RIGHT_ROLL_SHORT -12.0 +#define RIGHT_PITCH_SHORT -5.0 +#define LEFT_ROLL_SHORT 12.0 +#define LEFT_PITCH_SHORT -5.0 + +#define GLIDE_ROLL -12.0 +#define GLIDE_PITCH -3.0 + +//コンパスキャリブレーション +//SkipperS2基板 +/* +#define MAGBIAS_X -35.0 +#define MAGBIAS_Y 535.0 +#define MAGBIAS_Z -50.0 +*/ +//S2v2 1番基板 +#define MAGBIAS_X 395.0 +#define MAGBIAS_Y 505.0 +#define MAGBIAS_Z -725.0 +//S2v2 2番基板 +/* +#define MAGBIAS_X 185.0 +#define MAGBIAS_Y 220.0 +#define MAGBIAS_Z -350.0 +*/ + +#define ELEMENT 1 +#define LIMIT_STRAIGHT_YAW 5.0 +#define THRESHOLD_TURNINGRADIUS_YAW 60.0 +#define ALLOWHEIGHT 15 + +#ifndef PI +#define PI 3.14159265358979 +#endif + +const int16_t lengthdivpwm = 320; +const int16_t changeModeCount = 6; + +const float trim[4] = {Trim_Falfalla[0],Trim_Falfalla[1],Trim_Falfalla[2],Trim_Falfalla[3]}; +const float expMax[4] = {ExpMax_Falfalla[0],ExpMax_Falfalla[1],ExpMax_Falfalla[2],ExpMax_Falfalla[3]}; +const float expMin[4] = {ExpMin_Falfalla[0],ExpMin_Falfalla[1],ExpMin_Falfalla[2],ExpMin_Falfalla[3]}; +const int16_t reverce[4] = {ExpMin_Falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; + +SBUS sbus(PA_9, PA_10); //SBUS + +PwmOut servo1(PC_6); // TIM3_CH1 //old echo +PwmOut servo2(PC_7); // TIM3_CH2 //PC_7 +PwmOut servo3(PB_0); // TIM3_CH3 +PwmOut servo4(PB_1); // TIM3_CH4 +PwmOut servo5(PB_6); // TIM4_CH1 +PwmOut servo6(PB_7); // TIM4_CH2 //old trigger +//PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo +//PwmOut servo8(PB_9); // TIM4_CH4 //new trigger + +RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX +SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd"); + +DigitalOut led1(PA_0); //黄色のコネクタ +DigitalOut led2(PA_1); +DigitalOut led3(PB_4); +DigitalOut led4(PB_5); + +//InterruptIn switch2(PC_14); +MPU6050DMP6 mpu6050(PC_0,&pc); //割り込みピン,シリアルポインタ i2cのピン指定は MPU6050>>I2Cdev.h 内のdefine +HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8 + +PID pid_ELE(g_kpELE,g_kiELE,g_kdELE); +PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD); + +enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8}; +enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度 +enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide}; +enum BombingMode{Takeoff, Chicken, Transition, Approach}; +enum OutputStatus{Manual, Auto}; + +static OutputStatus output_status = Manual; +OperationMode operation_mode = StartUp; +BombingMode bombing_mode = Takeoff; +static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500}; +static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1500}; +int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820}; +int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180}; +int16_t oldTHR = 1000; + +static float nowAngle[3] = {0,0,0}; +const float trimAngle[3] = {0.0, 0.0, 0.0}; +const float maxAngle[2] = {90, 90}; +const float minAngle[2] = {-90, -90}; + +float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0; + +unsigned int g_distance; +Ticker USsensor; +static char g_buf[16]; +char g_landingcommand; +float g_SerialTargetYAW; + +Timer t; +Timeout RerurnChickenServo1; +Timeout RerurnChickenServo2; + +/*-----関数のプロトタイプ宣言-----*/ +void setup(); +void loop(); + +void Init_PWM(); +void Init_servo(); //サーボ初期化 +void Init_sbus(); //SBUS初期化 +void Init_sensors(); +void DisplayClock(); //クロック状態確認 + +//センサの値取得 +void SensingMPU(); +void UpdateDist(); + +//void offsetRollPitch(float FirstROLL, float FirstPITCH); +//void TransYaw(float FirstYAW); +float TranslateNewYaw(float beforeYaw, float newzeroYaw); +void UpdateTargetAngle(float targetAngle[3]); +void CalculateControlValue(float targetAngle[3], float controlValue[3]); +void UpdateAutoPWM(float controlValue[3]); +void ConvertPWMintoRAD(float targetAngle[3]); +inline float CalcRatio(float value, float trim, float limit); +bool CheckSW_Up(Channel ch); +int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min); +inline int16_t SetTHRinRatio(float ratio); + +//sbus割り込み +void Update_PWM(); //マニュアル・自動モードのpwmデータを整形しpwm変数に入力 +void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力 + +//シリアル割り込み +void SendSerial(); //1文字きたら送り返す +void SendArray(); +void getSF_Serial(); +float ConvertByteintoFloat(char high, char low); + +//SD設定 +int GetParameter(FILE *fp, const char *paramName,char parameter[]); +int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, + float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, + float *g_rightloopROLL, float *g_rightloopPITCH, + float *g_leftloopROLL, float *g_leftloopPITCH, + float *g_gostraightROLL, float *g_gostraightPITCH, + float *g_takeoffTHR, float *g_loopTHR, + float *g_rightloopROLLshort, float *g_rightloopPITCHshort, + float *g_leftloopROLLshort, float *g_leftloopPITCHshort, + float *g_glideloopROLL, float *g_glideloopPITCH); +//switch2割り込み +void ResetTrim(); + +//自動操縦 +void UpdateTargetAngle_GoStraight(float targetAngle[3]); +void UpdateTargetAngle_Rightloop(float targetAngle[3]); +void UpdateTargetAngle_Rightloop_short(float targetAngle[3]); +void UpdateTargetAngle_Leftloop(float targetAngle[3]); +void UpdateTargetAngle_Leftloop_short(float targetAngle[3]); +void UpdateTargetAngle_Moebius(float targetAngle[3]); +void UpdateTargetAngle_Glide(float targetAngle[3]); +void UpdateTargetAngle_Takeoff(float targetAngle[3]); +void UpdateTargetAngle_Approach(float targetAngle[3]); +void Take_off_and_landing(float targetAngle[3]); + +int Rotate(float targetAngle[3], float TargetYAW); + +//投下 +void Chicken_Drop(); +void ReturnChickenServo1(); +void ReturnChickenServo2(); + +//超音波による高度補正 +void checkHeight(float targetAngle[3]); +void UpdateTargetAngle_NoseUP(float targetAngle[3]); +void UpdateTargetAngle_NoseDOWN(float targetAngle[3]); + +//デバッグ用 +void DebugPrint(); + +/*---関数のプロトタイプ宣言終わり---*/ + +int main() +{ + setup(); + + + while(1){ + + loop(); + + if(!CheckSW_Up(Ch7)){ + led3=0; + }else{ + led3=1; + } + } + +} + +void setup(){ + //buzzer = 0; + led1 = 1; + led2 = 1; + led3 = 1; + led4 = 1; + + SetOptions(&g_kpELE, &g_kiELE, &g_kdELE, + &g_kpRUD, &g_kiRUD, &g_kdRUD, + &g_rightloopROLL, &g_rightloopPITCH, + &g_leftloopROLL, &g_leftloopPITCH, + &g_gostraightROLL, &g_gostraightPITCH, + &g_takeoffTHR, &g_loopTHR, + &g_rightloopROLLshort, &g_rightloopPITCHshort, + &g_leftloopROLLshort, &g_leftloopPITCHshort, + &g_glideloopROLL, &g_glideloopPITCH); + + + Init_PWM(); + Init_servo(); + Init_sbus(); + Init_sensors(); + //switch2.rise(ResetTrim); + pc.attach(getSF_Serial, Serial::RxIrq); + USsensor.attach(&UpdateDist, 0.05); + + NVIC_SetPriority(USART1_IRQn,0); + NVIC_SetPriority(EXTI0_IRQn,1); + NVIC_SetPriority(TIM5_IRQn,2); + NVIC_SetPriority(EXTI9_5_IRQn,3); + NVIC_SetPriority(USART2_IRQn,4); + DisplayClock(); + t.start(); + + + pc.printf("MPU calibration start\r\n"); + + float offsetstart = t.read(); + while(t.read() - offsetstart < 26){ + SensingMPU(); + for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); + pc.printf("\r\n"); + led1 = !led1; + led2 = !led2; + led3 = !led3; + led4 = !led4; + } + + FirstROLL = nowAngle[ROLL]; + FirstPITCH = nowAngle[PITCH]; + nowAngle[ROLL] -=FirstROLL; + nowAngle[PITCH] -=FirstPITCH; + + led1 = 0; + led2 = 0; + led3 = 0; + led4 = 0; + wait(0.2); + + + pc.printf("All initialized\r\n"); +} + +void loop(){ + static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0}; + + SensingMPU(); + UpdateTargetAngle(targetAngle); + //Rotate(targetAngle, 30.0); + CalculateControlValue(targetAngle, controlValue); + UpdateAutoPWM(controlValue); + wait_ms(23); +#if DEBUG_PRINT_INLOOP + DebugPrint(); +#endif +} + +//サーボ初期化関数 +void Init_servo(){ + + servo1.period_ms(14); + servo1.pulsewidth_us(trimpwm[AIL_R]); + + servo2.period_ms(14); + servo2.pulsewidth_us(trimpwm[ELE]); + + servo3.period_ms(14); + servo3.pulsewidth_us(trimpwm[THR]); + + servo4.period_ms(14); + servo4.pulsewidth_us(trimpwm[RUD]); + + servo5.period_ms(14); + servo5.pulsewidth_us(1392); + + servo6.period_ms(14); + servo6.pulsewidth_us(trimpwm[AIL_L]); + + pc.printf("servo initialized\r\n"); +} + +//Sbus初期化 +void Init_sbus(){ + sbus.initialize(); + sbus.setLastfuncPoint(Update_PWM); + sbus.startInterrupt(); +} + +void Init_sensors(){ + if(mpu6050.setup() == -1){ + pc.printf("failed initialize\r\n"); + while(1){ + led1 = 1; led2 = 0; led3 = 1; led4 = 0; + wait(1); + led1 = 0; led2 = 1; led3 = 0; led4 = 1; + wait(1); + } + } +} + +void Init_PWM(){ + for (uint8_t i = 0; i < 4; ++i){ + trimpwm[i] = 1500 + (int16_t)(lengthdivpwm * (trim[i]/100)); + maxpwm[i] = 1500 + (int16_t)(lengthdivpwm * (expMax[i]/100)); + minpwm[i] = 1500 - (int16_t)(lengthdivpwm * (expMin[i]/100)); + } + pc.printf("PWM initialized\r\n"); +} + +void DisplayClock(){ + pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000); + pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000); + pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000); + pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000); + pc.printf("\r\n"); +} + +void UpdateTargetAngle(float targetAngle[3]){ + static int16_t count_op = 0; +#if DEBUG_SEMIAUTO + switch(operation_mode){ + case StartUp: + if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ + count_op++; + if(count_op > changeModeCount){ + operation_mode = SemiAuto; + pc.printf("Goto SemiAuto mode\r\n"); + count_op = 0; + } + }else count_op = 0; + break; + + case SemiAuto: + /* 大会用では以下のif文を入れてoperation_modeを変える + if(CheckSW_Up(Ch6)){ + count_op++; + if(count_op>changeModeCount){ + output_status = XXX; + led2 = 0; + pc.printf("Goto XXX mode\r\n"); + count_op = 0; + }else count_op = 0; + ConvertPWMintoRAD(targetAngle); + } + */ + ConvertPWMintoRAD(targetAngle); + break; + + default: + operation_mode = SemiAuto; + break; + } + +#else + + switch(operation_mode){ + case StartUp: + if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ //ch7;自動・手動切り替え ch8;自動操縦モード切替 + count_op++; + if(count_op > changeModeCount){ + operation_mode = RightLoop; + pc.printf("Goto RightLoop mode\r\n"); + count_op = 0; + } + }else count_op = 0; + break; + + case RightLoop: + if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ + count_op++; + if(count_op > changeModeCount){ + operation_mode = LeftLoop; + pc.printf("Goto LeftLoop mode\r\n"); + count_op = 0; + } + }else count_op = 0; + UpdateTargetAngle_Rightloop(targetAngle); + + break; + + case LeftLoop: + if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ + count_op++; + if(count_op > changeModeCount){ + operation_mode = GoStraight; + pc.printf("Goto GoStraight mode\r\n"); + count_op = 0; + } + }else count_op = 0; + UpdateTargetAngle_Leftloop(targetAngle); + break; + + case GoStraight: + if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ + count_op++; + if(count_op > changeModeCount){ + operation_mode = Moebius; + pc.printf("Goto Moebius mode\r\n"); + count_op = 0; + } + }else count_op = 0; + UpdateTargetAngle_GoStraight(targetAngle); + break; + + case Moebius: + if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ + count_op++; + if(count_op > changeModeCount){ + operation_mode = Glide; + pc.printf("Goto Glide mode\r\n"); + count_op = 0; + } + }else count_op = 0; + UpdateTargetAngle_Moebius(targetAngle); + break; + + case Glide: + if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ + count_op++; + if(count_op > changeModeCount){ + operation_mode = BombwithPC; + pc.printf("Goto Bombing mode\r\n"); + count_op = 0; + } + }else count_op = 0; + UpdateTargetAngle_Glide(targetAngle); + break; + + case BombwithPC: + if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ + count_op++; + if(count_op > changeModeCount){ + operation_mode = RightLoop; + pc.printf("Goto RightLoop mode\r\n"); + count_op = 0; + } + }else count_op = 0; + Take_off_and_landing(targetAngle); + break; + + default: + operation_mode = StartUp; + break; + } +#endif + + if(CheckSW_Up(Ch7)){ + output_status = Auto; + led1 = 1; + }else{ + output_status = Manual; + led1 = 0; + } +} + +int GetParameter(FILE *fp, const char *paramName,char parameter[]){ + int i=0, j=0; + int strmax = 200; + char str[strmax]; + + rewind(fp); //ファイル位置を先頭に + while(1){ + if (fgets(str, strmax, fp) == NULL) { + return 0; + } + if (!strncmp(str, paramName, strlen(paramName))) { + while (str[i++] != '=') {} + while (str[i] != '\n') { + parameter[j++] = str[i++]; + } + parameter[j] = '\0'; + return 1; + } + } + return 0; +} + + +//sdによる設定 +int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, + float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, + float *g_rightloopROLL, float *g_rightloopPITCH, + float *g_leftloopROLL, float *g_leftloopPITCH, + float *g_gostraightROLL, float *g_gostraightPITCH, + float *g_takeoffTHR, float *g_loopTHR, + float *g_rightloopROLLshort, float *g_rightloopPITCHshort, + float *g_leftloopROLLshort, float *g_leftloopPITCHshort, + float *g_glideloopROLL, float *g_glideloopPITCH + ){ + + pc.printf("SDsetup start.\r\n"); + + FILE *fp; + char parameter[30]; //文字列渡す用の配列 + int SDerrorcount = 0; //取得できなかった数を返す + const char *paramNames[] = { + "KP_ELEVATOR", + "KI_ELEVATOR", + "KD_ELEVATOR", + "KP_RUDDER", + "KI_RUDDER", + "KD_RUDDER", + "RIGHTLOOP_ROLL", + "RIGHTLOOP_PITCH", + "LEFTLOOP_ROLL", + "LEFTLOOP_PITCH", + "GOSTRAIGHT_ROLL", + "GOSTRAIGHT_PITCH", + "TAKEOFF_THR_RATE", + "LOOP_THR_RATE", + "RIGHTLOOP_ROLL_SHORT", + "RIGHTLOOP_PITCH_SHORT", + "LEFTLOOP_ROLL_SHORT", + "LEFTLOOP_PITCH_SHORT", + "AUTOGLIDE_ROLL", + "AUTOGLIDE PITCH" + }; + + fp = fopen("/sd/option.txt","r"); + + if(fp != NULL){ //開けたら + pc.printf("File was openned.\r\n"); + if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter); + else{ *g_kpELE = KP_ELE; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter); + else{ *g_kiELE = KI_ELE; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter); + else{ *g_kdELE = KD_ELE; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter); + else{ *g_kpRUD = KP_RUD; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter); + else{ *g_kiRUD = KI_RUD; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter); + else{ *g_kdRUD = KD_RUD; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter); + else{ *g_rightloopROLL = RIGHT_ROLL; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter); + else{ *g_rightloopPITCH = RIGHT_PITCH; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter); + else{ *g_leftloopROLL = LEFT_ROLL; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter); + else{ *g_leftloopPITCH = LEFT_PITCH; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter); + else{ *g_gostraightROLL = STRAIGHT_ROLL; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter); + else{ *g_gostraightPITCH = STRAIGHT_PITCH; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter); + else{ *g_takeoffTHR = TAKEOFF_THR; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter); + else{ *g_loopTHR = LOOP_THR; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter); + else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter); + else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter); + else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter); + else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter); + else{ *g_glideloopROLL = GLIDE_ROLL; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter); + else{ *g_glideloopPITCH = GLIDE_PITCH; + SDerrorcount++; + } + fclose(fp); + + }else{ //ファイルがなかったら + pc.printf("fp was null.\r\n"); + *g_kpELE = KP_ELE; + *g_kiELE = KI_ELE; + *g_kdELE = KD_ELE; + *g_kpRUD = KP_RUD; + *g_kiRUD = KI_RUD; + *g_kdRUD = KD_RUD; + *g_rightloopROLL = RIGHT_ROLL; + *g_rightloopPITCH = RIGHT_PITCH; + *g_leftloopROLL = LEFT_ROLL; + *g_leftloopPITCH = LEFT_PITCH; + *g_gostraightROLL = STRAIGHT_ROLL; + *g_gostraightPITCH = STRAIGHT_PITCH; + *g_takeoffTHR = TAKEOFF_THR; + *g_loopTHR = LOOP_THR; + SDerrorcount = -1; + } + pc.printf("SDsetup finished.\r\n"); + if(SDerrorcount == 0) pc.printf("setting option is success\r\n"); + else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n"); + else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount); + + pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD); + pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE); + pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH); + pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH); + pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH); + pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR); + pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort); + pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort); + pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH); + + return SDerrorcount; +} + +void CalculateControlValue(float targetAngle[3], float controlValue[3]){ + static int t_last; + int t_now; + float dt; + + t_now = t.read_us(); + dt = (float)((t_now - t_last)/1000000.0f) ; + t_last = t_now; + + controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); + controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt); +} + +void UpdateAutoPWM(float controlValue[3]){ + int16_t addpwm[2]; //-500~500 + addpwm[PITCH] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[PITCH]; //センサ:機首下げ正 レバー:機首上げ正 + addpwm[ROLL] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[ROLL]; //センサ:右回転正(8月13日時点;左回転が正!) レバー:右回転正 + + autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; + autopwm[RUD] = trimpwm[RUD] + reverce[RUD] * addpwm[ROLL]; + //autopwm[THR] = oldTHR; + + autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]); + autopwm[RUD] = ThresholdMaxMin(autopwm[RUD], maxpwm[RUD], minpwm[RUD]); +} + +inline float CalcRatio(float value, float trim, float limit){ + return (value - trim) / (limit - trim); +} + +bool CheckSW_Up(Channel ch){ + if(SWITCH_CHECK < sbus.manualpwm[ch]){ + return true; + }else{ + return false; + } +} + +int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){ + if(value > max) return max; + if(value < min) return min; + return value; +} + +inline int16_t SetTHRinRatio(float ratio){ + return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio); +} + +/*---SBUS割り込み処理---*/ + +//udate_Inputで抽出したpwmデータを整形して各変数に代入する。(マニュアルモード) +//各stabiGylo関数で算出したpwmを各変数に代入する(自動モード) +void Update_PWM() +{ + static int16_t pwm[6]; + static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]}; + if(sbus.flg_ch_update == true){ + switch(output_status){ //マニュアルモード,自動モード,自動着陸もモードを切替 + case Manual: + for(uint8_t i=0;i<6;i++){ + pwm[i] = sbus.manualpwm[i]; + pc.printf("%d ,",pwm[i]); + } + oldTHR = sbus.manualpwm[THR]; + //pc.printf("update_manual\r\n"); + break; + + case Auto: + pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL]; + pwm[ELE] = autopwm[ELE]; + pwm[THR] = autopwm[THR]; + pwm[RUD] = autopwm[RUD]; + pwm[DROP] = autopwm[DROP]; + pwm[AIL_L] = autopwm[AIL_L]; + //pc.printf("update_auto\r\n"); + break; + + default: + for(uint8_t i=0;i<6;i++){ + pwm[i] = sbus.manualpwm[i]; + } //pc.printf("update_manual\r\n"); + break; + } + for(uint8_t i=0;i<6;i++){ + if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i]; + temppwm[i]=pwm[i]; + } + }else{ + pc.printf("0\r\n"); + } + sbus.flg_ch_update = false; + Output_PWM(pwm); +} + + +//pwmをサーボに出力。 +void Output_PWM(int16_t pwm[5]) +{ + servo1.pulsewidth_us(pwm[0]); + servo2.pulsewidth_us(pwm[1]); + servo3.pulsewidth_us(pwm[2]); + servo4.pulsewidth_us(pwm[3]); + servo5.pulsewidth_us(pwm[4]); + servo6.pulsewidth_us(pwm[5]); + +} + +void ResetTrim(){ + for(uint8_t i=0; i<6; i++){ //i=4から書き換え_投下サーボは入ってない模様 + trimpwm[i] = sbus.manualpwm[i]; + } + pc.printf("reset PWM trim\r\n"); +} + + +void SensingMPU(){ + //static int16_t deltaT = 0, t_start = 0; + //t_start = t.read_us(); + + float rpy[3] = {0}, oldrpy[3] = {0}; + static uint16_t count_changeRPY = 0; + static bool flg_checkoutlier = false; + NVIC_DisableIRQ(USART1_IRQn); + NVIC_DisableIRQ(USART2_IRQn); + NVIC_DisableIRQ(TIM5_IRQn); + NVIC_DisableIRQ(EXTI0_IRQn); + NVIC_DisableIRQ(EXTI9_5_IRQn); + + mpu6050.getRollPitchYaw_Skipper(rpy); + + NVIC_EnableIRQ(USART1_IRQn); + NVIC_EnableIRQ(USART2_IRQn); + NVIC_EnableIRQ(TIM5_IRQn); + NVIC_EnableIRQ(EXTI0_IRQn); + NVIC_EnableIRQ(EXTI9_5_IRQn); + + + //外れ値対策 + for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI; + rpy[ROLL] -= FirstROLL; + rpy[PITCH] -= FirstPITCH; + rpy[YAW] -= FirstYAW; + + for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}} + if(!flg_checkoutlier || count_changeRPY >= 2){ + for(uint8_t i=0; i<3; i++){ + nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均 + } + count_changeRPY = 0; + }else count_changeRPY++; + flg_checkoutlier = false; + +} + +float TranslateNewYaw(float beforeYaw, float newzeroYaw){ + float newYaw = beforeYaw - newzeroYaw; + + if(newYaw<-180.0f) newYaw += 360.0f; + else if(newYaw>180.0f) newYaw -= 360.0f; + return newYaw; +} + + +void getSF_Serial(){ + + static char SFbuf[16]; + static int bufcounter=0; + + SFbuf[bufcounter]=pc.getc(); + if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++; + + if(bufcounter==5 && SFbuf[4]=='F'){ + g_landingcommand = SFbuf[1]; + if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]); + bufcounter = 0; + memset(SFbuf, 0, strlen(SFbuf)); + pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW); + } + else if(bufcounter>=5 && g_buf[4]!='F'){ + pc.printf("Communication Falsed.\r\n"); + bufcounter = 0; + } + } + +float ConvertByteintoFloat(char high, char low){ + + //int16_t intvalue = (int16_t)high*256 + (int16_t)low; + int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value + float floatvalue = (float)intvalue; + return floatvalue; +} + + +//超音波割り込み +void UpdateDist(){ + g_distance = usensor.get_dist_cm(); + usensor.start(); +} + +//8の字旋回 +void UpdateTargetAngle_Moebius(float targetAngle[3]){ + static uint8_t RotateCounter=0; + static bool flg_setInStartAuto = false; + static float FirstYAW_Moebius = 0.0; + float newYaw_Moebius; + + if(!flg_setInStartAuto && CheckSW_Up(Ch7)){ + FirstYAW_Moebius = nowAngle[YAW]; + RotateCounter = 0; + flg_setInStartAuto = true; + }else if(!CheckSW_Up(Ch7)){ + flg_setInStartAuto = false; + led2 = 0; + } + + newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius); + + if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");} + if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");} + if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius < 10.0f) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");} + if(RotateCounter == 3 && newYaw_Moebius >20.0 && newYaw_Moebius < 180.0f) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");} + + + if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle); + else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回 + +} + +//自動滑空 +void UpdateTargetAngle_Glide(float targetAngle[3]){ + static int THRcount = 0; + static int t_start = 0; + static bool flg_tstart = false; + int t_diff = 0; + + targetAngle[ROLL] = g_glideloopROLL; + targetAngle[PITCH] = g_glideloopPITCH; + + //時間計測開始設定 + if(!flg_tstart && CheckSW_Up(Ch7)){ + t_start = t.read(); + flg_tstart = true; + pc.printf("timer start\r\n"); + }else if(flg_tstart && !CheckSW_Up(Ch7)){ + t_start = 0; + flg_tstart = false; + } + + //フラグが偽であれば計測は行わない + if(flg_tstart){ + t_diff = t.read() - t_start; + //一定高度or15秒でled点灯 + if((g_distance<200 && g_distance>0) || t_diff > 15){ + led2 = 1; + //pc.printf("Call [Stop!] calling!\r\n"); + } + }else{ + t_diff = 0; + led2 = 0; + } + + if(t_diff > 18){ + autopwm[THR] = SetTHRinRatio(0.5); + }else{ + if(g_distance<150 && g_distance>0 ){ + THRcount++; + if(THRcount>5){ + autopwm[THR] = SetTHRinRatio(0.5); + //pc.printf("throttle ON\r\n"); + } + }else{ + autopwm[THR] = 1180; + THRcount = 0; + } + } +} + +//離陸-投下-着陸一連 +void Take_off_and_landing(float targetAngle[3]){ + if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff; + + switch(bombing_mode){ + case Takeoff: + static bool flg_setFirstYaw = false; + static int TakeoffCount = 0; + + if(!flg_setFirstYaw && CheckSW_Up(Ch7)){ + FirstYAW = nowAngle[YAW]; + flg_setFirstYaw = true; + }else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){ + flg_setFirstYaw = false; + } + + UpdateTargetAngle_Takeoff(targetAngle); + + if(g_distance>150) TakeoffCount++; + else TakeoffCount = 0; + if(TakeoffCount>5){ + autopwm[THR] = 1180+320*2*0.5; + pc.printf("Now go to Approach mode!!"); + bombing_mode = Approach; + } + break; + /* + case Chicken: + break; + */ + case Transition: + static int ApproachCount = 0; + targetAngle[YAW]=180.0; + int Judge = Rotate(targetAngle, g_SerialTargetYAW); + + if(Judge==0) ApproachCount++; + if(ApproachCount>5) bombing_mode = Approach; + break; + + case Approach: + UpdateTargetAngle_Approach(targetAngle); + break; + + default: + bombing_mode = Takeoff; + break; + } +} + +//離陸モード +void UpdateTargetAngle_Takeoff(float targetAngle[3]){ + //pc.printf("%d \r\n",g_distance); + targetAngle[ROLL] = g_gostraightROLL; + targetAngle[PITCH] = g_loopTHR; + autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合 +} + +//ヨーを目標値にして許容角度になるまで水平旋回 +int Rotate(float targetAngle[3], float TargetYAW){ + float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]); + + if(diffYaw > LIMIT_STRAIGHT_YAW){ + /* + if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle); + else UpdateTargetAngle_Rightloop(targetAngle); + */ + UpdateTargetAngle_Rightloop_short(targetAngle); + return 1; + }else if(diffYaw < -LIMIT_STRAIGHT_YAW){ + UpdateTargetAngle_Leftloop_short(targetAngle); + /* + if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle); + else UpdateTargetAngle_Leftloop(targetAngle); + */ + return 1; + }else{ + UpdateTargetAngle_GoStraight(targetAngle); + return 0; + } +} + +//チキラー投下 +void Chicken_Drop(){ + if(CheckSW_Up(Ch7)){ + autopwm[DROP] = 1512; + pc.printf("Bombed!\r\n"); + RerurnChickenServo1.attach(&ReturnChickenServo1, 3); + //operation_mode = Approach; + //buzzer = 0; + pc.printf("Goto LeftLoop mode\r\n"); + } +} + +void ReturnChickenServo1(){ + autopwm[DROP] = 1344; + pc.printf("first reverse\r\n"); + RerurnChickenServo2.attach(&ReturnChickenServo2, 1); +} + +void ReturnChickenServo2(){ + autopwm[DROP] = 1392; + pc.printf("second reverse\r\n"); +} + +//着陸モード(PCからの指令に従う) +void UpdateTargetAngle_Approach(float targetAngle[3]){ + pc.putc(g_buf[0]); + switch(g_buf[0]){ + case 'R': //右旋回セヨ + UpdateTargetAngle_Rightloop(targetAngle); + break; + + case 'L': //左旋回セヨ + UpdateTargetAngle_Leftloop(targetAngle); + break; + + case 'G': //直進セヨ + UpdateTargetAngle_GoStraight(targetAngle); + break; + + case 'Y': //指定ノヨー方向ニ移動セヨ + Rotate(targetAngle, g_SerialTargetYAW); + break; + + case 'B': //ブザーヲ鳴ラセ + //buzzer = 1; + break; + + case 'D': //物資ヲ落トセ + Chicken_Drop(); + break; + + case 'C': //停止セヨ + targetAngle[ROLL] = 0.0; + targetAngle[PITCH] = -3.0; + autopwm[THR] = minpwm[THR]; + break; + } +} + +void checkHeight(float targetAngle[3]){ + + static int targetHeight = 200; + + if(g_distance < targetHeight + ALLOWHEIGHT){ + UpdateTargetAngle_NoseUP(targetAngle); + if(CheckSW_Up(Ch7)) led2 = 1; + } + else if(g_distance > targetHeight - ALLOWHEIGHT){ + UpdateTargetAngle_NoseDOWN(targetAngle); + if(CheckSW_Up(Ch7)) led2 = 1; + } + else led2=0; +} + +void UpdateTargetAngle_NoseUP(float targetAngle[3]){ + + //targetAngle[PITCH] += 2.0f; + //if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6); + autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05); + //pc.printf("nose UP"); +} + +void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){ + + //targetAngle[PITCH] -= 2.0f; + autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05); + //pc.printf("nose DOWN"); +} + +//直進 +void UpdateTargetAngle_GoStraight(float targetAngle[3]){ + + targetAngle[ROLL] = g_gostraightROLL; + targetAngle[PITCH] = g_gostraightPITCH; + autopwm[THR] = SetTHRinRatio(g_loopTHR); + + //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); +} + +//右旋回 +void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回 + + targetAngle[ROLL] = g_rightloopROLL; + targetAngle[PITCH] = g_rightloopPITCH ; + autopwm[THR] = SetTHRinRatio(g_loopTHR); + //checkHeight(targetAngle); + //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); +} + +void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回 + + targetAngle[ROLL] = g_rightloopROLLshort; + targetAngle[PITCH] = g_rightloopPITCHshort; + autopwm[THR] = SetTHRinRatio(g_loopTHR); + + + //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); +} + +//左旋回 +void UpdateTargetAngle_Leftloop(float targetAngle[3]){ + + targetAngle[ROLL] = g_leftloopROLL; + targetAngle[PITCH] = g_leftloopPITCH; + autopwm[THR] = SetTHRinRatio(g_loopTHR); + //checkHeight(targetAngle); + + //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); +} + +void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){ + + targetAngle[ROLL] = g_leftloopROLLshort; + targetAngle[PITCH] = g_leftloopPITCHshort; + autopwm[THR] = SetTHRinRatio(g_loopTHR); + + //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); +} + +//デバッグ用 +void DebugPrint(){ + /* + static int16_t deltaT = 0, t_start = 0; + deltaT = t.read_u2s() - t_start; + pc.printf("t:%d us, ",deltaT); + pc.printf("\r\n"); + t_start = t.read_us(); + */ + //for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]); + //for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]); + //pc.printf("\r\n"); + for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); + //for(uint8_t i=0; i<2; i++) pc.printf("%3.2f\t",nowAngle[i]); //ロール、ピッチのみ 小数点以下2ケタ + //pc.printf("%d\t",autopwm[ELE]); pc.printf("%d\t",autopwm[RUD]); + //pc.printf("%d",g_distance); + + //pc.printf("Mode: %c: ",g_buf[0]); + //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW); + pc.printf("\r\n"); +} \ No newline at end of file