Commit
Dependencies: BNO055_fusion GPSINT Navigation_EKF NeoStrip ServoIn ServoOut mbed MODSERIAL
main.cpp
- Committer:
- jdawkins
- Date:
- 2016-08-16
- Revision:
- 0:f8fd381a5b8a
- Child:
- 2:0c9c3c1f3b18
File content as of revision 0:f8fd381a5b8a:
#include "mbed.h" #include "GPSINT.h" #include "BNO055.h" #include "nav_ekf.h" #include "ServoIn.h" #include "ServoOut.h" #include "NeoStrip.h" #define MAX_MESSAGE_SIZE 64 #define IMU_RATE 100.0 #define GPS_RATE 1.0 #define LOOP_RATE 300.0 #define CMD_TIMEOUT 1.0 #define GEAR_RATIO (1/2.75) // Reference origin is at entrance to hospital point monument #define REF_LAT 38.986534 #define REF_LON -76.489914 #define REF_ALT 1.8 #define NUM_LED 28 #define LED_CLUSTERS 4 #define LED_PER_CLUSTER 12 #define DIRECT_MODE 0 //command maps to throttle and steer commands normalized #define COURSE_MODE 1 //Commands map to heading and speed //I2C i2c(p9, p10); // SDA, SCL BNO055 imu(p9, p10); GPSINT gps(p28,p27); vector <int> str_buf; int left; // Function Prototypes float saturateCmd(float cmd); void menuFunction(Serial *port); float wrapToPi(float ang); int readMessage(Serial *port, char * buffer); void parseMessage(char * msg); void setLED(int *colors, float brightness); // LED Definitions DigitalOut rc_LED(LED1); DigitalOut armed_LED(LED2); DigitalOut auto_LED(LED3); DigitalOut imu_LED(LED4); NeoStrip leds(p6,LED_CLUSTERS*LED_PER_CLUSTER); Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc Serial xbee(p13, p14); // tx, rx for Xbee ServoIn CH1(p15); ServoIn CH2(p16); //InterruptIn he_sensor(p11); ServoOut Steer(p22); ServoOut Throttle(p21); Timer t; // create timer instance Ticker log_tick; Ticker heartbeat; float t_imu,t_gps,t_cmd,str_cmd,thr_cmd,str,thr,des_psi,des_spd; float psi_err,spd_err, psi_err_i,spd_err_i; float t_hall, dt_hall,t_run,t_stop,t_log; bool armed, auto_ctrl,auto_ctrl_old,rc_conn; float wheel_spd; float arm_clock,auto_clock; bool str_cond,thr_cond,run_ctrl,log_data; bool log_imu,log_bno,log_odo,log_mag = false; int cmd_mode; float Kp_psi, Kp_spd, Ki_psi, Ki_spd; int led1,led2,led3,led4; int main() { nav_EKF ekf; pc.baud(115200); xbee.baud(115200); Steer.write(1500); //Set Steer PWM to center 1000-2000 range Throttle.write(1500); //Set Throttle to Low led1=led2=led3=led4 =WHITE; left = 0; str_cmd = 0; str=0; thr=0; thr_cmd = 0; des_psi = 0; des_spd = 0; psi_err = 0; spd_err = 0; spd_err_i = 0; arm_clock = 0; auto_clock = 0; Kp_psi = 1; Kp_spd = 0.3; Ki_spd = 0.05; str_cond = false; thr_cond = false; armed = false; rc_conn = false; auto_ctrl = false; auto_ctrl_old = false; run_ctrl = false; log_data = false; t.start(); t_imu = t.read(); t_gps = t.read(); t_cmd = 0; leds.setBrightness(0.5); rc_LED = 0; imu_LED = 0; gps.setRefPoint(REF_LAT,REF_LON,REF_ALT); if(imu.check()) { pc.printf("BNO055 connected\r\n"); imu.setmode(OPERATION_MODE_CONFIG); imu.SetExternalCrystal(1); imu.setmode(OPERATION_MODE_NDOF); //Uses magnetometer imu.set_angle_units(RADIANS); imu.set_accel_units(MPERSPERS); imu.setoutputformat(WINDOWS); imu.set_mapping(2); while(int(imu.calib) < 0xCF) { pc.printf("Calibration = %x.\n\r",imu.calib); imu.get_calib(); wait(0.5); imu_LED = !imu_LED; } imu_LED = 1; } else { pc.printf("IMU BNO055 NOT connected\r\n Program Trap."); rc_LED = 1; armed_LED = 1; imu_LED = 1; auto_LED = 1; while(1) { rc_LED = !rc_LED; armed_LED = !armed_LED; imu_LED = !imu_LED; auto_LED = !auto_LED; wait(0.5); } } // int colors[4] = {ORANGE,YELLOW,GREEN,CYAN}; pc.printf("Emaxx Navigation Program\r\n"); while(1) { if(CH1.servoPulse == 0 || CH2.servoPulse == 0) { //RC Reciever must be connected For Car to be armed rc_conn = false; } else { rc_conn = true; } rc_LED = rc_conn; auto_LED = auto_ctrl; armed_LED = armed; str_cond = (CH1.servoPulse > 1800); // If steering is full right thr_cond = abs(CH2.servoPulse-1500)<100; // If throttle is near zero if(t.read()-auto_clock > 3){ //Auto control timeout if no commands recevied after 5 seconds auto_ctrl = false; } if(xbee.readable()) { char buf[MAX_MESSAGE_SIZE]; int n = readMessage(&xbee,buf); parseMessage(buf); } if(!rc_conn) { // Is System Armed // printf("auto control: %d, clock %f\r\n",auto_ctrl, t.read()-auto_clock); if(auto_ctrl) { switch (cmd_mode){ case DIRECT_MODE: { str = str_cmd; thr = thr_cmd; // printf("Psi Err: %.3f Spd Err %.3f, Str Cmd %.3f Thr_cmd %.3f\r\n",psi_err,spd_err,str,thr); break; } case COURSE_MODE: { psi_err = wrapToPi(des_psi-imu.euler.yaw); spd_err = des_spd - ekf.getSpd(); spd_err_i += spd_err; str = -Kp_psi*psi_err; thr = Kp_spd*spd_err + Ki_spd*spd_err_i; if (thr >= 1.0){ thr = 1.0; spd_err_i = 0; // Reset Integral If Saturated } if (thr < 0){ thr = 0; spd_err_i = 0; // Reset Integral If Saturated } //printf("Psi Err: %.3f Spd Err %.3f, Str Cmd %.3f Thr_cmd %.3f\r\n",psi_err,spd_err,str,thr); break; } default:{ break; } } Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse Throttle.write((int)((thr*500.0)+1500.0)); //Write Throttle Pulse } else { Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse Throttle.write(1500); //Write Throttle Pulse } } else { auto_ctrl = false; armed_LED = 0; //Turn off armed LED indicator str = ((CH1.servoPulse-1500.0)/500.0); // Convert Pulse to Normalized Command +/- 1 thr = ((CH2.servoPulse-1500.0)/500.0); // Convert Pulse to Normalized Command +/- 1 Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse Throttle.write((int)((thr*500.0)+1500.0)); //Write Throttle Pulse }/// end else armed imu.get_angles(); imu.get_accel(); imu.get_gyro(); imu.get_lia(); float dt = t.read()-t_imu; if(dt > (1/IMU_RATE)) { float tic = t.read(); ekf.setRot(wrapToPi(imu.euler.yaw),imu.euler.pitch,imu.euler.roll); ekf.timeUpdate(imu.lia.x,imu.lia.y,imu.lia.z,dt); xbee.printf("$EKF,%.2f,%.2f,%.2f,%.2f\r\n",ekf.getPosNorth(),ekf.getPosEast(),ekf.getVelNorth(),ekf.getVelEast()); xbee.printf("$IMU,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",imu.lia.x,imu.lia.y,imu.lia.z,imu.gyro.x,imu.gyro.y,imu.gyro.z,imu.euler.roll,imu.euler.pitch,wrapToPi(imu.euler.yaw)); t_imu = t.read(); } if(t.read()-t_gps >(1/GPS_RATE)) { //printf("Kp_psi: %.2f Kp_spd: %.2f Ki_spd: %.2f\r\n", Kp_psi,Kp_spd,Ki_spd); float tic2 = t.read(); ekf.measUpdate(gps.pos_north,gps.pos_east,gps.vel_north,gps.vel_east); // xbee.printf("$GPS,%.8f,%.8f,%.3f,%.3f,%.3f\r\n",gps.dec_latitude,gps.dec_longitude,gps.msl_altitude,gps.course_d,KNOTS_2_MPS*gps.speed_k); // xbee.printf("$STA,%d,%d,%d,%d\r\n",); t_gps = t.read(); } wait(1/LOOP_RATE); // status_LED=!status_LED; auto_ctrl_old = auto_ctrl; } } int readMessage(Serial *port, char * buffer){ int i = 0; if(port->readable()){ char c = port->getc(); if(c=='$'){ buffer[i] = c; i++; while(1){ buffer[i] = port->getc(); if(buffer[i]=='\n' || buffer[i]=='\r'){ break; } i++; } } } return i; } void parseMessage(char * msg){ if(!strncmp(msg, "$CMD", 4)){ int arg1; float arg2,arg3; sscanf(msg,"$CMD,%d,%f,%f\n",&arg1,&arg2,&arg3); cmd_mode = arg1; auto_clock = t.read(); switch (cmd_mode){ case DIRECT_MODE: { auto_ctrl = true; str_cmd = arg2; thr_cmd = arg3; } case COURSE_MODE: { auto_ctrl = true; des_psi = arg2; des_spd = arg3; } default:{ } } } //emd of $CMD /*if(!strncmp(msg, "$PRM", 4)){ float arg1,arg2,arg3; int type; // __disable_irq(); // disable interrupts sscanf(msg,"$PRM,%d,%f,%f,%f",&type,&arg1,&arg2,&arg3); // __enable_irq(); // enable interrupts switch(type){ case 1: { Kp_psi = arg1; Kp_spd = arg2; Ki_spd = arg3; printf("Params Recieved: %f %f %f\r\n",arg1,arg2,arg3); break; } case 2: { printf("%s",msg); float ref_lat = arg1; float ref_lon = arg2; float ref_alt = arg3; printf("Params Recieved: %f %f %f\r\n",arg1,arg2,arg3); // gps.setRefPoint(ref_lat,ref_lon,ref_alt); break; } default: { } } } */ if(!strncmp(msg, "$LED", 4)){ int arg1; float arg2; sscanf(msg,"$LED,%x,%f",&arg1,&arg2); printf("%s\r\n",msg); int colors[4]={arg1,arg1,arg1,arg1}; float brightness = arg2; setLED(colors,brightness); } } void setLED(int *colors,float brightness){ leds.setBrightness(brightness); int cidx = 0; int ctr = 0; for (int i=0;i<LED_PER_CLUSTER*LED_CLUSTERS;i++){ if(ctr >11){ ctr = 0; cidx++; } leds.setPixel(i,colors[cidx]); ctr++; } leds.write(); } float saturateCmd(float cmd) { if(cmd>1.0) { cmd = 1.0; } if(cmd < -1.0) { cmd = -1.0; } return cmd; } float saturateCmd(float cmd, float max,float min) { if(cmd>max) { cmd = max; } if(cmd < min) { cmd = min; } return cmd; } float wrapToPi(float ang) { if(ang > PI) { ang = ang - 2*PI; } if (ang < -PI) { ang = ang + 2*PI; } return ang; }