solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
main.cpp@14:468ccb88e387, 2021-01-28 (annotated)
- Committer:
- naker
- Date:
- Thu Jan 28 04:41:40 2021 +0000
- Revision:
- 14:468ccb88e387
- Parent:
- 13:ac7c1c861aaf
- Child:
- 15:6abaac6e5b03
add 'read gyro' function
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NaotoMorita | 0:6b18a09a6628 | 1 | #include "mbed.h" |
NaotoMorita | 0:6b18a09a6628 | 2 | #include "SBUS.hpp" |
NaotoMorita | 13:ac7c1c861aaf | 3 | #include "IMUfilter.h" |
cocorlow | 6:2cba569272fe | 4 | #include "LoopTicker.hpp" |
cocorlow | 6:2cba569272fe | 5 | |
cocorlow | 6:2cba569272fe | 6 | |
NaotoMorita | 0:6b18a09a6628 | 7 | SBUS sbus(PD_5, PD_6); |
NaotoMorita | 0:6b18a09a6628 | 8 | Serial pc(USBTX, USBRX); |
NaotoMorita | 13:ac7c1c861aaf | 9 | IMUfilter filter(100, 0.1); |
cocorlow | 3:79e62f9b13c8 | 10 | DigitalOut led1(LED1); |
cocorlow | 3:79e62f9b13c8 | 11 | DigitalOut led3(LED3); |
cocorlow | 3:79e62f9b13c8 | 12 | PwmOut servo1(PB_4); |
cocorlow | 3:79e62f9b13c8 | 13 | PwmOut servo2(PB_5); |
cocorlow | 3:79e62f9b13c8 | 14 | |
NaotoMorita | 5:9cad4ce807b9 | 15 | int ch1, ch2; |
cocorlow | 3:79e62f9b13c8 | 16 | float rc1, rc2; |
NaotoMorita | 10:d2d196cf93ab | 17 | float pitch = 0.0; |
NaotoMorita | 10:d2d196cf93ab | 18 | float roll = 0.0; |
NaotoMorita | 10:d2d196cf93ab | 19 | float yaw = 0.0; |
naker | 14:468ccb88e387 | 20 | float gyro[3] = {0,0,0}; |
naker | 14:468ccb88e387 | 21 | float acc[3] = {0,0,1.0}; |
cocorlow | 3:79e62f9b13c8 | 22 | int out1, out2; |
cocorlow | 3:79e62f9b13c8 | 23 | |
cocorlow | 7:70161eb0f854 | 24 | long map(long x, long in_min, long in_max, long out_min, long out_max) |
cocorlow | 7:70161eb0f854 | 25 | { |
cocorlow | 7:70161eb0f854 | 26 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
cocorlow | 7:70161eb0f854 | 27 | } |
cocorlow | 7:70161eb0f854 | 28 | |
cocorlow | 3:79e62f9b13c8 | 29 | void interrupt_SBUS() |
cocorlow | 3:79e62f9b13c8 | 30 | { |
cocorlow | 3:79e62f9b13c8 | 31 | led1 = !led1; |
cocorlow | 3:79e62f9b13c8 | 32 | if(sbus.failSafe == false) |
cocorlow | 3:79e62f9b13c8 | 33 | { |
cocorlow | 3:79e62f9b13c8 | 34 | ch1 = int(sbus.getData(1)); |
cocorlow | 3:79e62f9b13c8 | 35 | ch2 = int(sbus.getData(2)); |
cocorlow | 6:2cba569272fe | 36 | pc.printf("ch1 :%d ", ch1); |
cocorlow | 6:2cba569272fe | 37 | pc.printf("ch2 :%d ", ch2); |
cocorlow | 6:2cba569272fe | 38 | float LP_rc = 0.65f; |
cocorlow | 6:2cba569272fe | 39 | float LP_rc3 = 0.15f; |
cocorlow | 7:70161eb0f854 | 40 | rc1 = LP_rc*float(map(ch1,368,1680,-1000,1000))/1000.0f+(1.0f-LP_rc)*rc1; |
cocorlow | 7:70161eb0f854 | 41 | rc2 = LP_rc*float(map(ch2,368,1680,-1000,1000))/1000.0f+(1.0f-LP_rc)*rc2; |
cocorlow | 6:2cba569272fe | 42 | pc.printf("rc1 :%f ", rc1); |
cocorlow | 6:2cba569272fe | 43 | pc.printf("rc2 :%f ", rc1); |
cocorlow | 3:79e62f9b13c8 | 44 | int pwmMax = 1800; |
cocorlow | 3:79e62f9b13c8 | 45 | int pwmMin = 1200; |
cocorlow | 7:70161eb0f854 | 46 | out1 = map((int)(rc1*1000.0f),-1000,1000,pwmMin,pwmMax); |
cocorlow | 3:79e62f9b13c8 | 47 | if(out1<pwmMin){out1 = pwmMin;}; |
cocorlow | 3:79e62f9b13c8 | 48 | if(out1>pwmMax){out1 = pwmMax;}; |
cocorlow | 7:70161eb0f854 | 49 | out2 = map((int)(rc2*1000.0f),-1000,1000,pwmMin,pwmMax); |
cocorlow | 3:79e62f9b13c8 | 50 | if(out2<pwmMin){out2 = pwmMin;}; |
cocorlow | 3:79e62f9b13c8 | 51 | if(out2>pwmMax){out2 = pwmMax;}; |
cocorlow | 3:79e62f9b13c8 | 52 | } |
NaotoMorita | 10:d2d196cf93ab | 53 | pitch = filter.getPitch(); |
NaotoMorita | 10:d2d196cf93ab | 54 | |
NaotoMorita | 10:d2d196cf93ab | 55 | pc.printf("pitch:%d ", pitch); |
NaotoMorita | 10:d2d196cf93ab | 56 | pc.printf("out1:%d ", out1); |
NaotoMorita | 10:d2d196cf93ab | 57 | pc.printf("out2:%d\r\n", out2); |
NaotoMorita | 10:d2d196cf93ab | 58 | servo1.pulsewidth_us(out1); |
NaotoMorita | 10:d2d196cf93ab | 59 | servo2.pulsewidth_us(out2); |
cocorlow | 3:79e62f9b13c8 | 60 | } |
cocorlow | 3:79e62f9b13c8 | 61 | |
cocorlow | 3:79e62f9b13c8 | 62 | void interrupt_Gyro() |
cocorlow | 3:79e62f9b13c8 | 63 | { |
naker | 14:468ccb88e387 | 64 | // gx gy gz ax ay az |
naker | 14:468ccb88e387 | 65 | mpu.getGyro(gyor); |
naker | 14:468ccb88e387 | 66 | mpu.getAccelero(acc); |
naker | 14:468ccb88e387 | 67 | filter.updateFilter(gyro[0],gyro[1],gyro[2],acc[0],acc[1],acc[2]); |
cocorlow | 3:79e62f9b13c8 | 68 | } |
cocorlow | 3:79e62f9b13c8 | 69 | |
NaotoMorita | 0:6b18a09a6628 | 70 | int main() |
NaotoMorita | 0:6b18a09a6628 | 71 | { |
naker | 14:468ccb88e387 | 72 | mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G); |
naker | 14:468ccb88e387 | 73 | mpu.setGyroRange(MPU6050_GYRO_RANGE_250) |
NaotoMorita | 0:6b18a09a6628 | 74 | pc.baud(9600); |
cocorlow | 3:79e62f9b13c8 | 75 | servo1.period(0.020); |
cocorlow | 3:79e62f9b13c8 | 76 | servo2.period(0.020); |
cocorlow | 6:2cba569272fe | 77 | LoopTicker timer_SBUS; |
cocorlow | 6:2cba569272fe | 78 | LoopTicker timer_Gyro; |
NaotoMorita | 4:7d2eae0115a2 | 79 | timer_SBUS.attach(interrupt_SBUS, 0.020); |
NaotoMorita | 10:d2d196cf93ab | 80 | timer_Gyro.attach(interrupt_Gyro, 0.010); |
NaotoMorita | 0:6b18a09a6628 | 81 | while(1) { |
cocorlow | 6:2cba569272fe | 82 | timer_SBUS.loop(); |
NaotoMorita | 10:d2d196cf93ab | 83 | timer_Gyro.loop(); |
NaotoMorita | 0:6b18a09a6628 | 84 | } |
NaotoMorita | 0:6b18a09a6628 | 85 | } |