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Emaxx Navigation code ported for MBED
Dependencies: BNO055_fusion Emaxx_Navigation_Dynamic_HIL MODSERIAL ServoIn ServoOut Vehicle_Model mbed
Fork of Emaxx_Navigation_Dynamic_HIL by
main.cpp@3:9b6db94aa2b3, 2016-09-14 (annotated)
- Committer:
- lddevrie
- Date:
- Wed Sep 14 18:19:50 2016 +0000
- Revision:
- 3:9b6db94aa2b3
- Parent:
- 2:0c9c3c1f3b18
- Child:
- 4:e27ca0c82814
update steering control to K*(heading angle)/speed, line 253
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jdawkins | 0:f8fd381a5b8a | 1 | |
jdawkins | 0:f8fd381a5b8a | 2 | |
jdawkins | 0:f8fd381a5b8a | 3 | |
jdawkins | 0:f8fd381a5b8a | 4 | |
jdawkins | 0:f8fd381a5b8a | 5 | #include "mbed.h" |
jdawkins | 0:f8fd381a5b8a | 6 | |
jdawkins | 0:f8fd381a5b8a | 7 | #include "GPSINT.h" |
jdawkins | 0:f8fd381a5b8a | 8 | #include "BNO055.h" |
jdawkins | 0:f8fd381a5b8a | 9 | #include "nav_ekf.h" |
jdawkins | 0:f8fd381a5b8a | 10 | #include "ServoIn.h" |
jdawkins | 0:f8fd381a5b8a | 11 | #include "ServoOut.h" |
jdawkins | 0:f8fd381a5b8a | 12 | #include "NeoStrip.h" |
lddevrie | 2:0c9c3c1f3b18 | 13 | #include "MODSERIAL.h" |
lddevrie | 2:0c9c3c1f3b18 | 14 | |
jdawkins | 0:f8fd381a5b8a | 15 | |
jdawkins | 0:f8fd381a5b8a | 16 | #define MAX_MESSAGE_SIZE 64 |
jdawkins | 0:f8fd381a5b8a | 17 | #define IMU_RATE 100.0 |
jdawkins | 0:f8fd381a5b8a | 18 | #define GPS_RATE 1.0 |
jdawkins | 0:f8fd381a5b8a | 19 | #define LOOP_RATE 300.0 |
jdawkins | 0:f8fd381a5b8a | 20 | #define CMD_TIMEOUT 1.0 |
jdawkins | 0:f8fd381a5b8a | 21 | #define GEAR_RATIO (1/2.75) |
jdawkins | 0:f8fd381a5b8a | 22 | // Reference origin is at entrance to hospital point monument |
jdawkins | 0:f8fd381a5b8a | 23 | #define REF_LAT 38.986534 |
jdawkins | 0:f8fd381a5b8a | 24 | #define REF_LON -76.489914 |
jdawkins | 0:f8fd381a5b8a | 25 | #define REF_ALT 1.8 |
jdawkins | 0:f8fd381a5b8a | 26 | #define NUM_LED 28 |
jdawkins | 0:f8fd381a5b8a | 27 | #define LED_CLUSTERS 4 |
jdawkins | 0:f8fd381a5b8a | 28 | #define LED_PER_CLUSTER 12 |
jdawkins | 0:f8fd381a5b8a | 29 | |
jdawkins | 0:f8fd381a5b8a | 30 | #define DIRECT_MODE 0 //command maps to throttle and steer commands normalized |
jdawkins | 0:f8fd381a5b8a | 31 | #define COURSE_MODE 1 //Commands map to heading and speed |
jdawkins | 0:f8fd381a5b8a | 32 | |
jdawkins | 0:f8fd381a5b8a | 33 | //I2C i2c(p9, p10); // SDA, SCL |
jdawkins | 0:f8fd381a5b8a | 34 | BNO055 imu(p9, p10); |
jdawkins | 0:f8fd381a5b8a | 35 | GPSINT gps(p28,p27); |
jdawkins | 0:f8fd381a5b8a | 36 | |
jdawkins | 0:f8fd381a5b8a | 37 | vector <int> str_buf; |
jdawkins | 0:f8fd381a5b8a | 38 | int left; |
jdawkins | 0:f8fd381a5b8a | 39 | |
jdawkins | 0:f8fd381a5b8a | 40 | // Function Prototypes |
jdawkins | 0:f8fd381a5b8a | 41 | float saturateCmd(float cmd); |
jdawkins | 0:f8fd381a5b8a | 42 | float wrapToPi(float ang); |
jdawkins | 0:f8fd381a5b8a | 43 | void parseMessage(char * msg); |
jdawkins | 0:f8fd381a5b8a | 44 | void setLED(int *colors, float brightness); |
jdawkins | 0:f8fd381a5b8a | 45 | |
jdawkins | 0:f8fd381a5b8a | 46 | |
jdawkins | 0:f8fd381a5b8a | 47 | // LED Definitions |
jdawkins | 0:f8fd381a5b8a | 48 | DigitalOut rc_LED(LED1); |
jdawkins | 0:f8fd381a5b8a | 49 | DigitalOut armed_LED(LED2); |
jdawkins | 0:f8fd381a5b8a | 50 | DigitalOut auto_LED(LED3); |
jdawkins | 0:f8fd381a5b8a | 51 | DigitalOut imu_LED(LED4); |
jdawkins | 0:f8fd381a5b8a | 52 | |
jdawkins | 0:f8fd381a5b8a | 53 | NeoStrip leds(p6,LED_CLUSTERS*LED_PER_CLUSTER); |
jdawkins | 0:f8fd381a5b8a | 54 | |
lddevrie | 2:0c9c3c1f3b18 | 55 | // Comms and control object definitions |
jdawkins | 0:f8fd381a5b8a | 56 | Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc |
lddevrie | 2:0c9c3c1f3b18 | 57 | MODSERIAL xbee(p13, p14); // tx, rx for Xbee |
jdawkins | 0:f8fd381a5b8a | 58 | ServoIn CH1(p15); |
jdawkins | 0:f8fd381a5b8a | 59 | ServoIn CH2(p16); |
jdawkins | 0:f8fd381a5b8a | 60 | |
jdawkins | 0:f8fd381a5b8a | 61 | //InterruptIn he_sensor(p11); |
jdawkins | 0:f8fd381a5b8a | 62 | |
jdawkins | 0:f8fd381a5b8a | 63 | ServoOut Steer(p22); |
jdawkins | 0:f8fd381a5b8a | 64 | ServoOut Throttle(p21); |
jdawkins | 0:f8fd381a5b8a | 65 | Timer t; // create timer instance |
jdawkins | 0:f8fd381a5b8a | 66 | Ticker log_tick; |
jdawkins | 0:f8fd381a5b8a | 67 | Ticker heartbeat; |
lddevrie | 2:0c9c3c1f3b18 | 68 | float t_imu,t_gps,t_cmd,str_cmd,thr_cmd,str,thr,des_psi,des_spd; // control parameters |
lddevrie | 2:0c9c3c1f3b18 | 69 | float psi_err,spd_err, psi_err_i,spd_err_i; // control variables |
jdawkins | 0:f8fd381a5b8a | 70 | float t_hall, dt_hall,t_run,t_stop,t_log; |
lddevrie | 2:0c9c3c1f3b18 | 71 | bool armed, auto_ctrl,auto_ctrl_old,rc_conn; // arming state modes |
lddevrie | 2:0c9c3c1f3b18 | 72 | float wheel_spd; // wheel speed variable |
lddevrie | 2:0c9c3c1f3b18 | 73 | float arm_clock,auto_clock; // timing for arming procedures |
lddevrie | 2:0c9c3c1f3b18 | 74 | bool str_cond,thr_cond,run_ctrl,log_data; // data saving variables? |
lddevrie | 2:0c9c3c1f3b18 | 75 | bool log_imu,log_bno,log_odo,log_mag = false; // data saving variables? |
lddevrie | 2:0c9c3c1f3b18 | 76 | int cmd_mode; // integer to set command mode of controller |
lddevrie | 2:0c9c3c1f3b18 | 77 | float Kp_psi, Kp_spd, Ki_psi, Ki_spd; // controller gains |
lddevrie | 2:0c9c3c1f3b18 | 78 | int led1,led2,led3,led4; // neo-strip variables? |
lddevrie | 2:0c9c3c1f3b18 | 79 | volatile bool newpacket = false; // boolean identifier of new odroid packet |
lddevrie | 2:0c9c3c1f3b18 | 80 | |
lddevrie | 2:0c9c3c1f3b18 | 81 | void rxCallback(MODSERIAL_IRQ_INFO *q) |
lddevrie | 2:0c9c3c1f3b18 | 82 | { |
lddevrie | 2:0c9c3c1f3b18 | 83 | MODSERIAL *serial = q->serial; |
lddevrie | 2:0c9c3c1f3b18 | 84 | if ( serial->rxGetLastChar() == '\n') { |
lddevrie | 2:0c9c3c1f3b18 | 85 | newpacket = true; |
lddevrie | 2:0c9c3c1f3b18 | 86 | } |
lddevrie | 2:0c9c3c1f3b18 | 87 | } |
lddevrie | 2:0c9c3c1f3b18 | 88 | |
jdawkins | 0:f8fd381a5b8a | 89 | |
jdawkins | 0:f8fd381a5b8a | 90 | int main() |
jdawkins | 0:f8fd381a5b8a | 91 | { |
lddevrie | 2:0c9c3c1f3b18 | 92 | nav_EKF ekf; // initialize ekf states |
jdawkins | 0:f8fd381a5b8a | 93 | |
lddevrie | 2:0c9c3c1f3b18 | 94 | pc.baud(115200); // set baud rate of serial comm to pc |
lddevrie | 2:0c9c3c1f3b18 | 95 | xbee.baud(115200); // set baud rate of serial comm of wireless xbee comms |
jdawkins | 0:f8fd381a5b8a | 96 | Steer.write(1500); //Set Steer PWM to center 1000-2000 range |
jdawkins | 0:f8fd381a5b8a | 97 | Throttle.write(1500); //Set Throttle to Low |
lddevrie | 2:0c9c3c1f3b18 | 98 | |
lddevrie | 2:0c9c3c1f3b18 | 99 | xbee.attach(&rxCallback, MODSERIAL::RxIrq); |
lddevrie | 2:0c9c3c1f3b18 | 100 | |
lddevrie | 2:0c9c3c1f3b18 | 101 | |
lddevrie | 2:0c9c3c1f3b18 | 102 | led1=led2=led3=led4 =WHITE; // set color of neo strip lights? |
lddevrie | 2:0c9c3c1f3b18 | 103 | |
lddevrie | 2:0c9c3c1f3b18 | 104 | // initialize necessary float and boolean variables |
jdawkins | 0:f8fd381a5b8a | 105 | left = 0; |
jdawkins | 0:f8fd381a5b8a | 106 | str_cmd = 0; |
jdawkins | 0:f8fd381a5b8a | 107 | str=0; |
jdawkins | 0:f8fd381a5b8a | 108 | thr=0; |
jdawkins | 0:f8fd381a5b8a | 109 | thr_cmd = 0; |
jdawkins | 0:f8fd381a5b8a | 110 | des_psi = 0; |
jdawkins | 0:f8fd381a5b8a | 111 | des_spd = 0; |
jdawkins | 0:f8fd381a5b8a | 112 | psi_err = 0; |
jdawkins | 0:f8fd381a5b8a | 113 | spd_err = 0; |
jdawkins | 0:f8fd381a5b8a | 114 | spd_err_i = 0; |
jdawkins | 0:f8fd381a5b8a | 115 | arm_clock = 0; |
jdawkins | 0:f8fd381a5b8a | 116 | auto_clock = 0; |
jdawkins | 0:f8fd381a5b8a | 117 | Kp_psi = 1; |
jdawkins | 0:f8fd381a5b8a | 118 | Kp_spd = 0.3; |
jdawkins | 0:f8fd381a5b8a | 119 | Ki_spd = 0.05; |
jdawkins | 0:f8fd381a5b8a | 120 | str_cond = false; |
jdawkins | 0:f8fd381a5b8a | 121 | thr_cond = false; |
jdawkins | 0:f8fd381a5b8a | 122 | armed = false; |
jdawkins | 0:f8fd381a5b8a | 123 | rc_conn = false; |
jdawkins | 0:f8fd381a5b8a | 124 | auto_ctrl = false; |
jdawkins | 0:f8fd381a5b8a | 125 | auto_ctrl_old = false; |
jdawkins | 0:f8fd381a5b8a | 126 | run_ctrl = false; |
jdawkins | 0:f8fd381a5b8a | 127 | log_data = false; |
jdawkins | 0:f8fd381a5b8a | 128 | |
lddevrie | 2:0c9c3c1f3b18 | 129 | // timer and timing initializations |
jdawkins | 0:f8fd381a5b8a | 130 | t.start(); |
jdawkins | 0:f8fd381a5b8a | 131 | t_imu = t.read(); |
jdawkins | 0:f8fd381a5b8a | 132 | t_gps = t.read(); |
jdawkins | 0:f8fd381a5b8a | 133 | t_cmd = 0; |
jdawkins | 0:f8fd381a5b8a | 134 | |
lddevrie | 2:0c9c3c1f3b18 | 135 | leds.setBrightness(0.5); // set brightness of leds |
lddevrie | 2:0c9c3c1f3b18 | 136 | |
lddevrie | 2:0c9c3c1f3b18 | 137 | rc_LED = 0; // turn off LED 1 to indicate no RC connection |
lddevrie | 2:0c9c3c1f3b18 | 138 | imu_LED = 0; // turn off IMU indicator (LED 4) |
lddevrie | 2:0c9c3c1f3b18 | 139 | gps.setRefPoint(REF_LAT,REF_LON,REF_ALT); // set local origin of reference frame for GPS conversion |
lddevrie | 2:0c9c3c1f3b18 | 140 | |
lddevrie | 2:0c9c3c1f3b18 | 141 | // procedure to ensure IMU is operating correctly |
jdawkins | 0:f8fd381a5b8a | 142 | if(imu.check()) { |
jdawkins | 0:f8fd381a5b8a | 143 | pc.printf("BNO055 connected\r\n"); |
jdawkins | 0:f8fd381a5b8a | 144 | imu.setmode(OPERATION_MODE_CONFIG); |
jdawkins | 0:f8fd381a5b8a | 145 | imu.SetExternalCrystal(1); |
jdawkins | 0:f8fd381a5b8a | 146 | imu.setmode(OPERATION_MODE_NDOF); //Uses magnetometer |
jdawkins | 0:f8fd381a5b8a | 147 | imu.set_angle_units(RADIANS); |
jdawkins | 0:f8fd381a5b8a | 148 | imu.set_accel_units(MPERSPERS); |
jdawkins | 0:f8fd381a5b8a | 149 | imu.setoutputformat(WINDOWS); |
jdawkins | 0:f8fd381a5b8a | 150 | imu.set_mapping(2); |
jdawkins | 0:f8fd381a5b8a | 151 | |
lddevrie | 2:0c9c3c1f3b18 | 152 | // Blinks light if IMU is not calibrated, stops when calibration is complete |
jdawkins | 0:f8fd381a5b8a | 153 | while(int(imu.calib) < 0xCF) { |
jdawkins | 0:f8fd381a5b8a | 154 | pc.printf("Calibration = %x.\n\r",imu.calib); |
jdawkins | 0:f8fd381a5b8a | 155 | imu.get_calib(); |
jdawkins | 0:f8fd381a5b8a | 156 | wait(0.5); |
jdawkins | 0:f8fd381a5b8a | 157 | imu_LED = !imu_LED; |
lddevrie | 2:0c9c3c1f3b18 | 158 | } // end while(imu.calib) |
lddevrie | 2:0c9c3c1f3b18 | 159 | imu_LED = 1; // turns on IMU light when calibration is successful |
jdawkins | 0:f8fd381a5b8a | 160 | |
jdawkins | 0:f8fd381a5b8a | 161 | } else { |
lddevrie | 2:0c9c3c1f3b18 | 162 | pc.printf("IMU BNO055 NOT connected\r\n Program Trap."); // catch statement if IMU is not connected correctly |
lddevrie | 2:0c9c3c1f3b18 | 163 | // turn on all lights is IMU is not connected correctly |
jdawkins | 0:f8fd381a5b8a | 164 | rc_LED = 1; |
jdawkins | 0:f8fd381a5b8a | 165 | armed_LED = 1; |
jdawkins | 0:f8fd381a5b8a | 166 | imu_LED = 1; |
jdawkins | 0:f8fd381a5b8a | 167 | auto_LED = 1; |
jdawkins | 0:f8fd381a5b8a | 168 | while(1) { |
lddevrie | 2:0c9c3c1f3b18 | 169 | // blink all lights if IMU is not connected correctly |
jdawkins | 0:f8fd381a5b8a | 170 | rc_LED = !rc_LED; |
jdawkins | 0:f8fd381a5b8a | 171 | armed_LED = !armed_LED; |
jdawkins | 0:f8fd381a5b8a | 172 | imu_LED = !imu_LED; |
jdawkins | 0:f8fd381a5b8a | 173 | auto_LED = !auto_LED; |
lddevrie | 2:0c9c3c1f3b18 | 174 | |
jdawkins | 0:f8fd381a5b8a | 175 | wait(0.5); |
lddevrie | 2:0c9c3c1f3b18 | 176 | } // end while(1) {blink if IMU is not connected} |
lddevrie | 2:0c9c3c1f3b18 | 177 | } // end if(imu.check) |
jdawkins | 0:f8fd381a5b8a | 178 | |
lddevrie | 2:0c9c3c1f3b18 | 179 | // int colors[4] = {ORANGE,YELLOW,GREEN,CYAN}; |
lddevrie | 2:0c9c3c1f3b18 | 180 | |
lddevrie | 2:0c9c3c1f3b18 | 181 | pc.printf("Emaxx Navigation Program\r\n"); // print indication that calibration is good and nav program is running |
lddevrie | 2:0c9c3c1f3b18 | 182 | |
lddevrie | 2:0c9c3c1f3b18 | 183 | |
jdawkins | 0:f8fd381a5b8a | 184 | while(1) { |
jdawkins | 0:f8fd381a5b8a | 185 | |
lddevrie | 2:0c9c3c1f3b18 | 186 | // check for servo pulse from either channel of receiver module |
jdawkins | 0:f8fd381a5b8a | 187 | if(CH1.servoPulse == 0 || CH2.servoPulse == 0) { //RC Reciever must be connected For Car to be armed |
jdawkins | 0:f8fd381a5b8a | 188 | rc_conn = false; |
jdawkins | 0:f8fd381a5b8a | 189 | } else { |
jdawkins | 0:f8fd381a5b8a | 190 | rc_conn = true; |
lddevrie | 2:0c9c3c1f3b18 | 191 | } // end if(Channels connected) |
lddevrie | 2:0c9c3c1f3b18 | 192 | |
lddevrie | 2:0c9c3c1f3b18 | 193 | // turn on RC led if transmitter is connected |
jdawkins | 0:f8fd381a5b8a | 194 | rc_LED = rc_conn; |
jdawkins | 0:f8fd381a5b8a | 195 | auto_LED = auto_ctrl; |
jdawkins | 0:f8fd381a5b8a | 196 | armed_LED = armed; |
lddevrie | 2:0c9c3c1f3b18 | 197 | |
jdawkins | 0:f8fd381a5b8a | 198 | str_cond = (CH1.servoPulse > 1800); // If steering is full right |
jdawkins | 0:f8fd381a5b8a | 199 | thr_cond = abs(CH2.servoPulse-1500)<100; // If throttle is near zero |
jdawkins | 0:f8fd381a5b8a | 200 | |
lddevrie | 2:0c9c3c1f3b18 | 201 | if(t.read()-auto_clock > 3) { //Auto control timeout if no commands recevied after 3 seconds |
lddevrie | 2:0c9c3c1f3b18 | 202 | auto_ctrl = false; |
lddevrie | 2:0c9c3c1f3b18 | 203 | } // end if(t.read()-autoclock>3) timeout procedure |
lddevrie | 2:0c9c3c1f3b18 | 204 | |
lddevrie | 2:0c9c3c1f3b18 | 205 | |
lddevrie | 2:0c9c3c1f3b18 | 206 | |
lddevrie | 2:0c9c3c1f3b18 | 207 | |
jdawkins | 0:f8fd381a5b8a | 208 | |
lddevrie | 2:0c9c3c1f3b18 | 209 | if(newpacket) { // if xbee port receives a complete message, parse it |
jdawkins | 0:f8fd381a5b8a | 210 | char buf[MAX_MESSAGE_SIZE]; |
lddevrie | 2:0c9c3c1f3b18 | 211 | |
lddevrie | 2:0c9c3c1f3b18 | 212 | // reads from modserial port buffer, stores characters into string "buf" |
lddevrie | 2:0c9c3c1f3b18 | 213 | int i = 0; |
lddevrie | 2:0c9c3c1f3b18 | 214 | if(xbee.rxBufferGetCount()>0) { |
lddevrie | 2:0c9c3c1f3b18 | 215 | char c = xbee.getc(); |
lddevrie | 2:0c9c3c1f3b18 | 216 | //pc.printf("%s",c); |
lddevrie | 2:0c9c3c1f3b18 | 217 | if(c=='$') { |
lddevrie | 2:0c9c3c1f3b18 | 218 | buf[i] = c; |
lddevrie | 2:0c9c3c1f3b18 | 219 | i++; |
lddevrie | 2:0c9c3c1f3b18 | 220 | while(1) { |
lddevrie | 2:0c9c3c1f3b18 | 221 | buf[i] = xbee.getc(); |
lddevrie | 2:0c9c3c1f3b18 | 222 | if(buf[i]=='\n') { |
lddevrie | 2:0c9c3c1f3b18 | 223 | break; |
lddevrie | 2:0c9c3c1f3b18 | 224 | } |
lddevrie | 2:0c9c3c1f3b18 | 225 | i++; |
lddevrie | 2:0c9c3c1f3b18 | 226 | } |
lddevrie | 2:0c9c3c1f3b18 | 227 | } |
lddevrie | 2:0c9c3c1f3b18 | 228 | } |
lddevrie | 2:0c9c3c1f3b18 | 229 | xbee.rxBufferFlush();// empty receive buffer |
lddevrie | 2:0c9c3c1f3b18 | 230 | pc.printf("%s",buf); |
lddevrie | 2:0c9c3c1f3b18 | 231 | parseMessage(buf); |
lddevrie | 2:0c9c3c1f3b18 | 232 | newpacket = false; |
lddevrie | 2:0c9c3c1f3b18 | 233 | } // end if(newpacket) |
jdawkins | 0:f8fd381a5b8a | 234 | |
jdawkins | 0:f8fd381a5b8a | 235 | |
jdawkins | 0:f8fd381a5b8a | 236 | if(!rc_conn) { // Is System Armed |
lddevrie | 2:0c9c3c1f3b18 | 237 | // printf("auto control: %d, clock %f\r\n",auto_ctrl, t.read()-auto_clock); |
jdawkins | 0:f8fd381a5b8a | 238 | if(auto_ctrl) { |
lddevrie | 2:0c9c3c1f3b18 | 239 | |
lddevrie | 2:0c9c3c1f3b18 | 240 | switch (cmd_mode) { |
jdawkins | 0:f8fd381a5b8a | 241 | case DIRECT_MODE: { |
jdawkins | 0:f8fd381a5b8a | 242 | str = str_cmd; |
jdawkins | 0:f8fd381a5b8a | 243 | thr = thr_cmd; |
lddevrie | 2:0c9c3c1f3b18 | 244 | // pc.printf("Psi Err: %.3f Spd Err %.3f, Str Cmd %.3f Thr_cmd %.3f\r\n",psi_err,spd_err,str,thr); |
lddevrie | 2:0c9c3c1f3b18 | 245 | // xbee.printf("Psi Err: %.3f Spd Err %.3f, Str Cmd %.3f Thr_cmd %.3f\r\n",psi_err,spd_err,str,thr); |
jdawkins | 0:f8fd381a5b8a | 246 | break; |
lddevrie | 2:0c9c3c1f3b18 | 247 | } // end direct mode case |
jdawkins | 0:f8fd381a5b8a | 248 | case COURSE_MODE: { |
lddevrie | 2:0c9c3c1f3b18 | 249 | |
jdawkins | 0:f8fd381a5b8a | 250 | psi_err = wrapToPi(des_psi-imu.euler.yaw); |
jdawkins | 0:f8fd381a5b8a | 251 | spd_err = des_spd - ekf.getSpd(); |
jdawkins | 0:f8fd381a5b8a | 252 | spd_err_i += spd_err; |
lddevrie | 3:9b6db94aa2b3 | 253 | str = -Kp_psi*psi_err/ekf.getSpd(); |
lddevrie | 2:0c9c3c1f3b18 | 254 | |
lddevrie | 2:0c9c3c1f3b18 | 255 | thr = Kp_spd*spd_err + Ki_spd*spd_err_i/LOOP_RATE; |
lddevrie | 2:0c9c3c1f3b18 | 256 | |
lddevrie | 2:0c9c3c1f3b18 | 257 | if (thr >= 1.0) { |
jdawkins | 0:f8fd381a5b8a | 258 | thr = 1.0; |
jdawkins | 0:f8fd381a5b8a | 259 | spd_err_i = 0; // Reset Integral If Saturated |
lddevrie | 2:0c9c3c1f3b18 | 260 | } // end if thr>=1.0 |
lddevrie | 2:0c9c3c1f3b18 | 261 | if (thr < 0) { |
jdawkins | 0:f8fd381a5b8a | 262 | thr = 0; |
lddevrie | 2:0c9c3c1f3b18 | 263 | spd_err_i = 0; // Reset Integral If Saturated |
lddevrie | 2:0c9c3c1f3b18 | 264 | } // end iff thr<0 |
jdawkins | 0:f8fd381a5b8a | 265 | |
lddevrie | 2:0c9c3c1f3b18 | 266 | //pc.printf("Psi Err: %.3f Spd Err %.3f, Str Cmd %.3f Thr_cmd %.3f\r\n",psi_err,spd_err,str,thr); |
lddevrie | 2:0c9c3c1f3b18 | 267 | //xbee.printf("Psi Err: %.3f Spd Err %.3f, Str Cmd %.3f Thr_cmd %.3f\r\n",psi_err,spd_err,str,thr); |
jdawkins | 0:f8fd381a5b8a | 268 | break; |
jdawkins | 0:f8fd381a5b8a | 269 | |
lddevrie | 2:0c9c3c1f3b18 | 270 | } // end COURSE_MODE case |
lddevrie | 2:0c9c3c1f3b18 | 271 | default: { |
jdawkins | 0:f8fd381a5b8a | 272 | break; |
lddevrie | 2:0c9c3c1f3b18 | 273 | } // end default status in switch |
lddevrie | 2:0c9c3c1f3b18 | 274 | |
lddevrie | 2:0c9c3c1f3b18 | 275 | } // end switch(cmd_mode) |
jdawkins | 0:f8fd381a5b8a | 276 | Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse |
jdawkins | 0:f8fd381a5b8a | 277 | Throttle.write((int)((thr*500.0)+1500.0)); //Write Throttle Pulse |
lddevrie | 2:0c9c3c1f3b18 | 278 | |
lddevrie | 2:0c9c3c1f3b18 | 279 | } else { // goes with if auto_ctrl |
lddevrie | 2:0c9c3c1f3b18 | 280 | |
jdawkins | 0:f8fd381a5b8a | 281 | Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse |
jdawkins | 0:f8fd381a5b8a | 282 | Throttle.write(1500); //Write Throttle Pulse |
jdawkins | 0:f8fd381a5b8a | 283 | |
lddevrie | 2:0c9c3c1f3b18 | 284 | } // end else |
lddevrie | 2:0c9c3c1f3b18 | 285 | |
lddevrie | 2:0c9c3c1f3b18 | 286 | } else { // goes with if !rc_conn |
jdawkins | 0:f8fd381a5b8a | 287 | auto_ctrl = false; |
jdawkins | 0:f8fd381a5b8a | 288 | armed_LED = 0; //Turn off armed LED indicator |
jdawkins | 0:f8fd381a5b8a | 289 | str = ((CH1.servoPulse-1500.0)/500.0); // Convert Pulse to Normalized Command +/- 1 |
jdawkins | 0:f8fd381a5b8a | 290 | thr = ((CH2.servoPulse-1500.0)/500.0); // Convert Pulse to Normalized Command +/- 1 |
jdawkins | 0:f8fd381a5b8a | 291 | Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse |
jdawkins | 0:f8fd381a5b8a | 292 | Throttle.write((int)((thr*500.0)+1500.0)); //Write Throttle Pulse |
lddevrie | 2:0c9c3c1f3b18 | 293 | |
jdawkins | 0:f8fd381a5b8a | 294 | }/// end else armed |
jdawkins | 0:f8fd381a5b8a | 295 | |
jdawkins | 0:f8fd381a5b8a | 296 | imu.get_angles(); |
jdawkins | 0:f8fd381a5b8a | 297 | imu.get_accel(); |
jdawkins | 0:f8fd381a5b8a | 298 | imu.get_gyro(); |
jdawkins | 0:f8fd381a5b8a | 299 | imu.get_lia(); |
jdawkins | 0:f8fd381a5b8a | 300 | float dt = t.read()-t_imu; |
jdawkins | 0:f8fd381a5b8a | 301 | if(dt > (1/IMU_RATE)) { |
jdawkins | 0:f8fd381a5b8a | 302 | |
jdawkins | 0:f8fd381a5b8a | 303 | float tic = t.read(); |
jdawkins | 0:f8fd381a5b8a | 304 | ekf.setRot(wrapToPi(imu.euler.yaw),imu.euler.pitch,imu.euler.roll); |
jdawkins | 0:f8fd381a5b8a | 305 | ekf.timeUpdate(imu.lia.x,imu.lia.y,imu.lia.z,dt); |
jdawkins | 0:f8fd381a5b8a | 306 | |
jdawkins | 0:f8fd381a5b8a | 307 | xbee.printf("$EKF,%.2f,%.2f,%.2f,%.2f\r\n",ekf.getPosNorth(),ekf.getPosEast(),ekf.getVelNorth(),ekf.getVelEast()); |
jdawkins | 0:f8fd381a5b8a | 308 | xbee.printf("$IMU,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",imu.lia.x,imu.lia.y,imu.lia.z,imu.gyro.x,imu.gyro.y,imu.gyro.z,imu.euler.roll,imu.euler.pitch,wrapToPi(imu.euler.yaw)); |
jdawkins | 0:f8fd381a5b8a | 309 | |
jdawkins | 0:f8fd381a5b8a | 310 | t_imu = t.read(); |
jdawkins | 0:f8fd381a5b8a | 311 | } |
jdawkins | 0:f8fd381a5b8a | 312 | |
jdawkins | 0:f8fd381a5b8a | 313 | if(t.read()-t_gps >(1/GPS_RATE)) { |
lddevrie | 2:0c9c3c1f3b18 | 314 | //printf("Kp_psi: %.2f Kp_spd: %.2f Ki_spd: %.2f\r\n", Kp_psi,Kp_spd,Ki_spd); |
lddevrie | 2:0c9c3c1f3b18 | 315 | |
jdawkins | 0:f8fd381a5b8a | 316 | |
jdawkins | 0:f8fd381a5b8a | 317 | float tic2 = t.read(); |
jdawkins | 0:f8fd381a5b8a | 318 | ekf.measUpdate(gps.pos_north,gps.pos_east,gps.vel_north,gps.vel_east); |
lddevrie | 2:0c9c3c1f3b18 | 319 | // xbee.printf("$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); |
lddevrie | 2:0c9c3c1f3b18 | 320 | // xbee.printf("$STA,%d,%d,%d,%d\r\n",); |
jdawkins | 0:f8fd381a5b8a | 321 | |
jdawkins | 0:f8fd381a5b8a | 322 | t_gps = t.read(); |
lddevrie | 2:0c9c3c1f3b18 | 323 | |
jdawkins | 0:f8fd381a5b8a | 324 | } |
jdawkins | 0:f8fd381a5b8a | 325 | wait(1/LOOP_RATE); |
lddevrie | 2:0c9c3c1f3b18 | 326 | // status_LED=!status_LED; |
lddevrie | 2:0c9c3c1f3b18 | 327 | auto_ctrl_old = auto_ctrl; |
jdawkins | 0:f8fd381a5b8a | 328 | } |
jdawkins | 0:f8fd381a5b8a | 329 | |
jdawkins | 0:f8fd381a5b8a | 330 | } |
jdawkins | 0:f8fd381a5b8a | 331 | |
lddevrie | 2:0c9c3c1f3b18 | 332 | void parseMessage(char * msg) |
lddevrie | 2:0c9c3c1f3b18 | 333 | { |
jdawkins | 0:f8fd381a5b8a | 334 | |
lddevrie | 2:0c9c3c1f3b18 | 335 | if(!strncmp(msg, "$CMD", 4)) { |
jdawkins | 0:f8fd381a5b8a | 336 | int arg1; |
jdawkins | 0:f8fd381a5b8a | 337 | float arg2,arg3; |
jdawkins | 0:f8fd381a5b8a | 338 | |
jdawkins | 0:f8fd381a5b8a | 339 | sscanf(msg,"$CMD,%d,%f,%f\n",&arg1,&arg2,&arg3); |
jdawkins | 0:f8fd381a5b8a | 340 | cmd_mode = arg1; |
jdawkins | 0:f8fd381a5b8a | 341 | auto_clock = t.read(); |
lddevrie | 2:0c9c3c1f3b18 | 342 | switch (cmd_mode) { |
jdawkins | 0:f8fd381a5b8a | 343 | case DIRECT_MODE: { |
jdawkins | 0:f8fd381a5b8a | 344 | auto_ctrl = true; |
jdawkins | 0:f8fd381a5b8a | 345 | str_cmd = arg2; |
jdawkins | 0:f8fd381a5b8a | 346 | thr_cmd = arg3; |
jdawkins | 0:f8fd381a5b8a | 347 | } |
jdawkins | 0:f8fd381a5b8a | 348 | case COURSE_MODE: { |
jdawkins | 0:f8fd381a5b8a | 349 | auto_ctrl = true; |
jdawkins | 0:f8fd381a5b8a | 350 | des_psi = arg2; |
jdawkins | 0:f8fd381a5b8a | 351 | des_spd = arg3; |
jdawkins | 0:f8fd381a5b8a | 352 | } |
lddevrie | 2:0c9c3c1f3b18 | 353 | default: { |
lddevrie | 2:0c9c3c1f3b18 | 354 | } |
jdawkins | 0:f8fd381a5b8a | 355 | } |
jdawkins | 0:f8fd381a5b8a | 356 | } //emd of $CMD |
lddevrie | 2:0c9c3c1f3b18 | 357 | |
lddevrie | 2:0c9c3c1f3b18 | 358 | if(!strncmp(msg, "$PRM", 4)) { |
jdawkins | 0:f8fd381a5b8a | 359 | float arg1,arg2,arg3; |
jdawkins | 0:f8fd381a5b8a | 360 | int type; |
lddevrie | 2:0c9c3c1f3b18 | 361 | // __disable_irq(); // disable interrupts |
jdawkins | 0:f8fd381a5b8a | 362 | sscanf(msg,"$PRM,%d,%f,%f,%f",&type,&arg1,&arg2,&arg3); |
lddevrie | 2:0c9c3c1f3b18 | 363 | // __enable_irq(); // enable interrupts |
lddevrie | 2:0c9c3c1f3b18 | 364 | |
lddevrie | 2:0c9c3c1f3b18 | 365 | switch(type) { |
lddevrie | 2:0c9c3c1f3b18 | 366 | case 1: { // sets PID gains on heading and speed controller |
lddevrie | 2:0c9c3c1f3b18 | 367 | //pc.printf("%s\n",msg); |
jdawkins | 0:f8fd381a5b8a | 368 | Kp_psi = arg1; |
jdawkins | 0:f8fd381a5b8a | 369 | Kp_spd = arg2; |
lddevrie | 2:0c9c3c1f3b18 | 370 | Ki_spd = arg3; |
lddevrie | 2:0c9c3c1f3b18 | 371 | |
lddevrie | 2:0c9c3c1f3b18 | 372 | pc.printf("Params Received: %f %f %f\n",arg1,arg2,arg3); |
lddevrie | 2:0c9c3c1f3b18 | 373 | //xbee.printf("Params Recieved: %f %f %f\r\n",arg1,arg2,arg3); |
jdawkins | 0:f8fd381a5b8a | 374 | break; |
jdawkins | 0:f8fd381a5b8a | 375 | } |
lddevrie | 2:0c9c3c1f3b18 | 376 | case 2: { // sets origin of local reference frame |
lddevrie | 2:0c9c3c1f3b18 | 377 | |
lddevrie | 2:0c9c3c1f3b18 | 378 | //pc.printf("%s\n",msg); |
jdawkins | 0:f8fd381a5b8a | 379 | |
jdawkins | 0:f8fd381a5b8a | 380 | float ref_lat = arg1; |
jdawkins | 0:f8fd381a5b8a | 381 | float ref_lon = arg2; |
jdawkins | 0:f8fd381a5b8a | 382 | float ref_alt = arg3; |
lddevrie | 2:0c9c3c1f3b18 | 383 | gps.setRefPoint(ref_lat,ref_lon,ref_alt); |
lddevrie | 2:0c9c3c1f3b18 | 384 | |
lddevrie | 2:0c9c3c1f3b18 | 385 | pc.printf("Params Received: %f %f %f\n",arg1,arg2,arg3); |
lddevrie | 2:0c9c3c1f3b18 | 386 | //xbee.printf("Params Recieved: %f %f %f\r\n",arg1,arg2,arg3); |
lddevrie | 2:0c9c3c1f3b18 | 387 | |
jdawkins | 0:f8fd381a5b8a | 388 | break; |
lddevrie | 2:0c9c3c1f3b18 | 389 | } |
lddevrie | 2:0c9c3c1f3b18 | 390 | default: { |
lddevrie | 2:0c9c3c1f3b18 | 391 | } |
lddevrie | 2:0c9c3c1f3b18 | 392 | |
jdawkins | 0:f8fd381a5b8a | 393 | } |
jdawkins | 0:f8fd381a5b8a | 394 | |
lddevrie | 2:0c9c3c1f3b18 | 395 | } // end of $PRM |
lddevrie | 2:0c9c3c1f3b18 | 396 | |
lddevrie | 2:0c9c3c1f3b18 | 397 | if(!strncmp(msg, "$LED", 4)) { |
jdawkins | 0:f8fd381a5b8a | 398 | int arg1; |
jdawkins | 0:f8fd381a5b8a | 399 | float arg2; |
jdawkins | 0:f8fd381a5b8a | 400 | sscanf(msg,"$LED,%x,%f",&arg1,&arg2); |
lddevrie | 2:0c9c3c1f3b18 | 401 | //pc.printf("%s\n",msg); |
lddevrie | 2:0c9c3c1f3b18 | 402 | int colors[4]= {arg1,arg1,arg1,arg1}; |
jdawkins | 0:f8fd381a5b8a | 403 | float brightness = arg2; |
lddevrie | 2:0c9c3c1f3b18 | 404 | setLED(colors,brightness); |
jdawkins | 0:f8fd381a5b8a | 405 | } |
jdawkins | 0:f8fd381a5b8a | 406 | |
jdawkins | 0:f8fd381a5b8a | 407 | |
lddevrie | 2:0c9c3c1f3b18 | 408 | |
jdawkins | 0:f8fd381a5b8a | 409 | |
jdawkins | 0:f8fd381a5b8a | 410 | } |
lddevrie | 2:0c9c3c1f3b18 | 411 | void setLED(int *colors,float brightness) |
lddevrie | 2:0c9c3c1f3b18 | 412 | { |
lddevrie | 2:0c9c3c1f3b18 | 413 | |
lddevrie | 2:0c9c3c1f3b18 | 414 | leds.setBrightness(brightness); |
lddevrie | 2:0c9c3c1f3b18 | 415 | |
lddevrie | 2:0c9c3c1f3b18 | 416 | int cidx = 0; |
lddevrie | 2:0c9c3c1f3b18 | 417 | int ctr = 0; |
lddevrie | 2:0c9c3c1f3b18 | 418 | for (int i=0; i<LED_PER_CLUSTER*LED_CLUSTERS; i++) { |
jdawkins | 0:f8fd381a5b8a | 419 | |
lddevrie | 2:0c9c3c1f3b18 | 420 | if(ctr >11) { |
lddevrie | 2:0c9c3c1f3b18 | 421 | ctr = 0; |
lddevrie | 2:0c9c3c1f3b18 | 422 | cidx++; |
jdawkins | 0:f8fd381a5b8a | 423 | } |
lddevrie | 2:0c9c3c1f3b18 | 424 | leds.setPixel(i,colors[cidx]); |
lddevrie | 2:0c9c3c1f3b18 | 425 | ctr++; |
lddevrie | 2:0c9c3c1f3b18 | 426 | } |
lddevrie | 2:0c9c3c1f3b18 | 427 | leds.write(); |
jdawkins | 0:f8fd381a5b8a | 428 | } |
jdawkins | 0:f8fd381a5b8a | 429 | float saturateCmd(float cmd) |
jdawkins | 0:f8fd381a5b8a | 430 | { |
jdawkins | 0:f8fd381a5b8a | 431 | if(cmd>1.0) { |
jdawkins | 0:f8fd381a5b8a | 432 | cmd = 1.0; |
jdawkins | 0:f8fd381a5b8a | 433 | } |
jdawkins | 0:f8fd381a5b8a | 434 | if(cmd < -1.0) { |
jdawkins | 0:f8fd381a5b8a | 435 | cmd = -1.0; |
jdawkins | 0:f8fd381a5b8a | 436 | } |
jdawkins | 0:f8fd381a5b8a | 437 | return cmd; |
jdawkins | 0:f8fd381a5b8a | 438 | } |
jdawkins | 0:f8fd381a5b8a | 439 | float saturateCmd(float cmd, float max,float min) |
jdawkins | 0:f8fd381a5b8a | 440 | { |
jdawkins | 0:f8fd381a5b8a | 441 | if(cmd>max) { |
jdawkins | 0:f8fd381a5b8a | 442 | cmd = max; |
jdawkins | 0:f8fd381a5b8a | 443 | } |
jdawkins | 0:f8fd381a5b8a | 444 | if(cmd < min) { |
jdawkins | 0:f8fd381a5b8a | 445 | cmd = min; |
jdawkins | 0:f8fd381a5b8a | 446 | } |
jdawkins | 0:f8fd381a5b8a | 447 | return cmd; |
jdawkins | 0:f8fd381a5b8a | 448 | } |
jdawkins | 0:f8fd381a5b8a | 449 | |
jdawkins | 0:f8fd381a5b8a | 450 | float wrapToPi(float ang) |
jdawkins | 0:f8fd381a5b8a | 451 | { |
jdawkins | 0:f8fd381a5b8a | 452 | |
jdawkins | 0:f8fd381a5b8a | 453 | if(ang > PI) { |
jdawkins | 0:f8fd381a5b8a | 454 | |
jdawkins | 0:f8fd381a5b8a | 455 | ang = ang - 2*PI; |
jdawkins | 0:f8fd381a5b8a | 456 | } |
jdawkins | 0:f8fd381a5b8a | 457 | if (ang < -PI) { |
jdawkins | 0:f8fd381a5b8a | 458 | ang = ang + 2*PI; |
jdawkins | 0:f8fd381a5b8a | 459 | } |
jdawkins | 0:f8fd381a5b8a | 460 | |
jdawkins | 0:f8fd381a5b8a | 461 | return ang; |
lddevrie | 2:0c9c3c1f3b18 | 462 | } |