Diff: main.cpp

Revision:

0:0929d3d566cf

Child:

1:53628713ede9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jul 09 16:31:40 2018 +0000
@@ -0,0 +1,345 @@
+#include "mbed.h"
+#include "MadgwickAHRS.h"
+#include "MAfilter.h"
+#include "MPU9250_SPI.h"
+#include "calccomp.h"
+#include "SerialBuffered.h"
+#include "IAP.h"
+#include "LPfilter.h"
+
+
+#define     MEM_SIZE        256
+#define     TARGET_SECTOR    29     //  use sector 29 as target sector
+
+DigitalOut led2(LED2);					// leds are active low
+DigitalOut ch_sw(p26);
+
+Serial pc(USBTX, USBRX);
+SerialBuffered *pc1 = new SerialBuffered( 100, USBTX, USBRX);
+
+SPI spi(p11, p12, p13);
+mpu9250_spi mpu9250(spi, p14);
+
+Madgwick filter;
+
+Timer timer;
+Timer tijd;
+Timer t;
+Timer print;
+
+MAfilter10 maGX, maGY, maGZ;
+LPfilter2 lp1, lp2, lp3;
+LPfilter2_1 test;
+
+IAP iap;
+
+InterruptIn rx_rud(p5);
+InterruptIn rx_elev(p6);
+InterruptIn rx_thr(p7);
+InterruptIn rx_ail(p8);
+InterruptIn rx_p1(p29);
+InterruptIn rx_p2(p30);
+
+PwmOut motor4(p24);
+PwmOut motor3(p23);
+PwmOut motor1(p22);
+PwmOut motor2(p21);
+
+float Kp = 1.05f;
+float Ki = 0;
+float Kd = 0.45;
+
+Timer trx0, trx1, trx2, trx3, trx4, trx5;
+int rx_data[6] = {0};
+bool rxd = false;
+
+char mcommand;
+
+void rx0() {
+	trx0.start();
+}
+
+void rx1() {
+	trx1.start();
+	trx0.stop();
+	if(trx0.read_us() > 900 && trx0.read_us() < 2200) rx_data[0] = trx0.read_us();
+	trx0.reset();
+}
+
+void rx2() {
+	trx2.start();
+	trx1.stop();
+	if(trx1.read_us() > 900 && trx1.read_us() < 2200) rx_data[1] = trx1.read_us();
+	trx1.reset();
+}
+
+void rx3() {
+	trx3.start();
+	trx2.stop();
+	if(trx2.read_us() > 900 && trx2.read_us() < 2200) rx_data[2] = trx2.read_us();
+	trx2.reset();
+}
+
+void rx4() {
+	trx4.start();
+	trx3.stop();
+	if(trx3.read_us() > 900 && trx3.read_us() < 2200) rx_data[3] = trx3.read_us();
+	trx3.reset();
+}
+
+void rx5() {
+	trx5.start();
+	trx4.stop();
+	if(trx4.read_us() > 900 && trx4.read_us() < 2200) rx_data[4] = trx4.read_us();
+	trx4.reset();
+}
+
+void rx6() {
+	trx5.stop();
+	if(trx5.read_us() > 900 && trx5.read_us() < 2200) rx_data[5] = trx5.read_us();
+	trx5.reset();
+	rxd = true;
+}
+
+
+int main()
+{
+	ch_sw = 1;
+	led1 = 1;
+	led2 = 0;
+	pc1->baud(230400);
+	pc1->setTimeout(1);
+	pc.baud(230400);
+	spi.frequency(4000000);
+	
+	
+	//IAP variables
+	char* addr = sector_start_adress[TARGET_SECTOR];
+	char  mem[ MEM_SIZE ];    //  memory, it should be aligned to word boundary
+	char 	PIDsetup = 0;
+	int		r;
+	int 	tempval;
+	
+	//IMU variables
+	float angles[6] = {0};
+  float time = 0;
+	float samplef = 0;
+	float gyrodata[3] = {0};
+	float acceldata[3] = {0};
+	float angles_temp[2] = {0};
+	float roll, pitch;
+	float tempcomp[6] = {0};
+	float temp = 0;
+	float temp2 = 0;
+	float temp3 = 0;
+	float lptest = 0;
+	bool exit = true;
+	float noise = 0;
+	int count = 0;
+		
+		    //Rx variables
+	int motor[4] = {0};
+		
+		// Init pwm
+	motor1.period_ms(10);
+    motor1.pulsewidth_us(1000);
+    motor2.pulsewidth_us(1000);
+    motor3.pulsewidth_us(1000);
+    motor4.pulsewidth_us(1000);
+	
+	filter.begin(1500);
+	
+	pc.putc('c');
+	PIDsetup = pc1->getc();
+	if(PIDsetup == 'c') {
+		while(1) {
+			PIDsetup = pc1->getc();
+			if(PIDsetup == 'R') {
+            for(int i=0; i<6; i++) {
+                pc1->putc(addr[i]);
+                wait_ms(1);
+            }
+        }
+
+        if(PIDsetup == 'W') {
+            for(int i=0; i<6; i++) {
+                mem[i] = pc1->getc();
+            }
+            iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
+            r   = iap.erase( TARGET_SECTOR, TARGET_SECTOR );
+            iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
+            r   = iap.write( mem, sector_start_adress[ TARGET_SECTOR ], MEM_SIZE );
+        }
+			}
+		}
+	
+	
+		if(PIDsetup == 'W') {
+			mpu9250.init2(1,BITS_DLPF_CFG_188HZ);
+			pc1->setTimeout(0.01);
+			
+			rx_rud.rise(&rx0);
+			rx_elev.rise(&rx1);
+			rx_thr.rise(&rx2);
+			rx_ail.rise(&rx3);
+			rx_p1.rise(&rx4);
+			rx_p2.rise(&rx5);
+			rx_p2.fall(&rx6);
+			mcommand = 'a';
+			
+			while(exit) {
+				wait_ms(1);
+				if(mcommand == '5') {
+					motor1.pulsewidth_us(rx_data[2] - 20);
+					motor2.pulsewidth_us(1000);
+					motor3.pulsewidth_us(1000);
+					motor4.pulsewidth_us(1000);
+				}
+				else if(mcommand == '6') {
+					motor1.pulsewidth_us(1000);
+					motor2.pulsewidth_us(rx_data[2] - 20);
+					motor3.pulsewidth_us(1000);
+					motor4.pulsewidth_us(1000);
+				}
+				else if(mcommand == '3') {
+					motor1.pulsewidth_us(1000);
+					motor2.pulsewidth_us(1000);
+					motor3.pulsewidth_us(rx_data[2] - 20);
+					motor4.pulsewidth_us(1000);
+				}
+				else if(mcommand == '4') {
+					motor1.pulsewidth_us(1000);
+					motor2.pulsewidth_us(1000);
+					motor3.pulsewidth_us(1000);
+					motor4.pulsewidth_us(rx_data[2] - 20);
+				}
+				if(mcommand == 'E') exit = 0;
+				
+				if(rxd) {
+					led2 = !led2;
+					rxd = false;
+				}
+				
+				mpu9250.read_all();
+				if(mpu9250.accelerometer_data[0] >= 0) noise = noise*0.99 + 0.01*mpu9250.accelerometer_data[0];
+				
+				if(count>100) {
+					count = 0;
+					pc.printf("%.2f\n", noise);
+					mcommand = pc1->getc();
+				}
+				count++;
+			}
+		}
+		
+	tempval = addr[0];
+    tempval = tempval + (addr[1] << 8);
+    Kp = ((float)tempval) / 100;
+	tempval = addr[2];
+    tempval = tempval + (addr[3] << 8);
+    Ki = ((float)tempval) / 100;
+	tempval = addr[4];
+    tempval = tempval + (addr[5] << 8);
+    Kd = ((float)tempval) / 100;
+		
+		mpu9250.init(1,BITS_DLPF_CFG_188HZ);
+		
+		pc.printf("%.2f		%.2f		%.2f\r\n", Kp, Ki, Kd);
+		
+		rx_rud.rise(&rx0);
+		rx_elev.rise(&rx1);
+		rx_thr.rise(&rx2);
+		rx_ail.rise(&rx3);
+		rx_p1.rise(&rx4);
+		rx_p2.rise(&rx5);
+		rx_p2.fall(&rx6);
+		
+		t.start();
+		
+    while(1) {
+				print.start();
+				t.stop();
+				time = (float)t.read();
+				t.reset();
+				t.start();
+				filter.invSampleFreq = time;
+				samplef = 1/time;
+			
+				mpu9250.read_all();
+				if(mpu9250.Temperature < 6.0f) temp = 6.0f;
+				else if(mpu9250.Temperature > 60.0f) temp = 60.0f;
+				else temp = mpu9250.Temperature;
+				temp2 = temp*temp;
+				temp3 = temp2*temp;
+				
+				// Temperature compensation
+				tempcomp[0] = -1.77e-6*temp2 + 0.000233*temp + 0.02179;
+				tempcomp[1] = 0.0005727*temp - 0.01488;
+				tempcomp[2] = -2.181e-7*temp3 + 1.754e-5*temp2 - 0.0004955*temp;
+				tempcomp[3] = -0.0002814*temp2 + 0.005545*temp - 3.018;
+				tempcomp[4] = -3.011e-5*temp3 + 0.002823*temp2 - 0.1073*temp + 3.618;
+				tempcomp[5] = 9.364e-5*temp2 + 0.009138*temp - 0.8939;
+			
+				// Low pass filters on accelerometer data (calculated with the help of Matlab's FDAtool)
+				acceldata[0] = lp1.run(mpu9250.accelerometer_data[0] - tempcomp[0]);
+				acceldata[1] = lp2.run(mpu9250.accelerometer_data[1] - tempcomp[1]);
+				acceldata[2] = lp3.run((mpu9250.accelerometer_data[2] - tempcomp[2])*-1);
+				
+				// 10-term moving average to remove some noise
+				gyrodata[0] = maGX.run((mpu9250.gyroscope_data[0] - tempcomp[3])*-1);
+				gyrodata[1] = maGY.run((mpu9250.gyroscope_data[1] - tempcomp[4])*-1);
+				gyrodata[2] = maGZ.run((mpu9250.gyroscope_data[2] - tempcomp[5])*-1);
+			
+				// Madgwick's quaternion algorithm
+				filter.updateIMU(gyrodata[0], gyrodata[1], gyrodata[2], acceldata[0],
+                                 acceldata[1], acceldata[2]);
+			
+				roll = filter.getRoll();
+				pitch = filter.getPitch();
+				
+				angles[3] = gyrodata[1];
+				angles[4] = gyrodata[0];
+				angles[5] = gyrodata[2];
+				
+				//Simple first order complementary filter -> TODO: CHECK STEP RESPONSE
+				angles[0] = 0.99f*(angles[0] + (gyrodata[1]*time)) + 0.01f*pitch;
+				angles[1] = 0.99f*(angles[1] + (gyrodata[0]*time)) + 0.01f*roll;
+
+				// If [VAR] is NaN use previous value
+				if(angles[0] != angles[0]) angles[0] = angles_temp[0];
+				if(angles[1] != angles[1]) angles[1] = angles_temp[1];
+				if(angles[0] == angles[0]) angles_temp[0] = angles[0];
+				if(angles[1] == angles[1]) angles_temp[1] = angles[1];
+				
+				tijd.stop();
+				tijd.reset();
+				tijd.start();
+				
+		/*		
+				if(print.read_ms() > 100) {
+					print.stop();
+					print.reset();
+					print.start();
+					//led2 = !led2;
+				//	pc.printf("X: %.2f		Y: %.2f		%.0f\r\n", angles[0], angles[1], samplef);
+					pc.printf("%.2f		%.0f\r\n", angles[1], samplef);
+				}
+				*/
+				pc.printf("%.2f		%.0f\r\n", angles[0], samplef);
+				if(rxd) {
+					led2 = !led2;
+					rxd = false;
+//					pc.printf("%d		%d		%d		%d\r\n", motor[0], motor[1], motor[2], motor[3]);
+				}
+				
+				if(rx_data[5] > 1650) ch_sw = 0;
+				else ch_sw = 1;
+				
+				calccomp(rx_data, angles, motor);
+				
+				motor1.pulsewidth_us(motor[0]);
+				motor2.pulsewidth_us(motor[1]);
+				motor3.pulsewidth_us(motor[2]);
+				motor4.pulsewidth_us(motor[3]);
+    }
+}