Diff: main.cpp

Revision:

5:0f4204941604

Parent:

4:fab65ad01ab4

Child:

6:033ad7377fee

--- a/main.cpp	Thu Jul 12 13:53:55 2018 +0000
+++ b/main.cpp	Fri Jul 13 14:27:30 2018 +0000
@@ -1,4 +1,4 @@
-// Coded by Erik van de Coevering 
+// Coded by Erik van de Coevering
 
 #include "mbed.h"
 #include "MadgwickAHRS.h"
@@ -57,291 +57,295 @@
 
 char mcommand;
 
-void rx0() {
-	trx0.start();
+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 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 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 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 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 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;
+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;
-	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);
+    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;
+    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
+        // Derived from datalogging gyro data over a wide temperature range and using the fitting tool in Matlab's plotter
+        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(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
-				// Derived from datalogging gyro data over a wide temperature range and using the fitting tool in Matlab's plotter
-				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(rx_data[5] > 1650) ch_sw = 0;
+        else ch_sw = 1;
+
+        calccomp(rx_data, angles, motor);
 
-				// 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]);
+        motor1.pulsewidth_us(motor[0]);
+        motor2.pulsewidth_us(motor[1]);
+        motor3.pulsewidth_us(motor[2]);
+        motor4.pulsewidth_us(motor[3]);
     }
 }