Erik van de Coevering / Mbed 2 deprecated Multicopter_2018

Latest version of my quadcopter controller with an LPC1768 and MPU9250.

Dependencies:   mbed

Currently running on a custom PCB with 30.5 x 30.5mm mounts. There are also 2 PC apps that go with the software; one to set up the PID controller and one to balance the motors and props. If anyone is interested, send me a message and I'll upload them.

ClockControl/ClockControl.cpp@8:981f7e2365b6, 2018-07-31 (annotated)

Committer:
Anaesthetix
Date:
Tue Jul 31 20:36:57 2018 +0000
Revision:
8:981f7e2365b6
Parent:
0:0929d3d566cf 
Switched from Madgwick to Mahony as I'm having trouble with slow oscillations caused by the madgwick filter. Fixed an error on the PID algorithm also.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:0929d3d566cf 1 #include "ClockControl.h"
Anaesthetix 0:0929d3d566cf 2
Anaesthetix 0:0929d3d566cf 3 void setPLL0Frequency(unsigned char clkSrc, unsigned short M, unsigned char N)
Anaesthetix 0:0929d3d566cf 4 {
Anaesthetix 0:0929d3d566cf 5 LPC_SC->CLKSRCSEL = clkSrc;
Anaesthetix 0:0929d3d566cf 6 LPC_SC->PLL0CFG = (((unsigned int)N-1) << 16) | M-1;
Anaesthetix 0:0929d3d566cf 7 LPC_SC->PLL0CON = 0x01;
Anaesthetix 0:0929d3d566cf 8 LPC_SC->PLL0FEED = 0xAA;
Anaesthetix 0:0929d3d566cf 9 LPC_SC->PLL0FEED = 0x55;
Anaesthetix 0:0929d3d566cf 10 while (!(LPC_SC->PLL0STAT & (1<<26)));
Anaesthetix 0:0929d3d566cf 11
Anaesthetix 0:0929d3d566cf 12 LPC_SC->PLL0CON = 0x03;
Anaesthetix 0:0929d3d566cf 13 LPC_SC->PLL0FEED = 0xAA;
Anaesthetix 0:0929d3d566cf 14 LPC_SC->PLL0FEED = 0x55;
Anaesthetix 0:0929d3d566cf 15 }
Anaesthetix 0:0929d3d566cf 16
Anaesthetix 0:0929d3d566cf 17 void setPLL1Frequency(unsigned char clkSrc, unsigned short M, unsigned char N)
Anaesthetix 0:0929d3d566cf 18 {
Anaesthetix 0:0929d3d566cf 19 LPC_SC->CLKSRCSEL = clkSrc;
Anaesthetix 0:0929d3d566cf 20 LPC_SC->PLL1CFG = (((unsigned int)N-1) << 16) | M-1;
Anaesthetix 0:0929d3d566cf 21 LPC_SC->PLL1CON = 0x01;
Anaesthetix 0:0929d3d566cf 22 LPC_SC->PLL1FEED = 0xAA;
Anaesthetix 0:0929d3d566cf 23 LPC_SC->PLL1FEED = 0x55;
Anaesthetix 0:0929d3d566cf 24 while (!(LPC_SC->PLL1STAT & (1<<26)));
Anaesthetix 0:0929d3d566cf 25
Anaesthetix 0:0929d3d566cf 26 LPC_SC->PLL1CON = 0x03;
Anaesthetix 0:0929d3d566cf 27 LPC_SC->PLL1FEED = 0xAA;
Anaesthetix 0:0929d3d566cf 28 LPC_SC->PLL1FEED = 0x55;
Anaesthetix 0:0929d3d566cf 29 }
Anaesthetix 0:0929d3d566cf 30
Anaesthetix 0:0929d3d566cf 31 unsigned int setSystemFrequency(unsigned char clkDivider, unsigned char clkSrc, unsigned short M, unsigned char N)
Anaesthetix 0:0929d3d566cf 32 {
Anaesthetix 0:0929d3d566cf 33 setPLL0Frequency(clkSrc, M, N);
Anaesthetix 0:0929d3d566cf 34 LPC_SC->CCLKCFG = clkDivider - 1;
Anaesthetix 0:0929d3d566cf 35 SystemCoreClockUpdate();
Anaesthetix 0:0929d3d566cf 36 return SystemCoreClock;
Anaesthetix 0:0929d3d566cf 37 }
Anaesthetix 0:0929d3d566cf 38