Mateusz Kaduk / Mbed 2 deprecated frdm-copter

FRDM-Copter is an attempt to build firmware for mbed based multicopter running on FRDM boards from Freescale.

Dependencies:   FXAS21000 FXOS8700Q PID mbed-dsp mbed-rtos mbed

FRDM-Copter

Hardware

So far the following boards are used:

In addition I am planning on using:

Implementation

I decided to use mbed platform as it allows easy CMSIS-DAP debugging and firmware can be easily ported to other mbed enabled devices in future.

Phase 1

Sensor fusion will be implemented and estimated orientation plotted over blue-tooth in the Android application.

Phase 2

PID controller will be used to maintain orientation and control the motors using PWM channels, tuning will be possible in the Android application.

Phase 3

Controll will be implemented with CR20A 2.4Ghz module for use with Frsky Taranis.

Phase 4

All schematics will be transferred to KiCad on a single board.

main.cpp@0:ec519775ae6f, 2015-07-08 (annotated)

Committer:
Mashu
Date:
Wed Jul 08 13:35:50 2015 +0000
Revision:
0:ec519775ae6f
Child:
2:05aaa453fbac
Updated frdm-copter with tested sensors including gyro sampling at 50Hz.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Mashu 0:ec519775ae6f 1 #include "mbed.h"
Mashu 0:ec519775ae6f 2 #include "rtos.h"
Mashu 0:ec519775ae6f 3 #include "MotionSensor.h"
Mashu 0:ec519775ae6f 4 #include "FXAS21000.h"
Mashu 0:ec519775ae6f 5 #include "FXOS8700Q.h"
Mashu 0:ec519775ae6f 6
Mashu 0:ec519775ae6f 7 #include <BLE.h>
Mashu 0:ec519775ae6f 8 #include <BLEInstanceBase.h>
Mashu 0:ec519775ae6f 9 #include "UARTService.h"
Mashu 0:ec519775ae6f 10
Mashu 0:ec519775ae6f 11 Serial pc(USBTX, USBRX);
Mashu 0:ec519775ae6f 12 I2C i2c(PTE25, PTE24);
Mashu 0:ec519775ae6f 13 I2C i2c_gyro(A4, A5);
Mashu 0:ec519775ae6f 14
Mashu 0:ec519775ae6f 15 FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1); // Configured for the FRDM-K64F with onboard sensors
Mashu 0:ec519775ae6f 16 FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
Mashu 0:ec519775ae6f 17 FXAS21000Gyroscpe gyro(i2c_gyro, FXAS21000_SLAVE_ADDR);
Mashu 0:ec519775ae6f 18
Mashu 0:ec519775ae6f 19 BLEDevice ble;
Mashu 0:ec519775ae6f 20 UARTService *uart;
Mashu 0:ec519775ae6f 21
Mashu 0:ec519775ae6f 22 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
Mashu 0:ec519775ae6f 23 {
Mashu 0:ec519775ae6f 24 ble.startAdvertising();
Mashu 0:ec519775ae6f 25 }
Mashu 0:ec519775ae6f 26
Mashu 0:ec519775ae6f 27 void periodicCallback(void)
Mashu 0:ec519775ae6f 28 {
Mashu 0:ec519775ae6f 29 }
Mashu 0:ec519775ae6f 30
Mashu 0:ec519775ae6f 31 int main(void)
Mashu 0:ec519775ae6f 32 {
Mashu 0:ec519775ae6f 33 motion_data_units_t acc_data, mag_data, gyro_data;
Mashu 0:ec519775ae6f 34
Mashu 0:ec519775ae6f 35 acc.enable();
Mashu 0:ec519775ae6f 36 mag.enable();
Mashu 0:ec519775ae6f 37 gyro.enable();
Mashu 0:ec519775ae6f 38 //printf("FXOS8700QAccelerometer Who Am I= %X\r\n", acc.whoAmI());
Mashu 0:ec519775ae6f 39 //printf("FXOS8700QMagnetometer Who Am I= %X\r\n", acc.whoAmI());
Mashu 0:ec519775ae6f 40 //printf("FXAS21000Gyroscope Who am I= %X\r\n", gyro.whoAmI());
Mashu 0:ec519775ae6f 41
Mashu 0:ec519775ae6f 42 Ticker ticker;
Mashu 0:ec519775ae6f 43 ticker.attach(periodicCallback, 1);
Mashu 0:ec519775ae6f 44
Mashu 0:ec519775ae6f 45 ble.init();
Mashu 0:ec519775ae6f 46 ble.onDisconnection(disconnectionCallback);
Mashu 0:ec519775ae6f 47
Mashu 0:ec519775ae6f 48 uart = new UARTService(ble);
Mashu 0:ec519775ae6f 49
Mashu 0:ec519775ae6f 50 /* setup advertising */
Mashu 0:ec519775ae6f 51 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
Mashu 0:ec519775ae6f 52 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
Mashu 0:ec519775ae6f 53 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
Mashu 0:ec519775ae6f 54 (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
Mashu 0:ec519775ae6f 55 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
Mashu 0:ec519775ae6f 56 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
Mashu 0:ec519775ae6f 57
Mashu 0:ec519775ae6f 58 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
Mashu 0:ec519775ae6f 59 ble.startAdvertising();
Mashu 0:ec519775ae6f 60
Mashu 0:ec519775ae6f 61 while (true) {
Mashu 0:ec519775ae6f 62 // unit based results
Mashu 0:ec519775ae6f 63 acc.getAxis(acc_data);
Mashu 0:ec519775ae6f 64 mag.getAxis(mag_data);
Mashu 0:ec519775ae6f 65 gyro.getAxis(gyro_data);
Mashu 0:ec519775ae6f 66 /*
Mashu 0:ec519775ae6f 67 printf("%1.4f,%1.4f,%1.4f,%4.1f,%4.1f,%4.1f,%1.4f,%1.4f,%1.4f\r\n", acc_data.x, acc_data.y, acc_data.z, mag_data.x, mag_data.y, mag_data.z,
Mashu 0:ec519775ae6f 68 gyro_data.x, gyro_data.y, gyro_data.z);
Mashu 0:ec519775ae6f 69 */
Mashu 0:ec519775ae6f 70
Mashu 0:ec519775ae6f 71 printf("%1.4f,%1.4f,%1.4f\r\n", gyro_data.x, gyro_data.y, gyro_data.z);
Mashu 0:ec519775ae6f 72 ble.waitForEvent();
Mashu 0:ec519775ae6f 73 }
Mashu 0:ec519775ae6f 74 }