Control program for FzeroX controller via USBHID interface.
Dependencies: Radio USBDevice mbed
Fork of FzeroXcontroller by
Diff: main.cpp
- Revision:
- 1:ec00f549a691
- Parent:
- 0:9f6d029d0d52
- Child:
- 2:6c9d5fec13e3
diff -r 9f6d029d0d52 -r ec00f549a691 main.cpp --- a/main.cpp Thu Sep 25 19:40:31 2014 +0000 +++ b/main.cpp Sun Sep 28 20:11:23 2014 +0000 @@ -1,9 +1,254 @@ #include "mbed.h" +#include "MPU6050.h" +#include "USBJoystick.h" + +float sum = 0; +uint32_t sumCount = 0; + +MPU6050 mpu6050; +Timer t; +Serial pc(USBTX, USBRX); + +PwmOut thruster1(D2); +PwmOut thruster2(D3); +PwmOut vibMotor(D4); +PwmOut onboardRed(LED_RED); +PwmOut onboardGreen(LED_GREEN); +PwmOut onboardBlue(LED_BLUE); +DigitalIn boost(D5); +DigitalIn drift(D6); + +int boostCount = 0; + +//commented out so that we can read from serial for now +USBJoystick joystick; + +//input initializers for joystick +int16_t i = 0; +int16_t throttle = 0; +int16_t rudder = 0; +float joyX = 0; +float joyY = 0; +int32_t radius = 120; +int32_t angle = 0; +int8_t button = 0; +int8_t hat = 8; +float x, y; +float maxRoll = 45; +float maxPitch = 135; + + +float mapRoll(float IMUpitch, float maxRoll) { + + if (IMUpitch < maxRoll && IMUpitch >= 0) { + x = (IMUpitch*(127/maxRoll)); + } else if (IMUpitch > maxRoll) { + x = 127; + } else if (IMUpitch < -maxRoll) { + x = -127; + } else { + x = (IMUpitch*(127/maxRoll)); + } + return x; +} +float mapPitch(float IMUroll, float maxPitch) { + if (IMUroll > maxPitch && IMUroll <= 180) { + y = ((180 - IMUroll) *(127/(180-maxPitch))); + } else if (IMUroll < maxPitch && IMUroll >=0) { + y = 127; + } else if (IMUroll > -maxPitch && IMUroll < 0) { + y = -127; + } else { + y = (-(180 - abs(IMUroll)) *(127/(180-maxPitch))); + } + return y; +} + +int main() +{ + onboardRed = 0.0f; + onboardGreen = 1.0f; + onboardBlue = 1.0f; + //Set up I2C + i2c.frequency(400000); // use fast (400 kHz) I2C + t.start(); + boost.mode(PullUp); + drift.mode(PullUp); + vibMotor = 1.0f; + + joystick.hat(hat); + + // Read the WHO_AM_I register, this is a good test of communication + uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 + pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r"); + + if (whoami == 0x68) // WHO_AM_I should always be 0x68 + { + pc.printf("MPU6050 is online..."); + wait(1); + + mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values + + pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[0]); pc.printf("% of factory value \n\r"); + pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[1]); pc.printf("% of factory value \n\r"); + pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[2]); pc.printf("% of factory value \n\r"); + pc.printf("x-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[3]); pc.printf("% of factory value \n\r"); + pc.printf("y-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[4]); pc.printf("% of factory value \n\r"); + pc.printf("z-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[5]); pc.printf("% of factory value \n\r"); + + wait(2); -int main() { + if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) + { + mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration + mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers + mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature + + wait(2); + } else { + pc.printf("Device did not the pass self-test!\n\r"); + } + } else { + pc.printf("Could not connect to MPU6050: \n\r"); + pc.printf("%#x \n", whoami); + while(1) ; // Loop forever if communication doesn't happen + } while(1) { + + // If data ready bit set, all data registers have new data + if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt + mpu6050.readAccelData(accelCount); // Read the x/y/z adc values + mpu6050.getAres(); + + // Now we'll calculate the accleration value into actual g's + ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set + ay = (float)accelCount[1]*aRes - accelBias[1]; + az = (float)accelCount[2]*aRes - accelBias[2]; + + mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values + mpu6050.getGres(); + + // Calculate the gyro value into actual degrees per second + gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set + gy = (float)gyroCount[1]*gRes - gyroBias[1]; + gz = (float)gyroCount[2]*gRes - gyroBias[2]; + + tempCount = mpu6050.readTempData(); // Read the x/y/z adc values + temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade + } + + Now = t.read_us(); + deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update + lastUpdate = Now; + + sum += deltat; + sumCount++; + + if(lastUpdate - firstUpdate > 10000000.0f) { + beta = 0.04; // decrease filter gain after stabilized + zeta = 0.015; // increasey bias drift gain after stabilized + } + + // Pass gyro rate as rad/s + mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); + + // Serial print and/or display at 0.5 s rate independent of data rates + delt_t = t.read_ms() - count; + if (delt_t > 500) { // update ////////////////////////lcd once per half-second independent of read rate + + /* + pc.printf("ax = %f", 1000*ax); + pc.printf(" ay = %f", 1000*ay); + pc.printf(" az = %f mg\n\r", 1000*az); + + pc.printf("gx = %f", gx); + pc.printf(" gy = %f", gy); + pc.printf(" gz = %f deg/s\n\r", gz); + + pc.printf(" temperature = %f C\n\r", temperature); + pc.printf("q0 = %f\n\r", q[0]); + pc.printf("q1 = %f\n\r", q[1]); + pc.printf("q2 = %f\n\r", q[2]); + pc.printf("q3 = %f\n\r", q[3]); */ + + + // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. + // In this coordinate system, the positive z-axis is down toward Earth. + // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise. + // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. + // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. + // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. + // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be + // applied in the correct order which for this configuration is yaw, pitch, and then roll. + // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. + yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); + pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); + roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); + pitch *= 180.0f / PI; + yaw *= 180.0f / PI; + roll *= 180.0f / PI; + + //pc.printf("Yaw, Pitch, Roll: \n\r"); + //pc.printf("Yaw: %f\n\r", yaw); + //pc.printf(", "); + //pc.printf("Pitch: %f\n\r", pitch); + //pc.printf(", "); + //pc.printf("%f\n\r", roll); + //pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r"); + + //pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); + //pc.printf("average rate = %f\n\r", (float) sumCount/sum); + + + //Pitch: base = 0, right = +, left = - + //Roll: base = +-180, forward = + count down, back = - count up + + joyX = mapRoll(pitch, maxRoll); + joyY = mapPitch(roll, maxPitch); + pc.printf("joyX: %i, joyY: %i\n\r", (int16_t) joyX, (int16_t) joyY); + + if (!boost && !drift) { + button = 0x03; + boostCount = 75; + } else if (!boost && drift) { + button = 0x01; + boostCount = 75; + } else if (boost && !drift) { + button = 0x02; + } else { + button = 0x00; + } + + joystick.update(throttle, rudder, (int16_t)joyX, (int16_t)joyY, button, hat); + if ((int16_t) joyY < 0) { + onboardRed = 1.0f; + onboardGreen = 1.0f; + onboardBlue = 0.75f; + thruster1 = 0.25f; + thruster2 = 0.25f; + } else if(lastUpdate - firstUpdate > 10000000.0f){ + onboardRed = 1.0f; + onboardGreen = 0.0f; + onboardBlue = 1.0f; + thruster1 = 0; + thruster2 = 0; + } + vibMotor = 0; + if (boostCount != 0) { + thruster1 = 1.0f; + thruster2 = 1.0f; + onboardRed = 1.0f; + onboardGreen = 1.0f; + onboardBlue = 0.0f; + vibMotor = 1; + boostCount--; + } + + + } } -} + +} \ No newline at end of file