Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.
Dependencies: ConfigFile HCSR04 PID PPM2 mbed-rtos mbed
main.cpp@30:4d1b3926a3cc, 2018-01-21 (annotated)
- Committer:
- edy05
- Date:
- Sun Jan 21 17:58:41 2018 +0000
- Branch:
- DistanceRegulation
- Revision:
- 30:4d1b3926a3cc
- Parent:
- 27:5956d5e3ff63
Added pressure sensor ms5611 - not working - too slow
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
edy05 | 0:5cefadfd5898 | 1 | #include "mbed.h" |
edy05 | 2:d172c9963f87 | 2 | #include "rtos.h" |
edy05 | 2:d172c9963f87 | 3 | #include "hardware.h" |
edy05 | 2:d172c9963f87 | 4 | #include "Server.h" |
edy05 | 1:3a5a074b39e0 | 5 | #include "PpmRegen.h" |
edy05 | 30:4d1b3926a3cc | 6 | //#include "distanceRegulation.h" |
edy05 | 30:4d1b3926a3cc | 7 | #include "altitudeRegulation.h" |
edy05 | 30:4d1b3926a3cc | 8 | #include "ms5611Thread.h" |
edy05 | 2:d172c9963f87 | 9 | #include "hcsr04.h" |
edy05 | 2:d172c9963f87 | 10 | #include "PID.h" |
edy05 | 8:b5128641d4cf | 11 | #include "ConfigFile.h" |
edy05 | 30:4d1b3926a3cc | 12 | #include "ms5611.h" |
edy05 | 0:5cefadfd5898 | 13 | |
edy05 | 8:b5128641d4cf | 14 | //TEMP |
edy05 | 11:002927b2675d | 15 | |
edy05 | 0:5cefadfd5898 | 16 | |
edy05 | 2:d172c9963f87 | 17 | //VARIABLES |
edy05 | 2:d172c9963f87 | 18 | uint16_t ppmInChannelsValue[CHANNELS]; |
edy05 | 2:d172c9963f87 | 19 | volatile uint16_t distance = 0; |
edy05 | 0:5cefadfd5898 | 20 | |
edy05 | 0:5cefadfd5898 | 21 | //FUNCTIONS |
edy05 | 0:5cefadfd5898 | 22 | void print_ppmIn(void); |
edy05 | 0:5cefadfd5898 | 23 | |
edy05 | 26:11539036f0fb | 24 | //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic, (void *)0); |
edy05 | 30:4d1b3926a3cc | 25 | float currentAltitude = 0.0; |
edy05 | 26:11539036f0fb | 26 | |
edy05 | 0:5cefadfd5898 | 27 | int main(){ |
edy05 | 25:69190c222dbf | 28 | pc.baud(115200); |
edy05 | 25:69190c222dbf | 29 | |
edy05 | 3:6c9f80f5e865 | 30 | // INITIALIZE CLASSES |
edy05 | 2:d172c9963f87 | 31 | _ppmRegen = new PpmRegen(_interruptPort); |
edy05 | 30:4d1b3926a3cc | 32 | //_sonic = new HCSR04(p29, p30); |
edy05 | 27:5956d5e3ff63 | 33 | _groundDistance = new PID(0, 0, 0, 0.005); |
edy05 | 1:3a5a074b39e0 | 34 | |
edy05 | 3:6c9f80f5e865 | 35 | // STARTING THREADS |
edy05 | 2:d172c9963f87 | 36 | serverThread.start(serverRun); |
edy05 | 27:5956d5e3ff63 | 37 | serverThread.set_priority(osPriorityLow); |
edy05 | 30:4d1b3926a3cc | 38 | //_distanceThread = new Thread(distanceRegulationThread); |
edy05 | 30:4d1b3926a3cc | 39 | //_distanceThread->set_priority(osPriorityRealtime); |
edy05 | 2:d172c9963f87 | 40 | |
edy05 | 30:4d1b3926a3cc | 41 | ms.cmd_reset(); |
edy05 | 30:4d1b3926a3cc | 42 | _ms5611Thread = new Thread(ms5611Thread); |
edy05 | 30:4d1b3926a3cc | 43 | _ms5611Thread->set_priority(osPriorityHigh); |
edy05 | 30:4d1b3926a3cc | 44 | |
edy05 | 30:4d1b3926a3cc | 45 | _altitudeThread = new Thread(altitudeRegulationThread); |
edy05 | 30:4d1b3926a3cc | 46 | _altitudeThread->set_priority(osPriorityRealtime); |
edy05 | 30:4d1b3926a3cc | 47 | |
edy05 | 3:6c9f80f5e865 | 48 | |
edy05 | 0:5cefadfd5898 | 49 | while(1){ |
edy05 | 30:4d1b3926a3cc | 50 | |
edy05 | 3:6c9f80f5e865 | 51 | Thread::wait(osWaitForever); |
edy05 | 0:5cefadfd5898 | 52 | } |
edy05 | 0:5cefadfd5898 | 53 | |
edy05 | 0:5cefadfd5898 | 54 | } |
edy05 | 0:5cefadfd5898 | 55 | |
edy05 | 2:d172c9963f87 | 56 | |
edy05 | 0:5cefadfd5898 | 57 | void print_ppmIn(){ |
edy05 | 2:d172c9963f87 | 58 | _ppmRegen->getAllChannels(ppmInChannelsValue); |
edy05 | 2:d172c9963f87 | 59 | for(uint8_t channel= 0; channel < CHANNELS; channel++){ |
edy05 | 0:5cefadfd5898 | 60 | pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]); |
edy05 | 0:5cefadfd5898 | 61 | } |
edy05 | 0:5cefadfd5898 | 62 | pc.printf("\n\r"); |
edy05 | 0:5cefadfd5898 | 63 | } |