Julio Fajardo / Mbed 2 deprecated Freescale_Multi-Sensor_Quadcopter

Freescale Quadcopter with Freedom K64F Board

Dependencies:   FXAS21000 FXLS8471Q FXOS8700Q MAG3110 MMA8652 MPL3115A2 mbed kalman mbed-dsp

Fork of Freescale_Multi-Sensor_Shield by Shields

Quadcopter based on Freescale FRDM-K64F, Freescale FRDM-FXS-9AXIS, Hobbypower X525 V3 Quadcopter Foldable Kit with 1000KV Motors and SimonK 30A ESC /media/uploads/julioefajardo/1.jpg

main.cpp@3:58ebc00f1a68, 2015-09-01 (annotated)

Committer:
julioefajardo
Date:
Tue Sep 01 18:03:27 2015 +0000
Revision:
3:58ebc00f1a68
Parent:
2:4bc4e25328cc
Child:
4:1bc3ca07a412
V0.1; Kalman Filter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
screamer 0:bfb567985c64 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
screamer 0:bfb567985c64 2 *
screamer 0:bfb567985c64 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
screamer 0:bfb567985c64 4 * and associated documentation files (the "Software"), to deal in the Software without
screamer 0:bfb567985c64 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
screamer 0:bfb567985c64 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
screamer 0:bfb567985c64 7 * Software is furnished to do so, subject to the following conditions:
screamer 0:bfb567985c64 8 *
screamer 0:bfb567985c64 9 * The above copyright notice and this permission notice shall be included in all copies or
screamer 0:bfb567985c64 10 * substantial portions of the Software.
screamer 0:bfb567985c64 11 *
screamer 0:bfb567985c64 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
screamer 0:bfb567985c64 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
screamer 0:bfb567985c64 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
screamer 0:bfb567985c64 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
screamer 0:bfb567985c64 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
screamer 0:bfb567985c64 17 */
screamer 0:bfb567985c64 18
screamer 0:bfb567985c64 19 #include "mbed.h"
screamer 0:bfb567985c64 20 #include "FXOS8700Q.h"
screamer 0:bfb567985c64 21 #include "FXAS21000.h"
julioefajardo 3:58ebc00f1a68 22 #include "kalman.c"
screamer 0:bfb567985c64 23
julioefajardo 3:58ebc00f1a68 24 #define PI 3.1415926535897932384626433832795
julioefajardo 3:58ebc00f1a68 25 #define Rad2Dree 57.295779513082320876798154814105
julioefajardo 3:58ebc00f1a68 26
julioefajardo 2:4bc4e25328cc 27 FXOS8700Q_acc combo_acc(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
julioefajardo 2:4bc4e25328cc 28 FXOS8700Q_mag combo_mag(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
julioefajardo 2:4bc4e25328cc 29 FXAS21000 gyro(A5, A4);
screamer 0:bfb567985c64 30
julioefajardo 3:58ebc00f1a68 31 Timer GlobalTime;
julioefajardo 3:58ebc00f1a68 32 Timer ProgramTimer;
julioefajardo 3:58ebc00f1a68 33
julioefajardo 2:4bc4e25328cc 34 //PwmOut M1(PTB18);
julioefajardo 2:4bc4e25328cc 35 PwmOut M1(D13);
julioefajardo 2:4bc4e25328cc 36 PwmOut M2(D12);
julioefajardo 2:4bc4e25328cc 37 PwmOut M3(D11);
julioefajardo 2:4bc4e25328cc 38 PwmOut M4(D10);
screamer 0:bfb567985c64 39
screamer 0:bfb567985c64 40 Serial pc(USBTX, USBRX);
screamer 0:bfb567985c64 41
julioefajardo 3:58ebc00f1a68 42 kalman filter_pitch;
julioefajardo 3:58ebc00f1a68 43 kalman filter_roll;
julioefajardo 3:58ebc00f1a68 44
julioefajardo 3:58ebc00f1a68 45 float R;
julioefajardo 3:58ebc00f1a68 46 double angle[3];
julioefajardo 3:58ebc00f1a68 47 unsigned long timer;
julioefajardo 3:58ebc00f1a68 48 long loopStartTime;
julioefajardo 3:58ebc00f1a68 49
screamer 0:bfb567985c64 50 int main()
screamer 0:bfb567985c64 51 {
julioefajardo 2:4bc4e25328cc 52 float gyro_data[3];
screamer 0:bfb567985c64 53 MotionSensorDataUnits adata;
screamer 0:bfb567985c64 54 MotionSensorDataUnits mdata;
julioefajardo 2:4bc4e25328cc 55
screamer 0:bfb567985c64 56 printf("\r\nStarting\r\n\r\n");
julioefajardo 2:4bc4e25328cc 57
julioefajardo 3:58ebc00f1a68 58 GlobalTime.start();
julioefajardo 3:58ebc00f1a68 59
julioefajardo 2:4bc4e25328cc 60 M1.period(0.02f); //Comparten el mismo timer
julioefajardo 2:4bc4e25328cc 61 M1.pulsewidth(0.0006f);
julioefajardo 2:4bc4e25328cc 62 M2.pulsewidth(0.0006f);
julioefajardo 2:4bc4e25328cc 63 M3.pulsewidth(0.0006f);
julioefajardo 2:4bc4e25328cc 64 M4.pulsewidth(0.0006f);
julioefajardo 2:4bc4e25328cc 65
screamer 0:bfb567985c64 66 combo_acc.enable();
screamer 0:bfb567985c64 67 combo_mag.enable();
screamer 0:bfb567985c64 68 printf("FXOS8700 Combo = %X\r\n", combo_acc.whoAmI());
screamer 0:bfb567985c64 69 printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
screamer 0:bfb567985c64 70
julioefajardo 3:58ebc00f1a68 71 kalman_init(&filter_pitch, R_matrix, Q_Gyro_matrix, Q_Accel_matrix);
julioefajardo 3:58ebc00f1a68 72 kalman_init(&filter_roll, R_matrix, Q_Gyro_matrix, Q_Accel_matrix);
julioefajardo 3:58ebc00f1a68 73
screamer 0:bfb567985c64 74 wait(3);
screamer 0:bfb567985c64 75
julioefajardo 3:58ebc00f1a68 76 ProgramTimer.start();
julioefajardo 3:58ebc00f1a68 77 loopStartTime = ProgramTimer.read_us();
julioefajardo 3:58ebc00f1a68 78 timer = loopStartTime;
julioefajardo 3:58ebc00f1a68 79
screamer 0:bfb567985c64 80 while(1) {
screamer 0:bfb567985c64 81 combo_acc.getAxis(adata);
julioefajardo 3:58ebc00f1a68 82 combo_mag.getAxis(mdata);
julioefajardo 3:58ebc00f1a68 83 gyro.ReadXYZ(gyro_data);
julioefajardo 3:58ebc00f1a68 84
julioefajardo 3:58ebc00f1a68 85 R = sqrt(std::pow(adata.x, 2) + std::pow(adata.y, 2) + std::pow(adata.z, 2));
screamer 0:bfb567985c64 86
julioefajardo 3:58ebc00f1a68 87 kalman_predict(&filter_pitch, gyro_data[0], (ProgramTimer.read_us() - timer));
julioefajardo 3:58ebc00f1a68 88 kalman_update(&filter_pitch, acos(adata.x/R));
julioefajardo 3:58ebc00f1a68 89 kalman_predict(&filter_roll, gyro_data[1], (ProgramTimer.read_us() - timer));
julioefajardo 3:58ebc00f1a68 90 kalman_update(&filter_roll, acos(adata.y/R));
julioefajardo 3:58ebc00f1a68 91
julioefajardo 3:58ebc00f1a68 92 angle[0] = kalman_get_angle(&filter_pitch);
julioefajardo 3:58ebc00f1a68 93 angle[1] = kalman_get_angle(&filter_roll);
julioefajardo 3:58ebc00f1a68 94
julioefajardo 3:58ebc00f1a68 95 timer = ProgramTimer.read_us();
julioefajardo 3:58ebc00f1a68 96
julioefajardo 3:58ebc00f1a68 97 printf("FXOS8700 Acc: X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z);
screamer 0:bfb567985c64 98 printf("FXOS8700 Mag: X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);
screamer 0:bfb567985c64 99 printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
julioefajardo 3:58ebc00f1a68 100 printf("Roll Angle X: %.6f Pitch Angle Y: %.6f \n\r", Rad2Dree * angle[1], Rad2Dree * angle[0]);
screamer 0:bfb567985c64 101 printf("\r\n");
screamer 0:bfb567985c64 102
julioefajardo 2:4bc4e25328cc 103 wait(0.5);
screamer 0:bfb567985c64 104 }
screamer 0:bfb567985c64 105 }