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@5:74ca8be12359, 2015-09-11 (annotated)

Committer:
julioefajardo
Date:
Fri Sep 11 22:24:22 2015 +0000
Revision:
5:74ca8be12359
Parent:
4:1bc3ca07a412
Child:
6:d868495c1936
Version 0.3; Maxbotix LV-MaxSonar-EZ0 Sonar Range Finder; Red Led; Green Led; Bluetooth (RX Interrupt) - Sparkfun BlueSMiRF Silver; Start and Stop functions

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 5:74ca8be12359 27 DigitalOut red(LED_RED);
julioefajardo 5:74ca8be12359 28 DigitalOut green(LED_GREEN);
julioefajardo 5:74ca8be12359 29
julioefajardo 2:4bc4e25328cc 30 FXOS8700Q_acc combo_acc(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
julioefajardo 2:4bc4e25328cc 31 FXOS8700Q_mag combo_mag(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
julioefajardo 2:4bc4e25328cc 32 FXAS21000 gyro(A5, A4);
screamer 0:bfb567985c64 33
julioefajardo 3:58ebc00f1a68 34 Timer GlobalTime;
julioefajardo 3:58ebc00f1a68 35 Timer ProgramTimer;
julioefajardo 3:58ebc00f1a68 36
julioefajardo 2:4bc4e25328cc 37 //PwmOut M1(PTB18);
julioefajardo 2:4bc4e25328cc 38 PwmOut M1(D13);
julioefajardo 2:4bc4e25328cc 39 PwmOut M2(D12);
julioefajardo 2:4bc4e25328cc 40 PwmOut M3(D11);
julioefajardo 2:4bc4e25328cc 41 PwmOut M4(D10);
screamer 0:bfb567985c64 42
screamer 0:bfb567985c64 43 Serial pc(USBTX, USBRX);
julioefajardo 5:74ca8be12359 44 Serial bt(D1,D0);
julioefajardo 5:74ca8be12359 45
julioefajardo 5:74ca8be12359 46 AnalogIn ultra(A0);
screamer 0:bfb567985c64 47
julioefajardo 3:58ebc00f1a68 48 kalman filter_pitch;
julioefajardo 3:58ebc00f1a68 49 kalman filter_roll;
julioefajardo 3:58ebc00f1a68 50
julioefajardo 3:58ebc00f1a68 51 float R;
julioefajardo 3:58ebc00f1a68 52 double angle[3];
julioefajardo 3:58ebc00f1a68 53 unsigned long timer;
julioefajardo 3:58ebc00f1a68 54 long loopStartTime;
julioefajardo 5:74ca8be12359 55 char i;
julioefajardo 5:74ca8be12359 56 char command = ' ';
julioefajardo 5:74ca8be12359 57 float high;
julioefajardo 5:74ca8be12359 58
julioefajardo 5:74ca8be12359 59 float ESC1 = 0.0006f;
julioefajardo 5:74ca8be12359 60 float ESC2 = 0.0006f;
julioefajardo 5:74ca8be12359 61 float ESC3 = 0.0006f;
julioefajardo 5:74ca8be12359 62 float ESC4 = 0.0006f;
julioefajardo 5:74ca8be12359 63
julioefajardo 5:74ca8be12359 64 void bt_callback(void);
julioefajardo 5:74ca8be12359 65 void esc_start(void);
julioefajardo 5:74ca8be12359 66 void esc_stop(void);
julioefajardo 3:58ebc00f1a68 67
screamer 0:bfb567985c64 68 int main()
screamer 0:bfb567985c64 69 {
julioefajardo 2:4bc4e25328cc 70 float gyro_data[3];
screamer 0:bfb567985c64 71 MotionSensorDataUnits adata;
screamer 0:bfb567985c64 72 MotionSensorDataUnits mdata;
julioefajardo 2:4bc4e25328cc 73
julioefajardo 5:74ca8be12359 74 bt.attach(&bt_callback);
julioefajardo 5:74ca8be12359 75
screamer 0:bfb567985c64 76 printf("\r\nStarting\r\n\r\n");
julioefajardo 2:4bc4e25328cc 77
julioefajardo 5:74ca8be12359 78 red = 0; green= 1;
julioefajardo 3:58ebc00f1a68 79 GlobalTime.start();
julioefajardo 3:58ebc00f1a68 80
julioefajardo 2:4bc4e25328cc 81 M1.period(0.02f); //Comparten el mismo timer
julioefajardo 5:74ca8be12359 82 M1.pulsewidth(ESC1);
julioefajardo 5:74ca8be12359 83 M2.pulsewidth(ESC2);
julioefajardo 5:74ca8be12359 84 M3.pulsewidth(ESC3);
julioefajardo 5:74ca8be12359 85 M4.pulsewidth(ESC4);
julioefajardo 2:4bc4e25328cc 86
screamer 0:bfb567985c64 87 combo_acc.enable();
screamer 0:bfb567985c64 88 combo_mag.enable();
screamer 0:bfb567985c64 89 printf("FXOS8700 Combo = %X\r\n", combo_acc.whoAmI());
screamer 0:bfb567985c64 90 printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
screamer 0:bfb567985c64 91
julioefajardo 3:58ebc00f1a68 92 kalman_init(&filter_pitch, R_matrix, Q_Gyro_matrix, Q_Accel_matrix);
julioefajardo 3:58ebc00f1a68 93 kalman_init(&filter_roll, R_matrix, Q_Gyro_matrix, Q_Accel_matrix);
julioefajardo 3:58ebc00f1a68 94
julioefajardo 5:74ca8be12359 95 esc_start();
julioefajardo 5:74ca8be12359 96 wait(2.0f);
julioefajardo 5:74ca8be12359 97 red = 1; green= 0;
julioefajardo 4:1bc3ca07a412 98
julioefajardo 3:58ebc00f1a68 99 ProgramTimer.start();
julioefajardo 3:58ebc00f1a68 100 loopStartTime = ProgramTimer.read_us();
julioefajardo 3:58ebc00f1a68 101 timer = loopStartTime;
julioefajardo 3:58ebc00f1a68 102
screamer 0:bfb567985c64 103 while(1) {
julioefajardo 5:74ca8be12359 104
julioefajardo 5:74ca8be12359 105 high = (float)(ultra.read_u16()*2.75f/512.0f)*2.54f;
julioefajardo 5:74ca8be12359 106
screamer 0:bfb567985c64 107 combo_acc.getAxis(adata);
julioefajardo 3:58ebc00f1a68 108 combo_mag.getAxis(mdata);
julioefajardo 3:58ebc00f1a68 109 gyro.ReadXYZ(gyro_data);
julioefajardo 3:58ebc00f1a68 110
julioefajardo 3:58ebc00f1a68 111 R = sqrt(std::pow(adata.x, 2) + std::pow(adata.y, 2) + std::pow(adata.z, 2));
screamer 0:bfb567985c64 112
julioefajardo 3:58ebc00f1a68 113 kalman_predict(&filter_pitch, gyro_data[0], (ProgramTimer.read_us() - timer));
julioefajardo 3:58ebc00f1a68 114 kalman_update(&filter_pitch, acos(adata.x/R));
julioefajardo 3:58ebc00f1a68 115 kalman_predict(&filter_roll, gyro_data[1], (ProgramTimer.read_us() - timer));
julioefajardo 3:58ebc00f1a68 116 kalman_update(&filter_roll, acos(adata.y/R));
julioefajardo 3:58ebc00f1a68 117
julioefajardo 3:58ebc00f1a68 118 angle[0] = kalman_get_angle(&filter_pitch);
julioefajardo 3:58ebc00f1a68 119 angle[1] = kalman_get_angle(&filter_roll);
julioefajardo 3:58ebc00f1a68 120
julioefajardo 3:58ebc00f1a68 121 timer = ProgramTimer.read_us();
julioefajardo 3:58ebc00f1a68 122
julioefajardo 5:74ca8be12359 123 //printf("FXOS8700 Acc: X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z);
julioefajardo 5:74ca8be12359 124 //printf("FXOS8700 Mag: X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);
julioefajardo 5:74ca8be12359 125 //printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
julioefajardo 5:74ca8be12359 126 printf("Roll Angle X: %.6f Pitch Angle Y: %.6f \r\n", Rad2Dree * angle[1], Rad2Dree * angle[0]);
julioefajardo 5:74ca8be12359 127 //printf("dist = %.2f \r\n",dist);
screamer 0:bfb567985c64 128
julioefajardo 5:74ca8be12359 129 wait(0.02f);
screamer 0:bfb567985c64 130 }
screamer 0:bfb567985c64 131 }
julioefajardo 5:74ca8be12359 132
julioefajardo 5:74ca8be12359 133 void bt_callback(void) {
julioefajardo 5:74ca8be12359 134 // Note: you need to actually read from the serial to clear the RX interrupt
julioefajardo 5:74ca8be12359 135 command = bt.getc();
julioefajardo 5:74ca8be12359 136 //if (command == 'z') bt.printf("start\n\r");
julioefajardo 5:74ca8be12359 137 if (command == 'x') {
julioefajardo 5:74ca8be12359 138 bt.printf("stop\n\r");
julioefajardo 5:74ca8be12359 139 esc_stop();
julioefajardo 5:74ca8be12359 140 }
julioefajardo 5:74ca8be12359 141 else if (command == 'w') bt.printf("up\n\r");
julioefajardo 5:74ca8be12359 142 else if (command == 's') bt.printf("down\n\r");
julioefajardo 5:74ca8be12359 143 else if (command == 'h') bt.printf("dist = %.2f \r\n",high);
julioefajardo 5:74ca8be12359 144 else bt.printf("%c\n\r", command);
julioefajardo 5:74ca8be12359 145 }
julioefajardo 5:74ca8be12359 146
julioefajardo 5:74ca8be12359 147 void esc_start(void) {
julioefajardo 5:74ca8be12359 148 ESC1 = 0.0006f;
julioefajardo 5:74ca8be12359 149 ESC2 = 0.0006f;
julioefajardo 5:74ca8be12359 150 ESC3 = 0.0006f;
julioefajardo 5:74ca8be12359 151 ESC4 = 0.0006f;
julioefajardo 5:74ca8be12359 152 for (i = 0; i < 4; i++){
julioefajardo 5:74ca8be12359 153 ESC1 += 0.0001f;
julioefajardo 5:74ca8be12359 154 ESC2 += 0.0001f;
julioefajardo 5:74ca8be12359 155 ESC3 += 0.0001f;
julioefajardo 5:74ca8be12359 156 ESC4 += 0.0001f;
julioefajardo 5:74ca8be12359 157 M1.pulsewidth(ESC1);
julioefajardo 5:74ca8be12359 158 M2.pulsewidth(ESC2);
julioefajardo 5:74ca8be12359 159 M3.pulsewidth(ESC3);
julioefajardo 5:74ca8be12359 160 M4.pulsewidth(ESC4);
julioefajardo 5:74ca8be12359 161 wait_ms(1000);
julioefajardo 5:74ca8be12359 162 }
julioefajardo 5:74ca8be12359 163 }
julioefajardo 5:74ca8be12359 164
julioefajardo 5:74ca8be12359 165 void esc_stop(void){
julioefajardo 5:74ca8be12359 166 red = 0; green= 1;
julioefajardo 5:74ca8be12359 167 while ((ESC1 > 0.0006f)||(ESC2 > 0.0006f)||(ESC3 > 0.0006f)||(ESC4 > 0.0006f)){
julioefajardo 5:74ca8be12359 168 ESC1 -= 0.0001f;
julioefajardo 5:74ca8be12359 169 ESC2 -= 0.0001f;
julioefajardo 5:74ca8be12359 170 ESC3 -= 0.0001f;
julioefajardo 5:74ca8be12359 171 ESC4 -= 0.0001f;
julioefajardo 5:74ca8be12359 172 M1.pulsewidth(ESC1);
julioefajardo 5:74ca8be12359 173 M2.pulsewidth(ESC2);
julioefajardo 5:74ca8be12359 174 M3.pulsewidth(ESC3);
julioefajardo 5:74ca8be12359 175 M4.pulsewidth(ESC4);
julioefajardo 5:74ca8be12359 176 wait_ms(1000);
julioefajardo 5:74ca8be12359 177 }
julioefajardo 5:74ca8be12359 178 if (ESC1 < 0.0006f) ESC1 = 0.0006f;
julioefajardo 5:74ca8be12359 179 if (ESC2 < 0.0006f) ESC2 = 0.0006f;
julioefajardo 5:74ca8be12359 180 if (ESC3 < 0.0006f) ESC3 = 0.0006f;
julioefajardo 5:74ca8be12359 181 if (ESC4 < 0.0006f) ESC4 = 0.0006f;
julioefajardo 5:74ca8be12359 182 }