syouichi imamori
/
MulticopterQuadX
Quad X Type Multicopter
main.cpp@5:7b02775787a9, 2014-10-17 (annotated)
- Committer:
- komaida424
- Date:
- Fri Oct 17 03:56:56 2014 +0000
- Revision:
- 5:7b02775787a9
- Parent:
- 4:4060309b9cc0
- Child:
- 6:a50e6d3924f1
rev 2.11
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
komaida424 | 4:4060309b9cc0 | 1 | /* PWM Output |
komaida424 | 4:4060309b9cc0 | 2 | type | M1 | M2 | M3 | M4 | M5 | M6 |
komaida424 | 4:4060309b9cc0 | 3 | ------------+-----------+-----------+-----------+-----------+--------------------- |
komaida424 | 4:4060309b9cc0 | 4 | Quad-X |FL Thr ESC |FR Thr ESC |BL Thr ESC |BR Thr ESC | - | - |
komaida424 | 4:4060309b9cc0 | 5 | Quad-H |FL VP Ser |FR VP Ser |BL VP Ser |BR VP Ser |Thr ESC | - |
komaida424 | 4:4060309b9cc0 | 6 | Delta |FL Tro ESC |L Ale Ser |R Ale Ser |Rud Ser | - | - |
komaida424 | 4:4060309b9cc0 | 7 | Delta-TW |FL Tro ESC |L Ale Ser |R Ale Ser |Rud Ser |FR Thr ESC | - |
komaida424 | 4:4060309b9cc0 | 8 | Airplane |Thr ESC |Ail Ser |Ele Ser |Rud Ser |Ail Ser | - |
komaida424 | 4:4060309b9cc0 | 9 | |
komaida424 | 4:4060309b9cc0 | 10 | Ele:Elevator, Rud:Rudder, Ail:Aileron, Thr:Throttle, Ale:Alevon |
komaida424 | 4:4060309b9cc0 | 11 | ESC:for ESC, Ser:for Servo, VP:Variable Pitch |
komaida424 | 5:7b02775787a9 | 12 | F:Front, B:Back, L:Left, R:Right |
komaida424 | 4:4060309b9cc0 | 13 | */ |
komaida424 | 4:4060309b9cc0 | 14 | |
komaida424 | 0:cca1c4e84da4 | 15 | #include "mbed.h" |
komaida424 | 2:59ac9df97701 | 16 | #include "math.h" |
komaida424 | 0:cca1c4e84da4 | 17 | #include "I2cPeripherals.h" |
komaida424 | 0:cca1c4e84da4 | 18 | #include "InterruptIn.h" |
komaida424 | 0:cca1c4e84da4 | 19 | #include "config.h" |
komaida424 | 0:cca1c4e84da4 | 20 | #include "PulseWidthCounter.h" |
komaida424 | 0:cca1c4e84da4 | 21 | #include "string" |
komaida424 | 0:cca1c4e84da4 | 22 | #include "SerialLcd.h" |
komaida424 | 4:4060309b9cc0 | 23 | //#include "PID.h" |
komaida424 | 2:59ac9df97701 | 24 | #include "SoftPWM.h" |
komaida424 | 4:4060309b9cc0 | 25 | #include "PulseOut.h" |
komaida424 | 4:4060309b9cc0 | 26 | #include "Limiter.h" |
komaida424 | 4:4060309b9cc0 | 27 | #ifndef TARGET_NUCLEO_F401RE |
komaida424 | 4:4060309b9cc0 | 28 | #include "IAP.h" |
komaida424 | 4:4060309b9cc0 | 29 | #endif |
komaida424 | 2:59ac9df97701 | 30 | |
komaida424 | 2:59ac9df97701 | 31 | //Serial pc(USBTX, USBRX); |
komaida424 | 2:59ac9df97701 | 32 | |
komaida424 | 4:4060309b9cc0 | 33 | #if defined(TARGET_LPC1768) |
komaida424 | 4:4060309b9cc0 | 34 | DigitalInOut pwmpin[] = { p21,p22,p23,p24 }; |
komaida424 | 4:4060309b9cc0 | 35 | // #ifdef LPCXpresso |
komaida424 | 4:4060309b9cc0 | 36 | // #define LED1 P0_22 |
komaida424 | 4:4060309b9cc0 | 37 | // #endif |
komaida424 | 4:4060309b9cc0 | 38 | DigitalOut led1(LED1); |
komaida424 | 4:4060309b9cc0 | 39 | // DigitalOut led2(LED2); |
komaida424 | 4:4060309b9cc0 | 40 | InterruptIn ch1(p5); |
komaida424 | 4:4060309b9cc0 | 41 | PulseWidthCounter ch[6] = { p6,p7,p8,p9,p10,p11 }; |
komaida424 | 4:4060309b9cc0 | 42 | PwmOut pwm[6] = { p21,p22,p23,p24,p25,p26 }; |
komaida424 | 4:4060309b9cc0 | 43 | // SoftPWM pwm[6] = { p21,p22,p23,p24,p25,p26 }; |
komaida424 | 4:4060309b9cc0 | 44 | SoftPWM buzz(p20); |
komaida424 | 4:4060309b9cc0 | 45 | I2cPeripherals i2c(p28,p27); //sda scl |
komaida424 | 4:4060309b9cc0 | 46 | SerialLcd lcd(p13,p14); |
komaida424 | 4:4060309b9cc0 | 47 | #define MEM_SIZE 256 |
komaida424 | 4:4060309b9cc0 | 48 | #define TARGET_SECTOR 29 // use sector 29 as target sector if it is on LPC1768 |
komaida424 | 4:4060309b9cc0 | 49 | IAP iap; |
komaida424 | 4:4060309b9cc0 | 50 | #elif defined(TARGET_NUCLEO_F401RE) |
komaida424 | 4:4060309b9cc0 | 51 | DigitalOut led1(LED1); |
komaida424 | 4:4060309b9cc0 | 52 | InterruptIn ch1(PC_2); |
komaida424 | 4:4060309b9cc0 | 53 | // PulseWidthCounter ch[6] = { PA_0,PA_1,PA_4,PB_0,PC_1,PC_0 }; |
komaida424 | 4:4060309b9cc0 | 54 | PulseWidthCounter ch[6] = { A0,A1,A2,A3,A4,A5 }; |
komaida424 | 4:4060309b9cc0 | 55 | PwmOut pwm[6] = { D8,D9,D10,D11,D12,D14 }; |
komaida424 | 4:4060309b9cc0 | 56 | // PwmOut pwm[6] = { D2,D3,D4,D5,D6,D7 }; |
komaida424 | 4:4060309b9cc0 | 57 | // SoftPWM pwm[6] = { PB_3,PB_4,PB_10,PC_6,PB_6,PA_7 }; |
komaida424 | 4:4060309b9cc0 | 58 | SoftPWM buzz(PB_13); |
komaida424 | 4:4060309b9cc0 | 59 | // I2cPeripherals i2c(I2C_SDA,I2C_SCL); //sda scl |
komaida424 | 4:4060309b9cc0 | 60 | I2cPeripherals i2c(D5,D7); //sda scl |
komaida424 | 4:4060309b9cc0 | 61 | SerialLcd lcd(PA_11,PA_12); |
komaida424 | 4:4060309b9cc0 | 62 | #define MEM_SIZE 256 |
komaida424 | 4:4060309b9cc0 | 63 | #define EXTERNAL_EEPROM //24AAXX/24LCXX/24FCXX EEPROM |
komaida424 | 4:4060309b9cc0 | 64 | #elif defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) |
komaida424 | 4:4060309b9cc0 | 65 | DigitalInOut pwmpin[] = { P0_14,P0_2,P0_23,P0_17 }; |
komaida424 | 4:4060309b9cc0 | 66 | DigitalOut led1(P0_21); |
komaida424 | 4:4060309b9cc0 | 67 | // DigitalOut led2(P0_21); |
komaida424 | 4:4060309b9cc0 | 68 | InterruptIn ch1(P0_9); |
komaida424 | 4:4060309b9cc0 | 69 | PulseWidthCounter ch[5] = { P0_8,P0_10,P0_7,P0_22,P1_15 }; |
komaida424 | 4:4060309b9cc0 | 70 | // SoftPWM pwm[4] = { P0_14,P0_2,P0_23,P0_17 }; |
komaida424 | 4:4060309b9cc0 | 71 | PulseOut pwm[6] = { P0_14,P0_2,P0_23,P0_17,p0_20,p015 }; |
komaida424 | 4:4060309b9cc0 | 72 | Ticker Tpwm; |
komaida424 | 4:4060309b9cc0 | 73 | #define SOFTPWM |
komaida424 | 4:4060309b9cc0 | 74 | SoftPWM buzz(P1_19); |
komaida424 | 4:4060309b9cc0 | 75 | I2cPeripherals i2c(P0_5,P0_4); //sda scl |
komaida424 | 4:4060309b9cc0 | 76 | SerialLcd lcd(P0_19,P0_18); |
komaida424 | 4:4060309b9cc0 | 77 | #define MEM_SIZE 256 |
komaida424 | 4:4060309b9cc0 | 78 | #define TARGET_EEPROM_ADDRESS 64 |
komaida424 | 4:4060309b9cc0 | 79 | // #define EXTERNAL_EEPROM |
komaida424 | 4:4060309b9cc0 | 80 | #define INTERNAL_EEPROM |
komaida424 | 4:4060309b9cc0 | 81 | IAP iap; |
komaida424 | 4:4060309b9cc0 | 82 | #elif defined(TARGET_LPC1114) // LPC1114 |
komaida424 | 4:4060309b9cc0 | 83 | DigitalInOut pwmpin[] = { dp1,dp2,dp18,dp24 }; |
komaida424 | 4:4060309b9cc0 | 84 | DigitalOut led1(dp28); |
komaida424 | 4:4060309b9cc0 | 85 | InterruptIn ch1(dp4); |
komaida424 | 4:4060309b9cc0 | 86 | PulseWidthCounter ch[5] = { dp9,dp10,dp11,dp13,dp26 }; |
komaida424 | 4:4060309b9cc0 | 87 | // SoftPWM pwm[4] = { dp1,dp2,dp18,dp24 }; |
komaida424 | 4:4060309b9cc0 | 88 | PulseOut pwm[6] = { dp1,dp2,dp18,dp24,dp17,dp6 }; |
komaida424 | 4:4060309b9cc0 | 89 | Ticker Tpwm; |
komaida424 | 4:4060309b9cc0 | 90 | #define SOFTPWM |
komaida424 | 4:4060309b9cc0 | 91 | SoftPWM buzz(dp25); |
komaida424 | 4:4060309b9cc0 | 92 | I2cPeripherals i2c(dp5,dp27); //sda scl |
komaida424 | 4:4060309b9cc0 | 93 | SerialLcd lcd(dp16,dp15); |
komaida424 | 4:4060309b9cc0 | 94 | #define MEM_SIZE 256 |
komaida424 | 4:4060309b9cc0 | 95 | #define EXTERNAL_EEPROM |
komaida424 | 4:4060309b9cc0 | 96 | #endif |
komaida424 | 0:cca1c4e84da4 | 97 | |
komaida424 | 0:cca1c4e84da4 | 98 | Timer CurTime; |
komaida424 | 2:59ac9df97701 | 99 | //Timer ElapTime; |
komaida424 | 2:59ac9df97701 | 100 | Timer CycleTime; |
komaida424 | 2:59ac9df97701 | 101 | Timer FlyghtTime; |
komaida424 | 0:cca1c4e84da4 | 102 | config conf; |
komaida424 | 4:4060309b9cc0 | 103 | //PID pid[4]; |
komaida424 | 4:4060309b9cc0 | 104 | Limiter gyroLimit[3] = {300,300,300}; |
komaida424 | 4:4060309b9cc0 | 105 | Limiter accLimit[3] = {0.5,0.5,0.5}; |
komaida424 | 4:4060309b9cc0 | 106 | Limiter pwmLimit[4] = {50,50,50,50}; |
komaida424 | 4:4060309b9cc0 | 107 | //PID height; |
komaida424 | 2:59ac9df97701 | 108 | float TotalTime = 0;; |
komaida424 | 2:59ac9df97701 | 109 | int channel = 0; |
komaida424 | 4:4060309b9cc0 | 110 | int Signal[9] = { _THR,_AIL,_ELE,_RUD,_GYRO,_AUX1,_AUX2,_AUX3,_AUX4 }; |
komaida424 | 4:4060309b9cc0 | 111 | volatile int CH[9]; |
komaida424 | 2:59ac9df97701 | 112 | volatile int M[6]; |
komaida424 | 2:59ac9df97701 | 113 | volatile float Gyro[3]; |
komaida424 | 4:4060309b9cc0 | 114 | volatile float Accel[3]= {0,0,0}; |
komaida424 | 4:4060309b9cc0 | 115 | volatile float Accel_Angle[3]; |
komaida424 | 4:4060309b9cc0 | 116 | volatile float Accel_Save[3]= {0,0,0}; |
komaida424 | 2:59ac9df97701 | 117 | volatile float Angle[3]; |
komaida424 | 2:59ac9df97701 | 118 | volatile float Gyro_Ref[3]; |
komaida424 | 2:59ac9df97701 | 119 | volatile float Gyro_Save[3]; |
komaida424 | 4:4060309b9cc0 | 120 | volatile int Stick[6]; |
komaida424 | 4:4060309b9cc0 | 121 | volatile int Stick_Save[6]; |
komaida424 | 4:4060309b9cc0 | 122 | int PWM_Init[5][6] = { 1080,1080,1080,1080,1080,1080, //Quad_X |
komaida424 | 4:4060309b9cc0 | 123 | 1500,1500,1500,1500,1080,1080, //Quad_H |
komaida424 | 4:4060309b9cc0 | 124 | 1080,1500,1500,1500,1500,1080, //Delta |
komaida424 | 4:4060309b9cc0 | 125 | 1080,1500,1500,1500,1080,1500, //Delta_TW |
komaida424 | 4:4060309b9cc0 | 126 | 1080,1500,1500,1500,1500,1080 //AirPlane |
komaida424 | 4:4060309b9cc0 | 127 | }; |
komaida424 | 2:59ac9df97701 | 128 | //int Stick_Max[3]; |
komaida424 | 0:cca1c4e84da4 | 129 | float Press; |
komaida424 | 4:4060309b9cc0 | 130 | float Base_Press; |
komaida424 | 0:cca1c4e84da4 | 131 | char InPulseMode; //Receiver Signal Type 's':Serial, 'P':Parallel |
komaida424 | 2:59ac9df97701 | 132 | //volatile bool tick_flag; |
komaida424 | 2:59ac9df97701 | 133 | //volatile bool buzz_flag; |
komaida424 | 4:4060309b9cc0 | 134 | volatile float interval; |
komaida424 | 3:27407c4984cf | 135 | float pid_interval; |
komaida424 | 4:4060309b9cc0 | 136 | //int pid_reg[4]; |
komaida424 | 2:59ac9df97701 | 137 | int loop_cnt; |
komaida424 | 4:4060309b9cc0 | 138 | float target_height; |
komaida424 | 4:4060309b9cc0 | 139 | float cuurent_height; |
komaida424 | 4:4060309b9cc0 | 140 | float base_throttol; |
komaida424 | 4:4060309b9cc0 | 141 | int throttol; |
komaida424 | 4:4060309b9cc0 | 142 | bool hov_control; |
komaida424 | 4:4060309b9cc0 | 143 | float Rdata; |
komaida424 | 0:cca1c4e84da4 | 144 | |
komaida424 | 0:cca1c4e84da4 | 145 | void initialize(); |
komaida424 | 0:cca1c4e84da4 | 146 | void FlashLED(int ); |
komaida424 | 0:cca1c4e84da4 | 147 | void SetUp(); |
komaida424 | 0:cca1c4e84da4 | 148 | void SetUpPrompt(config&,I2cPeripherals&); |
komaida424 | 0:cca1c4e84da4 | 149 | void PWM_Out(bool); |
komaida424 | 0:cca1c4e84da4 | 150 | void Get_Stick_Pos(); |
komaida424 | 0:cca1c4e84da4 | 151 | void CalibrateGyros(void); |
komaida424 | 0:cca1c4e84da4 | 152 | void CalibrateAccel(void); |
komaida424 | 3:27407c4984cf | 153 | void Get_Gyro(float); |
komaida424 | 3:27407c4984cf | 154 | bool Get_Accel(float); |
komaida424 | 2:59ac9df97701 | 155 | void Get_Angle(float); |
komaida424 | 0:cca1c4e84da4 | 156 | void ReadConfig(); |
komaida424 | 0:cca1c4e84da4 | 157 | void WriteConfig(); |
komaida424 | 2:59ac9df97701 | 158 | void Interrupt_Check(bool&,int &,DigitalOut &); |
komaida424 | 0:cca1c4e84da4 | 159 | void ESC_SetUp(void); |
komaida424 | 2:59ac9df97701 | 160 | void Flight_SetUp(); |
komaida424 | 2:59ac9df97701 | 161 | //void IMUfilter_Reset(void); |
komaida424 | 2:59ac9df97701 | 162 | void LCD_printf(char *); |
komaida424 | 2:59ac9df97701 | 163 | void LCD_cls(); |
komaida424 | 2:59ac9df97701 | 164 | void LCD_locate(int,int); |
komaida424 | 4:4060309b9cc0 | 165 | void Servo_Reverse(int,int); |
komaida424 | 4:4060309b9cc0 | 166 | #ifdef SOFTPWM |
komaida424 | 4:4060309b9cc0 | 167 | void Tpwm_interrupt() |
komaida424 | 2:59ac9df97701 | 168 | { |
komaida424 | 4:4060309b9cc0 | 169 | for ( int i=0; i<4; i++ ) pwm[i].start(); |
komaida424 | 2:59ac9df97701 | 170 | } |
komaida424 | 4:4060309b9cc0 | 171 | #endif |
komaida424 | 4:4060309b9cc0 | 172 | void PulseCheck() //cppm信号のチェック |
komaida424 | 0:cca1c4e84da4 | 173 | { |
komaida424 | 2:59ac9df97701 | 174 | channel++; |
komaida424 | 0:cca1c4e84da4 | 175 | } |
komaida424 | 0:cca1c4e84da4 | 176 | |
komaida424 | 4:4060309b9cc0 | 177 | void PulseAnalysis() //cppm信号の解析 |
komaida424 | 0:cca1c4e84da4 | 178 | { |
komaida424 | 0:cca1c4e84da4 | 179 | CurTime.stop(); |
komaida424 | 0:cca1c4e84da4 | 180 | int PulseWidth = CurTime.read_us(); |
komaida424 | 0:cca1c4e84da4 | 181 | CurTime.reset(); |
komaida424 | 0:cca1c4e84da4 | 182 | CurTime.start(); |
komaida424 | 2:59ac9df97701 | 183 | if ( PulseWidth > 3000 ) channel = 0; //reset pulse count |
komaida424 | 0:cca1c4e84da4 | 184 | else { |
komaida424 | 4:4060309b9cc0 | 185 | if ( PulseWidth > Pulse_Min && PulseWidth < Pulse_Max && channel < 10 ) { |
komaida424 | 4:4060309b9cc0 | 186 | CH[Signal[channel-1]] = PulseWidth; |
komaida424 | 4:4060309b9cc0 | 187 | } |
komaida424 | 0:cca1c4e84da4 | 188 | } |
komaida424 | 2:59ac9df97701 | 189 | channel++; |
komaida424 | 0:cca1c4e84da4 | 190 | } |
komaida424 | 0:cca1c4e84da4 | 191 | |
komaida424 | 0:cca1c4e84da4 | 192 | int main() |
komaida424 | 0:cca1c4e84da4 | 193 | { |
komaida424 | 2:59ac9df97701 | 194 | int i=0; |
komaida424 | 0:cca1c4e84da4 | 195 | |
komaida424 | 3:27407c4984cf | 196 | wait(1.5); |
komaida424 | 0:cca1c4e84da4 | 197 | initialize(); |
komaida424 | 2:59ac9df97701 | 198 | |
komaida424 | 0:cca1c4e84da4 | 199 | Get_Stick_Pos(); |
komaida424 | 2:59ac9df97701 | 200 | while ( Stick[COL] > Thro_Zero || conf.StartMode == 'C' ) //Shrottol Low |
komaida424 | 0:cca1c4e84da4 | 201 | { |
komaida424 | 4:4060309b9cc0 | 202 | // if ( Stick[COL] > 890 && -Stick[YAW] < Stick_Limit ) // Shrottle High |
komaida424 | 4:4060309b9cc0 | 203 | // ESC_SetUp(); |
komaida424 | 2:59ac9df97701 | 204 | if ( Stick[COL] > 890 || conf.StartMode == 'C' ) // Shrottle High |
komaida424 | 0:cca1c4e84da4 | 205 | { |
komaida424 | 2:59ac9df97701 | 206 | loop_cnt = 0; |
komaida424 | 0:cca1c4e84da4 | 207 | SetUpPrompt(conf,i2c); |
komaida424 | 0:cca1c4e84da4 | 208 | break; |
komaida424 | 0:cca1c4e84da4 | 209 | } |
komaida424 | 0:cca1c4e84da4 | 210 | FlashLED(3); |
komaida424 | 2:59ac9df97701 | 211 | wait(0.3); |
komaida424 | 0:cca1c4e84da4 | 212 | Get_Stick_Pos(); |
komaida424 | 0:cca1c4e84da4 | 213 | } |
komaida424 | 2:59ac9df97701 | 214 | Flight_SetUp(); |
komaida424 | 0:cca1c4e84da4 | 215 | while (1) |
komaida424 | 0:cca1c4e84da4 | 216 | { |
komaida424 | 2:59ac9df97701 | 217 | if ( Stick[COL] < Thro_Zero ) |
komaida424 | 0:cca1c4e84da4 | 218 | { |
komaida424 | 0:cca1c4e84da4 | 219 | i = 0; |
komaida424 | 2:59ac9df97701 | 220 | while ( Stick[YAW] < -Stick_Limit && Stick[COL] < Thro_Zero ) //Rudder Left |
komaida424 | 0:cca1c4e84da4 | 221 | { |
komaida424 | 0:cca1c4e84da4 | 222 | if ( i > 100 ) //wait 2 sec |
komaida424 | 0:cca1c4e84da4 | 223 | { |
komaida424 | 2:59ac9df97701 | 224 | FlyghtTime.stop(); |
komaida424 | 2:59ac9df97701 | 225 | if ( Stick[PIT] < -Stick_Limit ) { //Elevetor Down |
komaida424 | 2:59ac9df97701 | 226 | loop_cnt = 0; |
komaida424 | 2:59ac9df97701 | 227 | FlashLED(5); |
komaida424 | 4:4060309b9cc0 | 228 | |
komaida424 | 4:4060309b9cc0 | 229 | for ( int x=0; x<6; x++ ) { |
komaida424 | 4:4060309b9cc0 | 230 | pwm[x].pulsewidth_us(PWM_Init[conf.Model_Type][x]); |
komaida424 | 4:4060309b9cc0 | 231 | } |
komaida424 | 2:59ac9df97701 | 232 | i2c.start(conf.LCD_Contrast); |
komaida424 | 2:59ac9df97701 | 233 | SetUpPrompt(conf,i2c); |
komaida424 | 2:59ac9df97701 | 234 | } |
komaida424 | 0:cca1c4e84da4 | 235 | CalibrateGyros(); |
komaida424 | 2:59ac9df97701 | 236 | Flight_SetUp(); |
komaida424 | 0:cca1c4e84da4 | 237 | break; |
komaida424 | 0:cca1c4e84da4 | 238 | } |
komaida424 | 0:cca1c4e84da4 | 239 | wait(0.01); // wait 10 msec |
komaida424 | 0:cca1c4e84da4 | 240 | Get_Stick_Pos(); |
komaida424 | 0:cca1c4e84da4 | 241 | i++; |
komaida424 | 0:cca1c4e84da4 | 242 | } |
komaida424 | 0:cca1c4e84da4 | 243 | } |
komaida424 | 0:cca1c4e84da4 | 244 | PWM_Out(true); |
komaida424 | 0:cca1c4e84da4 | 245 | } |
komaida424 | 0:cca1c4e84da4 | 246 | |
komaida424 | 0:cca1c4e84da4 | 247 | } |
komaida424 | 0:cca1c4e84da4 | 248 | |
komaida424 | 0:cca1c4e84da4 | 249 | void initialize() |
komaida424 | 0:cca1c4e84da4 | 250 | { |
komaida424 | 3:27407c4984cf | 251 | buzz.period_us(400); |
komaida424 | 4:4060309b9cc0 | 252 | i2c.start(conf.LCD_Contrast); |
komaida424 | 4:4060309b9cc0 | 253 | for ( int i=0;i<6;i++ ) pwm[i].pulsewidth_us(0); |
komaida424 | 0:cca1c4e84da4 | 254 | ReadConfig(); //config.inf file read |
komaida424 | 2:59ac9df97701 | 255 | |
komaida424 | 2:59ac9df97701 | 256 | channel = 0; |
komaida424 | 0:cca1c4e84da4 | 257 | ch1.rise(&PulseCheck); //input pulse count |
komaida424 | 2:59ac9df97701 | 258 | wait(0.2); |
komaida424 | 2:59ac9df97701 | 259 | if ( channel > 50 ) { |
komaida424 | 0:cca1c4e84da4 | 260 | ch1.rise(&PulseAnalysis); |
komaida424 | 0:cca1c4e84da4 | 261 | InPulseMode = 'S'; |
komaida424 | 0:cca1c4e84da4 | 262 | } |
komaida424 | 0:cca1c4e84da4 | 263 | else InPulseMode = 'P'; |
komaida424 | 2:59ac9df97701 | 264 | led1 = 0; |
komaida424 | 2:59ac9df97701 | 265 | CycleTime.start(); |
komaida424 | 4:4060309b9cc0 | 266 | #ifdef SOFTPWM |
komaida424 | 4:4060309b9cc0 | 267 | Tpwm.attach_us(&Tpwm_interrupt,conf.PWM_Interval); |
komaida424 | 4:4060309b9cc0 | 268 | #endif |
komaida424 | 4:4060309b9cc0 | 269 | Base_Press = (float)i2c.pressure() / 4096; |
komaida424 | 2:59ac9df97701 | 270 | FlashLED(3); |
komaida424 | 0:cca1c4e84da4 | 271 | } |
komaida424 | 0:cca1c4e84da4 | 272 | |
komaida424 | 0:cca1c4e84da4 | 273 | void FlashLED(int cnt) |
komaida424 | 0:cca1c4e84da4 | 274 | { |
komaida424 | 0:cca1c4e84da4 | 275 | for ( int i = 0 ; i < cnt ; i++ ) { |
komaida424 | 0:cca1c4e84da4 | 276 | led1 = !led1; |
komaida424 | 2:59ac9df97701 | 277 | buzz = 0.5f; |
komaida424 | 2:59ac9df97701 | 278 | wait(0.1); |
komaida424 | 0:cca1c4e84da4 | 279 | led1 = !led1; |
komaida424 | 2:59ac9df97701 | 280 | buzz = 0.0f; |
komaida424 | 2:59ac9df97701 | 281 | wait(0.1); |
komaida424 | 0:cca1c4e84da4 | 282 | } |
komaida424 | 0:cca1c4e84da4 | 283 | } |
komaida424 | 0:cca1c4e84da4 | 284 | |
komaida424 | 0:cca1c4e84da4 | 285 | void ReadConfig() |
komaida424 | 0:cca1c4e84da4 | 286 | { |
komaida424 | 0:cca1c4e84da4 | 287 | #ifdef LocalFileOut |
komaida424 | 0:cca1c4e84da4 | 288 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
komaida424 | 0:cca1c4e84da4 | 289 | FILE *fp = fopen("/local/setup.inf", "rb"); // Open "out.txt" on the local file system for writing |
komaida424 | 0:cca1c4e84da4 | 290 | if ( fp != NULL ) { |
komaida424 | 0:cca1c4e84da4 | 291 | float rev = conf.Revision; |
komaida424 | 0:cca1c4e84da4 | 292 | int len = fread(&conf,1,sizeof(config),fp); |
komaida424 | 0:cca1c4e84da4 | 293 | switch ( len ) { |
komaida424 | 0:cca1c4e84da4 | 294 | case sizeof(config): // File size ok |
komaida424 | 0:cca1c4e84da4 | 295 | if ( rev == conf.Revision ) break; |
komaida424 | 0:cca1c4e84da4 | 296 | default: |
komaida424 | 0:cca1c4e84da4 | 297 | fclose(fp); |
komaida424 | 0:cca1c4e84da4 | 298 | config init; |
komaida424 | 0:cca1c4e84da4 | 299 | conf = init; |
komaida424 | 0:cca1c4e84da4 | 300 | fp = fopen("/local/setup.inf", "wb"); |
komaida424 | 0:cca1c4e84da4 | 301 | fwrite(&conf,1,sizeof(config),fp); |
komaida424 | 0:cca1c4e84da4 | 302 | } |
komaida424 | 0:cca1c4e84da4 | 303 | fclose(fp); |
komaida424 | 0:cca1c4e84da4 | 304 | } else { |
komaida424 | 0:cca1c4e84da4 | 305 | WriteConfig(); |
komaida424 | 0:cca1c4e84da4 | 306 | wait(2); |
komaida424 | 0:cca1c4e84da4 | 307 | } |
komaida424 | 0:cca1c4e84da4 | 308 | #else |
komaida424 | 0:cca1c4e84da4 | 309 | char *send; |
komaida424 | 0:cca1c4e84da4 | 310 | char *recv; |
komaida424 | 4:4060309b9cc0 | 311 | int i; |
komaida424 | 0:cca1c4e84da4 | 312 | config *conf_ptr; |
komaida424 | 0:cca1c4e84da4 | 313 | |
komaida424 | 4:4060309b9cc0 | 314 | if ( sizeof(config) > MEM_SIZE ) { |
komaida424 | 2:59ac9df97701 | 315 | LCD_printf("config size over"); |
komaida424 | 2:59ac9df97701 | 316 | wait(3); |
komaida424 | 0:cca1c4e84da4 | 317 | return; |
komaida424 | 0:cca1c4e84da4 | 318 | } |
komaida424 | 4:4060309b9cc0 | 319 | //#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) |
komaida424 | 4:4060309b9cc0 | 320 | #if defined(INTERNAL_EEPROM) || defined(EXTERNAL_EEPROM) |
komaida424 | 4:4060309b9cc0 | 321 | char buf[MEM_SIZE]; |
komaida424 | 4:4060309b9cc0 | 322 | #if defined(INTERNAL_EEPROM) |
komaida424 | 4:4060309b9cc0 | 323 | iap.read_eeprom( (char*)TARGET_EEPROM_ADDRESS, buf, MEM_SIZE ); |
komaida424 | 4:4060309b9cc0 | 324 | #else |
komaida424 | 4:4060309b9cc0 | 325 | //External Flash Memory Wreite |
komaida424 | 4:4060309b9cc0 | 326 | short pos = 0; |
komaida424 | 4:4060309b9cc0 | 327 | if ( i2c.read_EEPROM(pos,buf,MEM_SIZE) != 0 ) { |
komaida424 | 4:4060309b9cc0 | 328 | while(1) { |
komaida424 | 4:4060309b9cc0 | 329 | FlashLED(3); |
komaida424 | 4:4060309b9cc0 | 330 | wait(0.5); |
komaida424 | 4:4060309b9cc0 | 331 | return; |
komaida424 | 4:4060309b9cc0 | 332 | } |
komaida424 | 4:4060309b9cc0 | 333 | } |
komaida424 | 4:4060309b9cc0 | 334 | #endif |
komaida424 | 4:4060309b9cc0 | 335 | send = buf; |
komaida424 | 4:4060309b9cc0 | 336 | recv = (char*)&conf; |
komaida424 | 4:4060309b9cc0 | 337 | conf_ptr = (config*)buf; |
komaida424 | 4:4060309b9cc0 | 338 | if ( conf_ptr->Revision == conf.Revision && conf_ptr->Struct_Size == sizeof(config) ) { |
komaida424 | 4:4060309b9cc0 | 339 | for ( i=0;i<sizeof(config);i++ ) recv[i] = send[i]; |
komaida424 | 4:4060309b9cc0 | 340 | return; |
komaida424 | 4:4060309b9cc0 | 341 | } |
komaida424 | 4:4060309b9cc0 | 342 | |
komaida424 | 4:4060309b9cc0 | 343 | #else |
komaida424 | 4:4060309b9cc0 | 344 | int rc = iap.blank_check( TARGET_SECTOR, TARGET_SECTOR ); |
komaida424 | 0:cca1c4e84da4 | 345 | if ( rc == SECTOR_NOT_BLANK ) { |
komaida424 | 0:cca1c4e84da4 | 346 | send = sector_start_adress[TARGET_SECTOR]; |
komaida424 | 0:cca1c4e84da4 | 347 | recv = (char*)&conf; |
komaida424 | 0:cca1c4e84da4 | 348 | conf_ptr = (config*)sector_start_adress[TARGET_SECTOR]; |
komaida424 | 0:cca1c4e84da4 | 349 | if ( conf_ptr->Revision == conf.Revision && conf_ptr->Struct_Size == sizeof(config) ) { |
komaida424 | 0:cca1c4e84da4 | 350 | for ( i=0;i<sizeof(config);i++ ) recv[i] = send[i]; |
komaida424 | 0:cca1c4e84da4 | 351 | return; |
komaida424 | 0:cca1c4e84da4 | 352 | } |
komaida424 | 0:cca1c4e84da4 | 353 | } |
komaida424 | 4:4060309b9cc0 | 354 | #endif |
komaida424 | 0:cca1c4e84da4 | 355 | WriteConfig(); |
komaida424 | 0:cca1c4e84da4 | 356 | #endif |
komaida424 | 0:cca1c4e84da4 | 357 | } |
komaida424 | 0:cca1c4e84da4 | 358 | |
komaida424 | 0:cca1c4e84da4 | 359 | void WriteConfig() |
komaida424 | 0:cca1c4e84da4 | 360 | { |
komaida424 | 0:cca1c4e84da4 | 361 | #ifdef LocalFileOut |
komaida424 | 0:cca1c4e84da4 | 362 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
komaida424 | 0:cca1c4e84da4 | 363 | FILE *fp = fopen("/local/setup.inf", "wb"); |
komaida424 | 0:cca1c4e84da4 | 364 | fwrite(&conf,1,sizeof(config),fp); |
komaida424 | 0:cca1c4e84da4 | 365 | fclose(fp); |
komaida424 | 0:cca1c4e84da4 | 366 | #else |
komaida424 | 0:cca1c4e84da4 | 367 | char mem[MEM_SIZE]; |
komaida424 | 0:cca1c4e84da4 | 368 | char *send; |
komaida424 | 0:cca1c4e84da4 | 369 | int i; |
komaida424 | 4:4060309b9cc0 | 370 | if ( sizeof(config) > MEM_SIZE ) { |
komaida424 | 2:59ac9df97701 | 371 | LCD_printf("config size over"); |
komaida424 | 2:59ac9df97701 | 372 | wait(3); |
komaida424 | 0:cca1c4e84da4 | 373 | return; |
komaida424 | 0:cca1c4e84da4 | 374 | } |
komaida424 | 0:cca1c4e84da4 | 375 | send = (char*)&conf; |
komaida424 | 0:cca1c4e84da4 | 376 | for ( i=0;i<sizeof(config);i++ ) mem[i] = send[i]; |
komaida424 | 0:cca1c4e84da4 | 377 | for ( i=sizeof(config);i<MEM_SIZE;i++ ) mem[i] = 0x00; |
komaida424 | 4:4060309b9cc0 | 378 | //#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) |
komaida424 | 4:4060309b9cc0 | 379 | #if defined(INTERNAL_EEPROM) |
komaida424 | 4:4060309b9cc0 | 380 | iap.write_eeprom( mem, (char*)TARGET_EEPROM_ADDRESS, MEM_SIZE ); |
komaida424 | 4:4060309b9cc0 | 381 | #elif defined(EXTERNAL_EEPROM) |
komaida424 | 4:4060309b9cc0 | 382 | //External Flash Memory Wreite |
komaida424 | 4:4060309b9cc0 | 383 | short pos = 0; |
komaida424 | 4:4060309b9cc0 | 384 | i2c.write_EEPROM( pos,mem,MEM_SIZE) ; |
komaida424 | 4:4060309b9cc0 | 385 | #else |
komaida424 | 4:4060309b9cc0 | 386 | iap.prepare( TARGET_SECTOR, TARGET_SECTOR ); |
komaida424 | 4:4060309b9cc0 | 387 | iap.erase( TARGET_SECTOR, TARGET_SECTOR ); |
komaida424 | 4:4060309b9cc0 | 388 | iap.prepare( TARGET_SECTOR, TARGET_SECTOR ); |
komaida424 | 4:4060309b9cc0 | 389 | iap.write( mem, sector_start_adress[ TARGET_SECTOR ], MEM_SIZE ); |
komaida424 | 4:4060309b9cc0 | 390 | #endif |
komaida424 | 0:cca1c4e84da4 | 391 | #endif |
komaida424 | 0:cca1c4e84da4 | 392 | } |
komaida424 | 0:cca1c4e84da4 | 393 | |
komaida424 | 0:cca1c4e84da4 | 394 | void Get_Stick_Pos(void) |
komaida424 | 0:cca1c4e84da4 | 395 | { |
komaida424 | 0:cca1c4e84da4 | 396 | if ( InPulseMode == 'P' ) { |
komaida424 | 0:cca1c4e84da4 | 397 | for (int i=0;i<5;i++) CH[i] = ch[i].count; |
komaida424 | 0:cca1c4e84da4 | 398 | } |
komaida424 | 2:59ac9df97701 | 399 | // Stick_Save[ROL] = Stick[ROL]; |
komaida424 | 2:59ac9df97701 | 400 | // Stick_Save[PIT] = Stick[PIT]; |
komaida424 | 2:59ac9df97701 | 401 | // Stick_Save[YAW] = Stick[YAW]; |
komaida424 | 4:4060309b9cc0 | 402 | // Stick_Save[COL] = Stick[COL]; |
komaida424 | 2:59ac9df97701 | 403 | |
komaida424 | 0:cca1c4e84da4 | 404 | Stick[ROL] = AIL - conf.Stick_Ref[ROL]; |
komaida424 | 0:cca1c4e84da4 | 405 | Stick[PIT] = ELE - conf.Stick_Ref[PIT]; |
komaida424 | 0:cca1c4e84da4 | 406 | Stick[YAW] = RUD - conf.Stick_Ref[YAW]; |
komaida424 | 0:cca1c4e84da4 | 407 | Stick[COL] = THR - conf.Stick_Ref[COL]; |
komaida424 | 0:cca1c4e84da4 | 408 | Stick[GAIN] = ( AUX - conf.Stick_Ref[GAIN] ) / 4; |
komaida424 | 4:4060309b9cc0 | 409 | Stick[AUX2] = AX2 - conf.Stick_Ref[COL]; |
komaida424 | 0:cca1c4e84da4 | 410 | } |
komaida424 | 0:cca1c4e84da4 | 411 | |
komaida424 | 3:27407c4984cf | 412 | void Get_Gyro(float interval) |
komaida424 | 0:cca1c4e84da4 | 413 | { |
komaida424 | 2:59ac9df97701 | 414 | float x,y,z; |
komaida424 | 2:59ac9df97701 | 415 | bool err; |
komaida424 | 2:59ac9df97701 | 416 | Gyro_Save[ROL] = Gyro[ROL]; |
komaida424 | 2:59ac9df97701 | 417 | Gyro_Save[PIT] = Gyro[PIT]; |
komaida424 | 2:59ac9df97701 | 418 | Gyro_Save[YAW] = Gyro[YAW]; |
komaida424 | 2:59ac9df97701 | 419 | |
komaida424 | 2:59ac9df97701 | 420 | if ( conf.Gyro_Dir[3] ==1 ) err=i2c.angular(&x,&y,&z); |
komaida424 | 2:59ac9df97701 | 421 | else err=i2c.angular(&y,&x,&z); |
komaida424 | 2:59ac9df97701 | 422 | if ( err == false ) return; |
komaida424 | 4:4060309b9cc0 | 423 | Gyro[ROL] = gyroLimit[0].calc(x) - Gyro_Ref[0] ; |
komaida424 | 4:4060309b9cc0 | 424 | Gyro[PIT] = gyroLimit[1].calc(y) - Gyro_Ref[1] ; |
komaida424 | 4:4060309b9cc0 | 425 | Gyro[YAW] = gyroLimit[2].calc(z) - Gyro_Ref[2] ; |
komaida424 | 4:4060309b9cc0 | 426 | //pc.printf("%6.1f,%6.1f\r\n",x,Gyro[ROL]); |
komaida424 | 4:4060309b9cc0 | 427 | |
komaida424 | 0:cca1c4e84da4 | 428 | } |
komaida424 | 0:cca1c4e84da4 | 429 | |
komaida424 | 3:27407c4984cf | 430 | bool Get_Accel(float interval) |
komaida424 | 2:59ac9df97701 | 431 | { |
komaida424 | 2:59ac9df97701 | 432 | float x,y,z; |
komaida424 | 3:27407c4984cf | 433 | bool err; |
komaida424 | 4:4060309b9cc0 | 434 | // Accel_Save[ROL] = Accel_Angle[ROL]; |
komaida424 | 4:4060309b9cc0 | 435 | // Accel_Save[PIT] = Accel_Angle[PIT]; |
komaida424 | 4:4060309b9cc0 | 436 | // Accel_Save[YAW] = Accel_Angle[YAW]; |
komaida424 | 2:59ac9df97701 | 437 | if ( conf.Gyro_Dir[3] ==1 ) err=i2c.Acceleration(&x,&y,&z); |
komaida424 | 2:59ac9df97701 | 438 | else err=i2c.Acceleration(&y,&x,&z); |
komaida424 | 2:59ac9df97701 | 439 | if ( err == false ) return false; |
komaida424 | 4:4060309b9cc0 | 440 | //pc.printf("%6.4f,%6.4f,%6.4f\r\n",x,y,z); |
komaida424 | 3:27407c4984cf | 441 | |
komaida424 | 3:27407c4984cf | 442 | x -= conf.Accel_Ref[0]; |
komaida424 | 3:27407c4984cf | 443 | y -= conf.Accel_Ref[1]; |
komaida424 | 3:27407c4984cf | 444 | z -= conf.Accel_Ref[2]; |
komaida424 | 3:27407c4984cf | 445 | |
komaida424 | 4:4060309b9cc0 | 446 | Accel[ROL] = accLimit[0].calc(x); |
komaida424 | 4:4060309b9cc0 | 447 | Accel[PIT] = accLimit[1].calc(y); |
komaida424 | 4:4060309b9cc0 | 448 | Accel[YAW] = accLimit[2].calc(z); |
komaida424 | 4:4060309b9cc0 | 449 | //pc.printf("%6.4f,%6.4f,%6.4f\r\n",Accel[ROL],Accel[PIT],Accel[YAW]); |
komaida424 | 4:4060309b9cc0 | 450 | Accel[ROL] = atan(x/sqrtf( powf(y,2)+powf(z,2)))*180/3.14f; |
komaida424 | 4:4060309b9cc0 | 451 | Accel[PIT] = atan(y/sqrtf( powf(x,2)+powf(z,2)))*180/3.14f; |
komaida424 | 4:4060309b9cc0 | 452 | Accel[YAW] = atan(sqrtf( powf(x,2)+powf(y,2))/z)*180/3.14f; |
komaida424 | 4:4060309b9cc0 | 453 | return true; |
komaida424 | 2:59ac9df97701 | 454 | } |
komaida424 | 2:59ac9df97701 | 455 | |
komaida424 | 2:59ac9df97701 | 456 | void Get_Angle(float interval) |
komaida424 | 0:cca1c4e84da4 | 457 | { |
komaida424 | 2:59ac9df97701 | 458 | float x,y,z; |
komaida424 | 3:27407c4984cf | 459 | Get_Accel(interval); |
komaida424 | 3:27407c4984cf | 460 | Get_Gyro(interval); |
komaida424 | 2:59ac9df97701 | 461 | |
komaida424 | 4:4060309b9cc0 | 462 | x = ( Gyro[ROL] + Gyro_Save[ROL] ) * 0.5f; |
komaida424 | 4:4060309b9cc0 | 463 | y = ( Gyro[PIT] + Gyro_Save[PIT] ) * 0.5f; |
komaida424 | 4:4060309b9cc0 | 464 | z = ( Gyro[YAW] + Gyro_Save[YAW] ) * 0.5f; |
komaida424 | 3:27407c4984cf | 465 | if ( Get_Accel(interval) == true ) { |
komaida424 | 2:59ac9df97701 | 466 | float i = 3.14 * 2 * conf.Cutoff_Freq * interval; |
komaida424 | 2:59ac9df97701 | 467 | Angle[ROL] += -Angle[ROL] * i + Accel[ROL] * i + x * interval; |
komaida424 | 2:59ac9df97701 | 468 | Angle[PIT] += -Angle[PIT] * i + Accel[PIT] * i + y * interval; |
komaida424 | 2:59ac9df97701 | 469 | } |
komaida424 | 3:27407c4984cf | 470 | else { |
komaida424 | 2:59ac9df97701 | 471 | Angle[ROL] += x * interval; |
komaida424 | 2:59ac9df97701 | 472 | Angle[PIT] += y * interval; |
komaida424 | 2:59ac9df97701 | 473 | } |
komaida424 | 2:59ac9df97701 | 474 | Angle[YAW] += z * interval; |
komaida424 | 4:4060309b9cc0 | 475 | //pc.printf("%6.1f,%6.1f,%6.3f\r\n",Angle[ROL],Gyro[ROL],Accel[ROL]); |
komaida424 | 0:cca1c4e84da4 | 476 | } |
komaida424 | 2:59ac9df97701 | 477 | |
komaida424 | 0:cca1c4e84da4 | 478 | void Get_Pressure() |
komaida424 | 0:cca1c4e84da4 | 479 | { |
komaida424 | 4:4060309b9cc0 | 480 | float P = (float)i2c.pressure()/4096; |
komaida424 | 4:4060309b9cc0 | 481 | // Press = 153.8 * ( T + 273.2 ) * ( 1.0 - ( P / Base_Press ) ^ 0.1902f ); |
komaida424 | 4:4060309b9cc0 | 482 | Press = 8.43f * ( P - Base_Press ); |
komaida424 | 4:4060309b9cc0 | 483 | } |
komaida424 | 0:cca1c4e84da4 | 484 | |
komaida424 | 0:cca1c4e84da4 | 485 | void CalibrateGyros(void) |
komaida424 | 0:cca1c4e84da4 | 486 | { |
komaida424 | 2:59ac9df97701 | 487 | int i; |
komaida424 | 2:59ac9df97701 | 488 | float x,y,z; |
komaida424 | 2:59ac9df97701 | 489 | float k[3]={0,0,0}; |
komaida424 | 0:cca1c4e84da4 | 490 | wait(1); |
komaida424 | 2:59ac9df97701 | 491 | Angle[0]=Angle[1]=Angle[2]=0; |
komaida424 | 0:cca1c4e84da4 | 492 | for(i=0; i<16; i++) { |
komaida424 | 2:59ac9df97701 | 493 | if ( conf.Gyro_Dir[3] ==1 ) i2c.angular(&x,&y,&z); |
komaida424 | 2:59ac9df97701 | 494 | else i2c.angular(&y,&x,&z); |
komaida424 | 0:cca1c4e84da4 | 495 | k[0] += x; |
komaida424 | 0:cca1c4e84da4 | 496 | k[1] += y; |
komaida424 | 0:cca1c4e84da4 | 497 | k[2] += z; |
komaida424 | 2:59ac9df97701 | 498 | wait(0.01); |
komaida424 | 0:cca1c4e84da4 | 499 | } |
komaida424 | 2:59ac9df97701 | 500 | for( i=0; i<3; i++ ) Gyro_Ref[i] = k[i]/16; |
komaida424 | 2:59ac9df97701 | 501 | // FlashLED(3); |
komaida424 | 0:cca1c4e84da4 | 502 | } |
komaida424 | 0:cca1c4e84da4 | 503 | |
komaida424 | 0:cca1c4e84da4 | 504 | void CalibrateAccel(void) |
komaida424 | 0:cca1c4e84da4 | 505 | { |
komaida424 | 2:59ac9df97701 | 506 | int i; |
komaida424 | 2:59ac9df97701 | 507 | float x,y,z; |
komaida424 | 2:59ac9df97701 | 508 | float k[3]={0,0,0}; |
komaida424 | 2:59ac9df97701 | 509 | conf.Accel_Ref[0]=conf.Accel_Ref[1]=conf.Accel_Ref[2]=0; |
komaida424 | 0:cca1c4e84da4 | 510 | for(i=0; i<16; i++) { |
komaida424 | 2:59ac9df97701 | 511 | if ( conf.Gyro_Dir[3] ==1 ) i2c.Acceleration(&x,&y,&z); |
komaida424 | 2:59ac9df97701 | 512 | else i2c.Acceleration(&y,&x,&z); |
komaida424 | 0:cca1c4e84da4 | 513 | k[0] += x; |
komaida424 | 0:cca1c4e84da4 | 514 | k[1] += y; |
komaida424 | 0:cca1c4e84da4 | 515 | k[2] += z; |
komaida424 | 2:59ac9df97701 | 516 | wait(0.01); |
komaida424 | 0:cca1c4e84da4 | 517 | } |
komaida424 | 2:59ac9df97701 | 518 | conf.Accel_Ref[0] = k[0]/16; |
komaida424 | 2:59ac9df97701 | 519 | conf.Accel_Ref[1] = k[1]/16; |
komaida424 | 3:27407c4984cf | 520 | conf.Accel_Ref[2] = k[2]/16-1; |
komaida424 | 4:4060309b9cc0 | 521 | // conf.Accel_Ref[2] = k[2]/16; |
komaida424 | 2:59ac9df97701 | 522 | // FlashLED(3); |
komaida424 | 0:cca1c4e84da4 | 523 | } |
komaida424 | 0:cca1c4e84da4 | 524 | |
komaida424 | 0:cca1c4e84da4 | 525 | void PWM_Out(bool mode) |
komaida424 | 0:cca1c4e84da4 | 526 | { |
komaida424 | 4:4060309b9cc0 | 527 | int reg[3]; |
komaida424 | 0:cca1c4e84da4 | 528 | int i; |
komaida424 | 0:cca1c4e84da4 | 529 | float gain; |
komaida424 | 4:4060309b9cc0 | 530 | // float cur_height; |
komaida424 | 0:cca1c4e84da4 | 531 | |
komaida424 | 2:59ac9df97701 | 532 | interval = CycleTime.read(); |
komaida424 | 2:59ac9df97701 | 533 | CycleTime.reset(); |
komaida424 | 4:4060309b9cc0 | 534 | if ( interval > 0.2f ) return; |
komaida424 | 2:59ac9df97701 | 535 | TotalTime += interval; |
komaida424 | 4:4060309b9cc0 | 536 | if ( TotalTime > 0.5f ) { |
komaida424 | 2:59ac9df97701 | 537 | led1 = !led1; |
komaida424 | 4:4060309b9cc0 | 538 | if ( ( !buzz ) && ( (float)conf.Flight_Time < FlyghtTime.read() ) ) buzz=0.5; |
komaida424 | 2:59ac9df97701 | 539 | else buzz=0.0; |
komaida424 | 2:59ac9df97701 | 540 | TotalTime = 0; |
komaida424 | 2:59ac9df97701 | 541 | } |
komaida424 | 2:59ac9df97701 | 542 | |
komaida424 | 2:59ac9df97701 | 543 | Get_Angle(interval); |
komaida424 | 3:27407c4984cf | 544 | pid_interval += interval; |
komaida424 | 4:4060309b9cc0 | 545 | if ( (pid_interval < (float)conf.PWM_Interval/1000000) && (Stick[GAIN] < 0) ) return; |
komaida424 | 4:4060309b9cc0 | 546 | pid_interval = 0; |
komaida424 | 4:4060309b9cc0 | 547 | |
komaida424 | 3:27407c4984cf | 548 | Get_Stick_Pos(); |
komaida424 | 4:4060309b9cc0 | 549 | switch ( conf.Model_Type ) { |
komaida424 | 4:4060309b9cc0 | 550 | case Quad_X: |
komaida424 | 4:4060309b9cc0 | 551 | M1 = M2 = M3 = M4 = Stick[COL]; |
komaida424 | 4:4060309b9cc0 | 552 | break; |
komaida424 | 4:4060309b9cc0 | 553 | case Quad_H: |
komaida424 | 4:4060309b9cc0 | 554 | M1 = M2 = M3 = M4 = Stick[AUX2]; |
komaida424 | 4:4060309b9cc0 | 555 | M5 = Stick[COL]; |
komaida424 | 4:4060309b9cc0 | 556 | break; |
komaida424 | 4:4060309b9cc0 | 557 | case Delta: |
komaida424 | 4:4060309b9cc0 | 558 | case Delta_TW: |
komaida424 | 4:4060309b9cc0 | 559 | case AirPlane: |
komaida424 | 4:4060309b9cc0 | 560 | M1 = Stick[COL]; |
komaida424 | 4:4060309b9cc0 | 561 | M2 = conf.Stick_Ref[ROL] - conf.Stick_Ref[COL]; |
komaida424 | 4:4060309b9cc0 | 562 | M3 = conf.Stick_Ref[PIT] - conf.Stick_Ref[COL]; |
komaida424 | 4:4060309b9cc0 | 563 | M4 = conf.Stick_Ref[YAW] - conf.Stick_Ref[COL]; |
komaida424 | 4:4060309b9cc0 | 564 | if ( conf.Model_Type == AirPlane ) |
komaida424 | 4:4060309b9cc0 | 565 | M5 = conf.Stick_Ref[ROL] - conf.Stick_Ref[COL]; |
komaida424 | 4:4060309b9cc0 | 566 | else M5 = Stick[COL]; |
komaida424 | 4:4060309b9cc0 | 567 | break; |
komaida424 | 4:4060309b9cc0 | 568 | } |
komaida424 | 4:4060309b9cc0 | 569 | |
komaida424 | 2:59ac9df97701 | 570 | for ( i=0;i<3;i++ ) { |
komaida424 | 2:59ac9df97701 | 571 | |
komaida424 | 0:cca1c4e84da4 | 572 | // Stick Angle Mixing |
komaida424 | 0:cca1c4e84da4 | 573 | if ( conf.Gyro_Gain_Setting == 1 ) gain = conf.Gyro_Gain[i] * conf.Gyro_Dir[i]; |
komaida424 | 0:cca1c4e84da4 | 574 | else gain = ( (float)abs(Stick[GAIN])/100 + conf.Gyro_Gain[i+3] ) * conf.Gyro_Dir[i]; |
komaida424 | 4:4060309b9cc0 | 575 | if ( fabsf(Stick[i]) > 0 ) gain -= gain * ( fabsf(Stick[i]) / 500 ) * conf.Active_Jyro_Gain; |
komaida424 | 2:59ac9df97701 | 576 | if ( Stick[GAIN] > 0 |
komaida424 | 4:4060309b9cc0 | 577 | || i == YAW |
komaida424 | 4:4060309b9cc0 | 578 | || conf.Model_Type > 0 |
komaida424 | 2:59ac9df97701 | 579 | ) { |
komaida424 | 2:59ac9df97701 | 580 | reg[i] = Stick[i] * conf.Stick_Mix[i]; |
komaida424 | 2:59ac9df97701 | 581 | reg[i] += Gyro[i] * gain * GYRO_ADJUST; |
komaida424 | 2:59ac9df97701 | 582 | } |
komaida424 | 2:59ac9df97701 | 583 | else { |
komaida424 | 4:4060309b9cc0 | 584 | reg[i] = ( Angle[i]*conf.Gyro_Dir[i]*400/50 + (float)Stick[i] ) * conf.Stick_Mix[i]; |
komaida424 | 4:4060309b9cc0 | 585 | reg[i] += Gyro[i] * gain * GYRO_ADJUST; |
komaida424 | 2:59ac9df97701 | 586 | } |
komaida424 | 4:4060309b9cc0 | 587 | |
komaida424 | 4:4060309b9cc0 | 588 | // pid_reg[i] = reg[i]; |
komaida424 | 0:cca1c4e84da4 | 589 | } |
komaida424 | 3:27407c4984cf | 590 | pid_interval = 0; |
komaida424 | 4:4060309b9cc0 | 591 | |
komaida424 | 4:4060309b9cc0 | 592 | switch ( conf.Model_Type ) { |
komaida424 | 4:4060309b9cc0 | 593 | case Quad_X: |
komaida424 | 4:4060309b9cc0 | 594 | case Quad_H: |
komaida424 | 4:4060309b9cc0 | 595 | //Calculate Roll Pulse Width |
komaida424 | 4:4060309b9cc0 | 596 | M1 += reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 597 | M2 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 598 | M3 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 599 | M4 += reg[ROL]; |
komaida424 | 0:cca1c4e84da4 | 600 | |
komaida424 | 4:4060309b9cc0 | 601 | //Calculate Pitch Pulse Width |
komaida424 | 4:4060309b9cc0 | 602 | M1 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 603 | M2 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 604 | M3 -= reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 605 | M4 -= reg[PIT]; |
komaida424 | 0:cca1c4e84da4 | 606 | |
komaida424 | 4:4060309b9cc0 | 607 | //Calculate Yaw Pulse Width |
komaida424 | 4:4060309b9cc0 | 608 | M1 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 609 | M2 += reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 610 | M3 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 611 | M4 += reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 612 | break; |
komaida424 | 4:4060309b9cc0 | 613 | case Delta: |
komaida424 | 4:4060309b9cc0 | 614 | case Delta_TW: |
komaida424 | 4:4060309b9cc0 | 615 | //Calculate Roll Pulse Width |
komaida424 | 4:4060309b9cc0 | 616 | M2 += reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 617 | M3 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 618 | //Calculate Pitch Pulse Width |
komaida424 | 4:4060309b9cc0 | 619 | M2 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 620 | M3 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 621 | //Calculate Yaw Pulse Width |
komaida424 | 4:4060309b9cc0 | 622 | M4 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 623 | //Calculate Yaw Pulse Width |
komaida424 | 4:4060309b9cc0 | 624 | if ( conf.Model_Type == Delta_TW ) { |
komaida424 | 4:4060309b9cc0 | 625 | M1 += reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 626 | M5 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 627 | } |
komaida424 | 4:4060309b9cc0 | 628 | break; |
komaida424 | 4:4060309b9cc0 | 629 | case AirPlane: |
komaida424 | 4:4060309b9cc0 | 630 | //Calculate Roll Pulse Width |
komaida424 | 4:4060309b9cc0 | 631 | M2 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 632 | M5 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 633 | //Calculate Pitch Pulse Width |
komaida424 | 4:4060309b9cc0 | 634 | M3 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 635 | //Calculate Yaw Pulse Width |
komaida424 | 4:4060309b9cc0 | 636 | M4 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 637 | break; |
komaida424 | 4:4060309b9cc0 | 638 | } |
komaida424 | 4:4060309b9cc0 | 639 | if ( conf.Model_Type != AirPlane ) { |
komaida424 | 4:4060309b9cc0 | 640 | for ( i=0;i<4;i++ ) |
komaida424 | 4:4060309b9cc0 | 641 | { |
komaida424 | 4:4060309b9cc0 | 642 | if ( M[i] > Thro_Hi ) M[i] = Thro_Hi; |
komaida424 | 4:4060309b9cc0 | 643 | if ( M[i] < Thro_Lo ) M[i] = Thro_Lo; // motor idle level |
komaida424 | 4:4060309b9cc0 | 644 | } |
komaida424 | 0:cca1c4e84da4 | 645 | } |
komaida424 | 2:59ac9df97701 | 646 | |
komaida424 | 4:4060309b9cc0 | 647 | switch ( conf.Model_Type ) { |
komaida424 | 4:4060309b9cc0 | 648 | case Quad_X: |
komaida424 | 4:4060309b9cc0 | 649 | if ( Stick[COL] < Thro_Zero ) M1=M2=M3=M4=0; |
komaida424 | 4:4060309b9cc0 | 650 | break; |
komaida424 | 4:4060309b9cc0 | 651 | case Quad_H: |
komaida424 | 4:4060309b9cc0 | 652 | if ( Stick[COL] < Thro_Zero ) M5=0; |
komaida424 | 4:4060309b9cc0 | 653 | Servo_Reverse(1,4); |
komaida424 | 4:4060309b9cc0 | 654 | break; |
komaida424 | 4:4060309b9cc0 | 655 | case Delta: |
komaida424 | 4:4060309b9cc0 | 656 | case Delta_TW: |
komaida424 | 4:4060309b9cc0 | 657 | if ( Stick[COL] < Thro_Zero ) M1=M5=0; |
komaida424 | 4:4060309b9cc0 | 658 | Servo_Reverse(2,4); |
komaida424 | 4:4060309b9cc0 | 659 | break; |
komaida424 | 4:4060309b9cc0 | 660 | case AirPlane: |
komaida424 | 4:4060309b9cc0 | 661 | Servo_Reverse(2,5); |
komaida424 | 4:4060309b9cc0 | 662 | break; |
komaida424 | 4:4060309b9cc0 | 663 | } |
komaida424 | 2:59ac9df97701 | 664 | if ( mode ) { |
komaida424 | 4:4060309b9cc0 | 665 | for ( i=0;i<6;i++ ) { |
komaida424 | 4:4060309b9cc0 | 666 | // while ( !pwmpin[i] ); |
komaida424 | 4:4060309b9cc0 | 667 | if ( conf.PWM_Mode == 1 ) |
komaida424 | 2:59ac9df97701 | 668 | pwm[i].pulsewidth_us(conf.ESC_Low+M[i]); |
komaida424 | 4:4060309b9cc0 | 669 | else pwm[i].pulsewidth_us(M[i]); |
komaida424 | 2:59ac9df97701 | 670 | } |
komaida424 | 2:59ac9df97701 | 671 | } |
komaida424 | 2:59ac9df97701 | 672 | |
komaida424 | 0:cca1c4e84da4 | 673 | } |
komaida424 | 0:cca1c4e84da4 | 674 | |
komaida424 | 4:4060309b9cc0 | 675 | void Servo_Reverse(int start,int end) { |
komaida424 | 4:4060309b9cc0 | 676 | for ( int i=start-1; i<end; i++ ) { |
komaida424 | 4:4060309b9cc0 | 677 | if ( conf.Servo_Dir[i] == -1 ) |
komaida424 | 4:4060309b9cc0 | 678 | M[i] = 1500 + ( ( conf.Stick_Ref[COL] + M[i] - 1500 ) * conf.Servo_Dir[i] ) - conf.Stick_Ref[COL]; |
komaida424 | 4:4060309b9cc0 | 679 | } |
komaida424 | 4:4060309b9cc0 | 680 | } |
komaida424 | 4:4060309b9cc0 | 681 | |
komaida424 | 0:cca1c4e84da4 | 682 | void ESC_SetUp(void) { |
komaida424 | 0:cca1c4e84da4 | 683 | while(1) { |
komaida424 | 0:cca1c4e84da4 | 684 | Get_Stick_Pos(); |
komaida424 | 2:59ac9df97701 | 685 | for ( int i=0;i<4;i++ ) pwm[i].pulsewidth_us(conf.Stick_Ref[COL]+Stick[COL]); |
komaida424 | 2:59ac9df97701 | 686 | wait(0.015); |
komaida424 | 0:cca1c4e84da4 | 687 | } |
komaida424 | 2:59ac9df97701 | 688 | } |
komaida424 | 2:59ac9df97701 | 689 | |
komaida424 | 2:59ac9df97701 | 690 | void Flight_SetUp(void) |
komaida424 | 2:59ac9df97701 | 691 | { |
komaida424 | 2:59ac9df97701 | 692 | int i; |
komaida424 | 4:4060309b9cc0 | 693 | #ifdef SOFTPWM |
komaida424 | 4:4060309b9cc0 | 694 | Tpwm.detach(); |
komaida424 | 4:4060309b9cc0 | 695 | Tpwm.attach_us(&Tpwm_interrupt,conf.PWM_Interval); |
komaida424 | 4:4060309b9cc0 | 696 | #else |
komaida424 | 4:4060309b9cc0 | 697 | for ( i=0;i<6;i++ ) pwm[i].pulsewidth_us(0); |
komaida424 | 4:4060309b9cc0 | 698 | for ( i=0;i<6;i++ ) pwm[i].period_us(conf.PWM_Interval); |
komaida424 | 4:4060309b9cc0 | 699 | #endif |
komaida424 | 4:4060309b9cc0 | 700 | for ( i=0; i<6; i++ ) { |
komaida424 | 4:4060309b9cc0 | 701 | pwm[i].pulsewidth_us(PWM_Init[conf.Model_Type][i]); |
komaida424 | 4:4060309b9cc0 | 702 | } |
komaida424 | 4:4060309b9cc0 | 703 | hov_control = false; |
komaida424 | 2:59ac9df97701 | 704 | Angle[ROL]=Angle[PIT]=Angle[YAW]=0; |
komaida424 | 2:59ac9df97701 | 705 | loop_cnt = 0; |
komaida424 | 2:59ac9df97701 | 706 | FlyghtTime.start(); |
komaida424 | 2:59ac9df97701 | 707 | CycleTime.start(); |
komaida424 | 3:27407c4984cf | 708 | pid_interval = 0; |
komaida424 | 4:4060309b9cc0 | 709 | Stick_Save[COL] = Stick[COL]; |
komaida424 | 2:59ac9df97701 | 710 | FlashLED(5); |
komaida424 | 2:59ac9df97701 | 711 | } |
komaida424 | 2:59ac9df97701 | 712 | |
komaida424 | 2:59ac9df97701 | 713 | void LCD_locate(int clm,int row) |
komaida424 | 2:59ac9df97701 | 714 | { |
komaida424 | 2:59ac9df97701 | 715 | lcd.locate(clm,row); |
komaida424 | 2:59ac9df97701 | 716 | i2c.locate(clm,row); |
komaida424 | 2:59ac9df97701 | 717 | } |
komaida424 | 2:59ac9df97701 | 718 | |
komaida424 | 2:59ac9df97701 | 719 | void LCD_cls() |
komaida424 | 2:59ac9df97701 | 720 | { |
komaida424 | 2:59ac9df97701 | 721 | lcd.cls(); |
komaida424 | 2:59ac9df97701 | 722 | i2c.cls(); |
komaida424 | 2:59ac9df97701 | 723 | } |
komaida424 | 2:59ac9df97701 | 724 | |
komaida424 | 2:59ac9df97701 | 725 | void LCD_printf(char* str) |
komaida424 | 2:59ac9df97701 | 726 | { |
komaida424 | 2:59ac9df97701 | 727 | lcd.printf(str); |
komaida424 | 2:59ac9df97701 | 728 | i2c.printf(str); |
komaida424 | 2:59ac9df97701 | 729 | } |
komaida424 | 2:59ac9df97701 | 730 | ; |
komaida424 | 0:cca1c4e84da4 | 731 | |
komaida424 | 0:cca1c4e84da4 | 732 | |
komaida424 | 0:cca1c4e84da4 | 733 | |
komaida424 | 0:cca1c4e84da4 | 734 | |
komaida424 | 0:cca1c4e84da4 | 735 | |
komaida424 | 2:59ac9df97701 | 736 | |
komaida424 | 2:59ac9df97701 | 737 | |
komaida424 | 3:27407c4984cf | 738 | |
komaida424 | 3:27407c4984cf | 739 | |
komaida424 | 4:4060309b9cc0 | 740 | |
komaida424 | 4:4060309b9cc0 | 741 | |
komaida424 | 4:4060309b9cc0 | 742 | |
komaida424 | 4:4060309b9cc0 | 743 | |
komaida424 | 4:4060309b9cc0 | 744 | |
komaida424 | 4:4060309b9cc0 | 745 |