syouichi imamori
/
MulticopterQuadX
Quad X Type Multicopter
main.cpp@6:a50e6d3924f1, 2015-02-24 (annotated)
- Committer:
- komaida424
- Date:
- Tue Feb 24 09:28:29 2015 +0000
- Revision:
- 6:a50e6d3924f1
- Parent:
- 5:7b02775787a9
- Child:
- 7:16bf0085d914
Release?revision 3.1
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 | 6:a50e6d3924f1 | 6 | Quad-3D |FL Thr ESC |FR Thr ESC |BL Thr ESC |BR Thr ESC | - | - |
komaida424 | 6:a50e6d3924f1 | 7 | Delta |FL Tro ESC |L Alv Ser |R Alv Ser |Rud Ser | - | - |
komaida424 | 6:a50e6d3924f1 | 8 | Delta-TW |FL Tro ESC |L Alv Ser |R Alv Ser |Rud Ser |FR Thr ESC | - |
komaida424 | 4:4060309b9cc0 | 9 | Airplane |Thr ESC |Ail Ser |Ele Ser |Rud Ser |Ail Ser | - |
komaida424 | 4:4060309b9cc0 | 10 | |
komaida424 | 6:a50e6d3924f1 | 11 | F:Front, B:Back, L:Left, R:Right |
komaida424 | 6:a50e6d3924f1 | 12 | Ele:Elevator, Rud:Rudder, Ail:Aileron, Thr:Throttle, Alv:Alevon |
komaida424 | 4:4060309b9cc0 | 13 | ESC:for ESC, Ser:for Servo, VP:Variable Pitch |
komaida424 | 4:4060309b9cc0 | 14 | */ |
komaida424 | 4:4060309b9cc0 | 15 | |
komaida424 | 0:cca1c4e84da4 | 16 | #include "mbed.h" |
komaida424 | 2:59ac9df97701 | 17 | #include "math.h" |
komaida424 | 0:cca1c4e84da4 | 18 | #include "I2cPeripherals.h" |
komaida424 | 0:cca1c4e84da4 | 19 | #include "InterruptIn.h" |
komaida424 | 0:cca1c4e84da4 | 20 | #include "config.h" |
komaida424 | 0:cca1c4e84da4 | 21 | #include "PulseWidthCounter.h" |
komaida424 | 0:cca1c4e84da4 | 22 | #include "string" |
komaida424 | 0:cca1c4e84da4 | 23 | #include "SerialLcd.h" |
komaida424 | 4:4060309b9cc0 | 24 | //#include "PID.h" |
komaida424 | 2:59ac9df97701 | 25 | #include "SoftPWM.h" |
komaida424 | 4:4060309b9cc0 | 26 | #include "PulseOut.h" |
komaida424 | 4:4060309b9cc0 | 27 | #include "Limiter.h" |
komaida424 | 4:4060309b9cc0 | 28 | #ifndef TARGET_NUCLEO_F401RE |
komaida424 | 4:4060309b9cc0 | 29 | #include "IAP.h" |
komaida424 | 4:4060309b9cc0 | 30 | #endif |
komaida424 | 2:59ac9df97701 | 31 | |
komaida424 | 2:59ac9df97701 | 32 | //Serial pc(USBTX, USBRX); |
komaida424 | 2:59ac9df97701 | 33 | |
komaida424 | 4:4060309b9cc0 | 34 | #if defined(TARGET_LPC1768) |
komaida424 | 4:4060309b9cc0 | 35 | DigitalInOut pwmpin[] = { p21,p22,p23,p24 }; |
komaida424 | 4:4060309b9cc0 | 36 | // #ifdef LPCXpresso |
komaida424 | 6:a50e6d3924f1 | 37 | #define LED1 P0_22 |
komaida424 | 4:4060309b9cc0 | 38 | // #endif |
komaida424 | 4:4060309b9cc0 | 39 | DigitalOut led1(LED1); |
komaida424 | 4:4060309b9cc0 | 40 | // DigitalOut led2(LED2); |
komaida424 | 4:4060309b9cc0 | 41 | InterruptIn ch1(p5); |
komaida424 | 4:4060309b9cc0 | 42 | PulseWidthCounter ch[6] = { p6,p7,p8,p9,p10,p11 }; |
komaida424 | 4:4060309b9cc0 | 43 | PwmOut pwm[6] = { p21,p22,p23,p24,p25,p26 }; |
komaida424 | 4:4060309b9cc0 | 44 | // SoftPWM pwm[6] = { p21,p22,p23,p24,p25,p26 }; |
komaida424 | 4:4060309b9cc0 | 45 | SoftPWM buzz(p20); |
komaida424 | 4:4060309b9cc0 | 46 | I2cPeripherals i2c(p28,p27); //sda scl |
komaida424 | 4:4060309b9cc0 | 47 | SerialLcd lcd(p13,p14); |
komaida424 | 4:4060309b9cc0 | 48 | #define MEM_SIZE 256 |
komaida424 | 4:4060309b9cc0 | 49 | #define TARGET_SECTOR 29 // use sector 29 as target sector if it is on LPC1768 |
komaida424 | 4:4060309b9cc0 | 50 | IAP iap; |
komaida424 | 4:4060309b9cc0 | 51 | #elif defined(TARGET_NUCLEO_F401RE) |
komaida424 | 4:4060309b9cc0 | 52 | DigitalOut led1(LED1); |
komaida424 | 4:4060309b9cc0 | 53 | InterruptIn ch1(PC_2); |
komaida424 | 4:4060309b9cc0 | 54 | // PulseWidthCounter ch[6] = { PA_0,PA_1,PA_4,PB_0,PC_1,PC_0 }; |
komaida424 | 4:4060309b9cc0 | 55 | PulseWidthCounter ch[6] = { A0,A1,A2,A3,A4,A5 }; |
komaida424 | 4:4060309b9cc0 | 56 | PwmOut pwm[6] = { D8,D9,D10,D11,D12,D14 }; |
komaida424 | 4:4060309b9cc0 | 57 | // PwmOut pwm[6] = { D2,D3,D4,D5,D6,D7 }; |
komaida424 | 4:4060309b9cc0 | 58 | // SoftPWM pwm[6] = { PB_3,PB_4,PB_10,PC_6,PB_6,PA_7 }; |
komaida424 | 4:4060309b9cc0 | 59 | SoftPWM buzz(PB_13); |
komaida424 | 4:4060309b9cc0 | 60 | // I2cPeripherals i2c(I2C_SDA,I2C_SCL); //sda scl |
komaida424 | 4:4060309b9cc0 | 61 | I2cPeripherals i2c(D5,D7); //sda scl |
komaida424 | 4:4060309b9cc0 | 62 | SerialLcd lcd(PA_11,PA_12); |
komaida424 | 4:4060309b9cc0 | 63 | #define MEM_SIZE 256 |
komaida424 | 4:4060309b9cc0 | 64 | #define EXTERNAL_EEPROM //24AAXX/24LCXX/24FCXX EEPROM |
komaida424 | 4:4060309b9cc0 | 65 | #elif defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) |
komaida424 | 4:4060309b9cc0 | 66 | DigitalInOut pwmpin[] = { P0_14,P0_2,P0_23,P0_17 }; |
komaida424 | 4:4060309b9cc0 | 67 | DigitalOut led1(P0_21); |
komaida424 | 4:4060309b9cc0 | 68 | // DigitalOut led2(P0_21); |
komaida424 | 4:4060309b9cc0 | 69 | InterruptIn ch1(P0_9); |
komaida424 | 4:4060309b9cc0 | 70 | PulseWidthCounter ch[5] = { P0_8,P0_10,P0_7,P0_22,P1_15 }; |
komaida424 | 4:4060309b9cc0 | 71 | // SoftPWM pwm[4] = { P0_14,P0_2,P0_23,P0_17 }; |
komaida424 | 4:4060309b9cc0 | 72 | PulseOut pwm[6] = { P0_14,P0_2,P0_23,P0_17,p0_20,p015 }; |
komaida424 | 4:4060309b9cc0 | 73 | Ticker Tpwm; |
komaida424 | 4:4060309b9cc0 | 74 | #define SOFTPWM |
komaida424 | 4:4060309b9cc0 | 75 | SoftPWM buzz(P1_19); |
komaida424 | 4:4060309b9cc0 | 76 | I2cPeripherals i2c(P0_5,P0_4); //sda scl |
komaida424 | 4:4060309b9cc0 | 77 | SerialLcd lcd(P0_19,P0_18); |
komaida424 | 4:4060309b9cc0 | 78 | #define MEM_SIZE 256 |
komaida424 | 4:4060309b9cc0 | 79 | #define TARGET_EEPROM_ADDRESS 64 |
komaida424 | 4:4060309b9cc0 | 80 | // #define EXTERNAL_EEPROM |
komaida424 | 4:4060309b9cc0 | 81 | #define INTERNAL_EEPROM |
komaida424 | 4:4060309b9cc0 | 82 | IAP iap; |
komaida424 | 4:4060309b9cc0 | 83 | #elif defined(TARGET_LPC1114) // LPC1114 |
komaida424 | 4:4060309b9cc0 | 84 | DigitalInOut pwmpin[] = { dp1,dp2,dp18,dp24 }; |
komaida424 | 4:4060309b9cc0 | 85 | DigitalOut led1(dp28); |
komaida424 | 4:4060309b9cc0 | 86 | InterruptIn ch1(dp4); |
komaida424 | 4:4060309b9cc0 | 87 | PulseWidthCounter ch[5] = { dp9,dp10,dp11,dp13,dp26 }; |
komaida424 | 4:4060309b9cc0 | 88 | // SoftPWM pwm[4] = { dp1,dp2,dp18,dp24 }; |
komaida424 | 4:4060309b9cc0 | 89 | PulseOut pwm[6] = { dp1,dp2,dp18,dp24,dp17,dp6 }; |
komaida424 | 4:4060309b9cc0 | 90 | Ticker Tpwm; |
komaida424 | 4:4060309b9cc0 | 91 | #define SOFTPWM |
komaida424 | 4:4060309b9cc0 | 92 | SoftPWM buzz(dp25); |
komaida424 | 4:4060309b9cc0 | 93 | I2cPeripherals i2c(dp5,dp27); //sda scl |
komaida424 | 4:4060309b9cc0 | 94 | SerialLcd lcd(dp16,dp15); |
komaida424 | 4:4060309b9cc0 | 95 | #define MEM_SIZE 256 |
komaida424 | 4:4060309b9cc0 | 96 | #define EXTERNAL_EEPROM |
komaida424 | 4:4060309b9cc0 | 97 | #endif |
komaida424 | 0:cca1c4e84da4 | 98 | |
komaida424 | 0:cca1c4e84da4 | 99 | Timer CurTime; |
komaida424 | 2:59ac9df97701 | 100 | //Timer ElapTime; |
komaida424 | 2:59ac9df97701 | 101 | Timer CycleTime; |
komaida424 | 2:59ac9df97701 | 102 | Timer FlyghtTime; |
komaida424 | 0:cca1c4e84da4 | 103 | config conf; |
komaida424 | 4:4060309b9cc0 | 104 | //PID pid[4]; |
komaida424 | 6:a50e6d3924f1 | 105 | Limiter throLimit = 100; |
komaida424 | 4:4060309b9cc0 | 106 | Limiter gyroLimit[3] = {300,300,300}; |
komaida424 | 4:4060309b9cc0 | 107 | Limiter accLimit[3] = {0.5,0.5,0.5}; |
komaida424 | 4:4060309b9cc0 | 108 | Limiter pwmLimit[4] = {50,50,50,50}; |
komaida424 | 4:4060309b9cc0 | 109 | //PID height; |
komaida424 | 2:59ac9df97701 | 110 | float TotalTime = 0;; |
komaida424 | 2:59ac9df97701 | 111 | int channel = 0; |
komaida424 | 4:4060309b9cc0 | 112 | int Signal[9] = { _THR,_AIL,_ELE,_RUD,_GYRO,_AUX1,_AUX2,_AUX3,_AUX4 }; |
komaida424 | 4:4060309b9cc0 | 113 | volatile int CH[9]; |
komaida424 | 2:59ac9df97701 | 114 | volatile int M[6]; |
komaida424 | 2:59ac9df97701 | 115 | volatile float Gyro[3]; |
komaida424 | 4:4060309b9cc0 | 116 | volatile float Accel[3]= {0,0,0}; |
komaida424 | 4:4060309b9cc0 | 117 | volatile float Accel_Angle[3]; |
komaida424 | 4:4060309b9cc0 | 118 | volatile float Accel_Save[3]= {0,0,0}; |
komaida424 | 2:59ac9df97701 | 119 | volatile float Angle[3]; |
komaida424 | 2:59ac9df97701 | 120 | volatile float Gyro_Ref[3]; |
komaida424 | 2:59ac9df97701 | 121 | volatile float Gyro_Save[3]; |
komaida424 | 4:4060309b9cc0 | 122 | volatile int Stick[6]; |
komaida424 | 4:4060309b9cc0 | 123 | volatile int Stick_Save[6]; |
komaida424 | 6:a50e6d3924f1 | 124 | int PWM_Init[6][6] = { 1080,1080,1080,1080,1080,1080, //Quad_X |
komaida424 | 6:a50e6d3924f1 | 125 | 1500,1500,1500,1500,1080,1080, //Quad_VP |
komaida424 | 6:a50e6d3924f1 | 126 | 1500,1500,1500,1500,1080,1080, //Quad_3D |
komaida424 | 4:4060309b9cc0 | 127 | 1080,1500,1500,1500,1500,1080, //Delta |
komaida424 | 4:4060309b9cc0 | 128 | 1080,1500,1500,1500,1080,1500, //Delta_TW |
komaida424 | 4:4060309b9cc0 | 129 | 1080,1500,1500,1500,1500,1080 //AirPlane |
komaida424 | 4:4060309b9cc0 | 130 | }; |
komaida424 | 6:a50e6d3924f1 | 131 | char Servo_idx[6][6] = { 0,0,0,0,0,0, //Quad_X |
komaida424 | 6:a50e6d3924f1 | 132 | 1,1,1,1,0,0, //Quad_VP |
komaida424 | 6:a50e6d3924f1 | 133 | 0,0,0,0,0,0, //Quad_3D |
komaida424 | 6:a50e6d3924f1 | 134 | 0,1,1,1,1,1, //Delta |
komaida424 | 6:a50e6d3924f1 | 135 | 0,1,1,1,0,1, //Delta_TW |
komaida424 | 6:a50e6d3924f1 | 136 | 0,1,1,1,1,1 //AirPlane |
komaida424 | 6:a50e6d3924f1 | 137 | }; |
komaida424 | 2:59ac9df97701 | 138 | //int Stick_Max[3]; |
komaida424 | 0:cca1c4e84da4 | 139 | float Press; |
komaida424 | 4:4060309b9cc0 | 140 | float Base_Press; |
komaida424 | 0:cca1c4e84da4 | 141 | char InPulseMode; //Receiver Signal Type 's':Serial, 'P':Parallel |
komaida424 | 2:59ac9df97701 | 142 | //volatile bool tick_flag; |
komaida424 | 2:59ac9df97701 | 143 | //volatile bool buzz_flag; |
komaida424 | 4:4060309b9cc0 | 144 | volatile float interval; |
komaida424 | 3:27407c4984cf | 145 | float pid_interval; |
komaida424 | 4:4060309b9cc0 | 146 | //int pid_reg[4]; |
komaida424 | 2:59ac9df97701 | 147 | int loop_cnt; |
komaida424 | 4:4060309b9cc0 | 148 | float target_height; |
komaida424 | 4:4060309b9cc0 | 149 | float cuurent_height; |
komaida424 | 6:a50e6d3924f1 | 150 | float base_Throttl; |
komaida424 | 6:a50e6d3924f1 | 151 | int Throttl; |
komaida424 | 4:4060309b9cc0 | 152 | bool hov_control; |
komaida424 | 4:4060309b9cc0 | 153 | float Rdata; |
komaida424 | 0:cca1c4e84da4 | 154 | |
komaida424 | 0:cca1c4e84da4 | 155 | void initialize(); |
komaida424 | 0:cca1c4e84da4 | 156 | void FlashLED(int ); |
komaida424 | 0:cca1c4e84da4 | 157 | void SetUp(); |
komaida424 | 0:cca1c4e84da4 | 158 | void SetUpPrompt(config&,I2cPeripherals&); |
komaida424 | 0:cca1c4e84da4 | 159 | void PWM_Out(bool); |
komaida424 | 0:cca1c4e84da4 | 160 | void Get_Stick_Pos(); |
komaida424 | 0:cca1c4e84da4 | 161 | void CalibrateGyros(void); |
komaida424 | 0:cca1c4e84da4 | 162 | void CalibrateAccel(void); |
komaida424 | 3:27407c4984cf | 163 | void Get_Gyro(float); |
komaida424 | 3:27407c4984cf | 164 | bool Get_Accel(float); |
komaida424 | 2:59ac9df97701 | 165 | void Get_Angle(float); |
komaida424 | 0:cca1c4e84da4 | 166 | void ReadConfig(); |
komaida424 | 0:cca1c4e84da4 | 167 | void WriteConfig(); |
komaida424 | 2:59ac9df97701 | 168 | void Interrupt_Check(bool&,int &,DigitalOut &); |
komaida424 | 0:cca1c4e84da4 | 169 | void ESC_SetUp(void); |
komaida424 | 2:59ac9df97701 | 170 | void Flight_SetUp(); |
komaida424 | 2:59ac9df97701 | 171 | //void IMUfilter_Reset(void); |
komaida424 | 2:59ac9df97701 | 172 | void LCD_printf(char *); |
komaida424 | 2:59ac9df97701 | 173 | void LCD_cls(); |
komaida424 | 2:59ac9df97701 | 174 | void LCD_locate(int,int); |
komaida424 | 4:4060309b9cc0 | 175 | #ifdef SOFTPWM |
komaida424 | 4:4060309b9cc0 | 176 | void Tpwm_interrupt() |
komaida424 | 2:59ac9df97701 | 177 | { |
komaida424 | 4:4060309b9cc0 | 178 | for ( int i=0; i<4; i++ ) pwm[i].start(); |
komaida424 | 2:59ac9df97701 | 179 | } |
komaida424 | 4:4060309b9cc0 | 180 | #endif |
komaida424 | 4:4060309b9cc0 | 181 | void PulseCheck() //cppm信号のチェック |
komaida424 | 0:cca1c4e84da4 | 182 | { |
komaida424 | 2:59ac9df97701 | 183 | channel++; |
komaida424 | 0:cca1c4e84da4 | 184 | } |
komaida424 | 0:cca1c4e84da4 | 185 | |
komaida424 | 4:4060309b9cc0 | 186 | void PulseAnalysis() //cppm信号の解析 |
komaida424 | 0:cca1c4e84da4 | 187 | { |
komaida424 | 0:cca1c4e84da4 | 188 | CurTime.stop(); |
komaida424 | 0:cca1c4e84da4 | 189 | int PulseWidth = CurTime.read_us(); |
komaida424 | 0:cca1c4e84da4 | 190 | CurTime.reset(); |
komaida424 | 0:cca1c4e84da4 | 191 | CurTime.start(); |
komaida424 | 2:59ac9df97701 | 192 | if ( PulseWidth > 3000 ) channel = 0; //reset pulse count |
komaida424 | 0:cca1c4e84da4 | 193 | else { |
komaida424 | 4:4060309b9cc0 | 194 | if ( PulseWidth > Pulse_Min && PulseWidth < Pulse_Max && channel < 10 ) { |
komaida424 | 4:4060309b9cc0 | 195 | CH[Signal[channel-1]] = PulseWidth; |
komaida424 | 4:4060309b9cc0 | 196 | } |
komaida424 | 0:cca1c4e84da4 | 197 | } |
komaida424 | 2:59ac9df97701 | 198 | channel++; |
komaida424 | 0:cca1c4e84da4 | 199 | } |
komaida424 | 0:cca1c4e84da4 | 200 | |
komaida424 | 0:cca1c4e84da4 | 201 | int main() |
komaida424 | 0:cca1c4e84da4 | 202 | { |
komaida424 | 2:59ac9df97701 | 203 | int i=0; |
komaida424 | 0:cca1c4e84da4 | 204 | |
komaida424 | 3:27407c4984cf | 205 | wait(1.5); |
komaida424 | 0:cca1c4e84da4 | 206 | initialize(); |
komaida424 | 2:59ac9df97701 | 207 | |
komaida424 | 0:cca1c4e84da4 | 208 | Get_Stick_Pos(); |
komaida424 | 6:a50e6d3924f1 | 209 | while ( Stick[COL] > Thro_Zero || conf.StartMode == 'C' |
komaida424 | 6:a50e6d3924f1 | 210 | || ( conf.Model_Type == Quad_3D && Stick[GAIN] < 0 ) ) //Shrottol Low |
komaida424 | 0:cca1c4e84da4 | 211 | { |
komaida424 | 4:4060309b9cc0 | 212 | // if ( Stick[COL] > 890 && -Stick[YAW] < Stick_Limit ) // Shrottle High |
komaida424 | 4:4060309b9cc0 | 213 | // ESC_SetUp(); |
komaida424 | 2:59ac9df97701 | 214 | if ( Stick[COL] > 890 || conf.StartMode == 'C' ) // Shrottle High |
komaida424 | 0:cca1c4e84da4 | 215 | { |
komaida424 | 2:59ac9df97701 | 216 | loop_cnt = 0; |
komaida424 | 0:cca1c4e84da4 | 217 | SetUpPrompt(conf,i2c); |
komaida424 | 0:cca1c4e84da4 | 218 | break; |
komaida424 | 0:cca1c4e84da4 | 219 | } |
komaida424 | 6:a50e6d3924f1 | 220 | FlashLED(2); |
komaida424 | 6:a50e6d3924f1 | 221 | wait(0.5); |
komaida424 | 0:cca1c4e84da4 | 222 | Get_Stick_Pos(); |
komaida424 | 0:cca1c4e84da4 | 223 | } |
komaida424 | 2:59ac9df97701 | 224 | Flight_SetUp(); |
komaida424 | 0:cca1c4e84da4 | 225 | while (1) |
komaida424 | 0:cca1c4e84da4 | 226 | { |
komaida424 | 2:59ac9df97701 | 227 | if ( Stick[COL] < Thro_Zero ) |
komaida424 | 0:cca1c4e84da4 | 228 | { |
komaida424 | 0:cca1c4e84da4 | 229 | i = 0; |
komaida424 | 2:59ac9df97701 | 230 | while ( Stick[YAW] < -Stick_Limit && Stick[COL] < Thro_Zero ) //Rudder Left |
komaida424 | 0:cca1c4e84da4 | 231 | { |
komaida424 | 0:cca1c4e84da4 | 232 | if ( i > 100 ) //wait 2 sec |
komaida424 | 0:cca1c4e84da4 | 233 | { |
komaida424 | 2:59ac9df97701 | 234 | FlyghtTime.stop(); |
komaida424 | 2:59ac9df97701 | 235 | if ( Stick[PIT] < -Stick_Limit ) { //Elevetor Down |
komaida424 | 2:59ac9df97701 | 236 | loop_cnt = 0; |
komaida424 | 2:59ac9df97701 | 237 | FlashLED(5); |
komaida424 | 4:4060309b9cc0 | 238 | |
komaida424 | 4:4060309b9cc0 | 239 | for ( int x=0; x<6; x++ ) { |
komaida424 | 4:4060309b9cc0 | 240 | pwm[x].pulsewidth_us(PWM_Init[conf.Model_Type][x]); |
komaida424 | 4:4060309b9cc0 | 241 | } |
komaida424 | 2:59ac9df97701 | 242 | i2c.start(conf.LCD_Contrast); |
komaida424 | 2:59ac9df97701 | 243 | SetUpPrompt(conf,i2c); |
komaida424 | 2:59ac9df97701 | 244 | } |
komaida424 | 0:cca1c4e84da4 | 245 | CalibrateGyros(); |
komaida424 | 2:59ac9df97701 | 246 | Flight_SetUp(); |
komaida424 | 0:cca1c4e84da4 | 247 | break; |
komaida424 | 0:cca1c4e84da4 | 248 | } |
komaida424 | 0:cca1c4e84da4 | 249 | wait(0.01); // wait 10 msec |
komaida424 | 0:cca1c4e84da4 | 250 | Get_Stick_Pos(); |
komaida424 | 0:cca1c4e84da4 | 251 | i++; |
komaida424 | 0:cca1c4e84da4 | 252 | } |
komaida424 | 0:cca1c4e84da4 | 253 | } |
komaida424 | 0:cca1c4e84da4 | 254 | PWM_Out(true); |
komaida424 | 0:cca1c4e84da4 | 255 | } |
komaida424 | 0:cca1c4e84da4 | 256 | |
komaida424 | 0:cca1c4e84da4 | 257 | } |
komaida424 | 0:cca1c4e84da4 | 258 | |
komaida424 | 0:cca1c4e84da4 | 259 | void initialize() |
komaida424 | 0:cca1c4e84da4 | 260 | { |
komaida424 | 3:27407c4984cf | 261 | buzz.period_us(400); |
komaida424 | 4:4060309b9cc0 | 262 | i2c.start(conf.LCD_Contrast); |
komaida424 | 4:4060309b9cc0 | 263 | for ( int i=0;i<6;i++ ) pwm[i].pulsewidth_us(0); |
komaida424 | 0:cca1c4e84da4 | 264 | ReadConfig(); //config.inf file read |
komaida424 | 2:59ac9df97701 | 265 | |
komaida424 | 2:59ac9df97701 | 266 | channel = 0; |
komaida424 | 0:cca1c4e84da4 | 267 | ch1.rise(&PulseCheck); //input pulse count |
komaida424 | 2:59ac9df97701 | 268 | wait(0.2); |
komaida424 | 2:59ac9df97701 | 269 | if ( channel > 50 ) { |
komaida424 | 0:cca1c4e84da4 | 270 | ch1.rise(&PulseAnalysis); |
komaida424 | 0:cca1c4e84da4 | 271 | InPulseMode = 'S'; |
komaida424 | 0:cca1c4e84da4 | 272 | } |
komaida424 | 0:cca1c4e84da4 | 273 | else InPulseMode = 'P'; |
komaida424 | 2:59ac9df97701 | 274 | led1 = 0; |
komaida424 | 2:59ac9df97701 | 275 | CycleTime.start(); |
komaida424 | 6:a50e6d3924f1 | 276 | throLimit.differential(conf.Thro_Limit_Val); |
komaida424 | 6:a50e6d3924f1 | 277 | throLimit.rate(conf.Thro_Limit_Rate); |
komaida424 | 4:4060309b9cc0 | 278 | #ifdef SOFTPWM |
komaida424 | 4:4060309b9cc0 | 279 | Tpwm.attach_us(&Tpwm_interrupt,conf.PWM_Interval); |
komaida424 | 4:4060309b9cc0 | 280 | #endif |
komaida424 | 4:4060309b9cc0 | 281 | Base_Press = (float)i2c.pressure() / 4096; |
komaida424 | 2:59ac9df97701 | 282 | FlashLED(3); |
komaida424 | 0:cca1c4e84da4 | 283 | } |
komaida424 | 0:cca1c4e84da4 | 284 | |
komaida424 | 0:cca1c4e84da4 | 285 | void FlashLED(int cnt) |
komaida424 | 0:cca1c4e84da4 | 286 | { |
komaida424 | 0:cca1c4e84da4 | 287 | for ( int i = 0 ; i < cnt ; i++ ) { |
komaida424 | 0:cca1c4e84da4 | 288 | led1 = !led1; |
komaida424 | 2:59ac9df97701 | 289 | buzz = 0.5f; |
komaida424 | 2:59ac9df97701 | 290 | wait(0.1); |
komaida424 | 0:cca1c4e84da4 | 291 | led1 = !led1; |
komaida424 | 2:59ac9df97701 | 292 | buzz = 0.0f; |
komaida424 | 2:59ac9df97701 | 293 | wait(0.1); |
komaida424 | 0:cca1c4e84da4 | 294 | } |
komaida424 | 0:cca1c4e84da4 | 295 | } |
komaida424 | 0:cca1c4e84da4 | 296 | |
komaida424 | 0:cca1c4e84da4 | 297 | void ReadConfig() |
komaida424 | 0:cca1c4e84da4 | 298 | { |
komaida424 | 0:cca1c4e84da4 | 299 | #ifdef LocalFileOut |
komaida424 | 0:cca1c4e84da4 | 300 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
komaida424 | 0:cca1c4e84da4 | 301 | FILE *fp = fopen("/local/setup.inf", "rb"); // Open "out.txt" on the local file system for writing |
komaida424 | 0:cca1c4e84da4 | 302 | if ( fp != NULL ) { |
komaida424 | 0:cca1c4e84da4 | 303 | float rev = conf.Revision; |
komaida424 | 0:cca1c4e84da4 | 304 | int len = fread(&conf,1,sizeof(config),fp); |
komaida424 | 0:cca1c4e84da4 | 305 | switch ( len ) { |
komaida424 | 0:cca1c4e84da4 | 306 | case sizeof(config): // File size ok |
komaida424 | 0:cca1c4e84da4 | 307 | if ( rev == conf.Revision ) break; |
komaida424 | 0:cca1c4e84da4 | 308 | default: |
komaida424 | 0:cca1c4e84da4 | 309 | fclose(fp); |
komaida424 | 0:cca1c4e84da4 | 310 | config init; |
komaida424 | 0:cca1c4e84da4 | 311 | conf = init; |
komaida424 | 0:cca1c4e84da4 | 312 | fp = fopen("/local/setup.inf", "wb"); |
komaida424 | 0:cca1c4e84da4 | 313 | fwrite(&conf,1,sizeof(config),fp); |
komaida424 | 0:cca1c4e84da4 | 314 | } |
komaida424 | 0:cca1c4e84da4 | 315 | fclose(fp); |
komaida424 | 0:cca1c4e84da4 | 316 | } else { |
komaida424 | 0:cca1c4e84da4 | 317 | WriteConfig(); |
komaida424 | 0:cca1c4e84da4 | 318 | wait(2); |
komaida424 | 0:cca1c4e84da4 | 319 | } |
komaida424 | 0:cca1c4e84da4 | 320 | #else |
komaida424 | 0:cca1c4e84da4 | 321 | char *send; |
komaida424 | 0:cca1c4e84da4 | 322 | char *recv; |
komaida424 | 4:4060309b9cc0 | 323 | int i; |
komaida424 | 0:cca1c4e84da4 | 324 | config *conf_ptr; |
komaida424 | 0:cca1c4e84da4 | 325 | |
komaida424 | 4:4060309b9cc0 | 326 | if ( sizeof(config) > MEM_SIZE ) { |
komaida424 | 2:59ac9df97701 | 327 | LCD_printf("config size over"); |
komaida424 | 2:59ac9df97701 | 328 | wait(3); |
komaida424 | 0:cca1c4e84da4 | 329 | return; |
komaida424 | 0:cca1c4e84da4 | 330 | } |
komaida424 | 4:4060309b9cc0 | 331 | //#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) |
komaida424 | 4:4060309b9cc0 | 332 | #if defined(INTERNAL_EEPROM) || defined(EXTERNAL_EEPROM) |
komaida424 | 4:4060309b9cc0 | 333 | char buf[MEM_SIZE]; |
komaida424 | 4:4060309b9cc0 | 334 | #if defined(INTERNAL_EEPROM) |
komaida424 | 4:4060309b9cc0 | 335 | iap.read_eeprom( (char*)TARGET_EEPROM_ADDRESS, buf, MEM_SIZE ); |
komaida424 | 4:4060309b9cc0 | 336 | #else |
komaida424 | 4:4060309b9cc0 | 337 | //External Flash Memory Wreite |
komaida424 | 4:4060309b9cc0 | 338 | short pos = 0; |
komaida424 | 4:4060309b9cc0 | 339 | if ( i2c.read_EEPROM(pos,buf,MEM_SIZE) != 0 ) { |
komaida424 | 4:4060309b9cc0 | 340 | while(1) { |
komaida424 | 4:4060309b9cc0 | 341 | FlashLED(3); |
komaida424 | 4:4060309b9cc0 | 342 | wait(0.5); |
komaida424 | 4:4060309b9cc0 | 343 | return; |
komaida424 | 4:4060309b9cc0 | 344 | } |
komaida424 | 4:4060309b9cc0 | 345 | } |
komaida424 | 4:4060309b9cc0 | 346 | #endif |
komaida424 | 4:4060309b9cc0 | 347 | send = buf; |
komaida424 | 4:4060309b9cc0 | 348 | recv = (char*)&conf; |
komaida424 | 4:4060309b9cc0 | 349 | conf_ptr = (config*)buf; |
komaida424 | 4:4060309b9cc0 | 350 | if ( conf_ptr->Revision == conf.Revision && conf_ptr->Struct_Size == sizeof(config) ) { |
komaida424 | 4:4060309b9cc0 | 351 | for ( i=0;i<sizeof(config);i++ ) recv[i] = send[i]; |
komaida424 | 4:4060309b9cc0 | 352 | return; |
komaida424 | 4:4060309b9cc0 | 353 | } |
komaida424 | 4:4060309b9cc0 | 354 | |
komaida424 | 4:4060309b9cc0 | 355 | #else |
komaida424 | 4:4060309b9cc0 | 356 | int rc = iap.blank_check( TARGET_SECTOR, TARGET_SECTOR ); |
komaida424 | 0:cca1c4e84da4 | 357 | if ( rc == SECTOR_NOT_BLANK ) { |
komaida424 | 0:cca1c4e84da4 | 358 | send = sector_start_adress[TARGET_SECTOR]; |
komaida424 | 0:cca1c4e84da4 | 359 | recv = (char*)&conf; |
komaida424 | 0:cca1c4e84da4 | 360 | conf_ptr = (config*)sector_start_adress[TARGET_SECTOR]; |
komaida424 | 0:cca1c4e84da4 | 361 | if ( conf_ptr->Revision == conf.Revision && conf_ptr->Struct_Size == sizeof(config) ) { |
komaida424 | 0:cca1c4e84da4 | 362 | for ( i=0;i<sizeof(config);i++ ) recv[i] = send[i]; |
komaida424 | 0:cca1c4e84da4 | 363 | return; |
komaida424 | 0:cca1c4e84da4 | 364 | } |
komaida424 | 0:cca1c4e84da4 | 365 | } |
komaida424 | 4:4060309b9cc0 | 366 | #endif |
komaida424 | 0:cca1c4e84da4 | 367 | WriteConfig(); |
komaida424 | 0:cca1c4e84da4 | 368 | #endif |
komaida424 | 0:cca1c4e84da4 | 369 | } |
komaida424 | 0:cca1c4e84da4 | 370 | |
komaida424 | 0:cca1c4e84da4 | 371 | void WriteConfig() |
komaida424 | 0:cca1c4e84da4 | 372 | { |
komaida424 | 0:cca1c4e84da4 | 373 | #ifdef LocalFileOut |
komaida424 | 0:cca1c4e84da4 | 374 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
komaida424 | 0:cca1c4e84da4 | 375 | FILE *fp = fopen("/local/setup.inf", "wb"); |
komaida424 | 0:cca1c4e84da4 | 376 | fwrite(&conf,1,sizeof(config),fp); |
komaida424 | 0:cca1c4e84da4 | 377 | fclose(fp); |
komaida424 | 0:cca1c4e84da4 | 378 | #else |
komaida424 | 0:cca1c4e84da4 | 379 | char mem[MEM_SIZE]; |
komaida424 | 0:cca1c4e84da4 | 380 | char *send; |
komaida424 | 0:cca1c4e84da4 | 381 | int i; |
komaida424 | 4:4060309b9cc0 | 382 | if ( sizeof(config) > MEM_SIZE ) { |
komaida424 | 2:59ac9df97701 | 383 | LCD_printf("config size over"); |
komaida424 | 2:59ac9df97701 | 384 | wait(3); |
komaida424 | 0:cca1c4e84da4 | 385 | return; |
komaida424 | 0:cca1c4e84da4 | 386 | } |
komaida424 | 0:cca1c4e84da4 | 387 | send = (char*)&conf; |
komaida424 | 0:cca1c4e84da4 | 388 | for ( i=0;i<sizeof(config);i++ ) mem[i] = send[i]; |
komaida424 | 0:cca1c4e84da4 | 389 | for ( i=sizeof(config);i<MEM_SIZE;i++ ) mem[i] = 0x00; |
komaida424 | 4:4060309b9cc0 | 390 | //#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501) |
komaida424 | 4:4060309b9cc0 | 391 | #if defined(INTERNAL_EEPROM) |
komaida424 | 4:4060309b9cc0 | 392 | iap.write_eeprom( mem, (char*)TARGET_EEPROM_ADDRESS, MEM_SIZE ); |
komaida424 | 4:4060309b9cc0 | 393 | #elif defined(EXTERNAL_EEPROM) |
komaida424 | 4:4060309b9cc0 | 394 | //External Flash Memory Wreite |
komaida424 | 4:4060309b9cc0 | 395 | short pos = 0; |
komaida424 | 4:4060309b9cc0 | 396 | i2c.write_EEPROM( pos,mem,MEM_SIZE) ; |
komaida424 | 4:4060309b9cc0 | 397 | #else |
komaida424 | 4:4060309b9cc0 | 398 | iap.prepare( TARGET_SECTOR, TARGET_SECTOR ); |
komaida424 | 4:4060309b9cc0 | 399 | iap.erase( TARGET_SECTOR, TARGET_SECTOR ); |
komaida424 | 4:4060309b9cc0 | 400 | iap.prepare( TARGET_SECTOR, TARGET_SECTOR ); |
komaida424 | 4:4060309b9cc0 | 401 | iap.write( mem, sector_start_adress[ TARGET_SECTOR ], MEM_SIZE ); |
komaida424 | 4:4060309b9cc0 | 402 | #endif |
komaida424 | 0:cca1c4e84da4 | 403 | #endif |
komaida424 | 0:cca1c4e84da4 | 404 | } |
komaida424 | 0:cca1c4e84da4 | 405 | |
komaida424 | 0:cca1c4e84da4 | 406 | void Get_Stick_Pos(void) |
komaida424 | 0:cca1c4e84da4 | 407 | { |
komaida424 | 0:cca1c4e84da4 | 408 | if ( InPulseMode == 'P' ) { |
komaida424 | 0:cca1c4e84da4 | 409 | for (int i=0;i<5;i++) CH[i] = ch[i].count; |
komaida424 | 0:cca1c4e84da4 | 410 | } |
komaida424 | 2:59ac9df97701 | 411 | // Stick_Save[ROL] = Stick[ROL]; |
komaida424 | 2:59ac9df97701 | 412 | // Stick_Save[PIT] = Stick[PIT]; |
komaida424 | 2:59ac9df97701 | 413 | // Stick_Save[YAW] = Stick[YAW]; |
komaida424 | 4:4060309b9cc0 | 414 | // Stick_Save[COL] = Stick[COL]; |
komaida424 | 2:59ac9df97701 | 415 | |
komaida424 | 0:cca1c4e84da4 | 416 | Stick[ROL] = AIL - conf.Stick_Ref[ROL]; |
komaida424 | 0:cca1c4e84da4 | 417 | Stick[PIT] = ELE - conf.Stick_Ref[PIT]; |
komaida424 | 0:cca1c4e84da4 | 418 | Stick[YAW] = RUD - conf.Stick_Ref[YAW]; |
komaida424 | 0:cca1c4e84da4 | 419 | Stick[COL] = THR - conf.Stick_Ref[COL]; |
komaida424 | 0:cca1c4e84da4 | 420 | Stick[GAIN] = ( AUX - conf.Stick_Ref[GAIN] ) / 4; |
komaida424 | 4:4060309b9cc0 | 421 | Stick[AUX2] = AX2 - conf.Stick_Ref[COL]; |
komaida424 | 0:cca1c4e84da4 | 422 | } |
komaida424 | 0:cca1c4e84da4 | 423 | |
komaida424 | 3:27407c4984cf | 424 | void Get_Gyro(float interval) |
komaida424 | 0:cca1c4e84da4 | 425 | { |
komaida424 | 2:59ac9df97701 | 426 | float x,y,z; |
komaida424 | 2:59ac9df97701 | 427 | bool err; |
komaida424 | 2:59ac9df97701 | 428 | Gyro_Save[ROL] = Gyro[ROL]; |
komaida424 | 2:59ac9df97701 | 429 | Gyro_Save[PIT] = Gyro[PIT]; |
komaida424 | 2:59ac9df97701 | 430 | Gyro_Save[YAW] = Gyro[YAW]; |
komaida424 | 2:59ac9df97701 | 431 | |
komaida424 | 2:59ac9df97701 | 432 | if ( conf.Gyro_Dir[3] ==1 ) err=i2c.angular(&x,&y,&z); |
komaida424 | 2:59ac9df97701 | 433 | else err=i2c.angular(&y,&x,&z); |
komaida424 | 2:59ac9df97701 | 434 | if ( err == false ) return; |
komaida424 | 4:4060309b9cc0 | 435 | Gyro[ROL] = gyroLimit[0].calc(x) - Gyro_Ref[0] ; |
komaida424 | 4:4060309b9cc0 | 436 | Gyro[PIT] = gyroLimit[1].calc(y) - Gyro_Ref[1] ; |
komaida424 | 4:4060309b9cc0 | 437 | Gyro[YAW] = gyroLimit[2].calc(z) - Gyro_Ref[2] ; |
komaida424 | 4:4060309b9cc0 | 438 | //pc.printf("%6.1f,%6.1f\r\n",x,Gyro[ROL]); |
komaida424 | 4:4060309b9cc0 | 439 | |
komaida424 | 0:cca1c4e84da4 | 440 | } |
komaida424 | 0:cca1c4e84da4 | 441 | |
komaida424 | 3:27407c4984cf | 442 | bool Get_Accel(float interval) |
komaida424 | 2:59ac9df97701 | 443 | { |
komaida424 | 2:59ac9df97701 | 444 | float x,y,z; |
komaida424 | 3:27407c4984cf | 445 | bool err; |
komaida424 | 4:4060309b9cc0 | 446 | // Accel_Save[ROL] = Accel_Angle[ROL]; |
komaida424 | 4:4060309b9cc0 | 447 | // Accel_Save[PIT] = Accel_Angle[PIT]; |
komaida424 | 4:4060309b9cc0 | 448 | // Accel_Save[YAW] = Accel_Angle[YAW]; |
komaida424 | 2:59ac9df97701 | 449 | if ( conf.Gyro_Dir[3] ==1 ) err=i2c.Acceleration(&x,&y,&z); |
komaida424 | 2:59ac9df97701 | 450 | else err=i2c.Acceleration(&y,&x,&z); |
komaida424 | 2:59ac9df97701 | 451 | if ( err == false ) return false; |
komaida424 | 4:4060309b9cc0 | 452 | //pc.printf("%6.4f,%6.4f,%6.4f\r\n",x,y,z); |
komaida424 | 3:27407c4984cf | 453 | |
komaida424 | 6:a50e6d3924f1 | 454 | x = accLimit[0].calc(x) - conf.Accel_Ref[0]; |
komaida424 | 6:a50e6d3924f1 | 455 | y = accLimit[1].calc(y) - conf.Accel_Ref[1]; |
komaida424 | 6:a50e6d3924f1 | 456 | z = accLimit[2].calc(z) - conf.Accel_Ref[2]; |
komaida424 | 4:4060309b9cc0 | 457 | //pc.printf("%6.4f,%6.4f,%6.4f\r\n",Accel[ROL],Accel[PIT],Accel[YAW]); |
komaida424 | 4:4060309b9cc0 | 458 | Accel[ROL] = atan(x/sqrtf( powf(y,2)+powf(z,2)))*180/3.14f; |
komaida424 | 4:4060309b9cc0 | 459 | Accel[PIT] = atan(y/sqrtf( powf(x,2)+powf(z,2)))*180/3.14f; |
komaida424 | 4:4060309b9cc0 | 460 | Accel[YAW] = atan(sqrtf( powf(x,2)+powf(y,2))/z)*180/3.14f; |
komaida424 | 4:4060309b9cc0 | 461 | return true; |
komaida424 | 2:59ac9df97701 | 462 | } |
komaida424 | 2:59ac9df97701 | 463 | |
komaida424 | 2:59ac9df97701 | 464 | void Get_Angle(float interval) |
komaida424 | 0:cca1c4e84da4 | 465 | { |
komaida424 | 2:59ac9df97701 | 466 | float x,y,z; |
komaida424 | 6:a50e6d3924f1 | 467 | // Get_Accel(interval); |
komaida424 | 3:27407c4984cf | 468 | Get_Gyro(interval); |
komaida424 | 2:59ac9df97701 | 469 | |
komaida424 | 4:4060309b9cc0 | 470 | x = ( Gyro[ROL] + Gyro_Save[ROL] ) * 0.5f; |
komaida424 | 4:4060309b9cc0 | 471 | y = ( Gyro[PIT] + Gyro_Save[PIT] ) * 0.5f; |
komaida424 | 4:4060309b9cc0 | 472 | z = ( Gyro[YAW] + Gyro_Save[YAW] ) * 0.5f; |
komaida424 | 3:27407c4984cf | 473 | if ( Get_Accel(interval) == true ) { |
komaida424 | 2:59ac9df97701 | 474 | float i = 3.14 * 2 * conf.Cutoff_Freq * interval; |
komaida424 | 2:59ac9df97701 | 475 | Angle[ROL] += -Angle[ROL] * i + Accel[ROL] * i + x * interval; |
komaida424 | 2:59ac9df97701 | 476 | Angle[PIT] += -Angle[PIT] * i + Accel[PIT] * i + y * interval; |
komaida424 | 2:59ac9df97701 | 477 | } |
komaida424 | 3:27407c4984cf | 478 | else { |
komaida424 | 2:59ac9df97701 | 479 | Angle[ROL] += x * interval; |
komaida424 | 2:59ac9df97701 | 480 | Angle[PIT] += y * interval; |
komaida424 | 2:59ac9df97701 | 481 | } |
komaida424 | 2:59ac9df97701 | 482 | Angle[YAW] += z * interval; |
komaida424 | 4:4060309b9cc0 | 483 | //pc.printf("%6.1f,%6.1f,%6.3f\r\n",Angle[ROL],Gyro[ROL],Accel[ROL]); |
komaida424 | 0:cca1c4e84da4 | 484 | } |
komaida424 | 2:59ac9df97701 | 485 | |
komaida424 | 0:cca1c4e84da4 | 486 | void Get_Pressure() |
komaida424 | 0:cca1c4e84da4 | 487 | { |
komaida424 | 4:4060309b9cc0 | 488 | float P = (float)i2c.pressure()/4096; |
komaida424 | 4:4060309b9cc0 | 489 | // Press = 153.8 * ( T + 273.2 ) * ( 1.0 - ( P / Base_Press ) ^ 0.1902f ); |
komaida424 | 4:4060309b9cc0 | 490 | Press = 8.43f * ( P - Base_Press ); |
komaida424 | 4:4060309b9cc0 | 491 | } |
komaida424 | 0:cca1c4e84da4 | 492 | |
komaida424 | 0:cca1c4e84da4 | 493 | void CalibrateGyros(void) |
komaida424 | 0:cca1c4e84da4 | 494 | { |
komaida424 | 2:59ac9df97701 | 495 | int i; |
komaida424 | 2:59ac9df97701 | 496 | float x,y,z; |
komaida424 | 2:59ac9df97701 | 497 | float k[3]={0,0,0}; |
komaida424 | 0:cca1c4e84da4 | 498 | wait(1); |
komaida424 | 2:59ac9df97701 | 499 | Angle[0]=Angle[1]=Angle[2]=0; |
komaida424 | 0:cca1c4e84da4 | 500 | for(i=0; i<16; i++) { |
komaida424 | 2:59ac9df97701 | 501 | if ( conf.Gyro_Dir[3] ==1 ) i2c.angular(&x,&y,&z); |
komaida424 | 2:59ac9df97701 | 502 | else i2c.angular(&y,&x,&z); |
komaida424 | 0:cca1c4e84da4 | 503 | k[0] += x; |
komaida424 | 0:cca1c4e84da4 | 504 | k[1] += y; |
komaida424 | 0:cca1c4e84da4 | 505 | k[2] += z; |
komaida424 | 2:59ac9df97701 | 506 | wait(0.01); |
komaida424 | 0:cca1c4e84da4 | 507 | } |
komaida424 | 2:59ac9df97701 | 508 | for( i=0; i<3; i++ ) Gyro_Ref[i] = k[i]/16; |
komaida424 | 2:59ac9df97701 | 509 | // FlashLED(3); |
komaida424 | 0:cca1c4e84da4 | 510 | } |
komaida424 | 0:cca1c4e84da4 | 511 | |
komaida424 | 0:cca1c4e84da4 | 512 | void CalibrateAccel(void) |
komaida424 | 0:cca1c4e84da4 | 513 | { |
komaida424 | 2:59ac9df97701 | 514 | int i; |
komaida424 | 2:59ac9df97701 | 515 | float x,y,z; |
komaida424 | 2:59ac9df97701 | 516 | float k[3]={0,0,0}; |
komaida424 | 2:59ac9df97701 | 517 | conf.Accel_Ref[0]=conf.Accel_Ref[1]=conf.Accel_Ref[2]=0; |
komaida424 | 0:cca1c4e84da4 | 518 | for(i=0; i<16; i++) { |
komaida424 | 2:59ac9df97701 | 519 | if ( conf.Gyro_Dir[3] ==1 ) i2c.Acceleration(&x,&y,&z); |
komaida424 | 2:59ac9df97701 | 520 | else i2c.Acceleration(&y,&x,&z); |
komaida424 | 0:cca1c4e84da4 | 521 | k[0] += x; |
komaida424 | 0:cca1c4e84da4 | 522 | k[1] += y; |
komaida424 | 0:cca1c4e84da4 | 523 | k[2] += z; |
komaida424 | 2:59ac9df97701 | 524 | wait(0.01); |
komaida424 | 0:cca1c4e84da4 | 525 | } |
komaida424 | 2:59ac9df97701 | 526 | conf.Accel_Ref[0] = k[0]/16; |
komaida424 | 2:59ac9df97701 | 527 | conf.Accel_Ref[1] = k[1]/16; |
komaida424 | 3:27407c4984cf | 528 | conf.Accel_Ref[2] = k[2]/16-1; |
komaida424 | 4:4060309b9cc0 | 529 | // conf.Accel_Ref[2] = k[2]/16; |
komaida424 | 2:59ac9df97701 | 530 | // FlashLED(3); |
komaida424 | 0:cca1c4e84da4 | 531 | } |
komaida424 | 0:cca1c4e84da4 | 532 | |
komaida424 | 0:cca1c4e84da4 | 533 | void PWM_Out(bool mode) |
komaida424 | 0:cca1c4e84da4 | 534 | { |
komaida424 | 4:4060309b9cc0 | 535 | int reg[3]; |
komaida424 | 0:cca1c4e84da4 | 536 | int i; |
komaida424 | 0:cca1c4e84da4 | 537 | float gain; |
komaida424 | 4:4060309b9cc0 | 538 | // float cur_height; |
komaida424 | 0:cca1c4e84da4 | 539 | |
komaida424 | 2:59ac9df97701 | 540 | interval = CycleTime.read(); |
komaida424 | 2:59ac9df97701 | 541 | CycleTime.reset(); |
komaida424 | 6:a50e6d3924f1 | 542 | if ( interval > 0.005f && mode ) return; |
komaida424 | 2:59ac9df97701 | 543 | TotalTime += interval; |
komaida424 | 4:4060309b9cc0 | 544 | if ( TotalTime > 0.5f ) { |
komaida424 | 2:59ac9df97701 | 545 | led1 = !led1; |
komaida424 | 4:4060309b9cc0 | 546 | if ( ( !buzz ) && ( (float)conf.Flight_Time < FlyghtTime.read() ) ) buzz=0.5; |
komaida424 | 2:59ac9df97701 | 547 | else buzz=0.0; |
komaida424 | 2:59ac9df97701 | 548 | TotalTime = 0; |
komaida424 | 2:59ac9df97701 | 549 | } |
komaida424 | 2:59ac9df97701 | 550 | |
komaida424 | 2:59ac9df97701 | 551 | Get_Angle(interval); |
komaida424 | 3:27407c4984cf | 552 | pid_interval += interval; |
komaida424 | 4:4060309b9cc0 | 553 | if ( (pid_interval < (float)conf.PWM_Interval/1000000) && (Stick[GAIN] < 0) ) return; |
komaida424 | 4:4060309b9cc0 | 554 | pid_interval = 0; |
komaida424 | 4:4060309b9cc0 | 555 | |
komaida424 | 3:27407c4984cf | 556 | Get_Stick_Pos(); |
komaida424 | 4:4060309b9cc0 | 557 | switch ( conf.Model_Type ) { |
komaida424 | 4:4060309b9cc0 | 558 | case Quad_X: |
komaida424 | 6:a50e6d3924f1 | 559 | M1 = M2 = M3 = M4 = THR + conf.Throttl_Trim; |
komaida424 | 4:4060309b9cc0 | 560 | break; |
komaida424 | 6:a50e6d3924f1 | 561 | case Quad_VP: |
komaida424 | 6:a50e6d3924f1 | 562 | M1 = M2 = M3 = M4 = Stick[AUX2] + conf.Stick_Ref[COL]; |
komaida424 | 6:a50e6d3924f1 | 563 | M5 = THR + conf.Throttl_Trim; |
komaida424 | 6:a50e6d3924f1 | 564 | break; |
komaida424 | 6:a50e6d3924f1 | 565 | case Quad_3D: |
komaida424 | 6:a50e6d3924f1 | 566 | i = (int)throLimit.calc((float)THR); |
komaida424 | 6:a50e6d3924f1 | 567 | if ( abs(i-conf.Reverse_Point) > 100 ) i = THR; |
komaida424 | 6:a50e6d3924f1 | 568 | M1 = M2 = M3 = M4 = i + conf.Throttl_Trim; |
komaida424 | 4:4060309b9cc0 | 569 | break; |
komaida424 | 4:4060309b9cc0 | 570 | case Delta: |
komaida424 | 4:4060309b9cc0 | 571 | case Delta_TW: |
komaida424 | 4:4060309b9cc0 | 572 | case AirPlane: |
komaida424 | 6:a50e6d3924f1 | 573 | M1 = THR + conf.Throttl_Trim; |
komaida424 | 6:a50e6d3924f1 | 574 | M2 = conf.Stick_Ref[ROL]; |
komaida424 | 6:a50e6d3924f1 | 575 | M3 = conf.Stick_Ref[PIT]; |
komaida424 | 6:a50e6d3924f1 | 576 | M4 = conf.Stick_Ref[YAW]; |
komaida424 | 4:4060309b9cc0 | 577 | if ( conf.Model_Type == AirPlane ) |
komaida424 | 6:a50e6d3924f1 | 578 | M5 = conf.Stick_Ref[ROL]; |
komaida424 | 6:a50e6d3924f1 | 579 | else M5 = M1; |
komaida424 | 4:4060309b9cc0 | 580 | break; |
komaida424 | 4:4060309b9cc0 | 581 | } |
komaida424 | 4:4060309b9cc0 | 582 | |
komaida424 | 2:59ac9df97701 | 583 | for ( i=0;i<3;i++ ) { |
komaida424 | 2:59ac9df97701 | 584 | |
komaida424 | 0:cca1c4e84da4 | 585 | // Stick Angle Mixing |
komaida424 | 0:cca1c4e84da4 | 586 | if ( conf.Gyro_Gain_Setting == 1 ) gain = conf.Gyro_Gain[i] * conf.Gyro_Dir[i]; |
komaida424 | 6:a50e6d3924f1 | 587 | else gain = ( (float)fabsf(Stick[GAIN])/100 + conf.Gyro_Gain[i+3] ) * conf.Gyro_Dir[i]; |
komaida424 | 6:a50e6d3924f1 | 588 | if ( Stick[i] > 0 ) gain -= gain * ( fabsf(Stick[i]) / 400 ) * conf.Active_Gyro_Gain; |
komaida424 | 2:59ac9df97701 | 589 | if ( Stick[GAIN] > 0 |
komaida424 | 4:4060309b9cc0 | 590 | || i == YAW |
komaida424 | 4:4060309b9cc0 | 591 | || conf.Model_Type > 0 |
komaida424 | 6:a50e6d3924f1 | 592 | || i2c.GetAddr(ACCEL_ADDR) == 0 |
komaida424 | 2:59ac9df97701 | 593 | ) { |
komaida424 | 2:59ac9df97701 | 594 | reg[i] = Stick[i] * conf.Stick_Mix[i]; |
komaida424 | 2:59ac9df97701 | 595 | reg[i] += Gyro[i] * gain * GYRO_ADJUST; |
komaida424 | 2:59ac9df97701 | 596 | } |
komaida424 | 2:59ac9df97701 | 597 | else { |
komaida424 | 4:4060309b9cc0 | 598 | reg[i] = ( Angle[i]*conf.Gyro_Dir[i]*400/50 + (float)Stick[i] ) * conf.Stick_Mix[i]; |
komaida424 | 4:4060309b9cc0 | 599 | reg[i] += Gyro[i] * gain * GYRO_ADJUST; |
komaida424 | 2:59ac9df97701 | 600 | } |
komaida424 | 4:4060309b9cc0 | 601 | |
komaida424 | 4:4060309b9cc0 | 602 | // pid_reg[i] = reg[i]; |
komaida424 | 0:cca1c4e84da4 | 603 | } |
komaida424 | 3:27407c4984cf | 604 | pid_interval = 0; |
komaida424 | 4:4060309b9cc0 | 605 | |
komaida424 | 6:a50e6d3924f1 | 606 | // int Reverse = 1; |
komaida424 | 4:4060309b9cc0 | 607 | switch ( conf.Model_Type ) { |
komaida424 | 6:a50e6d3924f1 | 608 | case Quad_3D: |
komaida424 | 6:a50e6d3924f1 | 609 | // if ( THR < conf.Reverse_Point ) { |
komaida424 | 6:a50e6d3924f1 | 610 | // Reverse = -1; |
komaida424 | 6:a50e6d3924f1 | 611 | // } |
komaida424 | 6:a50e6d3924f1 | 612 | case Quad_X: |
komaida424 | 6:a50e6d3924f1 | 613 | case Quad_VP: |
komaida424 | 4:4060309b9cc0 | 614 | //Calculate Roll Pulse Width |
komaida424 | 4:4060309b9cc0 | 615 | M1 += reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 616 | M2 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 617 | M3 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 618 | M4 += reg[ROL]; |
komaida424 | 0:cca1c4e84da4 | 619 | |
komaida424 | 4:4060309b9cc0 | 620 | //Calculate Pitch Pulse Width |
komaida424 | 4:4060309b9cc0 | 621 | M1 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 622 | M2 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 623 | M3 -= reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 624 | M4 -= reg[PIT]; |
komaida424 | 0:cca1c4e84da4 | 625 | |
komaida424 | 4:4060309b9cc0 | 626 | //Calculate Yaw Pulse Width |
komaida424 | 4:4060309b9cc0 | 627 | M1 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 628 | M2 += reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 629 | M3 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 630 | M4 += reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 631 | break; |
komaida424 | 6:a50e6d3924f1 | 632 | case Delta: |
komaida424 | 6:a50e6d3924f1 | 633 | case Delta_TW: |
komaida424 | 4:4060309b9cc0 | 634 | //Calculate Roll Pulse Width |
komaida424 | 4:4060309b9cc0 | 635 | M2 += reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 636 | M3 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 637 | //Calculate Pitch Pulse Width |
komaida424 | 4:4060309b9cc0 | 638 | M2 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 639 | M3 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 640 | //Calculate Yaw Pulse Width |
komaida424 | 4:4060309b9cc0 | 641 | M4 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 642 | //Calculate Yaw Pulse Width |
komaida424 | 4:4060309b9cc0 | 643 | if ( conf.Model_Type == Delta_TW ) { |
komaida424 | 4:4060309b9cc0 | 644 | M1 += reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 645 | M5 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 646 | } |
komaida424 | 4:4060309b9cc0 | 647 | break; |
komaida424 | 6:a50e6d3924f1 | 648 | case AirPlane: |
komaida424 | 6:a50e6d3924f1 | 649 | //Calculate Roll Pulse Width |
komaida424 | 4:4060309b9cc0 | 650 | M2 -= reg[ROL]; |
komaida424 | 4:4060309b9cc0 | 651 | M5 -= reg[ROL]; |
komaida424 | 6:a50e6d3924f1 | 652 | //Calculate Pitch Pulse Width |
komaida424 | 4:4060309b9cc0 | 653 | M3 += reg[PIT]; |
komaida424 | 4:4060309b9cc0 | 654 | //Calculate Yaw Pulse Width |
komaida424 | 4:4060309b9cc0 | 655 | M4 -= reg[YAW]; |
komaida424 | 4:4060309b9cc0 | 656 | break; |
komaida424 | 4:4060309b9cc0 | 657 | } |
komaida424 | 6:a50e6d3924f1 | 658 | int h = conf.Model_Type; |
komaida424 | 6:a50e6d3924f1 | 659 | for ( int i=0; i<6; i++ ) { |
komaida424 | 6:a50e6d3924f1 | 660 | if ( M[i] > Pulse_Max ) M[i] = Pulse_Max; |
komaida424 | 6:a50e6d3924f1 | 661 | if ( M[i] < Pulse_Min ) M[i] = Pulse_Min; |
komaida424 | 6:a50e6d3924f1 | 662 | if ( Servo_idx[h][i] == 1 ) |
komaida424 | 4:4060309b9cc0 | 663 | { |
komaida424 | 6:a50e6d3924f1 | 664 | M[i] = conf.Stick_Ref[i] + ( ( M[i] - conf.Stick_Ref[i] ) * conf.Servo_Dir[i] ); |
komaida424 | 6:a50e6d3924f1 | 665 | } |
komaida424 | 6:a50e6d3924f1 | 666 | else { |
komaida424 | 6:a50e6d3924f1 | 667 | if ( h == Quad_3D ) { |
komaida424 | 6:a50e6d3924f1 | 668 | if ( Stick[GAIN] > 0 ) { |
komaida424 | 6:a50e6d3924f1 | 669 | if ( THR < conf.Reverse_Point ) |
komaida424 | 6:a50e6d3924f1 | 670 | M[i] = conf.Reverse_Point; |
komaida424 | 6:a50e6d3924f1 | 671 | } |
komaida424 | 6:a50e6d3924f1 | 672 | else { |
komaida424 | 6:a50e6d3924f1 | 673 | if ( abs(THR - conf.Reverse_Point ) < 10 ) |
komaida424 | 6:a50e6d3924f1 | 674 | M[i] = conf.Reverse_Point; |
komaida424 | 6:a50e6d3924f1 | 675 | } |
komaida424 | 6:a50e6d3924f1 | 676 | } |
komaida424 | 6:a50e6d3924f1 | 677 | else { |
komaida424 | 6:a50e6d3924f1 | 678 | // if ( Stick[COL] < Thro_Zero ) M[i] = conf.Stick_Ref[COL]; |
komaida424 | 6:a50e6d3924f1 | 679 | } |
komaida424 | 4:4060309b9cc0 | 680 | } |
komaida424 | 0:cca1c4e84da4 | 681 | } |
komaida424 | 2:59ac9df97701 | 682 | if ( mode ) { |
komaida424 | 6:a50e6d3924f1 | 683 | h = conf.Stick_Ref[THR]; |
komaida424 | 4:4060309b9cc0 | 684 | for ( i=0;i<6;i++ ) { |
komaida424 | 4:4060309b9cc0 | 685 | // while ( !pwmpin[i] ); |
komaida424 | 4:4060309b9cc0 | 686 | if ( conf.PWM_Mode == 1 ) |
komaida424 | 6:a50e6d3924f1 | 687 | pwm[i].pulsewidth_us(M[i]); |
komaida424 | 6:a50e6d3924f1 | 688 | else pwm[i].pulsewidth_us(M[i]-conf.Stick_Ref[COL]); |
komaida424 | 2:59ac9df97701 | 689 | } |
komaida424 | 2:59ac9df97701 | 690 | } |
komaida424 | 2:59ac9df97701 | 691 | |
komaida424 | 0:cca1c4e84da4 | 692 | } |
komaida424 | 0:cca1c4e84da4 | 693 | |
komaida424 | 4:4060309b9cc0 | 694 | |
komaida424 | 0:cca1c4e84da4 | 695 | void ESC_SetUp(void) { |
komaida424 | 0:cca1c4e84da4 | 696 | while(1) { |
komaida424 | 0:cca1c4e84da4 | 697 | Get_Stick_Pos(); |
komaida424 | 2:59ac9df97701 | 698 | for ( int i=0;i<4;i++ ) pwm[i].pulsewidth_us(conf.Stick_Ref[COL]+Stick[COL]); |
komaida424 | 2:59ac9df97701 | 699 | wait(0.015); |
komaida424 | 0:cca1c4e84da4 | 700 | } |
komaida424 | 2:59ac9df97701 | 701 | } |
komaida424 | 2:59ac9df97701 | 702 | |
komaida424 | 2:59ac9df97701 | 703 | void Flight_SetUp(void) |
komaida424 | 2:59ac9df97701 | 704 | { |
komaida424 | 2:59ac9df97701 | 705 | int i; |
komaida424 | 4:4060309b9cc0 | 706 | #ifdef SOFTPWM |
komaida424 | 4:4060309b9cc0 | 707 | Tpwm.detach(); |
komaida424 | 4:4060309b9cc0 | 708 | Tpwm.attach_us(&Tpwm_interrupt,conf.PWM_Interval); |
komaida424 | 4:4060309b9cc0 | 709 | #else |
komaida424 | 4:4060309b9cc0 | 710 | for ( i=0;i<6;i++ ) pwm[i].pulsewidth_us(0); |
komaida424 | 4:4060309b9cc0 | 711 | for ( i=0;i<6;i++ ) pwm[i].period_us(conf.PWM_Interval); |
komaida424 | 4:4060309b9cc0 | 712 | #endif |
komaida424 | 4:4060309b9cc0 | 713 | for ( i=0; i<6; i++ ) { |
komaida424 | 4:4060309b9cc0 | 714 | pwm[i].pulsewidth_us(PWM_Init[conf.Model_Type][i]); |
komaida424 | 4:4060309b9cc0 | 715 | } |
komaida424 | 4:4060309b9cc0 | 716 | hov_control = false; |
komaida424 | 6:a50e6d3924f1 | 717 | throLimit.differential(conf.Thro_Limit_Val); |
komaida424 | 6:a50e6d3924f1 | 718 | throLimit.rate(conf.Thro_Limit_Rate); |
komaida424 | 2:59ac9df97701 | 719 | Angle[ROL]=Angle[PIT]=Angle[YAW]=0; |
komaida424 | 2:59ac9df97701 | 720 | loop_cnt = 0; |
komaida424 | 2:59ac9df97701 | 721 | FlyghtTime.start(); |
komaida424 | 2:59ac9df97701 | 722 | CycleTime.start(); |
komaida424 | 3:27407c4984cf | 723 | pid_interval = 0; |
komaida424 | 4:4060309b9cc0 | 724 | Stick_Save[COL] = Stick[COL]; |
komaida424 | 2:59ac9df97701 | 725 | FlashLED(5); |
komaida424 | 2:59ac9df97701 | 726 | } |
komaida424 | 2:59ac9df97701 | 727 | |
komaida424 | 2:59ac9df97701 | 728 | void LCD_locate(int clm,int row) |
komaida424 | 2:59ac9df97701 | 729 | { |
komaida424 | 2:59ac9df97701 | 730 | lcd.locate(clm,row); |
komaida424 | 2:59ac9df97701 | 731 | i2c.locate(clm,row); |
komaida424 | 2:59ac9df97701 | 732 | } |
komaida424 | 2:59ac9df97701 | 733 | |
komaida424 | 2:59ac9df97701 | 734 | void LCD_cls() |
komaida424 | 2:59ac9df97701 | 735 | { |
komaida424 | 2:59ac9df97701 | 736 | lcd.cls(); |
komaida424 | 2:59ac9df97701 | 737 | i2c.cls(); |
komaida424 | 2:59ac9df97701 | 738 | } |
komaida424 | 2:59ac9df97701 | 739 | |
komaida424 | 2:59ac9df97701 | 740 | void LCD_printf(char* str) |
komaida424 | 2:59ac9df97701 | 741 | { |
komaida424 | 2:59ac9df97701 | 742 | lcd.printf(str); |
komaida424 | 2:59ac9df97701 | 743 | i2c.printf(str); |
komaida424 | 2:59ac9df97701 | 744 | } |
komaida424 | 2:59ac9df97701 | 745 | ; |
komaida424 | 0:cca1c4e84da4 | 746 | |
komaida424 | 0:cca1c4e84da4 | 747 | |
komaida424 | 0:cca1c4e84da4 | 748 | |
komaida424 | 0:cca1c4e84da4 | 749 | |
komaida424 | 0:cca1c4e84da4 | 750 | |
komaida424 | 2:59ac9df97701 | 751 | |
komaida424 | 2:59ac9df97701 | 752 | |
komaida424 | 3:27407c4984cf | 753 | |
komaida424 | 3:27407c4984cf | 754 | |
komaida424 | 4:4060309b9cc0 | 755 | |
komaida424 | 4:4060309b9cc0 | 756 | |
komaida424 | 4:4060309b9cc0 | 757 | |
komaida424 | 4:4060309b9cc0 | 758 | |
komaida424 | 4:4060309b9cc0 | 759 | |
komaida424 | 4:4060309b9cc0 | 760 |