Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

main.cpp@14:cf260677ecde, 2012-10-27 (annotated)

Committer:
maetugr
Date:
Sat Oct 27 10:53:43 2012 +0000
Revision:
14:cf260677ecde
Parent:
13:4737ee9ebfee
Child:
15:753c5d6a63b3
I2C Workaround gefunden!!! erster Test geklappt, vor Umschreibung

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 7:9d4313510646 1 #include "mbed.h" // Standard Library
maetugr 7:9d4313510646 2 #include "LED.h" // LEDs framework for blinking ;)
maetugr 13:4737ee9ebfee 3 #include "PC.h" // Serial Port via USB by Roland Elmiger for debugging with Terminal (driver needed: https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe)
maetugr 7:9d4313510646 4 #include "L3G4200D.h" // Gyro (Gyroscope)
maetugr 7:9d4313510646 5 #include "ADXL345.h" // Acc (Accelerometer)
maetugr 7:9d4313510646 6 #include "HMC5883.h" // Comp (Compass)
maetugr 14:cf260677ecde 7 #include "BMP085_old.h" // Alt (Altitude sensor)
maetugr 7:9d4313510646 8 #include "RC_Channel.h" // RemoteControl Chnnels with PPM
maetugr 7:9d4313510646 9 #include "Servo.h" // Motor PPM
maetugr 13:4737ee9ebfee 10 #include "PID.h" // PID Library by Aaron Berk
maetugr 13:4737ee9ebfee 11 #include "IntCtrl.h" // Interrupt Control by Roland Elmiger
maetugr 0:0c4fafa398b4 12
maetugr 14:cf260677ecde 13 #define PI 3.1415926535897932384626433832795 // ratio of a circle's circumference to its diameter
maetugr 14:cf260677ecde 14 #define Rad2Deg 57.295779513082320876798154814105 // ratio between radians and degree (360/2Pi)
maetugr 14:cf260677ecde 15 #define RATE 0.0007 // speed of the interrupt for Sensors and PID
maetugr 12:67a06c9b69d5 16
maetugr 14:cf260677ecde 17 //#define COMPASSCALIBRATE // decomment if you want to calibrate the Compass on start
maetugr 2:93f703d2c4d7 18
maetugr 14:cf260677ecde 19 Timer GlobalTimer; // global time to calculate processing speed
maetugr 14:cf260677ecde 20 Ticker Datagetter; // timecontrolled interrupt to get data form IMU and RC
maetugr 14:cf260677ecde 21
maetugr 14:cf260677ecde 22 // initialisation of hardware (see includes for more info)
maetugr 5:818c0668fd2d 23 LED LEDs;
maetugr 10:953afcbcebfc 24 PC pc(USBTX, USBRX, 57600);
maetugr 5:818c0668fd2d 25 L3G4200D Gyro(p28, p27);
maetugr 5:818c0668fd2d 26 ADXL345 Acc(p28, p27);
maetugr 11:9bf69bc6df45 27 HMC5883 Comp(p28, p27);
maetugr 14:cf260677ecde 28 BMP085_old Alt(p28, p27);
maetugr 13:4737ee9ebfee 29 RC_Channel RC[] = {(p11), (p12), (p13), (p14)}; // noooo p19/p20!!!!
maetugr 10:953afcbcebfc 30 Servo Motor[] = {(p15), (p16), (p17), (p18)};
maetugr 8:d25ecdcdbeb5 31
maetugr 14:cf260677ecde 32 PID controller(1.0, 0.0, 0.0, RATE); // test PID controller for throttle
maetugr 14:cf260677ecde 33 PID pid(1.0, 1.0, 0.0, RATE); // test PID controller for throttle
maetugr 14:cf260677ecde 34 //PID P:3,0 bis 3,5 I:0,010 und 0,050 D:5 und 25
maetugr 14:cf260677ecde 35
maetugr 14:cf260677ecde 36
maetugr 14:cf260677ecde 37 // global varibles
maetugr 14:cf260677ecde 38 unsigned long dt_get_data = 0; // TODO: dt namen
maetugr 12:67a06c9b69d5 39 unsigned long time_get_data = 0;
maetugr 12:67a06c9b69d5 40 unsigned long dt_read_sensors = 0;
maetugr 12:67a06c9b69d5 41 unsigned long time_read_sensors = 0;
maetugr 14:cf260677ecde 42 float angle[3] = {0,0,0}; // calculated values of the position [0: x,roll | 1: y,pitch | 2: z,yaw]
maetugr 14:cf260677ecde 43 float tempangle = 0; // temporärer winkel für yaw ohne kompass
maetugr 10:953afcbcebfc 44 float pidtester;
maetugr 8:d25ecdcdbeb5 45
maetugr 14:cf260677ecde 46 void get_Data() // method which is called by the Ticker Datagetter every RATE seconds
maetugr 8:d25ecdcdbeb5 47 {
maetugr 12:67a06c9b69d5 48 time_read_sensors = GlobalTimer.read_us();
maetugr 12:67a06c9b69d5 49
maetugr 14:cf260677ecde 50 // read data from sensors
maetugr 14:cf260677ecde 51 /*GPIO_IntDisable(0, 18, 2); // abschalten der Pins 11-14 mit Göttis library
maetugr 13:4737ee9ebfee 52 GPIO_IntDisable(0, 17, 2);
maetugr 13:4737ee9ebfee 53 GPIO_IntDisable(0, 16, 2);
maetugr 14:cf260677ecde 54 GPIO_IntDisable(0, 15, 2);*/
maetugr 13:4737ee9ebfee 55 //__disable_irq(); // test, deactivate all interrupts, I2C working?
maetugr 14:cf260677ecde 56 Gyro.read();
maetugr 14:cf260677ecde 57 //Acc.read();
maetugr 14:cf260677ecde 58 //Comp.read();
maetugr 13:4737ee9ebfee 59 //Alt.Update(); TODO braucht zu lange zum auslesen!
maetugr 13:4737ee9ebfee 60 //__enable_irq();
maetugr 14:cf260677ecde 61 /*GPIO_IntEnable(0, 18, 2); // schaltet die PINs wieder ein
maetugr 13:4737ee9ebfee 62 GPIO_IntEnable(0, 17, 2);
maetugr 13:4737ee9ebfee 63 GPIO_IntEnable(0, 16, 2);
maetugr 14:cf260677ecde 64 GPIO_IntEnable(0, 15, 2);*/
maetugr 12:67a06c9b69d5 65
maetugr 12:67a06c9b69d5 66 dt_read_sensors = GlobalTimer.read_us() - time_read_sensors;
maetugr 8:d25ecdcdbeb5 67
maetugr 8:d25ecdcdbeb5 68 // meassure dt
maetugr 12:67a06c9b69d5 69 dt_get_data = GlobalTimer.read_us() - time_get_data; // time in us since last loop
maetugr 12:67a06c9b69d5 70 time_get_data = GlobalTimer.read_us(); // set new time for next measurement
maetugr 8:d25ecdcdbeb5 71
maetugr 8:d25ecdcdbeb5 72 // calculate angles for roll, pitch an yaw
maetugr 12:67a06c9b69d5 73 angle[0] += (Acc.angle[0] - angle[0])/50 + Gyro.data[0] *dt_get_data/15000000.0;
maetugr 12:67a06c9b69d5 74 angle[1] += (Acc.angle[1]+3 - angle[1])/50 + Gyro.data[1] *dt_get_data/15000000.0;// TODO Offset accelerometer einstellen
maetugr 12:67a06c9b69d5 75 tempangle += (Comp.get_angle() - tempangle)/50 + Gyro.data[2] *dt_get_data/15000000.0;
maetugr 12:67a06c9b69d5 76 angle[2] += Gyro.data[2] *dt_get_data/15000000.0; // gyro only here
maetugr 12:67a06c9b69d5 77
maetugr 12:67a06c9b69d5 78 // TODO Read RC data
maetugr 8:d25ecdcdbeb5 79
maetugr 12:67a06c9b69d5 80 // calculate new motorspeeds
maetugr 12:67a06c9b69d5 81 /*
maetugr 12:67a06c9b69d5 82 Motor[0] = 1000 + (100 + (angle[0] * 500/90)) * (RC[1].read() - 1000) / 1000;
maetugr 12:67a06c9b69d5 83 Motor[1] = 1000 + (100 + (angle[1] * 500/90)) * (RC[1].read() - 1000) / 1000;
maetugr 12:67a06c9b69d5 84 Motor[2] = 1000 + (100 - (angle[0] * 500/90)) * (RC[1].read() - 1000) / 1000;
maetugr 12:67a06c9b69d5 85 Motor[3] = 1000 + (100 - (angle[1] * 500/90)) * (RC[1].read() - 1000) / 1000;
maetugr 12:67a06c9b69d5 86 */
maetugr 8:d25ecdcdbeb5 87 }
maetugr 5:818c0668fd2d 88
maetugr 14:cf260677ecde 89 int main() { // main programm only used for initialisation and debug output
maetugr 14:cf260677ecde 90 NVIC_SetPriority(TIMER3_IRQn, 2); // set priorty of tickers below hardware interrupts
maetugr 14:cf260677ecde 91 /*NVIC_SetPriority(I2C0_IRQn, 1); //I2C Priorität?
maetugr 14:cf260677ecde 92 NVIC_SetPriority(I2C1_IRQn, 1);
maetugr 14:cf260677ecde 93 NVIC_SetPriority(I2C2_IRQn, 1);*/
maetugr 12:67a06c9b69d5 94
maetugr 12:67a06c9b69d5 95 #ifdef COMPASSCALIBRATE
maetugr 12:67a06c9b69d5 96 pc.locate(10,5);
maetugr 12:67a06c9b69d5 97 pc.printf("CALIBRATING");
maetugr 12:67a06c9b69d5 98 Comp.calibrate(60);
maetugr 12:67a06c9b69d5 99 #endif
maetugr 12:67a06c9b69d5 100
maetugr 6:179752756e9f 101 // init screen
maetugr 6:179752756e9f 102 pc.locate(10,5);
maetugr 6:179752756e9f 103 pc.printf("Flybed v0.2");
maetugr 1:5a64632b1eb9 104 LEDs.roll(2);
maetugr 5:818c0668fd2d 105
maetugr 14:cf260677ecde 106 // Start! TODO: Motor und RC start (armed....?)
maetugr 2:93f703d2c4d7 107 GlobalTimer.start();
maetugr 12:67a06c9b69d5 108 Datagetter.attach(&get_Data, RATE); // start to get data all RATEms
maetugr 12:67a06c9b69d5 109
maetugr 12:67a06c9b69d5 110 while(1) {
maetugr 9:4e0c3936c756 111 pc.locate(10,5); // PC output
maetugr 12:67a06c9b69d5 112 pc.printf("dt:%dms dt_sensors:%dus Altitude:%6.1fm ", dt_get_data/1000, dt_read_sensors, Alt.CalcAltitude(Alt.Pressure));
maetugr 7:9d4313510646 113 pc.locate(10,8);
maetugr 6:179752756e9f 114 pc.printf("Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", angle[0], angle[1], angle[2]);
maetugr 10:953afcbcebfc 115 pc.locate(10,9);
maetugr 10:953afcbcebfc 116 pc.printf("ACC: Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", Acc.angle[0], Acc.angle[1], Acc.angle[2]);
maetugr 7:9d4313510646 117 pc.locate(10,10);
maetugr 12:67a06c9b69d5 118 pc.printf("Debug_Yaw: Comp:%6.1f tempangle:%6.1f ", Comp.get_angle(), tempangle);
maetugr 7:9d4313510646 119 pc.locate(10,12);
maetugr 12:67a06c9b69d5 120 pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
maetugr 7:9d4313510646 121 pc.locate(10,13);
maetugr 14:cf260677ecde 122 //pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private
maetugr 10:953afcbcebfc 123 pc.locate(10,15);
maetugr 10:953afcbcebfc 124 pc.printf("pidtester: %6.1f RC: %d %d %d %d ", pidtester, RC[0].read(), RC[1].read(), RC[2].read(), RC[3].read());
maetugr 12:67a06c9b69d5 125
maetugr 11:9bf69bc6df45 126 pc.locate(10,19);
maetugr 14:cf260677ecde 127 pc.printf("RC0: %4d :[", RC[0].read());
maetugr 12:67a06c9b69d5 128 for (int i = 0; i < (RC[0].read() - 1000)/17; i++)
maetugr 12:67a06c9b69d5 129 pc.printf("=");
maetugr 12:67a06c9b69d5 130 pc.printf(" ");
maetugr 12:67a06c9b69d5 131 pc.locate(10,20);
maetugr 14:cf260677ecde 132 pc.printf("RC1: %4d :[", RC[1].read());
maetugr 12:67a06c9b69d5 133 for (int i = 0; i < (RC[1].read() - 1000)/17; i++)
maetugr 12:67a06c9b69d5 134 pc.printf("=");
maetugr 12:67a06c9b69d5 135 pc.printf(" ");
maetugr 12:67a06c9b69d5 136 pc.locate(10,21);
maetugr 14:cf260677ecde 137 pc.printf("RC2: %4d :[", RC[2].read());
maetugr 12:67a06c9b69d5 138 for (int i = 0; i < (RC[2].read() - 1000)/17; i++)
maetugr 12:67a06c9b69d5 139 pc.printf("=");
maetugr 12:67a06c9b69d5 140 pc.printf(" ");
maetugr 12:67a06c9b69d5 141 pc.locate(10,22);
maetugr 14:cf260677ecde 142 pc.printf("RC3: %4d :[", RC[3].read());
maetugr 12:67a06c9b69d5 143 for (int i = 0; i < (RC[3].read() - 1000)/17; i++)
maetugr 12:67a06c9b69d5 144 pc.printf("=");
maetugr 12:67a06c9b69d5 145 pc.printf(" ");
maetugr 10:953afcbcebfc 146 LEDs.rollnext();
maetugr 0:0c4fafa398b4 147 }
maetugr 0:0c4fafa398b4 148 }