Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task2_Slave.cpp@34:228d87c45151, 2014-05-12 (annotated)

Committer:
pHysiX
Date:
Mon May 12 13:55:34 2014 +0000
Revision:
34:228d87c45151
Parent:
33:f88a6ee18103
Child:
36:d95e3d6f2fc4
Code tidied

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 27:18b6580eb0b1 1 /* File: Task2_Slave.cpp
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 31:3dde2201e54d 4 * Purpose: Thread2S: Gyro sample and Slave PID control loop (rate)
pHysiX 22:ef8aa9728013 5 * Settings: 200Hz
pHysiX 30:d9b988f8d84f 6 * Timing: 290us
pHysiX 25:a7cfe421cb4a 7 */
pHysiX 26:4a3323ee36d5 8 #include "Task2_Slave.h"
pHysiX 1:43f8ac7ca6d7 9 #include "setup.h"
pHysiX 3:605fbcb54e75 10 #include "PID.h"
pHysiX 3:605fbcb54e75 11
pHysiX 21:b642c18eccd1 12 /* YPR Adjust */
pHysiX 21:b642c18eccd1 13 volatile float adjust[3] = {0.0, 0.0, 0.0};
pHysiX 21:b642c18eccd1 14
pHysiX 3:605fbcb54e75 15 int16_t gx, gy, gz;
pHysiX 10:ef5fe86f67fe 16 volatile int gyro[3] = {0, 0, 0};
pHysiX 10:ef5fe86f67fe 17
pHysiX 10:ef5fe86f67fe 18 bool counterESC = false;
pHysiX 1:43f8ac7ca6d7 19
pHysiX 34:228d87c45151 20
pHysiX 34:228d87c45151 21
pHysiX 34:228d87c45151 22 // ===============================
pHysiX 34:228d87c45151 23 // === GYRO SAMPLE & SLAVE PID ===
pHysiX 34:228d87c45151 24 // ===============================
pHysiX 31:3dde2201e54d 25 //Timer
pHysiX 27:18b6580eb0b1 26 void Task2_Slave(void const *argument)
pHysiX 1:43f8ac7ca6d7 27 {
pHysiX 31:3dde2201e54d 28 //Timer
pHysiX 21:b642c18eccd1 29 imu.getRotation(&gx, &gy, &gz);
pHysiX 21:b642c18eccd1 30 gyro[0] = gx + 60;
pHysiX 21:b642c18eccd1 31 gyro[1] = gy - 15;
pHysiX 21:b642c18eccd1 32 gyro[2] = gz + 25;
pHysiX 17:18c3bd016e49 33
pHysiX 21:b642c18eccd1 34 for (int i = 0; i < 3; i++)
pHysiX 21:b642c18eccd1 35 gyro[i] /= (float) 32.8;
pHysiX 17:18c3bd016e49 36
pHysiX 31:3dde2201e54d 37 //Timer
pHysiX 30:d9b988f8d84f 38 if (armed) {
pHysiX 30:d9b988f8d84f 39 yawPIDrate.setSetPoint(inputYPR[0]);
pHysiX 25:a7cfe421cb4a 40
pHysiX 30:d9b988f8d84f 41 switch (mode) {
pHysiX 30:d9b988f8d84f 42 case RATE:
pHysiX 30:d9b988f8d84f 43 pitchPIDrate.setSetPoint(inputYPR[1]);
pHysiX 30:d9b988f8d84f 44 rollPIDrate.setSetPoint(inputYPR[2]);
pHysiX 17:18c3bd016e49 45
pHysiX 30:d9b988f8d84f 46 yawPIDrate.setProcessValue(gyro[2]);
pHysiX 30:d9b988f8d84f 47 pitchPIDrate.setProcessValue(gyro[1]);
pHysiX 30:d9b988f8d84f 48 rollPIDrate.setProcessValue(gyro[0]);
pHysiX 30:d9b988f8d84f 49
pHysiX 30:d9b988f8d84f 50 adjust[0] = yawPIDrate.compute();
pHysiX 30:d9b988f8d84f 51 adjust[1] = pitchPIDrate.compute();
pHysiX 30:d9b988f8d84f 52 adjust[2] = rollPIDrate.compute();
pHysiX 25:a7cfe421cb4a 53
pHysiX 30:d9b988f8d84f 54 counterESC = true;
pHysiX 30:d9b988f8d84f 55 break;
pHysiX 25:a7cfe421cb4a 56
pHysiX 30:d9b988f8d84f 57 case ATTITUDE:
pHysiX 30:d9b988f8d84f 58 default:
pHysiX 30:d9b988f8d84f 59 pitchPIDrate.setSetPoint(adjust_attitude[1]);
pHysiX 30:d9b988f8d84f 60 rollPIDrate.setSetPoint(adjust_attitude[2]);
pHysiX 5:4879ef0e6d41 61
pHysiX 30:d9b988f8d84f 62 yawPIDrate.setProcessValue(gyro[2]);
pHysiX 30:d9b988f8d84f 63 pitchPIDrate.setProcessValue(gyro[1]);
pHysiX 30:d9b988f8d84f 64 rollPIDrate.setProcessValue(gyro[0]);
pHysiX 5:4879ef0e6d41 65
pHysiX 30:d9b988f8d84f 66 adjust[0] = yawPIDrate.compute();
pHysiX 30:d9b988f8d84f 67 adjust[1] = pitchPIDrate.compute();
pHysiX 30:d9b988f8d84f 68 adjust[2] = rollPIDrate.compute();
pHysiX 21:b642c18eccd1 69
pHysiX 30:d9b988f8d84f 70 counterESC = true;
pHysiX 30:d9b988f8d84f 71 break;
pHysiX 30:d9b988f8d84f 72 }
pHysiX 31:3dde2201e54d 73 //Timer
pHysiX 33:f88a6ee18103 74
pHysiX 33:f88a6ee18103 75 /* Telemetry output: */
pHysiX 31:3dde2201e54d 76 if (adjust_check)
pHysiX 31:3dde2201e54d 77 BT.printf("%3.2f %3.2f %3.2f\n", adjust[0], adjust[1], adjust[2]);
pHysiX 25:a7cfe421cb4a 78 }
pHysiX 21:b642c18eccd1 79
pHysiX 10:ef5fe86f67fe 80 if (gyro_out)
pHysiX 21:b642c18eccd1 81 BT.printf("%3d %3d %3d\n", (int) gyro[0], (int) gyro[1], (int) gyro[2]);
pHysiX 31:3dde2201e54d 82 //Timer
pHysiX 21:b642c18eccd1 83 }
pHysiX 33:f88a6ee18103 84
pHysiX 34:228d87c45151 85 // ************************
pHysiX 34:228d87c45151 86 // *** Helper functions ***
pHysiX 34:228d87c45151 87 // ************************