Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task4.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 22:ef8aa9728013 1 /* File: Task4.h
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 22:ef8aa9728013 4 * Purpose: Thread4: ESC pulsewidth update. Note this is INDEPENDENT of the pulse frequency.
pHysiX 22:ef8aa9728013 5 * Settings: 200Hz
pHysiX 22:ef8aa9728013 6 * 200Hz <= PWM frequency <= 400Hz
pHysiX 30:d9b988f8d84f 7 * Refer to tasks.h to change PWM frequency
pHysiX 30:d9b988f8d84f 8 * Timing: 1500us
pHysiX 30:d9b988f8d84f 9 */
pHysiX 1:43f8ac7ca6d7 10 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 11 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 12
pHysiX 2:ab967d7b4346 13 int ESCpower[4] = {0, 0, 0, 0};
pHysiX 10:ef5fe86f67fe 14 int stallESC = 0;
pHysiX 10:ef5fe86f67fe 15
pHysiX 14:267368c83b6a 16 bool armed = false;
pHysiX 21:b642c18eccd1 17 bool ESC_check = false;
pHysiX 21:b642c18eccd1 18 bool calibration_mode = false;
pHysiX 2:ab967d7b4346 19
pHysiX 34:228d87c45151 20
pHysiX 34:228d87c45151 21
pHysiX 34:228d87c45151 22
pHysiX 34:228d87c45151 23 // ==================
pHysiX 34:228d87c45151 24 // === ESC UPDATE ===
pHysiX 34:228d87c45151 25 // ==================
pHysiX 31:3dde2201e54d 26 //Timer
pHysiX 1:43f8ac7ca6d7 27 void Task4(void const *argurment)
pHysiX 1:43f8ac7ca6d7 28 {
pHysiX 31:3dde2201e54d 29 //Timer
pHysiX 14:267368c83b6a 30 if (armed) {
pHysiX 21:b642c18eccd1 31 if (calibration_mode) {
pHysiX 19:bd88749c8db4 32 for (int i = 0; i < 4; i++)
pHysiX 21:b642c18eccd1 33 ESC[i].pulsewidth_us(RCCommand[3]);
pHysiX 32:7a9be7761c46 34 } else if (RCCommand[3] > 1100) {
pHysiX 30:d9b988f8d84f 35 if (counterESC) {
pHysiX 21:b642c18eccd1 36 for (int i = 0; i < 3; i++)
pHysiX 21:b642c18eccd1 37 adjust[i] /= 2.0;
pHysiX 30:d9b988f8d84f 38
pHysiX 32:7a9be7761c46 39 int throttle = RCCommand[3] * 9/10;
pHysiX 32:7a9be7761c46 40
pHysiX 32:7a9be7761c46 41 ESCpower[0] = constrainESC(throttle + (adjust[1]) + (adjust[2]) - adjust[0]);
pHysiX 32:7a9be7761c46 42 ESCpower[1] = constrainESC(throttle + (adjust[1]) - (adjust[2]) + adjust[0]);
pHysiX 32:7a9be7761c46 43 ESCpower[2] = constrainESC(throttle - (adjust[1]) - (adjust[2]) - adjust[0]);
pHysiX 32:7a9be7761c46 44 ESCpower[3] = constrainESC(throttle - (adjust[1]) + (adjust[2]) + adjust[0]);
pHysiX 10:ef5fe86f67fe 45
pHysiX 21:b642c18eccd1 46 for (int i = 0; i < 4; i++)
pHysiX 21:b642c18eccd1 47 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 48
pHysiX 21:b642c18eccd1 49 counterESC = false;
pHysiX 21:b642c18eccd1 50 } else {
pHysiX 21:b642c18eccd1 51 stallESC++;
pHysiX 21:b642c18eccd1 52 if (stallESC > 1) {
pHysiX 21:b642c18eccd1 53 imu.debugSerial.printf("ESC NOT UPDATED FAST ENOUGH!\n");
pHysiX 21:b642c18eccd1 54 stallESC = 0;
pHysiX 21:b642c18eccd1 55 }
pHysiX 21:b642c18eccd1 56 }
pHysiX 10:ef5fe86f67fe 57 } else {
pHysiX 21:b642c18eccd1 58 for (int i = 0; i < 4; i++) {
pHysiX 21:b642c18eccd1 59 ESCpower[i] = 980;
pHysiX 21:b642c18eccd1 60 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 61 }
pHysiX 10:ef5fe86f67fe 62 }
pHysiX 10:ef5fe86f67fe 63 } else {
pHysiX 21:b642c18eccd1 64 if (ESC_check) {
pHysiX 21:b642c18eccd1 65 BT.printf("Need to ARM to check ESC output!\n");
pHysiX 21:b642c18eccd1 66 ESC_check = false;
pHysiX 21:b642c18eccd1 67 }
pHysiX 21:b642c18eccd1 68
pHysiX 21:b642c18eccd1 69 for (int i = 0; i < 4; i++) {
pHysiX 32:7a9be7761c46 70 ESCpower[i] = 990;
pHysiX 10:ef5fe86f67fe 71 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 21:b642c18eccd1 72 }
pHysiX 10:ef5fe86f67fe 73 }
pHysiX 3:605fbcb54e75 74
pHysiX 31:3dde2201e54d 75 //if (ESC_check)
pHysiX 32:7a9be7761c46 76 //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
pHysiX 31:3dde2201e54d 77 //Timer
pHysiX 19:bd88749c8db4 78 }
pHysiX 19:bd88749c8db4 79
pHysiX 34:228d87c45151 80
pHysiX 34:228d87c45151 81
pHysiX 34:228d87c45151 82
pHysiX 34:228d87c45151 83 // ************************
pHysiX 34:228d87c45151 84 // *** Helper functions ***
pHysiX 34:228d87c45151 85 // ************************
pHysiX 21:b642c18eccd1 86 int constrainESC(float input)
pHysiX 19:bd88749c8db4 87 {
pHysiX 32:7a9be7761c46 88 if (input < 1100.0)
pHysiX 32:7a9be7761c46 89 return 1100;
pHysiX 21:b642c18eccd1 90 else if (input > 2000.0)
pHysiX 19:bd88749c8db4 91 return 2000;
pHysiX 19:bd88749c8db4 92 else
pHysiX 21:b642c18eccd1 93 return (int) input;
pHysiX 19:bd88749c8db4 94 }