Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task1.cpp@31:3dde2201e54d, 2014-05-12 (annotated)

Committer:
pHysiX
Date:
Mon May 12 05:12:19 2014 +0000
Revision:
31:3dde2201e54d
Parent:
30:d9b988f8d84f
Child:
33:f88a6ee18103
Rearranged threads and approach

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: Task1.cpp
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 31:3dde2201e54d 4 * Functions: Thread1: Service YPR telemetry output
pHysiX 31:3dde2201e54d 5 * Functions: AHRSSample: Read MPU6050 DMP and calculate YPR
pHysiX 22:ef8aa9728013 6 * Settings: 100Hz
pHysiX 30:d9b988f8d84f 7 * Timing: 1440us
pHysiX 22:ef8aa9728013 8 */
pHysiX 1:43f8ac7ca6d7 9 #include "Task1.h"
pHysiX 1:43f8ac7ca6d7 10 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 11
pHysiX 2:ab967d7b4346 12 /* MPU6050 control/status variables: */
pHysiX 2:ab967d7b4346 13 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
pHysiX 2:ab967d7b4346 14 uint16_t fifoCount; // count of all bytes currently in FIFO
pHysiX 21:b642c18eccd1 15 uint8_t fifoBuffer[64]; // FIFO storage buffer
pHysiX 1:43f8ac7ca6d7 16
pHysiX 2:ab967d7b4346 17 /* Orientation/motion variables: */
pHysiX 2:ab967d7b4346 18 Quaternion q; // [w, x, y, z] quaternion container
pHysiX 2:ab967d7b4346 19 VectorFloat gravity; // [x, y, z] gravity vector
pHysiX 2:ab967d7b4346 20 float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
pHysiX 24:54a8cdf17378 21 float ypr_1[3];
pHysiX 22:ef8aa9728013 22
pHysiX 22:ef8aa9728013 23 float altitude, temperature;
pHysiX 22:ef8aa9728013 24 bool counterTask1 = false;
pHysiX 22:ef8aa9728013 25
pHysiX 22:ef8aa9728013 26 #ifndef M_PI
pHysiX 22:ef8aa9728013 27 #define M_PI 3.1415
pHysiX 22:ef8aa9728013 28 #endif
pHysiX 12:953d25061417 29
pHysiX 12:953d25061417 30 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 31 //int compassX, compassY, compassZ;
pHysiX 12:953d25061417 32 double heading = 0;
pHysiX 12:953d25061417 33 #endif
pHysiX 12:953d25061417 34
pHysiX 1:43f8ac7ca6d7 35 // ================================================================
pHysiX 30:d9b988f8d84f 36 // === YPR THREAD ===
pHysiX 2:ab967d7b4346 37 // ================================================================
pHysiX 1:43f8ac7ca6d7 38 void Task1(void const *argument)
pHysiX 1:43f8ac7ca6d7 39 {
pHysiX 30:d9b988f8d84f 40 switch (box_demo) {
pHysiX 30:d9b988f8d84f 41 case true:
pHysiX 30:d9b988f8d84f 42 AHRSSample();
pHysiX 31:3dde2201e54d 43 if (box_demo)
pHysiX 31:3dde2201e54d 44 BT.printf("\nY%3.2f\nP%3.2f\nR%3.2f\n", ypr[0] - ypr_offset[0],
pHysiX 31:3dde2201e54d 45 ypr[1] - ypr_offset[1], ypr[2] - ypr_offset[2]);
pHysiX 30:d9b988f8d84f 46 break;
pHysiX 1:43f8ac7ca6d7 47 }
pHysiX 2:ab967d7b4346 48 }
pHysiX 31:3dde2201e54d 49 //Timer
pHysiX 30:d9b988f8d84f 50 // ================================================================
pHysiX 30:d9b988f8d84f 51 // === Helper functions ===
pHysiX 30:d9b988f8d84f 52 // ================================================================
pHysiX 30:d9b988f8d84f 53
pHysiX 30:d9b988f8d84f 54 void AHRSSample(void)
pHysiX 30:d9b988f8d84f 55 {
pHysiX 31:3dde2201e54d 56 //Timer
pHysiX 30:d9b988f8d84f 57 // reset interrupt flag and get INT_STATUS byte
pHysiX 30:d9b988f8d84f 58 mpuIntStatus = imu.getIntStatus();
pHysiX 30:d9b988f8d84f 59
pHysiX 30:d9b988f8d84f 60 // get current FIFO count
pHysiX 30:d9b988f8d84f 61 fifoCount = imu.getFIFOCount();
pHysiX 30:d9b988f8d84f 62 //imu.debugSerial.printf("FIFO Count: %d\n", fifoCount);
pHysiX 30:d9b988f8d84f 63
pHysiX 30:d9b988f8d84f 64 // check for overflow
pHysiX 30:d9b988f8d84f 65 // Only keep a max of 2 packets in buffer.
pHysiX 30:d9b988f8d84f 66 if ((mpuIntStatus & 0x10) || fifoCount > 84) {
pHysiX 30:d9b988f8d84f 67 // reset so we can continue cleanly
pHysiX 30:d9b988f8d84f 68 imu.resetFIFO();
pHysiX 30:d9b988f8d84f 69 imu.debugSerial.printf("FIFO overflow!");
pHysiX 30:d9b988f8d84f 70
pHysiX 30:d9b988f8d84f 71 // otherwise, check for DMP data ready interrupt (this should happen frequently)
pHysiX 30:d9b988f8d84f 72 } else if (mpuIntStatus & 0x02) {
pHysiX 30:d9b988f8d84f 73 // wait for correct available data length, should be a VERY short wait
pHysiX 30:d9b988f8d84f 74 while (fifoCount < packetSize) fifoCount = imu.getFIFOCount();
pHysiX 30:d9b988f8d84f 75
pHysiX 30:d9b988f8d84f 76 while (fifoCount > 41) {
pHysiX 30:d9b988f8d84f 77 // read a packet from FIFO
pHysiX 30:d9b988f8d84f 78 imu.getFIFOBytes(fifoBuffer, packetSize);
pHysiX 30:d9b988f8d84f 79
pHysiX 30:d9b988f8d84f 80 // track FIFO count here in case there is > 1 packet available
pHysiX 30:d9b988f8d84f 81 // (this lets us immediately read more without waiting for an interrupt)
pHysiX 30:d9b988f8d84f 82 fifoCount -= packetSize;
pHysiX 30:d9b988f8d84f 83 }
pHysiX 30:d9b988f8d84f 84
pHysiX 30:d9b988f8d84f 85 // display YPR angles in degrees
pHysiX 30:d9b988f8d84f 86 imu.dmpGetQuaternion(&q, fifoBuffer);
pHysiX 30:d9b988f8d84f 87 imu.dmpGetGravity(&gravity, &q);
pHysiX 30:d9b988f8d84f 88 imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
pHysiX 30:d9b988f8d84f 89
pHysiX 30:d9b988f8d84f 90 ypr[0] = ypr[0] * 180/M_PI;
pHysiX 30:d9b988f8d84f 91 ypr[1] = ypr[1] * 180/M_PI;
pHysiX 30:d9b988f8d84f 92 ypr[2] = ypr[2] * 180/M_PI;
pHysiX 30:d9b988f8d84f 93
pHysiX 30:d9b988f8d84f 94 /*
pHysiX 30:d9b988f8d84f 95 if (compass.getDataReady()) {
pHysiX 30:d9b988f8d84f 96 // compass.getValues(&compass_x, &compass_y, &compass_z);
pHysiX 30:d9b988f8d84f 97 heading = compass.getHeadingXY() * 180/M_PI;
pHysiX 30:d9b988f8d84f 98 }
pHysiX 30:d9b988f8d84f 99
pHysiX 30:d9b988f8d84f 100 ypr[0] *= 0.98;
pHysiX 30:d9b988f8d84f 101 ypr[0] += 0.02*heading;
pHysiX 30:d9b988f8d84f 102 */
pHysiX 30:d9b988f8d84f 103 }
pHysiX 31:3dde2201e54d 104 //Timer
pHysiX 31:3dde2201e54d 105 }