Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task4.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:
32:7a9be7761c46
Rearranged threads and approach

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 31:3dde2201e54d 20 //Timer
pHysiX 1:43f8ac7ca6d7 21 void Task4(void const *argurment)
pHysiX 1:43f8ac7ca6d7 22 {
pHysiX 31:3dde2201e54d 23 //Timer
pHysiX 14:267368c83b6a 24 if (armed) {
pHysiX 21:b642c18eccd1 25 if (calibration_mode) {
pHysiX 19:bd88749c8db4 26 for (int i = 0; i < 4; i++)
pHysiX 21:b642c18eccd1 27 ESC[i].pulsewidth_us(RCCommand[3]);
pHysiX 21:b642c18eccd1 28 } else if (RCCommand[3] > 1150) {
pHysiX 30:d9b988f8d84f 29 if (counterESC) {
pHysiX 21:b642c18eccd1 30 for (int i = 0; i < 3; i++)
pHysiX 21:b642c18eccd1 31 adjust[i] /= 2.0;
pHysiX 30:d9b988f8d84f 32
pHysiX 30:d9b988f8d84f 33 ESCpower[0] = constrainESC((RCCommand[3]) + (adjust[1]) + (adjust[2]) - adjust[0]);
pHysiX 30:d9b988f8d84f 34 ESCpower[1] = constrainESC((RCCommand[3]) + (adjust[1]) - (adjust[2]) + adjust[0]);
pHysiX 30:d9b988f8d84f 35 ESCpower[2] = constrainESC((RCCommand[3]) - (adjust[1]) - (adjust[2]) - adjust[0]);
pHysiX 30:d9b988f8d84f 36 ESCpower[3] = constrainESC((RCCommand[3]) - (adjust[1]) + (adjust[2]) + adjust[0]);
pHysiX 10:ef5fe86f67fe 37
pHysiX 21:b642c18eccd1 38 for (int i = 0; i < 4; i++)
pHysiX 21:b642c18eccd1 39 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 40
pHysiX 21:b642c18eccd1 41 counterESC = false;
pHysiX 21:b642c18eccd1 42 } else {
pHysiX 21:b642c18eccd1 43 stallESC++;
pHysiX 3:605fbcb54e75 44
pHysiX 21:b642c18eccd1 45 if (stallESC > 1) {
pHysiX 21:b642c18eccd1 46 imu.debugSerial.printf("ESC NOT UPDATED FAST ENOUGH!\n");
pHysiX 21:b642c18eccd1 47 stallESC = 0;
pHysiX 21:b642c18eccd1 48 }
pHysiX 21:b642c18eccd1 49 }
pHysiX 10:ef5fe86f67fe 50 } else {
pHysiX 21:b642c18eccd1 51 for (int i = 0; i < 4; i++) {
pHysiX 21:b642c18eccd1 52 ESCpower[i] = 980;
pHysiX 21:b642c18eccd1 53 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 54 }
pHysiX 10:ef5fe86f67fe 55 }
pHysiX 10:ef5fe86f67fe 56 } else {
pHysiX 21:b642c18eccd1 57 if (ESC_check) {
pHysiX 21:b642c18eccd1 58 BT.printf("Need to ARM to check ESC output!\n");
pHysiX 21:b642c18eccd1 59 ESC_check = false;
pHysiX 21:b642c18eccd1 60 }
pHysiX 21:b642c18eccd1 61
pHysiX 21:b642c18eccd1 62 for (int i = 0; i < 4; i++) {
pHysiX 21:b642c18eccd1 63 ESCpower[i] = 980;
pHysiX 10:ef5fe86f67fe 64 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 21:b642c18eccd1 65 }
pHysiX 10:ef5fe86f67fe 66 }
pHysiX 3:605fbcb54e75 67
pHysiX 31:3dde2201e54d 68 //if (ESC_check)
pHysiX 31:3dde2201e54d 69 // BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
pHysiX 30:d9b988f8d84f 70
pHysiX 31:3dde2201e54d 71 //Timer
pHysiX 19:bd88749c8db4 72 }
pHysiX 19:bd88749c8db4 73
pHysiX 21:b642c18eccd1 74 int constrainESC(float input)
pHysiX 19:bd88749c8db4 75 {
pHysiX 21:b642c18eccd1 76 if (input < 1150.0)
pHysiX 21:b642c18eccd1 77 return 1150;
pHysiX 21:b642c18eccd1 78 else if (input > 2000.0)
pHysiX 19:bd88749c8db4 79 return 2000;
pHysiX 19:bd88749c8db4 80 else
pHysiX 21:b642c18eccd1 81 return (int) input;
pHysiX 19:bd88749c8db4 82 }