Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/src/setup.cpp@32:7a9be7761c46, 2014-05-12 (annotated)

Committer:
pHysiX
Date:
Mon May 12 13:20:06 2014 +0000
Revision:
32:7a9be7761c46
Parent:
30:d9b988f8d84f
Child:
34:228d87c45151
Increased PID and ESC update frequency.; ; Thread1: Only services ypr telemetry output; Thread2: Cascaded PI-PI control; Thread3: Changed UART control; Thread4: Changed calibration output and throttle, removed ESCpower output

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: Setup.h
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 22:ef8aa9728013 4 * Purpose: Setup code to initialise all device
pHysiX 22:ef8aa9728013 5 */
pHysiX 22:ef8aa9728013 6
pHysiX 30:d9b988f8d84f 7 float KP_PITCH_STABLE = 0.5;//0.8; // 0.5;
pHysiX 30:d9b988f8d84f 8 float KP_ROLL_STABLE = 0.5;//0.8; // 0.5;
pHysiX 32:7a9be7761c46 9
pHysiX 25:a7cfe421cb4a 10 float KP_YAW_RATE = 8.8; // 8.5 for RATE MODE
pHysiX 32:7a9be7761c46 11 float KP_PITCH_RATE = 7.0;//7.6; // 8.5 for RATE MODE
pHysiX 32:7a9be7761c46 12 float KP_ROLL_RATE = 7.0;//7.5;//7.6; // 8.5 for RATE MODE
pHysiX 21:b642c18eccd1 13
pHysiX 32:7a9be7761c46 14 float TI_YAW_RATE = 8.0;//2.0;
pHysiX 32:7a9be7761c46 15 float TI_PITCH_RATE = 2.0;//2.0;
pHysiX 32:7a9be7761c46 16 float TI_ROLL_RATE = 2.0;//2.7;
pHysiX 32:7a9be7761c46 17
pHysiX 32:7a9be7761c46 18 float PID_TI_STABLE = 1.0;
pHysiX 21:b642c18eccd1 19
pHysiX 0:8c28fac22d27 20 #include "setup.h"
pHysiX 0:8c28fac22d27 21 #include "tasks.h"
pHysiX 0:8c28fac22d27 22
pHysiX 4:01921a136f58 23 Serial BT(p28, p27);
pHysiX 4:01921a136f58 24 DigitalOut BT_CMD(p29);
pHysiX 22:ef8aa9728013 25 MPU6050 imu(p9, p10); // MPU6050-Tilty SDA, SCL (18, 19)
pHysiX 22:ef8aa9728013 26 MPL3115A2 altimeter(p9, p10);
pHysiX 12:953d25061417 27 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 28 HMC5883L compass(p9, p10);
pHysiX 12:953d25061417 29 #endif
pHysiX 12:953d25061417 30
pHysiX 27:18b6580eb0b1 31 PID pitchPIDstable(KP_PITCH_STABLE, PID_TI_STABLE, 0.0, TASK2_MASTER_PERIOD/1000.0);
pHysiX 27:18b6580eb0b1 32 PID rollPIDstable(KP_ROLL_STABLE, PID_TI_STABLE, 0.0, TASK2_MASTER_PERIOD/1000.0);
pHysiX 12:953d25061417 33
pHysiX 32:7a9be7761c46 34 PID yawPIDrate(KP_YAW_RATE, 0, 0.0, TASK2_SLAVE_PERIOD/1000.0);
pHysiX 32:7a9be7761c46 35 PID pitchPIDrate(KP_PITCH_RATE, TI_PITCH_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
pHysiX 32:7a9be7761c46 36 PID rollPIDrate(KP_ROLL_RATE, TI_ROLL_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
pHysiX 20:b193a50a2ba3 37
pHysiX 3:605fbcb54e75 38 PwmOut ESC[4] = {p21, p22, p23, p24};
pHysiX 3:605fbcb54e75 39
pHysiX 3:605fbcb54e75 40
pHysiX 2:ab967d7b4346 41
pHysiX 3:605fbcb54e75 42 // ================================================================
pHysiX 3:605fbcb54e75 43 // === MAIN SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 44 // ================================================================
pHysiX 3:605fbcb54e75 45 bool setupALLdevices(void)
pHysiX 3:605fbcb54e75 46 {
pHysiX 3:605fbcb54e75 47 bool error = false;
pHysiX 22:ef8aa9728013 48 box_demo = false;
pHysiX 27:18b6580eb0b1 49 mode = ATTITUDE;
pHysiX 3:605fbcb54e75 50
pHysiX 3:605fbcb54e75 51 if (!setup_ESC()) {
pHysiX 3:605fbcb54e75 52 imu.debugSerial.printf("ESC FAILED!!!\n");
pHysiX 3:605fbcb54e75 53 error = true;
pHysiX 3:605fbcb54e75 54 }
pHysiX 0:8c28fac22d27 55
pHysiX 3:605fbcb54e75 56 if (setup_bt())
pHysiX 21:b642c18eccd1 57 imu.debugSerial.printf("BT established!\n");
pHysiX 3:605fbcb54e75 58 else error = true;
pHysiX 3:605fbcb54e75 59
pHysiX 3:605fbcb54e75 60 if (setup_PID())
pHysiX 21:b642c18eccd1 61 imu.debugSerial.printf("PID established!\n");
pHysiX 3:605fbcb54e75 62 else error = true;
pHysiX 0:8c28fac22d27 63
pHysiX 3:605fbcb54e75 64 if (setup_mpu6050())
pHysiX 21:b642c18eccd1 65 imu.debugSerial.printf("MPU6050 established!\n");
pHysiX 3:605fbcb54e75 66 else error = true;
pHysiX 3:605fbcb54e75 67
pHysiX 22:ef8aa9728013 68 if (setup_altimeter())
pHysiX 22:ef8aa9728013 69 imu.debugSerial.printf("Altimeter established!\n");
pHysiX 22:ef8aa9728013 70 else {
pHysiX 22:ef8aa9728013 71 error = true;
pHysiX 22:ef8aa9728013 72 imu.debugSerial.printf("ALTIMETER FAILED\n");
pHysiX 22:ef8aa9728013 73 }
pHysiX 22:ef8aa9728013 74
pHysiX 12:953d25061417 75 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 76 if (setup_compass())
pHysiX 21:b642c18eccd1 77 imu.debugSerial.printf("Compass established!\n");
pHysiX 12:953d25061417 78 else error = true;
pHysiX 12:953d25061417 79 #endif
pHysiX 12:953d25061417 80
pHysiX 3:605fbcb54e75 81 return error;
pHysiX 3:605fbcb54e75 82 }
pHysiX 0:8c28fac22d27 83
pHysiX 3:605fbcb54e75 84
pHysiX 3:605fbcb54e75 85
pHysiX 3:605fbcb54e75 86
pHysiX 3:605fbcb54e75 87 // ****************************************************************
pHysiX 3:605fbcb54e75 88 // === ESC SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 89 // ****************************************************************
pHysiX 2:ab967d7b4346 90 bool setup_ESC(void)
pHysiX 2:ab967d7b4346 91 {
pHysiX 3:605fbcb54e75 92 for (int i = 0; i < 4; i++)
pHysiX 3:605fbcb54e75 93 ESC[i].period_us(ESC_PERIOD_US);
pHysiX 2:ab967d7b4346 94
pHysiX 3:605fbcb54e75 95 for (int i = 0; i < 4; i++)
pHysiX 3:605fbcb54e75 96 ESC[i].pulsewidth_us(0);
pHysiX 3:605fbcb54e75 97
pHysiX 14:267368c83b6a 98 armed = false;
pHysiX 14:267368c83b6a 99
pHysiX 2:ab967d7b4346 100 return true;
pHysiX 2:ab967d7b4346 101 }
pHysiX 2:ab967d7b4346 102
pHysiX 3:605fbcb54e75 103 // ****************************************************************
pHysiX 3:605fbcb54e75 104 // === BLUETOOTH SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 105 // ****************************************************************
pHysiX 0:8c28fac22d27 106 bool setup_bt(void)
pHysiX 0:8c28fac22d27 107 {
pHysiX 0:8c28fac22d27 108 BT.baud(115200);
pHysiX 22:ef8aa9728013 109 BT_CMD = 0; // Place bluetooth into normal mode
pHysiX 0:8c28fac22d27 110 BT.printf("Bluetooth online!\n");
pHysiX 0:8c28fac22d27 111 return true;
pHysiX 0:8c28fac22d27 112 }
pHysiX 0:8c28fac22d27 113
pHysiX 3:605fbcb54e75 114 // ****************************************************************
pHysiX 3:605fbcb54e75 115 // === PID SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 116 // ****************************************************************
pHysiX 3:605fbcb54e75 117 bool setup_PID(void)
pHysiX 3:605fbcb54e75 118 {
pHysiX 21:b642c18eccd1 119 pitchPIDstable.setInputLimits(-90.0, 90.0);
pHysiX 24:54a8cdf17378 120 pitchPIDstable.setOutputLimits(-250, 250.0);
pHysiX 21:b642c18eccd1 121 pitchPIDstable.setBias(0.0);
pHysiX 21:b642c18eccd1 122 pitchPIDstable.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 123
pHysiX 21:b642c18eccd1 124 rollPIDstable.setInputLimits(-90.0, 90.0);
pHysiX 24:54a8cdf17378 125 rollPIDstable.setOutputLimits(-250, 250.0);
pHysiX 21:b642c18eccd1 126 rollPIDstable.setBias(0.0);
pHysiX 21:b642c18eccd1 127 rollPIDstable.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 128
pHysiX 21:b642c18eccd1 129 yawPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 130 yawPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 131 yawPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 132 yawPIDrate.setMode(AUTO_MODE);
pHysiX 12:953d25061417 133
pHysiX 21:b642c18eccd1 134 pitchPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 135 pitchPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 136 pitchPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 137 pitchPIDrate.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 138
pHysiX 21:b642c18eccd1 139 rollPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 140 rollPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 141 rollPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 142 rollPIDrate.setMode(AUTO_MODE);
pHysiX 24:54a8cdf17378 143
pHysiX 24:54a8cdf17378 144 pitchPIDstable.reset();
pHysiX 24:54a8cdf17378 145 rollPIDstable.reset();
pHysiX 24:54a8cdf17378 146 yawPIDrate.reset();
pHysiX 24:54a8cdf17378 147 pitchPIDrate.reset();
pHysiX 24:54a8cdf17378 148 rollPIDrate.reset();
pHysiX 12:953d25061417 149
pHysiX 3:605fbcb54e75 150 return true;
pHysiX 3:605fbcb54e75 151 }
pHysiX 3:605fbcb54e75 152
pHysiX 3:605fbcb54e75 153 // ****************************************************************
pHysiX 3:605fbcb54e75 154 // === MPU6050 SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 155 // ****************************************************************
pHysiX 3:605fbcb54e75 156 bool imu_available = false;
pHysiX 3:605fbcb54e75 157
pHysiX 3:605fbcb54e75 158 /*/ MPU control/status variables: */
pHysiX 3:605fbcb54e75 159 bool dmpReady = false; // set true if DMP init was successful
pHysiX 3:605fbcb54e75 160 uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
pHysiX 3:605fbcb54e75 161 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
pHysiX 3:605fbcb54e75 162
pHysiX 0:8c28fac22d27 163 bool setup_mpu6050(void)
pHysiX 0:8c28fac22d27 164 {
pHysiX 0:8c28fac22d27 165 imu.reset();
pHysiX 0:8c28fac22d27 166 imu.debugSerial.baud(115200);
pHysiX 0:8c28fac22d27 167 wait_ms(5);
pHysiX 0:8c28fac22d27 168
pHysiX 0:8c28fac22d27 169 imu.initialize();
pHysiX 0:8c28fac22d27 170 imu_available = imu.testConnection();
pHysiX 0:8c28fac22d27 171
pHysiX 0:8c28fac22d27 172 imu.debugSerial.printf("IMU status...\t\t\t");
pHysiX 0:8c28fac22d27 173 imu_available ? imu.debugSerial.printf("OK!\n") : imu.debugSerial.printf("NOT OK!\n");
pHysiX 0:8c28fac22d27 174
pHysiX 0:8c28fac22d27 175 if (imu_available) {
pHysiX 0:8c28fac22d27 176 devStatus = imu.dmpInitialize();
pHysiX 0:8c28fac22d27 177
pHysiX 3:605fbcb54e75 178 // supply your own gyro offsets here, scaled for min sensitivity
pHysiX 4:01921a136f58 179 //imu.setXGyroOffset(55);
pHysiX 4:01921a136f58 180 //imu.setYGyroOffset(3);
pHysiX 4:01921a136f58 181 //imu.setZGyroOffset(-2);
pHysiX 3:605fbcb54e75 182 //mpu.setZAccelOffset(16282); // 1688 factory default for my test chip
pHysiX 0:8c28fac22d27 183
pHysiX 0:8c28fac22d27 184 if(!devStatus) {
pHysiX 0:8c28fac22d27 185 imu.setDMPEnabled(true);
pHysiX 0:8c28fac22d27 186 while (!imu.getIntDataReadyStatus());
pHysiX 0:8c28fac22d27 187 packetSize = imu.dmpGetFIFOPacketSize();
pHysiX 16:9072cd6fa8d1 188 imu.debugSerial.printf("Packet Size: %d\n", packetSize);
pHysiX 0:8c28fac22d27 189 dmpReady = true;
pHysiX 16:9072cd6fa8d1 190
pHysiX 16:9072cd6fa8d1 191 int8_t xgOffsetTC = imu.getXGyroOffset();
pHysiX 16:9072cd6fa8d1 192 int8_t ygOffsetTC = imu.getYGyroOffset();
pHysiX 16:9072cd6fa8d1 193 int8_t zgOffsetTC = imu.getZGyroOffset();
pHysiX 16:9072cd6fa8d1 194
pHysiX 16:9072cd6fa8d1 195 imu.debugSerial.printf("X Offset: %4d Y Offset: %4d Z Offset: %4d\n", xgOffsetTC, ygOffsetTC, zgOffsetTC);
pHysiX 16:9072cd6fa8d1 196
pHysiX 0:8c28fac22d27 197 } else {
pHysiX 0:8c28fac22d27 198 imu.debugSerial.printf("\tDMP setup failed!\n");
pHysiX 0:8c28fac22d27 199 return false;
pHysiX 0:8c28fac22d27 200 }
pHysiX 0:8c28fac22d27 201
pHysiX 0:8c28fac22d27 202 imu.resetFIFO();
pHysiX 0:8c28fac22d27 203 } else {
pHysiX 0:8c28fac22d27 204 return false;
pHysiX 0:8c28fac22d27 205 }
pHysiX 0:8c28fac22d27 206
pHysiX 0:8c28fac22d27 207 imu.debugSerial.printf("IMU setup routine done!");
pHysiX 0:8c28fac22d27 208
pHysiX 0:8c28fac22d27 209 return dmpReady;
pHysiX 0:8c28fac22d27 210 }
pHysiX 0:8c28fac22d27 211
pHysiX 22:ef8aa9728013 212 // ****************************************************************
pHysiX 22:ef8aa9728013 213 // === MPL3115A2 SETUP ROUTINE ===
pHysiX 22:ef8aa9728013 214 // ****************************************************************
pHysiX 22:ef8aa9728013 215 bool setup_altimeter(void)
pHysiX 22:ef8aa9728013 216 {
pHysiX 22:ef8aa9728013 217 if (altimeter.init())
pHysiX 22:ef8aa9728013 218 return true;
pHysiX 22:ef8aa9728013 219 else
pHysiX 22:ef8aa9728013 220 return false;
pHysiX 22:ef8aa9728013 221 }
pHysiX 22:ef8aa9728013 222
pHysiX 12:953d25061417 223 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 224 // ****************************************************************
pHysiX 12:953d25061417 225 // === HMC5883L SETUP ROUTINE ===
pHysiX 12:953d25061417 226 // ****************************************************************
pHysiX 12:953d25061417 227 bool setup_compass(void)
pHysiX 12:953d25061417 228 {
pHysiX 12:953d25061417 229 compass.setConfigurationA(AVG8_SAMPLES | OUTPUT_RATE_75);
pHysiX 12:953d25061417 230 return true;
pHysiX 12:953d25061417 231 }
pHysiX 12:953d25061417 232 #endif