Ian Hua / Quadcopter-mbedRTOS

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

RTOS-Threads/src/Task2_Slave.cpp@48:9dbdc4144f00, 2014-05-19 (annotated)

Committer:
pHysiX
Date:
Mon May 19 13:21:17 2014 +0000
Revision:
48:9dbdc4144f00
Parent:
38:ef65533cca32
Child:
50:8a0accb23007
Altimeter and IMU changed to non-blocking I2C

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 36:d95e3d6f2fc4 4 * Purpose: Thread2S: Slave PID control loop (rate)
pHysiX 36:d95e3d6f2fc4 5 * Functions: Gyro sample
pHysiX 36:d95e3d6f2fc4 6 * Settings: 400Hz
pHysiX 30:d9b988f8d84f 7 * Timing: 290us
pHysiX 25:a7cfe421cb4a 8 */
pHysiX 26:4a3323ee36d5 9 #include "Task2_Slave.h"
pHysiX 1:43f8ac7ca6d7 10 #include "setup.h"
pHysiX 3:605fbcb54e75 11 #include "PID.h"
pHysiX 3:605fbcb54e75 12
pHysiX 21:b642c18eccd1 13 /* YPR Adjust */
pHysiX 21:b642c18eccd1 14 volatile float adjust[3] = {0.0, 0.0, 0.0};
pHysiX 21:b642c18eccd1 15
pHysiX 3:605fbcb54e75 16 int16_t gx, gy, gz;
pHysiX 10:ef5fe86f67fe 17 volatile int gyro[3] = {0, 0, 0};
pHysiX 10:ef5fe86f67fe 18
pHysiX 10:ef5fe86f67fe 19 bool counterESC = false;
pHysiX 1:43f8ac7ca6d7 20
pHysiX 34:228d87c45151 21
pHysiX 34:228d87c45151 22
pHysiX 34:228d87c45151 23 // ===============================
pHysiX 34:228d87c45151 24 // === GYRO SAMPLE & SLAVE PID ===
pHysiX 34:228d87c45151 25 // ===============================
pHysiX 31:3dde2201e54d 26 //Timer
pHysiX 27:18b6580eb0b1 27 void Task2_Slave(void const *argument)
pHysiX 1:43f8ac7ca6d7 28 {
pHysiX 31:3dde2201e54d 29 //Timer
pHysiX 36:d95e3d6f2fc4 30 gyroSample();
pHysiX 17:18c3bd016e49 31
pHysiX 31:3dde2201e54d 32 //Timer
pHysiX 30:d9b988f8d84f 33 if (armed) {
pHysiX 30:d9b988f8d84f 34 yawPIDrate.setSetPoint(inputYPR[0]);
pHysiX 25:a7cfe421cb4a 35
pHysiX 30:d9b988f8d84f 36 switch (mode) {
pHysiX 30:d9b988f8d84f 37 case RATE:
pHysiX 30:d9b988f8d84f 38 pitchPIDrate.setSetPoint(inputYPR[1]);
pHysiX 30:d9b988f8d84f 39 rollPIDrate.setSetPoint(inputYPR[2]);
pHysiX 17:18c3bd016e49 40
pHysiX 30:d9b988f8d84f 41 yawPIDrate.setProcessValue(gyro[2]);
pHysiX 30:d9b988f8d84f 42 pitchPIDrate.setProcessValue(gyro[1]);
pHysiX 30:d9b988f8d84f 43 rollPIDrate.setProcessValue(gyro[0]);
pHysiX 30:d9b988f8d84f 44
pHysiX 30:d9b988f8d84f 45 adjust[0] = yawPIDrate.compute();
pHysiX 30:d9b988f8d84f 46 adjust[1] = pitchPIDrate.compute();
pHysiX 30:d9b988f8d84f 47 adjust[2] = rollPIDrate.compute();
pHysiX 25:a7cfe421cb4a 48
pHysiX 30:d9b988f8d84f 49 counterESC = true;
pHysiX 30:d9b988f8d84f 50 break;
pHysiX 25:a7cfe421cb4a 51
pHysiX 30:d9b988f8d84f 52 case ATTITUDE:
pHysiX 30:d9b988f8d84f 53 default:
pHysiX 30:d9b988f8d84f 54 pitchPIDrate.setSetPoint(adjust_attitude[1]);
pHysiX 30:d9b988f8d84f 55 rollPIDrate.setSetPoint(adjust_attitude[2]);
pHysiX 5:4879ef0e6d41 56
pHysiX 30:d9b988f8d84f 57 yawPIDrate.setProcessValue(gyro[2]);
pHysiX 30:d9b988f8d84f 58 pitchPIDrate.setProcessValue(gyro[1]);
pHysiX 30:d9b988f8d84f 59 rollPIDrate.setProcessValue(gyro[0]);
pHysiX 5:4879ef0e6d41 60
pHysiX 30:d9b988f8d84f 61 adjust[0] = yawPIDrate.compute();
pHysiX 30:d9b988f8d84f 62 adjust[1] = pitchPIDrate.compute();
pHysiX 30:d9b988f8d84f 63 adjust[2] = rollPIDrate.compute();
pHysiX 21:b642c18eccd1 64
pHysiX 30:d9b988f8d84f 65 counterESC = true;
pHysiX 30:d9b988f8d84f 66 break;
pHysiX 30:d9b988f8d84f 67 }
pHysiX 31:3dde2201e54d 68 //Timer
pHysiX 25:a7cfe421cb4a 69 }
pHysiX 31:3dde2201e54d 70 //Timer
pHysiX 21:b642c18eccd1 71 }
pHysiX 33:f88a6ee18103 72
pHysiX 36:d95e3d6f2fc4 73
pHysiX 36:d95e3d6f2fc4 74
pHysiX 36:d95e3d6f2fc4 75
pHysiX 34:228d87c45151 76 // ************************
pHysiX 34:228d87c45151 77 // *** Helper functions ***
pHysiX 34:228d87c45151 78 // ************************
pHysiX 36:d95e3d6f2fc4 79 void gyroSample(void)
pHysiX 36:d95e3d6f2fc4 80 {
pHysiX 48:9dbdc4144f00 81 imu_nb.getRotation(&gx, &gy, &gz);
pHysiX 36:d95e3d6f2fc4 82 gyro[0] = gx + 60;
pHysiX 36:d95e3d6f2fc4 83 gyro[1] = gy - 15;
pHysiX 38:ef65533cca32 84 gyro[2] = gz - 8;
pHysiX 36:d95e3d6f2fc4 85
pHysiX 36:d95e3d6f2fc4 86 for (int i = 0; i < 3; i++)
pHysiX 36:d95e3d6f2fc4 87 gyro[i] /= (float) 32.8;
pHysiX 36:d95e3d6f2fc4 88 }