Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task1.cpp@21:b642c18eccd1, 2014-05-08 (annotated)

Committer:
pHysiX
Date:
Thu May 08 09:39:12 2014 +0000
Revision:
21:b642c18eccd1
Parent:
18:af657c4c3944
Child:
22:ef8aa9728013
Primary PID disabled. Secondary (rate) PID enabled. P gain tuned

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 12:953d25061417 1 /* YPR (100Hz) */
pHysiX 2:ab967d7b4346 2
pHysiX 1:43f8ac7ca6d7 3 #include "Task1.h"
pHysiX 1:43f8ac7ca6d7 4 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 5
pHysiX 2:ab967d7b4346 6 /* MPU6050 control/status variables: */
pHysiX 2:ab967d7b4346 7 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
pHysiX 2:ab967d7b4346 8 uint16_t fifoCount; // count of all bytes currently in FIFO
pHysiX 21:b642c18eccd1 9 uint8_t fifoBuffer[64]; // FIFO storage buffer
pHysiX 1:43f8ac7ca6d7 10
pHysiX 2:ab967d7b4346 11 /* Orientation/motion variables: */
pHysiX 2:ab967d7b4346 12 Quaternion q; // [w, x, y, z] quaternion container
pHysiX 2:ab967d7b4346 13 VectorFloat gravity; // [x, y, z] gravity vector
pHysiX 2:ab967d7b4346 14 float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
pHysiX 21:b642c18eccd1 15 //volatile float ypr_use[3];
pHysiX 12:953d25061417 16
pHysiX 12:953d25061417 17 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 18 //int compassX, compassY, compassZ;
pHysiX 12:953d25061417 19 double heading = 0;
pHysiX 12:953d25061417 20 #endif
pHysiX 12:953d25061417 21
pHysiX 12:953d25061417 22 float altitude, temperature;
pHysiX 10:ef5fe86f67fe 23
pHysiX 21:b642c18eccd1 24 bool counterTask1 = false;
pHysiX 1:43f8ac7ca6d7 25
pHysiX 1:43f8ac7ca6d7 26 #ifndef M_PI
pHysiX 1:43f8ac7ca6d7 27 #define M_PI 3.1415
pHysiX 1:43f8ac7ca6d7 28 #endif
pHysiX 1:43f8ac7ca6d7 29
pHysiX 1:43f8ac7ca6d7 30 // ================================================================
pHysiX 12:953d25061417 31 // === YPR ROUTINE ===
pHysiX 2:ab967d7b4346 32 // ================================================================
pHysiX 1:43f8ac7ca6d7 33 void Task1(void const *argument)
pHysiX 1:43f8ac7ca6d7 34 {
pHysiX 1:43f8ac7ca6d7 35 // reset interrupt flag and get INT_STATUS byte
pHysiX 1:43f8ac7ca6d7 36 mpuIntStatus = imu.getIntStatus();
pHysiX 1:43f8ac7ca6d7 37
pHysiX 1:43f8ac7ca6d7 38 // get current FIFO count
pHysiX 1:43f8ac7ca6d7 39 fifoCount = imu.getFIFOCount();
pHysiX 16:9072cd6fa8d1 40 //imu.debugSerial.printf("FIFO Count: %d\n", fifoCount);
pHysiX 1:43f8ac7ca6d7 41
pHysiX 1:43f8ac7ca6d7 42 // check for overflow (this should never happen unless our code is too inefficient)
pHysiX 18:af657c4c3944 43 if ((mpuIntStatus & 0x10) || fifoCount > 84) {
pHysiX 1:43f8ac7ca6d7 44 // reset so we can continue cleanly
pHysiX 1:43f8ac7ca6d7 45 imu.resetFIFO();
pHysiX 1:43f8ac7ca6d7 46 imu.debugSerial.printf("FIFO overflow!");
pHysiX 1:43f8ac7ca6d7 47
pHysiX 1:43f8ac7ca6d7 48 // otherwise, check for DMP data ready interrupt (this should happen frequently)
pHysiX 1:43f8ac7ca6d7 49 } else if (mpuIntStatus & 0x02) {
pHysiX 1:43f8ac7ca6d7 50 // wait for correct available data length, should be a VERY short wait
pHysiX 1:43f8ac7ca6d7 51 while (fifoCount < packetSize) fifoCount = imu.getFIFOCount();
pHysiX 1:43f8ac7ca6d7 52
pHysiX 21:b642c18eccd1 53 while (fifoCount > 41) {
pHysiX 21:b642c18eccd1 54 // read a packet from FIFO
pHysiX 21:b642c18eccd1 55 imu.getFIFOBytes(fifoBuffer, packetSize);
pHysiX 1:43f8ac7ca6d7 56
pHysiX 21:b642c18eccd1 57 // track FIFO count here in case there is > 1 packet available
pHysiX 21:b642c18eccd1 58 // (this lets us immediately read more without waiting for an interrupt)
pHysiX 21:b642c18eccd1 59 fifoCount -= packetSize;
pHysiX 18:af657c4c3944 60 }
pHysiX 1:43f8ac7ca6d7 61
pHysiX 1:43f8ac7ca6d7 62 // display YPR angles in degrees
pHysiX 1:43f8ac7ca6d7 63 imu.dmpGetQuaternion(&q, fifoBuffer);
pHysiX 1:43f8ac7ca6d7 64 imu.dmpGetGravity(&gravity, &q);
pHysiX 1:43f8ac7ca6d7 65 imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
pHysiX 21:b642c18eccd1 66
pHysiX 18:af657c4c3944 67 //if (fifoCount > 126)
pHysiX 21:b642c18eccd1 68 // imu.resetFIFO();
pHysiX 17:18c3bd016e49 69
pHysiX 21:b642c18eccd1 70 ypr[0] = ypr[0] * 180/M_PI;
pHysiX 21:b642c18eccd1 71 ypr[1] = ypr[1] * 180/M_PI;
pHysiX 21:b642c18eccd1 72 ypr[2] = ypr[2] * 180/M_PI;
pHysiX 12:953d25061417 73
pHysiX 12:953d25061417 74 /*
pHysiX 12:953d25061417 75 if (compass.getDataReady()) {
pHysiX 12:953d25061417 76 // compass.getValues(&compass_x, &compass_y, &compass_z);
pHysiX 12:953d25061417 77 heading = compass.getHeadingXY() * 180/M_PI;
pHysiX 12:953d25061417 78 }
pHysiX 12:953d25061417 79
pHysiX 12:953d25061417 80 ypr[0] *= 0.98;
pHysiX 12:953d25061417 81 ypr[0] += 0.02*heading;
pHysiX 12:953d25061417 82 */
pHysiX 10:ef5fe86f67fe 83
pHysiX 3:605fbcb54e75 84 if (box_demo)
pHysiX 21:b642c18eccd1 85 BT.printf("\nY%3.2f\nP%3.2f\nR%3.2f\n", ypr[0] - ypr_offset[0],
pHysiX 21:b642c18eccd1 86 ypr[1] - ypr_offset[1], ypr[2] - ypr_offset[2]);
pHysiX 17:18c3bd016e49 87
pHysiX 17:18c3bd016e49 88 //counterTask1++;
pHysiX 21:b642c18eccd1 89 counterTask1 = true;
pHysiX 1:43f8ac7ca6d7 90 }
pHysiX 1:43f8ac7ca6d7 91
pHysiX 2:ab967d7b4346 92 //LED[1] = !LED[1];
pHysiX 2:ab967d7b4346 93 }