Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/src/setup.cpp@49:c882f9135033, 2014-05-19 (annotated)

Committer:
pHysiX
Date:
Mon May 19 13:33:34 2014 +0000
Revision:
49:c882f9135033
Parent:
48:9dbdc4144f00 
Changing RtosTimer functions into Threads

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 0:8c28fac22d27 6 #include "setup.h"
pHysiX 0:8c28fac22d27 7 #include "tasks.h"
pHysiX 0:8c28fac22d27 8
pHysiX 4:01921a136f58 9 Serial BT(p28, p27);
pHysiX 49:c882f9135033 10 Serial PC(USBTX, USBRX);
pHysiX 4:01921a136f58 11 DigitalOut BT_CMD(p29);
pHysiX 48:9dbdc4144f00 12 //MPU6050 imu(p9, p10);
pHysiX 48:9dbdc4144f00 13 MPU6050_NB imu_nb(p9, p10);
pHysiX 22:ef8aa9728013 14 MPL3115A2 altimeter(p9, p10);
pHysiX 48:9dbdc4144f00 15 AnalogIn voltageSense(p20);
pHysiX 12:953d25061417 16 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 17 HMC5883L compass(p9, p10);
pHysiX 12:953d25061417 18 #endif
pHysiX 12:953d25061417 19
pHysiX 48:9dbdc4144f00 20 float KP_YAW_RATE = P_Y_RATE;
pHysiX 39:02782ad251db 21 float KP_PITCH_RATE = P_P_RATE;
pHysiX 39:02782ad251db 22 float KP_ROLL_RATE = P_R_RATE;
pHysiX 39:02782ad251db 23
pHysiX 39:02782ad251db 24 float TI_YAW_RATE = TI_Y_RATE;
pHysiX 39:02782ad251db 25 float TI_PITCH_RATE = TI_P_RATE;
pHysiX 39:02782ad251db 26 float TI_ROLL_RATE = TI_R_RATE;
pHysiX 12:953d25061417 27
pHysiX 39:02782ad251db 28 float KP_PITCH_ATTITUDE = P_P_ATTITUDE;
pHysiX 39:02782ad251db 29 float KP_ROLL_ATTITUDE = P_R_ATTITUDE;
pHysiX 39:02782ad251db 30
pHysiX 39:02782ad251db 31 float TI_PITCH_ATTITUDE = TI_P_ATTITUDE;
pHysiX 39:02782ad251db 32 float TI_ROLL_ATTITUDE = TI_R_ATTITUDE;
pHysiX 39:02782ad251db 33
pHysiX 39:02782ad251db 34 PID yawPIDrate(KP_YAW_RATE, TI_Y_RATE, 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 39:02782ad251db 38 PID pitchPIDattitude(KP_PITCH_ATTITUDE, TI_PITCH_ATTITUDE, 0.0, TASK2_MASTER_PERIOD/1000.0);
pHysiX 39:02782ad251db 39 PID rollPIDattitude(KP_ROLL_ATTITUDE, TI_ROLL_ATTITUDE, 0.0, TASK2_MASTER_PERIOD/1000.0);
pHysiX 39:02782ad251db 40
pHysiX 3:605fbcb54e75 41 PwmOut ESC[4] = {p21, p22, p23, p24};
pHysiX 3:605fbcb54e75 42
pHysiX 3:605fbcb54e75 43
pHysiX 2:ab967d7b4346 44
pHysiX 34:228d87c45151 45 // ==========================
pHysiX 3:605fbcb54e75 46 // === MAIN SETUP ROUTINE ===
pHysiX 34:228d87c45151 47 // ==========================
pHysiX 3:605fbcb54e75 48 bool setupALLdevices(void)
pHysiX 48:9dbdc4144f00 49 {
pHysiX 3:605fbcb54e75 50 bool error = false;
pHysiX 22:ef8aa9728013 51 box_demo = false;
pHysiX 27:18b6580eb0b1 52 mode = ATTITUDE;
pHysiX 3:605fbcb54e75 53
pHysiX 3:605fbcb54e75 54 if (!setup_ESC()) {
pHysiX 49:c882f9135033 55 PC.printf("ESC FAILED!!!\n");
pHysiX 3:605fbcb54e75 56 error = true;
pHysiX 3:605fbcb54e75 57 }
pHysiX 0:8c28fac22d27 58
pHysiX 49:c882f9135033 59 if (setup_bt())
pHysiX 49:c882f9135033 60 PC.printf("BT established!\n");
pHysiX 3:605fbcb54e75 61 else error = true;
pHysiX 3:605fbcb54e75 62
pHysiX 49:c882f9135033 63 if (setup_PID())
pHysiX 49:c882f9135033 64 PC.printf("PID established!\n");
pHysiX 3:605fbcb54e75 65 else error = true;
pHysiX 0:8c28fac22d27 66
pHysiX 49:c882f9135033 67 if (setup_mpu6050())
pHysiX 49:c882f9135033 68 PC.printf("MPU6050 established!\n");
pHysiX 3:605fbcb54e75 69 else error = true;
pHysiX 3:605fbcb54e75 70
pHysiX 49:c882f9135033 71 if (setup_altimeter())
pHysiX 49:c882f9135033 72 PC.printf("Altimeter established!\n");
pHysiX 48:9dbdc4144f00 73 else {
pHysiX 48:9dbdc4144f00 74 error = true;
pHysiX 49:c882f9135033 75 PC.printf("ALTIMETER FAILED\n");
pHysiX 48:9dbdc4144f00 76 }
pHysiX 22:ef8aa9728013 77
pHysiX 12:953d25061417 78 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 79 if (setup_compass())
pHysiX 49:c882f9135033 80 PC.printf("Compass established!\n");
pHysiX 12:953d25061417 81 else error = true;
pHysiX 12:953d25061417 82 #endif
pHysiX 12:953d25061417 83
pHysiX 3:605fbcb54e75 84 return error;
pHysiX 3:605fbcb54e75 85 }
pHysiX 0:8c28fac22d27 86
pHysiX 3:605fbcb54e75 87
pHysiX 3:605fbcb54e75 88
pHysiX 3:605fbcb54e75 89
pHysiX 34:228d87c45151 90 // *************************
pHysiX 34:228d87c45151 91 // *** ESC SETUP ROUTINE ***
pHysiX 34:228d87c45151 92 // *************************
pHysiX 2:ab967d7b4346 93 bool setup_ESC(void)
pHysiX 2:ab967d7b4346 94 {
pHysiX 3:605fbcb54e75 95 for (int i = 0; i < 4; i++)
pHysiX 3:605fbcb54e75 96 ESC[i].period_us(ESC_PERIOD_US);
pHysiX 2:ab967d7b4346 97
pHysiX 3:605fbcb54e75 98 for (int i = 0; i < 4; i++)
pHysiX 38:ef65533cca32 99 ESC[i].pulsewidth_us(1000);
pHysiX 48:9dbdc4144f00 100
pHysiX 38:ef65533cca32 101 for (int i = 0; i < 4; i++)
pHysiX 38:ef65533cca32 102 ESCpower[i] = 990;
pHysiX 3:605fbcb54e75 103
pHysiX 14:267368c83b6a 104 armed = false;
pHysiX 14:267368c83b6a 105
pHysiX 2:ab967d7b4346 106 return true;
pHysiX 2:ab967d7b4346 107 }
pHysiX 2:ab967d7b4346 108
pHysiX 3:605fbcb54e75 109 // ****************************************************************
pHysiX 3:605fbcb54e75 110 // === BLUETOOTH SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 111 // ****************************************************************
pHysiX 0:8c28fac22d27 112 bool setup_bt(void)
pHysiX 0:8c28fac22d27 113 {
pHysiX 0:8c28fac22d27 114 BT.baud(115200);
pHysiX 22:ef8aa9728013 115 BT_CMD = 0; // Place bluetooth into normal mode
pHysiX 0:8c28fac22d27 116 BT.printf("Bluetooth online!\n");
pHysiX 0:8c28fac22d27 117 return true;
pHysiX 0:8c28fac22d27 118 }
pHysiX 0:8c28fac22d27 119
pHysiX 3:605fbcb54e75 120 // ****************************************************************
pHysiX 3:605fbcb54e75 121 // === PID SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 122 // ****************************************************************
pHysiX 3:605fbcb54e75 123 bool setup_PID(void)
pHysiX 3:605fbcb54e75 124 {
pHysiX 39:02782ad251db 125 pitchPIDattitude.setInputLimits(-90.0, 90.0);
pHysiX 39:02782ad251db 126 pitchPIDattitude.setOutputLimits(-250, 250.0);
pHysiX 39:02782ad251db 127 pitchPIDattitude.setBias(0.0);
pHysiX 39:02782ad251db 128 pitchPIDattitude.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 129
pHysiX 39:02782ad251db 130 rollPIDattitude.setInputLimits(-90.0, 90.0);
pHysiX 39:02782ad251db 131 rollPIDattitude.setOutputLimits(-250, 250.0);
pHysiX 39:02782ad251db 132 rollPIDattitude.setBias(0.0);
pHysiX 39:02782ad251db 133 rollPIDattitude.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 134
pHysiX 21:b642c18eccd1 135 yawPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 136 yawPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 137 yawPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 138 yawPIDrate.setMode(AUTO_MODE);
pHysiX 12:953d25061417 139
pHysiX 21:b642c18eccd1 140 pitchPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 141 pitchPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 142 pitchPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 143 pitchPIDrate.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 144
pHysiX 21:b642c18eccd1 145 rollPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 146 rollPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 147 rollPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 148 rollPIDrate.setMode(AUTO_MODE);
pHysiX 48:9dbdc4144f00 149
pHysiX 39:02782ad251db 150 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 151 rollPIDattitude.reset();
pHysiX 24:54a8cdf17378 152 yawPIDrate.reset();
pHysiX 24:54a8cdf17378 153 pitchPIDrate.reset();
pHysiX 24:54a8cdf17378 154 rollPIDrate.reset();
pHysiX 12:953d25061417 155
pHysiX 3:605fbcb54e75 156 return true;
pHysiX 3:605fbcb54e75 157 }
pHysiX 3:605fbcb54e75 158
pHysiX 3:605fbcb54e75 159 // ****************************************************************
pHysiX 3:605fbcb54e75 160 // === MPU6050 SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 161 // ****************************************************************
pHysiX 3:605fbcb54e75 162 bool imu_available = false;
pHysiX 3:605fbcb54e75 163
pHysiX 3:605fbcb54e75 164 /*/ MPU control/status variables: */
pHysiX 3:605fbcb54e75 165 bool dmpReady = false; // set true if DMP init was successful
pHysiX 3:605fbcb54e75 166 uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
pHysiX 3:605fbcb54e75 167 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
pHysiX 3:605fbcb54e75 168
pHysiX 0:8c28fac22d27 169 bool setup_mpu6050(void)
pHysiX 0:8c28fac22d27 170 {
pHysiX 48:9dbdc4144f00 171 MPU6050 imu(p9, p10);
pHysiX 48:9dbdc4144f00 172
pHysiX 0:8c28fac22d27 173 imu.reset();
pHysiX 0:8c28fac22d27 174 imu.debugSerial.baud(115200);
pHysiX 0:8c28fac22d27 175 wait_ms(5);
pHysiX 0:8c28fac22d27 176
pHysiX 0:8c28fac22d27 177 imu.initialize();
pHysiX 0:8c28fac22d27 178 imu_available = imu.testConnection();
pHysiX 0:8c28fac22d27 179
pHysiX 48:9dbdc4144f00 180 imu.debugSerial.printf("imu status...\t\t\t");
pHysiX 0:8c28fac22d27 181 imu_available ? imu.debugSerial.printf("OK!\n") : imu.debugSerial.printf("NOT OK!\n");
pHysiX 0:8c28fac22d27 182
pHysiX 0:8c28fac22d27 183 if (imu_available) {
pHysiX 0:8c28fac22d27 184 devStatus = imu.dmpInitialize();
pHysiX 3:605fbcb54e75 185 // supply your own gyro offsets here, scaled for min sensitivity
pHysiX 4:01921a136f58 186 //imu.setXGyroOffset(55);
pHysiX 4:01921a136f58 187 //imu.setYGyroOffset(3);
pHysiX 4:01921a136f58 188 //imu.setZGyroOffset(-2);
pHysiX 3:605fbcb54e75 189 //mpu.setZAccelOffset(16282); // 1688 factory default for my test chip
pHysiX 0:8c28fac22d27 190
pHysiX 0:8c28fac22d27 191 if(!devStatus) {
pHysiX 0:8c28fac22d27 192 imu.setDMPEnabled(true);
pHysiX 0:8c28fac22d27 193 while (!imu.getIntDataReadyStatus());
pHysiX 0:8c28fac22d27 194 packetSize = imu.dmpGetFIFOPacketSize();
pHysiX 16:9072cd6fa8d1 195 imu.debugSerial.printf("Packet Size: %d\n", packetSize);
pHysiX 0:8c28fac22d27 196 dmpReady = true;
pHysiX 16:9072cd6fa8d1 197
pHysiX 16:9072cd6fa8d1 198 int8_t xgOffsetTC = imu.getXGyroOffset();
pHysiX 16:9072cd6fa8d1 199 int8_t ygOffsetTC = imu.getYGyroOffset();
pHysiX 16:9072cd6fa8d1 200 int8_t zgOffsetTC = imu.getZGyroOffset();
pHysiX 16:9072cd6fa8d1 201
pHysiX 16:9072cd6fa8d1 202 imu.debugSerial.printf("X Offset: %4d Y Offset: %4d Z Offset: %4d\n", xgOffsetTC, ygOffsetTC, zgOffsetTC);
pHysiX 16:9072cd6fa8d1 203
pHysiX 0:8c28fac22d27 204 } else {
pHysiX 0:8c28fac22d27 205 imu.debugSerial.printf("\tDMP setup failed!\n");
pHysiX 0:8c28fac22d27 206 return false;
pHysiX 0:8c28fac22d27 207 }
pHysiX 0:8c28fac22d27 208
pHysiX 0:8c28fac22d27 209 imu.resetFIFO();
pHysiX 0:8c28fac22d27 210 } else {
pHysiX 0:8c28fac22d27 211 return false;
pHysiX 0:8c28fac22d27 212 }
pHysiX 0:8c28fac22d27 213
pHysiX 48:9dbdc4144f00 214 imu.debugSerial.printf("imu setup routine done!");
pHysiX 0:8c28fac22d27 215
pHysiX 0:8c28fac22d27 216 return dmpReady;
pHysiX 0:8c28fac22d27 217 }
pHysiX 0:8c28fac22d27 218
pHysiX 22:ef8aa9728013 219 // ****************************************************************
pHysiX 22:ef8aa9728013 220 // === MPL3115A2 SETUP ROUTINE ===
pHysiX 22:ef8aa9728013 221 // ****************************************************************
pHysiX 22:ef8aa9728013 222 bool setup_altimeter(void)
pHysiX 22:ef8aa9728013 223 {
pHysiX 22:ef8aa9728013 224 if (altimeter.init())
pHysiX 22:ef8aa9728013 225 return true;
pHysiX 22:ef8aa9728013 226 else
pHysiX 22:ef8aa9728013 227 return false;
pHysiX 22:ef8aa9728013 228 }
pHysiX 22:ef8aa9728013 229
pHysiX 12:953d25061417 230 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 231 // ****************************************************************
pHysiX 12:953d25061417 232 // === HMC5883L SETUP ROUTINE ===
pHysiX 12:953d25061417 233 // ****************************************************************
pHysiX 12:953d25061417 234 bool setup_compass(void)
pHysiX 12:953d25061417 235 {
pHysiX 12:953d25061417 236 compass.setConfigurationA(AVG8_SAMPLES | OUTPUT_RATE_75);
pHysiX 12:953d25061417 237 return true;
pHysiX 12:953d25061417 238 }
pHysiX 12:953d25061417 239 #endif