Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/src/setup.cpp@22:ef8aa9728013, 2014-05-08 (annotated)

Committer:
pHysiX
Date:
Thu May 08 10:33:43 2014 +0000
Revision:
22:ef8aa9728013
Parent:
21:b642c18eccd1
Child:
24:54a8cdf17378
Commented and tidied entire code for release

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 22:ef8aa9728013 7 float KP_PITCH_STABLE = 0.0;
pHysiX 22:ef8aa9728013 8 float KP_ROLL_STABLE = 0.0;
pHysiX 21:b642c18eccd1 9 float KP_YAW_RATE = 8.5;
pHysiX 22:ef8aa9728013 10 float KP_PITCH_RATE = 8.5;
pHysiX 22:ef8aa9728013 11 float KP_ROLL_RATE = 8.5;
pHysiX 21:b642c18eccd1 12
pHysiX 21:b642c18eccd1 13 float PID_TI_RATE = 0.0;
pHysiX 21:b642c18eccd1 14 float PID_TI_STABLE = 0.0;
pHysiX 21:b642c18eccd1 15
pHysiX 0:8c28fac22d27 16 #include "setup.h"
pHysiX 0:8c28fac22d27 17 #include "tasks.h"
pHysiX 0:8c28fac22d27 18
pHysiX 4:01921a136f58 19 Serial BT(p28, p27);
pHysiX 4:01921a136f58 20 DigitalOut BT_CMD(p29);
pHysiX 22:ef8aa9728013 21 MPU6050 imu(p9, p10); // MPU6050-Tilty SDA, SCL (18, 19)
pHysiX 22:ef8aa9728013 22 MPL3115A2 altimeter(p9, p10);
pHysiX 12:953d25061417 23 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 24 HMC5883L compass(p9, p10);
pHysiX 12:953d25061417 25 #endif
pHysiX 12:953d25061417 26
pHysiX 22:ef8aa9728013 27 PID pitchPIDstable(KP_PITCH_STABLE, PID_TI_STABLE, 0.0, TASK1_PERIOD/1000.0);
pHysiX 22:ef8aa9728013 28 PID rollPIDstable(KP_ROLL_STABLE, PID_TI_STABLE, 0.0, TASK1_PERIOD/1000.0);
pHysiX 12:953d25061417 29
pHysiX 21:b642c18eccd1 30 PID yawPIDrate(KP_YAW_RATE, PID_TI_RATE, 0.0, TASK2_PERIOD/1000.0);
pHysiX 21:b642c18eccd1 31 PID pitchPIDrate(KP_PITCH_RATE, PID_TI_RATE, 0.0, TASK2_PERIOD/1000.0);
pHysiX 21:b642c18eccd1 32 PID rollPIDrate(KP_ROLL_RATE, PID_TI_RATE, 0.0, TASK2_PERIOD/1000.0);
pHysiX 20:b193a50a2ba3 33
pHysiX 3:605fbcb54e75 34 PwmOut ESC[4] = {p21, p22, p23, p24};
pHysiX 3:605fbcb54e75 35
pHysiX 3:605fbcb54e75 36
pHysiX 2:ab967d7b4346 37
pHysiX 3:605fbcb54e75 38 // ================================================================
pHysiX 3:605fbcb54e75 39 // === MAIN SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 40 // ================================================================
pHysiX 3:605fbcb54e75 41 bool setupALLdevices(void)
pHysiX 3:605fbcb54e75 42 {
pHysiX 3:605fbcb54e75 43 bool error = false;
pHysiX 22:ef8aa9728013 44 box_demo = false;
pHysiX 3:605fbcb54e75 45
pHysiX 3:605fbcb54e75 46 if (!setup_ESC()) {
pHysiX 3:605fbcb54e75 47 imu.debugSerial.printf("ESC FAILED!!!\n");
pHysiX 3:605fbcb54e75 48 error = true;
pHysiX 3:605fbcb54e75 49 }
pHysiX 0:8c28fac22d27 50
pHysiX 3:605fbcb54e75 51 if (setup_bt())
pHysiX 21:b642c18eccd1 52 imu.debugSerial.printf("BT established!\n");
pHysiX 3:605fbcb54e75 53 else error = true;
pHysiX 3:605fbcb54e75 54
pHysiX 3:605fbcb54e75 55 if (setup_PID())
pHysiX 21:b642c18eccd1 56 imu.debugSerial.printf("PID established!\n");
pHysiX 3:605fbcb54e75 57 else error = true;
pHysiX 0:8c28fac22d27 58
pHysiX 3:605fbcb54e75 59 if (setup_mpu6050())
pHysiX 21:b642c18eccd1 60 imu.debugSerial.printf("MPU6050 established!\n");
pHysiX 3:605fbcb54e75 61 else error = true;
pHysiX 3:605fbcb54e75 62
pHysiX 22:ef8aa9728013 63 if (setup_altimeter())
pHysiX 22:ef8aa9728013 64 imu.debugSerial.printf("Altimeter established!\n");
pHysiX 22:ef8aa9728013 65 else {
pHysiX 22:ef8aa9728013 66 error = true;
pHysiX 22:ef8aa9728013 67 imu.debugSerial.printf("ALTIMETER FAILED\n");
pHysiX 22:ef8aa9728013 68 }
pHysiX 22:ef8aa9728013 69
pHysiX 12:953d25061417 70 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 71 if (setup_compass())
pHysiX 21:b642c18eccd1 72 imu.debugSerial.printf("Compass established!\n");
pHysiX 12:953d25061417 73 else error = true;
pHysiX 12:953d25061417 74 #endif
pHysiX 12:953d25061417 75
pHysiX 3:605fbcb54e75 76 return error;
pHysiX 3:605fbcb54e75 77 }
pHysiX 0:8c28fac22d27 78
pHysiX 3:605fbcb54e75 79
pHysiX 3:605fbcb54e75 80
pHysiX 3:605fbcb54e75 81
pHysiX 3:605fbcb54e75 82 // ****************************************************************
pHysiX 3:605fbcb54e75 83 // === ESC SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 84 // ****************************************************************
pHysiX 2:ab967d7b4346 85 bool setup_ESC(void)
pHysiX 2:ab967d7b4346 86 {
pHysiX 3:605fbcb54e75 87 for (int i = 0; i < 4; i++)
pHysiX 3:605fbcb54e75 88 ESC[i].period_us(ESC_PERIOD_US);
pHysiX 2:ab967d7b4346 89
pHysiX 3:605fbcb54e75 90 for (int i = 0; i < 4; i++)
pHysiX 3:605fbcb54e75 91 ESC[i].pulsewidth_us(0);
pHysiX 3:605fbcb54e75 92
pHysiX 14:267368c83b6a 93 armed = false;
pHysiX 14:267368c83b6a 94
pHysiX 2:ab967d7b4346 95 return true;
pHysiX 2:ab967d7b4346 96 }
pHysiX 2:ab967d7b4346 97
pHysiX 3:605fbcb54e75 98 // ****************************************************************
pHysiX 3:605fbcb54e75 99 // === BLUETOOTH SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 100 // ****************************************************************
pHysiX 0:8c28fac22d27 101 bool setup_bt(void)
pHysiX 0:8c28fac22d27 102 {
pHysiX 0:8c28fac22d27 103 BT.baud(115200);
pHysiX 22:ef8aa9728013 104 BT_CMD = 0; // Place bluetooth into normal mode
pHysiX 0:8c28fac22d27 105 BT.printf("Bluetooth online!\n");
pHysiX 0:8c28fac22d27 106 return true;
pHysiX 0:8c28fac22d27 107 }
pHysiX 0:8c28fac22d27 108
pHysiX 3:605fbcb54e75 109 // ****************************************************************
pHysiX 3:605fbcb54e75 110 // === PID SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 111 // ****************************************************************
pHysiX 3:605fbcb54e75 112 bool setup_PID(void)
pHysiX 3:605fbcb54e75 113 {
pHysiX 21:b642c18eccd1 114 pitchPIDstable.setInputLimits(-90.0, 90.0);
pHysiX 21:b642c18eccd1 115 pitchPIDstable.setOutputLimits(-500, 500.0);
pHysiX 21:b642c18eccd1 116 pitchPIDstable.setBias(0.0);
pHysiX 21:b642c18eccd1 117 pitchPIDstable.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 118
pHysiX 21:b642c18eccd1 119 rollPIDstable.setInputLimits(-90.0, 90.0);
pHysiX 21:b642c18eccd1 120 rollPIDstable.setOutputLimits(-500, 500.0);
pHysiX 21:b642c18eccd1 121 rollPIDstable.setBias(0.0);
pHysiX 21:b642c18eccd1 122 rollPIDstable.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 123
pHysiX 21:b642c18eccd1 124 yawPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 125 yawPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 126 yawPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 127 yawPIDrate.setMode(AUTO_MODE);
pHysiX 12:953d25061417 128
pHysiX 21:b642c18eccd1 129 pitchPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 130 pitchPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 131 pitchPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 132 pitchPIDrate.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 133
pHysiX 21:b642c18eccd1 134 rollPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 135 rollPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 136 rollPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 137 rollPIDrate.setMode(AUTO_MODE);
pHysiX 12:953d25061417 138
pHysiX 3:605fbcb54e75 139 return true;
pHysiX 3:605fbcb54e75 140 }
pHysiX 3:605fbcb54e75 141
pHysiX 3:605fbcb54e75 142 // ****************************************************************
pHysiX 3:605fbcb54e75 143 // === MPU6050 SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 144 // ****************************************************************
pHysiX 3:605fbcb54e75 145 bool imu_available = false;
pHysiX 3:605fbcb54e75 146
pHysiX 3:605fbcb54e75 147 /*/ MPU control/status variables: */
pHysiX 3:605fbcb54e75 148 bool dmpReady = false; // set true if DMP init was successful
pHysiX 3:605fbcb54e75 149 uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
pHysiX 3:605fbcb54e75 150 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
pHysiX 3:605fbcb54e75 151
pHysiX 0:8c28fac22d27 152 bool setup_mpu6050(void)
pHysiX 0:8c28fac22d27 153 {
pHysiX 0:8c28fac22d27 154 imu.reset();
pHysiX 0:8c28fac22d27 155 imu.debugSerial.baud(115200);
pHysiX 0:8c28fac22d27 156 wait_ms(5);
pHysiX 0:8c28fac22d27 157
pHysiX 0:8c28fac22d27 158 imu.initialize();
pHysiX 0:8c28fac22d27 159 imu_available = imu.testConnection();
pHysiX 0:8c28fac22d27 160
pHysiX 0:8c28fac22d27 161 imu.debugSerial.printf("IMU status...\t\t\t");
pHysiX 0:8c28fac22d27 162 imu_available ? imu.debugSerial.printf("OK!\n") : imu.debugSerial.printf("NOT OK!\n");
pHysiX 0:8c28fac22d27 163
pHysiX 0:8c28fac22d27 164 if (imu_available) {
pHysiX 0:8c28fac22d27 165 devStatus = imu.dmpInitialize();
pHysiX 0:8c28fac22d27 166
pHysiX 3:605fbcb54e75 167 // supply your own gyro offsets here, scaled for min sensitivity
pHysiX 4:01921a136f58 168 //imu.setXGyroOffset(55);
pHysiX 4:01921a136f58 169 //imu.setYGyroOffset(3);
pHysiX 4:01921a136f58 170 //imu.setZGyroOffset(-2);
pHysiX 3:605fbcb54e75 171 //mpu.setZAccelOffset(16282); // 1688 factory default for my test chip
pHysiX 0:8c28fac22d27 172
pHysiX 0:8c28fac22d27 173 if(!devStatus) {
pHysiX 0:8c28fac22d27 174 imu.setDMPEnabled(true);
pHysiX 0:8c28fac22d27 175 while (!imu.getIntDataReadyStatus());
pHysiX 0:8c28fac22d27 176 packetSize = imu.dmpGetFIFOPacketSize();
pHysiX 16:9072cd6fa8d1 177 imu.debugSerial.printf("Packet Size: %d\n", packetSize);
pHysiX 0:8c28fac22d27 178 dmpReady = true;
pHysiX 16:9072cd6fa8d1 179
pHysiX 16:9072cd6fa8d1 180 int8_t xgOffsetTC = imu.getXGyroOffset();
pHysiX 16:9072cd6fa8d1 181 int8_t ygOffsetTC = imu.getYGyroOffset();
pHysiX 16:9072cd6fa8d1 182 int8_t zgOffsetTC = imu.getZGyroOffset();
pHysiX 16:9072cd6fa8d1 183
pHysiX 16:9072cd6fa8d1 184 imu.debugSerial.printf("X Offset: %4d Y Offset: %4d Z Offset: %4d\n", xgOffsetTC, ygOffsetTC, zgOffsetTC);
pHysiX 16:9072cd6fa8d1 185
pHysiX 0:8c28fac22d27 186 } else {
pHysiX 0:8c28fac22d27 187 imu.debugSerial.printf("\tDMP setup failed!\n");
pHysiX 0:8c28fac22d27 188 return false;
pHysiX 0:8c28fac22d27 189 }
pHysiX 0:8c28fac22d27 190
pHysiX 0:8c28fac22d27 191 imu.resetFIFO();
pHysiX 0:8c28fac22d27 192 } else {
pHysiX 0:8c28fac22d27 193 return false;
pHysiX 0:8c28fac22d27 194 }
pHysiX 0:8c28fac22d27 195
pHysiX 0:8c28fac22d27 196 imu.debugSerial.printf("IMU setup routine done!");
pHysiX 0:8c28fac22d27 197
pHysiX 0:8c28fac22d27 198 return dmpReady;
pHysiX 0:8c28fac22d27 199 }
pHysiX 0:8c28fac22d27 200
pHysiX 22:ef8aa9728013 201 // ****************************************************************
pHysiX 22:ef8aa9728013 202 // === MPL3115A2 SETUP ROUTINE ===
pHysiX 22:ef8aa9728013 203 // ****************************************************************
pHysiX 22:ef8aa9728013 204 bool setup_altimeter(void)
pHysiX 22:ef8aa9728013 205 {
pHysiX 22:ef8aa9728013 206 if (altimeter.init())
pHysiX 22:ef8aa9728013 207 return true;
pHysiX 22:ef8aa9728013 208 else
pHysiX 22:ef8aa9728013 209 return false;
pHysiX 22:ef8aa9728013 210 }
pHysiX 22:ef8aa9728013 211
pHysiX 12:953d25061417 212 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 213 // ****************************************************************
pHysiX 12:953d25061417 214 // === HMC5883L SETUP ROUTINE ===
pHysiX 12:953d25061417 215 // ****************************************************************
pHysiX 12:953d25061417 216 bool setup_compass(void)
pHysiX 12:953d25061417 217 {
pHysiX 12:953d25061417 218 compass.setConfigurationA(AVG8_SAMPLES | OUTPUT_RATE_75);
pHysiX 12:953d25061417 219 return true;
pHysiX 12:953d25061417 220 }
pHysiX 12:953d25061417 221 #endif