Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task1.cpp@33:f88a6ee18103, 2014-05-12 (annotated)

Committer:
pHysiX
Date:
Mon May 12 13:49:43 2014 +0000
Revision:
33:f88a6ee18103
Parent:
31:3dde2201e54d
Child:
34:228d87c45151
Tidied code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: Task1.cpp
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 31:3dde2201e54d 4 * Functions: Thread1: Service YPR telemetry output
pHysiX 31:3dde2201e54d 5 * Functions: AHRSSample: Read MPU6050 DMP and calculate YPR
pHysiX 22:ef8aa9728013 6 * Settings: 100Hz
pHysiX 30:d9b988f8d84f 7 * Timing: 1440us
pHysiX 22:ef8aa9728013 8 */
pHysiX 1:43f8ac7ca6d7 9 #include "Task1.h"
pHysiX 1:43f8ac7ca6d7 10 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 11
pHysiX 2:ab967d7b4346 12 /* MPU6050 control/status variables: */
pHysiX 2:ab967d7b4346 13 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
pHysiX 2:ab967d7b4346 14 uint16_t fifoCount; // count of all bytes currently in FIFO
pHysiX 21:b642c18eccd1 15 uint8_t fifoBuffer[64]; // FIFO storage buffer
pHysiX 1:43f8ac7ca6d7 16
pHysiX 2:ab967d7b4346 17 /* Orientation/motion variables: */
pHysiX 2:ab967d7b4346 18 Quaternion q; // [w, x, y, z] quaternion container
pHysiX 2:ab967d7b4346 19 VectorFloat gravity; // [x, y, z] gravity vector
pHysiX 2:ab967d7b4346 20 float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
pHysiX 22:ef8aa9728013 21
pHysiX 22:ef8aa9728013 22 float altitude, temperature;
pHysiX 22:ef8aa9728013 23
pHysiX 22:ef8aa9728013 24 #ifndef M_PI
pHysiX 22:ef8aa9728013 25 #define M_PI 3.1415
pHysiX 22:ef8aa9728013 26 #endif
pHysiX 12:953d25061417 27
pHysiX 12:953d25061417 28 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 29 //int compassX, compassY, compassZ;
pHysiX 12:953d25061417 30 double heading = 0;
pHysiX 12:953d25061417 31 #endif
pHysiX 12:953d25061417 32
pHysiX 1:43f8ac7ca6d7 33 // ================================================================
pHysiX 30:d9b988f8d84f 34 // === YPR THREAD ===
pHysiX 2:ab967d7b4346 35 // ================================================================
pHysiX 1:43f8ac7ca6d7 36 void Task1(void const *argument)
pHysiX 1:43f8ac7ca6d7 37 {
pHysiX 30:d9b988f8d84f 38 switch (box_demo) {
pHysiX 30:d9b988f8d84f 39 case true:
pHysiX 30:d9b988f8d84f 40 AHRSSample();
pHysiX 31:3dde2201e54d 41 if (box_demo)
pHysiX 31:3dde2201e54d 42 BT.printf("\nY%3.2f\nP%3.2f\nR%3.2f\n", ypr[0] - ypr_offset[0],
pHysiX 31:3dde2201e54d 43 ypr[1] - ypr_offset[1], ypr[2] - ypr_offset[2]);
pHysiX 30:d9b988f8d84f 44 break;
pHysiX 1:43f8ac7ca6d7 45 }
pHysiX 2:ab967d7b4346 46 }
pHysiX 31:3dde2201e54d 47 //Timer
pHysiX 33:f88a6ee18103 48
pHysiX 33:f88a6ee18103 49 // ========================
pHysiX 30:d9b988f8d84f 50 // === Helper functions ===
pHysiX 33:f88a6ee18103 51 // ========================
pHysiX 30:d9b988f8d84f 52 void AHRSSample(void)
pHysiX 30:d9b988f8d84f 53 {
pHysiX 31:3dde2201e54d 54 //Timer
pHysiX 30:d9b988f8d84f 55 // reset interrupt flag and get INT_STATUS byte
pHysiX 30:d9b988f8d84f 56 mpuIntStatus = imu.getIntStatus();
pHysiX 30:d9b988f8d84f 57
pHysiX 30:d9b988f8d84f 58 // get current FIFO count
pHysiX 30:d9b988f8d84f 59 fifoCount = imu.getFIFOCount();
pHysiX 30:d9b988f8d84f 60 //imu.debugSerial.printf("FIFO Count: %d\n", fifoCount);
pHysiX 30:d9b988f8d84f 61
pHysiX 30:d9b988f8d84f 62 // check for overflow
pHysiX 30:d9b988f8d84f 63 // Only keep a max of 2 packets in buffer.
pHysiX 30:d9b988f8d84f 64 if ((mpuIntStatus & 0x10) || fifoCount > 84) {
pHysiX 30:d9b988f8d84f 65 // reset so we can continue cleanly
pHysiX 30:d9b988f8d84f 66 imu.resetFIFO();
pHysiX 30:d9b988f8d84f 67 imu.debugSerial.printf("FIFO overflow!");
pHysiX 30:d9b988f8d84f 68
pHysiX 30:d9b988f8d84f 69 // otherwise, check for DMP data ready interrupt (this should happen frequently)
pHysiX 30:d9b988f8d84f 70 } else if (mpuIntStatus & 0x02) {
pHysiX 30:d9b988f8d84f 71 // wait for correct available data length, should be a VERY short wait
pHysiX 30:d9b988f8d84f 72 while (fifoCount < packetSize) fifoCount = imu.getFIFOCount();
pHysiX 30:d9b988f8d84f 73
pHysiX 30:d9b988f8d84f 74 while (fifoCount > 41) {
pHysiX 30:d9b988f8d84f 75 // read a packet from FIFO
pHysiX 30:d9b988f8d84f 76 imu.getFIFOBytes(fifoBuffer, packetSize);
pHysiX 30:d9b988f8d84f 77
pHysiX 30:d9b988f8d84f 78 // track FIFO count here in case there is > 1 packet available
pHysiX 30:d9b988f8d84f 79 // (this lets us immediately read more without waiting for an interrupt)
pHysiX 30:d9b988f8d84f 80 fifoCount -= packetSize;
pHysiX 30:d9b988f8d84f 81 }
pHysiX 30:d9b988f8d84f 82
pHysiX 30:d9b988f8d84f 83 // display YPR angles in degrees
pHysiX 30:d9b988f8d84f 84 imu.dmpGetQuaternion(&q, fifoBuffer);
pHysiX 30:d9b988f8d84f 85 imu.dmpGetGravity(&gravity, &q);
pHysiX 30:d9b988f8d84f 86 imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
pHysiX 30:d9b988f8d84f 87
pHysiX 30:d9b988f8d84f 88 ypr[0] = ypr[0] * 180/M_PI;
pHysiX 30:d9b988f8d84f 89 ypr[1] = ypr[1] * 180/M_PI;
pHysiX 30:d9b988f8d84f 90 ypr[2] = ypr[2] * 180/M_PI;
pHysiX 30:d9b988f8d84f 91
pHysiX 30:d9b988f8d84f 92 /*
pHysiX 30:d9b988f8d84f 93 if (compass.getDataReady()) {
pHysiX 30:d9b988f8d84f 94 // compass.getValues(&compass_x, &compass_y, &compass_z);
pHysiX 30:d9b988f8d84f 95 heading = compass.getHeadingXY() * 180/M_PI;
pHysiX 30:d9b988f8d84f 96 }
pHysiX 30:d9b988f8d84f 97
pHysiX 30:d9b988f8d84f 98 ypr[0] *= 0.98;
pHysiX 30:d9b988f8d84f 99 ypr[0] += 0.02*heading;
pHysiX 30:d9b988f8d84f 100 */
pHysiX 30:d9b988f8d84f 101 }
pHysiX 31:3dde2201e54d 102 //Timer
pHysiX 31:3dde2201e54d 103 }