Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task2_Slave.cpp@33:f88a6ee18103, 2014-05-12 (annotated)

Committer:
pHysiX
Date:
Mon May 12 13:49:43 2014 +0000
Revision:
33:f88a6ee18103
Parent:
32:7a9be7761c46
Child:
34:228d87c45151
Tidied code

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 31:3dde2201e54d 4 * Purpose: Thread2S: Gyro sample and Slave PID control loop (rate)
pHysiX 22:ef8aa9728013 5 * Settings: 200Hz
pHysiX 30:d9b988f8d84f 6 * Timing: 290us
pHysiX 25:a7cfe421cb4a 7 */
pHysiX 26:4a3323ee36d5 8 #include "Task2_Slave.h"
pHysiX 1:43f8ac7ca6d7 9 #include "setup.h"
pHysiX 3:605fbcb54e75 10 #include "PID.h"
pHysiX 3:605fbcb54e75 11
pHysiX 21:b642c18eccd1 12 /* YPR Adjust */
pHysiX 21:b642c18eccd1 13 volatile float adjust[3] = {0.0, 0.0, 0.0};
pHysiX 21:b642c18eccd1 14
pHysiX 3:605fbcb54e75 15 int16_t gx, gy, gz;
pHysiX 10:ef5fe86f67fe 16 volatile int gyro[3] = {0, 0, 0};
pHysiX 10:ef5fe86f67fe 17
pHysiX 10:ef5fe86f67fe 18 bool counterESC = false;
pHysiX 1:43f8ac7ca6d7 19
pHysiX 31:3dde2201e54d 20 //Timer
pHysiX 27:18b6580eb0b1 21 void Task2_Slave(void const *argument)
pHysiX 1:43f8ac7ca6d7 22 {
pHysiX 31:3dde2201e54d 23 //Timer
pHysiX 21:b642c18eccd1 24 imu.getRotation(&gx, &gy, &gz);
pHysiX 21:b642c18eccd1 25 gyro[0] = gx + 60;
pHysiX 21:b642c18eccd1 26 gyro[1] = gy - 15;
pHysiX 21:b642c18eccd1 27 gyro[2] = gz + 25;
pHysiX 17:18c3bd016e49 28
pHysiX 21:b642c18eccd1 29 for (int i = 0; i < 3; i++)
pHysiX 21:b642c18eccd1 30 gyro[i] /= (float) 32.8;
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 33:f88a6ee18103 69
pHysiX 33:f88a6ee18103 70 /* Telemetry output: */
pHysiX 31:3dde2201e54d 71 if (adjust_check)
pHysiX 31:3dde2201e54d 72 BT.printf("%3.2f %3.2f %3.2f\n", adjust[0], adjust[1], adjust[2]);
pHysiX 25:a7cfe421cb4a 73 }
pHysiX 21:b642c18eccd1 74
pHysiX 10:ef5fe86f67fe 75 if (gyro_out)
pHysiX 21:b642c18eccd1 76 BT.printf("%3d %3d %3d\n", (int) gyro[0], (int) gyro[1], (int) gyro[2]);
pHysiX 31:3dde2201e54d 77 //Timer
pHysiX 21:b642c18eccd1 78 }
pHysiX 33:f88a6ee18103 79
pHysiX 33:f88a6ee18103 80 // ========================
pHysiX 33:f88a6ee18103 81 // === Helper functions ===
pHysiX 33:f88a6ee18103 82 // ========================