Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task4.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 22:ef8aa9728013 1 /* File: Task4.h
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 22:ef8aa9728013 4 * Purpose: Thread4: ESC pulsewidth update. Note this is INDEPENDENT of the pulse frequency.
pHysiX 22:ef8aa9728013 5 * Settings: 200Hz
pHysiX 22:ef8aa9728013 6 * 200Hz <= PWM frequency <= 400Hz
pHysiX 30:d9b988f8d84f 7 * Refer to tasks.h to change PWM frequency
pHysiX 30:d9b988f8d84f 8 * Timing: 1500us
pHysiX 30:d9b988f8d84f 9 */
pHysiX 1:43f8ac7ca6d7 10 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 11 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 12
pHysiX 2:ab967d7b4346 13 int ESCpower[4] = {0, 0, 0, 0};
pHysiX 10:ef5fe86f67fe 14 int stallESC = 0;
pHysiX 10:ef5fe86f67fe 15
pHysiX 14:267368c83b6a 16 bool armed = false;
pHysiX 21:b642c18eccd1 17 bool ESC_check = false;
pHysiX 21:b642c18eccd1 18 bool calibration_mode = false;
pHysiX 2:ab967d7b4346 19
pHysiX 31:3dde2201e54d 20 //Timer
pHysiX 1:43f8ac7ca6d7 21 void Task4(void const *argurment)
pHysiX 1:43f8ac7ca6d7 22 {
pHysiX 31:3dde2201e54d 23 //Timer
pHysiX 14:267368c83b6a 24 if (armed) {
pHysiX 21:b642c18eccd1 25 if (calibration_mode) {
pHysiX 19:bd88749c8db4 26 for (int i = 0; i < 4; i++)
pHysiX 21:b642c18eccd1 27 ESC[i].pulsewidth_us(RCCommand[3]);
pHysiX 32:7a9be7761c46 28 } else if (RCCommand[3] > 1100) {
pHysiX 30:d9b988f8d84f 29 if (counterESC) {
pHysiX 21:b642c18eccd1 30 for (int i = 0; i < 3; i++)
pHysiX 21:b642c18eccd1 31 adjust[i] /= 2.0;
pHysiX 30:d9b988f8d84f 32
pHysiX 32:7a9be7761c46 33 int throttle = RCCommand[3] * 9/10;
pHysiX 32:7a9be7761c46 34
pHysiX 32:7a9be7761c46 35 ESCpower[0] = constrainESC(throttle + (adjust[1]) + (adjust[2]) - adjust[0]);
pHysiX 32:7a9be7761c46 36 ESCpower[1] = constrainESC(throttle + (adjust[1]) - (adjust[2]) + adjust[0]);
pHysiX 32:7a9be7761c46 37 ESCpower[2] = constrainESC(throttle - (adjust[1]) - (adjust[2]) - adjust[0]);
pHysiX 32:7a9be7761c46 38 ESCpower[3] = constrainESC(throttle - (adjust[1]) + (adjust[2]) + adjust[0]);
pHysiX 10:ef5fe86f67fe 39
pHysiX 21:b642c18eccd1 40 for (int i = 0; i < 4; i++)
pHysiX 21:b642c18eccd1 41 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 42
pHysiX 21:b642c18eccd1 43 counterESC = false;
pHysiX 21:b642c18eccd1 44 } else {
pHysiX 21:b642c18eccd1 45 stallESC++;
pHysiX 21:b642c18eccd1 46 if (stallESC > 1) {
pHysiX 21:b642c18eccd1 47 imu.debugSerial.printf("ESC NOT UPDATED FAST ENOUGH!\n");
pHysiX 21:b642c18eccd1 48 stallESC = 0;
pHysiX 21:b642c18eccd1 49 }
pHysiX 21:b642c18eccd1 50 }
pHysiX 10:ef5fe86f67fe 51 } else {
pHysiX 21:b642c18eccd1 52 for (int i = 0; i < 4; i++) {
pHysiX 21:b642c18eccd1 53 ESCpower[i] = 980;
pHysiX 21:b642c18eccd1 54 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 55 }
pHysiX 10:ef5fe86f67fe 56 }
pHysiX 10:ef5fe86f67fe 57 } else {
pHysiX 21:b642c18eccd1 58 if (ESC_check) {
pHysiX 21:b642c18eccd1 59 BT.printf("Need to ARM to check ESC output!\n");
pHysiX 21:b642c18eccd1 60 ESC_check = false;
pHysiX 21:b642c18eccd1 61 }
pHysiX 21:b642c18eccd1 62
pHysiX 21:b642c18eccd1 63 for (int i = 0; i < 4; i++) {
pHysiX 32:7a9be7761c46 64 ESCpower[i] = 990;
pHysiX 10:ef5fe86f67fe 65 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 21:b642c18eccd1 66 }
pHysiX 10:ef5fe86f67fe 67 }
pHysiX 3:605fbcb54e75 68
pHysiX 31:3dde2201e54d 69 //if (ESC_check)
pHysiX 32:7a9be7761c46 70 //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
pHysiX 31:3dde2201e54d 71 //Timer
pHysiX 19:bd88749c8db4 72 }
pHysiX 19:bd88749c8db4 73
pHysiX 33:f88a6ee18103 74 // ========================
pHysiX 33:f88a6ee18103 75 // === Helper functions ===
pHysiX 33:f88a6ee18103 76 // ========================
pHysiX 21:b642c18eccd1 77 int constrainESC(float input)
pHysiX 19:bd88749c8db4 78 {
pHysiX 32:7a9be7761c46 79 if (input < 1100.0)
pHysiX 32:7a9be7761c46 80 return 1100;
pHysiX 21:b642c18eccd1 81 else if (input > 2000.0)
pHysiX 19:bd88749c8db4 82 return 2000;
pHysiX 19:bd88749c8db4 83 else
pHysiX 21:b642c18eccd1 84 return (int) input;
pHysiX 19:bd88749c8db4 85 }