Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/src/setup.cpp@39:02782ad251db, 2014-05-14 (annotated)

Committer:
pHysiX
Date:
Wed May 14 12:42:39 2014 +0000
Revision:
39:02782ad251db
Parent:
38:ef65533cca32
Child:
48:9dbdc4144f00
PID tuned; Frequency of Attitude and Rate PID decreased; ESC frequency decreased; RTOS back to stable; Increased stick gains

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 4:01921a136f58 10 DigitalOut BT_CMD(p29);
pHysiX 22:ef8aa9728013 11 MPU6050 imu(p9, p10); // MPU6050-Tilty SDA, SCL (18, 19)
pHysiX 22:ef8aa9728013 12 MPL3115A2 altimeter(p9, p10);
pHysiX 12:953d25061417 13 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 14 HMC5883L compass(p9, p10);
pHysiX 12:953d25061417 15 #endif
pHysiX 12:953d25061417 16
pHysiX 39:02782ad251db 17 float KP_YAW_RATE = P_Y_RATE;
pHysiX 39:02782ad251db 18 float KP_PITCH_RATE = P_P_RATE;
pHysiX 39:02782ad251db 19 float KP_ROLL_RATE = P_R_RATE;
pHysiX 39:02782ad251db 20
pHysiX 39:02782ad251db 21 float TI_YAW_RATE = TI_Y_RATE;
pHysiX 39:02782ad251db 22 float TI_PITCH_RATE = TI_P_RATE;
pHysiX 39:02782ad251db 23 float TI_ROLL_RATE = TI_R_RATE;
pHysiX 12:953d25061417 24
pHysiX 39:02782ad251db 25 float KP_PITCH_ATTITUDE = P_P_ATTITUDE;
pHysiX 39:02782ad251db 26 float KP_ROLL_ATTITUDE = P_R_ATTITUDE;
pHysiX 39:02782ad251db 27
pHysiX 39:02782ad251db 28 float TI_PITCH_ATTITUDE = TI_P_ATTITUDE;
pHysiX 39:02782ad251db 29 float TI_ROLL_ATTITUDE = TI_R_ATTITUDE;
pHysiX 39:02782ad251db 30
pHysiX 39:02782ad251db 31 PID yawPIDrate(KP_YAW_RATE, TI_Y_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
pHysiX 32:7a9be7761c46 32 PID pitchPIDrate(KP_PITCH_RATE, TI_PITCH_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
pHysiX 32:7a9be7761c46 33 PID rollPIDrate(KP_ROLL_RATE, TI_ROLL_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
pHysiX 20:b193a50a2ba3 34
pHysiX 39:02782ad251db 35 PID pitchPIDattitude(KP_PITCH_ATTITUDE, TI_PITCH_ATTITUDE, 0.0, TASK2_MASTER_PERIOD/1000.0);
pHysiX 39:02782ad251db 36 PID rollPIDattitude(KP_ROLL_ATTITUDE, TI_ROLL_ATTITUDE, 0.0, TASK2_MASTER_PERIOD/1000.0);
pHysiX 39:02782ad251db 37
pHysiX 3:605fbcb54e75 38 PwmOut ESC[4] = {p21, p22, p23, p24};
pHysiX 3:605fbcb54e75 39
pHysiX 3:605fbcb54e75 40
pHysiX 2:ab967d7b4346 41
pHysiX 34:228d87c45151 42 // ==========================
pHysiX 3:605fbcb54e75 43 // === MAIN SETUP ROUTINE ===
pHysiX 34:228d87c45151 44 // ==========================
pHysiX 3:605fbcb54e75 45 bool setupALLdevices(void)
pHysiX 3:605fbcb54e75 46 {
pHysiX 3:605fbcb54e75 47 bool error = false;
pHysiX 22:ef8aa9728013 48 box_demo = false;
pHysiX 27:18b6580eb0b1 49 mode = ATTITUDE;
pHysiX 3:605fbcb54e75 50
pHysiX 3:605fbcb54e75 51 if (!setup_ESC()) {
pHysiX 3:605fbcb54e75 52 imu.debugSerial.printf("ESC FAILED!!!\n");
pHysiX 3:605fbcb54e75 53 error = true;
pHysiX 3:605fbcb54e75 54 }
pHysiX 0:8c28fac22d27 55
pHysiX 3:605fbcb54e75 56 if (setup_bt())
pHysiX 21:b642c18eccd1 57 imu.debugSerial.printf("BT established!\n");
pHysiX 3:605fbcb54e75 58 else error = true;
pHysiX 3:605fbcb54e75 59
pHysiX 3:605fbcb54e75 60 if (setup_PID())
pHysiX 21:b642c18eccd1 61 imu.debugSerial.printf("PID established!\n");
pHysiX 3:605fbcb54e75 62 else error = true;
pHysiX 0:8c28fac22d27 63
pHysiX 3:605fbcb54e75 64 if (setup_mpu6050())
pHysiX 21:b642c18eccd1 65 imu.debugSerial.printf("MPU6050 established!\n");
pHysiX 3:605fbcb54e75 66 else error = true;
pHysiX 3:605fbcb54e75 67
pHysiX 22:ef8aa9728013 68 if (setup_altimeter())
pHysiX 22:ef8aa9728013 69 imu.debugSerial.printf("Altimeter established!\n");
pHysiX 22:ef8aa9728013 70 else {
pHysiX 22:ef8aa9728013 71 error = true;
pHysiX 22:ef8aa9728013 72 imu.debugSerial.printf("ALTIMETER FAILED\n");
pHysiX 22:ef8aa9728013 73 }
pHysiX 22:ef8aa9728013 74
pHysiX 12:953d25061417 75 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 76 if (setup_compass())
pHysiX 21:b642c18eccd1 77 imu.debugSerial.printf("Compass established!\n");
pHysiX 12:953d25061417 78 else error = true;
pHysiX 12:953d25061417 79 #endif
pHysiX 12:953d25061417 80
pHysiX 3:605fbcb54e75 81 return error;
pHysiX 3:605fbcb54e75 82 }
pHysiX 0:8c28fac22d27 83
pHysiX 3:605fbcb54e75 84
pHysiX 3:605fbcb54e75 85
pHysiX 3:605fbcb54e75 86
pHysiX 34:228d87c45151 87 // *************************
pHysiX 34:228d87c45151 88 // *** ESC SETUP ROUTINE ***
pHysiX 34:228d87c45151 89 // *************************
pHysiX 2:ab967d7b4346 90 bool setup_ESC(void)
pHysiX 2:ab967d7b4346 91 {
pHysiX 3:605fbcb54e75 92 for (int i = 0; i < 4; i++)
pHysiX 3:605fbcb54e75 93 ESC[i].period_us(ESC_PERIOD_US);
pHysiX 2:ab967d7b4346 94
pHysiX 3:605fbcb54e75 95 for (int i = 0; i < 4; i++)
pHysiX 38:ef65533cca32 96 ESC[i].pulsewidth_us(1000);
pHysiX 38:ef65533cca32 97
pHysiX 38:ef65533cca32 98 for (int i = 0; i < 4; i++)
pHysiX 38:ef65533cca32 99 ESCpower[i] = 990;
pHysiX 3:605fbcb54e75 100
pHysiX 14:267368c83b6a 101 armed = false;
pHysiX 14:267368c83b6a 102
pHysiX 2:ab967d7b4346 103 return true;
pHysiX 2:ab967d7b4346 104 }
pHysiX 2:ab967d7b4346 105
pHysiX 3:605fbcb54e75 106 // ****************************************************************
pHysiX 3:605fbcb54e75 107 // === BLUETOOTH SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 108 // ****************************************************************
pHysiX 0:8c28fac22d27 109 bool setup_bt(void)
pHysiX 0:8c28fac22d27 110 {
pHysiX 0:8c28fac22d27 111 BT.baud(115200);
pHysiX 22:ef8aa9728013 112 BT_CMD = 0; // Place bluetooth into normal mode
pHysiX 0:8c28fac22d27 113 BT.printf("Bluetooth online!\n");
pHysiX 0:8c28fac22d27 114 return true;
pHysiX 0:8c28fac22d27 115 }
pHysiX 0:8c28fac22d27 116
pHysiX 3:605fbcb54e75 117 // ****************************************************************
pHysiX 3:605fbcb54e75 118 // === PID SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 119 // ****************************************************************
pHysiX 3:605fbcb54e75 120 bool setup_PID(void)
pHysiX 3:605fbcb54e75 121 {
pHysiX 39:02782ad251db 122 pitchPIDattitude.setInputLimits(-90.0, 90.0);
pHysiX 39:02782ad251db 123 pitchPIDattitude.setOutputLimits(-250, 250.0);
pHysiX 39:02782ad251db 124 pitchPIDattitude.setBias(0.0);
pHysiX 39:02782ad251db 125 pitchPIDattitude.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 126
pHysiX 39:02782ad251db 127 rollPIDattitude.setInputLimits(-90.0, 90.0);
pHysiX 39:02782ad251db 128 rollPIDattitude.setOutputLimits(-250, 250.0);
pHysiX 39:02782ad251db 129 rollPIDattitude.setBias(0.0);
pHysiX 39:02782ad251db 130 rollPIDattitude.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 131
pHysiX 21:b642c18eccd1 132 yawPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 133 yawPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 134 yawPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 135 yawPIDrate.setMode(AUTO_MODE);
pHysiX 12:953d25061417 136
pHysiX 21:b642c18eccd1 137 pitchPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 138 pitchPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 139 pitchPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 140 pitchPIDrate.setMode(AUTO_MODE);
pHysiX 22:ef8aa9728013 141
pHysiX 21:b642c18eccd1 142 rollPIDrate.setInputLimits(-500.0, 500.0);
pHysiX 21:b642c18eccd1 143 rollPIDrate.setOutputLimits(-200.0, 200.0);
pHysiX 21:b642c18eccd1 144 rollPIDrate.setBias(0.0);
pHysiX 3:605fbcb54e75 145 rollPIDrate.setMode(AUTO_MODE);
pHysiX 24:54a8cdf17378 146
pHysiX 39:02782ad251db 147 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 148 rollPIDattitude.reset();
pHysiX 24:54a8cdf17378 149 yawPIDrate.reset();
pHysiX 24:54a8cdf17378 150 pitchPIDrate.reset();
pHysiX 24:54a8cdf17378 151 rollPIDrate.reset();
pHysiX 12:953d25061417 152
pHysiX 3:605fbcb54e75 153 return true;
pHysiX 3:605fbcb54e75 154 }
pHysiX 3:605fbcb54e75 155
pHysiX 3:605fbcb54e75 156 // ****************************************************************
pHysiX 3:605fbcb54e75 157 // === MPU6050 SETUP ROUTINE ===
pHysiX 3:605fbcb54e75 158 // ****************************************************************
pHysiX 3:605fbcb54e75 159 bool imu_available = false;
pHysiX 3:605fbcb54e75 160
pHysiX 3:605fbcb54e75 161 /*/ MPU control/status variables: */
pHysiX 3:605fbcb54e75 162 bool dmpReady = false; // set true if DMP init was successful
pHysiX 3:605fbcb54e75 163 uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
pHysiX 3:605fbcb54e75 164 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
pHysiX 3:605fbcb54e75 165
pHysiX 0:8c28fac22d27 166 bool setup_mpu6050(void)
pHysiX 0:8c28fac22d27 167 {
pHysiX 0:8c28fac22d27 168 imu.reset();
pHysiX 0:8c28fac22d27 169 imu.debugSerial.baud(115200);
pHysiX 0:8c28fac22d27 170 wait_ms(5);
pHysiX 0:8c28fac22d27 171
pHysiX 0:8c28fac22d27 172 imu.initialize();
pHysiX 0:8c28fac22d27 173 imu_available = imu.testConnection();
pHysiX 0:8c28fac22d27 174
pHysiX 0:8c28fac22d27 175 imu.debugSerial.printf("IMU status...\t\t\t");
pHysiX 0:8c28fac22d27 176 imu_available ? imu.debugSerial.printf("OK!\n") : imu.debugSerial.printf("NOT OK!\n");
pHysiX 0:8c28fac22d27 177
pHysiX 0:8c28fac22d27 178 if (imu_available) {
pHysiX 0:8c28fac22d27 179 devStatus = imu.dmpInitialize();
pHysiX 0:8c28fac22d27 180
pHysiX 3:605fbcb54e75 181 // supply your own gyro offsets here, scaled for min sensitivity
pHysiX 4:01921a136f58 182 //imu.setXGyroOffset(55);
pHysiX 4:01921a136f58 183 //imu.setYGyroOffset(3);
pHysiX 4:01921a136f58 184 //imu.setZGyroOffset(-2);
pHysiX 3:605fbcb54e75 185 //mpu.setZAccelOffset(16282); // 1688 factory default for my test chip
pHysiX 0:8c28fac22d27 186
pHysiX 0:8c28fac22d27 187 if(!devStatus) {
pHysiX 0:8c28fac22d27 188 imu.setDMPEnabled(true);
pHysiX 0:8c28fac22d27 189 while (!imu.getIntDataReadyStatus());
pHysiX 0:8c28fac22d27 190 packetSize = imu.dmpGetFIFOPacketSize();
pHysiX 16:9072cd6fa8d1 191 imu.debugSerial.printf("Packet Size: %d\n", packetSize);
pHysiX 0:8c28fac22d27 192 dmpReady = true;
pHysiX 16:9072cd6fa8d1 193
pHysiX 16:9072cd6fa8d1 194 int8_t xgOffsetTC = imu.getXGyroOffset();
pHysiX 16:9072cd6fa8d1 195 int8_t ygOffsetTC = imu.getYGyroOffset();
pHysiX 16:9072cd6fa8d1 196 int8_t zgOffsetTC = imu.getZGyroOffset();
pHysiX 16:9072cd6fa8d1 197
pHysiX 16:9072cd6fa8d1 198 imu.debugSerial.printf("X Offset: %4d Y Offset: %4d Z Offset: %4d\n", xgOffsetTC, ygOffsetTC, zgOffsetTC);
pHysiX 16:9072cd6fa8d1 199
pHysiX 0:8c28fac22d27 200 } else {
pHysiX 0:8c28fac22d27 201 imu.debugSerial.printf("\tDMP setup failed!\n");
pHysiX 0:8c28fac22d27 202 return false;
pHysiX 0:8c28fac22d27 203 }
pHysiX 0:8c28fac22d27 204
pHysiX 0:8c28fac22d27 205 imu.resetFIFO();
pHysiX 0:8c28fac22d27 206 } else {
pHysiX 0:8c28fac22d27 207 return false;
pHysiX 0:8c28fac22d27 208 }
pHysiX 0:8c28fac22d27 209
pHysiX 0:8c28fac22d27 210 imu.debugSerial.printf("IMU setup routine done!");
pHysiX 0:8c28fac22d27 211
pHysiX 0:8c28fac22d27 212 return dmpReady;
pHysiX 0:8c28fac22d27 213 }
pHysiX 0:8c28fac22d27 214
pHysiX 22:ef8aa9728013 215 // ****************************************************************
pHysiX 22:ef8aa9728013 216 // === MPL3115A2 SETUP ROUTINE ===
pHysiX 22:ef8aa9728013 217 // ****************************************************************
pHysiX 22:ef8aa9728013 218 bool setup_altimeter(void)
pHysiX 22:ef8aa9728013 219 {
pHysiX 22:ef8aa9728013 220 if (altimeter.init())
pHysiX 22:ef8aa9728013 221 return true;
pHysiX 22:ef8aa9728013 222 else
pHysiX 22:ef8aa9728013 223 return false;
pHysiX 22:ef8aa9728013 224 }
pHysiX 22:ef8aa9728013 225
pHysiX 12:953d25061417 226 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 227 // ****************************************************************
pHysiX 12:953d25061417 228 // === HMC5883L SETUP ROUTINE ===
pHysiX 12:953d25061417 229 // ****************************************************************
pHysiX 12:953d25061417 230 bool setup_compass(void)
pHysiX 12:953d25061417 231 {
pHysiX 12:953d25061417 232 compass.setConfigurationA(AVG8_SAMPLES | OUTPUT_RATE_75);
pHysiX 12:953d25061417 233 return true;
pHysiX 12:953d25061417 234 }
pHysiX 12:953d25061417 235 #endif