Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task1.cpp@10:ef5fe86f67fe, 2014-05-01 (annotated)

Committer:
pHysiX
Date:
Thu May 01 23:50:21 2014 +0000
Revision:
10:ef5fe86f67fe
Parent:
7:3d28cfc4901b
Child:
11:f9fd410c48c2
Fixed quaternion stability: FIFO was not serviced fast enough, and lacked correct tidying after each read

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 7:3d28cfc4901b 1 /* Sample & YPR (250Hz) */
pHysiX 2:ab967d7b4346 2
pHysiX 1:43f8ac7ca6d7 3 #include "Task1.h"
pHysiX 1:43f8ac7ca6d7 4 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 5
pHysiX 2:ab967d7b4346 6 /* MPU6050 control/status variables: */
pHysiX 2:ab967d7b4346 7 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
pHysiX 2:ab967d7b4346 8 uint16_t fifoCount; // count of all bytes currently in FIFO
pHysiX 2:ab967d7b4346 9 uint8_t fifoBuffer[64]; // FIFO storage buffer
pHysiX 1:43f8ac7ca6d7 10
pHysiX 2:ab967d7b4346 11 /* Orientation/motion variables: */
pHysiX 2:ab967d7b4346 12 Quaternion q; // [w, x, y, z] quaternion container
pHysiX 2:ab967d7b4346 13 VectorFloat gravity; // [x, y, z] gravity vector
pHysiX 2:ab967d7b4346 14 float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
pHysiX 10:ef5fe86f67fe 15 volatile float ypr_use[3];
pHysiX 10:ef5fe86f67fe 16
pHysiX 10:ef5fe86f67fe 17 int counterTask1 = 0;
pHysiX 1:43f8ac7ca6d7 18
pHysiX 1:43f8ac7ca6d7 19 #ifndef M_PI
pHysiX 1:43f8ac7ca6d7 20 #define M_PI 3.1415
pHysiX 1:43f8ac7ca6d7 21 #endif
pHysiX 1:43f8ac7ca6d7 22
pHysiX 1:43f8ac7ca6d7 23 // ================================================================
pHysiX 2:ab967d7b4346 24 // === SAMPLE & CONVERSION ROUTINE ===
pHysiX 2:ab967d7b4346 25 // ================================================================
pHysiX 1:43f8ac7ca6d7 26 void Task1(void const *argument)
pHysiX 1:43f8ac7ca6d7 27 {
pHysiX 1:43f8ac7ca6d7 28 // reset interrupt flag and get INT_STATUS byte
pHysiX 1:43f8ac7ca6d7 29 mpuIntStatus = imu.getIntStatus();
pHysiX 1:43f8ac7ca6d7 30
pHysiX 1:43f8ac7ca6d7 31 // get current FIFO count
pHysiX 1:43f8ac7ca6d7 32 fifoCount = imu.getFIFOCount();
pHysiX 1:43f8ac7ca6d7 33
pHysiX 1:43f8ac7ca6d7 34 // check for overflow (this should never happen unless our code is too inefficient)
pHysiX 10:ef5fe86f67fe 35 if ((mpuIntStatus & 0x10) || fifoCount > 1023) {
pHysiX 1:43f8ac7ca6d7 36 // reset so we can continue cleanly
pHysiX 1:43f8ac7ca6d7 37 imu.resetFIFO();
pHysiX 1:43f8ac7ca6d7 38 imu.debugSerial.printf("FIFO overflow!");
pHysiX 1:43f8ac7ca6d7 39
pHysiX 1:43f8ac7ca6d7 40 // otherwise, check for DMP data ready interrupt (this should happen frequently)
pHysiX 1:43f8ac7ca6d7 41 } else if (mpuIntStatus & 0x02) {
pHysiX 1:43f8ac7ca6d7 42 // wait for correct available data length, should be a VERY short wait
pHysiX 1:43f8ac7ca6d7 43 while (fifoCount < packetSize) fifoCount = imu.getFIFOCount();
pHysiX 1:43f8ac7ca6d7 44
pHysiX 1:43f8ac7ca6d7 45 // read a packet from FIFO
pHysiX 1:43f8ac7ca6d7 46 imu.getFIFOBytes(fifoBuffer, packetSize);
pHysiX 1:43f8ac7ca6d7 47
pHysiX 1:43f8ac7ca6d7 48 // track FIFO count here in case there is > 1 packet available
pHysiX 1:43f8ac7ca6d7 49 // (this lets us immediately read more without waiting for an interrupt)
pHysiX 1:43f8ac7ca6d7 50 fifoCount -= packetSize;
pHysiX 1:43f8ac7ca6d7 51
pHysiX 1:43f8ac7ca6d7 52 // display YPR angles in degrees
pHysiX 1:43f8ac7ca6d7 53 imu.dmpGetQuaternion(&q, fifoBuffer);
pHysiX 1:43f8ac7ca6d7 54 imu.dmpGetGravity(&gravity, &q);
pHysiX 1:43f8ac7ca6d7 55 imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
pHysiX 10:ef5fe86f67fe 56 ypr_use[0] = ypr[0] * 180/M_PI;
pHysiX 10:ef5fe86f67fe 57 ypr_use[1] = ypr[1] * 180/M_PI;
pHysiX 10:ef5fe86f67fe 58 ypr_use[2] = ypr[2] * 180/M_PI;
pHysiX 10:ef5fe86f67fe 59
pHysiX 10:ef5fe86f67fe 60 //imu.resetFIFO();
pHysiX 1:43f8ac7ca6d7 61
pHysiX 3:605fbcb54e75 62 if (box_demo)
pHysiX 10:ef5fe86f67fe 63 BT.printf("Y%3.2f\nP%3.2f\nR%3.2f\n", ypr_use[0] - ypr_offset[0], ypr_use[1] - ypr_offset[1], ypr_use[2] - ypr_offset[2]);
pHysiX 1:43f8ac7ca6d7 64 }
pHysiX 1:43f8ac7ca6d7 65
pHysiX 2:ab967d7b4346 66 //LED[1] = !LED[1];
pHysiX 2:ab967d7b4346 67 }