Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task4.cpp@36:d95e3d6f2fc4, 2014-05-13 (annotated)

Committer:
pHysiX
Date:
Tue May 13 04:05:34 2014 +0000
Revision:
36:d95e3d6f2fc4
Parent:
34:228d87c45151
Child:
37:29feef05d848
Telemetry output completely changed; Code tidied

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 36:d95e3d6f2fc4 5 * Settings: 400Hz
pHysiX 22:ef8aa9728013 6 * 200Hz <= PWM frequency <= 400Hz
pHysiX 36:d95e3d6f2fc4 7 * Frequency: 400Hz
pHysiX 30:d9b988f8d84f 8 * Refer to tasks.h to change PWM frequency
pHysiX 36:d95e3d6f2fc4 9 * Timing: //1500us
pHysiX 30:d9b988f8d84f 10 */
pHysiX 1:43f8ac7ca6d7 11 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 12 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 13
pHysiX 2:ab967d7b4346 14 int ESCpower[4] = {0, 0, 0, 0};
pHysiX 10:ef5fe86f67fe 15 int stallESC = 0;
pHysiX 10:ef5fe86f67fe 16
pHysiX 14:267368c83b6a 17 bool armed = false;
pHysiX 21:b642c18eccd1 18 bool ESC_check = false;
pHysiX 21:b642c18eccd1 19 bool calibration_mode = false;
pHysiX 2:ab967d7b4346 20
pHysiX 34:228d87c45151 21
pHysiX 34:228d87c45151 22
pHysiX 34:228d87c45151 23
pHysiX 34:228d87c45151 24 // ==================
pHysiX 34:228d87c45151 25 // === ESC UPDATE ===
pHysiX 34:228d87c45151 26 // ==================
pHysiX 31:3dde2201e54d 27 //Timer
pHysiX 1:43f8ac7ca6d7 28 void Task4(void const *argurment)
pHysiX 1:43f8ac7ca6d7 29 {
pHysiX 31:3dde2201e54d 30 //Timer
pHysiX 14:267368c83b6a 31 if (armed) {
pHysiX 21:b642c18eccd1 32 if (calibration_mode) {
pHysiX 19:bd88749c8db4 33 for (int i = 0; i < 4; i++)
pHysiX 21:b642c18eccd1 34 ESC[i].pulsewidth_us(RCCommand[3]);
pHysiX 32:7a9be7761c46 35 } else if (RCCommand[3] > 1100) {
pHysiX 30:d9b988f8d84f 36 if (counterESC) {
pHysiX 21:b642c18eccd1 37 for (int i = 0; i < 3; i++)
pHysiX 21:b642c18eccd1 38 adjust[i] /= 2.0;
pHysiX 30:d9b988f8d84f 39
pHysiX 32:7a9be7761c46 40 int throttle = RCCommand[3] * 9/10;
pHysiX 32:7a9be7761c46 41
pHysiX 32:7a9be7761c46 42 ESCpower[0] = constrainESC(throttle + (adjust[1]) + (adjust[2]) - adjust[0]);
pHysiX 32:7a9be7761c46 43 ESCpower[1] = constrainESC(throttle + (adjust[1]) - (adjust[2]) + adjust[0]);
pHysiX 32:7a9be7761c46 44 ESCpower[2] = constrainESC(throttle - (adjust[1]) - (adjust[2]) - adjust[0]);
pHysiX 32:7a9be7761c46 45 ESCpower[3] = constrainESC(throttle - (adjust[1]) + (adjust[2]) + adjust[0]);
pHysiX 10:ef5fe86f67fe 46
pHysiX 21:b642c18eccd1 47 for (int i = 0; i < 4; i++)
pHysiX 21:b642c18eccd1 48 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 49
pHysiX 21:b642c18eccd1 50 counterESC = false;
pHysiX 21:b642c18eccd1 51 } else {
pHysiX 21:b642c18eccd1 52 stallESC++;
pHysiX 21:b642c18eccd1 53 if (stallESC > 1) {
pHysiX 21:b642c18eccd1 54 imu.debugSerial.printf("ESC NOT UPDATED FAST ENOUGH!\n");
pHysiX 36:d95e3d6f2fc4 55 BT.printf("ESC NOT UPDATED FAST ENOUGH!\n");
pHysiX 21:b642c18eccd1 56 stallESC = 0;
pHysiX 21:b642c18eccd1 57 }
pHysiX 21:b642c18eccd1 58 }
pHysiX 10:ef5fe86f67fe 59 } else {
pHysiX 21:b642c18eccd1 60 for (int i = 0; i < 4; i++) {
pHysiX 21:b642c18eccd1 61 ESCpower[i] = 980;
pHysiX 21:b642c18eccd1 62 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 63 }
pHysiX 10:ef5fe86f67fe 64 }
pHysiX 10:ef5fe86f67fe 65 } else {
pHysiX 21:b642c18eccd1 66 if (ESC_check) {
pHysiX 21:b642c18eccd1 67 BT.printf("Need to ARM to check ESC output!\n");
pHysiX 21:b642c18eccd1 68 ESC_check = false;
pHysiX 21:b642c18eccd1 69 }
pHysiX 21:b642c18eccd1 70
pHysiX 21:b642c18eccd1 71 for (int i = 0; i < 4; i++) {
pHysiX 32:7a9be7761c46 72 ESCpower[i] = 990;
pHysiX 10:ef5fe86f67fe 73 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 21:b642c18eccd1 74 }
pHysiX 10:ef5fe86f67fe 75 }
pHysiX 31:3dde2201e54d 76 //Timer
pHysiX 19:bd88749c8db4 77 }
pHysiX 19:bd88749c8db4 78
pHysiX 34:228d87c45151 79
pHysiX 34:228d87c45151 80
pHysiX 34:228d87c45151 81
pHysiX 34:228d87c45151 82 // ************************
pHysiX 34:228d87c45151 83 // *** Helper functions ***
pHysiX 34:228d87c45151 84 // ************************
pHysiX 21:b642c18eccd1 85 int constrainESC(float input)
pHysiX 19:bd88749c8db4 86 {
pHysiX 32:7a9be7761c46 87 if (input < 1100.0)
pHysiX 32:7a9be7761c46 88 return 1100;
pHysiX 21:b642c18eccd1 89 else if (input > 2000.0)
pHysiX 19:bd88749c8db4 90 return 2000;
pHysiX 19:bd88749c8db4 91 else
pHysiX 21:b642c18eccd1 92 return (int) input;
pHysiX 19:bd88749c8db4 93 }