Revision 0:6374902c761b, committed 2015-03-30

Comitter:

randrews33

Date:

Mon Mar 30 19:26:24 2015 +0000

Commit message:

Initial commit - basic, but untested functionality

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DX6iController.cpp	Mon Mar 30 19:26:24 2015 +0000
@@ -0,0 +1,127 @@
+/**
+ * Institution: Georgia Institute of Technology - ECE Department - Senior Design II
+ * Team: AH3
+ * Created: 3/24/2015
+ * Last Edit: 3/26/2015
+ * By: Taylor Andrews, Luke Panayioto
+**/
+
+#include "DX6iController.h"
+
+DX6iController::DX6iController(pwmPin) : _pwmPin(pwmPin) {
+    pulseInterval = 0;
+    nChannels = 9;
+    
+    Throttle_Uptime = 700;           //1   700 / 1100 / 1500                                    // Throttle
+    Roll_Uptime = 1100;              //2   700 / 1100 / 1500 (R/L)                              // Roll
+    Pitch_Uptime = 1100;             //3   770 / 1170 / 1550 (B/F)                              // Pitch
+    Yaw_Uptime = 1100;               //4   700 / 1090 / 1500 (R/L)                              // Yaw
+    Stabilize_Uptime = 1100;         //5  LLLL / MMMM / 1500 (3,2,1)                            
+    Enable_Uptime = 1500;            //6   700 / ---- / 1500 (Off/On) Note: Bind I Button      
+    Extra_Uptime = 1100;             //7  LLLL / 1100 / HHHH                                    // IDK
+    Extra2_Uptime = 1100;            //8  LLLL / 1100 / HHHH                                    // IDK
+    Remainder_Uptime = 22000 - ((pulseInterval * nChannels) + Throttle_Uptime + Roll_Uptime + Pitch_Uptime + Yaw_Uptime + Enable_Uptime + Stabilize_Uptime + Extra_Uptime + Extra2_Uptime);
+
+    mThrottleTrim = 0;
+    mRollTrim = 0;
+    mPitchTrim = 0;
+    mYawTrim = 0;
+}
+
+void DX6iController::generateSignal(int externalDelay) {
+    //Big pulse
+    // long remainder uptime (0)
+    _pwmPin = 1; //Soft pwm
+    wait_us(Remainder_Uptime - externalDelay);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    // Throttle pulse (1)
+    _pwmPin = 1;
+    wait_us(Throttle_Uptime + mThrottleTrim);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    // Roll pulse (2)
+    _pwmPin = 1;
+    wait_us(Roll_Uptime + mRollTrim);
+    _pwmPin = 0;
+    wait_us(pulseIntervalDelay);
+
+    // Pitch pulse (3)
+    _pwmPin = 1;
+    wait_us(Pitch_Uptime + mPitchTrim);
+    _pwmPin = 0;
+    wait_us(pulseIntervalDelay);
+    
+    // Yaw pulse (4)
+    _pwmPin = 1;
+    wait_us(Yaw_Uptime + mYawTrim);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    // Stability pulse (5)
+    _pwmPin = 1;
+    wait_us(Stabilize_Uptime);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    // Enable pulse (6)
+    _pwmPin = 1;
+    wait_us(Enable_Uptime);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+
+    _pwmPin = 1;
+    wait_us(Extra_Uptime);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    _pwmPin = 1;
+    wait_us(Extra2_Uptime);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+}
+
+// TODO: ensure that new values are in an acceptable range
+void DX6iController::updateThrottle(int newThrottle) {
+    Throttle_Uptime = newThrottle;
+    updateRemainder();
+}
+
+void DX6iController::updateRoll(int newRoll) {
+    Roll_Uptime = newRoll;
+    updateRemainder();
+}
+
+void DX6iController::updatePitch(int newPitch) {
+    Pitch_Uptime = newPitch;
+    updateRemainder();
+}
+
+void DX6iController::updateYaw(int newYaw) {
+    Yaw_Uptime = newYaw;
+    updateRemainder();
+}
+
+void DX6iController::updateRemainder() {
+    Remainder_Uptime = 22000 - (pulseInterval*nChannels + Throttle_Uptime + Roll_Uptime + Pitch_Uptime + Yaw_Uptime
+                         + Enable_Uptime + Stabilize_Uptime + Extra_Uptime + Extra2_Uptime
+                         + mThrottleTrim + mRollTrim + mPitchTrim + mYawTrim);
+}
+
+void DX6iController::updateThrottleTrim(int newThrottleTrim) {
+    mThrottleTrim = newThrottleTrim;
+}
+
+void DX6iController::updateRollTrim(int newRollTrim) {
+    mRollTrim = newRollTrim;
+}
+
+void DX6iController::updatePitchTrim(int newPitchTrim) {
+    mPitchTrim = newPitchTrim;
+}
+
+void DX6iController::updateYawTrim(int newYawTrim) {
+    mYawTrim = newYawTrim;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DX6iController.h	Mon Mar 30 19:26:24 2015 +0000
@@ -0,0 +1,75 @@
+/**
+ * Institution: Georgia Institute of Technology - ECE Department - Senior Design II
+ * Team: AH3
+ * Created: 3/24/2015
+ * Last Edit: 3/26/2015
+ * By: Taylor Andrews, Luke Panayioto
+**/
+
+#ifndef _DX6I_CONTROLLER_H_
+#define _DX6I_CONTROLLER_H_
+
+#include "mbed.h"
+
+class DX6iController {
+private:
+    DigitalOut _pwmPin;
+
+    /**
+     * The signal received by the quadcopter is an array of nine PWM signals (called a PPM signal), and is
+     * exactly 22 ms long.  Each segment in the array has a specific purpose.  The first four correspond to
+     * the throttle, roll, pitch, and yaw, respectively.
+     *
+     * The fifth and sixth correspond to the stability and enable modes.  The stability mode configures the
+     * quadcopter's internal stabilization systems through a combination of onboard accelerometers and
+     * gyroscopes.  The stability mode has two presets, what I just label as "full" and "partial", in
+     * addition to an "off" setting (below it is initialized with full stability enabled, and it is highly
+     * encouraged to keep it there).  The Enable mode simply allows the quadcopter to throttle, and only
+     * has two settings "on" and "off".  Obviously, this must be configured for "on", unless it is utilized
+     * in some fashion as to prevent some sort of catastrophic collision.
+     * 
+     */
+
+    // Channels: [Remainder] [Throttle] [Roll] [Pitch] [Yaw] [Stability] [Enable] ([Extra_1] [Extra_2]
+
+    // delay between signals in microseconds (µSec)
+    int pulseInterval;     // 400 µSec
+    int nChannels;   //channels must be at least 7
+    
+    // uptime of each signal in microseconds     low  / mid / high                                  // Corrections to PPM signal order
+    int Throttle_Uptime;           //1   700 / 1100 / 1500                                    // Throttle
+    int Roll_Uptime;              //2   700 / 1100 / 1500 (R/L)                              // Roll
+    int Pitch_Uptime;             //3   770 / 1170 / 1550 (B/F)                              // Pitch
+    int Yaw_Uptime;               //4   700 / 1090 / 1500 (R/L)                              // Yaw
+    int Stabilize_Uptime;         //5  LLLL / MMMM / 1500 (3,2,1)                            
+    int Enable_Uptime;            //6   700 / ---- / 1500 (Off/On) Note: Bind I Button      
+    int Extra_Uptime;             //7  LLLL / 1100 / HHHH                                    // IDK
+    int Extra2_Uptime;            //8  LLLL / 1100 / HHHH                                    // IDK
+    int Remainder_Uptime;
+    
+    // Trim values
+    int mThrottleTrim;
+    int mRollTrim;
+    int mPitchTrim;
+    int mYawTrim;
+    
+    void updateRemainder();
+    
+public:
+    DX6iController(PinName pwmPin);
+    ~DX6iController();
+    
+    void generateSignal(int externalDelay);
+    
+    void updateThrottle(int newThrottle);
+    void updatePitch(int newPitch);
+    void updateRoll(int newRoll);
+    void updateYaw(int newYaw);
+    
+    void updateThrottleTrim(int newThrottleTrim);
+    void updatePitchTrim(int newPitchTrim);
+    void updateRollTrim(int newRollTrim);
+    void updateYawTrim(int newYawTrim);
+};
+
+#endif // _DX6I_CONTROLLER_H_
\ No newline at end of file