Kim Youngsik / Mbed 2 deprecated 1TEST_Flight_Protocol_v1

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Dependencies:   mbed

Fork of 1TEST_Flight_Protocol by Kim Youngsik

main.cpp@1:e8a99f19604e, 2017-05-22 (annotated)

Committer:
skyyoungsik
Date:
Mon May 22 06:10:35 2017 +0000
Revision:
1:e8a99f19604e
Parent:
0:c466d770ffa7 
cui_test;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skyyoungsik 0:c466d770ffa7 1 #include "mbed.h"
skyyoungsik 0:c466d770ffa7 2 #include "ROBOFRIEN_GUI.h"
skyyoungsik 1:e8a99f19604e 3 #include "ROBOFRIEN_LED.h"
skyyoungsik 0:c466d770ffa7 4 #include <math.h>
skyyoungsik 0:c466d770ffa7 5
skyyoungsik 0:c466d770ffa7 6 #define PI 3.14159265359 // This value will be used when calculating angles
skyyoungsik 0:c466d770ffa7 7
skyyoungsik 0:c466d770ffa7 8 Timer MainTimer;
skyyoungsik 0:c466d770ffa7 9 DigitalOut myled2(LED2);
skyyoungsik 0:c466d770ffa7 10 DigitalOut myled3(LED3);
skyyoungsik 0:c466d770ffa7 11 ROBOFRIEN_GUI GUI;
skyyoungsik 1:e8a99f19604e 12 ROBOFRIEN_LED LED;
skyyoungsik 0:c466d770ffa7 13 int cnt;
skyyoungsik 0:c466d770ffa7 14 int main() {
skyyoungsik 1:e8a99f19604e 15 GUI.Init();
skyyoungsik 1:e8a99f19604e 16 LED.Init();
skyyoungsik 1:e8a99f19604e 17
skyyoungsik 1:e8a99f19604e 18 LED.HeadlightPeriod = GUI.headlight_period;
skyyoungsik 1:e8a99f19604e 19 LED.HeadlightDutyrate = GUI.headlight_dutyrate;
skyyoungsik 1:e8a99f19604e 20 LED.SidelightPeriod = GUI.sidelight_period;
skyyoungsik 1:e8a99f19604e 21 LED.SidelightDutyrate = GUI.sidelight_dutyrate;
skyyoungsik 1:e8a99f19604e 22
skyyoungsik 0:c466d770ffa7 23 while(1) {
skyyoungsik 0:c466d770ffa7 24 GUI.pc_rx_update();
skyyoungsik 1:e8a99f19604e 25 LED.Update();
skyyoungsik 0:c466d770ffa7 26 if(GUI.rx_bool() == true){
skyyoungsik 0:c466d770ffa7 27 cnt ++;
skyyoungsik 0:c466d770ffa7 28 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 29 //////////////////////////////////////////// [M/S] Mode and State ///////////////////////////////////////
skyyoungsik 0:c466d770ffa7 30 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 31 GUI.Mode1 = 8 * sin( PI/180 + cnt/50.0) + 8;
skyyoungsik 0:c466d770ffa7 32 GUI.Mode2 = 8 * cos( PI/180 + cnt/50.0) + 8;
skyyoungsik 0:c466d770ffa7 33 GUI.MissionState = 8 * sin( PI/180 + cnt/50.0) + 8;
skyyoungsik 0:c466d770ffa7 34 GUI.CurrentMarker = 11 * cos( PI/180 + cnt/100.0) + 10;
skyyoungsik 0:c466d770ffa7 35 GUI.Bat1 = 50 * sin(PI/180 + cnt/50.0) + 50; // 21.6 ~ 24.6 ( 6cell )
skyyoungsik 0:c466d770ffa7 36 GUI.Bat2 = 50 * cos(PI/180 + cnt/50.0) + 50; // 11.1 ~ 12.6 ( 3cell )
skyyoungsik 1:e8a99f19604e 37 // [ Button State & Home Point Chksum & Marker Chksum ] is change automatically in "ROBOFRIEN_GUI.cpp" //
skyyoungsik 0:c466d770ffa7 38 // You Can not change this setting, just use it ///
skyyoungsik 1:e8a99f19604e 39 if(GUI.button[0] == true) {}
skyyoungsik 1:e8a99f19604e 40 else {}
skyyoungsik 1:e8a99f19604e 41 if(GUI.button[1] == true) {}
skyyoungsik 1:e8a99f19604e 42 else {}
skyyoungsik 1:e8a99f19604e 43 if(GUI.button[2] == true) {}
skyyoungsik 1:e8a99f19604e 44 else {}
skyyoungsik 1:e8a99f19604e 45 if(GUI.button[3] == true) {}
skyyoungsik 1:e8a99f19604e 46 else {}
skyyoungsik 1:e8a99f19604e 47 if(GUI.button[4] == true) {}
skyyoungsik 1:e8a99f19604e 48 else {}
skyyoungsik 0:c466d770ffa7 49
skyyoungsik 0:c466d770ffa7 50 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 51 //////////////////////////////////////////////// [GPS] GPS //////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 52 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 1:e8a99f19604e 53 GUI.utc_time = cnt * 10;
skyyoungsik 1:e8a99f19604e 54 GUI.latitude = 35117030 + 10000 * sin( PI/180 + cnt/50.0);
skyyoungsik 1:e8a99f19604e 55 GUI.longitude = 129087896 + 10000 * cos( PI/180 + cnt/50.0);
skyyoungsik 1:e8a99f19604e 56 GUI.altitude = 22768 + 32768 * sin( PI/180 + cnt/50.0);
skyyoungsik 0:c466d770ffa7 57 GUI.SatNum = 10 + 10 * sin( PI/180 + cnt/50.0);
skyyoungsik 0:c466d770ffa7 58
skyyoungsik 0:c466d770ffa7 59 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 60 ///////////////////////////////////////////////// AHRS //////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 61 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 62 GUI.rollx100 = 4500 * sin( PI/180 + cnt/50.0);
skyyoungsik 0:c466d770ffa7 63 GUI.pitchx100 = -4500 * sin( PI/180 + cnt/50.0);
skyyoungsik 0:c466d770ffa7 64 GUI.yawx100 = 18000 * sin( PI/180 + cnt/50.0) + 18000;
skyyoungsik 0:c466d770ffa7 65 GUI.roll_ratex100 = 30000 * sin( PI/180 + cnt/50.0);
skyyoungsik 0:c466d770ffa7 66 GUI.pitch_ratex100 = 30000 * sin( PI/180 + cnt/50.0 + PI/4);
skyyoungsik 0:c466d770ffa7 67 GUI.yaw_ratex100 = 30000 * sin( PI/180 + cnt/50.0 + PI*3/4);
skyyoungsik 0:c466d770ffa7 68 GUI.VXx100 = 1000 * sin(PI/180 + cnt/50.0);
skyyoungsik 0:c466d770ffa7 69 GUI.VYx100 = 1000 * cos(PI/180 + cnt/50.0);
skyyoungsik 0:c466d770ffa7 70 GUI.VZx100 = 1000 * sin(PI/180 + cnt/50.0 + PI/4);
skyyoungsik 0:c466d770ffa7 71
skyyoungsik 0:c466d770ffa7 72 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 73 ////////////////////////////////////////////// [C/P] CAP/PWM ////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 74 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 75 GUI.cap[0] = 100 * sin(PI/180 + cnt/50.0);
skyyoungsik 0:c466d770ffa7 76 GUI.cap[1] = 100 * sin(PI/180 + cnt/50.0 + PI/8);
skyyoungsik 0:c466d770ffa7 77 GUI.cap[2] = 100 * sin(PI/180 + cnt/50.0 + 2*PI/8);
skyyoungsik 0:c466d770ffa7 78 GUI.cap[3] = 100 * sin(PI/180 + cnt/50.0 + 3*PI/8);
skyyoungsik 0:c466d770ffa7 79 GUI.cap[4] = 100 * sin(PI/180 + cnt/50.0 + 4*PI/8);
skyyoungsik 0:c466d770ffa7 80 GUI.cap[5] = 100 * sin(PI/180 + cnt/50.0 + 5*PI/8);
skyyoungsik 0:c466d770ffa7 81 GUI.cap[6] = 100 * sin(PI/180 + cnt/50.0 + 6*PI/8);
skyyoungsik 0:c466d770ffa7 82 GUI.cap[7] = 100 * sin(PI/180 + cnt/50.0 + 7*PI/8);
skyyoungsik 0:c466d770ffa7 83 GUI.pwm[0] = 100 * sin(PI/180 + cnt/50.0) + 100;
skyyoungsik 0:c466d770ffa7 84 GUI.pwm[1] = 100 * sin(PI/180 + cnt/50.0 + PI/8) + 100;
skyyoungsik 0:c466d770ffa7 85 GUI.pwm[2] = 100 * sin(PI/180 + cnt/50.0 + 2*PI/8) + 100;
skyyoungsik 0:c466d770ffa7 86 GUI.pwm[3] = 100 * sin(PI/180 + cnt/50.0 + 3*PI/8) + 100;
skyyoungsik 0:c466d770ffa7 87 GUI.pwm[4] = 100 * sin(PI/180 + cnt/50.0 + 4*PI/8) + 100;
skyyoungsik 0:c466d770ffa7 88 GUI.pwm[5] = 100 * sin(PI/180 + cnt/50.0 + 5*PI/8) + 100;
skyyoungsik 0:c466d770ffa7 89 GUI.pwm[6] = 100 * sin(PI/180 + cnt/50.0 + 6*PI/8) + 100;
skyyoungsik 0:c466d770ffa7 90 GUI.pwm[7] = 100 * sin(PI/180 + cnt/50.0 + 7*PI/8) + 100;
skyyoungsik 0:c466d770ffa7 91
skyyoungsik 0:c466d770ffa7 92 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 93 /////////////////////////////////////////// [E/D] Extra & Debug /////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 94 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 95 GUI.DEBUGx100[0] = 9000 * sin(PI/180 + cnt/50.0) + 9000;
skyyoungsik 0:c466d770ffa7 96 GUI.DEBUGx100[1] += 100;
skyyoungsik 0:c466d770ffa7 97 if(GUI.DEBUGx100[1] >= 36000) GUI.DEBUGx100[1] = 0;
skyyoungsik 0:c466d770ffa7 98 GUI.DEBUGx100[2] = 25000 * sin(PI/180 + cnt/50.0) + 25000;
skyyoungsik 0:c466d770ffa7 99 GUI.DEBUGx100[3] = 11111;
skyyoungsik 0:c466d770ffa7 100 GUI.DEBUGx100[4] = 22222;
skyyoungsik 0:c466d770ffa7 101 GUI.DEBUGx100[5] = 33333;
skyyoungsik 0:c466d770ffa7 102 GUI.DEBUGx100[6] = 44444;
skyyoungsik 0:c466d770ffa7 103 GUI.DEBUGx100[7] = 55555;
skyyoungsik 0:c466d770ffa7 104
skyyoungsik 0:c466d770ffa7 105 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 1:e8a99f19604e 106 /////////////////////////////////////////// Configuration ///////////////////////////////////////////////
skyyoungsik 1:e8a99f19604e 107 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 1:e8a99f19604e 108
skyyoungsik 1:e8a99f19604e 109 ///////////////////////////// -----------------DPN 1-------------------- ////////////////////////////////
skyyoungsik 1:e8a99f19604e 110 // You can set the this value from "Config.h" ( EEPROM_MODEL_TYPE1, EEPROM_MODEL_TYPE2_UP, EEPROM_MODEL_TYPE2_DOWN ) //
skyyoungsik 1:e8a99f19604e 111
skyyoungsik 1:e8a99f19604e 112 ///////////////////////////// -----------------DPN 2-------------------- ////////////////////////////////
skyyoungsik 1:e8a99f19604e 113 // You can set the this value from "Config.h" ( MODEL_INFO, FIRMWARE_INFO ) //
skyyoungsik 1:e8a99f19604e 114
skyyoungsik 1:e8a99f19604e 115 ///////////////////////////// -----------------DPN 3-------------------- ////////////////////////////////
skyyoungsik 1:e8a99f19604e 116 /// You can set the original value of receiver to [raw_cap] with scale down ( -127 ~ 127 ) ///
skyyoungsik 1:e8a99f19604e 117 /// You can use the [cap_min[8], cap_neu[8], cap_max[8]] for calibration of RC receiver value //
skyyoungsik 1:e8a99f19604e 118 GUI.raw_cap[0] = 0;
skyyoungsik 1:e8a99f19604e 119 GUI.raw_cap[1] = 0;
skyyoungsik 1:e8a99f19604e 120 GUI.raw_cap[2] = 0;
skyyoungsik 1:e8a99f19604e 121 GUI.raw_cap[3] = 0;
skyyoungsik 1:e8a99f19604e 122 GUI.raw_cap[4] = 0;
skyyoungsik 1:e8a99f19604e 123 GUI.raw_cap[5] = 0;
skyyoungsik 1:e8a99f19604e 124 GUI.raw_cap[6] = 0;
skyyoungsik 1:e8a99f19604e 125 GUI.raw_cap[7] = 0;
skyyoungsik 1:e8a99f19604e 126
skyyoungsik 1:e8a99f19604e 127 ///////////////////////////// -----------------DPN 4-------------------- ////////////////////////////////
skyyoungsik 1:e8a99f19604e 128 /// You can use the [motor_min[4]] for calibration of motor pwm value //
skyyoungsik 1:e8a99f19604e 129
skyyoungsik 1:e8a99f19604e 130 ///////////////////////////// -----------------DPN 5-------------------- ////////////////////////////////
skyyoungsik 1:e8a99f19604e 131 LED.HeadlightPeriod = GUI.headlight_period;
skyyoungsik 1:e8a99f19604e 132 LED.HeadlightDutyrate = GUI.headlight_dutyrate;
skyyoungsik 1:e8a99f19604e 133 LED.SidelightPeriod = GUI.sidelight_period;
skyyoungsik 1:e8a99f19604e 134 LED.SidelightDutyrate = GUI.sidelight_dutyrate;
skyyoungsik 1:e8a99f19604e 135
skyyoungsik 1:e8a99f19604e 136 ///////////////////////////// -----------------DPN 6-------------------- ////////////////////////////////
skyyoungsik 1:e8a99f19604e 137 /// You can set the original value of receiver to [raw_cap] with scale down ( -127 ~ 127 ) ///
skyyoungsik 1:e8a99f19604e 138 /// You can use the [cap_min[8], cap_neu[8], cap_max[8]] for calibration of RC receiver value //
skyyoungsik 1:e8a99f19604e 139 if(GUI.attitude_configuration_bool == true){
skyyoungsik 1:e8a99f19604e 140 GUI.attitude_configuration_bool = false;
skyyoungsik 1:e8a99f19604e 141 // You can calibration of attitude (Roll, Pitch) //
skyyoungsik 1:e8a99f19604e 142 }
skyyoungsik 1:e8a99f19604e 143 if(GUI.Compass_Calibration_Mode == 1){
skyyoungsik 1:e8a99f19604e 144 // You can calibration of compass (Yaw)//
skyyoungsik 1:e8a99f19604e 145 }else if(GUI.Compass_Calibration_Mode == 2){
skyyoungsik 1:e8a99f19604e 146 // You can finish the calibration of compass
skyyoungsik 1:e8a99f19604e 147 }
skyyoungsik 1:e8a99f19604e 148
skyyoungsik 1:e8a99f19604e 149 ///////////////////////////// -----------------DPN 7-------------------- ////////////////////////////////
skyyoungsik 1:e8a99f19604e 150 /// You can use the [limit_rollx100, limit_pitchx100, limit_roll_rate, limit_pitch_rate, limit_yaw_rate] for limit the angle and angular velocity //
skyyoungsik 1:e8a99f19604e 151
skyyoungsik 1:e8a99f19604e 152 ///////////////////////////// -----------------DPN 8-------------------- ////////////////////////////////
skyyoungsik 1:e8a99f19604e 153 /// You can use the [gain_px100[20], gain_dx100[20], gain_ix100[20]] for gain tuning //
skyyoungsik 1:e8a99f19604e 154
skyyoungsik 1:e8a99f19604e 155 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 156 //////////////////////////////////////////////// Refresh ////////////////////////////////////////////////
skyyoungsik 0:c466d770ffa7 157 /////////////////////////////////////////////////////////////////////////////////////////////////////////
skyyoungsik 1:e8a99f19604e 158
skyyoungsik 1:e8a99f19604e 159
skyyoungsik 0:c466d770ffa7 160 GUI.Refresh();
skyyoungsik 0:c466d770ffa7 161
skyyoungsik 0:c466d770ffa7 162 }
skyyoungsik 0:c466d770ffa7 163
skyyoungsik 0:c466d770ffa7 164 }
skyyoungsik 0:c466d770ffa7 165 }