Merge remote-tracking branch 'refs/remotes/origin/Compass'
This commit is contained in:
Lennart Eriksson
commit
12278e3866
13
UAV-ControlSystem/.custom.cfg
Normal file
13
UAV-ControlSystem/.custom.cfg
Normal file
@ -0,0 +1,13 @@
|
||||
# This is an .custom board with a single STM32F411RETx chip.
|
||||
# Generated by System Workbench for STM32
|
||||
|
||||
source [find interface/stlink-v2-1.cfg]
|
||||
|
||||
set WORKAREASIZE 0x20000
|
||||
transport select "hla_swd"
|
||||
|
||||
|
||||
source [find target/stm32f4x_stlink.cfg]
|
||||
|
||||
# use hardware reset, connect under reset
|
||||
reset_config srst_only srst_nogate
|
||||
@ -70,6 +70,8 @@ extern accel_t accelProfile;
|
||||
extern float throttleRate;
|
||||
extern int HoverForce;/*Struct profile for input data from sensor*/
|
||||
|
||||
extern float Yaw;
|
||||
extern float YawU;
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||||
|
||||
|
||||
/**************************************************************************
|
||||
|
||||
@ -107,6 +107,7 @@ typedef enum
|
||||
TASK_RX_CLI,
|
||||
TASK_SERIAL,
|
||||
TASK_BATTERY,
|
||||
TASK_ARDUINO,
|
||||
#ifdef BARO
|
||||
TASK_BARO,
|
||||
#endif
|
||||
|
||||
@ -38,6 +38,7 @@ void systemTaskRxCli(void);
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||||
bool systemTaskRxCliCheck(uint32_t currentDeltaTime);
|
||||
void systemTaskSerial(void);
|
||||
void systemTaskBattery(void);
|
||||
void systemTaskArduino(void);
|
||||
void systemTaskBaro(void);
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||||
void systemTaskCompass(void);
|
||||
void systemTaskGps(void);
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||||
|
||||
@ -159,6 +159,7 @@ typedef enum {
|
||||
EEPROM_PERIOD_RX_CLI,
|
||||
EEPROM_PERIOD_SERIAL,
|
||||
EEPROM_PERIOD_BATTERY,
|
||||
EEPROM_PERIOD_ARDUINO,
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||||
#ifdef BARO
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||||
EEPROM_PERIOD_BARO,
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#endif
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||||
@ -19,11 +19,11 @@
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||||
* INFORMATION: Contains the whole compass message *
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||||
***********************************************************************/
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||||
typedef struct compass_data_t {
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uint8_t header;
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int16_t x;
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||||
int16_t y;
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int16_t z;
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||||
uint8_t crc;
|
||||
uint8_t header __attribute__((packed));
|
||||
int16_t x __attribute__((packed));
|
||||
int16_t y __attribute__((packed));
|
||||
int16_t z __attribute__((packed));
|
||||
uint8_t crc __attribute__((packed));
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||||
} compass_data_t;
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||||
|
||||
/***********************************************************************
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||||
@ -31,10 +31,11 @@ typedef struct compass_data_t {
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* INFORMATION: Contains the whole gps data message *
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||||
***********************************************************************/
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||||
typedef struct gps_data_t {
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||||
uint8_t header;
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float latitude;
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float longitude;
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||||
uint8_t crc;
|
||||
uint8_t header __attribute__((packed));
|
||||
float latitude __attribute__((packed));
|
||||
float longitude __attribute__((packed));
|
||||
uint8_t num_of_sats __attribute__((packed));
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||||
uint8_t crc __attribute__((packed));
|
||||
} gps_data_t;
|
||||
|
||||
/***********************************************************************
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||||
@ -42,9 +43,9 @@ typedef struct gps_data_t {
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||||
* INFORMATION: Contains the whole ping sensor data message *
|
||||
***********************************************************************/
|
||||
typedef struct ping_data_t {
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||||
uint8_t header;
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||||
uint16_t distance_mm;
|
||||
uint8_t crc;
|
||||
uint8_t header __attribute__((packed));
|
||||
uint16_t distance_mm __attribute__((packed));
|
||||
uint8_t crc __attribute__((packed));
|
||||
}ping_data_t;
|
||||
|
||||
/* An instance of the GPS data read from Arduino Com */
|
||||
@ -74,13 +75,36 @@ bool arduino_frame_available();
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||||
***********************************************************************/
|
||||
void arduino_read();
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||||
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||||
|
||||
/***********************************************************************
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||||
* BRIEF: Update the output sensor values and sends them to the Arduino *
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||||
* INFORMATION: *
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||||
***********************************************************************/
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||||
void arduino_send_sensor_values();
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||||
|
||||
/***********************************************************************
|
||||
* BRIEF: Check so that the heartbeat messages are comming with a *
|
||||
* steady stream *
|
||||
* INFORMATION: Check the last time a heart beat message was received *
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||||
* and checks against a pre defined time before declaring *
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||||
* the communication as dead *
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||||
***********************************************************************/
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||||
bool arduino_com_alive();
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||||
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||||
/***********************************************************************
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||||
* BRIEF: Set a color on a specific led on the neo ledstrip attached *
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||||
* to the arduino *
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||||
* INFORMATION: Send a command with the led index and RGB color to the *
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||||
* Arduino *
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||||
***********************************************************************/
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||||
void arduino_set_led_color(uint8_t index, uint8_t r, uint8_t g, uint8_t b);
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||||
|
||||
/***********************************************************************
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||||
* BRIEF: Tell the arduino that the FC system is OK and everything is *
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||||
* working *
|
||||
* INFORMATION: Set the datavalue to 0xBA1DFACE for the led data *
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||||
***********************************************************************/
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void arduino_im_ok();
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||||
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||||
#endif /* DRIVERS_ARDUINO_COM_H_ */
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||||
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||||
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||||
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||||
14
UAV-ControlSystem/inc/drivers/compass.h
Normal file
14
UAV-ControlSystem/inc/drivers/compass.h
Normal file
@ -0,0 +1,14 @@
|
||||
#ifndef DRIVERS_COMPASS_H
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||||
#define DRIVERS_COMPASS_H
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||||
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||||
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||||
|
||||
bool initialize_compass();
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||||
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||||
void calibrate_compass();
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||||
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||||
void calculate_heading();
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||||
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||||
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||||
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||||
#endif //DRIVERS_COMPASS_H
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@ -46,6 +46,14 @@ typedef enum parity
|
||||
PARITY_ODD = 0x3
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||||
} parity;
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||||
|
||||
typedef enum usart_index
|
||||
{
|
||||
USART1_IDX = 0,
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||||
USART3_IDX,
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||||
USART6_IDX,
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||||
USART_INDEX_COUNT,
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||||
}usart_index;
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||||
|
||||
// Struct to be used for regular USART with polling
|
||||
typedef struct usart_profile
|
||||
{
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||||
@ -61,6 +69,7 @@ typedef struct usart_dma_profile
|
||||
uint8_t* dma_rx_buffer1; // The first rx buffer used in double buffering
|
||||
uint8_t* dma_rx_buffer2; // The second rx buffer used in double buffering
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||||
uint8_t* dma_tx_buffer; // The tx buffer used for sending messages
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||||
void* dma_rx_prev_buffer; // Keep track of the previous read buffer
|
||||
} usart_dma_profile;
|
||||
|
||||
|
||||
|
||||
@ -20,10 +20,12 @@
|
||||
#include "drivers/failsafe_toggles.h"
|
||||
#include "drivers/motormix.h"
|
||||
#include "utilities.h"
|
||||
#include "drivers/arduino_com.h"
|
||||
#include "drivers/barometer.h"
|
||||
#include "drivers/system_clock.h"
|
||||
|
||||
|
||||
|
||||
#define PTERM_SCALE 0.032029f /*P-term used as a scale value to the PID controller*/
|
||||
#define ITERM_SCALE 0.0012f /*I-term used as a scale value to the PID controller*/
|
||||
#define DTERM_SCALE 0.0529f /*D-term used as a scale value to the PID controller*/
|
||||
@ -68,6 +70,44 @@ pt1Filter_t accelFilter[2] = {0};
|
||||
float accRollFineTune = 0;
|
||||
float accPitchFineTune = 0;
|
||||
|
||||
float oldSensorValue[2] = {0};
|
||||
float oldSensorValueRoll[12] = {0};
|
||||
float oldSensorValuePitch[12] = {0};
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||||
|
||||
/**************************************************************************
|
||||
* BRIEF: Calculates angle from accelerometer *
|
||||
* INFORMATION: *
|
||||
**************************************************************************/
|
||||
float calcAngle(const uint8_t axis, const float x_axis, const float y_axis, const float z_axis)
|
||||
{
|
||||
float angle;
|
||||
|
||||
switch (axis)
|
||||
{
|
||||
case ROLL:
|
||||
|
||||
angle = atan2(x_axis, sqrt(y_axis*y_axis + z_axis*z_axis))*180/M_PI;
|
||||
angle = -1*((angle > 0)? (z_axis < 0 )? 180 - angle: angle : (z_axis < 0 )? - 180 - angle: angle);
|
||||
|
||||
break;
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||||
case PITCH:
|
||||
|
||||
angle = atan2( y_axis, sqrt(z_axis*z_axis + x_axis*x_axis))*180/M_PI; /*down (the front down against ground) = pos angle*/
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||||
angle = (angle > 0)? ((z_axis < 0))? 180 - angle: angle : (z_axis < 0 )? - 180 - angle: angle;
|
||||
|
||||
break;
|
||||
default:
|
||||
angle = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
return angle;
|
||||
}
|
||||
|
||||
float calcGravity(accel_t profile ) //const float x_axis, const float y_axis, const float z_axis)
|
||||
{
|
||||
return sqrt(profile.accelXconv*profile.accelXconv + profile.accelYconv*profile.accelYconv + profile.accelZconv*profile.accelZconv);
|
||||
}
|
||||
float throttleRate = 1;
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||||
int HoverForce = 1475; /*Struct profile for input data from sensor*/
|
||||
|
||||
@ -80,6 +120,23 @@ float convertData(int inputRange, int outputRange, int offset, float value)
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||||
return ((float)outputRange/(float)inputRange)*(value-(float)offset);
|
||||
}
|
||||
|
||||
/**************************************************************************
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||||
* BRIEF: Constrain float values within a defined limit *
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||||
* INFORMATION: Used in PID loop to limit values *
|
||||
**************************************************************************/
|
||||
float constrainfu(float amt, int low, int high)
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||||
{
|
||||
if (amt < (float)low)
|
||||
return (float)low;
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||||
else if (amt > (float)high)
|
||||
return (float)high;
|
||||
else
|
||||
return amt;
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||||
}
|
||||
|
||||
|
||||
|
||||
int i = 0;
|
||||
uint8_t FlagVelocityLimit = 0;
|
||||
float VelocityCompensation = 0;
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||||
@ -115,14 +172,6 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
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/*Checks the biggest angle */
|
||||
throttleRate = cos(ABS_FLOAT(sensorValues[PITCH])*M_PI/180)*cos(ABS_FLOAT(sensorValues[ROLL])*M_PI/180);
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||||
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||||
break;
|
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case PID_ID_COMPASS:
|
||||
|
||||
sensorValues[ROLL] = 0;
|
||||
sensorValues[PITCH] = 0;
|
||||
sensorValues[YAW] = 0;
|
||||
|
||||
|
||||
break;
|
||||
case PID_ID_BAROMETER:
|
||||
|
||||
@ -139,6 +188,8 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
|
||||
oldHeightValue = current_height;
|
||||
sensorValues[0]*=BAROMETER_SCALE;
|
||||
|
||||
break;
|
||||
case PID_ID_COMPASS:
|
||||
break;
|
||||
default:
|
||||
current_micros = clock_get_us();
|
||||
@ -239,7 +290,7 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
|
||||
/*Limits the PTerm of the Yaw axis */
|
||||
if (pidProfile->yaw_p_limit)
|
||||
{
|
||||
PTerm = constrainf(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
|
||||
PTerm = constrainfu(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
|
||||
}
|
||||
}
|
||||
|
||||
@ -247,12 +298,12 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
|
||||
float ITerm = pidProfileBuff->lastITerm[axis] + ITERM_SCALE * rateError * pidProfileBuff->dT * (float)pidProfile->I[axis];
|
||||
|
||||
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
|
||||
ITerm = constrainf(ITerm, -(int)PID_MAX_I, (int)PID_MAX_I);
|
||||
ITerm = constrainfu(ITerm, -(int)PID_MAX_I, (int)PID_MAX_I);
|
||||
|
||||
// Anti windup protection
|
||||
if (motorLimitReached)
|
||||
{
|
||||
ITerm = constrainf(ITerm, -pidProfileBuff->ITermLimit[axis], pidProfileBuff->ITermLimit[axis]);
|
||||
ITerm = constrainfu(ITerm, -pidProfileBuff->ITermLimit[axis], pidProfileBuff->ITermLimit[axis]);
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -288,7 +339,7 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
|
||||
}
|
||||
|
||||
DTerm = DTERM_SCALE * delta * (float)pidProfile->D[axis] * (float)pidProfile->PIDweight[axis] / 100.0;
|
||||
DTerm = constrainf(DTerm, -PID_MAX_D, PID_MAX_D);
|
||||
DTerm = constrainfu(DTerm, -PID_MAX_D, PID_MAX_D);
|
||||
}
|
||||
|
||||
|
||||
@ -299,7 +350,7 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
|
||||
pidProfileBuff->lastITerm[axis] = 0;
|
||||
pidProfileBuff->ITermLimit[axis] = 0;
|
||||
}
|
||||
pidProfile->PID_Out[axis] = constrainf(PTerm + ITerm + DTerm, -(int)pidProfile->pid_out_limit, (int)pidProfile->pid_out_limit);
|
||||
pidProfile->PID_Out[axis] = constrainfu(PTerm + ITerm + DTerm, -(int)pidProfile->pid_out_limit, (int)pidProfile->pid_out_limit);
|
||||
}
|
||||
|
||||
/**************************************************************************
|
||||
@ -401,11 +452,11 @@ void pidRun(uint8_t ID)
|
||||
else
|
||||
{
|
||||
pidUAV(&PidProfile[PID_ID_BAROMETER], &PidProfileBuff[PID_ID_BAROMETER]);
|
||||
PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -20, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
|
||||
PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainfu(PidProfile[PID_ID_BAROMETER].PID_Out[0], -20, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
|
||||
|
||||
|
||||
//PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -15, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
|
||||
//PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -(int)PidProfile[PID_ID_BAROMETER].pid_out_limit, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
|
||||
//PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainfu(PidProfile[PID_ID_BAROMETER].PID_Out[0], -15, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
|
||||
//PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainfu(PidProfile[PID_ID_BAROMETER].PID_Out[0], -(int)PidProfile[PID_ID_BAROMETER].pid_out_limit, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
@ -339,6 +339,8 @@ void initSchedulerTasks(void)
|
||||
|
||||
enableTask(TASK_BATTERY, true);
|
||||
|
||||
enableTask(TASK_ARDUINO, true);
|
||||
|
||||
#ifdef BARO
|
||||
enableTask(TASK_BARO, true);
|
||||
#endif
|
||||
|
||||
@ -100,6 +100,14 @@ task_t SystemTasks[TASK_COUNT] =
|
||||
.staticPriority = PRIORITY_MEDIUM,
|
||||
},
|
||||
|
||||
[TASK_ARDUINO] =
|
||||
{
|
||||
.taskName = "ARDUINO",
|
||||
.taskFunction = systemTaskArduino,
|
||||
.desiredPeriod = GetUpdateRateHz(50), //50 hz update rate (20 ms)
|
||||
.staticPriority = PRIORITY_MEDIUM,
|
||||
},
|
||||
|
||||
#ifdef BARO
|
||||
[TASK_BARO] =
|
||||
{
|
||||
|
||||
@ -183,6 +183,7 @@ typedef enum
|
||||
COMMAND_ID_PERIOD_RX_CLI,
|
||||
COMMAND_ID_PERIOD_SERIAL,
|
||||
COMMAND_ID_PERIOD_BATTERY,
|
||||
COMMAND_ID_PERIOD_ARDUINO,
|
||||
#ifdef BARO
|
||||
COMMAND_ID_PERIOD_BARO,
|
||||
#endif
|
||||
@ -384,6 +385,10 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
|
||||
{
|
||||
"task_period_battery", COMMAND_ID_PERIOD_BATTERY, EEPROM_PERIOD_BATTERY, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_32, .valueRange = {0, 1000000000}
|
||||
},
|
||||
[COMMAND_ID_PERIOD_ARDUINO] =
|
||||
{
|
||||
"task_period_arduino", COMMAND_ID_PERIOD_ARDUINO, EEPROM_PERIOD_ARDUINO, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_32, .valueRange = {0, 1000000000}
|
||||
},
|
||||
#ifdef BARO
|
||||
[COMMAND_ID_PERIOD_BARO] =
|
||||
{
|
||||
|
||||
@ -154,6 +154,12 @@ EEPROM_DATA_t eeprom_sys_Arr[EEPROM_SYS_COUNT] = {
|
||||
.dataPtr = &(SystemTasks[TASK_BATTERY].desiredPeriod),
|
||||
},
|
||||
|
||||
[EEPROM_PERIOD_ARDUINO] =
|
||||
{
|
||||
.size = sizeof(SystemTasks[TASK_ARDUINO].desiredPeriod),
|
||||
.dataPtr = &(SystemTasks[TASK_ARDUINO].desiredPeriod),
|
||||
},
|
||||
|
||||
#ifdef BARO
|
||||
[EEPROM_PERIOD_BARO] =
|
||||
{
|
||||
|
||||
@ -10,11 +10,34 @@
|
||||
#include "utilities.h"
|
||||
#include "string.h"
|
||||
#include "stm32f4xx_revo.h"
|
||||
#include "Flight/pid.h"
|
||||
|
||||
#define COMPASS_PACKET_SIZE 8
|
||||
#define GPS_PACKET_SIZE 11
|
||||
#define PING_PACKET_SIZE 4
|
||||
#define ARDUINO_SENSOR_SIZE 6
|
||||
#define TIME_BEFORE_DEATH_MS 500
|
||||
|
||||
|
||||
#define SET_BYTE1_32BITS_VALUE(x) ((x & 0xFF) << 24)
|
||||
#define SET_BYTE2_32BITS_VALUE(x) ((x & 0xFF) << 16)
|
||||
#define SET_BYTE3_32BITS_VALUE(x) ((x & 0xFF) << 8)
|
||||
#define SET_BYTE4_32BITS_VALUE(x) ((x & 0xFF) << 0)
|
||||
|
||||
|
||||
#define USE_STORED_WP
|
||||
#define USE_CURR_POS
|
||||
#define USE_CURR_HEADING
|
||||
#define USE_DISTANCE_TO_HOME
|
||||
#define USE_CURRENT_SPEED
|
||||
#define USE_CURRENT_ALTITUDE
|
||||
|
||||
const uint8_t heartbeat_msg[4] = { 0xDE, 0xAD, 0xBE, 0xEF };
|
||||
const uint8_t heartbeat_rsp[4] = { 0xBA, 0x1D, 0xFA, 0xCE };
|
||||
uint32_t time_since_heartbeat = 0;
|
||||
|
||||
|
||||
|
||||
#define COMPASS_PACKET_SIZE 8
|
||||
#define GPS_PACKET_SIZE 10
|
||||
#define PING_PACKET_SIZE 4
|
||||
#define ARDUINO_SENSOR_SIZE 6
|
||||
|
||||
typedef struct arduino_sensor_t {
|
||||
uint8_t ID __attribute__((packed));
|
||||
@ -29,20 +52,84 @@ enum smartport_packets_e {
|
||||
FSSP_DATA_FRAME = 0x10, // Sensor replies with this as start byte
|
||||
|
||||
// ID of sensors. Must be something polled by FrSky RX
|
||||
FSS_SENSOR_CURRENT = 0xA1,
|
||||
FSS_SENSOR_VOLTAGE = 0x22,
|
||||
FSS_SENSOR_BAROMETER = 0x1B,
|
||||
FSS_TUNE_PITCH = 0x0D,
|
||||
FSS_TUNE_ROLL = 0x34,
|
||||
FSS_SENSOR_6 = 0x67,
|
||||
#ifdef USE_STORED_WP
|
||||
FSS_WP_LON = 0xA1, //Physical 2
|
||||
FSS_WP_LAT = 0x22, //Physical 3
|
||||
#endif
|
||||
|
||||
#ifdef USE_CURR_POS
|
||||
FSS_CURR_POS_LON = 0x83, //Physical 4
|
||||
FSS_CURR_POS_LAT = 0xE4, //Physical 5
|
||||
#endif
|
||||
|
||||
#ifdef USE_CURR_HEADING
|
||||
FSS_CURR_HEADING = 0x45, //Physical 6
|
||||
#endif
|
||||
|
||||
#ifdef USE_DISTANCE_TO_HOME
|
||||
FSS_DIST_HOME = 0xC6, //Physical 7
|
||||
#endif
|
||||
|
||||
#ifdef USE_CURRENT_SPEED
|
||||
FSS_SPEED = 0x67, //Physical 8
|
||||
#endif
|
||||
|
||||
#ifdef USE_CURRENT_ALTITUDE
|
||||
FSS_ALTITUDE = 0x48, //Physical 9
|
||||
#endif
|
||||
|
||||
FSS_SENSOR_10 = 0xE9, //Physical 10
|
||||
FSS_SENSOR_11 = 0x6A, //Physical 11
|
||||
FSS_SENSOR_12 = 0xCB, //Physical 12
|
||||
FSS_SENSOR_13 = 0xAC, //Physical 13
|
||||
FSS_SENSOR_14 = 0x0D, //Physical 14
|
||||
FSS_SENSOR_15 = 0x8E, //Physical 15
|
||||
FSS_SENSOR_16 = 0x2F, //Physical 16
|
||||
FSS_SENSOR_17 = 0xD0, //Physical 17
|
||||
FSS_SENSOR_18 = 0x71, //Physical 18
|
||||
FSS_SENSOR_19 = 0xF2, //Physical 19
|
||||
FSS_SENSOR_20 = 0x53, //Physical 20
|
||||
FSS_SENSOR_21 = 0x34, //Physical 21
|
||||
FSS_SENSOR_22 = 0x95, //Physical 22
|
||||
FSS_SENSOR_23 = 0x16, //Physical 23
|
||||
FSS_SENSOR_24 = 0xB7, //Physical 24
|
||||
FSS_SENSOR_25 = 0x98, //Physical 25
|
||||
FSS_SENSOR_26 = 0x39, //Physical 26
|
||||
FSS_SENSOR_27 = 0xBA, //Physical 27
|
||||
FSS_SENSOR_28 = 0x1B, //Physical 28
|
||||
|
||||
//This is for handeling the LED strip and has nothing to do with the smartport
|
||||
//It is only handled here since the information comes from the FC and is sent
|
||||
//over the same bus as the rest of the messages
|
||||
LED_STRIP_DATA = 0xED
|
||||
};
|
||||
|
||||
enum smartportID {
|
||||
CURRENT_SENSOR_ID = 0,
|
||||
VOLTAGE_SENSOR_ID,
|
||||
BAROMETER_SENSOR_ID,
|
||||
TUNE_PITCH_ID,
|
||||
TUNE_ROLL_ID,
|
||||
#ifdef USE_STORED_WP
|
||||
WP_LON_ID,
|
||||
WP_LAT_ID,
|
||||
#endif
|
||||
#ifdef USE_CURR_POS
|
||||
CURR_LON_ID,
|
||||
CURR_LAT_ID,
|
||||
#endif
|
||||
#ifdef USE_CURR_HEADING
|
||||
CURR_HEADING_ID,
|
||||
#endif
|
||||
#ifdef USE_DISTANCE_TO_HOME
|
||||
DIST_HOME_ID,
|
||||
#endif
|
||||
#ifdef USE_CURRENT_SPEED
|
||||
SPEED_ID,
|
||||
#endif
|
||||
#ifdef USE_CURRENT_ALTITUDE
|
||||
ALTITUDE_ID,
|
||||
#endif
|
||||
|
||||
//LED_STRIP_ID should only be on the flight controller side
|
||||
LED_STRIP_ID,
|
||||
|
||||
//the number of sensors to send data from .
|
||||
SENSOR_COUNT,
|
||||
};
|
||||
|
||||
@ -50,8 +137,8 @@ enum smartportID {
|
||||
arduino_sensor_t sensors[SENSOR_COUNT];
|
||||
|
||||
|
||||
usart_dma_profile dmaHandler;
|
||||
dma_usart_return raw_dma_data_t;
|
||||
usart_dma_profile usartdmaHandler;
|
||||
dma_usart_return raw_arduino_dma_data_t;
|
||||
|
||||
// enumeration to hold the id:s of the different packages
|
||||
enum packet_ids {
|
||||
@ -98,23 +185,40 @@ arduino_data_t data_arr[ARDUINO_DATA_COUNT] = {
|
||||
void arduinoCom_init(USART_TypeDef* usart_inst)
|
||||
{
|
||||
/* initialize the USART with a dma buffer */
|
||||
usart_init_dma(usart_inst, &dmaHandler, ARDUINO_BAUD, STOP_BITS_1, PARITY_NONE, ARDUINO_DMA_SIZE, 0);
|
||||
usart_init_dma(usart_inst, &usartdmaHandler, ARDUINO_BAUD, STOP_BITS_1, PARITY_NONE, ARDUINO_DMA_SIZE, 0);
|
||||
|
||||
/*Initialize the sensors to be sent over smartport*/
|
||||
sensors[CURRENT_SENSOR_ID].ID = FSS_SENSOR_CURRENT;
|
||||
sensors[CURRENT_SENSOR_ID].value = 0;
|
||||
#ifdef USE_STORED_WP
|
||||
sensors[WP_LON_ID].ID = FSS_WP_LON;
|
||||
sensors[WP_LON_ID].value = 0;
|
||||
sensors[WP_LAT_ID].ID = FSS_WP_LAT;
|
||||
sensors[WP_LAT_ID].value = 0;
|
||||
#endif
|
||||
#ifdef USE_CURR_POS
|
||||
sensors[CURR_LON_ID].ID = FSS_CURR_POS_LON;
|
||||
sensors[CURR_LON_ID].value = 0;
|
||||
sensors[CURR_LAT_ID].ID = FSS_CURR_POS_LAT;
|
||||
sensors[CURR_LAT_ID].value = 0;
|
||||
#endif
|
||||
#ifdef USE_CURR_HEADING
|
||||
sensors[CURR_HEADING_ID].ID = FSS_CURR_HEADING;
|
||||
sensors[CURR_HEADING_ID].value = 0;
|
||||
#endif
|
||||
#ifdef USE_DISTANCE_TO_HOME
|
||||
sensors[DIST_HOME_ID].ID = FSS_DIST_HOME;
|
||||
sensors[DIST_HOME_ID].value = 0;
|
||||
#endif
|
||||
#ifdef USE_CURRENT_SPEED
|
||||
sensors[SPEED_ID].ID = FSS_SPEED;
|
||||
sensors[SPEED_ID].value = 0;
|
||||
#endif
|
||||
#ifdef USE_CURRENT_ALTITUDE
|
||||
sensors[ALTITUDE_ID].ID = FSS_ALTITUDE;
|
||||
sensors[ALTITUDE_ID].value = 0;
|
||||
#endif
|
||||
|
||||
sensors[VOLTAGE_SENSOR_ID].ID = FSS_SENSOR_VOLTAGE;
|
||||
sensors[VOLTAGE_SENSOR_ID].value = 0;
|
||||
|
||||
sensors[BAROMETER_SENSOR_ID].ID = FSS_SENSOR_BAROMETER;
|
||||
sensors[BAROMETER_SENSOR_ID].value = 0;
|
||||
|
||||
sensors[TUNE_PITCH_ID].ID = FSS_TUNE_PITCH;
|
||||
sensors[TUNE_PITCH_ID].value = 0;
|
||||
|
||||
sensors[TUNE_ROLL_ID].ID = FSS_TUNE_ROLL;
|
||||
sensors[TUNE_ROLL_ID].value = 0;
|
||||
sensors[LED_STRIP_ID].ID = LED_STRIP_DATA;
|
||||
sensors[LED_STRIP_ID].value = 0;
|
||||
}
|
||||
|
||||
|
||||
@ -125,9 +229,8 @@ void arduinoCom_init(USART_TypeDef* usart_inst)
|
||||
bool arduino_frame_available()
|
||||
{
|
||||
/* We read data from DMA */
|
||||
raw_dma_data_t = usart_get_dma_buffer(&dmaHandler);
|
||||
|
||||
return raw_dma_data_t.new_data;
|
||||
raw_arduino_dma_data_t = usart_get_dma_buffer(&usartdmaHandler);
|
||||
return raw_arduino_dma_data_t.new_data;
|
||||
}
|
||||
|
||||
/***********************************************************************
|
||||
@ -175,6 +278,36 @@ void arduino_parse_message(uint8_t data)
|
||||
static uint8_t secondary_message_it = 0;
|
||||
static arduino_data_t msg_header_and_size = { .size = 0, .dataPtr = NULL };
|
||||
static uint8_t crc = 0;
|
||||
static uint8_t heartbeatiterator = 0;
|
||||
|
||||
if (heartbeatiterator == 0 && data == heartbeat_msg[0])
|
||||
heartbeatiterator = 1;
|
||||
|
||||
if (heartbeatiterator > 0)
|
||||
{
|
||||
switch (heartbeatiterator)
|
||||
{
|
||||
case 1:
|
||||
heartbeatiterator = 2;
|
||||
break;
|
||||
case 2:
|
||||
heartbeatiterator = (data == heartbeat_msg[1]) ? 3 : 0;
|
||||
break;
|
||||
case 3:
|
||||
heartbeatiterator = (data == heartbeat_msg[2]) ? 4 : 0;
|
||||
break;
|
||||
case 4:
|
||||
heartbeatiterator = 0;
|
||||
if(data == heartbeat_msg[3])
|
||||
{
|
||||
usart_transmit(&usartdmaHandler.usart_pro, (uint8_t *) &heartbeat_rsp, 4, 10000);
|
||||
time_since_heartbeat = HAL_GetTick();
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if(find_header)
|
||||
{
|
||||
@ -247,13 +380,15 @@ void arduino_parse_message(uint8_t data)
|
||||
***********************************************************************/
|
||||
void arduino_read()
|
||||
{
|
||||
raw_arduino_dma_data_t = usart_get_dma_buffer(&usartdmaHandler);
|
||||
|
||||
//If the DMA has come to a new buffer
|
||||
if (raw_dma_data_t.new_data)
|
||||
if (raw_arduino_dma_data_t.new_data)
|
||||
{
|
||||
// parse the entire message to the gps_data and compass_data
|
||||
for (int i = 0; i < ARDUINO_DMA_SIZE; i++)
|
||||
{
|
||||
arduino_parse_message(raw_dma_data_t.buff[i]);
|
||||
arduino_parse_message(raw_arduino_dma_data_t.buff[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -273,22 +408,38 @@ uint8_t calculate_crc(uint8_t *data, uint8_t length)
|
||||
***********************************************************************/
|
||||
void update_sensor_values()
|
||||
{
|
||||
|
||||
/* TODO: Add the correct data to the value parameters here*/
|
||||
sensors[CURRENT_SENSOR_ID].value += 1;
|
||||
sensors[CURRENT_SENSOR_ID].crc = calculate_crc(&sensors[CURRENT_SENSOR_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
|
||||
sensors[VOLTAGE_SENSOR_ID].value += 2;
|
||||
sensors[VOLTAGE_SENSOR_ID].crc = calculate_crc(&sensors[VOLTAGE_SENSOR_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
#ifdef USE_STORED_WP
|
||||
sensors[WP_LON_ID].value = 0;
|
||||
sensors[WP_LON_ID].crc = calculate_crc(&sensors[WP_LON_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
|
||||
sensors[BAROMETER_SENSOR_ID].value += 3;
|
||||
sensors[BAROMETER_SENSOR_ID].crc = calculate_crc(&sensors[BAROMETER_SENSOR_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
sensors[WP_LAT_ID].value = 0;
|
||||
sensors[WP_LAT_ID].crc = calculate_crc(&sensors[WP_LAT_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
#endif
|
||||
#ifdef USE_CURR_POS
|
||||
sensors[CURR_LON_ID].value = gps_data.longitude;
|
||||
sensors[CURR_LON_ID].crc = calculate_crc(&sensors[CURR_LON_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
|
||||
sensors[TUNE_PITCH_ID].value += 4;
|
||||
sensors[TUNE_PITCH_ID].crc = calculate_crc(&sensors[TUNE_PITCH_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
|
||||
sensors[TUNE_ROLL_ID].value += 5;
|
||||
sensors[TUNE_ROLL_ID].crc = calculate_crc(&sensors[TUNE_ROLL_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
sensors[CURR_LAT_ID].value = gps_data.latitude;
|
||||
sensors[CURR_LAT_ID].crc = calculate_crc(&sensors[CURR_LAT_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
#endif
|
||||
#ifdef USE_CURR_HEADING
|
||||
sensors[CURR_HEADING_ID].value = 0;
|
||||
sensors[CURR_HEADING_ID].crc = calculate_crc(&sensors[CURR_HEADING_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
#endif
|
||||
#ifdef USE_DISTANCE_TO_HOME
|
||||
sensors[DIST_HOME_ID].value = 0;
|
||||
sensors[DIST_HOME_ID].crc = calculate_crc(&sensors[DIST_HOME_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
#endif
|
||||
#ifdef USE_CURRENT_SPEED
|
||||
sensors[SPEED_ID].value = 0;
|
||||
sensors[SPEED_ID].crc = calculate_crc(&sensors[SPEED_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
#endif
|
||||
#ifdef USE_CURRENT_ALTITUDE
|
||||
sensors[ALTITUDE_ID].value = ping_data.distance_mm / 100;
|
||||
sensors[ALTITUDE_ID].crc = calculate_crc(&sensors[ALTITUDE_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@ -298,32 +449,55 @@ void update_sensor_values()
|
||||
***********************************************************************/
|
||||
void arduino_send_sensor_values()
|
||||
{
|
||||
static int sensor_send_index = 0;
|
||||
|
||||
update_sensor_values();
|
||||
for (int i = 0; i < SENSOR_COUNT; i++)
|
||||
{
|
||||
usart_transmit(&dmaHandler.usart_pro, (uint8_t *) &sensors[i], 6, 10000);
|
||||
}
|
||||
usart_transmit(&usartdmaHandler.usart_pro, (uint8_t *) &sensors[sensor_send_index], 6, 10000);
|
||||
sensor_send_index = (sensor_send_index + 1) % SENSOR_COUNT;
|
||||
}
|
||||
|
||||
/***********************************************************************
|
||||
* BRIEF: Check so that the heartbeat messages are comming with a *
|
||||
* steady stream *
|
||||
* INFORMATION: Check the last time a heart beat message was received *
|
||||
* and checks against a pre defined time before declaring *
|
||||
* the communication as dead *
|
||||
***********************************************************************/
|
||||
bool arduino_com_alive()
|
||||
{
|
||||
return (HAL_GetTick() < (time_since_heartbeat + TIME_BEFORE_DEATH_MS));
|
||||
}
|
||||
|
||||
/***********************************************************************
|
||||
* BRIEF: Set a color on a specific led on the neo ledstrip attached *
|
||||
* to the arduino *
|
||||
* INFORMATION: Send a command with the led index and RGB color to the *
|
||||
* Arduino *
|
||||
***********************************************************************/
|
||||
void arduino_set_led_color(uint8_t index, uint8_t r, uint8_t g, uint8_t b)
|
||||
{
|
||||
sensors[LED_STRIP_ID].value = SET_BYTE1_32BITS_VALUE(index) |
|
||||
SET_BYTE2_32BITS_VALUE(r) |
|
||||
SET_BYTE3_32BITS_VALUE(g) |
|
||||
SET_BYTE4_32BITS_VALUE(b);
|
||||
|
||||
sensors[LED_STRIP_ID].crc = calculate_crc(&sensors[LED_STRIP_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
}
|
||||
|
||||
/***********************************************************************
|
||||
* BRIEF: Tell the arduino that the FC system is OK and everything is *
|
||||
* working *
|
||||
* INFORMATION: Set the datavalue to 0xBA1DFACE for the led data *
|
||||
***********************************************************************/
|
||||
void arduino_im_ok()
|
||||
{
|
||||
sensors[LED_STRIP_ID].value = heartbeat_rsp;
|
||||
sensors[LED_STRIP_ID].crc = calculate_crc(&sensors[LED_STRIP_ID], ARDUINO_SENSOR_SIZE - 1);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
86
UAV-ControlSystem/src/drivers/compass.c
Normal file
86
UAV-ControlSystem/src/drivers/compass.c
Normal file
@ -0,0 +1,86 @@
|
||||
#include "drivers/compass.h"
|
||||
|
||||
#include "drivers/arduino_com.h"
|
||||
|
||||
|
||||
#define sq(x) ((x)*(x))
|
||||
#define map(x, in_min, in_max, out_min, out_max) (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
|
||||
|
||||
|
||||
float MagnetFilteredOld[3];
|
||||
float alphaMagnet = 0.4;
|
||||
int MagnetMax[3];
|
||||
int MagnetMin[3];
|
||||
float MagnetMap[3];
|
||||
float Yaw;
|
||||
float YawU;
|
||||
|
||||
|
||||
bool initialize_compass()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void calibrate_compass()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void calculate_heading()
|
||||
{
|
||||
|
||||
// readAcc();
|
||||
// float xMagnetFiltered = 0;
|
||||
// float yMagnetFiltered = 0;
|
||||
// float zMagnetFiltered = 0;
|
||||
// xMagnetFiltered = MagnetFilteredOld[0] + alphaMagnet * (compass_data.x - MagnetFilteredOld[0]);
|
||||
// yMagnetFiltered = MagnetFilteredOld[1] + alphaMagnet * (compass_data.y - MagnetFilteredOld[1]);
|
||||
// zMagnetFiltered = MagnetFilteredOld[2] + alphaMagnet * (compass_data.z - MagnetFilteredOld[2]);
|
||||
//
|
||||
// MagnetFilteredOld[0] = xMagnetFiltered;
|
||||
// MagnetFilteredOld[1] = yMagnetFiltered;
|
||||
// MagnetFilteredOld[2] = zMagnetFiltered;
|
||||
//
|
||||
//
|
||||
// //this part is required to normalize the magnetic vector
|
||||
// if (xMagnetFiltered>MagnetMax[0]) { MagnetMax[0] = xMagnetFiltered; }
|
||||
// if (yMagnetFiltered>MagnetMax[1]) { MagnetMax[1] = yMagnetFiltered; }
|
||||
// if (zMagnetFiltered>MagnetMax[2]) { MagnetMax[2] = zMagnetFiltered; }
|
||||
//
|
||||
// if (xMagnetFiltered<MagnetMin[0]) { MagnetMin[0] = xMagnetFiltered; }
|
||||
// if (yMagnetFiltered<MagnetMin[1]) { MagnetMin[1] = yMagnetFiltered; }
|
||||
// if (zMagnetFiltered<MagnetMin[2]) { MagnetMin[2] = zMagnetFiltered; }
|
||||
//
|
||||
// float norm;
|
||||
//
|
||||
// MagnetMap[0] = (float)(map(xMagnetFiltered, MagnetMin[0], MagnetMax[0], -10000, 10000)) / 10000.0;
|
||||
// MagnetMap[1] = (float)(map(yMagnetFiltered, MagnetMin[1], MagnetMax[1], -10000, 10000)) / 10000.0;
|
||||
// MagnetMap[2] = (float)(map(zMagnetFiltered, MagnetMin[2], MagnetMax[2], -10000, 10000)) / 10000.0;
|
||||
//
|
||||
// //normalize the magnetic vector
|
||||
// norm = sqrt(sq(MagnetMap[0]) + sq(MagnetMap[1]) + sq(MagnetMap[2]));
|
||||
// MagnetMap[0] /= norm;
|
||||
// MagnetMap[1] /= norm;
|
||||
// MagnetMap[2] /= norm;
|
||||
//
|
||||
//// compare Applications of Magnetic Sensors for Low Cost Compass Systems by Michael J. Caruso
|
||||
//// for the compensated Yaw equations...
|
||||
//// http://www.ssec.honeywell.com/magnetic/datasheets/lowcost.pdf
|
||||
// Yaw = atan2(-(MagnetMap[1] * cos(accelProfile.rollAngle) +
|
||||
// MagnetMap[2] * sin(accelProfile.rollAngle)),
|
||||
// MagnetMap[0] * cos(accelProfile.pitchAngle) +
|
||||
// MagnetMap[1] * sin(accelProfile.pitchAngle) * sin(accelProfile.rollAngle) +
|
||||
// MagnetMap[2] * sin(accelProfile.rollAngle) * cos(accelProfile.pitchAngle));
|
||||
// YawU = atan2(MagnetMap[1], MagnetMap[0]);
|
||||
//
|
||||
// float XH;
|
||||
// XH = (compass_data.y * cos(accelProfile.pitchAngle * (3.141592 / 180))) +
|
||||
// (compass_data.x * sin(accelProfile.pitchAngle * (3.141592 / 180)) * sin(accelProfile.rollAngle * (3.141592 / 180))) +
|
||||
// (compass_data.z * cos(accelProfile.pitchAngle * (3.141592 / 180)) * sin(accelProfile.rollAngle * (3.141592 / 180)));
|
||||
// float YH;
|
||||
// YH = (compass_data.x * cos(accelProfile.rollAngle * (3.141592 / 180))) +
|
||||
// (compass_data.z * sin(accelProfile.rollAngle * (3.141592 / 180)));
|
||||
//
|
||||
// Yaw = atan2f(-YH, XH);
|
||||
// YawU = atan2f(-compass_data.x, compass_data.y);
|
||||
}
|
||||
@ -43,8 +43,6 @@
|
||||
//BRR
|
||||
#define USART_BRR(_PCLK_, _BAUD_) ((_PCLK_ /(_BAUD_ * 16)) * 16) // Calculate BRR from the desired baud rate
|
||||
|
||||
/* Stores last DMA buffer address from "usart_get_dma_buffer". Is used to compare if data read is new or old */
|
||||
uint8_t * prevBuf = NULL;
|
||||
|
||||
/***********************************************************************
|
||||
* BRIEF: Initialize the USART with DMA reception of messages
|
||||
@ -84,7 +82,7 @@ bool usart_init_dma(USART_TypeDef* usart_inst, // The USART instance to be
|
||||
}
|
||||
else if(usart_inst == USART6)
|
||||
{
|
||||
dma_rx_instance = DMA2_Stream2;
|
||||
dma_rx_instance = DMA2_Stream1;
|
||||
dma_tx_instance = DMA2_Stream6;
|
||||
channel = DMA_CHANNEL_5;
|
||||
}
|
||||
@ -112,6 +110,7 @@ bool usart_init_dma(USART_TypeDef* usart_inst, // The USART instance to be
|
||||
// Set the DMA instances in the USART profile
|
||||
profile_out->dma_usart_rx_instance = dma_rx_instance;
|
||||
profile_out->dma_usart_tx_instance = dma_tx_instance;
|
||||
profile_out->dma_rx_prev_buffer = NULL;
|
||||
|
||||
// Enable the DMA on the USARTon register level
|
||||
profile_out->usart_pro.usart_instance->CR3 |= DMAR | DMAT;
|
||||
@ -404,8 +403,8 @@ dma_usart_return usart_get_dma_buffer(usart_dma_profile *profile)
|
||||
{
|
||||
data.buff = profile->dma_rx_buffer2;
|
||||
}
|
||||
data.new_data = (data.buff != prevBuf);
|
||||
prevBuf = data.buff;
|
||||
data.new_data = (data.buff != profile->dma_rx_prev_buffer);
|
||||
profile->dma_rx_prev_buffer = data.buff;
|
||||
|
||||
return data;
|
||||
}
|
||||
|
||||
@ -28,7 +28,8 @@
|
||||
#include "drivers/motormix.h"
|
||||
#include "drivers/motors.h"
|
||||
#include "Flight/pid.h"
|
||||
#include "drivers/barometer.h"#include "drivers/arduino_com.h"
|
||||
#include "drivers/barometer.h"
|
||||
#include "drivers/arduino_com.h"
|
||||
#include "drivers/beeper.h"
|
||||
|
||||
/**************************************************************************
|
||||
@ -65,6 +66,9 @@ void init_system()
|
||||
//init sbus, using USART1
|
||||
sbus_init();
|
||||
|
||||
arduinoCom_init(USART6);
|
||||
// uart1_rx_inverter_init(false);
|
||||
|
||||
|
||||
#ifdef USE_LEDS
|
||||
//Initialize the on board leds
|
||||
|
||||
@ -42,6 +42,7 @@
|
||||
#include "drivers/motormix.h"
|
||||
#include "Flight/pid.h"
|
||||
#include "drivers/barometer.h"
|
||||
#include "drivers/arduino_com.h"
|
||||
#include "drivers/beeper.h"
|
||||
|
||||
void systemTaskGyroPid(void)
|
||||
@ -222,6 +223,12 @@ void systemTaskBattery(void)
|
||||
ledOffInverted(Led0_PIN, Led0_GPIO_PORT);
|
||||
}
|
||||
|
||||
void systemTaskArduino(void)
|
||||
{
|
||||
arduino_read();
|
||||
arduino_send_sensor_values();
|
||||
}
|
||||
|
||||
void systemTaskBaro(void)
|
||||
{
|
||||
barometer_CaclulateValues();
|
||||
|
||||
Reference in New Issue
Block a user