philip/MDH-UAV-Control-System
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Added small fixes, also added beeber. Beeber dont seem to work needs fixing.

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This commit is contained in:
Jonas Holmberg 2016-11-15 09:13:47 +01:00
parent 84b3a729e1
commit 7333665fc6
12 changed files with 99 additions and 23 deletions
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4
UAV-ControlSystem/inc/Scheduler/scheduler.h
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@ -122,8 +122,8 @@ typedef enum
#if defined(BARO) || defined(SONAR)
TASK_ALTITUDE,
#endif
#if BEEPER
TASK_BEEPER
#ifdef BEEPER
TASK_BEEPER,
#endif
//Debug tasks, ONLY to be used when testing

2
UAV-ControlSystem/inc/config/eeprom.h
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@ -174,7 +174,7 @@ typedef enum {
#if defined(BARO) || defined(SONAR)
EEPROM_PERIOD_ALTITUDE,
#endif
#if BEEPER
#ifdef BEEPER
EEPROM_PERIOD_BEEPER,
#endif

19
UAV-ControlSystem/inc/drivers/beeper.h Normal file
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@ -0,0 +1,19 @@
/*
* beeper.h
*
* Created on: 14 nov. 2016
* Author: holmis
*/
#ifndef DRIVERS_BEEPER_H_
#define DRIVERS_BEEPER_H_
#include "stm32f4xx_revo.h"
void initBeeper(uint16_t led_pin, GPIO_TypeDef* led_port);
void busyWaitBeep(uint16_t beepTimeMs);
#endif /* DRIVERS_BEEPER_H_ */

5
UAV-ControlSystem/inc/stm32f4xx_revo.h
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@ -156,8 +156,9 @@
/* Beeper */
//#define BEEPER
#define BEEPER
#define BEEPER_PIN 12
#define BEEPER_PORT GPIOB
/* Define all the moter of the system, servos + extra */

2
UAV-ControlSystem/inc/system_variables.h
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@ -14,7 +14,7 @@
#ifndef SYSTEM_VARIABLES_H_
#define SYSTEM_VARIABLES_H_
#define EEPROM_SYS_VERSION 109
#define EEPROM_SYS_VERSION 110
#define ADC_STATE
#include "stm32f4xx.h"

2
UAV-ControlSystem/src/Scheduler/scheduler.c
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@ -359,7 +359,7 @@ void initSchedulerTasks(void)
enableTask(TASK_ALTITUDE, true);
#endif
#if BEEPER
#ifdef BEEPER
enableTask(TASK_BEEPER, true);
#endif
}

4
UAV-ControlSystem/src/config/cli.c
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@ -198,7 +198,7 @@ typedef enum
#if defined(BARO) || defined(SONAR)
COMMAND_ID_PERIOD_ALTITUDE,
#endif
#if BEEPER
#ifdef BEEPER
COMMAND_ID_PERIOD_BEEPER,
#endif
@ -414,7 +414,7 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
"task_period_altitude", COMMAND_ID_PERIOD_ALTITUDE, EEPROM_PERIOD_ALTITUDE, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_32, .valueRange = {0, 1000000000}
},
#endif
#if BEEPER
#ifdef BEEPER
[COMMAND_ID_PERIOD_BEEPER] =
{
"task_period_beeper", COMMAND_ID_PERIOD_BEEPER, EEPROM_PERIOD_BEEPER, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_32, .valueRange = {0, 1000000000}

2
UAV-ControlSystem/src/config/eeprom.c
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@ -189,7 +189,7 @@ EEPROM_DATA_t eeprom_sys_Arr[EEPROM_SYS_COUNT] = {
.dataPtr = &(SystemTasks[TASK_ALTITUDE].desiredPeriod),
},
#endif
#if BEEPER
#ifdef BEEPER
[EEPROM_PERIOD_BEEPER] =
{
.size = sizeof(SystemTasks[TASK_BEEPER].desiredPeriod),

34
UAV-ControlSystem/src/drivers/beeper.c Normal file
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@ -0,0 +1,34 @@
/*
* beeper.c
*
* Created on: 14 nov. 2016
* Author: holmis
*/
#include "drivers/beeper.h"
uint16_t beeperPin;
GPIO_TypeDef* beeperPort;
void initBeeper(uint16_t led_pin, GPIO_TypeDef* led_port)
{
beeperPin = led_pin;
beeperPort = led_port;
GPIO_InitTypeDef gpinit;
gpinit.Pin = led_pin;
gpinit.Mode = GPIO_MODE_OUTPUT_OD;
gpinit.Pull = GPIO_NOPULL;
gpinit.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(led_port, &gpinit);
}
void busyWaitBeep(uint16_t beepTimeMs)
{
/* If you use this in the scheduled part of the code, you might face a problem with a little bit of a crash ok? */
HAL_GPIO_WritePin(beeperPort, beeperPin, SET);
HAL_Delay(beepTimeMs);
HAL_GPIO_WritePin(beeperPort, beeperPin, RESET);
}

35
UAV-ControlSystem/src/drivers/motormix.c
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@ -74,17 +74,30 @@ typedef struct {
*/
static const motorMixer_s mixerUAV[] = {
/* Throttle, Roll, Pitch, Yaw */
//
// { 1.0f, 1.0f, 1.0f, -1.0f}, //M1
// { 1.0f, 1.0f, 1.0f, 1.0f}, //M2
// { 1.0f, 0.0f, 1.0f, 0.0f}, //M3
// { 1.0f, 0.0f, 1.0f, 0.0f}, //M4
// { 1.0f, -1.0f, 1.0f, 1.0f}, //M5
// { 1.0f, -1.0f, 1.0f, -1.0f}, //M6
// { 1.0f, 1.0f, -1.0f, 1.0f}, //M7
// { 1.0f, 1.0f, -1.0f, -1.0f}, //M8
// { 1.0f, -1.0f, -1.0f, -1.0f}, //M9
// { 1.0f, -1.0f, -1.0f, 1.0f}, //M10
{ 1.0f, 1.0f, 1.0f, -1.0f}, //M1
{ 1.0f, 1.0f, 1.0f, 1.0f}, //M2
{ 1.0f, 0.0f, 1.0f, 0.0f}, //M3
{ 1.0f, 0.0f, 1.0f, 0.0f}, //M4
{ 1.0f, -1.0f, 1.0f, 1.0f}, //M5
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M2
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M3
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M4
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M5
{ 1.0f, -1.0f, 1.0f, -1.0f}, //M6
{ 1.0f, 1.0f, -1.0f, 1.0f}, //M7
{ 1.0f, 1.0f, -1.0f, -1.0f}, //M8
{ 1.0f, -1.0f, -1.0f, -1.0f}, //M9
{ 1.0f, -1.0f, -1.0f, 1.0f}, //M10
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M7
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M8
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M9
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M10
};
@ -183,7 +196,11 @@ void mix()
// Now we add desired throttle
for (int i = 0; i < MOTOR_COUNT; i++)
// Constrain in within the regulation of the mix - OBS. Constrain can be removed. Just to make sure
motor_output[i] = RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax);
// TODO: This line is backup as we discovered that motors could stop at times in airmode on M-UAV. But we have not seen this before
//motor_output[i] = RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax);
motor_output[i] = constrain(RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax), throttleMin, throttleMax);
}
else // Mixer full scale NOT active
{

8
UAV-ControlSystem/src/main.c
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@ -29,6 +29,7 @@
#include "drivers/motors.h"
#include "Flight/pid.h"
#include "drivers/barometer.h"#include "drivers/arduino_com.h"
#include "drivers/beeper.h"
/**************************************************************************
* BRIEF: Should contain all the initializations of the system, needs to
@ -96,8 +97,8 @@ void init_system()
#endif
#if BEEPER
#ifdef BEEPER
initBeeper(BEEPER_PIN, BEEPER_PORT);
#endif
@ -120,6 +121,9 @@ int main(void)
//Light the yellow led
ledOnInverted(Led1, Led1_GPIO_PORT);
//beep that it has been initialized
busyWaitBeep(1000);
//Initialize the scheduler, add all the tasks that should run to the ready queue of the scheduler
initScheduler();

1
UAV-ControlSystem/src/tasks_main.c
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@ -42,6 +42,7 @@
#include "drivers/motormix.h"
#include "Flight/pid.h"
#include "drivers/barometer.h"
#include "drivers/beeper.h"
void systemTaskGyroPid(void)
{