//Initialize all the peripherals
void init_peripherals(void)
{
//Hardware modules:
init_systick_timer(); //SysTick timer
init_usart1(2000000); //USART1 (RS-485 #1)
init_usart6(2000000); //USART6 (RS-485 #2)
init_rs485_outputs();
init_leds();
init_switches();
init_dio(); //All inputs by default
init_adc1();
init_spi4(); //Plan
//init_spi5(); //FLASH
//init_spi6(); //Expansion
init_i2c1();
init_imu();
init_adva_fc_pins();
init_pwr_out();
//Software:
init_master_slave_comm();
//All RGB LEDs OFF
LEDR(0); LEDG(0); LEDB(0);
//Default analog input states:
set_default_analog();
}
int main(int argc,char **argv) {
int i; //iterator
pid *x,*y,*z; //structs representing 3 pid controllers
imu_t *imu;
fd_set net_set;
double oldmag,magdiff;
struct timeval timeout;
int axes[4]={0,0,0,0};
int x_adjust,y_adjust,z_adjust;
int sock = init_net();
register_int();
x=init_pid(3500,000,000);
y=init_pid(3400,000,1000);
z=init_pid(000,000,000);
timeout.tv_sec=0;
timeout.tv_usec=REFRESH_TIME;
for(i=0;i<4;i++) { //initialize PWM modules
motors[i]=init_pwm(i);
}
imu = init_imu();
update_imu(imu);
oldmag=imu->mpu.fusedEuler[VEC3_Z] * RAD_TO_DEGREE;
while(1) {
////printf("loop\n");
FD_ZERO(&net_set);
FD_SET(sock,&net_set);
if(select(sock+1,&net_set,(fd_set *) 0,(fd_set *) 0, &timeout)==1) {
////printf("reading from the socket\n");
//read from sock
if(!update_axis(sock,axes)) {
break;
}
} else {
////printf("reading from the imu\n");
//update imu
update_imu(imu);
timeout.tv_sec=0;
timeout.tv_usec=REFRESH_TIME;
magdiff=imu->mpu.fusedEuler[VEC3_Z] * RAD_TO_DEGREE-oldmag;
if(magdiff>300) {
magdiff-=360;
}
if(magdiff<-300) {
magdiff+=360;
}
x_adjust = update_pid(x,0/*axes[1]*.00061*/,imu->mpu.fusedEuler[VEC3_X] * RAD_TO_DEGREE);
y_adjust = update_pid(y,0/*axes[2]*.00061*/,imu->mpu.fusedEuler[VEC3_Y] * RAD_TO_DEGREE);
//printf("X axis value: %lf\n",imu->mpu.fusedEuler[VEC3_X]*RAD_TO_DEGREE);
//printf("Y axis value: %lf\n",imu->mpu.fusedEuler[VEC3_Y]*RAD_TO_DEGREE);
z_adjust = update_pid(z,axes[3]*.00061,magdiff);
oldmag=imu->mpu.fusedEuler[VEC3_Z] * RAD_TO_DEGREE;
set_duty(motors[0],900000+axes[0]*16-z_adjust-y_adjust+x_adjust);
set_duty(motors[1],900000+axes[0]*16+z_adjust-y_adjust-x_adjust);
set_duty(motors[2],900000+axes[0]*16-z_adjust+y_adjust-x_adjust);
set_duty(motors[3],900000+axes[0]*16+z_adjust+y_adjust+x_adjust);
}
}
exit_fxn(0);
}
/******************************************
***************SETUP*********************
******************************************/
void setup()
{
Serial.begin(115200);
GCS.init(var_info);
Thread::load_tasks(tasks);
// GCS.wait_gcs_connect();
init_radio();
init_imu();
motorsQuad.init();
leds.negate_state(R);
}
// It all starts here:
int main(void) {
// start with default user settings in case there's nothing in eeprom
default_user_settings();
// try to load settings from eeprom
read_user_settings_from_eeprom();
// set our LED as a digital output
lib_digitalio_initpin(LED1_OUTPUT,DIGITALOUTPUT);
//initialize the libraries that require initialization
lib_timers_init();
lib_i2c_init();
// pause a moment before initializing everything. To make sure everything is powered up
lib_timers_delaymilliseconds(100);
// initialize all other modules
init_rx();
init_outputs();
serial_init();
init_gyro();
init_acc();
init_baro();
init_compass();
init_gps();
init_imu();
// set the default i2c speed to 400 KHz. If a device needs to slow it down, it can, but it should set it back.
lib_i2c_setclockspeed(I2C_400_KHZ);
// initialize state
global.state.armed=0;
global.state.calibratingCompass=0;
global.state.calibratingAccAndGyro=0;
global.state.navigationMode=NAVIGATION_MODE_OFF;
global.failsafeTimer=lib_timers_starttimer();
// run loop
for(;;) {
// check to see what switches are activated
check_checkbox_items();
// check for config program activity
serial_check_for_action();
calculate_timesliver();
// run the imu to estimate the current attitude of the aircraft
imu_calculate_estimated_attitude();
// arm and disarm via rx aux switches
if (global.rxValues[THROTTLE_INDEX]<FPSTICKLOW) { // see if we want to change armed modes
if (!global.state.armed) {
if (global.activeCheckboxItems & CHECKBOX_MASK_ARM) {
global.state.armed=1;
#if (GPS_TYPE!=NO_GPS)
navigation_set_home_to_current_location();
#endif
global.home.heading=global.currentEstimatedEulerAttitude[YAW_INDEX];
global.home.location.altitude=global.baroRawAltitude;
}
} else if (!(global.activeCheckboxItems & CHECKBOX_MASK_ARM)) global.state.armed=0;
}
#if (GPS_TYPE!=NO_GPS)
// turn on or off navigation when appropriate
if (global.state.navigationMode==NAVIGATION_MODE_OFF) {
if (global.activeCheckboxItems & CHECKBOX_MASK_RETURNTOHOME) { // return to home switch turned on
navigation_set_destination(global.home.location.latitude,global.home.location.longitude);
global.state.navigationMode=NAVIGATION_MODE_RETURN_TO_HOME;
} else if (global.activeCheckboxItems & CHECKBOX_MASK_POSITIONHOLD) { // position hold turned on
navigation_set_destination(global.gps.currentLatitude,global.gps.currentLongitude);
global.state.navigationMode=NAVIGATION_MODE_POSITION_HOLD;
}
} else { // we are currently navigating
// turn off navigation if desired
if ((global.state.navigationMode==NAVIGATION_MODE_RETURN_TO_HOME && !(global.activeCheckboxItems & CHECKBOX_MASK_RETURNTOHOME)) || (global.state.navigationMode==NAVIGATION_MODE_POSITION_HOLD && !(global.activeCheckboxItems & CHECKBOX_MASK_POSITIONHOLD))) {
global.state.navigationMode=NAVIGATION_MODE_OFF;
// we will be turning control back over to the pilot.
reset_pilot_control();
}
}
#endif
// read the receiver
read_rx();
// turn on the LED when we are stable and the gps has 5 satelites or more
#if (GPS_TYPE==NO_GPS)
lib_digitalio_setoutput(LED1_OUTPUT, (global.state.stable==0)==LED1_ON);
#else
lib_digitalio_setoutput(LED1_OUTPUT, (!(global.state.stable && global.gps.numSatelites>=5))==LED1_ON);
#endif
// get the angle error. Angle error is the difference between our current attitude and our desired attitude.
// It can be set by navigation, or by the pilot, etc.
fixedpointnum angleError[3];
// let the pilot control the aircraft.
get_angle_error_from_pilot_input(angleError);
#if (GPS_TYPE!=NO_GPS)
// read the gps
unsigned char gotNewGpsReading=read_gps();
// if we are navigating, use navigation to determine our desired attitude (tilt angles)
if (global.state.navigationMode!=NAVIGATION_MODE_OFF) { // we are navigating
navigation_set_angle_error(gotNewGpsReading,angleError);
}
#endif
if (global.rxValues[THROTTLE_INDEX]<FPSTICKLOW) {
// We are probably on the ground. Don't accumnulate error when we can't correct it
reset_pilot_control();
// bleed off integrated error by averaging in a value of zero
lib_fp_lowpassfilter(&global.integratedAngleError[ROLL_INDEX],0L,global.timesliver>>TIMESLIVEREXTRASHIFT,FIXEDPOINTONEOVERONEFOURTH,0);
lib_fp_lowpassfilter(&global.integratedAngleError[PITCH_INDEX],0L,global.timesliver>>TIMESLIVEREXTRASHIFT,FIXEDPOINTONEOVERONEFOURTH,0);
lib_fp_lowpassfilter(&global.integratedAngleError[YAW_INDEX],0L,global.timesliver>>TIMESLIVEREXTRASHIFT,FIXEDPOINTONEOVERONEFOURTH,0);
}
#ifndef NO_AUTOTUNE
// let autotune adjust the angle error if the pilot has autotune turned on
if (global.activeCheckboxItems & CHECKBOX_MASK_AUTOTUNE) {
if (!(global.previousActiveCheckboxItems & CHECKBOX_MASK_AUTOTUNE)) {
autotune(angleError,AUTOTUNE_STARTING); // tell autotune that we just started autotuning
} else {
autotune(angleError,AUTOTUNE_TUNING); // tell autotune that we are in the middle of autotuning
}
} else if (global.previousActiveCheckboxItems & CHECKBOX_MASK_AUTOTUNE) {
autotune(angleError,AUTOTUNE_STOPPING); // tell autotune that we just stopped autotuning
}
#endif
// This gets reset every loop cycle
// keep a flag to indicate whether we shoud apply altitude hold. The pilot can turn it on or
// uncrashability/autopilot mode can turn it on.
global.state.altitudeHold=0;
if (global.activeCheckboxItems & CHECKBOX_MASK_ALTHOLD) {
global.state.altitudeHold=1;
if (!(global.previousActiveCheckboxItems & CHECKBOX_MASK_ALTHOLD)) {
// we just turned on alt hold. Remember our current alt. as our target
global.altitudeHoldDesiredAltitude=global.altitude;
global.integratedAltitudeError=0;
}
}
fixedpointnum throttleOutput;
#ifndef NO_AUTOPILOT
// autopilot is available
if (global.activeCheckboxItems & CHECKBOX_MASK_AUTOPILOT) {
if (!(global.previousActiveCheckboxItems & CHECKBOX_MASK_AUTOPILOT)) {
// let autopilot know to transition to the starting state
autopilot(AUTOPILOT_STARTING);
} else {
// autopilot normal run state
autopilot(AUTOPILOT_RUNNING);
}
} else if (global.previousActiveCheckboxItems & CHECKBOX_MASK_AUTOPILOT) {
// tell autopilot that we just stopped autotuning
autopilot(AUTOPILOT_STOPPING);
} else {
// get the pilot's throttle component
// convert from fixedpoint -1 to 1 to fixedpoint 0 to 1
throttleOutput=(global.rxValues[THROTTLE_INDEX]>>1)+FIXEDPOINTCONSTANT(.5)+FPTHROTTLETOMOTOROFFSET;
}
#else
// get the pilot's throttle component
// convert from fixedpoint -1 to 1 to fixedpoint 0 to 1
throttleOutput=(global.rxValues[THROTTLE_INDEX]>>1)+FIXEDPOINTCONSTANT(.5)+FPTHROTTLETOMOTOROFFSET;
#endif
#ifndef NO_UNCRASHABLE
uncrashable(gotNewGpsReading,angleError,&throttleOutput);
#endif
#if (BAROMETER_TYPE!=NO_BAROMETER)
// check for altitude hold and adjust the throttle output accordingly
if (global.state.altitudeHold) {
global.integratedAltitudeError+=lib_fp_multiply(global.altitudeHoldDesiredAltitude-global.altitude,global.timesliver);
lib_fp_constrain(&global.integratedAltitudeError,-INTEGRATED_ANGLE_ERROR_LIMIT,INTEGRATED_ANGLE_ERROR_LIMIT); // don't let the integrated error get too high
// do pid for the altitude hold and add it to the throttle output
throttleOutput+=lib_fp_multiply(global.altitudeHoldDesiredAltitude-global.altitude,settings.pid_pgain[ALTITUDE_INDEX])-lib_fp_multiply(global.altitudeVelocity,settings.pid_dgain[ALTITUDE_INDEX])+lib_fp_multiply(global.integratedAltitudeError,settings.pid_igain[ALTITUDE_INDEX]);
}
#endif
#ifndef NO_AUTOTHROTTLE
if ((global.activeCheckboxItems & CHECKBOX_MASK_AUTOTHROTTLE) || global.state.altitudeHold) {
if (global.estimatedDownVector[Z_INDEX]>FIXEDPOINTCONSTANT(.3)) {
// Divide the throttle by the throttleOutput by the z component of the down vector
// This is probaly the slow way, but it's a way to do fixed point division
fixedpointnum recriprocal=lib_fp_invsqrt(global.estimatedDownVector[Z_INDEX]);
recriprocal=lib_fp_multiply(recriprocal,recriprocal);
throttleOutput=lib_fp_multiply(throttleOutput-AUTOTHROTTLE_DEAD_AREA,recriprocal)+AUTOTHROTTLE_DEAD_AREA;
}
}
#endif
#ifndef NO_FAILSAFE
// if we don't hear from the receiver for over a second, try to land safely
if (lib_timers_gettimermicroseconds(global.failsafeTimer)>1000000L) {
throttleOutput=FPFAILSAFEMOTOROUTPUT;
// make sure we are level!
angleError[ROLL_INDEX]=-global.currentEstimatedEulerAttitude[ROLL_INDEX];
angleError[PITCH_INDEX]=-global.currentEstimatedEulerAttitude[PITCH_INDEX];
}
#endif
// calculate output values. Output values will range from 0 to 1.0
// calculate pid outputs based on our angleErrors as inputs
fixedpointnum pidOutput[3];
// Gain Scheduling essentialy modifies the gains depending on
// throttle level. If GAIN_SCHEDULING_FACTOR is 1.0, it multiplies PID outputs by 1.5 when at full throttle,
// 1.0 when at mid throttle, and .5 when at zero throttle. This helps
// eliminate the wobbles when decending at low throttle.
fixedpointnum gainSchedulingMultiplier=lib_fp_multiply(throttleOutput-FIXEDPOINTCONSTANT(.5),FIXEDPOINTCONSTANT(GAIN_SCHEDULING_FACTOR))+FIXEDPOINTONE;
for (int x=0;x<3;++x) {
global.integratedAngleError[x]+=lib_fp_multiply(angleError[x],global.timesliver);
// don't let the integrated error get too high (windup)
lib_fp_constrain(&global.integratedAngleError[x],-INTEGRATED_ANGLE_ERROR_LIMIT,INTEGRATED_ANGLE_ERROR_LIMIT);
// do the attitude pid
pidOutput[x]=lib_fp_multiply(angleError[x],settings.pid_pgain[x])-lib_fp_multiply(global.gyrorate[x],settings.pid_dgain[x])+(lib_fp_multiply(global.integratedAngleError[x],settings.pid_igain[x])>>4);
// add gain scheduling.
pidOutput[x]=lib_fp_multiply(gainSchedulingMultiplier,pidOutput[x]);
}
lib_fp_constrain(&throttleOutput,0,FIXEDPOINTONE); // Keep throttle output between 0 and 1
compute_mix(throttleOutput, pidOutput); // aircraft type dependent mixes
#if (NUM_SERVOS>0)
// do not update servos during unarmed calibration of sensors which are sensitive to vibration
if (global.state.armed || (!global.state.calibratingAccAndGyro)) write_servo_outputs();
#endif
write_motor_outputs();
}
virtual void init_sensors(uint16_t& acc1G, float& gyro_scale, int boardVersion, const std::function<void(void)>& imu_updated_callback) override
{
imu_updated_callback_ = imu_updated_callback;
init_imu(acc1G, gyro_scale, boardVersion);
}
void setup(){
init_ros();
init_imu();
init_controller();
init_encoder();
}
//Initialize and enables all the peripherals
void init_peripherals(void)
{
//Motor control variables & peripherals:
init_motor();
//Init Control:
init_ctrl_data_structure();
//Timebases:
init_tb_timers();
//UART 2 - RS-485
init_rs485();
//Analog, expansion port:
init_analog();
//Clutch:
init_clutch();
//Enable Global Interrupts
CyGlobalIntEnable;
//I2C1 (internal, potentiometers, Safety-CoP & IMU)
init_i2c1();
//Peripherals that depend on I2C:
#ifdef USE_I2C_INT
//MPU-6500 IMU:
#ifdef USE_IMU
init_imu();
CyDelay(25);
init_imu();
CyDelay(25);
init_imu();
CyDelay(25);
#endif //USE_IMU
//Strain amplifier:
#ifdef USE_STRAIN
init_strain();
#endif //USE_STRAIN
#endif //USE_I2C_INT
//I2C2 (external)
#ifdef USE_I2C_EXT
//Enable pull-ups:
I2C_OPT_PU_Write(1);
//I2C2 peripheral:
init_i2c2();
//Set RGB LED - Starts Green
i2c_write_minm_rgb(SET_RGB, 0, 255, 0);
#endif //USE_I2C_EXT
//Magnetic encoder:
init_as5047();
// First DieTemp reading is always inaccurate -- throw out the first one
#ifdef USE_DIETEMP
DieTemp_1_GetTemp(&temp);
#endif
//USB CDC
#ifdef USE_USB
init_usb();
#endif //USE_USB
}