/*=====================================================================================================*/
void QCopterFC_Init( void )
{
u8 Sta = ERROR;
SystemInit();
LED_Config();
KEY_Config();
RS232_Config();
Motor_Config();
Sensor_Config();
nRF24L01_Config();
PID_Init(&PID_Yaw);
PID_Init(&PID_Roll);
PID_Init(&PID_Pitch);
PID_Pitch.Kp = +1.5f;
PID_Pitch.Ki = +0.002f;
PID_Pitch.Kd = +1.0f;
PID_Roll.Kp = +1.5f;
PID_Roll.Ki = +0.002f;
PID_Roll.Kd = +1.0f;
PID_Yaw.Kp = +0.0f;
PID_Yaw.Ki = +0.0f;
PID_Yaw.Kd = +0.0f;
RF_SendData.Packet = 0x00;
/* Throttle Config */
if(KEY == KEY_ON) {
LED_B = 0;
BLDC_CtrlPWM(BLDC_PWM_MAX, BLDC_PWM_MAX, BLDC_PWM_MAX, BLDC_PWM_MAX);
}
while(KEY == KEY_ON);
LED_B = 1;
BLDC_CtrlPWM(BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN);
/* nRF Check */
while(Sta == ERROR)
Sta = nRF_Check();
Delay_10ms(10);
/* Sensor Init */
if(Sensor_Init() == SUCCESS)
LED_G = 0;
Delay_10ms(10);
}
/*=====================================================================================================*/
void BLDC_CtrlTHR( s16 BLDC_1, s16 BLDC_2, s16 BLDC_3, s16 BLDC_4 )
{
u16 tempPWM[4] = {0};
if(BLDC_1>BLDC_THR_MAX) BLDC_1 = BLDC_THR_MAX;
else if(BLDC_1<BLDC_THR_MIN) BLDC_1 = BLDC_THR_MIN;
if(BLDC_2>BLDC_THR_MAX) BLDC_2 = BLDC_THR_MAX;
else if(BLDC_2<BLDC_THR_MIN) BLDC_2 = BLDC_THR_MIN;
if(BLDC_3>BLDC_THR_MAX) BLDC_3 = BLDC_THR_MAX;
else if(BLDC_3<BLDC_THR_MIN) BLDC_3 = BLDC_THR_MIN;
if(BLDC_4>BLDC_THR_MAX) BLDC_4 = BLDC_THR_MAX;
else if(BLDC_4<BLDC_THR_MIN) BLDC_4 = BLDC_THR_MIN;
tempPWM[0] = (u16)(BLDC_PWM_MIN + BLDC_1*BLDC_THR_TO_PWM);
tempPWM[1] = (u16)(BLDC_PWM_MIN + BLDC_2*BLDC_THR_TO_PWM);
tempPWM[2] = (u16)(BLDC_PWM_MIN + BLDC_3*BLDC_THR_TO_PWM);
tempPWM[3] = (u16)(BLDC_PWM_MIN + BLDC_4*BLDC_THR_TO_PWM);
BLDC_CtrlPWM(tempPWM[0], tempPWM[1], tempPWM[2], tempPWM[3]);
}
/*====================================================================================================*/
void SysTick_Handler( void )
{
u16 BLDC_M[4] = {0};
s16 Pitch = 0, Roll = 0, Yaw = 0;
static u16 SysTick_Cnt = 0;
static s16 *FIFO_X, *FIFO_Y, *FIFO_Z;
static s16 FIFO_ACC[3][16] = {0}, FIFO_GYR[3][16] = {0}/*, FIFO_MAG[3][16] = {0}*/;
static u32 Correction_Time = 0;
/* Time Count */
if(SysTick_Cnt == SampleRateFreg) {
SysTick_Cnt = 0;
Time_Sec++;
if(Time_Sec == 60) { // 0~59
Time_Sec = 0;
Time_Min++;
if(Time_Sec == 60)
Time_Min = 0;
}
}
SysTick_Cnt++;
/* 500Hz, Read Accelerometer, Gyroscope, Magnetometer */
Sensor_Read(SampleRateFreg);
/* Offset */
Acc.X -= Acc.OffsetX;
Acc.Y -= Acc.OffsetY;
Acc.Z -= Acc.OffsetZ;
Gyr.X -= Gyr.OffsetX;
Gyr.Y -= Gyr.OffsetY;
Gyr.Z -= Gyr.OffsetZ;
// Mag.X *= Mag.AdjustX;
// Mag.Y *= Mag.AdjustY;
// Mag.Z *= Mag.AdjustZ;
// Temp.T -= Temp.OffsetT;
#define MAFIFO_SIZE 250
switch(SEN_STATE) {
/************************** CorrectSelect ***********************************/
case SEN_CORR:
SEN_STATE = (KEY == KEY_ON) ? SEN_GYR : SEN_NUMQ;
break;
/************************** CorrectGyr **************************************/
case SEN_GYR:
switch((u16)(Correction_Time/SampleRateFreg)) {
case 0: // 分配記憶體給 MaveAve 使用
FIFO_X = (s16*)malloc(MAFIFO_SIZE*sizeof(s16));
FIFO_Y = (s16*)malloc(MAFIFO_SIZE*sizeof(s16));
FIFO_Z = (s16*)malloc(MAFIFO_SIZE*sizeof(s16));
memset(FIFO_X, 0, MAFIFO_SIZE*sizeof(s16));
memset(FIFO_Y, 0, MAFIFO_SIZE*sizeof(s16));
memset(FIFO_Z, 0, MAFIFO_SIZE*sizeof(s16));
Correction_Time = SampleRateFreg;
break;
case 1: // 等待 FIFO 填滿靜態資料
/* 移動平均 Simple Moving Average */
Gyr.X = (s16)MoveAve_SMA(Gyr.X, FIFO_X, MAFIFO_SIZE);
Gyr.Y = (s16)MoveAve_SMA(Gyr.Y, FIFO_Y, MAFIFO_SIZE);
Gyr.Z = (s16)MoveAve_SMA(Gyr.Z, FIFO_Z, MAFIFO_SIZE);
Correction_Time++;
break;
case 2: // 釋放記憶體 & 計算陀螺儀偏移量
free(FIFO_X);
free(FIFO_Y);
free(FIFO_Z);
Gyr.OffsetX += (Gyr.X - GYR_X_OFFSET); // 角速度為 0dps
Gyr.OffsetY += (Gyr.Y - GYR_Y_OFFSET); // 角速度為 0dps
Gyr.OffsetZ += (Gyr.Z - GYR_Z_OFFSET); // 角速度為 0dps
Correction_Time = 0;
SEN_STATE = SEN_ACC;
break;
}
break;
/************************** CorrectAcc **************************************/
case SEN_ACC:
switch((u16)(Correction_Time/SampleRateFreg)) {
case 0: // 分配記憶體給 MaveAve 使用
FIFO_X = (s16*)malloc(MAFIFO_SIZE*sizeof(s16));
FIFO_Y = (s16*)malloc(MAFIFO_SIZE*sizeof(s16));
FIFO_Z = (s16*)malloc(MAFIFO_SIZE*sizeof(s16));
memset(FIFO_X, 0, MAFIFO_SIZE*sizeof(s16));
memset(FIFO_Y, 0, MAFIFO_SIZE*sizeof(s16));
memset(FIFO_Z, 0, MAFIFO_SIZE*sizeof(s16));
Correction_Time = SampleRateFreg;
break;
case 1: // 等待 FIFO 填滿靜態資料
/* 移動平均 Simple Moving Average */
Acc.X = (s16)MoveAve_SMA(Acc.X, FIFO_X, MAFIFO_SIZE);
Acc.Y = (s16)MoveAve_SMA(Acc.Y, FIFO_Y, MAFIFO_SIZE);
Acc.Z = (s16)MoveAve_SMA(Acc.Z, FIFO_Z, MAFIFO_SIZE);
Correction_Time++;
break;
case 2: // 釋放記憶體 & 計算加速度計偏移量
free(FIFO_X);
free(FIFO_Y);
free(FIFO_Z);
Acc.OffsetX += (Acc.X - ACC_X_OFFSET); // 重力加速度為 0g
Acc.OffsetY += (Acc.Y - ACC_Y_OFFSET); // 重力加速度為 0g
Acc.OffsetZ += (Acc.Z - ACC_Z_OFFSET); // 重力加速度為 1g
Correction_Time = 0;
// SEN_STATE = SEN_MAG;
SEN_STATE = SEN_NUMQ;
break;
}
break;
/************************** CorrectMag **************************************/
case SEN_MAG:
SEN_STATE = SEN_NUMQ;
break;
/************************** Quaternion **************************************/
case SEN_NUMQ:
switch((u16)(Correction_Time/SampleRateFreg)) {
case 0: // 等待 FIFO 填滿靜態資料
/* 加權移動平均法 Weighted Moving Average */
Acc.X = (s16)MoveAve_WMA(Acc.X, FIFO_ACC[0], 16);
Acc.Y = (s16)MoveAve_WMA(Acc.Y, FIFO_ACC[1], 16);
Acc.Z = (s16)MoveAve_WMA(Acc.Z, FIFO_ACC[2], 16);
Gyr.X = (s16)MoveAve_WMA(Gyr.X, FIFO_GYR[0], 16);
Gyr.Y = (s16)MoveAve_WMA(Gyr.Y, FIFO_GYR[1], 16);
Gyr.Z = (s16)MoveAve_WMA(Gyr.Z, FIFO_GYR[2], 16);
// Mag.X = (s16)MoveAve_WMA(Mag.X, FIFO_MAG[0], 16);
// Mag.Y = (s16)MoveAve_WMA(Mag.Y, FIFO_MAG[1], 16);
// Mag.Z = (s16)MoveAve_WMA(Mag.Z, FIFO_MAG[2], 16);
Correction_Time++;
break;
case 1:
/* 加權移動平均法 Weighted Moving Average */
Acc.X = (s16)MoveAve_WMA(Acc.X, FIFO_ACC[0], 16);
Acc.Y = (s16)MoveAve_WMA(Acc.Y, FIFO_ACC[1], 16);
Acc.Z = (s16)MoveAve_WMA(Acc.Z, FIFO_ACC[2], 16);
Gyr.X = (s16)MoveAve_WMA(Gyr.X, FIFO_GYR[0], 16);
Gyr.Y = (s16)MoveAve_WMA(Gyr.Y, FIFO_GYR[1], 16);
Gyr.Z = (s16)MoveAve_WMA(Gyr.Z, FIFO_GYR[2], 16);
// Mag.X = (s16)MoveAve_WMA(Mag.X, FIFO_MAG[0], 16);
// Mag.Y = (s16)MoveAve_WMA(Mag.Y, FIFO_MAG[1], 16);
// Mag.Z = (s16)MoveAve_WMA(Mag.Z, FIFO_MAG[2], 16);
/* To Physical */
Acc.TrueX = Acc.X*MPU9250A_4g; // g/LSB
Acc.TrueY = Acc.Y*MPU9250A_4g; // g/LSB
Acc.TrueZ = Acc.Z*MPU9250A_4g; // g/LSB
Gyr.TrueX = Gyr.X*MPU9250G_2000dps; // dps/LSB
Gyr.TrueY = Gyr.Y*MPU9250G_2000dps; // dps/LSB
Gyr.TrueZ = Gyr.Z*MPU9250G_2000dps; // dps/LSB
// Mag.TrueX = Mag.X*MPU9250M_4800uT; // uT/LSB
// Mag.TrueY = Mag.Y*MPU9250M_4800uT; // uT/LSB
// Mag.TrueZ = Mag.Z*MPU9250M_4800uT; // uT/LSB
AngE.Pitch = toDeg(atan2f(Acc.TrueY, Acc.TrueZ));
AngE.Roll = toDeg(-asinf(Acc.TrueX));
// AngE.Yaw = toDeg(atan2f(Ellipse[3], Ellipse[4]))+180.0f;
Quaternion_ToNumQ(&NumQ, &AngE);
Correction_Time = 0;
SEN_STATE = SEN_ALG;
break;
}
break;
/************************** Algorithm ***************************************/
case SEN_ALG:
/* 加權移動平均法 Weighted Moving Average */
Acc.X = (s16)MoveAve_WMA(Acc.X, FIFO_ACC[0], 8);
Acc.Y = (s16)MoveAve_WMA(Acc.Y, FIFO_ACC[1], 8);
Acc.Z = (s16)MoveAve_WMA(Acc.Z, FIFO_ACC[2], 8);
Gyr.X = (s16)MoveAve_WMA(Gyr.X, FIFO_GYR[0], 8);
Gyr.Y = (s16)MoveAve_WMA(Gyr.Y, FIFO_GYR[1], 8);
Gyr.Z = (s16)MoveAve_WMA(Gyr.Z, FIFO_GYR[2], 8);
// Mag.X = (s16)MoveAve_WMA(Mag.X, FIFO_MAG[0], 16);
// Mag.Y = (s16)MoveAve_WMA(Mag.Y, FIFO_MAG[1], 16);
// Mag.Z = (s16)MoveAve_WMA(Mag.Z, FIFO_MAG[2], 16);
/* To Physical */
Acc.TrueX = Acc.X*MPU9250A_4g; // g/LSB
Acc.TrueY = Acc.Y*MPU9250A_4g; // g/LSB
Acc.TrueZ = Acc.Z*MPU9250A_4g; // g/LSB
Gyr.TrueX = Gyr.X*MPU9250G_2000dps; // dps/LSB
Gyr.TrueY = Gyr.Y*MPU9250G_2000dps; // dps/LSB
Gyr.TrueZ = Gyr.Z*MPU9250G_2000dps; // dps/LSB
// Mag.TrueX = Mag.X*MPU9250M_4800uT; // uT/LSB
// Mag.TrueY = Mag.Y*MPU9250M_4800uT; // uT/LSB
// Mag.TrueZ = Mag.Z*MPU9250M_4800uT; // uT/LSB
// Temp.TrueT = Temp.T*MPU9250T_85degC; // degC/LSB
/* Get Attitude */
AHRS_Update();
// if((KEY_LL == 1) && (KEY_RR == 1)) { PID_Roll.Kp += 0.001f; PID_Pitch.Kp += 0.001f; }
// if((KEY_LL == 1) && (KEY_RP == 1)) { PID_Roll.Kp -= 0.001f; PID_Pitch.Kp -= 0.001f; }
//// if((KEY_LL == 1) && (KEY_RR == 1)) { PID_Roll.Ki += 0.0001f; PID_Pitch.Ki += 0.0001f; }
//// if((KEY_LL == 1) && (KEY_RR == 1)) { PID_Roll.Ki -= 0.0001f; PID_Pitch.Ki -= 0.0001f; }
// if((KEY_LR == 1) && (KEY_RR == 1)) { PID_Roll.Kd += 0.0001f; PID_Pitch.Kd += 0.0001f; }
// if((KEY_LR == 1) && (KEY_RP == 1)) { PID_Roll.Kd -= 0.0001f; PID_Pitch.Kd -= 0.0001f; }
if(KEY_LL == 1) { PID_Yaw.Kd -= 0.001f; }
if(KEY_LR == 1) { PID_Yaw.Kd += 0.001f; }
/* Get ZeroErr */
PID_Pitch.ZeroErr = (fp32)((s16)EXP_PITCH/4.5f);
PID_Roll.ZeroErr = (fp32)((s16)EXP_ROLL/4.5f);
PID_Yaw.ZeroErr = (fp32)((s16)EXP_YAW)+180.0f;
/* PID */
Roll = (s16)PID_AHRS_Cal(&PID_Roll, AngE.Roll, Gyr.TrueX);
Pitch = (s16)PID_AHRS_Cal(&PID_Pitch, AngE.Pitch, Gyr.TrueY);
Yaw = (s16)(PID_Yaw.Kd*Gyr.TrueZ);
// Roll = 0;
// Pitch = 0;
// Yaw = 0;
/* Motor Ctrl */
BLDC_M[0] = BasicThr + Pitch + Roll + Yaw;
BLDC_M[1] = BasicThr - Pitch + Roll - Yaw;
BLDC_M[2] = BasicThr - Pitch - Roll + Yaw;
BLDC_M[3] = BasicThr + Pitch - Roll - Yaw;
/* Check Connection */
#define NoSignal 1 // 1 sec
if(KEY_RL == 1) {
// Close Thr
PID_Pitch.SumErr = 0.0f;
PID_Roll.SumErr = 0.0f;
PID_Yaw.SumErr = 0.0f;
BLDC_CtrlPWM(BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN);
}
else if(((Time_Sec-RF_RecvData.Time.Sec)>NoSignal) || ((Time_Sec-RF_RecvData.Time.Sec)<-NoSignal))
BLDC_CtrlPWM(BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN);
else if(BasicThr < 900 )
BLDC_CtrlPWM(BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN);
else {
// Thr Ctrl
BLDC_CtrlPWM(BLDC_M[0], BLDC_M[1], BLDC_M[2], BLDC_M[3]);
}
break;
/************************** Error *******************************************/
default:
while(1);
}
}