Diff: main.cpp
- Revision:
- 14:cf260677ecde
- Parent:
- 13:4737ee9ebfee
- Child:
- 15:753c5d6a63b3
--- a/main.cpp Thu Oct 25 19:27:56 2012 +0000
+++ b/main.cpp Sat Oct 27 10:53:43 2012 +0000
@@ -4,64 +4,64 @@
#include "L3G4200D.h" // Gyro (Gyroscope)
#include "ADXL345.h" // Acc (Accelerometer)
#include "HMC5883.h" // Comp (Compass)
-#include "BMP085.h" // Alt (Altitude sensor)
+#include "BMP085_old.h" // Alt (Altitude sensor)
#include "RC_Channel.h" // RemoteControl Chnnels with PPM
#include "Servo.h" // Motor PPM
#include "PID.h" // PID Library by Aaron Berk
#include "IntCtrl.h" // Interrupt Control by Roland Elmiger
-#define PI 3.1415926535897932384626433832795
-#define Rad2Deg 57.295779513082320876798154814105
-#define RATE 0.02 // speed of Ticker/PID
-
-//#define COMPASSCALIBRATE decomment if you want to calibrate the Compass on start
+#define PI 3.1415926535897932384626433832795 // ratio of a circle's circumference to its diameter
+#define Rad2Deg 57.295779513082320876798154814105 // ratio between radians and degree (360/2Pi)
+#define RATE 0.0007 // speed of the interrupt for Sensors and PID
-Timer GlobalTimer; // global time to calculate processing speed
-Ticker Datagetter; // timecontrolled interrupt to get data form IMU and RC
-PID controller(1.0, 0.0, 0.0, RATE); // test PID controller for throttle
-PID pid(1.0, 1.0, 0.0, RATE); // test PID controller for throttle
-//PID P:3,0 bis 3,5 I:0,010 und 0,050 D:5 und 25
+//#define COMPASSCALIBRATE // decomment if you want to calibrate the Compass on start
-// initialisation of hardware
+Timer GlobalTimer; // global time to calculate processing speed
+Ticker Datagetter; // timecontrolled interrupt to get data form IMU and RC
+
+// initialisation of hardware (see includes for more info)
LED LEDs;
PC pc(USBTX, USBRX, 57600);
L3G4200D Gyro(p28, p27);
ADXL345 Acc(p28, p27);
HMC5883 Comp(p28, p27);
-BMP085 Alt(p28, p27);
+BMP085_old Alt(p28, p27);
RC_Channel RC[] = {(p11), (p12), (p13), (p14)}; // noooo p19/p20!!!!
Servo Motor[] = {(p15), (p16), (p17), (p18)};
-// variables for loop
-unsigned long dt_get_data = 0;
+PID controller(1.0, 0.0, 0.0, RATE); // test PID controller for throttle
+PID pid(1.0, 1.0, 0.0, RATE); // test PID controller for throttle
+//PID P:3,0 bis 3,5 I:0,010 und 0,050 D:5 und 25
+
+
+// global varibles
+unsigned long dt_get_data = 0; // TODO: dt namen
unsigned long time_get_data = 0;
unsigned long dt_read_sensors = 0;
unsigned long time_read_sensors = 0;
-float angle[3] = {0,0,0}; // angle 0: x,roll / 1: y,pitch / 2: z,yaw
-float tempangle = 0;
-int Motorvalue[3];
-
+float angle[3] = {0,0,0}; // calculated values of the position [0: x,roll | 1: y,pitch | 2: z,yaw]
+float tempangle = 0; // temporärer winkel für yaw ohne kompass
float pidtester;
-void get_Data()
+void get_Data() // method which is called by the Ticker Datagetter every RATE seconds
{
time_read_sensors = GlobalTimer.read_us();
- GPIO_IntDisable(0, 18, 2); // abschalten der Pins 11-14 mit Göttis library
+ // read data from sensors
+ /*GPIO_IntDisable(0, 18, 2); // abschalten der Pins 11-14 mit Göttis library
GPIO_IntDisable(0, 17, 2);
GPIO_IntDisable(0, 16, 2);
- GPIO_IntDisable(0, 15, 2);
+ GPIO_IntDisable(0, 15, 2);*/
//__disable_irq(); // test, deactivate all interrupts, I2C working?
- // read data from sensors
- Gyro.read(); // einzeln testen! mit LEDs
- Acc.read();
- Comp.read();
+ Gyro.read();
+ //Acc.read();
+ //Comp.read();
//Alt.Update(); TODO braucht zu lange zum auslesen!
//__enable_irq();
- GPIO_IntEnable(0, 18, 2); // schaltet enable wirklich wieder ein?? änderungsbedarf??
+ /*GPIO_IntEnable(0, 18, 2); // schaltet die PINs wieder ein
GPIO_IntEnable(0, 17, 2);
GPIO_IntEnable(0, 16, 2);
- GPIO_IntEnable(0, 15, 2);
+ GPIO_IntEnable(0, 15, 2);*/
dt_read_sensors = GlobalTimer.read_us() - time_read_sensors;
@@ -86,9 +86,11 @@
*/
}
-
-int main() {
- //NVIC_SetPriority(TIMER3_IRQn, 2); // set priorty of tickers below hardware interrupts
+int main() { // main programm only used for initialisation and debug output
+ NVIC_SetPriority(TIMER3_IRQn, 2); // set priorty of tickers below hardware interrupts
+ /*NVIC_SetPriority(I2C0_IRQn, 1); //I2C Priorität?
+ NVIC_SetPriority(I2C1_IRQn, 1);
+ NVIC_SetPriority(I2C2_IRQn, 1);*/
#ifdef COMPASSCALIBRATE
pc.locate(10,5);
@@ -101,7 +103,7 @@
pc.printf("Flybed v0.2");
LEDs.roll(2);
- // Start!
+ // Start! TODO: Motor und RC start (armed....?)
GlobalTimer.start();
Datagetter.attach(&get_Data, RATE); // start to get data all RATEms
@@ -117,27 +119,27 @@
pc.locate(10,12);
pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
pc.locate(10,13);
- pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]);
+ //pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private
pc.locate(10,15);
pc.printf("pidtester: %6.1f RC: %d %d %d %d ", pidtester, RC[0].read(), RC[1].read(), RC[2].read(), RC[3].read());
pc.locate(10,19);
- pc.printf("RC0: %d :[", RC[0].read());
+ pc.printf("RC0: %4d :[", RC[0].read());
for (int i = 0; i < (RC[0].read() - 1000)/17; i++)
pc.printf("=");
pc.printf(" ");
pc.locate(10,20);
- pc.printf("RC1: %d :[", RC[1].read());
+ pc.printf("RC1: %4d :[", RC[1].read());
for (int i = 0; i < (RC[1].read() - 1000)/17; i++)
pc.printf("=");
pc.printf(" ");
pc.locate(10,21);
- pc.printf("RC2: %d :[", RC[2].read());
+ pc.printf("RC2: %4d :[", RC[2].read());
for (int i = 0; i < (RC[2].read() - 1000)/17; i++)
pc.printf("=");
pc.printf(" ");
pc.locate(10,22);
- pc.printf("RC3: %d :[", RC[3].read());
+ pc.printf("RC3: %4d :[", RC[3].read());
for (int i = 0; i < (RC[3].read() - 1000)/17; i++)
pc.printf("=");
pc.printf(" ");
Matthias Grob
