Mateusz Kaduk
FRDM-Copter is an attempt to build firmware for mbed based multicopter running on FRDM boards from Freescale.
Dependencies: FXAS21000 FXOS8700Q PID mbed-dsp mbed-rtos mbed
FRDM-Copter
Hardware
So far the following boards are used:
In addition I am planning on using:
- FRDM-CR20A 2.4Ghz module for communication with Frsky Taranis X9D+
Implementation
I decided to use mbed platform as it allows easy CMSIS-DAP debugging and firmware can be easily ported to other mbed enabled devices in future.
Phase 1
Sensor fusion will be implemented and estimated orientation plotted over blue-tooth in the Android application.
Phase 2
PID controller will be used to maintain orientation and control the motors using PWM channels, tuning will be possible in the Android application.
Phase 3
Controll will be implemented with CR20A 2.4Ghz module for use with Frsky Taranis.
Phase 4
All schematics will be transferred to KiCad on a single board.
Revision 0:ec519775ae6f, committed 2015-07-08
- Comitter:
- Mashu
- Date:
- Wed Jul 08 13:35:50 2015 +0000
- Child:
- 1:b55a0bb3a4f4
- Commit message:
- Updated frdm-copter with tested sensors including gyro sampling at 50Hz.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FXAS21000.lib Wed Jul 08 13:35:50 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/JimCarver/code/FXAS21000/#41bd7f360406
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FXOS8700Q.lib Wed Jul 08 13:35:50 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/Freescale/code/FXOS8700Q/#aee7dea904e2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.lib Wed Jul 08 13:35:50 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/aberk/code/PID/#6e12a3e5af19
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jul 08 13:35:50 2015 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "MotionSensor.h"
+#include "FXAS21000.h"
+#include "FXOS8700Q.h"
+
+#include <BLE.h>
+#include <BLEInstanceBase.h>
+#include "UARTService.h"
+
+Serial pc(USBTX, USBRX);
+I2C i2c(PTE25, PTE24);
+I2C i2c_gyro(A4, A5);
+
+FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1); // Configured for the FRDM-K64F with onboard sensors
+FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
+FXAS21000Gyroscpe gyro(i2c_gyro, FXAS21000_SLAVE_ADDR);
+
+BLEDevice ble;
+UARTService *uart;
+
+void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
+{
+ ble.startAdvertising();
+}
+
+void periodicCallback(void)
+{
+}
+
+int main(void)
+{
+ motion_data_units_t acc_data, mag_data, gyro_data;
+
+ acc.enable();
+ mag.enable();
+ gyro.enable();
+ //printf("FXOS8700QAccelerometer Who Am I= %X\r\n", acc.whoAmI());
+ //printf("FXOS8700QMagnetometer Who Am I= %X\r\n", acc.whoAmI());
+ //printf("FXAS21000Gyroscope Who am I= %X\r\n", gyro.whoAmI());
+
+ Ticker ticker;
+ ticker.attach(periodicCallback, 1);
+
+ ble.init();
+ ble.onDisconnection(disconnectionCallback);
+
+ uart = new UARTService(ble);
+
+ /* setup advertising */
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+ ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
+ (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+ (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
+
+ ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
+ ble.startAdvertising();
+
+ while (true) {
+ // unit based results
+ acc.getAxis(acc_data);
+ mag.getAxis(mag_data);
+ gyro.getAxis(gyro_data);
+ /*
+ printf("%1.4f,%1.4f,%1.4f,%4.1f,%4.1f,%4.1f,%1.4f,%1.4f,%1.4f\r\n", acc_data.x, acc_data.y, acc_data.z, mag_data.x, mag_data.y, mag_data.z,
+ gyro_data.x, gyro_data.y, gyro_data.z);
+ */
+
+ printf("%1.4f,%1.4f,%1.4f\r\n", gyro_data.x, gyro_data.y, gyro_data.z);
+ ble.waitForEvent();
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-dsp.lib Wed Jul 08 13:35:50 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/mbed-official/code/mbed-dsp/#7a284390b0ce
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Wed Jul 08 13:35:50 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#e695cd34556b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jul 08 13:35:50 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7cff1c4259d7 \ No newline at end of file