Mateusz Kaduk / Mbed 2 deprecated frdm-copter

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:

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.

Files at this revision

API Documentation at this revision

Revision 2:05aaa453fbac, committed 2015-07-08

Comitter:
Mashu
Date:
Wed Jul 08 14:35:47 2015 +0000
Parent:
1:b55a0bb3a4f4
Commit message:
Removed not working BLE_API

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Jul 08 13:38:12 2015 +0000
+++ b/main.cpp	Wed Jul 08 14:35:47 2015 +0000
@@ -4,10 +4,6 @@
 #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);
@@ -15,19 +11,7 @@
 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;
@@ -38,26 +22,7 @@
     //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);
@@ -69,6 +34,6 @@
         */
      
         printf("%1.4f,%1.4f,%1.4f\r\n", gyro_data.x, gyro_data.y, gyro_data.z);
-        ble.waitForEvent();
+        wait(0.5f);
     }
 }
\ No newline at end of file