Revision 0:6038ca525e44, committed 2019-10-08

Comitter:

kcherfou

Date:

Tue Oct 08 00:06:09 2019 +0000

Child:

1:2021161b8fd2

Commit message:

This program is used to control a quadcopter.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050IMU.lib	Tue Oct 08 00:06:09 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/kcherfou/code/MPU6050IMU/#f6975e1a9800

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PwmIn.lib	Tue Oct 08 00:06:09 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/simon/code/PwmIn/#6d68eb9b6bbb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Serial.bld	Tue Oct 08 00:06:09 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 08 00:06:09 2019 +0000
@@ -0,0 +1,439 @@
+
+#include "mbed.h"
+#include "rtos.h"
+#include "MPU6050.h"
+#include "PwmIn.h"
+
+//Functions
+  void PID1(void const *argument); //PID Control
+    void PeriodicInterruptISR(void); //Periodic Timer Interrupt Serive Routine
+    //Processes and Threads
+    osThreadId PiControlId; // Thread ID
+    osThreadDef(PID1, osPriorityRealtime, 1024); // Declare PiControlThread as a thread, highest priority
+
+    void receiver_data();
+//-------------------------------------------------------------------------------------------------------------
+
+//System Definitions:
+    #define PWM_Period   20000 //in micro-seconds
+    #define ESC_ARM      1000 // this set the PWM signal to 50% duty cycle for a signal period of 2000 micro seconds
+    #define dt  0.005          // periodic interrupt each 20 ms... 50 Hz refresh rate of quadcopter motor speeds
+
+
+    // Controller Gains, and boundaries
+    //Roll
+    #define uRollMax    300
+    //Pitch
+    #define uPitchMax   300
+    // Throttle
+    #define MaxThrottle 1600 // 1600 micro seconds
+    #define MinThrottle 1100 // 1100 micro seconds
+    // Yaw
+    #define uYawMax     200
+
+//-------------------------------------------------------------------------------------------------------------
+
+//Port Configuration:
+    // These are PWM In's that define the system's desired points and other control commands
+    // Note: the ports of the following PWM input pins have to be interrupt enabled (Port A and D are the only 
+    // interrupt enabled ports for KL25z).
+    PwmIn  channel1(PTA5);  // Roll
+    PwmIn  channel2(PTA13); // {itch
+    PwmIn  channel3(PTA16); // Throttle
+    PwmIn  channel4(PTA17); // Yaw
+
+    //PWM Outputs
+    // Configuration of motors:
+    // Motor4         Motor1
+    //      .   ^   .
+    //        . | . 
+    //        . | .
+    //      .       .
+    // Motor3         Motor2
+    PwmOut PWM_motor1(PTB3); //PWM Motor1
+    PwmOut PWM_motor3(PTB1); //PWM Motor3
+    PwmOut PWM_motor2(PTB2); //PWM Motor2
+    PwmOut PWM_motor4(PTB0); //PWM Motor4
+    
+    // MPU6050 gyroscope and accelerometer
+    // Note the library MPU6050.h must be modified to match the chosen I2C pins
+    // defined in the hardware design
+   MPU6050 mpu6050; 
+
+    //Timer Interrupts
+    Timer t;
+    Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
+    Serial pc(USBTX, USBRX); // tx, rx
+//-------------------------------------------------------------------------------------------------------------
+
+//Gloabal Variables Definitions: 
+
+    // PID
+    //Throttle
+    float desiredThrottle;
+    //Roll
+    float eRoll, desiredRoll, desRoll, actualRoll, eDerRoll, elastRoll, eIntRoll, uRoll;
+    float KpRoll, KdRoll, KiRoll;
+    //Pitch
+    float ePitch, desiredPitch, desPitch, actualPitch, eDerPitch, elastPitch, eIntPitch, uPitch;
+    float KpPitch, KdPitch, KiPitch;
+    
+    //Yaw
+    float eYaw, desiredYaw, desYaw, actualYaw, eDerYaw, elastYaw, eIntYaw, uYaw;
+    float KpYaw, KdYaw, KiYaw;
+
+    // control speeds of the motors
+    float v1, v2, v3, v4; 
+
+    // Gyro Stuff
+    float sum = 0;
+    uint32_t sumCount = 0;
+
+
+    float RollCalibration, PitchCalibration, YawCalibration;
+    float actRoll, actPitch, actYaw;     
+               
+//-------------------------------------------------------------------------------------------------------------
+
+int main() {
+
+    // System setup
+    // this sets up the periodic interrupt, the UART baud rate communication with the PC, as well as
+    // setting up the PWM signal period of each motor.
+    pc.baud(9600);  // Set max uart baud rate
+    pc.printf("We have good serial communication! :D\n");
+
+    //Initializing Threads for interrupts
+    PiControlId = osThreadCreate(osThread(PID1), NULL); //Create Thread for PID1
+    PeriodicInt.attach(&PeriodicInterruptISR, dt); //Periodic timer interrupt every dt seconds as defined above
+
+    //PWM Period
+    PWM_motor1.period_us(PWM_Period); // This sets the PWM period to [PWM_Period]
+    PWM_motor2.period_us(PWM_Period); //
+    PWM_motor3.period_us(PWM_Period); //
+    PWM_motor4.period_us(PWM_Period); //
+
+    // this sets all motor PWM signals to 50% to arm the esc's for operation
+    PWM_motor1.pulsewidth_us(2000); //Set the Pulsewidth output
+    PWM_motor2.pulsewidth_us(2000); //Set the Pulsewidth output
+    PWM_motor3.pulsewidth_us(2000); //Set the Pulsewidth output
+    PWM_motor4.pulsewidth_us(2000); //Set the Pulsewidth output
+    
+    wait(10);
+    PWM_motor1.pulsewidth_us(ESC_ARM); //Set the Pulsewidth output
+    PWM_motor2.pulsewidth_us(ESC_ARM); //Set the Pulsewidth output
+    PWM_motor3.pulsewidth_us(ESC_ARM); //Set the Pulsewidth output
+    PWM_motor4.pulsewidth_us(ESC_ARM); //Set the Pulsewidth output
+    
+    KpRoll = .55;
+    KdRoll = 0;
+    KiRoll = 0;
+    
+    KpPitch = KpRoll;
+    KdPitch = KdRoll;
+    KiPitch = KiRoll;
+   
+    //Set up I2C
+    i2c.frequency(400000);  // use fast (400 kHz) I2C
+    t.start();
+      // Read the WHO_AM_I register, this is a good test of communication
+    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
+    pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
+
+    if (whoami == 0x68){ // WHO_AM_I should always be 0x68
+
+        pc.printf("MPU6050 is online...");
+        wait(1);
+        mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+        pc.printf("x-axis self test: acceleration trim within : ");
+        pc.printf("%f \n\r", SelfTest[0]);
+        pc.printf("y-axis self test: acceleration trim within : ");
+        pc.printf("%f \n\r", SelfTest[1]);
+        pc.printf("z-axis self test: acceleration trim within : "); 
+        pc.printf("%f \n\r", SelfTest[2]); 
+        pc.printf("x-axis self test: gyration trim within : "); 
+        pc.printf("%f \n\r", SelfTest[3]); 
+        pc.printf("y-axis self test: gyration trim within : "); 
+        pc.printf("%f \n\r", SelfTest[4]); 
+        pc.printf("z-axis self test: gyration trim within : "); 
+        pc.printf("%f \n\r", SelfTest[5]); 
+
+        wait(1);
+
+        if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f){
+            mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
+            mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+            mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+
+            wait(2);
+            }
+        else {
+            pc.printf("Device did not the pass self-test!\n\r");
+          }
+    }
+
+    else{
+        pc.printf("Could not connect to MPU6050: \n\r");
+        pc.printf("%#x \n",  whoami);
+        while(1) ; // Loop forever if communication doesn't happen
+    }
+    
+    wait(10); // wait 10 seconds to make sure esc's are armed and ready to go
+    
+    // counter for mpu calibration
+    int counter = 0;
+    //Loop Forever
+    while (1) {
+        
+
+              // If data ready bit set, all data registers have new data
+        if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
+            mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
+            mpu6050.getAres();
+
+            // Now we'll calculate the accleration value into actual g's
+            ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
+            ay = (float)accelCount[1]*aRes - accelBias[1];
+            az = (float)accelCount[2]*aRes - accelBias[2];
+
+            mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
+            mpu6050.getGres();
+
+            // Calculate the gyro value into actual degrees per second
+            gx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
+            gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
+            gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
+
+            tempCount = mpu6050.readTempData();  // Read the x/y/z adc values
+            temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+         }
+
+          Now = t.read_us();
+          deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+          lastUpdate = Now;
+
+          sum += deltat;
+          sumCount++;
+
+          if(lastUpdate - firstUpdate > 10000000.0f) {
+             beta = 0.04;  // decrease filter gain after stabilized
+             zeta = 0.015; // increasey bias drift gain after stabilized
+          }
+
+         // Pass gyro rate as rad/s
+          mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
+
+
+        // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
+        // In this coordinate system, the positive z-axis is down toward Earth.
+        // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
+        // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
+        // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
+        // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
+        // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
+        // applied in the correct order which for this configuration is yaw, pitch, and then roll.
+        // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
+          yaw   = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+          pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+          roll  = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+          actPitch  = pitch * 180.0f / PI;
+          actYaw = yaw   * 180.0f / PI;
+          actRoll   = roll  * 180.0f / PI;
+          
+          if (counter < 800){
+              counter++;
+              RollCalibration = actRoll;
+              PitchCalibration= actPitch;
+              YawCalibration = actYaw;
+              }
+          else{
+              
+              actRoll = actRoll - RollCalibration;
+              actualRoll = actPitch - PitchCalibration;
+              actualYaw = actYaw - YawCalibration;
+              
+              if(actRoll > 180){
+                  actualPitch=-(actRoll-360);
+                  }
+              if(actRoll < -180){
+                  actualPitch=-(actRoll+360);
+                  }
+              if ((actRoll > -180)  && actRoll < 180) {
+                  actualPitch=-actRoll;
+                  }
+              
+          
+              // Measuring receiver values
+              desRoll         = 1000000 * channel1.pulsewidth();  // desired point for roll
+              desPitch        = 1000000 * channel2.pulsewidth();  // desired point for pitch
+              desiredThrottle = 1000000 * channel3.pulsewidth();  // desired point for throttle
+              desYaw          = 1000000 * channel4.pulsewidth();  // desired point for yaw
+              
+              // The desired roll, pitch and yaw has a range between 1000 to 2000 microseconds
+              // we will map these values to limit the desired input between -45deg to +45deg for roll and pitch
+              // As for yaw, the desired input will range between -180 to 180 deg
+              //
+              // The equaion below maps the PWM value to a desired deg value, then it is shifter by some amount of degree so that 
+              // the 1000 us is equivalent to -45deg, and the 2000 us point is equivalent to 45deg.
+              // The same logic is used for the Yaw equation
+              desiredRoll = (90 * (abs(desRoll -1000))/1000) -  45;
+              desiredPitch= (90 * (abs(desPitch-1000))/1000) -  45;
+              desiredYaw  = (360* (abs(desYaw  -1000))/1000) - 180;
+         }
+         // pc.printf("%f             %f             %f\n\r", actualPitch, desiredPitch, ePitch);
+       //   pc.printf("%f         %f          %f         %f\n\r ", uRoll, uPitch, eRoll, ePitch);
+
+          pc.printf("%f         %f         %f         %f\n\r", v1, v2, v3, v4);
+       //   pc.printf("%f         %f         %f         %f         %f         %f \n\r\n\r\n\r", actualRoll, desiredRoll, actualPitch, desiredPitch, actualYaw, eYaw );
+         /* 
+          pc.printf("%f \n\r", v1);
+          pc.printf("%f \n\r", v2);
+          pc.printf("%f \n\r", v3);
+          pc.printf("%f \n\r \n\r", v4);
+          
+          pc.printf("error in roll %f \n\r \n\r", eRoll);
+          pc.printf("error in pitch %f \n\r \n\r", ePitch);
+          pc.printf("error in yaw %f \n\r \n\r", eYaw);*/
+          /*
+          pc.printf("Pulse width Roll value %f \n\r",desRoll);
+          pc.printf("Pulse width Pitch value %f \n\r",desPitch);
+          pc.printf("Pulse width Throttle value %f \n\r",desiredThrottle);
+          pc.printf("Pulse width Yaw value %f \n\r",desYaw);
+          */
+          /*
+          pc.printf("Desired Roll: %f \n\r", desiredRoll);
+          pc.printf("Desired Pitch: %f \n\r", desiredPitch);
+          pc.printf("Desired Throttle: %f \n\r", desiredThrottle);
+          pc.printf("Desired Yaw: %f \n\r", desiredYaw);
+          */
+          myled= !myled;
+          count = t.read_ms();
+          sum = 0;
+          sumCount = 0;
+          
+          //wait(.5);
+          
+          }
+
+
+
+}
+
+
+
+// Updated on: Sept 19 2019
+// Koceila Cherfouh
+// Deescription
+// periodic time interrupt that controls the speed of the motor based on the gyro and accelerometer readings using a PID controller. 
+//
+// Update and whats left to do:
+// make sure all variables are declared. define max values, and gain values for each PID controllers.
+// define the motor speed assignment based on the system's kinematic model
+// test and tune the controller gain
+
+// ******** Periodic Thread ********
+void PID1(void const *argument){
+
+    while(true){
+        osSignalWait(0x1, osWaitForever); // Go to sleep until signal is received.
+
+        if (desiredThrottle > 1050){ // 1050 micro seconds will serve as the activation throttle 
+            // 1- PID roll
+            eRoll= desiredRoll - actualRoll;
+            eDerRoll = eRoll - elastRoll;          // derivative of error
+            uRoll = (KpRoll * eRoll) + (KdRoll * eDerRoll) + (KiRoll * eIntRoll); // computing the pitch control input
+            // this part of the code limits the integrator windeup. an effect that takes place when
+            if (uRoll > uRollMax){
+                uRoll = uRollMax;
+            }
+            if (uRoll < -uRollMax){
+                uRoll = -uRollMax;
+            }
+            else {
+                eIntRoll += eRoll;                       // Computing the integral sum
+            }
+            elastRoll = eRoll;
+            //-------------------------------------------------------------------------------------------------------------
+            // 2- PID pitch
+            ePitch = desiredPitch - actualPitch;              // error
+            eDerPitch = ePitch - elastPitch ;          // derivative of error
+            uPitch = (KpPitch * ePitch) + (KdPitch * eDerPitch) + (KiPitch * eIntPitch); // computing the pitch control input
+            // this part of the code limits the integrator windeup. an effect that takes place when
+            if (uPitch > uPitchMax){
+                uPitch = uPitchMax;
+            }
+            if (uPitch < -uPitchMax){
+                uPitch = -uPitchMax;
+            }
+            else {
+                eIntPitch += ePitch;                       // Computing the integral sum
+            }
+            elastPitch = ePitch;
+            //-------------------------------------------------------------------------------------------------------------
+            // 4- PID yaw
+           /* eYaw= desiredYaw - actualYaw;
+            eDerYaw = eYaw - elastYaw ;          // derivative of error
+            uYaw = (KpYaw * eYaw) + (KdYaw * eDerYaw) + (KiYaw * eIntYaw); // computing the pitch control input
+            // this part of the code limits the integrator windeup. an effect that takes place when
+            if (uYaw > uYawMax){
+                uYaw = uYawMax;
+            }
+            else {
+                eIntYaw += eYaw;                       // Computing the integral sum
+            }
+            elastYaw = eYaw;       */ 
+            //-------------------------------------------------------------------------------------------------------------
+            // Now that all pid control inputs are computed. send the PWM control input using the kinematic model to the ESC's       
+            v1= desiredThrottle - uPitch - uRoll - uYaw; //Calculate the pulse for esc 1 (front-right - CCW)
+            v2= desiredThrottle + uPitch - uRoll + uYaw; //Calculate the pulse for esc 2 (rear-right - CW)
+            v3= desiredThrottle + uPitch + uRoll - uYaw; //Calculate the pulse for esc 3 (rear-left - CCW)
+            v4= desiredThrottle - uPitch + uRoll + uYaw; //Calculate the pulse for esc 4 (front-left - CW)
+            
+            if ( v1 > 2000 ){
+                v1=2000;
+                } 
+            if ( v1 < 1000){
+                v1=1000;
+                }
+            if ( v2 > 2000 ){
+                v2=2000;
+                } 
+            if ( v2 < 1000){
+                v2=1000;
+                }
+            if ( v3 > 2000 ){
+                v3=2000;
+                } 
+            if ( v3 < 1000){
+                v3=1000;
+                }
+            if ( v4 > 2000 ){
+                v4=2000;
+                } 
+            if ( v4 < 1000){
+                v4=1000;
+                }
+        }
+        else{   // In the case where desired throttle is <1050 microseconds, we want to deactivate all motors
+            v1= desiredThrottle;
+            v2= desiredThrottle;
+            v3= desiredThrottle;
+            v4= desiredThrottle;
+            }
+
+        // outputing the necessary PWM value to the motors
+        PWM_motor1.pulsewidth_us(abs(v1)); //Set the Pulsewidth output
+        PWM_motor2.pulsewidth_us(abs(v2)); //Set the Pulsewidth output
+        PWM_motor3.pulsewidth_us(abs(v3)); //Set the Pulsewidth output
+        PWM_motor4.pulsewidth_us(abs(v4)); //Set the Pulsewidth output
+
+    }
+
+}
+
+
+// ******** Periodic Interrupt Handler 1********
+void PeriodicInterruptISR(void){
+    osSignalSet(PiControlId,0x1); // Activate the signal, PiControl, with each periodic timer interrupt.
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Tue Oct 08 00:06:09 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed-rtos/#5713cbbdb706

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Oct 08 00:06:09 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file