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QuadcopterModule.cpp
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QuadcopterModule.cpp
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#include <Servo.h>
#include <SPI.h>
#include <Wire.h>
#include "nRF24L01.h"
#include "RF24.h"
#include "printf.h"
#include "GY91.h"
#include <Kalman.h>
#include <PID_v1.h>
#define ESC_1_PIN 5
#define ESC_2_PIN 6
#define ESC_3_PIN 9
#define ESC_4_PIN 10
#define CE_PIN 7
#define CS_PIN 8
#define MIN_SIGNAL 1000
#define MAX_SIGNAL 2000
#define DEBUG 1
GY91 gy91;
Kalman kalmanX;
Kalman kalmanY;
Servo motor[4];
int esc_pin[4] = { ESC_1_PIN, ESC_2_PIN, ESC_3_PIN, ESC_4_PIN };
RF24 radio(CE_PIN, CS_PIN);
const uint64_t radio_pipe = 0xABCDABCD11LL;
byte radio_data[12];
unsigned long timer_0;
unsigned long timer_n;
unsigned long radio_timer_0;
unsigned long radio_timer_n;
int task100counter;
double ctlX, ctlY, ctlR, ctlP;
double accX, accY, accZ, accR;
double gyroX, gyroY, gyroZ;
double roll, pitch;
double kalX, kalY;
void setup() {
Serial.begin(115200);
printf_begin();
initESCs();
initRadioModule();
initSensor();
unsigned long t0 = timer_0;
task100counter = 0;
timer_0 = micros();
unsigned long t0 = timer_0; //only for debug za merenje task100
}
void loop() {
timer_n = micros();
if ((timer_n - timer_0) >= 10000) {
task100counter++;
task100();
timer_0 = timer_n;
}
if (task100counter >= 100) {
task100counter = 0;
Serial.print(t0 - micros()); Serial.print("\t");
}
/*
if (t1 - t0 > 1000) {
for (int i = 0; i < 4; i++) {
motor[i].writeMicroseconds(1000);
}
Serial.println("no signal");
// todo: add alarm buzzer, red signal led
} else {
for (int i = 0; i < 4; i++) {
esc[i] = (int) (data[i * 3 + 0] + data[i * 3 + 1] + data[i * 3 + 2] + MIN_SIGNAL);
motor[i].writeMicroseconds(esc[i]);
}
Serial.print(esc[0]);
Serial.print("\t");
Serial.print(esc[1]);
Serial.print("\t");
Serial.print(esc[2]);
Serial.print("\t");
Serial.print(esc[3]);
Serial.println();
}
*/
}
void initESCs(void) {
delay(200);
for (int i = 0; i < 4; i++){
motor[i].attach(esc_pin[i]);
motor[i].writeMicroseconds(MIN_SIGNAL);
// todo: postaviti taster za test motora, led green-red.
}
delay(5000);
}
void initRadioModule(void) {
radio.begin();
radio.powerUp();
radio.setChannel(108);
radio.setPALevel(RF24_PA_MAX);
radio.setDataRate(RF24_250KBPS);
radio.setAutoAck(false);
radio.disableCRC();
radio.setRetries(2, 5);
radio.openReadingPipe(1, radio_pipe);
radio.startListening();
radio.printDetails();
radio_timer_0 = millis();
}
void getRadioData() {
while(radio.available()) {
radio.read(&radio_data, 12);
radio_timer_0 = millis();
}
radio_timer_n = millis();
ctlX = (int) (radio_data[0] + radio_data[1] + radio_data[2] + MIN_SIGNAL);
ctlY = (int) (radio_data[3] + radio_data[4] + radio_data[5] + MIN_SIGNAL);
ctlR = (int) (radio_data[6] + radio_data[7] + radio_data[8] + MIN_SIGNAL);
ctlP = (int) (radio_data[9] + radio_data[10] + radio_data[11] + MIN_SIGNAL);
}
void getSensorData() {
gy91.getRawData_MPU9250(data);
accX = data[0];
accY = data[1];
accZ = data[2];
gyroX = data[4];
gyroY = data[5];
gyroZ = data[6];
}
void calcMotorData() {
}
void setMotorData() {
}
void task100() {
getRadioData();
Serial.print(ctlX); Serial.print("\t");
Serial.print(ctlY); Serial.print("\t");
Serial.print(ctlR); Serial.print("\t");
Serial.print(ctlP); Serial.print("\t");
getSensorData();
//calcMotorData();
//setMotorData();
}
void initSensor() {
gy91.initialize();
double sens = 16384000;
accX = 0;
accY = 0;
accZ = 0;
for (int i = 0; i < 1000; i++) {
gy91.getRawData_MPU9250(data);
accX += data[0];
accY += data[1];
accZ += data[2];
}
//osetljivost rezultata
accX = accX / sens;
accY = accY / sens;
accZ = accZ / sens;
//normalizovanje vektora
accR = sqrt(accX*accX + accY*accY + accZ*accZ);
accX = accX / accR;
accY = accY / accR;
accZ = accZ / accR;
roll = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;
pitch = atan2(-accX, accZ) * RAD_TO_DEG;
kalmanX.setAngle(roll); // Set starting angle
kalmanY.setAngle(pitch);
}
void invertPitch() {
}