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.gitignore 0 → 100644
View file @ fb5bce18
.metadata/
quad/sw/modular_quad_pid/Debug/
Readme.md deleted 100644 → 0
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This is a readme, please update accordingly.
\ No newline at end of file
quad/.gitignore 0 → 100644
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sw/modular_quad_pid/Debug/
quad/sw/README.md 0 → 100644
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# Branch for hardware/software designs for Quadcopter
quad/sw/SDK.log 0 → 100644
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quad/sw/modular_quad_pid/.cproject 0 → 100644
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quad/sw/modular_quad_pid/.project 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
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quad/sw/modular_quad_pid/bootimage/modular_quad_pid.bif 0 → 100644
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the_ROM_image:
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quad/sw/modular_quad_pid/bootimage/output.bin 0 → 100644
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View file @ fb5bce18
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___DTORS_LIST___ = .;
KEEP (*crtbegin.o(.dtors))
KEEP (*(EXCLUDE_FILE(*crtend.o) .dtors))
KEEP (*(SORT(.dtors.*)))
KEEP (*(.dtors))
__DTOR_END__ = .;
___DTORS_END___ = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.fixup : {
__fixup_start = .;
*(.fixup)
__fixup_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.eh_frame : {
*(.eh_frame)
} > ps7_ddr_0_S_AXI_BASEADDR
.eh_framehdr : {
__eh_framehdr_start = .;
*(.eh_framehdr)
__eh_framehdr_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.gcc_except_table : {
*(.gcc_except_table)
} > ps7_ddr_0_S_AXI_BASEADDR
.mmu_tbl (ALIGN(16384)) : {
__mmu_tbl_start = .;
*(.mmu_tbl)
__mmu_tbl_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.ARM.exidx : {
__exidx_start = .;
*(.ARM.exidx*)
*(.gnu.linkonce.armexidix.*.*)
__exidx_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.preinit_array : {
__preinit_array_start = .;
KEEP (*(SORT(.preinit_array.*)))
KEEP (*(.preinit_array))
__preinit_array_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.init_array : {
__init_array_start = .;
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array))
__init_array_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.fini_array : {
__fini_array_start = .;
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array))
__fini_array_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.ARM.attributes : {
__ARM.attributes_start = .;
*(.ARM.attributes)
__ARM.attributes_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.sdata : {
__sdata_start = .;
*(.sdata)
*(.sdata.*)
*(.gnu.linkonce.s.*)
__sdata_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.sbss (NOLOAD) : {
__sbss_start = .;
*(.sbss)
*(.sbss.*)
*(.gnu.linkonce.sb.*)
__sbss_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.tdata : {
__tdata_start = .;
*(.tdata)
*(.tdata.*)
*(.gnu.linkonce.td.*)
__tdata_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.tbss : {
__tbss_start = .;
*(.tbss)
*(.tbss.*)
*(.gnu.linkonce.tb.*)
__tbss_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.bss (NOLOAD) : {
__bss_start = .;
*(.bss)
*(.bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
__bss_end = .;
} > ps7_ddr_0_S_AXI_BASEADDR
_SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
_SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
/* Generate Stack and Heap definitions */
.heap (NOLOAD) : {
. = ALIGN(16);
_heap = .;
HeapBase = .;
_heap_start = .;
. += _HEAP_SIZE;
_heap_end = .;
HeapLimit = .;
} > ps7_ddr_0_S_AXI_BASEADDR
.stack (NOLOAD) : {
. = ALIGN(16);
_stack_end = .;
. += _STACK_SIZE;
_stack = .;
__stack = _stack;
. = ALIGN(16);
_irq_stack_end = .;
. += _STACK_SIZE;
__irq_stack = .;
_supervisor_stack_end = .;
. += _SUPERVISOR_STACK_SIZE;
. = ALIGN(16);
__supervisor_stack = .;
_abort_stack_end = .;
. += _ABORT_STACK_SIZE;
. = ALIGN(16);
__abort_stack = .;
_fiq_stack_end = .;
. += _FIQ_STACK_SIZE;
. = ALIGN(16);
__fiq_stack = .;
_undef_stack_end = .;
. += _UNDEF_STACK_SIZE;
. = ALIGN(16);
__undef_stack = .;
} > ps7_ddr_0_S_AXI_BASEADDR
_end = .;
}
quad/sw/modular_quad_pid/src/PID.c 0 → 100644
View file @ fb5bce18
/*
* PID.c
*
* Created on: Nov 10, 2014
* Author: ucart
*/
#include "PID.h"
#include <math.h>
#include <float.h>
// The generic PID diagram. This function takes in pid parameters (PID_t * pid) and calculates the output "pid_correction"
// part based on those parameters.
//
// + --- error ------------------ P + --- ----------------------------
// setpoint ---> / sum \ --------->| Kp * error |--------------->/ sum \ -------->| output: "pid_correction" |
// \ / | ------------------ \ / ----------------------------
// --- | --- ||
// - ^ | + ^ ^ + ||
// | | ------------------------------- | | ------- \/------------
// | |----->| Ki * accumulated error * dt |----+ | | |
// | | ------------------------------- I | | SYSTEM |
// | | | | |
// | | | --------||------------
// | | | ||
// | | ---------------------------------- | ||
// | |----->| Kd * (error - last error) / dt |----+ ||
// | ---------------------------------- D ||
// | ||
// | -----------\/-----------
// |____________________________________________________________| Sensor measurements: |
// | "current point" |
// ------------------------
//
PID_values pid_computation(PID_t *pid) {
float P = 0.0, I = 0.0, D = 0.0;
// calculate the current error
float error = pid->setpoint - pid->current_point;
// Accumulate the error (if Ki is less than epsilon, rougly 0,
// then reset the accumulated error for safety)
if (fabs(pid->Ki) <= FLT_EPSILON) {
pid->acc_error = 0;
} else {
pid->acc_error += error;
}
float change_in_error = error - pid->prev_error;
// Compute each term's contribution
P = pid->Kp * error;
I = pid->Ki * pid->acc_error * pid->dt;
D = pid->Kd * (change_in_error / pid->dt);
PID_values ret = {P, I, D, error, change_in_error, P + I + D};
pid->prev_error = error; // Store the current error into the PID_t
pid->pid_correction = P + I + D; // Store the computed correction
return ret;
}
quad/sw/modular_quad_pid/src/PID.h 0 → 100644
View file @ fb5bce18
/*
* PID.h
*
* Created on: Nov 10, 2014
* Author: ucart
*/
#ifndef PID_H_
#define PID_H_
#include "type_def.h"
// Yaw constants
// when using units of degrees
//#define YAW_ANGULAR_VELOCITY_KP 40.0f
//#define YAW_ANGULAR_VELOCITY_KI 0.0f
//#define YAW_ANGULAR_VELOCITY_KD 0.0f
//#define YAW_ANGLE_KP 2.6f
//#define YAW_ANGLE_KI 0.0f
//#define YAW_ANGLE_KD 0.0f
// when using units of radians
#define YAW_ANGULAR_VELOCITY_KP 190.0f * 2292.0f//200.0f * 2292.0f
#define YAW_ANGULAR_VELOCITY_KI 0.0f
#define YAW_ANGULAR_VELOCITY_KD 0.0f
#define YAW_ANGLE_KP 2.6f
#define YAW_ANGLE_KI 0.0f
#define YAW_ANGLE_KD 0.0f
// Roll constants
//#define ROLL_ANGULAR_VELOCITY_KP 0.95f
//#define ROLL_ANGULAR_VELOCITY_KI 0.0f
//#define ROLL_ANGULAR_VELOCITY_KD 0.13f//0.4f//0.7f
//#define ROLL_ANGLE_KP 17.0f //9.0f
//#define ROLL_ANGLE_KI 0.0f
//#define ROLL_ANGLE_KD 0.3f // 0.2f
//#define YPOS_KP 0.0f
//#define YPOS_KI 0.0f
//#define YPOS_KD 0.0f
// when using units of radians
#define ROLL_ANGULAR_VELOCITY_KP 100.0f*46.0f//102.0f*46.0f//9384.0f//204.0f * 46.0f
#define ROLL_ANGULAR_VELOCITY_KI 0.0f
#define ROLL_ANGULAR_VELOCITY_KD 100.f*5.5f//102.0f*6.8f//1387.2//204.0f * 6.8f
#define ROLL_ANGLE_KP 15.0f
#define ROLL_ANGLE_KI 0.0f
#define ROLL_ANGLE_KD 0.2f
#define YPOS_KP 0.015f
#define YPOS_KI 0.005f
#define YPOS_KD 0.03f
//Pitch constants
// when using units of degrees
//#define PITCH_ANGULAR_VELOCITY_KP 0.95f
//#define PITCH_ANGULAR_VELOCITY_KI 0.0f
//#define PITCH_ANGULAR_VELOCITY_KD 0.13f//0.35f//0.7f
//#define PITCH_ANGLE_KP 17.0f // 7.2f
//#define PITCH_ANGLE_KI 0.0f
//#define PITCH_ANGLE_KD 0.3f //0.3f
//#define XPOS_KP 40.0f
//#define XPOS_KI 0.0f
//#define XPOS_KD 10.0f//0.015f
// when using units of radians
#define PITCH_ANGULAR_VELOCITY_KP 100.0f*46.0f//101.0f*46.0f//9292.0f//202.0f * 46.0f
#define PITCH_ANGULAR_VELOCITY_KI 0.0f
#define PITCH_ANGULAR_VELOCITY_KD 100.0f*5.5f//101.0f*6.8f//1373.6//202.0f * 6.8f
#define PITCH_ANGLE_KP 15.0f
#define PITCH_ANGLE_KI 0.0f
#define PITCH_ANGLE_KD 0.2f
#define XPOS_KP -0.015f
#define XPOS_KI -0.005f
#define XPOS_KD -0.03f
//Throttle constants
#define ALT_ZPOS_KP 9804.0f
#define ALT_ZPOS_KI 817.0f
#define ALT_ZPOS_KD 7353.0f
// Computes control error and correction
PID_values pid_computation(PID_t *pid);
#endif /* PID_H_ */
quad/sw/modular_quad_pid/src/README.txt 0 → 100644
View file @ fb5bce18
This application is the PID implementation of the modular control loop. This is the same implementation as the existing quad controller. The mixer in this application needs to be changed to be correct according to common implementation.
quad/sw/modular_quad_pid/src/actuator_command_processing.c 0 → 100644
View file @ fb5bce18
/*
* actuator_command_processing.c
*
* Created on: Feb 20, 2016
* Author: ucart
*/
#include "actuator_command_processing.h"
#include "sensor_processing.h"
int actuator_command_processing(log_t* log_struct, user_input_t * user_input_struct, raw_actuator_t* raw_actuator_struct, actuator_command_t* actuator_command_struct)
{
Aero_to_PWMS(actuator_command_struct->pwms, raw_actuator_struct->controller_corrected_motor_commands);
// old_Aero_to_PWMS(actuator_command_struct->pwms, raw_actuator_struct->controller_corrected_motor_commands);
return 0;
}
/**
* Converts Aero 4 channel signals to PWM signals
* Aero channels are defined above
*/
void Aero_to_PWMS(int* PWMs, int* aero)
{
int motor0_bias = 0, motor1_bias = 0, motor2_bias = 0, motor3_bias = 0;
int pwm0 = 0, pwm1 = 0, pwm2 = 0, pwm3 = 0;
pwm0 = aero[THROTTLE] - aero[PITCH] - aero[ROLL] - aero[YAW] + motor0_bias;
pwm1 = aero[THROTTLE] + aero[PITCH] - aero[ROLL] + aero[YAW] + motor1_bias;
pwm2 = aero[THROTTLE] - aero[PITCH] + aero[ROLL] + aero[YAW] + motor2_bias;
pwm3 = aero[THROTTLE] + aero[PITCH] + aero[ROLL] - aero[YAW] + motor3_bias;
// printf("pwm0: %d\tpwm1: %d\tpwm2: %d\tpwm3: %d\n", pwm0, pwm1, pwm2, pwm3);
/**
* Boundary checks:
*
* #define min 100000
* #define max 200000
*/
if(pwm0 < min)
pwm0 = min;
else if(pwm0 > max)
pwm0 = max;
if(pwm1 < min)
pwm1 = min;
else if(pwm1 > max)
pwm1 = max;
if(pwm2 < min)
pwm2 = min;
else if(pwm2 > max)
pwm2 = max;
if(pwm3 < min)
pwm3 = min;
else if(pwm3 > max)
pwm3 = max;
PWMs[0] = pwm0;
PWMs[1] = pwm1;
PWMs[2] = pwm2;
PWMs[3] = pwm3;
// the array PWMs is then written directly to the PWM hardware registers
// the PWMs are in units of clock cycles, not percentage duty cycle
// use pwm/222,222 to get the duty cycle. the freq is 450 Hz on a 100MHz clock
}
/**
* Converts Aero 4 channel signals to PWM signals
* Aero channels are defined above
*
* *deprecated
*/
void old_Aero_to_PWMS(int* PWMs, int* aero) {
int motor0_bias = -9900, motor1_bias = -200, motor2_bias = -10200, motor3_bias = 250;
// int motor0_bias = -5000, motor1_bias = 0, motor2_bias = -5000, motor3_bias = 0;
// Throttle, pitch, roll, yaw as a percentage of their max - Range 0.0 - 100.0
float throttle_100 = (aero[THROTTLE] - THROTTLE_MIN) / (THROTTLE_RANGE*1.0);
float pitch_100 = (aero[PITCH] - PITCH_MIN) / (PITCH_RANGE*1.0);
float roll_100 = (aero[ROLL] - ROLL_MIN) / (ROLL_RANGE*1.0);
float yaw_100 = (aero[YAW] - YAW_MIN) / (YAW_RANGE*1.0);
// This adds a +/- 300 ms range bias for the throttle
int throttle_base = BASE + (int) 60000 * (throttle_100 - .5);
// This adds a +/- 200 ms range bias for the pitch
int pitch_base = (int) 60000 * (pitch_100 - .5);
// This adds a +/- 200 ms range bias for the roll
int roll_base = (int) 60000 * (roll_100 - .5);
// This adds a +/- 75 ms range bias for the yaw
int yaw_base = (int) 15000 * (yaw_100 - .5);
int pwm0, pwm1, pwm2, pwm3;
pwm1 = throttle_base + pitch_base/2 - roll_base/2 + yaw_base + motor1_bias;
pwm3 = throttle_base + pitch_base/2 + roll_base/2 - yaw_base + motor3_bias;
pwm0 = throttle_base - pitch_base/2 - roll_base/2 - yaw_base + motor0_bias;
pwm2 = throttle_base - pitch_base/2 + roll_base/2 + yaw_base + motor2_bias;
/**
* Boundary checks:
*
* #define min 100000
* #define max 200000
*/
if(pwm0 < min)
pwm0 = min;
else if(pwm0 > max)
pwm0 = max;
if(pwm1 < min)
pwm1 = min;
else if(pwm1 > max)
pwm1 = max;
if(pwm2 < min)
pwm2 = min;
else if(pwm2 > max)
pwm2 = max;
if(pwm3 < min)
pwm3 = min;
else if(pwm3 > max)
pwm3 = max;
PWMs[0] = pwm0;
PWMs[1] = pwm1;
PWMs[2] = pwm2;
PWMs[3] = pwm3;
// the array PWMs is then written directly to the PWM hardware registers
// the PWMs are in units of clock cycles, not percentage duty cycle
// use pwm/222,222 to get the duty cycle. the freq is 450 Hz on a 100MHz clock
}
quad/sw/modular_quad_pid/src/actuator_command_processing.h 0 → 100644
View file @ fb5bce18
/*
* actuator_command_processing.h
*
* Created on: Feb 20, 2016
* Author: ucart
*/
#ifndef ACTUATOR_COMMAND_PROCESSING_H_
#define ACTUATOR_COMMAND_PROCESSING_H_
#include <stdio.h>
#include "log_data.h"
#include "control_algorithm.h"
/**
* @brief
* Processes the commands to the actuators.
*
* @param log_struct
* structure of the data to be logged
*
* @param raw_actuator_struct
* structure of the commmands outputted to go to the actuators
*
* @param actuator_command_struct
* structure of the commmands to go to the actuators
*
* @return
* error message
*
*/
int actuator_command_processing(log_t* log_struct, user_input_t * user_input_struct, raw_actuator_t* raw_actuator_struct, actuator_command_t* actuator_command_struct);
void old_Aero_to_PWMS(int* PWMs, int* aero);
void Aero_to_PWMS(int* PWMs, int* aero);
#endif /* ACTUATOR_COMMAND_PROCESSING_H_ */
quad/sw/modular_quad_pid/src/commands.c 0 → 100644
View file @ fb5bce18
#include "communication.h"
#include "commands.h"
#include "type_def.h"
#include "uart.h"
struct MessageType MessageTypes[MAX_TYPE] =
{
// DEBUG
{
// Message Type ID
0x00,
// Debug Subtypes
{
// NONE subtype
{
// ID
0x00,
// Command text
"debug",
// Type of the command data
stringType,
// Function pointer
&debug
},
// Echo subtype
{
// ID
0x01,
// Command text
"ack",
// Type of the command data
intType,
// Function pointer
NULL
}
}
},
// CALIBRATION
{
// Message Type ID
0x01,
// Calibration Subtypes (PID coefficients)
{
// yaw p constant subtype
{
// ID
0x00,
// Command text
"setyawp",
// Type of the command data
floatType,
// Function pointer
setyawp
},
// yaw i constant subtype
{
// ID
0x01,
// Command text
"setyawi",
// Type of the command data
floatType,
// Function pointer
setyawi
},
// yaw d constant subtype
{
// ID
0x02,
// Command text
"setyawd",
// Type of the command data
floatType,
// Function pointer
setyawd
},
// roll p constant subtype
{
// ID
0x03,
// Command text
"setrollp",
// Type of the command data
floatType,
// Function pointer
setrollp
},
// roll i constant subtype
{
// ID
0x04,
// Command text
"setrolli",
// Type of the command data
floatType,
// Function pointer
setrolli
},
// roll d constant subtype
{
// ID
0x05,
// Command text
"setrolld",
// Type of the command data
floatType,
// Function pointer
setrolld
},
// pitch p constant subtype
{
// ID
0x06,
// Command text
"setpitchp",
// Type of the command data
floatType,
// Function pointer
setpitchp
},
// pitch i constant subtype
{
// ID
0x07,
// Command text
"setpitchi",
// Type of the command data
floatType,
// Function pointer
setpitchi
},
// pitch d constant subtype
{
// ID
0x08,
// Command text
"setpitchd",
// Type of the command data
floatType,
// Function pointer
setpitchd
},
// yawrate p constant subtype
{
// ID
0x09,
// Command text
"setyawratep",
// Type of the command data
floatType,
// Function pointer
NULL
},
// yawrate i constant subtype
{
// ID
0x0A,
// Command text
"setyawratei",
// Type of the command data
floatType,
// Function pointer
setyawratei
},
// yawrate d constant subtype
{
// ID
0x0B,
// Command text
"setyawrated",
// Type of the command data
floatType,
// Function pointer
setyawrated
},
// rollrate p constant subtype
{
// ID
0x0C,
// Command text
"setrollratep",
// Type of the command data
floatType,
// Function pointer
setrollratep
},
// rollrate i constant subtype
{
// ID
0x0D,
// Command text
"setrollratei",
// Type of the command data
floatType,
// Function pointer
setrollratei
},
// rollrate d constant subtype
{
// ID
0x0E,
// Command text
"setrollrated",
// Type of the command data
floatType,
// Function pointer
setrollrated
},
// pitchrate p constant subtype
{
// ID
0x0F,
// Command text
"setpitchratep",
// Type of the command data
floatType,
// Function pointer
setpitchratep
},
// pitchrate i constant subtype
{
// ID
0x10,
// Command text
"setpitchratei",
// Type of the command data
floatType,
// Function pointer
setpitchratei
},
// pitchrate d constant subtype
{
// ID
0x11,
// Command text
"setpitchrated",
// Type of the command data
floatType,
// Function pointer
setpitchrated
},
// height p constant subtype
{
// ID
0x12,
// Command text
"setheightp",
// Type of the command data
floatType,
// Function pointer
setheightp
},
// height i constant subtype
{
// ID
0x13,
// Command text
"setheighti",
// Type of the command data
floatType,
// Function pointer
setheighti
},
// height d constant subtype
{
// ID
0x14,
// Command text
"setheightd",
// Type of the command data
floatType,
// Function pointer
setheightd
},
// lat p constant subtype
{
// ID
0x15,
// Command text
"setlatp",
// Type of the command data
floatType,
// Function pointer
setlatp
},
// lat i constant subtype
{
// ID
0x16,
// Command text
"setlati",
// Type of the command data
floatType,
// Function pointer
setlati
},
// lat d constant subtype
{
// ID
0x17,
// Command text
"setlatd",
// Type of the command data
floatType,
// Function pointer
setlatd
},
// long p constant subtype
{
// ID
0x18,
// Command text
"setlongp",
// Type of the command data
floatType,
// Function pointer
setlongp
},
// long i constant subtype
{
// ID
0x19,
// Command text
"setlongi",
// Type of the command data
floatType,
// Function pointer
setlongi
},
// long d constant subtype
{
// ID
0x1A,
// Command text
"setlongd",
// Type of the command data
floatType,
// Function pointer
setlongd
}
}
},
// RESPONSE
{
// Message Type ID
0x03,
// Response Subtypes
{
// accelerometer subtype
{
// ID
0x00,
// Command text
"respaccel",
// Type of the command data
floatType,
// Function pointer
&accelresp
},
// gyroscope subtype
{
// ID
0x01,
// Command text
"respgyro",
// Type of the command data
floatType,
// Function pointer
&gyroresp
},
// pitch angle subtype
{
// ID
0x02,
// Command text
"resppitchangle",
// Type of the command data
floatType,
// Function pointer
&pitchangleresp
},
// roll angle subtype
{
// ID
0x03,
// Command text
"resprollangle",
// Type of the command data
floatType,
// Function pointer
&rollangleresp
}
}
},
// UPDATE
{
// Message Type ID
0x04,
// Update Subtypes
{
// NONE subtype
{
// ID
0x00,
// Command text
"update",
// Type of the command data
stringType,
// Function pointer
&update
},
// BEGIN UPDATE subtype
{
// ID
0x01,
// Command text
"beginupdate",
// Type of the command data
stringType,
// Function pointer
&beginupdate
}
}
},
// LOG
{
// Message Type ID
0x05,
// Log Subtypes
{
// NONE subtype
{
// ID
0x00,
// Command text
"log",
// Type of the command data
stringType,
// Function pointer
&logdata
},
// Response subtype
{
// ID
0x01,
// Command text
"response",
// Type of the command data
stringType,
// Function pointer
&response
}
}
},
};
int debug(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for debug\n");
return 0;
}
/* This is not used. Many flow changes would be need to be made to the
control algorithm in order to get this to work. */
int update(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for debug\n");
return 0;
}
// This is called on the ground station to begin sending VRPN to the quad
int beginupdate(unsigned char *c, int dataLen, modular_structs_t *structs) {
return 0;
}
int logdata(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("Logging: %s\n", packet);
return 0;
}
int response(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("This is the response: %s\n", packet);
return 0;
}
// ------------------------------------------------------------------
// Quad side implementation
// TODO: Erase memory leaks
int setlatp(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setlati(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setlatd(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setlongp(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setlongi(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setlongd(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setpitchratep(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setpitchratei(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setpitchrated(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setrollratep(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setrollratei(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setrollrated(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setyawratep(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setyawratei(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setyawrated(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setyaw(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
// Copy the data into the value variable
memcpy(&value, ((float *)packet), dataLen);
// Update the struct
structs->setpoint_struct.desiredQuadPosition.yaw = value;
// Debug print statement
//printf("function for yawset: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set desired yaw to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.yaw);
unsigned char *responsePacket;
printf("%s\n", buf);
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setyawp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {0};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.yaw_angle_pid.Kp = value;
printf("function for yawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set yaw Kp to %.2f\r\n", structs->parameter_struct.yaw_angle_pid.Kp);
unsigned char *responsePacket;
printf("%s\n", buf);
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, packet2[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setyawi(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setyawd(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.yaw_angle_pid.Kd = value;
printf("function for yawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set yaw Kd to %.2f\r\n", structs->parameter_struct.yaw_angle_pid.Kd);
unsigned char *responsePacket;
printf("%s\n", buf);
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setroll(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.roll = value;
printf("function for rollset: %f\n", structs->setpoint_struct.desiredQuadPosition.roll);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set desired roll to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.roll);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setrollp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.roll_angle_pid.Kp = value;
printf("function for rollp: %f\n", structs->parameter_struct.roll_angle_pid.Kp);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set roll Kp to %.2f\r\n", structs->parameter_struct.roll_angle_pid.Kp);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setrolli(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setrolld(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.roll_angle_pid.Kd = value;
printf("function for rolld: %f\n", structs->parameter_struct.roll_angle_pid.Kd);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set roll Kd to %.2f\r\n", structs->parameter_struct.roll_angle_pid.Kd);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setpitch(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.pitch = value;
printf("function for pitchset: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set desired pitch to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.pitch);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setpitchp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.pitch_angle_pid.Kp = value;
printf("function for pitchp: %f\n", structs->parameter_struct.pitch_angle_pid.Kp);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set pitch Kp to %.2f\r\n", structs->parameter_struct.pitch_angle_pid.Kp);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setpitchi(unsigned char *packet, int dataLen, modular_structs_t *structs) {
// TODO
return 0;
}
int setpitchd(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.pitch_angle_pid.Kd = value;
printf("function for pitchd: %f\n", structs->parameter_struct.pitch_angle_pid.Kd);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set desired yaw to %.2f\r\n", structs->parameter_struct.pitch_angle_pid.Kd);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
// ------------------------------------------------------------
// These should be renamed to altitude!
int setheight(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.alt_pos = value;
printf("function for throttleset: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set desired altitude to %.2f meters\r\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setheightp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Kp = value;
printf("function for throttlep: %f\n", structs->parameter_struct.alt_pid.Kp);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set alt Kp to %.2f\r\n", structs->parameter_struct.alt_pid.Kp);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setheighti(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Ki = value;
printf("function for throttlei: %f\n", structs->parameter_struct.alt_pid.Ki);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set alt Ki to %.2f\r\n", structs->parameter_struct.alt_pid.Ki);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
int setheightd(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
char buf[255] = {};
int i;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Kd = value;
printf("function for throttled: %f\n", structs->parameter_struct.alt_pid.Kd);
// Send a reply to the ground station
snprintf(buf, sizeof(buf), "Successfully set alt Kd to %.2f\r\n", structs->parameter_struct.alt_pid.Kd);
unsigned char *responsePacket;
metadata_t metadata =
{
BEGIN_CHAR,
MessageTypes[5].ID,
MessageTypes[5].subtypes[1].ID,
0,
(strlen(buf) + 1)
};
formatPacket(&metadata, buf, &responsePacket);
// Send each byte of the packet individually
for(i = 0; i < 8 + metadata.data_len; i++) {
// Debug print statement for all of the bytes being sent
//printf("%d: 0x%x\n", i, responsePacket[i]);
uart0_sendByte(responsePacket[i]);
}
return 0;
}
// These should be renamed to altitude!
// ------------------------------------------------------------
int accelreq(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int gyroresp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int pitchangleresp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int rollangleresp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int gyroreq(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int pitchanglereq(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int rollanglereq(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int accelresp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
quad/sw/modular_quad_pid/src/commands.h 0 → 100644
View file @ fb5bce18
#ifndef _COMMANDS_H
#define _COMMANDS_H
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "type_def.h"
// ----------------------
// Helper stuff
#define MAX_TYPE 6
#define MAX_SUBTYPE 100
enum Message{
BEGIN_CHAR = 0xBE,
END_CHAR = 0xED
};
// This should also have double to avoid confusion with float values.
enum DataType
{
floatType,
intType,
stringType
};
// MESSAGE SUBTYPES
struct MessageSubtype{
char ID;
char cmdText[100];
char cmdDataType;
int (*functionPtr)(unsigned char *command, int dataLen, modular_structs_t *structs);
};
// MESSAGE TYPES
struct MessageType{
char ID;
struct MessageSubtype subtypes[MAX_SUBTYPE];
};
int debug(unsigned char *c, int dataLen, modular_structs_t *structs);
int update(unsigned char *c, int dataLen, modular_structs_t *structs);
int beginupdate(unsigned char *c, int dataLen, modular_structs_t *structs);
int logdata(unsigned char *c, int dataLen, modular_structs_t *structs);
int response(unsigned char *packet, int dataLen, modular_structs_t *structs);
int throttleset(unsigned char *c, int dataLen, modular_structs_t *structs);
int setheightp(unsigned char *c, int dataLen, modular_structs_t *structs);
int setheighti(unsigned char *c, int dataLen, modular_structs_t *structs);
int setheightd(unsigned char *c, int dataLen, modular_structs_t *structs);
int setlatp(unsigned char *c, int dataLen, modular_structs_t *structs);
int setlati(unsigned char *c, int dataLen, modular_structs_t *structs);
int setlatd(unsigned char *c, int dataLen, modular_structs_t *structs);
int setlongp(unsigned char *c, int dataLen, modular_structs_t *structs);
int setlongi(unsigned char *c, int dataLen, modular_structs_t *structs);
int setlongd(unsigned char *c, int dataLen, modular_structs_t *structs);
int setpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
int setpitchi(unsigned char *c, int dataLen, modular_structs_t *structs);
int setpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
int setrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
int setrolli(unsigned char *c, int dataLen, modular_structs_t *structs);
int setrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
int setyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
int setyawi(unsigned char *c, int dataLen, modular_structs_t *structs);
int setyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
int setpitchratep(unsigned char *c, int dataLen, modular_structs_t *structs);
int setpitchratei(unsigned char *c, int dataLen, modular_structs_t *structs);
int setpitchrated(unsigned char *c, int dataLen, modular_structs_t *structs);
int setrollratep(unsigned char *c, int dataLen, modular_structs_t *structs);
int setrollratei(unsigned char *c, int dataLen, modular_structs_t *structs);
int setrollrated(unsigned char *c, int dataLen, modular_structs_t *structs);
int setyawratep(unsigned char *c, int dataLen, modular_structs_t *structs);
int setyawratei(unsigned char *c, int dataLen, modular_structs_t *structs);
int setyawrated(unsigned char *c, int dataLen, modular_structs_t *structs);
int accelreq(unsigned char *c, int dataLen, modular_structs_t *structs);
int gyroresp(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchangleresp(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollangleresp(unsigned char *c, int dataLen, modular_structs_t *structs);
int gyroreq(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchanglereq(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollanglereq(unsigned char *c, int dataLen, modular_structs_t *structs);
int accelresp(unsigned char *c, int dataLen, modular_structs_t *structs);
// TODO add in string to be read from the command line when sending a subtype of message
extern struct MessageType MessageTypes[MAX_TYPE];
#endif