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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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quad/sw/modular_quad_pid/bootimage/the_real_golden_boot(final_demo).bin 0 → 100644
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quad/sw/modular_quad_pid/src/Copy of original lscript.ld 0 → 100644
View file @ fb5bce18
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/* */
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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
This diff is collapsed.
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