New file: imu-interface.cpp/.h. It's still empty... Also, added an es…

…c_init function and moved some lines from main.cpp to there. cmd_servo_sweep allows you to control the throttle of the rotors with j and k (down/up) and z zero's the rate

Makefile

@@ -29,7 +29,8 @@ PRODUCT_ID := 0003
 SRCS=	main.cpp \
 		utils.cpp \
 		esc-control.cpp \
-		ppm-decode.cpp 
+		ppm-decode.cpp \
+		imu-interface.cpp
 
 INCLUDES=${SRCS:.cpp=.h}  
 OBJS=$(addprefix $(APP_OBJ_PATH)/, $(SRCS:.cpp=.o))

esc-control.cpp

@@ -16,6 +16,21 @@ const char* dummy_data = ("qwertyuiopasdfghjklzxcvbnmmmmmm,./1234567890-="
                           "qwertyuiopasdfghjklzxcvbnm,./1234567890");
 
 
+HardwareTimer timer1(1);
+
+void esc_init()
+{
+	// Setup timer1 for PWM
+	timer1.setMode(TIMER_CH1, TIMER_PWM);
+	timer1.setPrescaleFactor(21);
+
+	// Set throttle to minimum
+	for(int i=0;i<3;i++)
+	{
+		set_rotor_throttle(i+1, 0);
+	}
+
+}
 
 void ppm_decode(void){
     SerialUSB.println("Decoding DIY Drones PPM encoder on pin D27");
@@ -120,7 +135,7 @@ void set_rotor_throttle(int rotor, float rate)
 	// 2.00ms = 6800counts = 100% (180deg)
 	int duty = SERVO_MIN + (float)(SERVO_MAX-SERVO_MIN)*rate;
 
-#ifdef DEBUG
+#ifdef COPTER_DEBUG
 	SerialUSB.print("Rotor:D");
 	SerialUSB.print(pin);
 	SerialUSB.print("\tRate:");
@@ -134,27 +149,49 @@ void set_rotor_throttle(int rotor, float rate)
 }
 
 void cmd_servo_sweep(void) {
-    SerialUSB.println("Testing D15 and D16 PWM header with a servo sweep. "
+    SerialUSB.println("Testing rotors.  Sweeping from 0 to 50%"
                       "Press any key to stop.");
     SerialUSB.println();
 
     disable_usarts();
 
+    uint8 input;
     float rate1 = 0;
     float rate2 = 0;
-    while (!SerialUSB.available()) {
-        rate1 += 0.0005;
-        rate2 += 0.001;
-        if (rate1 > 1.0)  rate1 = 0.0;
-        if (rate2 > 1.0)  rate2 = 0.0;
+    while (1) {
+
+    	input = SerialUSB.read();
+    	if (input == 'j')
+    	{
+			rate1 -= 0.01;
+		}
+    	else if(input == 'k')
+    	{
+    		rate1 += 0.01;
+    	}
+    	else if(input == 'z')
+    	{
+    		rate1 = 0;
+
+    	}else{
+    		break;
+    	}
+
+
+        if (rate1 > 1.0)  rate1 = 1.0;
+
+        SerialUSB.println(rate1);
 
         set_rotor_throttle(1, rate1);
-        set_rotor_throttle(2, rate2);
+        set_rotor_throttle(2, rate1);
+        set_rotor_throttle(3, rate1);
         delay(20);
     }
 
     set_rotor_throttle(1, 0.0);
     set_rotor_throttle(2, 0.0);
+    set_rotor_throttle(3, 0.0);
+
 
 
 //    for (uint32 i = 0; i < BOARD_NR_PWM_PINS; i++) {

esc-control.h

@@ -1,6 +1,6 @@
 #include "wirish.h"
 
-// Commands
+void esc_init();
 void cmd_servo_sweep(void);
 void ppm_decode(void);
 void set_servo_angle(float angle);

imu-interface.cpp

@@ -0,0 +1,20 @@
+/*
+ * imu-interface.cpp
+ *
+ *  Created on: Dec 30, 2011
+ *      Author: jairo
+ */
+#include "wirish.h"
+#include "imu-interface.h"
+
+
+void imu_print_data()
+{
+	while(!SerialUSB.available())
+	{
+		SerialUSB.print(Serial3.read());
+		SerialUSB.print(":");
+		delay(20);
+
+	}
+}

imu-interface.h

@@ -0,0 +1,14 @@
+/*
+ * imu-interface.h
+ *
+ *  Created on: Dec 30, 2011
+ *      Author: jairo
+ */
+
+#ifndef IMU_INTERFACE_H_
+#define IMU_INTERFACE_H_
+
+void imu_print_data();
+
+
+#endif /* IMU_INTERFACE_H_ */

main.cpp

@@ -6,36 +6,36 @@
 #include "utils.h"
 #include "esc-control.h"
 #include "ppm-decode.h"
+#include "imu-interface.h"
 
 
 // ASCII escape character
 #define ESC       ((uint8)27)
 
-// Globals
-HardwareTimer timer1(1);
-
 // -- setup() and loop() ------------------------------------------------------
 
 void setup() {
+	disable_usarts();
+
     // Set up the LED to blink
     pinMode(BOARD_LED_PIN, OUTPUT);
-
-    // Setup timer1 for PWM
-    timer1.setMode(TIMER_CH1, TIMER_PWM);
-    timer1.setPrescaleFactor(21);
-    pinMode(ROTOR1_PIN, PWM);
-    pinMode(ROTOR2_PIN, PWM);
-    pinMode(ROTOR3_PIN, PWM);
-    //using timer4, channel1, maps to pin d16 (maple mini) according to maple master pin map.
+	// Set up ESC pins
+	pinMode(ROTOR1_PIN, PWM);
+	pinMode(ROTOR2_PIN, PWM);
+	pinMode(ROTOR3_PIN, PWM);
+	// Set up PPM pin
 	pinMode(PPM_PIN, INPUT_PULLUP);
 
+    // init motor controllers
+    esc_init();
 
-
-    // ppm decode setup
-    // init timer1 and dma
+	// ppm decode setup
 	init_ppm_timer_and_dma();
 	ppm_decode_go();
 
+	// init imu rx
+	Serial3.begin(28800);
+
     // initialize usb
     SerialUSB.begin();
     while(!isConnected()); //wait till console attaches.
@@ -55,7 +55,7 @@ int main(void) {
 
     while (1) {
         toggleLED();
-        delay(250);
+        delay(20);
 
         while (SerialUSB.available()) {
             uint8 input = SerialUSB.read();
@@ -77,6 +77,11 @@ int main(void) {
             	print_ppm_data();
             	break;
 
+            case 'i':
+            	/// imu data
+            	imu_print_data();
+            	break;
+
             case 'h':
                 cmd_print_help();
                 break;

main.h

@@ -11,12 +11,19 @@
  *
  */
 
+#define COPTER_DEBUG
+
 /* Timer 1, Ch 1 */
 #define ROTOR1_PIN 27
 /* Timer 1, Ch 2 */
 #define ROTOR2_PIN 26
 /* Timer 1, Ch 3 */
 #define ROTOR3_PIN 25
+/* Mounted on rotor 3 */
+#define YAW_SERVO_PIN 24
 
 /* Timer 4, Ch 1 */
 #define PPM_PIN 16
+
+/* 3_RX */
+#define IMU_RX_PIN 0