From cb11da3322b1a470006a6936612ea0d5bd4cee13 Mon Sep 17 00:00:00 2001 From: Sam Hos Date: Fri, 14 Feb 2025 11:22:20 +0100 Subject: [PATCH] project conversion to PlatformIO --- docs/final_project/drone_code.md | 0 src/drone/.gitignore | 5 +++ src/drone/include/README | 37 +++++++++++++++++++++ src/drone/lib/README | 46 ++++++++++++++++++++++++++ src/drone/platformio.ini | 17 ++++++++++ src/drone/{ => src}/conf.h | 0 src/drone/{drone.ino => src/drone.cpp} | 44 +++++++++++++++++++++++- src/drone/test/README | 11 ++++++ 8 files changed, 159 insertions(+), 1 deletion(-) delete mode 100644 docs/final_project/drone_code.md create mode 100644 src/drone/.gitignore create mode 100644 src/drone/include/README create mode 100644 src/drone/lib/README create mode 100644 src/drone/platformio.ini rename src/drone/{ => src}/conf.h (100%) rename src/drone/{drone.ino => src/drone.cpp} (97%) create mode 100644 src/drone/test/README diff --git a/docs/final_project/drone_code.md b/docs/final_project/drone_code.md deleted file mode 100644 index e69de29..0000000 diff --git a/src/drone/.gitignore b/src/drone/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/src/drone/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/src/drone/include/README b/src/drone/include/README new file mode 100644 index 0000000..49819c0 --- /dev/null +++ b/src/drone/include/README @@ -0,0 +1,37 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the convention is to give header files names that end with `.h'. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/src/drone/lib/README b/src/drone/lib/README new file mode 100644 index 0000000..9379397 --- /dev/null +++ b/src/drone/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into the executable file. + +The source code of each library should be placed in a separate directory +("lib/your_library_name/[Code]"). + +For example, see the structure of the following example libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +Example contents of `src/main.c` using Foo and Bar: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +The PlatformIO Library Dependency Finder will find automatically dependent +libraries by scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/src/drone/platformio.ini b/src/drone/platformio.ini new file mode 100644 index 0000000..b40a492 --- /dev/null +++ b/src/drone/platformio.ini @@ -0,0 +1,17 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:seeed_xiao_esp32c3] +platform = espressif32 +board = seeed_xiao_esp32c3 +framework = arduino +lib_deps = + paulstoffregen/PWMServo@^2.1 + sparkfun/SparkFun BNO080 Cortex Based IMU@^1.1.12 diff --git a/src/drone/conf.h b/src/drone/src/conf.h similarity index 100% rename from src/drone/conf.h rename to src/drone/src/conf.h diff --git a/src/drone/drone.ino b/src/drone/src/drone.cpp similarity index 97% rename from src/drone/drone.ino rename to src/drone/src/drone.cpp index 727552e..33ad34d 100644 --- a/src/drone/drone.ino +++ b/src/drone/src/drone.cpp @@ -296,6 +296,48 @@ int s1_command_PWM, s2_command_PWM, s3_command_PWM, s4_command_PWM, s5_command_P // Flight status bool armedFly = false; +//========================================================================================================================// +// Function declarations // +//========================================================================================================================// +void armedStatus(); +void IMUinit(); +void getIMUdata(); +void calculate_IMU_error(); +void calibrateAttitude(); +void Madgwick(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float invSampleFreq); +void Madgwick6DOF(float gx, float gy, float gz, float ax, float ay, float az, float invSampleFreq); +void getDesState(); +void controlANGLE(); +void controlANGLE2(); +void controlRATE(); +void scaleCommands(); +void getCommands(); +void failSafe(); +void commandMotors(); +void armMotors(); +void calibrateESCs(); +float floatFaderLinear(float param, float param_min, float param_max, float fadeTime, int state, int loopFreq); +float floatFaderLinear2(float param, float param_des, float param_lower, float param_upper, float fadeTime_up, float fadeTime_down, int loopFreq); +void switchRollYaw(int reverseRoll, int reverseYaw); +void throttleCut(); +void calibrateMagnetometer(); +void loopRate(int freq); +void loopBlink(); +void setupBlink(int numBlinks, int upTime, int downTime); +void printRadioData(); +void printDesiredState(); +void printGyroData(); +void printAccelData(); +void printMagData(); +void printRollPitchYaw(); +void printPIDoutput(); +void printMotorCommands(); +void printServoCommands(); +void printLoopRate(); +float invSqrt(float x); +void controlMixer(); + + //========================================================================================================================// // VOID SETUP // //========================================================================================================================// @@ -1010,7 +1052,7 @@ void controlANGLE() { void controlANGLE2() { // DESCRIPTION: Computes control commands based on state error (angle) in cascaded scheme /* - * Gives better performance than controlANGLE() but requires much more tuning. Not reccommended for first-time setup. + * Gives better performance than controlANGLE() but requires much more tuning. Not recommended for first-time setup. * See the documentation for tuning this controller. */ // Outer loop - PID on angle diff --git a/src/drone/test/README b/src/drone/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/src/drone/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html