project conversion to PlatformIO

src/drone/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

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

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 <Foo.h>
+#include <Bar.h>
+
+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

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

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

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