Initial commit

flix/flix.ino

@@ -0,0 +1,74 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+#include "vector.hpp"
+#include "quaternion.hpp"
+
+#define SERIAL_BAUDRATE 115200
+
+#define WIFI_ENABLED 0
+
+#define RC_CHANNELS 6
+#define RC_CHANNEL_THROTTLE 2
+#define RC_CHANNEL_YAW 3
+#define RC_CHANNEL_PITCH 1
+#define RC_CHANNEL_ROLL 0
+#define RC_CHANNEL_AUX 4
+#define RC_CHANNEL_MODE 5
+
+#define MOTOR_REAR_LEFT 0
+#define MOTOR_FRONT_LEFT 3
+#define MOTOR_FRONT_RIGHT 2
+#define MOTOR_REAR_RIGHT 1
+
+uint32_t startTime; // system startup time
+uint32_t stepTime; // current step time
+uint32_t steps; // total steps count
+float stepsPerSecond; // steps per last second
+float dt; // time delta from previous step
+uint16_t channels[16]; // raw rc channels
+float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
+uint32_t rcFailSafe, rcLostFrame;
+float motors[4]; // normalized motors thrust in range [-1..1]
+Vector rates; // angular rates, rad/s
+Vector acc; // accelerometer data, m/s/s
+Quaternion attitude; // estimated attitude
+bool calibrating; // flag we're calibrating
+
+void setupDebug();
+void lowPowerMode();
+
+void setup()
+{
+	Serial.begin(SERIAL_BAUDRATE);
+	Serial.println("Initializing flix");
+	setupTime();
+	setupLED();
+	setupMotors();
+	setLED(true);
+#if WIFI_ENABLED == 1
+	setupWiFi();
+#endif
+	setupIMU();
+	setupRC();
+
+	setLED(false);
+	Serial.println("Initializing complete");
+}
+
+void loop()
+{
+	if (!readIMU()) return;
+
+	step();
+	readRC();
+	estimate();
+	control();
+	sendMotors();
+	parseInput();
+#if WIFI_ENABLED == 1
+	sendMavlink();
+#endif
+	logData();
+	signalizeHorizontality();
+}