BE@R lab
Stabilizer
Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of
MPU9250AHRS
by 
BE@R lab
Diff: main.cpp
- Revision:
- 15:10939fd0eaac
- Parent:
- 14:8101a48eb972
- Child:
- 21:298aa522db64
--- a/main.cpp Wed Dec 23 11:21:43 2015 +0000
+++ b/main.cpp Thu Dec 24 13:49:20 2015 +0000
@@ -1,19 +1,33 @@
+#include "BEAR_Protocol.h"
#include "Stabilizer.h"
#include "Kinematic.h"
#include "MPU9250.h"
+#include "param.h"
+
+void Init_IMU();
+void Init_Stabilizer();
+
+
float sum = 0;
uint32_t sumCount = 0;
char buffer[14];
+
+//init class
MPU9250 mpu9250;
Stabilizer Stabilize(5.0f,0.0f);
Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30);
+
Timer t;
Serial pc(USBTX, USBRX); // tx, rx
+Bear_Communicate bear(PA_15,PB_7,115200);
+
+
+
float xmax = -4914.0f;
float xmin = 4914.0f;
@@ -90,8 +104,168 @@
while(1);
}*/
+ Init_IMU();
+
+ float temp_time;
+
+ while(1) {
+ temp_time = t.read();
+ // If intPin goes high, all data registers have new data
+ if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
+
+ mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
+ // Now we'll calculate the accleration value into actual g's
+ ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)accelCount[1]*aRes - accelBias[1];
+ az = (float)accelCount[2]*aRes - accelBias[2];
+
+ mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
+ // Calculate the gyro value into actual degrees per second
+ gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gy = (float)gyroCount[1]*gRes - gyroBias[1];
+ gz = (float)gyroCount[2]*gRes - gyroBias[2];
+
+ mpu9250.readMagData(magCount); // Read the x/y/z adc values
+ // Calculate the magnetometer values in milliGauss
+ // Include factory calibration per data sheet and user environmental corrections
+ /* if(magCount[0]<xmin)
+ xmin = magCount[0];
+ if(magCount[0]>xmax)
+ xmax = magCount[0];
+
+ if(magCount[1]<ymin)
+ ymin = magCount[1];
+ if(magCount[1]>ymax)
+ ymax = magCount[1];
+
+ if(magCount[2]<zmin)
+ zmin = magCount[2];
+ if(mz>zmax)
+ zmax = mz;
+ wait_ms(1);
+ */
+ // pc.printf("FINISH scan\r\n\r\n");
+
+// mx = (float)magCount[0]*mRes*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set
+// my = (float)magCount[1]*mRes*magCalibration[1] + magbias[1];
+// mz = (float)magCount[2]*mRes*magCalibration[2] + magbias[2];
+
+ mx = ((float)magCount[0]-xmin)*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set
+ my = ((float)magCount[1]-ymin)*magCalibration[1] + magbias[1];
+ mz = ((float)magCount[2]-zmin)*magCalibration[2] + magbias[2];
+
+ // mx = (float)magCount[0]*1.499389499f - magbias[0]; // get actual magnetometer value, this depends on scale being set
+ // my = (float)magCount[1]*1.499389499f - magbias[1];
+ // mz = (float)magCount[2]*1.499389499f - magbias[2];
+
+
+ }
+
+ Now = t.read_us();
+ deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ lastUpdate = Now;
+
+ sum += deltat;
+ sumCount++;
+
+// if(lastUpdate - firstUpdate > 10000000.0f) {
+// beta = 0.04; // decrease filter gain after stabilized
+// zeta = 0.015; // increasey bias drift gain after stabilized
+// }
+
+ // Pass gyro rate as rad/s
+ //mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+ mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+ if(temp_time > 8) {
+ if (delt_t > 500) { // update LCD once per half-second independent of read rate
+
+ /*pc.printf("ax = %f", 1000*ax);
+ pc.printf(" ay = %f", 1000*ay);
+ pc.printf(" az = %f mg\n\r", 1000*az);
+
+ pc.printf("gx = %f", gx);
+ pc.printf(" gy = %f", gy);
+ pc.printf(" gz = %f deg/s\n\r", gz);
+
+ pc.printf("mx = %f", mx);
+ pc.printf(" my = %f", my);
+ pc.printf(" mz = %f mG\n\r", mz);*/
+
+ uint8_t whoami = mpu9250.readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250
+ // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x10\n\r");
+ if(whoami == 0x14) {
+ pc.printf("I AM 0x%x\n\r", whoami);
+ while(1);
+ }
+
+
+ tempCount = mpu9250.readTempData(); // Read the adc values
+ temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
+ //pc.printf(" temperature = %f C\n\r", temperature);
+
+ // pc.printf("q0 = %f\n\r", q[0]);
+ // pc.printf("q1 = %f\n\r", q[1]);
+ // pc.printf("q2 = %f\n\r", q[2]);
+ // pc.printf("q3 = %f\n\r", q[3]);
+
+ // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
+ // In this coordinate system, the positive z-axis is down toward Earth.
+ // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
+ // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
+ // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
+ // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
+ // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
+ // applied in the correct order which for this configuration is yaw, pitch, and then roll.
+ // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
+ yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+ pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+ roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+
+ float Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch);
+ float Yh = my*cos(roll)+mz*sin(roll);
+
+ float yawmag = atan2(Yh,Xh)+PI;
+ //pc.printf("Xh= %f Yh= %f ",Xh,Yh);
+ //pc.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI);
+
+
+
+ pitch *= 180.0f / PI;
+ yaw *= 180.0f / PI;
+ yaw += 180.0f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
+ roll *= 180.0f / PI;
+
+ pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+ //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+
+
+ WheelChair();
+
+
+ myled= !myled;
+ count = t.read_ms();
+
+ if(count > 1<<21) {
+ t.start(); // start the timer over again if ~30 minutes has passed
+ count = 0;
+ deltat= 0;
+ lastUpdate = t.read_us();
+ }
+ sum = 0;
+ sumCount = 0;
+ }
+ }
+ }
+}
+
+void Init_IMU()
+{
+
//Set up I2C
i2c.frequency(400000); // use fast (400 kHz) I2C
@@ -236,160 +410,13 @@
pc.printf("mag[2] %f\n\r",magbias[2]);
// resalt = atan(magY+((yMin-yMax)/2),magX+(xMin-xMax)/2))*180/PI;
-
- float temp_time;
-
- while(1) {
- temp_time = t.read();
- // If intPin goes high, all data registers have new data
- if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
-
- mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
- // Now we'll calculate the accleration value into actual g's
- ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
- ay = (float)accelCount[1]*aRes - accelBias[1];
- az = (float)accelCount[2]*aRes - accelBias[2];
-
- mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
- // Calculate the gyro value into actual degrees per second
- gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
- gy = (float)gyroCount[1]*gRes - gyroBias[1];
- gz = (float)gyroCount[2]*gRes - gyroBias[2];
-
- mpu9250.readMagData(magCount); // Read the x/y/z adc values
- // Calculate the magnetometer values in milliGauss
- // Include factory calibration per data sheet and user environmental corrections
- /* if(magCount[0]<xmin)
- xmin = magCount[0];
- if(magCount[0]>xmax)
- xmax = magCount[0];
-
- if(magCount[1]<ymin)
- ymin = magCount[1];
- if(magCount[1]>ymax)
- ymax = magCount[1];
-
- if(magCount[2]<zmin)
- zmin = magCount[2];
- if(mz>zmax)
- zmax = mz;
- wait_ms(1);
- */
- // pc.printf("FINISH scan\r\n\r\n");
-
-// mx = (float)magCount[0]*mRes*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set
-// my = (float)magCount[1]*mRes*magCalibration[1] + magbias[1];
-// mz = (float)magCount[2]*mRes*magCalibration[2] + magbias[2];
-
- mx = ((float)magCount[0]-xmin)*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set
- my = ((float)magCount[1]-ymin)*magCalibration[1] + magbias[1];
- mz = ((float)magCount[2]-zmin)*magCalibration[2] + magbias[2];
-
- // mx = (float)magCount[0]*1.499389499f - magbias[0]; // get actual magnetometer value, this depends on scale being set
- // my = (float)magCount[1]*1.499389499f - magbias[1];
- // mz = (float)magCount[2]*1.499389499f - magbias[2];
-
-
+}
- }
-
- Now = t.read_us();
- deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
- lastUpdate = Now;
-
- sum += deltat;
- sumCount++;
-
-// if(lastUpdate - firstUpdate > 10000000.0f) {
-// beta = 0.04; // decrease filter gain after stabilized
-// zeta = 0.015; // increasey bias drift gain after stabilized
-// }
-
- // Pass gyro rate as rad/s
- //mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
- mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
-
- // Serial print and/or display at 0.5 s rate independent of data rates
- delt_t = t.read_ms() - count;
- if(temp_time > 8) {
- if (delt_t > 500) { // update LCD once per half-second independent of read rate
-
- /*pc.printf("ax = %f", 1000*ax);
- pc.printf(" ay = %f", 1000*ay);
- pc.printf(" az = %f mg\n\r", 1000*az);
-
- pc.printf("gx = %f", gx);
- pc.printf(" gy = %f", gy);
- pc.printf(" gz = %f deg/s\n\r", gz);
-
- pc.printf("mx = %f", mx);
- pc.printf(" my = %f", my);
- pc.printf(" mz = %f mG\n\r", mz);*/
-
- whoami = mpu9250.readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250
- // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x10\n\r");
- if(whoami == 0x14) {
- pc.printf("I AM 0x%x\n\r", whoami);
- while(1);
- }
-
-
- tempCount = mpu9250.readTempData(); // Read the adc values
- temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
- //pc.printf(" temperature = %f C\n\r", temperature);
-
- // pc.printf("q0 = %f\n\r", q[0]);
- // pc.printf("q1 = %f\n\r", q[1]);
- // pc.printf("q2 = %f\n\r", q[2]);
- // pc.printf("q3 = %f\n\r", q[3]);
-
- // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
- // In this coordinate system, the positive z-axis is down toward Earth.
- // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
- // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
- // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
- // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
- // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
- // applied in the correct order which for this configuration is yaw, pitch, and then roll.
- // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
- yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
- pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
- roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
-
- float Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch);
- float Yh = my*cos(roll)+mz*sin(roll);
-
- float yawmag = atan2(Yh,Xh)+PI;
- //pc.printf("Xh= %f Yh= %f ",Xh,Yh);
- //pc.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI);
-
-
-
- pitch *= 180.0f / PI;
- yaw *= 180.0f / PI;
- yaw += 180.0f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
- roll *= 180.0f / PI;
-
- pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
- //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
-
-
- WheelChair();
-
-
- myled= !myled;
- count = t.read_ms();
-
- if(count > 1<<21) {
- t.start(); // start the timer over again if ~30 minutes has passed
- count = 0;
- deltat= 0;
- lastUpdate = t.read_us();
- }
- sum = 0;
- sumCount = 0;
- }
- }
- }
-}
+void Init_Stabilizer()
+{
+
+
+
+
+ }
\ No newline at end of file