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Stabilizer
Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of MPU9250AHRS by
Diff: main.cpp.orig
- Revision:
- 21:298aa522db64
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp.orig Wed Feb 03 16:23:11 2016 +0000 @@ -0,0 +1,422 @@ +#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; + +float ymax = -4914.0; +float ymin = 4914.0f; + +float zmax = -4914.0; +float zmin = 4914.0f; + +float Xsf,Ysf; +float Xoff,Yoff; + + +//InterruptIn event(PC_13); +DigitalIn enable(PC_13); + +//DigitalIn button(USER_BUTTON); + +void UI() +{ + +} + +void WheelChair() +{ + //Start Here + //Stabilize.set_Body_Lenght(5); + Stabilize.set_current_zeta(roll); + //Stabilize.set_zeta_set(0); + //Stabilize.ZetaErrorCalculation(); + Stabilize.PID(); + + Stabilize.set_New_Height(L.get_Position_Z()); + + //pc.printf("Height : %f, delta : %f, New Height : %f\n",L.get_Position_Z(),Stabilize.get_delta_h(),Stabilize.get_New_Height()); + L.print(); + L.set_Position_Z(Stabilize.get_New_Height()); + L.InverseKinematicCalculation(); + L.print(); + + R.set_Position_Y(L.get_Position_Y()+Stabilize.get_Offset_Y()); + R.set_Position_Z(L.get_Position_Z()+Stabilize.get_Offset_Z()); + //R.set_offset_YZ(3,3); + //R.SumPositionWithOffset(); + R.InverseKinematicCalculation(); + R.print(); + pc.printf("\n"); + + //Send Position of L&R Angle to Motion Board + + + + //End Here +} + +int main() +{ + pc.baud(115200); + + + /*while(1){ + Kinematic test('P',10,15,10,10); + pc.printf("\n\nLink Hip : %f, Link Knee : %f, Position Y : %f, Position Z : %f\n",test.get_Link_Hip(),test.get_Link_Knee(),test.get_Position_Y(),test.get_Position_Z()); + pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee()); + test.set_Link_Hip(25); + test.set_Link_Knee(30); + test.set_Position_Y(35); + test.set_Position_Z(40); + test.set_Zeta_Hip(45); + test.set_Zeta_Knee(50); + pc.printf("\nLink Hip : %f, Link Knee : %f, Position Y : %f, Position Z : %f\n",test.get_Link_Hip(),test.get_Link_Knee(),test.get_Position_Y(),test.get_Position_Z()); + pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee()); + + 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 + + pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); + + t.start(); + + //mpu9250.resetMPU9250(); + // Read the WHO_AM_I register, this is a good test of communication + uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 + pc.printf("I AM 0x%x\n\r", whoami); + pc.printf("I SHOULD BE 0x71\n\r"); + + if (whoami == 0x71) { // WHO_AM_I should always be 0x68 + pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami); + pc.printf("MPU9250 is online...\n\r"); + sprintf(buffer, "0x%x", whoami); + wait(1); + + mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration + mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values + pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); + pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); + pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); + pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); + pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); + pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); + mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers + pc.printf("x gyro bias = %f\n\r", gyroBias[0]); + pc.printf("y gyro bias = %f\n\r", gyroBias[1]); + pc.printf("z gyro bias = %f\n\r", gyroBias[2]); + pc.printf("x accel bias = %f\n\r", accelBias[0]); + pc.printf("y accel bias = %f\n\r", accelBias[1]); + pc.printf("z accel bias = %f\n\r", accelBias[2]); + wait(2); + mpu9250.initMPU9250(); + pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature + mpu9250.initAK8963(magCalibration); + pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer + + whoami = mpu9250.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); // Read WHO_AM_I register for MPU-9250 + pc.printf("I AM 0x%x\n\r", whoami); + pc.printf("I SHOULD BE 0x48\n\r"); + if(whoami != 0x48) { + while(1); + } + pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); + pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); + if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r"); + if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r"); + if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r"); + if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r"); + wait(1); + } else { + pc.printf("Could not connect to MPU9250: \n\r"); + pc.printf("%#x \n", whoami); + + sprintf(buffer, "WHO_AM_I 0x%x", whoami); + + while(1) ; // Loop forever if communication doesn't happen + } + + mpu9250.getAres(); // Get accelerometer sensitivity + mpu9250.getGres(); // Get gyro sensitivity + mpu9250.getMres(); // Get magnetometer sensitivity + pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); + pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); + pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); + + /*pc.printf("START scan mag\n\r\n\r\n\r"); + //wait(1); + for(int i=0; i<4000; i++) { + mpu9250.readMagData(magCount); + + 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(magCount[2]>zmax) + zmax = magCount[2]; + + + wait_ms(10); + } + pc.printf("FINISH scan\r\n\r\n"); + pc.printf("Mx Max= %f Min= %f\n\r",xmax,xmin); + pc.printf("My Max= %f Min= %f\n\r",ymax,ymin); + pc.printf("Mz Max= %f Min= %f\n\r",zmax,zmin);*/ + + /*xmax = 188.000000; + xmin = -316.000000; + ymax = 485.000000; + ymin = -26.000000; + zmax = 165.000000; + xmin = -230.000000; + + //Ice room + xmax = 101.000000; + xmin = -296.000000; + ymax = 320.000000; + ymin = -85.000000; + zmax = 208.000000; + xmin = -202.000000; + + xmax = 115.000000; + xmin = -309.000000; + ymax = 350.000000; + ymin = -119.000000; + zmax = 235.000000; + zmin = -224.000000;*/ + + xmax = 120.000000; + xmin = -306.000000; + ymax = 340.000000; + ymin = -90.000000; + zmax = 219.000000; + zmin = -195.000000; + + + + magbias[0] = -1.0; + magbias[1] = -1.0; + magbias[2] = -1.0; + + magCalibration[0] = 2.0f / (xmax -xmin); + magCalibration[1] = 2.0f / (ymax -ymin); + magCalibration[2] = 2.0f / (zmax -zmin); + + //magbias[0] = (xmin-xmax)/2.0f; // User environmental x-axis correction in milliGauss, should be automatically calculated + //magbias[1] = (ymin-ymax)/2.0f; // User environmental x-axis correction in milliGauss + //magbias[2] = (zmin-zmax)/2.0f; // User environmental x-axis correction in milliGauss + pc.printf("mag[0] %f",magbias[0]); + pc.printf("mag[1] %f",magbias[1]); + pc.printf("mag[2] %f\n\r",magbias[2]); + // resalt = atan(magY+((yMin-yMax)/2),magX+(xMin-xMax)/2))*180/PI; + +} + + +void Init_Stabilizer() +{ + + + + + } \ No newline at end of file