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Stabilizer
Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of MPU9250AHRS by
main.cpp
- Committer:
- soulx
- Date:
- 2015-12-23
- Revision:
- 14:8101a48eb972
- Parent:
- 13:3cb75b6e2506
- Child:
- 15:10939fd0eaac
- Child:
- 16:b5b9827dd5dc
File content as of revision 14:8101a48eb972:
#include "Stabilizer.h" #include "Kinematic.h" #include "MPU9250.h" float sum = 0; uint32_t sumCount = 0; char buffer[14]; 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 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); }*/ //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; 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; } } } }