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Stabilizer
Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of MPU9250AHRS by
main.cpp.orig@21:298aa522db64, 2016-02-03 (annotated)
- Committer:
- soulx
- Date:
- Wed Feb 03 16:23:11 2016 +0000
- Revision:
- 21:298aa522db64
renew
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
soulx | 21:298aa522db64 | 1 | #include "BEAR_Protocol.h" |
soulx | 21:298aa522db64 | 2 | #include "Stabilizer.h" |
soulx | 21:298aa522db64 | 3 | #include "Kinematic.h" |
soulx | 21:298aa522db64 | 4 | #include "MPU9250.h" |
soulx | 21:298aa522db64 | 5 | |
soulx | 21:298aa522db64 | 6 | #include "param.h" |
soulx | 21:298aa522db64 | 7 | |
soulx | 21:298aa522db64 | 8 | void Init_IMU(); |
soulx | 21:298aa522db64 | 9 | void Init_Stabilizer(); |
soulx | 21:298aa522db64 | 10 | |
soulx | 21:298aa522db64 | 11 | |
soulx | 21:298aa522db64 | 12 | float sum = 0; |
soulx | 21:298aa522db64 | 13 | uint32_t sumCount = 0; |
soulx | 21:298aa522db64 | 14 | char buffer[14]; |
soulx | 21:298aa522db64 | 15 | |
soulx | 21:298aa522db64 | 16 | |
soulx | 21:298aa522db64 | 17 | //init class |
soulx | 21:298aa522db64 | 18 | MPU9250 mpu9250; |
soulx | 21:298aa522db64 | 19 | Stabilizer Stabilize(5.0f,0.0f); |
soulx | 21:298aa522db64 | 20 | Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30); |
soulx | 21:298aa522db64 | 21 | |
soulx | 21:298aa522db64 | 22 | |
soulx | 21:298aa522db64 | 23 | Timer t; |
soulx | 21:298aa522db64 | 24 | |
soulx | 21:298aa522db64 | 25 | Serial pc(USBTX, USBRX); // tx, rx |
soulx | 21:298aa522db64 | 26 | |
soulx | 21:298aa522db64 | 27 | Bear_Communicate bear(PA_15,PB_7,115200); |
soulx | 21:298aa522db64 | 28 | |
soulx | 21:298aa522db64 | 29 | |
soulx | 21:298aa522db64 | 30 | |
soulx | 21:298aa522db64 | 31 | float xmax = -4914.0f; |
soulx | 21:298aa522db64 | 32 | float xmin = 4914.0f; |
soulx | 21:298aa522db64 | 33 | |
soulx | 21:298aa522db64 | 34 | float ymax = -4914.0; |
soulx | 21:298aa522db64 | 35 | float ymin = 4914.0f; |
soulx | 21:298aa522db64 | 36 | |
soulx | 21:298aa522db64 | 37 | float zmax = -4914.0; |
soulx | 21:298aa522db64 | 38 | float zmin = 4914.0f; |
soulx | 21:298aa522db64 | 39 | |
soulx | 21:298aa522db64 | 40 | float Xsf,Ysf; |
soulx | 21:298aa522db64 | 41 | float Xoff,Yoff; |
soulx | 21:298aa522db64 | 42 | |
soulx | 21:298aa522db64 | 43 | |
soulx | 21:298aa522db64 | 44 | //InterruptIn event(PC_13); |
soulx | 21:298aa522db64 | 45 | DigitalIn enable(PC_13); |
soulx | 21:298aa522db64 | 46 | |
soulx | 21:298aa522db64 | 47 | //DigitalIn button(USER_BUTTON); |
soulx | 21:298aa522db64 | 48 | |
soulx | 21:298aa522db64 | 49 | void UI() |
soulx | 21:298aa522db64 | 50 | { |
soulx | 21:298aa522db64 | 51 | |
soulx | 21:298aa522db64 | 52 | } |
soulx | 21:298aa522db64 | 53 | |
soulx | 21:298aa522db64 | 54 | void WheelChair() |
soulx | 21:298aa522db64 | 55 | { |
soulx | 21:298aa522db64 | 56 | //Start Here |
soulx | 21:298aa522db64 | 57 | //Stabilize.set_Body_Lenght(5); |
soulx | 21:298aa522db64 | 58 | Stabilize.set_current_zeta(roll); |
soulx | 21:298aa522db64 | 59 | //Stabilize.set_zeta_set(0); |
soulx | 21:298aa522db64 | 60 | //Stabilize.ZetaErrorCalculation(); |
soulx | 21:298aa522db64 | 61 | Stabilize.PID(); |
soulx | 21:298aa522db64 | 62 | |
soulx | 21:298aa522db64 | 63 | Stabilize.set_New_Height(L.get_Position_Z()); |
soulx | 21:298aa522db64 | 64 | |
soulx | 21:298aa522db64 | 65 | //pc.printf("Height : %f, delta : %f, New Height : %f\n",L.get_Position_Z(),Stabilize.get_delta_h(),Stabilize.get_New_Height()); |
soulx | 21:298aa522db64 | 66 | L.print(); |
soulx | 21:298aa522db64 | 67 | L.set_Position_Z(Stabilize.get_New_Height()); |
soulx | 21:298aa522db64 | 68 | L.InverseKinematicCalculation(); |
soulx | 21:298aa522db64 | 69 | L.print(); |
soulx | 21:298aa522db64 | 70 | |
soulx | 21:298aa522db64 | 71 | R.set_Position_Y(L.get_Position_Y()+Stabilize.get_Offset_Y()); |
soulx | 21:298aa522db64 | 72 | R.set_Position_Z(L.get_Position_Z()+Stabilize.get_Offset_Z()); |
soulx | 21:298aa522db64 | 73 | //R.set_offset_YZ(3,3); |
soulx | 21:298aa522db64 | 74 | //R.SumPositionWithOffset(); |
soulx | 21:298aa522db64 | 75 | R.InverseKinematicCalculation(); |
soulx | 21:298aa522db64 | 76 | R.print(); |
soulx | 21:298aa522db64 | 77 | pc.printf("\n"); |
soulx | 21:298aa522db64 | 78 | |
soulx | 21:298aa522db64 | 79 | //Send Position of L&R Angle to Motion Board |
soulx | 21:298aa522db64 | 80 | |
soulx | 21:298aa522db64 | 81 | |
soulx | 21:298aa522db64 | 82 | |
soulx | 21:298aa522db64 | 83 | //End Here |
soulx | 21:298aa522db64 | 84 | } |
soulx | 21:298aa522db64 | 85 | |
soulx | 21:298aa522db64 | 86 | int main() |
soulx | 21:298aa522db64 | 87 | { |
soulx | 21:298aa522db64 | 88 | pc.baud(115200); |
soulx | 21:298aa522db64 | 89 | |
soulx | 21:298aa522db64 | 90 | |
soulx | 21:298aa522db64 | 91 | /*while(1){ |
soulx | 21:298aa522db64 | 92 | Kinematic test('P',10,15,10,10); |
soulx | 21:298aa522db64 | 93 | 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()); |
soulx | 21:298aa522db64 | 94 | pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee()); |
soulx | 21:298aa522db64 | 95 | test.set_Link_Hip(25); |
soulx | 21:298aa522db64 | 96 | test.set_Link_Knee(30); |
soulx | 21:298aa522db64 | 97 | test.set_Position_Y(35); |
soulx | 21:298aa522db64 | 98 | test.set_Position_Z(40); |
soulx | 21:298aa522db64 | 99 | test.set_Zeta_Hip(45); |
soulx | 21:298aa522db64 | 100 | test.set_Zeta_Knee(50); |
soulx | 21:298aa522db64 | 101 | 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()); |
soulx | 21:298aa522db64 | 102 | pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee()); |
soulx | 21:298aa522db64 | 103 | |
soulx | 21:298aa522db64 | 104 | while(1); |
soulx | 21:298aa522db64 | 105 | }*/ |
soulx | 21:298aa522db64 | 106 | |
soulx | 21:298aa522db64 | 107 | Init_IMU(); |
soulx | 21:298aa522db64 | 108 | |
soulx | 21:298aa522db64 | 109 | float temp_time; |
soulx | 21:298aa522db64 | 110 | |
soulx | 21:298aa522db64 | 111 | while(1) { |
soulx | 21:298aa522db64 | 112 | temp_time = t.read(); |
soulx | 21:298aa522db64 | 113 | // If intPin goes high, all data registers have new data |
soulx | 21:298aa522db64 | 114 | if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt |
soulx | 21:298aa522db64 | 115 | |
soulx | 21:298aa522db64 | 116 | mpu9250.readAccelData(accelCount); // Read the x/y/z adc values |
soulx | 21:298aa522db64 | 117 | // Now we'll calculate the accleration value into actual g's |
soulx | 21:298aa522db64 | 118 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
soulx | 21:298aa522db64 | 119 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
soulx | 21:298aa522db64 | 120 | az = (float)accelCount[2]*aRes - accelBias[2]; |
soulx | 21:298aa522db64 | 121 | |
soulx | 21:298aa522db64 | 122 | mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values |
soulx | 21:298aa522db64 | 123 | // Calculate the gyro value into actual degrees per second |
soulx | 21:298aa522db64 | 124 | gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set |
soulx | 21:298aa522db64 | 125 | gy = (float)gyroCount[1]*gRes - gyroBias[1]; |
soulx | 21:298aa522db64 | 126 | gz = (float)gyroCount[2]*gRes - gyroBias[2]; |
soulx | 21:298aa522db64 | 127 | |
soulx | 21:298aa522db64 | 128 | mpu9250.readMagData(magCount); // Read the x/y/z adc values |
soulx | 21:298aa522db64 | 129 | // Calculate the magnetometer values in milliGauss |
soulx | 21:298aa522db64 | 130 | // Include factory calibration per data sheet and user environmental corrections |
soulx | 21:298aa522db64 | 131 | /* if(magCount[0]<xmin) |
soulx | 21:298aa522db64 | 132 | xmin = magCount[0]; |
soulx | 21:298aa522db64 | 133 | if(magCount[0]>xmax) |
soulx | 21:298aa522db64 | 134 | xmax = magCount[0]; |
soulx | 21:298aa522db64 | 135 | |
soulx | 21:298aa522db64 | 136 | if(magCount[1]<ymin) |
soulx | 21:298aa522db64 | 137 | ymin = magCount[1]; |
soulx | 21:298aa522db64 | 138 | if(magCount[1]>ymax) |
soulx | 21:298aa522db64 | 139 | ymax = magCount[1]; |
soulx | 21:298aa522db64 | 140 | |
soulx | 21:298aa522db64 | 141 | if(magCount[2]<zmin) |
soulx | 21:298aa522db64 | 142 | zmin = magCount[2]; |
soulx | 21:298aa522db64 | 143 | if(mz>zmax) |
soulx | 21:298aa522db64 | 144 | zmax = mz; |
soulx | 21:298aa522db64 | 145 | wait_ms(1); |
soulx | 21:298aa522db64 | 146 | */ |
soulx | 21:298aa522db64 | 147 | // pc.printf("FINISH scan\r\n\r\n"); |
soulx | 21:298aa522db64 | 148 | |
soulx | 21:298aa522db64 | 149 | // mx = (float)magCount[0]*mRes*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set |
soulx | 21:298aa522db64 | 150 | // my = (float)magCount[1]*mRes*magCalibration[1] + magbias[1]; |
soulx | 21:298aa522db64 | 151 | // mz = (float)magCount[2]*mRes*magCalibration[2] + magbias[2]; |
soulx | 21:298aa522db64 | 152 | |
soulx | 21:298aa522db64 | 153 | mx = ((float)magCount[0]-xmin)*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set |
soulx | 21:298aa522db64 | 154 | my = ((float)magCount[1]-ymin)*magCalibration[1] + magbias[1]; |
soulx | 21:298aa522db64 | 155 | mz = ((float)magCount[2]-zmin)*magCalibration[2] + magbias[2]; |
soulx | 21:298aa522db64 | 156 | |
soulx | 21:298aa522db64 | 157 | // mx = (float)magCount[0]*1.499389499f - magbias[0]; // get actual magnetometer value, this depends on scale being set |
soulx | 21:298aa522db64 | 158 | // my = (float)magCount[1]*1.499389499f - magbias[1]; |
soulx | 21:298aa522db64 | 159 | // mz = (float)magCount[2]*1.499389499f - magbias[2]; |
soulx | 21:298aa522db64 | 160 | |
soulx | 21:298aa522db64 | 161 | |
soulx | 21:298aa522db64 | 162 | |
soulx | 21:298aa522db64 | 163 | |
soulx | 21:298aa522db64 | 164 | } |
soulx | 21:298aa522db64 | 165 | |
soulx | 21:298aa522db64 | 166 | Now = t.read_us(); |
soulx | 21:298aa522db64 | 167 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
soulx | 21:298aa522db64 | 168 | lastUpdate = Now; |
soulx | 21:298aa522db64 | 169 | |
soulx | 21:298aa522db64 | 170 | sum += deltat; |
soulx | 21:298aa522db64 | 171 | sumCount++; |
soulx | 21:298aa522db64 | 172 | |
soulx | 21:298aa522db64 | 173 | // if(lastUpdate - firstUpdate > 10000000.0f) { |
soulx | 21:298aa522db64 | 174 | // beta = 0.04; // decrease filter gain after stabilized |
soulx | 21:298aa522db64 | 175 | // zeta = 0.015; // increasey bias drift gain after stabilized |
soulx | 21:298aa522db64 | 176 | // } |
soulx | 21:298aa522db64 | 177 | |
soulx | 21:298aa522db64 | 178 | // Pass gyro rate as rad/s |
soulx | 21:298aa522db64 | 179 | //mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
soulx | 21:298aa522db64 | 180 | mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
soulx | 21:298aa522db64 | 181 | |
soulx | 21:298aa522db64 | 182 | // Serial print and/or display at 0.5 s rate independent of data rates |
soulx | 21:298aa522db64 | 183 | delt_t = t.read_ms() - count; |
soulx | 21:298aa522db64 | 184 | if(temp_time > 8) { |
soulx | 21:298aa522db64 | 185 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
soulx | 21:298aa522db64 | 186 | |
soulx | 21:298aa522db64 | 187 | /*pc.printf("ax = %f", 1000*ax); |
soulx | 21:298aa522db64 | 188 | pc.printf(" ay = %f", 1000*ay); |
soulx | 21:298aa522db64 | 189 | pc.printf(" az = %f mg\n\r", 1000*az); |
soulx | 21:298aa522db64 | 190 | |
soulx | 21:298aa522db64 | 191 | pc.printf("gx = %f", gx); |
soulx | 21:298aa522db64 | 192 | pc.printf(" gy = %f", gy); |
soulx | 21:298aa522db64 | 193 | pc.printf(" gz = %f deg/s\n\r", gz); |
soulx | 21:298aa522db64 | 194 | |
soulx | 21:298aa522db64 | 195 | pc.printf("mx = %f", mx); |
soulx | 21:298aa522db64 | 196 | pc.printf(" my = %f", my); |
soulx | 21:298aa522db64 | 197 | pc.printf(" mz = %f mG\n\r", mz);*/ |
soulx | 21:298aa522db64 | 198 | |
soulx | 21:298aa522db64 | 199 | uint8_t whoami = mpu9250.readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250 |
soulx | 21:298aa522db64 | 200 | // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x10\n\r"); |
soulx | 21:298aa522db64 | 201 | if(whoami == 0x14) { |
soulx | 21:298aa522db64 | 202 | pc.printf("I AM 0x%x\n\r", whoami); |
soulx | 21:298aa522db64 | 203 | while(1); |
soulx | 21:298aa522db64 | 204 | } |
soulx | 21:298aa522db64 | 205 | |
soulx | 21:298aa522db64 | 206 | |
soulx | 21:298aa522db64 | 207 | tempCount = mpu9250.readTempData(); // Read the adc values |
soulx | 21:298aa522db64 | 208 | temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade |
soulx | 21:298aa522db64 | 209 | //pc.printf(" temperature = %f C\n\r", temperature); |
soulx | 21:298aa522db64 | 210 | |
soulx | 21:298aa522db64 | 211 | // pc.printf("q0 = %f\n\r", q[0]); |
soulx | 21:298aa522db64 | 212 | // pc.printf("q1 = %f\n\r", q[1]); |
soulx | 21:298aa522db64 | 213 | // pc.printf("q2 = %f\n\r", q[2]); |
soulx | 21:298aa522db64 | 214 | // pc.printf("q3 = %f\n\r", q[3]); |
soulx | 21:298aa522db64 | 215 | |
soulx | 21:298aa522db64 | 216 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
soulx | 21:298aa522db64 | 217 | // In this coordinate system, the positive z-axis is down toward Earth. |
soulx | 21:298aa522db64 | 218 | // 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. |
soulx | 21:298aa522db64 | 219 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
soulx | 21:298aa522db64 | 220 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
soulx | 21:298aa522db64 | 221 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
soulx | 21:298aa522db64 | 222 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
soulx | 21:298aa522db64 | 223 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
soulx | 21:298aa522db64 | 224 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
soulx | 21:298aa522db64 | 225 | 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]); |
soulx | 21:298aa522db64 | 226 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
soulx | 21:298aa522db64 | 227 | 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]); |
soulx | 21:298aa522db64 | 228 | |
soulx | 21:298aa522db64 | 229 | float Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch); |
soulx | 21:298aa522db64 | 230 | float Yh = my*cos(roll)+mz*sin(roll); |
soulx | 21:298aa522db64 | 231 | |
soulx | 21:298aa522db64 | 232 | float yawmag = atan2(Yh,Xh)+PI; |
soulx | 21:298aa522db64 | 233 | //pc.printf("Xh= %f Yh= %f ",Xh,Yh); |
soulx | 21:298aa522db64 | 234 | //pc.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI); |
soulx | 21:298aa522db64 | 235 | |
soulx | 21:298aa522db64 | 236 | |
soulx | 21:298aa522db64 | 237 | |
soulx | 21:298aa522db64 | 238 | pitch *= 180.0f / PI; |
soulx | 21:298aa522db64 | 239 | yaw *= 180.0f / PI; |
soulx | 21:298aa522db64 | 240 | yaw += 180.0f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 |
soulx | 21:298aa522db64 | 241 | roll *= 180.0f / PI; |
soulx | 21:298aa522db64 | 242 | |
soulx | 21:298aa522db64 | 243 | pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); |
soulx | 21:298aa522db64 | 244 | //pc.printf("average rate = %f\n\r", (float) sumCount/sum); |
soulx | 21:298aa522db64 | 245 | |
soulx | 21:298aa522db64 | 246 | |
soulx | 21:298aa522db64 | 247 | WheelChair(); |
soulx | 21:298aa522db64 | 248 | |
soulx | 21:298aa522db64 | 249 | |
soulx | 21:298aa522db64 | 250 | myled= !myled; |
soulx | 21:298aa522db64 | 251 | count = t.read_ms(); |
soulx | 21:298aa522db64 | 252 | |
soulx | 21:298aa522db64 | 253 | if(count > 1<<21) { |
soulx | 21:298aa522db64 | 254 | t.start(); // start the timer over again if ~30 minutes has passed |
soulx | 21:298aa522db64 | 255 | count = 0; |
soulx | 21:298aa522db64 | 256 | deltat= 0; |
soulx | 21:298aa522db64 | 257 | lastUpdate = t.read_us(); |
soulx | 21:298aa522db64 | 258 | } |
soulx | 21:298aa522db64 | 259 | sum = 0; |
soulx | 21:298aa522db64 | 260 | sumCount = 0; |
soulx | 21:298aa522db64 | 261 | } |
soulx | 21:298aa522db64 | 262 | } |
soulx | 21:298aa522db64 | 263 | } |
soulx | 21:298aa522db64 | 264 | } |
soulx | 21:298aa522db64 | 265 | |
soulx | 21:298aa522db64 | 266 | void Init_IMU() |
soulx | 21:298aa522db64 | 267 | { |
soulx | 21:298aa522db64 | 268 | |
soulx | 21:298aa522db64 | 269 | //Set up I2C |
soulx | 21:298aa522db64 | 270 | i2c.frequency(400000); // use fast (400 kHz) I2C |
soulx | 21:298aa522db64 | 271 | |
soulx | 21:298aa522db64 | 272 | pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); |
soulx | 21:298aa522db64 | 273 | |
soulx | 21:298aa522db64 | 274 | t.start(); |
soulx | 21:298aa522db64 | 275 | |
soulx | 21:298aa522db64 | 276 | //mpu9250.resetMPU9250(); |
soulx | 21:298aa522db64 | 277 | // Read the WHO_AM_I register, this is a good test of communication |
soulx | 21:298aa522db64 | 278 | uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 |
soulx | 21:298aa522db64 | 279 | pc.printf("I AM 0x%x\n\r", whoami); |
soulx | 21:298aa522db64 | 280 | pc.printf("I SHOULD BE 0x71\n\r"); |
soulx | 21:298aa522db64 | 281 | |
soulx | 21:298aa522db64 | 282 | if (whoami == 0x71) { // WHO_AM_I should always be 0x68 |
soulx | 21:298aa522db64 | 283 | pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami); |
soulx | 21:298aa522db64 | 284 | pc.printf("MPU9250 is online...\n\r"); |
soulx | 21:298aa522db64 | 285 | sprintf(buffer, "0x%x", whoami); |
soulx | 21:298aa522db64 | 286 | wait(1); |
soulx | 21:298aa522db64 | 287 | |
soulx | 21:298aa522db64 | 288 | mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration |
soulx | 21:298aa522db64 | 289 | mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values |
soulx | 21:298aa522db64 | 290 | pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); |
soulx | 21:298aa522db64 | 291 | pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); |
soulx | 21:298aa522db64 | 292 | pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); |
soulx | 21:298aa522db64 | 293 | pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); |
soulx | 21:298aa522db64 | 294 | pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); |
soulx | 21:298aa522db64 | 295 | pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); |
soulx | 21:298aa522db64 | 296 | mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
soulx | 21:298aa522db64 | 297 | pc.printf("x gyro bias = %f\n\r", gyroBias[0]); |
soulx | 21:298aa522db64 | 298 | pc.printf("y gyro bias = %f\n\r", gyroBias[1]); |
soulx | 21:298aa522db64 | 299 | pc.printf("z gyro bias = %f\n\r", gyroBias[2]); |
soulx | 21:298aa522db64 | 300 | pc.printf("x accel bias = %f\n\r", accelBias[0]); |
soulx | 21:298aa522db64 | 301 | pc.printf("y accel bias = %f\n\r", accelBias[1]); |
soulx | 21:298aa522db64 | 302 | pc.printf("z accel bias = %f\n\r", accelBias[2]); |
soulx | 21:298aa522db64 | 303 | wait(2); |
soulx | 21:298aa522db64 | 304 | mpu9250.initMPU9250(); |
soulx | 21:298aa522db64 | 305 | pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
soulx | 21:298aa522db64 | 306 | mpu9250.initAK8963(magCalibration); |
soulx | 21:298aa522db64 | 307 | pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer |
soulx | 21:298aa522db64 | 308 | |
soulx | 21:298aa522db64 | 309 | whoami = mpu9250.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); // Read WHO_AM_I register for MPU-9250 |
soulx | 21:298aa522db64 | 310 | pc.printf("I AM 0x%x\n\r", whoami); |
soulx | 21:298aa522db64 | 311 | pc.printf("I SHOULD BE 0x48\n\r"); |
soulx | 21:298aa522db64 | 312 | if(whoami != 0x48) { |
soulx | 21:298aa522db64 | 313 | while(1); |
soulx | 21:298aa522db64 | 314 | } |
soulx | 21:298aa522db64 | 315 | pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); |
soulx | 21:298aa522db64 | 316 | pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); |
soulx | 21:298aa522db64 | 317 | if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r"); |
soulx | 21:298aa522db64 | 318 | if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r"); |
soulx | 21:298aa522db64 | 319 | if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r"); |
soulx | 21:298aa522db64 | 320 | if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r"); |
soulx | 21:298aa522db64 | 321 | wait(1); |
soulx | 21:298aa522db64 | 322 | } else { |
soulx | 21:298aa522db64 | 323 | pc.printf("Could not connect to MPU9250: \n\r"); |
soulx | 21:298aa522db64 | 324 | pc.printf("%#x \n", whoami); |
soulx | 21:298aa522db64 | 325 | |
soulx | 21:298aa522db64 | 326 | sprintf(buffer, "WHO_AM_I 0x%x", whoami); |
soulx | 21:298aa522db64 | 327 | |
soulx | 21:298aa522db64 | 328 | while(1) ; // Loop forever if communication doesn't happen |
soulx | 21:298aa522db64 | 329 | } |
soulx | 21:298aa522db64 | 330 | |
soulx | 21:298aa522db64 | 331 | mpu9250.getAres(); // Get accelerometer sensitivity |
soulx | 21:298aa522db64 | 332 | mpu9250.getGres(); // Get gyro sensitivity |
soulx | 21:298aa522db64 | 333 | mpu9250.getMres(); // Get magnetometer sensitivity |
soulx | 21:298aa522db64 | 334 | pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); |
soulx | 21:298aa522db64 | 335 | pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); |
soulx | 21:298aa522db64 | 336 | pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); |
soulx | 21:298aa522db64 | 337 | |
soulx | 21:298aa522db64 | 338 | /*pc.printf("START scan mag\n\r\n\r\n\r"); |
soulx | 21:298aa522db64 | 339 | //wait(1); |
soulx | 21:298aa522db64 | 340 | for(int i=0; i<4000; i++) { |
soulx | 21:298aa522db64 | 341 | mpu9250.readMagData(magCount); |
soulx | 21:298aa522db64 | 342 | |
soulx | 21:298aa522db64 | 343 | if(magCount[0]<xmin) |
soulx | 21:298aa522db64 | 344 | xmin = magCount[0]; |
soulx | 21:298aa522db64 | 345 | if(magCount[0]>xmax) |
soulx | 21:298aa522db64 | 346 | xmax = magCount[0]; |
soulx | 21:298aa522db64 | 347 | |
soulx | 21:298aa522db64 | 348 | if(magCount[1]<ymin) |
soulx | 21:298aa522db64 | 349 | ymin = magCount[1]; |
soulx | 21:298aa522db64 | 350 | if(magCount[1]>ymax) |
soulx | 21:298aa522db64 | 351 | ymax = magCount[1]; |
soulx | 21:298aa522db64 | 352 | |
soulx | 21:298aa522db64 | 353 | if(magCount[2]<zmin) |
soulx | 21:298aa522db64 | 354 | zmin = magCount[2]; |
soulx | 21:298aa522db64 | 355 | if(magCount[2]>zmax) |
soulx | 21:298aa522db64 | 356 | zmax = magCount[2]; |
soulx | 21:298aa522db64 | 357 | |
soulx | 21:298aa522db64 | 358 | |
soulx | 21:298aa522db64 | 359 | wait_ms(10); |
soulx | 21:298aa522db64 | 360 | } |
soulx | 21:298aa522db64 | 361 | pc.printf("FINISH scan\r\n\r\n"); |
soulx | 21:298aa522db64 | 362 | pc.printf("Mx Max= %f Min= %f\n\r",xmax,xmin); |
soulx | 21:298aa522db64 | 363 | pc.printf("My Max= %f Min= %f\n\r",ymax,ymin); |
soulx | 21:298aa522db64 | 364 | pc.printf("Mz Max= %f Min= %f\n\r",zmax,zmin);*/ |
soulx | 21:298aa522db64 | 365 | |
soulx | 21:298aa522db64 | 366 | /*xmax = 188.000000; |
soulx | 21:298aa522db64 | 367 | xmin = -316.000000; |
soulx | 21:298aa522db64 | 368 | ymax = 485.000000; |
soulx | 21:298aa522db64 | 369 | ymin = -26.000000; |
soulx | 21:298aa522db64 | 370 | zmax = 165.000000; |
soulx | 21:298aa522db64 | 371 | xmin = -230.000000; |
soulx | 21:298aa522db64 | 372 | |
soulx | 21:298aa522db64 | 373 | //Ice room |
soulx | 21:298aa522db64 | 374 | xmax = 101.000000; |
soulx | 21:298aa522db64 | 375 | xmin = -296.000000; |
soulx | 21:298aa522db64 | 376 | ymax = 320.000000; |
soulx | 21:298aa522db64 | 377 | ymin = -85.000000; |
soulx | 21:298aa522db64 | 378 | zmax = 208.000000; |
soulx | 21:298aa522db64 | 379 | xmin = -202.000000; |
soulx | 21:298aa522db64 | 380 | |
soulx | 21:298aa522db64 | 381 | xmax = 115.000000; |
soulx | 21:298aa522db64 | 382 | xmin = -309.000000; |
soulx | 21:298aa522db64 | 383 | ymax = 350.000000; |
soulx | 21:298aa522db64 | 384 | ymin = -119.000000; |
soulx | 21:298aa522db64 | 385 | zmax = 235.000000; |
soulx | 21:298aa522db64 | 386 | zmin = -224.000000;*/ |
soulx | 21:298aa522db64 | 387 | |
soulx | 21:298aa522db64 | 388 | xmax = 120.000000; |
soulx | 21:298aa522db64 | 389 | xmin = -306.000000; |
soulx | 21:298aa522db64 | 390 | ymax = 340.000000; |
soulx | 21:298aa522db64 | 391 | ymin = -90.000000; |
soulx | 21:298aa522db64 | 392 | zmax = 219.000000; |
soulx | 21:298aa522db64 | 393 | zmin = -195.000000; |
soulx | 21:298aa522db64 | 394 | |
soulx | 21:298aa522db64 | 395 | |
soulx | 21:298aa522db64 | 396 | |
soulx | 21:298aa522db64 | 397 | magbias[0] = -1.0; |
soulx | 21:298aa522db64 | 398 | magbias[1] = -1.0; |
soulx | 21:298aa522db64 | 399 | magbias[2] = -1.0; |
soulx | 21:298aa522db64 | 400 | |
soulx | 21:298aa522db64 | 401 | magCalibration[0] = 2.0f / (xmax -xmin); |
soulx | 21:298aa522db64 | 402 | magCalibration[1] = 2.0f / (ymax -ymin); |
soulx | 21:298aa522db64 | 403 | magCalibration[2] = 2.0f / (zmax -zmin); |
soulx | 21:298aa522db64 | 404 | |
soulx | 21:298aa522db64 | 405 | //magbias[0] = (xmin-xmax)/2.0f; // User environmental x-axis correction in milliGauss, should be automatically calculated |
soulx | 21:298aa522db64 | 406 | //magbias[1] = (ymin-ymax)/2.0f; // User environmental x-axis correction in milliGauss |
soulx | 21:298aa522db64 | 407 | //magbias[2] = (zmin-zmax)/2.0f; // User environmental x-axis correction in milliGauss |
soulx | 21:298aa522db64 | 408 | pc.printf("mag[0] %f",magbias[0]); |
soulx | 21:298aa522db64 | 409 | pc.printf("mag[1] %f",magbias[1]); |
soulx | 21:298aa522db64 | 410 | pc.printf("mag[2] %f\n\r",magbias[2]); |
soulx | 21:298aa522db64 | 411 | // resalt = atan(magY+((yMin-yMax)/2),magX+(xMin-xMax)/2))*180/PI; |
soulx | 21:298aa522db64 | 412 | |
soulx | 21:298aa522db64 | 413 | } |
soulx | 21:298aa522db64 | 414 | |
soulx | 21:298aa522db64 | 415 | |
soulx | 21:298aa522db64 | 416 | void Init_Stabilizer() |
soulx | 21:298aa522db64 | 417 | { |
soulx | 21:298aa522db64 | 418 | |
soulx | 21:298aa522db64 | 419 | |
soulx | 21:298aa522db64 | 420 | |
soulx | 21:298aa522db64 | 421 | |
soulx | 21:298aa522db64 | 422 | } |