FRA221_B18
gy
Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:ad7593dc27a6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 07 09:20:21 2015 +0000
@@ -0,0 +1,265 @@
+/*****
+ Algorithm based on MPU-9250_Snowda program. It has been modified by Josu? Olmeda Castell? for imasD Tecnolog?a.
+
+ This algorithm calibrates and reads data from accelerometer, gyroscope, magnetometer and the
+ internal temperature sensor. The lecture is made each time has a new mesured value (both gyro and accel data).
+ A comunication with a computer is made using serial interface. The user can see the data measured with 1 second update rate.
+
+ This algorithm uses the STM32L152 development board and the MPU-9250 9-axis InvenSense movement sensor. The communication
+ between both devices is made through I2C serial interface.
+
+ AD0 should be connected to GND.
+
+ 04/05/2015
+*****/
+
+#include "mbed.h"
+#include "mpu9250.h"
+void timer();
+
+
+Serial pc(USBTX, USBRX); // Huyperterminal default config: 9600 bauds, 8-bit data, 1 stop bit, no parity
+Serial bell(PA_11,PA_12);
+MPU9250 mpu9250;
+Timer t;
+//DigitalOut myled(LED1);
+
+float sum = 0;
+uint32_t sumCount = 0;
+char buffer[14];
+uint8_t dato_leido[2];
+uint8_t whoami;
+char showtimez[10];
+int timez=0;
+
+int main() {
+
+ //___ Set up I2C: use fast (400 kHz) I2C ___
+ i2c.frequency(400000);
+
+ pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+
+ t.start(); // Timer ON
+
+ // Read the WHO_AM_I register, this is a good test of communication
+ whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
+
+ pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+ if (I2Cstate != 0) // error on I2C
+ pc.printf("I2C failure while reading WHO_AM_I register");
+
+ if (whoami == 0x71) // WHO_AM_I should always be 0x71
+ {
+ 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 (accelerometer and gyroscope self test)
+ 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 accelerometer, 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);
+
+ // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ mpu9250.initMPU9250();
+ pc.printf("MPU9250 initialized for active data mode....\n\r");
+
+ // Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
+ mpu9250.initAK8963(magCalibration);
+ pc.printf("AK8963 initialized for active data mode....\n\r");
+ 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 // Connection failure
+ {
+ 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);
+ magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
+ magbias[1] = +120.; // User environmental x-axis correction in milliGauss
+ magbias[2] = +125.; // User environmental x-axis correction in milliGauss
+
+ while(1) {
+
+ // 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
+ if (I2Cstate != 0) //error on I2C
+ pc.printf("I2C error ocurred while reading accelerometer data. I2Cstate = %d \n\r", I2Cstate);
+ else{ // I2C read or write ok
+ I2Cstate = 1;
+ 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
+ if (I2Cstate != 0) //error on I2C
+ pc.printf("I2C error ocurred while reading gyrometer data. I2Cstate = %d \n\r", I2Cstate);
+ else{ // I2C read or write ok
+ I2Cstate = 1;
+ 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 (I2Cstate != 0) //error on I2C
+ pc.printf("I2C error ocurred while reading magnetometer data. I2Cstate = %d \n\r", I2Cstate);
+ else{ // I2C read or write ok
+ I2Cstate = 1;
+ 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];
+ }
+
+ mpu9250.getCompassOrientation(orientation);
+ }
+
+ 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++;
+
+ // 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 1.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+ if (delt_t > 100) { // 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);
+
+
+ tempCount = mpu9250.readTempData(); // Read the adc values
+ if (I2Cstate != 0) //error on I2C
+ pc.printf("I2C error ocurred while reading sensor temp. I2Cstate = %d \n\r", I2Cstate);
+ else{ // I2C read or write ok
+ I2Cstate = 1;
+ 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]);
+
+ // pc.printf("Compass orientation: %f\n", orientation[0]);
+
+
+
+
+ // 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]);
+ pitch *= 180.0f / PI;
+ yaw *= 180.0f / PI;
+ yaw -= 13.8f; // 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("Pitch, Roll: %f %f\n\r", pitch, roll);
+ /* if(pitch>40&&pitch<80){
+ pc.printf("VV\n");}
+ else if(pitch>10&&pitch<40){
+ pc.printf("V\n");}
+ else if(pitch>-80&&pitch<-40){
+ pc.printf("^^\n");}
+ else if(pitch>-40&&pitch<-10){
+ pc.printf("^\n");}
+
+ else if(roll>40&&roll<80){
+ pc.printf("<<\n");}
+ else if(roll>10&&roll<40){
+ pc.printf("<\n");}
+ else if(roll>-80&&roll<-40){
+ pc.printf(">>\n");}
+ else if(roll>-40&&roll<-10){
+ pc.printf(">\n");}
+ else {pc.printf("No move\n");
+ //showtimez=timer();
+ timer;
+ bell.printf("time\n");}
+ // pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+
+
+
+ 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 timer()
+{
+ timez=timez+100;
+//bell.printf(timez);
+}*/
+ }
+ }
+}
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