Control program for FzeroX controller via USBHID interface.
Dependencies: Radio USBDevice mbed
main.cpp
- Committer:
- alexandertyler
- Date:
- 2014-09-28
- Revision:
- 1:ec00f549a691
- Parent:
- 0:9f6d029d0d52
File content as of revision 1:ec00f549a691:
#include "mbed.h" #include "MPU6050.h" #include "USBJoystick.h" float sum = 0; uint32_t sumCount = 0; MPU6050 mpu6050; Timer t; Serial pc(USBTX, USBRX); PwmOut thruster1(D2); PwmOut thruster2(D3); PwmOut vibMotor(D4); PwmOut onboardRed(LED_RED); PwmOut onboardGreen(LED_GREEN); PwmOut onboardBlue(LED_BLUE); DigitalIn boost(D5); DigitalIn drift(D6); int boostCount = 0; //commented out so that we can read from serial for now USBJoystick joystick; //input initializers for joystick int16_t i = 0; int16_t throttle = 0; int16_t rudder = 0; float joyX = 0; float joyY = 0; int32_t radius = 120; int32_t angle = 0; int8_t button = 0; int8_t hat = 8; float x, y; float maxRoll = 45; float maxPitch = 135; float mapRoll(float IMUpitch, float maxRoll) { if (IMUpitch < maxRoll && IMUpitch >= 0) { x = (IMUpitch*(127/maxRoll)); } else if (IMUpitch > maxRoll) { x = 127; } else if (IMUpitch < -maxRoll) { x = -127; } else { x = (IMUpitch*(127/maxRoll)); } return x; } float mapPitch(float IMUroll, float maxPitch) { if (IMUroll > maxPitch && IMUroll <= 180) { y = ((180 - IMUroll) *(127/(180-maxPitch))); } else if (IMUroll < maxPitch && IMUroll >=0) { y = 127; } else if (IMUroll > -maxPitch && IMUroll < 0) { y = -127; } else { y = (-(180 - abs(IMUroll)) *(127/(180-maxPitch))); } return y; } int main() { onboardRed = 0.0f; onboardGreen = 1.0f; onboardBlue = 1.0f; //Set up I2C i2c.frequency(400000); // use fast (400 kHz) I2C t.start(); boost.mode(PullUp); drift.mode(PullUp); vibMotor = 1.0f; joystick.hat(hat); // Read the WHO_AM_I register, this is a good test of communication uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r"); if (whoami == 0x68) // WHO_AM_I should always be 0x68 { pc.printf("MPU6050 is online..."); wait(1); mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[0]); pc.printf("% of factory value \n\r"); pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[1]); pc.printf("% of factory value \n\r"); pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[2]); pc.printf("% of factory value \n\r"); pc.printf("x-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[3]); pc.printf("% of factory value \n\r"); pc.printf("y-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[4]); pc.printf("% of factory value \n\r"); pc.printf("z-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[5]); pc.printf("% of factory value \n\r"); wait(2); if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) { mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature wait(2); } else { pc.printf("Device did not the pass self-test!\n\r"); } } else { pc.printf("Could not connect to MPU6050: \n\r"); pc.printf("%#x \n", whoami); while(1) ; // Loop forever if communication doesn't happen } while(1) { // If data ready bit set, all data registers have new data if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt mpu6050.readAccelData(accelCount); // Read the x/y/z adc values mpu6050.getAres(); // 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]; mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values mpu6050.getGres(); // 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]; tempCount = mpu6050.readTempData(); // Read the x/y/z adc values temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade } 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 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); // Serial print and/or display at 0.5 s rate independent of data rates delt_t = t.read_ms() - count; 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(" 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]); pitch *= 180.0f / PI; yaw *= 180.0f / PI; roll *= 180.0f / PI; //pc.printf("Yaw, Pitch, Roll: \n\r"); //pc.printf("Yaw: %f\n\r", yaw); //pc.printf(", "); //pc.printf("Pitch: %f\n\r", pitch); //pc.printf(", "); //pc.printf("%f\n\r", roll); //pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r"); //pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); //pc.printf("average rate = %f\n\r", (float) sumCount/sum); //Pitch: base = 0, right = +, left = - //Roll: base = +-180, forward = + count down, back = - count up joyX = mapRoll(pitch, maxRoll); joyY = mapPitch(roll, maxPitch); pc.printf("joyX: %i, joyY: %i\n\r", (int16_t) joyX, (int16_t) joyY); if (!boost && !drift) { button = 0x03; boostCount = 75; } else if (!boost && drift) { button = 0x01; boostCount = 75; } else if (boost && !drift) { button = 0x02; } else { button = 0x00; } joystick.update(throttle, rudder, (int16_t)joyX, (int16_t)joyY, button, hat); if ((int16_t) joyY < 0) { onboardRed = 1.0f; onboardGreen = 1.0f; onboardBlue = 0.75f; thruster1 = 0.25f; thruster2 = 0.25f; } else if(lastUpdate - firstUpdate > 10000000.0f){ onboardRed = 1.0f; onboardGreen = 0.0f; onboardBlue = 1.0f; thruster1 = 0; thruster2 = 0; } vibMotor = 0; if (boostCount != 0) { thruster1 = 1.0f; thruster2 = 1.0f; onboardRed = 1.0f; onboardGreen = 1.0f; onboardBlue = 0.0f; vibMotor = 1; boostCount--; } } } }