Project Football / Mbed 2 deprecated IMU_fusion

Base 6050

Dependencies:   HMC5883L MPU6050 ledControl2 mbed

Fork of IMU_fusion by Baser Kandehir

main.cpp@1:823490ecf085, 2015-08-05 (annotated)

Committer:
BaserK
Date:
Wed Aug 05 14:09:06 2015 +0000
Revision:
1:823490ecf085
Parent:
0:d8d055e8f830
Child:
2:3881894aaff5
comment update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BaserK 0:d8d055e8f830 1 /* Calculating Roll, Pitch and Yaw angles from IMU
BaserK 0:d8d055e8f830 2 *
BaserK 0:d8d055e8f830 3 * @author: Baser Kandehir
BaserK 0:d8d055e8f830 4 * @date: August 5, 2015
BaserK 0:d8d055e8f830 5 * @license: MIT license
BaserK 0:d8d055e8f830 6 *
BaserK 0:d8d055e8f830 7 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
BaserK 0:d8d055e8f830 8 *
BaserK 0:d8d055e8f830 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
BaserK 0:d8d055e8f830 10 * of this software and associated documentation files (the "Software"), to deal
BaserK 0:d8d055e8f830 11 * in the Software without restriction, including without limitation the rights
BaserK 0:d8d055e8f830 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
BaserK 0:d8d055e8f830 13 * copies of the Software, and to permit persons to whom the Software is
BaserK 0:d8d055e8f830 14 * furnished to do so, subject to the following conditions:
BaserK 0:d8d055e8f830 15 *
BaserK 0:d8d055e8f830 16 * The above copyright notice and this permission notice shall be included in
BaserK 0:d8d055e8f830 17 * all copies or substantial portions of the Software.
BaserK 0:d8d055e8f830 18 *
BaserK 0:d8d055e8f830 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
BaserK 0:d8d055e8f830 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
BaserK 0:d8d055e8f830 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
BaserK 0:d8d055e8f830 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
BaserK 0:d8d055e8f830 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
BaserK 0:d8d055e8f830 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
BaserK 0:d8d055e8f830 25 * THE SOFTWARE.
BaserK 0:d8d055e8f830 26 *
BaserK 0:d8d055e8f830 27 * @description of the program:
BaserK 0:d8d055e8f830 28 *
BaserK 0:d8d055e8f830 29 * Program can calculate roll, pitch and yaw angles from the raw data that comes
BaserK 0:d8d055e8f830 30 * from IMU. Yaw angle is compensated for tilt. All the angles are sent to the matlab
BaserK 1:823490ecf085 31 * for further proessing.
BaserK 0:d8d055e8f830 32 *
BaserK 0:d8d055e8f830 33 */
BaserK 0:d8d055e8f830 34
BaserK 0:d8d055e8f830 35 #include "mbed.h"
BaserK 0:d8d055e8f830 36 #include "HMC5883L.h"
BaserK 0:d8d055e8f830 37 #include "MPU6050.h"
BaserK 0:d8d055e8f830 38 #include "ledControl.h"
BaserK 0:d8d055e8f830 39
BaserK 0:d8d055e8f830 40 Serial pc(USBTX,USBRX);
BaserK 0:d8d055e8f830 41 MPU6050 mpu6050;
BaserK 0:d8d055e8f830 42 HMC5883L hmc5883l;
BaserK 0:d8d055e8f830 43 Ticker toggler1;
BaserK 0:d8d055e8f830 44 Ticker filter;
BaserK 0:d8d055e8f830 45 Ticker compass;
BaserK 0:d8d055e8f830 46
BaserK 0:d8d055e8f830 47 void toggle_led1();
BaserK 0:d8d055e8f830 48 void toggle_led2();
BaserK 0:d8d055e8f830 49 void compFilter();
BaserK 0:d8d055e8f830 50 void tiltCompensatedAngle();
BaserK 0:d8d055e8f830 51
BaserK 0:d8d055e8f830 52 float pitchAngle = 0;
BaserK 0:d8d055e8f830 53 float rollAngle = 0;
BaserK 0:d8d055e8f830 54 float yawAngle = 0;
BaserK 0:d8d055e8f830 55
BaserK 0:d8d055e8f830 56 int main()
BaserK 0:d8d055e8f830 57 {
BaserK 0:d8d055e8f830 58 pc.baud(9600); // baud rate: 9600
BaserK 0:d8d055e8f830 59 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 0:d8d055e8f830 60 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 0:d8d055e8f830 61 mpu6050.init(); // Initialize the sensor
BaserK 0:d8d055e8f830 62 hmc5883l.init();
BaserK 0:d8d055e8f830 63 filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
BaserK 0:d8d055e8f830 64 compass.attach(&tiltCompensatedAngle, 0.015); // Call the tiltCompensatedAngle func. every 15 ms (75 Hz sampling period)
BaserK 0:d8d055e8f830 65 while(1)
BaserK 0:d8d055e8f830 66 {
BaserK 0:d8d055e8f830 67 pc.printf("%.1f,%.1f,%.1f\r\n",rollAngle,pitchAngle,yawAngle); // send data to matlab
BaserK 0:d8d055e8f830 68 wait_ms(40);
BaserK 0:d8d055e8f830 69 }
BaserK 0:d8d055e8f830 70 }
BaserK 0:d8d055e8f830 71
BaserK 0:d8d055e8f830 72 void toggle_led1() {ledToggle(1);}
BaserK 0:d8d055e8f830 73 void toggle_led2() {ledToggle(2);}
BaserK 0:d8d055e8f830 74
BaserK 0:d8d055e8f830 75 /* This function is created to avoid address error that caused from Ticker.attach func */
BaserK 0:d8d055e8f830 76 void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}
BaserK 0:d8d055e8f830 77
BaserK 0:d8d055e8f830 78 /* Tilt compensated compass data */
BaserK 0:d8d055e8f830 79 // Works well for tilt in +/- 50 deg range
BaserK 0:d8d055e8f830 80 void tiltCompensatedAngle()
BaserK 0:d8d055e8f830 81 {
BaserK 0:d8d055e8f830 82 float mag_Data[3], Xh, Yh;
BaserK 0:d8d055e8f830 83 hmc5883l.readMagData(mag_Data);
BaserK 0:d8d055e8f830 84
BaserK 0:d8d055e8f830 85 Xh = mag_Data[0] * cos(rollAngle*PI/180) - mag_Data[2] * sin(rollAngle*PI/180) ;
BaserK 0:d8d055e8f830 86
BaserK 0:d8d055e8f830 87 Yh = mag_Data[0] * sin(pitchAngle*PI/180) * sin(rollAngle*PI/180) +
BaserK 0:d8d055e8f830 88 mag_Data[1] * cos(pitchAngle*PI/180) -
BaserK 0:d8d055e8f830 89 mag_Data[2] * sin(pitchAngle*PI/180) * cos(rollAngle*PI/180) ;
BaserK 0:d8d055e8f830 90
BaserK 0:d8d055e8f830 91 /* Calculate the compensated heading angle */
BaserK 0:d8d055e8f830 92 double heading = atan2(Yh, Xh);
BaserK 0:d8d055e8f830 93
BaserK 0:d8d055e8f830 94 // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location.
BaserK 0:d8d055e8f830 95 // declinationAngle can be found here http://www.magnetic-declination.com/
BaserK 0:d8d055e8f830 96 // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians)
BaserK 0:d8d055e8f830 97 float declinationAngle = 0.096;
BaserK 0:d8d055e8f830 98 heading += declinationAngle;
BaserK 0:d8d055e8f830 99
BaserK 0:d8d055e8f830 100 // Correct for when signs are reversed.
BaserK 0:d8d055e8f830 101 if(heading < 0)
BaserK 0:d8d055e8f830 102 heading += 2*PI;
BaserK 0:d8d055e8f830 103
BaserK 0:d8d055e8f830 104 // Check for wrap due to addition of declination.
BaserK 0:d8d055e8f830 105 if(heading > 2*PI)
BaserK 0:d8d055e8f830 106 heading -= 2*PI;
BaserK 0:d8d055e8f830 107
BaserK 0:d8d055e8f830 108 /* Convert radian to degrees */
BaserK 0:d8d055e8f830 109 heading = heading * 180 / PI;
BaserK 0:d8d055e8f830 110
BaserK 0:d8d055e8f830 111 yawAngle = heading;
BaserK 0:d8d055e8f830 112 }