ST YM Development / Mbed 2 deprecated IMU

Ti

Dependencies:   mbed MPU6050 HMC5883L ledControl2

main.cpp@6:6d4e8461b60a, 2018-12-15 (annotated)

Committer:
danusorn
Date:
Sat Dec 15 13:30:06 2018 +0000
Revision:
6:6d4e8461b60a
Parent:
5:d760e9c88de4 
555;

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 2:3881894aaff5 31 * for further processing.
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
danusorn 6:6d4e8461b60a 40 int Mode =0;
danusorn 6:6d4e8461b60a 41 int degree3=4;
danusorn 6:6d4e8461b60a 42 int degree = 0;
danusorn 6:6d4e8461b60a 43 int previous_state1 = 0;
danusorn 6:6d4e8461b60a 44 int state=0;
danusorn 6:6d4e8461b60a 45
danusorn 6:6d4e8461b60a 46 InterruptIn button(USER_BUTTON);
danusorn 6:6d4e8461b60a 47 void released()
danusorn 6:6d4e8461b60a 48 {
danusorn 6:6d4e8461b60a 49 Mode+=1;
danusorn 6:6d4e8461b60a 50 if(Mode%4==0){Mode%=4;Mode+=1;}
danusorn 6:6d4e8461b60a 51 degree=0;
danusorn 6:6d4e8461b60a 52 degree3=4;
danusorn 6:6d4e8461b60a 53 state=0;
danusorn 6:6d4e8461b60a 54 previous_state1 = 0;
danusorn 6:6d4e8461b60a 55 }
danusorn 3:0760d7a202e2 56 Serial pc(D1,D0);
BaserK 0:d8d055e8f830 57 MPU6050 mpu6050;
BaserK 0:d8d055e8f830 58 HMC5883L hmc5883l;
BaserK 0:d8d055e8f830 59 Ticker toggler1;
BaserK 0:d8d055e8f830 60 Ticker filter;
danusorn 5:d760e9c88de4 61 Ticker compass;
BaserK 0:d8d055e8f830 62 void toggle_led1();
BaserK 0:d8d055e8f830 63 void toggle_led2();
BaserK 0:d8d055e8f830 64 void compFilter();
BaserK 0:d8d055e8f830 65 void tiltCompensatedAngle();
BaserK 0:d8d055e8f830 66
BaserK 0:d8d055e8f830 67 float pitchAngle = 0;
BaserK 0:d8d055e8f830 68 float rollAngle = 0;
BaserK 0:d8d055e8f830 69 float yawAngle = 0;
BaserK 0:d8d055e8f830 70
BaserK 0:d8d055e8f830 71 int main()
danusorn 6:6d4e8461b60a 72 {
danusorn 6:6d4e8461b60a 73 char data[5]="@122";
danusorn 6:6d4e8461b60a 74 button.rise(&released);
BaserK 0:d8d055e8f830 75 pc.baud(9600); // baud rate: 9600
BaserK 0:d8d055e8f830 76 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 0:d8d055e8f830 77 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 0:d8d055e8f830 78 mpu6050.init(); // Initialize the sensor
BaserK 0:d8d055e8f830 79 hmc5883l.init();
BaserK 0:d8d055e8f830 80 filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
BaserK 0:d8d055e8f830 81 compass.attach(&tiltCompensatedAngle, 0.015); // Call the tiltCompensatedAngle func. every 15 ms (75 Hz sampling period)
danusorn 5:d760e9c88de4 82 //pc.printf("%.1f,%.1f,%.1f\r\n",rollAngle,pitchAngle,yawAngle); // send data to matlab
danusorn 5:d760e9c88de4 83 // wait_ms(500);
danusorn 5:d760e9c88de4 84 // mpu6050.reset();
danusorn 6:6d4e8461b60a 85 while(Mode%4==1){
danusorn 6:6d4e8461b60a 86 if((rollAngle > 45)&&(previous_state1 == 0)&&(-7<pitchAngle<10))
danusorn 5:d760e9c88de4 87 {
danusorn 6:6d4e8461b60a 88 if(degree>=0){degree-=1;previous_state1 = 1;}
danusorn 6:6d4e8461b60a 89 }
danusorn 6:6d4e8461b60a 90 if ((rollAngle < -45)&&(previous_state1 == 0)&&(-7<pitchAngle<10))
danusorn 6:6d4e8461b60a 91 {
danusorn 6:6d4e8461b60a 92 if(degree<=8){degree+=1;previous_state1 = 1;}
danusorn 6:6d4e8461b60a 93 }
danusorn 6:6d4e8461b60a 94 if((-7<rollAngle<10)&&(previous_state1 == 1)&&(-7<pitchAngle<10))
danusorn 6:6d4e8461b60a 95 {
danusorn 6:6d4e8461b60a 96 previous_state1 = 0;
danusorn 5:d760e9c88de4 97 }
danusorn 6:6d4e8461b60a 98 if((pitchAngle<-45)&&(previous_state1 == 0)&&(-7<rollAngle<10))
danusorn 5:d760e9c88de4 99 {
danusorn 6:6d4e8461b60a 100 if(state>=0){state+=1;previous_state1 = 1;}
danusorn 6:6d4e8461b60a 101 }
danusorn 6:6d4e8461b60a 102 data[1]='1';data[2]=degree+'0';
danusorn 5:d760e9c88de4 103 }
danusorn 6:6d4e8461b60a 104
danusorn 6:6d4e8461b60a 105 while(Mode%4==2){
danusorn 6:6d4e8461b60a 106 if((rollAngle > 45)&&(previous_state1 == 0)&&(-7<pitchAngle<10))
danusorn 6:6d4e8461b60a 107 {
danusorn 6:6d4e8461b60a 108 if(degree>=0){degree-=1;previous_state1 = 1;}
danusorn 6:6d4e8461b60a 109 }
danusorn 6:6d4e8461b60a 110 if ((rollAngle < -45)&&(previous_state1 == 0)&&(-7<pitchAngle<10))
danusorn 5:d760e9c88de4 111 {
danusorn 6:6d4e8461b60a 112 if(degree<=8){degree+=1;previous_state1 = 1;}
danusorn 6:6d4e8461b60a 113 }
danusorn 6:6d4e8461b60a 114 if((-7<rollAngle<10)&&(previous_state1 == 1)&&(-7<pitchAngle<10))
danusorn 6:6d4e8461b60a 115 {
danusorn 6:6d4e8461b60a 116 previous_state1 = 0;
danusorn 5:d760e9c88de4 117 }
danusorn 6:6d4e8461b60a 118 if((pitchAngle<-45)&&(previous_state1 == 0)&&(-7<rollAngle<10))
danusorn 6:6d4e8461b60a 119 {
danusorn 6:6d4e8461b60a 120 if(state>=0){state+=1;previous_state1 = 1;if(state%4==0){state%=4;state+=1;}}
danusorn 6:6d4e8461b60a 121 }
danusorn 6:6d4e8461b60a 122 data[1]='2';data[2]=degree+'0';data[3]=state+'0';
danusorn 6:6d4e8461b60a 123 }
danusorn 6:6d4e8461b60a 124 while(Mode%4==3){
danusorn 6:6d4e8461b60a 125 if((rollAngle > 45)&&(previous_state1 == 0)&&(-7<pitchAngle<10))
danusorn 5:d760e9c88de4 126 {
danusorn 6:6d4e8461b60a 127 if(degree3>=0){degree3-=1;previous_state1 = 1;}
danusorn 6:6d4e8461b60a 128 }
danusorn 6:6d4e8461b60a 129 if ((rollAngle < -45)&&(previous_state1 == 0)&&(-7<pitchAngle<10))
danusorn 6:6d4e8461b60a 130 {
danusorn 6:6d4e8461b60a 131 if(degree3<=8){degree3+=1;previous_state1 = 1;}
danusorn 5:d760e9c88de4 132 }
danusorn 6:6d4e8461b60a 133 if((-7<rollAngle<10)&&(previous_state1 == 1)&&(-7<pitchAngle<10))
danusorn 6:6d4e8461b60a 134 {
danusorn 6:6d4e8461b60a 135 previous_state1 = 0;
danusorn 6:6d4e8461b60a 136 }
danusorn 6:6d4e8461b60a 137 if((pitchAngle<-45)&&(previous_state1 == 0)&&(-7<rollAngle<10))
danusorn 6:6d4e8461b60a 138 {
danusorn 6:6d4e8461b60a 139 if(state>=0){state+=1;previous_state1 = 1;if(state%3==0){state%=3;state+=1;}}
danusorn 6:6d4e8461b60a 140 }
danusorn 6:6d4e8461b60a 141 data[1]='2';data[2]=degree3+'0';data[3]=state+'0';
danusorn 6:6d4e8461b60a 142 }
danusorn 6:6d4e8461b60a 143 }
BaserK 0:d8d055e8f830 144 void toggle_led1() {ledToggle(1);}
BaserK 0:d8d055e8f830 145 void toggle_led2() {ledToggle(2);}
BaserK 0:d8d055e8f830 146
BaserK 0:d8d055e8f830 147 /* This function is created to avoid address error that caused from Ticker.attach func */
BaserK 0:d8d055e8f830 148 void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}
BaserK 0:d8d055e8f830 149
BaserK 0:d8d055e8f830 150 /* Tilt compensated compass data */
BaserK 0:d8d055e8f830 151 // Works well for tilt in +/- 50 deg range
BaserK 0:d8d055e8f830 152 void tiltCompensatedAngle()
BaserK 0:d8d055e8f830 153 {
BaserK 0:d8d055e8f830 154 float mag_Data[3], Xh, Yh;
BaserK 0:d8d055e8f830 155 hmc5883l.readMagData(mag_Data);
BaserK 0:d8d055e8f830 156
BaserK 0:d8d055e8f830 157 Xh = mag_Data[0] * cos(rollAngle*PI/180) - mag_Data[2] * sin(rollAngle*PI/180) ;
BaserK 0:d8d055e8f830 158
danusorn 3:0760d7a202e2 159 Yh = mag_Data[0] * sin(pitchAngle*PI/180) * sin(rollAngle*PI/180) + mag_Data[1] * cos(pitchAngle*PI/180) -
BaserK 0:d8d055e8f830 160 mag_Data[2] * sin(pitchAngle*PI/180) * cos(rollAngle*PI/180) ;
BaserK 0:d8d055e8f830 161
BaserK 0:d8d055e8f830 162 /* Calculate the compensated heading angle */
BaserK 0:d8d055e8f830 163 double heading = atan2(Yh, Xh);
BaserK 0:d8d055e8f830 164
BaserK 0:d8d055e8f830 165 // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location.
BaserK 0:d8d055e8f830 166 // declinationAngle can be found here http://www.magnetic-declination.com/
BaserK 0:d8d055e8f830 167 // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians)
BaserK 0:d8d055e8f830 168 float declinationAngle = 0.096;
BaserK 0:d8d055e8f830 169 heading += declinationAngle;
BaserK 0:d8d055e8f830 170
BaserK 0:d8d055e8f830 171 // Correct for when signs are reversed.
BaserK 0:d8d055e8f830 172 if(heading < 0)
BaserK 0:d8d055e8f830 173 heading += 2*PI;
BaserK 0:d8d055e8f830 174
BaserK 0:d8d055e8f830 175 // Check for wrap due to addition of declination.
BaserK 0:d8d055e8f830 176 if(heading > 2*PI)
BaserK 0:d8d055e8f830 177 heading -= 2*PI;
BaserK 0:d8d055e8f830 178
BaserK 0:d8d055e8f830 179 /* Convert radian to degrees */
BaserK 0:d8d055e8f830 180 heading = heading * 180 / PI;
BaserK 0:d8d055e8f830 181
BaserK 0:d8d055e8f830 182 yawAngle = heading;
BaserK 0:d8d055e8f830 183 }
danusorn 5:d760e9c88de4 184