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?
User | Revision | Line number | New contents of line |
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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 |