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Dependencies: mbed MPU6050 HMC5883L ledControl2
main.cpp@0:d8d055e8f830, 2015-08-05 (annotated)
- Committer:
- BaserK
- Date:
- Wed Aug 05 14:07:18 2015 +0000
- Revision:
- 0:d8d055e8f830
- Child:
- 1:823490ecf085
roll, pitch and tilt compensated yaw angle were obtained
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:d8d055e8f830 | 31 | * for further proesssing. |
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 | } |