![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Ti
Dependencies: mbed MPU6050 HMC5883L ledControl2
main.cpp
- Committer:
- danusorn
- Date:
- 2018-12-15
- Revision:
- 6:6d4e8461b60a
- Parent:
- 5:d760e9c88de4
File content as of revision 6:6d4e8461b60a:
/* Calculating Roll, Pitch and Yaw angles from IMU * * @author: Baser Kandehir * @date: August 5, 2015 * @license: MIT license * * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * @description of the program: * * Program can calculate roll, pitch and yaw angles from the raw data that comes * from IMU. Yaw angle is compensated for tilt. All the angles are sent to the matlab * for further processing. * */ #include "mbed.h" #include "HMC5883L.h" #include "MPU6050.h" #include "ledControl.h" int Mode =0; int degree3=4; int degree = 0; int previous_state1 = 0; int state=0; InterruptIn button(USER_BUTTON); void released() { Mode+=1; if(Mode%4==0){Mode%=4;Mode+=1;} degree=0; degree3=4; state=0; previous_state1 = 0; } Serial pc(D1,D0); MPU6050 mpu6050; HMC5883L hmc5883l; Ticker toggler1; Ticker filter; Ticker compass; void toggle_led1(); void toggle_led2(); void compFilter(); void tiltCompensatedAngle(); float pitchAngle = 0; float rollAngle = 0; float yawAngle = 0; int main() { char data[5]="@122"; button.rise(&released); pc.baud(9600); // baud rate: 9600 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers mpu6050.init(); // Initialize the sensor hmc5883l.init(); filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) compass.attach(&tiltCompensatedAngle, 0.015); // Call the tiltCompensatedAngle func. every 15 ms (75 Hz sampling period) //pc.printf("%.1f,%.1f,%.1f\r\n",rollAngle,pitchAngle,yawAngle); // send data to matlab // wait_ms(500); // mpu6050.reset(); while(Mode%4==1){ if((rollAngle > 45)&&(previous_state1 == 0)&&(-7<pitchAngle<10)) { if(degree>=0){degree-=1;previous_state1 = 1;} } if ((rollAngle < -45)&&(previous_state1 == 0)&&(-7<pitchAngle<10)) { if(degree<=8){degree+=1;previous_state1 = 1;} } if((-7<rollAngle<10)&&(previous_state1 == 1)&&(-7<pitchAngle<10)) { previous_state1 = 0; } if((pitchAngle<-45)&&(previous_state1 == 0)&&(-7<rollAngle<10)) { if(state>=0){state+=1;previous_state1 = 1;} } data[1]='1';data[2]=degree+'0'; } while(Mode%4==2){ if((rollAngle > 45)&&(previous_state1 == 0)&&(-7<pitchAngle<10)) { if(degree>=0){degree-=1;previous_state1 = 1;} } if ((rollAngle < -45)&&(previous_state1 == 0)&&(-7<pitchAngle<10)) { if(degree<=8){degree+=1;previous_state1 = 1;} } if((-7<rollAngle<10)&&(previous_state1 == 1)&&(-7<pitchAngle<10)) { previous_state1 = 0; } if((pitchAngle<-45)&&(previous_state1 == 0)&&(-7<rollAngle<10)) { if(state>=0){state+=1;previous_state1 = 1;if(state%4==0){state%=4;state+=1;}} } data[1]='2';data[2]=degree+'0';data[3]=state+'0'; } while(Mode%4==3){ if((rollAngle > 45)&&(previous_state1 == 0)&&(-7<pitchAngle<10)) { if(degree3>=0){degree3-=1;previous_state1 = 1;} } if ((rollAngle < -45)&&(previous_state1 == 0)&&(-7<pitchAngle<10)) { if(degree3<=8){degree3+=1;previous_state1 = 1;} } if((-7<rollAngle<10)&&(previous_state1 == 1)&&(-7<pitchAngle<10)) { previous_state1 = 0; } if((pitchAngle<-45)&&(previous_state1 == 0)&&(-7<rollAngle<10)) { if(state>=0){state+=1;previous_state1 = 1;if(state%3==0){state%=3;state+=1;}} } data[1]='2';data[2]=degree3+'0';data[3]=state+'0'; } } void toggle_led1() {ledToggle(1);} void toggle_led2() {ledToggle(2);} /* This function is created to avoid address error that caused from Ticker.attach func */ void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);} /* Tilt compensated compass data */ // Works well for tilt in +/- 50 deg range void tiltCompensatedAngle() { float mag_Data[3], Xh, Yh; hmc5883l.readMagData(mag_Data); Xh = mag_Data[0] * cos(rollAngle*PI/180) - mag_Data[2] * sin(rollAngle*PI/180) ; Yh = mag_Data[0] * sin(pitchAngle*PI/180) * sin(rollAngle*PI/180) + mag_Data[1] * cos(pitchAngle*PI/180) - mag_Data[2] * sin(pitchAngle*PI/180) * cos(rollAngle*PI/180) ; /* Calculate the compensated heading angle */ double heading = atan2(Yh, Xh); // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location. // declinationAngle can be found here http://www.magnetic-declination.com/ // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians) float declinationAngle = 0.096; heading += declinationAngle; // Correct for when signs are reversed. if(heading < 0) heading += 2*PI; // Check for wrap due to addition of declination. if(heading > 2*PI) heading -= 2*PI; /* Convert radian to degrees */ heading = heading * 180 / PI; yawAngle = heading; }