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Balancing Bot using MAX32630FTHR
Dependencies: mbed BMI160 SDFileSystem max32630fthr
main.cpp@14:3ffd5961aa8e, 2018-12-04 (annotated)
- Committer:
- Normanski
- Date:
- Tue Dec 04 09:49:00 2018 +0000
- Revision:
- 14:3ffd5961aa8e
- Parent:
- 12:0fb3a03aeecb
Initial
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
j3 | 0:f7e385400dec | 1 | /********************************************************************** |
j3 | 0:f7e385400dec | 2 | * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved. |
j3 | 0:f7e385400dec | 3 | * |
j3 | 0:f7e385400dec | 4 | * Permission is hereby granted, free of charge, to any person obtaining a |
j3 | 0:f7e385400dec | 5 | * copy of this software and associated documentation files (the "Software"), |
j3 | 0:f7e385400dec | 6 | * to deal in the Software without restriction, including without limitation |
j3 | 0:f7e385400dec | 7 | * the rights to use, copy, modify, merge, publish, distribute, sublicense, |
j3 | 0:f7e385400dec | 8 | * and/or sell copies of the Software, and to permit persons to whom the |
j3 | 0:f7e385400dec | 9 | * Software is furnished to do so, subject to the following conditions: |
j3 | 0:f7e385400dec | 10 | * |
j3 | 0:f7e385400dec | 11 | * The above copyright notice and this permission notice shall be included |
j3 | 0:f7e385400dec | 12 | * in all copies or substantial portions of the Software. |
j3 | 0:f7e385400dec | 13 | * |
j3 | 0:f7e385400dec | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS |
j3 | 0:f7e385400dec | 15 | * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
j3 | 0:f7e385400dec | 16 | * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. |
j3 | 0:f7e385400dec | 17 | * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES |
j3 | 0:f7e385400dec | 18 | * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, |
j3 | 0:f7e385400dec | 19 | * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
j3 | 0:f7e385400dec | 20 | * OTHER DEALINGS IN THE SOFTWARE. |
j3 | 0:f7e385400dec | 21 | * |
j3 | 0:f7e385400dec | 22 | * Except as contained in this notice, the name of Maxim Integrated |
j3 | 0:f7e385400dec | 23 | * Products, Inc. shall not be used except as stated in the Maxim Integrated |
j3 | 0:f7e385400dec | 24 | * Products, Inc. Branding Policy. |
j3 | 0:f7e385400dec | 25 | * |
j3 | 0:f7e385400dec | 26 | * The mere transfer of this software does not imply any licenses |
j3 | 0:f7e385400dec | 27 | * of trade secrets, proprietary technology, copyrights, patents, |
j3 | 0:f7e385400dec | 28 | * trademarks, maskwork rights, or any other form of intellectual |
j3 | 0:f7e385400dec | 29 | * property whatsoever. Maxim Integrated Products, Inc. retains all |
j3 | 0:f7e385400dec | 30 | * ownership rights. |
j3 | 0:f7e385400dec | 31 | **********************************************************************/ |
j3 | 0:f7e385400dec | 32 | |
j3 | 0:f7e385400dec | 33 | |
j3 | 0:f7e385400dec | 34 | /*References |
j3 | 0:f7e385400dec | 35 | * |
j3 | 0:f7e385400dec | 36 | * Circuit Cellar Issue 316 November 2016 |
j3 | 0:f7e385400dec | 37 | * BalanceBot: A Self-Balancing, Two-Wheeled Robot |
j3 | 0:f7e385400dec | 38 | * |
j3 | 0:f7e385400dec | 39 | * Reading a IMU Without Kalman: The Complementary Filter |
j3 | 0:f7e385400dec | 40 | * http://www.pieter-jan.com/node/11 |
j3 | 0:f7e385400dec | 41 | * |
j3 | 6:9712c04e13bf | 42 | * The Balance Filter |
j3 | 6:9712c04e13bf | 43 | * http://d1.amobbs.com/bbs_upload782111/files_44/ourdev_665531S2JZG6.pdf |
j3 | 6:9712c04e13bf | 44 | * |
j3 | 0:f7e385400dec | 45 | */ |
j3 | 0:f7e385400dec | 46 | |
j3 | 0:f7e385400dec | 47 | |
j3 | 0:f7e385400dec | 48 | #include "mbed.h" |
j3 | 0:f7e385400dec | 49 | #include "max32630fthr.h" |
j3 | 0:f7e385400dec | 50 | #include "bmi160.h" |
j3 | 3:7807a40b2459 | 51 | #include "SDFileSystem.h" |
j3 | 0:f7e385400dec | 52 | |
j3 | 6:9712c04e13bf | 53 | |
j3 | 6:9712c04e13bf | 54 | float compFilter(float K, float pitch, float gyroX, float accY, float accZ, float DT); |
j3 | 4:4144ef007743 | 55 | |
j3 | 4:4144ef007743 | 56 | void saveData(uint32_t numSamples, float * loopCoeffs, float * gyroX, |
j3 | 6:9712c04e13bf | 57 | float * accY, float * accZ, int32_t * pw); |
j3 | 4:4144ef007743 | 58 | |
j3 | 0:f7e385400dec | 59 | |
j3 | 0:f7e385400dec | 60 | //Setup interrupt in from imu |
j3 | 0:f7e385400dec | 61 | InterruptIn imuIntIn(P3_6); |
j3 | 0:f7e385400dec | 62 | bool drdy = false; |
j3 | 0:f7e385400dec | 63 | void imuISR() |
j3 | 0:f7e385400dec | 64 | { |
j3 | 0:f7e385400dec | 65 | drdy = true; |
j3 | 0:f7e385400dec | 66 | } |
j3 | 0:f7e385400dec | 67 | |
j3 | 0:f7e385400dec | 68 | |
j3 | 0:f7e385400dec | 69 | //Setup start/stop button |
j3 | 0:f7e385400dec | 70 | DigitalIn startStopBtn(P2_3, PullUp); |
j3 | 0:f7e385400dec | 71 | InterruptIn startStop(P2_3); |
j3 | 0:f7e385400dec | 72 | bool start = false; |
j3 | 0:f7e385400dec | 73 | void startStopISR() |
j3 | 0:f7e385400dec | 74 | { |
j3 | 3:7807a40b2459 | 75 | start = !start; |
j3 | 3:7807a40b2459 | 76 | } |
j3 | 3:7807a40b2459 | 77 | |
j3 | 3:7807a40b2459 | 78 | |
j3 | 3:7807a40b2459 | 79 | //Setup callibrate button |
j3 | 3:7807a40b2459 | 80 | DigitalIn callibrateBtn(P5_2, PullUp); |
j3 | 3:7807a40b2459 | 81 | InterruptIn callibrate(P5_2); |
j3 | 3:7807a40b2459 | 82 | bool cal = false; |
j3 | 3:7807a40b2459 | 83 | void callibrateISR() |
j3 | 3:7807a40b2459 | 84 | { |
j3 | 3:7807a40b2459 | 85 | cal = !cal; |
j3 | 3:7807a40b2459 | 86 | } |
j3 | 3:7807a40b2459 | 87 | |
j3 | 3:7807a40b2459 | 88 | |
j3 | 3:7807a40b2459 | 89 | //Ping sensor trigger |
j3 | 3:7807a40b2459 | 90 | DigitalOut pingTrigger(P3_2, 0); |
j3 | 3:7807a40b2459 | 91 | Ticker pingTriggerTimer; |
j3 | 3:7807a40b2459 | 92 | |
j3 | 3:7807a40b2459 | 93 | void triggerPing() |
j3 | 3:7807a40b2459 | 94 | { |
j3 | 3:7807a40b2459 | 95 | pingTrigger = !pingTrigger; |
j3 | 3:7807a40b2459 | 96 | wait_us(1); |
j3 | 3:7807a40b2459 | 97 | pingTrigger = !pingTrigger; |
j3 | 3:7807a40b2459 | 98 | } |
j3 | 3:7807a40b2459 | 99 | |
j3 | 3:7807a40b2459 | 100 | DigitalIn p51(P5_1, PullNone); |
j3 | 3:7807a40b2459 | 101 | InterruptIn pingEchoRiseInt(P5_1); |
j3 | 3:7807a40b2459 | 102 | DigitalIn p45(P4_5, PullNone); |
j3 | 3:7807a40b2459 | 103 | InterruptIn pingEchoFallInt(P4_5); |
j3 | 3:7807a40b2459 | 104 | Timer pingTimer; |
j3 | 3:7807a40b2459 | 105 | |
j3 | 3:7807a40b2459 | 106 | float cm = 0; |
j3 | 3:7807a40b2459 | 107 | bool pingReady = false; |
j3 | 3:7807a40b2459 | 108 | const float US_PER_CM = 29.387; |
j3 | 3:7807a40b2459 | 109 | |
j3 | 3:7807a40b2459 | 110 | void echoStartISR() |
j3 | 3:7807a40b2459 | 111 | { |
j3 | 3:7807a40b2459 | 112 | pingTimer.reset(); |
j3 | 3:7807a40b2459 | 113 | } |
j3 | 3:7807a40b2459 | 114 | |
j3 | 3:7807a40b2459 | 115 | void echoStopISR() |
j3 | 3:7807a40b2459 | 116 | { |
j3 | 3:7807a40b2459 | 117 | uint32_t us = pingTimer.read_us()/2; |
j3 | 3:7807a40b2459 | 118 | |
j3 | 3:7807a40b2459 | 119 | cm = (us/ US_PER_CM); |
j3 | 3:7807a40b2459 | 120 | pingReady = true; |
j3 | 0:f7e385400dec | 121 | } |
j3 | 0:f7e385400dec | 122 | |
j3 | 0:f7e385400dec | 123 | |
j3 | 0:f7e385400dec | 124 | int main() |
j3 | 0:f7e385400dec | 125 | { |
j3 | 0:f7e385400dec | 126 | MAX32630FTHR pegasus; |
j3 | 0:f7e385400dec | 127 | pegasus.init(MAX32630FTHR::VIO_3V3); |
j3 | 0:f7e385400dec | 128 | |
Normanski | 14:3ffd5961aa8e | 129 | /* |
Normanski | 14:3ffd5961aa8e | 130 | * Do motor driver testing here. |
Normanski | 14:3ffd5961aa8e | 131 | * P4_0 = FWD1(Logic_LvL) |
Normanski | 14:3ffd5961aa8e | 132 | * P5_6 = REV1(Logic_LvL) |
Normanski | 14:3ffd5961aa8e | 133 | * P5_5 = FWD2(Logic_Lvl) |
Normanski | 14:3ffd5961aa8e | 134 | * P5_4 = REV2(Logic_Lvl) |
Normanski | 14:3ffd5961aa8e | 135 | * Logic Table: |
Normanski | 14:3ffd5961aa8e | 136 | * OpMode: FWD (M1=VDD, M2=GND) |
Normanski | 14:3ffd5961aa8e | 137 | * - FWD# = 1 |
Normanski | 14:3ffd5961aa8e | 138 | * - REV# = 0 |
Normanski | 14:3ffd5961aa8e | 139 | * - bEN = 0 |
Normanski | 14:3ffd5961aa8e | 140 | * OpMode: REV (M1=GND, M2=VDD) |
Normanski | 14:3ffd5961aa8e | 141 | * - FWD# = 0 |
Normanski | 14:3ffd5961aa8e | 142 | * - REV# = 1 |
Normanski | 14:3ffd5961aa8e | 143 | * - bEN = 0 |
Normanski | 14:3ffd5961aa8e | 144 | * OpMode: BREAK (M1=GND, M2=GND) |
Normanski | 14:3ffd5961aa8e | 145 | * - FWD# = 0 |
Normanski | 14:3ffd5961aa8e | 146 | * - REV# = 0 |
Normanski | 14:3ffd5961aa8e | 147 | * - bEN = 0 |
Normanski | 14:3ffd5961aa8e | 148 | */ |
Normanski | 14:3ffd5961aa8e | 149 | DigitalOut FWD1(P4_0, 0); |
Normanski | 14:3ffd5961aa8e | 150 | DigitalOut REV1(P5_6, 0); |
Normanski | 14:3ffd5961aa8e | 151 | DigitalOut FWD2(P5_5, 0); |
Normanski | 14:3ffd5961aa8e | 152 | DigitalOut REV2(P5_4, 0); |
Normanski | 14:3ffd5961aa8e | 153 | |
Normanski | 14:3ffd5961aa8e | 154 | FWD1 = 0; |
Normanski | 14:3ffd5961aa8e | 155 | REV1 = 0; |
Normanski | 14:3ffd5961aa8e | 156 | FWD2=0; |
Normanski | 14:3ffd5961aa8e | 157 | REV2=0; |
Normanski | 14:3ffd5961aa8e | 158 | while(1) |
Normanski | 14:3ffd5961aa8e | 159 | { |
Normanski | 14:3ffd5961aa8e | 160 | |
Normanski | 14:3ffd5961aa8e | 161 | } |
Normanski | 14:3ffd5961aa8e | 162 | /*************************************/ |
j3 | 0:f7e385400dec | 163 | static const float MAX_PULSEWIDTH_US = 40.0F; |
j3 | 0:f7e385400dec | 164 | static const float MIN_PULSEWIDTH_US = -40.0F; |
j3 | 0:f7e385400dec | 165 | |
j3 | 0:f7e385400dec | 166 | static const bool FORWARD = 0; |
j3 | 0:f7e385400dec | 167 | static const bool REVERSE = 1; |
j3 | 0:f7e385400dec | 168 | |
j3 | 0:f7e385400dec | 169 | //Setup left motor(from driver seat) |
j3 | 0:f7e385400dec | 170 | DigitalOut leftDir(P5_6, FORWARD); |
j3 | 0:f7e385400dec | 171 | PwmOut leftPwm(P4_0); |
j3 | 0:f7e385400dec | 172 | leftPwm.period_us(40); |
j3 | 0:f7e385400dec | 173 | leftPwm.pulsewidth_us(0); |
j3 | 0:f7e385400dec | 174 | |
j3 | 0:f7e385400dec | 175 | //Make sure P4_2 and P4_3 are Hi-Z |
j3 | 0:f7e385400dec | 176 | DigitalIn p42_hiZ(P4_2, PullNone); |
j3 | 0:f7e385400dec | 177 | DigitalIn p43_hiZ(P4_3, PullNone); |
j3 | 0:f7e385400dec | 178 | |
j3 | 0:f7e385400dec | 179 | //Setup right motor(from driver seat) |
j3 | 0:f7e385400dec | 180 | DigitalOut rightDir(P5_4, FORWARD); |
j3 | 0:f7e385400dec | 181 | PwmOut rightPwm(P5_5); |
j3 | 0:f7e385400dec | 182 | rightPwm.period_us(40); |
j3 | 0:f7e385400dec | 183 | rightPwm.pulsewidth_us(0); |
j3 | 0:f7e385400dec | 184 | |
j3 | 0:f7e385400dec | 185 | //Turn off RGB LEDs |
j3 | 0:f7e385400dec | 186 | DigitalOut rLED(LED1, LED_OFF); |
j3 | 0:f7e385400dec | 187 | DigitalOut gLED(LED2, LED_OFF); |
j3 | 0:f7e385400dec | 188 | DigitalOut bLED(LED3, LED_OFF); |
j3 | 0:f7e385400dec | 189 | |
j3 | 3:7807a40b2459 | 190 | uint32_t failures = 0; |
j3 | 3:7807a40b2459 | 191 | |
j3 | 3:7807a40b2459 | 192 | DigitalIn uSDdetect(P2_2, PullUp); |
j3 | 5:f66e4666de56 | 193 | static const uint32_t N = 14400; |
j3 | 3:7807a40b2459 | 194 | uint32_t samples = 0; |
j3 | 4:4144ef007743 | 195 | float accYaxisBuff[N]; |
j3 | 4:4144ef007743 | 196 | float accZaxisBuff[N]; |
j3 | 4:4144ef007743 | 197 | float gyroXaxisBuff[N]; |
j3 | 6:9712c04e13bf | 198 | int32_t pulseWidthBuff[N]; |
j3 | 3:7807a40b2459 | 199 | |
j3 | 0:f7e385400dec | 200 | //Setup I2C bus for IMU |
j3 | 0:f7e385400dec | 201 | I2C i2cBus(P5_7, P6_0); |
j3 | 0:f7e385400dec | 202 | i2cBus.frequency(400000); |
j3 | 0:f7e385400dec | 203 | |
j3 | 0:f7e385400dec | 204 | //Get IMU instance and configure it |
j3 | 0:f7e385400dec | 205 | BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO); |
j3 | 0:f7e385400dec | 206 | |
j3 | 12:0fb3a03aeecb | 207 | //Power up sensors in normal mode |
j3 | 12:0fb3a03aeecb | 208 | if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) |
j3 | 12:0fb3a03aeecb | 209 | { |
j3 | 12:0fb3a03aeecb | 210 | printf("Failed to set gyroscope power mode\n"); |
j3 | 12:0fb3a03aeecb | 211 | failures++; |
j3 | 12:0fb3a03aeecb | 212 | } |
j3 | 12:0fb3a03aeecb | 213 | |
j3 | 12:0fb3a03aeecb | 214 | wait(0.1); |
j3 | 12:0fb3a03aeecb | 215 | |
j3 | 12:0fb3a03aeecb | 216 | if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) |
j3 | 12:0fb3a03aeecb | 217 | { |
j3 | 12:0fb3a03aeecb | 218 | printf("Failed to set accelerometer power mode\n"); |
j3 | 12:0fb3a03aeecb | 219 | failures++; |
j3 | 12:0fb3a03aeecb | 220 | } |
j3 | 12:0fb3a03aeecb | 221 | wait(0.1); |
j3 | 12:0fb3a03aeecb | 222 | |
j3 | 0:f7e385400dec | 223 | BMI160::AccConfig accConfig; |
j3 | 0:f7e385400dec | 224 | BMI160::AccConfig accConfigRead; |
j3 | 6:9712c04e13bf | 225 | accConfig.range = BMI160::SENS_4G; |
j3 | 0:f7e385400dec | 226 | accConfig.us = BMI160::ACC_US_OFF; |
j3 | 0:f7e385400dec | 227 | accConfig.bwp = BMI160::ACC_BWP_2; |
j3 | 6:9712c04e13bf | 228 | accConfig.odr = BMI160::ACC_ODR_11; |
j3 | 0:f7e385400dec | 229 | if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) |
j3 | 0:f7e385400dec | 230 | { |
j3 | 0:f7e385400dec | 231 | if(imu.getSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR) |
j3 | 0:f7e385400dec | 232 | { |
j3 | 0:f7e385400dec | 233 | if((accConfig.range != accConfigRead.range) || |
j3 | 0:f7e385400dec | 234 | (accConfig.us != accConfigRead.us) || |
j3 | 0:f7e385400dec | 235 | (accConfig.bwp != accConfigRead.bwp) || |
j3 | 0:f7e385400dec | 236 | (accConfig.odr != accConfigRead.odr)) |
j3 | 0:f7e385400dec | 237 | { |
j3 | 0:f7e385400dec | 238 | printf("ACC read data desn't equal set data\n\n"); |
j3 | 0:f7e385400dec | 239 | printf("ACC Set Range = %d\n", accConfig.range); |
j3 | 0:f7e385400dec | 240 | printf("ACC Set UnderSampling = %d\n", accConfig.us); |
j3 | 0:f7e385400dec | 241 | printf("ACC Set BandWidthParam = %d\n", accConfig.bwp); |
j3 | 0:f7e385400dec | 242 | printf("ACC Set OutputDataRate = %d\n\n", accConfig.odr); |
j3 | 0:f7e385400dec | 243 | printf("ACC Read Range = %d\n", accConfigRead.range); |
j3 | 0:f7e385400dec | 244 | printf("ACC Read UnderSampling = %d\n", accConfigRead.us); |
j3 | 0:f7e385400dec | 245 | printf("ACC Read BandWidthParam = %d\n", accConfigRead.bwp); |
j3 | 0:f7e385400dec | 246 | printf("ACC Read OutputDataRate = %d\n\n", accConfigRead.odr); |
j3 | 0:f7e385400dec | 247 | failures++; |
j3 | 0:f7e385400dec | 248 | } |
j3 | 0:f7e385400dec | 249 | |
j3 | 0:f7e385400dec | 250 | } |
j3 | 0:f7e385400dec | 251 | else |
j3 | 0:f7e385400dec | 252 | { |
j3 | 0:f7e385400dec | 253 | printf("Failed to read back accelerometer configuration\n"); |
j3 | 0:f7e385400dec | 254 | failures++; |
j3 | 0:f7e385400dec | 255 | } |
j3 | 0:f7e385400dec | 256 | } |
j3 | 0:f7e385400dec | 257 | else |
j3 | 0:f7e385400dec | 258 | { |
j3 | 0:f7e385400dec | 259 | printf("Failed to set accelerometer configuration\n"); |
j3 | 0:f7e385400dec | 260 | failures++; |
j3 | 0:f7e385400dec | 261 | } |
j3 | 0:f7e385400dec | 262 | |
j3 | 0:f7e385400dec | 263 | BMI160::GyroConfig gyroConfig; |
j3 | 0:f7e385400dec | 264 | BMI160::GyroConfig gyroConfigRead; |
j3 | 0:f7e385400dec | 265 | gyroConfig.range = BMI160::DPS_2000; |
j3 | 0:f7e385400dec | 266 | gyroConfig.bwp = BMI160::GYRO_BWP_2; |
j3 | 6:9712c04e13bf | 267 | gyroConfig.odr = BMI160::GYRO_ODR_11; |
j3 | 0:f7e385400dec | 268 | if(imu.setSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR) |
j3 | 0:f7e385400dec | 269 | { |
j3 | 0:f7e385400dec | 270 | if(imu.getSensorConfig(gyroConfigRead) == BMI160::RTN_NO_ERROR) |
j3 | 0:f7e385400dec | 271 | { |
j3 | 0:f7e385400dec | 272 | if((gyroConfig.range != gyroConfigRead.range) || |
j3 | 0:f7e385400dec | 273 | (gyroConfig.bwp != gyroConfigRead.bwp) || |
j3 | 0:f7e385400dec | 274 | (gyroConfig.odr != gyroConfigRead.odr)) |
j3 | 0:f7e385400dec | 275 | { |
j3 | 0:f7e385400dec | 276 | printf("GYRO read data desn't equal set data\n\n"); |
j3 | 0:f7e385400dec | 277 | printf("GYRO Set Range = %d\n", gyroConfig.range); |
j3 | 0:f7e385400dec | 278 | printf("GYRO Set BandWidthParam = %d\n", gyroConfig.bwp); |
j3 | 0:f7e385400dec | 279 | printf("GYRO Set OutputDataRate = %d\n\n", gyroConfig.odr); |
j3 | 0:f7e385400dec | 280 | printf("GYRO Read Range = %d\n", gyroConfigRead.range); |
j3 | 0:f7e385400dec | 281 | printf("GYRO Read BandWidthParam = %d\n", gyroConfigRead.bwp); |
j3 | 0:f7e385400dec | 282 | printf("GYRO Read OutputDataRate = %d\n\n", gyroConfigRead.odr); |
j3 | 0:f7e385400dec | 283 | failures++; |
j3 | 0:f7e385400dec | 284 | } |
j3 | 0:f7e385400dec | 285 | |
j3 | 0:f7e385400dec | 286 | } |
j3 | 0:f7e385400dec | 287 | else |
j3 | 0:f7e385400dec | 288 | { |
j3 | 0:f7e385400dec | 289 | printf("Failed to read back gyroscope configuration\n"); |
j3 | 0:f7e385400dec | 290 | failures++; |
j3 | 0:f7e385400dec | 291 | } |
j3 | 0:f7e385400dec | 292 | } |
j3 | 0:f7e385400dec | 293 | else |
j3 | 0:f7e385400dec | 294 | { |
j3 | 0:f7e385400dec | 295 | printf("Failed to set gyroscope configuration\n"); |
j3 | 0:f7e385400dec | 296 | failures++; |
j3 | 0:f7e385400dec | 297 | } |
j3 | 0:f7e385400dec | 298 | |
j3 | 0:f7e385400dec | 299 | |
j3 | 0:f7e385400dec | 300 | if(failures == 0) |
j3 | 0:f7e385400dec | 301 | { |
Normanski | 14:3ffd5961aa8e | 302 | printf("I got through! :)"); |
j3 | 0:f7e385400dec | 303 | printf("ACC Range = %d\n", accConfig.range); |
j3 | 0:f7e385400dec | 304 | printf("ACC UnderSampling = %d\n", accConfig.us); |
j3 | 0:f7e385400dec | 305 | printf("ACC BandWidthParam = %d\n", accConfig.bwp); |
j3 | 0:f7e385400dec | 306 | printf("ACC OutputDataRate = %d\n\n", accConfig.odr); |
j3 | 0:f7e385400dec | 307 | printf("GYRO Range = %d\n", gyroConfig.range); |
j3 | 0:f7e385400dec | 308 | printf("GYRO BandWidthParam = %d\n", gyroConfig.bwp); |
j3 | 0:f7e385400dec | 309 | printf("GYRO OutputDataRate = %d\n\n", gyroConfig.odr); |
j3 | 0:f7e385400dec | 310 | wait(1.0); |
j3 | 0:f7e385400dec | 311 | |
j3 | 0:f7e385400dec | 312 | //Sensor data vars |
j3 | 0:f7e385400dec | 313 | BMI160::SensorData accData; |
j3 | 0:f7e385400dec | 314 | BMI160::SensorData gyroData; |
j3 | 0:f7e385400dec | 315 | BMI160::SensorTime sensorTime; |
j3 | 0:f7e385400dec | 316 | |
j3 | 0:f7e385400dec | 317 | //Complementary Filter vars, filter weight K |
j3 | 11:371026db1dcd | 318 | static const float K = 0.9978F; |
j3 | 0:f7e385400dec | 319 | float pitch = 0.0F; |
j3 | 0:f7e385400dec | 320 | |
j3 | 0:f7e385400dec | 321 | //PID coefficients |
j3 | 11:371026db1dcd | 322 | |
j3 | 11:371026db1dcd | 323 | //tunning with Wilson, Kc = 4.2, pc = 0.166 |
j3 | 6:9712c04e13bf | 324 | |
j3 | 6:9712c04e13bf | 325 | static const float DT = 0.00125F; |
j3 | 11:371026db1dcd | 326 | static const float KP = 2.5F; |
j3 | 11:371026db1dcd | 327 | static const float KI = (30.0F*DT); |
j3 | 11:371026db1dcd | 328 | static const float KD = (0.05F/DT); |
j3 | 1:e9dd53326ba1 | 329 | float setPoint = 0.0F; |
j3 | 4:4144ef007743 | 330 | float loopCoeffs[] = {setPoint, K, KP, KI, KD, DT}; |
j3 | 0:f7e385400dec | 331 | |
j3 | 0:f7e385400dec | 332 | //Control loop vars |
j3 | 0:f7e385400dec | 333 | float currentError, previousError; |
j3 | 0:f7e385400dec | 334 | float integral = 0.0F; |
j3 | 0:f7e385400dec | 335 | float derivative = 0.0F; |
j3 | 0:f7e385400dec | 336 | float pulseWidth; |
j3 | 0:f7e385400dec | 337 | |
j3 | 0:f7e385400dec | 338 | //Enable data ready interrupt from imu for constant loop timming |
j3 | 0:f7e385400dec | 339 | imu.writeRegister(BMI160::INT_EN_1, 0x10); |
j3 | 0:f7e385400dec | 340 | //Active High PushPull output on INT1 |
j3 | 0:f7e385400dec | 341 | imu.writeRegister(BMI160::INT_OUT_CTRL, 0x0A); |
j3 | 0:f7e385400dec | 342 | //Map data ready interrupt to INT1 |
j3 | 0:f7e385400dec | 343 | imu.writeRegister(BMI160::INT_MAP_1, 0x80); |
j3 | 3:7807a40b2459 | 344 | |
j3 | 1:e9dd53326ba1 | 345 | //Tie INT1 to callback fx |
j3 | 0:f7e385400dec | 346 | imuIntIn.rise(&imuISR); |
j3 | 0:f7e385400dec | 347 | |
j3 | 1:e9dd53326ba1 | 348 | //Tie SW2 to callback fx |
j3 | 0:f7e385400dec | 349 | startStop.fall(&startStopISR); |
j3 | 0:f7e385400dec | 350 | |
j3 | 3:7807a40b2459 | 351 | //Tie P5_2 to callback fx |
j3 | 3:7807a40b2459 | 352 | callibrate.fall(&callibrateISR); |
j3 | 3:7807a40b2459 | 353 | bool firstCal = true; |
j3 | 3:7807a40b2459 | 354 | |
j3 | 3:7807a40b2459 | 355 | //Callbacks for echo measurement |
j3 | 3:7807a40b2459 | 356 | pingEchoRiseInt.fall(&echoStartISR); |
j3 | 3:7807a40b2459 | 357 | pingEchoFallInt.rise(&echoStopISR); |
j3 | 3:7807a40b2459 | 358 | |
j3 | 3:7807a40b2459 | 359 | //Timer for echo measurements |
j3 | 3:7807a40b2459 | 360 | pingTimer.start(); |
j3 | 3:7807a40b2459 | 361 | |
j3 | 3:7807a40b2459 | 362 | //Timer for trigger |
j3 | 3:7807a40b2459 | 363 | pingTriggerTimer.attach(&triggerPing, 0.05); |
j3 | 3:7807a40b2459 | 364 | |
j3 | 3:7807a40b2459 | 365 | //Position control vars/constants |
j3 | 11:371026db1dcd | 366 | //static const float PING_SP = 20.0F; |
j3 | 11:371026db1dcd | 367 | //static const float PING_KP = 0.0F; |
j3 | 11:371026db1dcd | 368 | //float pingCurrentError = 0.0F; |
j3 | 3:7807a40b2459 | 369 | |
j3 | 0:f7e385400dec | 370 | //control loop timming indicator |
j3 | 0:f7e385400dec | 371 | DigitalOut loopPulse(P5_3, 0); |
j3 | 0:f7e385400dec | 372 | |
j3 | 1:e9dd53326ba1 | 373 | //Count for averaging setPoint offset, 2 seconds of data |
j3 | 1:e9dd53326ba1 | 374 | uint32_t offsetCount = 0; |
j3 | 1:e9dd53326ba1 | 375 | |
j3 | 0:f7e385400dec | 376 | while(1) |
j3 | 0:f7e385400dec | 377 | { |
j3 | 0:f7e385400dec | 378 | |
j3 | 3:7807a40b2459 | 379 | if(cal || (firstCal == true)) |
j3 | 1:e9dd53326ba1 | 380 | { |
j3 | 3:7807a40b2459 | 381 | cal = false; |
j3 | 3:7807a40b2459 | 382 | firstCal = false; |
j3 | 3:7807a40b2459 | 383 | pitch = 0.0F; |
j3 | 3:7807a40b2459 | 384 | setPoint = 0.0F; |
j3 | 3:7807a40b2459 | 385 | |
j3 | 3:7807a40b2459 | 386 | rLED = LED_ON; |
j3 | 3:7807a40b2459 | 387 | gLED = LED_ON; |
j3 | 3:7807a40b2459 | 388 | |
j3 | 6:9712c04e13bf | 389 | while(offsetCount < 1600) |
j3 | 1:e9dd53326ba1 | 390 | { |
j3 | 3:7807a40b2459 | 391 | if(drdy) |
j3 | 3:7807a40b2459 | 392 | { |
j3 | 3:7807a40b2459 | 393 | //Clear data ready flag |
j3 | 3:7807a40b2459 | 394 | drdy = false; |
j3 | 3:7807a40b2459 | 395 | |
j3 | 3:7807a40b2459 | 396 | //Read feedback sensors |
j3 | 3:7807a40b2459 | 397 | imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range); |
j3 | 3:7807a40b2459 | 398 | |
j3 | 6:9712c04e13bf | 399 | //Feedback Block, pitch estimate in degrees |
j3 | 6:9712c04e13bf | 400 | pitch = compFilter(K, pitch, gyroData.xAxis.scaled, accData.yAxis.scaled, accData.zAxis.scaled, DT); |
j3 | 3:7807a40b2459 | 401 | |
j3 | 3:7807a40b2459 | 402 | //Accumalate pitch measurements |
j3 | 3:7807a40b2459 | 403 | setPoint += pitch; |
j3 | 3:7807a40b2459 | 404 | offsetCount++; |
j3 | 3:7807a40b2459 | 405 | } |
j3 | 1:e9dd53326ba1 | 406 | } |
j3 | 3:7807a40b2459 | 407 | |
j3 | 3:7807a40b2459 | 408 | //Average measurements |
j3 | 10:71c31197d55a | 409 | setPoint = setPoint/offsetCount; |
j3 | 3:7807a40b2459 | 410 | printf("setPoint = %5.2f\n\n", setPoint); |
j3 | 3:7807a40b2459 | 411 | //Clear count for next time |
j3 | 3:7807a40b2459 | 412 | offsetCount = 0; |
j3 | 1:e9dd53326ba1 | 413 | } |
j3 | 1:e9dd53326ba1 | 414 | |
j3 | 1:e9dd53326ba1 | 415 | |
j3 | 8:810396d34da8 | 416 | while(start && (pitch > -20.0F) && (pitch < 20.0F)) |
j3 | 0:f7e385400dec | 417 | { |
j3 | 0:f7e385400dec | 418 | rLED = LED_OFF; |
j3 | 0:f7e385400dec | 419 | gLED = LED_ON; |
j3 | 3:7807a40b2459 | 420 | |
j3 | 0:f7e385400dec | 421 | if(drdy) |
j3 | 0:f7e385400dec | 422 | { |
j3 | 0:f7e385400dec | 423 | //Start, following takes ~456us on MAX32630FTHR with 400KHz I2C bus |
j3 | 0:f7e385400dec | 424 | //At 1600Hz ODR, ~73% of loop time is active doing something |
j3 | 0:f7e385400dec | 425 | loopPulse = !loopPulse; |
j3 | 0:f7e385400dec | 426 | |
j3 | 0:f7e385400dec | 427 | //Clear data ready flag |
j3 | 0:f7e385400dec | 428 | drdy = false; |
j3 | 0:f7e385400dec | 429 | |
j3 | 0:f7e385400dec | 430 | //Read feedback sensors |
j3 | 0:f7e385400dec | 431 | imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range); |
j3 | 0:f7e385400dec | 432 | |
j3 | 6:9712c04e13bf | 433 | //Feedback Block, pitch estimate in degrees |
j3 | 6:9712c04e13bf | 434 | pitch = compFilter(K, pitch, gyroData.xAxis.scaled, accData.yAxis.scaled, accData.zAxis.scaled, DT); |
j3 | 6:9712c04e13bf | 435 | |
j3 | 0:f7e385400dec | 436 | //PID Block |
j3 | 0:f7e385400dec | 437 | //Error signal |
j3 | 1:e9dd53326ba1 | 438 | currentError = (setPoint - pitch); |
j3 | 0:f7e385400dec | 439 | |
j3 | 12:0fb3a03aeecb | 440 | //Integral term, dt is included in KI |
j3 | 11:371026db1dcd | 441 | integral = (integral + currentError); |
j3 | 0:f7e385400dec | 442 | |
j3 | 0:f7e385400dec | 443 | //Derivative term, dt is included in KD |
j3 | 0:f7e385400dec | 444 | derivative = (currentError - previousError); |
j3 | 0:f7e385400dec | 445 | |
j3 | 0:f7e385400dec | 446 | //Set right/left pulsewidth |
j3 | 0:f7e385400dec | 447 | //Just balance for now, so both left/right are the same |
j3 | 0:f7e385400dec | 448 | pulseWidth = ((KP * currentError) + (KI * integral) + (KD * derivative)); |
j3 | 0:f7e385400dec | 449 | |
j3 | 3:7807a40b2459 | 450 | |
j3 | 11:371026db1dcd | 451 | /* |
j3 | 3:7807a40b2459 | 452 | if(pingReady) |
j3 | 3:7807a40b2459 | 453 | { |
j3 | 3:7807a40b2459 | 454 | //Get error signal |
j3 | 3:7807a40b2459 | 455 | pingReady = false; |
j3 | 3:7807a40b2459 | 456 | pingCurrentError = PING_SP - cm; |
j3 | 3:7807a40b2459 | 457 | } |
j3 | 3:7807a40b2459 | 458 | |
j3 | 4:4144ef007743 | 459 | pulseWidth += (pingCurrentError * PING_KP); |
j3 | 11:371026db1dcd | 460 | */ |
j3 | 3:7807a40b2459 | 461 | |
j3 | 3:7807a40b2459 | 462 | |
j3 | 0:f7e385400dec | 463 | //Clamp to maximum duty cycle and check for forward/reverse |
j3 | 1:e9dd53326ba1 | 464 | //based on sign of error signal (negation of pitch since setPoint = 0) |
j3 | 0:f7e385400dec | 465 | if(pulseWidth > MAX_PULSEWIDTH_US) |
j3 | 0:f7e385400dec | 466 | { |
Normanski | 14:3ffd5961aa8e | 467 | |
j3 | 0:f7e385400dec | 468 | rightDir = FORWARD; |
j3 | 0:f7e385400dec | 469 | leftDir = FORWARD; |
j3 | 4:4144ef007743 | 470 | pulseWidth = 40.0F; |
j3 | 0:f7e385400dec | 471 | rightPwm.pulsewidth_us(40); |
j3 | 0:f7e385400dec | 472 | leftPwm.pulsewidth_us(40); |
j3 | 0:f7e385400dec | 473 | } |
j3 | 0:f7e385400dec | 474 | else if(pulseWidth < MIN_PULSEWIDTH_US) |
j3 | 0:f7e385400dec | 475 | { |
j3 | 0:f7e385400dec | 476 | rightDir = REVERSE; |
j3 | 0:f7e385400dec | 477 | leftDir = REVERSE; |
j3 | 4:4144ef007743 | 478 | pulseWidth = -40.0F; |
j3 | 0:f7e385400dec | 479 | rightPwm.pulsewidth_us(40); |
j3 | 0:f7e385400dec | 480 | leftPwm.pulsewidth_us(40); |
j3 | 0:f7e385400dec | 481 | } |
j3 | 0:f7e385400dec | 482 | else |
j3 | 0:f7e385400dec | 483 | { |
j3 | 0:f7e385400dec | 484 | if(pulseWidth < 0.0F) |
j3 | 0:f7e385400dec | 485 | { |
j3 | 0:f7e385400dec | 486 | rightDir = REVERSE; |
j3 | 0:f7e385400dec | 487 | leftDir = REVERSE; |
j3 | 4:4144ef007743 | 488 | rightPwm.pulsewidth_us(static_cast<uint32_t>(1 - pulseWidth)); |
j3 | 4:4144ef007743 | 489 | leftPwm.pulsewidth_us(static_cast<uint32_t>(1 - pulseWidth)); |
j3 | 0:f7e385400dec | 490 | } |
j3 | 0:f7e385400dec | 491 | else |
j3 | 0:f7e385400dec | 492 | { |
j3 | 0:f7e385400dec | 493 | rightDir = FORWARD; |
j3 | 0:f7e385400dec | 494 | leftDir = FORWARD; |
j3 | 0:f7e385400dec | 495 | rightPwm.pulsewidth_us(static_cast<uint32_t>(pulseWidth)); |
j3 | 0:f7e385400dec | 496 | leftPwm.pulsewidth_us(static_cast<uint32_t>(pulseWidth)); |
j3 | 0:f7e385400dec | 497 | } |
j3 | 0:f7e385400dec | 498 | } |
j3 | 0:f7e385400dec | 499 | |
j3 | 4:4144ef007743 | 500 | if(samples < N) |
j3 | 4:4144ef007743 | 501 | { |
j3 | 4:4144ef007743 | 502 | accYaxisBuff[samples] = accData.yAxis.scaled; |
j3 | 4:4144ef007743 | 503 | accZaxisBuff[samples] = accData.zAxis.scaled; |
j3 | 4:4144ef007743 | 504 | gyroXaxisBuff[samples] = gyroData.xAxis.scaled; |
j3 | 6:9712c04e13bf | 505 | pulseWidthBuff[samples] = static_cast<int32_t>(pulseWidth); |
j3 | 4:4144ef007743 | 506 | samples++; |
j3 | 4:4144ef007743 | 507 | } |
j3 | 4:4144ef007743 | 508 | |
j3 | 0:f7e385400dec | 509 | //save current error for next loop |
j3 | 0:f7e385400dec | 510 | previousError = currentError; |
j3 | 4:4144ef007743 | 511 | |
j3 | 0:f7e385400dec | 512 | //Stop |
j3 | 0:f7e385400dec | 513 | loopPulse = !loopPulse; |
j3 | 0:f7e385400dec | 514 | } |
j3 | 0:f7e385400dec | 515 | } |
j3 | 3:7807a40b2459 | 516 | |
j3 | 8:810396d34da8 | 517 | if((pitch > 20.0F) || (pitch < -20.0F)) |
j3 | 4:4144ef007743 | 518 | { |
j3 | 4:4144ef007743 | 519 | start = false; |
j3 | 4:4144ef007743 | 520 | } |
j3 | 8:810396d34da8 | 521 | |
j3 | 4:4144ef007743 | 522 | pitch = 0.0F; |
j3 | 4:4144ef007743 | 523 | integral = 0.0F; |
j3 | 4:4144ef007743 | 524 | previousError = 0.0F; |
j3 | 3:7807a40b2459 | 525 | rightPwm.pulsewidth_us(0); |
j3 | 3:7807a40b2459 | 526 | leftPwm.pulsewidth_us(0); |
j3 | 3:7807a40b2459 | 527 | |
j3 | 3:7807a40b2459 | 528 | rLED = LED_ON; |
j3 | 3:7807a40b2459 | 529 | gLED = LED_ON; |
j3 | 3:7807a40b2459 | 530 | wait(0.25); |
j3 | 3:7807a40b2459 | 531 | rLED = LED_OFF; |
j3 | 3:7807a40b2459 | 532 | gLED = LED_OFF; |
j3 | 3:7807a40b2459 | 533 | wait(0.25); |
j3 | 3:7807a40b2459 | 534 | |
j3 | 3:7807a40b2459 | 535 | if(!uSDdetect && (samples > 0)) |
j3 | 4:4144ef007743 | 536 | { |
j3 | 4:4144ef007743 | 537 | loopCoeffs[0] = setPoint; |
j3 | 4:4144ef007743 | 538 | bLED = LED_ON; |
j3 | 4:4144ef007743 | 539 | saveData(samples, loopCoeffs, gyroXaxisBuff, accYaxisBuff, accZaxisBuff, pulseWidthBuff); |
j3 | 3:7807a40b2459 | 540 | samples = 0; |
j3 | 4:4144ef007743 | 541 | bLED = LED_OFF; |
j3 | 3:7807a40b2459 | 542 | } |
j3 | 0:f7e385400dec | 543 | } |
j3 | 0:f7e385400dec | 544 | } |
j3 | 0:f7e385400dec | 545 | else |
j3 | 0:f7e385400dec | 546 | { |
j3 | 0:f7e385400dec | 547 | while(1) |
j3 | 0:f7e385400dec | 548 | { |
Normanski | 14:3ffd5961aa8e | 549 | printf("I'M STUCKED!"); |
j3 | 0:f7e385400dec | 550 | rLED = !rLED; |
j3 | 0:f7e385400dec | 551 | wait(0.25); |
j3 | 0:f7e385400dec | 552 | } |
j3 | 0:f7e385400dec | 553 | } |
j3 | 0:f7e385400dec | 554 | } |
j3 | 4:4144ef007743 | 555 | |
j3 | 4:4144ef007743 | 556 | |
j3 | 4:4144ef007743 | 557 | //***************************************************************************** |
j3 | 4:4144ef007743 | 558 | void saveData(uint32_t numSamples, float * loopCoeffs, float * gyroX, |
j3 | 6:9712c04e13bf | 559 | float * accY, float * accZ, int32_t * pw) |
j3 | 4:4144ef007743 | 560 | { |
j3 | 4:4144ef007743 | 561 | SDFileSystem sd(P0_5, P0_6, P0_4, P0_7, "sd"); // mosi, miso, sclk, cs |
j3 | 4:4144ef007743 | 562 | FILE *fp; |
j3 | 4:4144ef007743 | 563 | |
j3 | 4:4144ef007743 | 564 | fp = fopen("/sd/balBot.txt", "a"); |
j3 | 4:4144ef007743 | 565 | if(fp != NULL) |
j3 | 4:4144ef007743 | 566 | { |
j3 | 8:810396d34da8 | 567 | fprintf(fp, "Samples,%d,,,,,\n", numSamples); |
j3 | 4:4144ef007743 | 568 | fprintf(fp, "Setpoint,%5.2f,,,,,\n", loopCoeffs[0]); |
j3 | 4:4144ef007743 | 569 | fprintf(fp, "K, %f,,,,,\n", loopCoeffs[1]); |
j3 | 4:4144ef007743 | 570 | fprintf(fp, "KP, %f,,,,,\n", loopCoeffs[2]); |
j3 | 4:4144ef007743 | 571 | fprintf(fp, "KI, %f,,,,,\n", loopCoeffs[3]); |
j3 | 4:4144ef007743 | 572 | fprintf(fp, "KD, %f,,,,,\n", loopCoeffs[4]); |
j3 | 4:4144ef007743 | 573 | fprintf(fp, "DT, %f,,,,,\n", loopCoeffs[5]); |
j3 | 4:4144ef007743 | 574 | fprintf(fp, "Time, Y-Acc, Gyro dps, Gyro Estimate, Acc Estimate, Filter Estimate, PW\n"); |
j3 | 4:4144ef007743 | 575 | |
j3 | 4:4144ef007743 | 576 | float accPitch = 0.0F; |
j3 | 5:f66e4666de56 | 577 | float gyroDegrees = 0.0F; |
j3 | 4:4144ef007743 | 578 | float pitch = 0.0F; |
j3 | 6:9712c04e13bf | 579 | float K = loopCoeffs[1]; |
j3 | 6:9712c04e13bf | 580 | float DT = loopCoeffs[5]; |
j3 | 4:4144ef007743 | 581 | |
j3 | 4:4144ef007743 | 582 | for(uint32_t idx = 0; idx < numSamples; idx++) |
j3 | 4:4144ef007743 | 583 | { |
j3 | 6:9712c04e13bf | 584 | fprintf(fp, "%f,", idx*DT); |
j3 | 4:4144ef007743 | 585 | fprintf(fp, "%5.4f,", accY[idx]); |
j3 | 4:4144ef007743 | 586 | fprintf(fp, "%6.2f,", gyroX[idx]); |
j3 | 6:9712c04e13bf | 587 | gyroDegrees += (gyroX[idx] * DT); |
j3 | 5:f66e4666de56 | 588 | fprintf(fp, "%5.2f,", gyroDegrees); |
j3 | 4:4144ef007743 | 589 | accPitch = ((180.0F/3.14159F) * atan(accY[idx]/accZ[idx])); |
j3 | 4:4144ef007743 | 590 | fprintf(fp, "%5.2f,", accPitch); |
j3 | 6:9712c04e13bf | 591 | pitch = compFilter(K, pitch, gyroX[idx], accY[idx], accZ[idx], DT); |
j3 | 5:f66e4666de56 | 592 | fprintf(fp, "%5.2f,", pitch); |
j3 | 6:9712c04e13bf | 593 | fprintf(fp, "%d", pw[idx]); |
j3 | 4:4144ef007743 | 594 | fprintf(fp, "\n"); |
j3 | 4:4144ef007743 | 595 | } |
j3 | 4:4144ef007743 | 596 | fprintf(fp, "\n"); |
j3 | 4:4144ef007743 | 597 | fclose(fp); |
j3 | 4:4144ef007743 | 598 | } |
j3 | 4:4144ef007743 | 599 | else |
j3 | 4:4144ef007743 | 600 | { |
j3 | 4:4144ef007743 | 601 | printf("Failed to open file\n"); |
j3 | 4:4144ef007743 | 602 | } |
j3 | 4:4144ef007743 | 603 | } |
j3 | 6:9712c04e13bf | 604 | |
j3 | 6:9712c04e13bf | 605 | |
j3 | 6:9712c04e13bf | 606 | //***************************************************************************** |
j3 | 6:9712c04e13bf | 607 | float compFilter(float K, float pitch, float gyroX, float accY, float accZ, float DT) |
j3 | 6:9712c04e13bf | 608 | { |
j3 | 6:9712c04e13bf | 609 | return ((K * (pitch + (gyroX * DT))) + ((1.0F - K) * ((180.0F / 3.1459F) * atan(accY/accZ)))); |
j3 | 6:9712c04e13bf | 610 | } |