SelfBalancing
Dependencies: mbed BMI160 max32630fthr USBDevice Math MAX14690
main.cpp
- Committer:
- CharlesMaxim
- Date:
- 2018-12-05
- Revision:
- 4:fc8ef84a7dbc
- Parent:
- 2:ba0a55e05168
File content as of revision 4:fc8ef84a7dbc:
/********************************************************************** * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved. * * 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 MAXIM INTEGRATED 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. * * Except as contained in this notice, the name of Maxim Integrated * Products, Inc. shall not be used except as stated in the Maxim Integrated * Products, Inc. Branding Policy. * * The mere transfer of this software does not imply any licenses * of trade secrets, proprietary technology, copyrights, patents, * trademarks, maskwork rights, or any other form of intellectual * property whatsoever. Maxim Integrated Products, Inc. retains all * ownership rights. **********************************************************************/ #include "mbed.h" #include "bmi160.h" //#include "max32630hsp.h" #include "max32630fthr.h" #include "USBSerial.h" #include "stdlib.h" //MAX32630HSP icarus(MAX32630HSP::VIO_3V3); MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3); Serial daplink(P2_1, P2_0); DigitalOut rLED(P2_4, LED_ON); DigitalOut gLED(P2_5, LED_ON); DigitalOut bLED(P2_6, LED_ON); DigitalOut M_1(P3_5); DigitalOut M_2(P3_4); USBSerial pc(USBTX,USBRX); I2C i2cBus(I2C2_SDA, I2C2_SCL); BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO); void dumpImuRegisters(BMI160 &imu); void printRegister(BMI160 &imu, BMI160::Registers reg); void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg); void writeReg(BMI160 &imu, BMI160::Registers reg, uint8_t data); int main() { i2cBus.frequency(400000); writeReg(imu, BMI160::GYR_RANGE, BMI160::DPS_500); writeReg(imu, BMI160::GYR_CONF, BMI160::GYRO_ODR_13); writeReg(imu, BMI160::FOC_CONF, BMI160::FOC_VALUE ); wait(0.5); writeReg(imu, BMI160::OFFSET_6, BMI160::FOC_ENABLE_GYR_ACC); gLED = 1; bLED = 0; wait(1); writeReg(imu, BMI160::CMD, BMI160::FOC_START); wait(1); gLED = 0; bLED = 0; pc.printf("\033[H"); //home pc.printf("\033[0J"); //erase from cursor to end of screen uint32_t failures = 0; if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) { pc.printf("Failed to set gyroscope power mode\r\n"); failures++; } wait_ms(100); if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) { pc.printf("Failed to set accelerometer power mode\r\n"); failures++; } wait_ms(100); BMI160::AccConfig accConfig; //example of using getSensorConfig if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) { pc.printf("ACC Range = %d\r\n", accConfig.range); pc.printf("ACC UnderSampling = %d\r\n", accConfig.us); pc.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp); pc.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr); } else { pc.printf("Failed to get accelerometer configuration\r\n"); failures++; } //example of setting user defined configuration accConfig.range = BMI160::SENS_2G; //rage is 2g accConfig.us = BMI160::ACC_US_OFF; //undersampling is off accConfig.bwp = BMI160::ACC_BWP_0; //average 4 cycles accConfig.odr = BMI160::ACC_ODR_9; //output data rate if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) { pc.printf("ACC Range = %d\r\n", accConfig.range); pc.printf("ACC UnderSampling = %d\r\n", accConfig.us); pc.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp); pc.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr); } else { pc.printf("Failed to set accelerometer configuration\r\n"); failures++; } BMI160::GyroConfig gyroConfig; if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR) { pc.printf("GYRO Range = %d\r\n", gyroConfig.range); pc.printf("GYRO BandWidthParam = %d\r\n", gyroConfig.bwp); pc.printf("GYRO OutputDataRate = %d\r\n\r\n", gyroConfig.odr); } else { pc.printf("Failed to get gyroscope configuration\r\n"); failures++; } wait(1.0); pc.printf("\033[H"); //home pc.printf("\033[0J"); //erase from cursor to end of screen if(failures == 0) { float imuTemperature; double xDeviation, yDeviation, zDeviation; double prevGyroX, prevGyroY, prevGyroZ; double currentGyroX, currentGyroY, currentGyroZ; double diffGyroX, diffGyroY, diffGyroZ; double xDisplacement, yDisplacement, zDisplacement; double currentAccX, currentAccY, currentAccZ; double prevAccX, prevAccY, prevAccZ; double diffAccX, diffAccY, diffAccZ; double xVelocity, yVelocity, zVelocity; double timeDiff, time_1, time_2; bool timeFlag = false; BMI160::SensorData accData; BMI160::SensorData gyroData; BMI160::SensorTime sensorTime; //PwmPin = 1; while(1) { imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range); imu.getTemperature(&imuTemperature); //printRegister(imu, BMI160::GYR_CONF); if(timeFlag == true){ currentGyroX = gyroData.xAxis.scaled; currentAccX = accData.xAxis.scaled; diffGyroX = abs(currentGyroX - prevGyroX); diffAccX = abs(currentAccX - prevAccX); time_2 = sensorTime.seconds; timeDiff = time_2 - time_1; if (diffGyroX > 2){ xDeviation = xDeviation + (gyroData.xAxis.scaled * (timeDiff)); } if (diffAccX > 0.009){ xDisplacement = (xVelocity * timeDiff) + (0.5 * accData.xAxis.scaled * timeDiff * timeDiff); xVelocity = xVelocity + (accData.xAxis.scaled * timeDiff); } // pc.printf("%s%4.3f\r\n", "\033[K", xDeviation); //control motor for proportional linearity if(xDeviation < 0.0) { M_1 = 0; M_2 = 1; pc.printf("Forward: %s%4.3f\r\n", "\033[K", xDeviation); } else{ M_1 = 1; M_2 = 0; pc.printf("Backward: %s%4.3f\r\n", "\033[K", xDeviation); } //------------------------ //pc.printf("Velocity: %s%4.3f\r\n", "\033[K", prevAccX); // pc.printf("Interval: %s%4.3f\r\n", "\033[K", timeDiff); //pc.printf("%s%4.3f\r\n\r\n", "\033[K", xDisplacement); prevGyroX = currentGyroX; prevAccX = currentAccX; time_1 = time_2; } else{ time_1 = sensorTime.seconds; timeFlag = true; } gLED = !gLED; wait_ms(1); } } else { while(1) { rLED = !rLED; wait(0.6); } } } //***************************************************************************** void dumpImuRegisters(BMI160 &imu) { printRegister(imu, BMI160::CHIP_ID); printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA); printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1); printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST); printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1); printRegister(imu, BMI160::CMD); pc.printf("\r\n"); } //***************************************************************************** void printRegister(BMI160 &imu, BMI160::Registers reg) { uint8_t data; if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR) { pc.printf("IMU Register 0x%02x = 0x%02x\r\n", reg, data); daplink.printf("IMU Register 0x%02x = 0x%02x\r\n", reg, data); } else { pc.printf("Failed to read register\r\n"); } } //***************************************************************************** void writeReg(BMI160 &imu, BMI160::Registers reg, uint8_t data) { imu.writeRegister(reg, data); } //***************************************************************************** void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg) { uint8_t numBytes = ((stopReg - startReg) + 1); uint8_t buff[32]; uint8_t offset = static_cast<uint8_t>(startReg); if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR) { for(uint8_t idx = offset; idx < (numBytes + offset); idx++) { pc.printf("IMU Register 0x%02x = 0x%02x\r\n", idx, buff[idx - offset]); } } else { pc.printf("Failed to read block\r\n"); } } /* An example for configuring FOC for accel and gyro data */