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Final Tree
Dependencies: mbed BMI160 max32630fthr_pitch USBDevice Math
Sensors/Orientation.cpp@7:b33be863fbb5, 2019-01-28 (annotated)
- Committer:
- bjbance
- Date:
- Mon Jan 28 09:00:47 2019 +0000
- Revision:
- 7:b33be863fbb5
Separate library for sensors
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bjbance | 7:b33be863fbb5 | 1 | #include "mbed.h" |
bjbance | 7:b33be863fbb5 | 2 | #include "bmi160.h" |
bjbance | 7:b33be863fbb5 | 3 | #include "max32630fthr.h" |
bjbance | 7:b33be863fbb5 | 4 | #include "USBSerial.h" |
bjbance | 7:b33be863fbb5 | 5 | #include "stdlib.h" |
bjbance | 7:b33be863fbb5 | 6 | #include "math.h" |
bjbance | 7:b33be863fbb5 | 7 | #include "Orientation.h" |
bjbance | 7:b33be863fbb5 | 8 | |
bjbance | 7:b33be863fbb5 | 9 | I2C i2cBus(I2C2_SDA, I2C2_SCL); |
bjbance | 7:b33be863fbb5 | 10 | BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO); |
bjbance | 7:b33be863fbb5 | 11 | |
bjbance | 7:b33be863fbb5 | 12 | BMI160::SensorData accData; |
bjbance | 7:b33be863fbb5 | 13 | BMI160::SensorData gyroData; |
bjbance | 7:b33be863fbb5 | 14 | BMI160::SensorTime sensorTime; |
bjbance | 7:b33be863fbb5 | 15 | BMI160::AccConfig accConfig; |
bjbance | 7:b33be863fbb5 | 16 | BMI160::GyroConfig gyroConfig; |
bjbance | 7:b33be863fbb5 | 17 | float imuTemperature; |
bjbance | 7:b33be863fbb5 | 18 | |
bjbance | 7:b33be863fbb5 | 19 | |
bjbance | 7:b33be863fbb5 | 20 | Serial pc2(P2_1, P2_0); |
bjbance | 7:b33be863fbb5 | 21 | |
bjbance | 7:b33be863fbb5 | 22 | void Orientation::init(){ |
bjbance | 7:b33be863fbb5 | 23 | pitch = 0; |
bjbance | 7:b33be863fbb5 | 24 | k = 0.65; |
bjbance | 7:b33be863fbb5 | 25 | time1 = sensorTime.seconds; |
bjbance | 7:b33be863fbb5 | 26 | time2 = sensorTime.seconds; |
bjbance | 7:b33be863fbb5 | 27 | |
bjbance | 7:b33be863fbb5 | 28 | |
bjbance | 7:b33be863fbb5 | 29 | i2cBus.frequency(400000); |
bjbance | 7:b33be863fbb5 | 30 | writeReg(imu, BMI160::GYR_RANGE, BMI160::DPS_500); |
bjbance | 7:b33be863fbb5 | 31 | writeReg(imu, BMI160::GYR_CONF, BMI160::GYRO_ODR_13); |
bjbance | 7:b33be863fbb5 | 32 | writeReg(imu, BMI160::FOC_CONF, BMI160::FOC_VALUE ); |
bjbance | 7:b33be863fbb5 | 33 | wait(0.5); |
bjbance | 7:b33be863fbb5 | 34 | writeReg(imu, BMI160::OFFSET_6, BMI160::FOC_ENABLE_GYR_ACC); |
bjbance | 7:b33be863fbb5 | 35 | |
bjbance | 7:b33be863fbb5 | 36 | writeReg(imu, BMI160::CMD, BMI160::FOC_START); |
bjbance | 7:b33be863fbb5 | 37 | |
bjbance | 7:b33be863fbb5 | 38 | |
bjbance | 7:b33be863fbb5 | 39 | pc2.printf("\033[H"); //home |
bjbance | 7:b33be863fbb5 | 40 | pc2.printf("\033[0J"); //erase from cursor to end of screen |
bjbance | 7:b33be863fbb5 | 41 | |
bjbance | 7:b33be863fbb5 | 42 | uint32_t failures = 0; |
bjbance | 7:b33be863fbb5 | 43 | |
bjbance | 7:b33be863fbb5 | 44 | if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) |
bjbance | 7:b33be863fbb5 | 45 | { |
bjbance | 7:b33be863fbb5 | 46 | pc2.printf("Failed to set gyroscope power mode\r\n"); |
bjbance | 7:b33be863fbb5 | 47 | failures++; |
bjbance | 7:b33be863fbb5 | 48 | } |
bjbance | 7:b33be863fbb5 | 49 | wait_ms(100); |
bjbance | 7:b33be863fbb5 | 50 | |
bjbance | 7:b33be863fbb5 | 51 | if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) |
bjbance | 7:b33be863fbb5 | 52 | { |
bjbance | 7:b33be863fbb5 | 53 | pc2.printf("Failed to set accelerometer power mode\r\n"); |
bjbance | 7:b33be863fbb5 | 54 | failures++; |
bjbance | 7:b33be863fbb5 | 55 | } |
bjbance | 7:b33be863fbb5 | 56 | wait_ms(100); |
bjbance | 7:b33be863fbb5 | 57 | |
bjbance | 7:b33be863fbb5 | 58 | |
bjbance | 7:b33be863fbb5 | 59 | |
bjbance | 7:b33be863fbb5 | 60 | //example of using getSensorConfig |
bjbance | 7:b33be863fbb5 | 61 | if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) |
bjbance | 7:b33be863fbb5 | 62 | { |
bjbance | 7:b33be863fbb5 | 63 | pc2.printf("ACC Range = %d\r\n", accConfig.range); |
bjbance | 7:b33be863fbb5 | 64 | pc2.printf("ACC UnderSampling = %d\r\n", accConfig.us); |
bjbance | 7:b33be863fbb5 | 65 | pc2.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp); |
bjbance | 7:b33be863fbb5 | 66 | pc2.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr); |
bjbance | 7:b33be863fbb5 | 67 | } |
bjbance | 7:b33be863fbb5 | 68 | else |
bjbance | 7:b33be863fbb5 | 69 | { |
bjbance | 7:b33be863fbb5 | 70 | pc2.printf("Failed to get accelerometer configuration\r\n"); |
bjbance | 7:b33be863fbb5 | 71 | failures++; |
bjbance | 7:b33be863fbb5 | 72 | } |
bjbance | 7:b33be863fbb5 | 73 | |
bjbance | 7:b33be863fbb5 | 74 | //example of setting user defined configuration |
bjbance | 7:b33be863fbb5 | 75 | accConfig.range = BMI160::SENS_2G; //rage is 2g |
bjbance | 7:b33be863fbb5 | 76 | accConfig.us = BMI160::ACC_US_OFF; //undersampling is off |
bjbance | 7:b33be863fbb5 | 77 | accConfig.bwp = BMI160::ACC_BWP_0; //average 4 cycles |
bjbance | 7:b33be863fbb5 | 78 | accConfig.odr = BMI160::ACC_ODR_9; //output data rate |
bjbance | 7:b33be863fbb5 | 79 | if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) |
bjbance | 7:b33be863fbb5 | 80 | { |
bjbance | 7:b33be863fbb5 | 81 | pc2.printf("ACC Range = %d\r\n", accConfig.range); |
bjbance | 7:b33be863fbb5 | 82 | pc2.printf("ACC UnderSampling = %d\r\n", accConfig.us); |
bjbance | 7:b33be863fbb5 | 83 | pc2.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp); |
bjbance | 7:b33be863fbb5 | 84 | pc2.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr); |
bjbance | 7:b33be863fbb5 | 85 | } |
bjbance | 7:b33be863fbb5 | 86 | else |
bjbance | 7:b33be863fbb5 | 87 | { |
bjbance | 7:b33be863fbb5 | 88 | pc2.printf("Failed to set accelerometer configuration\r\n"); |
bjbance | 7:b33be863fbb5 | 89 | failures++; |
bjbance | 7:b33be863fbb5 | 90 | } |
bjbance | 7:b33be863fbb5 | 91 | |
bjbance | 7:b33be863fbb5 | 92 | if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR) |
bjbance | 7:b33be863fbb5 | 93 | { |
bjbance | 7:b33be863fbb5 | 94 | pc2.printf("GYRO Range = %d\r\n", gyroConfig.range); |
bjbance | 7:b33be863fbb5 | 95 | pc2.printf("GYRO BandWidthParam = %d\r\n", gyroConfig.bwp); |
bjbance | 7:b33be863fbb5 | 96 | pc2.printf("GYRO OutputDataRate = %d\r\n\r\n", gyroConfig.odr); |
bjbance | 7:b33be863fbb5 | 97 | |
bjbance | 7:b33be863fbb5 | 98 | |
bjbance | 7:b33be863fbb5 | 99 | } |
bjbance | 7:b33be863fbb5 | 100 | else |
bjbance | 7:b33be863fbb5 | 101 | { |
bjbance | 7:b33be863fbb5 | 102 | pc2.printf("Failed to get gyroscope configuration\r\n"); |
bjbance | 7:b33be863fbb5 | 103 | failures++; |
bjbance | 7:b33be863fbb5 | 104 | } |
bjbance | 7:b33be863fbb5 | 105 | |
bjbance | 7:b33be863fbb5 | 106 | wait(1.0); |
bjbance | 7:b33be863fbb5 | 107 | |
bjbance | 7:b33be863fbb5 | 108 | } |
bjbance | 7:b33be863fbb5 | 109 | |
bjbance | 7:b33be863fbb5 | 110 | |
bjbance | 7:b33be863fbb5 | 111 | float Orientation::getPitch() |
bjbance | 7:b33be863fbb5 | 112 | { |
bjbance | 7:b33be863fbb5 | 113 | return pitch; |
bjbance | 7:b33be863fbb5 | 114 | } |
bjbance | 7:b33be863fbb5 | 115 | |
bjbance | 7:b33be863fbb5 | 116 | void Orientation::updatePitch() |
bjbance | 7:b33be863fbb5 | 117 | { |
bjbance | 7:b33be863fbb5 | 118 | imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range); |
bjbance | 7:b33be863fbb5 | 119 | imu.getTemperature(&imuTemperature); |
bjbance | 7:b33be863fbb5 | 120 | |
bjbance | 7:b33be863fbb5 | 121 | time2 = sensorTime.seconds; |
bjbance | 7:b33be863fbb5 | 122 | pitch = compFilter(k, pitch, gyroData.xAxis.scaled, accData.yAxis.scaled, accData.zAxis.scaled, time2 - time1); |
bjbance | 7:b33be863fbb5 | 123 | //daplink.printf("Forward: %s%4.3f\r\n", "\033[K", apitch); |
bjbance | 7:b33be863fbb5 | 124 | time1 = time2; |
bjbance | 7:b33be863fbb5 | 125 | // return pitch; |
bjbance | 7:b33be863fbb5 | 126 | printRegister(imu, BMI160::GYR_CONF); |
bjbance | 7:b33be863fbb5 | 127 | } |
bjbance | 7:b33be863fbb5 | 128 | |
bjbance | 7:b33be863fbb5 | 129 | //***************************************************************************** |
bjbance | 7:b33be863fbb5 | 130 | void dumpImuRegisters(BMI160 &imu) |
bjbance | 7:b33be863fbb5 | 131 | { |
bjbance | 7:b33be863fbb5 | 132 | printRegister(imu, BMI160::CHIP_ID); |
bjbance | 7:b33be863fbb5 | 133 | printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA); |
bjbance | 7:b33be863fbb5 | 134 | printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1); |
bjbance | 7:b33be863fbb5 | 135 | printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST); |
bjbance | 7:b33be863fbb5 | 136 | printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1); |
bjbance | 7:b33be863fbb5 | 137 | printRegister(imu, BMI160::CMD); |
bjbance | 7:b33be863fbb5 | 138 | // pc.printf("\r\n"); |
bjbance | 7:b33be863fbb5 | 139 | } |
bjbance | 7:b33be863fbb5 | 140 | |
bjbance | 7:b33be863fbb5 | 141 | |
bjbance | 7:b33be863fbb5 | 142 | //***************************************************************************** |
bjbance | 7:b33be863fbb5 | 143 | void printRegister(BMI160 &imu, BMI160::Registers reg) |
bjbance | 7:b33be863fbb5 | 144 | { |
bjbance | 7:b33be863fbb5 | 145 | uint8_t data; |
bjbance | 7:b33be863fbb5 | 146 | if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR) |
bjbance | 7:b33be863fbb5 | 147 | { |
bjbance | 7:b33be863fbb5 | 148 | // pc.printf("IMU Register 0x%02x = 0x%02x\r\n", reg, data); |
bjbance | 7:b33be863fbb5 | 149 | // daplink.printf("IMU Register 0x%02x = 0x%02x\r\n", reg, data); |
bjbance | 7:b33be863fbb5 | 150 | } |
bjbance | 7:b33be863fbb5 | 151 | else |
bjbance | 7:b33be863fbb5 | 152 | { |
bjbance | 7:b33be863fbb5 | 153 | // pc.printf("Failed to read register\r\n"); |
bjbance | 7:b33be863fbb5 | 154 | } |
bjbance | 7:b33be863fbb5 | 155 | } |
bjbance | 7:b33be863fbb5 | 156 | |
bjbance | 7:b33be863fbb5 | 157 | //***************************************************************************** |
bjbance | 7:b33be863fbb5 | 158 | void writeReg(BMI160 &imu, BMI160::Registers reg, uint8_t data) |
bjbance | 7:b33be863fbb5 | 159 | { |
bjbance | 7:b33be863fbb5 | 160 | imu.writeRegister(reg, data); |
bjbance | 7:b33be863fbb5 | 161 | |
bjbance | 7:b33be863fbb5 | 162 | |
bjbance | 7:b33be863fbb5 | 163 | } |
bjbance | 7:b33be863fbb5 | 164 | |
bjbance | 7:b33be863fbb5 | 165 | |
bjbance | 7:b33be863fbb5 | 166 | //***************************************************************************** |
bjbance | 7:b33be863fbb5 | 167 | void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg) |
bjbance | 7:b33be863fbb5 | 168 | { |
bjbance | 7:b33be863fbb5 | 169 | uint8_t numBytes = ((stopReg - startReg) + 1); |
bjbance | 7:b33be863fbb5 | 170 | uint8_t buff[32]; |
bjbance | 7:b33be863fbb5 | 171 | uint8_t offset = static_cast<uint8_t>(startReg); |
bjbance | 7:b33be863fbb5 | 172 | |
bjbance | 7:b33be863fbb5 | 173 | if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR) |
bjbance | 7:b33be863fbb5 | 174 | { |
bjbance | 7:b33be863fbb5 | 175 | for(uint8_t idx = offset; idx < (numBytes + offset); idx++) |
bjbance | 7:b33be863fbb5 | 176 | { |
bjbance | 7:b33be863fbb5 | 177 | // pc.printf("IMU Register 0x%02x = 0x%02x\r\n", idx, buff[idx - offset]); |
bjbance | 7:b33be863fbb5 | 178 | } |
bjbance | 7:b33be863fbb5 | 179 | } |
bjbance | 7:b33be863fbb5 | 180 | else |
bjbance | 7:b33be863fbb5 | 181 | { |
bjbance | 7:b33be863fbb5 | 182 | // pc.printf("Failed to read block\r\n"); |
bjbance | 7:b33be863fbb5 | 183 | } |
bjbance | 7:b33be863fbb5 | 184 | } |
bjbance | 7:b33be863fbb5 | 185 | |
bjbance | 7:b33be863fbb5 | 186 | |
bjbance | 7:b33be863fbb5 | 187 | |
bjbance | 7:b33be863fbb5 | 188 | float compFilter(float K, float pitch, float gyroX, float accY, float accZ,float DT) |
bjbance | 7:b33be863fbb5 | 189 | { |
bjbance | 7:b33be863fbb5 | 190 | return ((K * (pitch + (gyroX * DT))) + ((1.0F - K) * ((180.0F / 3.1459F) * atan(accY/accZ)))); |
bjbance | 7:b33be863fbb5 | 191 | } |