Diff: Sensors/Orientation.cpp

Revision:

7:b33be863fbb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Orientation.cpp	Mon Jan 28 09:00:47 2019 +0000
@@ -0,0 +1,191 @@
+#include "mbed.h"
+#include "bmi160.h"
+#include "max32630fthr.h"
+#include "USBSerial.h"
+#include "stdlib.h"
+#include "math.h"
+#include "Orientation.h"
+
+I2C i2cBus(I2C2_SDA, I2C2_SCL);
+BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
+
+BMI160::SensorData accData;
+BMI160::SensorData gyroData;
+BMI160::SensorTime sensorTime;
+BMI160::AccConfig accConfig;
+BMI160::GyroConfig gyroConfig;
+float imuTemperature;
+
+
+Serial pc2(P2_1, P2_0);
+
+void Orientation::init(){
+    pitch = 0;
+    k = 0.65;
+    time1 = sensorTime.seconds;
+    time2 = sensorTime.seconds;
+    
+    
+    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);
+
+    writeReg(imu, BMI160::CMD, BMI160::FOC_START);
+   
+   
+    pc2.printf("\033[H");  //home
+    pc2.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)
+    {
+        pc2.printf("Failed to set gyroscope power mode\r\n");
+        failures++;
+    }
+    wait_ms(100);
+
+    if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
+    {
+        pc2.printf("Failed to set accelerometer power mode\r\n");
+        failures++;
+    }
+    wait_ms(100);
+
+
+
+    //example of using getSensorConfig
+    if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
+    {
+        pc2.printf("ACC Range = %d\r\n", accConfig.range);
+        pc2.printf("ACC UnderSampling = %d\r\n", accConfig.us);
+        pc2.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp);
+        pc2.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr);
+    }
+    else
+    {
+        pc2.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)
+    {
+        pc2.printf("ACC Range = %d\r\n", accConfig.range);
+        pc2.printf("ACC UnderSampling = %d\r\n", accConfig.us);
+        pc2.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp);
+        pc2.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr);
+    }
+    else
+    {
+        pc2.printf("Failed to set accelerometer configuration\r\n");
+        failures++;
+    }
+
+    if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR)
+    {
+        pc2.printf("GYRO Range = %d\r\n", gyroConfig.range);
+        pc2.printf("GYRO BandWidthParam = %d\r\n", gyroConfig.bwp);
+        pc2.printf("GYRO OutputDataRate = %d\r\n\r\n", gyroConfig.odr);
+        
+        
+    }
+    else
+    {
+        pc2.printf("Failed to get gyroscope configuration\r\n");
+        failures++;
+    }
+
+    wait(1.0);   
+   
+}
+
+
+float Orientation::getPitch()
+{
+    return pitch;
+}
+
+void Orientation::updatePitch()
+{
+    imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
+    imu.getTemperature(&imuTemperature);
+            
+    time2 = sensorTime.seconds;
+    pitch = compFilter(k, pitch, gyroData.xAxis.scaled, accData.yAxis.scaled, accData.zAxis.scaled, time2 - time1);
+    //daplink.printf("Forward: %s%4.3f\r\n", "\033[K", apitch);
+    time1 = time2;
+//    return pitch;
+    printRegister(imu, BMI160::GYR_CONF);
+}
+
+//*****************************************************************************
+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");
+    }
+}
+
+
+
+float compFilter(float K, float pitch, float gyroX, float accY, float accZ,float DT)
+{
+    return ((K * (pitch + (gyroX * DT))) + ((1.0F - K) * ((180.0F / 3.1459F) * atan(accY/accZ))));
+}
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