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Final Tree
Dependencies: mbed BMI160 max32630fthr_pitch USBDevice Math
Diff: Sensors/Orientation.cpp
- Revision:
- 7:b33be863fbb5
diff -r ee03dafaa43f -r b33be863fbb5 Sensors/Orientation.cpp --- /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)))); +} \ No newline at end of file