Orientation.cpp

00001 #include "mbed.h"
00002 #include "bmi160.h"
00003 #include "max32630fthr.h"
00004 #include "USBSerial.h"
00005 #include "stdlib.h"
00006 #include "math.h"
00007 #include "Orientation.h"
00008 
00009 I2C i2cBus(I2C2_SDA, I2C2_SCL);
00010 BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
00011 
00012 BMI160::SensorData accData;
00013 BMI160::SensorData gyroData;
00014 BMI160::SensorTime sensorTime;
00015 BMI160::AccConfig accConfig;
00016 BMI160::GyroConfig gyroConfig;
00017 float imuTemperature;
00018 
00019 
00020 Serial pc2(P2_1, P2_0);
00021 
00022 void Orientation::init(){
00023     pitch = 0;
00024     k = 0.65;
00025     time1 = sensorTime.seconds;
00026     time2 = sensorTime.seconds;
00027     
00028     
00029     i2cBus.frequency(400000);
00030     writeReg(imu, BMI160::GYR_RANGE, BMI160::DPS_500);
00031     writeReg(imu, BMI160::GYR_CONF, BMI160::GYRO_ODR_13);
00032     writeReg(imu, BMI160::FOC_CONF, BMI160::FOC_VALUE );
00033     wait(0.5);
00034     writeReg(imu, BMI160::OFFSET_6, BMI160::FOC_ENABLE_GYR_ACC);
00035 
00036     writeReg(imu, BMI160::CMD, BMI160::FOC_START);
00037    
00038    
00039     pc2.printf("\033[H");  //home
00040     pc2.printf("\033[0J");  //erase from cursor to end of screen
00041 
00042     uint32_t failures = 0;
00043 
00044     if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
00045     {
00046         pc2.printf("Failed to set gyroscope power mode\r\n");
00047         failures++;
00048     }
00049     wait_ms(100);
00050 
00051     if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
00052     {
00053         pc2.printf("Failed to set accelerometer power mode\r\n");
00054         failures++;
00055     }
00056     wait_ms(100);
00057 
00058 
00059 
00060     //example of using getSensorConfig
00061     if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
00062     {
00063         pc2.printf("ACC Range = %d\r\n", accConfig.range);
00064         pc2.printf("ACC UnderSampling = %d\r\n", accConfig.us);
00065         pc2.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp);
00066         pc2.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr);
00067     }
00068     else
00069     {
00070         pc2.printf("Failed to get accelerometer configuration\r\n");
00071         failures++;
00072     }
00073 
00074     //example of setting user defined configuration
00075     accConfig.range = BMI160::SENS_2G;  //rage is 2g
00076     accConfig.us = BMI160::ACC_US_OFF;  //undersampling is off 
00077     accConfig.bwp = BMI160::ACC_BWP_0;  //average 4 cycles
00078     accConfig.odr = BMI160::ACC_ODR_9;  //output data rate
00079     if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
00080     {
00081         pc2.printf("ACC Range = %d\r\n", accConfig.range);
00082         pc2.printf("ACC UnderSampling = %d\r\n", accConfig.us);
00083         pc2.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp);
00084         pc2.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr);
00085     }
00086     else
00087     {
00088         pc2.printf("Failed to set accelerometer configuration\r\n");
00089         failures++;
00090     }
00091 
00092     if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR)
00093     {
00094         pc2.printf("GYRO Range = %d\r\n", gyroConfig.range);
00095         pc2.printf("GYRO BandWidthParam = %d\r\n", gyroConfig.bwp);
00096         pc2.printf("GYRO OutputDataRate = %d\r\n\r\n", gyroConfig.odr);
00097         
00098         
00099     }
00100     else
00101     {
00102         pc2.printf("Failed to get gyroscope configuration\r\n");
00103         failures++;
00104     }
00105 
00106     wait(1.0);   
00107    
00108 }
00109 
00110 
00111 float Orientation::getPitch()
00112 {
00113     return pitch;
00114 }
00115 
00116 void Orientation::updatePitch()
00117 {
00118     imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
00119     imu.getTemperature(&imuTemperature);
00120             
00121     time2 = sensorTime.seconds;
00122     pitch = compFilter(k, pitch, gyroData.xAxis.scaled, accData.yAxis.scaled, accData.zAxis.scaled, time2 - time1);
00123     //daplink.printf("Forward: %s%4.3f\r\n", "\033[K", apitch);
00124     time1 = time2;
00125 //    return pitch;
00126     printRegister(imu, BMI160::GYR_CONF);
00127 }
00128 
00129 //*****************************************************************************
00130 void dumpImuRegisters(BMI160 &imu)
00131 {
00132     printRegister(imu, BMI160::CHIP_ID);
00133     printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
00134     printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
00135     printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
00136     printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
00137     printRegister(imu, BMI160::CMD);
00138 //    pc.printf("\r\n");
00139 }
00140 
00141 
00142 //*****************************************************************************
00143 void printRegister(BMI160 &imu, BMI160::Registers reg)
00144 {
00145     uint8_t data;
00146     if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
00147     {
00148 //        pc.printf("IMU Register 0x%02x = 0x%02x\r\n", reg, data);
00149 //         daplink.printf("IMU Register 0x%02x = 0x%02x\r\n", reg, data);
00150     }
00151     else
00152     {
00153 //        pc.printf("Failed to read register\r\n");
00154     }
00155 }
00156 
00157 //*****************************************************************************
00158 void writeReg(BMI160 &imu, BMI160::Registers reg, uint8_t data)
00159 {
00160     imu.writeRegister(reg, data);
00161     
00162     
00163 }
00164 
00165 
00166 //*****************************************************************************
00167 void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg)
00168 {
00169     uint8_t numBytes = ((stopReg - startReg) + 1);
00170     uint8_t buff[32];
00171     uint8_t offset = static_cast<uint8_t>(startReg);
00172 
00173     if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR)
00174     {
00175         for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
00176         {
00177   //          pc.printf("IMU Register 0x%02x = 0x%02x\r\n", idx, buff[idx - offset]);
00178         }
00179     }
00180     else
00181     {
00182 //        pc.printf("Failed to read block\r\n");
00183     }
00184 }
00185 
00186 
00187 
00188 float compFilter(float K, float pitch, float gyroX, float accY, float accZ,float DT)
00189 {
00190     return ((K * (pitch + (gyroX * DT))) + ((1.0F - K) * ((180.0F / 3.1459F) * atan(accY/accZ))));
00191 }