Diff: main.cpp

Revision:

5:f41d7b3be417

Parent:

4:fdba5e452d36

Child:

6:94c4a0e7bf48

--- a/main.cpp	Wed Jul 10 10:40:24 2019 +0000
+++ b/main.cpp	Wed Jul 17 06:56:36 2019 +0000
@@ -1,194 +1,27 @@
-
-/* MPU6050 Basic Example Code
- by: Kris Winer
- date: May 1, 2014
- license: Beerware - Use this code however you'd like. If you
- find it useful you can buy me a beer some time.
-
- Demonstrate  MPU-6050 basic functionality including initialization, accelerometer trimming, sleep mode functionality as well as
- parameterizing the register addresses. Added display functions to allow display to on breadboard monitor.
- No DMP use. We just want to get out the accelerations, temperature, and gyro readings.
-
- SDA and SCL should have external pull-up resistors (to 3.3V).
- 10k resistors worked for me. They should be on the breakout
- board.
-
- Hardware setup:
- MPU6050 Breakout --------- Arduino
- 3.3V --------------------- 3.3V
- SDA ----------------------- A4
- SCL ----------------------- A5
- GND ---------------------- GND
-
-  Note: The MPU6050 is an I2C sensor and uses the Arduino Wire library.
- Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
- We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
- We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ  to 400000L /twi.h utility file.
- */
-
 #include "mbed.h"
 #include "MPU6050.h"
-
-float sum = 0;
-uint32_t sumCount = 0;
-
-MPU6050 mpu6050;
-
-Timer t;
-
-Serial pc(USBTX, USBRX); // tx, rx
-
-void gyro_data();
-
-Ticker gyro_tick;
+#include "madgwickfilter.h"
+MPU6050 mpu6050(p28,p27);
+Madgwickfilter filter;
+const double PI = 3.14159265358979323846f;
+const double kRad2Deg = 180.0/PI;
 
 int main()
 {
-    pc.baud(9600);
-
-    //Set up I2C
-    i2c.frequency(400000);  // use fast (400 kHz) I2C
-
-    t.start();
-
-    // Read the WHO_AM_I register, this is a good test of communication
-    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
-    pc.printf("I AM 0x%x\n\r", whoami);
-    pc.printf("I SHOULD BE 0x68\n\r");
-
-    if (whoami == 0x68) { // WHO_AM_I should always be 0x68
-        pc.printf("MPU6050 is online...");
-        wait(1);
-
-        mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
-        pc.printf("x-axis self test: acceleration trim within : ");
-        pc.printf("%f", SelfTest[0]);
-        pc.printf("% of factory value \n\r");
-        pc.printf("y-axis self test: acceleration trim within : ");
-        pc.printf("%f", SelfTest[1]);
-        pc.printf("% of factory value \n\r");
-        pc.printf("z-axis self test: acceleration trim within : ");
-        pc.printf("%f", SelfTest[2]);
-        pc.printf("% of factory value \n\r");
-        pc.printf("x-axis self test: gyration trim within : ");
-        pc.printf("%f", SelfTest[3]);
-        pc.printf("% of factory value \n\r");
-        pc.printf("y-axis self test: gyration trim within : ");
-        pc.printf("%f", SelfTest[4]);
-        pc.printf("% of factory value \n\r");
-        pc.printf("z-axis self test: gyration trim within : ");
-        pc.printf("%f", SelfTest[5]);
-        pc.printf("% of factory value \n\r");
-        wait(1);
-
-        if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
-            mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
-            mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
-            mpu6050.initMPU6050();
-            pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
-
-            wait(2);
-        } else {
-            pc.printf("Device did not the pass self-test!\n\r");
-
-        }
-    } else {
-        pc.printf("Could not connect to MPU6050: \n\r");
-        pc.printf("%#x \n",  whoami);
-
-        while(1) ; // Loop forever if communication doesn't happen
-    }
-    gyro_tick.attach_us(&gyro_data,50000);
-
-
-
+    mpu6050.init();
     while(1) {
-        pc.printf("a{x,y,z}={%7.3f,%7.3f,%7.3f},T=%7.3f,g{x,y,z}={%7.3f,%7.3f,%7.3f},",ax,ay,az,temperature,gx,gy,gz);
-        pc.printf("Yaw, Pitch, Roll: %9.4f %9.4f %9.4f", yaw, pitch, roll);
-        pc.printf("beta=%5.3f,zeta=%5.3f,",beta,zeta);
-        //pc.printf("ax=%5d,ay=%5d,az=%5d,temp=%5d,gx=%5d,gy=%5d,gz=%5d,",accelCount[0],accelCount[1],accelCount[2],tempCount,gyroCount[0],gyroCount[1],gyroCount[2]);
-        pc.printf("\r\n");
-    }
-
-}
-
-void gyro_data()
-{
+        //ジャイロから値取得
+        mpu6050.CalMPU6050();
+        double accel_x = mpu6050.GetAccelX();
+        double accel_y = mpu6050.GetAccelY();
+        double accel_z = mpu6050.GetAccelZ();
+        double omega_x = mpu6050.GetXRadPerSec();
+        double omega_y = mpu6050.GetYRadPerSec();
+        double omega_z = mpu6050.GetZRadPerSec();
+        //madgwickフィルターをかけ、yaw, pitch, rollを計算
+        filter.Update(accel_x, accel_y, accel_z, omega_x, omega_y, omega_z);
 
-    // If data ready bit set, all data registers have new data
-    if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
-        mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
-        mpu6050.getAres();
-
-        // Now we'll calculate the accleration value into actual g's
-        ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
-        ay = (float)accelCount[1]*aRes - accelBias[1];
-        az = (float)accelCount[2]*aRes - accelBias[2];
-
-        mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
-        mpu6050.getGres();
-
-        // Calculate the gyro value into actual degrees per second
-        gx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
-        gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
-        gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
-
-        tempCount = mpu6050.readTempData();  // Read the x/y/z adc values
-        temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
-    }
-
-    Now = t.read_us();
-    deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
-    lastUpdate = Now;
-
-    sum += deltat;
-    sumCount++;
-
-    if(lastUpdate - firstUpdate > 10000000.0f) {
-        beta = 0.04;  // decrease filter gain after stabilized
-        zeta = 0.015; // increasey bias drift gain after stabilized
+        printf("Yaw, Pitch, Roll[deg]: %9.4f %9.4f %9.4f\r\n",
+               filter.getYaw()*kRad2Deg, filter.getPitch()*kRad2Deg, filter.getRoll()*kRad2Deg);
     }
-
-    // Pass gyro rate as rad/s
-    mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
-
-    // Serial print and/or display at 0.5 s rate independent of data rates
-    delt_t = t.read_ms() - count;
-    if (delt_t > 1) { // update LCD once per half-second independent of read rate*/
-
-    
-
-
-        // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
-        // In this coordinate system, the positive z-axis is down toward Earth.
-        // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
-        // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
-        // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
-        // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
-        // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
-        // applied in the correct order which for this configuration is yaw, pitch, and then roll.
-        // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
-        yaw   = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
-        pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
-        roll  = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
-        pitch *= 180.0f / PI;
-        yaw   *= 180.0f / PI;
-        roll  *= 180.0f / PI;
-
-//    pc.printf("Yaw, Pitch, Roll: \n\r");
-//    pc.printf("%f", yaw);
-//    pc.printf(", ");
-//    pc.printf("%f", pitch);
-//    pc.printf(", ");
-//    pc.printf("%f\n\r", roll);
-//    pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r");
-
-        //pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
-        //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
-
-        myled= !myled;
-        count = t.read_ms();
-        sum = 0;
-        sumCount = 0;
-    }
-}
\ No newline at end of file
+}