Not done - might need - for later
Dependencies: FXOS8700CQ MPU6050IMU mbed
main.cpp
00001 #include "mbed.h" 00002 #include "MPU6050.h" 00003 #include "FXOS8700CQ.h" 00004 00005 float sum = 0; 00006 uint32_t sumCount = 0; 00007 00008 MPU6050 mpu6050; 00009 FXOS8700CQ fxos(PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1) 00010 00011 Timer t; 00012 00013 InterruptIn fxos_int2(PTC13); // should just be the Data-Ready interrupt 00014 bool fxos_int2_triggered = false; // Interrupt status flags and data 00015 00016 SRAWDATA accel_data; // Storage for the data from the sensor 00017 SRAWDATA magn_data; 00018 00019 Serial pc(USBTX, USBRX); // tx, rx 00020 00021 void trigger_fxos_int2(void){ 00022 fxos_int2_triggered = true; 00023 } 00024 00025 void print_reading(){ 00026 pc.printf("A X:%5d,Y:%5d,Z:%5d M X:%5d,Y:%5d,Z:%5d\r\n", 00027 accel_data.x, accel_data.y, accel_data.z, 00028 magn_data.x, magn_data.y, magn_data.z); 00029 } 00030 00031 int main(){ 00032 t.start(); 00033 pc.baud(115200); // 200Hz x line of output data! 00034 00035 printf("\r\n\nFXOS8700Q Who Am I= %X\r\n", fxos.get_whoami()); 00036 00037 fxos_int2.fall(&trigger_fxos_int2); // Iterrupt for active-low interrupt line from FXOS 00038 fxos.enable(); 00039 00040 pc.printf("Started data collection. Accelerometer at max %dg.\r\n", 00041 fxos.get_accel_scale()); 00042 00043 fxos.get_data(&accel_data, &magn_data); // clear interrupt from device 00044 fxos_int2_triggered = false; // un-trigger 00045 00046 //Set up I2C 00047 i2c.frequency(400000); // use fast (400 kHz) I2C 00048 00049 // Read the WHO_AM_I register, this is a good test of communication 00050 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 00051 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r"); 00052 00053 if (whoami == 0x68){ // WHO_AM_I should always be 0x68 00054 pc.printf("MPU6050 is online..."); 00055 wait(1); 00056 00057 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values 00058 pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[0]); pc.printf("% of factory value \n\r"); 00059 pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[1]); pc.printf("% of factory value \n\r"); 00060 pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[2]); pc.printf("% of factory value \n\r"); 00061 pc.printf("x-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[3]); pc.printf("% of factory value \n\r"); 00062 pc.printf("y-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[4]); pc.printf("% of factory value \n\r"); 00063 pc.printf("z-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[5]); pc.printf("% of factory value \n\r"); 00064 wait(1); 00065 00066 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){ 00067 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration 00068 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers 00069 mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature 00070 wait(2); 00071 }else pc.printf("Device did not the pass self-test!\n\r"); 00072 }else{ 00073 pc.printf("Could not connect to MPU6050: \n\r"); 00074 pc.printf("%#x \n", whoami); 00075 while(1) ; // Loop forever if communication doesn't happen 00076 } 00077 00078 while(1){ 00079 // If data ready bit set, all data registers have new data 00080 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt 00081 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values 00082 mpu6050.getAres(); 00083 00084 // Now we'll calculate the accleration value into actual g's 00085 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set 00086 ay = (float)accelCount[1]*aRes - accelBias[1]; 00087 az = (float)accelCount[2]*aRes - accelBias[2]; 00088 00089 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values 00090 mpu6050.getGres(); 00091 00092 // Calculate the gyro value into actual degrees per second 00093 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set 00094 gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; 00095 gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; 00096 00097 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values 00098 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade 00099 } 00100 00101 if(fxos_int2_triggered){ 00102 fxos_int2_triggered = false; // un-trigger 00103 fxos.get_data(&accel_data, &magn_data); 00104 } 00105 00106 Now = t.read_us(); 00107 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update 00108 lastUpdate = Now; 00109 00110 sum += deltat; 00111 sumCount++; 00112 00113 if(lastUpdate - firstUpdate > 10000000.0f) { 00114 beta = 0.04; // decrease filter gain after stabilized 00115 zeta = 0.015; // increasey bias drift gain after stabilized 00116 } 00117 00118 // Pass gyro rate as rad/s 00119 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); 00120 00121 // Serial print and/or display at 0.5 s rate independent of data rates 00122 delt_t = t.read_ms() - count; 00123 00124 pc.printf("ax = %f", 1000*ax); 00125 pc.printf(" ay = %f", 1000*ay); 00126 pc.printf(" az = %f mg\n\r", 1000*az); 00127 00128 pc.printf("gx = %f", gx); 00129 pc.printf(" gy = %f", gy); 00130 pc.printf(" gz = %f deg/s\n\r", gz); 00131 00132 pc.printf(" temperature = %f C\n\r", temperature); 00133 00134 pc.printf("q0 = %f\n\r", q[0]); 00135 pc.printf("q1 = %f\n\r", q[1]); 00136 pc.printf("q2 = %f\n\r", q[2]); 00137 pc.printf("q3 = %f\n\r", q[3]); 00138 00139 00140 00141 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. 00142 // In this coordinate system, the positive z-axis is down toward Earth. 00143 // 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. 00144 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. 00145 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. 00146 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. 00147 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be 00148 // applied in the correct order which for this configuration is yaw, pitch, and then roll. 00149 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. 00150 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]); 00151 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); 00152 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]); 00153 pitch *= 180.0f / PI; 00154 yaw *= 180.0f / PI; 00155 roll *= 180.0f / PI; 00156 00157 // pc.printf("Yaw, Pitch, Roll: \n\r"); 00158 // pc.printf("%f", yaw); 00159 // pc.printf(", "); 00160 // pc.printf("%f", pitch); 00161 // pc.printf(", "); 00162 // pc.printf("%f\n\r", roll); 00163 // pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r"); 00164 00165 pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); 00166 pc.printf("average rate = %f\n\r", (float) sumCount/sum); 00167 00168 count = t.read_ms(); 00169 sum = 0; 00170 sumCount = 0; 00171 } 00172 }
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