The Professional Perfectionists
Program that implements position including rotation
Dependencies: MPU6050IMU Mouse SDFileSystem mbed
main.cpp@0:5ed57e0c2298, 2015-03-31 (annotated)
- Committer:
- joshwilkins2013
- Date:
- Tue Mar 31 22:36:45 2015 +0000
- Revision:
- 0:5ed57e0c2298
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| joshwilkins2013 | 0:5ed57e0c2298 | 1 | #include "mbed.h" |
| joshwilkins2013 | 0:5ed57e0c2298 | 2 | #include "MPU6050.h" |
| joshwilkins2013 | 0:5ed57e0c2298 | 3 | #include "SDFileSystem.h" |
| joshwilkins2013 | 0:5ed57e0c2298 | 4 | #include "Mouse.h" |
| joshwilkins2013 | 0:5ed57e0c2298 | 5 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 6 | SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // MOSI, MISO, SCK, CS |
| joshwilkins2013 | 0:5ed57e0c2298 | 7 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 8 | Serial pc(USBTX, USBRX); |
| joshwilkins2013 | 0:5ed57e0c2298 | 9 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 10 | FILE *Data; // Creates name of file |
| joshwilkins2013 | 0:5ed57e0c2298 | 11 | char buffer[5000000]; // Buffer size (# of characters) for SD card |
| joshwilkins2013 | 0:5ed57e0c2298 | 12 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 13 | MPU6050 mpu6050; |
| joshwilkins2013 | 0:5ed57e0c2298 | 14 | MOUSE mouse; |
| joshwilkins2013 | 0:5ed57e0c2298 | 15 | Timer t; |
| joshwilkins2013 | 0:5ed57e0c2298 | 16 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 17 | DigitalIn button(PTB9); |
| joshwilkins2013 | 0:5ed57e0c2298 | 18 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 19 | signed long mx, my; |
| joshwilkins2013 | 0:5ed57e0c2298 | 20 | float d,dx,dy; |
| joshwilkins2013 | 0:5ed57e0c2298 | 21 | double x,xx,y,yy; |
| joshwilkins2013 | 0:5ed57e0c2298 | 22 | double psi,lpsi=0; // psi - current orientation, lpsi - last orientation, theta - current angle around circle |
| joshwilkins2013 | 0:5ed57e0c2298 | 23 | double gyroZ,lgyroZ; |
| joshwilkins2013 | 0:5ed57e0c2298 | 24 | double dt, timer; |
| joshwilkins2013 | 0:5ed57e0c2298 | 25 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 26 | bool closed = 1; // Flag for sd card, to open and close with switch |
| joshwilkins2013 | 0:5ed57e0c2298 | 27 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 28 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 29 | //================================================================================ |
| joshwilkins2013 | 0:5ed57e0c2298 | 30 | //============= Sensor Initialization ============= |
| joshwilkins2013 | 0:5ed57e0c2298 | 31 | //================================================================================ |
| joshwilkins2013 | 0:5ed57e0c2298 | 32 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 33 | void gyro_init(){ |
| joshwilkins2013 | 0:5ed57e0c2298 | 34 | i2c.frequency(400000); |
| joshwilkins2013 | 0:5ed57e0c2298 | 35 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 36 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
| joshwilkins2013 | 0:5ed57e0c2298 | 37 | pc.printf("I AM 0x%x\n\r", whoami); |
| joshwilkins2013 | 0:5ed57e0c2298 | 38 | pc.printf("I SHOULD BE 0x68\n\r"); |
| joshwilkins2013 | 0:5ed57e0c2298 | 39 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 40 | if (whoami == 0x68){ |
| joshwilkins2013 | 0:5ed57e0c2298 | 41 | pc.printf("MPU6050 is online..."); |
| joshwilkins2013 | 0:5ed57e0c2298 | 42 | wait(1); |
| joshwilkins2013 | 0:5ed57e0c2298 | 43 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 44 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
| joshwilkins2013 | 0:5ed57e0c2298 | 45 | 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) { |
| joshwilkins2013 | 0:5ed57e0c2298 | 46 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
| joshwilkins2013 | 0:5ed57e0c2298 | 47 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
| joshwilkins2013 | 0:5ed57e0c2298 | 48 | mpu6050.initMPU6050(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 49 | pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
| joshwilkins2013 | 0:5ed57e0c2298 | 50 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 51 | pc.printf("\nMPU6050 passed self test... Initializing"); |
| joshwilkins2013 | 0:5ed57e0c2298 | 52 | wait(2); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
| joshwilkins2013 | 0:5ed57e0c2298 | 53 | } else pc.printf("\nDevice did not the pass self-test!\n\r"); |
| joshwilkins2013 | 0:5ed57e0c2298 | 54 | } else { |
| joshwilkins2013 | 0:5ed57e0c2298 | 55 | pc.printf("Could not connect to MPU6050: \n\r"); |
| joshwilkins2013 | 0:5ed57e0c2298 | 56 | pc.printf("%#x \n", whoami); |
| joshwilkins2013 | 0:5ed57e0c2298 | 57 | while(1) ; // Loop forever if communication doesn't happen |
| joshwilkins2013 | 0:5ed57e0c2298 | 58 | } |
| joshwilkins2013 | 0:5ed57e0c2298 | 59 | } |
| joshwilkins2013 | 0:5ed57e0c2298 | 60 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 61 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 62 | //================================================================================ |
| joshwilkins2013 | 0:5ed57e0c2298 | 63 | //============= Get Inputs ============= |
| joshwilkins2013 | 0:5ed57e0c2298 | 64 | //================================================================================ |
| joshwilkins2013 | 0:5ed57e0c2298 | 65 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 66 | void get_Rates(){ |
| joshwilkins2013 | 0:5ed57e0c2298 | 67 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
| joshwilkins2013 | 0:5ed57e0c2298 | 68 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc gyro values |
| joshwilkins2013 | 0:5ed57e0c2298 | 69 | mpu6050.getGres(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 70 | gyroZ = gyroCount[2]*gRes; // - gyroBias[2]; |
| joshwilkins2013 | 0:5ed57e0c2298 | 71 | } |
| joshwilkins2013 | 0:5ed57e0c2298 | 72 | } |
| joshwilkins2013 | 0:5ed57e0c2298 | 73 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 74 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 75 | //================================================================================ |
| joshwilkins2013 | 0:5ed57e0c2298 | 76 | //============= Main Program Start ============= |
| joshwilkins2013 | 0:5ed57e0c2298 | 77 | //================================================================================ |
| joshwilkins2013 | 0:5ed57e0c2298 | 78 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 79 | int main(){ |
| joshwilkins2013 | 0:5ed57e0c2298 | 80 | pc.baud(115200); |
| joshwilkins2013 | 0:5ed57e0c2298 | 81 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 82 | Data = fopen("/sd/Data.txt", "w"); |
| joshwilkins2013 | 0:5ed57e0c2298 | 83 | closed = 0; |
| joshwilkins2013 | 0:5ed57e0c2298 | 84 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 85 | gyro_init(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 86 | mouse.init(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 87 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 88 | t.start(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 89 | timer = t.read_us(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 90 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 91 | while(1) { |
| joshwilkins2013 | 0:5ed57e0c2298 | 92 | if(button) { |
| joshwilkins2013 | 0:5ed57e0c2298 | 93 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 94 | if (closed){ |
| joshwilkins2013 | 0:5ed57e0c2298 | 95 | Data = fopen("/sd/Data.txt", "w"); |
| joshwilkins2013 | 0:5ed57e0c2298 | 96 | closed = 0; |
| joshwilkins2013 | 0:5ed57e0c2298 | 97 | } |
| joshwilkins2013 | 0:5ed57e0c2298 | 98 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 99 | DigitalOut myled(LED1); |
| joshwilkins2013 | 0:5ed57e0c2298 | 100 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 101 | get_Rates(); // Gyro rates & Mouse position |
| joshwilkins2013 | 0:5ed57e0c2298 | 102 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 103 | dt = (t.read_us() - timer) / 1000000.00; |
| joshwilkins2013 | 0:5ed57e0c2298 | 104 | timer = t.read_us(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 105 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 106 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 107 | //================================================================================ |
| joshwilkins2013 | 0:5ed57e0c2298 | 108 | //============= Char Conversion ============= |
| joshwilkins2013 | 0:5ed57e0c2298 | 109 | //================================================================================ |
| joshwilkins2013 | 0:5ed57e0c2298 | 110 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 111 | psi += ((lgyroZ+gyroZ)/2)*dt; // Current orientation/pose |
| joshwilkins2013 | 0:5ed57e0c2298 | 112 | if (psi>360) psi -= 360; // resets current orientation to keep between 0 & 360 |
| joshwilkins2013 | 0:5ed57e0c2298 | 113 | if (psi<-360) psi += 360; // resets current orientation to keep between 0 & -360 |
| joshwilkins2013 | 0:5ed57e0c2298 | 114 | lgyroZ = gyroZ; |
| joshwilkins2013 | 0:5ed57e0c2298 | 115 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 116 | mx = mouse.getDx(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 117 | my = mouse.getDy(); |
| joshwilkins2013 | 0:5ed57e0c2298 | 118 | dx = (mx/231.25); // Converts char into float in inches |
| joshwilkins2013 | 0:5ed57e0c2298 | 119 | dy = (my/231.25); // Experimentally obtained 231.25 (1850/8in) |
| joshwilkins2013 | 0:5ed57e0c2298 | 120 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 121 | double a1 = psi; |
| joshwilkins2013 | 0:5ed57e0c2298 | 122 | a1 *= (PI/180); |
| joshwilkins2013 | 0:5ed57e0c2298 | 123 | double a2 = lpsi; |
| joshwilkins2013 | 0:5ed57e0c2298 | 124 | a2 *= (PI/180); |
| joshwilkins2013 | 0:5ed57e0c2298 | 125 | double a3 = a1-a2; |
| joshwilkins2013 | 0:5ed57e0c2298 | 126 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 127 | double a = dx*tan(a3); |
| joshwilkins2013 | 0:5ed57e0c2298 | 128 | double b = dx/cos(a3); |
| joshwilkins2013 | 0:5ed57e0c2298 | 129 | double c = (dy+a)*cos(a2)-(b*sin(a1)); |
| joshwilkins2013 | 0:5ed57e0c2298 | 130 | double d = sqrt((dx*dx)+(dy*dy)); |
| joshwilkins2013 | 0:5ed57e0c2298 | 131 | double e = sqrt((d*d)-(c*c)); |
| joshwilkins2013 | 0:5ed57e0c2298 | 132 | double f = (dy+a)*cos(a3); |
| joshwilkins2013 | 0:5ed57e0c2298 | 133 | double g = c*cos(a1); |
| joshwilkins2013 | 0:5ed57e0c2298 | 134 | double h = (f-g)/(sin(a1)); |
| joshwilkins2013 | 0:5ed57e0c2298 | 135 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 136 | yy -= c; |
| joshwilkins2013 | 0:5ed57e0c2298 | 137 | xx += h; |
| joshwilkins2013 | 0:5ed57e0c2298 | 138 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 139 | x = xx + 3; |
| joshwilkins2013 | 0:5ed57e0c2298 | 140 | y = yy - 9.5; |
| joshwilkins2013 | 0:5ed57e0c2298 | 141 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 142 | lpsi = psi; |
| joshwilkins2013 | 0:5ed57e0c2298 | 143 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 144 | if (Data == NULL) pc.printf("Unable to write the file \n"); // This chunk for writing to file on SD card |
| joshwilkins2013 | 0:5ed57e0c2298 | 145 | else fprintf(Data, "%f %f %f %f\r\n",psi,x,y,timer); // can read float or double not int (only checked these three types) |
| joshwilkins2013 | 0:5ed57e0c2298 | 146 | |
| joshwilkins2013 | 0:5ed57e0c2298 | 147 | }else{ |
| joshwilkins2013 | 0:5ed57e0c2298 | 148 | if(!closed){ |
| joshwilkins2013 | 0:5ed57e0c2298 | 149 | fclose(Data); |
| joshwilkins2013 | 0:5ed57e0c2298 | 150 | closed = 1; |
| joshwilkins2013 | 0:5ed57e0c2298 | 151 | } |
| joshwilkins2013 | 0:5ed57e0c2298 | 152 | } |
| joshwilkins2013 | 0:5ed57e0c2298 | 153 | } |
| joshwilkins2013 | 0:5ed57e0c2298 | 154 | } |