TurtleBot / Mbed 2 deprecated Servo_without_thread

Servo code v.1

Dependencies:   Servo mbed

attitude.h@1:852156b5cca1, 2018-04-02 (annotated)

Committer:
59010050
Date:
Mon Apr 02 10:18:44 2018 +0000
Revision:
1:852156b5cca1
latest

Who changed what in which revision?

UserRevisionLine numberNew contents of line
59010050 1:852156b5cca1 1 #include "MPU9250.h"
59010050 1:852156b5cca1 2
59010050 1:852156b5cca1 3 MPU9250 mpu9250;
59010050 1:852156b5cca1 4
59010050 1:852156b5cca1 5 Timer t;
59010050 1:852156b5cca1 6
59010050 1:852156b5cca1 7 void attitude_setup(void)
59010050 1:852156b5cca1 8 {
59010050 1:852156b5cca1 9 i2c.frequency(400000); // use fast (400 kHz) I2C
59010050 1:852156b5cca1 10
59010050 1:852156b5cca1 11 t.start();
59010050 1:852156b5cca1 12
59010050 1:852156b5cca1 13 // Read the WHO_AM_I register, this is a good test of communication
59010050 1:852156b5cca1 14 uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
59010050 1:852156b5cca1 15
59010050 1:852156b5cca1 16
59010050 1:852156b5cca1 17 if (whoami == 0x73) { // WHO_AM_I should always be 0x68
59010050 1:852156b5cca1 18 wait(1);
59010050 1:852156b5cca1 19 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
59010050 1:852156b5cca1 20 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
59010050 1:852156b5cca1 21 wait(2);
59010050 1:852156b5cca1 22 mpu9250.initMPU9250();
59010050 1:852156b5cca1 23 mpu9250.initAK8963(magCalibration);
59010050 1:852156b5cca1 24 wait(2);
59010050 1:852156b5cca1 25 } else while(1) ; // Loop forever if communication doesn't happen
59010050 1:852156b5cca1 26
59010050 1:852156b5cca1 27 mpu9250.getAres(); // Get accelerometer sensitivity
59010050 1:852156b5cca1 28 mpu9250.getGres(); // Get gyro sensitivity
59010050 1:852156b5cca1 29 mpu9250.getMres(); // Get magnetometer sensitivity
59010050 1:852156b5cca1 30
59010050 1:852156b5cca1 31 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
59010050 1:852156b5cca1 32 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
59010050 1:852156b5cca1 33 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
59010050 1:852156b5cca1 34 }
59010050 1:852156b5cca1 35
59010050 1:852156b5cca1 36 int attitude_get(void)
59010050 1:852156b5cca1 37 {
59010050 1:852156b5cca1 38 // If intPin goes high, all data registers have new data
59010050 1:852156b5cca1 39 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
59010050 1:852156b5cca1 40
59010050 1:852156b5cca1 41 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
59010050 1:852156b5cca1 42 // Now we'll calculate the accleration value into actual g's
59010050 1:852156b5cca1 43 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
59010050 1:852156b5cca1 44 ay = (float)accelCount[1]*aRes - accelBias[1];
59010050 1:852156b5cca1 45 az = (float)accelCount[2]*aRes - accelBias[2];
59010050 1:852156b5cca1 46
59010050 1:852156b5cca1 47 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
59010050 1:852156b5cca1 48 // Calculate the gyro value into actual degrees per second
59010050 1:852156b5cca1 49 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
59010050 1:852156b5cca1 50 gy = (float)gyroCount[1]*gRes - gyroBias[1];
59010050 1:852156b5cca1 51 gz = (float)gyroCount[2]*gRes - gyroBias[2];
59010050 1:852156b5cca1 52
59010050 1:852156b5cca1 53 mpu9250.readMagData(magCount); // Read the x/y/z adc values
59010050 1:852156b5cca1 54 // Calculate the magnetometer values in milliGauss
59010050 1:852156b5cca1 55 // Include factory calibration per data sheet and user environmental corrections
59010050 1:852156b5cca1 56 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
59010050 1:852156b5cca1 57 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
59010050 1:852156b5cca1 58 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
59010050 1:852156b5cca1 59
59010050 1:852156b5cca1 60
59010050 1:852156b5cca1 61 Now = t.read_us();
59010050 1:852156b5cca1 62 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
59010050 1:852156b5cca1 63 lastUpdate = Now;
59010050 1:852156b5cca1 64
59010050 1:852156b5cca1 65 // Pass gyro rate as rad/s
59010050 1:852156b5cca1 66 mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
59010050 1:852156b5cca1 67 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
59010050 1:852156b5cca1 68
59010050 1:852156b5cca1 69 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]);
59010050 1:852156b5cca1 70 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
59010050 1:852156b5cca1 71 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]);
59010050 1:852156b5cca1 72 pitch *= 180.0f / PI;
59010050 1:852156b5cca1 73 yaw *= 180.0f / PI;
59010050 1:852156b5cca1 74 yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
59010050 1:852156b5cca1 75 roll *= 180.0f / PI;
59010050 1:852156b5cca1 76
59010050 1:852156b5cca1 77 return 0;
59010050 1:852156b5cca1 78 }
59010050 1:852156b5cca1 79 return -1;
59010050 1:852156b5cca1 80 }
59010050 1:852156b5cca1 81