Changing about IMU
Dependencies: Servo mbed-rtos mbed
Fork of TurtleBot_V1 by
Revision 3:5bfa7291c639, committed 2018-03-23
- Comitter:
- worasuchad
- Date:
- Fri Mar 23 18:32:18 2018 +0000
- Parent:
- 2:d4bd9ff10e8e
- Commit message:
- edit and test IMU
Changed in this revision
diff -r d4bd9ff10e8e -r 5bfa7291c639 attitude.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/attitude.h Fri Mar 23 18:32:18 2018 +0000 @@ -0,0 +1,81 @@ +#include "MPU9250.h" + +MPU9250 mpu9250; + +Timer t; + +void attitude_setup(void) +{ + 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 = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 + + + if (whoami == 0x73) { // WHO_AM_I should always be 0x68 + wait(1); + mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration + mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers + wait(2); + mpu9250.initMPU9250(); + mpu9250.initAK8963(magCalibration); + wait(2); + } else while(1) ; // Loop forever if communication doesn't happen + + mpu9250.getAres(); // Get accelerometer sensitivity + mpu9250.getGres(); // Get gyro sensitivity + mpu9250.getMres(); // Get magnetometer sensitivity + + magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated + magbias[1] = +120.; // User environmental x-axis correction in milliGauss + magbias[2] = +125.; // User environmental x-axis correction in milliGauss +} + +int attitude_get(void) +{ + // If intPin goes high, all data registers have new data + if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt + + mpu9250.readAccelData(accelCount); // Read the x/y/z adc values + // 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]; + + mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values + // 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]; + + mpu9250.readMagData(magCount); // Read the x/y/z adc values + // Calculate the magnetometer values in milliGauss + // Include factory calibration per data sheet and user environmental corrections + mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set + my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; + mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; + + + Now = t.read_us(); + deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update + lastUpdate = Now; + + // Pass gyro rate as rad/s + mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); + mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); + + 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; + yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 + roll *= 180.0f / PI; + + return 0; + } + return -1; +} +
diff -r d4bd9ff10e8e -r 5bfa7291c639 main.cpp --- a/main.cpp Fri Mar 23 16:25:17 2018 +0000 +++ b/main.cpp Fri Mar 23 18:32:18 2018 +0000 @@ -19,6 +19,8 @@ ///////////////////////// IMU //////////////////////////////// ////////////////////////////////////////////////////////////////// +#include "attitude.h" +/* #include "MPU9250.h" float sum = 0; @@ -28,7 +30,7 @@ MPU9250 mpu9250; Timer t; - +*/ ///////////////////////// Servo //////////////////////////////// ////////////////////////////////////////////////////////////////// @@ -58,9 +60,10 @@ ////////////////////////////////////////////////////////////////// int main() { + + IMU(); thread1.start(myservoLeft); thread2.start(myservoRight); - IMU(); /* while(1) { printf("Hello World! Turtlebot is READY\n"); @@ -199,182 +202,13 @@ ///////////////////////// IMU /////////////////////// ////////////////////////////////////////////////////////////////// + void IMU() { - //Set up I2C - i2c.frequency(400000); // use fast (400 kHz) I2C - - //pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); - t.start(); - - // Read the WHO_AM_I register, this is a good test of communication - uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 - //pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r"); - - if (whoami == 0x73 ) // WHO_AM_I should always be 0x68 - { - //pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami); - //pc.printf("MPU9250 is online...\n\r"); - sprintf(buffer, "0x%x", whoami); - wait(1); - - mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration - mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values - pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); - pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); - pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); - pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); - pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); - pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); - mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers - pc.printf("x gyro bias = %f\n\r", gyroBias[0]); - pc.printf("y gyro bias = %f\n\r", gyroBias[1]); - pc.printf("z gyro bias = %f\n\r", gyroBias[2]); - pc.printf("x accel bias = %f\n\r", accelBias[0]); - pc.printf("y accel bias = %f\n\r", accelBias[1]); - pc.printf("z accel bias = %f\n\r", accelBias[2]); - wait(2); - mpu9250.initMPU9250(); - pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature - mpu9250.initAK8963(magCalibration); - pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer - pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); - pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); - - if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r"); - if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r"); - if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r"); - if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r"); - wait(1); - } - else + attitude_setup(); + while(1) { - pc.printf("Could not connect to MPU9250: \n\r"); - pc.printf("%#x \n", whoami); - - sprintf(buffer, "WHO_AM_I 0x%x", whoami); - - while(1) ; // Loop forever if communication doesn't happen - } - - mpu9250.getAres(); // Get accelerometer sensitivity - mpu9250.getGres(); // Get gyro sensitivity - mpu9250.getMres(); // Get magnetometer sensitivity - pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); - pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); - pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); - magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated - magbias[1] = +120.; // User environmental x-axis correction in milliGauss - magbias[2] = +125.; // User environmental x-axis correction in milliGauss - - - while(1) - { - // If intPin goes high, all data registers have new data - if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt - - mpu9250.readAccelData(accelCount); // Read the x/y/z adc values - // 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]; - - mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values - // 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]; - - mpu9250.readMagData(magCount); // Read the x/y/z adc values - // Calculate the magnetometer values in milliGauss - // Include factory calibration per data sheet and user environmental corrections - mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set - my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; - mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; - } - - 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 - //} - - //Pass gyro rate as rad/s - mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); - //mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); - - //Serial print and/or display at 0.5 s rate independent of data rates - delt_t = t.read_ms() - count; - - if (delt_t > 10) - { // update LCD once per half-second independent of read rate - - //pc.printf("ax = %f", 1000*ax); - //pc.printf(" ay = %f", 1000*ay); - //pc.printf(" az = %f mg\n\r", 1000*az); - - //pc.printf("gx = %f", gx); - //pc.printf(" gy = %f", gy); - //pc.printf(" gz = %f deg/s\n\r", gz); - - //pc.printf("gx = %f", mx); - //pc.printf(" gy = %f", my); - //pc.printf(" gz = %f mG\n\r", mz); - - //tempCount = mpu9250.readTempData(); // Read the adc values - //temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade - //pc.printf(" temperature = %f C\n\r", temperature); - - //pc.printf("q0 = %f\n\r", q[0]); - //pc.printf("q1 = %f\n\r", q[1]); - //pc.printf("q2 = %f\n\r", q[2]); - //pc.printf("q3 = %f\n\r", q[3]); - - - // 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; - //yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 - yaw += 0.8f; - roll *= 180.0f / PI; - - pc.printf("%f %f %f %f \n\r",roll, pitch, yaw,origin); - //pc.printf("average rate = %f\n\r", (float) sumCount/sum); - //sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll); - //lcd.printString(buffer, 0, 4); - //sprintf(buffer, "rate = %f", (float) sumCount/sum); - //lcd.printString(buffer, 0, 5); - - myled= !myled; - count = t.read_ms(); - - if(count > 1<<21) - { - t.start(); // start the timer over again if ~30 minutes has passed - count = 0; - deltat= 0; - lastUpdate = t.read_us(); - } - sum = 0; - sumCount = 0; - } - } -} \ No newline at end of file + attitude_get(); + pc.printf("%.0f %.0f %.0f \n\r", roll, pitch, yaw ); + } +}
diff -r d4bd9ff10e8e -r 5bfa7291c639 mbed.bld --- a/mbed.bld Fri Mar 23 16:25:17 2018 +0000 +++ b/mbed.bld Fri Mar 23 18:32:18 2018 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/994bdf8177cb \ No newline at end of file