IMU.cpp

00001 #include "IMU.h"
00002 
00003 
00004 I2C i2cBus(P5_7, P6_0);
00005 BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
00006 
00007 BMI160::AccConfig accConfig;
00008 BMI160::GyroConfig gyroConfig;
00009 
00010 int initIMU(){
00011    i2cBus.frequency(400000);
00012 
00013     // printf("\033[H");  //home
00014     // printf("\033[0J");  //erase from cursor to end of screen
00015     
00016     uint32_t failures = 0;
00017     
00018     if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR){
00019         printf("Failed to set gyroscope power mode\n");
00020         failures++;
00021     }
00022     wait_ms(10);
00023     
00024     if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR){
00025         printf("Failed to set accelerometer power mode\n");
00026         failures++;
00027     }
00028     wait_ms(10);
00029     
00030     
00031     //example of using getSensorConfig
00032     if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR){
00033         printf("ACC Range = %d\n", accConfig.range);
00034         printf("ACC UnderSampling = %d\n", accConfig.us);
00035         printf("ACC BandWidthParam = %d\n", accConfig.bwp);
00036         printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
00037     }else{
00038         printf("Failed to get accelerometer configuration\n");
00039         failures++;
00040     }
00041     
00042     //example of setting user defined configuration
00043     accConfig.range = BMI160::SENS_2G ;
00044     accConfig.us = BMI160::ACC_US_OFF;
00045     accConfig.bwp = BMI160::ACC_BWP_2;
00046     accConfig.odr = BMI160::ACC_ODR_8;
00047     if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR){
00048         printf("ACC Range = %d\n", accConfig.range);
00049         printf("ACC UnderSampling = %d\n", accConfig.us);
00050         printf("ACC BandWidthParam = %d\n", accConfig.bwp);
00051         printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
00052     }else{
00053         printf("Failed to set accelerometer configuration\n");
00054         failures++;
00055     }
00056     
00057     if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR){
00058         printf("GYRO Range = %d\n", gyroConfig.range);
00059         printf("GYRO BandWidthParam = %d\n", gyroConfig.bwp);
00060         printf("GYRO OutputDataRate = %d\n\n", gyroConfig.odr);
00061     }else{
00062         printf("Failed to get gyroscope configuration\n");
00063         failures++;
00064     }
00065     
00066     // printf("\033[H");  //home
00067     // printf("\033[0J");  //erase from cursor to end of screen
00068     
00069     if(failures == 0){
00070         return 0;
00071     }else{
00072         printf("IMU init failed.. returning 1\n");
00073         return 1;
00074     }
00075 }
00076 
00077 void printIMUData(){
00078     float imuTemperature; 
00079     BMI160::SensorData accData;
00080     BMI160::SensorData gyroData;
00081     BMI160::SensorTime sensorTime;
00082 
00083     imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
00084     imu.getTemperature(&imuTemperature);
00085 
00086     printf("ACC xAxis = %d\n", accData.xAxis.raw);
00087     printf("ACC yAxis = %d\n", accData.yAxis.raw);
00088     printf("ACC zAxis = %d\n\n", accData.zAxis.raw);
00089 
00090     printf("GYRO xAxis = %d\n", gyroData.xAxis.raw);
00091     printf("GYRO yAxis = %d\n", gyroData.yAxis.raw);
00092     printf("GYRO zAxis = %d\n\n", gyroData.zAxis.raw);
00093 
00094     printf("Sensor Time = %f\n", sensorTime.seconds);
00095     printf("Sensor Temperature = %5.3f\n", imuTemperature);
00096 }
00097 
00098 
00099 float getIMUAngle(){
00100     BMI160::SensorData accData;
00101     BMI160::SensorData gyroData;
00102     BMI160::SensorTime sensorTime;
00103     double tempxAngle = 0;
00104     double xAngle =0;
00105     double tempyAngle =0;
00106     double yAngle =0;
00107     double res =0;
00108 
00109     imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
00110 //    printf("X = %d\tY = %d\tZ = %d\t\n", accData.xAxis.raw, accData.yAxis.raw,  accData.zAxis.raw);
00111     
00112     // uint32_t xVal = accData.xAxis.raw;
00113     // uint32_t yVal = accData.yAxis.raw;
00114     // uint32_t zVal = accData.zAxis.raw;
00115 
00116     float xVal = accData.xAxis.scaled;
00117     float yVal = accData.yAxis.scaled;
00118     float zVal = accData.zAxis.scaled;
00119     
00120     /* Compute angles in radian */
00121     tempxAngle = (double)((yVal * yVal) + (zVal * zVal));
00122     tempyAngle = (double)((xVal * xVal) + (zVal * zVal));
00123     xAngle = (double)atan (xVal / sqrt (tempxAngle));
00124     yAngle = (double)atan (yVal / sqrt(tempyAngle)); 
00125     /* Convert radian in degree */
00126     xAngle *= 180.00; 
00127     yAngle *= 180.00; //zAngle *=180.00;
00128     xAngle /= M_PI; 
00129     yAngle /= M_PI; //zAngle /= 3.141592;
00130         // for x angle         
00131     res = xAngle;   
00132     return res;
00133 }
00134 
00135 
00136 
00137 // DEFAULT MBED FUNCTIONs.. not required for MPS
00138 void dumpImuRegisters(BMI160 &imu)
00139 {
00140     printRegister(imu, BMI160::CHIP_ID);
00141     printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
00142     printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
00143     printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
00144     printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
00145     printRegister(imu, BMI160::CMD);
00146     printf("\n");
00147 }
00148  
00149 void printRegister(BMI160 &imu, BMI160::Registers reg)
00150 {
00151     uint8_t data;
00152     if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
00153     {
00154         printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
00155     }
00156     else
00157     {
00158         printf("Failed to read register\n");
00159     }
00160 }
00161  
00162 void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg)
00163 {
00164     uint8_t numBytes = ((stopReg - startReg) + 1);
00165     uint8_t buff[numBytes];
00166     uint8_t offset = static_cast<uint8_t>(startReg);
00167     
00168     if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR)
00169     {
00170         for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
00171         {
00172             printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
00173         }
00174     }
00175     else
00176     {
00177         printf("Failed to read block\n");
00178     }
00179 }
00180