Yaroslav Barabanov
для управления турелью
Diff: mpu6050.cpp
- Revision:
- 3:e47c0c98f515
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mpu6050.cpp Thu Jan 19 05:22:19 2017 +0000
@@ -0,0 +1,243 @@
+#include "mpu6050.hpp"
+#include "mbed.h"
+//#include "rtos.h"
+#include "libMPU6050.hpp"
+#include "math.h"
+
+#define MPU6050_TIMER 1
+
+MPU6050 mpu6050; // даччик ускорения и гироскоп
+Ticker TimerInterrupt;
+Timer t; // таймер
+
+const double periodMPU6050 = 0.01;
+
+static char isMPU6050Error = 0;
+static float sum = 0;
+static uint32_t sumCount = 0;
+
+//void mpu6050TimerInterrupt(void);
+void I2C_ClockToggling(void);
+
+void initMPU6050(void) {
+ isMPU6050Error = 0;
+ //I2C_ClockToggling();
+ //Set up I2C
+ 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 = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
+ if (whoami == 0x68) {
+ // WHO_AM_I should always be 0x68
+ printf("MPU6050 is online...");
+ wait(1);
+ mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+ //printf("x-axis self test: acceleration trim within : "); printf("%f", SelfTest[0]); printf("% of factory value \n\r");
+ //printf("y-axis self test: acceleration trim within : "); printf("%f", SelfTest[1]); printf("% of factory value \n\r");
+ //printf("z-axis self test: acceleration trim within : "); printf("%f", SelfTest[2]); printf("% of factory value \n\r");
+ //printf("x-axis self test: gyration trim within : "); printf("%f", SelfTest[3]); printf("% of factory value \n\r");
+ //printf("y-axis self test: gyration trim within : "); printf("%f", SelfTest[4]); printf("% of factory value \n\r");
+ //printf("z-axis self test: gyration trim within : "); printf("%f", SelfTest[5]); printf("% of factory value \n\r");
+ wait(1);
+
+ 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) {
+ mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
+ mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+ mpu6050.initMPU6050(); printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ wait(2);
+ } else {
+ printf("Device did not the pass self-test!\n\r");
+ }
+ #if MPU6050_TIMER == 1
+ //TimerInterrupt.attach(&mpu6050TimerInterrupt, 0.5);
+ #endif
+ } else {
+ printf("Could not connect to MPU6050: \n\r");
+ printf("%#x \n", whoami);
+ isMPU6050Error = 1;
+ }
+}
+
+#if MPU6050_TIMER == 0
+
+void mpu6050Thread(void const *argument) {
+ //if (isMPU6050Error == 0)
+ while(true) {
+ // If data ready bit set, all data registers have new data
+ if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
+ mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
+ mpu6050.getAres();
+
+ // 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];
+
+ mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
+ mpu6050.getGres();
+
+ // 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];
+
+ tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
+ temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+ }
+ 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
+ mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
+
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+ if (delt_t > 500) { // update LCD once per half-second independent of read rate
+
+ printf(" ax = %f", 1000*ax);
+ printf(" ay = %f", 1000*ay);
+ printf(" az = %f mg\n\r", 1000*az);
+
+ printf(" gx = %f", gx);
+ printf(" gy = %f", gy);
+ printf(" gz = %f deg/s\n\r", gz);
+
+ printf(" temperature = %f C\n\r", temperature);
+
+ printf("q0 = %f\n\r", q[0]);
+ printf("q1 = %f\n\r", q[1]);
+ printf("q2 = %f\n\r", q[2]);
+ 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;
+ roll *= 180.0f / PI;
+
+ // pc.printf("Yaw, Pitch, Roll: \n\r");
+ // pc.printf("%f", yaw);
+ // pc.printf(", ");
+ // pc.printf("%f", pitch);
+ // pc.printf(", ");
+ // pc.printf("%f\n\r", roll);
+ // pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r");
+
+ printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+ printf("average rate = %f deltat = %f\n\r", (float) sumCount/sum, deltat);
+
+ //myled= !myled;
+ count = t.read_ms();
+ sum = 0;
+ sumCount = 0;
+ } // if
+ //Thread::wait(1);
+ } // while
+}
+
+#endif
+
+void mpu6050TimerInterrupt(void) {
+ if (isMPU6050Error == 0) {
+ // If data ready bit set, all data registers have new data
+ if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
+ mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
+ mpu6050.getAres();
+
+ // 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];
+
+ mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
+ mpu6050.getGres();
+
+ // 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];
+
+ tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
+ temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+ }
+ Now = t.read_us();
+ deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ //deltat = periodMPU6050;
+ 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
+ mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
+ 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;
+ roll *= 180.0f / PI;
+ } // while
+}
+
+void getMPU6050(void) {
+ //printf("ax = %f", 1000*ax);
+ //printf(" ay = %f", 1000*ay);
+ //printf(" az = %f mg\n\r", 1000*az);
+ //printf("gx = %f", gx);
+ //printf(" gy = %f", gy);
+ //printf(" gz = %f deg/s\n\r", gz);
+ printf(" temperature = %f C\n\r", temperature);
+ //printf("q0 = %f\n\r", q[0]);
+ //printf("q1 = %f\n\r", q[1]);
+ //printf("q2 = %f\n\r", q[2]);
+ //printf("q3 = %f\n\r", q[3]);
+ printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+ printf("average rate = %f sumCount = %d\n\r", (float) sumCount/sum, sumCount);
+ sum = 0;
+ sumCount = 0;
+}
+
+void I2C_ClockToggling(void) {
+ const short delay = 10000;
+ unsigned char input_pin_state = 1;
+ DigitalOut i2cPinSCL(I2C_SCL,OpenDrain);
+ DigitalIn i2cPinSDA(I2C_SCL);
+ //i2cPinSCL.mode(OpenDrain);
+
+ /* Configure SDA GPIO as input */
+ input_pin_state = i2cPinSDA;
+ while (input_pin_state == 0) {
+ input_pin_state = i2cPinSDA;
+ i2cPinSCL = 1;
+ for (short j = 0; j < delay; j++);
+ i2cPinSCL = 0;
+ for (short j = 0; j < delay; j++);
+ }
+ /* Configure SCL GPIO as input */
+ i2cPinSCL = 1;
+ for (int j = 0; j < delay; j++);
+}
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