Zbigniew Druzbacki / Mbed 2 deprecated SPI_Slave

SPI slave program to enable communication between the FPGA and the STM32L432 board.

Dependencies:   mbed

main.cpp@5:155d224d855c, 2019-02-24 (annotated)

Committer:
Zbyszek
Date:
Sun Feb 24 16:49:06 2019 +0000
Revision:
5:155d224d855c
Parent:
4:e36c7042d3bb
Child:
6:0ebecfecadc9
Added code to calculate bias offsets for calibration of the Gyro and Accelerometer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Zbyszek 0:8e367d6d8f03 1 #include "mbed.h"
Zbyszek 0:8e367d6d8f03 2 #include "SPI.h"
Zbyszek 4:e36c7042d3bb 3 #include "Quaternions.h"
Zbyszek 0:8e367d6d8f03 4 DigitalOut myled(LED1);
Zbyszek 0:8e367d6d8f03 5 Serial pc(USBTX, USBRX);
Zbyszek 0:8e367d6d8f03 6
Zbyszek 0:8e367d6d8f03 7 int masterRx = 0;
Zbyszek 3:e33697420c4a 8 int16_t slaveRx = 0;
Zbyszek 3:e33697420c4a 9 int i = 2;
Zbyszek 3:e33697420c4a 10 int k = 0;
Zbyszek 3:e33697420c4a 11 int16_t zgHigher = 0;
Zbyszek 3:e33697420c4a 12 int16_t zgLower = 0;
Zbyszek 3:e33697420c4a 13 int16_t zGyro = 0;
Zbyszek 3:e33697420c4a 14 int countx = 0;
Zbyszek 3:e33697420c4a 15 int p = 32776;
Zbyszek 5:155d224d855c 16 double const SSF = 0.00763358778625954198473282442748f; //FSEL = 0: 0.00763358778625954198473282442748, FSEL = 3: 0.06097560975609756097560975609756f
Zbyszek 3:e33697420c4a 17
Zbyszek 4:e36c7042d3bb 18 Timer t;
Zbyszek 4:e36c7042d3bb 19 float dTime = 0.0f;
Zbyszek 4:e36c7042d3bb 20
Zbyszek 4:e36c7042d3bb 21 vector vertical;
Zbyszek 4:e36c7042d3bb 22 vector globalAccel;
Zbyszek 4:e36c7042d3bb 23 vector correctionGlobalAccel;
Zbyszek 4:e36c7042d3bb 24 vector correctionBodyAccel;
Zbyszek 4:e36c7042d3bb 25 Quaternion gyroQ;
Zbyszek 4:e36c7042d3bb 26 vector Eangles;
Zbyszek 5:155d224d855c 27 Quaternion CF;
Zbyszek 5:155d224d855c 28 vector intGyro;
Zbyszek 5:155d224d855c 29 vector GyroVals;
Zbyszek 5:155d224d855c 30 vector AccelVals;
Zbyszek 5:155d224d855c 31 vector accelTilt;
Zbyszek 5:155d224d855c 32 Quaternion accelQ;
Zbyszek 5:155d224d855c 33
Zbyszek 5:155d224d855c 34 void calibrateOffset();
Zbyszek 4:e36c7042d3bb 35
Zbyszek 4:e36c7042d3bb 36
Zbyszek 4:e36c7042d3bb 37 float xx;
Zbyszek 4:e36c7042d3bb 38 float yy;
Zbyszek 4:e36c7042d3bb 39 float zz;
Zbyszek 4:e36c7042d3bb 40
Zbyszek 4:e36c7042d3bb 41
Zbyszek 3:e33697420c4a 42
Zbyszek 3:e33697420c4a 43 /*
Zbyszek 3:e33697420c4a 44
Zbyszek 3:e33697420c4a 45 */
Zbyszek 3:e33697420c4a 46 //------------------Printing-All-values----------------------//
Zbyszek 3:e33697420c4a 47 int16_t IMUarray[12]; //Store each separate reading in an array
Zbyszek 3:e33697420c4a 48 uint16_t IDarray[12]; //Holds the identification of each data piece
Zbyszek 3:e33697420c4a 49 char idx = 0; //IMUarray Pointer
Zbyszek 3:e33697420c4a 50 char dataCount = 0; //Keeps track of how many data points have been read in using SPI
Zbyszek 3:e33697420c4a 51 uint16_t id = 0; //Used to store extracted data ID
Zbyszek 3:e33697420c4a 52
Zbyszek 3:e33697420c4a 53 void ProcessAndPrint();
Zbyszek 3:e33697420c4a 54 //------------------Printing-All-values----------------------//
Zbyszek 3:e33697420c4a 55
Zbyszek 4:e36c7042d3bb 56 //-------------Testing-Variables-Remove-Later----------------//
Zbyszek 4:e36c7042d3bb 57 int blinkCounter = 0;
Zbyszek 4:e36c7042d3bb 58 //-------------Testing-Variables-Remove-Later----------------//
Zbyszek 0:8e367d6d8f03 59
Zbyszek 0:8e367d6d8f03 60 int main() {
Zbyszek 4:e36c7042d3bb 61 pc.baud (115200);
Zbyszek 3:e33697420c4a 62 IDarray[0] = 1;
Zbyszek 3:e33697420c4a 63 IDarray[1] = 0;
Zbyszek 3:e33697420c4a 64 IDarray[2] = 9;
Zbyszek 3:e33697420c4a 65 IDarray[3] = 8;
Zbyszek 3:e33697420c4a 66 IDarray[4] = 17;
Zbyszek 3:e33697420c4a 67 IDarray[5] = 16;
Zbyszek 3:e33697420c4a 68 IDarray[6] = 3;
Zbyszek 4:e36c7042d3bb 69 IDarray[7] = 2; //2
Zbyszek 3:e33697420c4a 70 IDarray[8] = 11;
Zbyszek 3:e33697420c4a 71 IDarray[9] = 10;
Zbyszek 3:e33697420c4a 72 IDarray[10] = 19;
Zbyszek 3:e33697420c4a 73 IDarray[11] = 18;
Zbyszek 3:e33697420c4a 74
Zbyszek 4:e36c7042d3bb 75 init_spi1();
Zbyszek 4:e36c7042d3bb 76 t.start();
Zbyszek 3:e33697420c4a 77
Zbyszek 4:e36c7042d3bb 78 gyroQ.w = 1;
Zbyszek 4:e36c7042d3bb 79 gyroQ.x = 0.0001;
Zbyszek 4:e36c7042d3bb 80 gyroQ.y = 0.0001;
Zbyszek 4:e36c7042d3bb 81 gyroQ.z = 0.0001;
Zbyszek 4:e36c7042d3bb 82
Zbyszek 5:155d224d855c 83 CF.w = 1;
Zbyszek 5:155d224d855c 84 CF.x = 0.0001;
Zbyszek 5:155d224d855c 85 CF.y = 0.0001;
Zbyszek 5:155d224d855c 86 CF.z = 0.0001;
Zbyszek 4:e36c7042d3bb 87
Zbyszek 4:e36c7042d3bb 88
Zbyszek 4:e36c7042d3bb 89 gyroQ = normaliseQuaternion(gyroQ);
Zbyszek 5:155d224d855c 90 CF = normaliseQuaternion(CF);
Zbyszek 4:e36c7042d3bb 91
Zbyszek 4:e36c7042d3bb 92 vertical.x = 0.0f;
Zbyszek 4:e36c7042d3bb 93 vertical.y = 0.0f;
Zbyszek 4:e36c7042d3bb 94 vertical.z = 1.0f;
Zbyszek 4:e36c7042d3bb 95
Zbyszek 3:e33697420c4a 96 pc.printf("Begin \n\r");
Zbyszek 0:8e367d6d8f03 97
Zbyszek 0:8e367d6d8f03 98 while(1) {
Zbyszek 3:e33697420c4a 99 if(i == 1) {
Zbyszek 0:8e367d6d8f03 100 for(int x = 1; x < 128; x *= 2) {
Zbyszek 0:8e367d6d8f03 101 slaveRx = transfer_spi_slave(x);
Zbyszek 3:e33697420c4a 102 //pc.putc(slaveRx);
Zbyszek 3:e33697420c4a 103 pc.printf("%d \n\r",slaveRx);
Zbyszek 0:8e367d6d8f03 104 }
Zbyszek 0:8e367d6d8f03 105 for(int x = 128; x > 1; x /= 2) {
Zbyszek 0:8e367d6d8f03 106 slaveRx = transfer_spi_slave(x);
Zbyszek 3:e33697420c4a 107 //pc.putc(slaveRx);
Zbyszek 3:e33697420c4a 108 pc.printf("%d \n\r",slaveRx);
Zbyszek 2:4cc880ea466d 109 }
Zbyszek 3:e33697420c4a 110 }//if(i == 1)
Zbyszek 3:e33697420c4a 111
Zbyszek 3:e33697420c4a 112
Zbyszek 3:e33697420c4a 113
Zbyszek 3:e33697420c4a 114 //------------------------------------------------------------------------------
Zbyszek 3:e33697420c4a 115 if(i == 0) {
Zbyszek 3:e33697420c4a 116 slaveRx = transfer_spi_slave(10);
Zbyszek 3:e33697420c4a 117 countx++;
Zbyszek 3:e33697420c4a 118 if(countx == 1) {
Zbyszek 3:e33697420c4a 119 k = slaveRx;
Zbyszek 3:e33697420c4a 120 k &= ~(255 << 8);
Zbyszek 3:e33697420c4a 121 k = k << 8;
Zbyszek 3:e33697420c4a 122 // if(k == 19) {
Zbyszek 3:e33697420c4a 123 zgHigher = k;
Zbyszek 3:e33697420c4a 124 //zgHigher = zgHigher << 8;
Zbyszek 3:e33697420c4a 125 //}//if(k == 19)
Zbyszek 3:e33697420c4a 126 }//if(count == 11)
Zbyszek 3:e33697420c4a 127
Zbyszek 3:e33697420c4a 128
Zbyszek 3:e33697420c4a 129 else if(countx == 2) {
Zbyszek 3:e33697420c4a 130 k = slaveRx;
Zbyszek 3:e33697420c4a 131 k &= ~(255 << 8);
Zbyszek 3:e33697420c4a 132 //k = k << 8;
Zbyszek 3:e33697420c4a 133 //if(k == 18) {
Zbyszek 3:e33697420c4a 134 zgLower = k;
Zbyszek 3:e33697420c4a 135 //zgLower = zgLower << 8;
Zbyszek 3:e33697420c4a 136 zGyro = zgHigher + zgLower;
Zbyszek 3:e33697420c4a 137 pc.printf("%+d \n\r",zGyro);
Zbyszek 3:e33697420c4a 138 //}//if(k == 19)
Zbyszek 3:e33697420c4a 139 countx = 0;
Zbyszek 3:e33697420c4a 140 }//else if(count == 12)
Zbyszek 3:e33697420c4a 141
Zbyszek 3:e33697420c4a 142 }//if(i == 0)
Zbyszek 3:e33697420c4a 143 //------------------------------------------------------------------------------
Zbyszek 3:e33697420c4a 144
Zbyszek 3:e33697420c4a 145 if(i == 2) {
Zbyszek 4:e36c7042d3bb 146 slaveRx = transfer_spi_slave(10); //get IMU data
Zbyszek 4:e36c7042d3bb 147
Zbyszek 4:e36c7042d3bb 148
Zbyszek 4:e36c7042d3bb 149 id = slaveRx; //Save sample to id for id extraction
Zbyszek 4:e36c7042d3bb 150 id &= ~(255); //get rid of the actual data to only be left with the id
Zbyszek 4:e36c7042d3bb 151 id = id >> 8; //shift the id to the right for comparison
Zbyszek 4:e36c7042d3bb 152
Zbyszek 4:e36c7042d3bb 153 //pc.printf("ID: %d \n\r", id); //Print each id to see what sequence is obtained. Only the correct sequence will make the code run/
Zbyszek 4:e36c7042d3bb 154
Zbyszek 4:e36c7042d3bb 155 if(IDarray[dataCount] == id) { //compare if the order of data is right and if not wait until it is.
Zbyszek 4:e36c7042d3bb 156 dataCount++; //Increase dataCount as new value has been read in.
Zbyszek 4:e36c7042d3bb 157 IMUarray[idx] = slaveRx; //save the newly read value to current free space in the array
Zbyszek 4:e36c7042d3bb 158 idx++; //increment the pointer to point to next free space in the array
Zbyszek 3:e33697420c4a 159
Zbyszek 3:e33697420c4a 160 if(dataCount == 12) {
Zbyszek 3:e33697420c4a 161 //reset idx and dataCount
Zbyszek 3:e33697420c4a 162 dataCount = 0;
Zbyszek 3:e33697420c4a 163 idx = 0;
Zbyszek 5:155d224d855c 164 ProcessAndPrint();
Zbyszek 5:155d224d855c 165 //calibrateOffset();
Zbyszek 4:e36c7042d3bb 166
Zbyszek 4:e36c7042d3bb 167 t.stop();
Zbyszek 4:e36c7042d3bb 168 dTime = t.read();
Zbyszek 4:e36c7042d3bb 169 t.reset();
Zbyszek 4:e36c7042d3bb 170 t.start();
Zbyszek 3:e33697420c4a 171 }//if(dataCount == 12)
Zbyszek 3:e33697420c4a 172 }//if(IDarray[dataCount] == id)
Zbyszek 4:e36c7042d3bb 173 else {
Zbyszek 4:e36c7042d3bb 174 //-----Code-Used-For-Testing-----//
Zbyszek 4:e36c7042d3bb 175 //pc.printf("Failed at: %d \n\r", dataCount); //Print an error if there is one
Zbyszek 4:e36c7042d3bb 176 if(blinkCounter == 10) { //Slow the blinking down to make it visible if there are errors
Zbyszek 4:e36c7042d3bb 177 myled = !myled; //Change state of the LED if error occurs
Zbyszek 4:e36c7042d3bb 178 blinkCounter = 0; //Reset Blink counter
Zbyszek 4:e36c7042d3bb 179 }
Zbyszek 4:e36c7042d3bb 180 else {
Zbyszek 4:e36c7042d3bb 181 blinkCounter++;
Zbyszek 4:e36c7042d3bb 182 }
Zbyszek 4:e36c7042d3bb 183 //-----Code-Used-For-Testing-----//
Zbyszek 4:e36c7042d3bb 184
Zbyszek 4:e36c7042d3bb 185 dataCount = 0; //ID sequence is worng so reset the counter
Zbyszek 4:e36c7042d3bb 186 idx = 0; //ID sequence is worng so reset the counter
Zbyszek 4:e36c7042d3bb 187 }
Zbyszek 3:e33697420c4a 188 }//if(i == 2)
Zbyszek 3:e33697420c4a 189
Zbyszek 3:e33697420c4a 190
Zbyszek 3:e33697420c4a 191
Zbyszek 0:8e367d6d8f03 192 }
Zbyszek 0:8e367d6d8f03 193 }
Zbyszek 3:e33697420c4a 194
Zbyszek 3:e33697420c4a 195
Zbyszek 3:e33697420c4a 196
Zbyszek 4:e36c7042d3bb 197
Zbyszek 4:e36c7042d3bb 198 /*
Zbyszek 4:e36c7042d3bb 199 -The purpose of this function
Zbyszek 4:e36c7042d3bb 200 */
Zbyszek 3:e33697420c4a 201 void ProcessAndPrint() {
Zbyszek 3:e33697420c4a 202 int16_t MSB = 0; //Store Most Significant Byte of data piece in this variable for processing
Zbyszek 3:e33697420c4a 203 int16_t LSB = 0; //Store Least Significant Byte of data piece in this variable for processing
Zbyszek 3:e33697420c4a 204 char arrPointer = 0; //Array Pointer
Zbyszek 4:e36c7042d3bb 205
Zbyszek 3:e33697420c4a 206 //-----------Concatentated-Data-Pieces------------------------------------------
Zbyszek 3:e33697420c4a 207 int16_t gyroX = 0;
Zbyszek 3:e33697420c4a 208 int16_t gyroY = 0;
Zbyszek 3:e33697420c4a 209 int16_t gyroZ = 0;
Zbyszek 3:e33697420c4a 210
Zbyszek 3:e33697420c4a 211 int16_t accelX = 0;
Zbyszek 3:e33697420c4a 212 int16_t accelY = 0;
Zbyszek 3:e33697420c4a 213 int16_t accelZ = 0;
Zbyszek 4:e36c7042d3bb 214
Zbyszek 4:e36c7042d3bb 215 float faccelX = 0.0f;
Zbyszek 4:e36c7042d3bb 216 float faccelY = 0.0f;
Zbyszek 4:e36c7042d3bb 217 float faccelZ = 0.0f;
Zbyszek 4:e36c7042d3bb 218
Zbyszek 4:e36c7042d3bb 219 float fgyroX = 0.0f;
Zbyszek 4:e36c7042d3bb 220 float fgyroY = 0.0f;
Zbyszek 4:e36c7042d3bb 221 float fgyroZ = 0.0f;
Zbyszek 4:e36c7042d3bb 222
Zbyszek 3:e33697420c4a 223 //-----------Concatentated-Data-Pieces------------------------------------------
Zbyszek 3:e33697420c4a 224 for(char x = 0; x <= 5; x++) {
Zbyszek 4:e36c7042d3bb 225 MSB = IMUarray[arrPointer]; //Odd data pieces are MSBs
Zbyszek 4:e36c7042d3bb 226 MSB &= ~(255<<8); //Mask the MSB bits as they are not part of data
Zbyszek 4:e36c7042d3bb 227 MSB = MSB << 8; //Shift the Value as its the MSB of the data piece
Zbyszek 4:e36c7042d3bb 228 arrPointer++; //Increment array pointer
Zbyszek 4:e36c7042d3bb 229 LSB = IMUarray[arrPointer]; //Even data pieces are LSBs
Zbyszek 4:e36c7042d3bb 230 LSB &= ~(255 << 8); //Mask the MSB bits as they are not part of data
Zbyszek 4:e36c7042d3bb 231 arrPointer++; //Increment array pointer
Zbyszek 3:e33697420c4a 232
Zbyszek 3:e33697420c4a 233 switch(x) {
Zbyszek 3:e33697420c4a 234 case 0:
Zbyszek 4:e36c7042d3bb 235 accelX = MSB + LSB; //Combine Accelerometer x-axis data
Zbyszek 4:e36c7042d3bb 236 faccelX = (float)accelX * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
Zbyszek 3:e33697420c4a 237 break;
Zbyszek 3:e33697420c4a 238 case 1:
Zbyszek 4:e36c7042d3bb 239 accelY = MSB + LSB; //Combine Accelerometer y-axis data
Zbyszek 4:e36c7042d3bb 240 faccelY = (float)accelY * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
Zbyszek 3:e33697420c4a 241 break;
Zbyszek 3:e33697420c4a 242 case 2:
Zbyszek 4:e36c7042d3bb 243 accelZ = MSB + LSB; //Combine Accelerometer z-axis data
Zbyszek 4:e36c7042d3bb 244 faccelZ = (float)accelZ * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
Zbyszek 3:e33697420c4a 245 break;
Zbyszek 3:e33697420c4a 246 case 3:
Zbyszek 4:e36c7042d3bb 247 gyroX = MSB + LSB; //Combine Gyroscope x-axis data
Zbyszek 5:155d224d855c 248 fgyroX = (float)gyroX * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
Zbyszek 4:e36c7042d3bb 249
Zbyszek 3:e33697420c4a 250 break;
Zbyszek 3:e33697420c4a 251 case 4:
Zbyszek 4:e36c7042d3bb 252 gyroY = MSB + LSB; //Combine Gyroscope y-axis data
Zbyszek 5:155d224d855c 253 fgyroY = (float)gyroY * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
Zbyszek 4:e36c7042d3bb 254
Zbyszek 3:e33697420c4a 255 break;
Zbyszek 3:e33697420c4a 256 case 5:
Zbyszek 4:e36c7042d3bb 257 gyroZ = MSB + LSB; //Combine Gyroscope z-axis data
Zbyszek 5:155d224d855c 258 fgyroZ = (float)gyroZ * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
Zbyszek 3:e33697420c4a 259 break;
Zbyszek 3:e33697420c4a 260 default:
Zbyszek 3:e33697420c4a 261 break;
Zbyszek 3:e33697420c4a 262 }//switch(x)
Zbyszek 3:e33697420c4a 263 }//for(char x = 0; x <= 5; x++)
Zbyszek 4:e36c7042d3bb 264
Zbyszek 4:e36c7042d3bb 265 //Quaternion-Gyro-Integration--------------------------------------------------------------
Zbyszek 4:e36c7042d3bb 266 //Get the Gyro and Accel values--------------------------------------------------------
Zbyszek 4:e36c7042d3bb 267 //Convert these vales to radians per second and store them in the vector
Zbyszek 4:e36c7042d3bb 268 GyroVals.x = fgyroX * 0.0174533;
Zbyszek 4:e36c7042d3bb 269 GyroVals.y = fgyroY * 0.0174533;
Zbyszek 4:e36c7042d3bb 270 GyroVals.z = fgyroZ * 0.0174533;
Zbyszek 4:e36c7042d3bb 271
Zbyszek 5:155d224d855c 272 intGyro.x = (fgyroX * dTime);
Zbyszek 5:155d224d855c 273 intGyro.y = (fgyroY * dTime);
Zbyszek 5:155d224d855c 274 intGyro.z = (fgyroZ * dTime);
Zbyszek 5:155d224d855c 275
Zbyszek 4:e36c7042d3bb 276 AccelVals.x = faccelX;
Zbyszek 4:e36c7042d3bb 277 AccelVals.y = faccelY;
Zbyszek 4:e36c7042d3bb 278 AccelVals.z = faccelZ;
Zbyszek 4:e36c7042d3bb 279 //Get the Gyro and Accel values--------------------------------------------------------
Zbyszek 4:e36c7042d3bb 280
Zbyszek 5:155d224d855c 281 CF = updateQuaternion(CF, GyroVals, dTime);
Zbyszek 5:155d224d855c 282 CF = normaliseQuaternion(CF);
Zbyszek 5:155d224d855c 283 Eangles = eulerA(CF);
Zbyszek 4:e36c7042d3bb 284 //Quaternion-Gyro-Integration--------------------------------------------------------------
Zbyszek 4:e36c7042d3bb 285
Zbyszek 4:e36c7042d3bb 286
Zbyszek 4:e36c7042d3bb 287 //Angle-Calculations-Based-on-Accalerometer------------------------------------------------
Zbyszek 4:e36c7042d3bb 288 //https://www.dfrobot.com/wiki/index.php/How_to_Use_a_Three-Axis_Accelerometer_for_Tilt_Sensing
Zbyszek 4:e36c7042d3bb 289
Zbyszek 5:155d224d855c 290 accelTilt.x = (atan2f(AccelVals.y, AccelVals.z) * 57.29577951f);
Zbyszek 5:155d224d855c 291 accelTilt.y = (atan2f((-AccelVals.x), sqrt(pow(AccelVals.y, 2) + pow(AccelVals.z, 2) )) * 57.29577951f);
Zbyszek 5:155d224d855c 292 //pc.printf("%+6f, %+6f ", accelTilt.x, accelTilt.y);
Zbyszek 4:e36c7042d3bb 293 //Canntot calculate accel tilt for Z. Gyro date in combination with magnetometer have to be used to obtain reliable z-axis tilt.
Zbyszek 5:155d224d855c 294 //Angle-Calculations-Based-on-Accalerometer------------------------------------------------
Zbyszek 5:155d224d855c 295 //pc.printf("%+6f, %+6f, %+6f ", CF.x, CF.y, CF.z);
Zbyszek 5:155d224d855c 296
Zbyszek 5:155d224d855c 297
Zbyszek 5:155d224d855c 298 //Complementary-Filter---------------------------------------------------------------------
Zbyszek 5:155d224d855c 299 CF.x = 0.98f*(Eangles.x) + 0.02f*accelTilt.x;
Zbyszek 5:155d224d855c 300 CF.y = 0.98f*(Eangles.y) + 0.02f*accelTilt.y;
Zbyszek 5:155d224d855c 301 CF.z = 0.98f*(Eangles.z) + 0.02f*accelTilt.z;
Zbyszek 5:155d224d855c 302
Zbyszek 5:155d224d855c 303 //CF.x = 0.98f*(CF.x + intGyro.x) + 0.02f*accelTilt.x;
Zbyszek 5:155d224d855c 304 //CF.y = 0.98f*(CF.y + intGyro.y) + 0.02f*accelTilt.y;
Zbyszek 5:155d224d855c 305 //CF.z = 0.98f*(CF.z + intGyro.z) + 0.02f*accelTilt.z;
Zbyszek 5:155d224d855c 306 //Complementary-Filter---------------------------------------------------------------------
Zbyszek 4:e36c7042d3bb 307
Zbyszek 4:e36c7042d3bb 308 //Add the correction to gyro readings and update the quaternion------------------------
Zbyszek 4:e36c7042d3bb 309 //pc.printf("%+6f, %+6f, %+6f %+6f\n\r ", xx, yy, zz, dTime);
Zbyszek 5:155d224d855c 310 //pc.printf("%+6f, %+6f, %+6f, %+6f, %+6f, %+6f, %+6f\n\r ", gyroQ.w, gyroQ.x, gyroQ.y, gyroQ.z, CF.x, CF.y, Eangles.z);
Zbyszek 5:155d224d855c 311 //pc.printf("%+6f, %+6f, %+6f ", CF.x, CF.y, CF.z);
Zbyszek 5:155d224d855c 312 CF.x *= 0.0174533f;
Zbyszek 5:155d224d855c 313 CF.y *= 0.0174533f;
Zbyszek 5:155d224d855c 314 CF.z *= 0.0174533f;
Zbyszek 5:155d224d855c 315 CF = euler2Quaternion(CF);
Zbyszek 5:155d224d855c 316 CF = normaliseQuaternion(CF);
Zbyszek 4:e36c7042d3bb 317 //pc.printf("%+6f, %+6f, %+6f\n\r ",Eangles.x, Eangles.y, Eangles.z);
Zbyszek 5:155d224d855c 318 pc.printf("Accel X: %+6f, Accel Y: %+6f, Accel Z: %+6f, Gyro X: %+6f, Gyro Y: %+6f, Gyro Z: %+6f\n\r", faccelX, faccelY, faccelZ, fgyroX, fgyroY, fgyroZ);
Zbyszek 3:e33697420c4a 319
Zbyszek 3:e33697420c4a 320 }//void ProcessAndPrint()
Zbyszek 3:e33697420c4a 321
Zbyszek 4:e36c7042d3bb 322
Zbyszek 4:e36c7042d3bb 323
Zbyszek 5:155d224d855c 324 void calibrateOffset() {
Zbyszek 5:155d224d855c 325
Zbyszek 5:155d224d855c 326 int16_t MSB = 0; //Store Most Significant Byte of data piece in this variable for processing
Zbyszek 5:155d224d855c 327 int16_t LSB = 0; //Store Least Significant Byte of data piece in this variable for processing
Zbyszek 5:155d224d855c 328 char arrPointer = 0; //Array Pointer
Zbyszek 5:155d224d855c 329
Zbyszek 5:155d224d855c 330 //-----------Concatentated-Data-Pieces------------------------------------------
Zbyszek 5:155d224d855c 331 int16_t gyroX = 0;
Zbyszek 5:155d224d855c 332 int16_t gyroY = 0;
Zbyszek 5:155d224d855c 333 int16_t gyroZ = 0;
Zbyszek 5:155d224d855c 334
Zbyszek 5:155d224d855c 335 int16_t accelX = 0;
Zbyszek 5:155d224d855c 336 int16_t accelY = 0;
Zbyszek 5:155d224d855c 337 int16_t accelZ = 0;
Zbyszek 5:155d224d855c 338
Zbyszek 5:155d224d855c 339 vector accelRaw;
Zbyszek 5:155d224d855c 340 vector accelG;
Zbyszek 5:155d224d855c 341 vector gyroRaw;
Zbyszek 5:155d224d855c 342 vector gyroDPS;
Zbyszek 5:155d224d855c 343
Zbyszek 5:155d224d855c 344 static unsigned int sampleCounter = 1;
Zbyszek 5:155d224d855c 345 static vector accelRawAvg;
Zbyszek 5:155d224d855c 346 static vector accelGAvg;
Zbyszek 5:155d224d855c 347 static vector gyroRawAvg;
Zbyszek 5:155d224d855c 348 static vector gyroDPSAvg;
Zbyszek 5:155d224d855c 349
Zbyszek 5:155d224d855c 350
Zbyszek 5:155d224d855c 351 for(char x = 0; x <= 5; x++) {
Zbyszek 5:155d224d855c 352 MSB = IMUarray[arrPointer]; //Odd data pieces are MSBs
Zbyszek 5:155d224d855c 353 MSB &= ~(255<<8); //Mask the MSB bits as they are not part of data
Zbyszek 5:155d224d855c 354 MSB = MSB << 8; //Shift the Value as its the MSB of the data piece
Zbyszek 5:155d224d855c 355 arrPointer++; //Increment array pointer
Zbyszek 5:155d224d855c 356 LSB = IMUarray[arrPointer]; //Even data pieces are LSBs
Zbyszek 5:155d224d855c 357 LSB &= ~(255 << 8); //Mask the MSB bits as they are not part of data
Zbyszek 5:155d224d855c 358 arrPointer++; //Increment array pointer
Zbyszek 5:155d224d855c 359
Zbyszek 5:155d224d855c 360 switch(x) {
Zbyszek 5:155d224d855c 361 case 0:
Zbyszek 5:155d224d855c 362 accelX = MSB + LSB; //Combine Accelerometer x-axis data
Zbyszek 5:155d224d855c 363 accelRaw.x = (double)accelX; //accelRaw
Zbyszek 5:155d224d855c 364 accelG.x = (double)accelX * 0.00006103515625f; //accelSSF
Zbyszek 5:155d224d855c 365
Zbyszek 5:155d224d855c 366 break;
Zbyszek 5:155d224d855c 367 case 1:
Zbyszek 5:155d224d855c 368 accelY = MSB + LSB; //Combine Accelerometer y-axis data
Zbyszek 5:155d224d855c 369 accelRaw.y = (double)accelY;
Zbyszek 5:155d224d855c 370 accelG.y = (double)accelY * 0.00006103515625f;
Zbyszek 5:155d224d855c 371 break;
Zbyszek 5:155d224d855c 372 case 2:
Zbyszek 5:155d224d855c 373 accelZ = MSB + LSB; //Combine Accelerometer z-axis data
Zbyszek 5:155d224d855c 374 accelRaw.z = (double)accelZ;
Zbyszek 5:155d224d855c 375 accelG.z = (double)accelZ * 0.00006103515625f;
Zbyszek 5:155d224d855c 376 break;
Zbyszek 5:155d224d855c 377 case 3:
Zbyszek 5:155d224d855c 378 gyroX = MSB + LSB; //Combine Gyroscope x-axis data
Zbyszek 5:155d224d855c 379 gyroRaw.x = (double)gyroX; //gyroRaw
Zbyszek 5:155d224d855c 380 gyroDPS.x = (double)gyroX * SSF; //gyroSSF
Zbyszek 5:155d224d855c 381
Zbyszek 5:155d224d855c 382 break;
Zbyszek 5:155d224d855c 383 case 4:
Zbyszek 5:155d224d855c 384 gyroY = MSB + LSB; //Combine Gyroscope y-axis data
Zbyszek 5:155d224d855c 385 gyroRaw.y = (double)gyroY;
Zbyszek 5:155d224d855c 386 gyroDPS.y = (double)gyroY * SSF;
Zbyszek 4:e36c7042d3bb 387
Zbyszek 5:155d224d855c 388 break;
Zbyszek 5:155d224d855c 389 case 5:
Zbyszek 5:155d224d855c 390 gyroZ = MSB + LSB; //Combine Gyroscope z-axis data
Zbyszek 5:155d224d855c 391 gyroRaw.z = (double)gyroZ;
Zbyszek 5:155d224d855c 392 gyroDPS.z = (double)gyroZ * SSF;
Zbyszek 5:155d224d855c 393 break;
Zbyszek 5:155d224d855c 394 default:
Zbyszek 5:155d224d855c 395 break;
Zbyszek 5:155d224d855c 396 }//switch(x)
Zbyszek 5:155d224d855c 397 }//for(char x = 0; x <= 5; x++)
Zbyszek 5:155d224d855c 398
Zbyszek 5:155d224d855c 399 //Take-Running-Averages------------------------------------------------------------------------
Zbyszek 5:155d224d855c 400 //Raw accel averages
Zbyszek 5:155d224d855c 401 accelRawAvg.x = accelRawAvg.x + ((accelRaw.x - accelRawAvg.x)/sampleCounter);
Zbyszek 5:155d224d855c 402 accelRawAvg.y = accelRawAvg.y + ((accelRaw.y - accelRawAvg.y)/sampleCounter);
Zbyszek 5:155d224d855c 403 accelRawAvg.z = accelRawAvg.z + ((accelRaw.z - accelRawAvg.z)/sampleCounter);
Zbyszek 5:155d224d855c 404
Zbyszek 5:155d224d855c 405 //SSF accel averages
Zbyszek 5:155d224d855c 406 accelGAvg.x = accelGAvg.x + ((accelG.x - accelGAvg.x)/sampleCounter);
Zbyszek 5:155d224d855c 407 accelGAvg.y = accelGAvg.y + ((accelG.y - accelGAvg.y)/sampleCounter);
Zbyszek 5:155d224d855c 408 accelGAvg.z = accelGAvg.z + ((accelG.z - accelGAvg.z)/sampleCounter);
Zbyszek 5:155d224d855c 409
Zbyszek 5:155d224d855c 410 //Raw gyroo averages
Zbyszek 5:155d224d855c 411 gyroRawAvg.x = gyroRawAvg.x + ((gyroRaw.x - gyroRawAvg.x)/sampleCounter);
Zbyszek 5:155d224d855c 412 gyroRawAvg.y = gyroRawAvg.y + ((gyroRaw.y - gyroRawAvg.y)/sampleCounter);
Zbyszek 5:155d224d855c 413 gyroRawAvg.z = gyroRawAvg.z + ((gyroRaw.z - gyroRawAvg.z)/sampleCounter);
Zbyszek 5:155d224d855c 414
Zbyszek 5:155d224d855c 415 //SSF gyro averages
Zbyszek 5:155d224d855c 416 gyroDPSAvg.x = gyroDPSAvg.x + ((gyroDPS.x - gyroDPSAvg.x)/sampleCounter);
Zbyszek 5:155d224d855c 417 gyroDPSAvg.y = gyroDPSAvg.y + ((gyroDPS.y - gyroDPSAvg.y)/sampleCounter);
Zbyszek 5:155d224d855c 418 gyroDPSAvg.z = gyroDPSAvg.z + ((gyroDPS.z - gyroDPSAvg.z)/sampleCounter);
Zbyszek 5:155d224d855c 419 //Take-Running-Averages------------------------------------------------------------------------
Zbyszek 4:e36c7042d3bb 420
Zbyszek 5:155d224d855c 421 //Print Messages-------------------------------------------------------------------------------
Zbyszek 5:155d224d855c 422 if(sampleCounter == 1) {
Zbyszek 5:155d224d855c 423 pc.printf("Collecting Raw and Sensitivity Scale Factor multiplied Gyroscope and Accelerometer Offsets...\n\r");
Zbyszek 5:155d224d855c 424 };
Zbyszek 5:155d224d855c 425
Zbyszek 5:155d224d855c 426
Zbyszek 5:155d224d855c 427 if(sampleCounter == 5000) {
Zbyszek 5:155d224d855c 428 pc.printf("RawAX RawAY RawAZ RawGX RawGY RawGZ SampleN\n\r");
Zbyszek 5:155d224d855c 429 pc.printf("%+-6.2f %+-6.2f %+-6.2f %+-6.2f %+-6.2f %+-6.2f %-10d\n\r", accelRawAvg.x, accelRawAvg.y, accelRawAvg.z, gyroRawAvg.x, gyroRawAvg.y, gyroRawAvg.z, sampleCounter);
Zbyszek 5:155d224d855c 430 pc.printf("\n\r");
Zbyszek 5:155d224d855c 431 pc.printf("\n\r");
Zbyszek 5:155d224d855c 432 pc.printf("\n\r");
Zbyszek 5:155d224d855c 433
Zbyszek 5:155d224d855c 434 //Add the sensitivity scale factor multiplied data
Zbyszek 5:155d224d855c 435 pc.printf("SSFAX SSFAY SSFAZ SSFGX SSFGY SSFGZ SampleN\n\r");
Zbyszek 5:155d224d855c 436 pc.printf("%+-6.2f %+-6.2f %+-6.2f %+-6.2f %+-6.2f %+-6.2f %-10d\n\r", accelGAvg.x, accelGAvg.y, accelGAvg.z, gyroDPSAvg.x, gyroDPSAvg.y, gyroDPSAvg.z, sampleCounter);
Zbyszek 5:155d224d855c 437
Zbyszek 5:155d224d855c 438 };
Zbyszek 5:155d224d855c 439 sampleCounter++;
Zbyszek 5:155d224d855c 440 //Print Messages-------------------------------------------------------------------------------
Zbyszek 5:155d224d855c 441 }
Zbyszek 4:e36c7042d3bb 442
Zbyszek 4:e36c7042d3bb 443
Zbyszek 4:e36c7042d3bb 444
Zbyszek 4:e36c7042d3bb 445
Zbyszek 4:e36c7042d3bb 446
Zbyszek 4:e36c7042d3bb 447
Zbyszek 4:e36c7042d3bb 448
Zbyszek 4:e36c7042d3bb 449
Zbyszek 4:e36c7042d3bb 450 //------------------------------------------Artifacts----------------------------------------
Zbyszek 4:e36c7042d3bb 451
Zbyszek 4:e36c7042d3bb 452 //----------------------Insert Whole---------------------------------------------------
Zbyszek 4:e36c7042d3bb 453 //Rotate the accel data Global reference frame by qvq*---------------------------------
Zbyszek 4:e36c7042d3bb 454 //globalAccel = rotateGlobal(AccelVals, gyroQ);
Zbyszek 4:e36c7042d3bb 455 //Rotate the accel data Global reference frame by qvq*---------------------------------
Zbyszek 4:e36c7042d3bb 456
Zbyszek 4:e36c7042d3bb 457 //get the correction values and rotate back to IMU reference---------------------------
Zbyszek 4:e36c7042d3bb 458 // correctionGlobalAccel = crossProduct(globalAccel, vertical);
Zbyszek 4:e36c7042d3bb 459 // correctionBodyAccel = rotateLocal(correctionGlobalAccel, gyroQ);
Zbyszek 4:e36c7042d3bb 460 //get the correction values and rotate back to IMU reference---------------------------
Zbyszek 4:e36c7042d3bb 461
Zbyszek 4:e36c7042d3bb 462 //Add the correction to gyro readings and update the quaternion------------------------
Zbyszek 4:e36c7042d3bb 463 //GyroVals = sumVector(GyroVals, correctionBodyAccel);
Zbyszek 4:e36c7042d3bb 464 //incRot = toQuaternionNotation123(GyroVals, dTime);
Zbyszek 4:e36c7042d3bb 465 //gyroQ = getQuaternionProduct(gyroQ, incRot);
Zbyszek 4:e36c7042d3bb 466 //gyroQ = normaliseQuaternion(gyroQ);
Zbyszek 4:e36c7042d3bb 467 //----------------------Insert Whole---------------------------------------------------
Zbyszek 4:e36c7042d3bb 468
Zbyszek 4:e36c7042d3bb 469 //------------------------------------------Artifacts----------------------------------------