Zbigniew Druzbacki / Mbed 2 deprecated SPI_Slave

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

Dependencies:   mbed

main.cpp@6:0ebecfecadc9, 2019-02-26 (annotated)

Committer:
Zbyszek
Date:
Tue Feb 26 01:22:53 2019 +0000
Revision:
6:0ebecfecadc9
Parent:
5:155d224d855c
Child:
7:0e9af5986488
Placing Code into class to make program tidy and prepare it for multiple IMUs

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 6:0ebecfecadc9 3 #include "IMUs.h"
Zbyszek 6:0ebecfecadc9 4 #include "Structures.h"
Zbyszek 4:e36c7042d3bb 5 #include "Quaternions.h"
Zbyszek 0:8e367d6d8f03 6 DigitalOut myled(LED1);
Zbyszek 0:8e367d6d8f03 7 Serial pc(USBTX, USBRX);
Zbyszek 0:8e367d6d8f03 8
Zbyszek 0:8e367d6d8f03 9 int masterRx = 0;
Zbyszek 3:e33697420c4a 10 int16_t slaveRx = 0;
Zbyszek 3:e33697420c4a 11 int i = 2;
Zbyszek 3:e33697420c4a 12 int k = 0;
Zbyszek 3:e33697420c4a 13 int16_t zgHigher = 0;
Zbyszek 3:e33697420c4a 14 int16_t zgLower = 0;
Zbyszek 3:e33697420c4a 15 int16_t zGyro = 0;
Zbyszek 3:e33697420c4a 16 int countx = 0;
Zbyszek 3:e33697420c4a 17 int p = 32776;
Zbyszek 6:0ebecfecadc9 18 double const SSF = 0.06097560975609756097560975609756f; //FSEL = 0: 0.00763358778625954198473282442748, FSEL = 3: 0.06097560975609756097560975609756f
Zbyszek 6:0ebecfecadc9 19
Zbyszek 6:0ebecfecadc9 20 int OffsetX = 254;
Zbyszek 6:0ebecfecadc9 21 int OffsetY = -14;
Zbyszek 6:0ebecfecadc9 22 int OffsetZ = 81;
Zbyszek 6:0ebecfecadc9 23
Zbyszek 6:0ebecfecadc9 24 int OffsetXA = -306;
Zbyszek 6:0ebecfecadc9 25 int OffsetYA = -131;
Zbyszek 6:0ebecfecadc9 26 int OffsetZA = -531;
Zbyszek 6:0ebecfecadc9 27
Zbyszek 6:0ebecfecadc9 28 IMU IMU0 (0, -306.0f, -131.0f, -351.0f, 254.0f, -14.0f, 81.0f, 0, 3);
Zbyszek 6:0ebecfecadc9 29
Zbyszek 3:e33697420c4a 30
Zbyszek 4:e36c7042d3bb 31 Timer t;
Zbyszek 4:e36c7042d3bb 32 float dTime = 0.0f;
Zbyszek 4:e36c7042d3bb 33
Zbyszek 4:e36c7042d3bb 34 vector vertical;
Zbyszek 4:e36c7042d3bb 35 vector globalAccel;
Zbyszek 4:e36c7042d3bb 36 vector correctionGlobalAccel;
Zbyszek 4:e36c7042d3bb 37 vector correctionBodyAccel;
Zbyszek 4:e36c7042d3bb 38 Quaternion gyroQ;
Zbyszek 4:e36c7042d3bb 39 vector Eangles;
Zbyszek 5:155d224d855c 40 Quaternion CF;
Zbyszek 5:155d224d855c 41 vector intGyro;
Zbyszek 5:155d224d855c 42 vector GyroVals;
Zbyszek 5:155d224d855c 43 vector AccelVals;
Zbyszek 5:155d224d855c 44 vector accelTilt;
Zbyszek 5:155d224d855c 45 Quaternion accelQ;
Zbyszek 5:155d224d855c 46
Zbyszek 5:155d224d855c 47 void calibrateOffset();
Zbyszek 4:e36c7042d3bb 48
Zbyszek 4:e36c7042d3bb 49
Zbyszek 4:e36c7042d3bb 50 float xx;
Zbyszek 4:e36c7042d3bb 51 float yy;
Zbyszek 4:e36c7042d3bb 52 float zz;
Zbyszek 4:e36c7042d3bb 53
Zbyszek 4:e36c7042d3bb 54
Zbyszek 3:e33697420c4a 55
Zbyszek 3:e33697420c4a 56 /*
Zbyszek 3:e33697420c4a 57
Zbyszek 3:e33697420c4a 58 */
Zbyszek 3:e33697420c4a 59 //------------------Printing-All-values----------------------//
Zbyszek 3:e33697420c4a 60 int16_t IMUarray[12]; //Store each separate reading in an array
Zbyszek 3:e33697420c4a 61 uint16_t IDarray[12]; //Holds the identification of each data piece
Zbyszek 3:e33697420c4a 62 char idx = 0; //IMUarray Pointer
Zbyszek 3:e33697420c4a 63 char dataCount = 0; //Keeps track of how many data points have been read in using SPI
Zbyszek 3:e33697420c4a 64 uint16_t id = 0; //Used to store extracted data ID
Zbyszek 3:e33697420c4a 65
Zbyszek 3:e33697420c4a 66 void ProcessAndPrint();
Zbyszek 3:e33697420c4a 67 //------------------Printing-All-values----------------------//
Zbyszek 3:e33697420c4a 68
Zbyszek 4:e36c7042d3bb 69 //-------------Testing-Variables-Remove-Later----------------//
Zbyszek 4:e36c7042d3bb 70 int blinkCounter = 0;
Zbyszek 4:e36c7042d3bb 71 //-------------Testing-Variables-Remove-Later----------------//
Zbyszek 0:8e367d6d8f03 72
Zbyszek 0:8e367d6d8f03 73 int main() {
Zbyszek 4:e36c7042d3bb 74 pc.baud (115200);
Zbyszek 3:e33697420c4a 75 IDarray[0] = 1;
Zbyszek 3:e33697420c4a 76 IDarray[1] = 0;
Zbyszek 3:e33697420c4a 77 IDarray[2] = 9;
Zbyszek 3:e33697420c4a 78 IDarray[3] = 8;
Zbyszek 3:e33697420c4a 79 IDarray[4] = 17;
Zbyszek 3:e33697420c4a 80 IDarray[5] = 16;
Zbyszek 3:e33697420c4a 81 IDarray[6] = 3;
Zbyszek 4:e36c7042d3bb 82 IDarray[7] = 2; //2
Zbyszek 3:e33697420c4a 83 IDarray[8] = 11;
Zbyszek 3:e33697420c4a 84 IDarray[9] = 10;
Zbyszek 3:e33697420c4a 85 IDarray[10] = 19;
Zbyszek 3:e33697420c4a 86 IDarray[11] = 18;
Zbyszek 3:e33697420c4a 87
Zbyszek 4:e36c7042d3bb 88 init_spi1();
Zbyszek 4:e36c7042d3bb 89 t.start();
Zbyszek 3:e33697420c4a 90
Zbyszek 4:e36c7042d3bb 91 gyroQ.w = 1;
Zbyszek 4:e36c7042d3bb 92 gyroQ.x = 0.0001;
Zbyszek 4:e36c7042d3bb 93 gyroQ.y = 0.0001;
Zbyszek 4:e36c7042d3bb 94 gyroQ.z = 0.0001;
Zbyszek 4:e36c7042d3bb 95
Zbyszek 5:155d224d855c 96 CF.w = 1;
Zbyszek 5:155d224d855c 97 CF.x = 0.0001;
Zbyszek 5:155d224d855c 98 CF.y = 0.0001;
Zbyszek 5:155d224d855c 99 CF.z = 0.0001;
Zbyszek 4:e36c7042d3bb 100
Zbyszek 4:e36c7042d3bb 101
Zbyszek 4:e36c7042d3bb 102 gyroQ = normaliseQuaternion(gyroQ);
Zbyszek 5:155d224d855c 103 CF = normaliseQuaternion(CF);
Zbyszek 4:e36c7042d3bb 104
Zbyszek 4:e36c7042d3bb 105 vertical.x = 0.0f;
Zbyszek 4:e36c7042d3bb 106 vertical.y = 0.0f;
Zbyszek 4:e36c7042d3bb 107 vertical.z = 1.0f;
Zbyszek 4:e36c7042d3bb 108
Zbyszek 3:e33697420c4a 109 pc.printf("Begin \n\r");
Zbyszek 0:8e367d6d8f03 110
Zbyszek 0:8e367d6d8f03 111 while(1) {
Zbyszek 3:e33697420c4a 112 if(i == 1) {
Zbyszek 0:8e367d6d8f03 113 for(int x = 1; x < 128; x *= 2) {
Zbyszek 0:8e367d6d8f03 114 slaveRx = transfer_spi_slave(x);
Zbyszek 3:e33697420c4a 115 //pc.putc(slaveRx);
Zbyszek 3:e33697420c4a 116 pc.printf("%d \n\r",slaveRx);
Zbyszek 0:8e367d6d8f03 117 }
Zbyszek 0:8e367d6d8f03 118 for(int x = 128; x > 1; x /= 2) {
Zbyszek 0:8e367d6d8f03 119 slaveRx = transfer_spi_slave(x);
Zbyszek 3:e33697420c4a 120 //pc.putc(slaveRx);
Zbyszek 3:e33697420c4a 121 pc.printf("%d \n\r",slaveRx);
Zbyszek 2:4cc880ea466d 122 }
Zbyszek 3:e33697420c4a 123 }//if(i == 1)
Zbyszek 3:e33697420c4a 124
Zbyszek 3:e33697420c4a 125
Zbyszek 3:e33697420c4a 126
Zbyszek 3:e33697420c4a 127 //------------------------------------------------------------------------------
Zbyszek 3:e33697420c4a 128 if(i == 0) {
Zbyszek 3:e33697420c4a 129 slaveRx = transfer_spi_slave(10);
Zbyszek 3:e33697420c4a 130 countx++;
Zbyszek 3:e33697420c4a 131 if(countx == 1) {
Zbyszek 3:e33697420c4a 132 k = slaveRx;
Zbyszek 3:e33697420c4a 133 k &= ~(255 << 8);
Zbyszek 3:e33697420c4a 134 k = k << 8;
Zbyszek 3:e33697420c4a 135 // if(k == 19) {
Zbyszek 3:e33697420c4a 136 zgHigher = k;
Zbyszek 3:e33697420c4a 137 //zgHigher = zgHigher << 8;
Zbyszek 3:e33697420c4a 138 //}//if(k == 19)
Zbyszek 3:e33697420c4a 139 }//if(count == 11)
Zbyszek 3:e33697420c4a 140
Zbyszek 3:e33697420c4a 141
Zbyszek 3:e33697420c4a 142 else if(countx == 2) {
Zbyszek 3:e33697420c4a 143 k = slaveRx;
Zbyszek 3:e33697420c4a 144 k &= ~(255 << 8);
Zbyszek 3:e33697420c4a 145 //k = k << 8;
Zbyszek 3:e33697420c4a 146 //if(k == 18) {
Zbyszek 3:e33697420c4a 147 zgLower = k;
Zbyszek 3:e33697420c4a 148 //zgLower = zgLower << 8;
Zbyszek 3:e33697420c4a 149 zGyro = zgHigher + zgLower;
Zbyszek 3:e33697420c4a 150 pc.printf("%+d \n\r",zGyro);
Zbyszek 3:e33697420c4a 151 //}//if(k == 19)
Zbyszek 3:e33697420c4a 152 countx = 0;
Zbyszek 3:e33697420c4a 153 }//else if(count == 12)
Zbyszek 3:e33697420c4a 154
Zbyszek 3:e33697420c4a 155 }//if(i == 0)
Zbyszek 3:e33697420c4a 156 //------------------------------------------------------------------------------
Zbyszek 3:e33697420c4a 157
Zbyszek 3:e33697420c4a 158 if(i == 2) {
Zbyszek 4:e36c7042d3bb 159 slaveRx = transfer_spi_slave(10); //get IMU data
Zbyszek 4:e36c7042d3bb 160
Zbyszek 4:e36c7042d3bb 161
Zbyszek 4:e36c7042d3bb 162 id = slaveRx; //Save sample to id for id extraction
Zbyszek 4:e36c7042d3bb 163 id &= ~(255); //get rid of the actual data to only be left with the id
Zbyszek 4:e36c7042d3bb 164 id = id >> 8; //shift the id to the right for comparison
Zbyszek 4:e36c7042d3bb 165
Zbyszek 4:e36c7042d3bb 166 //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 167
Zbyszek 4:e36c7042d3bb 168 if(IDarray[dataCount] == id) { //compare if the order of data is right and if not wait until it is.
Zbyszek 4:e36c7042d3bb 169 dataCount++; //Increase dataCount as new value has been read in.
Zbyszek 4:e36c7042d3bb 170 IMUarray[idx] = slaveRx; //save the newly read value to current free space in the array
Zbyszek 4:e36c7042d3bb 171 idx++; //increment the pointer to point to next free space in the array
Zbyszek 3:e33697420c4a 172
Zbyszek 3:e33697420c4a 173 if(dataCount == 12) {
Zbyszek 3:e33697420c4a 174 //reset idx and dataCount
Zbyszek 3:e33697420c4a 175 dataCount = 0;
Zbyszek 3:e33697420c4a 176 idx = 0;
Zbyszek 6:0ebecfecadc9 177 //ProcessAndPrint();
Zbyszek 6:0ebecfecadc9 178 //calibrateOffset();
Zbyszek 6:0ebecfecadc9 179 IMU0.concatenateData(IMUarray);
Zbyszek 6:0ebecfecadc9 180
Zbyszek 4:e36c7042d3bb 181 t.stop();
Zbyszek 4:e36c7042d3bb 182 dTime = t.read();
Zbyszek 4:e36c7042d3bb 183 t.reset();
Zbyszek 4:e36c7042d3bb 184 t.start();
Zbyszek 3:e33697420c4a 185 }//if(dataCount == 12)
Zbyszek 3:e33697420c4a 186 }//if(IDarray[dataCount] == id)
Zbyszek 4:e36c7042d3bb 187 else {
Zbyszek 4:e36c7042d3bb 188 //-----Code-Used-For-Testing-----//
Zbyszek 4:e36c7042d3bb 189 //pc.printf("Failed at: %d \n\r", dataCount); //Print an error if there is one
Zbyszek 4:e36c7042d3bb 190 if(blinkCounter == 10) { //Slow the blinking down to make it visible if there are errors
Zbyszek 4:e36c7042d3bb 191 myled = !myled; //Change state of the LED if error occurs
Zbyszek 4:e36c7042d3bb 192 blinkCounter = 0; //Reset Blink counter
Zbyszek 4:e36c7042d3bb 193 }
Zbyszek 4:e36c7042d3bb 194 else {
Zbyszek 4:e36c7042d3bb 195 blinkCounter++;
Zbyszek 4:e36c7042d3bb 196 }
Zbyszek 4:e36c7042d3bb 197 //-----Code-Used-For-Testing-----//
Zbyszek 4:e36c7042d3bb 198
Zbyszek 4:e36c7042d3bb 199 dataCount = 0; //ID sequence is worng so reset the counter
Zbyszek 4:e36c7042d3bb 200 idx = 0; //ID sequence is worng so reset the counter
Zbyszek 4:e36c7042d3bb 201 }
Zbyszek 3:e33697420c4a 202 }//if(i == 2)
Zbyszek 3:e33697420c4a 203
Zbyszek 3:e33697420c4a 204
Zbyszek 3:e33697420c4a 205
Zbyszek 0:8e367d6d8f03 206 }
Zbyszek 0:8e367d6d8f03 207 }
Zbyszek 3:e33697420c4a 208
Zbyszek 3:e33697420c4a 209
Zbyszek 3:e33697420c4a 210
Zbyszek 4:e36c7042d3bb 211
Zbyszek 4:e36c7042d3bb 212 /*
Zbyszek 4:e36c7042d3bb 213 -The purpose of this function
Zbyszek 4:e36c7042d3bb 214 */
Zbyszek 3:e33697420c4a 215 void ProcessAndPrint() {
Zbyszek 3:e33697420c4a 216 int16_t MSB = 0; //Store Most Significant Byte of data piece in this variable for processing
Zbyszek 3:e33697420c4a 217 int16_t LSB = 0; //Store Least Significant Byte of data piece in this variable for processing
Zbyszek 3:e33697420c4a 218 char arrPointer = 0; //Array Pointer
Zbyszek 4:e36c7042d3bb 219
Zbyszek 3:e33697420c4a 220 //-----------Concatentated-Data-Pieces------------------------------------------
Zbyszek 3:e33697420c4a 221 int16_t gyroX = 0;
Zbyszek 3:e33697420c4a 222 int16_t gyroY = 0;
Zbyszek 3:e33697420c4a 223 int16_t gyroZ = 0;
Zbyszek 3:e33697420c4a 224
Zbyszek 3:e33697420c4a 225 int16_t accelX = 0;
Zbyszek 3:e33697420c4a 226 int16_t accelY = 0;
Zbyszek 3:e33697420c4a 227 int16_t accelZ = 0;
Zbyszek 4:e36c7042d3bb 228
Zbyszek 4:e36c7042d3bb 229 float faccelX = 0.0f;
Zbyszek 4:e36c7042d3bb 230 float faccelY = 0.0f;
Zbyszek 4:e36c7042d3bb 231 float faccelZ = 0.0f;
Zbyszek 4:e36c7042d3bb 232
Zbyszek 4:e36c7042d3bb 233 float fgyroX = 0.0f;
Zbyszek 4:e36c7042d3bb 234 float fgyroY = 0.0f;
Zbyszek 4:e36c7042d3bb 235 float fgyroZ = 0.0f;
Zbyszek 4:e36c7042d3bb 236
Zbyszek 3:e33697420c4a 237 //-----------Concatentated-Data-Pieces------------------------------------------
Zbyszek 3:e33697420c4a 238 for(char x = 0; x <= 5; x++) {
Zbyszek 4:e36c7042d3bb 239 MSB = IMUarray[arrPointer]; //Odd data pieces are MSBs
Zbyszek 4:e36c7042d3bb 240 MSB &= ~(255<<8); //Mask the MSB bits as they are not part of data
Zbyszek 4:e36c7042d3bb 241 MSB = MSB << 8; //Shift the Value as its the MSB of the data piece
Zbyszek 4:e36c7042d3bb 242 arrPointer++; //Increment array pointer
Zbyszek 4:e36c7042d3bb 243 LSB = IMUarray[arrPointer]; //Even data pieces are LSBs
Zbyszek 4:e36c7042d3bb 244 LSB &= ~(255 << 8); //Mask the MSB bits as they are not part of data
Zbyszek 4:e36c7042d3bb 245 arrPointer++; //Increment array pointer
Zbyszek 3:e33697420c4a 246
Zbyszek 3:e33697420c4a 247 switch(x) {
Zbyszek 3:e33697420c4a 248 case 0:
Zbyszek 6:0ebecfecadc9 249 accelX = (MSB + LSB) + OffsetXA; //Combine Accelerometer x-axis data
Zbyszek 4:e36c7042d3bb 250 faccelX = (float)accelX * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
Zbyszek 3:e33697420c4a 251 break;
Zbyszek 3:e33697420c4a 252 case 1:
Zbyszek 6:0ebecfecadc9 253 accelY = (MSB + LSB) + OffsetYA; //Combine Accelerometer y-axis data
Zbyszek 4:e36c7042d3bb 254 faccelY = (float)accelY * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
Zbyszek 3:e33697420c4a 255 break;
Zbyszek 3:e33697420c4a 256 case 2:
Zbyszek 6:0ebecfecadc9 257 accelZ = (MSB + LSB) + OffsetZA; //Combine Accelerometer z-axis data
Zbyszek 4:e36c7042d3bb 258 faccelZ = (float)accelZ * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
Zbyszek 3:e33697420c4a 259 break;
Zbyszek 3:e33697420c4a 260 case 3:
Zbyszek 6:0ebecfecadc9 261 gyroX = (MSB + LSB) + OffsetX; //Combine Gyroscope x-axis data
Zbyszek 5:155d224d855c 262 fgyroX = (float)gyroX * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
Zbyszek 4:e36c7042d3bb 263
Zbyszek 3:e33697420c4a 264 break;
Zbyszek 3:e33697420c4a 265 case 4:
Zbyszek 6:0ebecfecadc9 266 gyroY = (MSB + LSB) + OffsetY; //Combine Gyroscope y-axis data
Zbyszek 5:155d224d855c 267 fgyroY = (float)gyroY * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
Zbyszek 4:e36c7042d3bb 268
Zbyszek 3:e33697420c4a 269 break;
Zbyszek 3:e33697420c4a 270 case 5:
Zbyszek 6:0ebecfecadc9 271 gyroZ = (MSB + LSB) + OffsetZ; //Combine Gyroscope z-axis data
Zbyszek 5:155d224d855c 272 fgyroZ = (float)gyroZ * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
Zbyszek 3:e33697420c4a 273 break;
Zbyszek 3:e33697420c4a 274 default:
Zbyszek 3:e33697420c4a 275 break;
Zbyszek 3:e33697420c4a 276 }//switch(x)
Zbyszek 3:e33697420c4a 277 }//for(char x = 0; x <= 5; x++)
Zbyszek 4:e36c7042d3bb 278
Zbyszek 4:e36c7042d3bb 279 //Quaternion-Gyro-Integration--------------------------------------------------------------
Zbyszek 4:e36c7042d3bb 280 //Get the Gyro and Accel values--------------------------------------------------------
Zbyszek 4:e36c7042d3bb 281 //Convert these vales to radians per second and store them in the vector
Zbyszek 6:0ebecfecadc9 282 GyroVals.x = fgyroX * 0.0174533f;
Zbyszek 6:0ebecfecadc9 283 GyroVals.y = fgyroY * 0.0174533f;
Zbyszek 6:0ebecfecadc9 284 GyroVals.z = fgyroZ * 0.0174533f;
Zbyszek 4:e36c7042d3bb 285
Zbyszek 5:155d224d855c 286 intGyro.x = (fgyroX * dTime);
Zbyszek 5:155d224d855c 287 intGyro.y = (fgyroY * dTime);
Zbyszek 5:155d224d855c 288 intGyro.z = (fgyroZ * dTime);
Zbyszek 5:155d224d855c 289
Zbyszek 4:e36c7042d3bb 290 AccelVals.x = faccelX;
Zbyszek 4:e36c7042d3bb 291 AccelVals.y = faccelY;
Zbyszek 4:e36c7042d3bb 292 AccelVals.z = faccelZ;
Zbyszek 4:e36c7042d3bb 293 //Get the Gyro and Accel values--------------------------------------------------------
Zbyszek 4:e36c7042d3bb 294
Zbyszek 6:0ebecfecadc9 295 //CF = updateQuaternion(CF, GyroVals, dTime);
Zbyszek 6:0ebecfecadc9 296 //CF = normaliseQuaternion(CF);
Zbyszek 6:0ebecfecadc9 297 //Eangles = eulerA(CF);
Zbyszek 4:e36c7042d3bb 298 //Quaternion-Gyro-Integration--------------------------------------------------------------
Zbyszek 4:e36c7042d3bb 299
Zbyszek 4:e36c7042d3bb 300
Zbyszek 4:e36c7042d3bb 301 //Angle-Calculations-Based-on-Accalerometer------------------------------------------------
Zbyszek 4:e36c7042d3bb 302 //https://www.dfrobot.com/wiki/index.php/How_to_Use_a_Three-Axis_Accelerometer_for_Tilt_Sensing
Zbyszek 4:e36c7042d3bb 303
Zbyszek 5:155d224d855c 304 accelTilt.x = (atan2f(AccelVals.y, AccelVals.z) * 57.29577951f);
Zbyszek 5:155d224d855c 305 accelTilt.y = (atan2f((-AccelVals.x), sqrt(pow(AccelVals.y, 2) + pow(AccelVals.z, 2) )) * 57.29577951f);
Zbyszek 5:155d224d855c 306 //pc.printf("%+6f, %+6f ", accelTilt.x, accelTilt.y);
Zbyszek 4:e36c7042d3bb 307 //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 308 //Angle-Calculations-Based-on-Accalerometer------------------------------------------------
Zbyszek 5:155d224d855c 309 //pc.printf("%+6f, %+6f, %+6f ", CF.x, CF.y, CF.z);
Zbyszek 5:155d224d855c 310
Zbyszek 5:155d224d855c 311
Zbyszek 5:155d224d855c 312 //Complementary-Filter---------------------------------------------------------------------
Zbyszek 6:0ebecfecadc9 313 //CF.x = 0.98f*(Eangles.x) + 0.02f*accelTilt.x;
Zbyszek 6:0ebecfecadc9 314 //CF.y = 0.98f*(Eangles.y) + 0.02f*accelTilt.y;
Zbyszek 6:0ebecfecadc9 315 //CF.z = 0.98f*(Eangles.z) + 0.02f*accelTilt.z;
Zbyszek 5:155d224d855c 316
Zbyszek 6:0ebecfecadc9 317 CF.x = 0.98f*(CF.x + intGyro.x) + 0.02f*accelTilt.x;
Zbyszek 6:0ebecfecadc9 318 CF.y = 0.98f*(CF.y + intGyro.y) + 0.02f*accelTilt.y;
Zbyszek 6:0ebecfecadc9 319 CF.z = 0.98f*(CF.z + intGyro.z) + 0.02f*accelTilt.z;
Zbyszek 5:155d224d855c 320 //Complementary-Filter---------------------------------------------------------------------
Zbyszek 4:e36c7042d3bb 321
Zbyszek 4:e36c7042d3bb 322 //Add the correction to gyro readings and update the quaternion------------------------
Zbyszek 4:e36c7042d3bb 323 //pc.printf("%+6f, %+6f, %+6f %+6f\n\r ", xx, yy, zz, dTime);
Zbyszek 5:155d224d855c 324 //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 6:0ebecfecadc9 325 //pc.printf("%+6f, %+6f, %+6f \n\r", CF.x, CF.y, CF.z);
Zbyszek 6:0ebecfecadc9 326 //CF.x *= 0.0174533f;
Zbyszek 6:0ebecfecadc9 327 //CF.y *= 0.0174533f;
Zbyszek 6:0ebecfecadc9 328 // CF.z *= 0.0174533f;
Zbyszek 6:0ebecfecadc9 329 //CF = euler2Quaternion(CF);
Zbyszek 6:0ebecfecadc9 330 //CF = normaliseQuaternion(CF);
Zbyszek 4:e36c7042d3bb 331 //pc.printf("%+6f, %+6f, %+6f\n\r ",Eangles.x, Eangles.y, Eangles.z);
Zbyszek 5:155d224d855c 332 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 6:0ebecfecadc9 333 //pc.printf("Accel X: %+6f, Accel Y: %+6f, Accel Z: %+6f, Gyro X: %+6d, Gyro Y: %+6d, Gyro Z: %+6d\n\r", faccelX, faccelY, faccelZ, gyroX, gyroY, gyroZ);
Zbyszek 3:e33697420c4a 334
Zbyszek 3:e33697420c4a 335 }//void ProcessAndPrint()
Zbyszek 3:e33697420c4a 336
Zbyszek 4:e36c7042d3bb 337
Zbyszek 4:e36c7042d3bb 338
Zbyszek 5:155d224d855c 339 void calibrateOffset() {
Zbyszek 5:155d224d855c 340
Zbyszek 5:155d224d855c 341 int16_t MSB = 0; //Store Most Significant Byte of data piece in this variable for processing
Zbyszek 5:155d224d855c 342 int16_t LSB = 0; //Store Least Significant Byte of data piece in this variable for processing
Zbyszek 5:155d224d855c 343 char arrPointer = 0; //Array Pointer
Zbyszek 5:155d224d855c 344
Zbyszek 5:155d224d855c 345 //-----------Concatentated-Data-Pieces------------------------------------------
Zbyszek 5:155d224d855c 346 int16_t gyroX = 0;
Zbyszek 5:155d224d855c 347 int16_t gyroY = 0;
Zbyszek 5:155d224d855c 348 int16_t gyroZ = 0;
Zbyszek 5:155d224d855c 349
Zbyszek 5:155d224d855c 350 int16_t accelX = 0;
Zbyszek 5:155d224d855c 351 int16_t accelY = 0;
Zbyszek 5:155d224d855c 352 int16_t accelZ = 0;
Zbyszek 5:155d224d855c 353
Zbyszek 5:155d224d855c 354 vector accelRaw;
Zbyszek 5:155d224d855c 355 vector accelG;
Zbyszek 5:155d224d855c 356 vector gyroRaw;
Zbyszek 5:155d224d855c 357 vector gyroDPS;
Zbyszek 5:155d224d855c 358
Zbyszek 5:155d224d855c 359 static unsigned int sampleCounter = 1;
Zbyszek 5:155d224d855c 360 static vector accelRawAvg;
Zbyszek 5:155d224d855c 361 static vector accelGAvg;
Zbyszek 5:155d224d855c 362 static vector gyroRawAvg;
Zbyszek 5:155d224d855c 363 static vector gyroDPSAvg;
Zbyszek 5:155d224d855c 364
Zbyszek 5:155d224d855c 365
Zbyszek 5:155d224d855c 366 for(char x = 0; x <= 5; x++) {
Zbyszek 5:155d224d855c 367 MSB = IMUarray[arrPointer]; //Odd data pieces are MSBs
Zbyszek 5:155d224d855c 368 MSB &= ~(255<<8); //Mask the MSB bits as they are not part of data
Zbyszek 5:155d224d855c 369 MSB = MSB << 8; //Shift the Value as its the MSB of the data piece
Zbyszek 5:155d224d855c 370 arrPointer++; //Increment array pointer
Zbyszek 5:155d224d855c 371 LSB = IMUarray[arrPointer]; //Even data pieces are LSBs
Zbyszek 5:155d224d855c 372 LSB &= ~(255 << 8); //Mask the MSB bits as they are not part of data
Zbyszek 5:155d224d855c 373 arrPointer++; //Increment array pointer
Zbyszek 5:155d224d855c 374
Zbyszek 5:155d224d855c 375 switch(x) {
Zbyszek 5:155d224d855c 376 case 0:
Zbyszek 5:155d224d855c 377 accelX = MSB + LSB; //Combine Accelerometer x-axis data
Zbyszek 5:155d224d855c 378 accelRaw.x = (double)accelX; //accelRaw
Zbyszek 5:155d224d855c 379 accelG.x = (double)accelX * 0.00006103515625f; //accelSSF
Zbyszek 5:155d224d855c 380
Zbyszek 5:155d224d855c 381 break;
Zbyszek 5:155d224d855c 382 case 1:
Zbyszek 5:155d224d855c 383 accelY = MSB + LSB; //Combine Accelerometer y-axis data
Zbyszek 5:155d224d855c 384 accelRaw.y = (double)accelY;
Zbyszek 5:155d224d855c 385 accelG.y = (double)accelY * 0.00006103515625f;
Zbyszek 5:155d224d855c 386 break;
Zbyszek 5:155d224d855c 387 case 2:
Zbyszek 5:155d224d855c 388 accelZ = MSB + LSB; //Combine Accelerometer z-axis data
Zbyszek 5:155d224d855c 389 accelRaw.z = (double)accelZ;
Zbyszek 5:155d224d855c 390 accelG.z = (double)accelZ * 0.00006103515625f;
Zbyszek 5:155d224d855c 391 break;
Zbyszek 5:155d224d855c 392 case 3:
Zbyszek 5:155d224d855c 393 gyroX = MSB + LSB; //Combine Gyroscope x-axis data
Zbyszek 5:155d224d855c 394 gyroRaw.x = (double)gyroX; //gyroRaw
Zbyszek 5:155d224d855c 395 gyroDPS.x = (double)gyroX * SSF; //gyroSSF
Zbyszek 5:155d224d855c 396
Zbyszek 5:155d224d855c 397 break;
Zbyszek 5:155d224d855c 398 case 4:
Zbyszek 5:155d224d855c 399 gyroY = MSB + LSB; //Combine Gyroscope y-axis data
Zbyszek 5:155d224d855c 400 gyroRaw.y = (double)gyroY;
Zbyszek 5:155d224d855c 401 gyroDPS.y = (double)gyroY * SSF;
Zbyszek 4:e36c7042d3bb 402
Zbyszek 5:155d224d855c 403 break;
Zbyszek 5:155d224d855c 404 case 5:
Zbyszek 5:155d224d855c 405 gyroZ = MSB + LSB; //Combine Gyroscope z-axis data
Zbyszek 5:155d224d855c 406 gyroRaw.z = (double)gyroZ;
Zbyszek 5:155d224d855c 407 gyroDPS.z = (double)gyroZ * SSF;
Zbyszek 5:155d224d855c 408 break;
Zbyszek 5:155d224d855c 409 default:
Zbyszek 5:155d224d855c 410 break;
Zbyszek 5:155d224d855c 411 }//switch(x)
Zbyszek 5:155d224d855c 412 }//for(char x = 0; x <= 5; x++)
Zbyszek 5:155d224d855c 413
Zbyszek 5:155d224d855c 414 //Take-Running-Averages------------------------------------------------------------------------
Zbyszek 5:155d224d855c 415 //Raw accel averages
Zbyszek 5:155d224d855c 416 accelRawAvg.x = accelRawAvg.x + ((accelRaw.x - accelRawAvg.x)/sampleCounter);
Zbyszek 5:155d224d855c 417 accelRawAvg.y = accelRawAvg.y + ((accelRaw.y - accelRawAvg.y)/sampleCounter);
Zbyszek 5:155d224d855c 418 accelRawAvg.z = accelRawAvg.z + ((accelRaw.z - accelRawAvg.z)/sampleCounter);
Zbyszek 5:155d224d855c 419
Zbyszek 5:155d224d855c 420 //SSF accel averages
Zbyszek 5:155d224d855c 421 accelGAvg.x = accelGAvg.x + ((accelG.x - accelGAvg.x)/sampleCounter);
Zbyszek 5:155d224d855c 422 accelGAvg.y = accelGAvg.y + ((accelG.y - accelGAvg.y)/sampleCounter);
Zbyszek 5:155d224d855c 423 accelGAvg.z = accelGAvg.z + ((accelG.z - accelGAvg.z)/sampleCounter);
Zbyszek 5:155d224d855c 424
Zbyszek 5:155d224d855c 425 //Raw gyroo averages
Zbyszek 5:155d224d855c 426 gyroRawAvg.x = gyroRawAvg.x + ((gyroRaw.x - gyroRawAvg.x)/sampleCounter);
Zbyszek 5:155d224d855c 427 gyroRawAvg.y = gyroRawAvg.y + ((gyroRaw.y - gyroRawAvg.y)/sampleCounter);
Zbyszek 5:155d224d855c 428 gyroRawAvg.z = gyroRawAvg.z + ((gyroRaw.z - gyroRawAvg.z)/sampleCounter);
Zbyszek 5:155d224d855c 429
Zbyszek 5:155d224d855c 430 //SSF gyro averages
Zbyszek 5:155d224d855c 431 gyroDPSAvg.x = gyroDPSAvg.x + ((gyroDPS.x - gyroDPSAvg.x)/sampleCounter);
Zbyszek 5:155d224d855c 432 gyroDPSAvg.y = gyroDPSAvg.y + ((gyroDPS.y - gyroDPSAvg.y)/sampleCounter);
Zbyszek 5:155d224d855c 433 gyroDPSAvg.z = gyroDPSAvg.z + ((gyroDPS.z - gyroDPSAvg.z)/sampleCounter);
Zbyszek 5:155d224d855c 434 //Take-Running-Averages------------------------------------------------------------------------
Zbyszek 4:e36c7042d3bb 435
Zbyszek 5:155d224d855c 436 //Print Messages-------------------------------------------------------------------------------
Zbyszek 5:155d224d855c 437 if(sampleCounter == 1) {
Zbyszek 5:155d224d855c 438 pc.printf("Collecting Raw and Sensitivity Scale Factor multiplied Gyroscope and Accelerometer Offsets...\n\r");
Zbyszek 5:155d224d855c 439 };
Zbyszek 5:155d224d855c 440
Zbyszek 5:155d224d855c 441
Zbyszek 5:155d224d855c 442 if(sampleCounter == 5000) {
Zbyszek 5:155d224d855c 443 pc.printf("RawAX RawAY RawAZ RawGX RawGY RawGZ SampleN\n\r");
Zbyszek 5:155d224d855c 444 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 445 pc.printf("\n\r");
Zbyszek 5:155d224d855c 446 pc.printf("\n\r");
Zbyszek 5:155d224d855c 447 pc.printf("\n\r");
Zbyszek 5:155d224d855c 448
Zbyszek 5:155d224d855c 449 //Add the sensitivity scale factor multiplied data
Zbyszek 5:155d224d855c 450 pc.printf("SSFAX SSFAY SSFAZ SSFGX SSFGY SSFGZ SampleN\n\r");
Zbyszek 5:155d224d855c 451 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 452
Zbyszek 5:155d224d855c 453 };
Zbyszek 5:155d224d855c 454 sampleCounter++;
Zbyszek 5:155d224d855c 455 //Print Messages-------------------------------------------------------------------------------
Zbyszek 5:155d224d855c 456 }
Zbyszek 4:e36c7042d3bb 457
Zbyszek 4:e36c7042d3bb 458
Zbyszek 4:e36c7042d3bb 459
Zbyszek 4:e36c7042d3bb 460
Zbyszek 4:e36c7042d3bb 461
Zbyszek 4:e36c7042d3bb 462
Zbyszek 4:e36c7042d3bb 463
Zbyszek 4:e36c7042d3bb 464
Zbyszek 4:e36c7042d3bb 465 //------------------------------------------Artifacts----------------------------------------
Zbyszek 4:e36c7042d3bb 466
Zbyszek 4:e36c7042d3bb 467 //----------------------Insert Whole---------------------------------------------------
Zbyszek 4:e36c7042d3bb 468 //Rotate the accel data Global reference frame by qvq*---------------------------------
Zbyszek 4:e36c7042d3bb 469 //globalAccel = rotateGlobal(AccelVals, gyroQ);
Zbyszek 4:e36c7042d3bb 470 //Rotate the accel data Global reference frame by qvq*---------------------------------
Zbyszek 4:e36c7042d3bb 471
Zbyszek 4:e36c7042d3bb 472 //get the correction values and rotate back to IMU reference---------------------------
Zbyszek 4:e36c7042d3bb 473 // correctionGlobalAccel = crossProduct(globalAccel, vertical);
Zbyszek 4:e36c7042d3bb 474 // correctionBodyAccel = rotateLocal(correctionGlobalAccel, gyroQ);
Zbyszek 4:e36c7042d3bb 475 //get the correction values and rotate back to IMU reference---------------------------
Zbyszek 4:e36c7042d3bb 476
Zbyszek 4:e36c7042d3bb 477 //Add the correction to gyro readings and update the quaternion------------------------
Zbyszek 4:e36c7042d3bb 478 //GyroVals = sumVector(GyroVals, correctionBodyAccel);
Zbyszek 4:e36c7042d3bb 479 //incRot = toQuaternionNotation123(GyroVals, dTime);
Zbyszek 4:e36c7042d3bb 480 //gyroQ = getQuaternionProduct(gyroQ, incRot);
Zbyszek 4:e36c7042d3bb 481 //gyroQ = normaliseQuaternion(gyroQ);
Zbyszek 4:e36c7042d3bb 482 //----------------------Insert Whole---------------------------------------------------
Zbyszek 4:e36c7042d3bb 483
Zbyszek 4:e36c7042d3bb 484 //------------------------------------------Artifacts----------------------------------------