Test whole program
Dependencies: X_NUCLEO_IKS01A1 mbed
Fork of Sensors_Reader_JACKLENZ by
main.cpp
- Committer:
- ahmad47
- Date:
- 2017-11-13
- Revision:
- 73:2e4b834c065d
- Parent:
- 71:a6a052fd3d22
File content as of revision 73:2e4b834c065d:
/** ****************************************************************************** * @file main.cpp * @author AST / EST * @version V0.0.1 * @date 14-April-2015 * @brief Example application for using the X_NUCLEO_IKS01A1 * MEMS Inertial & Environmental Sensor Nucleo expansion board. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /** * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package * * <b>Introduction</b> * * This firmware package includes Components Device Drivers, Board Support Package * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo * Expansion Board * * <b>Example Application</b> * */ /*** Includes ----------------------------------------------------------------- ***/ #include "mbed.h" #include "assert.h" #include "x_nucleo_iks01a1.h" #include "Kalman.h" #include <math.h> #include <Ticker.h> /*** Constants ---------------------------------------------------------------- ***/ namespace { const int MS_INTERVALS = 5; const double RAD_TO_DEG = 57.2957786; const double PI = 3.14159265; } /*** Macros ------------------------------------------------------------------- ***/ #define APP_LOOP_PERIOD 3000 // in ms #if defined(TARGET_STM) #define LED_OFF (0) #else #define LED_OFF (1) #endif #define LED_ON (!LED_OFF) #define RESTRICT_PITCH // Comment out to restrict roll to ±90deg instead #define DECLINATION 2.23 Kalman kalmanX; // Create the Kalman instances Kalman kalmanY; Kalman kalmanZ; double gyroXangle, gyroYangle; // Angle calculate using the gyro only double compAngleX, compAngleY; // Calculated angle using a complementary filter double kalAngleX, kalAngleY, kalAngleZ; // Calculated angle using a Kalman filter Timer t; uint32_t timer; /*** Typedefs ----------------------------------------------------------------- ***/ typedef struct { int32_t AXIS_X; int32_t AXIS_Y; int32_t AXIS_Z; } AxesRaw_TypeDef; /*** Serial declaration --------------------------------------------------------- ***/ Serial ser(USBTX,USBRX,115200); /*** Static variables --------------------------------------------------------- ***/ #ifdef DBG_MCU /* betzw: enable debugging while using sleep modes */ #include "DbgMCU.h" static DbgMCU enable_dbg; #endif // DBG_MCU static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(); static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope(); static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer(); static MagneticSensor *magnetometer = mems_expansion_board->magnetometer; static Ticker ticker; static DigitalOut myled(LED1, LED_OFF); static volatile bool timer_irq_triggered = false; static volatile bool ff_irq_triggered = false; /*** Helper Functions (1/2) ------------------------------------------------------------ ***/ /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/ /* Called in interrupt context, therefore just set a trigger variable */ static void timer_irq(void) { timer_irq_triggered = true; } /* Called in interrupt context, therefore just set a trigger variable */ static void ff_irq(void) { ff_irq_triggered = true; /* Disable IRQ until handled */ mems_expansion_board->gyro_lsm6ds3->Disable_Free_Fall_Detection_IRQ(); } /*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/ /* Handle Free Fall Interrupt (here we are in "normal" context, i.e. not in IRQ context) */ static void handle_ff_irq(void) { printf("\nFree Fall Detected!\n\n"); /* Re-enable IRQ */ mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection_IRQ(); } /*** Helper Functions (2/2) ------------------------------------------------------------ ***/ /* Initialization function */ static void init(void) { t.start(); uint8_t id1, id2; /* Determine ID of Gyro & Motion Sensor */ assert((mems_expansion_board->gyro_lsm6ds0 == NULL) || (mems_expansion_board->gyro_lsm6ds3 == NULL)); CALL_METH(gyroscope, read_id, &id1, 0x0); CALL_METH(accelerometer, read_id, &id2, 0x0); printf("Gyroscope | Motion Sensor ID = %s (0x%x | 0x%x)\n", ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : ((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")), id1, id2 ); assert(id1 == id2); /* Register Free Fall Detection IRQ Handler & Enable Detection */ if(mems_expansion_board->gyro_lsm6ds3 != NULL) { mems_expansion_board->gyro_lsm6ds3->Attach_Free_Fall_Detection_IRQ(ff_irq); mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection(); } AxesRaw_TypeDef MAG_Value; AxesRaw_TypeDef ACC_Value; AxesRaw_TypeDef GYR_Value; unsigned int ret = 0; /* Switch LED On */ myled = LED_ON; //printf("===\n"); /* Determine Environmental Values */ ret |= (!CALL_METH(magnetometer, get_m_axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);; ret |= (!CALL_METH(accelerometer, get_x_axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);; ret |= (!CALL_METH(gyroscope, get_g_axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40); /* IMU Data */ double accX, accY, accZ; double gyroX, gyroY, gyroZ; accX = ACC_Value.AXIS_X; accY = ACC_Value.AXIS_Y; accZ = ACC_Value.AXIS_Z; /* ** gyroX = GYR_Value.AXIS_X; gyroY = GYR_Value.AXIS_Y; gyroZ = GYR_Value.AXIS_Z; ** */ #ifdef RESTRICT_PITCH // Eq. 25 and 26 double roll = atan2(accY, accZ) * RAD_TO_DEG; double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG; #else // Eq. 28 and 29 double roll = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG; double pitch = atan2(-accX, accZ) * RAD_TO_DEG; #endif //double yaw = atan2(-accZ, sqrt(accY * accY + accZ * accZ)) * 180.0/PI; kalmanX.setAngle(roll); // Set starting angle kalmanY.setAngle(pitch); gyroXangle = roll; gyroYangle = pitch; compAngleX = roll; compAngleY = pitch; timer = t.read_us(); } /* Main cycle function */ static void main_cycle(void) { AxesRaw_TypeDef MAG_Value; AxesRaw_TypeDef ACC_Value; AxesRaw_TypeDef GYR_Value; unsigned int ret = 0; /* Switch LED On */ myled = LED_ON; //printf("===\n"); /* Determine Environmental Values */ ret |= (!CALL_METH(magnetometer, get_m_axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);; ret |= (!CALL_METH(accelerometer, get_x_axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);; ret |= (!CALL_METH(gyroscope, get_g_axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40); /* Print Values Out */ //printf("I2C [errors]: 0x%.2x X Y Z\n", ret); /* ** printf("%9ld:%9ld:%9ld:", ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z); printf("%9ld:%9ld:%9ld:", GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z); printf("%9ld:%9ld:%9ld\n", MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z); ** */ /* IMU Data */ double accX, accY, accZ; double gyroX, gyroY, gyroZ; double magX, magY, magZ; accX = ACC_Value.AXIS_X; accY = ACC_Value.AXIS_Y; accZ = ACC_Value.AXIS_Z; gyroX = GYR_Value.AXIS_X; gyroY = GYR_Value.AXIS_Y; gyroZ = GYR_Value.AXIS_Z; double dt = (double)(t.read_us() - timer) / 1000000; // Calculate delta time timer = t.read_us(); #ifdef RESTRICT_PITCH // Eq. 25 and 26 double roll = atan2(accY, accZ) * RAD_TO_DEG; double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG; #else // Eq. 28 and 29 double roll = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG; double pitch = atan2(-accX, accZ) * RAD_TO_DEG; #endif double gyroXrate = gyroX / 131.0; // Convert to deg/s double gyroYrate = gyroY / 131.0; // Convert to deg/s #ifdef RESTRICT_PITCH // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees if ((roll < -90 && kalAngleX > 90) || (roll > 90 && kalAngleX < -90)) { kalmanX.setAngle(roll); compAngleX = roll; kalAngleX = roll; gyroXangle = roll; } else kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter if (abs(kalAngleX) > 90) gyroYrate = -gyroYrate; // Invert rate, so it fits the restriced accelerometer reading kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt); #else // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees if ((pitch < -90 && kalAngleY > 90) || (pitch > 90 && kalAngleY < -90)) { kalmanY.setAngle(pitch); compAngleY = pitch; kalAngleY = pitch; gyroYangle = pitch; } else kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt); // Calculate the angle using a Kalman filter if (abs(kalAngleY) > 90) gyroXrate = -gyroXrate; // Invert rate, so it fits the restriced accelerometer reading kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter #endif gyroXangle += gyroXrate * dt; // Calculate gyro angle without any filter gyroYangle += gyroYrate * dt; //gyroXangle += kalmanX.getRate() * dt; // Calculate gyro angle using the unbiased rate //gyroYangle += kalmanY.getRate() * dt; compAngleX = 0.93 * (compAngleX + gyroXrate * dt) + 0.07 * roll; // Calculate the angle using a Complimentary filter compAngleY = 0.93 * (compAngleY + gyroYrate * dt) + 0.07 * pitch; // Reset the gyro angle when it has drifted too much if (gyroXangle < -180 || gyroXangle > 180) gyroXangle = kalAngleX; if (gyroYangle < -180 || gyroYangle > 180) gyroYangle = kalAngleY; // Compute the Heading magX = MAG_Value.AXIS_X; magY = MAG_Value.AXIS_Y; magZ = MAG_Value.AXIS_Z; float heading; if (magY== 0) heading = (magX < 0) ? 180.0 : 0; else heading = atan2(magX , magY); //arctan(imu.mx / sqrt(imu.mz*imu.mz + imu.my*imu.my)): heading -= DECLINATION * PI / 180; if (heading > PI) heading -= (2 * PI); else if (heading < -PI || heading < 0) heading += (2 * PI); heading *= 180.0 / PI; printf("%lf:%1f:%1f\n", kalAngleY, kalAngleX, heading); /* Switch LED Off */ myled = LED_OFF; } /*** Main function ------------------------------------------------------------- ***/ /* Generic main function/loop for enabling WFE in case of interrupt based cyclic execution */ int main() { /* Start & initialize */ //printf("\n--- Starting new run ---\n"); init(); /* Start timer irq */ ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD); while (true) { if(timer_irq_triggered) { timer_irq_triggered = false; main_cycle(); } else if(ff_irq_triggered) { ff_irq_triggered = false; handle_ff_irq(); } else { __WFE(); /* it is recommended that SEVONPEND in the System Control Register is NOT set */ } } t.stop(); }