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Dependents: sensor_library_test sensor_library_test RTOS_Controller_v2 RTOS_Controller_v3 ... more
IMU.h@0:055e2d78cb0f, 2016-07-25 (annotated)
- Committer:
- aolgu003
- Date:
- Mon Jul 25 00:20:03 2016 +0000
- Revision:
- 0:055e2d78cb0f
- Child:
- 1:9a71704df32d
Nothing was changed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aolgu003 | 0:055e2d78cb0f | 1 | |
aolgu003 | 0:055e2d78cb0f | 2 | #include "MPU6050.h" |
aolgu003 | 0:055e2d78cb0f | 3 | Serial pc(USBTX, USBRX); // tx, rx |
aolgu003 | 0:055e2d78cb0f | 4 | |
aolgu003 | 0:055e2d78cb0f | 5 | float sum = 0; |
aolgu003 | 0:055e2d78cb0f | 6 | uint32_t sumCount = 0; |
aolgu003 | 0:055e2d78cb0f | 7 | |
aolgu003 | 0:055e2d78cb0f | 8 | Timer t; |
aolgu003 | 0:055e2d78cb0f | 9 | |
aolgu003 | 0:055e2d78cb0f | 10 | void IMUinit(MPU6050 &mpu6050) |
aolgu003 | 0:055e2d78cb0f | 11 | { |
aolgu003 | 0:055e2d78cb0f | 12 | t.start(); |
aolgu003 | 0:055e2d78cb0f | 13 | |
aolgu003 | 0:055e2d78cb0f | 14 | // Read the WHO_AM_I register, this is a good test of communication |
aolgu003 | 0:055e2d78cb0f | 15 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
aolgu003 | 0:055e2d78cb0f | 16 | pc.printf("I AM 0x%x\n\r", whoami); |
aolgu003 | 0:055e2d78cb0f | 17 | pc.printf("I SHOULD BE 0x68\n\r"); |
aolgu003 | 0:055e2d78cb0f | 18 | |
aolgu003 | 0:055e2d78cb0f | 19 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
aolgu003 | 0:055e2d78cb0f | 20 | pc.printf("MPU6050 is online..."); |
aolgu003 | 0:055e2d78cb0f | 21 | wait(1); |
aolgu003 | 0:055e2d78cb0f | 22 | //lcd.clear(); |
aolgu003 | 0:055e2d78cb0f | 23 | //lcd.printString("MPU6050 OK", 0, 0); |
aolgu003 | 0:055e2d78cb0f | 24 | |
aolgu003 | 0:055e2d78cb0f | 25 | |
aolgu003 | 0:055e2d78cb0f | 26 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
aolgu003 | 0:055e2d78cb0f | 27 | pc.printf("x-axis self test: acceleration trim within : "); |
aolgu003 | 0:055e2d78cb0f | 28 | pc.printf("%f", SelfTest[0]); |
aolgu003 | 0:055e2d78cb0f | 29 | pc.printf("% of factory value \n\r"); |
aolgu003 | 0:055e2d78cb0f | 30 | pc.printf("y-axis self test: acceleration trim within : "); |
aolgu003 | 0:055e2d78cb0f | 31 | pc.printf("%f", SelfTest[1]); |
aolgu003 | 0:055e2d78cb0f | 32 | pc.printf("% of factory value \n\r"); |
aolgu003 | 0:055e2d78cb0f | 33 | pc.printf("z-axis self test: acceleration trim within : "); |
aolgu003 | 0:055e2d78cb0f | 34 | pc.printf("%f", SelfTest[2]); |
aolgu003 | 0:055e2d78cb0f | 35 | pc.printf("% of factory value \n\r"); |
aolgu003 | 0:055e2d78cb0f | 36 | pc.printf("x-axis self test: gyration trim within : "); |
aolgu003 | 0:055e2d78cb0f | 37 | pc.printf("%f", SelfTest[3]); |
aolgu003 | 0:055e2d78cb0f | 38 | pc.printf("% of factory value \n\r"); |
aolgu003 | 0:055e2d78cb0f | 39 | pc.printf("y-axis self test: gyration trim within : "); |
aolgu003 | 0:055e2d78cb0f | 40 | pc.printf("%f", SelfTest[4]); |
aolgu003 | 0:055e2d78cb0f | 41 | pc.printf("% of factory value \n\r"); |
aolgu003 | 0:055e2d78cb0f | 42 | pc.printf("z-axis self test: gyration trim within : "); |
aolgu003 | 0:055e2d78cb0f | 43 | pc.printf("%f", SelfTest[5]); |
aolgu003 | 0:055e2d78cb0f | 44 | pc.printf("% of factory value \n\r"); |
aolgu003 | 0:055e2d78cb0f | 45 | wait(1); |
aolgu003 | 0:055e2d78cb0f | 46 | |
aolgu003 | 0:055e2d78cb0f | 47 | 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) { |
aolgu003 | 0:055e2d78cb0f | 48 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
aolgu003 | 0:055e2d78cb0f | 49 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
aolgu003 | 0:055e2d78cb0f | 50 | mpu6050.initMPU6050(); |
aolgu003 | 0:055e2d78cb0f | 51 | pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
aolgu003 | 0:055e2d78cb0f | 52 | wait(2); |
aolgu003 | 0:055e2d78cb0f | 53 | } else { |
aolgu003 | 0:055e2d78cb0f | 54 | pc.printf("Device did not the pass self-test!\n\r"); |
aolgu003 | 0:055e2d78cb0f | 55 | } |
aolgu003 | 0:055e2d78cb0f | 56 | } else { |
aolgu003 | 0:055e2d78cb0f | 57 | pc.printf("Could not connect to MPU6050: \n\r"); |
aolgu003 | 0:055e2d78cb0f | 58 | pc.printf("%#x \n", whoami); |
aolgu003 | 0:055e2d78cb0f | 59 | |
aolgu003 | 0:055e2d78cb0f | 60 | while(1) ; // Loop forever if communication doesn't happen |
aolgu003 | 0:055e2d78cb0f | 61 | } |
aolgu003 | 0:055e2d78cb0f | 62 | } |
aolgu003 | 0:055e2d78cb0f | 63 | |
aolgu003 | 0:055e2d78cb0f | 64 | |
aolgu003 | 0:055e2d78cb0f | 65 | void IMUPrintData(MPU6050 &mpu6050) |
aolgu003 | 0:055e2d78cb0f | 66 | { |
aolgu003 | 0:055e2d78cb0f | 67 | pc.printf("Beginning IMU read\n"); |
aolgu003 | 0:055e2d78cb0f | 68 | // If data ready bit set, all data registers have new data |
aolgu003 | 0:055e2d78cb0f | 69 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
aolgu003 | 0:055e2d78cb0f | 70 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
aolgu003 | 0:055e2d78cb0f | 71 | mpu6050.getAres(); |
aolgu003 | 0:055e2d78cb0f | 72 | |
aolgu003 | 0:055e2d78cb0f | 73 | // Now we'll calculate the accleration value into actual g's |
aolgu003 | 0:055e2d78cb0f | 74 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
aolgu003 | 0:055e2d78cb0f | 75 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
aolgu003 | 0:055e2d78cb0f | 76 | az = (float)accelCount[2]*aRes - accelBias[2]; |
aolgu003 | 0:055e2d78cb0f | 77 | |
aolgu003 | 0:055e2d78cb0f | 78 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
aolgu003 | 0:055e2d78cb0f | 79 | mpu6050.getGres(); |
aolgu003 | 0:055e2d78cb0f | 80 | |
aolgu003 | 0:055e2d78cb0f | 81 | // Calculate the gyro value into actual degrees per second |
aolgu003 | 0:055e2d78cb0f | 82 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
aolgu003 | 0:055e2d78cb0f | 83 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
aolgu003 | 0:055e2d78cb0f | 84 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
aolgu003 | 0:055e2d78cb0f | 85 | |
aolgu003 | 0:055e2d78cb0f | 86 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
aolgu003 | 0:055e2d78cb0f | 87 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
aolgu003 | 0:055e2d78cb0f | 88 | } |
aolgu003 | 0:055e2d78cb0f | 89 | |
aolgu003 | 0:055e2d78cb0f | 90 | Now = t.read_us(); |
aolgu003 | 0:055e2d78cb0f | 91 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
aolgu003 | 0:055e2d78cb0f | 92 | lastUpdate = Now; |
aolgu003 | 0:055e2d78cb0f | 93 | |
aolgu003 | 0:055e2d78cb0f | 94 | sum += deltat; |
aolgu003 | 0:055e2d78cb0f | 95 | sumCount++; |
aolgu003 | 0:055e2d78cb0f | 96 | |
aolgu003 | 0:055e2d78cb0f | 97 | if(lastUpdate - firstUpdate > 10000000.0f) { |
aolgu003 | 0:055e2d78cb0f | 98 | beta = 0.04; // decrease filter gain after stabilized |
aolgu003 | 0:055e2d78cb0f | 99 | zeta = 0.015; // increasey bias drift gain after stabilized |
aolgu003 | 0:055e2d78cb0f | 100 | } |
aolgu003 | 0:055e2d78cb0f | 101 | |
aolgu003 | 0:055e2d78cb0f | 102 | // Pass gyro rate as rad/s |
aolgu003 | 0:055e2d78cb0f | 103 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
aolgu003 | 0:055e2d78cb0f | 104 | |
aolgu003 | 0:055e2d78cb0f | 105 | // Serial print and/or display at 0.5 s rate independent of data rates |
aolgu003 | 0:055e2d78cb0f | 106 | delt_t = t.read_ms() - count; |
aolgu003 | 0:055e2d78cb0f | 107 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
aolgu003 | 0:055e2d78cb0f | 108 | |
aolgu003 | 0:055e2d78cb0f | 109 | pc.printf("ax = %f", 1000*ax); |
aolgu003 | 0:055e2d78cb0f | 110 | pc.printf(" ay = %f", 1000*ay); |
aolgu003 | 0:055e2d78cb0f | 111 | pc.printf(" az = %f mg\n\r", 1000*az); |
aolgu003 | 0:055e2d78cb0f | 112 | |
aolgu003 | 0:055e2d78cb0f | 113 | pc.printf("gx = %f", gx); |
aolgu003 | 0:055e2d78cb0f | 114 | pc.printf(" gy = %f", gy); |
aolgu003 | 0:055e2d78cb0f | 115 | pc.printf(" gz = %f deg/s\n\r", gz); |
aolgu003 | 0:055e2d78cb0f | 116 | |
aolgu003 | 0:055e2d78cb0f | 117 | pc.printf(" temperature = %f C\n\r", temperature); |
aolgu003 | 0:055e2d78cb0f | 118 | |
aolgu003 | 0:055e2d78cb0f | 119 | pc.printf("q0 = %f\n\r", q[0]); |
aolgu003 | 0:055e2d78cb0f | 120 | pc.printf("q1 = %f\n\r", q[1]); |
aolgu003 | 0:055e2d78cb0f | 121 | pc.printf("q2 = %f\n\r", q[2]); |
aolgu003 | 0:055e2d78cb0f | 122 | pc.printf("q3 = %f\n\r", q[3]); |
aolgu003 | 0:055e2d78cb0f | 123 | |
aolgu003 | 0:055e2d78cb0f | 124 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
aolgu003 | 0:055e2d78cb0f | 125 | // In this coordinate system, the positive z-axis is down toward Earth. |
aolgu003 | 0:055e2d78cb0f | 126 | // 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. |
aolgu003 | 0:055e2d78cb0f | 127 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
aolgu003 | 0:055e2d78cb0f | 128 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
aolgu003 | 0:055e2d78cb0f | 129 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
aolgu003 | 0:055e2d78cb0f | 130 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
aolgu003 | 0:055e2d78cb0f | 131 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
aolgu003 | 0:055e2d78cb0f | 132 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
aolgu003 | 0:055e2d78cb0f | 133 | 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]); |
aolgu003 | 0:055e2d78cb0f | 134 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
aolgu003 | 0:055e2d78cb0f | 135 | 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]); |
aolgu003 | 0:055e2d78cb0f | 136 | pitch *= 180.0f / PI; |
aolgu003 | 0:055e2d78cb0f | 137 | yaw *= 180.0f / PI; |
aolgu003 | 0:055e2d78cb0f | 138 | roll *= 180.0f / PI; |
aolgu003 | 0:055e2d78cb0f | 139 | |
aolgu003 | 0:055e2d78cb0f | 140 | // pc.printf("Yaw, Pitch, Roll: \n\r"); |
aolgu003 | 0:055e2d78cb0f | 141 | // pc.printf("%f", yaw); |
aolgu003 | 0:055e2d78cb0f | 142 | // pc.printf(", "); |
aolgu003 | 0:055e2d78cb0f | 143 | // pc.printf("%f", pitch); |
aolgu003 | 0:055e2d78cb0f | 144 | // pc.printf(", "); |
aolgu003 | 0:055e2d78cb0f | 145 | // pc.printf("%f\n\r", roll); |
aolgu003 | 0:055e2d78cb0f | 146 | // pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r"); |
aolgu003 | 0:055e2d78cb0f | 147 | |
aolgu003 | 0:055e2d78cb0f | 148 | pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); |
aolgu003 | 0:055e2d78cb0f | 149 | pc.printf("average rate = %f\n\r", (float) sumCount/sum); |
aolgu003 | 0:055e2d78cb0f | 150 | |
aolgu003 | 0:055e2d78cb0f | 151 | //myled= !myled; |
aolgu003 | 0:055e2d78cb0f | 152 | count = t.read_ms(); |
aolgu003 | 0:055e2d78cb0f | 153 | sum = 0; |
aolgu003 | 0:055e2d78cb0f | 154 | sumCount = 0; |
aolgu003 | 0:055e2d78cb0f | 155 | } |
aolgu003 | 0:055e2d78cb0f | 156 | } |
aolgu003 | 0:055e2d78cb0f | 157 | |
aolgu003 | 0:055e2d78cb0f | 158 | void IMUUpdate(MPU6050 &mpu6050) |
aolgu003 | 0:055e2d78cb0f | 159 | { |
aolgu003 | 0:055e2d78cb0f | 160 | // If data ready bit set, all data registers have new data |
aolgu003 | 0:055e2d78cb0f | 161 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
aolgu003 | 0:055e2d78cb0f | 162 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
aolgu003 | 0:055e2d78cb0f | 163 | mpu6050.getAres(); |
aolgu003 | 0:055e2d78cb0f | 164 | |
aolgu003 | 0:055e2d78cb0f | 165 | // Now we'll calculate the accleration value into actual g's |
aolgu003 | 0:055e2d78cb0f | 166 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
aolgu003 | 0:055e2d78cb0f | 167 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
aolgu003 | 0:055e2d78cb0f | 168 | az = (float)accelCount[2]*aRes - accelBias[2]; |
aolgu003 | 0:055e2d78cb0f | 169 | |
aolgu003 | 0:055e2d78cb0f | 170 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
aolgu003 | 0:055e2d78cb0f | 171 | mpu6050.getGres(); |
aolgu003 | 0:055e2d78cb0f | 172 | |
aolgu003 | 0:055e2d78cb0f | 173 | // Calculate the gyro value into actual degrees per second |
aolgu003 | 0:055e2d78cb0f | 174 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
aolgu003 | 0:055e2d78cb0f | 175 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
aolgu003 | 0:055e2d78cb0f | 176 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
aolgu003 | 0:055e2d78cb0f | 177 | |
aolgu003 | 0:055e2d78cb0f | 178 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
aolgu003 | 0:055e2d78cb0f | 179 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
aolgu003 | 0:055e2d78cb0f | 180 | } |
aolgu003 | 0:055e2d78cb0f | 181 | |
aolgu003 | 0:055e2d78cb0f | 182 | Now = t.read_us(); |
aolgu003 | 0:055e2d78cb0f | 183 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
aolgu003 | 0:055e2d78cb0f | 184 | lastUpdate = Now; |
aolgu003 | 0:055e2d78cb0f | 185 | |
aolgu003 | 0:055e2d78cb0f | 186 | sum += deltat; |
aolgu003 | 0:055e2d78cb0f | 187 | sumCount++; |
aolgu003 | 0:055e2d78cb0f | 188 | |
aolgu003 | 0:055e2d78cb0f | 189 | if(lastUpdate - firstUpdate > 10000000.0f) { |
aolgu003 | 0:055e2d78cb0f | 190 | beta = 0.04; // decrease filter gain after stabilized |
aolgu003 | 0:055e2d78cb0f | 191 | zeta = 0.015; // increasey bias drift gain after stabilized |
aolgu003 | 0:055e2d78cb0f | 192 | } |
aolgu003 | 0:055e2d78cb0f | 193 | |
aolgu003 | 0:055e2d78cb0f | 194 | // Pass gyro rate as rad/s |
aolgu003 | 0:055e2d78cb0f | 195 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
aolgu003 | 0:055e2d78cb0f | 196 | |
aolgu003 | 0:055e2d78cb0f | 197 | // Serial print and/or display at 0.5 s rate independent of data rates |
aolgu003 | 0:055e2d78cb0f | 198 | delt_t = t.read_ms() - count; |
aolgu003 | 0:055e2d78cb0f | 199 | |
aolgu003 | 0:055e2d78cb0f | 200 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
aolgu003 | 0:055e2d78cb0f | 201 | // In this coordinate system, the positive z-axis is down toward Earth. |
aolgu003 | 0:055e2d78cb0f | 202 | // 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. |
aolgu003 | 0:055e2d78cb0f | 203 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
aolgu003 | 0:055e2d78cb0f | 204 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
aolgu003 | 0:055e2d78cb0f | 205 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
aolgu003 | 0:055e2d78cb0f | 206 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
aolgu003 | 0:055e2d78cb0f | 207 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
aolgu003 | 0:055e2d78cb0f | 208 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
aolgu003 | 0:055e2d78cb0f | 209 | 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]); |
aolgu003 | 0:055e2d78cb0f | 210 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
aolgu003 | 0:055e2d78cb0f | 211 | 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]); |
aolgu003 | 0:055e2d78cb0f | 212 | pitch *= 180.0f / PI; |
aolgu003 | 0:055e2d78cb0f | 213 | yaw *= 180.0f / PI; |
aolgu003 | 0:055e2d78cb0f | 214 | roll *= 180.0f / PI; |
aolgu003 | 0:055e2d78cb0f | 215 | |
aolgu003 | 0:055e2d78cb0f | 216 | count = t.read_ms(); |
aolgu003 | 0:055e2d78cb0f | 217 | sum = 0; |
aolgu003 | 0:055e2d78cb0f | 218 | sumCount = 0; |
aolgu003 | 0:055e2d78cb0f | 219 | |
aolgu003 | 0:055e2d78cb0f | 220 | } |