Robosub controller
Dependencies: IMU MODSERIAL Servo mbed
Fork of RTOS_Controller by
Diff: IMU.h
- Revision:
- 7:396fa2a8648d
- Parent:
- 6:b45b74fd6a07
--- a/IMU.h Wed Jul 27 02:45:45 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,219 +0,0 @@ - -#include "MPU6050.h" -#include "communication.h" - -float sum = 0; -uint32_t sumCount = 0; - -Timer t; - -void IMUinit(MPU6050 &mpu6050) -{ - 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 - pc.printf("I AM 0x%x\n\r", whoami); - pc.printf("I SHOULD BE 0x68\n\r"); - - if (whoami == 0x68) { // WHO_AM_I should always be 0x68 - pc.printf("MPU6050 is online..."); - wait(1); - //lcd.clear(); - //lcd.printString("MPU6050 OK", 0, 0); - - - mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values - pc.printf("x-axis self test: acceleration trim within : "); - pc.printf("%f", SelfTest[0]); - pc.printf("% of factory value \n\r"); - pc.printf("y-axis self test: acceleration trim within : "); - pc.printf("%f", SelfTest[1]); - pc.printf("% of factory value \n\r"); - pc.printf("z-axis self test: acceleration trim within : "); - pc.printf("%f", SelfTest[2]); - pc.printf("% of factory value \n\r"); - pc.printf("x-axis self test: gyration trim within : "); - pc.printf("%f", SelfTest[3]); - pc.printf("% of factory value \n\r"); - pc.printf("y-axis self test: gyration trim within : "); - pc.printf("%f", SelfTest[4]); - pc.printf("% of factory value \n\r"); - pc.printf("z-axis self test: gyration trim within : "); - pc.printf("%f", SelfTest[5]); - pc.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(); - pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature - wait(2); - } else { - pc.printf("Device did not the pass self-test!\n\r"); - } - } else { - pc.printf("Could not connect to MPU6050: \n\r"); - pc.printf("%#x \n", whoami); - - while(1) ; // Loop forever if communication doesn't happen - } -} - - -void IMUPrintData(MPU6050 &mpu6050) -{ -// 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 - - pc.printf("ax = %f", 1000*ax); - pc.printf(" ay = %f", 1000*ay); - pc.printf(" az = %f mg\n\r", 1000*az); - - pc.printf("gx = %f", gx); - pc.printf(" gy = %f", gy); - pc.printf(" gz = %f deg/s\n\r", gz); - - pc.printf(" temperature = %f C\n\r", temperature); - - pc.printf("q0 = %f\n\r", q[0]); - pc.printf("q1 = %f\n\r", q[1]); - pc.printf("q2 = %f\n\r", q[2]); - pc.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"); - - pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); - pc.printf("average rate = %f\n\r", (float) sumCount/sum); - - //myled= !myled; - count = t.read_ms(); - sum = 0; - sumCount = 0; - } -} - -void IMUUpdate(MPU6050 &mpu6050) -{ - // 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; - - // 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; - - count = t.read_ms(); - sum = 0; - sumCount = 0; - -}