Teste de BMX160 para Coragem
Diff: main.cpp
- Revision:
- 0:4ed4ca850714
diff -r 000000000000 -r 4ed4ca850714 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Thu Jul 11 18:10:11 2019 +0000 @@ -0,0 +1,119 @@ +#include "mbed.h" + + +/* defines the axis for acc */ +#define ACC_NOOF_AXIS 3 +#define GYR_NOOF_AXIS 2 + +/* bmi160 slave address */ +#define BMI160_ADDR ((0x69)<<1) + +#define RAD_DEG 57.29577951 + +Serial pc(USBTX, USBRX); // tx, rx + +I2C i2c(p13, p15); + + +/* buffer to store acc samples */ +int16_t acc_sample_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555}; +int16_t gyr_sample_buffer[GYR_NOOF_AXIS] = {0x5555, 0x5555}; + +double acc_result_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555}; +double gyr_result_buffer[GYR_NOOF_AXIS] = {0x5555, 0x5555}; + +double accel_ang_x, accel_ang_y; +double tiltx, tilty; +double tiltx_prev, tilty_prev; + +char i2c_reg_buffer[2] = {0}; + +int main() { + pc.printf("Teste BMI160\n\r"); + pc.printf("Configurando BMI160...\n\r"); + wait_ms(250); + + /*Config Freq. I2C Bus*/ + i2c.frequency(20000); + + /*Reset BMI160*/ + i2c_reg_buffer[0] = 0x7E; + i2c_reg_buffer[1] = 0xB6; + i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false); + wait_ms(200); + pc.printf("BMI160 Resetado\n\r"); + + /*Habilita o Acelerometro*/ + i2c_reg_buffer[0] = 0x7E; + i2c_reg_buffer[1] = 0x11; //PMU Normal + i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false); + pc.printf("Acc Habilitado\n\r"); + + /*Habilita o Giroscopio*/ + i2c_reg_buffer[0] = 0x7E; + i2c_reg_buffer[1] = 0x15; //PMU Normal + i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false); + pc.printf("Gyr Habilitado\n\r"); + + /*Config o Data Rate ACC em 1600Hz*/ + i2c_reg_buffer[0] = 0x40; + i2c_reg_buffer[1] = 0x2C; + i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false); + pc.printf("Data Rate ACC Selecionado a 1600Hz\n\r"); + + /*Config o Data Rate GYR em 1600Hz*/ + i2c_reg_buffer[0] = 0x42; + i2c_reg_buffer[1] = 0x2C; + i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false); + pc.printf("Data Rate GYR Selecionado a 1600Hz\n\r"); + + /*Config o Range GYR em 250º/s*/ + i2c_reg_buffer[0] = 0x43; + i2c_reg_buffer[1] = 0x03; + i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false); + pc.printf("Range GYR Selecionado a 250deg/s\n\r"); + + wait_ms(2000); + pc.printf("BMI160 Configurado\n\r"); + + + while(1) { + + /*Le os Registradores do Acelerometro*/ + i2c_reg_buffer[0] = 0x12; + i2c.write(BMI160_ADDR, i2c_reg_buffer, 1, true); + i2c.read(BMI160_ADDR, (char *)&acc_sample_buffer, sizeof(acc_sample_buffer), false); + + /*Le os Registradores do Giroscopio*/ + i2c_reg_buffer[0] = 0x0C; + i2c.write(BMI160_ADDR, i2c_reg_buffer, 1, true); + i2c.read(BMI160_ADDR, (char *)&gyr_sample_buffer, sizeof(gyr_sample_buffer), false); + + /*Ajusta dados brutos Acelerometro em unidades de g */ + acc_result_buffer[0] = (acc_sample_buffer[0]/16384.0); + acc_result_buffer[1] = (acc_sample_buffer[1]/16384.0); + acc_result_buffer[2] = (acc_sample_buffer[2]/16384.0); + + /*Ajusta dados Brutos do Giroscopio em unidades de deg/s */ + gyr_result_buffer[0] = (gyr_sample_buffer[0]/131.2); + gyr_result_buffer[1] = (gyr_sample_buffer[1]/131.2); + + /*Calcula os Angulos de Inclinacao com valor do Acelerometro*/ + accel_ang_x=atan(acc_result_buffer[0]/sqrt(pow(acc_result_buffer[1],2) + pow(acc_result_buffer[2],2)))*RAD_DEG; + accel_ang_y=atan(acc_result_buffer[1]/sqrt(pow(acc_result_buffer[0],2) + pow(acc_result_buffer[2],2)))*RAD_DEG; + + /*Calcula os Angulos de Rotacao com valor do Giroscopio e aplica filtro complementar realizando a fusao*/ + tiltx = (0.98*(tiltx_prev+(gyr_result_buffer[0]*0.001)))+(0.02*(accel_ang_x)); + tilty = (0.98*(tilty_prev+(gyr_result_buffer[1]*0.001)))+(0.02*(accel_ang_y)); + + tiltx_prev = tiltx; + tilty_prev = tilty; + + /*Imprime os dados ACC pre-formatados*/ + pc.printf("%.3f,%.3f\n\r",tiltx, tilty); + + + + wait_ms(1); + } +} \ No newline at end of file