Diff: main.cpp

Revision:

0:4ed4ca850714

--- /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);
+    }
+}
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