Samuel Lin
College Project
Dependencies: mbed MPU9250_SPI_Test MPU9250-XCLIN
Diff: main.cpp
- Revision:
- 6:cc0a54642cdb
- Parent:
- 5:5839d1b118bc
diff -r 5839d1b118bc -r cc0a54642cdb main.cpp
--- a/main.cpp Tue Jul 01 14:16:04 2014 +0000
+++ b/main.cpp Wed Feb 27 01:45:21 2019 +0000
@@ -2,50 +2,412 @@
kylongmu@msn.com
*/
#include "mbed.h"
-#include "MPU9250.h" //Include library
-
+#include "MPU9250.h"
+#define Kp 0.5f // proportional gain governs rate of convergence to accelerometer/magnetometer
+#define Ki 0.0f//0.005f // integral gain governs rate of convergence of gyroscope biases
+ Timer LoopTimer;
+ Timer SensorTimer;
+float Times[10] = {0,0,0,0,0,0,0,0,0,0};
+float control_frequency = 800;//PPM_FREQU; // frequency for the main loop in Hz
+int counter = 0;
+int divider = 20;
+float dt; // time for entire loop
+float dt_sensors; // time only to read sensors
+float q0 = 1, q1 = 0, q2 = 0, q3 = 0;
+float q0_A = 1, q1_A = 0, q2_A = 0, q3_A = 0;
+float exInt = 0, eyInt = 0, ezInt = 0;
+float OX = 0, OY = 0, OZ = 0;
+float Mag_x_pre,Mag_y_pre,Mag_z_pre;
+float Mag_x_pre_L,Mag_y_pre_L,Mag_z_pre_L;
+float Mag_x_pre_LL,Mag_y_pre_LL,Mag_z_pre_LL;
+float Mag_x_pre_LLL,Mag_y_pre_LLL,Mag_z_pre_LLL;
+float Mag_x_ave,Mag_y_ave,Mag_x_total,Mag_y_total;
+float Cal_Mag_x_pre_LL,Cal_Mag_x_pre_L,Cal_Mag_x_pre,Cal_Mag_x;
+float GYRO_z_pre,GYRO_z_pre_L,GYRO_z_pre_LL,GYRO_z_pre_LLL;
+float GYRO_z_total,GYRO_z_offset,Global_GYRO_z;
+float Global_mag_vector_angle,Yaw_pre;
+float Global_mag_x_vector_angle,Mag_x_vector_angle;
+float Global_mag_y_vector_angle,Mag_y_vector_angle;
+int Count_mag_check=0;
+float angle[3];
+float Roll,Pitch,Yaw;
+float calibrated_values[3],magCalibrationp[3];
+float v_index[3];
+float dest1,dest2;
+int f=0;
+int j=0;
+int k=0;
+int g=0;
+int count1=0,count2=0,count3=0,count4=0,count5=0,count6=0,count7=0,count8=0,count9=0,count11=0,count12=0,count14=0;
+int Rot_index;
+float mRes = 10.*4912./32760.0;
DigitalOut myled(LED1);
Serial pc(SERIAL_TX, SERIAL_RX);
SPI spi(SPI_MOSI, SPI_MISO, SPI_SCK);
mpu9250_spi imu(spi,SPI_CS); //define the mpu9250 object
+
+void Filter_IMUupdate(float halfT, float gx, float gy, float gz, float ax, float ay, float az) {
+ float norm;
+ float vx, vy, vz;
+ float ex, ey, ez;
+
+ // normalise the measurements
+ norm = sqrt(ax*ax + ay*ay + az*az);
+ if(norm == 0.0f) return;
+ ax /= norm;
+ ay /= norm;
+ az /= norm;
+
+ // estimated direction of gravity
+ vx = 2*(q1*q3 - q0*q2);
+ vy = 2*(q0*q1 + q2*q3);
+ vz = q0*q0 - q1*q1 - q2*q2 + q3*q3;
+
+ // error is sum of cross product between reference direction of field and direction measured by sensor
+ ex = (ay*vz - az*vy);
+ ey = (az*vx - ax*vz);
+ ez = (ax*vy - ay*vx);
+
+ // integral error scaled integral gain
+ exInt += ex*Ki;
+ eyInt += ey*Ki;
+ ezInt += ez*Ki;
+
+ // adjusted gyroscope measurements
+ gx += Kp*ex + exInt;
+ gy += Kp*ey + eyInt;
+ gz += Kp*ez + ezInt;
+
+ // integrate quaternion rate and normalise
+ float q0o = q0; // he did the MATLAB to C error by not thinking of the beginning vector elements already being changed for the calculation of the rest!
+ float q1o = q1;
+ float q2o = q2;
+ float q3o = q3;
+ q0 += (-q1o*gx - q2o*gy - q3o*gz)*halfT;
+ q1 += (q0o*gx + q2o*gz - q3o*gy)*halfT;
+ q2 += (q0o*gy - q1o*gz + q3o*gx)*halfT;
+ q3 += (q0o*gz + q1o*gy - q2o*gx)*halfT;
+
+ // normalise quaternion
+ norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
+ q0 = q0 / norm;
+ q1 = q1 / norm;
+ q2 = q2 / norm;
+ q3 = q3 / norm;
+}
+void IMU_AHRSupdate(float halfT, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {
+ float norm;
+ float hx, hy, hz, bx, bz;
+ float vx, vy, vz, wx, wy, wz;
+ float ex, ey, ez;
+
+ // auxiliary variables to reduce number of repeated operations
+ float q0q0 = q0*q0;
+ float q0q1 = q0*q1;
+ float q0q2 = q0*q2;
+ float q0q3 = q0*q3;
+ float q1q1 = q1*q1;
+ float q1q2 = q1*q2;
+ float q1q3 = q1*q3;
+ float q2q2 = q2*q2;
+ float q2q3 = q2*q3;
+ float q3q3 = q3*q3;
+
+ // normalise the measurements
+ norm = sqrt(ax*ax + ay*ay + az*az);
+ if(norm == 0.0f) return;
+ ax = ax / norm;
+ ay = ay / norm;
+ az = az / norm;
+ norm = sqrt(mx*mx + my*my + mz*mz);
+
+ if(norm == 0.0f) return;
+ mx = mx / norm;
+ my = my / norm;
+ mz = mz / norm;
+ /*OX=mx;
+ OY=my;
+ OZ=mz;*/
+ // compute reference direction of flux
+ hx = 2*mx*(0.5 - q2q2 - q3q3) + 2*my*(q1q2 - q0q3) + 2*mz*(q1q3 + q0q2);
+ hy = 2*mx*(q1q2 + q0q3) + 2*my*(0.5 - q1q1 - q3q3) + 2*mz*(q2q3 - q0q1);
+ hz = 2*mx*(q1q3 - q0q2) + 2*my*(q2q3 + q0q1) + 2*mz*(0.5 - q1q1 - q2q2);
+ bx = sqrt((hx*hx) + (hy*hy));
+ bz = hz;
+ // estimated direction of gravity and flux (v and w)
+ vx = 2*(q1q3 - q0q2);
+ vy = 2*(q0q1 + q2q3);
+ vz = q0q0 - q1q1 - q2q2 + q3q3;
+ wx = 2*bx*(0.5 - q2q2 - q3q3) + 2*bz*(q1q3 - q0q2);
+ wy = 2*bx*(q1q2 - q0q3) + 2*bz*(q0q1 + q2q3);
+ wz = 2*bx*(q0q2 + q1q3) + 2*bz*(0.5 - q1q1 - q2q2);
+
+ // error is sum of cross product between reference direction of fields and direction measured by sensors
+ ex = (ay*vz - az*vy) + (my*wz - mz*wy);
+ ey = (az*vx - ax*vz) + (mz*wx - mx*wz);
+ ez = (ax*vy - ay*vx) + (mx*wy - my*wx);
+
+
+ // integral error scaled integral gain
+ exInt = exInt + ex*Ki;
+ eyInt = eyInt + ey*Ki;
+ ezInt = ezInt + ez*Ki;
+
+ // adjusted gyroscope measurements
+ gx = gx + Kp*ex + exInt;
+ gy = gy + Kp*ey + eyInt;
+ gz = gz + Kp*ez + ezInt;
+
+ // integrate quaternion rate and normalise
+ q0_A = q0_A + (-q1*gx - q2*gy - q3*gz)*halfT;
+ q1_A = q1_A + (q0*gx + q2*gz - q3*gy)*halfT;
+ q2_A = q2_A + (q0*gy - q1*gz + q3*gx)*halfT;
+ q3_A = q3_A + (q0*gz + q1*gy - q2*gx)*halfT;
+
+ // normalise quaternion
+ norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
+ q0_A = q0_A / norm;
+ q1_A = q1_A / norm;
+ q2_A = q2_A / norm;
+ q3_A = q3_A / norm;
+}
+
+
+
+
+void Filter_compute(float dt, const float * Gyro_data, const float * Acc_data, const float * Comp_data)
+{
+ // IMU/AHRS
+
+ float d_Gyro_angle[3];
+ void get_Acc_angle(const float * Acc_data);
+ // IMU/AHRS (from http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/)
+ float radGyro[3],Gyro_cal_data; // Gyro in radians per second
+
+ for(int i=0; i<3; i++)
+ radGyro[i] = Gyro_data[i] * 3.14159/ 180;
+
+ Filter_IMUupdate(dt/2, radGyro[0], radGyro[1], radGyro[2], Acc_data[0], Acc_data[1], Acc_data[2]);
+ IMU_AHRSupdate(dt/2, radGyro[0], radGyro[1], radGyro[2], Acc_data[0], Acc_data[1], Acc_data[2], Comp_data[0], Comp_data[1], Comp_data[2]);
+
+ float rangle[3]; // calculate angles in radians from quternion output, formula from Wiki (http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles)
+
+ rangle[0] = atan2(2*q0*q1 + 2*q2*q3, 1 - 2*(q1*q1 + q2*q2));
+ rangle[1] = asin (2*q0*q2 - 2*q3*q1);
+ rangle[2] = atan2(2*q0_A*q3_A + 2*q1_A*q2_A, 1 - 2*(q2_A*q2_A + q3_A*q3_A)); // Z-axis
+
+
+ for(int i=0; i<2; i++){ // angle in degree
+ angle[i] = rangle[i] * 180 / 3.14159;
+ }
+ Roll=angle[0];
+ Pitch=angle[1];
+//**************************************************Gyro_data[2] filter start
+ float GYRO_z=0;
+
+ GYRO_z=Gyro_data[2]*0.15 + GYRO_z_pre*0.20 + GYRO_z_pre_L*0.20 + GYRO_z_pre_LL*0.25 + GYRO_z_pre_LLL*0.20;
+ if( count4==1 ){
+ GYRO_z_pre_L=GYRO_z_pre;
+
+ count4=0;
+ }
+ if( count5==2 ){
+ GYRO_z_pre_LL=GYRO_z_pre_L;
+
+ count5=0;
+ }
+ if( count6==3 ){
+ GYRO_z_pre_LLL=GYRO_z_pre_LL;
+
+ count6=0;
+ }
+
+
+
+ count4++;
+ count5++;
+ count6++;
+ GYRO_z_pre=Gyro_data[2];
+ Global_GYRO_z=GYRO_z;
+ /*pc.printf(" GYRO_z:%10.3f ,count8:%10d ",
+ GYRO_z,
+ count8
+ );*/
+ if((count8>5)&&(count8<=805)){
+ GYRO_z_total+=GYRO_z;
+ }
+ if( count8==805 ){
+ GYRO_z_offset=GYRO_z_total/800;
+ /*pc.printf(" GYRO_z_offset:%10.5f ",
+ GYRO_z_offset
+ );*/
+ GYRO_z_total=0;
+ count8=0;
+ }
+
+ count8++;
+//**************************************************Gyro_data[2]'s average filter : answer=GYRO_Z is roughly = 1.05447
+
+//************************************************** calculate Yaw
+ if( (count11==35) ){
+ if( abs(Yaw_pre-Yaw)<1 ){
+ Yaw_pre=Yaw_pre;
+ }else{
+ Yaw_pre=Yaw;
+ }
+ count11=0;
+ }
+ count11++;
+
+ if( count12>=20 ){
+ Yaw += (Gyro_data[2]-1.05447) *dt;
+ }
+ count12++;
+ pc.printf(" Yaw:%10.5f ",
+ Yaw
+ );
+}
+void Mag_Complentary_Filter(float dt, const float * Comp_data)
+{
+ float Mag_x=0,Mag_y=0,Mag_z=0;
+ Mag_x=Comp_data[0]*0.15 + Mag_x_pre*0.20 + Mag_x_pre_L*0.20 + Mag_x_pre_LL*0.25 + Mag_x_pre_LLL*0.20;
+ Mag_y=Comp_data[1]*0.15 + Mag_y_pre*0.20 + Mag_y_pre_L*0.20 + Mag_y_pre_LL*0.25 + Mag_y_pre_LLL*0.20;
+ Mag_z=Comp_data[2]*0.15 + Mag_z_pre*0.20 + Mag_z_pre_L*0.20 + Mag_z_pre_LL*0.25 + Mag_z_pre_LLL*0.20;
+
+
+ if( count1==1 ){
+ Mag_x_pre_L=Mag_x_pre;
+ Mag_y_pre_L=Mag_y_pre;
+ Mag_z_pre_L=Mag_z_pre;
+ Cal_Mag_x_pre=Cal_Mag_x;
+
+ count1=0;
+ }
+ if( count2==2 ){
+ Mag_x_pre_LL=Mag_x_pre_L;
+ Mag_y_pre_LL=Mag_y_pre_L;
+ Mag_z_pre_LL=Mag_z_pre_L;
+ Cal_Mag_x_pre_L=Cal_Mag_x_pre;
+
+ count2=0;
+ }
+ if( count7==3 ){
+ Mag_x_pre_LLL=Mag_x_pre_LL;
+ Mag_y_pre_LLL=Mag_y_pre_LL;
+ Mag_z_pre_LLL=Mag_z_pre_LL;
+ Cal_Mag_x_pre_LL=Cal_Mag_x_pre_L;
+
+ count7=0;
+ }
+
+
+ count1++;
+ count2++;
+ count7++;
+ Mag_x_pre=Comp_data[0];
+ Mag_y_pre=Comp_data[1];
+ Mag_z_pre=Comp_data[2];
+ if( count14>4 ){
+ Cal_Mag_x=Mag_x;
+ }
+ count14++;
+
+
+//*************************************Mag_ave calculate
+ if(count3<=20){
+ Mag_x_total+=Mag_x;
+ Mag_y_total+=Mag_y;
+ }
+ if( count3==20){
+ Mag_x_ave=Mag_x_total/21;
+ Mag_y_ave=Mag_y_total/21;
+ /*pc.printf(" Mag_x_ave:%10.5f ,Mag_y_ave:%10.5f ",
+ Mag_x_ave,
+ Mag_y_ave
+ );*/
+ Mag_x_total=0;
+ Mag_y_total=0;
+ count3=0;
+
+
+ }
+ count3++;
+
+//********************************ROT_check start
+
+ float v_length,v_length_ave,MagVector_angle;
+ v_length=sqrt( Mag_x*Mag_x + Mag_y*Mag_y );
+ v_length_ave=sqrt( Mag_x_ave*Mag_x_ave + Mag_y_ave*Mag_y_ave );
+
+ MagVector_angle=acos(( Mag_x*Mag_x_ave + Mag_y*Mag_y_ave )/(v_length*v_length_ave))*57.3;
+
+ if( count9==3 ){
+ Global_mag_vector_angle=MagVector_angle;
+ count9=0;
+ }
+ count9++;
+
+
+ if( (abs(Global_mag_vector_angle-MagVector_angle)<5) && (abs(Global_GYRO_z)<5) ){
+ Count_mag_check++;
+
+ }else{ Count_mag_check=0; }
+
+ if( Count_mag_check==30 ){
+ Yaw=Yaw_pre;
+ Count_mag_check=0;
+ }
+ float ABS_CHECK=abs(Global_mag_vector_angle-MagVector_angle);
+//********************************Theta_check end
+ /*pc.printf("ABS_CHECK:%10.3f,Cal_Mag_x_pre_LL:%10.3f,Mag_x:%10.3f,Count_mag_check:%10d ,Yaw_pre:%10.3f,Yaw_filter:%10.3f ",
+ ABS_CHECK,
+ Cal_Mag_x_pre_LL,
+ Mag_x,
+ Count_mag_check,
+ Yaw_pre,
+ Yaw
+ );*/
+
+}
int main(){
pc.baud(115200);
if(imu.init(1,BITS_DLPF_CFG_188HZ)){ //INIT the mpu9250
- printf("\nCouldn't initialize MPU9250 via SPI!");
+ pc.printf("\nCouldn't initialize MPU9250 via SPI!");
}
- printf("\nWHOAMI=0x%2x\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
+ pc.printf("\nWHOAMI=0x%2x\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
wait(1);
- printf("Gyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS)); //Set full scale range for gyros
+ pc.printf("Gyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS)); //Set full scale range for gyros
wait(1);
- printf("Acc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G)); //Set full scale range for accs
+ pc.printf("Acc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G)); //Set full scale range for accs
wait(1);
- printf("AK8963 WHIAM=0x%2x\n",imu.AK8963_whoami());
+ pc.printf("AK8963 WHIAM=0x%2x\n",imu.AK8963_whoami());
wait(0.1);
imu.AK8963_calib_Magnetometer();
while(1) {
- //myled = 1;
+
+ LoopTimer.start();
wait(0.1);
- /*
- imu.read_temp();
- imu.read_acc();
- imu.read_rot();
- imu.AK8963_read_Magnetometer();
- */
+
+ SensorTimer.start();
+ Times[1] = LoopTimer.read(); // 197us
+ SensorTimer.stop(); // stop time for measuring sensors
+ dt_sensors = SensorTimer.read();
+ SensorTimer.reset();
+ // meassure dt since last measurement for the filter
+ dt = LoopTimer.read(); // time in s since last loop
+ LoopTimer.reset();
+
+
imu.read_all();
- printf("%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f\n",
- imu.Temperature,
- imu.gyroscope_data[0],
- imu.gyroscope_data[1],
- imu.gyroscope_data[2],
- imu.accelerometer_data[0],
- imu.accelerometer_data[1],
- imu.accelerometer_data[2],
- imu.Magnetometer[0],
- imu.Magnetometer[1],
- imu.Magnetometer[2]
+
+ Mag_Complentary_Filter(dt,imu.Magnetometer);
+ Filter_compute(dt, imu.gyroscope_data, imu.accelerometer_data, imu.Magnetometer);
+
+ pc.printf("Roll:%10.3f,Pitch:%10.3f,Yaw:%10.3f \n",
+ Roll,
+ Pitch,
+ Yaw
);
- //myled = 0;
- //wait(0.5);
+
}
}
-
\ No newline at end of file