danusorn tree / Mbed 2 deprecated IMU_fusion

SN & YM

Dependencies:   mbed MPU6050 HMC5883L ledControl2

main.cpp@5:d760e9c88de4, 2018-11-05 (annotated)

Committer:
danusorn
Date:
Mon Nov 05 13:37:54 2018 +0000
Revision:
5:d760e9c88de4
Parent:
4:da2001471264 
pitch yaw

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BaserK 0:d8d055e8f830 1 /* Calculating Roll, Pitch and Yaw angles from IMU
BaserK 0:d8d055e8f830 2 *
BaserK 0:d8d055e8f830 3 * @author: Baser Kandehir
BaserK 0:d8d055e8f830 4 * @date: August 5, 2015
BaserK 0:d8d055e8f830 5 * @license: MIT license
BaserK 0:d8d055e8f830 6 *
BaserK 0:d8d055e8f830 7 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
BaserK 0:d8d055e8f830 8 *
BaserK 0:d8d055e8f830 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
BaserK 0:d8d055e8f830 10 * of this software and associated documentation files (the "Software"), to deal
BaserK 0:d8d055e8f830 11 * in the Software without restriction, including without limitation the rights
BaserK 0:d8d055e8f830 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
BaserK 0:d8d055e8f830 13 * copies of the Software, and to permit persons to whom the Software is
BaserK 0:d8d055e8f830 14 * furnished to do so, subject to the following conditions:
BaserK 0:d8d055e8f830 15 *
BaserK 0:d8d055e8f830 16 * The above copyright notice and this permission notice shall be included in
BaserK 0:d8d055e8f830 17 * all copies or substantial portions of the Software.
BaserK 0:d8d055e8f830 18 *
BaserK 0:d8d055e8f830 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
BaserK 0:d8d055e8f830 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
BaserK 0:d8d055e8f830 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
BaserK 0:d8d055e8f830 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
BaserK 0:d8d055e8f830 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
BaserK 0:d8d055e8f830 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
BaserK 0:d8d055e8f830 25 * THE SOFTWARE.
BaserK 0:d8d055e8f830 26 *
BaserK 0:d8d055e8f830 27 * @description of the program:
BaserK 0:d8d055e8f830 28 *
BaserK 0:d8d055e8f830 29 * Program can calculate roll, pitch and yaw angles from the raw data that comes
BaserK 0:d8d055e8f830 30 * from IMU. Yaw angle is compensated for tilt. All the angles are sent to the matlab
BaserK 2:3881894aaff5 31 * for further processing.
BaserK 0:d8d055e8f830 32 *
BaserK 0:d8d055e8f830 33 */
BaserK 0:d8d055e8f830 34
BaserK 0:d8d055e8f830 35 #include "mbed.h"
BaserK 0:d8d055e8f830 36 #include "HMC5883L.h"
BaserK 0:d8d055e8f830 37 #include "MPU6050.h"
BaserK 0:d8d055e8f830 38 #include "ledControl.h"
BaserK 0:d8d055e8f830 39
danusorn 3:0760d7a202e2 40 Serial pc(D1,D0);
BaserK 0:d8d055e8f830 41 MPU6050 mpu6050;
BaserK 0:d8d055e8f830 42 HMC5883L hmc5883l;
BaserK 0:d8d055e8f830 43 Ticker toggler1;
BaserK 0:d8d055e8f830 44 Ticker filter;
danusorn 5:d760e9c88de4 45 Ticker compass;
BaserK 0:d8d055e8f830 46 void toggle_led1();
BaserK 0:d8d055e8f830 47 void toggle_led2();
BaserK 0:d8d055e8f830 48 void compFilter();
BaserK 0:d8d055e8f830 49 void tiltCompensatedAngle();
BaserK 0:d8d055e8f830 50
BaserK 0:d8d055e8f830 51 float pitchAngle = 0;
BaserK 0:d8d055e8f830 52 float rollAngle = 0;
BaserK 0:d8d055e8f830 53 float yawAngle = 0;
BaserK 0:d8d055e8f830 54
BaserK 0:d8d055e8f830 55 int main()
BaserK 0:d8d055e8f830 56 {
BaserK 0:d8d055e8f830 57 pc.baud(9600); // baud rate: 9600
BaserK 0:d8d055e8f830 58 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 0:d8d055e8f830 59 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 0:d8d055e8f830 60 mpu6050.init(); // Initialize the sensor
BaserK 0:d8d055e8f830 61 hmc5883l.init();
BaserK 0:d8d055e8f830 62 filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
BaserK 0:d8d055e8f830 63 compass.attach(&tiltCompensatedAngle, 0.015); // Call the tiltCompensatedAngle func. every 15 ms (75 Hz sampling period)
danusorn 5:d760e9c88de4 64 int degree = 0;
danusorn 5:d760e9c88de4 65 int previous_state1 = 0;
danusorn 5:d760e9c88de4 66 int state = 0;
danusorn 5:d760e9c88de4 67 int previous_state2 = 0;
BaserK 0:d8d055e8f830 68 while(1)
BaserK 0:d8d055e8f830 69 {
danusorn 5:d760e9c88de4 70 //pc.printf("%.1f,%.1f,%.1f\r\n",rollAngle,pitchAngle,yawAngle); // send data to matlab
danusorn 5:d760e9c88de4 71 // wait_ms(500);
danusorn 5:d760e9c88de4 72 // mpu6050.reset();
danusorn 5:d760e9c88de4 73 if((rollAngle > 60)&&(previous_state1 == 0))
danusorn 5:d760e9c88de4 74 {
danusorn 5:d760e9c88de4 75 if(degree>0){
danusorn 5:d760e9c88de4 76 degree -= 1;
danusorn 5:d760e9c88de4 77 previous_state1 = 1;
danusorn 5:d760e9c88de4 78 wait_ms(100);}
danusorn 5:d760e9c88de4 79 else{previous_state1 = 1;}
danusorn 5:d760e9c88de4 80 }
danusorn 5:d760e9c88de4 81 else if ((rollAngle < -60)&&(previous_state1 == 0))
danusorn 5:d760e9c88de4 82 {
danusorn 5:d760e9c88de4 83 degree += 1;
danusorn 5:d760e9c88de4 84 previous_state1 = 1;
danusorn 5:d760e9c88de4 85 wait_ms(100);
danusorn 5:d760e9c88de4 86 }
danusorn 5:d760e9c88de4 87 if((pitchAngle < -20)&&(previous_state2 == 0))
danusorn 5:d760e9c88de4 88 {
danusorn 5:d760e9c88de4 89 if(state>0){
danusorn 5:d760e9c88de4 90 state -= 1;
danusorn 5:d760e9c88de4 91 previous_state2 = 1;
danusorn 5:d760e9c88de4 92 wait_ms(100);}
danusorn 5:d760e9c88de4 93 else{previous_state2 = 1;}
danusorn 5:d760e9c88de4 94 }
danusorn 5:d760e9c88de4 95 else if((pitchAngle > 60)&&(previous_state2 == 0))
danusorn 5:d760e9c88de4 96 {
danusorn 5:d760e9c88de4 97 state += 1;
danusorn 5:d760e9c88de4 98 previous_state2 = 1;
danusorn 5:d760e9c88de4 99 wait_ms(100);
danusorn 5:d760e9c88de4 100 }
danusorn 5:d760e9c88de4 101 if (-40<rollAngle<40){previous_state1 = 0;pc.printf("degree = %d\n",degree);wait_ms(400);}
danusorn 5:d760e9c88de4 102 if (-10<pitchAngle<50){previous_state2 = 0;pc.printf("state = %d\n",state);wait_ms(400);}
BaserK 0:d8d055e8f830 103 }
BaserK 0:d8d055e8f830 104 }
BaserK 0:d8d055e8f830 105
BaserK 0:d8d055e8f830 106 void toggle_led1() {ledToggle(1);}
BaserK 0:d8d055e8f830 107 void toggle_led2() {ledToggle(2);}
BaserK 0:d8d055e8f830 108
BaserK 0:d8d055e8f830 109 /* This function is created to avoid address error that caused from Ticker.attach func */
BaserK 0:d8d055e8f830 110 void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}
BaserK 0:d8d055e8f830 111
BaserK 0:d8d055e8f830 112 /* Tilt compensated compass data */
BaserK 0:d8d055e8f830 113 // Works well for tilt in +/- 50 deg range
BaserK 0:d8d055e8f830 114 void tiltCompensatedAngle()
BaserK 0:d8d055e8f830 115 {
BaserK 0:d8d055e8f830 116 float mag_Data[3], Xh, Yh;
BaserK 0:d8d055e8f830 117 hmc5883l.readMagData(mag_Data);
BaserK 0:d8d055e8f830 118
BaserK 0:d8d055e8f830 119 Xh = mag_Data[0] * cos(rollAngle*PI/180) - mag_Data[2] * sin(rollAngle*PI/180) ;
BaserK 0:d8d055e8f830 120
danusorn 3:0760d7a202e2 121 Yh = mag_Data[0] * sin(pitchAngle*PI/180) * sin(rollAngle*PI/180) + mag_Data[1] * cos(pitchAngle*PI/180) -
BaserK 0:d8d055e8f830 122 mag_Data[2] * sin(pitchAngle*PI/180) * cos(rollAngle*PI/180) ;
BaserK 0:d8d055e8f830 123
BaserK 0:d8d055e8f830 124 /* Calculate the compensated heading angle */
BaserK 0:d8d055e8f830 125 double heading = atan2(Yh, Xh);
BaserK 0:d8d055e8f830 126
BaserK 0:d8d055e8f830 127 // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location.
BaserK 0:d8d055e8f830 128 // declinationAngle can be found here http://www.magnetic-declination.com/
BaserK 0:d8d055e8f830 129 // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians)
BaserK 0:d8d055e8f830 130 float declinationAngle = 0.096;
BaserK 0:d8d055e8f830 131 heading += declinationAngle;
BaserK 0:d8d055e8f830 132
BaserK 0:d8d055e8f830 133 // Correct for when signs are reversed.
BaserK 0:d8d055e8f830 134 if(heading < 0)
BaserK 0:d8d055e8f830 135 heading += 2*PI;
BaserK 0:d8d055e8f830 136
BaserK 0:d8d055e8f830 137 // Check for wrap due to addition of declination.
BaserK 0:d8d055e8f830 138 if(heading > 2*PI)
BaserK 0:d8d055e8f830 139 heading -= 2*PI;
BaserK 0:d8d055e8f830 140
BaserK 0:d8d055e8f830 141 /* Convert radian to degrees */
BaserK 0:d8d055e8f830 142 heading = heading * 180 / PI;
BaserK 0:d8d055e8f830 143
BaserK 0:d8d055e8f830 144 yawAngle = heading;
BaserK 0:d8d055e8f830 145 }
danusorn 5:d760e9c88de4 146