RK4_euler

Dependencies:   FatFileSystem mbed

Fork of RK4_euler by hige dura

Committer:
higedura
Date:
Fri Nov 25 05:26:06 2011 +0000
Revision:
0:80d32420bc63
Child:
1:29713f02de29

        

Who changed what in which revision?

UserRevisionLine numberNew contents of line
higedura 0:80d32420bc63 1 #include "ADXL345_I2C.h"
higedura 0:80d32420bc63 2 #include "ITG3200.h"
higedura 0:80d32420bc63 3
higedura 0:80d32420bc63 4 ADXL345_I2C accelerometer(p9, p10);
higedura 0:80d32420bc63 5 ITG3200 gyro(p9, p10);
higedura 0:80d32420bc63 6 Serial pc(USBTX, USBRX);
higedura 0:80d32420bc63 7
higedura 0:80d32420bc63 8 int main(){
higedura 0:80d32420bc63 9 float dt = 0.1;
higedura 0:80d32420bc63 10 float t = 0.0;
higedura 0:80d32420bc63 11 pc.baud(115200);
higedura 0:80d32420bc63 12 int bitAcc[3] = {0, 0, 0};
higedura 0:80d32420bc63 13 double Acc [3] = {0, 0, 0};
higedura 0:80d32420bc63 14 double Gyro0 [3] = {0, 0, 0};
higedura 0:80d32420bc63 15 double Gyro1 [3] = {0, 0, 0};
higedura 0:80d32420bc63 16 double Gyro2 [3] = {0, 0, 0};
higedura 0:80d32420bc63 17 double Ang0 [3] = {0, 0, 0};
higedura 0:80d32420bc63 18 double Ang1 [3] = {0, 0, 0};
higedura 0:80d32420bc63 19 double Ang2 [3] = {0, 0, 0};
higedura 0:80d32420bc63 20
higedura 0:80d32420bc63 21 // *** Part of the accelerometer ***
higedura 0:80d32420bc63 22 // These are here to test whether any of the initialization fails. It will print the failure
higedura 0:80d32420bc63 23 if (accelerometer.setPowerControl(0x00)){
higedura 0:80d32420bc63 24 pc.printf("didn't intitialize power control\n");
higedura 0:80d32420bc63 25 return 0; }
higedura 0:80d32420bc63 26 // Full resolution, +/-16g, 4mg/LSB.
higedura 0:80d32420bc63 27 wait(.001);
higedura 0:80d32420bc63 28
higedura 0:80d32420bc63 29 if(accelerometer.setDataFormatControl(0x0B)){
higedura 0:80d32420bc63 30 pc.printf("didn't set data format\n");
higedura 0:80d32420bc63 31 return 0; }
higedura 0:80d32420bc63 32 wait(.001);
higedura 0:80d32420bc63 33
higedura 0:80d32420bc63 34 // 3.2kHz data rate.
higedura 0:80d32420bc63 35 if(accelerometer.setDataRate(ADXL345_3200HZ)){
higedura 0:80d32420bc63 36 pc.printf("didn't set data rate\n");
higedura 0:80d32420bc63 37 return 0; }
higedura 0:80d32420bc63 38 wait(.001);
higedura 0:80d32420bc63 39
higedura 0:80d32420bc63 40 // Measurement mode.
higedura 0:80d32420bc63 41
higedura 0:80d32420bc63 42 if(accelerometer.setPowerControl(MeasurementMode)) {
higedura 0:80d32420bc63 43 pc.printf("didn't set the power control to measurement\n");
higedura 0:80d32420bc63 44 return 0; }
higedura 0:80d32420bc63 45 // *** Part of the accelerometer ***
higedura 0:80d32420bc63 46
higedura 0:80d32420bc63 47 gyro.setLpBandwidth(LPFBW_42HZ);
higedura 0:80d32420bc63 48
higedura 0:80d32420bc63 49 pc.printf("Starting ADXL345 and ITG3200 test...\n");
higedura 0:80d32420bc63 50 //pc.printf(" Time AccX AccY AccZ GyroX GyroY GyroZ\n");
higedura 0:80d32420bc63 51 pc.printf(" Time GyroX GyroY GyroZ AngleX AngleY AngleZ\n");
higedura 0:80d32420bc63 52
higedura 0:80d32420bc63 53 while(1){
higedura 0:80d32420bc63 54 accelerometer.getOutput(bitAcc);
higedura 0:80d32420bc63 55 // Transfering units (Acc[g], Gyro[deg/s])
higedura 0:80d32420bc63 56 Acc[0] = ((int16_t)bitAcc[0])*0.004; Acc[1] = ((int16_t)bitAcc[1])*0.004; Acc[2] = ((int16_t)bitAcc[2]+50)*0.004;
higedura 0:80d32420bc63 57 Gyro2[0] = (gyro.getGyroX()+30)/14.375; Gyro2[1] = (gyro.getGyroY()-28)/14.375; Gyro2[2] = (gyro.getGyroZ()-17)/14.375;
higedura 0:80d32420bc63 58
higedura 0:80d32420bc63 59 // Low pass filter for gyro
higedura 0:80d32420bc63 60 if( -1.0<Gyro2[0] && Gyro2[0]<1.0 ){ Gyro2[0]=0; }
higedura 0:80d32420bc63 61 if( -1.0<Gyro2[1] && Gyro2[1]<1.0 ){ Gyro2[1]=0; }
higedura 0:80d32420bc63 62 if( -1.0<Gyro2[2] && Gyro2[2]<1.0 ){ Gyro2[2]=0; }
higedura 0:80d32420bc63 63
higedura 0:80d32420bc63 64 // Trapezoidal integration
higedura 0:80d32420bc63 65 Ang1[0] = Ang0[0]+(Gyro0[0]+Gyro1[0])*dt/2;
higedura 0:80d32420bc63 66 Ang1[1] = Ang0[1]+(Gyro0[1]+Gyro1[1])*dt/2;
higedura 0:80d32420bc63 67 Ang1[2] = Ang0[2]+(Gyro0[2]+Gyro1[2])*dt/2;
higedura 0:80d32420bc63 68
higedura 0:80d32420bc63 69 // Simpson integration
higedura 0:80d32420bc63 70 // Ang1[0] = Ang0[0]+(Gyro0[0]+4*Gyro1[0]+Gyro2[0])*dt/6;
higedura 0:80d32420bc63 71 // Ang1[1] = Ang0[1]+(Gyro0[1]+4*Gyro1[1]+Gyro2[1])*dt/6;
higedura 0:80d32420bc63 72 // Ang1[2] = Ang0[2]+(Gyro0[2]+4*Gyro1[2]+Gyro2[2])*dt/6;
higedura 0:80d32420bc63 73
higedura 0:80d32420bc63 74 //pc.printf("%6.1f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n\r", t, Acc[0], Acc[1], Acc[2], Gyro1[0], Gyro1[1], Gyro1[2]);
higedura 0:80d32420bc63 75 pc.printf("%6.1f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f\n\r", t, Gyro1[0], Gyro1[1], Gyro1[2], Ang1[0], Ang1[1], Ang1[2]);
higedura 0:80d32420bc63 76 //pc.printf("%6.1f, %6i, %6i, %6i, %7.2f, %7.2f, %7.2f\n\r", t, gyro.getGyroX()+32, gyro.getGyroY()-27, gyro.getGyroZ()-17, Ang1[0], Ang1[1], Ang1[2]);
higedura 0:80d32420bc63 77 //pc.printf("%6.1f, %6i, %6i, %6i, %7.3f, %7.3f, %7.3f\n\r", t, (int16_t)bitAcc[0], (int16_t)bitAcc[1], (int16_t)bitAcc[2], Acc[0], Acc[1], Acc[2]);
higedura 0:80d32420bc63 78 Gyro1[0] = Gyro2[0]; Gyro1[1] = Gyro2[1]; Gyro1[2] = Gyro2[2];
higedura 0:80d32420bc63 79 Gyro0[0] = Gyro1[0]; Gyro0[1] = Gyro1[1]; Gyro0[2] = Gyro1[2];
higedura 0:80d32420bc63 80 Ang0[0] = Ang1[0]; Ang0[1] = Ang1[1]; Ang0[2] = Ang1[2];
higedura 0:80d32420bc63 81
higedura 0:80d32420bc63 82 t += dt;
higedura 0:80d32420bc63 83 wait(dt);
higedura 0:80d32420bc63 84 }
higedura 0:80d32420bc63 85
higedura 0:80d32420bc63 86 }