Where we will test the side ToF sensors
Dependencies: QEI2 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Diff: wheelchairControlSideTof/IMU6050/MPU6050.cpp
- Revision:
- 21:d1faccb96146
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wheelchairControlSideTof/IMU6050/MPU6050.cpp Tue Jul 09 17:52:32 2019 +0000 @@ -0,0 +1,317 @@ +/** + * Includes + */ +#include "MPU6050.h" + +MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) { + this->setSleepMode(false); + + //Initializations: + currentGyroRange = 0; + currentAcceleroRange=0; + alpha = ALPHA; +} + +//-------------------------------------------------- +//-------------------General------------------------ +//-------------------------------------------------- + +void MPU6050::write(char address, char data) { + char temp[2]; + temp[0]=address; + temp[1]=data; + + connection.write(MPU6050_ADDRESS * 2,temp,2); +} + +char MPU6050::read(char address) { + char retval; + connection.write(MPU6050_ADDRESS * 2, &address, 1, true); + connection.read(MPU6050_ADDRESS * 2, &retval, 1); + return retval; +} + +void MPU6050::read(char address, char *data, int length) { + connection.write(MPU6050_ADDRESS * 2, &address, 1, true); + connection.read(MPU6050_ADDRESS * 2, data, length); +} + +void MPU6050::setSleepMode(bool state) { + char temp; + temp = this->read(MPU6050_PWR_MGMT_1_REG); + if (state == true) + temp |= 1<<MPU6050_SLP_BIT; + if (state == false) + temp &= ~(1<<MPU6050_SLP_BIT); + this->write(MPU6050_PWR_MGMT_1_REG, temp); +} + +bool MPU6050::testConnection( void ) { + char temp; + temp = this->read(MPU6050_WHO_AM_I_REG); + return (temp == (MPU6050_ADDRESS & 0xFE)); +} + +void MPU6050::setBW(char BW) { + char temp; + BW=BW & 0x07; + temp = this->read(MPU6050_CONFIG_REG); + temp &= 0xF8; + temp = temp + BW; + this->write(MPU6050_CONFIG_REG, temp); +} + +void MPU6050::setI2CBypass(bool state) { + char temp; + temp = this->read(MPU6050_INT_PIN_CFG); + if (state == true) + temp |= 1<<MPU6050_BYPASS_BIT; + if (state == false) + temp &= ~(1<<MPU6050_BYPASS_BIT); + this->write(MPU6050_INT_PIN_CFG, temp); +} + +//-------------------------------------------------- +//----------------Accelerometer--------------------- +//-------------------------------------------------- + +void MPU6050::setAcceleroRange( char range ) { + char temp; + range = range & 0x03; + currentAcceleroRange = range; + + temp = this->read(MPU6050_ACCELERO_CONFIG_REG); + temp &= ~(3<<3); + temp = temp + (range<<3); + this->write(MPU6050_ACCELERO_CONFIG_REG, temp); +} + +int MPU6050::getAcceleroRawX( void ) { + short retval; + char data[2]; + this->read(MPU6050_ACCEL_XOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +int MPU6050::getAcceleroRawY( void ) { + short retval; + char data[2]; + this->read(MPU6050_ACCEL_YOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +int MPU6050::getAcceleroRawZ( void ) { + short retval; + char data[2]; + this->read(MPU6050_ACCEL_ZOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +void MPU6050::getAcceleroRaw( int *data ) { + char temp[6]; + this->read(MPU6050_ACCEL_XOUT_H_REG, temp, 6); + data[0] = (int)(short)((temp[0]<<8) + temp[1]); + data[1] = (int)(short)((temp[2]<<8) + temp[3]); + data[2] = (int)(short)((temp[4]<<8) + temp[5]); +} + +void MPU6050::getAccelero( float *data ) { + int temp[3]; + this->getAcceleroRaw(temp); + if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) { + data[0]=(float)temp[0] / 16384.0 * 9.81; + data[1]=(float)temp[1] / 16384.0 * 9.81; + data[2]=(float)temp[2] / 16384.0 * 9.81; + } + if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){ + data[0]=(float)temp[0] / 8192.0 * 9.81; + data[1]=(float)temp[1] / 8192.0 * 9.81; + data[2]=(float)temp[2] / 8192.0 * 9.81; + } + if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){ + data[0]=(float)temp[0] / 4096.0 * 9.81; + data[1]=(float)temp[1] / 4096.0 * 9.81; + data[2]=(float)temp[2] / 4096.0 * 9.81; + } + if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){ + data[0]=(float)temp[0] / 2048.0 * 9.81; + data[1]=(float)temp[1] / 2048.0 * 9.81; + data[2]=(float)temp[2] / 2048.0 * 9.81; + } + + #ifdef DOUBLE_ACCELERO + data[0]*=2; + data[1]*=2; + data[2]*=2; + #endif +} +//-------------------------------------------------- +//------------------Gyroscope----------------------- +//-------------------------------------------------- +void MPU6050::setGyroRange( char range ) { + char temp; + currentGyroRange = range; + range = range & 0x03; + temp = this->read(MPU6050_GYRO_CONFIG_REG); + temp &= ~(3<<3); + temp = temp + range<<3; + this->write(MPU6050_GYRO_CONFIG_REG, temp); +} + +int MPU6050::getGyroRawX( void ) { + short retval; + char data[2]; + this->read(MPU6050_GYRO_XOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +int MPU6050::getGyroRawY( void ) { + short retval; + char data[2]; + this->read(MPU6050_GYRO_YOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +int MPU6050::getGyroRawZ( void ) { + short retval; + char data[2]; + this->read(MPU6050_GYRO_ZOUT_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +void MPU6050::getGyroRaw( int *data ) { + char temp[6]; + this->read(MPU6050_GYRO_XOUT_H_REG, temp, 6); + data[0] = (int)(short)((temp[0]<<8) + temp[1]); + data[1] = (int)(short)((temp[2]<<8) + temp[3]); + data[2] = (int)(short)((temp[4]<<8) + temp[5]); +} + +void MPU6050::getGyro( float *data ) { + int temp[3]; + this->getGyroRaw(temp); + if (currentGyroRange == MPU6050_GYRO_RANGE_250) { + data[0]=(float)temp[0] / 301.0; + data[1]=(float)temp[1] / 301.0; + data[2]=(float)temp[2] / 301.0; + } //7505.5 + if (currentGyroRange == MPU6050_GYRO_RANGE_500){ + data[0]=(float)temp[0] / 3752.9; + data[1]=(float)temp[1] / 3752.9; + data[2]=(float)temp[2] / 3752.9; + } + if (currentGyroRange == MPU6050_GYRO_RANGE_1000){ + data[0]=(float)temp[0]/ 1879.3; + data[1]=(float)temp[1] / 1879.3; + data[2]=(float)temp[2] / 1879.3; + + } + if (currentGyroRange == MPU6050_GYRO_RANGE_2000){ + data[0]=(float)temp[0] / 939.7; + data[1]=(float)temp[1] / 939.7; + data[2]=(float)temp[2] / 939.7; + } + +} +//-------------------------------------------------- +//-------------------Temperature-------------------- +//-------------------------------------------------- +int MPU6050::getTempRaw( void ) { + short retval; + char data[2]; + this->read(MPU6050_TEMP_H_REG, data, 2); + retval = (data[0]<<8) + data[1]; + return (int)retval; +} + +float MPU6050::getTemp( void ) { + float retval; + retval=(float)this->getTempRaw(); + retval=(retval+521.0)/340.0+35.0; + return retval; +} + +/**Additional function added by Montvydas Klumbys, which will allow easy offset, angle calculation and much more. + function for getting angles in degrees from accelerometer +*/ +void MPU6050::getAcceleroAngle( float *data ) { + float temp[3]; + this->getAccelero(temp); + + data[X_AXIS] = atan (temp[Y_AXIS]/sqrt(pow(temp[X_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading + data[Y_AXIS] = atan (-1*temp[X_AXIS]/sqrt(pow(temp[Y_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading + data[Z_AXIS] = atan (sqrt(pow(temp[X_AXIS], 2) + pow(temp[Y_AXIS], 2))/temp[Z_AXIS]) * RADIANS_TO_DEGREES; //This one is not used anywhere later on + +// data[Y_AXIS] = atan2 (temp[Y_AXIS],temp[Z_AXIS]) * RADIANS_TO_DEGREES; //This spits out values between -180 to 180 (360 degrees) +// data[X_AXIS] = atan2 (-1*temp[X_AXIS], temp[Z_AXIS]) * RADIANS_TO_DEGREES; //but it takes longer and system gets unstable when angles ~90 degrees +} + +///function for getting offset values for the gyro & accelerometer +void MPU6050::getOffset(float *accOffset, float *gyroOffset, int sampleSize){ + float gyro[3]; + float accAngle[3]; + + for (int i = 0; i < 3; i++) { + accOffset[i] = 0.0; //initialise offsets to 0.0 + gyroOffset[i] = 0.0; + } + + for (int i = 0; i < sampleSize; i++){ + this->getGyro(gyro); //take real life measurements + this->getAcceleroAngle (accAngle); + + for (int j = 0; j < 3; j++){ + *(accOffset+j) += accAngle[j]/sampleSize; //average measurements + *(gyroOffset+j) += gyro[j]/sampleSize; + } + wait (0.01); //wait between each reading for accuracy + } +} + +///function for computing angles for roll, pitch anf yaw +void MPU6050::computeAngle (float *angle, float *accOffset, float *gyroOffset, float interval){ + float gyro[3]; + float accAngle[3]; + + this->getGyro(gyro); //get gyro value in rad/s + this->getAcceleroAngle(accAngle); //get angle from accelerometer + + for (int i = 0; i < 3; i++){ + gyro[i] -= gyroOffset[i]; //substract offset values + accAngle[i] -= accOffset[i]; + } + + //apply filters on pitch and roll to get accurate angle values + angle[X_AXIS] = alpha * (angle[X_AXIS] + GYRO_SCALE*gyro[X_AXIS]*interval) + (1-alpha)*accAngle[X_AXIS]; + angle[Y_AXIS] = alpha * (angle[Y_AXIS] + GYRO_SCALE*gyro[Y_AXIS]*interval) + (1-alpha)*accAngle[Y_AXIS]; + + //calculate Yaw using just the gyroscope values - inaccurate + angle[Z_AXIS] = angle[Z_AXIS] + GYRO_SCALE*gyro[Z_AXIS]*interval; +} + +///function for setting a different Alpha value, which is used in complemetary filter calculations +void MPU6050::setAlpha(float val){ + alpha = val; +} + +///function for enabling interrupts on MPU6050 INT pin, when the data is ready to take +void MPU6050::enableInt( void ){ + char temp; + temp = this->read(MPU6050_RA_INT_ENABLE); + temp |= 0x01; + this->write(MPU6050_RA_INT_ENABLE, temp); +} + +///function for disabling interrupts on MPU6050 INT pin, when the data is ready to take +void MPU6050::disableInt ( void ){ + char temp; + temp = this->read(MPU6050_RA_INT_ENABLE); + temp &= 0xFE; + this->write(MPU6050_RA_INT_ENABLE, temp); +} \ No newline at end of file