Jordan Beason
fin
Revision 0:f2207cfaf993, committed 2019-11-19
- Comitter:
- jbeason3
- Date:
- Tue Nov 19 04:30:59 2019 +0000
- Commit message:
- fin;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r f2207cfaf993 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Nov 19 04:30:59 2019 +0000
@@ -0,0 +1,263 @@
+#include "mbed.h"
+#include "MPU9250.h"
+#include "SDFileSystem.h"
+SDFileSystem sd(p5,p6,p7,p8, "sd");
+DigitalOut myled(LED1);
+MPU9250 mpu9250(p28,p27);
+PwmOut servo(p26);
+Serial pc(USBTX, USBRX); // tx, rx
+
+float Time;
+float sum = 0;
+float servo_PWM;
+float angle;
+char buffer[100];
+char file_name[100];
+uint32_t sumCount = 0;
+Timer t;
+Ticker logTicker;
+
+
+void mpu9250_initialization(){
+ pc.printf("####CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+ //initial com check
+ uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
+ pc.printf("####I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+ if (whoami == 0x71) // WHO_AM_I should always be 0x68
+ {
+ pc.printf("####MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
+ pc.printf("####MPU9250 is online...\n\r");
+ wait(1);
+ //reset MPU and conduct self test//
+ pc.printf("####Please wait,IMU Resetting####\r\n");
+ mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+ pc.printf("####Self Test####\r\n");
+ //initial MPU9250 Parameters
+ mpu9250.Ascale = AFS_2G;
+ mpu9250.Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
+ mpu9250.Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
+ mpu9250.Mmode = 0x06;
+ mpu9250.delt_t=0;
+ mpu9250.deltat=0.0f;
+ mpu9250.lastUpdate = 0;
+ mpu9250.firstUpdate = 0;
+ mpu9250.Now = 0;
+ mpu9250.count=0;
+ mpu9250.q[0] = 1.0f;
+ mpu9250.q[1] = 0.0f;
+ mpu9250.q[2] = 0.0f;
+ mpu9250.q[3] = 0.0f;
+ // mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
+ //pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
+ // pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
+ //pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
+ //pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
+ //pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
+ //pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
+ pc.printf("####Gyro and accelerometer Calibration will start in 5 seconds####\r\n");
+ pc.printf("####Please keep the IMU still\r\n");
+ wait(5);
+ pc.printf("####Calibration starts\r\n");
+ mpu9250.calibrateMPU9250(mpu9250.gyroBias, mpu9250.accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+ pc.printf("x gyro bias = %f\n\r", mpu9250.gyroBias[0]);
+ pc.printf("y gyro bias = %f\n\r", mpu9250.gyroBias[1]);
+ pc.printf("z gyro bias = %f\n\r", mpu9250.gyroBias[2]);
+ pc.printf("x accel bias = %f\n\r", mpu9250.accelBias[0]);
+ pc.printf("y accel bias = %f\n\r", mpu9250.accelBias[1]);
+ pc.printf("z accel bias = %f\n\r", mpu9250.accelBias[2]);
+ wait(2);
+ ///initialization
+ mpu9250.initMPU9250();
+ pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ mpu9250.initAK8963(mpu9250.magCalibration);
+ pc.printf("Magnetometer initilized\r\n");
+ // pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
+ // pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
+ // pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
+ if(mpu9250.Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
+ if(mpu9250.Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
+ if(mpu9250.Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
+ if(mpu9250.Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
+ }
+ else
+ {
+ pc.printf("Could not connect to MPU9250: \n\r");
+ pc.printf("%#x \n", whoami);
+ while(1) ; // Loop forever if communication doesn't happen
+ }
+ mpu9250.getAres(); // Get accelerometer sensitivity
+ mpu9250.getGres(); // Get gyro sensitivity
+ mpu9250.getMres(); // Get magnetometer sensitivity
+ pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/mpu9250.aRes);
+ pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/mpu9250.gRes);
+ pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mpu9250.mRes);
+ pc.printf("####IMU initialization done####\r\n");
+ wait(1);
+}
+
+
+void mag_cali(){
+ int32_t mag_bias[3] = {0, 0, 0};
+ int16_t mag_max[3] = {-32767, -32767, -32767}, mag_min[3] = {32767, 32767, 32767}, mag_temp[3] = {0, 0, 0};
+ //float dest1[3]={0,0,0}, dest2[3]={0,0,0};
+ pc.printf("####Compass Calibration starts in 5 seconds\r\n");
+ wait(5);
+ pc.printf("###Start moving your imu in figure 8\r\n");
+ for (int i=0;i<1500;i++){ //1500 for 100 Hz
+ mpu9250.readMagData(mag_temp); // Read the x/y/z adc values
+ for(int jj=0; jj<3; jj++){
+ if(mag_temp[jj] > mag_max[jj]) mag_max[jj] = mag_temp[jj];
+ if(mag_temp[jj] < mag_min[jj]) mag_min[jj] = mag_temp[jj];
+ }
+ wait(0.01);//delay for 10 ms.
+ }
+ //get hard iron correction
+ // Get hard iron correction
+ mag_bias[0] = (mag_max[0] + mag_min[0])/2; // get average x mag bias in counts
+ mag_bias[1] = (mag_max[1] + mag_min[1])/2; // get average y mag bias in counts
+ mag_bias[2] = (mag_max[2] + mag_min[2])/2; // get average z mag bias in counts
+ mpu9250.magbias[0] = (float) mag_bias[0]*mpu9250.mRes*mpu9250.magCalibration[0]; // save mag biases in G for main program
+ mpu9250.magbias[1] = (float) mag_bias[1]*mpu9250.mRes*mpu9250.magCalibration[1];
+ mpu9250.magbias[2] = (float) mag_bias[2]*mpu9250.mRes*mpu9250.magCalibration[2];
+ pc.printf("####Mag bias =%f,%f,%f\r\n",mpu9250.magbias[0],mpu9250.magbias[1],mpu9250.magbias[2]);
+ /*//get soft iron correction
+ // Get soft iron correction estimate
+ mag_scale[0] = (mag_max[0] - mag_min[0])/2; // get average x axis max chord length in counts
+ mag_scale[1] = (mag_max[1] - mag_min[1])/2; // get average y axis max chord length in counts
+ mag_scale[2] = (mag_max[2] - mag_min[2])/2; // get average z axis max chord length in counts
+
+ float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2];
+ avg_rad /= 3.0;
+
+ dest2[0] = avg_rad/((float)mag_scale[0]);
+ dest2[1] = avg_rad/((float)mag_scale[1]);
+ dest2[2] = avg_rad/((float)mag_scale[2]);
+ */
+ pc.printf("####Mag Calibration done!\r\n");
+}
+
+void set_servo_angle(){
+ if(mpu9250.pitch > 90){
+ angle = 90;
+ }
+ if(mpu9250.pitch < -90){
+ angle = -90;
+ }
+ else{
+ angle=mpu9250.pitch;
+ }
+ servo_PWM = .0005/(angle+180);
+ servo.period(0.2);
+ servo.pulsewidth(servo_PWM);
+}
+
+void log_data(){
+
+ FILE *fp = fopen(file_name, "a");
+ if(fp == NULL) error("Could not open file for write\n");
+
+ fprintf(fp, "$IMURW,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n", Time,mpu9250.ax,mpu9250.ay,mpu9250.az,mpu9250.gx,mpu9250.gy,mpu9250.gz,mpu9250.mx,mpu9250.my,mpu9250.mz);
+ fprintf(fp, "$IMUPS,%f,%f,%f,%f,%f,%f,%f,%f;\r\n", Time, mpu9250.roll, mpu9250.pitch, mpu9250.yaw,mpu9250.q[0],mpu9250.q[1],mpu9250.q[2],mpu9250.q[3]);
+ fprintf(fp, "$SERVO,%f,%f,%f,%f;\r\n", Time, servo_PWM, angle, mpu9250.pitch);
+ fclose(fp);
+
+}
+
+int main() {
+ pc.baud(9600);
+ pc.printf("Please set a file name \r\n");
+ pc.scanf("%s",buffer);
+ sprintf(file_name,"/sd/mydir/%s.txt",buffer);
+ pc.printf("The file name and directory is: %s\r\n", file_name);
+ logTicker.attach(&log_data,1.0);
+ t.start();
+ mpu9250_initialization();
+ mag_cali();
+
+
+ pc.printf("####IMU is all set, going to start sensing in 5 seconds\r\n");
+ wait(5);
+ while(1){
+ if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
+ mpu9250.readAccelData(mpu9250.accelCount); // Read the x/y/z adc values
+ // Now we'll calculate the accleration value into actual g's
+ mpu9250.ax = (float)mpu9250.accelCount[0]*mpu9250.aRes - mpu9250.accelBias[0]; // get actual g value, this depends on scale being set
+ mpu9250.ay = (float)mpu9250.accelCount[1]*mpu9250.aRes - mpu9250.accelBias[1];
+ mpu9250.az = (float)mpu9250.accelCount[2]*mpu9250.aRes - mpu9250.accelBias[2];
+
+ mpu9250.readGyroData(mpu9250.gyroCount); // Read the x/y/z adc values
+ // Calculate the gyro value into actual degrees per second
+ mpu9250.gx = (float)mpu9250.gyroCount[0]*mpu9250.gRes - mpu9250.gyroBias[0]; // get actual gyro value, this depends on scale being set
+ mpu9250.gy = (float)mpu9250.gyroCount[1]*mpu9250.gRes - mpu9250.gyroBias[1];
+ mpu9250.gz = (float)mpu9250.gyroCount[2]*mpu9250.gRes - mpu9250.gyroBias[2];
+
+ mpu9250.readMagData(mpu9250.magCount); // Read the x/y/z adc values
+ // Calculate the magnetometer values in milliGauss
+ // Include factory calibration per data sheet and user environmental corrections
+ mpu9250.mx = (float)mpu9250.magCount[0]*mpu9250.mRes*mpu9250.magCalibration[0] - mpu9250.magbias[0]; // get actual magnetometer value, this depends on scale being set
+ mpu9250.my = (float)mpu9250.magCount[1]*mpu9250.mRes*mpu9250.magCalibration[1] - mpu9250.magbias[1];
+ mpu9250.mz = (float)mpu9250.magCount[2]*mpu9250.mRes*mpu9250.magCalibration[2] - mpu9250.magbias[2];
+ }
+
+ mpu9250.Now = t.read_us();
+ mpu9250.deltat = (float)((mpu9250.Now - mpu9250.lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ mpu9250.lastUpdate = mpu9250.Now;
+ sum += mpu9250.deltat;
+ sumCount++;
+ //mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, mx, my, mz);
+ //compute the quaternion.
+
+ mpu9250.MahonyQuaternionUpdate(mpu9250.ax, mpu9250.ay, mpu9250.az,
+ mpu9250.gx*PI/180.00, mpu9250.gy*PI/180.00, mpu9250.gz*PI/180.00,
+ mpu9250.mx, mpu9250.my, mpu9250.mz);
+
+ // pc.printf("Q=%f,%f,%f,%f\r\n",mpu9250.q[0],mpu9250.q[1],mpu9250.q[2],mpu9250.q[3]);
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ mpu9250.delt_t = t.read_ms() - mpu9250.count;
+ if (mpu9250.delt_t > 100) {
+// pc.printf("ax = %f", 1000*mpu9250.ax);
+// pc.printf(" ay = %f", 1000*mpu9250.ay);
+// pc.printf(" az = %f mg\n\r", 1000*mpu9250.az);
+// pc.printf("gx = %f", mpu9250.gx);
+// pc.printf("gy = %f", mpu9250.gy);
+// pc.printf("gz = %f deg/s\n\r", mpu9250.gz);
+ //pc.printf("mx = %f", mpu9250.mx);
+ //pc.printf(" my = %f", mpu9250.my);
+ //pc.printf(" mz = %f mG\n\r", mpu9250.mz);
+// tempCount = mpu9250.readTempData(); // Read the adc values
+// temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
+// pc.printf(" temperature = %f C\n\r", temperature);
+//
+ mpu9250.roll = atan2(2.0f * (mpu9250.q[0] * mpu9250.q[1] + mpu9250.q[2] * mpu9250.q[3]),
+ mpu9250.q[0] * mpu9250.q[0] - mpu9250.q[1] * mpu9250.q[1] - mpu9250.q[2] * mpu9250.q[2] + mpu9250.q[3] * mpu9250.q[3]);
+ mpu9250.pitch = -asin(2.0f * (mpu9250.q[1] * mpu9250.q[3] - mpu9250.q[0] * mpu9250.q[2]));
+ mpu9250.yaw = atan2(2.0f * (mpu9250.q[1] * mpu9250.q[2] + mpu9250.q[0] * mpu9250.q[3]),
+ mpu9250.q[0] * mpu9250.q[0] + mpu9250.q[1] * mpu9250.q[1] - mpu9250.q[2] * mpu9250.q[2] - mpu9250.q[3] * mpu9250.q[3]);
+ mpu9250.pitch *= 180.0f / PI;
+ mpu9250.yaw *= 180.0f / PI;
+ mpu9250.yaw += 15.0f; // Declination at RI
+ mpu9250.roll *= 180.0f / PI;
+
+
+
+
+ Time = t.read();
+ set_servo_angle();
+ pc.printf("Pitch, Servo Angle, Time: %f %f %f %f\n\r", mpu9250.pitch, angle, Time);
+ myled= !myled;
+ mpu9250.count = t.read_ms();
+
+ if(mpu9250.count > 1<<21) {
+ t.start(); // start the timer over again if ~30 minutes has passed
+ mpu9250.count = 0;
+ mpu9250.deltat= 0;
+ mpu9250.lastUpdate = t.read_us();
+ }
+ sum = 0;
+ sumCount = 0;
+ }
+
+
+ }
+
+}