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; + } + + + } + +}