Justin Gensel / Mbed 2 deprecated FinalProject

sadf

Dependencies:   LSM9DS1_Library_cal mbed XBee

Fork of FootSensor by Justin Gensel

main.cpp@2:ab7b95fb52aa, 2017-04-23 (annotated)

Committer:
jgensel3
Date:
Sun Apr 23 19:26:07 2017 +0000
Revision:
2:ab7b95fb52aa
Parent:
1:705baf131710
Child:
3:2d6ff72599f1
asdf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
4180_1 0:e693d5bf0a25 1 #include "mbed.h"
4180_1 0:e693d5bf0a25 2 #include "LSM9DS1.h"
jgensel3 2:ab7b95fb52aa 3 //#include "USBKeyboard.h"
4180_1 0:e693d5bf0a25 4 #define PI 3.14159
4180_1 0:e693d5bf0a25 5 // Earth's magnetic field varies by location. Add or subtract
4180_1 0:e693d5bf0a25 6 // a declination to get a more accurate heading. Calculate
4180_1 0:e693d5bf0a25 7 // your's here:
4180_1 0:e693d5bf0a25 8 // http://www.ngdc.noaa.gov/geomag-web/#declination
4180_1 0:e693d5bf0a25 9 #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
4180_1 0:e693d5bf0a25 10
jgensel3 2:ab7b95fb52aa 11 DigitalOut led1(LED1);
jgensel3 2:ab7b95fb52aa 12 DigitalOut led2(LED2);
jgensel3 2:ab7b95fb52aa 13 DigitalOut led3(LED3);
jgensel3 2:ab7b95fb52aa 14 DigitalOut led4(LED4);
4180_1 0:e693d5bf0a25 15 Serial pc(USBTX, USBRX);
jgensel3 2:ab7b95fb52aa 16 DigitalIn pb1(p21);
jgensel3 2:ab7b95fb52aa 17 Timeout walkingTimer;
jgensel3 2:ab7b95fb52aa 18 bool isWalking = false;
4180_1 0:e693d5bf0a25 19 // Calculate pitch, roll, and heading.
4180_1 0:e693d5bf0a25 20 // Pitch/roll calculations taken from this app note:
4180_1 0:e693d5bf0a25 21 // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
4180_1 0:e693d5bf0a25 22 // Heading calculations taken from this app note:
4180_1 0:e693d5bf0a25 23 // http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf
jgensel3 2:ab7b95fb52aa 24
jgensel3 2:ab7b95fb52aa 25
jgensel3 2:ab7b95fb52aa 26 //Function that timeout calls when detected that person stops walking
jgensel3 2:ab7b95fb52aa 27 void printStop()
jgensel3 2:ab7b95fb52aa 28 {
jgensel3 2:ab7b95fb52aa 29 // pc.printf("stop\n\r");
jgensel3 2:ab7b95fb52aa 30 isWalking = false;
jgensel3 2:ab7b95fb52aa 31 }
jgensel3 2:ab7b95fb52aa 32
jgensel3 2:ab7b95fb52aa 33 //Rotates raw heading so 0 degrees is forward direction
jgensel3 2:ab7b95fb52aa 34 float correctHeading(float currHeading, float forward)
jgensel3 2:ab7b95fb52aa 35 {
jgensel3 1:705baf131710 36 float newHeading = currHeading - forward;
jgensel3 1:705baf131710 37 if(newHeading < 0) newHeading = 360 + newHeading;
jgensel3 1:705baf131710 38 return newHeading;
jgensel3 1:705baf131710 39 }
jgensel3 1:705baf131710 40
jgensel3 1:705baf131710 41 float printAttitude(float ax, float ay, float az, float mx, float my, float mz)
4180_1 0:e693d5bf0a25 42 {
4180_1 0:e693d5bf0a25 43 float roll = atan2(ay, az);
4180_1 0:e693d5bf0a25 44 float pitch = atan2(-ax, sqrt(ay * ay + az * az));
4180_1 0:e693d5bf0a25 45 // touchy trig stuff to use arctan to get compass heading (scale is 0..360)
4180_1 0:e693d5bf0a25 46 mx = -mx;
4180_1 0:e693d5bf0a25 47 float heading;
4180_1 0:e693d5bf0a25 48 if (my == 0.0)
4180_1 0:e693d5bf0a25 49 heading = (mx < 0.0) ? 180.0 : 0.0;
4180_1 0:e693d5bf0a25 50 else
4180_1 0:e693d5bf0a25 51 heading = atan2(mx, my)*360.0/(2.0*PI);
4180_1 0:e693d5bf0a25 52 //pc.printf("heading atan=%f \n\r",heading);
4180_1 0:e693d5bf0a25 53 heading -= DECLINATION; //correct for geo location
4180_1 0:e693d5bf0a25 54 if(heading>180.0) heading = heading - 360.0;
4180_1 0:e693d5bf0a25 55 else if(heading<-180.0) heading = 360.0 + heading;
4180_1 0:e693d5bf0a25 56 else if(heading<0.0) heading = 360.0 + heading;
4180_1 0:e693d5bf0a25 57
4180_1 0:e693d5bf0a25 58
4180_1 0:e693d5bf0a25 59 // Convert everything from radians to degrees:
4180_1 0:e693d5bf0a25 60 //heading *= 180.0 / PI;
4180_1 0:e693d5bf0a25 61 pitch *= 180.0 / PI;
4180_1 0:e693d5bf0a25 62 roll *= 180.0 / PI;
4180_1 0:e693d5bf0a25 63
jgensel3 1:705baf131710 64 //pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll);
jgensel3 1:705baf131710 65 //pc.printf("Magnetic Heading: %f degress\n\r",heading);
jgensel3 1:705baf131710 66 return heading;
4180_1 0:e693d5bf0a25 67 }
4180_1 0:e693d5bf0a25 68
4180_1 0:e693d5bf0a25 69
4180_1 0:e693d5bf0a25 70
4180_1 0:e693d5bf0a25 71
4180_1 0:e693d5bf0a25 72 int main()
4180_1 0:e693d5bf0a25 73 {
4180_1 0:e693d5bf0a25 74 //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
jgensel3 2:ab7b95fb52aa 75 LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
jgensel3 1:705baf131710 76 pb1.mode(PullUp);
4180_1 0:e693d5bf0a25 77 IMU.begin();
jgensel3 1:705baf131710 78 float forward;
4180_1 0:e693d5bf0a25 79 if (!IMU.begin()) {
4180_1 0:e693d5bf0a25 80 pc.printf("Failed to communicate with LSM9DS1.\n");
4180_1 0:e693d5bf0a25 81 }
jgensel3 2:ab7b95fb52aa 82 led3 = 1;
jgensel3 2:ab7b95fb52aa 83 wait(1);
4180_1 0:e693d5bf0a25 84 IMU.calibrate(1);
jgensel3 2:ab7b95fb52aa 85 led3 = 0;
jgensel3 2:ab7b95fb52aa 86 led1 = 1;
jgensel3 2:ab7b95fb52aa 87 wait(0.5);
jgensel3 2:ab7b95fb52aa 88 led4 = 1;
jgensel3 2:ab7b95fb52aa 89 wait(0.5);
4180_1 0:e693d5bf0a25 90 IMU.calibrateMag(0);
jgensel3 2:ab7b95fb52aa 91 led4 = 0;
jgensel3 2:ab7b95fb52aa 92 led2 = 1;
jgensel3 2:ab7b95fb52aa 93
jgensel3 2:ab7b95fb52aa 94 //Get forward direction relative to user
jgensel3 1:705baf131710 95 pc.printf("Press button to set forward direction");
jgensel3 2:ab7b95fb52aa 96 while(pb1 == 1) {
jgensel3 1:705baf131710 97 IMU.readMag();
jgensel3 1:705baf131710 98 IMU.readAccel();
jgensel3 1:705baf131710 99 forward = printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
jgensel3 2:ab7b95fb52aa 100 IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));;
jgensel3 2:ab7b95fb52aa 101 }
jgensel3 2:ab7b95fb52aa 102 pc.printf("forward: %f\n\r", forward);
4180_1 0:e693d5bf0a25 103 while(1) {
4180_1 0:e693d5bf0a25 104 while(!IMU.tempAvailable());
4180_1 0:e693d5bf0a25 105 IMU.readTemp();
4180_1 0:e693d5bf0a25 106 while(!IMU.magAvailable(X_AXIS));
4180_1 0:e693d5bf0a25 107 IMU.readMag();
4180_1 0:e693d5bf0a25 108 while(!IMU.accelAvailable());
4180_1 0:e693d5bf0a25 109 IMU.readAccel();
4180_1 0:e693d5bf0a25 110 while(!IMU.gyroAvailable());
4180_1 0:e693d5bf0a25 111 IMU.readGyro();
jgensel3 2:ab7b95fb52aa 112 if(abs(IMU.calcGyro(IMU.gy)) > 100) {
jgensel3 2:ab7b95fb52aa 113
jgensel3 2:ab7b95fb52aa 114
jgensel3 2:ab7b95fb52aa 115 IMU.readAccel();
jgensel3 2:ab7b95fb52aa 116
jgensel3 2:ab7b95fb52aa 117 IMU.readMag();
jgensel3 2:ab7b95fb52aa 118
jgensel3 2:ab7b95fb52aa 119
jgensel3 2:ab7b95fb52aa 120 //Calculate heading relative to forward direction
jgensel3 1:705baf131710 121 float currHeading = printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
jgensel3 1:705baf131710 122 currHeading = correctHeading(currHeading, forward) + 45;
jgensel3 2:ab7b95fb52aa 123 //Start timeout to detect when stopped walking
jgensel3 2:ab7b95fb52aa 124 walkingTimer.attach(printStop, 0.3);
jgensel3 2:ab7b95fb52aa 125
jgensel3 2:ab7b95fb52aa 126 //Detect direction and send command to main mbed
jgensel3 2:ab7b95fb52aa 127 if((currHeading > 270 && currHeading < 360) && !isWalking) {
jgensel3 2:ab7b95fb52aa 128
jgensel3 2:ab7b95fb52aa 129 pc.printf("walking L\n\r");
jgensel3 2:ab7b95fb52aa 130
jgensel3 2:ab7b95fb52aa 131 isWalking = true;
jgensel3 2:ab7b95fb52aa 132 } else if((currHeading > 90 && currHeading < 180) && !isWalking) {
jgensel3 2:ab7b95fb52aa 133
jgensel3 2:ab7b95fb52aa 134 pc.printf("walking R\n\r");
jgensel3 2:ab7b95fb52aa 135 isWalking = true;
jgensel3 2:ab7b95fb52aa 136 } else if((currHeading > 180 && currHeading < 270) && !isWalking) {
jgensel3 2:ab7b95fb52aa 137
jgensel3 2:ab7b95fb52aa 138 pc.printf("walking D\n\r");
jgensel3 2:ab7b95fb52aa 139 isWalking = true;
jgensel3 2:ab7b95fb52aa 140 } else if((currHeading > 360 || currHeading < 90) && !isWalking) {
jgensel3 2:ab7b95fb52aa 141
jgensel3 2:ab7b95fb52aa 142 pc.printf("walking F\n\r");
jgensel3 2:ab7b95fb52aa 143 isWalking = true;
jgensel3 1:705baf131710 144 }
jgensel3 1:705baf131710 145 }
4180_1 0:e693d5bf0a25 146 }
4180_1 0:e693d5bf0a25 147 }
4180_1 0:e693d5bf0a25 148