Code to detect walking and convert to input for video game
Dependencies: LSM9DS1_Library_cal2 XBee mbed
Fork of FootModule by
main.cpp@4:43a6ec1af346, 2017-04-30 (annotated)
- Committer:
- jgensel3
- Date:
- Sun Apr 30 19:48:22 2017 +0000
- Revision:
- 4:43a6ec1af346
- Parent:
- 3:2d6ff72599f1
- Child:
- 5:c4ae0656a736
Updated LSM9DS1_Library and added better heading detection
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
4180_1 | 0:e693d5bf0a25 | 1 | #include "mbed.h" |
4180_1 | 0:e693d5bf0a25 | 2 | #include "LSM9DS1.h" |
jgensel3 | 3:2d6ff72599f1 | 3 | #include "Wireless.h" |
jgensel3 | 2:ab7b95fb52aa | 4 | //#include "USBKeyboard.h" |
jgensel3 | 4:43a6ec1af346 | 5 | //#include "MahonyAHRS.h" |
4180_1 | 0:e693d5bf0a25 | 6 | #define PI 3.14159 |
4180_1 | 0:e693d5bf0a25 | 7 | // Earth's magnetic field varies by location. Add or subtract |
4180_1 | 0:e693d5bf0a25 | 8 | // a declination to get a more accurate heading. Calculate |
4180_1 | 0:e693d5bf0a25 | 9 | // your's here: |
4180_1 | 0:e693d5bf0a25 | 10 | // http://www.ngdc.noaa.gov/geomag-web/#declination |
4180_1 | 0:e693d5bf0a25 | 11 | #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA. |
4180_1 | 0:e693d5bf0a25 | 12 | |
jgensel3 | 2:ab7b95fb52aa | 13 | DigitalOut led1(LED1); |
jgensel3 | 2:ab7b95fb52aa | 14 | DigitalOut led2(LED2); |
jgensel3 | 2:ab7b95fb52aa | 15 | DigitalOut led3(LED3); |
jgensel3 | 2:ab7b95fb52aa | 16 | DigitalOut led4(LED4); |
4180_1 | 0:e693d5bf0a25 | 17 | Serial pc(USBTX, USBRX); |
jgensel3 | 3:2d6ff72599f1 | 18 | DigitalIn pb1(p17); |
jgensel3 | 4:43a6ec1af346 | 19 | //USBKeyboard keyboard; |
4180_1 | 0:e693d5bf0a25 | 20 | // Calculate pitch, roll, and heading. |
4180_1 | 0:e693d5bf0a25 | 21 | // Pitch/roll calculations taken from this app note: |
4180_1 | 0:e693d5bf0a25 | 22 | // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1 |
4180_1 | 0:e693d5bf0a25 | 23 | // Heading calculations taken from this app note: |
4180_1 | 0:e693d5bf0a25 | 24 | // http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf |
jgensel3 | 4:43a6ec1af346 | 25 | #include <math.h> |
jgensel3 | 4:43a6ec1af346 | 26 | |
jgensel3 | 4:43a6ec1af346 | 27 | //--------------------------------------------------------------------------------------------------- |
jgensel3 | 4:43a6ec1af346 | 28 | // Definitions |
jgensel3 | 4:43a6ec1af346 | 29 | |
jgensel3 | 4:43a6ec1af346 | 30 | #define sampleFreq 952.0f // sample frequency in Hz |
jgensel3 | 4:43a6ec1af346 | 31 | #define betaDef 0.1f // 2 * proportional gain |
jgensel3 | 4:43a6ec1af346 | 32 | |
jgensel3 | 4:43a6ec1af346 | 33 | //--------------------------------------------------------------------------------------------------- |
jgensel3 | 4:43a6ec1af346 | 34 | // Variable definitions |
jgensel3 | 4:43a6ec1af346 | 35 | |
jgensel3 | 4:43a6ec1af346 | 36 | volatile float beta = betaDef; // 2 * proportional gain (Kp) |
jgensel3 | 4:43a6ec1af346 | 37 | volatile float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to auxiliary frame |
jgensel3 | 4:43a6ec1af346 | 38 | |
jgensel3 | 4:43a6ec1af346 | 39 | //--------------------------------------------------------------------------------------------------- |
jgensel3 | 4:43a6ec1af346 | 40 | // Function declarations |
jgensel3 | 4:43a6ec1af346 | 41 | |
jgensel3 | 4:43a6ec1af346 | 42 | float invSqrt(float x); |
jgensel3 | 4:43a6ec1af346 | 43 | |
jgensel3 | 4:43a6ec1af346 | 44 | //==================================================================================================== |
jgensel3 | 4:43a6ec1af346 | 45 | // Functions |
jgensel3 | 4:43a6ec1af346 | 46 | |
jgensel3 | 4:43a6ec1af346 | 47 | //--------------------------------------------------------------------------------------------------- |
jgensel3 | 4:43a6ec1af346 | 48 | // AHRS algorithm update |
jgensel3 | 4:43a6ec1af346 | 49 | void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az); |
jgensel3 | 4:43a6ec1af346 | 50 | void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) |
jgensel3 | 4:43a6ec1af346 | 51 | { |
jgensel3 | 4:43a6ec1af346 | 52 | float recipNorm; |
jgensel3 | 4:43a6ec1af346 | 53 | float s0, s1, s2, s3; |
jgensel3 | 4:43a6ec1af346 | 54 | float qDot1, qDot2, qDot3, qDot4; |
jgensel3 | 4:43a6ec1af346 | 55 | float hx, hy; |
jgensel3 | 4:43a6ec1af346 | 56 | float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3; |
jgensel3 | 4:43a6ec1af346 | 57 | |
jgensel3 | 4:43a6ec1af346 | 58 | // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation) |
jgensel3 | 4:43a6ec1af346 | 59 | if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { |
jgensel3 | 4:43a6ec1af346 | 60 | MadgwickAHRSupdateIMU(gx, gy, gz, ax, ay, az); |
jgensel3 | 4:43a6ec1af346 | 61 | return; |
jgensel3 | 4:43a6ec1af346 | 62 | } |
jgensel3 | 4:43a6ec1af346 | 63 | |
jgensel3 | 4:43a6ec1af346 | 64 | // Rate of change of quaternion from gyroscope |
jgensel3 | 4:43a6ec1af346 | 65 | qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); |
jgensel3 | 4:43a6ec1af346 | 66 | qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); |
jgensel3 | 4:43a6ec1af346 | 67 | qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); |
jgensel3 | 4:43a6ec1af346 | 68 | qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); |
jgensel3 | 4:43a6ec1af346 | 69 | |
jgensel3 | 4:43a6ec1af346 | 70 | // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) |
jgensel3 | 4:43a6ec1af346 | 71 | if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { |
jgensel3 | 4:43a6ec1af346 | 72 | |
jgensel3 | 4:43a6ec1af346 | 73 | // Normalise accelerometer measurement |
jgensel3 | 4:43a6ec1af346 | 74 | recipNorm = invSqrt(ax * ax + ay * ay + az * az); |
jgensel3 | 4:43a6ec1af346 | 75 | ax *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 76 | ay *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 77 | az *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 78 | |
jgensel3 | 4:43a6ec1af346 | 79 | // Normalise magnetometer measurement |
jgensel3 | 4:43a6ec1af346 | 80 | recipNorm = invSqrt(mx * mx + my * my + mz * mz); |
jgensel3 | 4:43a6ec1af346 | 81 | mx *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 82 | my *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 83 | mz *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 84 | |
jgensel3 | 4:43a6ec1af346 | 85 | // Auxiliary variables to avoid repeated arithmetic |
jgensel3 | 4:43a6ec1af346 | 86 | _2q0mx = 2.0f * q0 * mx; |
jgensel3 | 4:43a6ec1af346 | 87 | _2q0my = 2.0f * q0 * my; |
jgensel3 | 4:43a6ec1af346 | 88 | _2q0mz = 2.0f * q0 * mz; |
jgensel3 | 4:43a6ec1af346 | 89 | _2q1mx = 2.0f * q1 * mx; |
jgensel3 | 4:43a6ec1af346 | 90 | _2q0 = 2.0f * q0; |
jgensel3 | 4:43a6ec1af346 | 91 | _2q1 = 2.0f * q1; |
jgensel3 | 4:43a6ec1af346 | 92 | _2q2 = 2.0f * q2; |
jgensel3 | 4:43a6ec1af346 | 93 | _2q3 = 2.0f * q3; |
jgensel3 | 4:43a6ec1af346 | 94 | _2q0q2 = 2.0f * q0 * q2; |
jgensel3 | 4:43a6ec1af346 | 95 | _2q2q3 = 2.0f * q2 * q3; |
jgensel3 | 4:43a6ec1af346 | 96 | q0q0 = q0 * q0; |
jgensel3 | 4:43a6ec1af346 | 97 | q0q1 = q0 * q1; |
jgensel3 | 4:43a6ec1af346 | 98 | q0q2 = q0 * q2; |
jgensel3 | 4:43a6ec1af346 | 99 | q0q3 = q0 * q3; |
jgensel3 | 4:43a6ec1af346 | 100 | q1q1 = q1 * q1; |
jgensel3 | 4:43a6ec1af346 | 101 | q1q2 = q1 * q2; |
jgensel3 | 4:43a6ec1af346 | 102 | q1q3 = q1 * q3; |
jgensel3 | 4:43a6ec1af346 | 103 | q2q2 = q2 * q2; |
jgensel3 | 4:43a6ec1af346 | 104 | q2q3 = q2 * q3; |
jgensel3 | 4:43a6ec1af346 | 105 | q3q3 = q3 * q3; |
jgensel3 | 4:43a6ec1af346 | 106 | |
jgensel3 | 4:43a6ec1af346 | 107 | // Reference direction of Earth's magnetic field |
jgensel3 | 4:43a6ec1af346 | 108 | hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3; |
jgensel3 | 4:43a6ec1af346 | 109 | hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3; |
jgensel3 | 4:43a6ec1af346 | 110 | _2bx = sqrt(hx * hx + hy * hy); |
jgensel3 | 4:43a6ec1af346 | 111 | _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3; |
jgensel3 | 4:43a6ec1af346 | 112 | _4bx = 2.0f * _2bx; |
jgensel3 | 4:43a6ec1af346 | 113 | _4bz = 2.0f * _2bz; |
jgensel3 | 4:43a6ec1af346 | 114 | |
jgensel3 | 4:43a6ec1af346 | 115 | // Gradient decent algorithm corrective step |
jgensel3 | 4:43a6ec1af346 | 116 | s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); |
jgensel3 | 4:43a6ec1af346 | 117 | s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); |
jgensel3 | 4:43a6ec1af346 | 118 | s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); |
jgensel3 | 4:43a6ec1af346 | 119 | s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); |
jgensel3 | 4:43a6ec1af346 | 120 | recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude |
jgensel3 | 4:43a6ec1af346 | 121 | s0 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 122 | s1 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 123 | s2 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 124 | s3 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 125 | |
jgensel3 | 4:43a6ec1af346 | 126 | // Apply feedback step |
jgensel3 | 4:43a6ec1af346 | 127 | qDot1 -= beta * s0; |
jgensel3 | 4:43a6ec1af346 | 128 | qDot2 -= beta * s1; |
jgensel3 | 4:43a6ec1af346 | 129 | qDot3 -= beta * s2; |
jgensel3 | 4:43a6ec1af346 | 130 | qDot4 -= beta * s3; |
jgensel3 | 4:43a6ec1af346 | 131 | } |
jgensel3 | 4:43a6ec1af346 | 132 | |
jgensel3 | 4:43a6ec1af346 | 133 | // Integrate rate of change of quaternion to yield quaternion |
jgensel3 | 4:43a6ec1af346 | 134 | q0 += qDot1 * (1.0f / sampleFreq); |
jgensel3 | 4:43a6ec1af346 | 135 | q1 += qDot2 * (1.0f / sampleFreq); |
jgensel3 | 4:43a6ec1af346 | 136 | q2 += qDot3 * (1.0f / sampleFreq); |
jgensel3 | 4:43a6ec1af346 | 137 | q3 += qDot4 * (1.0f / sampleFreq); |
jgensel3 | 4:43a6ec1af346 | 138 | |
jgensel3 | 4:43a6ec1af346 | 139 | // Normalise quaternion |
jgensel3 | 4:43a6ec1af346 | 140 | recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); |
jgensel3 | 4:43a6ec1af346 | 141 | q0 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 142 | q1 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 143 | q2 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 144 | q3 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 145 | } |
jgensel3 | 4:43a6ec1af346 | 146 | |
jgensel3 | 4:43a6ec1af346 | 147 | //--------------------------------------------------------------------------------------------------- |
jgensel3 | 4:43a6ec1af346 | 148 | // IMU algorithm update |
jgensel3 | 4:43a6ec1af346 | 149 | |
jgensel3 | 4:43a6ec1af346 | 150 | void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) |
jgensel3 | 4:43a6ec1af346 | 151 | { |
jgensel3 | 4:43a6ec1af346 | 152 | float recipNorm; |
jgensel3 | 4:43a6ec1af346 | 153 | float s0, s1, s2, s3; |
jgensel3 | 4:43a6ec1af346 | 154 | float qDot1, qDot2, qDot3, qDot4; |
jgensel3 | 4:43a6ec1af346 | 155 | float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3; |
jgensel3 | 4:43a6ec1af346 | 156 | |
jgensel3 | 4:43a6ec1af346 | 157 | // Rate of change of quaternion from gyroscope |
jgensel3 | 4:43a6ec1af346 | 158 | qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); |
jgensel3 | 4:43a6ec1af346 | 159 | qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); |
jgensel3 | 4:43a6ec1af346 | 160 | qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); |
jgensel3 | 4:43a6ec1af346 | 161 | qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); |
jgensel3 | 4:43a6ec1af346 | 162 | |
jgensel3 | 4:43a6ec1af346 | 163 | // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) |
jgensel3 | 4:43a6ec1af346 | 164 | if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { |
jgensel3 | 4:43a6ec1af346 | 165 | |
jgensel3 | 4:43a6ec1af346 | 166 | // Normalise accelerometer measurement |
jgensel3 | 4:43a6ec1af346 | 167 | recipNorm = invSqrt(ax * ax + ay * ay + az * az); |
jgensel3 | 4:43a6ec1af346 | 168 | ax *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 169 | ay *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 170 | az *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 171 | |
jgensel3 | 4:43a6ec1af346 | 172 | // Auxiliary variables to avoid repeated arithmetic |
jgensel3 | 4:43a6ec1af346 | 173 | _2q0 = 2.0f * q0; |
jgensel3 | 4:43a6ec1af346 | 174 | _2q1 = 2.0f * q1; |
jgensel3 | 4:43a6ec1af346 | 175 | _2q2 = 2.0f * q2; |
jgensel3 | 4:43a6ec1af346 | 176 | _2q3 = 2.0f * q3; |
jgensel3 | 4:43a6ec1af346 | 177 | _4q0 = 4.0f * q0; |
jgensel3 | 4:43a6ec1af346 | 178 | _4q1 = 4.0f * q1; |
jgensel3 | 4:43a6ec1af346 | 179 | _4q2 = 4.0f * q2; |
jgensel3 | 4:43a6ec1af346 | 180 | _8q1 = 8.0f * q1; |
jgensel3 | 4:43a6ec1af346 | 181 | _8q2 = 8.0f * q2; |
jgensel3 | 4:43a6ec1af346 | 182 | q0q0 = q0 * q0; |
jgensel3 | 4:43a6ec1af346 | 183 | q1q1 = q1 * q1; |
jgensel3 | 4:43a6ec1af346 | 184 | q2q2 = q2 * q2; |
jgensel3 | 4:43a6ec1af346 | 185 | q3q3 = q3 * q3; |
jgensel3 | 4:43a6ec1af346 | 186 | |
jgensel3 | 4:43a6ec1af346 | 187 | // Gradient decent algorithm corrective step |
jgensel3 | 4:43a6ec1af346 | 188 | s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; |
jgensel3 | 4:43a6ec1af346 | 189 | s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; |
jgensel3 | 4:43a6ec1af346 | 190 | s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; |
jgensel3 | 4:43a6ec1af346 | 191 | s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay; |
jgensel3 | 4:43a6ec1af346 | 192 | recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude |
jgensel3 | 4:43a6ec1af346 | 193 | s0 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 194 | s1 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 195 | s2 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 196 | s3 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 197 | |
jgensel3 | 4:43a6ec1af346 | 198 | // Apply feedback step |
jgensel3 | 4:43a6ec1af346 | 199 | qDot1 -= beta * s0; |
jgensel3 | 4:43a6ec1af346 | 200 | qDot2 -= beta * s1; |
jgensel3 | 4:43a6ec1af346 | 201 | qDot3 -= beta * s2; |
jgensel3 | 4:43a6ec1af346 | 202 | qDot4 -= beta * s3; |
jgensel3 | 4:43a6ec1af346 | 203 | } |
jgensel3 | 4:43a6ec1af346 | 204 | |
jgensel3 | 4:43a6ec1af346 | 205 | // Integrate rate of change of quaternion to yield quaternion |
jgensel3 | 4:43a6ec1af346 | 206 | q0 += qDot1 * (1.0f / sampleFreq); |
jgensel3 | 4:43a6ec1af346 | 207 | q1 += qDot2 * (1.0f / sampleFreq); |
jgensel3 | 4:43a6ec1af346 | 208 | q2 += qDot3 * (1.0f / sampleFreq); |
jgensel3 | 4:43a6ec1af346 | 209 | q3 += qDot4 * (1.0f / sampleFreq); |
jgensel3 | 4:43a6ec1af346 | 210 | |
jgensel3 | 4:43a6ec1af346 | 211 | // Normalise quaternion |
jgensel3 | 4:43a6ec1af346 | 212 | recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); |
jgensel3 | 4:43a6ec1af346 | 213 | q0 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 214 | q1 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 215 | q2 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 216 | q3 *= recipNorm; |
jgensel3 | 4:43a6ec1af346 | 217 | } |
jgensel3 | 4:43a6ec1af346 | 218 | |
jgensel3 | 4:43a6ec1af346 | 219 | //--------------------------------------------------------------------------------------------------- |
jgensel3 | 4:43a6ec1af346 | 220 | // Fast inverse square-root |
jgensel3 | 4:43a6ec1af346 | 221 | // See: http://en.wikipedia.org/wiki/Fast_inverse_square_root |
jgensel3 | 4:43a6ec1af346 | 222 | |
jgensel3 | 4:43a6ec1af346 | 223 | float invSqrt(float x) |
jgensel3 | 4:43a6ec1af346 | 224 | { |
jgensel3 | 4:43a6ec1af346 | 225 | float halfx = 0.5f * x; |
jgensel3 | 4:43a6ec1af346 | 226 | float y = x; |
jgensel3 | 4:43a6ec1af346 | 227 | long i = *(long*)&y; |
jgensel3 | 4:43a6ec1af346 | 228 | i = 0x5f3759df - (i>>1); |
jgensel3 | 4:43a6ec1af346 | 229 | y = *(float*)&i; |
jgensel3 | 4:43a6ec1af346 | 230 | y = y * (1.5f - (halfx * y * y)); |
jgensel3 | 4:43a6ec1af346 | 231 | return y; |
jgensel3 | 4:43a6ec1af346 | 232 | } |
jgensel3 | 4:43a6ec1af346 | 233 | |
jgensel3 | 4:43a6ec1af346 | 234 | //==================================================================================================== |
jgensel3 | 4:43a6ec1af346 | 235 | // END OF CODE |
jgensel3 | 4:43a6ec1af346 | 236 | //==================================================================================================== |
jgensel3 | 2:ab7b95fb52aa | 237 | |
jgensel3 | 2:ab7b95fb52aa | 238 | |
jgensel3 | 4:43a6ec1af346 | 239 | |
jgensel3 | 2:ab7b95fb52aa | 240 | |
jgensel3 | 4:43a6ec1af346 | 241 | |
jgensel3 | 2:ab7b95fb52aa | 242 | float correctHeading(float currHeading, float forward) |
jgensel3 | 2:ab7b95fb52aa | 243 | { |
jgensel3 | 1:705baf131710 | 244 | float newHeading = currHeading - forward; |
jgensel3 | 1:705baf131710 | 245 | if(newHeading < 0) newHeading = 360 + newHeading; |
jgensel3 | 1:705baf131710 | 246 | return newHeading; |
jgensel3 | 1:705baf131710 | 247 | } |
jgensel3 | 1:705baf131710 | 248 | |
jgensel3 | 1:705baf131710 | 249 | float printAttitude(float ax, float ay, float az, float mx, float my, float mz) |
4180_1 | 0:e693d5bf0a25 | 250 | { |
4180_1 | 0:e693d5bf0a25 | 251 | float roll = atan2(ay, az); |
4180_1 | 0:e693d5bf0a25 | 252 | float pitch = atan2(-ax, sqrt(ay * ay + az * az)); |
4180_1 | 0:e693d5bf0a25 | 253 | // touchy trig stuff to use arctan to get compass heading (scale is 0..360) |
4180_1 | 0:e693d5bf0a25 | 254 | mx = -mx; |
4180_1 | 0:e693d5bf0a25 | 255 | float heading; |
4180_1 | 0:e693d5bf0a25 | 256 | if (my == 0.0) |
4180_1 | 0:e693d5bf0a25 | 257 | heading = (mx < 0.0) ? 180.0 : 0.0; |
4180_1 | 0:e693d5bf0a25 | 258 | else |
4180_1 | 0:e693d5bf0a25 | 259 | heading = atan2(mx, my)*360.0/(2.0*PI); |
4180_1 | 0:e693d5bf0a25 | 260 | //pc.printf("heading atan=%f \n\r",heading); |
4180_1 | 0:e693d5bf0a25 | 261 | heading -= DECLINATION; //correct for geo location |
4180_1 | 0:e693d5bf0a25 | 262 | if(heading>180.0) heading = heading - 360.0; |
4180_1 | 0:e693d5bf0a25 | 263 | else if(heading<-180.0) heading = 360.0 + heading; |
4180_1 | 0:e693d5bf0a25 | 264 | else if(heading<0.0) heading = 360.0 + heading; |
4180_1 | 0:e693d5bf0a25 | 265 | |
4180_1 | 0:e693d5bf0a25 | 266 | |
4180_1 | 0:e693d5bf0a25 | 267 | // Convert everything from radians to degrees: |
4180_1 | 0:e693d5bf0a25 | 268 | //heading *= 180.0 / PI; |
4180_1 | 0:e693d5bf0a25 | 269 | pitch *= 180.0 / PI; |
4180_1 | 0:e693d5bf0a25 | 270 | roll *= 180.0 / PI; |
4180_1 | 0:e693d5bf0a25 | 271 | |
jgensel3 | 1:705baf131710 | 272 | //pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll); |
jgensel3 | 1:705baf131710 | 273 | //pc.printf("Magnetic Heading: %f degress\n\r",heading); |
jgensel3 | 4:43a6ec1af346 | 274 | return abs(heading); |
jgensel3 | 4:43a6ec1af346 | 275 | } |
jgensel3 | 4:43a6ec1af346 | 276 | |
jgensel3 | 4:43a6ec1af346 | 277 | bool isWalking = false; |
jgensel3 | 4:43a6ec1af346 | 278 | |
jgensel3 | 4:43a6ec1af346 | 279 | Ticker walkingTimer; |
jgensel3 | 4:43a6ec1af346 | 280 | Ticker resetStart; |
jgensel3 | 4:43a6ec1af346 | 281 | WirelessModule wireless(p9, p10, FOOT_STEP); |
jgensel3 | 4:43a6ec1af346 | 282 | float ax ; |
jgensel3 | 4:43a6ec1af346 | 283 | float ay ; |
jgensel3 | 4:43a6ec1af346 | 284 | float az ; |
jgensel3 | 4:43a6ec1af346 | 285 | float gx ; |
jgensel3 | 4:43a6ec1af346 | 286 | float gy ; |
jgensel3 | 4:43a6ec1af346 | 287 | float gz ; |
jgensel3 | 4:43a6ec1af346 | 288 | float mx ; |
jgensel3 | 4:43a6ec1af346 | 289 | float my ; |
jgensel3 | 4:43a6ec1af346 | 290 | float mz ; |
jgensel3 | 4:43a6ec1af346 | 291 | LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); |
jgensel3 | 4:43a6ec1af346 | 292 | |
jgensel3 | 4:43a6ec1af346 | 293 | void printStop() |
jgensel3 | 4:43a6ec1af346 | 294 | { |
jgensel3 | 4:43a6ec1af346 | 295 | // pc.printf("stop\n\r"); |
jgensel3 | 4:43a6ec1af346 | 296 | wireless.sendDirection(DIR_NONE); |
jgensel3 | 4:43a6ec1af346 | 297 | isWalking = false; |
jgensel3 | 4:43a6ec1af346 | 298 | } |
jgensel3 | 4:43a6ec1af346 | 299 | void resetForward() |
jgensel3 | 4:43a6ec1af346 | 300 | { |
jgensel3 | 4:43a6ec1af346 | 301 | q0 = 1.0f; |
jgensel3 | 4:43a6ec1af346 | 302 | q1 = 0.0f; |
jgensel3 | 4:43a6ec1af346 | 303 | q2 = 0.0f; |
jgensel3 | 4:43a6ec1af346 | 304 | q3 = 0.0f; |
jgensel3 | 4:43a6ec1af346 | 305 | MadgwickAHRSupdate(IMU.calcGyro(gx), IMU.calcGyro(gy), IMU.calcGyro(gz), IMU.calcAccel(ax), IMU.calcAccel(ay), IMU.calcAccel(az), IMU.calcMag(mx), IMU.calcMag(my), IMU.calcMag(mz)); |
4180_1 | 0:e693d5bf0a25 | 306 | } |
4180_1 | 0:e693d5bf0a25 | 307 | |
4180_1 | 0:e693d5bf0a25 | 308 | |
4180_1 | 0:e693d5bf0a25 | 309 | |
4180_1 | 0:e693d5bf0a25 | 310 | |
4180_1 | 0:e693d5bf0a25 | 311 | int main() |
4180_1 | 0:e693d5bf0a25 | 312 | { |
4180_1 | 0:e693d5bf0a25 | 313 | //LSM9DS1 lol(p9, p10, 0x6B, 0x1E); |
jgensel3 | 4:43a6ec1af346 | 314 | |
jgensel3 | 1:705baf131710 | 315 | pb1.mode(PullUp); |
4180_1 | 0:e693d5bf0a25 | 316 | IMU.begin(); |
jgensel3 | 1:705baf131710 | 317 | float forward; |
4180_1 | 0:e693d5bf0a25 | 318 | if (!IMU.begin()) { |
4180_1 | 0:e693d5bf0a25 | 319 | pc.printf("Failed to communicate with LSM9DS1.\n"); |
4180_1 | 0:e693d5bf0a25 | 320 | } |
jgensel3 | 4:43a6ec1af346 | 321 | led4 = 1; |
4180_1 | 0:e693d5bf0a25 | 322 | IMU.calibrate(1); |
jgensel3 | 4:43a6ec1af346 | 323 | led4 = 0; |
jgensel3 | 2:ab7b95fb52aa | 324 | wait(0.5); |
jgensel3 | 4:43a6ec1af346 | 325 | led1 = 1; |
jgensel3 | 2:ab7b95fb52aa | 326 | led4 = 1; |
4180_1 | 0:e693d5bf0a25 | 327 | IMU.calibrateMag(0); |
jgensel3 | 2:ab7b95fb52aa | 328 | led4 = 0; |
jgensel3 | 2:ab7b95fb52aa | 329 | led2 = 1; |
jgensel3 | 1:705baf131710 | 330 | pc.printf("Press button to set forward direction"); |
jgensel3 | 2:ab7b95fb52aa | 331 | while(pb1 == 1) { |
jgensel3 | 1:705baf131710 | 332 | IMU.readMag(); |
jgensel3 | 1:705baf131710 | 333 | IMU.readAccel(); |
jgensel3 | 4:43a6ec1af346 | 334 | ax = IMU.calcAccel(IMU.ax); |
jgensel3 | 4:43a6ec1af346 | 335 | ay = IMU.calcAccel(IMU.ay); |
jgensel3 | 4:43a6ec1af346 | 336 | az = IMU.calcAccel(IMU.az); |
jgensel3 | 4:43a6ec1af346 | 337 | gx = IMU.calcGyro(IMU.gx); |
jgensel3 | 4:43a6ec1af346 | 338 | gy = IMU.calcGyro(IMU.gy); |
jgensel3 | 4:43a6ec1af346 | 339 | gz = IMU.calcGyro(IMU.gz); |
jgensel3 | 4:43a6ec1af346 | 340 | mx = IMU.calcMag(IMU.mx); |
jgensel3 | 4:43a6ec1af346 | 341 | my = IMU.calcMag(IMU.my); |
jgensel3 | 4:43a6ec1af346 | 342 | mz = IMU.calcMag(IMU.mz); |
jgensel3 | 1:705baf131710 | 343 | forward = printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx), |
jgensel3 | 2:ab7b95fb52aa | 344 | IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));; |
jgensel3 | 2:ab7b95fb52aa | 345 | } |
jgensel3 | 4:43a6ec1af346 | 346 | led3 = 1; |
jgensel3 | 4:43a6ec1af346 | 347 | resetStart.attach(resetForward, 0.1); |
4180_1 | 0:e693d5bf0a25 | 348 | while(1) { |
4180_1 | 0:e693d5bf0a25 | 349 | while(!IMU.tempAvailable()); |
4180_1 | 0:e693d5bf0a25 | 350 | IMU.readTemp(); |
4180_1 | 0:e693d5bf0a25 | 351 | while(!IMU.magAvailable(X_AXIS)); |
4180_1 | 0:e693d5bf0a25 | 352 | IMU.readMag(); |
4180_1 | 0:e693d5bf0a25 | 353 | while(!IMU.accelAvailable()); |
4180_1 | 0:e693d5bf0a25 | 354 | IMU.readAccel(); |
4180_1 | 0:e693d5bf0a25 | 355 | while(!IMU.gyroAvailable()); |
4180_1 | 0:e693d5bf0a25 | 356 | IMU.readGyro(); |
jgensel3 | 2:ab7b95fb52aa | 357 | |
jgensel3 | 4:43a6ec1af346 | 358 | MadgwickAHRSupdate(IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz), 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 | 4:43a6ec1af346 | 359 | float Yaw_m=atan2(2*q1*q2-2*q0*q3,2*q0*q0+2*q1*q1-1)*180/PI; |
jgensel3 | 4:43a6ec1af346 | 360 | float Pitch_m=-1*asin(2*q1*q3+2*q0*q2)*180/PI; |
jgensel3 | 4:43a6ec1af346 | 361 | float Roll_m=atan2(2*q2*q3-2*q0*q1,2*q0*q0+2*q3*q3-1)*180/PI; |
jgensel3 | 2:ab7b95fb52aa | 362 | |
jgensel3 | 4:43a6ec1af346 | 363 | if( Yaw_m < 0 ) Yaw_m += 360.0; |
jgensel3 | 4:43a6ec1af346 | 364 | //pc.printf("yaw: %f\n\r", Yaw_m); |
jgensel3 | 4:43a6ec1af346 | 365 | //pc.printf("Yaw: %f\n\r Roll: %f\n\r Pitch: %f\n\n\n\r", Yaw_m, Roll_m, Pitch_m); |
jgensel3 | 2:ab7b95fb52aa | 366 | |
jgensel3 | 4:43a6ec1af346 | 367 | if(abs(IMU.calcGyro(IMU.gy)) > 100) { |
jgensel3 | 2:ab7b95fb52aa | 368 | |
jgensel3 | 2:ab7b95fb52aa | 369 | //Calculate heading relative to forward direction |
jgensel3 | 1:705baf131710 | 370 | 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 | 4:43a6ec1af346 | 371 | currHeading = correctHeading(currHeading, forward); |
jgensel3 | 4:43a6ec1af346 | 372 | pc.printf("heading: %f\n\r", currHeading); |
jgensel3 | 4:43a6ec1af346 | 373 | //pc.printf("corrected heading: %f\n\r", currHeading); |
jgensel3 | 2:ab7b95fb52aa | 374 | //Start timeout to detect when stopped walking |
jgensel3 | 2:ab7b95fb52aa | 375 | walkingTimer.attach(printStop, 0.3); |
jgensel3 | 2:ab7b95fb52aa | 376 | |
jgensel3 | 2:ab7b95fb52aa | 377 | //Detect direction and send command to main mbed |
jgensel3 | 4:43a6ec1af346 | 378 | if((currHeading > 225 && currHeading < 315) && !isWalking) { |
jgensel3 | 4:43a6ec1af346 | 379 | pc.printf("left\n\r"); |
jgensel3 | 3:2d6ff72599f1 | 380 | wireless.sendDirection(DIR_LEFT); |
jgensel3 | 2:ab7b95fb52aa | 381 | |
jgensel3 | 2:ab7b95fb52aa | 382 | isWalking = true; |
jgensel3 | 4:43a6ec1af346 | 383 | } else if((currHeading > 45 && currHeading < 135) && !isWalking) { |
jgensel3 | 4:43a6ec1af346 | 384 | pc.printf("right\n\r"); |
jgensel3 | 4:43a6ec1af346 | 385 | wireless.sendDirection(DIR_RIGHT); |
jgensel3 | 2:ab7b95fb52aa | 386 | isWalking = true; |
jgensel3 | 4:43a6ec1af346 | 387 | } else if((currHeading > 135 && currHeading < 225) && !isWalking) { |
jgensel3 | 4:43a6ec1af346 | 388 | pc.printf("down\n\r"); |
jgensel3 | 3:2d6ff72599f1 | 389 | wireless.sendDirection(DIR_DOWN); |
jgensel3 | 2:ab7b95fb52aa | 390 | isWalking = true; |
jgensel3 | 4:43a6ec1af346 | 391 | } else if((currHeading > 315 || currHeading < 45) && !isWalking) { |
jgensel3 | 4:43a6ec1af346 | 392 | pc.printf("up\n\r"); |
jgensel3 | 4:43a6ec1af346 | 393 | wireless.sendDirection(DIR_UP); |
jgensel3 | 2:ab7b95fb52aa | 394 | |
jgensel3 | 2:ab7b95fb52aa | 395 | isWalking = true; |
jgensel3 | 1:705baf131710 | 396 | } |
jgensel3 | 1:705baf131710 | 397 | } |
4180_1 | 0:e693d5bf0a25 | 398 | } |
4180_1 | 0:e693d5bf0a25 | 399 | } |
4180_1 | 0:e693d5bf0a25 | 400 |