I am able to get angle from ADXL345 and L3GD20. Please use this program. Angle is made by deg/sec and acceramater. I used Kalmanfilter.
Fork of ANGLE by
angle.cpp
- Committer:
- kikoaac
- Date:
- 2014-11-30
- Revision:
- 0:15e41c824e3b
File content as of revision 0:15e41c824e3b:
#include "angle.h" #include "mbed.h" ANGLE::ANGLE(PinName sda, PinName scl) : i2c_(sda, scl) { Rate=0.00390635;sampleTime=0.001;sampleNum=500; kalma[0].setAngle(0); kalma[1].setAngle(0); kalma[2].setAngle(0); //400kHz, allowing us to use the fastest data rates. i2c_.frequency(400000); // initialize the BW data rate char tx[2]; tx[0] = ADXL345_BW_RATE_REG; tx[1] = ADXL345_200HZ; //value greater than or equal to 0x0A is written into the rate bits (Bit D3 through Bit D0) in the BW_RATE register i2c_.write( acc_i2c_write , tx, 2); //Data format (for +-16g) - This is done by setting Bit D3 of the DATA_FORMAT register (Address 0x31) and writing a value of 0x03 to the range bits (Bit D1 and Bit D0) of the DATA_FORMAT register (Address 0x31). char rx[2]; rx[0] = ADXL345_DATA_FORMAT_REG; rx[1] = 0x0B; // full res and +_16g i2c_.write( acc_i2c_write , rx, 2); // Set Offset - programmed into the OFSX, OFSY, and OFXZ registers, respectively, as 0xFD, 0x03 and 0xFE. char x[2]; x[0] = ADXL345_OFSX_REG ; x[1] = 253; i2c_.write( acc_i2c_write , x, 2); char y[2]; y[0] = ADXL345_OFSY_REG ; y[1] = 5; i2c_.write( acc_i2c_write, y, 2); char z[2]; z[0] = ADXL345_OFSZ_REG ; z[1] = 0xFE; i2c_.write( acc_i2c_write , z, 2); char reg_v; sampleTime=0.001; sampleNum=500; angle[0]=angle[1]=angle[2]=0; prev_rate[0]=prev_rate[1]=prev_rate[2]=0; // 0x0F = 0b00001111 // Normal power mode, all axes enabled reg_v = 0; reg_v |= 0x0F; write_reg(GYR_ADDRESS,L3GD20_CTRL_REG1,reg_v); set_offset(); set_noise(); offset_angle[0]=0; offset_angle[1]=0; offset_angle[2]=0; ADXL_setup(); set_angleoffset(); } void ANGLE::ADXL_setup(){ z_offset=2;x_offset=0;y_offset=0; char buffer[6]; for(int i=0;i<sampleNum;i++) { data_multi_get(ADXL345_DATAX0_REG, buffer, 6); int Xacc = (int)buffer[1] << 8 | (int)buffer[0]; int Yacc = (int)buffer[3] << 8 | (int)buffer[2]; int Zacc = (int)buffer[5] << 8 | (int)buffer[4]-255; if((int)Xacc-x_offset>xnoise) xnoise=(int)Xacc-x_offset; else if((int)Xacc-x_offset<-xnoise) xnoise=-(int)Xacc-x_offset; if((int)Yacc-y_offset>ynoise) ynoise=(int)Yacc-y_offset; else if((int)Yacc-y_offset<-ynoise) ynoise=-(int)Yacc-y_offset; if((int)Zacc-z_offset>znoise) znoise=(int)Zacc-z_offset; else if((int)Zacc-z_offset<-znoise) znoise=-(int)Zacc-z_offset; } } void ANGLE::ADXL_setnum(int Num,float time,double rate){ sampleNum=Num;sampleTime=time;Rate=rate; } char ANGLE::data_single_get(char reg){ char tx = reg; char output; i2c_.write( acc_i2c_write , &tx, 1); //tell it what you want to read i2c_.read( acc_i2c_read , &output, 1); //tell it where to store the data return output; } int ANGLE::data_single_put(char reg, char data){ int ack = 0; char tx[2]; tx[0] = reg; tx[1] = data; return ack | i2c_.write( acc_i2c_write , tx, 2); } void ANGLE::data_multi_get(char reg, char* data, int size) { i2c_.write( acc_i2c_write, ®, 1); //tell it where to read from i2c_.read( acc_i2c_read , data, size); //tell it where to store the data read } int ANGLE::data_multi_put(char reg, char* data, int size) { int ack; ack = i2c_.write( acc_i2c_write, ®, 1); //tell it where to write to return ack | i2c_.write( acc_i2c_read, data, size); //tell it what data to write } void ANGLE::getangle_acc(double* DATA_ANGLE){ char buffer[6]; short data[3]; //data_multi_get(ADXL345_DATAX0_REG, buffer, 6); getaxis_acc(data); // calculate the absolute of the magnetic field vector // 8-Bit pieces of axis data // read axis registers using I2C /*data[0] = (short) (buffer[1] << 8 | buffer[0]);//-x_offset; // join 8-Bit pieces to 16-bit short integers data[1] = (short) (buffer[3] << 8 | buffer[2]);//-y_offset; data[2] = (short) (buffer[5] << 8 | buffer[4]);//-z_offset;*/ float R = sqrt(pow((float)data[0],2) + pow((float)data[1],2) + pow((float)data[2],2)); DATA_ANGLE[1] = -((180 / 3.1415) * acos((float)data[1] / R)-90); // roll - angle of magnetic field vector in x direction DATA_ANGLE[0] = (180 / 3.1415) * acos((float)data[0] / R)-90; // pitch - angle of magnetic field vector in y direction DATA_ANGLE[2] = (180 / 3.1415) * acos((float)data[2] / R); //*/ DATA_ANGLE[0] = atan2(data[0],sqrt(pow((float)data[1],2)+pow((float)data[2],2)))*180/3.1415; DATA_ANGLE[1] = atan2(data[1],sqrt(pow((float)data[0],2)+pow((float)data[2],2)))*180/3.1415; DATA_ANGLE[2] = atan2(sqrt(pow((float)data[1],2)+pow((float)data[2],2)),data[2])*180/3.1415; /*DATA_ANGLE[0]=atan2((double)data[0],(double)data[2])* (180 / 3.1415); DATA_ANGLE[1]=atan2((double)data[1],(double)data[2])* (180 / 3.1415); /* if(data[0]>255) DATA_ANGLE[0]=-90; else if(data[0]<-263) DATA_ANGLE[0]=90; if(data[1]>260) DATA_ANGLE[1]=90; else if(data[1]<-246) DATA_ANGLE[1]=-90; /*if(DATA[1]>250) DATA_ANGLE[1]=90; else if(DATA[1]<-260) DATA_ANGLE[1]=-90; if(DATA[0]>250) DATA_ANGLE[0]=90; else if(DATA[0]<-260) DATA_ANGLE[0]=-90;*/ } void ANGLE::getaxis_acc(short* DATA_ACC){ char buffer[6]; data_multi_get(ADXL345_DATAX0_REG, buffer, 6); DATA_ACC[0] = ((short)buffer[1] << 8 | (short)buffer[0]);//+0.1*tempDATA_ACC[0];//-x_offset; DATA_ACC[1] = ((short)buffer[3] << 8 | (short)buffer[2]);//+0.1*tempDATA_ACC[1];//-y_offset; DATA_ACC[2] = ((short)buffer[5] << 8 | (short)buffer[4]);//+0.1*tempDATA_ACC[2];//-z_offset; DATA_ACC[0] = (short)(DATA_ACC[0]*0.9+tempDATA_ACC[0]*0.1); DATA_ACC[1] = (short)(DATA_ACC[1]*0.9+tempDATA_ACC[0]*0.1); DATA_ACC[2] = (short)(DATA_ACC[2]*0.9+tempDATA_ACC[0]*0.1); tempDATA_ACC[0]=DATA_ACC[0]; tempDATA_ACC[1]=DATA_ACC[1]; tempDATA_ACC[2]=DATA_ACC[2];//*/ } void ANGLE::get_rate(short* RATE) { short axis[3]; short offset_t[3]={-1,+1,0}; read(axis); for(int i=0; i<3; i++){ RATE[i]=(short)(axis[i])*0.01-offset_t[i]; //RATE[i]=(floor(RATE[i])); } } void ANGLE::get_angle(double *x,double *y,double *z) { *x=(floor(angle[0]*100.0)/100.0); *y=(floor(angle[1]*100.0)/100.0); *z=(floor(angle[2]*100.0)/100.0); } void ANGLE::get_angle_rate(double *x,double *y,double *z) { *x=t[0]; *y=t[1]; *z=t[2]; } void ANGLE::get_Synthesis_angle(double* X,double* Y) { *X=Synthesis_angle[0]; *Y=Synthesis_angle[1]; } void ANGLE::get_Comp_angle(double* X,double* Y) { *X=comp_angle[0]; *Y=comp_angle[1]; } void ANGLE::get_Kalman_angle(double* X,double* Y) { *X=kalman_angle[0]; *Y=kalman_angle[1]; } void ANGLE::set_angle(double ANG_x,double ANG_y,double ANG_z) { Synthesis_angle[0]=angle[0]=ANG_x; Synthesis_angle[1]=angle[1]=ANG_y; angle[2]=ANG_z; } void ANGLE::set_angle() { get_rate(rate); double g[3], d[3]; get_angle(g,g+1,g+2); getangle_acc(d); double S[3]; for(int i=0; i<3; i++) { //rate[i]=rate[i]*0.00875; S[i] =((double)(rate[i]+prev_rate[i])*sampleTime/2); // S[i]=(floor(S[i]*100.0)/100.0);//-offset_angle[i]; //angle[i]+=(floor(t[i]*100.0)/100.0);//-offset_angle[i]; angle[i]+=(double)S[i]; Synthesis_angle[i]+=(double)S[i]; Synthesis_angle[i]=0.99*(double)(Synthesis_angle[i]+(double)rate[i]/1020.5)+0.01*d[i]; kalman_angle[i]=kalma[i].getAngle((double)d[i], (double)rate[i], (double)sampleTime*1000); comp_angle[i]=kalman_angle[i]*0.01+Synthesis_angle[i]*0.01+comp_angle[i]*0.98; prev_rate[i]=rate[i]; } } void ANGLE::set_angleoffset() { double axis[3],offseta[3]; offseta[0]=offseta[1]=offseta[2]=0; offset_angle[0]=0; offset_angle[1]=0; offset_angle[2]=0; for(int i=0; i<sampleNum; i++) { set_angle(); get_angle_rate(axis,axis+1,axis+2); offseta[0]+=axis[0]; offseta[1]+=axis[1]; offseta[2]+=axis[2]; } offset_angle[0]=offseta[0]/sampleNum; offset_angle[1]=offseta[1]/sampleNum; offset_angle[2]=offseta[2]/sampleNum; offset_angle[0]=(floor(offset_angle[0]*100.0)/100.0); offset_angle[1]=(floor(offset_angle[1]*100.0)/100.0); offset_angle[2]=(floor(offset_angle[2]*100.0)/100.0); angle[0]=0; angle[1]=0; angle[2]=0; } void ANGLE::set_noise() { short gyal[3]; noise[0]=noise[1]=noise[2]=0; for(int i=0; i<sampleNum; i++) { for(int t=0; t<3; t++) { read(gyal); if((int)gyal[t]>noise[t]) noise[t]=(int)gyal[t]; else if((int)gyal[t]<-noise[t]) noise[t]=-(int)gyal[t]; } } noise[0]*=sampleTime; noise[1]*=sampleTime; noise[2]*=sampleTime; } void ANGLE::set_offset() { short axis[3],offseta[3]; offseta[0]=0; offseta[1]=0; offseta[2]=0; for(int i=0; i<sampleNum; i++) { read(axis); offseta[0]+=axis[0]; offseta[1]+=axis[1]; offseta[2]+=axis[2]; } offset[0]=offseta[0]/sampleNum; offset[1]=offseta[1]/sampleNum; offset[2]=offseta[2]/sampleNum; } bool ANGLE::read(short *axis) { char gyr[6]; if (recv(GYR_ADDRESS, L3GD20_OUT_X_L, gyr, 6)) { //scale is 8.75 mdps/digit axis[0] = (short(gyr[1] << 8 | gyr[0]))-offset[0]; axis[1] = (short(gyr[3] << 8 | gyr[2]))-offset[1]; axis[2] = (short(gyr[5] << 8 | gyr[4]))-offset[2]; return true; } return false; } bool ANGLE::read(float *gx, float *gy, float *gz) { char gyr[6]; if (recv(GYR_ADDRESS, L3GD20_OUT_X_L, gyr, 6)) { //scale is 8.75 mdps/digit *gx = float(short(gyr[1] << 8 | gyr[0])-offset[0])*0.00875*sampleTime; *gy = float(short(gyr[3] << 8 | gyr[2])-offset[1])*0.00875*sampleTime; *gz = float(short(gyr[5] << 8 | gyr[4])-offset[2])*0.00875*sampleTime; return true; } return false; } bool ANGLE::write_reg(int addr_i2c,int addr_reg, char v) { char data[2] = {addr_reg, v}; return ANGLE::i2c_.write(addr_i2c, data, 2) == 0; } bool ANGLE::read_reg(int addr_i2c,int addr_reg, char *v) { char data = addr_reg; bool result = false; __disable_irq(); if ((i2c_.write(addr_i2c, &data, 1) == 0) && (i2c_.read(addr_i2c, &data, 1) == 0)) { *v = data; result = true; } __enable_irq(); return result; } bool ANGLE::recv(char sad, char sub, char *buf, int length) { if (length > 1) sub |= 0x80; return i2c_.write(sad, &sub, 1, true) == 0 && i2c_.read(sad, buf, length) == 0; } int ANGLE::setPowerMode(char mode) { //Get the current register contents, so we don't clobber the rate value. char registerContents = (mode << 4) | data_single_get(ADXL345_BW_RATE_REG); return data_single_put(ADXL345_BW_RATE_REG, registerContents); } int ANGLE::setDataRate(char rate) { //Get the current register contents, so we don't clobber the power bit. char registerContents = data_single_get(ADXL345_BW_RATE_REG); registerContents &= 0x10; registerContents |= rate; return data_single_put(ADXL345_BW_RATE_REG, registerContents); } char ANGLE::getOffset(char axis) { char address = 0; if (axis == ADXL345_X) { address = ADXL345_OFSX_REG; } else if (axis == ADXL345_Y) { address = ADXL345_OFSY_REG; } else if (axis == ADXL345_Z) { address = ADXL345_OFSZ_REG; } return data_single_get(address); } int ANGLE::setOffset(char axis, char offset) { char address = 0; if (axis == ADXL345_X) { address = ADXL345_OFSX_REG; } else if (axis == ADXL345_Y) { address = ADXL345_OFSY_REG; } else if (axis == ADXL345_Z) { address = ADXL345_OFSZ_REG; } return data_single_put(address, offset); } int ANGLE::setTapDuration(short int duration_us) { short int tapDuration = duration_us / 625; char tapChar[2]; tapChar[0] = (tapDuration & 0x00FF); tapChar[1] = (tapDuration >> 8) & 0x00FF; return data_multi_put(ADXL345_DUR_REG, tapChar, 2); } int ANGLE::setTapLatency(short int latency_ms) { latency_ms = latency_ms / 1.25; char latChar[2]; latChar[0] = (latency_ms & 0x00FF); latChar[1] = (latency_ms << 8) & 0xFF00; return data_multi_put(ADXL345_LATENT_REG, latChar, 2); } int ANGLE::setWindowTime(short int window_ms) { window_ms = window_ms / 1.25; char windowChar[2]; windowChar[0] = (window_ms & 0x00FF); windowChar[1] = ((window_ms << 8) & 0xFF00); return data_multi_put(ADXL345_WINDOW_REG, windowChar, 2); } int ANGLE::setFreefallTime(short int freefallTime_ms) { freefallTime_ms = freefallTime_ms / 5; char fallChar[2]; fallChar[0] = (freefallTime_ms & 0x00FF); fallChar[1] = (freefallTime_ms << 8) & 0xFF00; return data_multi_put(ADXL345_TIME_FF_REG, fallChar, 2); } ANGLE::kalman::kalman(void){ P[0][0] = 0; P[0][1] = 0; P[1][0] = 0; P[1][1] = 0; angle = 0; bias = 0; Q_angle = 0.001; Q_gyroBias = 0.003; R_angle = 0.03; } double ANGLE::kalman::getAngle(double newAngle, double newRate, double dt){ //predict the angle according to the gyroscope rate = newRate - bias; angle = dt * rate; //update the error covariance P[0][0] += dt * (dt * P[1][1] * P[0][1] - P[1][0] + Q_angle); P[0][1] -= dt * P[1][1]; P[1][0] -= dt * P[1][1]; P[1][1] += dt * Q_gyroBias; //difference between the predicted angle and the accelerometer angle y = newAngle - angle; //estimation error S = P[0][0] + R_angle; //determine the kalman gain according to the error covariance and the distrust K[0] = P[0][0]/S; K[1] = P[1][0]/S; //adjust the angle according to the kalman gain and the difference with the measurement angle += K[0] * y; bias += K[1] * y; //update the error covariance P[0][0] -= K[0] * P[0][0]; P[0][1] -= K[0] * P[0][1]; P[1][0] -= K[1] * P[0][0]; P[1][1] -= K[1] * P[0][1]; return angle; } void ANGLE::kalman::setAngle(double newAngle) { angle = newAngle; }; void ANGLE::kalman::setQangle(double newQ_angle) { Q_angle = newQ_angle; }; void ANGLE::kalman::setQgyroBias(double newQ_gyroBias) { Q_gyroBias = newQ_gyroBias; }; void ANGLE::kalman::setRangle(double newR_angle) { R_angle = newR_angle; }; double ANGLE::kalman::getRate(void) { return rate; }; double ANGLE::kalman::getQangle(void) { return Q_angle; }; double ANGLE::kalman::getQbias(void) { return Q_gyroBias; }; double ANGLE::kalman::getRangle(void) { return R_angle; };