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version2
Fork of LSM9DS1_project by
main.cpp
- Committer:
- nylon0212
- Date:
- 2018-06-08
- Revision:
- 5:6d1db80dd9eb
- Parent:
- 3:2c6b1c213ce0
- Child:
- 6:62643ad078c8
File content as of revision 5:6d1db80dd9eb:
#include "mbed.h" #include "LSM9DS1.h" #include "AS5145.h" LSM9DS1 imu2(D5, D7); LSM9DS1 imu3(D3, D6); LSM9DS1 imu(D14, D15); AnalogIn sEMG(D13); AnalogIn sEMG2(D1); AnalogIn sEMG3(D0); AnalogIn sEMG4(PC_4); Serial pc(USBTX, USBRX); Ticker timer1; Ticker timer2; float T = 0.001; /********************************************************************/ //function declaration /********************************************************************/ void init_TIMER(void); void timer1_interrupt(void); void setup(void); void estimator(float axm[3],float aym[3],float azm[3],float w3[3],float w2[3],float w1[3],float alpha); float lpf(float input, float output_old, float frequency); void angle_fn(float x1_hat[3],float x2_hat[3]); void pitch_dot_fn(float w3[3],float w2[3],float w1[3],float sinroll[3],float cosroll[3]); void pitch_double_dot_fn(float pitch_dot[3],float pitch_dot_old[3]); /********************************************************************/ // sensor data /********************************************************************/ int16_t Gyro_axis_data[9] = {0}; // X, Y, Z axis int16_t Acce_axis_data[9] = {0}; // X, Y, Z axis float Gyro_axis_data_f[9] = {0}; float Gyro_axis_data_f_old[9] = {0}; float Acce_axis_data_f[9] = {0}; float Acce_axis_data_f_old[9] = {0}; float axm[3] = {0.0f}; float aym[3] = {0.0f}; float azm[3] = {0.0f}; float w1[3] = {0.0f}; float w2[3] = {0.0f}; float w3[3] = {0.0f}; //estimator float x1_hat[3] = {0.0f}; float x2_hat[3] = {0.0f}; float sinroll[3] = {0.0f}; float cosroll[3] = {0.0f}; float sinpitch[3] = {0.0f}; float pitch_angle[3] = {0.0f}; float roll_angle[3] = {0.0f}; float yaw_dot[3] = {0.0f}; float pitch_dot[3] = {0.0f}; float pitch_double_dot[3] = {0.0f}; float pitch_double_dot_f[3] = {0.0f}; float pitch_double_dot_f_old[3] = {0.0f}; float pitch_dot_old[3] = {0.0f}; float axm_f[3] = {0.0f}; float axm_f_old[3] = {0.0f}; float w3aym_f[3] = {0.0f}; float w3aym_f_old[3] = {0.0f}; float w2azm_f[3] = {0.0f}; float w2azm_f_old[3] = {0.0f}; float aym_f[3] = {0.0f}; float aym_f_old[3] = {0.0f}; float w3axm_f[3] = {0.0f}; float w3axm_f_old[3] = {0.0f}; float w1azm_f[3] = {0.0f}; float w1azm_f_old[3] = {0.0f}; float azm_f[3] = {0.0f}; float azm_f_old[3] = {0.0f}; float w2axm_f[3] = {0.0f}; float w2axm_f_old[3] = {0.0f}; float w1aym_f[3] = {0.0f}; float w1aym_f_old[3] = {0.0f}; //sEMG variable float emg_value[4] = {0.0f}; /*int main() { pc.baud(230400); setup(); //Setup sensors AS5145_begin(); //begin encoder init_TIMER(); while (1) { //pc.printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d,%d\n",pitch_angle[0],pitch_dot[0],pitch_angle[1],pitch_dot[1],pitch_angle[2],pitch_dot[2],emg_value[0],emg_value[1],emg_value[2],emg_value[3],position[1]*360/4096, position[0]*360/4096); wait(0.05); //pc.printf("%f,%f,%f,%f\n",emg_value[0],emg_value[1],emg_value[2],emg_value[3]); pc.printf("%f,%f,%f,%f,%f,%d,%d\n", pitch_angle[0], pitch_angle[1], roll_angle[1], pitch_angle[2], roll_angle[2], position[1]*360/4096, position[0]*360/4096); //pc.printf("IMU: %2f,%2f\r\n", pitch_angle[0], roll_angle[0]); //pc.printf("IMU2: %2f,%2f\r\n", pitch_angle[1], roll_angle[1]); //pc.printf("IMU3: %2f,%2f\r\n", pitch_angle[2], roll_angle[2]); //pc.printf("position: %d,%d\r\n", position[0], position[1]); //pc.printf("roll_angle: %2f\r\n",roll_angle); //pc.printf("A: %2f, %2f, %2f\r\n", imu2.ax*Acce_gain_x_2, imu2.ay*Acce_gain_y_2, imu2.az*Acce_gain_z_2); } } void setup() { imu.begin(); imu2.begin(); imu3.begin(); } /********************************************************************/ // init_TIMER /********************************************************************/ void init_TIMER(void) { timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz) timer2.attach_us(&ReadValue, 1000);//1ms interrupt period (1000 Hz) } /********************************************************************/ // timer1_interrupt /********************************************************************/ void timer1_interrupt(void) { int i; imu.readAccel(); imu.readGyro(); imu2.readAccel(); imu2.readGyro(); imu3.readAccel(); imu3.readGyro(); // sensor raw data 定義座標 Acce_axis_data[0] = imu.ax*Acce_gain_x; Acce_axis_data[1] = imu.ay*Acce_gain_y; Acce_axis_data[2] = imu.az*Acce_gain_z; Acce_axis_data[3] = -imu2.ax*Acce_gain_x_2; Acce_axis_data[4] = imu2.az*Acce_gain_y_2; Acce_axis_data[5] = imu2.ay*Acce_gain_z_2; Acce_axis_data[6] = -imu3.ax*Acce_gain_x_2; Acce_axis_data[7] = -imu3.az*Acce_gain_y_2; Acce_axis_data[8] = -imu3.ay*Acce_gain_z_2; Gyro_axis_data[0] = imu.gx*Gyro_gain_x; Gyro_axis_data[1] = imu.gy*Gyro_gain_y; Gyro_axis_data[2] = imu.gz*Gyro_gain_z; Gyro_axis_data[3] = -imu2.gx*Gyro_gain_x_2; Gyro_axis_data[4] = imu2.gz*Gyro_gain_y_2; Gyro_axis_data[5] = imu2.gy*Gyro_gain_z_2; Gyro_axis_data[6] = -imu3.gx*Gyro_gain_x_2; Gyro_axis_data[7] = -imu3.gz*Gyro_gain_y_2; Gyro_axis_data[8] = -imu3.gy*Gyro_gain_z_2; for(i=0;i<9;i++) { Acce_axis_data_f[i] = lpf(Acce_axis_data[i],Acce_axis_data_f_old[i],15); Acce_axis_data_f_old[i] = Acce_axis_data_f[i]; Gyro_axis_data_f[i] = lpf(Gyro_axis_data[i],Gyro_axis_data_f_old[i],15); Gyro_axis_data_f_old[i] = Gyro_axis_data_f[i]; } axm[0] = Acce_axis_data_f[0]; aym[0] = Acce_axis_data_f[1]; azm[0] = Acce_axis_data_f[2]; w1[0] = Gyro_axis_data_f[0]; w2[0] = Gyro_axis_data_f[1]; w3[0] = Gyro_axis_data_f[2]; axm[1] = Acce_axis_data_f[3]; aym[1] = Acce_axis_data_f[4]; azm[1] = Acce_axis_data_f[5]; w1[1] = Gyro_axis_data_f[3]; w2[1] = Gyro_axis_data_f[4]; w3[1] = Gyro_axis_data_f[5]; axm[2] = Acce_axis_data_f[6]; aym[2] = Acce_axis_data_f[7]; azm[2] = Acce_axis_data_f[8]; w1[2] = Gyro_axis_data_f[6]; w2[2] = Gyro_axis_data_f[7]; w3[2] = Gyro_axis_data_f[8]; estimator(axm,aym,azm,w3,w2,w1,120); angle_fn(x1_hat,x2_hat); pitch_dot_fn(w3,w2,w1,sinroll,cosroll); pitch_double_dot_fn(pitch_dot,pitch_dot_old); for(i=0;i<3;i++) { pitch_dot_old[i] = pitch_dot[i]; } emg_value[0] = sEMG.read(); emg_value[1] = sEMG2.read(); emg_value[2] = sEMG3.read(); emg_value[3] = sEMG4.read(); } /********************************************************************/ // estimator /********************************************************************/ void estimator(float axm[3],float aym[3],float azm[3],float w3[3],float w2[3],float w1[3],float alpha) { int i; for(i=0;i<3;i++) { axm_f[i] = lpf(axm[i],axm_f_old[i],alpha); axm_f_old[i] = axm_f[i]; w3aym_f[i] = lpf(w3[i]*aym[i],w3aym_f_old[i],alpha); w3aym_f_old[i] = w3aym_f[i]; w2azm_f[i] = lpf(w2[i]*azm[i],w2azm_f_old[i],alpha); w2azm_f_old[i] = w2azm_f[i]; aym_f[i] = lpf(aym[i],aym_f_old[i],alpha); aym_f_old[i] = aym_f[i]; w3axm_f[i] = lpf(w3[i]*axm[i],w3axm_f_old[i],alpha); w3axm_f_old[i] = w3axm_f[i]; w1azm_f[i] = lpf(w1[i]*azm[i],w1azm_f_old[i],alpha); w1azm_f_old[i] = w1azm_f[i]; x1_hat[i] = axm_f[i] + w3aym_f[i]/alpha - w2azm_f[i]/alpha; x2_hat[i] = -w3axm_f[i]/alpha + aym_f[i] + w1azm_f[i]/alpha; } } /********************************************************************/ // angle_fn /********************************************************************/ void angle_fn(float x1_hat[3],float x2_hat[3]) { int i; for(i=0;i<3;i++) { sinroll[i] = x2_hat[i]*(-0.1020); if(sinroll[i] >= 1.0f) { sinroll[i] = 1.0; cosroll[i] = 0.0; } else if(sinroll[i] <= -1.0f) { sinroll[i] = -1.0; cosroll[i] = 0.0; } else cosroll[i] = sqrt(1-(sinroll[i]*sinroll[i])); roll_angle[i] = (asin(sinroll[i]))*180/pi; sinpitch[i] = x1_hat[i]*(0.1020f)/cosroll[i]; if(sinpitch[i] >= 1.0f) { sinpitch[i] = 1.0; } else if(sinpitch[i] <= -1.0f) { sinpitch[i] = -1.0; } pitch_angle[i] = (asin(sinpitch[i]))*180/pi; } } void pitch_dot_fn(float w3[3],float w2[3],float w1[3],float sinroll[3],float cosroll[3]) { int i; for(i=0;i<3;i++) { yaw_dot[i] = (w3[i]*cosroll[i] - w1[i]*sinroll[i])/cosroll[i]; pitch_dot[i] = w2[i] - yaw_dot[i]*sinroll[i]; } } void pitch_double_dot_fn(float pitch_dot[3],float pitch_dot_old[3]) { int i; for(i=0;i<3;i++) { pitch_double_dot[i] = (pitch_dot[i] - pitch_dot_old[i])/0.01f; pitch_double_dot_f[i] = lpf(pitch_double_dot[i],pitch_double_dot_f_old[i],30); pitch_double_dot_f_old[i] = pitch_double_dot_f[i]; } } /********************************************************************/ // lpf /********************************************************************/ float lpf(float input, float output_old, float frequency) { float output = 0; output = (output_old + frequency*T*input) / (1 + frequency*T); return output; }