SHENG-HEN HSIEH
/
LSM9DS0_STM32compatible
works fine on STM
Fork of Sample_manerine_SPI_LSM9DS0 by
main.cpp
- Committer:
- open4416
- Date:
- 2016-09-14
- Revision:
- 4:b9dd320947ff
- Parent:
- 3:502b83f7761c
- Child:
- 5:2f0633d8fc20
File content as of revision 4:b9dd320947ff:
#include "mbed.h" #include "LSM9DS0_SH.h" #define pi 3.141592f #define d2r 0.01745329f #define Rms 5000 //TT rate #define dt 0.003f #define NN 200 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// //~~~structure~~~// DigitalOut led(D13); //detection DigitalOut TT_ext(D12); //~~~IMU_SPI~~~// DigitalOut SPI_CSG(D7,1); //low for GYRO enable DigitalOut SPI_CSXM(D6,1); //low for ACC/MAG enable SPI spi(D4, D5, D3); //MOSI MISO SCLK //~~~Servo out~~~// PwmOut Drive1(D8); //control leg PwmOut Drive2(D9); PwmOut Drive3(D10); PwmOut Drive4(D11); PwmOut Drive5(D14); PwmOut Drive6(D15); //~~~Serial~~~// Serial pc(D1, D0); //Serial reg(TX RX) //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of GPIO registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Varible registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// //~~~globle~~~// Ticker TT; //call a timer int count = 0; //one second counter for extrenal led blink //~~~PWMreference~~~// const int pwm_mid = 1450; //+2080 for minimall lenght const int PWM_base[1][6] = { //desired six reference command at 0 deg {pwm_mid+70,pwm_mid+10,pwm_mid+40,pwm_mid+60,pwm_mid+10,pwm_mid+30}, // {pwm_mid,pwm_mid,pwm_mid,pwm_mid,pwm_mid,pwm_mid}, //only for debugging }; int PWM[1][6] = { //desired six reference command by PWM_base + PWM {0,0,0,0,0,0}, //transfer equaliyu 10us to 1 deg }; //~~~RR varible~~~// float Z0 = 2.45; //as mid point hight float Z_dis = -0.087; //move rotation center //~~~stPF_lenth_uni varible~~~// const float alpha = 2.094f; //pair angle const float beta = 0.1309f; //couple angle const float A[3][6] = { //base cood {cos(0.5f*alpha-beta),cos(0.5f*alpha+beta),cos(1.5f*alpha-beta),cos(1.5f*alpha+beta),cos(2.5f*alpha-beta),cos(2.5f*alpha+beta)}, {sin(0.5f*alpha-beta),sin(0.5f*alpha+beta),sin(1.5f*alpha-beta),sin(1.5f*alpha+beta),sin(2.5f*alpha-beta),sin(2.5f*alpha+beta)}, {0,0,0,0,0,0} }; const float B[3][6] = { //top cood(static) {cos(beta),cos(alpha-beta),cos(alpha+beta),cos(2*alpha-beta),cos(2*alpha+beta),cos(3*alpha-beta)}, {sin(beta),sin(alpha-beta),sin(alpha+beta),sin(2*alpha-beta),sin(2*alpha+beta),sin(3*alpha-beta)}, {Z_dis,Z_dis,Z_dis,Z_dis,Z_dis,Z_dis} }; float C[3][6] = { //top cood(active) {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0} }; float VEC[1][6] = { //desired six reference command {0,0,2.52,0,0,0}, //X Y Z VEC[0][3] VEC[0][4] VEC[0][5] }; float L[1][6] = { //desired six reference command {0,0,0,0,0,0}, }; float Rtot[3][3] = { //RR' {0,0,0}, {0,0,0}, {0,0,0} }; //~~~stPF_tracle_R varible~~~// const float L90 = 2.422; //L under 90° (195 mm) const float Larm = 0.4969; //arm lenth (40 mm) b const float Llink = 0.8944; //link lenth (72 mm) float A_R = 0; float B_R = 0; float C_R = 0; //~~~IMU_SPI~~~// short low_byte = 0x00; //buffer short high_byte = 0x00; short Buff = 0x00; float Wx = 0.0; float Wy = 0.0; float Wz = 0.0; float Ax = 0.0; float Ay = 0.0; float Az = 0.0; float gDIR[1][3] = { //g vector's direction , required unitconstrain {0.0,0.0,0.0}, //X Y Z }; float Bet = 0.005; //confidence of Acc data float gUnity = 0.0; float Gdx = 0.0; float Gdy = 0.0; float Gdz = 0.0; float Ele_phy = 0.0; //estimation of top plate attitide float Til_phy = 0.0; float Ele_phy_int = 0.0; float Til_phy_int = 0.0; //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void init_TIMER(); //set TT_main() rate void TT_main(); //timebase function rated by TT void init_IO(); //initialize IO state void init_IMU(); //initialize IMU void init_Gdrift(); //read Gdrift at start up void read_IMU(); //read IMU data give raw data void state_update(); //estimation of new attitude void RR(); //status generator void stPF_lenth_uni(); //referenve generator void stPF_travle_R(); //lenth to pwm pulse width float lpf(float input, float output_old, float frequency); //lpf discrete //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// int main() { pc.baud(115200); //set baud rate wait_ms(1000); init_IO(); //initialized value init_IMU(); //initialize IMU init_Gdrift(); //read Gdrift at start up wait_ms(1000); init_TIMER(); //start TT_main while(1) { //main() loop if(count >= NN) { //check if main working count=0; led = !led; } } } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of main funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Timebase funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void init_TIMER() //set TT_main{} rate { TT.attach_us(&TT_main, Rms); } void TT_main() //interrupt function by TT { TT_ext = !TT_ext; //indicate TT_main() function working count = count+1; //one second counter read_IMU(); //read IMU data give raw data state_update(); //estimation of new attitude RR(); //VEC generated stPF_lenth_uni(); //L generated stPF_travle_R(); //PWM generated for(int i=0; i<6; i++) { //safty constrain PWM[0][i] = constrain(PWM[0][i],725,2025); } Drive1.pulsewidth_us(PWM[0][0]); //drive command Drive2.pulsewidth_us(PWM[0][1]); Drive3.pulsewidth_us(PWM[0][2]); Drive4.pulsewidth_us(PWM[0][3]); Drive5.pulsewidth_us(PWM[0][4]); Drive6.pulsewidth_us(PWM[0][5]); //for Serial-Oscilloscope // pc.printf("%.3f\r", Bet); pc.printf("%.3f,%.3f\r", Ele_phy, Til_phy); // pc.printf("%.2f,%.2f\r", VEC[0][4], VEC[0][5]); // pc.printf("%.2f,%.2f,%.2f\r", Ax, Ay, Az); // pc.printf("%.3f,%.3f,%.3f\r", gDIR[0][0], gDIR[0][1], gDIR[0][2]); } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Timebase funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IO funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void init_IO(void) //initialize { TT_ext = 0; led = 1; } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IO funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void init_IMU(void) //initialize { //gloable config SPI_CSXM = 1; //high as init for disable SPI SPI_CSG = 1; spi.format(8, 0); //byte width, spi mode spi.frequency(4000000); //8MHz //for GYRO config SPI_CSG = 0; //start spi talking spi.write(CTRL_REG1_G); spi.write(0x9F); //data rate 380 Hz/ cut off 25 Hz SPI_CSG = 1; //end spi talking SPI_CSG = 0; //start spi talking spi.write(CTRL_REG4_G); spi.write(0x10); //Scle 500dps SPI_CSG = 1; //end spi talking //for ACC config SPI_CSXM = 0; //start spi talking spi.write(CTRL_REG1_XM); spi.write(0x87); //data rate 400 Hz/ Enable SPI_CSXM = 1; //end spi talking SPI_CSXM = 0; //start spi talking spi.write(CTRL_REG2_XM); spi.write(0xC8); //cut off 50 Hz/ Scale +-4g SPI_CSXM = 1; //end spi talking } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_Gdrift funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void init_Gdrift(void) //initialize { for(int i=0; i<1000; i++) { read_IMU(); //note Gdrift = 0 at this moment gDIR[0][0] = gDIR[0][0] - Wx; gDIR[0][1] = gDIR[0][1] - Wy; gDIR[0][2] = gDIR[0][2] - Wz; wait_ms(2); } Gdx = gDIR[0][0] /1000.0f; Gdy = gDIR[0][1] /1000.0f; Gdz = gDIR[0][2] /1000.0f; // pc.printf("%.4f,%.4f,%.4f\r", Gdx, Gdy, Gdz); gDIR[0][0] = 0; gDIR[0][1] = 0; gDIR[0][2] = -1; } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_Gdrift funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓read_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void read_IMU(void) //read IMU data give raw data { //Wx SPI_CSG = 0; //start spi talking Wx spi.write(0xE8); //read B11101000 read/multi/address low_byte = spi.write(0); high_byte = spi.write(0); Buff = high_byte << 8 |low_byte; SPI_CSG = 1; //end spi talking // Wx = Buff * Gpx + Gdx; Wx = lpf(Buff * Gpx + Gdx, Wx, 18.0f); //Wy SPI_CSG = 0; //start spi talking Wx spi.write(0xEA); //read B11101010 read/multi/address low_byte = spi.write(0); high_byte = spi.write(0); Buff = high_byte << 8 |low_byte; SPI_CSG = 1; //end spi talking // Wy = Buff * Gpy + Gdy; Wy = lpf(Buff * Gpy + Gdy, Wy, 18.0f); //Wz SPI_CSG = 0; //start spi talking Wx spi.write(0xEC); //read B11101100 read/multi/address low_byte = spi.write(0); high_byte = spi.write(0); Buff = high_byte << 8 |low_byte; SPI_CSG = 1; //end spi talking // Wz = Buff * Gpz + Gdz; Wz = lpf(Buff * Gpz + Gdz, Wz, 18.0f); //Ax SPI_CSXM = 0; //start spi talking Ax spi.write(0xE8); //read B11101000 read/multi/address low_byte = spi.write(0); high_byte = spi.write(0); Buff = high_byte << 8 |low_byte; SPI_CSXM = 1; //end spi talking Ax = lpf(Buff*Apx + Adx, Ax, 15.0f); //Ay SPI_CSXM = 0; //start spi talking Ax spi.write(0xEA); //read B11101010 read/multi/address low_byte = spi.write(0); high_byte = spi.write(0); Buff = high_byte << 8 |low_byte; SPI_CSXM = 1; //end spi talking Ay = lpf(Buff*Apy + Ady, Ay, 15.0f); //Az SPI_CSXM = 0; //start spi talking Ax spi.write(0xEC); //read B11101100 read/multi/address low_byte = spi.write(0); high_byte = spi.write(0); Buff = high_byte << 8 |low_byte; SPI_CSXM = 1; //end spi talking Az = lpf(Buff*Apz + Adz, Az, 15.0f); } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of read_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓state_update funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void state_update(void) //estimation of new attitude { //pridict gDIR[0][0] = gDIR[0][0] - (Wy*gDIR[0][2] - Wz*gDIR[0][1])*dt; gDIR[0][1] = gDIR[0][1] - (Wz*gDIR[0][0] - Wx*gDIR[0][2])*dt; gDIR[0][2] = gDIR[0][2] - (Wx*gDIR[0][1] - Wy*gDIR[0][0])*dt; //update gDIR[0][0] = (1-Bet) * gDIR[0][0] + Bet * Ax; gDIR[0][1] = (1-Bet) * gDIR[0][1] + Bet * Ay; gDIR[0][2] = (1-Bet) * gDIR[0][2] + Bet * Az; //nutralizing gUnity = sqrt( gDIR[0][0]*gDIR[0][0] + gDIR[0][1]*gDIR[0][1] + gDIR[0][2]*gDIR[0][2] ); for(int i=0; i<3; i++) { gDIR[0][i] = gDIR[0][i] / gUnity; } //transfer Ele_phy = asin(gDIR[0][0]); Til_phy = asin(-gDIR[0][1] / cos(Ele_phy)); // //test // gDIR[0][0] = gDIR[0][0] + Wx*dt; // gDIR[0][1] = gDIR[0][1] + Wy*dt; // gDIR[0][2] = gDIR[0][2] + Wz*dt; } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of state_update funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓RR funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void RR() //status generator { Ele_phy_int = Ele_phy_int + Ele_phy*dt; Til_phy_int = Til_phy_int + Til_phy*dt; Ele_phy_int = constrain(Ele_phy_int,-0.01f,0.01f); Til_phy_int = constrain(Til_phy_int,-0.01f,0.01f); VEC[0][4] = -9.5f*Ele_phy - 0.17f*Wy - 60.0f*Ele_phy_int; VEC[0][5] = -9.5f*Til_phy - 0.17f*Wx - 60.0f*Til_phy_int; VEC[0][4] = constrain(VEC[0][4],-0.30f,0.30f); VEC[0][5] = constrain(VEC[0][5],-0.30f,0.30f); } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of RR funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓stPF_lenth_uni funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void stPF_lenth_uni() //referenve generator { Rtot[0][0] = cos(VEC[0][4])*cos(VEC[0][3]); Rtot[0][1] = - cos(VEC[0][5])*sin(VEC[0][3]) + cos(VEC[0][3])*sin(VEC[0][4])*sin(VEC[0][5]); Rtot[0][2] = sin(VEC[0][5])*sin(VEC[0][3]) + cos(VEC[0][5])*cos(VEC[0][3])*sin(VEC[0][4]); Rtot[1][0] = cos(VEC[0][4])*sin(VEC[0][3]); Rtot[1][1] = cos(VEC[0][5])*cos(VEC[0][3]) + sin(VEC[0][4])*sin(VEC[0][5])*sin(VEC[0][3]); Rtot[1][2] = - cos(VEC[0][3])*sin(VEC[0][5]) + cos(VEC[0][5])*sin(VEC[0][4])*sin(VEC[0][3]); Rtot[2][0] = - sin(VEC[0][4]); Rtot[2][1] = cos(VEC[0][4])*sin(VEC[0][5]); Rtot[2][2] = cos(VEC[0][4])*cos(VEC[0][5]); for(int j=0; j<6; j++) { //reset C for(int i=0; i<3; i++) { C[i][j] = 0; } } for(int i=0; i<6; i++) { //(RR.' * B) for(int j=0; j<3; j++) { for(int k=0; k<3; k++) { C[j][i] = Rtot[j][k] * B[k][i] + C[j][i]; } } } for(int j=0; j<6; j++) { //+ [X,Y,Z] for(int i=0; i<3; i++) { C[i][j] = C[i][j] + VEC[0][i]; } } for(int i=0; i<6; i++) { float X = C[0][i]-A[0][i]; float Y = C[1][i]-A[1][i]; float Z = C[2][i]-A[2][i]; L[0][i] = sqrt(X*X+Y*Y+Z*Z); } } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of stPF_lenth_uni funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓stPF_travle_R funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// void stPF_travle_R() //lenth to pwm pulse width { for(int i=0; i<6; i++) { A_R = ( L[0][i] - L90 + sqrt( Llink*Llink - Larm*Larm ) ) /Larm; B_R = Llink/Larm; C_R = ( A_R*A_R - B_R*B_R + 1 ) /(A_R*2); PWM[0][i] = -asin(C_R)*573 + PWM_base[0][i]; } } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of stPF_travle_R funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓lpf funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// float lpf(float input, float output_old, float frequency) { float output = 0; output = (output_old + frequency*dt*input) / (1 + frequency*dt); return output; } //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of lpf funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//