SHENG-HEN HSIEH / Mbed 2 deprecated LSM9DS1_project_5_zerotorque

By pOOPOO

Dependencies:   MX28 mbed

Fork of LSM9DS1_project_5_zerotorque by Rong Syuan Lin

main.cpp@10:6a9de32601b1, 2018-11-05 (annotated)

Committer:
open4416
Date:
Mon Nov 05 12:14:58 2018 +0000
Revision:
10:6a9de32601b1
Parent:
9:07de3af99031 
TEMP

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nylon0212 9:07de3af99031 1 #define DEBUG_STDIO 1
nylon0212 9:07de3af99031 2
nylon0212 9:07de3af99031 3 #include "mbed.h" //不用gyro的data，只要輸出兩個imu的acce的xyz資料即可
JJting 0:c23e915f255b 4 #include "encoder.h"
nylon0212 9:07de3af99031 5 //#include "Mx28.h"
nylon0212 9:07de3af99031 6 //#include "PID.h"
JJting 4:f19e7669d1b5 7 #include "LSM9DS1.h"
JJting 0:c23e915f255b 8
JJting 0:c23e915f255b 9 //********************* Dynamxiel ******************************
JJting 0:c23e915f255b 10 #define SERVO_ID 0x01 // ID of which we will set Dynamixel too
JJting 0:c23e915f255b 11 #define SERVO_ControlPin A2 // Control pin of buffer chip, NOTE: this does not matter becasue we are not using a half to full contorl buffer.
JJting 0:c23e915f255b 12 #define SERVO_SET_Baudrate 1000000 // Baud rate speed which the Dynamixel will be set too (1Mbps)
JJting 0:c23e915f255b 13 #define TxPin A0
JJting 0:c23e915f255b 14 #define RxPin A1
JJting 0:c23e915f255b 15 #define CW_LIMIT_ANGLE 1 // lowest clockwise angle is 1, as when set to 0 it set servo to wheel mode
JJting 0:c23e915f255b 16 #define CCW_LIMIT_ANGLE 4095 // Highest anit-clockwise angle is 0XFFF, as when set to 0 it set servo to wheel mode
JJting 4:f19e7669d1b5 17 #define _PI 3.14159265f
JJting 0:c23e915f255b 18 //***************************************************************
JJting 0:c23e915f255b 19
JJting 0:c23e915f255b 20 Serial uart(USBTX, USBRX);
nylon0212 9:07de3af99031 21 //Serial uart(D10,D2); // TX : D10 RX : D2 // bluetooth
JJting 0:c23e915f255b 22 DigitalOut LED(A4); // check if the code is running
nylon0212 9:07de3af99031 23 DigitalOut led2(PA_5); // check if the code is running interrupt
open4416 10:6a9de32601b1 24 AnalogIn EMG(PC_4); //
JJting 4:f19e7669d1b5 25 DigitalOut test(PC_8);
nylon0212 9:07de3af99031 26 DigitalOut CS(PA_8);
open4416 10:6a9de32601b1 27 uint8_t led2f; //測試用
open4416 10:6a9de32601b1 28
JJting 4:f19e7669d1b5 29 //AnalogOut test2(PA_5);
nylon0212 9:07de3af99031 30 /*IMU*******************************************************************/
JJting 4:f19e7669d1b5 31 LSM9DS1 imu(D14, D15); //SDA SCL
nylon0212 9:07de3af99031 32 //LSM9DS1 imu2(PC_9,PA_8); //SDA SCL
JJting 4:f19e7669d1b5 33 void init_IMU();
JJting 4:f19e7669d1b5 34 int16_t Gyro_axis_data[6] = {0}; // X, Y, Z axis
JJting 4:f19e7669d1b5 35 int16_t Acce_axis_data[6] = {0}; // X, Y, Z axis
nylon0212 9:07de3af99031 36 float Acce_axis_data_f[6] = {0}; //_f代表經過低通濾波的資料
JJting 4:f19e7669d1b5 37 float Acce_axis_data_f_old[6] = {0};
JJting 4:f19e7669d1b5 38 float Gyro_axis_data_f[6] = {0};
JJting 4:f19e7669d1b5 39 float Gyro_axis_data_f_old[6] = {0};
JJting 4:f19e7669d1b5 40
JJting 0:c23e915f255b 41
JJting 0:c23e915f255b 42 // Timer
JJting 0:c23e915f255b 43 Ticker timer1;
nylon0212 9:07de3af99031 44 float ITR_time1 = 100.0; //timer interrupt unit：us 多少us計時一次 10毫秒
nylon0212 9:07de3af99031 45 float Ts = ITR_time1/1000000; //控馬達的某個時間參數 不用理他
JJting 0:c23e915f255b 46 uint8_t flag;
JJting 0:c23e915f255b 47
JJting 3:98cdee5d9b63 48 // EMG
nylon0212 9:07de3af99031 49 float lpf(float input, float output_old, float frequency); //low pass filter
JJting 3:98cdee5d9b63 50 float emg_value;
JJting 3:98cdee5d9b63 51 float emg_value_f;
JJting 3:98cdee5d9b63 52 float emg_value_f_old;
nylon0212 9:07de3af99031 53 float Tf = ITR_time1/1000000; // 低通濾波的採樣週期
JJting 3:98cdee5d9b63 54
JJting 0:c23e915f255b 55 // uart_tx
nylon0212 9:07de3af99031 56 union splitter { //將data切割為兩個byte
JJting 0:c23e915f255b 57 short j;
JJting 0:c23e915f255b 58 char C[2];
JJting 0:c23e915f255b 59 // C[0] is lowbyte of j, C[1] is highbyte of j
JJting 0:c23e915f255b 60 };
nylon0212 9:07de3af99031 61 uint8_t T[16] = {255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
nylon0212 9:07de3af99031 62 // T[16]中的16是2+14，2為start btye 255 255，14為要傳7個參數到電腦，拆成high byte和low byte，所以是7*2=14
nylon0212 9:07de3af99031 63 // 若要更改傳到電腦的參數個數，則改x*2=y，x為要傳的參數個數，y為char T[]裡面要有多少個0
JJting 0:c23e915f255b 64 int i = 0;
JJting 0:c23e915f255b 65
JJting 0:c23e915f255b 66 // function
JJting 0:c23e915f255b 67 void init_UART();
JJting 0:c23e915f255b 68 void init_TIMER();
JJting 0:c23e915f255b 69 void timer1_ITR();
nylon0212 9:07de3af99031 70 void uart_tx(); // 傳data到電腦
nylon0212 9:07de3af99031 71 /**************************************************************************/
JJting 0:c23e915f255b 72 int main()
JJting 0:c23e915f255b 73 {
nylon0212 9:07de3af99031 74 // LED = 1; // darken
nylon0212 9:07de3af99031 75 // wait_ms(500);
JJting 0:c23e915f255b 76 // initial sensor
nylon0212 9:07de3af99031 77 // init_SPI_encoder();
nylon0212 9:07de3af99031 78 // init_encoder();
open4416 10:6a9de32601b1 79 init_UART();
open4416 10:6a9de32601b1 80
JJting 4:f19e7669d1b5 81 init_IMU();
JJting 0:c23e915f255b 82 // initial uart
open4416 10:6a9de32601b1 83
open4416 10:6a9de32601b1 84
JJting 0:c23e915f255b 85
nylon0212 9:07de3af99031 86 // wait_ms(500);
JJting 0:c23e915f255b 87
nylon0212 9:07de3af99031 88 // led2 = 1;
JJting 1:2823a39f70a9 89 // led2f = 0;
nylon0212 9:07de3af99031 90 // LED = 0; // lighten
JJting 0:c23e915f255b 91
open4416 10:6a9de32601b1 92 // init_TIMER();
open4416 10:6a9de32601b1 93
open4416 10:6a9de32601b1 94 while(1) {
open4416 10:6a9de32601b1 95 // test = 1;
open4416 10:6a9de32601b1 96 led2 = !led2;
open4416 10:6a9de32601b1 97 // EMG
open4416 10:6a9de32601b1 98 //emg_value = EMG.read();
open4416 10:6a9de32601b1 99 // emg_value_f = lpf(emg_value,emg_value_f_old,15);
open4416 10:6a9de32601b1 100 // emg_value_f_old = emg_value_f;
open4416 10:6a9de32601b1 101
open4416 10:6a9de32601b1 102 // IMU
open4416 10:6a9de32601b1 103 imu.readAccel();
open4416 10:6a9de32601b1 104 // imu.readGyro();
open4416 10:6a9de32601b1 105 // imu2.readAccel();
open4416 10:6a9de32601b1 106 // imu2.readGyro();
open4416 10:6a9de32601b1 107
open4416 10:6a9de32601b1 108 Acce_axis_data[0] = imu.ax*Acce_gain_x;
open4416 10:6a9de32601b1 109 Acce_axis_data[1] = imu.ay*Acce_gain_y;
open4416 10:6a9de32601b1 110 Acce_axis_data[2] = imu.az*Acce_gain_z;
open4416 10:6a9de32601b1 111 // Acce_axis_data[3] = -imu2.ax*Acce_gain_x_2;
open4416 10:6a9de32601b1 112 // Acce_axis_data[4] = imu2.az*Acce_gain_y_2;
open4416 10:6a9de32601b1 113 // Acce_axis_data[5] = imu2.ay*Acce_gain_z_2;
JJting 0:c23e915f255b 114
open4416 10:6a9de32601b1 115 Gyro_axis_data[0] = imu.gx*Gyro_gain_x;
open4416 10:6a9de32601b1 116 Gyro_axis_data[1] = imu.gy*Gyro_gain_y;
open4416 10:6a9de32601b1 117 Gyro_axis_data[2] = imu.gz*Gyro_gain_z;
open4416 10:6a9de32601b1 118 // Gyro_axis_data[3] = -imu2.gx*Gyro_gain_x_2;
open4416 10:6a9de32601b1 119 // Gyro_axis_data[4] = imu2.gz*Gyro_gain_y_2;
open4416 10:6a9de32601b1 120 // Gyro_axis_data[5] = imu2.gy*Gyro_gain_z_2;
open4416 10:6a9de32601b1 121
open4416 10:6a9de32601b1 122 // for(i=0; i<6; i++) {
open4416 10:6a9de32601b1 123 // Acce_axis_data_f[i] = lpf(Acce_axis_data[i],Acce_axis_data_f_old[i],15);
open4416 10:6a9de32601b1 124 // Acce_axis_data_f_old[i] = Acce_axis_data_f[i];
open4416 10:6a9de32601b1 125 // Gyro_axis_data_f[i] = lpf(Gyro_axis_data[i],Gyro_axis_data_f_old[i],15);
open4416 10:6a9de32601b1 126 // Gyro_axis_data_f_old[i] = Gyro_axis_data_f[i];
open4416 10:6a9de32601b1 127 // }
open4416 10:6a9de32601b1 128 // int16_t shit2 = imu.ax_raw;
open4416 10:6a9de32601b1 129 // uart.printf("%d\n\r", shit2);
open4416 10:6a9de32601b1 130 uart.printf("x: %.2f, y: %.2f, z: %.2f\n\r",imu.ax, imu.ay, imu.az);
open4416 10:6a9de32601b1 131 // uart_tx();
open4416 10:6a9de32601b1 132
open4416 10:6a9de32601b1 133 // flag = 0;
open4416 10:6a9de32601b1 134 wait_ms(500);
open4416 10:6a9de32601b1 135 // test = 0;
open4416 10:6a9de32601b1 136 }
JJting 0:c23e915f255b 137 }
JJting 0:c23e915f255b 138
JJting 4:f19e7669d1b5 139 void init_IMU()
JJting 4:f19e7669d1b5 140 {
open4416 10:6a9de32601b1 141 uint16_t shit;
open4416 10:6a9de32601b1 142 shit = imu.begin(imu.G_SCALE_245DPS,imu.A_SCALE_2G,imu.M_SCALE_4GS,imu.G_ODR_238_BW_14,imu.A_ODR_119,imu.M_ODR_0625); //imu.G_SCALE_245DPS,imu.A_SCALE_2G,imu.M_SCALE_4GS,imu.G_ODR_238_BW_14,imu.A_ODR_119,imu.M_ODR_0625
nylon0212 9:07de3af99031 143 // imu2.begin(imu.G_SCALE_500DPS,imu.A_SCALE_2G,imu.M_SCALE_4GS,imu.G_ODR_476_BW_21,imu.A_ODR_476,imu.M_ODR_0625);
open4416 10:6a9de32601b1 144 if(shit != 0x683D) {
open4416 10:6a9de32601b1 145 while(1) {
open4416 10:6a9de32601b1 146 uart.printf("IMU error\n\r");
open4416 10:6a9de32601b1 147 }
open4416 10:6a9de32601b1 148 }
open4416 10:6a9de32601b1 149 uart.printf("IMU init success\n\r");
open4416 10:6a9de32601b1 150
open4416 10:6a9de32601b1 151 // uart.printf("%d\n\r", shit);
JJting 0:c23e915f255b 152 }
JJting 0:c23e915f255b 153
JJting 0:c23e915f255b 154 void init_UART()
JJting 0:c23e915f255b 155 {
JJting 0:c23e915f255b 156 uart.baud(115200);
JJting 0:c23e915f255b 157 }
JJting 0:c23e915f255b 158
JJting 0:c23e915f255b 159 void init_TIMER()
JJting 0:c23e915f255b 160 {
JJting 0:c23e915f255b 161 timer1.attach_us(&timer1_ITR, ITR_time1);
JJting 0:c23e915f255b 162 }
JJting 0:c23e915f255b 163
nylon0212 9:07de3af99031 164 void timer1_ITR() //開始讀取資料
JJting 0:c23e915f255b 165 {
nylon0212 9:07de3af99031 166 // test = 1;
JJting 5:4dbed091ec5a 167 led2 = !led2;
JJting 5:4dbed091ec5a 168 // EMG
nylon0212 9:07de3af99031 169 //emg_value = EMG.read();
nylon0212 9:07de3af99031 170 // emg_value_f = lpf(emg_value,emg_value_f_old,15);
nylon0212 9:07de3af99031 171 // emg_value_f_old = emg_value_f;
JJting 5:4dbed091ec5a 172
nylon0212 9:07de3af99031 173 CS = 1;
JJting 5:4dbed091ec5a 174 // IMU
nylon0212 9:07de3af99031 175 imu.readAccel();
nylon0212 9:07de3af99031 176 // imu.readGyro();
nylon0212 9:07de3af99031 177 // imu2.readAccel();
nylon0212 9:07de3af99031 178 // imu2.readGyro();
nylon0212 9:07de3af99031 179
nylon0212 9:07de3af99031 180 //Acce_axis_data[0] = imu.ax*Acce_gain_x;
nylon0212 9:07de3af99031 181 // Acce_axis_data[1] = imu.ay*Acce_gain_y;
nylon0212 9:07de3af99031 182 // Acce_axis_data[2] = imu.az*Acce_gain_z;
nylon0212 9:07de3af99031 183 // Acce_axis_data[3] = -imu2.ax*Acce_gain_x_2;
nylon0212 9:07de3af99031 184 // Acce_axis_data[4] = imu2.az*Acce_gain_y_2;
nylon0212 9:07de3af99031 185 // Acce_axis_data[5] = imu2.ay*Acce_gain_z_2;
JJting 5:4dbed091ec5a 186
nylon0212 9:07de3af99031 187 //Gyro_axis_data[0] = imu.gx*Gyro_gain_x;
nylon0212 9:07de3af99031 188 // Gyro_axis_data[1] = imu.gy*Gyro_gain_y;
nylon0212 9:07de3af99031 189 // Gyro_axis_data[2] = imu.gz*Gyro_gain_z;
nylon0212 9:07de3af99031 190 // Gyro_axis_data[3] = -imu2.gx*Gyro_gain_x_2;
nylon0212 9:07de3af99031 191 // Gyro_axis_data[4] = imu2.gz*Gyro_gain_y_2;
nylon0212 9:07de3af99031 192 // Gyro_axis_data[5] = imu2.gy*Gyro_gain_z_2;
JJting 5:4dbed091ec5a 193
nylon0212 9:07de3af99031 194 //for(i=0; i<6; i++) {
nylon0212 9:07de3af99031 195 // Acce_axis_data_f[i] = lpf(Acce_axis_data[i],Acce_axis_data_f_old[i],15);
nylon0212 9:07de3af99031 196 // Acce_axis_data_f_old[i] = Acce_axis_data_f[i];
nylon0212 9:07de3af99031 197 // Gyro_axis_data_f[i] = lpf(Gyro_axis_data[i],Gyro_axis_data_f_old[i],15);
nylon0212 9:07de3af99031 198 // Gyro_axis_data_f_old[i] = Gyro_axis_data_f[i];
nylon0212 9:07de3af99031 199 // }
open4416 10:6a9de32601b1 200 // uart.printf("x: %7.4f, y: %7.4f, z: %7.4f\n\r",imu.ax, imu.ay, imu.az);
nylon0212 9:07de3af99031 201 //uart_tx();
JJting 5:4dbed091ec5a 202
nylon0212 9:07de3af99031 203 // flag = 0;
JJting 7:5cb292622961 204 // wait_ms(1);
nylon0212 9:07de3af99031 205 // test = 0;
JJting 0:c23e915f255b 206 }
JJting 0:c23e915f255b 207
nylon0212 9:07de3af99031 208 void uart_tx() //分割資料
JJting 0:c23e915f255b 209 {
JJting 0:c23e915f255b 210 splitter s1;
JJting 0:c23e915f255b 211 splitter s2;
JJting 0:c23e915f255b 212 splitter s3;
JJting 0:c23e915f255b 213 splitter s4;
JJting 0:c23e915f255b 214 splitter s5;
JJting 0:c23e915f255b 215 splitter s6;
JJting 0:c23e915f255b 216 splitter s7;
nylon0212 9:07de3af99031 217 // splitter s8;
JJting 0:c23e915f255b 218
nylon0212 9:07de3af99031 219 s1.j = Acce_axis_data_f[0]; // 0x6161;//
nylon0212 9:07de3af99031 220 s2.j = Acce_axis_data_f[1];
nylon0212 9:07de3af99031 221 s3.j = Acce_axis_data_f[2];
nylon0212 9:07de3af99031 222 s4.j = Acce_axis_data_f[3];
nylon0212 9:07de3af99031 223 s5.j = Acce_axis_data_f[4];
nylon0212 9:07de3af99031 224 s6.j = Acce_axis_data_f[5];
nylon0212 9:07de3af99031 225 s7.j = emg_value_f;
nylon0212 9:07de3af99031 226 // s8.j = 1; // 若要傳的參數不足8個，則隨意打一個常數即可
JJting 0:c23e915f255b 227
nylon0212 9:07de3af99031 228 T[2] = Acce_axis_data[0]; //0x5A;
nylon0212 9:07de3af99031 229 T[3] = Acce_axis_data[0] >>8;
JJting 0:c23e915f255b 230 T[4] = s2.C[0];
JJting 0:c23e915f255b 231 T[5] = s2.C[1];
JJting 0:c23e915f255b 232 T[6] = s3.C[0];
JJting 0:c23e915f255b 233 T[7] = s3.C[1];
JJting 0:c23e915f255b 234 T[8] = s4.C[0];
JJting 0:c23e915f255b 235 T[9] = s4.C[1];
JJting 0:c23e915f255b 236 T[10] = s5.C[0];
JJting 0:c23e915f255b 237 T[11] = s5.C[1];
JJting 0:c23e915f255b 238 T[12] = s6.C[0];
JJting 0:c23e915f255b 239 T[13] = s6.C[1];
JJting 0:c23e915f255b 240 T[14] = s7.C[0];
JJting 0:c23e915f255b 241 T[15] = s7.C[1];
open4416 10:6a9de32601b1 242
open4416 10:6a9de32601b1 243
open4416 10:6a9de32601b1 244
open4416 10:6a9de32601b1 245
JJting 7:5cb292622961 246
nylon0212 9:07de3af99031 247 // uart.putc(T[0]);
nylon0212 9:07de3af99031 248 // uart.putc(T[1]);
nylon0212 9:07de3af99031 249 // uart.putc(T[2]);
nylon0212 9:07de3af99031 250 // uart.putc(T[3]);
nylon0212 9:07de3af99031 251 // uart.putc(T[4]);
nylon0212 9:07de3af99031 252 // uart.putc(T[5]);
nylon0212 9:07de3af99031 253 // uart.putc(T[6]);
nylon0212 9:07de3af99031 254 // uart.putc(T[7]);
nylon0212 9:07de3af99031 255 // uart.putc(T[8]);
nylon0212 9:07de3af99031 256 // uart.putc(T[9]);
nylon0212 9:07de3af99031 257 // uart.putc(T[10]);
nylon0212 9:07de3af99031 258 // uart.putc(T[11]);
nylon0212 9:07de3af99031 259 // uart.putc(T[12]);
nylon0212 9:07de3af99031 260 // uart.putc(T[13]);
nylon0212 9:07de3af99031 261 // uart.putc(T[14]);
nylon0212 9:07de3af99031 262 // uart.putc(T[15]);
JJting 1:2823a39f70a9 263
nylon0212 9:07de3af99031 264 // while(1) { //開始傳到USB
nylon0212 9:07de3af99031 265 // if (uart.writeable() == 1) {
nylon0212 9:07de3af99031 266 // uart.putc(T[i]);
nylon0212 9:07de3af99031 267 // i++;
nylon0212 9:07de3af99031 268 // }
nylon0212 9:07de3af99031 269 // if (i >= sizeof(T)) {
nylon0212 9:07de3af99031 270 // i = 0;
nylon0212 9:07de3af99031 271 // break;
nylon0212 9:07de3af99031 272 // }
JJting 6:f48c51662e27 273 // }
JJting 1:2823a39f70a9 274 }
JJting 3:98cdee5d9b63 275
JJting 3:98cdee5d9b63 276 float lpf(float input, float output_old, float frequency)
JJting 3:98cdee5d9b63 277 {
JJting 3:98cdee5d9b63 278 float output = 0;
JJting 3:98cdee5d9b63 279
JJting 3:98cdee5d9b63 280 output = (output_old + frequency*Tf*input) / (1 + frequency*Tf);
JJting 3:98cdee5d9b63 281
JJting 3:98cdee5d9b63 282 return output;
nylon0212 9:07de3af99031 283 }
nylon0212 9:07de3af99031 284
nylon0212 9:07de3af99031 285 //有估測器有delay，丟資料給機器學習時就不是及時動作，所以之後決定直接丟資料