Rogelio Vazquez
/
Control_interface
UCR Robosub manual control / PID tuning interface
Sensors/IMU.h@1:3f291f2f80d3, 2017-07-27 (annotated)
- Committer:
- roger_wee
- Date:
- Thu Jul 27 05:45:10 2017 +0000
- Revision:
- 1:3f291f2f80d3
- Parent:
- 0:048a74dd7c3a
control edit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
roger_wee | 0:048a74dd7c3a | 1 | #include "MPU6050.h" |
roger_wee | 0:048a74dd7c3a | 2 | #include "HMC5883L.h" |
roger_wee | 0:048a74dd7c3a | 3 | |
roger_wee | 0:048a74dd7c3a | 4 | float sum = 0; |
roger_wee | 0:048a74dd7c3a | 5 | uint32_t sumCount = 0; |
roger_wee | 0:048a74dd7c3a | 6 | Timer t; |
roger_wee | 0:048a74dd7c3a | 7 | Serial pc(USBTX, USBRX); |
roger_wee | 0:048a74dd7c3a | 8 | |
roger_wee | 0:048a74dd7c3a | 9 | void IMUinit(MPU6050 &mpu6050) |
roger_wee | 0:048a74dd7c3a | 10 | { |
roger_wee | 0:048a74dd7c3a | 11 | //start timer/clock |
roger_wee | 0:048a74dd7c3a | 12 | t.start(); |
roger_wee | 0:048a74dd7c3a | 13 | |
roger_wee | 0:048a74dd7c3a | 14 | // Read the WHO_AM_I register, this is a good test of communication |
roger_wee | 0:048a74dd7c3a | 15 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
roger_wee | 0:048a74dd7c3a | 16 | pc.printf("I AM 0x%x\n\r", whoami); |
roger_wee | 0:048a74dd7c3a | 17 | pc.printf("I SHOULD BE 0x68\n\r"); |
roger_wee | 0:048a74dd7c3a | 18 | |
roger_wee | 0:048a74dd7c3a | 19 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
roger_wee | 0:048a74dd7c3a | 20 | pc.printf("MPU6050 is online..."); |
roger_wee | 0:048a74dd7c3a | 21 | wait(1); |
roger_wee | 0:048a74dd7c3a | 22 | //lcd.clear(); |
roger_wee | 0:048a74dd7c3a | 23 | //lcd.printString("MPU6050 OK", 0, 0); |
roger_wee | 0:048a74dd7c3a | 24 | |
roger_wee | 0:048a74dd7c3a | 25 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
roger_wee | 0:048a74dd7c3a | 26 | pc.printf("x-axis self test: acceleration trim within : "); |
roger_wee | 0:048a74dd7c3a | 27 | pc.printf("%f", SelfTest[0]); |
roger_wee | 0:048a74dd7c3a | 28 | pc.printf("% of factory value \n\r"); |
roger_wee | 0:048a74dd7c3a | 29 | pc.printf("y-axis self test: acceleration trim within : "); |
roger_wee | 0:048a74dd7c3a | 30 | pc.printf("%f", SelfTest[1]); |
roger_wee | 0:048a74dd7c3a | 31 | pc.printf("% of factory value \n\r"); |
roger_wee | 0:048a74dd7c3a | 32 | pc.printf("z-axis self test: acceleration trim within : "); |
roger_wee | 0:048a74dd7c3a | 33 | pc.printf("%f", SelfTest[2]); |
roger_wee | 0:048a74dd7c3a | 34 | pc.printf("% of factory value \n\r"); |
roger_wee | 0:048a74dd7c3a | 35 | pc.printf("x-axis self test: gyration trim within : "); |
roger_wee | 0:048a74dd7c3a | 36 | pc.printf("%f", SelfTest[3]); |
roger_wee | 0:048a74dd7c3a | 37 | pc.printf("% of factory value \n\r"); |
roger_wee | 0:048a74dd7c3a | 38 | pc.printf("y-axis self test: gyration trim within : "); |
roger_wee | 0:048a74dd7c3a | 39 | pc.printf("%f", SelfTest[4]); |
roger_wee | 0:048a74dd7c3a | 40 | pc.printf("% of factory value \n\r"); |
roger_wee | 0:048a74dd7c3a | 41 | pc.printf("z-axis self test: gyration trim within : "); |
roger_wee | 0:048a74dd7c3a | 42 | pc.printf("%f", SelfTest[5]); |
roger_wee | 0:048a74dd7c3a | 43 | pc.printf("% of factory value \n\r"); |
roger_wee | 0:048a74dd7c3a | 44 | wait(1); |
roger_wee | 0:048a74dd7c3a | 45 | |
roger_wee | 0:048a74dd7c3a | 46 | if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) { |
roger_wee | 0:048a74dd7c3a | 47 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
roger_wee | 0:048a74dd7c3a | 48 | |
roger_wee | 0:048a74dd7c3a | 49 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
roger_wee | 0:048a74dd7c3a | 50 | |
roger_wee | 0:048a74dd7c3a | 51 | mpu6050.resetMPU6050(); |
roger_wee | 0:048a74dd7c3a | 52 | |
roger_wee | 0:048a74dd7c3a | 53 | mpu6050.initMPU6050(); |
roger_wee | 0:048a74dd7c3a | 54 | pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
roger_wee | 0:048a74dd7c3a | 55 | wait(2); |
roger_wee | 0:048a74dd7c3a | 56 | |
roger_wee | 0:048a74dd7c3a | 57 | } else { |
roger_wee | 0:048a74dd7c3a | 58 | pc.printf("Device did not the pass self-test!\n\r"); |
roger_wee | 0:048a74dd7c3a | 59 | } |
roger_wee | 0:048a74dd7c3a | 60 | } else { |
roger_wee | 0:048a74dd7c3a | 61 | pc.printf("Could not connect to MPU6050: \n\r"); |
roger_wee | 0:048a74dd7c3a | 62 | pc.printf("%#x \n", whoami); |
roger_wee | 0:048a74dd7c3a | 63 | |
roger_wee | 0:048a74dd7c3a | 64 | while(1) ; // Loop forever if communication doesn't happen |
roger_wee | 0:048a74dd7c3a | 65 | } |
roger_wee | 0:048a74dd7c3a | 66 | } |
roger_wee | 0:048a74dd7c3a | 67 | |
roger_wee | 0:048a74dd7c3a | 68 | |
roger_wee | 0:048a74dd7c3a | 69 | void IMUPrintData(MPU6050 &mpu6050, HMC5883L &compass) |
roger_wee | 0:048a74dd7c3a | 70 | { |
roger_wee | 0:048a74dd7c3a | 71 | |
roger_wee | 0:048a74dd7c3a | 72 | // pc.printf("Beginning IMU read\n"); |
roger_wee | 0:048a74dd7c3a | 73 | // If data ready bit set, all data registers have new data |
roger_wee | 0:048a74dd7c3a | 74 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
roger_wee | 0:048a74dd7c3a | 75 | |
roger_wee | 0:048a74dd7c3a | 76 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
roger_wee | 0:048a74dd7c3a | 77 | mpu6050.getAres(); |
roger_wee | 0:048a74dd7c3a | 78 | |
roger_wee | 0:048a74dd7c3a | 79 | // Now we'll calculate the accleration value into actual g's |
roger_wee | 0:048a74dd7c3a | 80 | ax = (float)accelCount[0] *aRes - accelBias[0]; // get actual g value, this depends on scale being set |
roger_wee | 0:048a74dd7c3a | 81 | ay = (float)accelCount[1] *aRes - accelBias[1]; |
roger_wee | 0:048a74dd7c3a | 82 | az = (float)accelCount[2] *aRes - accelBias[2]; |
roger_wee | 0:048a74dd7c3a | 83 | |
roger_wee | 0:048a74dd7c3a | 84 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
roger_wee | 0:048a74dd7c3a | 85 | mpu6050.getGres(); |
roger_wee | 0:048a74dd7c3a | 86 | |
roger_wee | 0:048a74dd7c3a | 87 | // Calculate the gyro value into actual degrees per second |
roger_wee | 0:048a74dd7c3a | 88 | gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set |
roger_wee | 0:048a74dd7c3a | 89 | gy = (float)gyroCount[1]*gRes - gyroBias[1]; |
roger_wee | 0:048a74dd7c3a | 90 | gz = (float)gyroCount[2]*gRes - gyroBias[2]; |
roger_wee | 0:048a74dd7c3a | 91 | |
roger_wee | 0:048a74dd7c3a | 92 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
roger_wee | 0:048a74dd7c3a | 93 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
roger_wee | 0:048a74dd7c3a | 94 | |
roger_wee | 0:048a74dd7c3a | 95 | } |
roger_wee | 0:048a74dd7c3a | 96 | |
roger_wee | 0:048a74dd7c3a | 97 | //get magdata |
roger_wee | 0:048a74dd7c3a | 98 | compass.readMagData(magdata); |
roger_wee | 0:048a74dd7c3a | 99 | heading = compass.getHeading(); |
roger_wee | 0:048a74dd7c3a | 100 | |
roger_wee | 0:048a74dd7c3a | 101 | Now = t.read_us(); |
roger_wee | 0:048a74dd7c3a | 102 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
roger_wee | 0:048a74dd7c3a | 103 | //sampleFreq = 1/deltat; |
roger_wee | 0:048a74dd7c3a | 104 | lastUpdate = Now; |
roger_wee | 0:048a74dd7c3a | 105 | |
roger_wee | 0:048a74dd7c3a | 106 | sum += deltat; |
roger_wee | 0:048a74dd7c3a | 107 | sumCount++; |
roger_wee | 0:048a74dd7c3a | 108 | |
roger_wee | 0:048a74dd7c3a | 109 | if(lastUpdate - firstUpdate > 10000000.0f) { |
roger_wee | 0:048a74dd7c3a | 110 | beta = 0.04; // decrease filter gain after stabilized |
roger_wee | 0:048a74dd7c3a | 111 | zeta = 0.015; // increasey bias drift gain after stabilized |
roger_wee | 0:048a74dd7c3a | 112 | } |
roger_wee | 0:048a74dd7c3a | 113 | |
roger_wee | 0:048a74dd7c3a | 114 | // Convert gyro rate as rad/s |
roger_wee | 0:048a74dd7c3a | 115 | gx *= PI/180.0f; |
roger_wee | 0:048a74dd7c3a | 116 | gy *= PI/180.0f; |
roger_wee | 0:048a74dd7c3a | 117 | gz *= PI/180.0f; |
roger_wee | 0:048a74dd7c3a | 118 | |
roger_wee | 0:048a74dd7c3a | 119 | // Calculate position if time |
roger_wee | 1:3f291f2f80d3 | 120 | //mpu6050.getDisplacement(ax,ay); |
roger_wee | 0:048a74dd7c3a | 121 | |
roger_wee | 0:048a74dd7c3a | 122 | // Pass gyro rate as rad/s |
roger_wee | 0:048a74dd7c3a | 123 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx, gy, gz, magdata[0], magdata[1], magdata[2]); |
roger_wee | 0:048a74dd7c3a | 124 | |
roger_wee | 0:048a74dd7c3a | 125 | // Serial print and/or display at 0.5 s rate independent of data rates |
roger_wee | 0:048a74dd7c3a | 126 | delt_t = t.read_ms() - count; |
roger_wee | 0:048a74dd7c3a | 127 | if (delt_t > 0) { // update LCD once per half-second independent of read rate |
roger_wee | 0:048a74dd7c3a | 128 | |
roger_wee | 0:048a74dd7c3a | 129 | |
roger_wee | 0:048a74dd7c3a | 130 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
roger_wee | 0:048a74dd7c3a | 131 | // In this coordinate system, the positive z-axis is down toward Earth. |
roger_wee | 0:048a74dd7c3a | 132 | // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise. |
roger_wee | 0:048a74dd7c3a | 133 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
roger_wee | 0:048a74dd7c3a | 134 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
roger_wee | 0:048a74dd7c3a | 135 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
roger_wee | 0:048a74dd7c3a | 136 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
roger_wee | 0:048a74dd7c3a | 137 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
roger_wee | 0:048a74dd7c3a | 138 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
roger_wee | 0:048a74dd7c3a | 139 | yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); |
roger_wee | 0:048a74dd7c3a | 140 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
roger_wee | 0:048a74dd7c3a | 141 | roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); |
roger_wee | 0:048a74dd7c3a | 142 | |
roger_wee | 0:048a74dd7c3a | 143 | pitch *= 180.0f / PI; |
roger_wee | 0:048a74dd7c3a | 144 | yaw *= 180.0f / PI; |
roger_wee | 0:048a74dd7c3a | 145 | roll *= 180.0f / PI; |
roger_wee | 0:048a74dd7c3a | 146 | |
roger_wee | 0:048a74dd7c3a | 147 | // pc.printf("Yaw, Pitch, Roll: \n\r"); |
roger_wee | 0:048a74dd7c3a | 148 | // pc.printf("%f", yaw); |
roger_wee | 0:048a74dd7c3a | 149 | // pc.printf(", "); |
roger_wee | 0:048a74dd7c3a | 150 | // pc.printf("%f", pitch); |
roger_wee | 0:048a74dd7c3a | 151 | // pc.printf(", "); |
roger_wee | 0:048a74dd7c3a | 152 | // pc.printf("%f\n\r", roll); |
roger_wee | 0:048a74dd7c3a | 153 | // pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r"); |
roger_wee | 0:048a74dd7c3a | 154 | |
roger_wee | 0:048a74dd7c3a | 155 | //pc.printf("average rate = %f\n\r", (float) sumCount/sum); |
roger_wee | 0:048a74dd7c3a | 156 | |
roger_wee | 0:048a74dd7c3a | 157 | //myled= !myled; |
roger_wee | 0:048a74dd7c3a | 158 | count = t.read_ms(); |
roger_wee | 0:048a74dd7c3a | 159 | sum = 0; |
roger_wee | 0:048a74dd7c3a | 160 | sumCount = 0; |
roger_wee | 0:048a74dd7c3a | 161 | } |
roger_wee | 0:048a74dd7c3a | 162 | } |
roger_wee | 0:048a74dd7c3a | 163 | |
roger_wee | 0:048a74dd7c3a | 164 | void IMUUpdate(MPU6050 &mpu6050) |
roger_wee | 0:048a74dd7c3a | 165 | { |
roger_wee | 0:048a74dd7c3a | 166 | // If data ready bit set, all data registers have new data |
roger_wee | 0:048a74dd7c3a | 167 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
roger_wee | 0:048a74dd7c3a | 168 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
roger_wee | 0:048a74dd7c3a | 169 | mpu6050.getAres(); |
roger_wee | 0:048a74dd7c3a | 170 | |
roger_wee | 0:048a74dd7c3a | 171 | // Now we'll calculate the accleration value into actual g's |
roger_wee | 0:048a74dd7c3a | 172 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
roger_wee | 0:048a74dd7c3a | 173 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
roger_wee | 0:048a74dd7c3a | 174 | az = (float)accelCount[2]*aRes - accelBias[2]; |
roger_wee | 0:048a74dd7c3a | 175 | |
roger_wee | 0:048a74dd7c3a | 176 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
roger_wee | 0:048a74dd7c3a | 177 | mpu6050.getGres(); |
roger_wee | 0:048a74dd7c3a | 178 | |
roger_wee | 0:048a74dd7c3a | 179 | // Calculate the gyro value into actual degrees per second |
roger_wee | 0:048a74dd7c3a | 180 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
roger_wee | 0:048a74dd7c3a | 181 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
roger_wee | 0:048a74dd7c3a | 182 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
roger_wee | 0:048a74dd7c3a | 183 | |
roger_wee | 0:048a74dd7c3a | 184 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
roger_wee | 0:048a74dd7c3a | 185 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
roger_wee | 0:048a74dd7c3a | 186 | } |
roger_wee | 0:048a74dd7c3a | 187 | |
roger_wee | 0:048a74dd7c3a | 188 | Now = t.read_us(); |
roger_wee | 0:048a74dd7c3a | 189 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
roger_wee | 0:048a74dd7c3a | 190 | lastUpdate = Now; |
roger_wee | 0:048a74dd7c3a | 191 | |
roger_wee | 0:048a74dd7c3a | 192 | sum += deltat; |
roger_wee | 0:048a74dd7c3a | 193 | sumCount++; |
roger_wee | 0:048a74dd7c3a | 194 | |
roger_wee | 0:048a74dd7c3a | 195 | if(lastUpdate - firstUpdate > 10000000.0f) { |
roger_wee | 0:048a74dd7c3a | 196 | beta = 0.04; // decrease filter gain after stabilized |
roger_wee | 0:048a74dd7c3a | 197 | zeta = 0.015; // increasey bias drift gain after stabilized |
roger_wee | 0:048a74dd7c3a | 198 | } |
roger_wee | 0:048a74dd7c3a | 199 | |
roger_wee | 0:048a74dd7c3a | 200 | // Pass gyro rate as rad/s |
roger_wee | 0:048a74dd7c3a | 201 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
roger_wee | 0:048a74dd7c3a | 202 | |
roger_wee | 0:048a74dd7c3a | 203 | // Serial print and/or display at 0.5 s rate independent of data rates |
roger_wee | 0:048a74dd7c3a | 204 | delt_t = t.read_ms() - count; |
roger_wee | 0:048a74dd7c3a | 205 | |
roger_wee | 0:048a74dd7c3a | 206 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
roger_wee | 0:048a74dd7c3a | 207 | // In this coordinate system, the positive z-axis is down toward Earth. |
roger_wee | 0:048a74dd7c3a | 208 | // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise. |
roger_wee | 0:048a74dd7c3a | 209 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
roger_wee | 0:048a74dd7c3a | 210 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
roger_wee | 0:048a74dd7c3a | 211 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
roger_wee | 0:048a74dd7c3a | 212 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
roger_wee | 0:048a74dd7c3a | 213 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
roger_wee | 0:048a74dd7c3a | 214 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
roger_wee | 0:048a74dd7c3a | 215 | yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); |
roger_wee | 0:048a74dd7c3a | 216 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
roger_wee | 0:048a74dd7c3a | 217 | roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); |
roger_wee | 0:048a74dd7c3a | 218 | pitch *= 180.0f / PI; |
roger_wee | 0:048a74dd7c3a | 219 | yaw *= 180.0f / PI; |
roger_wee | 0:048a74dd7c3a | 220 | roll *= 180.0f / PI; |
roger_wee | 0:048a74dd7c3a | 221 | |
roger_wee | 0:048a74dd7c3a | 222 | //update timer for filter |
roger_wee | 0:048a74dd7c3a | 223 | count = t.read_ms(); |
roger_wee | 0:048a74dd7c3a | 224 | sum = 0; |
roger_wee | 0:048a74dd7c3a | 225 | sumCount = 0; |
roger_wee | 0:048a74dd7c3a | 226 | |
roger_wee | 0:048a74dd7c3a | 227 | } |
roger_wee | 0:048a74dd7c3a | 228 | |
roger_wee | 0:048a74dd7c3a | 229 |