Rogelio Vazquez
UCR Robosub manual control / PID tuning interface
Revision 0:048a74dd7c3a, committed 2017-07-22
- Comitter:
- roger_wee
- Date:
- Sat Jul 22 05:58:03 2017 +0000
- Child:
- 1:3f291f2f80d3
- Commit message:
- UCR Robosub Manual Control / PID tuning interface
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.cpp Sat Jul 22 05:58:03 2017 +0000
@@ -0,0 +1,203 @@
+/**********************************************************************************************
+ * Arduino PID Library - Version 1.0.1
+ * by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
+ *
+ * This Library is licensed under a GPLv3 License
+ **********************************************************************************************/
+#include <PID.h>
+//Serial cp(USBTX, USBRX); // tx, rx
+
+/*Constructor (...)*********************************************************
+ * The parameters specified here are those for for which we can't set up
+ * reliable defaults, so we need to have the user set them.
+ ***************************************************************************/
+PID::PID(double* Input, double* Output, double* Setpoint,
+ double Kp, double Ki, double Kd, int ControllerDirection)
+{
+
+ myOutput = Output;
+ myInput = Input;
+ mySetpoint = Setpoint;
+ inAuto = false;
+
+ PID::SetOutputLimits(0, 255); //default output limit corresponds to
+ //the arduino pwm limits
+
+ SampleTime = 100; //default Controller Sample Time is 0.1 seconds
+
+ PID::SetControllerDirection(ControllerDirection);
+ PID::SetTunings(Kp, Ki, Kd);
+
+ lastTime = t.read_us()-SampleTime;
+}
+
+
+/* Compute() **********************************************************************
+ * This, as they say, is where the magic happens. this function should be called
+ * every time "void loop()" executes. the function will decide for itself whether a new
+ * pid Output needs to be computed. returns true when the output is computed,
+ * false when nothing has been done.
+ **********************************************************************************/
+
+Serial pt(USBTX, USBRX); // tx, rx
+
+bool PID::Compute()
+{
+ if(!inAuto) return false;
+ unsigned long now = t.read_us();
+ unsigned long timeChange = (now - lastTime);
+
+ //cp.printf("%f, %f, %f\n\r", timeChange, SampleTime, lastTime);
+ if(timeChange>=SampleTime)
+ {
+ /*Compute all the working error variables*/
+ double input = *myInput;
+
+
+ double error = *mySetpoint - input;
+ //pt.printf("pid1: %f, %f, %f, %f\n\r", error, error, *mySetpoint, input);
+
+ ITerm+= (ki * error);
+ if(ITerm > outMax) ITerm= outMax;
+ else if(ITerm < outMin) ITerm= outMin;
+ double dInput = (input - lastInput);
+
+ /*Compute PID Output*/
+ double output = kp * error + ITerm - kd * dInput;
+
+ //pt.printf("pid2: %f, %f, %f, %f, %f\n\r", error, output, *mySetpoint, input, ITerm);
+
+ if(output > outMax) output = outMax;
+ else if(output < outMin) output = outMin;
+ *myOutput = output;
+
+ //pt.printf("pid3: %f, %f, %f, %f, %f\n\r", error, output, *mySetpoint, input, ki);
+
+ /*Remember some variables for next time*/
+ lastInput = input;
+ lastTime = now;
+ return true;
+ }
+ else return false;
+}
+
+
+/* SetTunings(...)*************************************************************
+ * This function allows the controller's dynamic performance to be adjusted.
+ * it's called automatically from the constructor, but tunings can also
+ * be adjusted on the fly during normal operation
+ ******************************************************************************/
+void PID::SetTunings(double Kp, double Ki, double Kd)
+{
+ if (Kp<0 || Ki<0 || Kd<0) return;
+
+ dispKp = Kp; dispKi = Ki; dispKd = Kd;
+
+ double SampleTimeInSec = ((double)SampleTime)/1000;
+ kp = Kp;
+ ki = Ki * SampleTimeInSec;
+ kd = Kd / SampleTimeInSec;
+
+ if(controllerDirection ==REVERSE)
+ {
+ kp = (0 - kp);
+ ki = (0 - ki);
+ kd = (0 - kd);
+ }
+ ITerm = 0.0;
+}
+
+/* SetSampleTime(...) *********************************************************
+ * sets the period, in Milliseconds, at which the calculation is performed
+ ******************************************************************************/
+void PID::SetSampleTime(int NewSampleTime)
+{
+ if (NewSampleTime > 0)
+ {
+ double ratio = (double)NewSampleTime
+ / (double)SampleTime;
+ ki *= ratio;
+ kd /= ratio;
+ SampleTime = (unsigned long)NewSampleTime;
+ }
+}
+
+/* SetOutputLimits(...)****************************************************
+ * This function will be used far more often than SetInputLimits. while
+ * the input to the controller will generally be in the 0-1023 range (which is
+ * the default already,) the output will be a little different. maybe they'll
+ * be doing a time window and will need 0-8000 or something. or maybe they'll
+ * want to clamp it from 0-125. who knows. at any rate, that can all be done
+ * here.
+ **************************************************************************/
+void PID::SetOutputLimits(double Min, double Max)
+{
+ if(Min >= Max) return;
+ outMin = Min;
+ outMax = Max;
+
+ if(inAuto)
+ {
+ if(*myOutput > outMax) *myOutput = outMax;
+ else if(*myOutput < outMin) *myOutput = outMin;
+
+ if(ITerm > outMax) ITerm= outMax;
+ else if(ITerm < outMin) ITerm= outMin;
+ }
+}
+
+/* SetMode(...)****************************************************************
+ * Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
+ * when the transition from manual to auto occurs, the controller is
+ * automatically initialized
+ ******************************************************************************/
+void PID::SetMode(int Mode)
+{
+ bool newAuto = (Mode == AUTOMATIC);
+ if(newAuto == !inAuto)
+ { /*we just went from manual to auto*/
+ PID::Initialize();
+ }
+ inAuto = newAuto;
+}
+
+/* Initialize()****************************************************************
+ * does all the things that need to happen to ensure a bumpless transfer
+ * from manual to automatic mode.
+ ******************************************************************************/
+void PID::Initialize()
+{
+ ITerm = *myOutput;
+ lastInput = *myInput;
+ t.start();
+ if(ITerm > outMax) ITerm = outMax;
+ else if(ITerm < outMin) ITerm = outMin;
+}
+
+/* SetControllerDirection(...)*************************************************
+ * The PID will either be connected to a DIRECT acting process (+Output leads
+ * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
+ * know which one, because otherwise we may increase the output when we should
+ * be decreasing. This is called from the constructor.
+ ******************************************************************************/
+void PID::SetControllerDirection(int Direction)
+{
+ if(inAuto && Direction !=controllerDirection)
+ {
+ kp = (0 - kp);
+ ki = (0 - ki);
+ kd = (0 - kd);
+ }
+ controllerDirection = Direction;
+}
+
+/* Status Funcions*************************************************************
+ * Just because you set the Kp=-1 doesn't mean it actually happened. these
+ * functions query the internal state of the PID. they're here for display
+ * purposes. this are the functions the PID Front-end uses for example
+ ******************************************************************************/
+double PID::GetKp(){ return dispKp; }
+double PID::GetKi(){ return dispKi;}
+double PID::GetKd(){ return dispKd;}
+int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
+int PID::GetDirection(){ return controllerDirection;}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h Sat Jul 22 05:58:03 2017 +0000
@@ -0,0 +1,79 @@
+#include "mbed.h"
+#ifndef PID_H_
+#define PID_H_
+
+class PID
+{
+ public:
+
+ //Constants used in some of the functions below
+ #define AUTOMATIC 1
+ #define MANUAL 0
+ #define DIRECT 0
+ #define REVERSE 1
+
+ //commonly used functions **************************************************************************
+ PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
+ double, double, double, int); // Setpoint. Initial tuning parameters are also set here
+
+ void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
+
+ bool Compute(); // * performs the PID calculation. it should be
+ // called every time loop() cycles. ON/OFF and
+ // calculation frequency can be set using SetMode
+ // SetSampleTime respectively
+
+ void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
+ //it's likely the user will want to change this depending on
+ //the application
+
+
+
+ //available but not commonly used functions ********************************************************
+ void SetTunings(double, double, // * While most users will set the tunings once in the
+ double); // constructor, this function gives the user the option
+ // of changing tunings during runtime for Adaptive control
+ void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
+ // means the output will increase when error is positive. REVERSE
+ // means the opposite. it's very unlikely that this will be needed
+ // once it is set in the constructor.
+ void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
+ // the PID calculation is performed. default is 100
+
+ // void changeSetpoint(*double); // changes system setpoint
+
+ //Display functions ****************************************************************
+ double GetKp(); // These functions query the pid for interal values.
+ double GetKi(); // they were created mainly for the pid front-end,
+ double GetKd(); // where it's important to know what is actually
+ int GetMode(); // inside the PID.
+ int GetDirection(); //
+
+ private:
+ void Initialize();
+
+ double dispKp; // * we'll hold on to the tuning parameters in user-entered
+ double dispKi; // format for display purposes
+ double dispKd; //
+
+ double kp; // * (P)roportional Tuning Parameter
+ double ki; // * (I)ntegral Tuning Parameter
+ double kd; // * (D)erivative Tuning Parameter
+
+ int controllerDirection;
+
+ double *myInput; // * Pointers to the Input, Output, and Setpoint variables
+ double *myOutput; // This creates a hard link between the variables and the
+ double *mySetpoint; // PID, freeing the user from having to constantly tell us
+ // what these values are. with pointers we'll just know.
+
+ unsigned long lastTime;
+ double ITerm, lastInput;
+
+ unsigned long SampleTime;
+ double outMin, outMax;
+ bool inAuto;
+ Timer t;
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sensors/HMC5883L.lib Sat Jul 22 05:58:03 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/roger_wee/code/HMC5883L/#f5f6aaf24be0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/IMU.h Sat Jul 22 05:58:03 2017 +0000
@@ -0,0 +1,229 @@
+#include "MPU6050.h"
+#include "HMC5883L.h"
+
+float sum = 0;
+uint32_t sumCount = 0;
+Timer t;
+Serial pc(USBTX, USBRX);
+
+void IMUinit(MPU6050 &mpu6050)
+{
+ //start timer/clock
+ t.start();
+
+ // Read the WHO_AM_I register, this is a good test of communication
+ uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
+ pc.printf("I AM 0x%x\n\r", whoami);
+ pc.printf("I SHOULD BE 0x68\n\r");
+
+ if (whoami == 0x68) { // WHO_AM_I should always be 0x68
+ pc.printf("MPU6050 is online...");
+ wait(1);
+ //lcd.clear();
+ //lcd.printString("MPU6050 OK", 0, 0);
+
+ mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+ pc.printf("x-axis self test: acceleration trim within : ");
+ pc.printf("%f", SelfTest[0]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("y-axis self test: acceleration trim within : ");
+ pc.printf("%f", SelfTest[1]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("z-axis self test: acceleration trim within : ");
+ pc.printf("%f", SelfTest[2]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("x-axis self test: gyration trim within : ");
+ pc.printf("%f", SelfTest[3]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("y-axis self test: gyration trim within : ");
+ pc.printf("%f", SelfTest[4]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("z-axis self test: gyration trim within : ");
+ pc.printf("%f", SelfTest[5]);
+ pc.printf("% of factory value \n\r");
+ wait(1);
+
+ 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) {
+ mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
+
+ mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+
+ mpu6050.resetMPU6050();
+
+ mpu6050.initMPU6050();
+ pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ wait(2);
+
+ } else {
+ pc.printf("Device did not the pass self-test!\n\r");
+ }
+ } else {
+ pc.printf("Could not connect to MPU6050: \n\r");
+ pc.printf("%#x \n", whoami);
+
+ while(1) ; // Loop forever if communication doesn't happen
+ }
+}
+
+
+void IMUPrintData(MPU6050 &mpu6050, HMC5883L &compass)
+{
+
+ // pc.printf("Beginning IMU read\n");
+// If data ready bit set, all data registers have new data
+ if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
+
+ mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
+ mpu6050.getAres();
+
+ // Now we'll calculate the accleration value into actual g's
+ ax = (float)accelCount[0] *aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)accelCount[1] *aRes - accelBias[1];
+ az = (float)accelCount[2] *aRes - accelBias[2];
+
+ mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
+ mpu6050.getGres();
+
+ // Calculate the gyro value into actual degrees per second
+ gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gy = (float)gyroCount[1]*gRes - gyroBias[1];
+ gz = (float)gyroCount[2]*gRes - gyroBias[2];
+
+ tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
+ temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+
+ }
+
+ //get magdata
+ compass.readMagData(magdata);
+ heading = compass.getHeading();
+
+ Now = t.read_us();
+ deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ //sampleFreq = 1/deltat;
+ lastUpdate = Now;
+
+ sum += deltat;
+ sumCount++;
+
+ if(lastUpdate - firstUpdate > 10000000.0f) {
+ beta = 0.04; // decrease filter gain after stabilized
+ zeta = 0.015; // increasey bias drift gain after stabilized
+ }
+
+ // Convert gyro rate as rad/s
+ gx *= PI/180.0f;
+ gy *= PI/180.0f;
+ gz *= PI/180.0f;
+
+ // Calculate position if time
+ mpu6050.getDisplacement(ax,ay);
+
+ // Pass gyro rate as rad/s
+ mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx, gy, gz, magdata[0], magdata[1], magdata[2]);
+
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+ if (delt_t > 0) { // update LCD once per half-second independent of read rate
+
+
+ // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
+ // In this coordinate system, the positive z-axis is down toward Earth.
+ // 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.
+ // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
+ // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
+ // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
+ // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
+ // applied in the correct order which for this configuration is yaw, pitch, and then roll.
+ // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
+ 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]);
+ pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+ 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]);
+
+ pitch *= 180.0f / PI;
+ yaw *= 180.0f / PI;
+ roll *= 180.0f / PI;
+
+// pc.printf("Yaw, Pitch, Roll: \n\r");
+// pc.printf("%f", yaw);
+// pc.printf(", ");
+// pc.printf("%f", pitch);
+// pc.printf(", ");
+// pc.printf("%f\n\r", roll);
+// pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r");
+
+ //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+
+ //myled= !myled;
+ count = t.read_ms();
+ sum = 0;
+ sumCount = 0;
+ }
+}
+
+void IMUUpdate(MPU6050 &mpu6050)
+{
+ // If data ready bit set, all data registers have new data
+ if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
+ mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
+ mpu6050.getAres();
+
+ // Now we'll calculate the accleration value into actual g's
+ ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)accelCount[1]*aRes - accelBias[1];
+ az = (float)accelCount[2]*aRes - accelBias[2];
+
+ mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
+ mpu6050.getGres();
+
+ // Calculate the gyro value into actual degrees per second
+ gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
+ gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
+
+ tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
+ temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+ }
+
+ Now = t.read_us();
+ deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ lastUpdate = Now;
+
+ sum += deltat;
+ sumCount++;
+
+ if(lastUpdate - firstUpdate > 10000000.0f) {
+ beta = 0.04; // decrease filter gain after stabilized
+ zeta = 0.015; // increasey bias drift gain after stabilized
+ }
+
+ // Pass gyro rate as rad/s
+ mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
+
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+
+ // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
+ // In this coordinate system, the positive z-axis is down toward Earth.
+ // 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.
+ // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
+ // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
+ // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
+ // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
+ // applied in the correct order which for this configuration is yaw, pitch, and then roll.
+ // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
+ 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]);
+ pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+ 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]);
+ pitch *= 180.0f / PI;
+ yaw *= 180.0f / PI;
+ roll *= 180.0f / PI;
+
+ //update timer for filter
+ count = t.read_ms();
+ sum = 0;
+ sumCount = 0;
+
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/MPU6050.h Sat Jul 22 05:58:03 2017 +0000
@@ -0,0 +1,891 @@
+#ifndef MPU6050_H
+#define MPU6050_H
+
+#include "mbed.h"
+#include "math.h"
+
+// Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
+// Invensense Inc., www.invensense.com
+// See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
+// above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
+//
+#define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
+#define YGOFFS_TC 0x01
+#define ZGOFFS_TC 0x02
+#define X_FINE_GAIN 0x03 // [7:0] fine gain
+#define Y_FINE_GAIN 0x04
+#define Z_FINE_GAIN 0x05
+#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
+#define XA_OFFSET_L_TC 0x07
+#define YA_OFFSET_H 0x08
+#define YA_OFFSET_L_TC 0x09
+#define ZA_OFFSET_H 0x0A
+#define ZA_OFFSET_L_TC 0x0B
+#define SELF_TEST_X 0x0D
+#define SELF_TEST_Y 0x0E
+#define SELF_TEST_Z 0x0F
+#define SELF_TEST_A 0x10
+#define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
+#define XG_OFFS_USRL 0x14
+#define YG_OFFS_USRH 0x15
+#define YG_OFFS_USRL 0x16
+#define ZG_OFFS_USRH 0x17
+#define ZG_OFFS_USRL 0x18
+#define SMPLRT_DIV 0x19
+#define CONFIG 0x1A
+#define GYRO_CONFIG 0x1B
+#define ACCEL_CONFIG 0x1C
+#define FF_THR 0x1D // Free-fall
+#define FF_DUR 0x1E // Free-fall
+#define MOT_THR 0x1F // Motion detection threshold bits [7:0]
+#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
+#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
+#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
+#define FIFO_EN 0x23
+#define I2C_MST_CTRL 0x24
+#define I2C_SLV0_ADDR 0x25
+#define I2C_SLV0_REG 0x26
+#define I2C_SLV0_CTRL 0x27
+#define I2C_SLV1_ADDR 0x28
+#define I2C_SLV1_REG 0x29
+#define I2C_SLV1_CTRL 0x2A
+#define I2C_SLV2_ADDR 0x2B
+#define I2C_SLV2_REG 0x2C
+#define I2C_SLV2_CTRL 0x2D
+#define I2C_SLV3_ADDR 0x2E
+#define I2C_SLV3_REG 0x2F
+#define I2C_SLV3_CTRL 0x30
+#define I2C_SLV4_ADDR 0x31
+#define I2C_SLV4_REG 0x32
+#define I2C_SLV4_DO 0x33
+#define I2C_SLV4_CTRL 0x34
+#define I2C_SLV4_DI 0x35
+#define I2C_MST_STATUS 0x36
+#define INT_PIN_CFG 0x37
+#define INT_ENABLE 0x38
+#define DMP_INT_STATUS 0x39 // Check DMP interrupt
+#define INT_STATUS 0x3A
+#define ACCEL_XOUT_H 0x3B
+#define ACCEL_XOUT_L 0x3C
+#define ACCEL_YOUT_H 0x3D
+#define ACCEL_YOUT_L 0x3E
+#define ACCEL_ZOUT_H 0x3F
+#define ACCEL_ZOUT_L 0x40
+#define TEMP_OUT_H 0x41
+#define TEMP_OUT_L 0x42
+#define GYRO_XOUT_H 0x43
+#define GYRO_XOUT_L 0x44
+#define GYRO_YOUT_H 0x45
+#define GYRO_YOUT_L 0x46
+#define GYRO_ZOUT_H 0x47
+#define GYRO_ZOUT_L 0x48
+#define EXT_SENS_DATA_00 0x49
+#define EXT_SENS_DATA_01 0x4A
+#define EXT_SENS_DATA_02 0x4B
+#define EXT_SENS_DATA_03 0x4C
+#define EXT_SENS_DATA_04 0x4D
+#define EXT_SENS_DATA_05 0x4E
+#define EXT_SENS_DATA_06 0x4F
+#define EXT_SENS_DATA_07 0x50
+#define EXT_SENS_DATA_08 0x51
+#define EXT_SENS_DATA_09 0x52
+#define EXT_SENS_DATA_10 0x53
+#define EXT_SENS_DATA_11 0x54
+#define EXT_SENS_DATA_12 0x55
+#define EXT_SENS_DATA_13 0x56
+#define EXT_SENS_DATA_14 0x57
+#define EXT_SENS_DATA_15 0x58
+#define EXT_SENS_DATA_16 0x59
+#define EXT_SENS_DATA_17 0x5A
+#define EXT_SENS_DATA_18 0x5B
+#define EXT_SENS_DATA_19 0x5C
+#define EXT_SENS_DATA_20 0x5D
+#define EXT_SENS_DATA_21 0x5E
+#define EXT_SENS_DATA_22 0x5F
+#define EXT_SENS_DATA_23 0x60
+#define MOT_DETECT_STATUS 0x61
+#define I2C_SLV0_DO 0x63
+#define I2C_SLV1_DO 0x64
+#define I2C_SLV2_DO 0x65
+#define I2C_SLV3_DO 0x66
+#define I2C_MST_DELAY_CTRL 0x67
+#define SIGNAL_PATH_RESET 0x68
+#define MOT_DETECT_CTRL 0x69
+#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
+#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
+#define PWR_MGMT_2 0x6C
+#define DMP_BANK 0x6D // Activates a specific bank in the DMP
+#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
+#define DMP_REG 0x6F // Register in DMP from which to read or to which to write
+#define DMP_REG_1 0x70
+#define DMP_REG_2 0x71
+#define FIFO_COUNTH 0x72
+#define FIFO_COUNTL 0x73
+#define FIFO_R_W 0x74
+#define WHO_AM_I_MPU6050 0x75 // Should return 0x68
+
+// Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
+// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
+
+//create constructor
+#define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
+
+//Set up I2C, (SDA,SCL)
+I2C i2c(D14, D15);
+
+// Set initial input parameters
+enum Ascale {
+ AFS_2G = 0,
+ AFS_4G,
+ AFS_8G,
+ AFS_16G
+};
+
+enum Gscale {
+ GFS_250DPS = 0,
+ GFS_500DPS,
+ GFS_1000DPS,
+ GFS_2000DPS
+};
+
+// Specify sensor full scale
+int Gscale = GFS_250DPS;
+int Ascale = AFS_2G;
+
+
+float aRes, gRes; // scale resolutions per LSB for the sensors
+
+// Pin definitions
+int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
+
+int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
+float ax, ay, az; // Stores the real accel value in g's
+int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
+float gx, gy, gz; // Stores the real gyro value in degrees per seconds
+float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
+int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
+float temperature;
+float SelfTest[6];
+
+signed int accelerationx[2], accelerationy[2];
+signed long velocityx[2], velocityy[2];
+signed long positionX[2];
+signed long positionY[2];
+signed long positionZ[2];
+unsigned char countx, county;
+
+float heading = 0;
+float magdata[3];
+
+int delt_t = 0; // used to control display output rate
+int count = 0; // used to control display output rate
+
+// parameters for 9 DoF sensor fusion calculations
+float PI = 3.14159265358979323846f;
+float GyroMeasError = PI * (90.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
+float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
+float GyroMeasDrift = PI * (3.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
+float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
+float yaw, pitch, roll;
+float deltat = 0.0f; // integration interval for both filter schemes
+int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval
+float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
+
+//free IMU variables
+#define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
+#define twoKiDef (2.0f * 0.1f) // 2 * integral gain
+float sampleFreq; // half the sample period expressed in seconds
+volatile float twoKp = twoKpDef; // 2 * proportional gain (Kp)
+volatile float twoKi = twoKiDef; // 2 * integral gain (Ki)
+float exInt, eyInt, ezInt; // scaled integral error
+volatile float integralFBx, integralFBy, integralFBz;
+
+//math helper
+float invSqrt(float number) {
+ volatile long i;
+ volatile float x, y;
+ volatile const float f = 1.5F;
+
+ x = number * 0.5F;
+ y = number;
+ i = * ( long * ) &y;
+ i = 0x5f375a86 - ( i >> 1 );
+ y = * ( float * ) &i;
+ y = y * ( f - ( x * y * y ) );
+ return y;
+}
+
+
+class MPU6050
+{
+ protected:
+
+ public:
+ //===================================================================================================================
+ //====== Set of useful function to access acceleratio, gyroscope, and temperature data
+ //===================================================================================================================
+
+ //create constructor to pass in address
+
+ void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) {
+ char data_write[2];
+ data_write[0] = subAddress;
+ data_write[1] = data;
+ i2c.write(address, data_write, 2, 0);
+ }
+
+ char readByte(uint8_t address, uint8_t subAddress) {
+ char data[1]; // `data` will store the register data
+ char data_write[1];
+ data_write[0] = subAddress;
+ i2c.write(address, data_write, 1, 1); // no stop
+ i2c.read(address, data, 1, 0);
+ return data[0];
+ }
+
+ void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) {
+ char data[14];
+ char data_write[1];
+ data_write[0] = subAddress;
+ i2c.write(address, data_write, 1, 1); // no stop
+ i2c.read(address, data, count, 0);
+ for(int ii = 0; ii < count; ii++) {
+ dest[ii] = data[ii];
+ }
+ }
+
+
+ void getGres() {
+ switch (Gscale) {
+ // Possible gyro scales (and their register bit settings) are:
+ // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
+ // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+ case GFS_250DPS:
+ gRes = 250.0/32768.0;
+ break;
+ case GFS_500DPS:
+ gRes = 500.0/32768.0;
+ break;
+ case GFS_1000DPS:
+ gRes = 1000.0/32768.0;
+ break;
+ case GFS_2000DPS:
+ gRes = 2000.0/32768.0;
+ break;
+ }
+ }
+
+ void getAres() {
+ switch (Ascale) {
+ // Possible accelerometer scales (and their register bit settings) are:
+ // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
+ // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+ case AFS_2G:
+ aRes = 2.0/32768.0;
+ break;
+ case AFS_4G:
+ aRes = 4.0/32768.0;
+ break;
+ case AFS_8G:
+ aRes = 8.0/32768.0;
+ break;
+ case AFS_16G:
+ aRes = 16.0/32768.0;
+ break;
+ }
+ }
+
+
+ void readAccelData(int16_t * destination) {
+ uint8_t rawData[6]; // x/y/z accel register data stored here
+ readBytes(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
+ destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+ destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+ destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+ }
+
+ void readGyroData(int16_t * destination) {
+ uint8_t rawData[6]; // x/y/z gyro register data stored here
+ readBytes(MPU6050_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
+ destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+ destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+ destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+ }
+
+ int16_t readTempData() {
+ uint8_t rawData[2]; // x/y/z gyro register data stored here
+ readBytes(MPU6050_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
+ return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
+ }
+
+
+
+ // Configure the motion detection control for low power accelerometer mode
+ void LowPowerAccelOnly() {
+
+ // The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly
+ // Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration
+ // above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a
+ // threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out
+ // consideration for these threshold evaluations; otherwise, the flags would be set all the time!
+
+ uint8_t c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x30); // Clear sleep and cycle bits [5:6]
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x30); // Set sleep and cycle bits [5:6] to zero to make sure accelerometer is running
+
+ c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0x38); // Clear standby XA, YA, and ZA bits [3:5]
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x00); // Set XA, YA, and ZA bits [3:5] to zero to make sure accelerometer is running
+
+ c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
+ // Set high-pass filter to 0) reset (disable), 1) 5 Hz, 2) 2.5 Hz, 3) 1.25 Hz, 4) 0.63 Hz, or 7) Hold
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x00); // Set ACCEL_HPF to 0; reset mode disbaling high-pass filter
+
+ c = readByte(MPU6050_ADDRESS, CONFIG);
+ writeByte(MPU6050_ADDRESS, CONFIG, c & ~0x07); // Clear low-pass filter bits [2:0]
+ writeByte(MPU6050_ADDRESS, CONFIG, c | 0x00); // Set DLPD_CFG to 0; 260 Hz bandwidth, 1 kHz rate
+
+ c = readByte(MPU6050_ADDRESS, INT_ENABLE);
+ writeByte(MPU6050_ADDRESS, INT_ENABLE, c & ~0xFF); // Clear all interrupts
+ writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x40); // Enable motion threshold (bits 5) interrupt only
+
+ // Motion detection interrupt requires the absolute value of any axis to lie above the detection threshold
+ // for at least the counter duration
+ writeByte(MPU6050_ADDRESS, MOT_THR, 0x80); // Set motion detection to 0.256 g; LSB = 2 mg
+ writeByte(MPU6050_ADDRESS, MOT_DUR, 0x01); // Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate
+
+ wait(0.1); // Add delay for accumulation of samples
+
+ c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x07); // Set ACCEL_HPF to 7; hold the initial accleration value as a referance
+
+ c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0xC7); // Clear standby XA, YA, and ZA bits [3:5] and LP_WAKE_CTRL bits [6:7]
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x47); // Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2])
+
+ c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x20); // Clear sleep and cycle bit 5
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x20); // Set cycle bit 5 to begin low power accelerometer motion interrupts
+
+ }
+
+
+ void resetMPU6050() {
+ // reset device
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
+ wait(0.1);
+ }
+
+
+ void initMPU6050() {
+ // Initialize MPU6050 device
+ // wake up device
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
+ wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
+
+ // get stable time source
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
+
+ // Configure Gyro and Accelerometer
+ // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
+ // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
+ // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
+ writeByte(MPU6050_ADDRESS, CONFIG, 0x03);
+
+ // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
+ writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above
+
+ // Set gyroscope full scale range
+ // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
+ uint8_t c = readByte(MPU6050_ADDRESS, GYRO_CONFIG);
+ writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
+ writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
+ writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
+
+ // Set accelerometer configuration
+ c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
+
+ // Configure Interrupts and Bypass Enable
+ // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
+ // can join the I2C bus and all can be controlled by the Arduino as master
+ writeByte(MPU6050_ADDRESS, INT_PIN_CFG, 0x22);
+ writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
+ }
+
+ // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
+ // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
+ void calibrateMPU6050(float * dest1, float * dest2) {
+ uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
+ uint16_t ii, packet_count, fifo_count;
+ int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
+
+ // reset device, reset all registers, clear gyro and accelerometer bias registers
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
+ wait(0.1);
+
+ // get stable time source
+ // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01);
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00);
+ wait(0.2);
+
+ // Configure device for bias calculation
+ writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
+ writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
+ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
+ writeByte(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
+ writeByte(MPU6050_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
+ writeByte(MPU6050_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
+ wait(0.015);
+
+ // Configure MPU6050 gyro and accelerometer for bias calculation
+ writeByte(MPU6050_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
+ writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
+ writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
+
+ uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
+ uint16_t accelsensitivity = 16384; // = 16384 LSB/g
+
+ // Configure FIFO to capture accelerometer and gyro data for bias calculation
+ writeByte(MPU6050_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
+ writeByte(MPU6050_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050)
+ wait(0.08); // accumulate 80 samples in 80 milliseconds = 960 bytes
+
+ // At end of sample accumulation, turn off FIFO sensor read
+ writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
+ readBytes(MPU6050_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
+ fifo_count = ((uint16_t)data[0] << 8) | data[1];
+ packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
+
+ for (ii = 0; ii < packet_count; ii++) {
+ int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
+ readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
+ accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
+ accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
+ accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
+ gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
+ gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
+ gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
+
+ accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
+ accel_bias[1] += (int32_t) accel_temp[1];
+ accel_bias[2] += (int32_t) accel_temp[2];
+ gyro_bias[0] += (int32_t) gyro_temp[0];// * scale_factor_gyro;
+ gyro_bias[1] += (int32_t) gyro_temp[1];// * scale_factor_gyro;
+ gyro_bias[2] += (int32_t) gyro_temp[2];// * scale_factor_gyro;
+
+ }
+ accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
+ accel_bias[1] /= (int32_t) packet_count;
+ accel_bias[2] /= (int32_t) packet_count;
+
+ gyro_bias[0] /= (int32_t) packet_count;
+ gyro_bias[1] /= (int32_t) packet_count;
+ gyro_bias[2] /= (int32_t) packet_count;
+
+
+ if(accel_bias[2] > 0L) {
+ accel_bias[2] -= (int32_t) accelsensitivity; // Remove gravity from the z-axis accelerometer bias calculation
+ } else {
+ accel_bias[2] += (int32_t) accelsensitivity;
+ }
+
+
+ // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
+ data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
+ data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
+ data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
+ data[3] = (-gyro_bias[1]/4) & 0xFF;
+ data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
+ data[5] = (-gyro_bias[2]/4) & 0xFF;
+
+ // Push gyro biases to hardware registers
+ writeByte(MPU6050_ADDRESS, XG_OFFS_USRH, data[0]);
+ writeByte(MPU6050_ADDRESS, XG_OFFS_USRL, data[1]);
+ writeByte(MPU6050_ADDRESS, YG_OFFS_USRH, data[2]);
+ writeByte(MPU6050_ADDRESS, YG_OFFS_USRL, data[3]);
+ writeByte(MPU6050_ADDRESS, ZG_OFFS_USRH, data[4]);
+ writeByte(MPU6050_ADDRESS, ZG_OFFS_USRL, data[5]);
+
+ dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
+ dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
+ dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
+
+ // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
+ // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
+ // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
+ // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
+ // the accelerometer biases calculated above must be divided by 8.
+
+ int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
+ readBytes(MPU6050_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
+ accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+ readBytes(MPU6050_ADDRESS, YA_OFFSET_H, 2, &data[0]);
+ accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+ readBytes(MPU6050_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
+ accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+
+ uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
+ uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
+
+ for(ii = 0; ii < 3; ii++) {
+ if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
+ }
+
+ // Construct total accelerometer bias, including calculated average accelerometer bias from above
+ accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
+ accel_bias_reg[1] -= (accel_bias[1]/8);
+ accel_bias_reg[2] -= (accel_bias[2]/8);
+
+ data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
+ data[1] = (accel_bias_reg[0]) & 0xFF;
+ data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+ data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
+ data[3] = (accel_bias_reg[1]) & 0xFF;
+ data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+ data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
+ data[5] = (accel_bias_reg[2]) & 0xFF;
+ data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+
+ // Push accelerometer biases to hardware registers
+ writeByte(MPU6050_ADDRESS, XA_OFFSET_H, data[0]);
+ writeByte(MPU6050_ADDRESS, XA_OFFSET_L_TC, data[1]);
+ writeByte(MPU6050_ADDRESS, YA_OFFSET_H, data[2]);
+ writeByte(MPU6050_ADDRESS, YA_OFFSET_L_TC, data[3]);
+ writeByte(MPU6050_ADDRESS, ZA_OFFSET_H, data[4]);
+ writeByte(MPU6050_ADDRESS, ZA_OFFSET_L_TC, data[5]);
+
+ // Output scaled accelerometer biases for manual subtraction in the main program
+ dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
+ dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
+ dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
+ }
+
+
+ // Accelerometer and gyroscope self test; check calibration wrt factory settings
+ void MPU6050SelfTest(float * destination) { // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
+ uint8_t rawData[4] = {0, 0, 0, 0};
+ uint8_t selfTest[6];
+ float factoryTrim[6];
+
+ // Configure the accelerometer for self-test
+ writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g
+ writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
+ wait(0.25); // Delay a while to let the device execute the self-test
+ rawData[0] = readByte(MPU6050_ADDRESS, SELF_TEST_X); // X-axis self-test results
+ rawData[1] = readByte(MPU6050_ADDRESS, SELF_TEST_Y); // Y-axis self-test results
+ rawData[2] = readByte(MPU6050_ADDRESS, SELF_TEST_Z); // Z-axis self-test results
+ rawData[3] = readByte(MPU6050_ADDRESS, SELF_TEST_A); // Mixed-axis self-test results
+ // Extract the acceleration test results first
+ selfTest[0] = (rawData[0] >> 3) | (rawData[3] & 0x30) >> 4 ; // XA_TEST result is a five-bit unsigned integer
+ selfTest[1] = (rawData[1] >> 3) | (rawData[3] & 0x0C) >> 4 ; // YA_TEST result is a five-bit unsigned integer
+ selfTest[2] = (rawData[2] >> 3) | (rawData[3] & 0x03) >> 4 ; // ZA_TEST result is a five-bit unsigned integer
+ // Extract the gyration test results first
+ selfTest[3] = rawData[0] & 0x1F ; // XG_TEST result is a five-bit unsigned integer
+ selfTest[4] = rawData[1] & 0x1F ; // YG_TEST result is a five-bit unsigned integer
+ selfTest[5] = rawData[2] & 0x1F ; // ZG_TEST result is a five-bit unsigned integer
+ // Process results to allow final comparison with factory set values
+ factoryTrim[0] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[0] - 1.0f)/30.0f))); // FT[Xa] factory trim calculation
+ factoryTrim[1] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[1] - 1.0f)/30.0f))); // FT[Ya] factory trim calculation
+ factoryTrim[2] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[2] - 1.0f)/30.0f))); // FT[Za] factory trim calculation
+ factoryTrim[3] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[3] - 1.0f) )); // FT[Xg] factory trim calculation
+ factoryTrim[4] = (-25.0f*131.0f)*(pow( 1.046f , (selfTest[4] - 1.0f) )); // FT[Yg] factory trim calculation
+ factoryTrim[5] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[5] - 1.0f) )); // FT[Zg] factory trim calculation
+
+// Output self-test results and factory trim calculation if desired
+// Serial.println(selfTest[0]); Serial.println(selfTest[1]); Serial.println(selfTest[2]);
+// Serial.println(selfTest[3]); Serial.println(selfTest[4]); Serial.println(selfTest[5]);
+// Serial.println(factoryTrim[0]); Serial.println(factoryTrim[1]); Serial.println(factoryTrim[2]);
+// Serial.println(factoryTrim[3]); Serial.println(factoryTrim[4]); Serial.println(factoryTrim[5]);
+
+// Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
+// To get to percent, must multiply by 100 and subtract result from 100
+ for (int i = 0; i < 6; i++) {
+ destination[i] = 100.0f + 100.0f*(selfTest[i] - factoryTrim[i])/factoryTrim[i]; // Report percent differences
+ }
+
+ }
+
+
+// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
+// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
+// which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative
+// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
+// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
+// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
+ void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz) {
+ float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
+ float norm; // vector norm
+ float f1, f2, f3; // objective funcyion elements
+ float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33; // objective function Jacobian elements
+ float qDot1, qDot2, qDot3, qDot4;
+ float hatDot1, hatDot2, hatDot3, hatDot4;
+ float gerrx, gerry, gerrz, gbiasx, gbiasy, gbiasz; // gyro bias error
+
+ // Auxiliary variables to avoid repeated arithmetic
+ float _halfq1 = 0.5f * q1;
+ float _halfq2 = 0.5f * q2;
+ float _halfq3 = 0.5f * q3;
+ float _halfq4 = 0.5f * q4;
+ float _2q1 = 2.0f * q1;
+ float _2q2 = 2.0f * q2;
+ float _2q3 = 2.0f * q3;
+ float _2q4 = 2.0f * q4;
+// float _2q1q3 = 2.0f * q1 * q3;
+// float _2q3q4 = 2.0f * q3 * q4;
+
+ // Normalise accelerometer measurement
+ norm = sqrt(ax * ax + ay * ay + az * az);
+ if (norm == 0.0f) return; // handle NaN
+ norm = 1.0f/norm;
+ ax *= norm;
+ ay *= norm;
+ az *= norm;
+
+ // Compute the objective function and Jacobian
+ f1 = _2q2 * q4 - _2q1 * q3 - ax;
+ f2 = _2q1 * q2 + _2q3 * q4 - ay;
+ f3 = 1.0f - _2q2 * q2 - _2q3 * q3 - az;
+ J_11or24 = _2q3;
+ J_12or23 = _2q4;
+ J_13or22 = _2q1;
+ J_14or21 = _2q2;
+ J_32 = 2.0f * J_14or21;
+ J_33 = 2.0f * J_11or24;
+
+ // Compute the gradient (matrix multiplication)
+ hatDot1 = J_14or21 * f2 - J_11or24 * f1;
+ hatDot2 = J_12or23 * f1 + J_13or22 * f2 - J_32 * f3;
+ hatDot3 = J_12or23 * f2 - J_33 *f3 - J_13or22 * f1;
+ hatDot4 = J_14or21 * f1 + J_11or24 * f2;
+
+ // Normalize the gradient
+ norm = sqrt(hatDot1 * hatDot1 + hatDot2 * hatDot2 + hatDot3 * hatDot3 + hatDot4 * hatDot4);
+ hatDot1 /= norm;
+ hatDot2 /= norm;
+ hatDot3 /= norm;
+ hatDot4 /= norm;
+
+ // Compute estimated gyroscope biases
+ gerrx = _2q1 * hatDot2 - _2q2 * hatDot1 - _2q3 * hatDot4 + _2q4 * hatDot3;
+ gerry = _2q1 * hatDot3 + _2q2 * hatDot4 - _2q3 * hatDot1 - _2q4 * hatDot2;
+ gerrz = _2q1 * hatDot4 - _2q2 * hatDot3 + _2q3 * hatDot2 - _2q4 * hatDot1;
+
+ // Compute and remove gyroscope biases
+ gbiasx += gerrx * deltat * zeta;
+ gbiasy += gerry * deltat * zeta;
+ gbiasz += gerrz * deltat * zeta;
+ // gx -= gbiasx;
+ // gy -= gbiasy;
+ // gz -= gbiasz;
+
+ // Compute the quaternion derivative
+ qDot1 = -_halfq2 * gx - _halfq3 * gy - _halfq4 * gz;
+ qDot2 = _halfq1 * gx + _halfq3 * gz - _halfq4 * gy;
+ qDot3 = _halfq1 * gy - _halfq2 * gz + _halfq4 * gx;
+ qDot4 = _halfq1 * gz + _halfq2 * gy - _halfq3 * gx;
+
+ // Compute then integrate estimated quaternion derivative
+ q1 += (qDot1 -(beta * hatDot1)) * deltat;
+ q2 += (qDot2 -(beta * hatDot2)) * deltat;
+ q3 += (qDot3 -(beta * hatDot3)) * deltat;
+ q4 += (qDot4 -(beta * hatDot4)) * deltat;
+
+ // Normalize the quaternion
+ norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
+ norm = 1.0f/norm;
+ q[0] = q1 * norm;
+ q[1] = q2 * norm;
+ q[2] = q3 * norm;
+ q[3] = q4 * norm;
+ }
+
+// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
+// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
+// which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
+// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
+// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
+// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
+ void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
+ {
+ float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
+ float norm;
+ float hx, hy, _2bx, _2bz;
+ float s1, s2, s3, s4;
+ float qDot1, qDot2, qDot3, qDot4;
+
+ // Auxiliary variables to avoid repeated arithmetic
+ float _2q1mx;
+ float _2q1my;
+ float _2q1mz;
+ float _2q2mx;
+ float _4bx;
+ float _4bz;
+ float _2q1 = 2.0f * q1;
+ float _2q2 = 2.0f * q2;
+ float _2q3 = 2.0f * q3;
+ float _2q4 = 2.0f * q4;
+ float _2q1q3 = 2.0f * q1 * q3;
+ float _2q3q4 = 2.0f * q3 * q4;
+ float q1q1 = q1 * q1;
+ float q1q2 = q1 * q2;
+ float q1q3 = q1 * q3;
+ float q1q4 = q1 * q4;
+ float q2q2 = q2 * q2;
+ float q2q3 = q2 * q3;
+ float q2q4 = q2 * q4;
+ float q3q3 = q3 * q3;
+ float q3q4 = q3 * q4;
+ float q4q4 = q4 * q4;
+
+ // Normalise accelerometer measurement
+ norm = sqrt(ax * ax + ay * ay + az * az);
+ if (norm == 0.0f) return; // handle NaN
+ norm = 1.0f/norm;
+ ax *= norm;
+ ay *= norm;
+ az *= norm;
+
+ // Normalise magnetometer measurement
+ norm = sqrt(mx * mx + my * my + mz * mz);
+ if (norm == 0.0f) return; // handle NaN
+ norm = 1.0f/norm;
+ mx *= norm;
+ my *= norm;
+ mz *= norm;
+
+ // Reference direction of Earth's magnetic field
+ _2q1mx = 2.0f * q1 * mx;
+ _2q1my = 2.0f * q1 * my;
+ _2q1mz = 2.0f * q1 * mz;
+ _2q2mx = 2.0f * q2 * mx;
+ hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
+ hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
+ _2bx = sqrt(hx * hx + hy * hy);
+ _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
+ _4bx = 2.0f * _2bx;
+ _4bz = 2.0f * _2bz;
+
+ // Gradient decent algorithm corrective step
+ s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+ s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+ s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+ s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+ norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
+ norm = 1.0f/norm;
+ s1 *= norm;
+ s2 *= norm;
+ s3 *= norm;
+ s4 *= norm;
+
+ // Compute rate of change of quaternion
+ qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
+ qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
+ qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
+ qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
+
+ // Integrate to yield quaternion
+ q1 += qDot1 * deltat;
+ q2 += qDot2 * deltat;
+ q3 += qDot3 * deltat;
+ q4 += qDot4 * deltat;
+ norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
+ norm = 1.0f/norm;
+ q[0] = q1 * norm;
+ q[1] = q2 * norm;
+ q[2] = q3 * norm;
+ q[3] = q4 * norm;
+
+ }
+
+ void getDisplacement(float ax, float ay)
+ {
+ unsigned char count2 ;
+ count2=0;
+
+ do{
+ accelerationx[1] = accelerationx[1] + ax; //filtering routine for noise attenuation
+ accelerationy[1] = accelerationy[1] + ay; //64 samples are averaged. The resulting
+
+ //average represents the acceleration of
+ //an instant
+ count2++;
+ }while (count2!=0x40); // 64 sums of the acceleration sample
+
+ accelerationx[1]= accelerationx[1]>>6; // division by 64
+ accelerationy[1]= accelerationy[1]>>6;
+
+ //accelerationx[1] = accelerationx[1] - (int)sstatex; //eliminating zero reference
+ //offset of the acceleration data
+ //accelerationy[1] = accelerationy[1] - (int)sstatey; // to obtain positive and negative
+ //acceleration
+
+
+ if ((accelerationx[1] <=3)&&(accelerationx[1] >= -3)) //Discrimination window applied
+ {accelerationx[1] = 0;} // to the X axis acceleration variable
+
+ if ((accelerationy[1] <=3)&&(accelerationy[1] >= -3))
+ {accelerationy[1] = 0;}
+
+ //first X integration:
+ velocityx[1]= velocityx[0]+ accelerationx[0]+ ((accelerationx[1] - accelerationx[0])>>1);
+ //second X integration:
+ positionX[1]= positionX[0] + velocityx[0] + ((velocityx[1] - velocityx[0])>>1);
+ //first Y integration:
+ velocityy[1] = velocityy[0] + accelerationy[0] + ((accelerationy[1] -accelerationy[0])>>1);
+ //second Y integration:
+ positionY[1] = positionY[0] + velocityy[0] + ((velocityy[1] - velocityy[0])>>1);
+
+ accelerationx[0] = accelerationx[1]; //The current acceleration value must be sent
+ //to the previous acceleration
+ accelerationy[0] = accelerationy[1]; //variable in order to introduce the new
+ //acceleration value.
+
+ velocityx[0] = velocityx[1]; //Same done for the velocity variable
+ velocityy[0] = velocityy[1];
+
+ positionX[1] = positionX[1]<<18; //The idea behind this shifting (multiplication)
+ //is a sensibility adjustment.
+ positionY[1] = positionY[1]<<18; //Some applications require adjustments to a
+ //particular situation i.e. mouse application
+
+ positionX[1] = positionX[1]>>18; //once the variables are sent them must return to
+ positionY[1] = positionY[1]>>18; //their original state
+
+ movement_end_check();
+
+ positionX[0] = positionX[1]; //actual position data must be sent to the
+ positionY[0] = positionY[1]; //previous position
+ }
+
+ void movement_end_check(void)
+ {
+ if (accelerationx[1]==0) //we count the number of acceleration samples that equals cero
+ { countx++;}
+ else { countx =0;}
+
+ if (countx>=25) //if this number exceeds 25, we can assume that velocity is cero
+ {
+ velocityx[1]=0;
+ velocityx[0]=0;
+ }
+
+ if (accelerationy[1]==0) //we do the same for the Y axis
+ { county++;}
+ else { county =0;}
+
+ if (county>=25)
+ {
+ velocityy[1]=0;
+ velocityy[0]=0;
+ }
+ }
+
+};
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Jul 22 05:58:03 2017 +0000
@@ -0,0 +1,319 @@
+//Robosub Control Interface
+
+#include "mbed.h"
+#include "IMU.h"
+#include "PID.h"
+#include "HMC5883L.h"
+
+//------------Declare Objects------------------//
+PwmOut m1(D3);
+PwmOut m2(D4);
+PwmOut m3(D5);
+PwmOut m4(D6);
+
+// Declare mpu6050 and compass object
+MPU6050 mpu1;
+HMC5883L compass;
+
+// Serial communication between Arduino NANO
+RawSerial device(PA_11, PA_12); //TX RX
+
+//-----------Global Variables------------------//
+char command = 0;
+Timer calibrate;
+
+int pwmMax = 1100; // Reversed due to motor orientation
+int pwmMin = 1500;
+
+// PWM output variable for each motor
+int m1pwm = pwmMin;
+int m2pwm = pwmMin;
+int m3pwm = pwmMin;
+int m4pwm = pwmMin;
+
+// Individual pid parameters
+double myYaw, yawPoint, yawOut;
+double myPitch, pitchPoint, pitchOut;
+double myRoll, rollPoint, rollOut;
+double myDepth, depthPoint, depthOut;
+
+int depth = 1;
+
+double kpVal = 0;
+
+//-----------End Global Variables--------------//
+
+
+ //----PID objects------//
+
+// Input, Output, SetPoint, kp, ki, kd, Controller Direction
+PID pidy(&myYaw, &yawOut, &yawPoint, 1, 1, 1, DIRECT);
+PID pidp(&myPitch, &pitchOut, &pitchPoint, 1, 1, 1, DIRECT);
+PID pidr(&myRoll, &rollOut, &rollPoint, 1, 1, 1, DIRECT);
+PID pidd(&myDepth, &depthOut, &depthPoint, 1, 1, 1, DIRECT);
+
+ //----End PID objects--//
+
+
+//-----------Helper functions------------------//
+void calibrateFilter()
+{
+ calibrate.start();
+ while(calibrate.read() < 10)
+ {
+ IMUPrintData(mpu1, compass);
+
+ char text[90];
+ sprintf(text, "%f,%f,%f \n", yaw, pitch, roll);
+ pc.printf("%s", text);
+ }
+ calibrate.stop();
+}
+
+void updateMotors()
+{
+ m1.pulsewidth_us(m1pwm);
+ m2.pulsewidth_us(m2pwm);
+ m3.pulsewidth_us(m3pwm);
+ m4.pulsewidth_us(m4pwm);
+}
+
+void neutralizeMotors()
+{
+ m1pwm = pwmMin;
+ m2pwm = pwmMin;
+ m3pwm = pwmMin;
+ m4pwm = pwmMin;
+ updateMotors();
+}
+
+void readUserInput()
+{
+ if(pc.readable())
+ {
+ command = pc.getc();
+ }
+}
+
+void initializePIDs()
+{
+ pidy.SetMode(AUTOMATIC); // Yaw PID
+ pidy.SetOutputLimits(pwmMin, pwmMax);
+
+ pidp.SetMode(AUTOMATIC); // Pitch PID
+ pidp.SetOutputLimits(pwmMin, pwmMax);
+
+ pidr.SetMode(AUTOMATIC); // Roll PID
+ pidr.SetOutputLimits(pwmMin, pwmMax);
+
+ pidd.SetMode(AUTOMATIC); // Depth PID
+ pidd.SetOutputLimits(pwmMin, pwmMax);
+
+ depthPoint = 0;
+}
+
+void readDepth()
+{
+ // Read pressure sensor data if available
+ if (device.readable())
+ {
+ // Receive depth in inches as an integer
+ depth = device.getc();
+
+ // Convert to feet
+ }
+}
+
+void displayTelemetry()
+{
+ char text[90];
+ sprintf(text, "%f,%f,%f,%d \n", yaw, pitch, roll, depth);
+ pc.printf("%s", text);
+}
+
+//-----------End Helper functions--------------//
+
+
+
+//-----------Interface States------------------//
+enum controlStates { init, idle, manual, preparePid, beginTune } controlState;
+
+void controlInterface(){
+
+ switch(controlState) //Actions
+ {
+ case init:
+ pc.printf("Initialize sensors \n");
+ IMUinit(mpu1);
+ compass.init();
+
+ pc.printf("Initialize motors \n");
+ neutralizeMotors();
+
+ pc.printf("Initialize PID objects \n");
+ initializePIDs();
+
+ pc.printf("Calibrate MARG Filter \n");
+ calibrateFilter();
+ break;
+
+ case idle:
+ IMUPrintData(mpu1, compass);
+ readDepth();
+ displayTelemetry();
+ break;
+
+ case manual:
+ //pc.printf("Manual Control \n");
+ switch(command)
+ {
+ case 'N':
+ //pc.printf("Neutralize motors\n");
+ neutralizeMotors();
+ break;
+
+ case 'R':
+ //pc.printf("Reduce Thrust\n");
+ if (m1pwm < pwmMin)
+ {
+ m1pwm++;
+ m2pwm++;
+ m3pwm++;
+ m4pwm++;
+ }
+ break;
+
+ case 'I':
+ //pc.printf("Increase Thrust\n");
+ if (m1pwm > pwmMax)
+ {
+ m1pwm--;
+ m2pwm--;
+ m3pwm--;
+ m4pwm--;
+ }
+ break;
+
+ default:
+ break;
+ }
+ updateMotors();
+ break;
+
+ case preparePid:
+ // pc.printf("Prepare PID \n");
+ switch(command)
+ {
+ case 'I': // Increase Kp gain
+ kpVal += .1;
+ break;
+
+ case 'R':
+ if (kpVal > 0 ) // Decreae Kp gain
+ {
+ kpVal -= .1;
+ }
+ break;
+
+ case 'S': // Increase depth
+ depthPoint++;
+
+ case 's': // Decrease setpoint
+ if(depthPoint > 0)
+ {
+ depthPoint--;
+ }
+ break;
+
+ default:
+ break;
+ }
+
+ // Set tunings
+ pidd.SetTunings(kpVal,0,0); //Set Ki Kd = 0
+
+ // Print Set parameters
+ pc.printf("DepthPoint: %d \n", depthPoint);
+ pc.printf("Kp gain: %d \n", pidd.GetKp());
+
+ break;
+
+ case beginTune:
+ //pc.printf("Tuning process begins.. \n");
+
+ // Sense inertial / depth data
+ IMUPrintData(mpu1, compass);
+ readDepth();
+
+ // Assign feedback variables
+ myDepth = depth;
+
+ // Compute PID
+ pidd.Compute();
+
+ // Output pwm to motors // FIXME : account for pitch, roll and maybe yaw depending on motor configuration
+ m1pwm = m2pwm = m3pwm = m4pwm = depthOut;
+ updateMotors();
+
+ // Display telemetry
+ displayTelemetry();
+
+ break;
+
+ default:
+ pc.printf("Error! \n");
+ break;
+ }
+
+ switch(controlState) //Transitions
+ {
+ case init:
+ controlState = idle;
+ break;
+
+ case idle:
+ controlState = (command == 'm') ? manual : ((command == 'p') ? preparePid : idle);
+ break;
+
+ case manual:
+ controlState = (command == 'p') ? preparePid : manual;
+ if (controlState == preparePid)
+ {
+ //pc.printf("Neutralize Motors \n");
+ neutralizeMotors();
+ }
+ break;
+
+ case preparePid:
+ controlState = (command == 'g') ? beginTune : preparePid;
+ break;
+
+ case beginTune:
+ controlState = (command == 't') ? preparePid : beginTune;
+ if (controlState == preparePid)
+ {
+ //pc.printf("Neutralize Motors \n");
+ neutralizeMotors();
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+
+//-----------End Interface---------------------//
+
+int main() {
+ // Initialize control state
+ controlState = init;
+
+ while(1)
+ {
+ // Read user input
+ readUserInput();
+
+ // Begin Interface
+ controlInterface();
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Jul 22 05:58:03 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9baf128c2fab \ No newline at end of file