imu_fusion
Dependencies: ICM20602_I2C IMU_fusion QMC5883L ledControl2 mbed
Fork of IMU_fusion by
main.cpp@3:788eecfd5ae9, 2017-07-19 (annotated)
- Committer:
- sarahbest
- Date:
- Wed Jul 19 07:59:55 2017 +0000
- Revision:
- 3:788eecfd5ae9
- Parent:
- 2:3881894aaff5
1\ouput the data of imu and mag.; 2\can calibrate imu easily, but the offsets are not written into flash.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BaserK | 0:d8d055e8f830 | 1 | /* Calculating Roll, Pitch and Yaw angles from IMU |
BaserK | 0:d8d055e8f830 | 2 | * |
BaserK | 0:d8d055e8f830 | 3 | * @author: Baser Kandehir |
BaserK | 0:d8d055e8f830 | 4 | * @date: August 5, 2015 |
BaserK | 0:d8d055e8f830 | 5 | * @license: MIT license |
BaserK | 0:d8d055e8f830 | 6 | * |
BaserK | 0:d8d055e8f830 | 7 | * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr |
BaserK | 0:d8d055e8f830 | 8 | * |
BaserK | 0:d8d055e8f830 | 9 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
BaserK | 0:d8d055e8f830 | 10 | * of this software and associated documentation files (the "Software"), to deal |
BaserK | 0:d8d055e8f830 | 11 | * in the Software without restriction, including without limitation the rights |
BaserK | 0:d8d055e8f830 | 12 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
BaserK | 0:d8d055e8f830 | 13 | * copies of the Software, and to permit persons to whom the Software is |
BaserK | 0:d8d055e8f830 | 14 | * furnished to do so, subject to the following conditions: |
BaserK | 0:d8d055e8f830 | 15 | * |
BaserK | 0:d8d055e8f830 | 16 | * The above copyright notice and this permission notice shall be included in |
BaserK | 0:d8d055e8f830 | 17 | * all copies or substantial portions of the Software. |
BaserK | 0:d8d055e8f830 | 18 | * |
BaserK | 0:d8d055e8f830 | 19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
BaserK | 0:d8d055e8f830 | 20 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
BaserK | 0:d8d055e8f830 | 21 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
BaserK | 0:d8d055e8f830 | 22 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
BaserK | 0:d8d055e8f830 | 23 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
BaserK | 0:d8d055e8f830 | 24 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
BaserK | 0:d8d055e8f830 | 25 | * THE SOFTWARE. |
BaserK | 0:d8d055e8f830 | 26 | * |
BaserK | 0:d8d055e8f830 | 27 | * @description of the program: |
BaserK | 0:d8d055e8f830 | 28 | * |
BaserK | 0:d8d055e8f830 | 29 | * Program can calculate roll, pitch and yaw angles from the raw data that comes |
BaserK | 0:d8d055e8f830 | 30 | * from IMU. Yaw angle is compensated for tilt. All the angles are sent to the matlab |
BaserK | 2:3881894aaff5 | 31 | * for further processing. |
BaserK | 0:d8d055e8f830 | 32 | * |
BaserK | 0:d8d055e8f830 | 33 | */ |
BaserK | 0:d8d055e8f830 | 34 | |
BaserK | 0:d8d055e8f830 | 35 | #include "mbed.h" |
sarahbest | 3:788eecfd5ae9 | 36 | #include "QMC5883L.h" |
sarahbest | 3:788eecfd5ae9 | 37 | #include "icm20602_i2c.h" |
BaserK | 0:d8d055e8f830 | 38 | #include "ledControl.h" |
BaserK | 0:d8d055e8f830 | 39 | |
BaserK | 0:d8d055e8f830 | 40 | Serial pc(USBTX,USBRX); |
sarahbest | 3:788eecfd5ae9 | 41 | ICM20602 icm20602; |
sarahbest | 3:788eecfd5ae9 | 42 | QMC5883L qmc5883l; |
BaserK | 0:d8d055e8f830 | 43 | Ticker toggler1; |
BaserK | 0:d8d055e8f830 | 44 | Ticker filter; |
BaserK | 0:d8d055e8f830 | 45 | Ticker compass; |
BaserK | 0:d8d055e8f830 | 46 | |
sarahbest | 3:788eecfd5ae9 | 47 | enum detect_orientation_return |
sarahbest | 3:788eecfd5ae9 | 48 | { |
sarahbest | 3:788eecfd5ae9 | 49 | DETECT_ORIENTATION_UPSIDE_DOWN, |
sarahbest | 3:788eecfd5ae9 | 50 | DETECT_ORIENTATION_RIGHTSIDE_UP, |
sarahbest | 3:788eecfd5ae9 | 51 | DETECT_ORIENTATION_LEFT, |
sarahbest | 3:788eecfd5ae9 | 52 | DETECT_ORIENTATION_RIGHT, |
sarahbest | 3:788eecfd5ae9 | 53 | DETECT_ORIENTATION_TAIL_DOWN, |
sarahbest | 3:788eecfd5ae9 | 54 | DETECT_ORIENTATION_NOSE_DOWN, |
sarahbest | 3:788eecfd5ae9 | 55 | DETECT_ORIENTATION_ERROR |
sarahbest | 3:788eecfd5ae9 | 56 | }; |
sarahbest | 3:788eecfd5ae9 | 57 | |
BaserK | 0:d8d055e8f830 | 58 | void toggle_led1(); |
BaserK | 0:d8d055e8f830 | 59 | void toggle_led2(); |
sarahbest | 3:788eecfd5ae9 | 60 | //void compFilter(); |
sarahbest | 3:788eecfd5ae9 | 61 | void read_IMU_data(); |
sarahbest | 3:788eecfd5ae9 | 62 | void read_MAG_data(); |
sarahbest | 3:788eecfd5ae9 | 63 | void IMU_calibration(); |
sarahbest | 3:788eecfd5ae9 | 64 | void IMU_compensate(); |
sarahbest | 3:788eecfd5ae9 | 65 | char detect_orientation(float acc_dete[3], float gyro_dete[3]); |
sarahbest | 3:788eecfd5ae9 | 66 | //void tiltCompensatedAngle(); |
BaserK | 0:d8d055e8f830 | 67 | |
BaserK | 0:d8d055e8f830 | 68 | float pitchAngle = 0; |
BaserK | 0:d8d055e8f830 | 69 | float rollAngle = 0; |
BaserK | 0:d8d055e8f830 | 70 | float yawAngle = 0; |
sarahbest | 3:788eecfd5ae9 | 71 | float acc[3]; |
sarahbest | 3:788eecfd5ae9 | 72 | float gyro[3]; |
sarahbest | 3:788eecfd5ae9 | 73 | float acc_comp[3]; |
sarahbest | 3:788eecfd5ae9 | 74 | float gyro_comp[3]; |
sarahbest | 3:788eecfd5ae9 | 75 | float acc_off[3]; |
sarahbest | 3:788eecfd5ae9 | 76 | float gyro_off[3]; |
sarahbest | 3:788eecfd5ae9 | 77 | float mag[3]; |
sarahbest | 3:788eecfd5ae9 | 78 | float IMU_tmp; |
sarahbest | 3:788eecfd5ae9 | 79 | float mag_tmp; |
sarahbest | 3:788eecfd5ae9 | 80 | const char cali = 'c'; |
sarahbest | 3:788eecfd5ae9 | 81 | const char coll = ' '; |
sarahbest | 3:788eecfd5ae9 | 82 | char orientation; |
BaserK | 0:d8d055e8f830 | 83 | |
BaserK | 0:d8d055e8f830 | 84 | int main() |
BaserK | 0:d8d055e8f830 | 85 | { |
sarahbest | 3:788eecfd5ae9 | 86 | |
BaserK | 0:d8d055e8f830 | 87 | pc.baud(9600); // baud rate: 9600 |
sarahbest | 3:788eecfd5ae9 | 88 | icm20602.whoAmI(); // Communication test: WHO_AM_I register reading |
sarahbest | 3:788eecfd5ae9 | 89 | qmc5883l.ChipID(); |
sarahbest | 3:788eecfd5ae9 | 90 | // icm20602.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers |
sarahbest | 3:788eecfd5ae9 | 91 | // filter.attach(&compFilter, 2); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) |
sarahbest | 3:788eecfd5ae9 | 92 | // compass.attach(&tiltCompensatedAngle, 0.015); // Call the tiltCompensatedAngle func. every 15 ms (75 Hz sampling period) |
sarahbest | 3:788eecfd5ae9 | 93 | |
sarahbest | 3:788eecfd5ae9 | 94 | icm20602.init(); |
sarahbest | 3:788eecfd5ae9 | 95 | qmc5883l.init(); |
BaserK | 0:d8d055e8f830 | 96 | while(1) |
sarahbest | 3:788eecfd5ae9 | 97 | { |
sarahbest | 3:788eecfd5ae9 | 98 | // pc.putc(pc.getc()); |
sarahbest | 3:788eecfd5ae9 | 99 | // pc.printf("%c\n",pc.getc()); |
sarahbest | 3:788eecfd5ae9 | 100 | //if(pc.getc()==cali) |
sarahbest | 3:788eecfd5ae9 | 101 | // { |
sarahbest | 3:788eecfd5ae9 | 102 | // pc.printf("calibrate IMU!\n"); |
sarahbest | 3:788eecfd5ae9 | 103 | // IMU_calibration(); |
sarahbest | 3:788eecfd5ae9 | 104 | //// break; |
sarahbest | 3:788eecfd5ae9 | 105 | // }else{ |
sarahbest | 3:788eecfd5ae9 | 106 | // while(1) { |
sarahbest | 3:788eecfd5ae9 | 107 | read_IMU_data(); |
sarahbest | 3:788eecfd5ae9 | 108 | read_MAG_data(); |
sarahbest | 3:788eecfd5ae9 | 109 | IMU_compensate(); |
sarahbest | 3:788eecfd5ae9 | 110 | // pc.printf("%.5f,%.5f\r\n",aRes,gRes); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 111 | pc.printf("original data:%.5f,%.5f,%.5f,%.5f,%.5f,%.5f,%.5f,%.5f,%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2],gyro[0],gyro[1],gyro[2],IMU_tmp,mag[0],mag[1],mag[2],mag_tmp); |
sarahbest | 3:788eecfd5ae9 | 112 | // pc.printf("original acc:%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 113 | // pc.printf("original gyro:%.5f,%.5f,%.5f\r\n",gyro[0],gyro[1],gyro[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 114 | // pc.printf("compensated acc:%.5f,%.5f,%.5f\r\n",acc_comp[0],acc_comp[1],acc_comp[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 115 | // pc.printf("compensated gyro:%.5f,%.5f,%.5f\r\n",gyro_comp[0],gyro_comp[1],gyro_comp[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 116 | // pc.printf("mag:%.5f,%.5f,%.5f\r\n",mag[0],mag[1],mag[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 117 | // wait_ms(400); |
sarahbest | 3:788eecfd5ae9 | 118 | // ledToggle(3); |
sarahbest | 3:788eecfd5ae9 | 119 | // } |
sarahbest | 3:788eecfd5ae9 | 120 | // } |
BaserK | 0:d8d055e8f830 | 121 | } |
BaserK | 0:d8d055e8f830 | 122 | } |
BaserK | 0:d8d055e8f830 | 123 | |
BaserK | 0:d8d055e8f830 | 124 | void toggle_led1() {ledToggle(1);} |
BaserK | 0:d8d055e8f830 | 125 | void toggle_led2() {ledToggle(2);} |
BaserK | 0:d8d055e8f830 | 126 | |
BaserK | 0:d8d055e8f830 | 127 | /* This function is created to avoid address error that caused from Ticker.attach func */ |
sarahbest | 3:788eecfd5ae9 | 128 | //void compFilter() {icm20602.complementaryFilter(&pitchAngle, &rollAngle);} |
sarahbest | 3:788eecfd5ae9 | 129 | //void read_imu() {icm20602.read_IMU_data(&acc[3], &gyro[3]);} |
BaserK | 0:d8d055e8f830 | 130 | /* Tilt compensated compass data */ |
BaserK | 0:d8d055e8f830 | 131 | // Works well for tilt in +/- 50 deg range |
sarahbest | 3:788eecfd5ae9 | 132 | //void tiltCompensatedAngle() |
sarahbest | 3:788eecfd5ae9 | 133 | //{ |
sarahbest | 3:788eecfd5ae9 | 134 | // float mag_Data[3], Xh, Yh; |
sarahbest | 3:788eecfd5ae9 | 135 | // hmc5883l.readMagData(mag_Data); |
sarahbest | 3:788eecfd5ae9 | 136 | // |
sarahbest | 3:788eecfd5ae9 | 137 | // Xh = mag_Data[0] * cos(rollAngle*PI/180) - mag_Data[2] * sin(rollAngle*PI/180) ; |
sarahbest | 3:788eecfd5ae9 | 138 | // |
sarahbest | 3:788eecfd5ae9 | 139 | // Yh = mag_Data[0] * sin(pitchAngle*PI/180) * sin(rollAngle*PI/180) + |
sarahbest | 3:788eecfd5ae9 | 140 | // mag_Data[1] * cos(pitchAngle*PI/180) - |
sarahbest | 3:788eecfd5ae9 | 141 | // mag_Data[2] * sin(pitchAngle*PI/180) * cos(rollAngle*PI/180) ; |
sarahbest | 3:788eecfd5ae9 | 142 | // |
sarahbest | 3:788eecfd5ae9 | 143 | // /* Calculate the compensated heading angle */ |
sarahbest | 3:788eecfd5ae9 | 144 | // double heading = atan2(Yh, Xh); |
sarahbest | 3:788eecfd5ae9 | 145 | // |
sarahbest | 3:788eecfd5ae9 | 146 | // // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location. |
sarahbest | 3:788eecfd5ae9 | 147 | // // declinationAngle can be found here http://www.magnetic-declination.com/ |
sarahbest | 3:788eecfd5ae9 | 148 | // // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians) |
sarahbest | 3:788eecfd5ae9 | 149 | // float declinationAngle = 0.096; |
sarahbest | 3:788eecfd5ae9 | 150 | // heading += declinationAngle; |
sarahbest | 3:788eecfd5ae9 | 151 | // |
sarahbest | 3:788eecfd5ae9 | 152 | // // Correct for when signs are reversed. |
sarahbest | 3:788eecfd5ae9 | 153 | // if(heading < 0) |
sarahbest | 3:788eecfd5ae9 | 154 | // heading += 2*PI; |
sarahbest | 3:788eecfd5ae9 | 155 | // |
sarahbest | 3:788eecfd5ae9 | 156 | // // Check for wrap due to addition of declination. |
sarahbest | 3:788eecfd5ae9 | 157 | // if(heading > 2*PI) |
sarahbest | 3:788eecfd5ae9 | 158 | // heading -= 2*PI; |
sarahbest | 3:788eecfd5ae9 | 159 | // |
sarahbest | 3:788eecfd5ae9 | 160 | // /* Convert radian to degrees */ |
sarahbest | 3:788eecfd5ae9 | 161 | // heading = heading * 180 / PI; |
sarahbest | 3:788eecfd5ae9 | 162 | // |
sarahbest | 3:788eecfd5ae9 | 163 | // yawAngle = heading; |
sarahbest | 3:788eecfd5ae9 | 164 | //} |
sarahbest | 3:788eecfd5ae9 | 165 | void read_IMU_data() { |
BaserK | 0:d8d055e8f830 | 166 | |
sarahbest | 3:788eecfd5ae9 | 167 | acc[0] = icm20602.getAccXvalue() * IMU_ONE_G * aRes; |
sarahbest | 3:788eecfd5ae9 | 168 | acc[1] = icm20602.getAccYvalue() * IMU_ONE_G * aRes; |
sarahbest | 3:788eecfd5ae9 | 169 | acc[2] = icm20602.getAccZvalue() * IMU_ONE_G * aRes; |
sarahbest | 3:788eecfd5ae9 | 170 | gyro[0] = icm20602.getGyrXvalue() * gRes; |
sarahbest | 3:788eecfd5ae9 | 171 | gyro[1] = icm20602.getGyrYvalue() * gRes; |
sarahbest | 3:788eecfd5ae9 | 172 | gyro[2] = icm20602.getGyrZvalue() * gRes; |
sarahbest | 3:788eecfd5ae9 | 173 | IMU_tmp = icm20602.getIMUTemp() / 262.144;//326.8; |
sarahbest | 3:788eecfd5ae9 | 174 | // pc.printf("acc0:%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 175 | } |
sarahbest | 3:788eecfd5ae9 | 176 | void read_MAG_data() { |
BaserK | 0:d8d055e8f830 | 177 | |
sarahbest | 3:788eecfd5ae9 | 178 | mag[0] = qmc5883l.getMagXvalue() * mRes; |
sarahbest | 3:788eecfd5ae9 | 179 | mag[1] = qmc5883l.getMagYvalue() * mRes; |
sarahbest | 3:788eecfd5ae9 | 180 | mag[2] = qmc5883l.getMagZvalue() * mRes; |
sarahbest | 3:788eecfd5ae9 | 181 | mag_tmp = qmc5883l.getMagTemp() /262.144;// 100; |
sarahbest | 3:788eecfd5ae9 | 182 | // pc.printf("mag:%.5f,%.5f,%.5f\r\n",mag[0],mag[1],mag[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 183 | } |
sarahbest | 3:788eecfd5ae9 | 184 | |
sarahbest | 3:788eecfd5ae9 | 185 | void IMU_calibration(){ |
sarahbest | 3:788eecfd5ae9 | 186 | |
sarahbest | 3:788eecfd5ae9 | 187 | int ii,jj,i=1,counter=0,timer=10; |
sarahbest | 3:788eecfd5ae9 | 188 | float acc_cal[6][3]; |
sarahbest | 3:788eecfd5ae9 | 189 | float gyro_cal[6][3]; |
sarahbest | 3:788eecfd5ae9 | 190 | //float acc_sum[3]; |
sarahbest | 3:788eecfd5ae9 | 191 | // float gyro_sum[3]; |
sarahbest | 3:788eecfd5ae9 | 192 | pc.printf("put the IMU still!\n"); |
BaserK | 0:d8d055e8f830 | 193 | |
sarahbest | 3:788eecfd5ae9 | 194 | for(i=0;i<6;i++){ |
sarahbest | 3:788eecfd5ae9 | 195 | |
sarahbest | 3:788eecfd5ae9 | 196 | if(pc.getc()==coll){ |
sarahbest | 3:788eecfd5ae9 | 197 | pc.printf("%dst side start\n",i+1); |
sarahbest | 3:788eecfd5ae9 | 198 | float acc_sum[3]={0}; |
sarahbest | 3:788eecfd5ae9 | 199 | float gyro_sum[3]={0}; |
sarahbest | 3:788eecfd5ae9 | 200 | while(counter < timer){ |
sarahbest | 3:788eecfd5ae9 | 201 | read_IMU_data(); |
sarahbest | 3:788eecfd5ae9 | 202 | acc_sum[0] += acc[0]; |
sarahbest | 3:788eecfd5ae9 | 203 | acc_sum[1] += acc[1]; |
sarahbest | 3:788eecfd5ae9 | 204 | acc_sum[2] += acc[2]; |
sarahbest | 3:788eecfd5ae9 | 205 | |
sarahbest | 3:788eecfd5ae9 | 206 | gyro_sum[0] += gyro[0]; |
sarahbest | 3:788eecfd5ae9 | 207 | gyro_sum[1] += gyro[1]; |
sarahbest | 3:788eecfd5ae9 | 208 | gyro_sum[2] += gyro[2]; |
sarahbest | 3:788eecfd5ae9 | 209 | |
sarahbest | 3:788eecfd5ae9 | 210 | counter++; |
sarahbest | 3:788eecfd5ae9 | 211 | //pc.printf(" acc :%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 212 | // pc.printf(" gyro :%.5f,%.5f,%.5f\r\n",gyro[0],gyro[1],gyro[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 213 | // pc.printf(" acc sum:%.5f,%.5f,%.5f\r\n",acc_sum[0],acc_sum[1],acc_sum[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 214 | // pc.printf(" gyro sum:%.5f,%.5f,%.5f\r\n",gyro_sum[0],gyro_sum[1],gyro_sum[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 215 | // pc.printf("%d----\n",counter); |
sarahbest | 3:788eecfd5ae9 | 216 | } |
sarahbest | 3:788eecfd5ae9 | 217 | //pc.printf(" acc :%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 218 | // pc.printf(" gyro :%.5f,%.5f,%.5f\r\n",gyro[0],gyro[1],gyro[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 219 | acc_cal[i][0] = acc_sum[0]/timer; |
sarahbest | 3:788eecfd5ae9 | 220 | acc_cal[i][1] = acc_sum[1]/timer; |
sarahbest | 3:788eecfd5ae9 | 221 | acc_cal[i][2] = acc_sum[2]/timer; |
sarahbest | 3:788eecfd5ae9 | 222 | |
sarahbest | 3:788eecfd5ae9 | 223 | gyro_cal[i][0] = gyro_sum[0]/timer; |
sarahbest | 3:788eecfd5ae9 | 224 | gyro_cal[i][1] = gyro_sum[1]/timer; |
sarahbest | 3:788eecfd5ae9 | 225 | gyro_cal[i][2] = gyro_sum[2]/timer; |
sarahbest | 3:788eecfd5ae9 | 226 | pc.printf("%d--counter\n",counter); |
sarahbest | 3:788eecfd5ae9 | 227 | counter = 0; |
sarahbest | 3:788eecfd5ae9 | 228 | //acc_sum[0] =0.0;acc_sum[1] =0.0;acc_sum[2] =0.0; |
sarahbest | 3:788eecfd5ae9 | 229 | // gyro_sum[0] = 0.0;gyro_sum[1] = 0.0;gyro_sum[2] = 0.0; |
sarahbest | 3:788eecfd5ae9 | 230 | //pc.printf(" acc sum:%.5f,%.5f,%.5f\r\n",acc_cal[i][0],acc_cal[i][1],acc_cal[i][2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 231 | // pc.printf(" gyro sum:%.5f,%.5f,%.5f\r\n",gyro_cal[i][0],gyro_cal[i][1],gyro_cal[i][2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 232 | orientation = detect_orientation(acc_cal[i],gyro_cal[i]); |
sarahbest | 3:788eecfd5ae9 | 233 | |
sarahbest | 3:788eecfd5ae9 | 234 | pc.printf("%cst side completed\n",orientation); |
sarahbest | 3:788eecfd5ae9 | 235 | } |
sarahbest | 3:788eecfd5ae9 | 236 | } |
sarahbest | 3:788eecfd5ae9 | 237 | //calculate the offset and scale |
sarahbest | 3:788eecfd5ae9 | 238 | for(ii = 0;ii<3;ii++) |
sarahbest | 3:788eecfd5ae9 | 239 | { |
sarahbest | 3:788eecfd5ae9 | 240 | for(jj=0;jj<6;jj++){ |
sarahbest | 3:788eecfd5ae9 | 241 | acc_off[ii] += acc_cal[jj][ii]; |
sarahbest | 3:788eecfd5ae9 | 242 | gyro_off[ii] += gyro_cal[jj][ii]; |
sarahbest | 3:788eecfd5ae9 | 243 | } |
sarahbest | 3:788eecfd5ae9 | 244 | // pc.printf(" acc offset sum:%.5f,%.5f,%.5f\r\n",acc_off[0],acc_off[1],acc_off[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 245 | // pc.printf(" gyro offset sum:%.5f,%.5f,%.5f\r\n",gyro_off[0],gyro_off[1],gyro_off[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 246 | acc_off[ii]/=6; |
sarahbest | 3:788eecfd5ae9 | 247 | gyro_off[ii]/=6; |
sarahbest | 3:788eecfd5ae9 | 248 | } |
sarahbest | 3:788eecfd5ae9 | 249 | //pc.printf(" acc offset:%.5f,%.5f,%.5f\r\n",acc_off[0],acc_off[1],acc_off[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 250 | // pc.printf(" gyro offset:%.5f,%.5f,%.5f\r\n",gyro_off[0],gyro_off[1],gyro_off[2]); // send data to matlab |
sarahbest | 3:788eecfd5ae9 | 251 | return; |
sarahbest | 3:788eecfd5ae9 | 252 | } |
sarahbest | 3:788eecfd5ae9 | 253 | |
sarahbest | 3:788eecfd5ae9 | 254 | char detect_orientation(float acc_dete[3], float gyro_dete[3]) |
sarahbest | 3:788eecfd5ae9 | 255 | { |
sarahbest | 3:788eecfd5ae9 | 256 | if(fabsf(acc_dete[0]) < 1.0 && fabsf(acc_dete[1]) < 1.0 && fabsf(acc_dete[2] - IMU_ONE_G) < 1.0){ |
sarahbest | 3:788eecfd5ae9 | 257 | return DETECT_ORIENTATION_UPSIDE_DOWN;//[0 0 g] |
sarahbest | 3:788eecfd5ae9 | 258 | }else if(fabsf(acc_dete[0]) < 1.0 && fabsf(acc_dete[1]) < 1.0 && fabsf(acc_dete[2] + IMU_ONE_G) < 1.0){ |
sarahbest | 3:788eecfd5ae9 | 259 | return DETECT_ORIENTATION_RIGHTSIDE_UP;//[0 0 -g] |
sarahbest | 3:788eecfd5ae9 | 260 | }else if(fabsf(acc_dete[0]) < 1.0 && fabsf(acc_dete[1] - IMU_ONE_G) < 1.0 && fabsf(acc_dete[2]) < 1.0){ |
sarahbest | 3:788eecfd5ae9 | 261 | return DETECT_ORIENTATION_LEFT;//[0 g 0] |
sarahbest | 3:788eecfd5ae9 | 262 | }else if(fabsf(acc_dete[0]) < 1.0 && fabsf(acc_dete[1] + IMU_ONE_G) < 1.0 && fabsf(acc_dete[2]) < 1.0){ |
sarahbest | 3:788eecfd5ae9 | 263 | return DETECT_ORIENTATION_RIGHT;//[0 -g 0] |
sarahbest | 3:788eecfd5ae9 | 264 | }else if(fabsf(acc_dete[0] - IMU_ONE_G) < 1.0 && fabsf(acc_dete[1]) < 1.0 && fabsf(acc_dete[2]) < 1.0){ |
sarahbest | 3:788eecfd5ae9 | 265 | return DETECT_ORIENTATION_TAIL_DOWN;//[g 0 0] |
sarahbest | 3:788eecfd5ae9 | 266 | }else if(fabsf(acc_dete[0] + IMU_ONE_G) < 1.0 && fabsf(acc_dete[1]) < 1.0 && fabsf(acc_dete[2]) < 1.0){ |
sarahbest | 3:788eecfd5ae9 | 267 | return DETECT_ORIENTATION_NOSE_DOWN;//[-g 0 0] |
sarahbest | 3:788eecfd5ae9 | 268 | }else{ |
sarahbest | 3:788eecfd5ae9 | 269 | return DETECT_ORIENTATION_ERROR; |
sarahbest | 3:788eecfd5ae9 | 270 | } |
sarahbest | 3:788eecfd5ae9 | 271 | } |
sarahbest | 3:788eecfd5ae9 | 272 | |
sarahbest | 3:788eecfd5ae9 | 273 | void IMU_compensate() |
sarahbest | 3:788eecfd5ae9 | 274 | { |
sarahbest | 3:788eecfd5ae9 | 275 | int k; |
sarahbest | 3:788eecfd5ae9 | 276 | for(k=0;k<3;k++) |
sarahbest | 3:788eecfd5ae9 | 277 | { |
sarahbest | 3:788eecfd5ae9 | 278 | acc_comp[k] = acc[k] - acc_off[k]; |
sarahbest | 3:788eecfd5ae9 | 279 | gyro_comp[k] = gyro[k] - gyro_off[k]; |
sarahbest | 3:788eecfd5ae9 | 280 | } |
BaserK | 0:d8d055e8f830 | 281 | |
sarahbest | 3:788eecfd5ae9 | 282 | } |