File content as of revision 4:691f4bc476b2:

/*   Calculating Roll, Pitch and Yaw angles from IMU
*
*    @author: Baser Kandehir 
*    @date: August 5, 2015
*    @license: MIT license
*     
*   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy
*   of this software and associated documentation files (the "Software"), to deal
*   in the Software without restriction, including without limitation the rights
*   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
*   copies of the Software, and to permit persons to whom the Software is
*   furnished to do so, subject to the following conditions:
*
*   The above copyright notice and this permission notice shall be included in
*   all copies or substantial portions of the Software.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
*   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
*   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
*   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
*   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
*   THE SOFTWARE.
*   
*    @description of the program: 
*
*   Program can calculate roll, pitch and yaw angles from the raw data that comes 
*   from IMU. Yaw angle is compensated for tilt. All the angles are sent to the matlab
*   for further processing.
*     
*/

#include "mbed.h"
#include "QMC5883L.h"
#include "icm20602_i2c.h"
#include "ledControl.h"

Serial pc(USBTX,USBRX);    
ICM20602 icm20602;           
QMC5883L qmc5883l;    
Ticker toggler1;
Ticker filter;   
Ticker compass;        

enum detect_orientation_return
{
    DETECT_ORIENTATION_UPSIDE_DOWN,
    DETECT_ORIENTATION_RIGHTSIDE_UP,
    DETECT_ORIENTATION_LEFT,
    DETECT_ORIENTATION_RIGHT,
    DETECT_ORIENTATION_TAIL_DOWN,
    DETECT_ORIENTATION_NOSE_DOWN,
    DETECT_ORIENTATION_ERROR
};

void toggle_led1();
void toggle_led2();
//void compFilter();
void read_IMU_data();
void read_MAG_data();
void IMU_calibration();
void IMU_compensate();
char detect_orientation(float acc_dete[3], float gyro_dete[3]);
//void tiltCompensatedAngle();

float pitchAngle = 0;
float rollAngle = 0;
float yawAngle = 0;
float acc[3];
float gyro[3];
float acc_comp[3];
float gyro_comp[3];
float acc_off[3];
float gyro_off[3];
float mag[3];
float IMU_tmp;
float mag_tmp;
const char cali = 'c';
const char coll = ' ';
char orientation;

int main() 
{
    
    pc.baud(9600);                                 // baud rate: 9600
    icm20602.whoAmI();                              // Communication test: WHO_AM_I register reading 
    qmc5883l.ChipID();
//    icm20602.calibrate(accelBias,gyroBias);         // Calibrate MPU6050 and load biases into bias registers
//    filter.attach(&compFilter,    2);              // Call the complementaryFilter func.  every 5 ms (200 Hz sampling period)
//    compass.attach(&tiltCompensatedAngle, 0.015);      // Call the tiltCompensatedAngle func. every 15 ms (75 Hz sampling period)  
    
    icm20602.init();
    qmc5883l.init();
    while(1) 
    {       
//        pc.putc(pc.getc());
//        pc.printf("%c\n",pc.getc());
        //if(pc.getc()==cali)
//        {   
//            pc.printf("calibrate IMU!\n");
//            IMU_calibration();
////            break;
//        }else{  
//        while(1)  {
            read_IMU_data();
            read_MAG_data(); 
            IMU_compensate();          
    //        pc.printf("%.5f,%.5f\r\n",aRes,gRes);  // send data to matlab
    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); 
           // pc.printf("original acc:%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2]);  // send data to matlab
//            pc.printf("original gyro:%.5f,%.5f,%.5f\r\n",gyro[0],gyro[1],gyro[2]);  // send data to matlab
//            pc.printf("compensated acc:%.5f,%.5f,%.5f\r\n",acc_comp[0],acc_comp[1],acc_comp[2]);  // send data to matlab
//            pc.printf("compensated gyro:%.5f,%.5f,%.5f\r\n",gyro_comp[0],gyro_comp[1],gyro_comp[2]);  // send data to matlab
    //        pc.printf("mag:%.5f,%.5f,%.5f\r\n",mag[0],mag[1],mag[2]);  // send data to matlab
           // wait_ms(400);
//            ledToggle(3);
        //    }
//        }
    }
}

void toggle_led1() {ledToggle(1);}
void toggle_led2() {ledToggle(2);}

/* This function is created to avoid address error that caused from Ticker.attach func */ 
//void compFilter() {icm20602.complementaryFilter(&pitchAngle, &rollAngle);}
//void read_imu() {icm20602.read_IMU_data(&acc[3], &gyro[3]);}
/* Tilt compensated compass data */
// Works well for tilt in +/- 50 deg range
//void tiltCompensatedAngle() 
//{   
//    float mag_Data[3], Xh, Yh;
//    hmc5883l.readMagData(mag_Data);
//    
//    Xh = mag_Data[0] * cos(rollAngle*PI/180) - mag_Data[2] * sin(rollAngle*PI/180) ;
//    
//    Yh = mag_Data[0] * sin(pitchAngle*PI/180) * sin(rollAngle*PI/180) + 
//    mag_Data[1] * cos(pitchAngle*PI/180) -
//    mag_Data[2] * sin(pitchAngle*PI/180) * cos(rollAngle*PI/180) ;
//    
//    /* Calculate the compensated heading angle */
//    double heading = atan2(Yh, Xh);
//    
//    // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location.
//    // declinationAngle can be found here http://www.magnetic-declination.com/
//    // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians)
//    float declinationAngle = 0.096;
//    heading += declinationAngle;
//    
//    // Correct for when signs are reversed.
//    if(heading < 0)
//        heading += 2*PI;
//    
//    // Check for wrap due to addition of declination.
//    if(heading > 2*PI)
//        heading -= 2*PI;
//    
//    /* Convert radian to degrees */
//    heading = heading * 180 / PI;  
//    
//    yawAngle = heading; 
//}
void read_IMU_data() {
    
    acc[0] = icm20602.getAccXvalue() * IMU_ONE_G * aRes;
    acc[1] = icm20602.getAccYvalue() * IMU_ONE_G * aRes;
    acc[2] = icm20602.getAccZvalue() * IMU_ONE_G * aRes;
    gyro[0] = icm20602.getGyrXvalue() * gRes;
    gyro[1] = icm20602.getGyrYvalue() * gRes;
    gyro[2] = icm20602.getGyrZvalue() * gRes;
    IMU_tmp = icm20602.getIMUTemp() / 262.144;//326.8;
//    pc.printf("acc0:%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2]);  // send data to matlab
}
void read_MAG_data() {
    
    mag[0] = qmc5883l.getMagXvalue() * mRes;
    mag[1] = qmc5883l.getMagYvalue() * mRes;
    mag[2] = qmc5883l.getMagZvalue() * mRes;
    mag_tmp = qmc5883l.getMagTemp() /262.144;// 100;
//    pc.printf("mag:%.5f,%.5f,%.5f\r\n",mag[0],mag[1],mag[2]);  // send data to matlab
}

void IMU_calibration(){
    
    int ii,jj,i=1,counter=0,timer=10;
    float acc_cal[6][3];
    float gyro_cal[6][3];
    //float acc_sum[3];
//    float gyro_sum[3];
    pc.printf("put the IMU still!\n");
    
    for(i=0;i<6;i++){

        if(pc.getc()==coll){           
            pc.printf("%dst side start\n",i+1); 
            float acc_sum[3]={0};
            float gyro_sum[3]={0};
            while(counter < timer){
                read_IMU_data();
                acc_sum[0] += acc[0];
                acc_sum[1] += acc[1];
                acc_sum[2] += acc[2];
                
                gyro_sum[0] += gyro[0];
                gyro_sum[1] += gyro[1];
                gyro_sum[2] += gyro[2];
                
                counter++;
                 //pc.printf(" acc :%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2]);  // send data to matlab
//    pc.printf(" gyro :%.5f,%.5f,%.5f\r\n",gyro[0],gyro[1],gyro[2]);  // send data to matlab
//    pc.printf(" acc sum:%.5f,%.5f,%.5f\r\n",acc_sum[0],acc_sum[1],acc_sum[2]);  // send data to matlab
//    pc.printf(" gyro sum:%.5f,%.5f,%.5f\r\n",gyro_sum[0],gyro_sum[1],gyro_sum[2]);  // send data to matlab
//                pc.printf("%d----\n",counter); 
            }
//pc.printf(" acc :%.5f,%.5f,%.5f\r\n",acc[0],acc[1],acc[2]);  // send data to matlab
//    pc.printf(" gyro :%.5f,%.5f,%.5f\r\n",gyro[0],gyro[1],gyro[2]);  // send data to matlab            
            acc_cal[i][0] = acc_sum[0]/timer;
            acc_cal[i][1] = acc_sum[1]/timer;
            acc_cal[i][2] = acc_sum[2]/timer;
            
            gyro_cal[i][0] = gyro_sum[0]/timer;
            gyro_cal[i][1] = gyro_sum[1]/timer;
            gyro_cal[i][2] = gyro_sum[2]/timer;
            pc.printf("%d--counter\n",counter); 
            counter = 0;
            //acc_sum[0] =0.0;acc_sum[1] =0.0;acc_sum[2] =0.0;
//            gyro_sum[0] = 0.0;gyro_sum[1] = 0.0;gyro_sum[2] = 0.0;
//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
//    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
            orientation = detect_orientation(acc_cal[i],gyro_cal[i]);
        
            pc.printf("%cst side completed\n",orientation); 
        }
    }
    //calculate the offset and scale
    for(ii = 0;ii<3;ii++)
    {
        for(jj=0;jj<6;jj++){
            acc_off[ii] += acc_cal[jj][ii];
            gyro_off[ii] += gyro_cal[jj][ii];
        }
       // pc.printf(" acc offset sum:%.5f,%.5f,%.5f\r\n",acc_off[0],acc_off[1],acc_off[2]);  // send data to matlab
//        pc.printf(" gyro offset sum:%.5f,%.5f,%.5f\r\n",gyro_off[0],gyro_off[1],gyro_off[2]);  // send data to matlab
        acc_off[ii]/=6;
        gyro_off[ii]/=6;
    } 
    //pc.printf(" acc offset:%.5f,%.5f,%.5f\r\n",acc_off[0],acc_off[1],acc_off[2]);  // send data to matlab
//    pc.printf(" gyro offset:%.5f,%.5f,%.5f\r\n",gyro_off[0],gyro_off[1],gyro_off[2]);  // send data to matlab
    return;     
}

char detect_orientation(float acc_dete[3], float gyro_dete[3])
{
    if(fabsf(acc_dete[0]) < 1.0 && fabsf(acc_dete[1]) < 1.0 && fabsf(acc_dete[2] - IMU_ONE_G) < 1.0){
        return  DETECT_ORIENTATION_UPSIDE_DOWN;//[0 0 g]   
    }else if(fabsf(acc_dete[0]) < 1.0 && fabsf(acc_dete[1]) < 1.0 && fabsf(acc_dete[2] + IMU_ONE_G) < 1.0){
        return  DETECT_ORIENTATION_RIGHTSIDE_UP;//[0 0 -g]   
    }else if(fabsf(acc_dete[0]) < 1.0 && fabsf(acc_dete[1] - IMU_ONE_G) < 1.0 && fabsf(acc_dete[2]) < 1.0){
        return  DETECT_ORIENTATION_LEFT;//[0 g 0]   
    }else if(fabsf(acc_dete[0]) < 1.0 && fabsf(acc_dete[1] + IMU_ONE_G) < 1.0 && fabsf(acc_dete[2]) < 1.0){
        return  DETECT_ORIENTATION_RIGHT;//[0 -g 0]   
    }else if(fabsf(acc_dete[0] - IMU_ONE_G) < 1.0 && fabsf(acc_dete[1]) < 1.0 && fabsf(acc_dete[2]) < 1.0){
        return  DETECT_ORIENTATION_TAIL_DOWN;//[g 0 0]   
    }else if(fabsf(acc_dete[0] + IMU_ONE_G) < 1.0 && fabsf(acc_dete[1]) < 1.0 && fabsf(acc_dete[2]) < 1.0){
        return  DETECT_ORIENTATION_NOSE_DOWN;//[-g 0 0]   
    }else{
        return DETECT_ORIENTATION_ERROR;
    }
}

void IMU_compensate()
{
    int k;
    for(k=0;k<3;k++)
    {
        acc_comp[k] = acc[k] - acc_off[k];
        gyro_comp[k] = gyro[k] - gyro_off[k];
    }
    
}