cube
Dependencies: BNO055_fusion_tom FastPWM mbed
main.cpp@13:e41d32a48931, 2017-04-10 (annotated)
- Committer:
- wchurch
- Date:
- Mon Apr 10 20:27:02 2017 +0000
- Revision:
- 13:e41d32a48931
- Parent:
- 10:69eb22acaea3
- Child:
- 14:90ac96893fcd
current read
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
wchurch | 0:604ceafb7bb3 | 1 | #include "mbed.h" |
wchurch | 0:604ceafb7bb3 | 2 | #include "BNO055.h" |
wchurch | 0:604ceafb7bb3 | 3 | |
wchurch | 0:604ceafb7bb3 | 4 | |
wchurch | 0:604ceafb7bb3 | 5 | //------------------------------------ |
wchurch | 0:604ceafb7bb3 | 6 | // Hyperterminal configuration |
wchurch | 0:604ceafb7bb3 | 7 | // 9600 bauds, 8-bit data, no parity |
wchurch | 0:604ceafb7bb3 | 8 | //------------------------------------ |
wchurch | 0:604ceafb7bb3 | 9 | |
wchurch | 0:604ceafb7bb3 | 10 | Serial pc(SERIAL_TX, SERIAL_RX); |
wchurch | 0:604ceafb7bb3 | 11 | |
wchurch | 5:9247f07a954a | 12 | Ticker pwmint; |
wchurch | 0:604ceafb7bb3 | 13 | DigitalOut myled(LED1); |
wchurch | 6:f2c930a90873 | 14 | InterruptIn button(USER_BUTTON); |
wchurch | 6:f2c930a90873 | 15 | |
wchurch | 1:d81f93d3f819 | 16 | PwmOut P1(PE_9); |
wchurch | 9:6a83e2777d24 | 17 | DigitalOut EN1(D0); |
wchurch | 13:e41d32a48931 | 18 | AnalogIn I1(A0); |
wchurch | 9:6a83e2777d24 | 19 | |
wchurch | 7:1be7e6735fe2 | 20 | //PwmOut P2(PE_11); 1D FOCUS FOR NOW |
wchurch | 7:1be7e6735fe2 | 21 | //PwmOut P3(PE_13); |
wchurch | 0:604ceafb7bb3 | 22 | |
wchurch | 0:604ceafb7bb3 | 23 | I2C i2c(PB_9, PB_8); // SDA, SCL |
wchurch | 0:604ceafb7bb3 | 24 | BNO055 imu(i2c, PA_8); // Reset |
wchurch | 0:604ceafb7bb3 | 25 | |
wchurch | 0:604ceafb7bb3 | 26 | BNO055_ID_INF_TypeDef bno055_id_inf; |
wchurch | 0:604ceafb7bb3 | 27 | BNO055_EULER_TypeDef euler_angles; |
wchurch | 7:1be7e6735fe2 | 28 | |
wchurch | 7:1be7e6735fe2 | 29 | |
wchurch | 8:1011786787a4 | 30 | //BNO055_EULER_TypeDef velocity; IN PROGRESS |
wchurch | 6:f2c930a90873 | 31 | |
wchurch | 10:69eb22acaea3 | 32 | double Kbt = 5.4; |
wchurch | 10:69eb22acaea3 | 33 | double Kbv = 0.33; |
wchurch | 8:1011786787a4 | 34 | double Kwv = 0.124; |
wchurch | 8:1011786787a4 | 35 | double r1; |
wchurch | 8:1011786787a4 | 36 | |
wchurch | 6:f2c930a90873 | 37 | int isPressed; |
wchurch | 6:f2c930a90873 | 38 | |
wchurch | 6:f2c930a90873 | 39 | void pwmupdate() { |
wchurch | 6:f2c930a90873 | 40 | |
wchurch | 6:f2c930a90873 | 41 | myled = !myled; |
wchurch | 13:e41d32a48931 | 42 | cur1 = I1.read(); // Converts and read the analog input value (value from 0.0 to 1.0) |
wchurch | 13:e41d32a48931 | 43 | cur1 = (cur1-2.0)*5000.0; // Change the value to be in the 0 to 3300 range |
wchurch | 13:e41d32a48931 | 44 | |
wchurch | 6:f2c930a90873 | 45 | |
wchurch | 9:6a83e2777d24 | 46 | r1 = (Kbt*euler_angles.h*3.14/180.0); |
wchurch | 8:1011786787a4 | 47 | r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output |
wchurch | 10:69eb22acaea3 | 48 | |
wchurch | 10:69eb22acaea3 | 49 | //Limit PWM range |
wchurch | 10:69eb22acaea3 | 50 | if (r1 > 1.0){ |
wchurch | 10:69eb22acaea3 | 51 | r1 = 1.0; |
wchurch | 10:69eb22acaea3 | 52 | } |
wchurch | 10:69eb22acaea3 | 53 | if (r1 < 0.0){ |
wchurch | 10:69eb22acaea3 | 54 | r1 = 0.0; |
wchurch | 10:69eb22acaea3 | 55 | } |
wchurch | 8:1011786787a4 | 56 | P1 = r1; |
wchurch | 7:1be7e6735fe2 | 57 | //P2 = (euler_angles.r/360.0); |
wchurch | 7:1be7e6735fe2 | 58 | //P3 = (euler_angles.p/360.0); |
wchurch | 6:f2c930a90873 | 59 | |
wchurch | 6:f2c930a90873 | 60 | } |
wchurch | 6:f2c930a90873 | 61 | |
wchurch | 6:f2c930a90873 | 62 | void eventFunction() { |
wchurch | 7:1be7e6735fe2 | 63 | |
wchurch | 6:f2c930a90873 | 64 | if(!isPressed) { |
wchurch | 9:6a83e2777d24 | 65 | pwmint.attach(&pwmupdate, .005); |
wchurch | 9:6a83e2777d24 | 66 | EN1 = 1; |
wchurch | 6:f2c930a90873 | 67 | isPressed=1; |
wchurch | 7:1be7e6735fe2 | 68 | |
wchurch | 6:f2c930a90873 | 69 | } else { |
wchurch | 6:f2c930a90873 | 70 | pwmint.detach(); |
wchurch | 7:1be7e6735fe2 | 71 | P1 = 0; |
wchurch | 8:1011786787a4 | 72 | myled = 0; |
wchurch | 9:6a83e2777d24 | 73 | EN1 = 0; |
wchurch | 7:1be7e6735fe2 | 74 | //P2 = 0; |
wchurch | 7:1be7e6735fe2 | 75 | //P3 = 0; |
wchurch | 6:f2c930a90873 | 76 | isPressed=0; |
wchurch | 6:f2c930a90873 | 77 | } |
wchurch | 6:f2c930a90873 | 78 | } |
wchurch | 6:f2c930a90873 | 79 | |
wchurch | 6:f2c930a90873 | 80 | int main() |
wchurch | 6:f2c930a90873 | 81 | { |
wchurch | 0:604ceafb7bb3 | 82 | |
wchurch | 0:604ceafb7bb3 | 83 | pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"); |
wchurch | 0:604ceafb7bb3 | 84 | if (imu.chip_ready() == 0){ |
wchurch | 4:ae9e664301dd | 85 | pc.printf("Bosch BNO055 is NOT available!!\r\n"); |
wchurch | 0:604ceafb7bb3 | 86 | } |
wchurch | 6:f2c930a90873 | 87 | |
wchurch | 0:604ceafb7bb3 | 88 | imu.read_id_inf(&bno055_id_inf); |
wchurch | 6:f2c930a90873 | 89 | |
wchurch | 7:1be7e6735fe2 | 90 | //pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n", |
wchurch | 7:1be7e6735fe2 | 91 | // bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, |
wchurch | 7:1be7e6735fe2 | 92 | // bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id); |
wchurch | 6:f2c930a90873 | 93 | |
wchurch | 9:6a83e2777d24 | 94 | P1.period(0.0002); //Set PWM frequency |
wchurch | 7:1be7e6735fe2 | 95 | |
wchurch | 6:f2c930a90873 | 96 | isPressed=0; |
wchurch | 9:6a83e2777d24 | 97 | button.rise(&eventFunction); //Enable Closed Loop |
wchurch | 6:f2c930a90873 | 98 | |
wchurch | 6:f2c930a90873 | 99 | |
wchurch | 0:604ceafb7bb3 | 100 | |
wchurch | 0:604ceafb7bb3 | 101 | while(1) { |
wchurch | 6:f2c930a90873 | 102 | |
wchurch | 6:f2c930a90873 | 103 | |
wchurch | 9:6a83e2777d24 | 104 | pc.printf("Heading:%+6.4f [deg], R1%+6.4f [PWM] \r\n", //, Pitch:%+6.4f [deg]\r\n", |
wchurch | 9:6a83e2777d24 | 105 | euler_angles.h, r1, euler_angles.p); |
wchurch | 7:1be7e6735fe2 | 106 | |
wchurch | 6:f2c930a90873 | 107 | imu.get_Euler_Angles(&euler_angles); |
wchurch | 6:f2c930a90873 | 108 | |
wchurch | 0:604ceafb7bb3 | 109 | |
wchurch | 8:1011786787a4 | 110 | //wait(0.2); |
wchurch | 0:604ceafb7bb3 | 111 | } |
wchurch | 0:604ceafb7bb3 | 112 | } |