SHENG-HEN HSIEH / Mbed 2 deprecated Sample_manerine_SPI_LSM9DS0

Only GYRO/ACC's configuration done

Dependencies:   mbed

main.cpp@5:2f0633d8fc20, 2016-09-17 (annotated)

Committer:
open4416
Date:
Sat Sep 17 13:24:17 2016 +0000
Revision:
5:2f0633d8fc20
Parent:
4:b9dd320947ff
Child:
6:c2efb0a3a543
2016/9/17

Who changed what in which revision?

UserRevisionLine numberNew contents of line
open4416 0:d68e088dfbcd 1 #include "mbed.h"
open4416 1:b42c3522a50a 2 #include "LSM9DS0_SH.h"
open4416 4:b9dd320947ff 3
open4416 4:b9dd320947ff 4 #define pi 3.141592f
open4416 3:502b83f7761c 5 #define d2r 0.01745329f
open4416 4:b9dd320947ff 6
open4416 4:b9dd320947ff 7 #define Rms 5000 //TT rate
open4416 5:2f0633d8fc20 8 #define dt 0.005f
open4416 4:b9dd320947ff 9 #define NN 200
open4416 4:b9dd320947ff 10
open4416 1:b42c3522a50a 11 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
open4416 0:d68e088dfbcd 12
open4416 1:b42c3522a50a 13 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 1:b42c3522a50a 14 //~~~structure~~~//
open4416 1:b42c3522a50a 15 DigitalOut led(D13); //detection
open4416 1:b42c3522a50a 16 DigitalOut TT_ext(D12);
open4416 1:b42c3522a50a 17
open4416 2:0d90c0436797 18 //~~~IMU_SPI~~~//
open4416 1:b42c3522a50a 19 DigitalOut SPI_CSG(D7,1); //low for GYRO enable
open4416 1:b42c3522a50a 20 DigitalOut SPI_CSXM(D6,1); //low for ACC/MAG enable
open4416 1:b42c3522a50a 21 SPI spi(D4, D5, D3); //MOSI MISO SCLK
open4416 1:b42c3522a50a 22
open4416 4:b9dd320947ff 23 //~~~Servo out~~~//
open4416 4:b9dd320947ff 24 PwmOut Drive1(D8); //control leg
open4416 4:b9dd320947ff 25 PwmOut Drive2(D9);
open4416 4:b9dd320947ff 26 PwmOut Drive3(D10);
open4416 4:b9dd320947ff 27 PwmOut Drive4(D11);
open4416 4:b9dd320947ff 28 PwmOut Drive5(D14);
open4416 4:b9dd320947ff 29 PwmOut Drive6(D15);
open4416 4:b9dd320947ff 30
open4416 1:b42c3522a50a 31 //~~~Serial~~~//
open4416 1:b42c3522a50a 32 Serial pc(D1, D0); //Serial reg(TX RX)
open4416 4:b9dd320947ff 33 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of GPIO registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 1:b42c3522a50a 34
open4416 0:d68e088dfbcd 35
open4416 0:d68e088dfbcd 36
open4416 4:b9dd320947ff 37 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Varible registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 1:b42c3522a50a 38 //~~~globle~~~//
open4416 1:b42c3522a50a 39 Ticker TT; //call a timer
open4416 1:b42c3522a50a 40 int count = 0; //one second counter for extrenal led blink
open4416 2:0d90c0436797 41
open4416 4:b9dd320947ff 42 //~~~PWMreference~~~//
open4416 4:b9dd320947ff 43 const int pwm_mid = 1450; //+2080 for minimall lenght
open4416 4:b9dd320947ff 44 const int PWM_base[1][6] = { //desired six reference command at 0 deg
open4416 4:b9dd320947ff 45 {pwm_mid+70,pwm_mid+10,pwm_mid+40,pwm_mid+60,pwm_mid+10,pwm_mid+30},
open4416 4:b9dd320947ff 46 // {pwm_mid,pwm_mid,pwm_mid,pwm_mid,pwm_mid,pwm_mid}, //only for debugging
open4416 4:b9dd320947ff 47 };
open4416 4:b9dd320947ff 48 int PWM[1][6] = { //desired six reference command by PWM_base + PWM
open4416 4:b9dd320947ff 49 {0,0,0,0,0,0}, //transfer equaliyu 10us to 1 deg
open4416 4:b9dd320947ff 50 };
open4416 4:b9dd320947ff 51
open4416 4:b9dd320947ff 52 //~~~RR varible~~~//
open4416 5:2f0633d8fc20 53 float Z0 = 2.40; //as mid point hight
open4416 5:2f0633d8fc20 54 float Z_dis = -0.1; //move rotation center
open4416 4:b9dd320947ff 55
open4416 4:b9dd320947ff 56 //~~~stPF_lenth_uni varible~~~//
open4416 4:b9dd320947ff 57 const float alpha = 2.094f; //pair angle
open4416 4:b9dd320947ff 58 const float beta = 0.1309f; //couple angle
open4416 4:b9dd320947ff 59 const float A[3][6] = { //base cood
open4416 4:b9dd320947ff 60 {cos(0.5f*alpha-beta),cos(0.5f*alpha+beta),cos(1.5f*alpha-beta),cos(1.5f*alpha+beta),cos(2.5f*alpha-beta),cos(2.5f*alpha+beta)},
open4416 4:b9dd320947ff 61 {sin(0.5f*alpha-beta),sin(0.5f*alpha+beta),sin(1.5f*alpha-beta),sin(1.5f*alpha+beta),sin(2.5f*alpha-beta),sin(2.5f*alpha+beta)},
open4416 4:b9dd320947ff 62 {0,0,0,0,0,0}
open4416 4:b9dd320947ff 63 };
open4416 4:b9dd320947ff 64 const float B[3][6] = { //top cood(static)
open4416 4:b9dd320947ff 65 {cos(beta),cos(alpha-beta),cos(alpha+beta),cos(2*alpha-beta),cos(2*alpha+beta),cos(3*alpha-beta)},
open4416 4:b9dd320947ff 66 {sin(beta),sin(alpha-beta),sin(alpha+beta),sin(2*alpha-beta),sin(2*alpha+beta),sin(3*alpha-beta)},
open4416 4:b9dd320947ff 67 {Z_dis,Z_dis,Z_dis,Z_dis,Z_dis,Z_dis}
open4416 4:b9dd320947ff 68 };
open4416 4:b9dd320947ff 69 float C[3][6] = { //top cood(active)
open4416 4:b9dd320947ff 70 {0,0,0,0,0,0},
open4416 4:b9dd320947ff 71 {0,0,0,0,0,0},
open4416 4:b9dd320947ff 72 {0,0,0,0,0,0}
open4416 4:b9dd320947ff 73 };
open4416 4:b9dd320947ff 74 float VEC[1][6] = { //desired six reference command
open4416 4:b9dd320947ff 75 {0,0,2.52,0,0,0}, //X Y Z VEC[0][3] VEC[0][4] VEC[0][5]
open4416 4:b9dd320947ff 76 };
open4416 4:b9dd320947ff 77 float L[1][6] = { //desired six reference command
open4416 4:b9dd320947ff 78 {0,0,0,0,0,0},
open4416 4:b9dd320947ff 79 };
open4416 4:b9dd320947ff 80 float Rtot[3][3] = { //RR'
open4416 4:b9dd320947ff 81 {0,0,0},
open4416 4:b9dd320947ff 82 {0,0,0},
open4416 4:b9dd320947ff 83 {0,0,0}
open4416 4:b9dd320947ff 84 };
open4416 4:b9dd320947ff 85
open4416 4:b9dd320947ff 86 //~~~stPF_tracle_R varible~~~//
open4416 4:b9dd320947ff 87 const float L90 = 2.422; //L under 90° (195 mm)
open4416 4:b9dd320947ff 88 const float Larm = 0.4969; //arm lenth (40 mm) b
open4416 4:b9dd320947ff 89 const float Llink = 0.8944; //link lenth (72 mm)
open4416 4:b9dd320947ff 90 float A_R = 0;
open4416 4:b9dd320947ff 91 float B_R = 0;
open4416 4:b9dd320947ff 92 float C_R = 0;
open4416 4:b9dd320947ff 93
open4416 2:0d90c0436797 94 //~~~IMU_SPI~~~//
open4416 3:502b83f7761c 95 short low_byte = 0x00; //buffer
open4416 2:0d90c0436797 96 short high_byte = 0x00;
open4416 3:502b83f7761c 97 short Buff = 0x00;
open4416 3:502b83f7761c 98 float Wx = 0.0;
open4416 3:502b83f7761c 99 float Wy = 0.0;
open4416 3:502b83f7761c 100 float Wz = 0.0;
open4416 3:502b83f7761c 101 float Ax = 0.0;
open4416 3:502b83f7761c 102 float Ay = 0.0;
open4416 3:502b83f7761c 103 float Az = 0.0;
open4416 3:502b83f7761c 104 float gDIR[1][3] = { //g vector's direction , required unitconstrain
open4416 4:b9dd320947ff 105 {0.0,0.0,0.0}, //X Y Z
open4416 3:502b83f7761c 106 };
open4416 5:2f0633d8fc20 107 float Bet = 0.002; //confidence of Acc data
open4416 4:b9dd320947ff 108 float gUnity = 0.0;
open4416 4:b9dd320947ff 109 float Gdx = 0.0;
open4416 4:b9dd320947ff 110 float Gdy = 0.0;
open4416 4:b9dd320947ff 111 float Gdz = 0.0;
open4416 4:b9dd320947ff 112 float Ele_phy = 0.0; //estimation of top plate attitide
open4416 4:b9dd320947ff 113 float Til_phy = 0.0;
open4416 4:b9dd320947ff 114 float Ele_phy_int = 0.0;
open4416 4:b9dd320947ff 115 float Til_phy_int = 0.0;
open4416 5:2f0633d8fc20 116 float Ele_control = 0.0;
open4416 5:2f0633d8fc20 117 float Til_control = 0.0;
open4416 1:b42c3522a50a 118 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 1:b42c3522a50a 119
open4416 0:d68e088dfbcd 120
open4416 0:d68e088dfbcd 121
open4416 1:b42c3522a50a 122 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 123 void init_TIMER(); //set TT_main() rate
open4416 4:b9dd320947ff 124 void TT_main(); //timebase function rated by TT
open4416 4:b9dd320947ff 125 void init_IO(); //initialize IO state
open4416 4:b9dd320947ff 126 void init_IMU(); //initialize IMU
open4416 4:b9dd320947ff 127 void init_Gdrift(); //read Gdrift at start up
open4416 4:b9dd320947ff 128 void read_IMU(); //read IMU data give raw data
open4416 4:b9dd320947ff 129 void state_update(); //estimation of new attitude
open4416 4:b9dd320947ff 130
open4416 4:b9dd320947ff 131 void RR(); //status generator
open4416 4:b9dd320947ff 132 void stPF_lenth_uni(); //referenve generator
open4416 4:b9dd320947ff 133 void stPF_travle_R(); //lenth to pwm pulse width
open4416 4:b9dd320947ff 134
open4416 4:b9dd320947ff 135 float lpf(float input, float output_old, float frequency); //lpf discrete
open4416 1:b42c3522a50a 136 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 1:b42c3522a50a 137
open4416 1:b42c3522a50a 138
open4416 1:b42c3522a50a 139
open4416 1:b42c3522a50a 140 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 0:d68e088dfbcd 141 int main()
open4416 0:d68e088dfbcd 142 {
open4416 4:b9dd320947ff 143 pc.baud(115200); //set baud rate
open4416 4:b9dd320947ff 144 wait_ms(1000);
open4416 0:d68e088dfbcd 145
open4416 4:b9dd320947ff 146 init_IO(); //initialized value
open4416 4:b9dd320947ff 147 init_IMU(); //initialize IMU
open4416 4:b9dd320947ff 148 init_Gdrift(); //read Gdrift at start up
open4416 4:b9dd320947ff 149 wait_ms(1000);
open4416 4:b9dd320947ff 150
open4416 4:b9dd320947ff 151 init_TIMER(); //start TT_main
open4416 4:b9dd320947ff 152
open4416 4:b9dd320947ff 153 while(1) { //main() loop
open4416 4:b9dd320947ff 154 if(count >= NN) { //check if main working
open4416 0:d68e088dfbcd 155 count=0;
open4416 0:d68e088dfbcd 156 led = !led;
open4416 0:d68e088dfbcd 157 }
open4416 1:b42c3522a50a 158 }
open4416 0:d68e088dfbcd 159
open4416 0:d68e088dfbcd 160 }
open4416 1:b42c3522a50a 161 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of main funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d68e088dfbcd 162
open4416 0:d68e088dfbcd 163
open4416 0:d68e088dfbcd 164
open4416 3:502b83f7761c 165 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Timebase funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 3:502b83f7761c 166 void init_TIMER() //set TT_main{} rate
open4416 3:502b83f7761c 167 {
open4416 3:502b83f7761c 168 TT.attach_us(&TT_main, Rms);
open4416 3:502b83f7761c 169 }
open4416 3:502b83f7761c 170 void TT_main() //interrupt function by TT
open4416 3:502b83f7761c 171 {
open4416 3:502b83f7761c 172 TT_ext = !TT_ext; //indicate TT_main() function working
open4416 3:502b83f7761c 173 count = count+1; //one second counter
open4416 3:502b83f7761c 174
open4416 3:502b83f7761c 175 read_IMU(); //read IMU data give raw data
open4416 3:502b83f7761c 176 state_update(); //estimation of new attitude
open4416 3:502b83f7761c 177
open4416 4:b9dd320947ff 178 RR(); //VEC generated
open4416 4:b9dd320947ff 179 stPF_lenth_uni(); //L generated
open4416 4:b9dd320947ff 180 stPF_travle_R(); //PWM generated
open4416 4:b9dd320947ff 181
open4416 4:b9dd320947ff 182 for(int i=0; i<6; i++) { //safty constrain
open4416 5:2f0633d8fc20 183 PWM[0][i] = constrain(PWM[0][i],700,2100);
open4416 4:b9dd320947ff 184 }
open4416 4:b9dd320947ff 185
open4416 4:b9dd320947ff 186 Drive1.pulsewidth_us(PWM[0][0]); //drive command
open4416 4:b9dd320947ff 187 Drive2.pulsewidth_us(PWM[0][1]);
open4416 4:b9dd320947ff 188 Drive3.pulsewidth_us(PWM[0][2]);
open4416 4:b9dd320947ff 189 Drive4.pulsewidth_us(PWM[0][3]);
open4416 4:b9dd320947ff 190 Drive5.pulsewidth_us(PWM[0][4]);
open4416 4:b9dd320947ff 191 Drive6.pulsewidth_us(PWM[0][5]);
open4416 4:b9dd320947ff 192
open4416 4:b9dd320947ff 193 //for Serial-Oscilloscope
open4416 4:b9dd320947ff 194 // pc.printf("%.3f\r", Bet);
open4416 5:2f0633d8fc20 195 // pc.printf("%.3f,%.3f\r", Ele_phy, Til_phy);
open4416 4:b9dd320947ff 196 // pc.printf("%.2f,%.2f\r", VEC[0][4], VEC[0][5]);
open4416 5:2f0633d8fc20 197 pc.printf("%.2f,%.2f,%.2f\r", Ax, Ay, Az);
open4416 4:b9dd320947ff 198 // pc.printf("%.3f,%.3f,%.3f\r", gDIR[0][0], gDIR[0][1], gDIR[0][2]);
open4416 3:502b83f7761c 199 }
open4416 4:b9dd320947ff 200 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Timebase funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 3:502b83f7761c 201
open4416 3:502b83f7761c 202
open4416 3:502b83f7761c 203
open4416 4:b9dd320947ff 204 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IO funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 1:b42c3522a50a 205 void init_IO(void) //initialize
open4416 1:b42c3522a50a 206 {
open4416 1:b42c3522a50a 207 TT_ext = 0;
open4416 1:b42c3522a50a 208 led = 1;
open4416 1:b42c3522a50a 209 }
open4416 4:b9dd320947ff 210 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IO funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d68e088dfbcd 211
open4416 0:d68e088dfbcd 212
open4416 0:d68e088dfbcd 213
open4416 4:b9dd320947ff 214 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 3:502b83f7761c 215 void init_IMU(void) //initialize
open4416 0:d68e088dfbcd 216 {
open4416 3:502b83f7761c 217 //gloable config
open4416 1:b42c3522a50a 218 SPI_CSXM = 1; //high as init for disable SPI
open4416 1:b42c3522a50a 219 SPI_CSG = 1;
open4416 1:b42c3522a50a 220 spi.format(8, 0); //byte width, spi mode
open4416 1:b42c3522a50a 221 spi.frequency(4000000); //8MHz
open4416 1:b42c3522a50a 222
open4416 3:502b83f7761c 223 //for GYRO config
open4416 1:b42c3522a50a 224 SPI_CSG = 0; //start spi talking
open4416 1:b42c3522a50a 225 spi.write(CTRL_REG1_G);
open4416 1:b42c3522a50a 226 spi.write(0x9F); //data rate 380 Hz/ cut off 25 Hz
open4416 1:b42c3522a50a 227 SPI_CSG = 1; //end spi talking
open4416 1:b42c3522a50a 228
open4416 1:b42c3522a50a 229 SPI_CSG = 0; //start spi talking
open4416 1:b42c3522a50a 230 spi.write(CTRL_REG4_G);
open4416 1:b42c3522a50a 231 spi.write(0x10); //Scle 500dps
open4416 1:b42c3522a50a 232 SPI_CSG = 1; //end spi talking
open4416 1:b42c3522a50a 233
open4416 3:502b83f7761c 234 //for ACC config
open4416 1:b42c3522a50a 235 SPI_CSXM = 0; //start spi talking
open4416 1:b42c3522a50a 236 spi.write(CTRL_REG1_XM);
open4416 1:b42c3522a50a 237 spi.write(0x87); //data rate 400 Hz/ Enable
open4416 1:b42c3522a50a 238 SPI_CSXM = 1; //end spi talking
open4416 1:b42c3522a50a 239
open4416 1:b42c3522a50a 240 SPI_CSXM = 0; //start spi talking
open4416 1:b42c3522a50a 241 spi.write(CTRL_REG2_XM);
open4416 3:502b83f7761c 242 spi.write(0xC8); //cut off 50 Hz/ Scale +-4g
open4416 1:b42c3522a50a 243 SPI_CSXM = 1; //end spi talking
open4416 0:d68e088dfbcd 244 }
open4416 4:b9dd320947ff 245 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d68e088dfbcd 246
open4416 0:d68e088dfbcd 247
open4416 0:d68e088dfbcd 248
open4416 4:b9dd320947ff 249 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_Gdrift funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 250 void init_Gdrift(void) //initialize
open4416 4:b9dd320947ff 251 {
open4416 4:b9dd320947ff 252 for(int i=0; i<1000; i++) {
open4416 4:b9dd320947ff 253 read_IMU(); //note Gdrift = 0 at this moment
open4416 4:b9dd320947ff 254 gDIR[0][0] = gDIR[0][0] - Wx;
open4416 4:b9dd320947ff 255 gDIR[0][1] = gDIR[0][1] - Wy;
open4416 4:b9dd320947ff 256 gDIR[0][2] = gDIR[0][2] - Wz;
open4416 4:b9dd320947ff 257 wait_ms(2);
open4416 4:b9dd320947ff 258 }
open4416 4:b9dd320947ff 259 Gdx = gDIR[0][0] /1000.0f;
open4416 4:b9dd320947ff 260 Gdy = gDIR[0][1] /1000.0f;
open4416 4:b9dd320947ff 261 Gdz = gDIR[0][2] /1000.0f;
open4416 4:b9dd320947ff 262 // pc.printf("%.4f,%.4f,%.4f\r", Gdx, Gdy, Gdz);
open4416 4:b9dd320947ff 263 gDIR[0][0] = 0;
open4416 4:b9dd320947ff 264 gDIR[0][1] = 0;
open4416 4:b9dd320947ff 265 gDIR[0][2] = -1;
open4416 4:b9dd320947ff 266 }
open4416 4:b9dd320947ff 267 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_Gdrift funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 268
open4416 4:b9dd320947ff 269
open4416 4:b9dd320947ff 270
open4416 4:b9dd320947ff 271 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓read_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 3:502b83f7761c 272 void read_IMU(void) //read IMU data give raw data
open4416 0:d68e088dfbcd 273 {
open4416 3:502b83f7761c 274 //Wx
open4416 3:502b83f7761c 275 SPI_CSG = 0; //start spi talking Wx
open4416 3:502b83f7761c 276 spi.write(0xE8); //read B11101000 read/multi/address
open4416 3:502b83f7761c 277 low_byte = spi.write(0);
open4416 3:502b83f7761c 278 high_byte = spi.write(0);
open4416 3:502b83f7761c 279 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 280 SPI_CSG = 1; //end spi talking
open4416 4:b9dd320947ff 281 // Wx = Buff * Gpx + Gdx;
open4416 5:2f0633d8fc20 282 Wx = lpf(Buff * Gpx + Gdx, Wx, 25.0f);
open4416 3:502b83f7761c 283 //Wy
open4416 3:502b83f7761c 284 SPI_CSG = 0; //start spi talking Wx
open4416 3:502b83f7761c 285 spi.write(0xEA); //read B11101010 read/multi/address
open4416 3:502b83f7761c 286 low_byte = spi.write(0);
open4416 3:502b83f7761c 287 high_byte = spi.write(0);
open4416 3:502b83f7761c 288 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 289 SPI_CSG = 1; //end spi talking
open4416 4:b9dd320947ff 290 // Wy = Buff * Gpy + Gdy;
open4416 5:2f0633d8fc20 291 Wy = lpf(Buff * Gpy + Gdy, Wy, 25.0f);
open4416 3:502b83f7761c 292 //Wz
open4416 3:502b83f7761c 293 SPI_CSG = 0; //start spi talking Wx
open4416 3:502b83f7761c 294 spi.write(0xEC); //read B11101100 read/multi/address
open4416 3:502b83f7761c 295 low_byte = spi.write(0);
open4416 3:502b83f7761c 296 high_byte = spi.write(0);
open4416 3:502b83f7761c 297 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 298 SPI_CSG = 1; //end spi talking
open4416 4:b9dd320947ff 299 // Wz = Buff * Gpz + Gdz;
open4416 5:2f0633d8fc20 300 Wz = lpf(Buff * Gpz + Gdz, Wz, 25.0f);
open4416 3:502b83f7761c 301 //Ax
open4416 3:502b83f7761c 302 SPI_CSXM = 0; //start spi talking Ax
open4416 2:0d90c0436797 303 spi.write(0xE8); //read B11101000 read/multi/address
open4416 2:0d90c0436797 304 low_byte = spi.write(0);
open4416 2:0d90c0436797 305 high_byte = spi.write(0);
open4416 3:502b83f7761c 306 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 307 SPI_CSXM = 1; //end spi talking
open4416 4:b9dd320947ff 308 Ax = lpf(Buff*Apx + Adx, Ax, 15.0f);
open4416 3:502b83f7761c 309 //Ay
open4416 3:502b83f7761c 310 SPI_CSXM = 0; //start spi talking Ax
open4416 3:502b83f7761c 311 spi.write(0xEA); //read B11101010 read/multi/address
open4416 3:502b83f7761c 312 low_byte = spi.write(0);
open4416 3:502b83f7761c 313 high_byte = spi.write(0);
open4416 3:502b83f7761c 314 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 315 SPI_CSXM = 1; //end spi talking
open4416 4:b9dd320947ff 316 Ay = lpf(Buff*Apy + Ady, Ay, 15.0f);
open4416 3:502b83f7761c 317 //Az
open4416 3:502b83f7761c 318 SPI_CSXM = 0; //start spi talking Ax
open4416 3:502b83f7761c 319 spi.write(0xEC); //read B11101100 read/multi/address
open4416 3:502b83f7761c 320 low_byte = spi.write(0);
open4416 3:502b83f7761c 321 high_byte = spi.write(0);
open4416 3:502b83f7761c 322 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 323 SPI_CSXM = 1; //end spi talking
open4416 4:b9dd320947ff 324 Az = lpf(Buff*Apz + Adz, Az, 15.0f);
open4416 3:502b83f7761c 325 }
open4416 3:502b83f7761c 326 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of read_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 1:b42c3522a50a 327
open4416 1:b42c3522a50a 328
open4416 1:b42c3522a50a 329
open4416 3:502b83f7761c 330 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓state_update funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 3:502b83f7761c 331 void state_update(void) //estimation of new attitude
open4416 3:502b83f7761c 332 {
open4416 3:502b83f7761c 333 //pridict
open4416 3:502b83f7761c 334 gDIR[0][0] = gDIR[0][0] - (Wy*gDIR[0][2] - Wz*gDIR[0][1])*dt;
open4416 3:502b83f7761c 335 gDIR[0][1] = gDIR[0][1] - (Wz*gDIR[0][0] - Wx*gDIR[0][2])*dt;
open4416 3:502b83f7761c 336 gDIR[0][2] = gDIR[0][2] - (Wx*gDIR[0][1] - Wy*gDIR[0][0])*dt;
open4416 4:b9dd320947ff 337
open4416 3:502b83f7761c 338 //update
open4416 4:b9dd320947ff 339 gDIR[0][0] = (1-Bet) * gDIR[0][0] + Bet * Ax;
open4416 4:b9dd320947ff 340 gDIR[0][1] = (1-Bet) * gDIR[0][1] + Bet * Ay;
open4416 4:b9dd320947ff 341 gDIR[0][2] = (1-Bet) * gDIR[0][2] + Bet * Az;
open4416 4:b9dd320947ff 342
open4416 3:502b83f7761c 343 //nutralizing
open4416 4:b9dd320947ff 344 gUnity = sqrt( gDIR[0][0]*gDIR[0][0] + gDIR[0][1]*gDIR[0][1] + gDIR[0][2]*gDIR[0][2] );
open4416 3:502b83f7761c 345 for(int i=0; i<3; i++) {
open4416 3:502b83f7761c 346 gDIR[0][i] = gDIR[0][i] / gUnity;
open4416 3:502b83f7761c 347 }
open4416 4:b9dd320947ff 348
open4416 4:b9dd320947ff 349 //transfer
open4416 4:b9dd320947ff 350 Ele_phy = asin(gDIR[0][0]);
open4416 4:b9dd320947ff 351 Til_phy = asin(-gDIR[0][1] / cos(Ele_phy));
open4416 4:b9dd320947ff 352 // //test
open4416 4:b9dd320947ff 353 // gDIR[0][0] = gDIR[0][0] + Wx*dt;
open4416 4:b9dd320947ff 354 // gDIR[0][1] = gDIR[0][1] + Wy*dt;
open4416 4:b9dd320947ff 355 // gDIR[0][2] = gDIR[0][2] + Wz*dt;
open4416 0:d68e088dfbcd 356 }
open4416 4:b9dd320947ff 357 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of state_update funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 358
open4416 4:b9dd320947ff 359
open4416 4:b9dd320947ff 360
open4416 4:b9dd320947ff 361 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓RR funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 362 void RR() //status generator
open4416 4:b9dd320947ff 363 {
open4416 4:b9dd320947ff 364 Ele_phy_int = Ele_phy_int + Ele_phy*dt;
open4416 4:b9dd320947ff 365 Til_phy_int = Til_phy_int + Til_phy*dt;
open4416 5:2f0633d8fc20 366 Ele_phy_int = constrain(Ele_phy_int,-0.006f,0.006f);
open4416 5:2f0633d8fc20 367 Til_phy_int = constrain(Til_phy_int,-0.006f,0.006f);
open4416 5:2f0633d8fc20 368
open4416 5:2f0633d8fc20 369 Ele_control = -3.5f*Ele_phy - 0.10f*Wy - 20.0f*Ele_phy_int;
open4416 5:2f0633d8fc20 370 Til_control = -3.5f*Til_phy - 0.10f*Wx - 20.0f*Til_phy_int;
open4416 4:b9dd320947ff 371
open4416 5:2f0633d8fc20 372 Ele_control = constrain(Ele_control,-0.35f,0.35f);
open4416 5:2f0633d8fc20 373 Til_control = constrain(Til_control,-0.35f,0.35f);
open4416 4:b9dd320947ff 374
open4416 5:2f0633d8fc20 375 VEC[0][4] = lpf(Ele_control, VEC[0][4], 20.0f);
open4416 5:2f0633d8fc20 376 VEC[0][5] = lpf(Til_control, VEC[0][5], 20.0f);
open4416 5:2f0633d8fc20 377 VEC[0][2] = Z0 -Z_dis;
open4416 4:b9dd320947ff 378 }
open4416 4:b9dd320947ff 379 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of RR funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 380
open4416 4:b9dd320947ff 381
open4416 4:b9dd320947ff 382
open4416 4:b9dd320947ff 383 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓stPF_lenth_uni funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 384 void stPF_lenth_uni() //referenve generator
open4416 4:b9dd320947ff 385 {
open4416 4:b9dd320947ff 386 Rtot[0][0] = cos(VEC[0][4])*cos(VEC[0][3]);
open4416 4:b9dd320947ff 387 Rtot[0][1] = - cos(VEC[0][5])*sin(VEC[0][3]) + cos(VEC[0][3])*sin(VEC[0][4])*sin(VEC[0][5]);
open4416 4:b9dd320947ff 388 Rtot[0][2] = sin(VEC[0][5])*sin(VEC[0][3]) + cos(VEC[0][5])*cos(VEC[0][3])*sin(VEC[0][4]);
open4416 4:b9dd320947ff 389 Rtot[1][0] = cos(VEC[0][4])*sin(VEC[0][3]);
open4416 4:b9dd320947ff 390 Rtot[1][1] = cos(VEC[0][5])*cos(VEC[0][3]) + sin(VEC[0][4])*sin(VEC[0][5])*sin(VEC[0][3]);
open4416 4:b9dd320947ff 391 Rtot[1][2] = - cos(VEC[0][3])*sin(VEC[0][5]) + cos(VEC[0][5])*sin(VEC[0][4])*sin(VEC[0][3]);
open4416 4:b9dd320947ff 392 Rtot[2][0] = - sin(VEC[0][4]);
open4416 4:b9dd320947ff 393 Rtot[2][1] = cos(VEC[0][4])*sin(VEC[0][5]);
open4416 4:b9dd320947ff 394 Rtot[2][2] = cos(VEC[0][4])*cos(VEC[0][5]);
open4416 4:b9dd320947ff 395
open4416 4:b9dd320947ff 396 for(int j=0; j<6; j++) { //reset C
open4416 4:b9dd320947ff 397 for(int i=0; i<3; i++) {
open4416 4:b9dd320947ff 398 C[i][j] = 0;
open4416 4:b9dd320947ff 399 }
open4416 4:b9dd320947ff 400 }
open4416 4:b9dd320947ff 401
open4416 4:b9dd320947ff 402 for(int i=0; i<6; i++) { //(RR.' * B)
open4416 4:b9dd320947ff 403 for(int j=0; j<3; j++) {
open4416 4:b9dd320947ff 404 for(int k=0; k<3; k++) {
open4416 4:b9dd320947ff 405 C[j][i] = Rtot[j][k] * B[k][i] + C[j][i];
open4416 4:b9dd320947ff 406 }
open4416 4:b9dd320947ff 407 }
open4416 4:b9dd320947ff 408 }
open4416 4:b9dd320947ff 409
open4416 4:b9dd320947ff 410 for(int j=0; j<6; j++) { //+ [X,Y,Z]
open4416 4:b9dd320947ff 411 for(int i=0; i<3; i++) {
open4416 4:b9dd320947ff 412 C[i][j] = C[i][j] + VEC[0][i];
open4416 4:b9dd320947ff 413 }
open4416 4:b9dd320947ff 414 }
open4416 4:b9dd320947ff 415 for(int i=0; i<6; i++) {
open4416 4:b9dd320947ff 416 float X = C[0][i]-A[0][i];
open4416 4:b9dd320947ff 417 float Y = C[1][i]-A[1][i];
open4416 4:b9dd320947ff 418 float Z = C[2][i]-A[2][i];
open4416 4:b9dd320947ff 419 L[0][i] = sqrt(X*X+Y*Y+Z*Z);
open4416 4:b9dd320947ff 420 }
open4416 4:b9dd320947ff 421 }
open4416 4:b9dd320947ff 422 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of stPF_lenth_uni funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 423
open4416 4:b9dd320947ff 424
open4416 4:b9dd320947ff 425
open4416 4:b9dd320947ff 426 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓stPF_travle_R funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 427 void stPF_travle_R() //lenth to pwm pulse width
open4416 4:b9dd320947ff 428 {
open4416 4:b9dd320947ff 429 for(int i=0; i<6; i++) {
open4416 4:b9dd320947ff 430 A_R = ( L[0][i] - L90 + sqrt( Llink*Llink - Larm*Larm ) ) /Larm;
open4416 4:b9dd320947ff 431 B_R = Llink/Larm;
open4416 4:b9dd320947ff 432 C_R = ( A_R*A_R - B_R*B_R + 1 ) /(A_R*2);
open4416 4:b9dd320947ff 433 PWM[0][i] = -asin(C_R)*573 + PWM_base[0][i];
open4416 4:b9dd320947ff 434 }
open4416 4:b9dd320947ff 435 }
open4416 4:b9dd320947ff 436 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of stPF_travle_R funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 437
open4416 4:b9dd320947ff 438
open4416 4:b9dd320947ff 439
open4416 4:b9dd320947ff 440 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓lpf funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 441 float lpf(float input, float output_old, float frequency)
open4416 4:b9dd320947ff 442 {
open4416 4:b9dd320947ff 443 float output = 0;
open4416 4:b9dd320947ff 444 output = (output_old + frequency*dt*input) / (1 + frequency*dt);
open4416 4:b9dd320947ff 445 return output;
open4416 4:b9dd320947ff 446 }
open4416 4:b9dd320947ff 447 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of lpf funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//