SHENG-HEN HSIEH / Mbed 2 deprecated Sample_manerine_SPI_LSM9DS0

Only GYRO/ACC's configuration done

Dependencies:   mbed

main.cpp@4:b9dd320947ff, 2016-09-14 (annotated)

Committer:
open4416
Date:
Wed Sep 14 05:57:55 2016 +0000
Revision:
4:b9dd320947ff
Parent:
3:502b83f7761c
Child:
5:2f0633d8fc20
2016/9/14 stable

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 4:b9dd320947ff 8 #define dt 0.003f
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 4:b9dd320947ff 53 float Z0 = 2.45; //as mid point hight
open4416 4:b9dd320947ff 54 float Z_dis = -0.087; //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 4:b9dd320947ff 107 float Bet = 0.005; //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 1:b42c3522a50a 116 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 1:b42c3522a50a 117
open4416 0:d68e088dfbcd 118
open4416 0:d68e088dfbcd 119
open4416 1:b42c3522a50a 120 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 121 void init_TIMER(); //set TT_main() rate
open4416 4:b9dd320947ff 122 void TT_main(); //timebase function rated by TT
open4416 4:b9dd320947ff 123 void init_IO(); //initialize IO state
open4416 4:b9dd320947ff 124 void init_IMU(); //initialize IMU
open4416 4:b9dd320947ff 125 void init_Gdrift(); //read Gdrift at start up
open4416 4:b9dd320947ff 126 void read_IMU(); //read IMU data give raw data
open4416 4:b9dd320947ff 127 void state_update(); //estimation of new attitude
open4416 4:b9dd320947ff 128
open4416 4:b9dd320947ff 129 void RR(); //status generator
open4416 4:b9dd320947ff 130 void stPF_lenth_uni(); //referenve generator
open4416 4:b9dd320947ff 131 void stPF_travle_R(); //lenth to pwm pulse width
open4416 4:b9dd320947ff 132
open4416 4:b9dd320947ff 133 float lpf(float input, float output_old, float frequency); //lpf discrete
open4416 1:b42c3522a50a 134 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 1:b42c3522a50a 135
open4416 1:b42c3522a50a 136
open4416 1:b42c3522a50a 137
open4416 1:b42c3522a50a 138 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 0:d68e088dfbcd 139 int main()
open4416 0:d68e088dfbcd 140 {
open4416 4:b9dd320947ff 141 pc.baud(115200); //set baud rate
open4416 4:b9dd320947ff 142 wait_ms(1000);
open4416 0:d68e088dfbcd 143
open4416 4:b9dd320947ff 144 init_IO(); //initialized value
open4416 4:b9dd320947ff 145 init_IMU(); //initialize IMU
open4416 4:b9dd320947ff 146 init_Gdrift(); //read Gdrift at start up
open4416 4:b9dd320947ff 147 wait_ms(1000);
open4416 4:b9dd320947ff 148
open4416 4:b9dd320947ff 149 init_TIMER(); //start TT_main
open4416 4:b9dd320947ff 150
open4416 4:b9dd320947ff 151 while(1) { //main() loop
open4416 4:b9dd320947ff 152 if(count >= NN) { //check if main working
open4416 0:d68e088dfbcd 153 count=0;
open4416 0:d68e088dfbcd 154 led = !led;
open4416 0:d68e088dfbcd 155 }
open4416 1:b42c3522a50a 156 }
open4416 0:d68e088dfbcd 157
open4416 0:d68e088dfbcd 158 }
open4416 1:b42c3522a50a 159 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of main funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d68e088dfbcd 160
open4416 0:d68e088dfbcd 161
open4416 0:d68e088dfbcd 162
open4416 3:502b83f7761c 163 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Timebase funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 3:502b83f7761c 164 void init_TIMER() //set TT_main{} rate
open4416 3:502b83f7761c 165 {
open4416 3:502b83f7761c 166 TT.attach_us(&TT_main, Rms);
open4416 3:502b83f7761c 167 }
open4416 3:502b83f7761c 168 void TT_main() //interrupt function by TT
open4416 3:502b83f7761c 169 {
open4416 3:502b83f7761c 170 TT_ext = !TT_ext; //indicate TT_main() function working
open4416 3:502b83f7761c 171 count = count+1; //one second counter
open4416 3:502b83f7761c 172
open4416 3:502b83f7761c 173 read_IMU(); //read IMU data give raw data
open4416 3:502b83f7761c 174 state_update(); //estimation of new attitude
open4416 3:502b83f7761c 175
open4416 4:b9dd320947ff 176 RR(); //VEC generated
open4416 4:b9dd320947ff 177 stPF_lenth_uni(); //L generated
open4416 4:b9dd320947ff 178 stPF_travle_R(); //PWM generated
open4416 4:b9dd320947ff 179
open4416 4:b9dd320947ff 180 for(int i=0; i<6; i++) { //safty constrain
open4416 4:b9dd320947ff 181 PWM[0][i] = constrain(PWM[0][i],725,2025);
open4416 4:b9dd320947ff 182 }
open4416 4:b9dd320947ff 183
open4416 4:b9dd320947ff 184 Drive1.pulsewidth_us(PWM[0][0]); //drive command
open4416 4:b9dd320947ff 185 Drive2.pulsewidth_us(PWM[0][1]);
open4416 4:b9dd320947ff 186 Drive3.pulsewidth_us(PWM[0][2]);
open4416 4:b9dd320947ff 187 Drive4.pulsewidth_us(PWM[0][3]);
open4416 4:b9dd320947ff 188 Drive5.pulsewidth_us(PWM[0][4]);
open4416 4:b9dd320947ff 189 Drive6.pulsewidth_us(PWM[0][5]);
open4416 4:b9dd320947ff 190
open4416 4:b9dd320947ff 191 //for Serial-Oscilloscope
open4416 4:b9dd320947ff 192 // pc.printf("%.3f\r", Bet);
open4416 4:b9dd320947ff 193 pc.printf("%.3f,%.3f\r", Ele_phy, Til_phy);
open4416 4:b9dd320947ff 194 // pc.printf("%.2f,%.2f\r", VEC[0][4], VEC[0][5]);
open4416 4:b9dd320947ff 195 // pc.printf("%.2f,%.2f,%.2f\r", Ax, Ay, Az);
open4416 4:b9dd320947ff 196 // pc.printf("%.3f,%.3f,%.3f\r", gDIR[0][0], gDIR[0][1], gDIR[0][2]);
open4416 3:502b83f7761c 197 }
open4416 4:b9dd320947ff 198 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Timebase funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 3:502b83f7761c 199
open4416 3:502b83f7761c 200
open4416 3:502b83f7761c 201
open4416 4:b9dd320947ff 202 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IO funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 1:b42c3522a50a 203 void init_IO(void) //initialize
open4416 1:b42c3522a50a 204 {
open4416 1:b42c3522a50a 205 TT_ext = 0;
open4416 1:b42c3522a50a 206 led = 1;
open4416 1:b42c3522a50a 207 }
open4416 4:b9dd320947ff 208 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IO funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d68e088dfbcd 209
open4416 0:d68e088dfbcd 210
open4416 0:d68e088dfbcd 211
open4416 4:b9dd320947ff 212 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 3:502b83f7761c 213 void init_IMU(void) //initialize
open4416 0:d68e088dfbcd 214 {
open4416 3:502b83f7761c 215 //gloable config
open4416 1:b42c3522a50a 216 SPI_CSXM = 1; //high as init for disable SPI
open4416 1:b42c3522a50a 217 SPI_CSG = 1;
open4416 1:b42c3522a50a 218 spi.format(8, 0); //byte width, spi mode
open4416 1:b42c3522a50a 219 spi.frequency(4000000); //8MHz
open4416 1:b42c3522a50a 220
open4416 3:502b83f7761c 221 //for GYRO config
open4416 1:b42c3522a50a 222 SPI_CSG = 0; //start spi talking
open4416 1:b42c3522a50a 223 spi.write(CTRL_REG1_G);
open4416 1:b42c3522a50a 224 spi.write(0x9F); //data rate 380 Hz/ cut off 25 Hz
open4416 1:b42c3522a50a 225 SPI_CSG = 1; //end spi talking
open4416 1:b42c3522a50a 226
open4416 1:b42c3522a50a 227 SPI_CSG = 0; //start spi talking
open4416 1:b42c3522a50a 228 spi.write(CTRL_REG4_G);
open4416 1:b42c3522a50a 229 spi.write(0x10); //Scle 500dps
open4416 1:b42c3522a50a 230 SPI_CSG = 1; //end spi talking
open4416 1:b42c3522a50a 231
open4416 3:502b83f7761c 232 //for ACC config
open4416 1:b42c3522a50a 233 SPI_CSXM = 0; //start spi talking
open4416 1:b42c3522a50a 234 spi.write(CTRL_REG1_XM);
open4416 1:b42c3522a50a 235 spi.write(0x87); //data rate 400 Hz/ Enable
open4416 1:b42c3522a50a 236 SPI_CSXM = 1; //end spi talking
open4416 1:b42c3522a50a 237
open4416 1:b42c3522a50a 238 SPI_CSXM = 0; //start spi talking
open4416 1:b42c3522a50a 239 spi.write(CTRL_REG2_XM);
open4416 3:502b83f7761c 240 spi.write(0xC8); //cut off 50 Hz/ Scale +-4g
open4416 1:b42c3522a50a 241 SPI_CSXM = 1; //end spi talking
open4416 0:d68e088dfbcd 242 }
open4416 4:b9dd320947ff 243 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d68e088dfbcd 244
open4416 0:d68e088dfbcd 245
open4416 0:d68e088dfbcd 246
open4416 4:b9dd320947ff 247 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_Gdrift funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 248 void init_Gdrift(void) //initialize
open4416 4:b9dd320947ff 249 {
open4416 4:b9dd320947ff 250 for(int i=0; i<1000; i++) {
open4416 4:b9dd320947ff 251 read_IMU(); //note Gdrift = 0 at this moment
open4416 4:b9dd320947ff 252 gDIR[0][0] = gDIR[0][0] - Wx;
open4416 4:b9dd320947ff 253 gDIR[0][1] = gDIR[0][1] - Wy;
open4416 4:b9dd320947ff 254 gDIR[0][2] = gDIR[0][2] - Wz;
open4416 4:b9dd320947ff 255 wait_ms(2);
open4416 4:b9dd320947ff 256 }
open4416 4:b9dd320947ff 257 Gdx = gDIR[0][0] /1000.0f;
open4416 4:b9dd320947ff 258 Gdy = gDIR[0][1] /1000.0f;
open4416 4:b9dd320947ff 259 Gdz = gDIR[0][2] /1000.0f;
open4416 4:b9dd320947ff 260 // pc.printf("%.4f,%.4f,%.4f\r", Gdx, Gdy, Gdz);
open4416 4:b9dd320947ff 261 gDIR[0][0] = 0;
open4416 4:b9dd320947ff 262 gDIR[0][1] = 0;
open4416 4:b9dd320947ff 263 gDIR[0][2] = -1;
open4416 4:b9dd320947ff 264 }
open4416 4:b9dd320947ff 265 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_Gdrift funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 266
open4416 4:b9dd320947ff 267
open4416 4:b9dd320947ff 268
open4416 4:b9dd320947ff 269 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓read_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 3:502b83f7761c 270 void read_IMU(void) //read IMU data give raw data
open4416 0:d68e088dfbcd 271 {
open4416 3:502b83f7761c 272 //Wx
open4416 3:502b83f7761c 273 SPI_CSG = 0; //start spi talking Wx
open4416 3:502b83f7761c 274 spi.write(0xE8); //read B11101000 read/multi/address
open4416 3:502b83f7761c 275 low_byte = spi.write(0);
open4416 3:502b83f7761c 276 high_byte = spi.write(0);
open4416 3:502b83f7761c 277 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 278 SPI_CSG = 1; //end spi talking
open4416 4:b9dd320947ff 279 // Wx = Buff * Gpx + Gdx;
open4416 4:b9dd320947ff 280 Wx = lpf(Buff * Gpx + Gdx, Wx, 18.0f);
open4416 3:502b83f7761c 281 //Wy
open4416 3:502b83f7761c 282 SPI_CSG = 0; //start spi talking Wx
open4416 3:502b83f7761c 283 spi.write(0xEA); //read B11101010 read/multi/address
open4416 3:502b83f7761c 284 low_byte = spi.write(0);
open4416 3:502b83f7761c 285 high_byte = spi.write(0);
open4416 3:502b83f7761c 286 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 287 SPI_CSG = 1; //end spi talking
open4416 4:b9dd320947ff 288 // Wy = Buff * Gpy + Gdy;
open4416 4:b9dd320947ff 289 Wy = lpf(Buff * Gpy + Gdy, Wy, 18.0f);
open4416 3:502b83f7761c 290 //Wz
open4416 3:502b83f7761c 291 SPI_CSG = 0; //start spi talking Wx
open4416 3:502b83f7761c 292 spi.write(0xEC); //read B11101100 read/multi/address
open4416 3:502b83f7761c 293 low_byte = spi.write(0);
open4416 3:502b83f7761c 294 high_byte = spi.write(0);
open4416 3:502b83f7761c 295 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 296 SPI_CSG = 1; //end spi talking
open4416 4:b9dd320947ff 297 // Wz = Buff * Gpz + Gdz;
open4416 4:b9dd320947ff 298 Wz = lpf(Buff * Gpz + Gdz, Wz, 18.0f);
open4416 3:502b83f7761c 299 //Ax
open4416 3:502b83f7761c 300 SPI_CSXM = 0; //start spi talking Ax
open4416 2:0d90c0436797 301 spi.write(0xE8); //read B11101000 read/multi/address
open4416 2:0d90c0436797 302 low_byte = spi.write(0);
open4416 2:0d90c0436797 303 high_byte = spi.write(0);
open4416 3:502b83f7761c 304 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 305 SPI_CSXM = 1; //end spi talking
open4416 4:b9dd320947ff 306 Ax = lpf(Buff*Apx + Adx, Ax, 15.0f);
open4416 3:502b83f7761c 307 //Ay
open4416 3:502b83f7761c 308 SPI_CSXM = 0; //start spi talking Ax
open4416 3:502b83f7761c 309 spi.write(0xEA); //read B11101010 read/multi/address
open4416 3:502b83f7761c 310 low_byte = spi.write(0);
open4416 3:502b83f7761c 311 high_byte = spi.write(0);
open4416 3:502b83f7761c 312 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 313 SPI_CSXM = 1; //end spi talking
open4416 4:b9dd320947ff 314 Ay = lpf(Buff*Apy + Ady, Ay, 15.0f);
open4416 3:502b83f7761c 315 //Az
open4416 3:502b83f7761c 316 SPI_CSXM = 0; //start spi talking Ax
open4416 3:502b83f7761c 317 spi.write(0xEC); //read B11101100 read/multi/address
open4416 3:502b83f7761c 318 low_byte = spi.write(0);
open4416 3:502b83f7761c 319 high_byte = spi.write(0);
open4416 3:502b83f7761c 320 Buff = high_byte << 8 |low_byte;
open4416 3:502b83f7761c 321 SPI_CSXM = 1; //end spi talking
open4416 4:b9dd320947ff 322 Az = lpf(Buff*Apz + Adz, Az, 15.0f);
open4416 3:502b83f7761c 323 }
open4416 3:502b83f7761c 324 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of read_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 1:b42c3522a50a 325
open4416 1:b42c3522a50a 326
open4416 1:b42c3522a50a 327
open4416 3:502b83f7761c 328 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓state_update funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 3:502b83f7761c 329 void state_update(void) //estimation of new attitude
open4416 3:502b83f7761c 330 {
open4416 3:502b83f7761c 331 //pridict
open4416 3:502b83f7761c 332 gDIR[0][0] = gDIR[0][0] - (Wy*gDIR[0][2] - Wz*gDIR[0][1])*dt;
open4416 3:502b83f7761c 333 gDIR[0][1] = gDIR[0][1] - (Wz*gDIR[0][0] - Wx*gDIR[0][2])*dt;
open4416 3:502b83f7761c 334 gDIR[0][2] = gDIR[0][2] - (Wx*gDIR[0][1] - Wy*gDIR[0][0])*dt;
open4416 4:b9dd320947ff 335
open4416 3:502b83f7761c 336 //update
open4416 4:b9dd320947ff 337 gDIR[0][0] = (1-Bet) * gDIR[0][0] + Bet * Ax;
open4416 4:b9dd320947ff 338 gDIR[0][1] = (1-Bet) * gDIR[0][1] + Bet * Ay;
open4416 4:b9dd320947ff 339 gDIR[0][2] = (1-Bet) * gDIR[0][2] + Bet * Az;
open4416 4:b9dd320947ff 340
open4416 3:502b83f7761c 341 //nutralizing
open4416 4:b9dd320947ff 342 gUnity = sqrt( gDIR[0][0]*gDIR[0][0] + gDIR[0][1]*gDIR[0][1] + gDIR[0][2]*gDIR[0][2] );
open4416 3:502b83f7761c 343 for(int i=0; i<3; i++) {
open4416 3:502b83f7761c 344 gDIR[0][i] = gDIR[0][i] / gUnity;
open4416 3:502b83f7761c 345 }
open4416 4:b9dd320947ff 346
open4416 4:b9dd320947ff 347 //transfer
open4416 4:b9dd320947ff 348 Ele_phy = asin(gDIR[0][0]);
open4416 4:b9dd320947ff 349 Til_phy = asin(-gDIR[0][1] / cos(Ele_phy));
open4416 4:b9dd320947ff 350 // //test
open4416 4:b9dd320947ff 351 // gDIR[0][0] = gDIR[0][0] + Wx*dt;
open4416 4:b9dd320947ff 352 // gDIR[0][1] = gDIR[0][1] + Wy*dt;
open4416 4:b9dd320947ff 353 // gDIR[0][2] = gDIR[0][2] + Wz*dt;
open4416 0:d68e088dfbcd 354 }
open4416 4:b9dd320947ff 355 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of state_update funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 356
open4416 4:b9dd320947ff 357
open4416 4:b9dd320947ff 358
open4416 4:b9dd320947ff 359 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓RR funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 360 void RR() //status generator
open4416 4:b9dd320947ff 361 {
open4416 4:b9dd320947ff 362 Ele_phy_int = Ele_phy_int + Ele_phy*dt;
open4416 4:b9dd320947ff 363 Til_phy_int = Til_phy_int + Til_phy*dt;
open4416 4:b9dd320947ff 364 Ele_phy_int = constrain(Ele_phy_int,-0.01f,0.01f);
open4416 4:b9dd320947ff 365 Til_phy_int = constrain(Til_phy_int,-0.01f,0.01f);
open4416 4:b9dd320947ff 366
open4416 4:b9dd320947ff 367 VEC[0][4] = -9.5f*Ele_phy - 0.17f*Wy - 60.0f*Ele_phy_int;
open4416 4:b9dd320947ff 368 VEC[0][5] = -9.5f*Til_phy - 0.17f*Wx - 60.0f*Til_phy_int;
open4416 4:b9dd320947ff 369
open4416 4:b9dd320947ff 370 VEC[0][4] = constrain(VEC[0][4],-0.30f,0.30f);
open4416 4:b9dd320947ff 371 VEC[0][5] = constrain(VEC[0][5],-0.30f,0.30f);
open4416 4:b9dd320947ff 372 }
open4416 4:b9dd320947ff 373 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of RR funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 374
open4416 4:b9dd320947ff 375
open4416 4:b9dd320947ff 376
open4416 4:b9dd320947ff 377 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓stPF_lenth_uni funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 378 void stPF_lenth_uni() //referenve generator
open4416 4:b9dd320947ff 379 {
open4416 4:b9dd320947ff 380 Rtot[0][0] = cos(VEC[0][4])*cos(VEC[0][3]);
open4416 4:b9dd320947ff 381 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 382 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 383 Rtot[1][0] = cos(VEC[0][4])*sin(VEC[0][3]);
open4416 4:b9dd320947ff 384 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 385 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 386 Rtot[2][0] = - sin(VEC[0][4]);
open4416 4:b9dd320947ff 387 Rtot[2][1] = cos(VEC[0][4])*sin(VEC[0][5]);
open4416 4:b9dd320947ff 388 Rtot[2][2] = cos(VEC[0][4])*cos(VEC[0][5]);
open4416 4:b9dd320947ff 389
open4416 4:b9dd320947ff 390 for(int j=0; j<6; j++) { //reset C
open4416 4:b9dd320947ff 391 for(int i=0; i<3; i++) {
open4416 4:b9dd320947ff 392 C[i][j] = 0;
open4416 4:b9dd320947ff 393 }
open4416 4:b9dd320947ff 394 }
open4416 4:b9dd320947ff 395
open4416 4:b9dd320947ff 396 for(int i=0; i<6; i++) { //(RR.' * B)
open4416 4:b9dd320947ff 397 for(int j=0; j<3; j++) {
open4416 4:b9dd320947ff 398 for(int k=0; k<3; k++) {
open4416 4:b9dd320947ff 399 C[j][i] = Rtot[j][k] * B[k][i] + C[j][i];
open4416 4:b9dd320947ff 400 }
open4416 4:b9dd320947ff 401 }
open4416 4:b9dd320947ff 402 }
open4416 4:b9dd320947ff 403
open4416 4:b9dd320947ff 404 for(int j=0; j<6; j++) { //+ [X,Y,Z]
open4416 4:b9dd320947ff 405 for(int i=0; i<3; i++) {
open4416 4:b9dd320947ff 406 C[i][j] = C[i][j] + VEC[0][i];
open4416 4:b9dd320947ff 407 }
open4416 4:b9dd320947ff 408 }
open4416 4:b9dd320947ff 409 for(int i=0; i<6; i++) {
open4416 4:b9dd320947ff 410 float X = C[0][i]-A[0][i];
open4416 4:b9dd320947ff 411 float Y = C[1][i]-A[1][i];
open4416 4:b9dd320947ff 412 float Z = C[2][i]-A[2][i];
open4416 4:b9dd320947ff 413 L[0][i] = sqrt(X*X+Y*Y+Z*Z);
open4416 4:b9dd320947ff 414 }
open4416 4:b9dd320947ff 415 }
open4416 4:b9dd320947ff 416 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of stPF_lenth_uni funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 417
open4416 4:b9dd320947ff 418
open4416 4:b9dd320947ff 419
open4416 4:b9dd320947ff 420 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓stPF_travle_R funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 421 void stPF_travle_R() //lenth to pwm pulse width
open4416 4:b9dd320947ff 422 {
open4416 4:b9dd320947ff 423 for(int i=0; i<6; i++) {
open4416 4:b9dd320947ff 424 A_R = ( L[0][i] - L90 + sqrt( Llink*Llink - Larm*Larm ) ) /Larm;
open4416 4:b9dd320947ff 425 B_R = Llink/Larm;
open4416 4:b9dd320947ff 426 C_R = ( A_R*A_R - B_R*B_R + 1 ) /(A_R*2);
open4416 4:b9dd320947ff 427 PWM[0][i] = -asin(C_R)*573 + PWM_base[0][i];
open4416 4:b9dd320947ff 428 }
open4416 4:b9dd320947ff 429 }
open4416 4:b9dd320947ff 430 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of stPF_travle_R funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 4:b9dd320947ff 431
open4416 4:b9dd320947ff 432
open4416 4:b9dd320947ff 433
open4416 4:b9dd320947ff 434 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓lpf funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 4:b9dd320947ff 435 float lpf(float input, float output_old, float frequency)
open4416 4:b9dd320947ff 436 {
open4416 4:b9dd320947ff 437 float output = 0;
open4416 4:b9dd320947ff 438 output = (output_old + frequency*dt*input) / (1 + frequency*dt);
open4416 4:b9dd320947ff 439 return output;
open4416 4:b9dd320947ff 440 }
open4416 4:b9dd320947ff 441 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of lpf funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//