void Compass_ReadMagAvg(float *v, int n)
{
float vals[3] = {};
int i = n, x;
memset(v, 0, sizeof(float[3]));
while (i--) {
Compass_ReadMag(vals);
for (x = 0; x < 3; ++x)
v[x] += vals[x];
}
for (x = 0; x < 3; ++x)
v[x] /= n;
}
void calibrate()
{
// TODO: wait for things to stabilise
//printf("Calibrating\n");
Compass_ReadAccAvg(Zaxis, 1000);
vecNorm(Zaxis);
//printf("Z: %9.3f %9.3f %9.3f\n", Zaxis[0], Zaxis[1], Zaxis[2]);
Compass_ReadMag(Xaxis);
vecNorm(Xaxis);
//printf("X: %9.3f %9.3f %9.3f\n", Xaxis[0], Xaxis[1], Xaxis[2]);
vecCross(Yaxis, Zaxis, Xaxis);
vecNorm(Yaxis);
vecCross(Xaxis, Yaxis, Zaxis);
vecNorm(Xaxis);
Gyro_ReadAngRateAvg(zeroAngRate, 100);
//printf("X: %9.3f %9.3f %9.3f\n", Xaxis[0], Xaxis[1], Xaxis[2]);
//printf("Y: %9.3f %9.3f %9.3f\n", Yaxis[0], Yaxis[1], Yaxis[2]);
//printf("Z: %9.3f %9.3f %9.3f\n", Zaxis[0], Zaxis[1], Zaxis[2]);
}
void read_imu(void)
{
//repair gyro -> set gyro to acc value
//opravy offset/rozjezd gyroskopu od prave hodnoty akcelerometru
if(gyro_cnt > reload_gyro)
{
gyrXangle = Xrot - 1;
gyrYangle = Yrot - 1;
gyro_cnt = 0;
}
/*--------------- Read Acc ---------------*/
Acc_ReadAcc(Acc_Buffer);
Acc_Buffer[0] /= 100.0f;
Acc_Buffer[1] /= 100.0f;
Acc_Buffer[2] /= 100.0f;
fNormAcc = sqrt((Acc_Buffer[0]*Acc_Buffer[0])+(Acc_Buffer[1]*Acc_Buffer[1])+(Acc_Buffer[2]*Acc_Buffer[2])); //vector length of acceleration
accXangle = -(atan2((Acc_Buffer[0]/fNormAcc),Acc_Buffer[2]/fNormAcc)*180/PI);
accYangle = -(atan2((Acc_Buffer[1]/fNormAcc),Acc_Buffer[2]/fNormAcc)*180/PI);
/*--------------- Read Gyro ---------------*/
Gyro_ReadAngRate(Gyro_Buffer);
gyrXangle = gyrXangle + ((Gyro_Buffer[0]*time));
gyrYangle = gyrYangle + ((Gyro_Buffer[1]*time));
gyrZangle = gyrZangle + ((Gyro_Buffer[2]*time));
/*--------------- Read Mag ---------------*/
Compass_ReadMag(Mag_Buffer);
Mag_angle = (atan2(Mag_Buffer[1],Mag_Buffer[0])*180/PI)-Mag_correction;
if (Mag_angle < 0) Mag_angle += 360;
/* Filter and combine acc + gyro (+ mag)*/
PitchAng = 0.98f *(PitchAng+Gyro_Buffer[0]*time) + 0.02f*accXangle;
RollAng = 0.98f *(RollAng+Gyro_Buffer[1]*time) + 0.02f*accYangle;
YawAng = 0.98f *(YawAng-Gyro_Buffer[2]*time) + 0.02f*Mag_angle;
#ifdef SEND_PROCESING_DATA
sprintf(send, "0|%f|%f|%f|%f|%f|0|\n",PitchAng,RollAng,YawAng,time,Mag_angle);
//sprintf(send, "0|%f|%f|%f|0|0|0|\n",YawAng,RollAng,PitchAng);
USART_puts(USART3, send);
#endif
//counter pocita tiky timeru
//TIM4->CNT obsahuje soucasny stav citace tiku timeru 4
counter = TIM4->CNT;
if(counter > counter_old)
{
time = (counter-counter_old)*0.0000005; //pocet tiku od minule * doba tiku
}else if(counter < counter_old) //pokud counter napocita 50000 pocita znova od 0 -> counter bude mensi nez minule
{
time = (50000-counter_old+counter)*0.0000005;
}
//Delay(5);
counter_old = TIM4->CNT; //ulozit soucasny stav counteru do counter_old
gyro_cnt++; //pocitani cyklu pro obnoveni hodnoty gyroskopu
}
int main()
{
setvbuf(stdout, NULL, _IONBF, 0);
setvbuf(stderr, NULL, _IONBF, 0);
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f30x.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f30x.c file
*/
/* SysTick end of count event each 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
/* initialise USART1 debug output (TX on pin PA9 and RX on pin PA10) */
USART1_Init();
//printf("Starting\n");
USART1_flush();
/*
printf("Initialising USB\n");
USBHID_Init();
printf("Initialising USB HID\n");
Joystick_init();
*/
/* Initialise LEDs */
//printf("Initialising LEDs\n");
int i;
for (i = 0; i < 8; ++i) {
STM_EVAL_LEDInit(leds[i]);
STM_EVAL_LEDOff(leds[i]);
}
/* Initialise gyro */
//printf("Initialising gyroscope\n");
Gyro_Init();
/* Initialise compass */
//printf("Initialising compass\n");
Compass_Init();
Delay(100);
calibrate();
int C = 0, noAccelCount = 0;
while (1) {
float *acc = accs[C&1],
*prevAcc = accs[(C&1)^1],
*vel = vels[C&1],
*prevVel = vels[(C&1)^1],
*pos = poss[C&1],
*prevPos = poss[(C&1)^1],
*angRate = angRates[C&1],
*prevAngRate = angRates[(C&1)^1],
*ang = angs[C&1],
*prevAng = angs[(C&1)^1],
*mag = mags[C&1],
*prevmag = mags[(C&1)^1];
/* Wait for data ready */
#if 0
Compass_ReadAccAvg(acc, 10);
vecMul(axes, acc);
//printf("X: %9.3f Y: %9.3f Z: %9.3f\n", acc[0], acc[1], acc[2]);
float grav = acc[2];
acc[2] = 0;
if (noAccelCount++ > 50) {
for (i = 0; i < 2; ++i) {
vel[i] = 0;
prevVel[i] = 0;
}
noAccelCount = 0;
}
if (vecLen(acc) > 50.f) {
for (i = 0; i < 2; ++i) {
vel[i] += prevAcc[i] + (acc[i]-prevAcc[i])/2.f;
pos[i] += prevVel[i] + (vel[i]-prevVel[i])/2.f;
}
noAccelCount = 0;
}
C += 1;
if (((C) & 0x7F) == 0) {
printf("%9.3f %9.3f %9.3f %9.3f %9.3f\n", vel[0], vel[1], pos[0], pos[1], grav);
//printf("%3.1f%% %d %5.1f %6.3f\n", (float) timeReadI2C*100.f / totalTime, C, (float) C*100.f / (totalTime), grav);
}
#endif
Compass_ReadMagAvg(mag, 2);
vecMul(axes, mag);
float compassAngle = atan2f(mag[1], mag[0]) * 180.f / PI;
if (compassAngle > 180.f) compassAngle -= 360.f;
//vecNorm(mag);
Gyro_ReadAngRateAvg(mag, 2);
printf("%6.3f:%6.3f,%6.3f,%6.3f\n", compassAngle, mag[0], mag[1], mag[2]);
#if 0
Gyro_ReadAngRateAvg(angRate, 2);
angRate[0] *= 180.f / PI;
angRate[1] *= 180.f / PI;
angRate[2] *= 180.f / PI;
float s[3] = {sin(angRate[0]), sin(angRate[1]), sin(angRate[2])};
float c[3] = {cos(angRate[0]), cos(angRate[1]), cos(angRate[2])};
float gyroMat[3][3] = {
{c[0]*c[1], c[0]*s[1], -s[1]},
{c[0]*s[1]*s[2]-s[0]*c[2], c[0]*c[2]+s[0]*s[1]*s[2], c[1]*s[2]},
{c[0]*s[1]*c[2]+s[0]*s[2], -c[0]*s[2]+s[0]*s[1]*c[2], c[1]*c[2]}};
/*
float gyroWorldMat[3][3];
vecMulMatTrans(gyroWorldMat, axes, gyroMat);
*ang = gyroWorldMat[2][0];
*ang += gyroWorldMat[2][1];
*ang += gyroWorldMat[2][2];
*ang /= 300.f;
static const float ANGALPHA = 0.0f;
*ang += ANGALPHA*(compassAngle - *ang);
*/
float rotObsVec[3];
memcpy(rotObsVec, axes[0], sizeof(rotObsVec));
vecMul(gyroMat, rotObsVec);
vecMul(axes, rotObsVec);
rotObsVec[2] = 0.f;
vecNorm(rotObsVec);
float angDelta = acos(rotObsVec[0]);
if (((++C) & 0x7) == 0) {
printf("%6.3f %6.3f %6.3f %6.3f\n", rotObsVec[0], rotObsVec[1], rotObsVec[2], angDelta);
}
#endif
#if 0
float angRate[3];
/* Read Gyro Angular data */
Gyro_ReadAngRate(angRate);
printf("X: %f Y: %f Z: %f\n", angRate[0], angRate[1], angRate[2]);
float MagBuffer[3] = {0.0f}, AccBuffer[3] = {0.0f};
float fNormAcc,fSinRoll,fCosRoll,fSinPitch,fCosPitch = 0.0f, RollAng = 0.0f, PitchAng = 0.0f;
float fTiltedX,fTiltedY = 0.0f;
Compass_ReadMag(MagBuffer);
Compass_ReadAcc(AccBuffer);
for(i=0;i<3;i++)
AccBuffer[i] /= 100.0f;
fNormAcc = sqrt((AccBuffer[0]*AccBuffer[0])+(AccBuffer[1]*AccBuffer[1])+(AccBuffer[2]*AccBuffer[2]));
fSinRoll = -AccBuffer[1]/fNormAcc;
fCosRoll = sqrt(1.0-(fSinRoll * fSinRoll));
fSinPitch = AccBuffer[0]/fNormAcc;
fCosPitch = sqrt(1.0-(fSinPitch * fSinPitch));
if ( fSinRoll >0)
{
if (fCosRoll>0)
{
RollAng = acos(fCosRoll)*180/PI;
}
else
{
RollAng = acos(fCosRoll)*180/PI + 180;
}
}
else
{
if (fCosRoll>0)
{
RollAng = acos(fCosRoll)*180/PI + 360;
}
else
{
RollAng = acos(fCosRoll)*180/PI + 180;
}
}
if ( fSinPitch >0)
{
if (fCosPitch>0)
{
PitchAng = acos(fCosPitch)*180/PI;
}
else
{
PitchAng = acos(fCosPitch)*180/PI + 180;
}
}
else
{
if (fCosPitch>0)
{
PitchAng = acos(fCosPitch)*180/PI + 360;
}
else
{
PitchAng = acos(fCosPitch)*180/PI + 180;
}
}
if (RollAng >=360)
{
RollAng = RollAng - 360;
}
if (PitchAng >=360)
{
PitchAng = PitchAng - 360;
}
fTiltedX = MagBuffer[0]*fCosPitch+MagBuffer[2]*fSinPitch;
fTiltedY = MagBuffer[0]*fSinRoll*fSinPitch+MagBuffer[1]*fCosRoll-MagBuffer[1]*fSinRoll*fCosPitch;
HeadingValue = (float) ((atan2f((float)fTiltedY,(float)fTiltedX))*180)/PI;
printf("Compass heading: %f\n", HeadingValue);
#endif
}
return 1;
}