/** * @file motion_driver_example.c * @author greedyhao * @brief 硬件平台基于stm32f767与mpu6050 * @version 0.1 * @date 2019-05-03 * * @copyright Copyright (c) 2019 * */ #include #include // #define MD_DEBUG #define LOG_TAG "md.example" #include "md_log.h" #include "MD_Ported_to_RTT.h" #include "motion_driver_example.h" #include "inv_mpu.h" #include "inv_mpu_dmp_motion_driver.h" #include "invensense.h" #include "invensense_adv.h" #include "eMPL_outputs.h" #include "mltypes.h" #include "mpu.h" #include "log.h" #include "packet.h" /* Private typedef -----------------------------------------------------------*/ /* The bus name of the mpu. */ #define RT_MPU_DEVICE_NAME "i2c1" unsigned char *mpl_key = (unsigned char*)"eMPL 5.1"; extern struct rt_mpu_device *mpu_dev; extern int mpu_dev_init_flag; /* Flag to show if the mpu device is inited. */ //q30，q16格式,long转float时的除数. #define q30 1073741824.0f #define q16 65536.0f //陀螺仪方向设置 static signed char gyro_orientation[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 1}; // //磁力计方向设置 // static signed char comp_orientation[9] = { 0, 1, 0, // 1, 0, 0, // 0, 0,-1}; #define EVENT_MD_LOOP (1<<0) static struct rt_timer timer_motion; static struct rt_event event_motion; static void timer_motion_update(void* parameter) { rt_event_send(&event_motion, EVENT_MD_LOOP); } void motion_loop(float pitch,float roll,float yaw) { char str[48]; if(mpu_mpl_get_data(&pitch,&roll,&yaw)==0) { sprintf(str,"pitch=%0.1f\troll=%0.1f\t",pitch,roll); // sprintf(str,"pitch=%0.1f\troll=%0.1f\tyaw=%0.1f",pitch,roll,yaw); LOG_I(str); } } void motion_entry(void *parameter) { rt_err_t res; rt_uint32_t recv_set = 0; rt_uint32_t wait_set = EVENT_MD_LOOP; struct int_param_s int_param; unsigned char accel_fsr; unsigned short gyro_rate, gyro_fsr; float pitch,roll,yaw; //欧拉角 short aacx,aacy,aacz; //加速度传感器原始数据 // short gyrox,gyroy,gyroz; //陀螺仪原始数据 // unsigned short compass_fsr; /* Initialize mpu6xxx, The parameter is RT_NULL, means auto probing for i2c*/ mpu_dev = rt_mpu_init(RT_MPU_DEVICE_NAME, RT_NULL); if (!mpu_dev) return -1; else mpu_dev_init_flag = 1; res = mpu_init(&int_param); LOG_D("mpu_init end"); if (res) { LOG_E("Could not initialize gyro."); } else { LOG_D("inv_init_mpl.."); res = inv_init_mpl(); //初始化MPL if (res) return 1; inv_enable_quaternion(); inv_enable_9x_sensor_fusion(); inv_enable_fast_nomot(); inv_enable_gyro_tc(); // inv_enable_vector_compass_cal(); // inv_enable_magnetic_disturbance(); inv_enable_eMPL_outputs(); LOG_D("inv_start_mpl.."); res = inv_start_mpl(); //开启MPL if(res) return 1; LOG_D("mpu_set_sensors.."); res = mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);//设置所需要的传感器 rt_thread_mdelay(3); if (res) return 2; LOG_D("mpu_configure_fifo.."); res = mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL); //设置FIFO if (res) return 3; LOG_D("mpu_set_sample_rate.."); res = mpu_set_sample_rate(DEFAULT_MPU_HZ); //设置采样率 if (res) return 4; // LOG_D("mpu_set_compass_sample_rate.."); // res=mpu_set_compass_sample_rate(1000/COMPASS_READ_MS); //设置磁力计采样率 // if(res)return 5; mpu_get_sample_rate(&gyro_rate); mpu_get_gyro_fsr(&gyro_fsr); mpu_get_accel_fsr(&accel_fsr); // mpu_get_compass_fsr(&compass_fsr); inv_set_gyro_sample_rate(1000000L/gyro_rate); inv_set_accel_sample_rate(1000000L/gyro_rate); // inv_set_compass_sample_rate(COMPASS_READ_MS*1000L); inv_set_gyro_orientation_and_scale( inv_orientation_matrix_to_scalar(gyro_orientation),(long)gyro_fsr<<15); inv_set_accel_orientation_and_scale( inv_orientation_matrix_to_scalar(gyro_orientation),(long)accel_fsr<<15); // inv_set_compass_orientation_and_scale( // inv_orientation_matrix_to_scalar(comp_orientation),(long)compass_fsr<<15); LOG_D("dmp_load_motion_driver_firmware.."); res = dmp_load_motion_driver_firmware(); //加载dmp固件 if (res) return 6; LOG_D("dmp_set_orientation.."); res = dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));//设置陀螺仪方向 if (res) return 7; LOG_D("dmp_enable_feature.."); res = dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_TAP| //设置dmp功能 DMP_FEATURE_ANDROID_ORIENT|DMP_FEATURE_SEND_RAW_ACCEL|DMP_FEATURE_SEND_CAL_GYRO| DMP_FEATURE_GYRO_CAL); if (res) return 8; LOG_D("dmp_set_fifo_rate.."); res = dmp_set_fifo_rate(DEFAULT_MPU_HZ); //设置DMP输出速率(最大不超过200Hz) if (res) return 9; LOG_D("run_self_test.."); res = run_self_test(); //自检 if (res) return 10; LOG_D("mpu_set_dmp_state.."); res = mpu_set_dmp_state(1); //使能DMP if (res) return 11; } mpu_reset_fifo(); /* initial codes .. */ /* create event */ res = rt_event_init(&event_motion, "event_motion", RT_IPC_FLAG_FIFO); /* register timer event */ rt_timer_init(&timer_motion, "timer_motion", timer_motion_update, RT_NULL, 1, RT_TIMER_FLAG_PERIODIC | RT_TIMER_FLAG_SOFT_TIMER); rt_timer_start(&timer_motion); while(1) { res = rt_event_recv(&event_motion, wait_set, RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, RT_WAITING_FOREVER, &recv_set); if(res == RT_EOK){ if(recv_set & EVENT_MD_LOOP){ motion_loop(pitch,roll,yaw); } } } } int motion_init(void) { rt_thread_t thread = RT_NULL; thread = rt_thread_create("motion_d", motion_entry, RT_NULL, 1024, 10, 5); if(thread == RT_NULL) { return RT_ERROR; } rt_thread_startup(thread); return RT_EOK; } // INIT_APP_EXPORT(motion_init); MSH_CMD_EXPORT(motion_init, motion driver init); /** * @brief MPU6050自测试 * * @return uint8_t 0,正常 其他,失败 */ uint8_t run_self_test(void) { int result; //char test_packet[4] = {0}; long gyro[3], accel[3]; result = mpu_run_self_test(gyro, accel); if (result == 0x7) { /* Test passed. We can trust the gyro data here, so let's push it down * to the DMP. */ unsigned short accel_sens; float gyro_sens; mpu_get_gyro_sens(&gyro_sens); gyro[0] = (long)(gyro[0] * gyro_sens); gyro[1] = (long)(gyro[1] * gyro_sens); gyro[2] = (long)(gyro[2] * gyro_sens); //inv_set_gyro_bias(gyro, 3); dmp_set_gyro_bias(gyro); mpu_get_accel_sens(&accel_sens); accel[0] *= accel_sens; accel[1] *= accel_sens; accel[2] *= accel_sens; // inv_set_accel_bias(accel, 3); dmp_set_accel_bias(accel); return 0; }else return 1; } /** * @brief 得到dmp处理后的数据(注意,本函数需要比较多堆栈,局部变量有点多) * * @param pitch 俯仰角 精度:0.1° 范围:-90.0° <---> +90.0° * @param roll 横滚角 精度:0.1° 范围:-180.0°<---> +180.0° * @param yaw 精度:0.1° 范围:-180.0°<---> +180.0° * @return uint8_t 0,正常 其他,失败 */ uint8_t mpu_dmp_get_data(float *pitch,float *roll,float *yaw) { float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f; unsigned long sensor_timestamp; short gyro[3], accel[3], sensors; unsigned char more; long quat[4]; if(dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,&more))return 1; /* Gyro and accel data are written to the FIFO by the DMP in chip frame and hardware units. * This behavior is convenient because it keeps the gyro and accel outputs of dmp_read_fifo and mpu_read_fifo consistent. **/ /*if (sensors & INV_XYZ_GYRO ) send_packet(PACKET_TYPE_GYRO, gyro); if (sensors & INV_XYZ_ACCEL) send_packet(PACKET_TYPE_ACCEL, accel); */ /* Unlike gyro and accel, quaternions are written to the FIFO in the body frame, q30. * The orientation is set by the scalar passed to dmp_set_orientation during initialization. **/ if(sensors&INV_WXYZ_QUAT) { q0 = quat[0] / q30; //q30格式转换为浮点数 q1 = quat[1] / q30; q2 = quat[2] / q30; q3 = quat[3] / q30; //计算得到俯仰角/横滚角/航向角 *pitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; // pitch *roll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll *yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3; //yaw }else return 2; return 0; } /** * @brief 得到mpl处理后的数据(注意,本函数需要比较多堆栈,局部变量有点多) * * @param pitch pitch:俯仰角 精度:0.1° 范围:-90.0° <---> +90.0° * @param roll roll:横滚角 精度:0.1° 范围:-180.0°<---> +180.0° * @param yaw yaw:航向角 精度:0.1° 范围:-180.0°<---> +180.0° * @return uint8_t 0,正常 其他,失败 */ uint8_t mpu_mpl_get_data(float *pitch,float *roll,float *yaw) { unsigned long sensor_timestamp,timestamp; short gyro[3], accel_short[3],compass_short[3],sensors; unsigned char more; long compass[3],accel[3],quat[4],temperature; long data[9]; int8_t accuracy; if(dmp_read_fifo(gyro, accel_short, quat, &sensor_timestamp, &sensors,&more))return 1; if(sensors&INV_XYZ_GYRO) { inv_build_gyro(gyro,sensor_timestamp); //把新数据发送给MPL mpu_get_temperature(&temperature,&sensor_timestamp); inv_build_temp(temperature,sensor_timestamp); //把温度值发给MPL，只有陀螺仪需要温度值 } if(sensors&INV_XYZ_ACCEL) { accel[0] = (long)accel_short[0]; accel[1] = (long)accel_short[1]; accel[2] = (long)accel_short[2]; inv_build_accel(accel,0,sensor_timestamp); //把加速度值发给MPL } // if (!mpu_get_compass_reg(compass_short, &sensor_timestamp)) // { // compass[0]=(long)compass_short[0]; // compass[1]=(long)compass_short[1]; // compass[2]=(long)compass_short[2]; // inv_build_compass(compass,0,sensor_timestamp); //把磁力计值发给MPL // } inv_execute_on_data(); inv_get_sensor_type_euler(data,&accuracy,×tamp); *roll = (data[0]/q16); *pitch = -(data[1]/q16); *yaw = -data[2] / q16; return 0; }