IMU.c ( File view )

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			/* IMU.c file
编写者:lisn3188
网址:www.chiplab7.com
作者E-mail:lisn3188@163.com
编译环境:MDK-Lite  Version: 4.23
初版时间: 2012-06-25
测试: 本程序已在第七实验室的[Captain 飞控板]上完成测试

占用STM32 资源:
1. 使用Tim7定时器 产生us级的系统时间

功能:
姿态解算 IMU
将传感器的输出值进行姿态解算。得到目标载体的俯仰角和横滚角 和航向角
------------------------------------
 */

#include "IMU.h"

volatile float exInt, eyInt, ezInt;  // 误差积分
volatile float integralFBx,integralFBy,integralFBz;
volatile float q0, q1, q2, q3; // 全局四元数
volatile float qa0, qa1, qa2, qa3;
volatile float integralFBhand,handdiff;
volatile double halftime ;
volatile uint32_t lastUpdate, now; // 采样周期计数 单位 us
volatile uint16_t sysytem_time_ms=0;
volatile float IMU_Pitch, IMU_Roll, IMU_Yaw;
volatile float  IMU_GYROx, IMU_GYROy, IMU_GYROz;
volatile unsigned char IMU_inited = 0;
volatile uint16_t imu_clce =0;
float acc_vector = 0;  //当前加速度感应到的力合  M/S^2

// Fast inverse square-root
/**************************实现函数********************************************
*函数原型:	   float invSqrt(float x)
*功  能:	   快速计算 1/Sqrt(x) 	
输入参数: 要计算的值
输出参数: 结果
*******************************************************************************/
float invSqrt(float x) {

	float halfx = 0.5f * x;
	float y = x;
	long i = *(long*)&y;
	i = 0x5f3759df - (i>>1);
	y = *(float*)&i;
	y = y * (1.5f - (halfx * y * y));
	return y;

}

/**************************实现函数********************************************
*函数原型:	   void IMU_init(void)
*功  能:	  初始化IMU相关	
			  初始化各个传感器
			  初始化四元数
			  将积分清零
			  更新系统时间
输入参数:无
输出参数:没有
*******************************************************************************/
void IMU_init(void)
{
	 
	MAX21000_Initial();
	LSM303_Initial();
	delay_ms(10);
	MAX21000_Initial();
	LSM303_Initial();
	delay_ms(10);
	MAX21000_Initial();
	LSM303_Initial();
	delay_ms(10);
	MS561101BA_init();
	// initialize quaternion
  	q0 = 1.0f;  //初始化四元数
  	q1 = 0.0f;
  	q2 = 0.0f;
  	q3 = 0.0f;
	qa0 = 1.0f;  //初始化四元数
  	qa1 = 0.0f;
  	qa2 = 0.0f;
  	qa3 = 0.0f;
  	exInt = 0.0;
  	eyInt = 0.0;
  	ezInt = 0.0;
	integralFBx = 0.0;
	integralFBy = 0.0; 
	integralFBz	= 0.0;
  	lastUpdate = micros();//更新时间
  	now = micros();

}

/**************************实现函数********************************************
*函数原型:	   void IMU_getValues(float * values)
*功  能:	 读取加速度 陀螺仪 磁力计 的当前值  
输入参数: 将结果存放的数组首地址
输出参数:没有
*******************************************************************************/
#define new_weight 0.5f
#define old_weight 0.5f

void IMU_getValues(float * values) {
  
	int16_t accgyroval[9];
	static  float lastacc[3]= {
0,0,0
};
	int i;
	//读取加速度和陀螺仪的当前ADC
    //MPU6050_getMotion6(&accgyroval[0], &accgyroval[1], &accgyroval[2], &accgyroval[3], &accgyroval[4], &accgyroval[5]);
    LSM303_readAcc(&accgyroval[0]);	  //加速度
	MAX21000_readGyro(&accgyroval[3]); //陀螺仪
	LSM303_readMag(&accgyroval[6]);	//读取磁力计的ADC值
	for(i = 0; i<6; i++) {

      if(i < 3) {

        values[i] = (float) accgyroval[i] * new_weight +lastacc[i] * old_weight ;
		lastacc[i] = values[i];
      
}
      else {

        values[i] = ((float) accgyroval[i]) / 15.0f; //转成度每秒
		//这里已经将量程改成了 2000度每秒  15.0 对应 1度每秒
      
}
    
}	
	values[6] = (float)accgyroval[6];
	values[7] = (float)accgyroval[7];
	values[8] = (float)accgyroval[8];
	IMU_GYROx = accgyroval[3] / 15.0f;
	IMU_GYROy = accgyroval[4] / 15.0f;
	IMU_GYROz = accgyroval[5] / 15.0f;
	

}


/**************************实现函数********************************************
*函数原型:	   void IMU_AHRSupdate
*功  能:	 更新AHRS 更新四元数 
输入参数: 当前的测量值。
输出参数:没有
*******************************************************************************/
#define Kp 2.0f   // proportional gain governs rate of convergence to accelerometer/magnetometer
#define Ki 0.03f   // integral gain governs rate of convergence of gyroscope biases

void IMU_AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {

  volatile float norm;
  volatile float hx, hy, hz, bx, bz;
  volatile float vx, vy, vz, wx, wy, wz;
  volatile float ex, ey, ez,halfT;
  float temp0,temp1,temp2,temp3;
  float temp;
  // 先把这些用得到的值算好
  float q0q0 = q0*q0;
  float q0q1 = q0*q1;
  float q0q2 = q0*q2;
  float q0q3 = q0*q3;
  float q1q1 = q1*q1;
  float q1q2 = q1*q2;
  float q1q3 = q1*q3;
  float q2q2 = q2*q2;   
  float q2q3 = q2*q3;
  float q3q3 = q3*q3;          
  
  now = micros();  //读取时间
  if(now < lastUpdate){
 //定时器溢出过了。
		halfT =  ((float)(now + (0xffffffff- lastUpdate)) / 2000000.0f);	
		lastUpdate = now;
		//return ;
  
}
  else{

		halfT =  ((float)(now - lastUpdate) / 2000000.0f);
  	
}
  halftime = halfT;
  lastUpdate = now;	//更新时间

  temp = sqrt(ax*ax + ay*ay + az*az);
  temp = (temp / 16384.0f) * 9.8f;   //转成M/S^2为单位的 
  acc_vector = acc_vector +   //低通滤波。截止频率20hz
  			(halfT*2.0f / (7.9577e-3f + halfT*2.0f)) * (temp - acc_vector);

  norm = invSqrt(ax*ax + ay*ay + az*az);       
  ax = ax * norm;
  ay = ay * norm;
  az = az * norm;

  norm = invSqrt(mx*mx + my*my + mz*mz);          
  mx = mx * norm;
  my = my * norm;
  mz = mz * norm;

  // compute reference direction of flux
  hx = 2*mx*(0.5f - q2q2 - q3q3) + 2*my*(q1q2 - q0q3) + 2*mz*(q1q3 + q0q2);
  hy = 2*mx*(q1q2 + q0q3) + 2*my*(0.5f - q1q1 - q3q3) + 2*mz*(q2q3 - q0q1);
  hz = 2*mx*(q1q3 - q0q2) + 2*my*(q2q3 + q0q1) + 2*mz*(0.5f - q1q1 - q2q2);         
  bx = sqrt((hx*hx) + (hy*hy));
  bz = hz;     
  
  // estimated direction of gravity and flux (v and w)
  vx = 2*(q1q3 - q0q2);
  vy = 2*(q0q1 + q2q3);
  vz = q0q0 - q1q1 - q2q2 + q3q3;
  wx = 2*bx*(0.5f - q2q2 - q3q3) + 2*bz*(q1q3 - q0q2);
  wy = 2*bx*(q1q2 - q0q3) + 2*bz*(q0q1 + q2q3);
  wz = 2*bx*(q0q2 + q1q3) + 2*bz*(0.5f - q1q1 - q2q2);  
  
  // error is sum of cross product between reference direction of fields and direction measured by sensors
  ex = (ay*vz - az*vy) + (my*wz - mz*wy);
  ey = (az*vx - ax*vz) + (mz*wx - mx*wz);
  ez = (ax*vy - ay*vx) + (mx*wy - my*wx);

if(ex != 0.0f && ey != 0.0f && ez != 0.0f){

  exInt = exInt + ex * Ki * halfT;
  eyInt = eyInt + ey * Ki * halfT;	
  ezInt = ezInt + ez * Ki * halfT;

  // adjusted gyroscope measurements
  gx = gx + (Kp*ex + exInt);
  gy = gy + (Kp*ey + eyInt);
  gz = gz + (Kp*ez + ezInt);

  
}

  // integrate quaternion rate and normalise
  temp0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
  temp1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;
  temp2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;
  temp3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;  
  
  // normalise quaternion
  norm = invSqrt(temp0*temp0 + temp1*temp1 + temp2*temp2 + temp3*temp3);
  q0 = temp0 * norm;
  q1 = temp1 * norm;
  q2 = temp2 * norm;
  q3 = temp3 * norm;

}


#define twoKpDef  (1.0f ) // 2 * proportional gain
#define twoKiDef  (0.2f) // 2 * integral gain

void FreeIMU_AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az) {

  float norm;
//  float hx, hy, hz, bx, bz;
  float vx, vy, vz;
  float ex, ey, ez;
  float temp0,temp1,temp2,temp3;

  // 先把这些用
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hmc5883l.crf455.14 kB2014-02-20|22:47
hmc5883l.d3.06 kB2014-02-20|22:47
hmc5883l.o498.88 kB2014-02-20|22:47
hmc5883l.__i990.00 B2014-02-20|22:47
imu.crf457.10 kB2014-09-30|11:21
imu.d2.77 kB2014-09-30|11:21
imu.o495.16 kB2014-09-30|11:21
ioi2c.crf421.17 kB2014-09-30|11:22
ioi2c.d1.78 kB2014-09-30|11:22
ioi2c.o459.73 kB2014-09-30|11:22
led.crf418.07 kB2014-09-30|11:21
led.d1.69 kB2014-09-30|11:21
led.o441.42 kB2014-09-30|11:21
lsm303d.crf453.87 kB2014-09-30|11:22
lsm303d.d3.03 kB2014-09-30|11:22
lsm303d.o488.79 kB2014-09-30|11:22
main.crf463.30 kB2014-09-30|11:21
main.d2.99 kB2014-09-30|11:21
main.o492.65 kB2014-09-30|11:21
max21000.crf453.19 kB2014-09-30|11:22
max21000.d3.09 kB2014-09-30|11:22
max21000.o483.38 kB2014-09-30|11:22
misc.crf416.02 kB2014-09-30|11:21
misc.d1.66 kB2014-09-30|11:21
misc.o440.02 kB2014-09-30|11:21
mpu6050.crf470.47 kB2014-02-20|22:47
mpu6050.d3.05 kB2014-02-20|22:47
mpu6050.o510.14 kB2014-02-20|22:47
mpu6050.__i985.00 B2014-02-20|22:47
ms5611.crf455.11 kB2014-09-30|11:21
ms5611.d2.91 kB2014-09-30|11:21
ms5611.o499.88 kB2014-09-30|11:21
osqmem.crf420.87 kB2014-09-30|11:22
osqmem.d1.82 kB2014-09-30|11:22
osqmem.o443.41 kB2014-09-30|11:22
pid.crf3.46 kB2014-09-30|11:22
pid.d84.00 B2014-09-30|11:22
pid.o24.76 kB2014-09-30|11:22
pwm_input.crf420.54 kB2014-09-30|11:21
pwm_input.d1.99 kB2014-09-30|11:21
pwm_input.o453.93 kB2014-09-30|11:21
pwm_output.crf458.55 kB2014-09-30|11:22
pwm_output.d3.32 kB2014-09-30|11:22
pwm_output.o490.34 kB2014-09-30|11:22
quadrotor.crf458.90 kB2014-09-30|11:22
quadrotor.d3.26 kB2014-09-30|11:22
quadrotor.o502.92 kB2014-09-30|11:22
sd_init.crf421.82 kB2014-09-30|11:22
sd_init.d1.83 kB2014-09-30|11:22
sd_init.o464.06 kB2014-09-30|11:22
spi3.crf452.77 kB2014-09-30|11:22
spi3.d2.79 kB2014-09-30|11:22
spi3.o479.34 kB2014-09-30|11:22
startup_stm32f4xx.d59.00 B2014-09-30|11:21
startup_stm32f4xx.o7.73 kB2014-09-30|11:21
stm32adc.crf416.63 kB2014-09-30|11:21
stm32adc.d1.84 kB2014-09-30|11:21
stm32adc.o444.02 kB2014-09-30|11:21
stm32f4xx_adc.crf422.59 kB2014-09-30|11:21
stm32f4xx_adc.d2.01 kB2014-09-30|11:21
stm32f4xx_adc.o487.58 kB2014-09-30|11:21
stm32f4xx_dbgmcu.crf415.63 kB2014-09-30|11:21
stm32f4xx_dbgmcu.d2.12 kB2014-09-30|11:21
stm32f4xx_dbgmcu.o440.03 kB2014-09-30|11:21
stm32f4xx_dcmi.crf417.75 kB2014-09-30|11:21
stm32f4xx_dcmi.d2.04 kB2014-09-30|11:21
stm32f4xx_dcmi.o453.16 kB2014-09-30|11:21
stm32f4xx_dma.crf422.48 kB2014-09-30|11:21
stm32f4xx_dma.d2.01 kB2014-09-30|11:21
stm32f4xx_dma.o461.39 kB2014-09-30|11:21
stm32f4xx_exti.crf416.59 kB2014-09-30|11:21
stm32f4xx_exti.d2.04 kB2014-09-30|11:21
stm32f4xx_exti.o444.07 kB2014-09-30|11:21
stm32f4xx_flash.crf420.54 kB2014-09-30|11:21
stm32f4xx_flash.d2.08 kB2014-09-30|11:21
stm32f4xx_flash.o475.34 kB2014-09-30|11:21
stm32f4xx_gpio.crf417.89 kB2014-09-30|11:21
stm32f4xx_gpio.d2.04 kB2014-09-30|11:21
stm32f4xx_gpio.o453.07 kB2014-09-30|11:21
stm32f4xx_it.crf415.49 kB2014-09-30|11:21
stm32f4xx_it.d1.97 kB2014-09-30|11:21
stm32f4xx_it.o444.81 kB2014-09-30|11:21
stm32f4xx_pwr.crf417.44 kB2014-09-30|11:21
stm32f4xx_pwr.d2.01 kB2014-09-30|11:21
stm32f4xx_pwr.o449.88 kB2014-09-30|11:21
stm32f4xx_rcc.crf424.55 kB2014-09-30|11:21
stm32f4xx_rcc.d2.01 kB2014-09-30|11:21
stm32f4xx_rcc.o495.22 kB2014-09-30|11:21
stm32f4xx_rng.crf415.92 kB2014-09-30|11:21
stm32f4xx_rng.d2.01 kB2014-09-30|11:21
stm32f4xx_rng.o443.76 kB2014-09-30|11:21
stm32f4xx_rtc.crf433.11 kB2014-09-30|11:21
stm32f4xx_rtc.d2.01 kB2014-09-30|11:21
stm32f4xx_rtc.o516.53 kB2014-09-30|11:21
stm32f4xx_sdio.crf419.94 kB2014-09-30|11:21
stm32f4xx_sdio.d2.04 kB2014-09-30|11:21
stm32f4xx_sdio.o474.00 kB2014-09-30|11:21
stm32f4xx_spi.crf420.43 kB2014-09-30|11:21
stm32f4xx_spi.d2.01 kB2014-09-30|11:21
stm32f4xx_spi.o468.64 kB2014-09-30|11:21
stm32f4xx_syscfg.crf416.09 kB2014-09-30|11:21
stm32f4xx_syscfg.d2.12 kB2014-09-30|11:21
stm32f4xx_syscfg.o441.90 kB2014-09-30|11:21
stm32f4xx_tim.crf435.53 kB2014-09-30|11:21
stm32f4xx_tim.d2.01 kB2014-09-30|11:21
stm32f4xx_tim.o563.30 kB2014-09-30|11:21
stm32f4xx_usart.crf420.95 kB2014-09-30|11:21
stm32f4xx_usart.d2.08 kB2014-09-30|11:21
stm32f4xx_usart.o474.46 kB2014-09-30|11:21
stm32f4xx_wwdg.crf416.16 kB2014-09-30|11:21
stm32f4xx_wwdg.d2.04 kB2014-09-30|11:21
stm32f4xx_wwdg.o443.88 kB2014-09-30|11:21
system_stm32f4xx.crf417.16 kB2014-09-30|11:21
system_stm32f4xx.d2.06 kB2014-09-30|11:21
system_stm32f4xx.o438.50 kB2014-09-30|11:21
uart1.crf455.77 kB2014-09-30|11:22
uart1.d2.97 kB2014-09-30|11:22
uart1.o490.19 kB2014-09-30|11:22
ultrasonic.crf420.98 kB2014-09-30|11:22
ultrasonic.d2.09 kB2014-09-30|11:22
ultrasonic.o451.47 kB2014-09-30|11:22
usart1dmatx.crf418.27 kB2014-09-30|11:22
usart1dmatx.d2.02 kB2014-09-30|11:22
usart1dmatx.o444.86 kB2014-09-30|11:22
Protel76.01 kB2013-11-26|21:29
01.97 kB
startup_stm32f4xx.s28.82 kB2011-10-28|10:31
system_stm32f4xx.c21.36 kB2013-06-17|19:09
system_stm32f4xx.h2.05 kB2011-10-28|10:31
startup_stm32f4xx.lst73.83 kB2014-09-30|11:21
01.97 kB
main.c9.82 kB2014-02-27|11:56
main.h1.86 kB2012-11-15|11:46
Read_Me.txt6.96 kB2013-12-16|21:46
stm32f4xx_conf.h3.71 kB2013-03-05|14:42
stm32f4xx_it.c4.34 kB2013-03-05|12:05
stm32f4xx_it.h2.00 kB2013-03-05|12:06
...
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