msp432搭建平衡小车(二)

/*
* my_i2c.h
*
* Created on: 2021年7月29日
* Author: Administrator
*/#ifndef MY_I2C_H_
#define MY_I2C_H_#include <ti/devices/msp432p4xx/driverlib/driverlib.h>
#include <delay.h>#define SDA_IN() GPIO_setAsInputPin(GPIO_PORT_P6,GPIO_PIN4)
#define SDA_OUT() GPIO_setAsOutputPin(GPIO_PORT_P6,GPIO_PIN4)#define IIC_SCL_High() GPIO_setOutputHighOnPin(GPIO_PORT_P6,GPIO_PIN5) //SCL_High
#define IIC_SCL_Low() GPIO_setOutputLowOnPin(GPIO_PORT_P6,GPIO_PIN5) //SCL_Low
#define IIC_SDA_High() GPIO_setOutputHighOnPin(GPIO_PORT_P6,GPIO_PIN4) //SDA_High
#define IIC_SDA_Low() GPIO_setOutputLowOnPin(GPIO_PORT_P6,GPIO_PIN4) //SDA_Low
#define READ_SDA GPIO_getInputPinValue(GPIO_PORT_P6,GPIO_PIN4) //输入SDAvoid IIC_Init(void); //初始化IIC的IO口
void IIC_Start(void); //发送IIC开始信号
void IIC_Stop(void); //发送IIC停止信号
void IIC_Send_Byte(uint8_t txd); //IIC发送一个字节
uint8_t IIC_Read_Byte(unsigned char ack);//IIC读取一个字节
uint8_t IIC_Wait_Ack(void); //IIC等待ACK信号
void IIC_Ack(void); //IIC发送ACK信号
void IIC_NAck(void); //IIC不发送ACK信号#endif /* MY_I2C_H_ */

/*
* my_i2c.c
*
* Created on: 2021年7月29日
* Author: Administrator
*/#include <my_i2c.h>void IIC_Init (void){
GPIO_setAsOutputPin(GPIO_PORT_P6,GPIO_PIN5 ); //CLK
GPIO_setAsOutputPin(GPIO_PORT_P6,GPIO_PIN4);//DIN
IIC_SCL_High();
IIC_SDA_High();}void IIC_Start(void)//SDA 10 SCL 010
{
SDA_OUT(); //sda线输出
IIC_SCL_High();
IIC_SDA_High();
delay_us(4);
IIC_SDA_Low();//START:when CLK is high,DATA change form high to low
delay_us(4);
IIC_SCL_Low();//钳住I2C总线，准备发送或接收数据
}void IIC_Stop(void)//SDA 01 SCL 01
{
SDA_OUT();//sda线输出
IIC_SCL_Low();//STOP:when CLK is high DATA change form low to high
IIC_SDA_Low();
delay_us(4);
IIC_SCL_High();
IIC_SDA_High();//发送I2C总线结束信号
delay_us(4);
}
//等待应答信号到来
//返回值：1，接收应答失败
// 0，接收应答成功
uint8_t IIC_Wait_Ack(void)//
{
uint8_t cy;
SDA_IN(); //SDA设置为输入
IIC_SCL_High();delay_us(10);
IIC_SDA_High();delay_us(10);
if(READ_SDA)
{
cy=1;
IIC_SCL_Low();
return cy;
}
else
{
cy=0;
}
IIC_SCL_Low();//时钟输出0
return cy;
}
//产生ACK应答
void IIC_Ack(void)
{
IIC_SCL_Low();
SDA_OUT();
IIC_SDA_Low();
delay_us(2);
IIC_SCL_High();
delay_us(2);
IIC_SCL_Low();
}
//不产生ACK应答
void IIC_NAck(void)
{
IIC_SCL_Low();
SDA_OUT();
IIC_SDA_High();
delay_us(2);
IIC_SCL_High();
delay_us(2);
IIC_SCL_Low();
}
//IIC发送一个字节
//返回从机有无应答
//1，有应答
//0，无应答
void IIC_Send_Byte(uint8_t txd)
{
uint8_t t;
SDA_OUT();
IIC_SCL_Low();//拉低时钟开始数据传输
delay_us(2);
for(t=0;t<8;t++)
{
if(txd&0x80)
{
IIC_SDA_High();delay_us(2);
}
else
{
IIC_SDA_Low();delay_us(2);
}
txd<<=1;
IIC_SCL_High();
delay_us(4);
IIC_SCL_Low();
delay_us(2);
}
delay_us(2);}
//读1个字节，ack=1时，发送ACK，ack=0，发送nACK
uint8_t IIC_Read_Byte(unsigned char ack)
{
unsigned char i,receive=0;
SDA_IN();//SDA设置为输入
for(i=0;i<8;i++ )
{
IIC_SCL_Low();
delay_us(2);
IIC_SCL_High();
receive<<=1;
if(READ_SDA)
receive++;
delay_us(2);
}
if (!ack)
IIC_NAck();//发送nACK
else
IIC_Ack(); //发送ACK
return receive;}

/*
* MPU6050.H
*
* Created on: 2021年7月29日
* Author: Administrator
*/#ifndef MPU6050_H_
#define MPU6050_H_#include <ti/devices/msp432p4xx/driverlib/driverlib.h>
#include <stdint.h>
#include <stdbool.h>
#include <my_uart.h>
#include <my_i2c.h>
#include <delay.h>
#include <math.h>#define MPU6050_ADDR 0x68
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1a
#define MPU6050_GYRO_CONFIG 0x1b
#define MPU6050_ACCEL_CONFIG 0x1c
#define MPU6050_WHO_AM_I 0x75
#define MPU6050_PWR_MGMT_1 0x6b
#define MPU6050_PWR_MGMT_2 0x6c
#define MPU_ACCEL_XOUTH_REG 0x3b
#define MPU_GYRO_XOUTH_REG 0x43
#define MPU6050_TEMP_H 0x41
#define MPU6050_TEMP_L 0x42
#define MPU_DEVICE_ID_REG 0x75
typedef uint8_t u8;
typedef uint16_t u16;#define PI 3.1415926535897932384626433832795extern int16_t rawAccX, rawAccY, rawAccZ,rawGyroX, rawGyroY, rawGyroZ;
extern float gyroXoffset, gyroYoffset, gyroZoffset;
extern float temp, accX, accY, accZ, gyroX, gyroY, gyroZ;
extern float angleGyroX, angleGyroY, angleGyroZ,angleAccX, angleAccY, angleAccZ;
extern float angleX, angleY, angleZ;
extern uint32_t timer;
extern float accCoef;
extern float gyroCoef;u8 MPU_Init(void);
void calcGyroOffsets(void);
void mpu_update(void);
u8 MPU_Set_Gyro_Fsr(u8 fsr);
u8 MPU_Set_Accel_Fsr(u8 fsr);
u8 MPU_Set_LPF(u16 lpf);
u8 MPU_Set_Rate(u16 rate);
short MPU_Get_Temperature();
u8 MPU_Get_Gyroscope(int16_t *gx,int16_t *gy,int16_t *gz);
u8 MPU_Get_Accelerometer(int16_t *ax,int16_t *ay,int16_t *az);
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf);
u8 MPU_Write_Byte(u8 reg,u8 data);
u8 MPU_Read_Byte(u8 reg);#endif /* MPU6050_H_ */

/*
* MPU6050.C
*
* Created on: 2021年7月29日
* Author: Administrator
*/#include <MPU6050.H>int16_t rawAccX, rawAccY, rawAccZ,rawGyroX, rawGyroY, rawGyroZ;
float gyroXoffset, gyroYoffset, gyroZoffset;
float temp, accX, accY, accZ, gyroX, gyroY, gyroZ;
float angleGyroX, angleGyroY, angleGyroZ,angleAccX, angleAccY, angleAccZ;
float angleX, angleY, angleZ;
float gyroCoef,accCoef;
uint32_t timer,preInterval;
float interval;u8 MPU_Init(void)
{
accCoef = 0.02;
gyroCoef = 0.98; IIC_Init();
MPU_Write_Byte(MPU6050_SMPLRT_DIV, 0x00);
MPU_Write_Byte(MPU6050_CONFIG, 0x00);
MPU_Write_Byte(MPU6050_GYRO_CONFIG, 0x08);
MPU_Write_Byte(MPU6050_ACCEL_CONFIG, 0x00);
MPU_Write_Byte(MPU6050_PWR_MGMT_1,0X01);
mpu_update();
angleGyroX = 0;
angleGyroY = 0;
preInterval = timer;
return 0;
}void calcGyroOffsets(void){
float x = 0, y = 0, z = 0;
int16_t rx, ry, rz;
int i;
for(i =0; i < 1000; i++){
MPU_Get_Gyroscope(&rx,&ry,&rz);
x += ((float)rx) / 65.5;
y += ((float)ry) / 65.5;
z += ((float)rz) / 65.5;
}
gyroXoffset = x / 1000;
gyroYoffset = y / 1000;
gyroZoffset = z / 1000;
}
void mpu_update(void){
MPU_Get_Accelerometer(&rawAccX, &rawAccY, &rawAccZ);
temp = MPU_Get_Temperature();
MPU_Get_Gyroscope(&rawGyroX,&rawGyroY,&rawGyroZ); accX = ((float)rawAccX) / 16384.0;
accY = ((float)rawAccY) / 16384.0;
accZ = ((float)rawAccZ) / 16384.0; angleAccX = atan2(accY, accZ + abs(accX)) * 360 / 2.0 / PI;
angleAccY = atan2(accX, accZ + abs(accY)) * 360 / -2.0 / PI; gyroX = ((float)rawGyroX) / 65.5;
gyroY = ((float)rawGyroY) / 65.5;
gyroZ = ((float)rawGyroZ) / 65.5; gyroX -= gyroXoffset;
gyroY -= gyroYoffset;
gyroZ -= gyroZoffset; angleGyroX += gyroX * interval;
angleGyroY += gyroY * interval;
angleGyroZ += gyroZ * interval; interval = (timer - preInterval) * 0.001; angleX = (gyroCoef * (angleX + gyroX * interval)) + (accCoef * angleAccX);
angleY = (gyroCoef * (angleY + gyroY * interval)) + (accCoef * angleAccY);
angleZ = angleGyroZ;
preInterval = timer ;}
//设置MPU6050陀螺仪传感器满量程范围
//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
//返回值:0,设置成功
// 其他,设置失败
u8 MPU_Set_Gyro_Fsr(u8 fsr)
{
return MPU_Write_Byte(MPU6050_GYRO_CONFIG,fsr<<3);//设置陀螺仪满量程范围
}
//设置MPU6050加速度传感器满量程范围
//fsr:0,±2g;1,±4g;2,±8g;3,±16g
//返回值:0,设置成功
// 其他,设置失败
u8 MPU_Set_Accel_Fsr(u8 fsr)
{
return MPU_Write_Byte(MPU6050_ACCEL_CONFIG,fsr<<3);//设置加速度传感器满量程范围
}
//设置MPU6050的数字低通滤波器
//lpf:数字低通滤波频率(Hz)
//返回值:0,设置成功
// 其他,设置失败
u8 MPU_Set_LPF(u16 lpf)
{
u8 data=0;
if(lpf>=188)data=1;
else if(lpf>=98)data=2;
else if(lpf>=42)data=3;
else if(lpf>=20)data=4;
else if(lpf>=10)data=5;
else data=6;
return MPU_Write_Byte(MPU6050_CONFIG,data);//设置数字低通滤波器
}
//设置MPU6050的采样率(假定Fs=1KHz)
//rate:4~1000(Hz)
//返回值:0,设置成功
// 其他,设置失败
u8 MPU_Set_Rate(u16 rate)
{
u8 data;
if(rate>1000)rate=1000;
if(rate<4)rate=4;
data=1000/rate-1;
data=MPU_Write_Byte(MPU6050_SMPLRT_DIV,data); //设置数字低通滤波器
return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
}//得到温度值
//返回值:温度值(扩大了100倍)
short MPU_Get_Temperature(void)
{
u8 buf[2];
short raw;
float temp;
MPU_Read_Len(MPU6050_ADDR,MPU6050_TEMP_H,2,buf);
raw=((u16)buf[0]<<8)|buf[1];
temp=36.53+((double)raw)/340;
return temp*100;;
}
//得到陀螺仪值(原始值)
//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
//返回值:0,成功
// 其他,错误代码
u8 MPU_Get_Gyroscope(int16_t *gx,int16_t *gy,int16_t *gz)
{
u8 buf[6],res;
res=MPU_Read_Len(MPU6050_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
if(res==0)
{
*gx=((u16)buf[0]<<8)|buf[1];
*gy=((u16)buf[2]<<8)|buf[3];
*gz=((u16)buf[4]<<8)|buf[5];
}
return res;;
}
//得到加速度值(原始值)
//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
//返回值:0,成功
// 其他,错误代码
u8 MPU_Get_Accelerometer(int16_t *ax,int16_t *ay,int16_t *az)
{
u8 buf[6],res;
res=MPU_Read_Len(MPU6050_ADDR ,MPU_ACCEL_XOUTH_REG,6,buf);
if(res==0)
{
*ax=((u16)buf[0]<<8)|buf[1];
*ay=((u16)buf[2]<<8)|buf[3];
*az=((u16)buf[4]<<8)|buf[5];
}
return res;;
}
//IIC连续写
//addr:器件地址
//reg:寄存器地址
//len:写入长度
//buf:数据区
//返回值:0,正常
// 其他,错误代码
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf)
{
u8 i;
IIC_Start();
IIC_Send_Byte((addr<<1)|0);//发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
return 1;
}
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
for(i=0;i<len;i++)
{
IIC_Send_Byte(buf[i]); //发送数据
if(IIC_Wait_Ack()) //等待ACK
{
IIC_Stop();
return 1;
}
}
IIC_Stop();
return 0;
}
//IIC连续读
//addr:器件地址
//reg:要读取的寄存器地址
//len:要读取的长度
//buf:读取到的数据存储区
//返回值:0,正常
// 其他,错误代码
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
{
IIC_Start();
IIC_Send_Byte((addr<<1)|0 );//发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
return 1;
}
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Start();
IIC_Send_Byte((addr<<1)|1 );//发送器件地址+读命令
IIC_Wait_Ack(); //等待应答
while(len)
{
if(len==1)*buf=IIC_Read_Byte(0);//读数据,发送nACK
else *buf=IIC_Read_Byte(1); //读数据,发送ACK
len--;
buf++;
}
IIC_Stop(); //产生一个停止条件
return 0;
}
//IIC写一个字节
//reg:寄存器地址
//data:数据
//返回值:0,正常
// 其他,错误代码
u8 MPU_Write_Byte(u8 reg,u8 data)
{
IIC_Start();
IIC_Send_Byte((MPU6050_ADDR << 1) | 0);//发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
printf("%s\r\n","error");
delay_ms(100);
return 1;
}
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Send_Byte(data);//发送数据
if(IIC_Wait_Ack()) //等待ACK
{
IIC_Stop();
return 1;
}
IIC_Stop();
return 0;
}
//IIC读一个字节
//reg:寄存器地址
//返回值:读到的数据
u8 MPU_Read_Byte(u8 reg)
{
u8 res;
IIC_Start();
IIC_Send_Byte((MPU6050_ADDR << 1) | 0 );//发送器件地址+写命令
IIC_Wait_Ack();
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack();
IIC_Start();
IIC_Send_Byte((MPU6050_ADDR << 1) | 1 );//发送器件地址+读命令
IIC_Wait_Ack();
res=IIC_Read_Byte(0);//读取数据,发送nACK
IIC_Stop(); //产生一个停止条件
return res;
}

#define TIMER_PERIOD 2000const Timer_A_UpModeConfig upConfig =
{
TIMER_A_CLOCKSOURCE_SMCLK, // SMCLK Clock Source
TIMER_A_CLOCKSOURCE_DIVIDER_6, // SMCLK/1 = 3MHz
TIMER_PERIOD, // 5000 tick period
TIMER_A_TAIE_INTERRUPT_DISABLE, // Disable Timer interrupt
TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE , // Enable CCR0 interrupt
TIMER_A_DO_CLEAR // Clear value
};

void Timer_init(void){ MAP_Timer_A_configureUpMode(TIMER_A1_BASE, &upConfig);
MAP_Interrupt_enableInterrupt(INT_TA1_0);
MAP_Timer_A_startCounter(TIMER_A1_BASE, TIMER_A_UP_MODE);
Interrupt_enableMaster();
}

void TA1_0_IRQHandler(void)
{
MAP_Timer_A_clearCaptureCompareInterrupt(TIMER_A1_BASE,
TIMER_A_CAPTURECOMPARE_REGISTER_0);
timer++;
}

const eUSCI_UART_ConfigV1 uartConfig =
{
EUSCI_A_UART_CLOCKSOURCE_SMCLK, // SMCLK Clock Source
78, // BRDIV = 78
2, // UCxBRF = 2
0, // UCxBRS = 0
EUSCI_A_UART_NO_PARITY, // No Parity
EUSCI_A_UART_LSB_FIRST, // LSB First
EUSCI_A_UART_ONE_STOP_BIT, // One stop bit
EUSCI_A_UART_MODE, // UART mode
EUSCI_A_UART_OVERSAMPLING_BAUDRATE_GENERATION, // Oversampling
EUSCI_A_UART_8_BIT_LEN // 8 bit data length
};

void usart_init(void){
/* Selecting P1.2 and P1.3 in UART mode */
MAP_GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P1,
GPIO_PIN2 | GPIO_PIN3, GPIO_PRIMARY_MODULE_FUNCTION); /* Setting DCO to 12MHz */
CS_setDCOCenteredFrequency(CS_DCO_FREQUENCY_12); //![Simple UART Example]
/* Configuring UART Module */
MAP_UART_initModule(EUSCI_A0_BASE, &uartConfig); /* Enable UART module */
MAP_UART_enableModule(EUSCI_A0_BASE); /* Enabling interrupts */
MAP_UART_enableInterrupt(EUSCI_A0_BASE, EUSCI_A_UART_RECEIVE_INTERRUPT);
MAP_Interrupt_enableInterrupt(INT_EUSCIA0);
MAP_Interrupt_enableMaster();
}

int fputc(int _c, register FILE *_fp)
{
MAP_UART_transmitData( EUSCI_A0_BASE , (uint8_t) _c);
return _c;
}
int fputs(const char *_ptr, register FILE *_fp)
{
uint16_t i, len;
len = sizeof(_ptr);
for(i=0; i<len; i++)
{
MAP_UART_transmitData( EUSCI_A0_BASE , (unsigned char)_ptr[i] );
}
return len;
}

/*
* my_uart.h
*
* Created on: 2021年7月29日
* Author: Administrator
*/#ifndef MY_UART_H_
#define MY_UART_H_
#include <ti/devices/msp432p4xx/driverlib/driverlib.h>
#include <stdio.h>
#include <delay.h>void usart_init();#endif /* MY_UART_H_ */

/*
* my_uart.c
*
* Created on: 2021年7月29日
* Author: Administrator
*/
#include <my_uart.h>int fputc(int _c, register FILE *_fp)
{
MAP_UART_transmitData( EUSCI_A0_BASE , (uint8_t) _c);
return _c;
}
int fputs(const char *_ptr, register FILE *_fp)
{
uint16_t i, len;
len = sizeof(_ptr);
for(i=0; i<len; i++)
{
MAP_UART_transmitData( EUSCI_A0_BASE , (unsigned char)_ptr[i] );
}
return len;
}const eUSCI_UART_ConfigV1 uartConfig =
{
EUSCI_A_UART_CLOCKSOURCE_SMCLK, // SMCLK Clock Source
78, // BRDIV = 78
2, // UCxBRF = 2
0, // UCxBRS = 0
EUSCI_A_UART_NO_PARITY, // No Parity
EUSCI_A_UART_LSB_FIRST, // LSB First
EUSCI_A_UART_ONE_STOP_BIT, // One stop bit
EUSCI_A_UART_MODE, // UART mode
EUSCI_A_UART_OVERSAMPLING_BAUDRATE_GENERATION, // Oversampling
EUSCI_A_UART_8_BIT_LEN // 8 bit data length
};
void usart_init(void){
/* Selecting P1.2 and P1.3 in UART mode */
MAP_GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P1,
GPIO_PIN2 | GPIO_PIN3, GPIO_PRIMARY_MODULE_FUNCTION); /* Setting DCO to 12MHz */
CS_setDCOCenteredFrequency(CS_DCO_FREQUENCY_12); //![Simple UART Example]
/* Configuring UART Module */
MAP_UART_initModule(EUSCI_A0_BASE, &uartConfig); /* Enable UART module */
MAP_UART_enableModule(EUSCI_A0_BASE); /* Enabling interrupts */
MAP_UART_enableInterrupt(EUSCI_A0_BASE, EUSCI_A_UART_RECEIVE_INTERRUPT);
MAP_Interrupt_enableInterrupt(INT_EUSCIA0);
MAP_Interrupt_enableMaster();
}/* EUSCI A0 UART ISR - Echoes data back to PC host */
void EUSCIA0_IRQHandler(void)
{
uint32_t status = MAP_UART_getEnabledInterruptStatus(EUSCI_A0_BASE); MAP_UART_clearInterruptFlag(EUSCI_A0_BASE, status); if(status & EUSCI_A_UART_RECEIVE_INTERRUPT_FLAG)
{
MAP_UART_transmitData(EUSCI_A0_BASE, MAP_UART_receiveData(EUSCI_A0_BASE));
}}

* Author:
*******************************************************************************/
/* DriverLib Includes */
#include <ti/devices/msp432p4xx/driverlib/driverlib.h>/* Standard Includes */
#include <MPU6050.H>
#include <my_PWM.H>
#include <my_uart.h>
#include <delay.h>
#include <stdint.h>
#include <stdbool.h>int16_t rawAccX, rawAccY, rawAccZ,rawGyroX, rawGyroY, rawGyroZ;
float gyroXoffset, gyroYoffset, gyroZoffset;
float temp, accX, accY, accZ, gyroX, gyroY, gyroZ;
float angleGyroX, angleGyroY, angleGyroZ,angleAccX, angleAccY, angleAccZ;
float angleX, angleY, angleZ;
uint32_t timer;double P[2][2] = {{ 1, 0 },{ 0, 1 }};
double Pdot[4] ={ 0,0,0,0};
static const double Q_angle=0.001, Q_gyro=0.003, R_angle=0.5,dtt=0.005,C_0 = 1;
double q_bias, angle_err, PCt_0, PCt_1, E, K_0, K_1, t_0, t_1;#define TIMER_PERIOD 2000const Timer_A_UpModeConfig upConfig =
{
TIMER_A_CLOCKSOURCE_SMCLK, // SMCLK Clock Source
TIMER_A_CLOCKSOURCE_DIVIDER_6, // SMCLK/1 = 3MHz
TIMER_PERIOD, // 5000 tick period
TIMER_A_TAIE_INTERRUPT_DISABLE, // Disable Timer interrupt
TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE , // Enable CCR0 interrupt
TIMER_A_DO_CLEAR // Clear value
};
void Kalman_Filter(double angle_m,double gyro_m)
{
angleX+=(gyro_m-q_bias) * dtt;
Pdot[0]=Q_angle - P[0][1] - P[1][0];
Pdot[1]=- P[1][1];
Pdot[2]=- P[1][1];
Pdot[3]=Q_gyro;
P[0][0] += Pdot[0] * dtt;
P[0][1] += Pdot[1] * dtt;
P[1][0] += Pdot[2] * dtt;
P[1][1] += Pdot[3] * dtt;
angle_err = angle_m - angleX;
PCt_0 = C_0 * P[0][0];
PCt_1 = C_0 * P[1][0];
E = R_angle + C_0 * PCt_0;
K_0 = PCt_0 / E;
K_1 = PCt_1 / E;
t_0 = PCt_0;
t_1 = C_0 * P[0][1];
P[0][0] -= K_0 * t_0;
P[0][1] -= K_0 * t_1;
P[1][0] -= K_1 * t_0;
P[1][1] -= K_1 * t_1;
angleX+= K_0 * angle_err;
q_bias += K_1 * angle_err;
}
void Timer_init(void){ MAP_Timer_A_configureUpMode(TIMER_A1_BASE, &upConfig);
MAP_Interrupt_enableInterrupt(INT_TA1_0);
MAP_Timer_A_startCounter(TIMER_A1_BASE, TIMER_A_UP_MODE);
Interrupt_enableMaster();
}
void LED_init(void){
MAP_GPIO_setAsOutputPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
}
int main(void)
{
MAP_WDT_A_holdTimer();
MAP_FPU_enableModule();
MAP_FPU_enableLazyStacking();
delay_init(12);
usart_init();
MPU_Init();
Timer_init();
LED_init();
calcGyroOffsets();
GPIO_Motor_Init();
PWM_Init();
while(1){
mpu_update();
Kalman_Filter(angleX,gyroX );
printf(" %f %f %f %d %d \r\n ",angleX,mySetpoint,pwm,left_pulse_number,right_pulse_number);
}
}
void TA1_0_IRQHandler(void)
{
MAP_Timer_A_clearCaptureCompareInterrupt(TIMER_A1_BASE,
TIMER_A_CAPTURECOMPARE_REGISTER_0);
timer++;
timer1++;
if(timer1 == 1000){
timer1 = 0;
GPIO_toggleOutputOnPin(GPIO_PORT_P1, GPIO_PIN0);
}
}