航空研究会 / Mbed 2 deprecated Autoflight2018_18

着陸wait版9/16

Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_17 by 航空研究会

MPU9250/MPU9250.cpp@15:43427b0241d9, 2018-09-17 (annotated)

Committer:
TUATBM
Date:
Mon Sep 17 06:40:41 2018 +0000
Revision:
15:43427b0241d9
Parent:
0:17f575135219 
trim,max,min pwm?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HARUKIDELTA 0:17f575135219 1 #include "mbed.h"
HARUKIDELTA 0:17f575135219 2 #include "math.h"
HARUKIDELTA 0:17f575135219 3 #include "MPU9250.h"
HARUKIDELTA 0:17f575135219 4
HARUKIDELTA 0:17f575135219 5
HARUKIDELTA 0:17f575135219 6 MPU9250::MPU9250(PinName sda, PinName scl, RawSerial* serial_p)
HARUKIDELTA 0:17f575135219 7 :
HARUKIDELTA 0:17f575135219 8 i2c_p(new I2C(sda,scl)),
HARUKIDELTA 0:17f575135219 9 i2c(*i2c_p),
HARUKIDELTA 0:17f575135219 10 pc_p(serial_p)
HARUKIDELTA 0:17f575135219 11 {
HARUKIDELTA 0:17f575135219 12 initializeValue();
HARUKIDELTA 0:17f575135219 13 }
HARUKIDELTA 0:17f575135219 14
HARUKIDELTA 0:17f575135219 15 MPU9250::~MPU9250(){}
HARUKIDELTA 0:17f575135219 16
HARUKIDELTA 0:17f575135219 17
HARUKIDELTA 0:17f575135219 18 /*---------- public function ----------*/
HARUKIDELTA 0:17f575135219 19 bool MPU9250::Initialize(void){
HARUKIDELTA 0:17f575135219 20 uint8_t whoami;
HARUKIDELTA 0:17f575135219 21
HARUKIDELTA 0:17f575135219 22 i2c.frequency(400000); // use fast (400 kHz) I2C
HARUKIDELTA 0:17f575135219 23 timer.start();
HARUKIDELTA 0:17f575135219 24
HARUKIDELTA 0:17f575135219 25 whoami = Whoami_MPU9250();
HARUKIDELTA 0:17f575135219 26 pc_p->printf("I AM 0x%x\n\r", whoami); pc_p->printf("I SHOULD BE 0x71\n\r");
HARUKIDELTA 0:17f575135219 27
HARUKIDELTA 0:17f575135219 28 if(whoami == IAM_MPU9250){
HARUKIDELTA 0:17f575135219 29 resetMPU9250(); // Reset registers to default in preparation for device calibration
HARUKIDELTA 0:17f575135219 30 calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
HARUKIDELTA 0:17f575135219 31 wait(1);
HARUKIDELTA 0:17f575135219 32
HARUKIDELTA 0:17f575135219 33 initMPU9250();
HARUKIDELTA 0:17f575135219 34 initAK8963(magCalibration);
HARUKIDELTA 0:17f575135219 35
HARUKIDELTA 0:17f575135219 36 pc_p->printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
HARUKIDELTA 0:17f575135219 37 pc_p->printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
HARUKIDELTA 0:17f575135219 38
HARUKIDELTA 0:17f575135219 39 if(Mscale == 0) pc_p->printf("Magnetometer resolution = 14 bits\n\r");
HARUKIDELTA 0:17f575135219 40 if(Mscale == 1) pc_p->printf("Magnetometer resolution = 16 bits\n\r");
HARUKIDELTA 0:17f575135219 41 if(Mmode == 2) pc_p->printf("Magnetometer ODR = 8 Hz\n\r");
HARUKIDELTA 0:17f575135219 42 if(Mmode == 6) pc_p->printf("Magnetometer ODR = 100 Hz\n\r");
HARUKIDELTA 0:17f575135219 43
HARUKIDELTA 0:17f575135219 44 getAres();
HARUKIDELTA 0:17f575135219 45 getGres();
HARUKIDELTA 0:17f575135219 46 getMres();
HARUKIDELTA 0:17f575135219 47
HARUKIDELTA 0:17f575135219 48 pc_p->printf("mpu9250 initialized\r\n");
HARUKIDELTA 0:17f575135219 49 return true;
HARUKIDELTA 0:17f575135219 50 }else return false;
HARUKIDELTA 0:17f575135219 51 }
HARUKIDELTA 0:17f575135219 52
HARUKIDELTA 0:17f575135219 53 bool MPU9250::sensingAcGyMg(){
HARUKIDELTA 0:17f575135219 54 if(readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
HARUKIDELTA 0:17f575135219 55 sensingAccel();
HARUKIDELTA 0:17f575135219 56 sensingGyro();
HARUKIDELTA 0:17f575135219 57 sensingMag();
HARUKIDELTA 0:17f575135219 58 return true;
HARUKIDELTA 0:17f575135219 59 }else return false;
HARUKIDELTA 0:17f575135219 60 }
HARUKIDELTA 0:17f575135219 61
HARUKIDELTA 0:17f575135219 62
HARUKIDELTA 0:17f575135219 63 void MPU9250::calculatePostureAngle(float degree[3]){
HARUKIDELTA 0:17f575135219 64 Now = timer.read_us();
HARUKIDELTA 0:17f575135219 65 deltat = (float)((Now - lastUpdate)/1000000.0f); // set integration time by time elapsed since last filter update
HARUKIDELTA 0:17f575135219 66 lastUpdate = Now;
HARUKIDELTA 0:17f575135219 67
HARUKIDELTA 0:17f575135219 68 // if(lastUpdate - firstUpdate > 10000000.0f) {
HARUKIDELTA 0:17f575135219 69 // beta = 0.04; // decrease filter gain after stabilized
HARUKIDELTA 0:17f575135219 70 // zeta = 0.015; // increasey bias drift gain after stabilized
HARUKIDELTA 0:17f575135219 71 // }
HARUKIDELTA 0:17f575135219 72
HARUKIDELTA 0:17f575135219 73 // Pass gyro rate as rad/s
HARUKIDELTA 0:17f575135219 74 MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
HARUKIDELTA 0:17f575135219 75 MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); //my, mx, mzになってるけどセンサの設置上の都合だろうか
HARUKIDELTA 0:17f575135219 76
HARUKIDELTA 0:17f575135219 77 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
HARUKIDELTA 0:17f575135219 78 // In this coordinate system, the positive z-axis is down toward Earth.
HARUKIDELTA 0:17f575135219 79 // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
HARUKIDELTA 0:17f575135219 80 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
HARUKIDELTA 0:17f575135219 81 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
HARUKIDELTA 0:17f575135219 82 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
HARUKIDELTA 0:17f575135219 83 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
HARUKIDELTA 0:17f575135219 84 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
HARUKIDELTA 0:17f575135219 85 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
HARUKIDELTA 0:17f575135219 86 translateQuaternionToDeg(q);
HARUKIDELTA 0:17f575135219 87 calibrateDegree();
HARUKIDELTA 0:17f575135219 88 degree[0] = roll;
HARUKIDELTA 0:17f575135219 89 degree[1] = pitch;
HARUKIDELTA 0:17f575135219 90 degree[2] = yaw;
HARUKIDELTA 0:17f575135219 91 }
HARUKIDELTA 0:17f575135219 92
HARUKIDELTA 0:17f575135219 93
HARUKIDELTA 0:17f575135219 94 float MPU9250::calculateYawByMg(){
HARUKIDELTA 0:17f575135219 95 transformCoordinateFromCompassToMPU();
HARUKIDELTA 0:17f575135219 96 lpmag[0] = LPGAIN_MAG *lpmag[0] + (1 - LPGAIN_MAG)*mx;
HARUKIDELTA 0:17f575135219 97 lpmag[1] = LPGAIN_MAG *lpmag[1] + (1 - LPGAIN_MAG)*my;
HARUKIDELTA 0:17f575135219 98 lpmag[2] = LPGAIN_MAG *lpmag[2] + (1 - LPGAIN_MAG)*mz;
HARUKIDELTA 0:17f575135219 99
HARUKIDELTA 0:17f575135219 100 float radroll = PI/180.0f * roll;
HARUKIDELTA 0:17f575135219 101 float radpitch = PI/180.0f * pitch;
HARUKIDELTA 0:17f575135219 102
HARUKIDELTA 0:17f575135219 103 return 180.0f/PI * atan2(lpmag[2]*sin(radpitch) - lpmag[1]*cos(radpitch),
HARUKIDELTA 0:17f575135219 104 lpmag[0]*cos(radroll) - lpmag[1]*sin(radroll)*sin(radpitch) + lpmag[2]*sin(radroll)*cos(radpitch));
HARUKIDELTA 0:17f575135219 105 }
HARUKIDELTA 0:17f575135219 106
HARUKIDELTA 0:17f575135219 107
HARUKIDELTA 0:17f575135219 108 // Accelerometer and gyroscope self test; check calibration wrt factory settings
HARUKIDELTA 0:17f575135219 109 void MPU9250::MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
HARUKIDELTA 0:17f575135219 110 {
HARUKIDELTA 0:17f575135219 111 uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
HARUKIDELTA 0:17f575135219 112 uint8_t selfTest[6];
HARUKIDELTA 0:17f575135219 113 int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3];
HARUKIDELTA 0:17f575135219 114 float factoryTrim[6];
HARUKIDELTA 0:17f575135219 115 uint8_t FS = 0;
HARUKIDELTA 0:17f575135219 116
HARUKIDELTA 0:17f575135219 117 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
HARUKIDELTA 0:17f575135219 118 writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
HARUKIDELTA 0:17f575135219 119 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
HARUKIDELTA 0:17f575135219 120 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
HARUKIDELTA 0:17f575135219 121 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
HARUKIDELTA 0:17f575135219 122
HARUKIDELTA 0:17f575135219 123 for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer
HARUKIDELTA 0:17f575135219 124 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
HARUKIDELTA 0:17f575135219 125 aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA 0:17f575135219 126 aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
HARUKIDELTA 0:17f575135219 127 aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
HARUKIDELTA 0:17f575135219 128
HARUKIDELTA 0:17f575135219 129 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
HARUKIDELTA 0:17f575135219 130 gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA 0:17f575135219 131 gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
HARUKIDELTA 0:17f575135219 132 gAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
HARUKIDELTA 0:17f575135219 133 }
HARUKIDELTA 0:17f575135219 134
HARUKIDELTA 0:17f575135219 135 for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average current readings
HARUKIDELTA 0:17f575135219 136 aAvg[ii] /= 200;
HARUKIDELTA 0:17f575135219 137 gAvg[ii] /= 200;
HARUKIDELTA 0:17f575135219 138 }
HARUKIDELTA 0:17f575135219 139
HARUKIDELTA 0:17f575135219 140 // Configure the accelerometer for self-test
HARUKIDELTA 0:17f575135219 141 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
HARUKIDELTA 0:17f575135219 142 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
HARUKIDELTA 0:17f575135219 143 //delay(55); // Delay a while to let the device stabilize
HARUKIDELTA 0:17f575135219 144
HARUKIDELTA 0:17f575135219 145 for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
HARUKIDELTA 0:17f575135219 146 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
HARUKIDELTA 0:17f575135219 147 aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA 0:17f575135219 148 aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
HARUKIDELTA 0:17f575135219 149 aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
HARUKIDELTA 0:17f575135219 150
HARUKIDELTA 0:17f575135219 151 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
HARUKIDELTA 0:17f575135219 152 gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA 0:17f575135219 153 gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
HARUKIDELTA 0:17f575135219 154 gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
HARUKIDELTA 0:17f575135219 155 }
HARUKIDELTA 0:17f575135219 156
HARUKIDELTA 0:17f575135219 157 for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average self-test readings
HARUKIDELTA 0:17f575135219 158 aSTAvg[ii] /= 200;
HARUKIDELTA 0:17f575135219 159 gSTAvg[ii] /= 200;
HARUKIDELTA 0:17f575135219 160 }
HARUKIDELTA 0:17f575135219 161
HARUKIDELTA 0:17f575135219 162 // Configure the gyro and accelerometer for normal operation
HARUKIDELTA 0:17f575135219 163 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
HARUKIDELTA 0:17f575135219 164 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
HARUKIDELTA 0:17f575135219 165 //delay(45); // Delay a while to let the device stabilize
HARUKIDELTA 0:17f575135219 166
HARUKIDELTA 0:17f575135219 167 // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
HARUKIDELTA 0:17f575135219 168 selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results
HARUKIDELTA 0:17f575135219 169 selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results
HARUKIDELTA 0:17f575135219 170 selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results
HARUKIDELTA 0:17f575135219 171 selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results
HARUKIDELTA 0:17f575135219 172 selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results
HARUKIDELTA 0:17f575135219 173 selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results
HARUKIDELTA 0:17f575135219 174
HARUKIDELTA 0:17f575135219 175 // Retrieve factory self-test value from self-test code reads
HARUKIDELTA 0:17f575135219 176 factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
HARUKIDELTA 0:17f575135219 177 factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
HARUKIDELTA 0:17f575135219 178 factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
HARUKIDELTA 0:17f575135219 179 factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
HARUKIDELTA 0:17f575135219 180 factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
HARUKIDELTA 0:17f575135219 181 factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
HARUKIDELTA 0:17f575135219 182
HARUKIDELTA 0:17f575135219 183 // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
HARUKIDELTA 0:17f575135219 184 // To get percent, must multiply by 100
HARUKIDELTA 0:17f575135219 185 for (int i = 0; i < 3; i++) {
HARUKIDELTA 0:17f575135219 186 destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
HARUKIDELTA 0:17f575135219 187 destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
HARUKIDELTA 0:17f575135219 188 }
HARUKIDELTA 0:17f575135219 189 }
HARUKIDELTA 0:17f575135219 190
HARUKIDELTA 0:17f575135219 191 void MPU9250::pickupAccel(float accel[3]){
HARUKIDELTA 0:17f575135219 192 sensingAccel();
HARUKIDELTA 0:17f575135219 193 accel[0] = ax;
HARUKIDELTA 0:17f575135219 194 accel[1] = ay;
HARUKIDELTA 0:17f575135219 195 accel[2] = az;
HARUKIDELTA 0:17f575135219 196 }
HARUKIDELTA 0:17f575135219 197
HARUKIDELTA 0:17f575135219 198 void MPU9250::pickupGyro(float gyro[3]){
HARUKIDELTA 0:17f575135219 199 sensingGyro();
HARUKIDELTA 0:17f575135219 200 gyro[0] = gx;
HARUKIDELTA 0:17f575135219 201 gyro[1] = gy;
HARUKIDELTA 0:17f575135219 202 gyro[2] = gz;
HARUKIDELTA 0:17f575135219 203 }
HARUKIDELTA 0:17f575135219 204
HARUKIDELTA 0:17f575135219 205 void MPU9250::pickupMag(float mag[3]){
HARUKIDELTA 0:17f575135219 206 sensingMag();
HARUKIDELTA 0:17f575135219 207 mag[0] = mx;
HARUKIDELTA 0:17f575135219 208 mag[1] = my;
HARUKIDELTA 0:17f575135219 209 mag[2] = mz;
HARUKIDELTA 0:17f575135219 210 }
HARUKIDELTA 0:17f575135219 211
HARUKIDELTA 0:17f575135219 212 float MPU9250::pickupTemp(void){
HARUKIDELTA 0:17f575135219 213 sensingTemp();
HARUKIDELTA 0:17f575135219 214 return temperature;
HARUKIDELTA 0:17f575135219 215 }
HARUKIDELTA 0:17f575135219 216
HARUKIDELTA 0:17f575135219 217 void MPU9250::displayAccel(void){
HARUKIDELTA 0:17f575135219 218 pc_p->printf("ax = %f", 1000*ax);
HARUKIDELTA 0:17f575135219 219 pc_p->printf(" ay = %f", 1000*ay);
HARUKIDELTA 0:17f575135219 220 pc_p->printf(" az = %f mg\n\r", 1000*az);
HARUKIDELTA 0:17f575135219 221 }
HARUKIDELTA 0:17f575135219 222
HARUKIDELTA 0:17f575135219 223 void MPU9250::displayGyro(void){
HARUKIDELTA 0:17f575135219 224 pc_p->printf("gx = %f", gx);
HARUKIDELTA 0:17f575135219 225 pc_p->printf(" gy = %f", gy);
HARUKIDELTA 0:17f575135219 226 pc_p->printf(" gz = %f deg/s\n\r", gz);
HARUKIDELTA 0:17f575135219 227 }
HARUKIDELTA 0:17f575135219 228
HARUKIDELTA 0:17f575135219 229 void MPU9250::displayMag(void){
HARUKIDELTA 0:17f575135219 230 pc_p->printf("mx = %f,", mx);
HARUKIDELTA 0:17f575135219 231 pc_p->printf(" my = %f,", my);
HARUKIDELTA 0:17f575135219 232 pc_p->printf(" mz = %f mG\n\r", mz);
HARUKIDELTA 0:17f575135219 233 }
HARUKIDELTA 0:17f575135219 234
HARUKIDELTA 0:17f575135219 235 void MPU9250::displayQuaternion(void){
HARUKIDELTA 0:17f575135219 236 pc_p->printf("q0 = %f\n\r", q[0]);
HARUKIDELTA 0:17f575135219 237 pc_p->printf("q1 = %f\n\r", q[1]);
HARUKIDELTA 0:17f575135219 238 pc_p->printf("q2 = %f\n\r", q[2]);
HARUKIDELTA 0:17f575135219 239 pc_p->printf("q3 = %f\n\r", q[3]);
HARUKIDELTA 0:17f575135219 240 }
HARUKIDELTA 0:17f575135219 241
HARUKIDELTA 0:17f575135219 242 void MPU9250::displayAngle(void){
HARUKIDELTA 0:17f575135219 243 //pc_p->printf("$%d %d %d;",(int)(yaw*100),(int)(pitch*100),(int)(roll*100));
HARUKIDELTA 0:17f575135219 244 pc_p->printf("Roll: %f\tPitch: %f\tYaw: %f\n\r", roll, pitch, yaw);
HARUKIDELTA 0:17f575135219 245 }
HARUKIDELTA 0:17f575135219 246
HARUKIDELTA 0:17f575135219 247 void MPU9250::displayTemperature(void){
HARUKIDELTA 0:17f575135219 248 pc_p->printf(" temperature = %f C\n\r", temperature);
HARUKIDELTA 0:17f575135219 249 }
HARUKIDELTA 0:17f575135219 250
HARUKIDELTA 0:17f575135219 251 void MPU9250::setMagBias(float bias_x, float bias_y, float bias_z){
HARUKIDELTA 0:17f575135219 252 magbias[0] = bias_x;
HARUKIDELTA 0:17f575135219 253 magbias[1] = bias_y;
HARUKIDELTA 0:17f575135219 254 magbias[2] = bias_z;
HARUKIDELTA 0:17f575135219 255 }
HARUKIDELTA 0:17f575135219 256
HARUKIDELTA 0:17f575135219 257 /*---------- private function ----------*/
HARUKIDELTA 0:17f575135219 258
HARUKIDELTA 0:17f575135219 259 void MPU9250::writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
HARUKIDELTA 0:17f575135219 260 {
HARUKIDELTA 0:17f575135219 261 char data_write[2];
HARUKIDELTA 0:17f575135219 262
HARUKIDELTA 0:17f575135219 263 data_write[0] = subAddress;
HARUKIDELTA 0:17f575135219 264 data_write[1] = data;
HARUKIDELTA 0:17f575135219 265 i2c.write(address, data_write, 2, 0);
HARUKIDELTA 0:17f575135219 266 }
HARUKIDELTA 0:17f575135219 267
HARUKIDELTA 0:17f575135219 268 char MPU9250::readByte(uint8_t address, uint8_t subAddress)
HARUKIDELTA 0:17f575135219 269 {
HARUKIDELTA 0:17f575135219 270 char data[1]; // `data` will store the register data
HARUKIDELTA 0:17f575135219 271 char data_write[1];
HARUKIDELTA 0:17f575135219 272
HARUKIDELTA 0:17f575135219 273 data_write[0] = subAddress;
HARUKIDELTA 0:17f575135219 274 i2c.write(address, data_write, 1, 1); // no stop
HARUKIDELTA 0:17f575135219 275 i2c.read(address, data, 1, 0);
HARUKIDELTA 0:17f575135219 276 return data[0];
HARUKIDELTA 0:17f575135219 277 }
HARUKIDELTA 0:17f575135219 278
HARUKIDELTA 0:17f575135219 279 void MPU9250::readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
HARUKIDELTA 0:17f575135219 280 {
HARUKIDELTA 0:17f575135219 281 char data[14];
HARUKIDELTA 0:17f575135219 282 char data_write[1];
HARUKIDELTA 0:17f575135219 283
HARUKIDELTA 0:17f575135219 284 data_write[0] = subAddress;
HARUKIDELTA 0:17f575135219 285 i2c.write(address, data_write, 1, 1); // no stop
HARUKIDELTA 0:17f575135219 286 i2c.read(address, data, count, 0);
HARUKIDELTA 0:17f575135219 287 for(int ii = 0; ii < count; ii++) {
HARUKIDELTA 0:17f575135219 288 dest[ii] = data[ii];
HARUKIDELTA 0:17f575135219 289 }
HARUKIDELTA 0:17f575135219 290 }
HARUKIDELTA 0:17f575135219 291
HARUKIDELTA 0:17f575135219 292 void MPU9250::initializeValue(void){
HARUKIDELTA 0:17f575135219 293 Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
HARUKIDELTA 0:17f575135219 294 Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
HARUKIDELTA 0:17f575135219 295 Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
HARUKIDELTA 0:17f575135219 296 Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
HARUKIDELTA 0:17f575135219 297
HARUKIDELTA 0:17f575135219 298 GyroMeasError = PI * (60.0f / 180.0f);
HARUKIDELTA 0:17f575135219 299 beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
HARUKIDELTA 0:17f575135219 300 GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
HARUKIDELTA 0:17f575135219 301 zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
HARUKIDELTA 0:17f575135219 302
HARUKIDELTA 0:17f575135219 303 deltat = 0.0f; // integration interval for both filter schemes
HARUKIDELTA 0:17f575135219 304 lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval
HARUKIDELTA 0:17f575135219 305
HARUKIDELTA 0:17f575135219 306 for(int i=0; i<3; i++){
HARUKIDELTA 0:17f575135219 307 magCalibration[i] = 0;
HARUKIDELTA 0:17f575135219 308 gyroBias[i] = 0;
HARUKIDELTA 0:17f575135219 309 accelBias[i] = 0;
HARUKIDELTA 0:17f575135219 310 magbias[i] = 0;
HARUKIDELTA 0:17f575135219 311
HARUKIDELTA 0:17f575135219 312 eInt[i] = 0.0f;
HARUKIDELTA 0:17f575135219 313
HARUKIDELTA 0:17f575135219 314 lpmag[i] = 0.0f;
HARUKIDELTA 0:17f575135219 315 }
HARUKIDELTA 0:17f575135219 316
HARUKIDELTA 0:17f575135219 317 q[0] = 1.0f;
HARUKIDELTA 0:17f575135219 318 q[1] = 0.0f;
HARUKIDELTA 0:17f575135219 319 q[2] = 0.0f;
HARUKIDELTA 0:17f575135219 320 q[3] = 0.0f;
HARUKIDELTA 0:17f575135219 321 }
HARUKIDELTA 0:17f575135219 322
HARUKIDELTA 0:17f575135219 323 void MPU9250::initMPU9250(void)
HARUKIDELTA 0:17f575135219 324 {
HARUKIDELTA 0:17f575135219 325 // Initialize MPU9250 device
HARUKIDELTA 0:17f575135219 326 // wake up device
HARUKIDELTA 0:17f575135219 327 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
HARUKIDELTA 0:17f575135219 328 wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
HARUKIDELTA 0:17f575135219 329
HARUKIDELTA 0:17f575135219 330 // get stable time source
HARUKIDELTA 0:17f575135219 331 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
HARUKIDELTA 0:17f575135219 332
HARUKIDELTA 0:17f575135219 333 // Configure Gyro and Accelerometer
HARUKIDELTA 0:17f575135219 334 // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
HARUKIDELTA 0:17f575135219 335 // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
HARUKIDELTA 0:17f575135219 336 // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
HARUKIDELTA 0:17f575135219 337 writeByte(MPU9250_ADDRESS, CONFIG, 0x03);
HARUKIDELTA 0:17f575135219 338
HARUKIDELTA 0:17f575135219 339 // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
HARUKIDELTA 0:17f575135219 340 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above
HARUKIDELTA 0:17f575135219 341
HARUKIDELTA 0:17f575135219 342 // Set gyroscope full scale range
HARUKIDELTA 0:17f575135219 343 // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
HARUKIDELTA 0:17f575135219 344 uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); // get current GYRO_CONFIG register value
HARUKIDELTA 0:17f575135219 345 // c = c & ~0xE0; // Clear self-test bits [7:5]
HARUKIDELTA 0:17f575135219 346 c = c & ~0x02; // Clear Fchoice bits [1:0]
HARUKIDELTA 0:17f575135219 347 c = c & ~0x18; // Clear AFS bits [4:3]
HARUKIDELTA 0:17f575135219 348 c = c | Gscale << 3; // Set full scale range for the gyro
HARUKIDELTA 0:17f575135219 349 // c =| 0x00; // Set Fchoice for the gyro to 11 by writing its inverse to bits 1:0 of GYRO_CONFIG
HARUKIDELTA 0:17f575135219 350 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c ); // Write new GYRO_CONFIG value to register
HARUKIDELTA 0:17f575135219 351
HARUKIDELTA 0:17f575135219 352 // Set accelerometer full-scale range configuration
HARUKIDELTA 0:17f575135219 353 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); // get current ACCEL_CONFIG register value
HARUKIDELTA 0:17f575135219 354 // c = c & ~0xE0; // Clear self-test bits [7:5]
HARUKIDELTA 0:17f575135219 355 c = c & ~0x18; // Clear AFS bits [4:3]
HARUKIDELTA 0:17f575135219 356 c = c | Ascale << 3; // Set full scale range for the accelerometer
HARUKIDELTA 0:17f575135219 357 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c); // Write new ACCEL_CONFIG register value
HARUKIDELTA 0:17f575135219 358
HARUKIDELTA 0:17f575135219 359 // Set accelerometer sample rate configuration
HARUKIDELTA 0:17f575135219 360 // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for
HARUKIDELTA 0:17f575135219 361 // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz
HARUKIDELTA 0:17f575135219 362 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2); // get current ACCEL_CONFIG2 register value
HARUKIDELTA 0:17f575135219 363 c = c & ~0x0F; // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])
HARUKIDELTA 0:17f575135219 364 c = c | 0x03; // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
HARUKIDELTA 0:17f575135219 365 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c); // Write new ACCEL_CONFIG2 register value
HARUKIDELTA 0:17f575135219 366
HARUKIDELTA 0:17f575135219 367 // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates,
HARUKIDELTA 0:17f575135219 368 // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
HARUKIDELTA 0:17f575135219 369
HARUKIDELTA 0:17f575135219 370 // Configure Interrupts and Bypass Enable
HARUKIDELTA 0:17f575135219 371 // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
HARUKIDELTA 0:17f575135219 372 // can join the I2C bus and all can be controlled by the Arduino as master
HARUKIDELTA 0:17f575135219 373 writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
HARUKIDELTA 0:17f575135219 374 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
HARUKIDELTA 0:17f575135219 375 }
HARUKIDELTA 0:17f575135219 376
HARUKIDELTA 0:17f575135219 377 void MPU9250::initAK8963(float * destination)
HARUKIDELTA 0:17f575135219 378 {
HARUKIDELTA 0:17f575135219 379 // First extract the factory calibration for each magnetometer axis
HARUKIDELTA 0:17f575135219 380 uint8_t rawData[3]; // x/y/z gyro calibration data stored here
HARUKIDELTA 0:17f575135219 381
HARUKIDELTA 0:17f575135219 382 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
HARUKIDELTA 0:17f575135219 383 wait(0.01);
HARUKIDELTA 0:17f575135219 384
HARUKIDELTA 0:17f575135219 385 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
HARUKIDELTA 0:17f575135219 386 wait(0.01);
HARUKIDELTA 0:17f575135219 387
HARUKIDELTA 0:17f575135219 388 readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values
HARUKIDELTA 0:17f575135219 389 destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc.
HARUKIDELTA 0:17f575135219 390 destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f;
HARUKIDELTA 0:17f575135219 391 destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f;
HARUKIDELTA 0:17f575135219 392 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
HARUKIDELTA 0:17f575135219 393 wait(0.01);
HARUKIDELTA 0:17f575135219 394
HARUKIDELTA 0:17f575135219 395 // Configure the magnetometer for continuous read and highest resolution
HARUKIDELTA 0:17f575135219 396 // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register,
HARUKIDELTA 0:17f575135219 397 // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates
HARUKIDELTA 0:17f575135219 398 writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR
HARUKIDELTA 0:17f575135219 399 wait(0.01);
HARUKIDELTA 0:17f575135219 400 }
HARUKIDELTA 0:17f575135219 401
HARUKIDELTA 0:17f575135219 402 void MPU9250::resetMPU9250(void)
HARUKIDELTA 0:17f575135219 403 {
HARUKIDELTA 0:17f575135219 404 // reset device
HARUKIDELTA 0:17f575135219 405 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
HARUKIDELTA 0:17f575135219 406 wait(0.1);
HARUKIDELTA 0:17f575135219 407 }
HARUKIDELTA 0:17f575135219 408
HARUKIDELTA 0:17f575135219 409 // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
HARUKIDELTA 0:17f575135219 410 // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
HARUKIDELTA 0:17f575135219 411 void MPU9250::calibrateMPU9250(float * dest1, float * dest2)
HARUKIDELTA 0:17f575135219 412 {
HARUKIDELTA 0:17f575135219 413 uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
HARUKIDELTA 0:17f575135219 414 uint16_t ii, packet_count, fifo_count;
HARUKIDELTA 0:17f575135219 415 int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
HARUKIDELTA 0:17f575135219 416 int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
HARUKIDELTA 0:17f575135219 417
HARUKIDELTA 0:17f575135219 418 // reset device, reset all registers, clear gyro and accelerometer bias registers
HARUKIDELTA 0:17f575135219 419 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
HARUKIDELTA 0:17f575135219 420 wait(0.1);
HARUKIDELTA 0:17f575135219 421
HARUKIDELTA 0:17f575135219 422 // get stable time source
HARUKIDELTA 0:17f575135219 423 // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
HARUKIDELTA 0:17f575135219 424 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);
HARUKIDELTA 0:17f575135219 425 writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00);
HARUKIDELTA 0:17f575135219 426 wait(0.2);
HARUKIDELTA 0:17f575135219 427
HARUKIDELTA 0:17f575135219 428 // Configure device for bias calculation
HARUKIDELTA 0:17f575135219 429 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
HARUKIDELTA 0:17f575135219 430 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
HARUKIDELTA 0:17f575135219 431 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
HARUKIDELTA 0:17f575135219 432 writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
HARUKIDELTA 0:17f575135219 433 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
HARUKIDELTA 0:17f575135219 434 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
HARUKIDELTA 0:17f575135219 435 wait(0.015);
HARUKIDELTA 0:17f575135219 436
HARUKIDELTA 0:17f575135219 437 // Configure MPU9250 gyro and accelerometer for bias calculation
HARUKIDELTA 0:17f575135219 438 writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
HARUKIDELTA 0:17f575135219 439 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
HARUKIDELTA 0:17f575135219 440 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
HARUKIDELTA 0:17f575135219 441 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
HARUKIDELTA 0:17f575135219 442
HARUKIDELTA 0:17f575135219 443 uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
HARUKIDELTA 0:17f575135219 444 uint16_t accelsensitivity = 16384; // = 16384 LSB/g
HARUKIDELTA 0:17f575135219 445
HARUKIDELTA 0:17f575135219 446 // Configure FIFO to capture accelerometer and gyro data for bias calculation
HARUKIDELTA 0:17f575135219 447 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
HARUKIDELTA 0:17f575135219 448 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250)
HARUKIDELTA 0:17f575135219 449 wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes
HARUKIDELTA 0:17f575135219 450
HARUKIDELTA 0:17f575135219 451 // At end of sample accumulation, turn off FIFO sensor read
HARUKIDELTA 0:17f575135219 452 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
HARUKIDELTA 0:17f575135219 453 readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
HARUKIDELTA 0:17f575135219 454 fifo_count = ((uint16_t)data[0] << 8) | data[1];
HARUKIDELTA 0:17f575135219 455 packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
HARUKIDELTA 0:17f575135219 456
HARUKIDELTA 0:17f575135219 457 for (ii = 0; ii < packet_count; ii++) {
HARUKIDELTA 0:17f575135219 458 int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
HARUKIDELTA 0:17f575135219 459 readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
HARUKIDELTA 0:17f575135219 460 accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
HARUKIDELTA 0:17f575135219 461 accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
HARUKIDELTA 0:17f575135219 462 accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
HARUKIDELTA 0:17f575135219 463 gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
HARUKIDELTA 0:17f575135219 464 gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
HARUKIDELTA 0:17f575135219 465 gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
HARUKIDELTA 0:17f575135219 466
HARUKIDELTA 0:17f575135219 467 accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
HARUKIDELTA 0:17f575135219 468 accel_bias[1] += (int32_t) accel_temp[1];
HARUKIDELTA 0:17f575135219 469 accel_bias[2] += (int32_t) accel_temp[2];
HARUKIDELTA 0:17f575135219 470 gyro_bias[0] += (int32_t) gyro_temp[0];
HARUKIDELTA 0:17f575135219 471 gyro_bias[1] += (int32_t) gyro_temp[1];
HARUKIDELTA 0:17f575135219 472 gyro_bias[2] += (int32_t) gyro_temp[2];
HARUKIDELTA 0:17f575135219 473
HARUKIDELTA 0:17f575135219 474 }
HARUKIDELTA 0:17f575135219 475 accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
HARUKIDELTA 0:17f575135219 476 accel_bias[1] /= (int32_t) packet_count;
HARUKIDELTA 0:17f575135219 477 accel_bias[2] /= (int32_t) packet_count;
HARUKIDELTA 0:17f575135219 478 gyro_bias[0] /= (int32_t) packet_count;
HARUKIDELTA 0:17f575135219 479 gyro_bias[1] /= (int32_t) packet_count;
HARUKIDELTA 0:17f575135219 480 gyro_bias[2] /= (int32_t) packet_count;
HARUKIDELTA 0:17f575135219 481
HARUKIDELTA 0:17f575135219 482 if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation
HARUKIDELTA 0:17f575135219 483 else {accel_bias[2] += (int32_t) accelsensitivity;}
HARUKIDELTA 0:17f575135219 484
HARUKIDELTA 0:17f575135219 485 // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
HARUKIDELTA 0:17f575135219 486 data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
HARUKIDELTA 0:17f575135219 487 data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
HARUKIDELTA 0:17f575135219 488 data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
HARUKIDELTA 0:17f575135219 489 data[3] = (-gyro_bias[1]/4) & 0xFF;
HARUKIDELTA 0:17f575135219 490 data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
HARUKIDELTA 0:17f575135219 491 data[5] = (-gyro_bias[2]/4) & 0xFF;
HARUKIDELTA 0:17f575135219 492
HARUKIDELTA 0:17f575135219 493 /// Push gyro biases to hardware registers
HARUKIDELTA 0:17f575135219 494 /*
HARUKIDELTA 0:17f575135219 495 writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]);
HARUKIDELTA 0:17f575135219 496 writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]);
HARUKIDELTA 0:17f575135219 497 writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]);
HARUKIDELTA 0:17f575135219 498 writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]);
HARUKIDELTA 0:17f575135219 499 writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]);
HARUKIDELTA 0:17f575135219 500 writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]);
HARUKIDELTA 0:17f575135219 501 */
HARUKIDELTA 0:17f575135219 502 dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
HARUKIDELTA 0:17f575135219 503 dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
HARUKIDELTA 0:17f575135219 504 dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
HARUKIDELTA 0:17f575135219 505
HARUKIDELTA 0:17f575135219 506 // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
HARUKIDELTA 0:17f575135219 507 // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
HARUKIDELTA 0:17f575135219 508 // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
HARUKIDELTA 0:17f575135219 509 // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
HARUKIDELTA 0:17f575135219 510 // the accelerometer biases calculated above must be divided by 8.
HARUKIDELTA 0:17f575135219 511
HARUKIDELTA 0:17f575135219 512 readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
HARUKIDELTA 0:17f575135219 513 accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
HARUKIDELTA 0:17f575135219 514 readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]);
HARUKIDELTA 0:17f575135219 515 accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
HARUKIDELTA 0:17f575135219 516 readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
HARUKIDELTA 0:17f575135219 517 accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
HARUKIDELTA 0:17f575135219 518
HARUKIDELTA 0:17f575135219 519 uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
HARUKIDELTA 0:17f575135219 520 uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
HARUKIDELTA 0:17f575135219 521
HARUKIDELTA 0:17f575135219 522 for(ii = 0; ii < 3; ii++) {
HARUKIDELTA 0:17f575135219 523 if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
HARUKIDELTA 0:17f575135219 524 }
HARUKIDELTA 0:17f575135219 525
HARUKIDELTA 0:17f575135219 526 // Construct total accelerometer bias, including calculated average accelerometer bias from above
HARUKIDELTA 0:17f575135219 527 accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
HARUKIDELTA 0:17f575135219 528 accel_bias_reg[1] -= (accel_bias[1]/8);
HARUKIDELTA 0:17f575135219 529 accel_bias_reg[2] -= (accel_bias[2]/8);
HARUKIDELTA 0:17f575135219 530
HARUKIDELTA 0:17f575135219 531 data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
HARUKIDELTA 0:17f575135219 532 data[1] = (accel_bias_reg[0]) & 0xFF;
HARUKIDELTA 0:17f575135219 533 data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
HARUKIDELTA 0:17f575135219 534 data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
HARUKIDELTA 0:17f575135219 535 data[3] = (accel_bias_reg[1]) & 0xFF;
HARUKIDELTA 0:17f575135219 536 data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
HARUKIDELTA 0:17f575135219 537 data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
HARUKIDELTA 0:17f575135219 538 data[5] = (accel_bias_reg[2]) & 0xFF;
HARUKIDELTA 0:17f575135219 539 data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
HARUKIDELTA 0:17f575135219 540
HARUKIDELTA 0:17f575135219 541 // Apparently this is not working for the acceleration biases in the MPU-9250
HARUKIDELTA 0:17f575135219 542 // Are we handling the temperature correction bit properly?
HARUKIDELTA 0:17f575135219 543 // Push accelerometer biases to hardware registers
HARUKIDELTA 0:17f575135219 544 /*
HARUKIDELTA 0:17f575135219 545 writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]);
HARUKIDELTA 0:17f575135219 546 writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
HARUKIDELTA 0:17f575135219 547 writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
HARUKIDELTA 0:17f575135219 548 writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
HARUKIDELTA 0:17f575135219 549 writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
HARUKIDELTA 0:17f575135219 550 writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);
HARUKIDELTA 0:17f575135219 551 */
HARUKIDELTA 0:17f575135219 552 // Output scaled accelerometer biases for manual subtraction in the main program
HARUKIDELTA 0:17f575135219 553 dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
HARUKIDELTA 0:17f575135219 554 dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
HARUKIDELTA 0:17f575135219 555 dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
HARUKIDELTA 0:17f575135219 556 }
HARUKIDELTA 0:17f575135219 557
HARUKIDELTA 0:17f575135219 558 void MPU9250::getMres(void)
HARUKIDELTA 0:17f575135219 559 {
HARUKIDELTA 0:17f575135219 560 switch (Mscale)
HARUKIDELTA 0:17f575135219 561 {
HARUKIDELTA 0:17f575135219 562 // Possible magnetometer scales (and their register bit settings) are:
HARUKIDELTA 0:17f575135219 563 // 14 bit resolution (0) and 16 bit resolution (1)
HARUKIDELTA 0:17f575135219 564 case MFS_14BITS:
HARUKIDELTA 0:17f575135219 565 mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss
HARUKIDELTA 0:17f575135219 566 break;
HARUKIDELTA 0:17f575135219 567 case MFS_16BITS:
HARUKIDELTA 0:17f575135219 568 mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss
HARUKIDELTA 0:17f575135219 569 break;
HARUKIDELTA 0:17f575135219 570 }
HARUKIDELTA 0:17f575135219 571 }
HARUKIDELTA 0:17f575135219 572
HARUKIDELTA 0:17f575135219 573 void MPU9250::getGres(void) {
HARUKIDELTA 0:17f575135219 574 switch (Gscale)
HARUKIDELTA 0:17f575135219 575 {
HARUKIDELTA 0:17f575135219 576 // Possible gyro scales (and their register bit settings) are:
HARUKIDELTA 0:17f575135219 577 // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
HARUKIDELTA 0:17f575135219 578 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
HARUKIDELTA 0:17f575135219 579 case GFS_250DPS:
HARUKIDELTA 0:17f575135219 580 gRes = 250.0/32768.0;
HARUKIDELTA 0:17f575135219 581 break;
HARUKIDELTA 0:17f575135219 582 case GFS_500DPS:
HARUKIDELTA 0:17f575135219 583 gRes = 500.0/32768.0;
HARUKIDELTA 0:17f575135219 584 break;
HARUKIDELTA 0:17f575135219 585 case GFS_1000DPS:
HARUKIDELTA 0:17f575135219 586 gRes = 1000.0/32768.0;
HARUKIDELTA 0:17f575135219 587 break;
HARUKIDELTA 0:17f575135219 588 case GFS_2000DPS:
HARUKIDELTA 0:17f575135219 589 gRes = 2000.0/32768.0;
HARUKIDELTA 0:17f575135219 590 break;
HARUKIDELTA 0:17f575135219 591 }
HARUKIDELTA 0:17f575135219 592 }
HARUKIDELTA 0:17f575135219 593
HARUKIDELTA 0:17f575135219 594
HARUKIDELTA 0:17f575135219 595 void MPU9250::getAres(void)
HARUKIDELTA 0:17f575135219 596 {
HARUKIDELTA 0:17f575135219 597 switch (Ascale)
HARUKIDELTA 0:17f575135219 598 {
HARUKIDELTA 0:17f575135219 599 // Possible accelerometer scales (and their register bit settings) are:
HARUKIDELTA 0:17f575135219 600 // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
HARUKIDELTA 0:17f575135219 601 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
HARUKIDELTA 0:17f575135219 602 case AFS_2G:
HARUKIDELTA 0:17f575135219 603 aRes = 2.0/32768.0;
HARUKIDELTA 0:17f575135219 604 break;
HARUKIDELTA 0:17f575135219 605 case AFS_4G:
HARUKIDELTA 0:17f575135219 606 aRes = 4.0/32768.0;
HARUKIDELTA 0:17f575135219 607 break;
HARUKIDELTA 0:17f575135219 608 case AFS_8G:
HARUKIDELTA 0:17f575135219 609 aRes = 8.0/32768.0;
HARUKIDELTA 0:17f575135219 610 break;
HARUKIDELTA 0:17f575135219 611 case AFS_16G:
HARUKIDELTA 0:17f575135219 612 aRes = 16.0/32768.0;
HARUKIDELTA 0:17f575135219 613 break;
HARUKIDELTA 0:17f575135219 614 }
HARUKIDELTA 0:17f575135219 615 }
HARUKIDELTA 0:17f575135219 616
HARUKIDELTA 0:17f575135219 617 void MPU9250::readAccelData(int16_t * destination)
HARUKIDELTA 0:17f575135219 618 {
HARUKIDELTA 0:17f575135219 619 uint8_t rawData[6]; // x/y/z accel register data stored here
HARUKIDELTA 0:17f575135219 620
HARUKIDELTA 0:17f575135219 621 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
HARUKIDELTA 0:17f575135219 622 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA 0:17f575135219 623 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
HARUKIDELTA 0:17f575135219 624 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
HARUKIDELTA 0:17f575135219 625 }
HARUKIDELTA 0:17f575135219 626
HARUKIDELTA 0:17f575135219 627 void MPU9250::readGyroData(int16_t * destination)
HARUKIDELTA 0:17f575135219 628 {
HARUKIDELTA 0:17f575135219 629 uint8_t rawData[6]; // x/y/z gyro register data stored here
HARUKIDELTA 0:17f575135219 630
HARUKIDELTA 0:17f575135219 631 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
HARUKIDELTA 0:17f575135219 632 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA 0:17f575135219 633 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
HARUKIDELTA 0:17f575135219 634 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
HARUKIDELTA 0:17f575135219 635 }
HARUKIDELTA 0:17f575135219 636
HARUKIDELTA 0:17f575135219 637 void MPU9250::readMagData(int16_t * destination)
HARUKIDELTA 0:17f575135219 638 {
HARUKIDELTA 0:17f575135219 639 uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
HARUKIDELTA 0:17f575135219 640
HARUKIDELTA 0:17f575135219 641 if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
HARUKIDELTA 0:17f575135219 642 readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
HARUKIDELTA 0:17f575135219 643 uint8_t c = rawData[6]; // End data read by reading ST2 register
HARUKIDELTA 0:17f575135219 644 if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
HARUKIDELTA 0:17f575135219 645 destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA 0:17f575135219 646 destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
HARUKIDELTA 0:17f575135219 647 destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
HARUKIDELTA 0:17f575135219 648 }
HARUKIDELTA 0:17f575135219 649 }
HARUKIDELTA 0:17f575135219 650 }
HARUKIDELTA 0:17f575135219 651
HARUKIDELTA 0:17f575135219 652 int16_t MPU9250::readTempData(void)
HARUKIDELTA 0:17f575135219 653 {
HARUKIDELTA 0:17f575135219 654 uint8_t rawData[2]; // x/y/z gyro register data stored here
HARUKIDELTA 0:17f575135219 655
HARUKIDELTA 0:17f575135219 656 readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
HARUKIDELTA 0:17f575135219 657
HARUKIDELTA 0:17f575135219 658 return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
HARUKIDELTA 0:17f575135219 659 }
HARUKIDELTA 0:17f575135219 660
HARUKIDELTA 0:17f575135219 661 uint8_t MPU9250::Whoami_MPU9250(void){
HARUKIDELTA 0:17f575135219 662 return readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
HARUKIDELTA 0:17f575135219 663 }
HARUKIDELTA 0:17f575135219 664
HARUKIDELTA 0:17f575135219 665 uint8_t MPU9250::Whoami_AK8963(void){
HARUKIDELTA 0:17f575135219 666 return readByte(WHO_AM_I_AK8963, WHO_AM_I_AK8963);
HARUKIDELTA 0:17f575135219 667 }
HARUKIDELTA 0:17f575135219 668
HARUKIDELTA 0:17f575135219 669 void MPU9250::sensingAccel(void){
HARUKIDELTA 0:17f575135219 670 readAccelData(accelCount);
HARUKIDELTA 0:17f575135219 671 ax = (float)accelCount[0]*aRes - accelBias[0];
HARUKIDELTA 0:17f575135219 672 ay = (float)accelCount[1]*aRes - accelBias[1];
HARUKIDELTA 0:17f575135219 673 az = (float)accelCount[2]*aRes - accelBias[2];
HARUKIDELTA 0:17f575135219 674 }
HARUKIDELTA 0:17f575135219 675
HARUKIDELTA 0:17f575135219 676 void MPU9250::sensingGyro(void){
HARUKIDELTA 0:17f575135219 677 readGyroData(gyroCount);
HARUKIDELTA 0:17f575135219 678 gx = (float)gyroCount[0]*gRes - gyroBias[0];
HARUKIDELTA 0:17f575135219 679 gy = (float)gyroCount[1]*gRes - gyroBias[1];
HARUKIDELTA 0:17f575135219 680 gz = (float)gyroCount[2]*gRes - gyroBias[2];
HARUKIDELTA 0:17f575135219 681 }
HARUKIDELTA 0:17f575135219 682
HARUKIDELTA 0:17f575135219 683 void MPU9250::sensingMag(void){
HARUKIDELTA 0:17f575135219 684 readMagData(magCount);
HARUKIDELTA 0:17f575135219 685 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0];
HARUKIDELTA 0:17f575135219 686 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
HARUKIDELTA 0:17f575135219 687 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
HARUKIDELTA 0:17f575135219 688 }
HARUKIDELTA 0:17f575135219 689
HARUKIDELTA 0:17f575135219 690 void MPU9250::sensingTemp(void){
HARUKIDELTA 0:17f575135219 691 tempCount = readTempData();
HARUKIDELTA 0:17f575135219 692 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
HARUKIDELTA 0:17f575135219 693 }
HARUKIDELTA 0:17f575135219 694
HARUKIDELTA 0:17f575135219 695 // Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
HARUKIDELTA 0:17f575135219 696 // (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
HARUKIDELTA 0:17f575135219 697 // which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
HARUKIDELTA 0:17f575135219 698 // device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
HARUKIDELTA 0:17f575135219 699 // The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
HARUKIDELTA 0:17f575135219 700 // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
HARUKIDELTA 0:17f575135219 701 void MPU9250::MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
HARUKIDELTA 0:17f575135219 702 {
HARUKIDELTA 0:17f575135219 703 float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
HARUKIDELTA 0:17f575135219 704 float norm;
HARUKIDELTA 0:17f575135219 705 float hx, hy, _2bx, _2bz;
HARUKIDELTA 0:17f575135219 706 float s1, s2, s3, s4;
HARUKIDELTA 0:17f575135219 707 float qDot1, qDot2, qDot3, qDot4;
HARUKIDELTA 0:17f575135219 708
HARUKIDELTA 0:17f575135219 709 // Auxiliary variables to avoid repeated arithmetic
HARUKIDELTA 0:17f575135219 710 float _2q1mx;
HARUKIDELTA 0:17f575135219 711 float _2q1my;
HARUKIDELTA 0:17f575135219 712 float _2q1mz;
HARUKIDELTA 0:17f575135219 713 float _2q2mx;
HARUKIDELTA 0:17f575135219 714 float _4bx;
HARUKIDELTA 0:17f575135219 715 float _4bz;
HARUKIDELTA 0:17f575135219 716 float _2q1 = 2.0f * q1;
HARUKIDELTA 0:17f575135219 717 float _2q2 = 2.0f * q2;
HARUKIDELTA 0:17f575135219 718 float _2q3 = 2.0f * q3;
HARUKIDELTA 0:17f575135219 719 float _2q4 = 2.0f * q4;
HARUKIDELTA 0:17f575135219 720 float _2q1q3 = 2.0f * q1 * q3;
HARUKIDELTA 0:17f575135219 721 float _2q3q4 = 2.0f * q3 * q4;
HARUKIDELTA 0:17f575135219 722 float q1q1 = q1 * q1;
HARUKIDELTA 0:17f575135219 723 float q1q2 = q1 * q2;
HARUKIDELTA 0:17f575135219 724 float q1q3 = q1 * q3;
HARUKIDELTA 0:17f575135219 725 float q1q4 = q1 * q4;
HARUKIDELTA 0:17f575135219 726 float q2q2 = q2 * q2;
HARUKIDELTA 0:17f575135219 727 float q2q3 = q2 * q3;
HARUKIDELTA 0:17f575135219 728 float q2q4 = q2 * q4;
HARUKIDELTA 0:17f575135219 729 float q3q3 = q3 * q3;
HARUKIDELTA 0:17f575135219 730 float q3q4 = q3 * q4;
HARUKIDELTA 0:17f575135219 731 float q4q4 = q4 * q4;
HARUKIDELTA 0:17f575135219 732
HARUKIDELTA 0:17f575135219 733 // Normalise accelerometer measurement
HARUKIDELTA 0:17f575135219 734 norm = sqrt(ax * ax + ay * ay + az * az);
HARUKIDELTA 0:17f575135219 735 if (norm == 0.0f) return; // handle NaN
HARUKIDELTA 0:17f575135219 736 norm = 1.0f/norm;
HARUKIDELTA 0:17f575135219 737 ax *= norm;
HARUKIDELTA 0:17f575135219 738 ay *= norm;
HARUKIDELTA 0:17f575135219 739 az *= norm;
HARUKIDELTA 0:17f575135219 740
HARUKIDELTA 0:17f575135219 741 // Normalise magnetometer measurement
HARUKIDELTA 0:17f575135219 742 norm = sqrt(mx * mx + my * my + mz * mz);
HARUKIDELTA 0:17f575135219 743 if (norm == 0.0f) return; // handle NaN
HARUKIDELTA 0:17f575135219 744 norm = 1.0f/norm;
HARUKIDELTA 0:17f575135219 745 mx *= norm;
HARUKIDELTA 0:17f575135219 746 my *= norm;
HARUKIDELTA 0:17f575135219 747 mz *= norm;
HARUKIDELTA 0:17f575135219 748
HARUKIDELTA 0:17f575135219 749 // Reference direction of Earth's magnetic field
HARUKIDELTA 0:17f575135219 750 _2q1mx = 2.0f * q1 * mx;
HARUKIDELTA 0:17f575135219 751 _2q1my = 2.0f * q1 * my;
HARUKIDELTA 0:17f575135219 752 _2q1mz = 2.0f * q1 * mz;
HARUKIDELTA 0:17f575135219 753 _2q2mx = 2.0f * q2 * mx;
HARUKIDELTA 0:17f575135219 754 hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
HARUKIDELTA 0:17f575135219 755 hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
HARUKIDELTA 0:17f575135219 756 _2bx = sqrt(hx * hx + hy * hy);
HARUKIDELTA 0:17f575135219 757 _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
HARUKIDELTA 0:17f575135219 758 _4bx = 2.0f * _2bx;
HARUKIDELTA 0:17f575135219 759 _4bz = 2.0f * _2bz;
HARUKIDELTA 0:17f575135219 760
HARUKIDELTA 0:17f575135219 761 // Gradient decent algorithm corrective step
HARUKIDELTA 0:17f575135219 762 s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
HARUKIDELTA 0:17f575135219 763 s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
HARUKIDELTA 0:17f575135219 764 s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
HARUKIDELTA 0:17f575135219 765 s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
HARUKIDELTA 0:17f575135219 766 norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
HARUKIDELTA 0:17f575135219 767 norm = 1.0f/norm;
HARUKIDELTA 0:17f575135219 768 s1 *= norm;
HARUKIDELTA 0:17f575135219 769 s2 *= norm;
HARUKIDELTA 0:17f575135219 770 s3 *= norm;
HARUKIDELTA 0:17f575135219 771 s4 *= norm;
HARUKIDELTA 0:17f575135219 772
HARUKIDELTA 0:17f575135219 773 // Compute rate of change of quaternion
HARUKIDELTA 0:17f575135219 774 qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
HARUKIDELTA 0:17f575135219 775 qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
HARUKIDELTA 0:17f575135219 776 qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
HARUKIDELTA 0:17f575135219 777 qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
HARUKIDELTA 0:17f575135219 778
HARUKIDELTA 0:17f575135219 779 // Integrate to yield quaternion
HARUKIDELTA 0:17f575135219 780 q1 += qDot1 * deltat;
HARUKIDELTA 0:17f575135219 781 q2 += qDot2 * deltat;
HARUKIDELTA 0:17f575135219 782 q3 += qDot3 * deltat;
HARUKIDELTA 0:17f575135219 783 q4 += qDot4 * deltat;
HARUKIDELTA 0:17f575135219 784 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
HARUKIDELTA 0:17f575135219 785 norm = 1.0f/norm;
HARUKIDELTA 0:17f575135219 786 q[0] = q1 * norm;
HARUKIDELTA 0:17f575135219 787 q[1] = q2 * norm;
HARUKIDELTA 0:17f575135219 788 q[2] = q3 * norm;
HARUKIDELTA 0:17f575135219 789 q[3] = q4 * norm;
HARUKIDELTA 0:17f575135219 790
HARUKIDELTA 0:17f575135219 791 }
HARUKIDELTA 0:17f575135219 792
HARUKIDELTA 0:17f575135219 793 void MPU9250::MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
HARUKIDELTA 0:17f575135219 794 {
HARUKIDELTA 0:17f575135219 795 float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
HARUKIDELTA 0:17f575135219 796 float norm;
HARUKIDELTA 0:17f575135219 797 float hx, hy, bx, bz;
HARUKIDELTA 0:17f575135219 798 float vx, vy, vz, wx, wy, wz;
HARUKIDELTA 0:17f575135219 799 float ex, ey, ez;
HARUKIDELTA 0:17f575135219 800 float pa, pb, pc;
HARUKIDELTA 0:17f575135219 801
HARUKIDELTA 0:17f575135219 802 // Auxiliary variables to avoid repeated arithmetic
HARUKIDELTA 0:17f575135219 803 float q1q1 = q1 * q1;
HARUKIDELTA 0:17f575135219 804 float q1q2 = q1 * q2;
HARUKIDELTA 0:17f575135219 805 float q1q3 = q1 * q3;
HARUKIDELTA 0:17f575135219 806 float q1q4 = q1 * q4;
HARUKIDELTA 0:17f575135219 807 float q2q2 = q2 * q2;
HARUKIDELTA 0:17f575135219 808 float q2q3 = q2 * q3;
HARUKIDELTA 0:17f575135219 809 float q2q4 = q2 * q4;
HARUKIDELTA 0:17f575135219 810 float q3q3 = q3 * q3;
HARUKIDELTA 0:17f575135219 811 float q3q4 = q3 * q4;
HARUKIDELTA 0:17f575135219 812 float q4q4 = q4 * q4;
HARUKIDELTA 0:17f575135219 813
HARUKIDELTA 0:17f575135219 814 // Normalise accelerometer measurement
HARUKIDELTA 0:17f575135219 815 norm = sqrt(ax * ax + ay * ay + az * az);
HARUKIDELTA 0:17f575135219 816 if (norm == 0.0f) return; // handle NaN
HARUKIDELTA 0:17f575135219 817 norm = 1.0f / norm; // use reciprocal for division
HARUKIDELTA 0:17f575135219 818 ax *= norm;
HARUKIDELTA 0:17f575135219 819 ay *= norm;
HARUKIDELTA 0:17f575135219 820 az *= norm;
HARUKIDELTA 0:17f575135219 821
HARUKIDELTA 0:17f575135219 822 // Normalise magnetometer measurement
HARUKIDELTA 0:17f575135219 823 norm = sqrt(mx * mx + my * my + mz * mz);
HARUKIDELTA 0:17f575135219 824 if (norm == 0.0f) return; // handle NaN
HARUKIDELTA 0:17f575135219 825 norm = 1.0f / norm; // use reciprocal for division
HARUKIDELTA 0:17f575135219 826 mx *= norm;
HARUKIDELTA 0:17f575135219 827 my *= norm;
HARUKIDELTA 0:17f575135219 828 mz *= norm;
HARUKIDELTA 0:17f575135219 829
HARUKIDELTA 0:17f575135219 830 // Reference direction of Earth's magnetic field
HARUKIDELTA 0:17f575135219 831 hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
HARUKIDELTA 0:17f575135219 832 hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
HARUKIDELTA 0:17f575135219 833 bx = sqrt((hx * hx) + (hy * hy));
HARUKIDELTA 0:17f575135219 834 bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
HARUKIDELTA 0:17f575135219 835
HARUKIDELTA 0:17f575135219 836 // Estimated direction of gravity and magnetic field
HARUKIDELTA 0:17f575135219 837 vx = 2.0f * (q2q4 - q1q3);
HARUKIDELTA 0:17f575135219 838 vy = 2.0f * (q1q2 + q3q4);
HARUKIDELTA 0:17f575135219 839 vz = q1q1 - q2q2 - q3q3 + q4q4;
HARUKIDELTA 0:17f575135219 840 wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
HARUKIDELTA 0:17f575135219 841 wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
HARUKIDELTA 0:17f575135219 842 wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
HARUKIDELTA 0:17f575135219 843
HARUKIDELTA 0:17f575135219 844 // Error is cross product between estimated direction and measured direction of gravity
HARUKIDELTA 0:17f575135219 845 ex = (ay * vz - az * vy) + (my * wz - mz * wy);
HARUKIDELTA 0:17f575135219 846 ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
HARUKIDELTA 0:17f575135219 847 ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
HARUKIDELTA 0:17f575135219 848 if (Ki > 0.0f){
HARUKIDELTA 0:17f575135219 849 eInt[0] += ex; // accumulate integral error
HARUKIDELTA 0:17f575135219 850 eInt[1] += ey;
HARUKIDELTA 0:17f575135219 851 eInt[2] += ez;
HARUKIDELTA 0:17f575135219 852
HARUKIDELTA 0:17f575135219 853 }else{
HARUKIDELTA 0:17f575135219 854 eInt[0] = 0.0f; // prevent integral wind up
HARUKIDELTA 0:17f575135219 855 eInt[1] = 0.0f;
HARUKIDELTA 0:17f575135219 856 eInt[2] = 0.0f;
HARUKIDELTA 0:17f575135219 857 }
HARUKIDELTA 0:17f575135219 858
HARUKIDELTA 0:17f575135219 859 // Apply feedback terms
HARUKIDELTA 0:17f575135219 860 gx = gx + Kp * ex + Ki * eInt[0];
HARUKIDELTA 0:17f575135219 861 gy = gy + Kp * ey + Ki * eInt[1];
HARUKIDELTA 0:17f575135219 862 gz = gz + Kp * ez + Ki * eInt[2];
HARUKIDELTA 0:17f575135219 863
HARUKIDELTA 0:17f575135219 864 // Integrate rate of change of quaternion
HARUKIDELTA 0:17f575135219 865 pa = q2;
HARUKIDELTA 0:17f575135219 866 pb = q3;
HARUKIDELTA 0:17f575135219 867 pc = q4;
HARUKIDELTA 0:17f575135219 868 q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
HARUKIDELTA 0:17f575135219 869 q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
HARUKIDELTA 0:17f575135219 870 q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
HARUKIDELTA 0:17f575135219 871 q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
HARUKIDELTA 0:17f575135219 872
HARUKIDELTA 0:17f575135219 873 // Normalise quaternion
HARUKIDELTA 0:17f575135219 874 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
HARUKIDELTA 0:17f575135219 875 norm = 1.0f / norm;
HARUKIDELTA 0:17f575135219 876 q[0] = q1 * norm;
HARUKIDELTA 0:17f575135219 877 q[1] = q2 * norm;
HARUKIDELTA 0:17f575135219 878 q[2] = q3 * norm;
HARUKIDELTA 0:17f575135219 879 q[3] = q4 * norm;
HARUKIDELTA 0:17f575135219 880
HARUKIDELTA 0:17f575135219 881 }
HARUKIDELTA 0:17f575135219 882
HARUKIDELTA 0:17f575135219 883 void MPU9250::translateQuaternionToDeg(float quaternion[4]){
HARUKIDELTA 0:17f575135219 884 yaw = atan2(2.0f * (quaternion[1] * quaternion[2] + quaternion[0] * quaternion[3]), quaternion[0] * quaternion[0] + quaternion[1] * quaternion[1] - quaternion[2] * quaternion[2] - quaternion[3] * quaternion[3]);
HARUKIDELTA 0:17f575135219 885 roll = -asin(2.0f * (quaternion[1] * quaternion[3] - quaternion[0] * quaternion[2]));
HARUKIDELTA 0:17f575135219 886 pitch = atan2(2.0f * (quaternion[0] * quaternion[1] + quaternion[2] * quaternion[3]), quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] - quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3]);
HARUKIDELTA 0:17f575135219 887 }
HARUKIDELTA 0:17f575135219 888
HARUKIDELTA 0:17f575135219 889 void MPU9250::calibrateDegree(void){
HARUKIDELTA 0:17f575135219 890 pitch *= 180.0f / PI;
HARUKIDELTA 0:17f575135219 891 yaw *= 180.0f / PI;
HARUKIDELTA 0:17f575135219 892 yaw -= DECLINATION;
HARUKIDELTA 0:17f575135219 893 roll *= 180.0f / PI;
HARUKIDELTA 0:17f575135219 894 }
HARUKIDELTA 0:17f575135219 895
HARUKIDELTA 0:17f575135219 896 void MPU9250::transformCoordinateFromCompassToMPU(){
HARUKIDELTA 0:17f575135219 897 float buf = mx;
HARUKIDELTA 0:17f575135219 898 mx = my;
HARUKIDELTA 0:17f575135219 899 my = buf;
HARUKIDELTA 0:17f575135219 900 mz = -mz;
HARUKIDELTA 0:17f575135219 901 }