HMC実装
Dependencies: mbed MPU6050_2 HMC5883L_2
Diff: MPU9250/MPU9250.cpp
- Revision:
- 6:166746820555
- Parent:
- 5:8bfe95431ec0
diff -r 8bfe95431ec0 -r 166746820555 MPU9250/MPU9250.cpp --- a/MPU9250/MPU9250.cpp Fri Feb 08 09:11:27 2019 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,901 +0,0 @@ -#include "mbed.h" -#include "math.h" -#include "MPU9250.h" - - -MPU9250::MPU9250(PinName sda, PinName scl, RawSerial* serial_p) - : - i2c_p(new I2C(sda,scl)), - i2c(*i2c_p), - pc_p(serial_p) -{ - initializeValue(); -} - -MPU9250::~MPU9250(){} - - -/*---------- public function ----------*/ -bool MPU9250::Initialize(void){ - uint8_t whoami; - - i2c.frequency(400000); // use fast (400 kHz) I2C - timer.start(); - - whoami = Whoami_MPU9250(); - pc_p->printf("I AM 0x%x\n\r", whoami); pc_p->printf("I SHOULD BE 0x71\n\r"); - - if(whoami == IAM_MPU9250){ - resetMPU9250(); // Reset registers to default in preparation for device calibration - calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers - wait(1); - - initMPU9250(); - initAK8963(magCalibration); - - pc_p->printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); - pc_p->printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); - - if(Mscale == 0) pc_p->printf("Magnetometer resolution = 14 bits\n\r"); - if(Mscale == 1) pc_p->printf("Magnetometer resolution = 16 bits\n\r"); - if(Mmode == 2) pc_p->printf("Magnetometer ODR = 8 Hz\n\r"); - if(Mmode == 6) pc_p->printf("Magnetometer ODR = 100 Hz\n\r"); - - getAres(); - getGres(); - getMres(); - - pc_p->printf("mpu9250 initialized\r\n"); - return true; - }else return false; -} - -bool MPU9250::sensingAcGyMg(){ - if(readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt - sensingAccel(); - sensingGyro(); - sensingMag(); - return true; - }else return false; -} - - -void MPU9250::calculatePostureAngle(float degree[3]){ - Now = timer.read_us(); - deltat = (float)((Now - lastUpdate)/1000000.0f); // set integration time by time elapsed since last filter update - lastUpdate = Now; - -// if(lastUpdate - firstUpdate > 10000000.0f) { -// beta = 0.04; // decrease filter gain after stabilized -// zeta = 0.015; // increasey bias drift gain after stabilized -// } - - // Pass gyro rate as rad/s - MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); - 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 - - // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. - // In this coordinate system, the positive z-axis is down toward Earth. - // 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. - // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. - // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. - // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. - // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be - // applied in the correct order which for this configuration is yaw, pitch, and then roll. - // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. - translateQuaternionToDeg(q); - calibrateDegree(); - degree[0] = roll; - degree[1] = pitch; - degree[2] = yaw; -} - - -float MPU9250::calculateYawByMg(){ - transformCoordinateFromCompassToMPU(); - lpmag[0] = LPGAIN_MAG *lpmag[0] + (1 - LPGAIN_MAG)*mx; - lpmag[1] = LPGAIN_MAG *lpmag[1] + (1 - LPGAIN_MAG)*my; - lpmag[2] = LPGAIN_MAG *lpmag[2] + (1 - LPGAIN_MAG)*mz; - - float radroll = PI/180.0f * roll; - float radpitch = PI/180.0f * pitch; - - return 180.0f/PI * atan2(lpmag[2]*sin(radpitch) - lpmag[1]*cos(radpitch), - lpmag[0]*cos(radroll) - lpmag[1]*sin(radroll)*sin(radpitch) + lpmag[2]*sin(radroll)*cos(radpitch)); -} - - -// Accelerometer and gyroscope self test; check calibration wrt factory settings -void MPU9250::MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass -{ - uint8_t rawData[6] = {0, 0, 0, 0, 0, 0}; - uint8_t selfTest[6]; - int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3]; - float factoryTrim[6]; - uint8_t FS = 0; - - writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz - writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g - - for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer - readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array - aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value - aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; - aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; - - readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array - gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value - gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; - gAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; - } - - for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average current readings - aAvg[ii] /= 200; - gAvg[ii] /= 200; - } - - // Configure the accelerometer for self-test - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s - //delay(55); // Delay a while to let the device stabilize - - for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer - readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array - aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value - aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; - aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; - - readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array - gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value - gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; - gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; - } - - for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average self-test readings - aSTAvg[ii] /= 200; - gSTAvg[ii] /= 200; - } - - // Configure the gyro and accelerometer for normal operation - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); - //delay(45); // Delay a while to let the device stabilize - - // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg - selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results - selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results - selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results - selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results - selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results - selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results - - // Retrieve factory self-test value from self-test code reads - factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation - factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation - factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation - factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation - factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation - factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation - - // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response - // To get percent, must multiply by 100 - for (int i = 0; i < 3; i++) { - destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences - destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences - } -} - -void MPU9250::pickupAccel(float accel[3]){ - sensingAccel(); - accel[0] = ax; - accel[1] = ay; - accel[2] = az; -} - -void MPU9250::pickupGyro(float gyro[3]){ - sensingGyro(); - gyro[0] = gx; - gyro[1] = gy; - gyro[2] = gz; -} - -void MPU9250::pickupMag(float mag[3]){ - sensingMag(); - mag[0] = mx; - mag[1] = my; - mag[2] = mz; -} - -float MPU9250::pickupTemp(void){ - sensingTemp(); - return temperature; -} - -void MPU9250::displayAccel(void){ - pc_p->printf("ax = %f", 1000*ax); - pc_p->printf(" ay = %f", 1000*ay); - pc_p->printf(" az = %f mg\n\r", 1000*az); -} - -void MPU9250::displayGyro(void){ - pc_p->printf("gx = %f", gx); - pc_p->printf(" gy = %f", gy); - pc_p->printf(" gz = %f deg/s\n\r", gz); -} - -void MPU9250::displayMag(void){ - pc_p->printf("mx = %f,", mx); - pc_p->printf(" my = %f,", my); - pc_p->printf(" mz = %f mG\n\r", mz); -} - -void MPU9250::displayQuaternion(void){ - pc_p->printf("q0 = %f\n\r", q[0]); - pc_p->printf("q1 = %f\n\r", q[1]); - pc_p->printf("q2 = %f\n\r", q[2]); - pc_p->printf("q3 = %f\n\r", q[3]); -} - -void MPU9250::displayAngle(void){ - //pc_p->printf("$%d %d %d;",(int)(yaw*100),(int)(pitch*100),(int)(roll*100)); - pc_p->printf("Roll: %f\tPitch: %f\tYaw: %f\n\r", roll, pitch, yaw); -} - -void MPU9250::displayTemperature(void){ - pc_p->printf(" temperature = %f C\n\r", temperature); -} - -void MPU9250::setMagBias(float bias_x, float bias_y, float bias_z){ - magbias[0] = bias_x; - magbias[1] = bias_y; - magbias[2] = bias_z; -} - -/*---------- private function ----------*/ - -void MPU9250::writeByte(uint8_t address, uint8_t subAddress, uint8_t data) -{ - char data_write[2]; - - data_write[0] = subAddress; - data_write[1] = data; - i2c.write(address, data_write, 2, 0); -} - -char MPU9250::readByte(uint8_t address, uint8_t subAddress) -{ - char data[1]; // `data` will store the register data - char data_write[1]; - - data_write[0] = subAddress; - i2c.write(address, data_write, 1, 1); // no stop - i2c.read(address, data, 1, 0); - return data[0]; -} - -void MPU9250::readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) -{ - char data[14]; - char data_write[1]; - - data_write[0] = subAddress; - i2c.write(address, data_write, 1, 1); // no stop - i2c.read(address, data, count, 0); - for(int ii = 0; ii < count; ii++) { - dest[ii] = data[ii]; - } -} - -void MPU9250::initializeValue(void){ - Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G - Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS - Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution - Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR - - GyroMeasError = PI * (60.0f / 180.0f); - beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta - GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) - 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 - - deltat = 0.0f; // integration interval for both filter schemes - lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval - - for(int i=0; i<3; i++){ - magCalibration[i] = 0; - gyroBias[i] = 0; - accelBias[i] = 0; - magbias[i] = 0; - - eInt[i] = 0.0f; - - lpmag[i] = 0.0f; - } - - q[0] = 1.0f; - q[1] = 0.0f; - q[2] = 0.0f; - q[3] = 0.0f; -} - -void MPU9250::initMPU9250(void) -{ - // Initialize MPU9250 device - // wake up device - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors - wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt - - // get stable time source - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 - - // Configure Gyro and Accelerometer - // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively; - // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both - // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate - writeByte(MPU9250_ADDRESS, CONFIG, 0x03); - - // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV) - writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above - - // Set gyroscope full scale range - // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3 - uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); // get current GYRO_CONFIG register value - // c = c & ~0xE0; // Clear self-test bits [7:5] - c = c & ~0x02; // Clear Fchoice bits [1:0] - c = c & ~0x18; // Clear AFS bits [4:3] - c = c | Gscale << 3; // Set full scale range for the gyro - // c =| 0x00; // Set Fchoice for the gyro to 11 by writing its inverse to bits 1:0 of GYRO_CONFIG - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c ); // Write new GYRO_CONFIG value to register - - // Set accelerometer full-scale range configuration - c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); // get current ACCEL_CONFIG register value - // c = c & ~0xE0; // Clear self-test bits [7:5] - c = c & ~0x18; // Clear AFS bits [4:3] - c = c | Ascale << 3; // Set full scale range for the accelerometer - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c); // Write new ACCEL_CONFIG register value - - // Set accelerometer sample rate configuration - // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for - // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz - c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2); // get current ACCEL_CONFIG2 register value - c = c & ~0x0F; // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0]) - c = c | 0x03; // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c); // Write new ACCEL_CONFIG2 register value - - // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates, - // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting - - // Configure Interrupts and Bypass Enable - // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips - // can join the I2C bus and all can be controlled by the Arduino as master - writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22); - writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt -} - -void MPU9250::initAK8963(float * destination) -{ - // First extract the factory calibration for each magnetometer axis - uint8_t rawData[3]; // x/y/z gyro calibration data stored here - - writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer - wait(0.01); - - writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode - wait(0.01); - - readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values - destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc. - destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f; - destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f; - writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer - wait(0.01); - - // Configure the magnetometer for continuous read and highest resolution - // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register, - // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates - writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR - wait(0.01); -} - -void MPU9250::resetMPU9250(void) -{ - // reset device - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device - wait(0.1); -} - -// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average -// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers. -void MPU9250::calibrateMPU9250(float * dest1, float * dest2) -{ - uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data - uint16_t ii, packet_count, fifo_count; - int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; - int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases - - // reset device, reset all registers, clear gyro and accelerometer bias registers - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device - wait(0.1); - - // get stable time source - // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); - writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00); - wait(0.2); - - // Configure device for bias calculation - writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts - writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source - writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master - writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes - writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP - wait(0.015); - - // Configure MPU9250 gyro and accelerometer for bias calculation - writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz - writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity - - uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec - uint16_t accelsensitivity = 16384; // = 16384 LSB/g - - // Configure FIFO to capture accelerometer and gyro data for bias calculation - writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO - writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250) - wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes - - // At end of sample accumulation, turn off FIFO sensor read - writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO - readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count - fifo_count = ((uint16_t)data[0] << 8) | data[1]; - packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging - - for (ii = 0; ii < packet_count; ii++) { - int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; - readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging - accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO - accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ; - accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ; - gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ; - gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ; - gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ; - - accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases - accel_bias[1] += (int32_t) accel_temp[1]; - accel_bias[2] += (int32_t) accel_temp[2]; - gyro_bias[0] += (int32_t) gyro_temp[0]; - gyro_bias[1] += (int32_t) gyro_temp[1]; - gyro_bias[2] += (int32_t) gyro_temp[2]; - - } - accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases - accel_bias[1] /= (int32_t) packet_count; - accel_bias[2] /= (int32_t) packet_count; - gyro_bias[0] /= (int32_t) packet_count; - gyro_bias[1] /= (int32_t) packet_count; - gyro_bias[2] /= (int32_t) packet_count; - - if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation - else {accel_bias[2] += (int32_t) accelsensitivity;} - - // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup - 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 - data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases - data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF; - data[3] = (-gyro_bias[1]/4) & 0xFF; - data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF; - data[5] = (-gyro_bias[2]/4) & 0xFF; - - /// Push gyro biases to hardware registers -/* - writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]); - writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]); - writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]); - writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]); - writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]); - writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]); -*/ - dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction - dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity; - dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity; - - // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain - // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold - // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature - // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that - // the accelerometer biases calculated above must be divided by 8. - - readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values - accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1]; - readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]); - accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1]; - readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]); - accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1]; - - uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers - uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis - - for(ii = 0; ii < 3; ii++) { - if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit - } - - // Construct total accelerometer bias, including calculated average accelerometer bias from above - accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale) - accel_bias_reg[1] -= (accel_bias[1]/8); - accel_bias_reg[2] -= (accel_bias[2]/8); - - data[0] = (accel_bias_reg[0] >> 8) & 0xFF; - data[1] = (accel_bias_reg[0]) & 0xFF; - data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers - data[2] = (accel_bias_reg[1] >> 8) & 0xFF; - data[3] = (accel_bias_reg[1]) & 0xFF; - data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers - data[4] = (accel_bias_reg[2] >> 8) & 0xFF; - data[5] = (accel_bias_reg[2]) & 0xFF; - data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers - -// Apparently this is not working for the acceleration biases in the MPU-9250 -// Are we handling the temperature correction bit properly? -// Push accelerometer biases to hardware registers -/* - writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]); - writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]); - writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]); - writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]); - writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]); - writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]); -*/ -// Output scaled accelerometer biases for manual subtraction in the main program - dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; - dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; - dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; -} - -void MPU9250::getMres(void) -{ - switch (Mscale) - { - // Possible magnetometer scales (and their register bit settings) are: - // 14 bit resolution (0) and 16 bit resolution (1) - case MFS_14BITS: - mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss - break; - case MFS_16BITS: - mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss - break; - } -} - -void MPU9250::getGres(void) { - switch (Gscale) - { - // Possible gyro scales (and their register bit settings) are: - // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11). - // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: - case GFS_250DPS: - gRes = 250.0/32768.0; - break; - case GFS_500DPS: - gRes = 500.0/32768.0; - break; - case GFS_1000DPS: - gRes = 1000.0/32768.0; - break; - case GFS_2000DPS: - gRes = 2000.0/32768.0; - break; - } -} - - -void MPU9250::getAres(void) -{ - switch (Ascale) - { - // Possible accelerometer scales (and their register bit settings) are: - // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11). - // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: - case AFS_2G: - aRes = 2.0/32768.0; - break; - case AFS_4G: - aRes = 4.0/32768.0; - break; - case AFS_8G: - aRes = 8.0/32768.0; - break; - case AFS_16G: - aRes = 16.0/32768.0; - break; - } -} - -void MPU9250::readAccelData(int16_t * destination) -{ - uint8_t rawData[6]; // x/y/z accel register data stored here - - readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array - destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value - destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; - destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; -} - -void MPU9250::readGyroData(int16_t * destination) -{ - uint8_t rawData[6]; // x/y/z gyro register data stored here - - readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array - destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value - destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; - destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; -} - -void MPU9250::readMagData(int16_t * destination) -{ - uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition - - if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set - readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array - uint8_t c = rawData[6]; // End data read by reading ST2 register - if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data - destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value - destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian - destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ; - } - } -} - -int16_t MPU9250::readTempData(void) -{ - uint8_t rawData[2]; // x/y/z gyro register data stored here - - readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array - - return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value -} - -uint8_t MPU9250::Whoami_MPU9250(void){ - return readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); -} - -uint8_t MPU9250::Whoami_AK8963(void){ - return readByte(WHO_AM_I_AK8963, WHO_AM_I_AK8963); -} - -void MPU9250::sensingAccel(void){ - readAccelData(accelCount); - ax = (float)accelCount[0]*aRes - accelBias[0]; - ay = (float)accelCount[1]*aRes - accelBias[1]; - az = (float)accelCount[2]*aRes - accelBias[2]; -} - -void MPU9250::sensingGyro(void){ - readGyroData(gyroCount); - gx = (float)gyroCount[0]*gRes - gyroBias[0]; - gy = (float)gyroCount[1]*gRes - gyroBias[1]; - gz = (float)gyroCount[2]*gRes - gyroBias[2]; -} - -void MPU9250::sensingMag(void){ - readMagData(magCount); - mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; - my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; - mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; -} - -void MPU9250::sensingTemp(void){ - tempCount = readTempData(); - temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade -} - -// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays" -// (see http://www.x-io.co.uk/category/open-source/ for examples and more details) -// which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute -// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc. -// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms -// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz! -void MPU9250::MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz) -{ - float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability - float norm; - float hx, hy, _2bx, _2bz; - float s1, s2, s3, s4; - float qDot1, qDot2, qDot3, qDot4; - - // Auxiliary variables to avoid repeated arithmetic - float _2q1mx; - float _2q1my; - float _2q1mz; - float _2q2mx; - float _4bx; - float _4bz; - float _2q1 = 2.0f * q1; - float _2q2 = 2.0f * q2; - float _2q3 = 2.0f * q3; - float _2q4 = 2.0f * q4; - float _2q1q3 = 2.0f * q1 * q3; - float _2q3q4 = 2.0f * q3 * q4; - float q1q1 = q1 * q1; - float q1q2 = q1 * q2; - float q1q3 = q1 * q3; - float q1q4 = q1 * q4; - float q2q2 = q2 * q2; - float q2q3 = q2 * q3; - float q2q4 = q2 * q4; - float q3q3 = q3 * q3; - float q3q4 = q3 * q4; - float q4q4 = q4 * q4; - - // Normalise accelerometer measurement - norm = sqrt(ax * ax + ay * ay + az * az); - if (norm == 0.0f) return; // handle NaN - norm = 1.0f/norm; - ax *= norm; - ay *= norm; - az *= norm; - - // Normalise magnetometer measurement - norm = sqrt(mx * mx + my * my + mz * mz); - if (norm == 0.0f) return; // handle NaN - norm = 1.0f/norm; - mx *= norm; - my *= norm; - mz *= norm; - - // Reference direction of Earth's magnetic field - _2q1mx = 2.0f * q1 * mx; - _2q1my = 2.0f * q1 * my; - _2q1mz = 2.0f * q1 * mz; - _2q2mx = 2.0f * q2 * mx; - hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4; - hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4; - _2bx = sqrt(hx * hx + hy * hy); - _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4; - _4bx = 2.0f * _2bx; - _4bz = 2.0f * _2bz; - - // Gradient decent algorithm corrective step - 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); - 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); - 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); - 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); - norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude - norm = 1.0f/norm; - s1 *= norm; - s2 *= norm; - s3 *= norm; - s4 *= norm; - - // Compute rate of change of quaternion - qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1; - qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2; - qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3; - qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4; - - // Integrate to yield quaternion - q1 += qDot1 * deltat; - q2 += qDot2 * deltat; - q3 += qDot3 * deltat; - q4 += qDot4 * deltat; - norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion - norm = 1.0f/norm; - q[0] = q1 * norm; - q[1] = q2 * norm; - q[2] = q3 * norm; - q[3] = q4 * norm; - -} - -void MPU9250::MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz) -{ - float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability - float norm; - float hx, hy, bx, bz; - float vx, vy, vz, wx, wy, wz; - float ex, ey, ez; - float pa, pb, pc; - - // Auxiliary variables to avoid repeated arithmetic - float q1q1 = q1 * q1; - float q1q2 = q1 * q2; - float q1q3 = q1 * q3; - float q1q4 = q1 * q4; - float q2q2 = q2 * q2; - float q2q3 = q2 * q3; - float q2q4 = q2 * q4; - float q3q3 = q3 * q3; - float q3q4 = q3 * q4; - float q4q4 = q4 * q4; - - // Normalise accelerometer measurement - norm = sqrt(ax * ax + ay * ay + az * az); - if (norm == 0.0f) return; // handle NaN - norm = 1.0f / norm; // use reciprocal for division - ax *= norm; - ay *= norm; - az *= norm; - - // Normalise magnetometer measurement - norm = sqrt(mx * mx + my * my + mz * mz); - if (norm == 0.0f) return; // handle NaN - norm = 1.0f / norm; // use reciprocal for division - mx *= norm; - my *= norm; - mz *= norm; - - // Reference direction of Earth's magnetic field - hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3); - hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2); - bx = sqrt((hx * hx) + (hy * hy)); - bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3); - - // Estimated direction of gravity and magnetic field - vx = 2.0f * (q2q4 - q1q3); - vy = 2.0f * (q1q2 + q3q4); - vz = q1q1 - q2q2 - q3q3 + q4q4; - wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3); - wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4); - wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3); - - // Error is cross product between estimated direction and measured direction of gravity - 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 (Ki > 0.0f){ - eInt[0] += ex; // accumulate integral error - eInt[1] += ey; - eInt[2] += ez; - - }else{ - eInt[0] = 0.0f; // prevent integral wind up - eInt[1] = 0.0f; - eInt[2] = 0.0f; - } - - // Apply feedback terms - gx = gx + Kp * ex + Ki * eInt[0]; - gy = gy + Kp * ey + Ki * eInt[1]; - gz = gz + Kp * ez + Ki * eInt[2]; - - // Integrate rate of change of quaternion - pa = q2; - pb = q3; - pc = q4; - q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat); - q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat); - q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat); - q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat); - - // Normalise quaternion - norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); - norm = 1.0f / norm; - q[0] = q1 * norm; - q[1] = q2 * norm; - q[2] = q3 * norm; - q[3] = q4 * norm; - -} - -void MPU9250::translateQuaternionToDeg(float quaternion[4]){ - 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]); - roll = -asin(2.0f * (quaternion[1] * quaternion[3] - quaternion[0] * quaternion[2])); - 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]); -} - -void MPU9250::calibrateDegree(void){ - pitch *= 180.0f / PI; - yaw *= 180.0f / PI; - yaw -= DECLINATION; - roll *= 180.0f / PI; -} - -void MPU9250::transformCoordinateFromCompassToMPU(){ - float buf = mx; - mx = my; - my = buf; - mz = -mz; -} \ No newline at end of file