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Stabilizer
Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of MPU9250AHRS by
main.cpp@5:d31487b34216, 2015-12-18 (annotated)
- Committer:
- soulx
- Date:
- Fri Dec 18 21:21:36 2015 +0000
- Revision:
- 5:d31487b34216
- Parent:
- 4:1e5db958fd1b
- Child:
- 6:fa132fd505ce
-
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
onehorse | 0:2e5e65a6fb30 | 1 | /* MPU9250 Basic Example Code |
onehorse | 0:2e5e65a6fb30 | 2 | by: Kris Winer |
onehorse | 0:2e5e65a6fb30 | 3 | date: April 1, 2014 |
soulx | 3:3e04c1c03cab | 4 | license: Beerware - Use this code however you'd like. If you |
onehorse | 0:2e5e65a6fb30 | 5 | find it useful you can buy me a beer some time. |
soulx | 3:3e04c1c03cab | 6 | |
soulx | 3:3e04c1c03cab | 7 | Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor, |
soulx | 3:3e04c1c03cab | 8 | getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to |
soulx | 3:3e04c1c03cab | 9 | allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and |
onehorse | 0:2e5e65a6fb30 | 10 | Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1. |
soulx | 3:3e04c1c03cab | 11 | |
onehorse | 0:2e5e65a6fb30 | 12 | SDA and SCL should have external pull-up resistors (to 3.3V). |
onehorse | 0:2e5e65a6fb30 | 13 | 10k resistors are on the EMSENSR-9250 breakout board. |
soulx | 3:3e04c1c03cab | 14 | |
onehorse | 0:2e5e65a6fb30 | 15 | Hardware setup: |
onehorse | 0:2e5e65a6fb30 | 16 | MPU9250 Breakout --------- Arduino |
onehorse | 0:2e5e65a6fb30 | 17 | VDD ---------------------- 3.3V |
onehorse | 0:2e5e65a6fb30 | 18 | VDDI --------------------- 3.3V |
onehorse | 0:2e5e65a6fb30 | 19 | SDA ----------------------- A4 |
onehorse | 0:2e5e65a6fb30 | 20 | SCL ----------------------- A5 |
onehorse | 0:2e5e65a6fb30 | 21 | GND ---------------------- GND |
soulx | 3:3e04c1c03cab | 22 | |
soulx | 3:3e04c1c03cab | 23 | Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library. |
onehorse | 0:2e5e65a6fb30 | 24 | Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1. |
onehorse | 0:2e5e65a6fb30 | 25 | We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file. |
onehorse | 0:2e5e65a6fb30 | 26 | We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file. |
onehorse | 0:2e5e65a6fb30 | 27 | */ |
soulx | 3:3e04c1c03cab | 28 | |
soulx | 3:3e04c1c03cab | 29 | //#include "ST_F401_84MHZ.h" |
onehorse | 0:2e5e65a6fb30 | 30 | //F401_init84 myinit(0); |
onehorse | 0:2e5e65a6fb30 | 31 | #include "mbed.h" |
onehorse | 0:2e5e65a6fb30 | 32 | #include "MPU9250.h" |
soulx | 3:3e04c1c03cab | 33 | //#include "N5110.h" |
onehorse | 0:2e5e65a6fb30 | 34 | |
onehorse | 0:2e5e65a6fb30 | 35 | // Using NOKIA 5110 monochrome 84 x 48 pixel display |
onehorse | 0:2e5e65a6fb30 | 36 | // pin 9 - Serial clock out (SCLK) |
onehorse | 0:2e5e65a6fb30 | 37 | // pin 8 - Serial data out (DIN) |
onehorse | 0:2e5e65a6fb30 | 38 | // pin 7 - Data/Command select (D/C) |
onehorse | 0:2e5e65a6fb30 | 39 | // pin 5 - LCD chip select (CS) |
onehorse | 0:2e5e65a6fb30 | 40 | // pin 6 - LCD reset (RST) |
onehorse | 0:2e5e65a6fb30 | 41 | //Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6); |
onehorse | 0:2e5e65a6fb30 | 42 | |
onehorse | 0:2e5e65a6fb30 | 43 | float sum = 0; |
onehorse | 0:2e5e65a6fb30 | 44 | uint32_t sumCount = 0; |
onehorse | 0:2e5e65a6fb30 | 45 | char buffer[14]; |
onehorse | 0:2e5e65a6fb30 | 46 | |
soulx | 3:3e04c1c03cab | 47 | MPU9250 mpu9250; |
soulx | 3:3e04c1c03cab | 48 | |
soulx | 3:3e04c1c03cab | 49 | Timer t; |
onehorse | 0:2e5e65a6fb30 | 50 | |
soulx | 3:3e04c1c03cab | 51 | Serial pc(USBTX, USBRX); // tx, rx |
soulx | 3:3e04c1c03cab | 52 | |
soulx | 3:3e04c1c03cab | 53 | // VCC, SCE, RST, D/C, MOSI,S CLK, LED |
soulx | 3:3e04c1c03cab | 54 | //N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7); |
soulx | 3:3e04c1c03cab | 55 | float xmax = -4914.0f; |
soulx | 3:3e04c1c03cab | 56 | float xmin = 4914.0f; |
onehorse | 0:2e5e65a6fb30 | 57 | |
soulx | 3:3e04c1c03cab | 58 | float ymax = -4914.0; |
soulx | 3:3e04c1c03cab | 59 | float ymin = 4914.0f; |
soulx | 3:3e04c1c03cab | 60 | |
soulx | 3:3e04c1c03cab | 61 | float zmax = -4914.0; |
soulx | 3:3e04c1c03cab | 62 | float zmin = 4914.0f; |
onehorse | 0:2e5e65a6fb30 | 63 | |
soulx | 3:3e04c1c03cab | 64 | float Xsf,Ysf; |
soulx | 3:3e04c1c03cab | 65 | float Xoff,Yoff; |
soulx | 3:3e04c1c03cab | 66 | |
soulx | 3:3e04c1c03cab | 67 | |
soulx | 3:3e04c1c03cab | 68 | //InterruptIn event(PC_13); |
soulx | 3:3e04c1c03cab | 69 | DigitalIn enable(PC_13); |
soulx | 3:3e04c1c03cab | 70 | |
onehorse | 0:2e5e65a6fb30 | 71 | int main() |
onehorse | 0:2e5e65a6fb30 | 72 | { |
soulx | 3:3e04c1c03cab | 73 | |
soulx | 3:3e04c1c03cab | 74 | pc.baud(115200); |
soulx | 3:3e04c1c03cab | 75 | |
soulx | 3:3e04c1c03cab | 76 | //Set up I2C |
soulx | 3:3e04c1c03cab | 77 | i2c.frequency(400000); // use fast (400 kHz) I2C |
onehorse | 0:2e5e65a6fb30 | 78 | |
soulx | 3:3e04c1c03cab | 79 | pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); |
soulx | 3:3e04c1c03cab | 80 | |
soulx | 3:3e04c1c03cab | 81 | t.start(); |
soulx | 3:3e04c1c03cab | 82 | |
soulx | 3:3e04c1c03cab | 83 | //lcd.init(); |
onehorse | 0:2e5e65a6fb30 | 84 | // lcd.setBrightness(0.05); |
soulx | 3:3e04c1c03cab | 85 | |
soulx | 3:3e04c1c03cab | 86 | //mpu9250.resetMPU9250(); |
soulx | 3:3e04c1c03cab | 87 | // Read the WHO_AM_I register, this is a good test of communication |
soulx | 3:3e04c1c03cab | 88 | uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 |
soulx | 3:3e04c1c03cab | 89 | pc.printf("I AM 0x%x\n\r", whoami); |
soulx | 3:3e04c1c03cab | 90 | pc.printf("I SHOULD BE 0x71\n\r"); |
soulx | 3:3e04c1c03cab | 91 | |
soulx | 3:3e04c1c03cab | 92 | if (whoami == 0x71) { // WHO_AM_I should always be 0x68 |
soulx | 3:3e04c1c03cab | 93 | pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami); |
soulx | 3:3e04c1c03cab | 94 | pc.printf("MPU9250 is online...\n\r"); |
soulx | 3:3e04c1c03cab | 95 | // lcd.clear(); |
soulx | 3:3e04c1c03cab | 96 | // lcd.printString("MPU9250 is", 0, 0); |
soulx | 3:3e04c1c03cab | 97 | sprintf(buffer, "0x%x", whoami); |
soulx | 3:3e04c1c03cab | 98 | // lcd.printString(buffer, 0, 1); |
soulx | 3:3e04c1c03cab | 99 | // lcd.printString("shoud be 0x71", 0, 2); |
soulx | 3:3e04c1c03cab | 100 | wait(1); |
soulx | 3:3e04c1c03cab | 101 | |
soulx | 3:3e04c1c03cab | 102 | mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration |
soulx | 3:3e04c1c03cab | 103 | mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values |
soulx | 3:3e04c1c03cab | 104 | pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); |
soulx | 3:3e04c1c03cab | 105 | pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); |
soulx | 3:3e04c1c03cab | 106 | pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); |
soulx | 3:3e04c1c03cab | 107 | pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); |
soulx | 3:3e04c1c03cab | 108 | pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); |
soulx | 3:3e04c1c03cab | 109 | pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); |
soulx | 3:3e04c1c03cab | 110 | mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
soulx | 3:3e04c1c03cab | 111 | pc.printf("x gyro bias = %f\n\r", gyroBias[0]); |
soulx | 3:3e04c1c03cab | 112 | pc.printf("y gyro bias = %f\n\r", gyroBias[1]); |
soulx | 3:3e04c1c03cab | 113 | pc.printf("z gyro bias = %f\n\r", gyroBias[2]); |
soulx | 3:3e04c1c03cab | 114 | pc.printf("x accel bias = %f\n\r", accelBias[0]); |
soulx | 3:3e04c1c03cab | 115 | pc.printf("y accel bias = %f\n\r", accelBias[1]); |
soulx | 3:3e04c1c03cab | 116 | pc.printf("z accel bias = %f\n\r", accelBias[2]); |
soulx | 3:3e04c1c03cab | 117 | wait(2); |
soulx | 3:3e04c1c03cab | 118 | mpu9250.initMPU9250(); |
soulx | 3:3e04c1c03cab | 119 | pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
soulx | 3:3e04c1c03cab | 120 | mpu9250.initAK8963(magCalibration); |
soulx | 3:3e04c1c03cab | 121 | pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer |
soulx | 3:3e04c1c03cab | 122 | |
soulx | 3:3e04c1c03cab | 123 | whoami = mpu9250.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); // Read WHO_AM_I register for MPU-9250 |
soulx | 3:3e04c1c03cab | 124 | pc.printf("I AM 0x%x\n\r", whoami); |
soulx | 3:3e04c1c03cab | 125 | pc.printf("I SHOULD BE 0x48\n\r"); |
soulx | 3:3e04c1c03cab | 126 | if(whoami != 0x48) { |
soulx | 3:3e04c1c03cab | 127 | while(1); |
soulx | 3:3e04c1c03cab | 128 | } |
soulx | 3:3e04c1c03cab | 129 | pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); |
soulx | 3:3e04c1c03cab | 130 | pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); |
soulx | 3:3e04c1c03cab | 131 | if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r"); |
soulx | 3:3e04c1c03cab | 132 | if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r"); |
soulx | 3:3e04c1c03cab | 133 | if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r"); |
soulx | 3:3e04c1c03cab | 134 | if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r"); |
soulx | 3:3e04c1c03cab | 135 | wait(1); |
soulx | 3:3e04c1c03cab | 136 | } else { |
soulx | 3:3e04c1c03cab | 137 | pc.printf("Could not connect to MPU9250: \n\r"); |
soulx | 3:3e04c1c03cab | 138 | pc.printf("%#x \n", whoami); |
soulx | 3:3e04c1c03cab | 139 | |
soulx | 3:3e04c1c03cab | 140 | //lcd.clear(); |
soulx | 3:3e04c1c03cab | 141 | //lcd.printString("MPU9250", 0, 0); |
soulx | 3:3e04c1c03cab | 142 | //lcd.printString("no connection", 0, 1); |
soulx | 3:3e04c1c03cab | 143 | sprintf(buffer, "WHO_AM_I 0x%x", whoami); |
soulx | 3:3e04c1c03cab | 144 | //lcd.printString(buffer, 0, 2); |
soulx | 3:3e04c1c03cab | 145 | |
soulx | 3:3e04c1c03cab | 146 | while(1) ; // Loop forever if communication doesn't happen |
onehorse | 0:2e5e65a6fb30 | 147 | } |
onehorse | 0:2e5e65a6fb30 | 148 | |
onehorse | 0:2e5e65a6fb30 | 149 | mpu9250.getAres(); // Get accelerometer sensitivity |
onehorse | 0:2e5e65a6fb30 | 150 | mpu9250.getGres(); // Get gyro sensitivity |
onehorse | 0:2e5e65a6fb30 | 151 | mpu9250.getMres(); // Get magnetometer sensitivity |
onehorse | 0:2e5e65a6fb30 | 152 | pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); |
onehorse | 0:2e5e65a6fb30 | 153 | pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); |
onehorse | 0:2e5e65a6fb30 | 154 | pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); |
soulx | 3:3e04c1c03cab | 155 | // pc.printf("Magnetometer[0] adjust sensittivity is %f \n\r", magCalibration[0]); |
soulx | 3:3e04c1c03cab | 156 | // pc.printf("Magnetometer[1] adjust sensittivity is %f \n\r", magCalibration[1]); |
soulx | 3:3e04c1c03cab | 157 | // pc.printf("Magnetometer[2] adjust sensittivity is %f \n\r", magCalibration[2]); |
soulx | 3:3e04c1c03cab | 158 | // mRes = 10.*1229./4096.; // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale |
soulx | 3:3e04c1c03cab | 159 | //mRes = 10.*1229./32760.; |
soulx | 3:3e04c1c03cab | 160 | // So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically |
soulx | 3:3e04c1c03cab | 161 | // like the gyro and accelerometer biases |
soulx | 3:3e04c1c03cab | 162 | //magbias[0] = -5.; // User environmental x-axis correction in milliGauss |
soulx | 3:3e04c1c03cab | 163 | //magbias[1] = -95.; // User environmental y-axis correction in milliGauss |
soulx | 3:3e04c1c03cab | 164 | //magbias[2] = -260.; // User environmental z-axis correction in milliGauss |
soulx | 3:3e04c1c03cab | 165 | |
soulx | 3:3e04c1c03cab | 166 | // magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated |
soulx | 3:3e04c1c03cab | 167 | // magbias[1] = +120.; // User environmental x-axis correction in milliGauss |
soulx | 3:3e04c1c03cab | 168 | // magbias[2] = +125.; // User environmental x-axis correction in milliGauss |
soulx | 3:3e04c1c03cab | 169 | |
soulx | 3:3e04c1c03cab | 170 | |
soulx | 3:3e04c1c03cab | 171 | |
soulx | 3:3e04c1c03cab | 172 | pc.printf("START scan mag\n\r\n\r\n\r"); |
soulx | 3:3e04c1c03cab | 173 | //wait(1); |
soulx | 3:3e04c1c03cab | 174 | for(int i=0; i<800; i++) { |
soulx | 3:3e04c1c03cab | 175 | mpu9250.readMagData(magCount); |
soulx | 3:3e04c1c03cab | 176 | |
soulx | 3:3e04c1c03cab | 177 | if(magCount[0]<xmin) |
soulx | 3:3e04c1c03cab | 178 | xmin = magCount[0]; |
soulx | 3:3e04c1c03cab | 179 | if(magCount[0]>xmax) |
soulx | 3:3e04c1c03cab | 180 | xmax = magCount[0]; |
onehorse | 0:2e5e65a6fb30 | 181 | |
soulx | 3:3e04c1c03cab | 182 | if(magCount[1]<ymin) |
soulx | 3:3e04c1c03cab | 183 | ymin = magCount[1]; |
soulx | 3:3e04c1c03cab | 184 | if(magCount[1]>ymax) |
soulx | 3:3e04c1c03cab | 185 | ymax = magCount[1]; |
soulx | 3:3e04c1c03cab | 186 | |
soulx | 3:3e04c1c03cab | 187 | if(magCount[2]<zmin) |
soulx | 3:3e04c1c03cab | 188 | zmin = magCount[2]; |
soulx | 4:1e5db958fd1b | 189 | if(magCount[2]>zmax) |
soulx | 4:1e5db958fd1b | 190 | zmax = magCount[2]; |
soulx | 4:1e5db958fd1b | 191 | /* |
soulx | 3:3e04c1c03cab | 192 | if(mz>zmax) |
soulx | 3:3e04c1c03cab | 193 | zmax = mz; |
soulx | 4:1e5db958fd1b | 194 | */ |
soulx | 3:3e04c1c03cab | 195 | |
soulx | 3:3e04c1c03cab | 196 | wait_ms(10); |
soulx | 3:3e04c1c03cab | 197 | } |
soulx | 3:3e04c1c03cab | 198 | pc.printf("FINISH scan\r\n\r\n"); |
soulx | 3:3e04c1c03cab | 199 | pc.printf("Mx Max= %f Min= %f\n\r",xmax,xmin); |
soulx | 3:3e04c1c03cab | 200 | pc.printf("My Max= %f Min= %f\n\r",ymax,ymin); |
soulx | 3:3e04c1c03cab | 201 | pc.printf("Mz Max= %f Min= %f\n\r",zmax,zmin); |
soulx | 3:3e04c1c03cab | 202 | |
soulx | 3:3e04c1c03cab | 203 | |
soulx | 3:3e04c1c03cab | 204 | |
soulx | 5:d31487b34216 | 205 | // magbias[0] = ((xmax-xmin)/2.0f - xmax); // User environmental x-axis correction in milliGauss, should be automatically calculated |
soulx | 5:d31487b34216 | 206 | // magbias[1] = ((ymax-ymin)/2.0f - ymax); // User environmental x-axis correction in milliGauss |
soulx | 5:d31487b34216 | 207 | // magbias[2] = ((zmax-zmin)/2.0f - zmax); // User environmental x-axis correction in milliGauss |
soulx | 3:3e04c1c03cab | 208 | |
soulx | 4:1e5db958fd1b | 209 | magbias[0] = -1.0; |
soulx | 4:1e5db958fd1b | 210 | magbias[1] = -1.0; |
soulx | 4:1e5db958fd1b | 211 | magbias[2] = -1.0; |
soulx | 4:1e5db958fd1b | 212 | |
soulx | 4:1e5db958fd1b | 213 | magCalibration[0] = 2.0f / (xmax -xmin); |
soulx | 4:1e5db958fd1b | 214 | magCalibration[1] = 2.0f / (ymax -ymin); |
soulx | 4:1e5db958fd1b | 215 | magCalibration[2] = 2.0f / (zmax -zmin); |
soulx | 4:1e5db958fd1b | 216 | |
soulx | 3:3e04c1c03cab | 217 | //magbias[0] = (xmin-xmax)/2.0f; // User environmental x-axis correction in milliGauss, should be automatically calculated |
soulx | 3:3e04c1c03cab | 218 | //magbias[1] = (ymin-ymax)/2.0f; // User environmental x-axis correction in milliGauss |
soulx | 3:3e04c1c03cab | 219 | //magbias[2] = (zmin-zmax)/2.0f; // User environmental x-axis correction in milliGauss |
soulx | 3:3e04c1c03cab | 220 | pc.printf("mag[0] %f",magbias[0]); |
soulx | 3:3e04c1c03cab | 221 | pc.printf("mag[1] %f",magbias[1]); |
soulx | 3:3e04c1c03cab | 222 | pc.printf("mag[2] %f\n\r",magbias[2]); |
soulx | 3:3e04c1c03cab | 223 | // resalt = atan(magY+((yMin-yMax)/2),magX+(xMin-xMax)/2))*180/PI; |
onehorse | 0:2e5e65a6fb30 | 224 | |
soulx | 3:3e04c1c03cab | 225 | |
soulx | 3:3e04c1c03cab | 226 | while(1) { |
soulx | 3:3e04c1c03cab | 227 | |
soulx | 3:3e04c1c03cab | 228 | // If intPin goes high, all data registers have new data |
soulx | 3:3e04c1c03cab | 229 | if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt |
soulx | 3:3e04c1c03cab | 230 | |
soulx | 3:3e04c1c03cab | 231 | mpu9250.readAccelData(accelCount); // Read the x/y/z adc values |
soulx | 3:3e04c1c03cab | 232 | // Now we'll calculate the accleration value into actual g's |
soulx | 3:3e04c1c03cab | 233 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
soulx | 3:3e04c1c03cab | 234 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
soulx | 3:3e04c1c03cab | 235 | az = (float)accelCount[2]*aRes - accelBias[2]; |
soulx | 3:3e04c1c03cab | 236 | |
soulx | 3:3e04c1c03cab | 237 | mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values |
soulx | 3:3e04c1c03cab | 238 | // Calculate the gyro value into actual degrees per second |
soulx | 3:3e04c1c03cab | 239 | gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set |
soulx | 3:3e04c1c03cab | 240 | gy = (float)gyroCount[1]*gRes - gyroBias[1]; |
soulx | 3:3e04c1c03cab | 241 | gz = (float)gyroCount[2]*gRes - gyroBias[2]; |
soulx | 3:3e04c1c03cab | 242 | |
soulx | 3:3e04c1c03cab | 243 | mpu9250.readMagData(magCount); // Read the x/y/z adc values |
soulx | 3:3e04c1c03cab | 244 | // Calculate the magnetometer values in milliGauss |
soulx | 3:3e04c1c03cab | 245 | // Include factory calibration per data sheet and user environmental corrections |
soulx | 3:3e04c1c03cab | 246 | /* if(magCount[0]<xmin) |
soulx | 3:3e04c1c03cab | 247 | xmin = magCount[0]; |
soulx | 3:3e04c1c03cab | 248 | if(magCount[0]>xmax) |
soulx | 3:3e04c1c03cab | 249 | xmax = magCount[0]; |
soulx | 3:3e04c1c03cab | 250 | |
soulx | 3:3e04c1c03cab | 251 | if(magCount[1]<ymin) |
soulx | 3:3e04c1c03cab | 252 | ymin = magCount[1]; |
soulx | 3:3e04c1c03cab | 253 | if(magCount[1]>ymax) |
soulx | 3:3e04c1c03cab | 254 | ymax = magCount[1]; |
soulx | 3:3e04c1c03cab | 255 | |
soulx | 3:3e04c1c03cab | 256 | if(magCount[2]<zmin) |
soulx | 3:3e04c1c03cab | 257 | zmin = magCount[2]; |
soulx | 3:3e04c1c03cab | 258 | if(mz>zmax) |
soulx | 3:3e04c1c03cab | 259 | zmax = mz; |
soulx | 3:3e04c1c03cab | 260 | wait_ms(1); |
soulx | 3:3e04c1c03cab | 261 | */ |
soulx | 3:3e04c1c03cab | 262 | // pc.printf("FINISH scan\r\n\r\n"); |
soulx | 3:3e04c1c03cab | 263 | |
soulx | 4:1e5db958fd1b | 264 | // mx = (float)magCount[0]*mRes*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set |
soulx | 4:1e5db958fd1b | 265 | // my = (float)magCount[1]*mRes*magCalibration[1] + magbias[1]; |
soulx | 4:1e5db958fd1b | 266 | // mz = (float)magCount[2]*mRes*magCalibration[2] + magbias[2]; |
soulx | 4:1e5db958fd1b | 267 | |
soulx | 4:1e5db958fd1b | 268 | mx = ((float)magCount[0]-xmin)*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set |
soulx | 4:1e5db958fd1b | 269 | my = ((float)magCount[1]-ymin)*magCalibration[1] + magbias[1]; |
soulx | 4:1e5db958fd1b | 270 | mz = ((float)magCount[2]-zmin)*magCalibration[2] + magbias[2]; |
soulx | 3:3e04c1c03cab | 271 | |
soulx | 3:3e04c1c03cab | 272 | // mx = (float)magCount[0]*1.499389499f - magbias[0]; // get actual magnetometer value, this depends on scale being set |
soulx | 3:3e04c1c03cab | 273 | // my = (float)magCount[1]*1.499389499f - magbias[1]; |
soulx | 3:3e04c1c03cab | 274 | // mz = (float)magCount[2]*1.499389499f - magbias[2]; |
soulx | 3:3e04c1c03cab | 275 | |
soulx | 3:3e04c1c03cab | 276 | |
soulx | 3:3e04c1c03cab | 277 | |
soulx | 3:3e04c1c03cab | 278 | |
soulx | 3:3e04c1c03cab | 279 | } |
soulx | 3:3e04c1c03cab | 280 | |
soulx | 3:3e04c1c03cab | 281 | Now = t.read_us(); |
soulx | 3:3e04c1c03cab | 282 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
soulx | 3:3e04c1c03cab | 283 | lastUpdate = Now; |
soulx | 3:3e04c1c03cab | 284 | |
soulx | 3:3e04c1c03cab | 285 | sum += deltat; |
soulx | 3:3e04c1c03cab | 286 | sumCount++; |
soulx | 3:3e04c1c03cab | 287 | |
onehorse | 0:2e5e65a6fb30 | 288 | // if(lastUpdate - firstUpdate > 10000000.0f) { |
onehorse | 0:2e5e65a6fb30 | 289 | // beta = 0.04; // decrease filter gain after stabilized |
onehorse | 0:2e5e65a6fb30 | 290 | // zeta = 0.015; // increasey bias drift gain after stabilized |
soulx | 3:3e04c1c03cab | 291 | // } |
soulx | 3:3e04c1c03cab | 292 | |
soulx | 3:3e04c1c03cab | 293 | // Pass gyro rate as rad/s |
soulx | 3:3e04c1c03cab | 294 | mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
soulx | 3:3e04c1c03cab | 295 | // mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
soulx | 3:3e04c1c03cab | 296 | |
soulx | 3:3e04c1c03cab | 297 | // Serial print and/or display at 0.5 s rate independent of data rates |
soulx | 3:3e04c1c03cab | 298 | delt_t = t.read_ms() - count; |
soulx | 3:3e04c1c03cab | 299 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
soulx | 3:3e04c1c03cab | 300 | |
soulx | 3:3e04c1c03cab | 301 | pc.printf("ax = %f", 1000*ax); |
soulx | 3:3e04c1c03cab | 302 | pc.printf(" ay = %f", 1000*ay); |
soulx | 3:3e04c1c03cab | 303 | pc.printf(" az = %f mg\n\r", 1000*az); |
onehorse | 0:2e5e65a6fb30 | 304 | |
soulx | 3:3e04c1c03cab | 305 | pc.printf("gx = %f", gx); |
soulx | 3:3e04c1c03cab | 306 | pc.printf(" gy = %f", gy); |
soulx | 3:3e04c1c03cab | 307 | pc.printf(" gz = %f deg/s\n\r", gz); |
soulx | 3:3e04c1c03cab | 308 | |
soulx | 3:3e04c1c03cab | 309 | pc.printf("mx = %f", mx); |
soulx | 3:3e04c1c03cab | 310 | pc.printf(" my = %f", my); |
soulx | 3:3e04c1c03cab | 311 | pc.printf(" mz = %f mG\n\r", mz); |
onehorse | 0:2e5e65a6fb30 | 312 | |
soulx | 3:3e04c1c03cab | 313 | whoami = mpu9250.readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250 |
soulx | 3:3e04c1c03cab | 314 | // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x10\n\r"); |
soulx | 3:3e04c1c03cab | 315 | if(whoami == 0x14) { |
soulx | 3:3e04c1c03cab | 316 | pc.printf("I AM 0x%x\n\r", whoami); |
soulx | 3:3e04c1c03cab | 317 | while(1); |
soulx | 3:3e04c1c03cab | 318 | } |
soulx | 3:3e04c1c03cab | 319 | |
soulx | 3:3e04c1c03cab | 320 | |
soulx | 3:3e04c1c03cab | 321 | tempCount = mpu9250.readTempData(); // Read the adc values |
soulx | 3:3e04c1c03cab | 322 | temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade |
soulx | 3:3e04c1c03cab | 323 | //pc.printf(" temperature = %f C\n\r", temperature); |
onehorse | 0:2e5e65a6fb30 | 324 | |
soulx | 3:3e04c1c03cab | 325 | // pc.printf("q0 = %f\n\r", q[0]); |
soulx | 3:3e04c1c03cab | 326 | // pc.printf("q1 = %f\n\r", q[1]); |
soulx | 3:3e04c1c03cab | 327 | // pc.printf("q2 = %f\n\r", q[2]); |
soulx | 3:3e04c1c03cab | 328 | // pc.printf("q3 = %f\n\r", q[3]); |
onehorse | 0:2e5e65a6fb30 | 329 | |
soulx | 3:3e04c1c03cab | 330 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
soulx | 3:3e04c1c03cab | 331 | // In this coordinate system, the positive z-axis is down toward Earth. |
soulx | 3:3e04c1c03cab | 332 | // 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. |
soulx | 3:3e04c1c03cab | 333 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
soulx | 3:3e04c1c03cab | 334 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
soulx | 3:3e04c1c03cab | 335 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
soulx | 3:3e04c1c03cab | 336 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
soulx | 3:3e04c1c03cab | 337 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
soulx | 3:3e04c1c03cab | 338 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
soulx | 3:3e04c1c03cab | 339 | yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); |
soulx | 3:3e04c1c03cab | 340 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
soulx | 3:3e04c1c03cab | 341 | roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); |
soulx | 3:3e04c1c03cab | 342 | |
soulx | 3:3e04c1c03cab | 343 | float Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch); |
soulx | 3:3e04c1c03cab | 344 | float Yh = my*cos(roll)+mz*sin(roll); |
soulx | 3:3e04c1c03cab | 345 | |
soulx | 3:3e04c1c03cab | 346 | float yawmag = atan2(Yh,Xh)+PI; |
soulx | 3:3e04c1c03cab | 347 | pc.printf("Xh= %f Yh= %f ",Xh,Yh); |
soulx | 3:3e04c1c03cab | 348 | pc.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI); |
soulx | 3:3e04c1c03cab | 349 | |
soulx | 3:3e04c1c03cab | 350 | |
soulx | 3:3e04c1c03cab | 351 | |
soulx | 3:3e04c1c03cab | 352 | pitch *= 180.0f / PI; |
soulx | 3:3e04c1c03cab | 353 | yaw *= 180.0f / PI; |
soulx | 3:3e04c1c03cab | 354 | yaw += 180.0f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 |
soulx | 3:3e04c1c03cab | 355 | roll *= 180.0f / PI; |
soulx | 3:3e04c1c03cab | 356 | |
soulx | 3:3e04c1c03cab | 357 | pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); |
soulx | 3:3e04c1c03cab | 358 | pc.printf("average rate = %f\n\r", (float) sumCount/sum); |
onehorse | 0:2e5e65a6fb30 | 359 | // sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll); |
onehorse | 0:2e5e65a6fb30 | 360 | // lcd.printString(buffer, 0, 4); |
onehorse | 0:2e5e65a6fb30 | 361 | // sprintf(buffer, "rate = %f", (float) sumCount/sum); |
onehorse | 0:2e5e65a6fb30 | 362 | // lcd.printString(buffer, 0, 5); |
soulx | 3:3e04c1c03cab | 363 | |
soulx | 3:3e04c1c03cab | 364 | |
soulx | 3:3e04c1c03cab | 365 | |
soulx | 3:3e04c1c03cab | 366 | |
soulx | 3:3e04c1c03cab | 367 | myled= !myled; |
soulx | 3:3e04c1c03cab | 368 | count = t.read_ms(); |
onehorse | 0:2e5e65a6fb30 | 369 | |
soulx | 3:3e04c1c03cab | 370 | if(count > 1<<21) { |
soulx | 3:3e04c1c03cab | 371 | t.start(); // start the timer over again if ~30 minutes has passed |
soulx | 3:3e04c1c03cab | 372 | count = 0; |
soulx | 3:3e04c1c03cab | 373 | deltat= 0; |
soulx | 3:3e04c1c03cab | 374 | lastUpdate = t.read_us(); |
soulx | 3:3e04c1c03cab | 375 | } |
soulx | 3:3e04c1c03cab | 376 | sum = 0; |
soulx | 3:3e04c1c03cab | 377 | sumCount = 0; |
soulx | 3:3e04c1c03cab | 378 | } |
onehorse | 0:2e5e65a6fb30 | 379 | } |
onehorse | 0:2e5e65a6fb30 | 380 | } |