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Class of MPU9250
Dependencies: AHRS_fillter mbed
Fork of MPU9250AHRS by
Diff: MPU9250.h
- Revision:
- 6:5665d427bceb
- Parent:
- 5:d31487b34216
diff -r d31487b34216 -r 5665d427bceb MPU9250.h --- a/MPU9250.h Fri Dec 18 21:21:36 2015 +0000 +++ b/MPU9250.h Wed Jan 20 02:34:07 2016 +0000 @@ -1,875 +1,108 @@ #ifndef MPU9250_H #define MPU9250_H - + #include "mbed.h" #include "math.h" - -// See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in -// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map -// -//Magnetometer Registers -#define AK8963_ADDRESS 0x0C<<1 -#define WHO_AM_I_AK8963 0x00 // should return 0x48 -#define INFO 0x01 -#define AK8963_ST1 0x02 // data ready status bit 0 -#define AK8963_XOUT_L 0x03 // data -#define AK8963_XOUT_H 0x04 -#define AK8963_YOUT_L 0x05 -#define AK8963_YOUT_H 0x06 -#define AK8963_ZOUT_L 0x07 -#define AK8963_ZOUT_H 0x08 -#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2 -#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0 -#define AK8963_ASTC 0x0C // Self test control -#define AK8963_I2CDIS 0x0F // I2C disable -#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value -#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value -#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value - -#define SELF_TEST_X_GYRO 0x00 -#define SELF_TEST_Y_GYRO 0x01 -#define SELF_TEST_Z_GYRO 0x02 - -/*#define X_FINE_GAIN 0x03 // [7:0] fine gain -#define Y_FINE_GAIN 0x04 -#define Z_FINE_GAIN 0x05 -#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer -#define XA_OFFSET_L_TC 0x07 -#define YA_OFFSET_H 0x08 -#define YA_OFFSET_L_TC 0x09 -#define ZA_OFFSET_H 0x0A -#define ZA_OFFSET_L_TC 0x0B */ - -#define SELF_TEST_X_ACCEL 0x0D -#define SELF_TEST_Y_ACCEL 0x0E -#define SELF_TEST_Z_ACCEL 0x0F - -#define SELF_TEST_A 0x10 - -#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope -#define XG_OFFSET_L 0x14 -#define YG_OFFSET_H 0x15 -#define YG_OFFSET_L 0x16 -#define ZG_OFFSET_H 0x17 -#define ZG_OFFSET_L 0x18 -#define SMPLRT_DIV 0x19 -#define CONFIG 0x1A -#define GYRO_CONFIG 0x1B -#define ACCEL_CONFIG 0x1C -#define ACCEL_CONFIG2 0x1D -#define LP_ACCEL_ODR 0x1E -#define WOM_THR 0x1F - -#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms -#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] -#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms - -#define FIFO_EN 0x23 -#define I2C_MST_CTRL 0x24 -#define I2C_SLV0_ADDR 0x25 -#define I2C_SLV0_REG 0x26 -#define I2C_SLV0_CTRL 0x27 -#define I2C_SLV1_ADDR 0x28 -#define I2C_SLV1_REG 0x29 -#define I2C_SLV1_CTRL 0x2A -#define I2C_SLV2_ADDR 0x2B -#define I2C_SLV2_REG 0x2C -#define I2C_SLV2_CTRL 0x2D -#define I2C_SLV3_ADDR 0x2E -#define I2C_SLV3_REG 0x2F -#define I2C_SLV3_CTRL 0x30 -#define I2C_SLV4_ADDR 0x31 -#define I2C_SLV4_REG 0x32 -#define I2C_SLV4_DO 0x33 -#define I2C_SLV4_CTRL 0x34 -#define I2C_SLV4_DI 0x35 -#define I2C_MST_STATUS 0x36 -#define INT_PIN_CFG 0x37 -#define INT_ENABLE 0x38 -#define DMP_INT_STATUS 0x39 // Check DMP interrupt -#define INT_STATUS 0x3A -#define ACCEL_XOUT_H 0x3B -#define ACCEL_XOUT_L 0x3C -#define ACCEL_YOUT_H 0x3D -#define ACCEL_YOUT_L 0x3E -#define ACCEL_ZOUT_H 0x3F -#define ACCEL_ZOUT_L 0x40 -#define TEMP_OUT_H 0x41 -#define TEMP_OUT_L 0x42 -#define GYRO_XOUT_H 0x43 -#define GYRO_XOUT_L 0x44 -#define GYRO_YOUT_H 0x45 -#define GYRO_YOUT_L 0x46 -#define GYRO_ZOUT_H 0x47 -#define GYRO_ZOUT_L 0x48 -#define EXT_SENS_DATA_00 0x49 -#define EXT_SENS_DATA_01 0x4A -#define EXT_SENS_DATA_02 0x4B -#define EXT_SENS_DATA_03 0x4C -#define EXT_SENS_DATA_04 0x4D -#define EXT_SENS_DATA_05 0x4E -#define EXT_SENS_DATA_06 0x4F -#define EXT_SENS_DATA_07 0x50 -#define EXT_SENS_DATA_08 0x51 -#define EXT_SENS_DATA_09 0x52 -#define EXT_SENS_DATA_10 0x53 -#define EXT_SENS_DATA_11 0x54 -#define EXT_SENS_DATA_12 0x55 -#define EXT_SENS_DATA_13 0x56 -#define EXT_SENS_DATA_14 0x57 -#define EXT_SENS_DATA_15 0x58 -#define EXT_SENS_DATA_16 0x59 -#define EXT_SENS_DATA_17 0x5A -#define EXT_SENS_DATA_18 0x5B -#define EXT_SENS_DATA_19 0x5C -#define EXT_SENS_DATA_20 0x5D -#define EXT_SENS_DATA_21 0x5E -#define EXT_SENS_DATA_22 0x5F -#define EXT_SENS_DATA_23 0x60 -#define MOT_DETECT_STATUS 0x61 -#define I2C_SLV0_DO 0x63 -#define I2C_SLV1_DO 0x64 -#define I2C_SLV2_DO 0x65 -#define I2C_SLV3_DO 0x66 -#define I2C_MST_DELAY_CTRL 0x67 -#define SIGNAL_PATH_RESET 0x68 -#define MOT_DETECT_CTRL 0x69 -#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP -#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode -#define PWR_MGMT_2 0x6C -#define DMP_BANK 0x6D // Activates a specific bank in the DMP -#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank -#define DMP_REG 0x6F // Register in DMP from which to read or to which to write -#define DMP_REG_1 0x70 -#define DMP_REG_2 0x71 -#define FIFO_COUNTH 0x72 -#define FIFO_COUNTL 0x73 -#define FIFO_R_W 0x74 -#define WHO_AM_I_MPU9250 0x75 // Should return 0x71 -#define XA_OFFSET_H 0x77 -#define XA_OFFSET_L 0x78 -#define YA_OFFSET_H 0x7A -#define YA_OFFSET_L 0x7B -#define ZA_OFFSET_H 0x7D -#define ZA_OFFSET_L 0x7E - -// Using the MSENSR-9250 breakout board, ADO is set to 0 -// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 -//mbed uses the eight-bit device address, so shift seven-bit addresses left by one! -#define ADO 0 -#if ADO -#define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1 -#else -#define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0 -#endif - -// Set initial input parameters -enum Ascale { - AFS_2G = 0, - AFS_4G, - AFS_8G, - AFS_16G -}; - -enum Gscale { - GFS_250DPS = 0, - GFS_500DPS, - GFS_1000DPS, - GFS_2000DPS -}; - -enum Mscale { - MFS_14BITS = 0, // 0.6 mG per LSB - MFS_16BITS // 0.15 mG per LSB -}; - -uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G -uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS -uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution -uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR -float aRes, gRes, mRes; // scale resolutions per LSB for the sensors - -//Set up I2C, (SDA,SCL) -I2C i2c(I2C_SDA, I2C_SCL); - -DigitalOut myled(LED1); - -// Pin definitions -int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins - -int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output -int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output -int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output -float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias -float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer -float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values -int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius -float temperature; -float SelfTest[6]; - -int delt_t = 0; // used to control display output rate -int count = 0; // used to control display output rate - -// parameters for 6 DoF sensor fusion calculations -float PI = 3.14159265358979323846f; -float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 -float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta -float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) -float 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 -#define Kp 5.1f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral -#define Ki 1.0f +#include "register.h" -float pitch, yaw, roll; -float deltat = 0.0f; // integration interval for both filter schemes -int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval -float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion -float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method - -class MPU9250 { - - protected: - - public: - //=================================================================================================================== -//====== Set of useful function to access acceleratio, gyroscope, and temperature data -//=================================================================================================================== - - void 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 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 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 getMres() { - 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 getGres() { - 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 getAres() { - 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; - } -} +static DigitalOut myled(LED1); -void readAccelData(int16_t * destination) +class MPU9250 { - 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 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 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 readTempData() -{ - 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 -} +protected: +public: + enum Ascale { + AFS_2G = 0, + AFS_4G, + AFS_8G, + AFS_16G + }; -void resetMPU9250() { - // reset device - writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device - wait(0.1); - } - - void 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 initMPU9250() -{ - // 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 + enum Gscale { + GFS_250DPS = 0, + GFS_500DPS, + GFS_1000DPS, + GFS_2000DPS + }; - // 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); - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3] - writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro - - // Set accelerometer configuration - c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3] - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer + enum Mscale { + MFS_14BITS = 0, // 0.6 mG per LSB + MFS_16BITS // 0.15 mG per LSB + }; - // 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); - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0]) - writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz - - // 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 -} + MPU9250(PinName sda, PinName scl, PinName tx, PinName rx, int address); + ~MPU9250() {} -// 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 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}; - -// 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 + Serial pc; + I2C i2c; + void writeByte(uint8_t address, uint8_t subAddress, uint8_t data); + char readByte(uint8_t address, uint8_t subAddress); + void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) ; -// 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 + void initMPU9250(); + void calibrateMPU9250(); -// 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]) ; + void setMres(); + void setGres(); + void setAres(); - 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; + void getMres(); + void getGres(); + void getAres(); -/// 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. + void AccelXYZCal(); + void GyroXYZCal(); + void MagXYZCal(); - int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases - 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 - } + void MagCal(); - // 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 + void readAccelData(); + void readGyroData(); + void readMagData(); + void readTempData(); -// 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; -} - - -// Accelerometer and gyroscope self test; check calibration wrt factory settings -void 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 + void resetMPU9250(); + void initAK8963(); + void MPU9250SelfTest(); + + void Start(); + void ReadRawAccGyroMag(); + + float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values + - 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(25); // Delay a while to let the device stabilize +protected: + float temperature; + uint8_t whoami; + +private: + uint8_t MPU9250_ADDRESS; - 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(25); // 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( (float)1.01 , ((float)selfTest[0] - (float)1.0) )); // FT[Xa] factory trim calculation - factoryTrim[1] = (float)(2620/1<<FS)*(pow( (float)1.01 , ((float)selfTest[1] - (float)1.0) )); // FT[Ya] factory trim calculation - factoryTrim[2] = (float)(2620/1<<FS)*(pow( (float)1.01 , ((float)selfTest[2] - (float)1.0) )); // FT[Za] factory trim calculation - factoryTrim[3] = (float)(2620/1<<FS)*(pow( (float)1.01 , ((float)selfTest[3] - (float)1.0) )); // FT[Xg] factory trim calculation - factoryTrim[4] = (float)(2620/1<<FS)*(pow( (float)1.01 , ((float)selfTest[4] - (float)1.0) )); // FT[Yg] factory trim calculation - factoryTrim[5] = (float)(2620/1<<FS)*(pow( (float)1.01 , ((float)selfTest[5] - (float)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] = (float)100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences - destination[i+3] = (float)100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences - } - -} + int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output + int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output + int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output + float magCalibration[3], magbias[3]; // Factory mag calibration and mag bias + float gyroBias[3], accelBias[3]; // Bias corrections for gyro and accelerometer + //int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius + float SelfTest[6]; -// 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 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; + //MagCal + float xmax,xmin; + float ymax,ymin; + float zmax,zmin; + bool change; - } - - - - // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and - // measured ones. - void 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); + uint8_t Ascale; // AFS_2G, AFS_4G, AFS_8G, AFS_16G + uint8_t Gscale; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS + uint8_t Mscale; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution + uint8_t Mmode; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR + float aRes, gRes, mRes; // scale resolutions per LSB for the sensors - // 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; - - } - }; +}; #endif \ No newline at end of file