Class of MPU9250
Dependencies: AHRS_fillter mbed
Fork of MPU9250AHRS by
Diff: main.cpp
- Revision:
- 6:5665d427bceb
- Parent:
- 5:d31487b34216
- Child:
- 8:928673148b55
diff -r d31487b34216 -r 5665d427bceb main.cpp --- a/main.cpp Fri Dec 18 21:21:36 2015 +0000 +++ b/main.cpp Wed Jan 20 02:34:07 2016 +0000 @@ -29,7 +29,7 @@ //#include "ST_F401_84MHZ.h" //F401_init84 myinit(0); #include "mbed.h" -#include "MPU9250.h" +#include "AHRS.h" //#include "N5110.h" // Using NOKIA 5110 monochrome 84 x 48 pixel display @@ -40,341 +40,29 @@ // pin 6 - LCD reset (RST) //Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6); -float sum = 0; -uint32_t sumCount = 0; -char buffer[14]; -MPU9250 mpu9250; +AHRS mpu9250(D15, D14, SERIAL_TX, SERIAL_RX , 0); Timer t; Serial pc(USBTX, USBRX); // tx, rx - -// VCC, SCE, RST, D/C, MOSI,S CLK, LED -//N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7); -float xmax = -4914.0f; -float xmin = 4914.0f; - -float ymax = -4914.0; -float ymin = 4914.0f; +DigitalIn button(USER_BUTTON); -float zmax = -4914.0; -float zmin = 4914.0f; - -float Xsf,Ysf; -float Xoff,Yoff; - - -//InterruptIn event(PC_13); -DigitalIn enable(PC_13); int main() { pc.baud(115200); - //Set up I2C - i2c.frequency(400000); // use fast (400 kHz) I2C pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); t.start(); - //lcd.init(); -// lcd.setBrightness(0.05); - //mpu9250.resetMPU9250(); - // Read the WHO_AM_I register, this is a good test of communication - uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 - pc.printf("I AM 0x%x\n\r", whoami); - pc.printf("I SHOULD BE 0x71\n\r"); - - if (whoami == 0x71) { // WHO_AM_I should always be 0x68 - pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami); - pc.printf("MPU9250 is online...\n\r"); - // lcd.clear(); - // lcd.printString("MPU9250 is", 0, 0); - sprintf(buffer, "0x%x", whoami); - // lcd.printString(buffer, 0, 1); - // lcd.printString("shoud be 0x71", 0, 2); - wait(1); - - mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration - mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values - pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); - pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); - pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); - pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); - pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); - pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); - mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers - pc.printf("x gyro bias = %f\n\r", gyroBias[0]); - pc.printf("y gyro bias = %f\n\r", gyroBias[1]); - pc.printf("z gyro bias = %f\n\r", gyroBias[2]); - pc.printf("x accel bias = %f\n\r", accelBias[0]); - pc.printf("y accel bias = %f\n\r", accelBias[1]); - pc.printf("z accel bias = %f\n\r", accelBias[2]); - wait(2); - mpu9250.initMPU9250(); - pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature - mpu9250.initAK8963(magCalibration); - pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer - - whoami = mpu9250.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); // Read WHO_AM_I register for MPU-9250 - pc.printf("I AM 0x%x\n\r", whoami); - pc.printf("I SHOULD BE 0x48\n\r"); - if(whoami != 0x48) { - while(1); - } - pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); - pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); - if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r"); - if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r"); - if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r"); - if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r"); - wait(1); - } else { - pc.printf("Could not connect to MPU9250: \n\r"); - pc.printf("%#x \n", whoami); - - //lcd.clear(); - //lcd.printString("MPU9250", 0, 0); - //lcd.printString("no connection", 0, 1); - sprintf(buffer, "WHO_AM_I 0x%x", whoami); - //lcd.printString(buffer, 0, 2); - - while(1) ; // Loop forever if communication doesn't happen - } - - mpu9250.getAres(); // Get accelerometer sensitivity - mpu9250.getGres(); // Get gyro sensitivity - mpu9250.getMres(); // Get magnetometer sensitivity - pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); - pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); - pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); - // pc.printf("Magnetometer[0] adjust sensittivity is %f \n\r", magCalibration[0]); - // pc.printf("Magnetometer[1] adjust sensittivity is %f \n\r", magCalibration[1]); - // pc.printf("Magnetometer[2] adjust sensittivity is %f \n\r", magCalibration[2]); - // mRes = 10.*1229./4096.; // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale - //mRes = 10.*1229./32760.; - // So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically - // like the gyro and accelerometer biases - //magbias[0] = -5.; // User environmental x-axis correction in milliGauss - //magbias[1] = -95.; // User environmental y-axis correction in milliGauss - //magbias[2] = -260.; // User environmental z-axis correction in milliGauss - - // magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated - // magbias[1] = +120.; // User environmental x-axis correction in milliGauss - // magbias[2] = +125.; // User environmental x-axis correction in milliGauss - - - - pc.printf("START scan mag\n\r\n\r\n\r"); - //wait(1); - for(int i=0; i<800; i++) { - mpu9250.readMagData(magCount); - - if(magCount[0]<xmin) - xmin = magCount[0]; - if(magCount[0]>xmax) - xmax = magCount[0]; - - if(magCount[1]<ymin) - ymin = magCount[1]; - if(magCount[1]>ymax) - ymax = magCount[1]; - - if(magCount[2]<zmin) - zmin = magCount[2]; - if(magCount[2]>zmax) - zmax = magCount[2]; - /* - if(mz>zmax) - zmax = mz; - */ - - wait_ms(10); - } - pc.printf("FINISH scan\r\n\r\n"); - pc.printf("Mx Max= %f Min= %f\n\r",xmax,xmin); - pc.printf("My Max= %f Min= %f\n\r",ymax,ymin); - pc.printf("Mz Max= %f Min= %f\n\r",zmax,zmin); - - - -// magbias[0] = ((xmax-xmin)/2.0f - xmax); // User environmental x-axis correction in milliGauss, should be automatically calculated -// magbias[1] = ((ymax-ymin)/2.0f - ymax); // User environmental x-axis correction in milliGauss -// magbias[2] = ((zmax-zmin)/2.0f - zmax); // User environmental x-axis correction in milliGauss - - magbias[0] = -1.0; - magbias[1] = -1.0; - magbias[2] = -1.0; - - magCalibration[0] = 2.0f / (xmax -xmin); - magCalibration[1] = 2.0f / (ymax -ymin); - magCalibration[2] = 2.0f / (zmax -zmin); - - //magbias[0] = (xmin-xmax)/2.0f; // User environmental x-axis correction in milliGauss, should be automatically calculated - //magbias[1] = (ymin-ymax)/2.0f; // User environmental x-axis correction in milliGauss - //magbias[2] = (zmin-zmax)/2.0f; // User environmental x-axis correction in milliGauss - pc.printf("mag[0] %f",magbias[0]); - pc.printf("mag[1] %f",magbias[1]); - pc.printf("mag[2] %f\n\r",magbias[2]); - // resalt = atan(magY+((yMin-yMax)/2),magX+(xMin-xMax)/2))*180/PI; - + mpu9250.Start(); while(1) { - - // If intPin goes high, all data registers have new data - if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt - - mpu9250.readAccelData(accelCount); // Read the x/y/z adc values - // Now we'll calculate the accleration value into actual g's - ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set - ay = (float)accelCount[1]*aRes - accelBias[1]; - az = (float)accelCount[2]*aRes - accelBias[2]; - - mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values - // Calculate the gyro value into actual degrees per second - gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set - gy = (float)gyroCount[1]*gRes - gyroBias[1]; - gz = (float)gyroCount[2]*gRes - gyroBias[2]; - - mpu9250.readMagData(magCount); // Read the x/y/z adc values - // Calculate the magnetometer values in milliGauss - // Include factory calibration per data sheet and user environmental corrections - /* if(magCount[0]<xmin) - xmin = magCount[0]; - if(magCount[0]>xmax) - xmax = magCount[0]; - - if(magCount[1]<ymin) - ymin = magCount[1]; - if(magCount[1]>ymax) - ymax = magCount[1]; - - if(magCount[2]<zmin) - zmin = magCount[2]; - if(mz>zmax) - zmax = mz; - wait_ms(1); - */ - // pc.printf("FINISH scan\r\n\r\n"); - -// mx = (float)magCount[0]*mRes*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set -// my = (float)magCount[1]*mRes*magCalibration[1] + magbias[1]; -// mz = (float)magCount[2]*mRes*magCalibration[2] + magbias[2]; - - mx = ((float)magCount[0]-xmin)*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set - my = ((float)magCount[1]-ymin)*magCalibration[1] + magbias[1]; - mz = ((float)magCount[2]-zmin)*magCalibration[2] + magbias[2]; - - // mx = (float)magCount[0]*1.499389499f - magbias[0]; // get actual magnetometer value, this depends on scale being set - // my = (float)magCount[1]*1.499389499f - magbias[1]; - // mz = (float)magCount[2]*1.499389499f - magbias[2]; - - - - - } - - Now = t.read_us(); - deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update - lastUpdate = Now; - - sum += deltat; - sumCount++; - -// 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 - mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); - // mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); - - // Serial print and/or display at 0.5 s rate independent of data rates - delt_t = t.read_ms() - count; - if (delt_t > 500) { // update LCD once per half-second independent of read rate - - pc.printf("ax = %f", 1000*ax); - pc.printf(" ay = %f", 1000*ay); - pc.printf(" az = %f mg\n\r", 1000*az); - - pc.printf("gx = %f", gx); - pc.printf(" gy = %f", gy); - pc.printf(" gz = %f deg/s\n\r", gz); - - pc.printf("mx = %f", mx); - pc.printf(" my = %f", my); - pc.printf(" mz = %f mG\n\r", mz); - - whoami = mpu9250.readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250 - // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x10\n\r"); - if(whoami == 0x14) { - pc.printf("I AM 0x%x\n\r", whoami); - while(1); - } - - - tempCount = mpu9250.readTempData(); // Read the adc values - temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade - //pc.printf(" temperature = %f C\n\r", temperature); - - // pc.printf("q0 = %f\n\r", q[0]); - // pc.printf("q1 = %f\n\r", q[1]); - // pc.printf("q2 = %f\n\r", q[2]); - // pc.printf("q3 = %f\n\r", q[3]); - - // 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. - 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]); - pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); - 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]); - - float Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch); - float Yh = my*cos(roll)+mz*sin(roll); - - float yawmag = atan2(Yh,Xh)+PI; - pc.printf("Xh= %f Yh= %f ",Xh,Yh); - pc.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI); - - - - pitch *= 180.0f / PI; - yaw *= 180.0f / PI; - yaw += 180.0f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 - roll *= 180.0f / PI; - - pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); - pc.printf("average rate = %f\n\r", (float) sumCount/sum); -// sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll); -// lcd.printString(buffer, 0, 4); -// sprintf(buffer, "rate = %f", (float) sumCount/sum); -// lcd.printString(buffer, 0, 5); - - - - - myled= !myled; - count = t.read_ms(); - - if(count > 1<<21) { - t.start(); // start the timer over again if ~30 minutes has passed - count = 0; - deltat= 0; - lastUpdate = t.read_us(); - } - sum = 0; - sumCount = 0; - } + mpu9250.Run(); } }