BE@R lab
Class of MPU9250
Dependencies: AHRS_fillter mbed
Fork of
MPU9250AHRS
by 
BE@R lab
Revision 9:a9b0f8540cc6, committed 2016-01-20
- Comitter:
- soulx
- Date:
- Wed Jan 20 15:14:12 2016 +0000
- Parent:
- 8:928673148b55
- Commit message:
- edit lib
Changed in this revision
diff -r 928673148b55 -r a9b0f8540cc6 AHRS.cpp
--- a/AHRS.cpp Wed Jan 20 02:42:22 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,530 +0,0 @@
-#include "AHRS.h"
-
-#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
-
-/*AHRS::AHRS(PinName sda, PinName scl, PinName tx, PinName rx, int address):MPU9250(sda,scl,tx,rx,address)
-{
- for(int i=0; i<=3; i++) {
- eInt[i] = 0;
- q[i] = 0; // vector to hold quaternion
- }
-
- q[0] = 1.0f;
-
- PI = 3.14159265358979323846f;
- GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
- 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
-}*/
-
-/*void AHRS::MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat)
-{
- 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;
-
- 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;
- //////test.printf("Xh= %f Yh= %f ",Xh,Yh);
- //////test.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI);
- //test.printf(",%f",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;
-
-}
-
-
-
-// Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
-// measured ones.
-void AHRS::MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat)
-{
- q1 = q[0];
- q2 = q[1];
- q3 = q[2];
- q4 = q[3]; // short name local variable for readability
-
- // Auxiliary variables to avoid repeated arithmetic
- q1q1 = q1 * q1;
- q1q2 = q1 * q2;
- q1q3 = q1 * q3;
- q1q4 = q1 * q4;
- q2q2 = q2 * q2;
- q2q3 = q2 * q3;
- q2q4 = q2 * q4;
- q3q3 = q3 * q3;
- q3q4 = q3 * q4;
- 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;
-
- 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]);
-
- Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch);
- Yh = my*cos(roll)+mz*sin(roll);
-
- yawmag = atan2(Yh,Xh)+PI;
- ////////////test.printf("Xh= %f Yh= %f ",Xh,Yh);
- //////test.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI);
- //test.printf(",%f",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;
-}*/
-
-void AHRS::MadgwickQuaternionUpdate()
-{
- 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;
-
-}
-
-
-
-// Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
-// measured ones.
-void AHRS::MahonyQuaternionUpdate()
-{
- q1 = q[0];
- q2 = q[1];
- q3 = q[2];
- q4 = q[3]; // short name local variable for readability
-
- // Auxiliary variables to avoid repeated arithmetic
- q1q1 = q1 * q1;
- q1q2 = q1 * q2;
- q1q3 = q1 * q3;
- q1q4 = q1 * q4;
- q2q2 = q2 * q2;
- q2q3 = q2 * q3;
- q2q4 = q2 * q4;
- q3q3 = q3 * q3;
- q3q4 = q3 * q4;
- 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 AHRS::TimeStart()
-{
- t.start();
-}
-
-void AHRS::TimeCal()
-{
- 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++;
-}
-
-void AHRS::Run()
-{
- ReadRawAccGyroMag();
- TimeCal();
- MadgwickQuaternionUpdate();
-
- delt_t = t.read_ms() - count;
- if (delt_t > 500) { // update LCD once per half-second independent of read rate
-
- /*pc2.printf("ax = %f", 1000*ax);
- pc2.printf(" ay = %f", 1000*ay);
- pc2.printf(" az = %f mg\n\r", 1000*az);
-
- pc2.printf("gx = %f", gx);
- pc2.printf(" gy = %f", gy);
- pc2.printf(" gz = %f deg/s\n\r", gz);
-
- pc2.printf("mx = %f", mx);
- pc2.printf(" my = %f", my);
- pc2.printf(" mz = %f mG\n\r", mz);*/
-
-
- //pc2.printf("%f,%f,%f",mx,my,mz);
-
- whoami = readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250
- // pc2.printf("I AM 0x%x\n\r", whoami); pc2.printf("I SHOULD BE 0x10\n\r");
- if(whoami == 0x14) {
- printf("I AM 0x%x\n\r", whoami);
- while(1);
- }
-
-
- readTempData();
- temperature = ((float) temperature) / 333.87f + 21.0f; // Temperature in degrees Centigrade
- //pc2.printf(" temperature = %f C\n\r", temperature);
-
- // pc2.printf("q0 = %f\n\r", q[0]);
- // pc2.printf("q1 = %f\n\r", q[1]);
- // pc2.printf("q2 = %f\n\r", q[2]);
- // pc2.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]);
-
- Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch);
- Yh = my*cos(roll)+mz*sin(roll);
-
- yawmag = atan2(Yh,Xh)+PI;
- //pc2.printf("Xh= %f Yh= %f ",Xh,Yh);
- //pc2.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI);
- //pc2.printf(",%f",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;
-
- //pc2.printf(",%f,%f,%f\n",roll,pitch,yaw);
- //pc2.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
- //pc2.printf("average rate = %f\n\r", (float) sumCount/sum);
-
- 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;
- }
-}
-
-void AHRS::PrintRollPitchYaw()
-{
- pc2.printf("roll : %f, pitch : %f, yaw : %f\n",roll,pitch,yaw);
-}
\ No newline at end of file
diff -r 928673148b55 -r a9b0f8540cc6 AHRS.h
--- a/AHRS.h Wed Jan 20 02:42:22 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,117 +0,0 @@
-#ifndef _AHRS_
-#define _AHRS_
-
-#include "MPU9250.h"
-
-// 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!
-
-class AHRS:public MPU9250
-{
-private:
- float roll, pitch, yaw;
- float q[4]; // vector to hold quaternion
- float eInt[3]; // vector to hold integral error for Mahony method
-
- // parameters for 6 DoF sensor fusion calculations
- float PI;
- float GyroMeasError; // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
- float GyroMeasDrift; // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
- float beta; // compute beta
- float zeta; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
-
- float norm;
- float hx, hy, bx, bz;
- float vx, vy, vz, wx, wy, wz;
- float ex, ey, ez;
- float pa, pb, pc;
-
- float q1, q2, q3, q4;
-
- // Auxiliary variables to avoid repeated arithmetic
- float q1q1;
- float q1q2;
- float q1q3;
- float q1q4;
- float q2q2;
- float q2q3;
- float q2q4;
- float q3q3;
- float q3q4;
- float q4q4;
-
- float Xh;
- float Yh;
- float yawmag;
-
- float deltat;
- float delt_t;
- float Now;
- float sum;
- float firstUpdate;
- float lastUpdate;
- uint32_t sumCount;
- int count;
- //int16_t tempCount;
-
-
-public:
- //MPU9250 imu;
- //Serial test;
- Timer t;
- Serial pc2;
- AHRS(PinName sda, PinName scl, PinName tx, PinName rx, int address) : MPU9250(sda,scl,tx,rx,address),pc2(tx,rx) {
- for(int i=0; i<=3; i++) {
- eInt[i] = 0;
- q[i] = 0; // vector to hold quaternion
- }
-
- q[0] = 1.0f;
-
- PI = 3.14159265358979323846f;
- GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
- 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
-
- //Time
- sum = 0;
- sumCount = 0;
- count = 0;
-
- delt_t = 0;
- lastUpdate = 0;
- firstUpdate = 0;
- Now = 0;
- };
- //void MadgwickQuaternionUpdate(float , float , float , float , float , float , float , float , float , float);
- //void MahonyQuaternionUpdate(float , float , float , float , float , float , float , float , float , float);
-
- void MadgwickQuaternionUpdate();
- void MahonyQuaternionUpdate();
-
- float getRoll() {
- return roll;
- }
- float getPitch() {
- return pitch;
- }
- float getYaw() {
- return yaw;
- }
- void PrintRollPitchYaw();
-
- void TimeStart();
- void TimeRead() {
- t.read_us();
- };
- void TimeCal();
-
- void Run();
-
-};
-#endif
\ No newline at end of file
diff -r 928673148b55 -r a9b0f8540cc6 AHRS_fillter.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AHRS_fillter.lib Wed Jan 20 15:14:12 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/BEaR-lab/code/AHRS_fillter/#054bfc57f0f9
diff -r 928673148b55 -r a9b0f8540cc6 MPU9250.cpp
--- a/MPU9250.cpp Wed Jan 20 02:42:22 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,699 +0,0 @@
-#include "MPU9250.h"
-
-
-MPU9250::MPU9250(PinName sda, PinName scl, PinName tx, PinName rx, int address) : i2c(sda, scl), pc(tx,rx)
-{
- if(address == 0)
- MPU9250_ADDRESS = MPU9250_ADDRESS_68;
- else if(address == 1) MPU9250_ADDRESS = MPU9250_ADDRESS_69;
- else {
- printf("Wrong Address\n");
- while(1);
- }
-
- i2c.frequency(400000);
-
- for(int i=0; i<=3; i++) {
- magCalibration[i] = 0;
- magbias[i] = 0;
- gyroBias[i] = 0;
- accelBias[i] = 0;
- }
- Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
-}
-
-void MPU9250::Start()
-{
- whoami = 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");
- wait(1);
-
- resetMPU9250(); // Reset registers to default in preparation for device calibration
- MPU9250SelfTest(); // 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]);*/
- calibrateMPU9250(); // 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);
- initMPU9250();
- pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
- initAK8963();
- pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
-
- whoami = 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);
-
- while(1) ; // Loop forever if communication doesn't happen
- }
-
-
- getAres(); // Get accelerometer sensitivity
- getGres(); // Get gyro sensitivity
- 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);*/
-
- MagCal();
-}
-
-void MPU9250::ReadRawAccGyroMag()
-{
- // If intPin goes high, all data registers have new data
- if(readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
-
- readAccelData(); // Read the x/y/z adc values
- AccelXYZCal();
- // 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];*/
-
- readGyroData(); // Read the x/y/z adc values
- GyroXYZCal();
- // 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];*/
-
- readMagData(); // Read the x/y/z adc values
- MagXYZCal();
- /*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];*/
- }
-}
-
-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::setMres()
-{
- 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 MPU9250::setGres()
-{
- 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 MPU9250::setAres()
-{
- 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;
- }
-}
-
-void MPU9250::getMres()
-{
- Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
-}
-
-
-void MPU9250::getGres()
-{
- Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
-}
-
-void MPU9250::getAres()
-{
- Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
-}
-
-void MPU9250::MagCal()
-{
- printf("START scan mag\n\r\n\r\n\r");
-
- //Assign random value before calibrate
- /*xmax = -4914.0f;
- xmin = 4914.0f;
-
- ymax = -4914.0;
- ymin = 4914.0f;
-
- zmax = -4914.0;
- zmin = 4914.0f;
-
- change=false;
-
- while(1) {
- readMagData(magCount);
-
- if(magCount[0]<xmin) {
- xmin = magCount[0];
- change = true;
- }
- if(magCount[0]>xmax) {
- xmax = magCount[0];
- change = true;
- }
-
- if(magCount[1]<ymin) {
- ymin = magCount[1];
- change = true;
- }
- if(magCount[1]>ymax) {
- ymax = magCount[1];
- change = true;
- }
-
-
- if(magCount[2]<zmin) {
- zmin = magCount[2];
- change = true;
- }
- if(magCount[2]>zmax) {
- zmax = magCount[2];
- change = true;
- }
-
- if(change==true) {
- printf("Mx Max= %f Min= %f\n\r",xmax,xmin);
- printf("My Max= %f Min= %f\n\r",ymax,ymin);
- printf("Mz Max= %f Min= %f\n\r",zmax,zmin);
- change=false;
- }*/
-
- //Out of Calibration loop
- /*if(button==1) {
- while(button==1);
- break;
- }*/
- //}
-
-
- xmax = 188.000000;
- xmin = -316.000000;
- ymax = 485.000000;
- ymin = -26.000000;
- zmax = 165.000000;
- xmin = -230.000000;
-
- 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);
-
- printf("mag[0] %f",magbias[0]);
- printf("mag[1] %f",magbias[1]);
- printf("mag[2] %f\n\r",magbias[2]);
-}
-
-void MPU9250::AccelXYZCal()
-{
- 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];
-}
-
-void MPU9250::GyroXYZCal()
-{
- 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];
-}
-
-void MPU9250::MagXYZCal()
-{
- 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];
-}
-
-
-void MPU9250::readAccelData()
-{
- float destination[3] = {0,0,0};
- 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]) ;
-
- for(int i=0; i<=2; i++)
- accelCount[i] = (float)destination[i];
-}
-
-void MPU9250::readGyroData()
-{
- float destination[3] = {0,0,0};
- 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]) ;
-
- for(int i=0; i<=2; i++)
- gyroCount[i] = (float)destination[i];
-}
-
-void MPU9250::readMagData()
-{
- float destination[3] = {0,0,0};
- 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]) ;
- }
- }
-
- for(int i=0; i<=2; i++)
- magCount[i] = (float)destination[i];
-}
-
-void MPU9250::readTempData()
-{
- int16_t destination;
- 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
- destination = (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
- destination = ((float) destination) / 333.87f + 21.0f;
- temperature = destination;
-}
-
-
-void MPU9250::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 MPU9250::initAK8963()
-{
- float destination[3] = {0,0,0};
- // 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);
-
- for(int i=0; i<=2; i++)
- magCalibration[i] = destination[i];
-}
-
-
-void MPU9250::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
-
-// 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
-
-// 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
-}
-
-// 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()
-{
- 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
-
-// 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]);
- */
- gyroBias[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
- gyroBias[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
- gyroBias[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.
-
- 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
- }
-
- // 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
- accelBias[0] = (float)accel_bias[0]/(float)accelsensitivity;
- accelBias[1] = (float)accel_bias[1]/(float)accelsensitivity;
- accelBias[2] = (float)accel_bias[2]/(float)accelsensitivity;
-}
-
-
-// Accelerometer and gyroscope self test; check calibration wrt factory settings
-void MPU9250::MPU9250SelfTest() // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
-{
- //float destination[6] = {0,0,0,0,0,0};
- 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(25); // 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(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++) {
- SelfTest[i] = (float)100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
- SelfTest[i+3] = (float)100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
- }
-
-}
\ No newline at end of file
diff -r 928673148b55 -r a9b0f8540cc6 MPU9250.h
--- a/MPU9250.h Wed Jan 20 02:42:22 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,108 +0,0 @@
-#ifndef MPU9250_H
-#define MPU9250_H
-
-#include "mbed.h"
-#include "math.h"
-#include "register.h"
-
-
-static DigitalOut myled(LED1);
-
-
-class MPU9250
-{
-
-protected:
-
-public:
- 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
- };
-
- MPU9250(PinName sda, PinName scl, PinName tx, PinName rx, int address);
- ~MPU9250() {}
-
- 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) ;
-
- void initMPU9250();
- void calibrateMPU9250();
-
- void setMres();
- void setGres();
- void setAres();
-
- void getMres();
- void getGres();
- void getAres();
-
- void AccelXYZCal();
- void GyroXYZCal();
- void MagXYZCal();
-
- void MagCal();
-
- void readAccelData();
- void readGyroData();
- void readMagData();
- void readTempData();
-
- 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
-
-
-protected:
- float temperature;
- uint8_t whoami;
-
-private:
- uint8_t MPU9250_ADDRESS;
-
- 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];
-
-
-
- //MagCal
- float xmax,xmin;
- float ymax,ymin;
- float zmax,zmin;
- bool change;
-
- 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
-
-};
-#endif
\ No newline at end of file
diff -r 928673148b55 -r a9b0f8540cc6 register.h --- a/register.h Wed Jan 20 02:42:22 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,163 +0,0 @@ -// 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 -// -//AD0 -#define MPU9250_ADDRESS_68 0x68 -#define MPU9250_ADDRESS_69 0x69 - -//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*/ \ No newline at end of file