I2C pin numbers are changed in this library according to our custom design.
MPU9250.h@0:8a0a9422787d, 2017-08-17 (annotated)
- Committer:
- sanjay_ingale
- Date:
- Thu Aug 17 07:54:41 2017 +0000
- Revision:
- 0:8a0a9422787d
I2C pin numbers are changed according to our custom design
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sanjay_ingale | 0:8a0a9422787d | 1 | #ifndef MPU9250_H |
sanjay_ingale | 0:8a0a9422787d | 2 | #define MPU9250_H |
sanjay_ingale | 0:8a0a9422787d | 3 | |
sanjay_ingale | 0:8a0a9422787d | 4 | #include "mbed.h" |
sanjay_ingale | 0:8a0a9422787d | 5 | #include "math.h" |
sanjay_ingale | 0:8a0a9422787d | 6 | |
sanjay_ingale | 0:8a0a9422787d | 7 | // 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 |
sanjay_ingale | 0:8a0a9422787d | 8 | // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map |
sanjay_ingale | 0:8a0a9422787d | 9 | // |
sanjay_ingale | 0:8a0a9422787d | 10 | //Magnetometer Registers |
sanjay_ingale | 0:8a0a9422787d | 11 | #define AK8963_ADDRESS 0x0C<<1 |
sanjay_ingale | 0:8a0a9422787d | 12 | #define WHO_AM_I_AK8963 0x00 // should return 0x48 |
sanjay_ingale | 0:8a0a9422787d | 13 | #define INFO 0x01 |
sanjay_ingale | 0:8a0a9422787d | 14 | #define AK8963_ST1 0x02 // data ready status bit 0 |
sanjay_ingale | 0:8a0a9422787d | 15 | #define AK8963_XOUT_L 0x03 // data |
sanjay_ingale | 0:8a0a9422787d | 16 | #define AK8963_XOUT_H 0x04 |
sanjay_ingale | 0:8a0a9422787d | 17 | #define AK8963_YOUT_L 0x05 |
sanjay_ingale | 0:8a0a9422787d | 18 | #define AK8963_YOUT_H 0x06 |
sanjay_ingale | 0:8a0a9422787d | 19 | #define AK8963_ZOUT_L 0x07 |
sanjay_ingale | 0:8a0a9422787d | 20 | #define AK8963_ZOUT_H 0x08 |
sanjay_ingale | 0:8a0a9422787d | 21 | #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2 |
sanjay_ingale | 0:8a0a9422787d | 22 | #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0 |
sanjay_ingale | 0:8a0a9422787d | 23 | #define AK8963_ASTC 0x0C // Self test control |
sanjay_ingale | 0:8a0a9422787d | 24 | #define AK8963_I2CDIS 0x0F // I2C disable |
sanjay_ingale | 0:8a0a9422787d | 25 | #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value |
sanjay_ingale | 0:8a0a9422787d | 26 | #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value |
sanjay_ingale | 0:8a0a9422787d | 27 | #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value |
sanjay_ingale | 0:8a0a9422787d | 28 | |
sanjay_ingale | 0:8a0a9422787d | 29 | #define SELF_TEST_X_GYRO 0x00 |
sanjay_ingale | 0:8a0a9422787d | 30 | #define SELF_TEST_Y_GYRO 0x01 |
sanjay_ingale | 0:8a0a9422787d | 31 | #define SELF_TEST_Z_GYRO 0x02 |
sanjay_ingale | 0:8a0a9422787d | 32 | |
sanjay_ingale | 0:8a0a9422787d | 33 | /*#define X_FINE_GAIN 0x03 // [7:0] fine gain |
sanjay_ingale | 0:8a0a9422787d | 34 | #define Y_FINE_GAIN 0x04 |
sanjay_ingale | 0:8a0a9422787d | 35 | #define Z_FINE_GAIN 0x05 |
sanjay_ingale | 0:8a0a9422787d | 36 | #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer |
sanjay_ingale | 0:8a0a9422787d | 37 | #define XA_OFFSET_L_TC 0x07 |
sanjay_ingale | 0:8a0a9422787d | 38 | #define YA_OFFSET_H 0x08 |
sanjay_ingale | 0:8a0a9422787d | 39 | #define YA_OFFSET_L_TC 0x09 |
sanjay_ingale | 0:8a0a9422787d | 40 | #define ZA_OFFSET_H 0x0A |
sanjay_ingale | 0:8a0a9422787d | 41 | #define ZA_OFFSET_L_TC 0x0B */ |
sanjay_ingale | 0:8a0a9422787d | 42 | |
sanjay_ingale | 0:8a0a9422787d | 43 | #define SELF_TEST_X_ACCEL 0x0D |
sanjay_ingale | 0:8a0a9422787d | 44 | #define SELF_TEST_Y_ACCEL 0x0E |
sanjay_ingale | 0:8a0a9422787d | 45 | #define SELF_TEST_Z_ACCEL 0x0F |
sanjay_ingale | 0:8a0a9422787d | 46 | |
sanjay_ingale | 0:8a0a9422787d | 47 | #define SELF_TEST_A 0x10 |
sanjay_ingale | 0:8a0a9422787d | 48 | |
sanjay_ingale | 0:8a0a9422787d | 49 | #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope |
sanjay_ingale | 0:8a0a9422787d | 50 | #define XG_OFFSET_L 0x14 |
sanjay_ingale | 0:8a0a9422787d | 51 | #define YG_OFFSET_H 0x15 |
sanjay_ingale | 0:8a0a9422787d | 52 | #define YG_OFFSET_L 0x16 |
sanjay_ingale | 0:8a0a9422787d | 53 | #define ZG_OFFSET_H 0x17 |
sanjay_ingale | 0:8a0a9422787d | 54 | #define ZG_OFFSET_L 0x18 |
sanjay_ingale | 0:8a0a9422787d | 55 | #define SMPLRT_DIV 0x19 |
sanjay_ingale | 0:8a0a9422787d | 56 | #define CONFIG 0x1A |
sanjay_ingale | 0:8a0a9422787d | 57 | #define GYRO_CONFIG 0x1B |
sanjay_ingale | 0:8a0a9422787d | 58 | #define ACCEL_CONFIG 0x1C |
sanjay_ingale | 0:8a0a9422787d | 59 | #define ACCEL_CONFIG2 0x1D |
sanjay_ingale | 0:8a0a9422787d | 60 | #define LP_ACCEL_ODR 0x1E |
sanjay_ingale | 0:8a0a9422787d | 61 | #define WOM_THR 0x1F |
sanjay_ingale | 0:8a0a9422787d | 62 | |
sanjay_ingale | 0:8a0a9422787d | 63 | #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms |
sanjay_ingale | 0:8a0a9422787d | 64 | #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] |
sanjay_ingale | 0:8a0a9422787d | 65 | #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms |
sanjay_ingale | 0:8a0a9422787d | 66 | |
sanjay_ingale | 0:8a0a9422787d | 67 | #define FIFO_EN 0x23 |
sanjay_ingale | 0:8a0a9422787d | 68 | #define I2C_MST_CTRL 0x24 |
sanjay_ingale | 0:8a0a9422787d | 69 | #define I2C_SLV0_ADDR 0x25 |
sanjay_ingale | 0:8a0a9422787d | 70 | #define I2C_SLV0_REG 0x26 |
sanjay_ingale | 0:8a0a9422787d | 71 | #define I2C_SLV0_CTRL 0x27 |
sanjay_ingale | 0:8a0a9422787d | 72 | #define I2C_SLV1_ADDR 0x28 |
sanjay_ingale | 0:8a0a9422787d | 73 | #define I2C_SLV1_REG 0x29 |
sanjay_ingale | 0:8a0a9422787d | 74 | #define I2C_SLV1_CTRL 0x2A |
sanjay_ingale | 0:8a0a9422787d | 75 | #define I2C_SLV2_ADDR 0x2B |
sanjay_ingale | 0:8a0a9422787d | 76 | #define I2C_SLV2_REG 0x2C |
sanjay_ingale | 0:8a0a9422787d | 77 | #define I2C_SLV2_CTRL 0x2D |
sanjay_ingale | 0:8a0a9422787d | 78 | #define I2C_SLV3_ADDR 0x2E |
sanjay_ingale | 0:8a0a9422787d | 79 | #define I2C_SLV3_REG 0x2F |
sanjay_ingale | 0:8a0a9422787d | 80 | #define I2C_SLV3_CTRL 0x30 |
sanjay_ingale | 0:8a0a9422787d | 81 | #define I2C_SLV4_ADDR 0x31 |
sanjay_ingale | 0:8a0a9422787d | 82 | #define I2C_SLV4_REG 0x32 |
sanjay_ingale | 0:8a0a9422787d | 83 | #define I2C_SLV4_DO 0x33 |
sanjay_ingale | 0:8a0a9422787d | 84 | #define I2C_SLV4_CTRL 0x34 |
sanjay_ingale | 0:8a0a9422787d | 85 | #define I2C_SLV4_DI 0x35 |
sanjay_ingale | 0:8a0a9422787d | 86 | #define I2C_MST_STATUS 0x36 |
sanjay_ingale | 0:8a0a9422787d | 87 | #define INT_PIN_CFG 0x37 |
sanjay_ingale | 0:8a0a9422787d | 88 | #define INT_ENABLE 0x38 |
sanjay_ingale | 0:8a0a9422787d | 89 | #define DMP_INT_STATUS 0x39 // Check DMP interrupt |
sanjay_ingale | 0:8a0a9422787d | 90 | #define INT_STATUS 0x3A |
sanjay_ingale | 0:8a0a9422787d | 91 | #define ACCEL_XOUT_H 0x3B |
sanjay_ingale | 0:8a0a9422787d | 92 | #define ACCEL_XOUT_L 0x3C |
sanjay_ingale | 0:8a0a9422787d | 93 | #define ACCEL_YOUT_H 0x3D |
sanjay_ingale | 0:8a0a9422787d | 94 | #define ACCEL_YOUT_L 0x3E |
sanjay_ingale | 0:8a0a9422787d | 95 | #define ACCEL_ZOUT_H 0x3F |
sanjay_ingale | 0:8a0a9422787d | 96 | #define ACCEL_ZOUT_L 0x40 |
sanjay_ingale | 0:8a0a9422787d | 97 | #define TEMP_OUT_H 0x41 |
sanjay_ingale | 0:8a0a9422787d | 98 | #define TEMP_OUT_L 0x42 |
sanjay_ingale | 0:8a0a9422787d | 99 | #define GYRO_XOUT_H 0x43 |
sanjay_ingale | 0:8a0a9422787d | 100 | #define GYRO_XOUT_L 0x44 |
sanjay_ingale | 0:8a0a9422787d | 101 | #define GYRO_YOUT_H 0x45 |
sanjay_ingale | 0:8a0a9422787d | 102 | #define GYRO_YOUT_L 0x46 |
sanjay_ingale | 0:8a0a9422787d | 103 | #define GYRO_ZOUT_H 0x47 |
sanjay_ingale | 0:8a0a9422787d | 104 | #define GYRO_ZOUT_L 0x48 |
sanjay_ingale | 0:8a0a9422787d | 105 | #define EXT_SENS_DATA_00 0x49 |
sanjay_ingale | 0:8a0a9422787d | 106 | #define EXT_SENS_DATA_01 0x4A |
sanjay_ingale | 0:8a0a9422787d | 107 | #define EXT_SENS_DATA_02 0x4B |
sanjay_ingale | 0:8a0a9422787d | 108 | #define EXT_SENS_DATA_03 0x4C |
sanjay_ingale | 0:8a0a9422787d | 109 | #define EXT_SENS_DATA_04 0x4D |
sanjay_ingale | 0:8a0a9422787d | 110 | #define EXT_SENS_DATA_05 0x4E |
sanjay_ingale | 0:8a0a9422787d | 111 | #define EXT_SENS_DATA_06 0x4F |
sanjay_ingale | 0:8a0a9422787d | 112 | #define EXT_SENS_DATA_07 0x50 |
sanjay_ingale | 0:8a0a9422787d | 113 | #define EXT_SENS_DATA_08 0x51 |
sanjay_ingale | 0:8a0a9422787d | 114 | #define EXT_SENS_DATA_09 0x52 |
sanjay_ingale | 0:8a0a9422787d | 115 | #define EXT_SENS_DATA_10 0x53 |
sanjay_ingale | 0:8a0a9422787d | 116 | #define EXT_SENS_DATA_11 0x54 |
sanjay_ingale | 0:8a0a9422787d | 117 | #define EXT_SENS_DATA_12 0x55 |
sanjay_ingale | 0:8a0a9422787d | 118 | #define EXT_SENS_DATA_13 0x56 |
sanjay_ingale | 0:8a0a9422787d | 119 | #define EXT_SENS_DATA_14 0x57 |
sanjay_ingale | 0:8a0a9422787d | 120 | #define EXT_SENS_DATA_15 0x58 |
sanjay_ingale | 0:8a0a9422787d | 121 | #define EXT_SENS_DATA_16 0x59 |
sanjay_ingale | 0:8a0a9422787d | 122 | #define EXT_SENS_DATA_17 0x5A |
sanjay_ingale | 0:8a0a9422787d | 123 | #define EXT_SENS_DATA_18 0x5B |
sanjay_ingale | 0:8a0a9422787d | 124 | #define EXT_SENS_DATA_19 0x5C |
sanjay_ingale | 0:8a0a9422787d | 125 | #define EXT_SENS_DATA_20 0x5D |
sanjay_ingale | 0:8a0a9422787d | 126 | #define EXT_SENS_DATA_21 0x5E |
sanjay_ingale | 0:8a0a9422787d | 127 | #define EXT_SENS_DATA_22 0x5F |
sanjay_ingale | 0:8a0a9422787d | 128 | #define EXT_SENS_DATA_23 0x60 |
sanjay_ingale | 0:8a0a9422787d | 129 | #define MOT_DETECT_STATUS 0x61 |
sanjay_ingale | 0:8a0a9422787d | 130 | #define I2C_SLV0_DO 0x63 |
sanjay_ingale | 0:8a0a9422787d | 131 | #define I2C_SLV1_DO 0x64 |
sanjay_ingale | 0:8a0a9422787d | 132 | #define I2C_SLV2_DO 0x65 |
sanjay_ingale | 0:8a0a9422787d | 133 | #define I2C_SLV3_DO 0x66 |
sanjay_ingale | 0:8a0a9422787d | 134 | #define I2C_MST_DELAY_CTRL 0x67 |
sanjay_ingale | 0:8a0a9422787d | 135 | #define SIGNAL_PATH_RESET 0x68 |
sanjay_ingale | 0:8a0a9422787d | 136 | #define MOT_DETECT_CTRL 0x69 |
sanjay_ingale | 0:8a0a9422787d | 137 | #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP |
sanjay_ingale | 0:8a0a9422787d | 138 | #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode |
sanjay_ingale | 0:8a0a9422787d | 139 | #define PWR_MGMT_2 0x6C |
sanjay_ingale | 0:8a0a9422787d | 140 | #define DMP_BANK 0x6D // Activates a specific bank in the DMP |
sanjay_ingale | 0:8a0a9422787d | 141 | #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank |
sanjay_ingale | 0:8a0a9422787d | 142 | #define DMP_REG 0x6F // Register in DMP from which to read or to which to write |
sanjay_ingale | 0:8a0a9422787d | 143 | #define DMP_REG_1 0x70 |
sanjay_ingale | 0:8a0a9422787d | 144 | #define DMP_REG_2 0x71 |
sanjay_ingale | 0:8a0a9422787d | 145 | #define FIFO_COUNTH 0x72 |
sanjay_ingale | 0:8a0a9422787d | 146 | #define FIFO_COUNTL 0x73 |
sanjay_ingale | 0:8a0a9422787d | 147 | #define FIFO_R_W 0x74 |
sanjay_ingale | 0:8a0a9422787d | 148 | #define WHO_AM_I_MPU9250 0x75 // Should return 0x71 |
sanjay_ingale | 0:8a0a9422787d | 149 | #define XA_OFFSET_H 0x77 |
sanjay_ingale | 0:8a0a9422787d | 150 | #define XA_OFFSET_L 0x78 |
sanjay_ingale | 0:8a0a9422787d | 151 | #define YA_OFFSET_H 0x7A |
sanjay_ingale | 0:8a0a9422787d | 152 | #define YA_OFFSET_L 0x7B |
sanjay_ingale | 0:8a0a9422787d | 153 | #define ZA_OFFSET_H 0x7D |
sanjay_ingale | 0:8a0a9422787d | 154 | #define ZA_OFFSET_L 0x7E |
sanjay_ingale | 0:8a0a9422787d | 155 | |
sanjay_ingale | 0:8a0a9422787d | 156 | // Using the MSENSR-9250 breakout board, ADO is set to 0 |
sanjay_ingale | 0:8a0a9422787d | 157 | // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 |
sanjay_ingale | 0:8a0a9422787d | 158 | //mbed uses the eight-bit device address, so shift seven-bit addresses left by one! |
sanjay_ingale | 0:8a0a9422787d | 159 | #define ADO 1 |
sanjay_ingale | 0:8a0a9422787d | 160 | #if ADO |
sanjay_ingale | 0:8a0a9422787d | 161 | #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1 |
sanjay_ingale | 0:8a0a9422787d | 162 | #else |
sanjay_ingale | 0:8a0a9422787d | 163 | #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0 |
sanjay_ingale | 0:8a0a9422787d | 164 | #endif |
sanjay_ingale | 0:8a0a9422787d | 165 | |
sanjay_ingale | 0:8a0a9422787d | 166 | // Set initial input parameters |
sanjay_ingale | 0:8a0a9422787d | 167 | enum Ascale { |
sanjay_ingale | 0:8a0a9422787d | 168 | AFS_2G = 0, |
sanjay_ingale | 0:8a0a9422787d | 169 | AFS_4G, |
sanjay_ingale | 0:8a0a9422787d | 170 | AFS_8G, |
sanjay_ingale | 0:8a0a9422787d | 171 | AFS_16G |
sanjay_ingale | 0:8a0a9422787d | 172 | }; |
sanjay_ingale | 0:8a0a9422787d | 173 | |
sanjay_ingale | 0:8a0a9422787d | 174 | enum Gscale { |
sanjay_ingale | 0:8a0a9422787d | 175 | GFS_250DPS = 0, |
sanjay_ingale | 0:8a0a9422787d | 176 | GFS_500DPS, |
sanjay_ingale | 0:8a0a9422787d | 177 | GFS_1000DPS, |
sanjay_ingale | 0:8a0a9422787d | 178 | GFS_2000DPS |
sanjay_ingale | 0:8a0a9422787d | 179 | }; |
sanjay_ingale | 0:8a0a9422787d | 180 | |
sanjay_ingale | 0:8a0a9422787d | 181 | enum Mscale { |
sanjay_ingale | 0:8a0a9422787d | 182 | MFS_14BITS = 0, // 0.6 mG per LSB |
sanjay_ingale | 0:8a0a9422787d | 183 | MFS_16BITS // 0.15 mG per LSB |
sanjay_ingale | 0:8a0a9422787d | 184 | }; |
sanjay_ingale | 0:8a0a9422787d | 185 | |
sanjay_ingale | 0:8a0a9422787d | 186 | uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G |
sanjay_ingale | 0:8a0a9422787d | 187 | uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS |
sanjay_ingale | 0:8a0a9422787d | 188 | uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution |
sanjay_ingale | 0:8a0a9422787d | 189 | uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR |
sanjay_ingale | 0:8a0a9422787d | 190 | float aRes, gRes, mRes; // scale resolutions per LSB for the sensors |
sanjay_ingale | 0:8a0a9422787d | 191 | |
sanjay_ingale | 0:8a0a9422787d | 192 | //Set up I2C, (SDA,SCL) |
sanjay_ingale | 0:8a0a9422787d | 193 | //I2C i2c(I2C_SDA, I2C_SCL); |
sanjay_ingale | 0:8a0a9422787d | 194 | //I2C i2c(P0_0, P0_1); // nRF51 FC |
sanjay_ingale | 0:8a0a9422787d | 195 | //I2C i2c(P0_6, P0_7); // nRF52 QFN dev board |
sanjay_ingale | 0:8a0a9422787d | 196 | I2C i2c(P0_30, P0_28); // nRF52 CIAA dev board |
sanjay_ingale | 0:8a0a9422787d | 197 | |
sanjay_ingale | 0:8a0a9422787d | 198 | //DigitalOut myled(P0_19); // mbed kit |
sanjay_ingale | 0:8a0a9422787d | 199 | //DigitalOut myled(P0_18); // nRF51822 module |
sanjay_ingale | 0:8a0a9422787d | 200 | DigitalOut myled(P0_24); // nRF52832 module |
sanjay_ingale | 0:8a0a9422787d | 201 | |
sanjay_ingale | 0:8a0a9422787d | 202 | // Pin definitions |
sanjay_ingale | 0:8a0a9422787d | 203 | bool newData = false; |
sanjay_ingale | 0:8a0a9422787d | 204 | bool newMagData = false; |
sanjay_ingale | 0:8a0a9422787d | 205 | |
sanjay_ingale | 0:8a0a9422787d | 206 | int16_t MPU9250Data[7]; // used to read all 14 bytes at once from the MPU9250 accel/gyro |
sanjay_ingale | 0:8a0a9422787d | 207 | int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output |
sanjay_ingale | 0:8a0a9422787d | 208 | int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output |
sanjay_ingale | 0:8a0a9422787d | 209 | int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output |
sanjay_ingale | 0:8a0a9422787d | 210 | float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias |
sanjay_ingale | 0:8a0a9422787d | 211 | float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}, magBias[3] = {0, 0, 0}, magScale[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer |
sanjay_ingale | 0:8a0a9422787d | 212 | float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values |
sanjay_ingale | 0:8a0a9422787d | 213 | int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius |
sanjay_ingale | 0:8a0a9422787d | 214 | float temperature; |
sanjay_ingale | 0:8a0a9422787d | 215 | float SelfTest[6]; |
sanjay_ingale | 0:8a0a9422787d | 216 | |
sanjay_ingale | 0:8a0a9422787d | 217 | int delt_t = 0; // used to control display output rate |
sanjay_ingale | 0:8a0a9422787d | 218 | int count = 0; // used to control display output rate |
sanjay_ingale | 0:8a0a9422787d | 219 | |
sanjay_ingale | 0:8a0a9422787d | 220 | // parameters for 6 DoF sensor fusion calculations |
sanjay_ingale | 0:8a0a9422787d | 221 | float PI = 3.14159265358979323846f; |
sanjay_ingale | 0:8a0a9422787d | 222 | 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 |
sanjay_ingale | 0:8a0a9422787d | 223 | float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta |
sanjay_ingale | 0:8a0a9422787d | 224 | float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) |
sanjay_ingale | 0:8a0a9422787d | 225 | 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 |
sanjay_ingale | 0:8a0a9422787d | 226 | #define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral |
sanjay_ingale | 0:8a0a9422787d | 227 | #define Ki 0.0f |
sanjay_ingale | 0:8a0a9422787d | 228 | |
sanjay_ingale | 0:8a0a9422787d | 229 | float pitch, yaw, roll; |
sanjay_ingale | 0:8a0a9422787d | 230 | float deltat = 0.0f; // integration interval for both filter schemes |
sanjay_ingale | 0:8a0a9422787d | 231 | int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval |
sanjay_ingale | 0:8a0a9422787d | 232 | float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion |
sanjay_ingale | 0:8a0a9422787d | 233 | float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method |
sanjay_ingale | 0:8a0a9422787d | 234 | |
sanjay_ingale | 0:8a0a9422787d | 235 | class MPU9250 { |
sanjay_ingale | 0:8a0a9422787d | 236 | |
sanjay_ingale | 0:8a0a9422787d | 237 | protected: |
sanjay_ingale | 0:8a0a9422787d | 238 | |
sanjay_ingale | 0:8a0a9422787d | 239 | public: |
sanjay_ingale | 0:8a0a9422787d | 240 | //=================================================================================================================== |
sanjay_ingale | 0:8a0a9422787d | 241 | //====== Set of useful function to access acceleratio, gyroscope, and temperature data |
sanjay_ingale | 0:8a0a9422787d | 242 | //=================================================================================================================== |
sanjay_ingale | 0:8a0a9422787d | 243 | |
sanjay_ingale | 0:8a0a9422787d | 244 | void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) |
sanjay_ingale | 0:8a0a9422787d | 245 | { |
sanjay_ingale | 0:8a0a9422787d | 246 | char data_write[2]; |
sanjay_ingale | 0:8a0a9422787d | 247 | data_write[0] = subAddress; |
sanjay_ingale | 0:8a0a9422787d | 248 | data_write[1] = data; |
sanjay_ingale | 0:8a0a9422787d | 249 | i2c.write(address, data_write, 2, 0); |
sanjay_ingale | 0:8a0a9422787d | 250 | } |
sanjay_ingale | 0:8a0a9422787d | 251 | |
sanjay_ingale | 0:8a0a9422787d | 252 | char readByte(uint8_t address, uint8_t subAddress) |
sanjay_ingale | 0:8a0a9422787d | 253 | { |
sanjay_ingale | 0:8a0a9422787d | 254 | char data[1]; // `data` will store the register data |
sanjay_ingale | 0:8a0a9422787d | 255 | char data_write[1]; |
sanjay_ingale | 0:8a0a9422787d | 256 | data_write[0] = subAddress; |
sanjay_ingale | 0:8a0a9422787d | 257 | i2c.write(address, data_write, 1, 1); // no stop |
sanjay_ingale | 0:8a0a9422787d | 258 | i2c.read(address, data, 1, 0); |
sanjay_ingale | 0:8a0a9422787d | 259 | return data[0]; |
sanjay_ingale | 0:8a0a9422787d | 260 | } |
sanjay_ingale | 0:8a0a9422787d | 261 | |
sanjay_ingale | 0:8a0a9422787d | 262 | void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) |
sanjay_ingale | 0:8a0a9422787d | 263 | { |
sanjay_ingale | 0:8a0a9422787d | 264 | char data[14]; |
sanjay_ingale | 0:8a0a9422787d | 265 | char data_write[1]; |
sanjay_ingale | 0:8a0a9422787d | 266 | data_write[0] = subAddress; |
sanjay_ingale | 0:8a0a9422787d | 267 | i2c.write(address, data_write, 1, 1); // no stop |
sanjay_ingale | 0:8a0a9422787d | 268 | i2c.read(address, data, count, 0); |
sanjay_ingale | 0:8a0a9422787d | 269 | for(int ii = 0; ii < count; ii++) { |
sanjay_ingale | 0:8a0a9422787d | 270 | dest[ii] = data[ii]; |
sanjay_ingale | 0:8a0a9422787d | 271 | } |
sanjay_ingale | 0:8a0a9422787d | 272 | } |
sanjay_ingale | 0:8a0a9422787d | 273 | |
sanjay_ingale | 0:8a0a9422787d | 274 | |
sanjay_ingale | 0:8a0a9422787d | 275 | void getMres() { |
sanjay_ingale | 0:8a0a9422787d | 276 | switch (Mscale) |
sanjay_ingale | 0:8a0a9422787d | 277 | { |
sanjay_ingale | 0:8a0a9422787d | 278 | // Possible magnetometer scales (and their register bit settings) are: |
sanjay_ingale | 0:8a0a9422787d | 279 | // 14 bit resolution (0) and 16 bit resolution (1) |
sanjay_ingale | 0:8a0a9422787d | 280 | case MFS_14BITS: |
sanjay_ingale | 0:8a0a9422787d | 281 | mRes = 10.0*4912.0/8190.0; // Proper scale to return milliGauss |
sanjay_ingale | 0:8a0a9422787d | 282 | break; |
sanjay_ingale | 0:8a0a9422787d | 283 | case MFS_16BITS: |
sanjay_ingale | 0:8a0a9422787d | 284 | mRes = 10.0*4912.0/32760.0; // Proper scale to return milliGauss |
sanjay_ingale | 0:8a0a9422787d | 285 | break; |
sanjay_ingale | 0:8a0a9422787d | 286 | } |
sanjay_ingale | 0:8a0a9422787d | 287 | } |
sanjay_ingale | 0:8a0a9422787d | 288 | |
sanjay_ingale | 0:8a0a9422787d | 289 | |
sanjay_ingale | 0:8a0a9422787d | 290 | void getGres() { |
sanjay_ingale | 0:8a0a9422787d | 291 | switch (Gscale) |
sanjay_ingale | 0:8a0a9422787d | 292 | { |
sanjay_ingale | 0:8a0a9422787d | 293 | // Possible gyro scales (and their register bit settings) are: |
sanjay_ingale | 0:8a0a9422787d | 294 | // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11). |
sanjay_ingale | 0:8a0a9422787d | 295 | // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: |
sanjay_ingale | 0:8a0a9422787d | 296 | case GFS_250DPS: |
sanjay_ingale | 0:8a0a9422787d | 297 | gRes = 250.0f/32768.0f; |
sanjay_ingale | 0:8a0a9422787d | 298 | break; |
sanjay_ingale | 0:8a0a9422787d | 299 | case GFS_500DPS: |
sanjay_ingale | 0:8a0a9422787d | 300 | gRes = 500.0f/32768.0f; |
sanjay_ingale | 0:8a0a9422787d | 301 | break; |
sanjay_ingale | 0:8a0a9422787d | 302 | case GFS_1000DPS: |
sanjay_ingale | 0:8a0a9422787d | 303 | gRes = 1000.0f/32768.0f; |
sanjay_ingale | 0:8a0a9422787d | 304 | break; |
sanjay_ingale | 0:8a0a9422787d | 305 | case GFS_2000DPS: |
sanjay_ingale | 0:8a0a9422787d | 306 | gRes = 2000.0f/32768.0f; |
sanjay_ingale | 0:8a0a9422787d | 307 | break; |
sanjay_ingale | 0:8a0a9422787d | 308 | } |
sanjay_ingale | 0:8a0a9422787d | 309 | } |
sanjay_ingale | 0:8a0a9422787d | 310 | |
sanjay_ingale | 0:8a0a9422787d | 311 | |
sanjay_ingale | 0:8a0a9422787d | 312 | void getAres() { |
sanjay_ingale | 0:8a0a9422787d | 313 | switch (Ascale) |
sanjay_ingale | 0:8a0a9422787d | 314 | { |
sanjay_ingale | 0:8a0a9422787d | 315 | // Possible accelerometer scales (and their register bit settings) are: |
sanjay_ingale | 0:8a0a9422787d | 316 | // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11). |
sanjay_ingale | 0:8a0a9422787d | 317 | // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: |
sanjay_ingale | 0:8a0a9422787d | 318 | case AFS_2G: |
sanjay_ingale | 0:8a0a9422787d | 319 | aRes = 2.0f/32768.0f; |
sanjay_ingale | 0:8a0a9422787d | 320 | break; |
sanjay_ingale | 0:8a0a9422787d | 321 | case AFS_4G: |
sanjay_ingale | 0:8a0a9422787d | 322 | aRes = 4.0f/32768.0f; |
sanjay_ingale | 0:8a0a9422787d | 323 | break; |
sanjay_ingale | 0:8a0a9422787d | 324 | case AFS_8G: |
sanjay_ingale | 0:8a0a9422787d | 325 | aRes = 8.0f/32768.0f; |
sanjay_ingale | 0:8a0a9422787d | 326 | break; |
sanjay_ingale | 0:8a0a9422787d | 327 | case AFS_16G: |
sanjay_ingale | 0:8a0a9422787d | 328 | aRes = 16.0f/32768.0f; |
sanjay_ingale | 0:8a0a9422787d | 329 | break; |
sanjay_ingale | 0:8a0a9422787d | 330 | } |
sanjay_ingale | 0:8a0a9422787d | 331 | } |
sanjay_ingale | 0:8a0a9422787d | 332 | |
sanjay_ingale | 0:8a0a9422787d | 333 | void readMPU9250Data(int16_t * destination) |
sanjay_ingale | 0:8a0a9422787d | 334 | { |
sanjay_ingale | 0:8a0a9422787d | 335 | uint8_t rawData[14]; // x/y/z accel register data stored here |
sanjay_ingale | 0:8a0a9422787d | 336 | readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 14, &rawData[0]); // Read the 14 raw data registers into data array |
sanjay_ingale | 0:8a0a9422787d | 337 | destination[0] = ((int16_t)rawData[0] << 8) | rawData[1] ; // Turn the MSB and LSB into a signed 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 338 | destination[1] = ((int16_t)rawData[2] << 8) | rawData[3] ; |
sanjay_ingale | 0:8a0a9422787d | 339 | destination[2] = ((int16_t)rawData[4] << 8) | rawData[5] ; |
sanjay_ingale | 0:8a0a9422787d | 340 | destination[3] = ((int16_t)rawData[6] << 8) | rawData[7] ; |
sanjay_ingale | 0:8a0a9422787d | 341 | destination[4] = ((int16_t)rawData[8] << 8) | rawData[9] ; |
sanjay_ingale | 0:8a0a9422787d | 342 | destination[5] = ((int16_t)rawData[10] << 8) | rawData[11] ; |
sanjay_ingale | 0:8a0a9422787d | 343 | destination[6] = ((int16_t)rawData[12] << 8) | rawData[13] ; |
sanjay_ingale | 0:8a0a9422787d | 344 | } |
sanjay_ingale | 0:8a0a9422787d | 345 | |
sanjay_ingale | 0:8a0a9422787d | 346 | void readAccelData(int16_t * destination) |
sanjay_ingale | 0:8a0a9422787d | 347 | { |
sanjay_ingale | 0:8a0a9422787d | 348 | uint8_t rawData[6]; // x/y/z accel register data stored here |
sanjay_ingale | 0:8a0a9422787d | 349 | readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array |
sanjay_ingale | 0:8a0a9422787d | 350 | destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 351 | destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
sanjay_ingale | 0:8a0a9422787d | 352 | destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
sanjay_ingale | 0:8a0a9422787d | 353 | } |
sanjay_ingale | 0:8a0a9422787d | 354 | |
sanjay_ingale | 0:8a0a9422787d | 355 | void readGyroData(int16_t * destination) |
sanjay_ingale | 0:8a0a9422787d | 356 | { |
sanjay_ingale | 0:8a0a9422787d | 357 | uint8_t rawData[6]; // x/y/z gyro register data stored here |
sanjay_ingale | 0:8a0a9422787d | 358 | readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array |
sanjay_ingale | 0:8a0a9422787d | 359 | destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 360 | destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
sanjay_ingale | 0:8a0a9422787d | 361 | destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
sanjay_ingale | 0:8a0a9422787d | 362 | } |
sanjay_ingale | 0:8a0a9422787d | 363 | |
sanjay_ingale | 0:8a0a9422787d | 364 | void readMagData(int16_t * destination) |
sanjay_ingale | 0:8a0a9422787d | 365 | { |
sanjay_ingale | 0:8a0a9422787d | 366 | uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition |
sanjay_ingale | 0:8a0a9422787d | 367 | readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array |
sanjay_ingale | 0:8a0a9422787d | 368 | uint8_t c = rawData[6]; // End data read by reading ST2 register |
sanjay_ingale | 0:8a0a9422787d | 369 | if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data |
sanjay_ingale | 0:8a0a9422787d | 370 | destination[0] = ((int16_t)rawData[1] << 8) | rawData[0] ; // Turn the MSB and LSB into a signed 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 371 | destination[1] = ((int16_t)rawData[3] << 8) | rawData[2] ; // Data stored as little Endian |
sanjay_ingale | 0:8a0a9422787d | 372 | destination[2] = ((int16_t)rawData[5] << 8) | rawData[4] ; |
sanjay_ingale | 0:8a0a9422787d | 373 | } |
sanjay_ingale | 0:8a0a9422787d | 374 | } |
sanjay_ingale | 0:8a0a9422787d | 375 | |
sanjay_ingale | 0:8a0a9422787d | 376 | int16_t readTempData() |
sanjay_ingale | 0:8a0a9422787d | 377 | { |
sanjay_ingale | 0:8a0a9422787d | 378 | uint8_t rawData[2]; // x/y/z gyro register data stored here |
sanjay_ingale | 0:8a0a9422787d | 379 | readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array |
sanjay_ingale | 0:8a0a9422787d | 380 | return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 381 | } |
sanjay_ingale | 0:8a0a9422787d | 382 | |
sanjay_ingale | 0:8a0a9422787d | 383 | |
sanjay_ingale | 0:8a0a9422787d | 384 | void resetMPU9250() { |
sanjay_ingale | 0:8a0a9422787d | 385 | // reset device |
sanjay_ingale | 0:8a0a9422787d | 386 | writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device |
sanjay_ingale | 0:8a0a9422787d | 387 | wait(0.1); |
sanjay_ingale | 0:8a0a9422787d | 388 | } |
sanjay_ingale | 0:8a0a9422787d | 389 | |
sanjay_ingale | 0:8a0a9422787d | 390 | void initAK8963(float * destination) |
sanjay_ingale | 0:8a0a9422787d | 391 | { |
sanjay_ingale | 0:8a0a9422787d | 392 | // First extract the factory calibration for each magnetometer axis |
sanjay_ingale | 0:8a0a9422787d | 393 | uint8_t rawData[3] = {0, 0, 0}; // x/y/z gyro calibration data stored here |
sanjay_ingale | 0:8a0a9422787d | 394 | writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer |
sanjay_ingale | 0:8a0a9422787d | 395 | wait(0.01); |
sanjay_ingale | 0:8a0a9422787d | 396 | writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode |
sanjay_ingale | 0:8a0a9422787d | 397 | wait(0.01); |
sanjay_ingale | 0:8a0a9422787d | 398 | // readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values |
sanjay_ingale | 0:8a0a9422787d | 399 | rawData[0] = readByte(AK8963_ADDRESS, AK8963_ASAX); |
sanjay_ingale | 0:8a0a9422787d | 400 | rawData[1] = readByte(AK8963_ADDRESS, AK8963_ASAY); |
sanjay_ingale | 0:8a0a9422787d | 401 | rawData[2] = readByte(AK8963_ADDRESS, AK8963_ASAZ); |
sanjay_ingale | 0:8a0a9422787d | 402 | destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc. |
sanjay_ingale | 0:8a0a9422787d | 403 | destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f; |
sanjay_ingale | 0:8a0a9422787d | 404 | destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f; |
sanjay_ingale | 0:8a0a9422787d | 405 | writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer |
sanjay_ingale | 0:8a0a9422787d | 406 | wait(0.01); |
sanjay_ingale | 0:8a0a9422787d | 407 | // Configure the magnetometer for continuous read and highest resolution |
sanjay_ingale | 0:8a0a9422787d | 408 | // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register, |
sanjay_ingale | 0:8a0a9422787d | 409 | // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates |
sanjay_ingale | 0:8a0a9422787d | 410 | writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR |
sanjay_ingale | 0:8a0a9422787d | 411 | wait(0.01); |
sanjay_ingale | 0:8a0a9422787d | 412 | } |
sanjay_ingale | 0:8a0a9422787d | 413 | |
sanjay_ingale | 0:8a0a9422787d | 414 | |
sanjay_ingale | 0:8a0a9422787d | 415 | void initMPU9250() |
sanjay_ingale | 0:8a0a9422787d | 416 | { |
sanjay_ingale | 0:8a0a9422787d | 417 | // Initialize MPU9250 device |
sanjay_ingale | 0:8a0a9422787d | 418 | // wake up device |
sanjay_ingale | 0:8a0a9422787d | 419 | writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors |
sanjay_ingale | 0:8a0a9422787d | 420 | wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt |
sanjay_ingale | 0:8a0a9422787d | 421 | |
sanjay_ingale | 0:8a0a9422787d | 422 | // get stable time source |
sanjay_ingale | 0:8a0a9422787d | 423 | writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 |
sanjay_ingale | 0:8a0a9422787d | 424 | |
sanjay_ingale | 0:8a0a9422787d | 425 | // Configure Gyro and Accelerometer |
sanjay_ingale | 0:8a0a9422787d | 426 | // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively; |
sanjay_ingale | 0:8a0a9422787d | 427 | // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both |
sanjay_ingale | 0:8a0a9422787d | 428 | // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate |
sanjay_ingale | 0:8a0a9422787d | 429 | writeByte(MPU9250_ADDRESS, CONFIG, 0x03); |
sanjay_ingale | 0:8a0a9422787d | 430 | |
sanjay_ingale | 0:8a0a9422787d | 431 | // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV) |
sanjay_ingale | 0:8a0a9422787d | 432 | writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above |
sanjay_ingale | 0:8a0a9422787d | 433 | |
sanjay_ingale | 0:8a0a9422787d | 434 | // Set gyroscope full scale range |
sanjay_ingale | 0:8a0a9422787d | 435 | // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3 |
sanjay_ingale | 0:8a0a9422787d | 436 | uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); |
sanjay_ingale | 0:8a0a9422787d | 437 | writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] |
sanjay_ingale | 0:8a0a9422787d | 438 | writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3] |
sanjay_ingale | 0:8a0a9422787d | 439 | writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro |
sanjay_ingale | 0:8a0a9422787d | 440 | |
sanjay_ingale | 0:8a0a9422787d | 441 | // Set accelerometer configuration |
sanjay_ingale | 0:8a0a9422787d | 442 | c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); |
sanjay_ingale | 0:8a0a9422787d | 443 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] |
sanjay_ingale | 0:8a0a9422787d | 444 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3] |
sanjay_ingale | 0:8a0a9422787d | 445 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer |
sanjay_ingale | 0:8a0a9422787d | 446 | |
sanjay_ingale | 0:8a0a9422787d | 447 | // Set accelerometer sample rate configuration |
sanjay_ingale | 0:8a0a9422787d | 448 | // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for |
sanjay_ingale | 0:8a0a9422787d | 449 | // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz |
sanjay_ingale | 0:8a0a9422787d | 450 | c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2); |
sanjay_ingale | 0:8a0a9422787d | 451 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0]) |
sanjay_ingale | 0:8a0a9422787d | 452 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz |
sanjay_ingale | 0:8a0a9422787d | 453 | |
sanjay_ingale | 0:8a0a9422787d | 454 | // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates, |
sanjay_ingale | 0:8a0a9422787d | 455 | // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting |
sanjay_ingale | 0:8a0a9422787d | 456 | |
sanjay_ingale | 0:8a0a9422787d | 457 | // Configure Interrupts and Bypass Enable |
sanjay_ingale | 0:8a0a9422787d | 458 | // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips |
sanjay_ingale | 0:8a0a9422787d | 459 | // can join the I2C bus and all can be controlled by the Arduino as master |
sanjay_ingale | 0:8a0a9422787d | 460 | writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x12); // INT is 50 microsecond pulse and any read to clear |
sanjay_ingale | 0:8a0a9422787d | 461 | writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt |
sanjay_ingale | 0:8a0a9422787d | 462 | } |
sanjay_ingale | 0:8a0a9422787d | 463 | |
sanjay_ingale | 0:8a0a9422787d | 464 | // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average |
sanjay_ingale | 0:8a0a9422787d | 465 | // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers. |
sanjay_ingale | 0:8a0a9422787d | 466 | void calibrateMPU9250(float * dest1, float * dest2) |
sanjay_ingale | 0:8a0a9422787d | 467 | { |
sanjay_ingale | 0:8a0a9422787d | 468 | uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data |
sanjay_ingale | 0:8a0a9422787d | 469 | uint16_t ii, packet_count, fifo_count; |
sanjay_ingale | 0:8a0a9422787d | 470 | int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; |
sanjay_ingale | 0:8a0a9422787d | 471 | |
sanjay_ingale | 0:8a0a9422787d | 472 | // reset device, reset all registers, clear gyro and accelerometer bias registers |
sanjay_ingale | 0:8a0a9422787d | 473 | writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device |
sanjay_ingale | 0:8a0a9422787d | 474 | wait(0.1); |
sanjay_ingale | 0:8a0a9422787d | 475 | |
sanjay_ingale | 0:8a0a9422787d | 476 | // get stable time source |
sanjay_ingale | 0:8a0a9422787d | 477 | // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 |
sanjay_ingale | 0:8a0a9422787d | 478 | writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); |
sanjay_ingale | 0:8a0a9422787d | 479 | writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00); |
sanjay_ingale | 0:8a0a9422787d | 480 | wait(0.2); |
sanjay_ingale | 0:8a0a9422787d | 481 | |
sanjay_ingale | 0:8a0a9422787d | 482 | // Configure device for bias calculation |
sanjay_ingale | 0:8a0a9422787d | 483 | writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts |
sanjay_ingale | 0:8a0a9422787d | 484 | writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO |
sanjay_ingale | 0:8a0a9422787d | 485 | writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source |
sanjay_ingale | 0:8a0a9422787d | 486 | writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master |
sanjay_ingale | 0:8a0a9422787d | 487 | writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes |
sanjay_ingale | 0:8a0a9422787d | 488 | writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP |
sanjay_ingale | 0:8a0a9422787d | 489 | wait(0.015); |
sanjay_ingale | 0:8a0a9422787d | 490 | |
sanjay_ingale | 0:8a0a9422787d | 491 | // Configure MPU9250 gyro and accelerometer for bias calculation |
sanjay_ingale | 0:8a0a9422787d | 492 | writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz |
sanjay_ingale | 0:8a0a9422787d | 493 | writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz |
sanjay_ingale | 0:8a0a9422787d | 494 | writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity |
sanjay_ingale | 0:8a0a9422787d | 495 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity |
sanjay_ingale | 0:8a0a9422787d | 496 | |
sanjay_ingale | 0:8a0a9422787d | 497 | uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec |
sanjay_ingale | 0:8a0a9422787d | 498 | uint16_t accelsensitivity = 16384; // = 16384 LSB/g |
sanjay_ingale | 0:8a0a9422787d | 499 | |
sanjay_ingale | 0:8a0a9422787d | 500 | // Configure FIFO to capture accelerometer and gyro data for bias calculation |
sanjay_ingale | 0:8a0a9422787d | 501 | writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO |
sanjay_ingale | 0:8a0a9422787d | 502 | writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250) |
sanjay_ingale | 0:8a0a9422787d | 503 | wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes |
sanjay_ingale | 0:8a0a9422787d | 504 | |
sanjay_ingale | 0:8a0a9422787d | 505 | // At end of sample accumulation, turn off FIFO sensor read |
sanjay_ingale | 0:8a0a9422787d | 506 | writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO |
sanjay_ingale | 0:8a0a9422787d | 507 | readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count |
sanjay_ingale | 0:8a0a9422787d | 508 | fifo_count = ((uint16_t)data[0] << 8) | data[1]; |
sanjay_ingale | 0:8a0a9422787d | 509 | packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging |
sanjay_ingale | 0:8a0a9422787d | 510 | |
sanjay_ingale | 0:8a0a9422787d | 511 | for (ii = 0; ii < packet_count; ii++) { |
sanjay_ingale | 0:8a0a9422787d | 512 | int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; |
sanjay_ingale | 0:8a0a9422787d | 513 | readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging |
sanjay_ingale | 0:8a0a9422787d | 514 | accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO |
sanjay_ingale | 0:8a0a9422787d | 515 | accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ; |
sanjay_ingale | 0:8a0a9422787d | 516 | accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ; |
sanjay_ingale | 0:8a0a9422787d | 517 | gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ; |
sanjay_ingale | 0:8a0a9422787d | 518 | gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ; |
sanjay_ingale | 0:8a0a9422787d | 519 | gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ; |
sanjay_ingale | 0:8a0a9422787d | 520 | |
sanjay_ingale | 0:8a0a9422787d | 521 | accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases |
sanjay_ingale | 0:8a0a9422787d | 522 | accel_bias[1] += (int32_t) accel_temp[1]; |
sanjay_ingale | 0:8a0a9422787d | 523 | accel_bias[2] += (int32_t) accel_temp[2]; |
sanjay_ingale | 0:8a0a9422787d | 524 | gyro_bias[0] += (int32_t) gyro_temp[0]; |
sanjay_ingale | 0:8a0a9422787d | 525 | gyro_bias[1] += (int32_t) gyro_temp[1]; |
sanjay_ingale | 0:8a0a9422787d | 526 | gyro_bias[2] += (int32_t) gyro_temp[2]; |
sanjay_ingale | 0:8a0a9422787d | 527 | |
sanjay_ingale | 0:8a0a9422787d | 528 | } |
sanjay_ingale | 0:8a0a9422787d | 529 | accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases |
sanjay_ingale | 0:8a0a9422787d | 530 | accel_bias[1] /= (int32_t) packet_count; |
sanjay_ingale | 0:8a0a9422787d | 531 | accel_bias[2] /= (int32_t) packet_count; |
sanjay_ingale | 0:8a0a9422787d | 532 | gyro_bias[0] /= (int32_t) packet_count; |
sanjay_ingale | 0:8a0a9422787d | 533 | gyro_bias[1] /= (int32_t) packet_count; |
sanjay_ingale | 0:8a0a9422787d | 534 | gyro_bias[2] /= (int32_t) packet_count; |
sanjay_ingale | 0:8a0a9422787d | 535 | |
sanjay_ingale | 0:8a0a9422787d | 536 | if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation |
sanjay_ingale | 0:8a0a9422787d | 537 | else {accel_bias[2] += (int32_t) accelsensitivity;} |
sanjay_ingale | 0:8a0a9422787d | 538 | |
sanjay_ingale | 0:8a0a9422787d | 539 | // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup |
sanjay_ingale | 0:8a0a9422787d | 540 | 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 |
sanjay_ingale | 0:8a0a9422787d | 541 | data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases |
sanjay_ingale | 0:8a0a9422787d | 542 | data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 543 | data[3] = (-gyro_bias[1]/4) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 544 | data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 545 | data[5] = (-gyro_bias[2]/4) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 546 | |
sanjay_ingale | 0:8a0a9422787d | 547 | /// Push gyro biases to hardware registers |
sanjay_ingale | 0:8a0a9422787d | 548 | /* writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]); |
sanjay_ingale | 0:8a0a9422787d | 549 | writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]); |
sanjay_ingale | 0:8a0a9422787d | 550 | writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]); |
sanjay_ingale | 0:8a0a9422787d | 551 | writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]); |
sanjay_ingale | 0:8a0a9422787d | 552 | writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]); |
sanjay_ingale | 0:8a0a9422787d | 553 | writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]); |
sanjay_ingale | 0:8a0a9422787d | 554 | */ |
sanjay_ingale | 0:8a0a9422787d | 555 | dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction |
sanjay_ingale | 0:8a0a9422787d | 556 | dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity; |
sanjay_ingale | 0:8a0a9422787d | 557 | dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity; |
sanjay_ingale | 0:8a0a9422787d | 558 | |
sanjay_ingale | 0:8a0a9422787d | 559 | // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain |
sanjay_ingale | 0:8a0a9422787d | 560 | // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold |
sanjay_ingale | 0:8a0a9422787d | 561 | // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature |
sanjay_ingale | 0:8a0a9422787d | 562 | // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that |
sanjay_ingale | 0:8a0a9422787d | 563 | // the accelerometer biases calculated above must be divided by 8. |
sanjay_ingale | 0:8a0a9422787d | 564 | |
sanjay_ingale | 0:8a0a9422787d | 565 | int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases |
sanjay_ingale | 0:8a0a9422787d | 566 | readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values |
sanjay_ingale | 0:8a0a9422787d | 567 | accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
sanjay_ingale | 0:8a0a9422787d | 568 | readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]); |
sanjay_ingale | 0:8a0a9422787d | 569 | accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
sanjay_ingale | 0:8a0a9422787d | 570 | readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]); |
sanjay_ingale | 0:8a0a9422787d | 571 | accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
sanjay_ingale | 0:8a0a9422787d | 572 | |
sanjay_ingale | 0:8a0a9422787d | 573 | uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers |
sanjay_ingale | 0:8a0a9422787d | 574 | uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis |
sanjay_ingale | 0:8a0a9422787d | 575 | |
sanjay_ingale | 0:8a0a9422787d | 576 | for(ii = 0; ii < 3; ii++) { |
sanjay_ingale | 0:8a0a9422787d | 577 | if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit |
sanjay_ingale | 0:8a0a9422787d | 578 | } |
sanjay_ingale | 0:8a0a9422787d | 579 | |
sanjay_ingale | 0:8a0a9422787d | 580 | // Construct total accelerometer bias, including calculated average accelerometer bias from above |
sanjay_ingale | 0:8a0a9422787d | 581 | accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale) |
sanjay_ingale | 0:8a0a9422787d | 582 | accel_bias_reg[1] -= (accel_bias[1]/8); |
sanjay_ingale | 0:8a0a9422787d | 583 | accel_bias_reg[2] -= (accel_bias[2]/8); |
sanjay_ingale | 0:8a0a9422787d | 584 | |
sanjay_ingale | 0:8a0a9422787d | 585 | data[0] = (accel_bias_reg[0] >> 8) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 586 | data[1] = (accel_bias_reg[0]) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 587 | data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
sanjay_ingale | 0:8a0a9422787d | 588 | data[2] = (accel_bias_reg[1] >> 8) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 589 | data[3] = (accel_bias_reg[1]) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 590 | data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
sanjay_ingale | 0:8a0a9422787d | 591 | data[4] = (accel_bias_reg[2] >> 8) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 592 | data[5] = (accel_bias_reg[2]) & 0xFF; |
sanjay_ingale | 0:8a0a9422787d | 593 | data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
sanjay_ingale | 0:8a0a9422787d | 594 | |
sanjay_ingale | 0:8a0a9422787d | 595 | // Apparently this is not working for the acceleration biases in the MPU-9250 |
sanjay_ingale | 0:8a0a9422787d | 596 | // Are we handling the temperature correction bit properly? |
sanjay_ingale | 0:8a0a9422787d | 597 | // Push accelerometer biases to hardware registers |
sanjay_ingale | 0:8a0a9422787d | 598 | /* writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]); |
sanjay_ingale | 0:8a0a9422787d | 599 | writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]); |
sanjay_ingale | 0:8a0a9422787d | 600 | writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]); |
sanjay_ingale | 0:8a0a9422787d | 601 | writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]); |
sanjay_ingale | 0:8a0a9422787d | 602 | writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]); |
sanjay_ingale | 0:8a0a9422787d | 603 | writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]); |
sanjay_ingale | 0:8a0a9422787d | 604 | */ |
sanjay_ingale | 0:8a0a9422787d | 605 | // Output scaled accelerometer biases for manual subtraction in the main program |
sanjay_ingale | 0:8a0a9422787d | 606 | dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; |
sanjay_ingale | 0:8a0a9422787d | 607 | dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; |
sanjay_ingale | 0:8a0a9422787d | 608 | dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; |
sanjay_ingale | 0:8a0a9422787d | 609 | } |
sanjay_ingale | 0:8a0a9422787d | 610 | |
sanjay_ingale | 0:8a0a9422787d | 611 | void magcalMPU9250(float * dest1, float * dest2) |
sanjay_ingale | 0:8a0a9422787d | 612 | { |
sanjay_ingale | 0:8a0a9422787d | 613 | uint16_t ii = 0, sample_count = 0; |
sanjay_ingale | 0:8a0a9422787d | 614 | int32_t mag_bias[3] = {0, 0, 0}, mag_scale[3] = {0, 0, 0}; |
sanjay_ingale | 0:8a0a9422787d | 615 | int16_t mag_max[3] = {-32767, -32767, -32767}, mag_min[3] = {32767, 32767, 32767}, mag_temp[3] = {0, 0, 0}; |
sanjay_ingale | 0:8a0a9422787d | 616 | |
sanjay_ingale | 0:8a0a9422787d | 617 | // shoot for ~fifteen seconds of mag data |
sanjay_ingale | 0:8a0a9422787d | 618 | if(Mmode == 0x02) sample_count = 128; // at 8 Hz ODR, new mag data is available every 125 ms |
sanjay_ingale | 0:8a0a9422787d | 619 | if(Mmode == 0x06) sample_count = 1500; // at 100 Hz ODR, new mag data is available every 10 ms |
sanjay_ingale | 0:8a0a9422787d | 620 | |
sanjay_ingale | 0:8a0a9422787d | 621 | for(ii = 0; ii < sample_count; ii++) { |
sanjay_ingale | 0:8a0a9422787d | 622 | readMagData(mag_temp); // Read the mag data |
sanjay_ingale | 0:8a0a9422787d | 623 | |
sanjay_ingale | 0:8a0a9422787d | 624 | for (int jj = 0; jj < 3; jj++) { |
sanjay_ingale | 0:8a0a9422787d | 625 | if(mag_temp[jj] > mag_max[jj]) mag_max[jj] = mag_temp[jj]; |
sanjay_ingale | 0:8a0a9422787d | 626 | if(mag_temp[jj] < mag_min[jj]) mag_min[jj] = mag_temp[jj]; |
sanjay_ingale | 0:8a0a9422787d | 627 | } |
sanjay_ingale | 0:8a0a9422787d | 628 | |
sanjay_ingale | 0:8a0a9422787d | 629 | if(Mmode == 0x02) wait(0.135); // at 8 Hz ODR, new mag data is available every 125 ms |
sanjay_ingale | 0:8a0a9422787d | 630 | if(Mmode == 0x06) wait(0.012); // at 100 Hz ODR, new mag data is available every 10 ms |
sanjay_ingale | 0:8a0a9422787d | 631 | } |
sanjay_ingale | 0:8a0a9422787d | 632 | |
sanjay_ingale | 0:8a0a9422787d | 633 | // Get hard iron correction |
sanjay_ingale | 0:8a0a9422787d | 634 | mag_bias[0] = (mag_max[0] + mag_min[0])/2; // get average x mag bias in counts |
sanjay_ingale | 0:8a0a9422787d | 635 | mag_bias[1] = (mag_max[1] + mag_min[1])/2; // get average y mag bias in counts |
sanjay_ingale | 0:8a0a9422787d | 636 | mag_bias[2] = (mag_max[2] + mag_min[2])/2; // get average z mag bias in counts |
sanjay_ingale | 0:8a0a9422787d | 637 | |
sanjay_ingale | 0:8a0a9422787d | 638 | dest1[0] = (float) mag_bias[0]*mRes*magCalibration[0]; // save mag biases in G for main program |
sanjay_ingale | 0:8a0a9422787d | 639 | dest1[1] = (float) mag_bias[1]*mRes*magCalibration[1]; |
sanjay_ingale | 0:8a0a9422787d | 640 | dest1[2] = (float) mag_bias[2]*mRes*magCalibration[2]; |
sanjay_ingale | 0:8a0a9422787d | 641 | |
sanjay_ingale | 0:8a0a9422787d | 642 | // Get soft iron correction estimate |
sanjay_ingale | 0:8a0a9422787d | 643 | mag_scale[0] = (mag_max[0] - mag_min[0])/2; // get average x axis max chord length in counts |
sanjay_ingale | 0:8a0a9422787d | 644 | mag_scale[1] = (mag_max[1] - mag_min[1])/2; // get average y axis max chord length in counts |
sanjay_ingale | 0:8a0a9422787d | 645 | mag_scale[2] = (mag_max[2] - mag_min[2])/2; // get average z axis max chord length in counts |
sanjay_ingale | 0:8a0a9422787d | 646 | |
sanjay_ingale | 0:8a0a9422787d | 647 | float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2]; |
sanjay_ingale | 0:8a0a9422787d | 648 | avg_rad /= 3.0; |
sanjay_ingale | 0:8a0a9422787d | 649 | |
sanjay_ingale | 0:8a0a9422787d | 650 | dest2[0] = avg_rad/((float)mag_scale[0]); |
sanjay_ingale | 0:8a0a9422787d | 651 | dest2[1] = avg_rad/((float)mag_scale[1]); |
sanjay_ingale | 0:8a0a9422787d | 652 | dest2[2] = avg_rad/((float)mag_scale[2]); |
sanjay_ingale | 0:8a0a9422787d | 653 | } |
sanjay_ingale | 0:8a0a9422787d | 654 | |
sanjay_ingale | 0:8a0a9422787d | 655 | |
sanjay_ingale | 0:8a0a9422787d | 656 | // Accelerometer and gyroscope self test; check calibration wrt factory settings |
sanjay_ingale | 0:8a0a9422787d | 657 | void MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass |
sanjay_ingale | 0:8a0a9422787d | 658 | { |
sanjay_ingale | 0:8a0a9422787d | 659 | uint8_t rawData[6] = {0, 0, 0, 0, 0, 0}; |
sanjay_ingale | 0:8a0a9422787d | 660 | uint8_t selfTest[6]; |
sanjay_ingale | 0:8a0a9422787d | 661 | int32_t gAvg[3] = {0, 0, 0}, aAvg[3] = {0, 0, 0}, aSTAvg[3] = {0, 0, 0}, gSTAvg[3] = {0, 0, 0}; |
sanjay_ingale | 0:8a0a9422787d | 662 | float factoryTrim[6]; |
sanjay_ingale | 0:8a0a9422787d | 663 | uint8_t FS = 0; |
sanjay_ingale | 0:8a0a9422787d | 664 | |
sanjay_ingale | 0:8a0a9422787d | 665 | writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz |
sanjay_ingale | 0:8a0a9422787d | 666 | writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz |
sanjay_ingale | 0:8a0a9422787d | 667 | writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps |
sanjay_ingale | 0:8a0a9422787d | 668 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz |
sanjay_ingale | 0:8a0a9422787d | 669 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g |
sanjay_ingale | 0:8a0a9422787d | 670 | |
sanjay_ingale | 0:8a0a9422787d | 671 | for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer |
sanjay_ingale | 0:8a0a9422787d | 672 | |
sanjay_ingale | 0:8a0a9422787d | 673 | readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array |
sanjay_ingale | 0:8a0a9422787d | 674 | aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 675 | aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
sanjay_ingale | 0:8a0a9422787d | 676 | aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
sanjay_ingale | 0:8a0a9422787d | 677 | |
sanjay_ingale | 0:8a0a9422787d | 678 | readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array |
sanjay_ingale | 0:8a0a9422787d | 679 | gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 680 | gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
sanjay_ingale | 0:8a0a9422787d | 681 | gAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
sanjay_ingale | 0:8a0a9422787d | 682 | } |
sanjay_ingale | 0:8a0a9422787d | 683 | |
sanjay_ingale | 0:8a0a9422787d | 684 | for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average current readings |
sanjay_ingale | 0:8a0a9422787d | 685 | aAvg[ii] /= 200; |
sanjay_ingale | 0:8a0a9422787d | 686 | gAvg[ii] /= 200; |
sanjay_ingale | 0:8a0a9422787d | 687 | } |
sanjay_ingale | 0:8a0a9422787d | 688 | |
sanjay_ingale | 0:8a0a9422787d | 689 | // Configure the accelerometer for self-test |
sanjay_ingale | 0:8a0a9422787d | 690 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g |
sanjay_ingale | 0:8a0a9422787d | 691 | writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s |
sanjay_ingale | 0:8a0a9422787d | 692 | wait(0.025); // Delay a while to let the device stabilize |
sanjay_ingale | 0:8a0a9422787d | 693 | |
sanjay_ingale | 0:8a0a9422787d | 694 | for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer |
sanjay_ingale | 0:8a0a9422787d | 695 | |
sanjay_ingale | 0:8a0a9422787d | 696 | readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array |
sanjay_ingale | 0:8a0a9422787d | 697 | aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 698 | aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
sanjay_ingale | 0:8a0a9422787d | 699 | aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
sanjay_ingale | 0:8a0a9422787d | 700 | |
sanjay_ingale | 0:8a0a9422787d | 701 | readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array |
sanjay_ingale | 0:8a0a9422787d | 702 | gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
sanjay_ingale | 0:8a0a9422787d | 703 | gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
sanjay_ingale | 0:8a0a9422787d | 704 | gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
sanjay_ingale | 0:8a0a9422787d | 705 | } |
sanjay_ingale | 0:8a0a9422787d | 706 | |
sanjay_ingale | 0:8a0a9422787d | 707 | for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average self-test readings |
sanjay_ingale | 0:8a0a9422787d | 708 | aSTAvg[ii] /= 200; |
sanjay_ingale | 0:8a0a9422787d | 709 | gSTAvg[ii] /= 200; |
sanjay_ingale | 0:8a0a9422787d | 710 | } |
sanjay_ingale | 0:8a0a9422787d | 711 | |
sanjay_ingale | 0:8a0a9422787d | 712 | // Configure the gyro and accelerometer for normal operation |
sanjay_ingale | 0:8a0a9422787d | 713 | writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); |
sanjay_ingale | 0:8a0a9422787d | 714 | writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); |
sanjay_ingale | 0:8a0a9422787d | 715 | wait(0.025); // Delay a while to let the device stabilize |
sanjay_ingale | 0:8a0a9422787d | 716 | |
sanjay_ingale | 0:8a0a9422787d | 717 | // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg |
sanjay_ingale | 0:8a0a9422787d | 718 | selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results |
sanjay_ingale | 0:8a0a9422787d | 719 | selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results |
sanjay_ingale | 0:8a0a9422787d | 720 | selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results |
sanjay_ingale | 0:8a0a9422787d | 721 | selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results |
sanjay_ingale | 0:8a0a9422787d | 722 | selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results |
sanjay_ingale | 0:8a0a9422787d | 723 | selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results |
sanjay_ingale | 0:8a0a9422787d | 724 | |
sanjay_ingale | 0:8a0a9422787d | 725 | // Retrieve factory self-test value from self-test code reads |
sanjay_ingale | 0:8a0a9422787d | 726 | factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation |
sanjay_ingale | 0:8a0a9422787d | 727 | factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation |
sanjay_ingale | 0:8a0a9422787d | 728 | factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation |
sanjay_ingale | 0:8a0a9422787d | 729 | factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation |
sanjay_ingale | 0:8a0a9422787d | 730 | factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation |
sanjay_ingale | 0:8a0a9422787d | 731 | factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation |
sanjay_ingale | 0:8a0a9422787d | 732 | |
sanjay_ingale | 0:8a0a9422787d | 733 | // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response |
sanjay_ingale | 0:8a0a9422787d | 734 | // To get percent, must multiply by 100 |
sanjay_ingale | 0:8a0a9422787d | 735 | for (int i = 0; i < 3; i++) { |
sanjay_ingale | 0:8a0a9422787d | 736 | destination[i] = 100.0f*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i] - 100.0f; // Report percent differences |
sanjay_ingale | 0:8a0a9422787d | 737 | destination[i+3] = 100.0f*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3] - 100.0f; // Report percent differences |
sanjay_ingale | 0:8a0a9422787d | 738 | } |
sanjay_ingale | 0:8a0a9422787d | 739 | |
sanjay_ingale | 0:8a0a9422787d | 740 | } |
sanjay_ingale | 0:8a0a9422787d | 741 | |
sanjay_ingale | 0:8a0a9422787d | 742 | |
sanjay_ingale | 0:8a0a9422787d | 743 | |
sanjay_ingale | 0:8a0a9422787d | 744 | // Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays" |
sanjay_ingale | 0:8a0a9422787d | 745 | // (see http://www.x-io.co.uk/category/open-source/ for examples and more details) |
sanjay_ingale | 0:8a0a9422787d | 746 | // which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute |
sanjay_ingale | 0:8a0a9422787d | 747 | // device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc. |
sanjay_ingale | 0:8a0a9422787d | 748 | // The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms |
sanjay_ingale | 0:8a0a9422787d | 749 | // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz! |
sanjay_ingale | 0:8a0a9422787d | 750 | void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz) |
sanjay_ingale | 0:8a0a9422787d | 751 | { |
sanjay_ingale | 0:8a0a9422787d | 752 | float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability |
sanjay_ingale | 0:8a0a9422787d | 753 | float norm; |
sanjay_ingale | 0:8a0a9422787d | 754 | float hx, hy, _2bx, _2bz; |
sanjay_ingale | 0:8a0a9422787d | 755 | float s1, s2, s3, s4; |
sanjay_ingale | 0:8a0a9422787d | 756 | float qDot1, qDot2, qDot3, qDot4; |
sanjay_ingale | 0:8a0a9422787d | 757 | |
sanjay_ingale | 0:8a0a9422787d | 758 | // Auxiliary variables to avoid repeated arithmetic |
sanjay_ingale | 0:8a0a9422787d | 759 | float _2q1mx; |
sanjay_ingale | 0:8a0a9422787d | 760 | float _2q1my; |
sanjay_ingale | 0:8a0a9422787d | 761 | float _2q1mz; |
sanjay_ingale | 0:8a0a9422787d | 762 | float _2q2mx; |
sanjay_ingale | 0:8a0a9422787d | 763 | float _4bx; |
sanjay_ingale | 0:8a0a9422787d | 764 | float _4bz; |
sanjay_ingale | 0:8a0a9422787d | 765 | float _2q1 = 2.0f * q1; |
sanjay_ingale | 0:8a0a9422787d | 766 | float _2q2 = 2.0f * q2; |
sanjay_ingale | 0:8a0a9422787d | 767 | float _2q3 = 2.0f * q3; |
sanjay_ingale | 0:8a0a9422787d | 768 | float _2q4 = 2.0f * q4; |
sanjay_ingale | 0:8a0a9422787d | 769 | float _2q1q3 = 2.0f * q1 * q3; |
sanjay_ingale | 0:8a0a9422787d | 770 | float _2q3q4 = 2.0f * q3 * q4; |
sanjay_ingale | 0:8a0a9422787d | 771 | float q1q1 = q1 * q1; |
sanjay_ingale | 0:8a0a9422787d | 772 | float q1q2 = q1 * q2; |
sanjay_ingale | 0:8a0a9422787d | 773 | float q1q3 = q1 * q3; |
sanjay_ingale | 0:8a0a9422787d | 774 | float q1q4 = q1 * q4; |
sanjay_ingale | 0:8a0a9422787d | 775 | float q2q2 = q2 * q2; |
sanjay_ingale | 0:8a0a9422787d | 776 | float q2q3 = q2 * q3; |
sanjay_ingale | 0:8a0a9422787d | 777 | float q2q4 = q2 * q4; |
sanjay_ingale | 0:8a0a9422787d | 778 | float q3q3 = q3 * q3; |
sanjay_ingale | 0:8a0a9422787d | 779 | float q3q4 = q3 * q4; |
sanjay_ingale | 0:8a0a9422787d | 780 | float q4q4 = q4 * q4; |
sanjay_ingale | 0:8a0a9422787d | 781 | |
sanjay_ingale | 0:8a0a9422787d | 782 | // Normalise accelerometer measurement |
sanjay_ingale | 0:8a0a9422787d | 783 | norm = sqrtf(ax * ax + ay * ay + az * az); |
sanjay_ingale | 0:8a0a9422787d | 784 | if (norm == 0.0f) return; // handle NaN |
sanjay_ingale | 0:8a0a9422787d | 785 | norm = 1.0f/norm; |
sanjay_ingale | 0:8a0a9422787d | 786 | ax *= norm; |
sanjay_ingale | 0:8a0a9422787d | 787 | ay *= norm; |
sanjay_ingale | 0:8a0a9422787d | 788 | az *= norm; |
sanjay_ingale | 0:8a0a9422787d | 789 | |
sanjay_ingale | 0:8a0a9422787d | 790 | // Normalise magnetometer measurement |
sanjay_ingale | 0:8a0a9422787d | 791 | norm = sqrtf(mx * mx + my * my + mz * mz); |
sanjay_ingale | 0:8a0a9422787d | 792 | if (norm == 0.0f) return; // handle NaN |
sanjay_ingale | 0:8a0a9422787d | 793 | norm = 1.0f/norm; |
sanjay_ingale | 0:8a0a9422787d | 794 | mx *= norm; |
sanjay_ingale | 0:8a0a9422787d | 795 | my *= norm; |
sanjay_ingale | 0:8a0a9422787d | 796 | mz *= norm; |
sanjay_ingale | 0:8a0a9422787d | 797 | |
sanjay_ingale | 0:8a0a9422787d | 798 | // Reference direction of Earth's magnetic field |
sanjay_ingale | 0:8a0a9422787d | 799 | _2q1mx = 2.0f * q1 * mx; |
sanjay_ingale | 0:8a0a9422787d | 800 | _2q1my = 2.0f * q1 * my; |
sanjay_ingale | 0:8a0a9422787d | 801 | _2q1mz = 2.0f * q1 * mz; |
sanjay_ingale | 0:8a0a9422787d | 802 | _2q2mx = 2.0f * q2 * mx; |
sanjay_ingale | 0:8a0a9422787d | 803 | hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4; |
sanjay_ingale | 0:8a0a9422787d | 804 | hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4; |
sanjay_ingale | 0:8a0a9422787d | 805 | _2bx = sqrt(hx * hx + hy * hy); |
sanjay_ingale | 0:8a0a9422787d | 806 | _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4; |
sanjay_ingale | 0:8a0a9422787d | 807 | _4bx = 2.0f * _2bx; |
sanjay_ingale | 0:8a0a9422787d | 808 | _4bz = 2.0f * _2bz; |
sanjay_ingale | 0:8a0a9422787d | 809 | |
sanjay_ingale | 0:8a0a9422787d | 810 | // Gradient decent algorithm corrective step |
sanjay_ingale | 0:8a0a9422787d | 811 | 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); |
sanjay_ingale | 0:8a0a9422787d | 812 | 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); |
sanjay_ingale | 0:8a0a9422787d | 813 | 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); |
sanjay_ingale | 0:8a0a9422787d | 814 | 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); |
sanjay_ingale | 0:8a0a9422787d | 815 | norm = sqrtf(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude |
sanjay_ingale | 0:8a0a9422787d | 816 | norm = 1.0f/norm; |
sanjay_ingale | 0:8a0a9422787d | 817 | s1 *= norm; |
sanjay_ingale | 0:8a0a9422787d | 818 | s2 *= norm; |
sanjay_ingale | 0:8a0a9422787d | 819 | s3 *= norm; |
sanjay_ingale | 0:8a0a9422787d | 820 | s4 *= norm; |
sanjay_ingale | 0:8a0a9422787d | 821 | |
sanjay_ingale | 0:8a0a9422787d | 822 | // Compute rate of change of quaternion |
sanjay_ingale | 0:8a0a9422787d | 823 | qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1; |
sanjay_ingale | 0:8a0a9422787d | 824 | qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2; |
sanjay_ingale | 0:8a0a9422787d | 825 | qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3; |
sanjay_ingale | 0:8a0a9422787d | 826 | qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4; |
sanjay_ingale | 0:8a0a9422787d | 827 | |
sanjay_ingale | 0:8a0a9422787d | 828 | // Integrate to yield quaternion |
sanjay_ingale | 0:8a0a9422787d | 829 | q1 += qDot1 * deltat; |
sanjay_ingale | 0:8a0a9422787d | 830 | q2 += qDot2 * deltat; |
sanjay_ingale | 0:8a0a9422787d | 831 | q3 += qDot3 * deltat; |
sanjay_ingale | 0:8a0a9422787d | 832 | q4 += qDot4 * deltat; |
sanjay_ingale | 0:8a0a9422787d | 833 | norm = sqrtf(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion |
sanjay_ingale | 0:8a0a9422787d | 834 | norm = 1.0f/norm; |
sanjay_ingale | 0:8a0a9422787d | 835 | q[0] = q1 * norm; |
sanjay_ingale | 0:8a0a9422787d | 836 | q[1] = q2 * norm; |
sanjay_ingale | 0:8a0a9422787d | 837 | q[2] = q3 * norm; |
sanjay_ingale | 0:8a0a9422787d | 838 | q[3] = q4 * norm; |
sanjay_ingale | 0:8a0a9422787d | 839 | |
sanjay_ingale | 0:8a0a9422787d | 840 | } |
sanjay_ingale | 0:8a0a9422787d | 841 | |
sanjay_ingale | 0:8a0a9422787d | 842 | |
sanjay_ingale | 0:8a0a9422787d | 843 | |
sanjay_ingale | 0:8a0a9422787d | 844 | // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and |
sanjay_ingale | 0:8a0a9422787d | 845 | // measured ones. |
sanjay_ingale | 0:8a0a9422787d | 846 | void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz) |
sanjay_ingale | 0:8a0a9422787d | 847 | { |
sanjay_ingale | 0:8a0a9422787d | 848 | float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability |
sanjay_ingale | 0:8a0a9422787d | 849 | float norm; |
sanjay_ingale | 0:8a0a9422787d | 850 | float hx, hy, bx, bz; |
sanjay_ingale | 0:8a0a9422787d | 851 | float vx, vy, vz, wx, wy, wz; |
sanjay_ingale | 0:8a0a9422787d | 852 | float ex, ey, ez; |
sanjay_ingale | 0:8a0a9422787d | 853 | float pa, pb, pc; |
sanjay_ingale | 0:8a0a9422787d | 854 | |
sanjay_ingale | 0:8a0a9422787d | 855 | // Auxiliary variables to avoid repeated arithmetic |
sanjay_ingale | 0:8a0a9422787d | 856 | float q1q1 = q1 * q1; |
sanjay_ingale | 0:8a0a9422787d | 857 | float q1q2 = q1 * q2; |
sanjay_ingale | 0:8a0a9422787d | 858 | float q1q3 = q1 * q3; |
sanjay_ingale | 0:8a0a9422787d | 859 | float q1q4 = q1 * q4; |
sanjay_ingale | 0:8a0a9422787d | 860 | float q2q2 = q2 * q2; |
sanjay_ingale | 0:8a0a9422787d | 861 | float q2q3 = q2 * q3; |
sanjay_ingale | 0:8a0a9422787d | 862 | float q2q4 = q2 * q4; |
sanjay_ingale | 0:8a0a9422787d | 863 | float q3q3 = q3 * q3; |
sanjay_ingale | 0:8a0a9422787d | 864 | float q3q4 = q3 * q4; |
sanjay_ingale | 0:8a0a9422787d | 865 | float q4q4 = q4 * q4; |
sanjay_ingale | 0:8a0a9422787d | 866 | |
sanjay_ingale | 0:8a0a9422787d | 867 | // Normalise accelerometer measurement |
sanjay_ingale | 0:8a0a9422787d | 868 | norm = sqrtf(ax * ax + ay * ay + az * az); |
sanjay_ingale | 0:8a0a9422787d | 869 | if (norm == 0.0f) return; // handle NaN |
sanjay_ingale | 0:8a0a9422787d | 870 | norm = 1.0f / norm; // use reciprocal for division |
sanjay_ingale | 0:8a0a9422787d | 871 | ax *= norm; |
sanjay_ingale | 0:8a0a9422787d | 872 | ay *= norm; |
sanjay_ingale | 0:8a0a9422787d | 873 | az *= norm; |
sanjay_ingale | 0:8a0a9422787d | 874 | |
sanjay_ingale | 0:8a0a9422787d | 875 | // Normalise magnetometer measurement |
sanjay_ingale | 0:8a0a9422787d | 876 | norm = sqrtf(mx * mx + my * my + mz * mz); |
sanjay_ingale | 0:8a0a9422787d | 877 | if (norm == 0.0f) return; // handle NaN |
sanjay_ingale | 0:8a0a9422787d | 878 | norm = 1.0f / norm; // use reciprocal for division |
sanjay_ingale | 0:8a0a9422787d | 879 | mx *= norm; |
sanjay_ingale | 0:8a0a9422787d | 880 | my *= norm; |
sanjay_ingale | 0:8a0a9422787d | 881 | mz *= norm; |
sanjay_ingale | 0:8a0a9422787d | 882 | |
sanjay_ingale | 0:8a0a9422787d | 883 | // Reference direction of Earth's magnetic field |
sanjay_ingale | 0:8a0a9422787d | 884 | hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3); |
sanjay_ingale | 0:8a0a9422787d | 885 | hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2); |
sanjay_ingale | 0:8a0a9422787d | 886 | bx = sqrtf((hx * hx) + (hy * hy)); |
sanjay_ingale | 0:8a0a9422787d | 887 | bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3); |
sanjay_ingale | 0:8a0a9422787d | 888 | |
sanjay_ingale | 0:8a0a9422787d | 889 | // Estimated direction of gravity and magnetic field |
sanjay_ingale | 0:8a0a9422787d | 890 | vx = 2.0f * (q2q4 - q1q3); |
sanjay_ingale | 0:8a0a9422787d | 891 | vy = 2.0f * (q1q2 + q3q4); |
sanjay_ingale | 0:8a0a9422787d | 892 | vz = q1q1 - q2q2 - q3q3 + q4q4; |
sanjay_ingale | 0:8a0a9422787d | 893 | wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3); |
sanjay_ingale | 0:8a0a9422787d | 894 | wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4); |
sanjay_ingale | 0:8a0a9422787d | 895 | wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3); |
sanjay_ingale | 0:8a0a9422787d | 896 | |
sanjay_ingale | 0:8a0a9422787d | 897 | // Error is cross product between estimated direction and measured direction of gravity |
sanjay_ingale | 0:8a0a9422787d | 898 | ex = (ay * vz - az * vy) + (my * wz - mz * wy); |
sanjay_ingale | 0:8a0a9422787d | 899 | ey = (az * vx - ax * vz) + (mz * wx - mx * wz); |
sanjay_ingale | 0:8a0a9422787d | 900 | ez = (ax * vy - ay * vx) + (mx * wy - my * wx); |
sanjay_ingale | 0:8a0a9422787d | 901 | if (Ki > 0.0f) |
sanjay_ingale | 0:8a0a9422787d | 902 | { |
sanjay_ingale | 0:8a0a9422787d | 903 | eInt[0] += ex; // accumulate integral error |
sanjay_ingale | 0:8a0a9422787d | 904 | eInt[1] += ey; |
sanjay_ingale | 0:8a0a9422787d | 905 | eInt[2] += ez; |
sanjay_ingale | 0:8a0a9422787d | 906 | } |
sanjay_ingale | 0:8a0a9422787d | 907 | else |
sanjay_ingale | 0:8a0a9422787d | 908 | { |
sanjay_ingale | 0:8a0a9422787d | 909 | eInt[0] = 0.0f; // prevent integral wind up |
sanjay_ingale | 0:8a0a9422787d | 910 | eInt[1] = 0.0f; |
sanjay_ingale | 0:8a0a9422787d | 911 | eInt[2] = 0.0f; |
sanjay_ingale | 0:8a0a9422787d | 912 | } |
sanjay_ingale | 0:8a0a9422787d | 913 | |
sanjay_ingale | 0:8a0a9422787d | 914 | // Apply feedback terms |
sanjay_ingale | 0:8a0a9422787d | 915 | gx = gx + Kp * ex + Ki * eInt[0]; |
sanjay_ingale | 0:8a0a9422787d | 916 | gy = gy + Kp * ey + Ki * eInt[1]; |
sanjay_ingale | 0:8a0a9422787d | 917 | gz = gz + Kp * ez + Ki * eInt[2]; |
sanjay_ingale | 0:8a0a9422787d | 918 | |
sanjay_ingale | 0:8a0a9422787d | 919 | // Integrate rate of change of quaternion |
sanjay_ingale | 0:8a0a9422787d | 920 | pa = q2; |
sanjay_ingale | 0:8a0a9422787d | 921 | pb = q3; |
sanjay_ingale | 0:8a0a9422787d | 922 | pc = q4; |
sanjay_ingale | 0:8a0a9422787d | 923 | q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat); |
sanjay_ingale | 0:8a0a9422787d | 924 | q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat); |
sanjay_ingale | 0:8a0a9422787d | 925 | q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat); |
sanjay_ingale | 0:8a0a9422787d | 926 | q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat); |
sanjay_ingale | 0:8a0a9422787d | 927 | |
sanjay_ingale | 0:8a0a9422787d | 928 | // Normalise quaternion |
sanjay_ingale | 0:8a0a9422787d | 929 | norm = sqrtf(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); |
sanjay_ingale | 0:8a0a9422787d | 930 | norm = 1.0f / norm; |
sanjay_ingale | 0:8a0a9422787d | 931 | q[0] = q1 * norm; |
sanjay_ingale | 0:8a0a9422787d | 932 | q[1] = q2 * norm; |
sanjay_ingale | 0:8a0a9422787d | 933 | q[2] = q3 * norm; |
sanjay_ingale | 0:8a0a9422787d | 934 | q[3] = q4 * norm; |
sanjay_ingale | 0:8a0a9422787d | 935 | |
sanjay_ingale | 0:8a0a9422787d | 936 | } |
sanjay_ingale | 0:8a0a9422787d | 937 | }; |
sanjay_ingale | 0:8a0a9422787d | 938 | #endif |