CIA
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AttitudeEstimation_usingTicker
MPU6050/9250で姿勢を推定するプログラム ・ジャイロ積算のみ(update()) ・ジャイロ積算後,加速度で補正(update_correction()) の2パターンの関数がある.
MPU9250/MPU9250.cpp
- Committer:
- daqn
- Date:
- 2018-03-20
- Revision:
- 0:29dce55dbcfe
File content as of revision 0:29dce55dbcfe:
/** Daqn change log * 2018/02/16 : Replace words "MPU6050" with "MPU9250". * 2018/02/16 : L57, flip T/F by adding "!". * 2018/02/21 : L */ /** * Includes */ #include "MPU9250.h" MPU9250::MPU9250(PinName sda, PinName scl) : connection(sda, scl) { this->setSleepMode(false); //Initializations: currentGyroRange = 0; currentAcceleroRange=0; alpha = ALPHA; } //-------------------------------------------------- //-------------------General------------------------ //-------------------------------------------------- void MPU9250::write(char address, char data) { char temp[2]; temp[0]=address; temp[1]=data; connection.write(MPU9250_ADDRESS * 2,temp,2); } char MPU9250::read(char address) { char retval; connection.write(MPU9250_ADDRESS * 2, &address, 1, true); connection.read(MPU9250_ADDRESS * 2, &retval, 1); return retval; } void MPU9250::read(char address, char *data, int length) { connection.write(MPU9250_ADDRESS * 2, &address, 1, true); connection.read(MPU9250_ADDRESS * 2, data, length); } void MPU9250::setSleepMode(bool state) { char temp; temp = this->read(MPU9250_PWR_MGMT_1_REG); if (state == true) temp |= 1<<MPU9250_SLP_BIT; if (state == false) temp &= ~(1<<MPU9250_SLP_BIT); this->write(MPU9250_PWR_MGMT_1_REG, temp); } bool MPU9250::testConnection( void ) { char temp; temp = this->read(MPU9250_WHO_AM_I_REG); return !(temp == (MPU9250_ADDRESS & 0xFE)); // Daqn 2018/02/16 } void MPU9250::setBW(char BW) { char temp; BW=BW & 0x07; temp = this->read(MPU9250_CONFIG_REG); temp &= 0xF8; temp = temp + BW; this->write(MPU9250_CONFIG_REG, temp); } void MPU9250::setI2CBypass(bool state) { char temp; temp = this->read(MPU9250_INT_PIN_CFG); if (state == true) temp |= 1<<MPU9250_BYPASS_BIT; if (state == false) temp &= ~(1<<MPU9250_BYPASS_BIT); this->write(MPU9250_INT_PIN_CFG, temp); } //-------------------------------------------------- //----------------Accelerometer--------------------- //-------------------------------------------------- void MPU9250::setAcceleroRange( char range ) { char temp; range = range & 0x03; currentAcceleroRange = range; temp = this->read(MPU9250_ACCELERO_CONFIG_REG); temp &= ~(3<<3); temp = temp + (range<<3); this->write(MPU9250_ACCELERO_CONFIG_REG, temp); } int MPU9250::getAcceleroRawX( void ) { short retval; char data[2]; this->read(MPU9250_ACCEL_XOUT_H_REG, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } int MPU9250::getAcceleroRawY( void ) { short retval; char data[2]; this->read(MPU9250_ACCEL_YOUT_H_REG, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } int MPU9250::getAcceleroRawZ( void ) { short retval; char data[2]; this->read(MPU9250_ACCEL_ZOUT_H_REG, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } void MPU9250::getAcceleroRaw( int *data ) { char temp[6]; this->read(MPU9250_ACCEL_XOUT_H_REG, temp, 6); data[0] = (int)(short)((temp[0]<<8) + temp[1]); data[1] = (int)(short)((temp[2]<<8) + temp[3]); data[2] = (int)(short)((temp[4]<<8) + temp[5]); } void MPU9250::getAccelero( float *data ) { int temp[3]; this->getAcceleroRaw(temp); if (currentAcceleroRange == MPU9250_ACCELERO_RANGE_2G) { data[0]=(float)temp[0] / 16384.0 * 9.81; data[1]=(float)temp[1] / 16384.0 * 9.81; data[2]=(float)temp[2] / 16384.0 * 9.81; } if (currentAcceleroRange == MPU9250_ACCELERO_RANGE_4G){ data[0]=(float)temp[0] / 8192.0 * 9.81; data[1]=(float)temp[1] / 8192.0 * 9.81; data[2]=(float)temp[2] / 8192.0 * 9.81; } if (currentAcceleroRange == MPU9250_ACCELERO_RANGE_8G){ data[0]=(float)temp[0] / 4096.0 * 9.81; data[1]=(float)temp[1] / 4096.0 * 9.81; data[2]=(float)temp[2] / 4096.0 * 9.81; } if (currentAcceleroRange == MPU9250_ACCELERO_RANGE_16G){ data[0]=(float)temp[0] / 2048.0 * 9.81; data[1]=(float)temp[1] / 2048.0 * 9.81; data[2]=(float)temp[2] / 2048.0 * 9.81; } #ifdef DOUBLE_ACCELERO data[0]*=2; data[1]*=2; data[2]*=2; #endif } //-------------------------------------------------- //------------------Gyroscope----------------------- //-------------------------------------------------- void MPU9250::setGyroRange( char range ) { char temp; currentGyroRange = range; range = range & 0x03; temp = this->read(MPU9250_GYRO_CONFIG_REG); temp &= ~(3<<3); temp = temp + range<<3; this->write(MPU9250_GYRO_CONFIG_REG, temp); } int MPU9250::getGyroRawX( void ) { short retval; char data[2]; this->read(MPU9250_GYRO_XOUT_H_REG, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } int MPU9250::getGyroRawY( void ) { short retval; char data[2]; this->read(MPU9250_GYRO_YOUT_H_REG, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } int MPU9250::getGyroRawZ( void ) { short retval; char data[2]; this->read(MPU9250_GYRO_ZOUT_H_REG, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } void MPU9250::getGyroRaw( int *data ) { char temp[6]; this->read(MPU9250_GYRO_XOUT_H_REG, temp, 6); data[0] = (int)(short)((temp[0]<<8) + temp[1]); data[1] = (int)(short)((temp[2]<<8) + temp[3]); data[2] = (int)(short)((temp[4]<<8) + temp[5]); } void MPU9250::getGyro( float *data ) { int temp[3]; this->getGyroRaw(temp); if (currentGyroRange == MPU9250_GYRO_RANGE_250) { data[0]=(float)temp[0] / 301.0; data[1]=(float)temp[1] / 301.0; data[2]=(float)temp[2] / 301.0; } //7505.5 if (currentGyroRange == MPU9250_GYRO_RANGE_500){ data[0]=(float)temp[0] / 3752.9; data[1]=(float)temp[1] / 3752.9; data[2]=(float)temp[2] / 3752.9; } if (currentGyroRange == MPU9250_GYRO_RANGE_1000){ data[0]=(float)temp[0] / 1879.3;; data[1]=(float)temp[1] / 1879.3; data[2]=(float)temp[2] / 1879.3; } if (currentGyroRange == MPU9250_GYRO_RANGE_2000){ data[0]=(float)temp[0] / 939.7; data[1]=(float)temp[1] / 939.7; data[2]=(float)temp[2] / 939.7; } } //-------------------------------------------------- //-------------------Temperature-------------------- //-------------------------------------------------- int MPU9250::getTempRaw( void ) { short retval; char data[2]; this->read(MPU9250_TEMP_H_REG, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } float MPU9250::getTemp( void ) { float retval; retval=(float)this->getTempRaw(); retval=(retval+521.0)/340.0+35.0; return retval; } //-------------------------------------------------- //------------------Magnetometer-------------------- //-------------------------------------------------- void MPU9250::read(char address, char subaddress, char *data, int length) { // connection.write(MPU9250_ADDRESS * 2, &address, 1, true); // connection.read(MPU9250_ADDRESS * 2, data, length); connection.write(address, &subaddress, 1, true); connection.read(address, data, length); } //void MPU9250::setMagnetoRange( char range ) { // char temp; // currentMagnetoRange = range; // range = range & 0x03; // temp = this->read(MPU9250_MAGNETO_CONFIG_REG); // temp &= ~(3<<3); // temp = temp + range<<3; // this->write(MPU9250_MAGNETO_CONFIG_REG, temp); //} int MPU9250::getMagnetoRawX( void ) { short retval; char data[2]; this->read(AK8963_ADDRESS, AK8963_XOUT_L, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } int MPU9250::getMagnetoRawY( void ) { short retval; char data[2]; this->read(AK8963_ADDRESS, AK8963_YOUT_L, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } // int MPU9250::getMagnetoRawZ( void ) { short retval; char data[2]; this->read(AK8963_ADDRESS, AK8963_ZOUT_L, data, 2); retval = (data[0]<<8) + data[1]; return (int)retval; } void MPU9250::getMagnetoRaw( int *data ) { char temp[6]; this->read(AK8963_ADDRESS, AK8963_XOUT_L, temp, 6); data[0] = (int)(short)((temp[1]<<8) + temp[0]); data[1] = (int)(short)((temp[3]<<8) + temp[2]); data[2] = (int)(short)((temp[5]<<8) + temp[4]); } void MPU9250::getMagneto( float *data ) { int temp[3]; this->getMagnetoRaw(temp); data[0]=(float)temp[0] * .15f; data[1]=(float)temp[1] * .15f; data[2]=(float)temp[2] * .15f; } /**Additional function added by Montvydas Klumbys, which will allow easy offset, angle calculation and much more. function for getting angles in degrees from accelerometer */ void MPU9250::getAcceleroAngle( float *data ) { float temp[3]; this->getAccelero(temp); data[X_AXIS] = atan (temp[Y_AXIS]/sqrt(pow(temp[X_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading data[Y_AXIS] = atan (-1*temp[X_AXIS]/sqrt(pow(temp[Y_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading data[Z_AXIS] = atan (sqrt(pow(temp[X_AXIS], 2) + pow(temp[Y_AXIS], 2))/temp[Z_AXIS]) * RADIANS_TO_DEGREES; //This one is not used anywhere later on // data[Y_AXIS] = atan2 (temp[Y_AXIS],temp[Z_AXIS]) * RADIANS_TO_DEGREES; //This spits out values between -180 to 180 (360 degrees) // data[X_AXIS] = atan2 (-1*temp[X_AXIS], temp[Z_AXIS]) * RADIANS_TO_DEGREES; //but it takes longer and system gets unstable when angles ~90 degrees } ///function for getting offset values for the gyro & accelerometer void MPU9250::getOffset(float *accOffset, float *gyroOffset, int sampleSize){ float gyro[3]; float accAngle[3]; for (int i = 0; i < 3; i++) { accOffset[i] = 0.0; //initialise offsets to 0.0 gyroOffset[i] = 0.0; } for (int i = 0; i < sampleSize; i++){ this->getGyro(gyro); //take real life measurements this->getAcceleroAngle (accAngle); for (int j = 0; j < 3; j++){ *(accOffset+j) += accAngle[j]/sampleSize; //average measurements *(gyroOffset+j) += gyro[j]/sampleSize; } wait (0.01); //wait between each reading for accuracy } } ///function for computing angles for roll, pitch anf yaw void MPU9250::computeAngle (float *angle, float *accOffset, float *gyroOffset, float interval){ float gyro[3]; float accAngle[3]; this->getGyro(gyro); //get gyro value in rad/s this->getAcceleroAngle(accAngle); //get angle from accelerometer for (int i = 0; i < 3; i++){ gyro[i] -= gyroOffset[i]; //substract offset values accAngle[i] -= accOffset[i]; } //apply filters on pitch and roll to get accurate angle values angle[X_AXIS] = alpha * (angle[X_AXIS] + GYRO_SCALE*gyro[X_AXIS]*interval) + (1-alpha)*accAngle[X_AXIS]; angle[Y_AXIS] = alpha * (angle[Y_AXIS] + GYRO_SCALE*gyro[Y_AXIS]*interval) + (1-alpha)*accAngle[Y_AXIS]; //calculate Yaw using just the gyroscope values - inaccurate angle[Z_AXIS] = angle[Z_AXIS] + GYRO_SCALE*gyro[Z_AXIS]*interval; } ///function for setting a different Alpha value, which is used in complemetary filter calculations void MPU9250::setAlpha(float val){ alpha = val; } ///function for enabling interrupts on MPU9250 INT pin, when the data is ready to take void MPU9250::enableInt( void ){ char temp; temp = this->read(MPU9250_RA_INT_ENABLE); temp |= 0x01; this->write(MPU9250_RA_INT_ENABLE, temp); } ///function for disbling interrupts on MPU9250 INT pin, when the data is ready to take void MPU9250::disableInt ( void ){ char temp; temp = this->read(MPU9250_RA_INT_ENABLE); temp &= 0xFE; this->write(MPU9250_RA_INT_ENABLE, temp); }