GPS
gps sous marin
Dependencies: mbed ST_401_84MHZ
Revision 3:0d05d3686173, committed 2019-12-12
- Comitter:
- kekette
- Date:
- Thu Dec 12 16:23:01 2019 +0000
- Parent:
- 2:e8a50b55e6b1
- Commit message:
- GPS;
Changed in this revision
diff -r e8a50b55e6b1 -r 0d05d3686173 MPU9250.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250.h Thu Dec 12 16:23:01 2019 +0000
@@ -0,0 +1,880 @@
+#ifndef MPU9250_H
+#define MPU9250_H
+
+#include "mbed.h"
+#include "math.h"
+
+// See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in
+// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
+//
+//Magnetometer Registers
+#define AK8963_ADDRESS 0x0C<<1
+#define AK8963_WHO_AM_I 0x00 // should return 0x48
+#define AK8963_INFO 0x01
+#define AK8963_ST1 0x02 // data ready status bit 0
+#define AK8963_XOUT_L 0x03 // data
+#define AK8963_XOUT_H 0x04
+#define AK8963_YOUT_L 0x05
+#define AK8963_YOUT_H 0x06
+#define AK8963_ZOUT_L 0x07
+#define AK8963_ZOUT_H 0x08
+#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
+#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
+#define AK8963_ASTC 0x0C // Self test control
+#define AK8963_I2CDIS 0x0F // I2C disable
+#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
+#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
+#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
+
+#define SELF_TEST_X_GYRO 0x00
+#define SELF_TEST_Y_GYRO 0x01
+#define SELF_TEST_Z_GYRO 0x02
+
+/*#define X_FINE_GAIN 0x03 // [7:0] fine gain
+#define Y_FINE_GAIN 0x04
+#define Z_FINE_GAIN 0x05
+#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
+#define XA_OFFSET_L_TC 0x07
+#define YA_OFFSET_H 0x08
+#define YA_OFFSET_L_TC 0x09
+#define ZA_OFFSET_H 0x0A
+#define ZA_OFFSET_L_TC 0x0B */
+
+#define SELF_TEST_X_ACCEL 0x0D
+#define SELF_TEST_Y_ACCEL 0x0E
+#define SELF_TEST_Z_ACCEL 0x0F
+
+#define SELF_TEST_A 0x10
+
+#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
+#define XG_OFFSET_L 0x14
+#define YG_OFFSET_H 0x15
+#define YG_OFFSET_L 0x16
+#define ZG_OFFSET_H 0x17
+#define ZG_OFFSET_L 0x18
+#define SMPLRT_DIV 0x19
+#define CONFIG 0x1A
+#define GYRO_CONFIG 0x1B
+#define ACCEL_CONFIG 0x1C
+#define ACCEL_CONFIG2 0x1D
+#define LP_ACCEL_ODR 0x1E
+#define WOM_THR 0x1F
+
+#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
+#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
+#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
+
+#define FIFO_EN 0x23
+#define I2C_MST_CTRL 0x24
+#define I2C_SLV0_ADDR 0x25
+#define I2C_SLV0_REG 0x26
+#define I2C_SLV0_CTRL 0x27
+#define I2C_SLV1_ADDR 0x28
+#define I2C_SLV1_REG 0x29
+#define I2C_SLV1_CTRL 0x2A
+#define I2C_SLV2_ADDR 0x2B
+#define I2C_SLV2_REG 0x2C
+#define I2C_SLV2_CTRL 0x2D
+#define I2C_SLV3_ADDR 0x2E
+#define I2C_SLV3_REG 0x2F
+#define I2C_SLV3_CTRL 0x30
+#define I2C_SLV4_ADDR 0x31
+#define I2C_SLV4_REG 0x32
+#define I2C_SLV4_DO 0x33
+#define I2C_SLV4_CTRL 0x34
+#define I2C_SLV4_DI 0x35
+#define I2C_MST_STATUS 0x36
+#define INT_PIN_CFG 0x37
+#define INT_ENABLE 0x38
+#define DMP_INT_STATUS 0x39 // Check DMP interrupt
+#define INT_STATUS 0x3A
+#define ACCEL_XOUT_H 0x3B
+#define ACCEL_XOUT_L 0x3C
+#define ACCEL_YOUT_H 0x3D
+#define ACCEL_YOUT_L 0x3E
+#define ACCEL_ZOUT_H 0x3F
+#define ACCEL_ZOUT_L 0x40
+#define TEMP_OUT_H 0x41
+#define TEMP_OUT_L 0x42
+#define GYRO_XOUT_H 0x43
+#define GYRO_XOUT_L 0x44
+#define GYRO_YOUT_H 0x45
+#define GYRO_YOUT_L 0x46
+#define GYRO_ZOUT_H 0x47
+#define GYRO_ZOUT_L 0x48
+#define EXT_SENS_DATA_00 0x49
+#define EXT_SENS_DATA_01 0x4A
+#define EXT_SENS_DATA_02 0x4B
+#define EXT_SENS_DATA_03 0x4C
+#define EXT_SENS_DATA_04 0x4D
+#define EXT_SENS_DATA_05 0x4E
+#define EXT_SENS_DATA_06 0x4F
+#define EXT_SENS_DATA_07 0x50
+#define EXT_SENS_DATA_08 0x51
+#define EXT_SENS_DATA_09 0x52
+#define EXT_SENS_DATA_10 0x53
+#define EXT_SENS_DATA_11 0x54
+#define EXT_SENS_DATA_12 0x55
+#define EXT_SENS_DATA_13 0x56
+#define EXT_SENS_DATA_14 0x57
+#define EXT_SENS_DATA_15 0x58
+#define EXT_SENS_DATA_16 0x59
+#define EXT_SENS_DATA_17 0x5A
+#define EXT_SENS_DATA_18 0x5B
+#define EXT_SENS_DATA_19 0x5C
+#define EXT_SENS_DATA_20 0x5D
+#define EXT_SENS_DATA_21 0x5E
+#define EXT_SENS_DATA_22 0x5F
+#define EXT_SENS_DATA_23 0x60
+#define MOT_DETECT_STATUS 0x61
+#define I2C_SLV0_DO 0x63
+#define I2C_SLV1_DO 0x64
+#define I2C_SLV2_DO 0x65
+#define I2C_SLV3_DO 0x66
+#define I2C_MST_DELAY_CTRL 0x67
+#define SIGNAL_PATH_RESET 0x68
+#define MOT_DETECT_CTRL 0x69
+#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
+#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
+#define PWR_MGMT_2 0x6C
+#define DMP_BANK 0x6D // Activates a specific bank in the DMP
+#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
+#define DMP_REG 0x6F // Register in DMP from which to read or to which to write
+#define DMP_REG_1 0x70
+#define DMP_REG_2 0x71
+#define FIFO_COUNTH 0x72
+#define FIFO_COUNTL 0x73
+#define FIFO_R_W 0x74
+#define WHO_AM_I_MPU9250 0x75 // Should return 0x71
+#define XA_OFFSET_H 0x77
+#define XA_OFFSET_L 0x78
+#define YA_OFFSET_H 0x7A
+#define YA_OFFSET_L 0x7B
+#define ZA_OFFSET_H 0x7D
+#define ZA_OFFSET_L 0x7E
+
+// Using the MSENSR-9250 breakout board, ADO is set to 0
+// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
+//mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
+#define ADO 0
+#if ADO
+#define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
+#else
+#define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
+#endif
+
+// Set initial input parameters
+enum Ascale {
+ AFS_2G = 0,
+ AFS_4G,
+ AFS_8G,
+ AFS_16G
+};
+
+enum Gscale {
+ GFS_250DPS = 0,
+ GFS_500DPS,
+ GFS_1000DPS,
+ GFS_2000DPS
+};
+
+enum Mscale {
+ MFS_14BITS = 0, // 0.6 mG per LSB
+ MFS_16BITS // 0.15 mG per LSB
+};
+
+uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
+uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
+uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
+uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
+float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
+
+//Set up I2C, (SDA,SCL)
+I2C i2c(I2C_SDA, I2C_SCL);
+
+DigitalOut myled(LED1);
+
+// Pin definitions
+int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
+
+int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
+int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
+int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
+float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias
+float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
+float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
+int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
+float temperature;
+float SelfTest[6];
+
+int delt_t = 0; // used to control display output rate
+int count = 0; // used to control display output rate
+
+// parameters for 6 DoF sensor fusion calculations
+float PI = 3.14159265358979323846f;
+float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
+float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
+float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
+float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
+#define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
+#define Ki 0.0f
+
+float pitch, yaw, roll;
+float deltat = 0.0f; // integration interval for both filter schemes
+int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval
+float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
+float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method
+
+class MPU9250 {
+
+ protected:
+
+ public:
+ //===================================================================================================================
+//====== Set of useful function to access acceleratio, gyroscope, and temperature data
+//===================================================================================================================
+
+ void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
+{
+ char data_write[2];
+ data_write[0] = subAddress;
+ data_write[1] = data;
+ i2c.write(address, data_write, 2, 0);
+}
+
+ char readByte(uint8_t address, uint8_t subAddress)
+{
+ char data[1]; // `data` will store the register data
+ char data_write[1];
+ data_write[0] = subAddress;
+ i2c.write(address, data_write, 1, 1); // no stop
+ i2c.read(address, data, 1, 0);
+ return data[0];
+}
+
+ void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
+{
+ char data[14];
+ char data_write[1];
+ data_write[0] = subAddress;
+ i2c.write(address, data_write, 1, 1); // no stop
+ i2c.read(address, data, count, 0);
+ for(int ii = 0; ii < count; ii++) {
+ dest[ii] = data[ii];
+ }
+}
+
+
+void getMres() {
+ switch (Mscale)
+ {
+ // Possible magnetometer scales (and their register bit settings) are:
+ // 14 bit resolution (0) and 16 bit resolution (1)
+ case MFS_14BITS:
+ mRes = 10.0*4912.0/8190.0; // Proper scale to return milliGauss
+ break;
+ case MFS_16BITS:
+ mRes = 10.0*4912.0/32760.0; // Proper scale to return milliGauss
+ break;
+ }
+}
+
+
+void getGres() {
+ switch (Gscale)
+ {
+ // Possible gyro scales (and their register bit settings) are:
+ // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
+ // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+ case GFS_250DPS:
+ gRes = 250.0/32768.0;
+ break;
+ case GFS_500DPS:
+ gRes = 500.0/32768.0;
+ break;
+ case GFS_1000DPS:
+ gRes = 1000.0/32768.0;
+ break;
+ case GFS_2000DPS:
+ gRes = 2000.0/32768.0;
+ break;
+ }
+}
+
+
+void getAres() {
+ switch (Ascale)
+ {
+ // Possible accelerometer scales (and their register bit settings) are:
+ // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
+ // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+ case AFS_2G:
+ aRes = 2.0/32768.0;
+ break;
+ case AFS_4G:
+ aRes = 4.0/32768.0;
+ break;
+ case AFS_8G:
+ aRes = 8.0/32768.0;
+ break;
+ case AFS_16G:
+ aRes = 16.0/32768.0;
+ break;
+ }
+}
+
+
+void readAccelData(int16_t * destination)
+{
+ uint8_t rawData[6]; // x/y/z accel register data stored here
+ readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
+ destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+ destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+ destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+}
+
+void readGyroData(int16_t * destination)
+{
+ uint8_t rawData[6]; // x/y/z gyro register data stored here
+ readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
+ destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+ destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+ destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+}
+
+void readMagData(int16_t * destination)
+{
+ uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
+ if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
+ readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
+ uint8_t c = rawData[6]; // End data read by reading ST2 register
+ if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
+ destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
+ destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
+ destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
+ }
+ }
+}
+
+int16_t readTempData()
+{
+ uint8_t rawData[2]; // x/y/z gyro register data stored here
+ readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
+ return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
+}
+
+
+void resetMPU9250() {
+ // reset device
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
+ wait(0.1);
+ }
+
+ void initAK8963(float * destination)
+{
+ // First extract the factory calibration for each magnetometer axis
+ uint8_t rawData[3]; // x/y/z gyro calibration data stored here
+ writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
+ wait(0.01);
+ writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
+ wait(0.01);
+ readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values
+ destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc.
+ destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f;
+ destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f;
+ writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
+ wait(0.01);
+ // Configure the magnetometer for continuous read and highest resolution
+ // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register,
+ // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates
+ writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR
+ wait(0.01);
+}
+
+
+void initMPU9250()
+{
+ // Initialize MPU9250 device
+ // wake up device
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
+ wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
+
+ // get stable time source
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
+
+ // 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); // get current GYRO_CONFIG register value
+ // c = c & ~0xE0; // Clear self-test bits [7:5]
+ c = c & ~0x02; // Clear Fchoice bits [1:0]
+ c = c & ~0x18; // Clear AFS bits [4:3]
+ c = c | Gscale << 3; // Set full scale range for the gyro
+ // c =| 0x00; // Set Fchoice for the gyro to 11 by writing its inverse to bits 1:0 of GYRO_CONFIG
+ writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c ); // Write new GYRO_CONFIG value to register
+
+ // Set accelerometer full-scale range configuration
+ c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); // get current ACCEL_CONFIG register value
+ // c = c & ~0xE0; // Clear self-test bits [7:5]
+ c = c & ~0x18; // Clear AFS bits [4:3]
+ c = c | Ascale << 3; // Set full scale range for the accelerometer
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c); // Write new ACCEL_CONFIG register value
+
+ // 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); // get current ACCEL_CONFIG2 register value
+ c = c & ~0x0F; // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])
+ c = c | 0x03; // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c); // Write new ACCEL_CONFIG2 register value
+
+ // 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 calibrateMPU9250(float * dest1, float * dest2)
+{
+ uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
+ uint16_t ii, packet_count, fifo_count;
+ int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
+
+// reset device, reset all registers, clear gyro and accelerometer bias registers
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
+ wait(0.1);
+
+// get stable time source
+// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00);
+ wait(0.2);
+
+// Configure device for bias calculation
+ writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
+ writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
+ writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
+ writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
+ writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
+ wait(0.015);
+
+// Configure MPU9250 gyro and accelerometer for bias calculation
+ writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
+ writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
+ writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
+
+ uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
+ uint16_t accelsensitivity = 16384; // = 16384 LSB/g
+
+// 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]);
+*/
+ dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
+ dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
+ dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
+
+// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
+// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
+// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
+// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
+// the accelerometer biases calculated above must be divided by 8.
+
+ 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
+ dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
+ dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
+ dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
+}
+
+
+// Accelerometer and gyroscope self test; check calibration wrt factory settings
+void MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
+{
+ uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
+ uint8_t selfTest[6];
+ int32_t gAvg[3] = {0}, aAvg[3] = {0}, aSTAvg[3] = {0}, gSTAvg[3] = {0};
+ 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, FS<<3); // 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, FS<<3); // 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
+ wait(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);
+ wait(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( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
+ factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
+ factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
+ factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
+ factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
+ factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
+
+ // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
+ // To get percent, must multiply by 100
+ for (int i = 0; i < 3; i++) {
+ destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i] - 100.; // Report percent differences
+ destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3] - 100.; // Report percent differences
+ }
+
+}
+
+
+
+// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
+// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
+// which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
+// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
+// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
+// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
+ void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
+ {
+ float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
+ float norm;
+ float hx, hy, _2bx, _2bz;
+ float s1, s2, s3, s4;
+ float qDot1, qDot2, qDot3, qDot4;
+
+ // Auxiliary variables to avoid repeated arithmetic
+ float _2q1mx;
+ float _2q1my;
+ float _2q1mz;
+ float _2q2mx;
+ float _4bx;
+ float _4bz;
+ float _2q1 = 2.0f * q1;
+ float _2q2 = 2.0f * q2;
+ float _2q3 = 2.0f * q3;
+ float _2q4 = 2.0f * q4;
+ float _2q1q3 = 2.0f * q1 * q3;
+ float _2q3q4 = 2.0f * q3 * q4;
+ float q1q1 = q1 * q1;
+ float q1q2 = q1 * q2;
+ float q1q3 = q1 * q3;
+ float q1q4 = q1 * q4;
+ float q2q2 = q2 * q2;
+ float q2q3 = q2 * q3;
+ float q2q4 = q2 * q4;
+ float q3q3 = q3 * q3;
+ float q3q4 = q3 * q4;
+ float q4q4 = q4 * q4;
+
+ // Normalise accelerometer measurement
+ norm = sqrt(ax * ax + ay * ay + az * az);
+ if (norm == 0.0f) return; // handle NaN
+ norm = 1.0f/norm;
+ ax *= norm;
+ ay *= norm;
+ az *= norm;
+
+ // Normalise magnetometer measurement
+ norm = sqrt(mx * mx + my * my + mz * mz);
+ if (norm == 0.0f) return; // handle NaN
+ norm = 1.0f/norm;
+ mx *= norm;
+ my *= norm;
+ mz *= norm;
+
+ // Reference direction of Earth's magnetic field
+ _2q1mx = 2.0f * q1 * mx;
+ _2q1my = 2.0f * q1 * my;
+ _2q1mz = 2.0f * q1 * mz;
+ _2q2mx = 2.0f * q2 * mx;
+ hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
+ hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
+ _2bx = sqrt(hx * hx + hy * hy);
+ _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
+ _4bx = 2.0f * _2bx;
+ _4bz = 2.0f * _2bz;
+
+ // Gradient decent algorithm corrective step
+ s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+ s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+ s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+ s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+ norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
+ norm = 1.0f/norm;
+ s1 *= norm;
+ s2 *= norm;
+ s3 *= norm;
+ s4 *= norm;
+
+ // Compute rate of change of quaternion
+ qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
+ qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
+ qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
+ qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
+
+ // Integrate to yield quaternion
+ q1 += qDot1 * deltat;
+ q2 += qDot2 * deltat;
+ q3 += qDot3 * deltat;
+ q4 += qDot4 * deltat;
+ norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
+ norm = 1.0f/norm;
+ q[0] = q1 * norm;
+ q[1] = q2 * norm;
+ q[2] = q3 * norm;
+ q[3] = q4 * norm;
+
+ }
+
+
+
+ // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
+ // measured ones.
+ void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
+ {
+ float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
+ float norm;
+ float hx, hy, bx, bz;
+ float vx, vy, vz, wx, wy, wz;
+ float ex, ey, ez;
+ float pa, pb, pc;
+
+ // Auxiliary variables to avoid repeated arithmetic
+ float q1q1 = q1 * q1;
+ float q1q2 = q1 * q2;
+ float q1q3 = q1 * q3;
+ float q1q4 = q1 * q4;
+ float q2q2 = q2 * q2;
+ float q2q3 = q2 * q3;
+ float q2q4 = q2 * q4;
+ float q3q3 = q3 * q3;
+ float q3q4 = q3 * q4;
+ float q4q4 = q4 * q4;
+
+ // Normalise accelerometer measurement
+ norm = sqrt(ax * ax + ay * ay + az * az);
+ if (norm == 0.0f) return; // handle NaN
+ norm = 1.0f / norm; // use reciprocal for division
+ ax *= norm;
+ ay *= norm;
+ az *= norm;
+
+ // Normalise magnetometer measurement
+ norm = sqrt(mx * mx + my * my + mz * mz);
+ if (norm == 0.0f) return; // handle NaN
+ norm = 1.0f / norm; // use reciprocal for division
+ mx *= norm;
+ my *= norm;
+ mz *= norm;
+
+ // Reference direction of Earth's magnetic field
+ hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
+ hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
+ bx = sqrt((hx * hx) + (hy * hy));
+ bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
+
+ // Estimated direction of gravity and magnetic field
+ vx = 2.0f * (q2q4 - q1q3);
+ vy = 2.0f * (q1q2 + q3q4);
+ vz = q1q1 - q2q2 - q3q3 + q4q4;
+ wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
+ wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
+ wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
+
+ // Error is cross product between estimated direction and measured direction of gravity
+ ex = (ay * vz - az * vy) + (my * wz - mz * wy);
+ ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
+ ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
+ if (Ki > 0.0f)
+ {
+ eInt[0] += ex; // accumulate integral error
+ eInt[1] += ey;
+ eInt[2] += ez;
+ }
+ else
+ {
+ eInt[0] = 0.0f; // prevent integral wind up
+ eInt[1] = 0.0f;
+ eInt[2] = 0.0f;
+ }
+
+ // Apply feedback terms
+ gx = gx + Kp * ex + Ki * eInt[0];
+ gy = gy + Kp * ey + Ki * eInt[1];
+ gz = gz + Kp * ez + Ki * eInt[2];
+
+ // Integrate rate of change of quaternion
+ pa = q2;
+ pb = q3;
+ pc = q4;
+ q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
+ q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
+ q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
+ q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
+
+ // Normalise quaternion
+ norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
+ norm = 1.0f / norm;
+ q[0] = q1 * norm;
+ q[1] = q2 * norm;
+ q[2] = q3 * norm;
+ q[3] = q4 * norm;
+
+ }
+ };
+#endif
+
diff -r e8a50b55e6b1 -r 0d05d3686173 ST_401_84MHZ.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ST_401_84MHZ.lib Thu Dec 12 16:23:01 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/dreschpe/code/ST_401_84MHZ/#b9343c8b85ec
diff -r e8a50b55e6b1 -r 0d05d3686173 main.cpp
--- a/main.cpp Thu Dec 12 16:17:14 2019 +0000
+++ b/main.cpp Thu Dec 12 16:23:01 2019 +0000
@@ -1,17 +1,268 @@
+/* MPU9250 Basic Example Code
+ by: Kris Winer
+ date: April 1, 2014
+ license: Beerware - Use this code however you'd like. If you
+ find it useful you can buy me a beer some time.
+
+ Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor,
+ getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
+ allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
+ Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
+
+ SDA and SCL should have external pull-up resistors (to 3.3V).
+ 10k resistors are on the EMSENSR-9250 breakout board.
+
+ Hardware setup:
+ MPU9250 Breakout --------- Arduino
+ VDD ---------------------- 3.3V
+ VDDI --------------------- 3.3V
+ SDA ----------------------- A4
+ SCL ----------------------- A5
+ GND ---------------------- GND
+
+ Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
+ Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
+ We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
+ We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
+ */
+
+#include "ST_F401_84MHZ.h"
+F401_init84 myinit(0);
#include "mbed.h"
-
+#include "MPU9250.h"
+#define M_PI 3.14159265358979323846264338327950288
-DigitalOut led(LED1);
+//#include "N5110.h"
+
+// Using NOKIA 5110 monochrome 84 x 48 pixel display
+// pin 9 - Serial clock out (SCLK)
+// pin 8 - Serial data out (DIN)
+// pin 7 - Data/Command select (D/C)
+// pin 5 - LCD chip select (CS)
+// pin 6 - LCD reset (RST)
+//Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
+float sum = 0;
+uint32_t sumCount = 0;
+int clockstate = 1;
+ MPU9250 mpu9250;
+
+ Timer t;
+
+ Serial pc(USBTX, USBRX); // tx, rx
+Serial nextion(PA_11, PA_12);
+ // VCC, SCE, RST, D/C, MOSI,S CLK, LED
+ //N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7);
+
+
+
int main()
{
- int i = 1;
+ pc.baud(9600);
+ nextion.baud(9600);
+ //wait(1);
+ nextion.printf("page page0%c%c%c",0xff, 0xff, 0xff);
+ clockstate = 1;
+ pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+ i2c.frequency(400000); // use fast (400 kHz) I2C
+ //nextion.printf("systemclock.val=%c%c%c%c", "Looding...", 0xff, 0xff, 0xff);
+ //clockstate = 0;
+ nextion.printf("loading.val=%d%c%c%c", clockstate, 0xff, 0xff, 0xff);
+
+ wait(2);
+
+//nextion.printf("systemclock.val=%d%c%c%c", SystemCoreClock/100000, 0xff, 0xff, 0xff);
+if(SystemCoreClock>=840000)
+{
+ clockstate = 2;
+ }else {
+
+ clockstate = 3;
+ }
+
+nextion.printf("loading.val=%d%c%c%c", clockstate, 0xff, 0xff, 0xff);
+// pc.printf("%x",0xff);
+// pc.printf("%x",0xff);
+ // pc.printf("%x\n",0xff);
+
+
+ t.start();
+
+ //lcd.init();
+ //lcd.setBrightness(0.05);
+
+
+ // Read the WHO_AM_I register, this is a good test of communication
+ uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
+ pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+
+ if (whoami == 0x71) // WHO_AM_I should always be 0x68
+ {
+ pc.printf("MPU9250 is online...\n\r");
+ wait(1);
+ // lcd.clear();
+ //lcd.printString("MPU9250 OK", 0, 0);
+
+ mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+ mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+ pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
+ pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
+ pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
+ pc.printf("x accel bias = %f\n\r", accelBias[0]);
+ pc.printf("y accel bias = %f\n\r", accelBias[1]);
+ pc.printf("z accel bias = %f\n\r", accelBias[2]);
+ wait(2);
+ mpu9250.initMPU9250();
+ pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ mpu9250.initAK8963(magCalibration);
+ pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
+ 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(2);
+ }
+ else
+ {
+ pc.printf("Could not connect to MPU9250: \n\r");
+ pc.printf("%#x \n", whoami);
+
+ // lcd.clear();
+ // lcd.printString("MPU9250", 0, 0);
+ // lcd.printString("no connection", 0, 1);
+ //lcd.printString("0x", 0, 2); lcd.setXYAddress(20, 2); lcd.printChar(whoami);
+
+ while(1) ; // Loop forever if communication doesn't happen
+ }
- printf("Hello World !\n");
+ mpu9250.getAres(); // Get accelerometer sensitivity
+ mpu9250.getGres(); // Get gyro sensitivity
+ mpu9250.getMres(); // Get magnetometer sensitivity
+ pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
+ pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
+ pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
+ magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
+ magbias[1] = +120.; // User environmental x-axis correction in milliGauss
+ magbias[2] = +125.; // User environmental x-axis correction in milliGauss
+
+ while(1) {
+
+ // If intPin goes high, all data registers have new data
+ if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
- while(1) {
- wait(1); // 1 second
- led = !led; // Toggle LED
- printf("This program runs since %d seconds.\n", i++);
- }
+ mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
+ // Now we'll calculate the accleration value into actual g's
+ ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)accelCount[1]*aRes - accelBias[1];
+ az = (float)accelCount[2]*aRes - accelBias[2];
+
+ mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
+ // Calculate the gyro value into actual degrees per second
+ gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gy = (float)gyroCount[1]*gRes - gyroBias[1];
+ gz = (float)gyroCount[2]*gRes - gyroBias[2];
+
+ mpu9250.readMagData(magCount); // Read the x/y/z adc values
+ // Calculate the magnetometer values in milliGauss
+ // Include factory calibration per data sheet and user environmental corrections
+ mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
+ my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
+ mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
+ }
+
+ Now = t.read_us();
+ deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ lastUpdate = Now;
+
+ sum += deltat;
+ sumCount++;
+
+// if(lastUpdate - firstUpdate > 10000000.0f) {
+// beta = 0.04; // decrease filter gain after stabilized
+// zeta = 0.015; // increasey bias drift gain after stabilized
+ // }
+
+ // Pass gyro rate as rad/s
+ mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+ // mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+ if (delt_t > 100) { // update LCD once per half-second independent of read rate
+/*
+ pc.printf("ax = %f", 1000*ax);
+ pc.printf(" ay = %f", 1000*ay);
+ pc.printf(" az = %f\n", 1000*az);
+ */
+
+/*
+ pc.printf("gx = %f", gx);
+ pc.printf(" gy = %f", gy);
+ pc.printf(" gz = %f deg/s", gz);
+ */
+ /*
+ pc.printf("gx = %f", mx);
+ pc.printf(" gy = %f", my);
+ pc.printf(" gz = %f mG\n\r", mz);
+ */
+ /*
+ tempCount = mpu9250.readTempData(); // Read the adc values
+ temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
+ pc.printf(" temperature = %f C\n\r", temperature);
+ */
+ /*
+ pc.printf("q0 = %f\n\r", q[0]);
+ pc.printf("q1 = %f\n\r", q[1]);
+ pc.printf("q2 = %f\n\r", q[2]);
+ pc.printf("q3 = %f\n\r", q[3]);
+ */
+ //lcd.clear();
+ // lcd.printString("MPU9250", 0, 0);
+ // lcd.printString("x y z", 0, 1);
+ //lcd.setXYAddress(0, 2); lcd.printChar((char)(1000*ax));
+ //lcd.setXYAddress(20, 2); lcd.printChar((char)(1000*ay));
+ //lcd.setXYAddress(40, 2); lcd.printChar((char)(1000*az)); lcd.printString("mg", 66, 2);
+
+
+ // 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]);
+ pitch *= 180.0f / PI;
+ yaw *= 180.0f / PI;
+ yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
+ roll *= 180.0f / PI;
+
+ //pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+
+ // pc.printf("Phi: ");
+ pc.printf("%f",yaw*0.5);
+ //pc.printf("\t Theta: ");
+ pc.printf(" ");
+ pc.printf("%f",pitch*0.5);
+ //pc.printf("\t Psi: ");
+ pc.printf(" ");
+ pc.printf("%f\n",roll*0.5);
+ // pc.printf("\n ");
+ // pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+
+ myled= !myled;
+ count = t.read_ms();
+ sum = 0;
+ sumCount = 0;
+
}
+}
+
+ }
+
diff -r e8a50b55e6b1 -r 0d05d3686173 mbed.bld --- a/mbed.bld Thu Dec 12 16:17:14 2019 +0000 +++ b/mbed.bld Thu Dec 12 16:23:01 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file +https://os.mbed.com/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file