SSLM1 / Mbed 2 deprecated 2_MPU9250_attitude

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Dependencies:   mbed STM32L152withMPU-9250

MPU9250.h@0:1a6e8ffa801b, 2015-04-30 (annotated)

Committer:
xosuuu
Date:
Thu Apr 30 11:22:00 2015 +0000
Revision:
0:1a6e8ffa801b
Child:
1:61bf659e4a1f
void getCompassOrientation()

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xosuuu 0:1a6e8ffa801b 1 /*Library modified by Josué Olmeda Castelló for imasD Tecnología
xosuuu 0:1a6e8ffa801b 2
xosuuu 0:1a6e8ffa801b 3 */
xosuuu 0:1a6e8ffa801b 4
xosuuu 0:1a6e8ffa801b 5 #ifndef MPU9250_H
xosuuu 0:1a6e8ffa801b 6 #define MPU9250_H
xosuuu 0:1a6e8ffa801b 7
xosuuu 0:1a6e8ffa801b 8 #include "mbed.h"
xosuuu 0:1a6e8ffa801b 9 #include "math.h"
xosuuu 0:1a6e8ffa801b 10
xosuuu 0:1a6e8ffa801b 11 // 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
xosuuu 0:1a6e8ffa801b 12 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
xosuuu 0:1a6e8ffa801b 13 //
xosuuu 0:1a6e8ffa801b 14 //Magnetometer Registers
xosuuu 0:1a6e8ffa801b 15 #define AK8963_ADDRESS 0x0C<<1
xosuuu 0:1a6e8ffa801b 16 #define WHO_AM_I_AK8963 0x00 // should return 0x48
xosuuu 0:1a6e8ffa801b 17 #define INFO 0x01
xosuuu 0:1a6e8ffa801b 18 #define AK8963_ST1 0x02 // data ready status bit 0
xosuuu 0:1a6e8ffa801b 19 #define AK8963_XOUT_L 0x03 // data
xosuuu 0:1a6e8ffa801b 20 #define AK8963_XOUT_H 0x04
xosuuu 0:1a6e8ffa801b 21 #define AK8963_YOUT_L 0x05
xosuuu 0:1a6e8ffa801b 22 #define AK8963_YOUT_H 0x06
xosuuu 0:1a6e8ffa801b 23 #define AK8963_ZOUT_L 0x07
xosuuu 0:1a6e8ffa801b 24 #define AK8963_ZOUT_H 0x08
xosuuu 0:1a6e8ffa801b 25 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
xosuuu 0:1a6e8ffa801b 26 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
xosuuu 0:1a6e8ffa801b 27 #define AK8963_ASTC 0x0C // Self test control
xosuuu 0:1a6e8ffa801b 28 #define AK8963_I2CDIS 0x0F // I2C disable
xosuuu 0:1a6e8ffa801b 29 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
xosuuu 0:1a6e8ffa801b 30 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
xosuuu 0:1a6e8ffa801b 31 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
xosuuu 0:1a6e8ffa801b 32
xosuuu 0:1a6e8ffa801b 33 #define SELF_TEST_X_GYRO 0x00
xosuuu 0:1a6e8ffa801b 34 #define SELF_TEST_Y_GYRO 0x01
xosuuu 0:1a6e8ffa801b 35 #define SELF_TEST_Z_GYRO 0x02
xosuuu 0:1a6e8ffa801b 36
xosuuu 0:1a6e8ffa801b 37 /*#define X_FINE_GAIN 0x03 // [7:0] fine gain
xosuuu 0:1a6e8ffa801b 38 #define Y_FINE_GAIN 0x04
xosuuu 0:1a6e8ffa801b 39 #define Z_FINE_GAIN 0x05
xosuuu 0:1a6e8ffa801b 40 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
xosuuu 0:1a6e8ffa801b 41 #define XA_OFFSET_L_TC 0x07
xosuuu 0:1a6e8ffa801b 42 #define YA_OFFSET_H 0x08
xosuuu 0:1a6e8ffa801b 43 #define YA_OFFSET_L_TC 0x09
xosuuu 0:1a6e8ffa801b 44 #define ZA_OFFSET_H 0x0A
xosuuu 0:1a6e8ffa801b 45 #define ZA_OFFSET_L_TC 0x0B */
xosuuu 0:1a6e8ffa801b 46
xosuuu 0:1a6e8ffa801b 47 #define SELF_TEST_X_ACCEL 0x0D
xosuuu 0:1a6e8ffa801b 48 #define SELF_TEST_Y_ACCEL 0x0E
xosuuu 0:1a6e8ffa801b 49 #define SELF_TEST_Z_ACCEL 0x0F
xosuuu 0:1a6e8ffa801b 50
xosuuu 0:1a6e8ffa801b 51 #define SELF_TEST_A 0x10
xosuuu 0:1a6e8ffa801b 52
xosuuu 0:1a6e8ffa801b 53 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
xosuuu 0:1a6e8ffa801b 54 #define XG_OFFSET_L 0x14
xosuuu 0:1a6e8ffa801b 55 #define YG_OFFSET_H 0x15
xosuuu 0:1a6e8ffa801b 56 #define YG_OFFSET_L 0x16
xosuuu 0:1a6e8ffa801b 57 #define ZG_OFFSET_H 0x17
xosuuu 0:1a6e8ffa801b 58 #define ZG_OFFSET_L 0x18
xosuuu 0:1a6e8ffa801b 59 #define SMPLRT_DIV 0x19
xosuuu 0:1a6e8ffa801b 60 #define CONFIG 0x1A
xosuuu 0:1a6e8ffa801b 61 #define GYRO_CONFIG 0x1B
xosuuu 0:1a6e8ffa801b 62 #define ACCEL_CONFIG 0x1C
xosuuu 0:1a6e8ffa801b 63 #define ACCEL_CONFIG2 0x1D
xosuuu 0:1a6e8ffa801b 64 #define LP_ACCEL_ODR 0x1E
xosuuu 0:1a6e8ffa801b 65 #define WOM_THR 0x1F
xosuuu 0:1a6e8ffa801b 66
xosuuu 0:1a6e8ffa801b 67 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
xosuuu 0:1a6e8ffa801b 68 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
xosuuu 0:1a6e8ffa801b 69 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
xosuuu 0:1a6e8ffa801b 70
xosuuu 0:1a6e8ffa801b 71 #define FIFO_EN 0x23
xosuuu 0:1a6e8ffa801b 72 #define I2C_MST_CTRL 0x24
xosuuu 0:1a6e8ffa801b 73 #define I2C_SLV0_ADDR 0x25
xosuuu 0:1a6e8ffa801b 74 #define I2C_SLV0_REG 0x26
xosuuu 0:1a6e8ffa801b 75 #define I2C_SLV0_CTRL 0x27
xosuuu 0:1a6e8ffa801b 76 #define I2C_SLV1_ADDR 0x28
xosuuu 0:1a6e8ffa801b 77 #define I2C_SLV1_REG 0x29
xosuuu 0:1a6e8ffa801b 78 #define I2C_SLV1_CTRL 0x2A
xosuuu 0:1a6e8ffa801b 79 #define I2C_SLV2_ADDR 0x2B
xosuuu 0:1a6e8ffa801b 80 #define I2C_SLV2_REG 0x2C
xosuuu 0:1a6e8ffa801b 81 #define I2C_SLV2_CTRL 0x2D
xosuuu 0:1a6e8ffa801b 82 #define I2C_SLV3_ADDR 0x2E
xosuuu 0:1a6e8ffa801b 83 #define I2C_SLV3_REG 0x2F
xosuuu 0:1a6e8ffa801b 84 #define I2C_SLV3_CTRL 0x30
xosuuu 0:1a6e8ffa801b 85 #define I2C_SLV4_ADDR 0x31
xosuuu 0:1a6e8ffa801b 86 #define I2C_SLV4_REG 0x32
xosuuu 0:1a6e8ffa801b 87 #define I2C_SLV4_DO 0x33
xosuuu 0:1a6e8ffa801b 88 #define I2C_SLV4_CTRL 0x34
xosuuu 0:1a6e8ffa801b 89 #define I2C_SLV4_DI 0x35
xosuuu 0:1a6e8ffa801b 90 #define I2C_MST_STATUS 0x36
xosuuu 0:1a6e8ffa801b 91 #define INT_PIN_CFG 0x37
xosuuu 0:1a6e8ffa801b 92 #define INT_ENABLE 0x38
xosuuu 0:1a6e8ffa801b 93 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
xosuuu 0:1a6e8ffa801b 94 #define INT_STATUS 0x3A
xosuuu 0:1a6e8ffa801b 95 #define ACCEL_XOUT_H 0x3B
xosuuu 0:1a6e8ffa801b 96 #define ACCEL_XOUT_L 0x3C
xosuuu 0:1a6e8ffa801b 97 #define ACCEL_YOUT_H 0x3D
xosuuu 0:1a6e8ffa801b 98 #define ACCEL_YOUT_L 0x3E
xosuuu 0:1a6e8ffa801b 99 #define ACCEL_ZOUT_H 0x3F
xosuuu 0:1a6e8ffa801b 100 #define ACCEL_ZOUT_L 0x40
xosuuu 0:1a6e8ffa801b 101 #define TEMP_OUT_H 0x41
xosuuu 0:1a6e8ffa801b 102 #define TEMP_OUT_L 0x42
xosuuu 0:1a6e8ffa801b 103 #define GYRO_XOUT_H 0x43
xosuuu 0:1a6e8ffa801b 104 #define GYRO_XOUT_L 0x44
xosuuu 0:1a6e8ffa801b 105 #define GYRO_YOUT_H 0x45
xosuuu 0:1a6e8ffa801b 106 #define GYRO_YOUT_L 0x46
xosuuu 0:1a6e8ffa801b 107 #define GYRO_ZOUT_H 0x47
xosuuu 0:1a6e8ffa801b 108 #define GYRO_ZOUT_L 0x48
xosuuu 0:1a6e8ffa801b 109 #define EXT_SENS_DATA_00 0x49
xosuuu 0:1a6e8ffa801b 110 #define EXT_SENS_DATA_01 0x4A
xosuuu 0:1a6e8ffa801b 111 #define EXT_SENS_DATA_02 0x4B
xosuuu 0:1a6e8ffa801b 112 #define EXT_SENS_DATA_03 0x4C
xosuuu 0:1a6e8ffa801b 113 #define EXT_SENS_DATA_04 0x4D
xosuuu 0:1a6e8ffa801b 114 #define EXT_SENS_DATA_05 0x4E
xosuuu 0:1a6e8ffa801b 115 #define EXT_SENS_DATA_06 0x4F
xosuuu 0:1a6e8ffa801b 116 #define EXT_SENS_DATA_07 0x50
xosuuu 0:1a6e8ffa801b 117 #define EXT_SENS_DATA_08 0x51
xosuuu 0:1a6e8ffa801b 118 #define EXT_SENS_DATA_09 0x52
xosuuu 0:1a6e8ffa801b 119 #define EXT_SENS_DATA_10 0x53
xosuuu 0:1a6e8ffa801b 120 #define EXT_SENS_DATA_11 0x54
xosuuu 0:1a6e8ffa801b 121 #define EXT_SENS_DATA_12 0x55
xosuuu 0:1a6e8ffa801b 122 #define EXT_SENS_DATA_13 0x56
xosuuu 0:1a6e8ffa801b 123 #define EXT_SENS_DATA_14 0x57
xosuuu 0:1a6e8ffa801b 124 #define EXT_SENS_DATA_15 0x58
xosuuu 0:1a6e8ffa801b 125 #define EXT_SENS_DATA_16 0x59
xosuuu 0:1a6e8ffa801b 126 #define EXT_SENS_DATA_17 0x5A
xosuuu 0:1a6e8ffa801b 127 #define EXT_SENS_DATA_18 0x5B
xosuuu 0:1a6e8ffa801b 128 #define EXT_SENS_DATA_19 0x5C
xosuuu 0:1a6e8ffa801b 129 #define EXT_SENS_DATA_20 0x5D
xosuuu 0:1a6e8ffa801b 130 #define EXT_SENS_DATA_21 0x5E
xosuuu 0:1a6e8ffa801b 131 #define EXT_SENS_DATA_22 0x5F
xosuuu 0:1a6e8ffa801b 132 #define EXT_SENS_DATA_23 0x60
xosuuu 0:1a6e8ffa801b 133 #define MOT_DETECT_STATUS 0x61
xosuuu 0:1a6e8ffa801b 134 #define I2C_SLV0_DO 0x63
xosuuu 0:1a6e8ffa801b 135 #define I2C_SLV1_DO 0x64
xosuuu 0:1a6e8ffa801b 136 #define I2C_SLV2_DO 0x65
xosuuu 0:1a6e8ffa801b 137 #define I2C_SLV3_DO 0x66
xosuuu 0:1a6e8ffa801b 138 #define I2C_MST_DELAY_CTRL 0x67
xosuuu 0:1a6e8ffa801b 139 #define SIGNAL_PATH_RESET 0x68
xosuuu 0:1a6e8ffa801b 140 #define MOT_DETECT_CTRL 0x69
xosuuu 0:1a6e8ffa801b 141 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
xosuuu 0:1a6e8ffa801b 142 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
xosuuu 0:1a6e8ffa801b 143 #define PWR_MGMT_2 0x6C
xosuuu 0:1a6e8ffa801b 144 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
xosuuu 0:1a6e8ffa801b 145 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
xosuuu 0:1a6e8ffa801b 146 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
xosuuu 0:1a6e8ffa801b 147 #define DMP_REG_1 0x70
xosuuu 0:1a6e8ffa801b 148 #define DMP_REG_2 0x71
xosuuu 0:1a6e8ffa801b 149 #define FIFO_COUNTH 0x72
xosuuu 0:1a6e8ffa801b 150 #define FIFO_COUNTL 0x73
xosuuu 0:1a6e8ffa801b 151 #define FIFO_R_W 0x74
xosuuu 0:1a6e8ffa801b 152 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
xosuuu 0:1a6e8ffa801b 153 #define XA_OFFSET_H 0x77
xosuuu 0:1a6e8ffa801b 154 #define XA_OFFSET_L 0x78
xosuuu 0:1a6e8ffa801b 155 #define YA_OFFSET_H 0x7A
xosuuu 0:1a6e8ffa801b 156 #define YA_OFFSET_L 0x7B
xosuuu 0:1a6e8ffa801b 157 #define ZA_OFFSET_H 0x7D
xosuuu 0:1a6e8ffa801b 158 #define ZA_OFFSET_L 0x7E
xosuuu 0:1a6e8ffa801b 159
xosuuu 0:1a6e8ffa801b 160 // Using the MSENSR-9250 breakout board, ADO is set to 0
xosuuu 0:1a6e8ffa801b 161 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
xosuuu 0:1a6e8ffa801b 162 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
xosuuu 0:1a6e8ffa801b 163 #define ADO 0
xosuuu 0:1a6e8ffa801b 164 #if ADO
xosuuu 0:1a6e8ffa801b 165 #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
xosuuu 0:1a6e8ffa801b 166 #else
xosuuu 0:1a6e8ffa801b 167 #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
xosuuu 0:1a6e8ffa801b 168 #endif
xosuuu 0:1a6e8ffa801b 169
xosuuu 0:1a6e8ffa801b 170 // Set initial input parameters
xosuuu 0:1a6e8ffa801b 171 enum Ascale {
xosuuu 0:1a6e8ffa801b 172 AFS_2G = 0,
xosuuu 0:1a6e8ffa801b 173 AFS_4G,
xosuuu 0:1a6e8ffa801b 174 AFS_8G,
xosuuu 0:1a6e8ffa801b 175 AFS_16G
xosuuu 0:1a6e8ffa801b 176 };
xosuuu 0:1a6e8ffa801b 177
xosuuu 0:1a6e8ffa801b 178 enum Gscale {
xosuuu 0:1a6e8ffa801b 179 GFS_250DPS = 0,
xosuuu 0:1a6e8ffa801b 180 GFS_500DPS,
xosuuu 0:1a6e8ffa801b 181 GFS_1000DPS,
xosuuu 0:1a6e8ffa801b 182 GFS_2000DPS
xosuuu 0:1a6e8ffa801b 183 };
xosuuu 0:1a6e8ffa801b 184
xosuuu 0:1a6e8ffa801b 185 enum Mscale {
xosuuu 0:1a6e8ffa801b 186 MFS_14BITS = 0, // 0.6 mG per LSB
xosuuu 0:1a6e8ffa801b 187 MFS_16BITS // 0.15 mG per LSB
xosuuu 0:1a6e8ffa801b 188 };
xosuuu 0:1a6e8ffa801b 189
xosuuu 0:1a6e8ffa801b 190 uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
xosuuu 0:1a6e8ffa801b 191 uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
xosuuu 0:1a6e8ffa801b 192 uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
xosuuu 0:1a6e8ffa801b 193 uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
xosuuu 0:1a6e8ffa801b 194 float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
xosuuu 0:1a6e8ffa801b 195 int I2Cstate=1; // If I2Cstate!=0, I2C read or write operation has failed
xosuuu 0:1a6e8ffa801b 196
xosuuu 0:1a6e8ffa801b 197 //Set up I2C, (SDA,SCL)
xosuuu 0:1a6e8ffa801b 198 I2C i2c(I2C_SDA, I2C_SCL);
xosuuu 0:1a6e8ffa801b 199
xosuuu 0:1a6e8ffa801b 200 DigitalOut myled(LED1);
xosuuu 0:1a6e8ffa801b 201
xosuuu 0:1a6e8ffa801b 202 // Pin definitions
xosuuu 0:1a6e8ffa801b 203 int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
xosuuu 0:1a6e8ffa801b 204
xosuuu 0:1a6e8ffa801b 205 int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
xosuuu 0:1a6e8ffa801b 206 int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
xosuuu 0:1a6e8ffa801b 207 int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
xosuuu 0:1a6e8ffa801b 208 float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias
xosuuu 0:1a6e8ffa801b 209 float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
xosuuu 0:1a6e8ffa801b 210 float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
xosuuu 0:1a6e8ffa801b 211 int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
xosuuu 0:1a6e8ffa801b 212 float temperature;
xosuuu 0:1a6e8ffa801b 213 float SelfTest[6];
xosuuu 0:1a6e8ffa801b 214
xosuuu 0:1a6e8ffa801b 215 int delt_t = 0; // used to control display output rate
xosuuu 0:1a6e8ffa801b 216 int count = 0; // used to control display output rate
xosuuu 0:1a6e8ffa801b 217
xosuuu 0:1a6e8ffa801b 218 // parameters for 6 DoF sensor fusion calculations
xosuuu 0:1a6e8ffa801b 219 float PI = 3.14159265358979323846f;
xosuuu 0:1a6e8ffa801b 220 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
xosuuu 0:1a6e8ffa801b 221 float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
xosuuu 0:1a6e8ffa801b 222 float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
xosuuu 0:1a6e8ffa801b 223 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
xosuuu 0:1a6e8ffa801b 224 #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
xosuuu 0:1a6e8ffa801b 225 #define Ki 0.0f
xosuuu 0:1a6e8ffa801b 226
xosuuu 0:1a6e8ffa801b 227 float pitch, yaw, roll;
xosuuu 0:1a6e8ffa801b 228 float deltat = 0.0f; // integration interval for both filter schemes
xosuuu 0:1a6e8ffa801b 229 int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval
xosuuu 0:1a6e8ffa801b 230 float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
xosuuu 0:1a6e8ffa801b 231 float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method
xosuuu 0:1a6e8ffa801b 232
xosuuu 0:1a6e8ffa801b 233 class MPU9250 {
xosuuu 0:1a6e8ffa801b 234
xosuuu 0:1a6e8ffa801b 235 protected:
xosuuu 0:1a6e8ffa801b 236
xosuuu 0:1a6e8ffa801b 237 public:
xosuuu 0:1a6e8ffa801b 238 //===================================================================================================================
xosuuu 0:1a6e8ffa801b 239 //====== Set of useful function to access acceleration, gyroscope, and temperature data
xosuuu 0:1a6e8ffa801b 240 //===================================================================================================================
xosuuu 0:1a6e8ffa801b 241
xosuuu 0:1a6e8ffa801b 242 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
xosuuu 0:1a6e8ffa801b 243 {
xosuuu 0:1a6e8ffa801b 244 char data_write[2];
xosuuu 0:1a6e8ffa801b 245 data_write[0] = subAddress;
xosuuu 0:1a6e8ffa801b 246 data_write[1] = data;
xosuuu 0:1a6e8ffa801b 247 I2Cstate = i2c.write(address, data_write, 2, 0);
xosuuu 0:1a6e8ffa801b 248 }
xosuuu 0:1a6e8ffa801b 249
xosuuu 0:1a6e8ffa801b 250 char readByte(uint8_t address, uint8_t subAddress)
xosuuu 0:1a6e8ffa801b 251 {
xosuuu 0:1a6e8ffa801b 252 char data[1]; // `data` will store the register data
xosuuu 0:1a6e8ffa801b 253 char data_write[1];
xosuuu 0:1a6e8ffa801b 254 data_write[0] = subAddress;
xosuuu 0:1a6e8ffa801b 255 I2Cstate = i2c.write(address, data_write, 1, 1); // no stop
xosuuu 0:1a6e8ffa801b 256 I2Cstate = i2c.read(address, data, 1, 0);
xosuuu 0:1a6e8ffa801b 257 return data[0];
xosuuu 0:1a6e8ffa801b 258 }
xosuuu 0:1a6e8ffa801b 259
xosuuu 0:1a6e8ffa801b 260 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) // count=nº of bytes to read / dest=destiny where data is stored
xosuuu 0:1a6e8ffa801b 261 {
xosuuu 0:1a6e8ffa801b 262 char data[14];
xosuuu 0:1a6e8ffa801b 263 char data_write[1];
xosuuu 0:1a6e8ffa801b 264 data_write[0] = subAddress;
xosuuu 0:1a6e8ffa801b 265 I2Cstate = i2c.write(address, data_write, 1, 1); // no stop
xosuuu 0:1a6e8ffa801b 266 I2Cstate = i2c.read(address, data, count, 0);
xosuuu 0:1a6e8ffa801b 267 for(int ii = 0; ii < count; ii++) {
xosuuu 0:1a6e8ffa801b 268 dest[ii] = data[ii];
xosuuu 0:1a6e8ffa801b 269 }
xosuuu 0:1a6e8ffa801b 270 }
xosuuu 0:1a6e8ffa801b 271
xosuuu 0:1a6e8ffa801b 272 void getMres() {
xosuuu 0:1a6e8ffa801b 273 switch (Mscale)
xosuuu 0:1a6e8ffa801b 274 {
xosuuu 0:1a6e8ffa801b 275 // Possible magnetometer scales (and their register bit settings) are:
xosuuu 0:1a6e8ffa801b 276 // 14 bit resolution (0) and 16 bit resolution (1)
xosuuu 0:1a6e8ffa801b 277 case MFS_14BITS:
xosuuu 0:1a6e8ffa801b 278 mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss
xosuuu 0:1a6e8ffa801b 279 break;
xosuuu 0:1a6e8ffa801b 280 case MFS_16BITS:
xosuuu 0:1a6e8ffa801b 281 mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss
xosuuu 0:1a6e8ffa801b 282 break;
xosuuu 0:1a6e8ffa801b 283 }
xosuuu 0:1a6e8ffa801b 284 }
xosuuu 0:1a6e8ffa801b 285
xosuuu 0:1a6e8ffa801b 286 void getGres() {
xosuuu 0:1a6e8ffa801b 287 switch (Gscale)
xosuuu 0:1a6e8ffa801b 288 {
xosuuu 0:1a6e8ffa801b 289 // Possible gyro scales (and their register bit settings) are:
xosuuu 0:1a6e8ffa801b 290 // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
xosuuu 0:1a6e8ffa801b 291 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
xosuuu 0:1a6e8ffa801b 292 case GFS_250DPS:
xosuuu 0:1a6e8ffa801b 293 gRes = 250.0/32768.0;
xosuuu 0:1a6e8ffa801b 294 break;
xosuuu 0:1a6e8ffa801b 295 case GFS_500DPS:
xosuuu 0:1a6e8ffa801b 296 gRes = 500.0/32768.0;
xosuuu 0:1a6e8ffa801b 297 break;
xosuuu 0:1a6e8ffa801b 298 case GFS_1000DPS:
xosuuu 0:1a6e8ffa801b 299 gRes = 1000.0/32768.0;
xosuuu 0:1a6e8ffa801b 300 break;
xosuuu 0:1a6e8ffa801b 301 case GFS_2000DPS:
xosuuu 0:1a6e8ffa801b 302 gRes = 2000.0/32768.0;
xosuuu 0:1a6e8ffa801b 303 break;
xosuuu 0:1a6e8ffa801b 304 }
xosuuu 0:1a6e8ffa801b 305 }
xosuuu 0:1a6e8ffa801b 306
xosuuu 0:1a6e8ffa801b 307 void getAres() {
xosuuu 0:1a6e8ffa801b 308 switch (Ascale)
xosuuu 0:1a6e8ffa801b 309 {
xosuuu 0:1a6e8ffa801b 310 // Possible accelerometer scales (and their register bit settings) are:
xosuuu 0:1a6e8ffa801b 311 // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
xosuuu 0:1a6e8ffa801b 312 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
xosuuu 0:1a6e8ffa801b 313 case AFS_2G:
xosuuu 0:1a6e8ffa801b 314 aRes = 2.0/32768.0;
xosuuu 0:1a6e8ffa801b 315 break;
xosuuu 0:1a6e8ffa801b 316 case AFS_4G:
xosuuu 0:1a6e8ffa801b 317 aRes = 4.0/32768.0;
xosuuu 0:1a6e8ffa801b 318 break;
xosuuu 0:1a6e8ffa801b 319 case AFS_8G:
xosuuu 0:1a6e8ffa801b 320 aRes = 8.0/32768.0;
xosuuu 0:1a6e8ffa801b 321 break;
xosuuu 0:1a6e8ffa801b 322 case AFS_16G:
xosuuu 0:1a6e8ffa801b 323 aRes = 16.0/32768.0;
xosuuu 0:1a6e8ffa801b 324 break;
xosuuu 0:1a6e8ffa801b 325 }
xosuuu 0:1a6e8ffa801b 326 }
xosuuu 0:1a6e8ffa801b 327
xosuuu 0:1a6e8ffa801b 328 void readAccelData(int16_t * destination){
xosuuu 0:1a6e8ffa801b 329
xosuuu 0:1a6e8ffa801b 330 uint8_t rawData[6]; // x/y/z accel register data stored here
xosuuu 0:1a6e8ffa801b 331 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
xosuuu 0:1a6e8ffa801b 332 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
xosuuu 0:1a6e8ffa801b 333 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
xosuuu 0:1a6e8ffa801b 334 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
xosuuu 0:1a6e8ffa801b 335 }
xosuuu 0:1a6e8ffa801b 336
xosuuu 0:1a6e8ffa801b 337 void readGyroData(int16_t * destination){
xosuuu 0:1a6e8ffa801b 338 uint8_t rawData[6]; // x/y/z gyro register data stored here
xosuuu 0:1a6e8ffa801b 339 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
xosuuu 0:1a6e8ffa801b 340 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
xosuuu 0:1a6e8ffa801b 341 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
xosuuu 0:1a6e8ffa801b 342 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
xosuuu 0:1a6e8ffa801b 343 }
xosuuu 0:1a6e8ffa801b 344
xosuuu 0:1a6e8ffa801b 345 void readMagData(int16_t * destination){
xosuuu 0:1a6e8ffa801b 346 uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
xosuuu 0:1a6e8ffa801b 347 if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
xosuuu 0:1a6e8ffa801b 348 readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
xosuuu 0:1a6e8ffa801b 349 uint8_t c = rawData[6]; // End data read by reading ST2 register
xosuuu 0:1a6e8ffa801b 350 if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
xosuuu 0:1a6e8ffa801b 351 destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
xosuuu 0:1a6e8ffa801b 352 destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
xosuuu 0:1a6e8ffa801b 353 destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
xosuuu 0:1a6e8ffa801b 354 }
xosuuu 0:1a6e8ffa801b 355 }
xosuuu 0:1a6e8ffa801b 356 }
xosuuu 0:1a6e8ffa801b 357
xosuuu 0:1a6e8ffa801b 358 int16_t readTempData(){
xosuuu 0:1a6e8ffa801b 359 uint8_t rawData[2]; // x/y/z gyro register data stored here
xosuuu 0:1a6e8ffa801b 360 readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
xosuuu 0:1a6e8ffa801b 361 return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
xosuuu 0:1a6e8ffa801b 362 }
xosuuu 0:1a6e8ffa801b 363
xosuuu 0:1a6e8ffa801b 364 void resetMPU9250(){
xosuuu 0:1a6e8ffa801b 365 // reset device
xosuuu 0:1a6e8ffa801b 366 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
xosuuu 0:1a6e8ffa801b 367 wait(0.1);
xosuuu 0:1a6e8ffa801b 368 }
xosuuu 0:1a6e8ffa801b 369
xosuuu 0:1a6e8ffa801b 370 void initAK8963(float * destination){
xosuuu 0:1a6e8ffa801b 371 // First extract the factory calibration for each magnetometer axis
xosuuu 0:1a6e8ffa801b 372 uint8_t rawData[3]; // x/y/z gyro calibration data stored here
xosuuu 0:1a6e8ffa801b 373 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
xosuuu 0:1a6e8ffa801b 374 wait(0.01);
xosuuu 0:1a6e8ffa801b 375 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
xosuuu 0:1a6e8ffa801b 376 wait(0.01);
xosuuu 0:1a6e8ffa801b 377 readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values
xosuuu 0:1a6e8ffa801b 378 destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc.
xosuuu 0:1a6e8ffa801b 379 destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f;
xosuuu 0:1a6e8ffa801b 380 destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f;
xosuuu 0:1a6e8ffa801b 381 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
xosuuu 0:1a6e8ffa801b 382 wait(0.01);
xosuuu 0:1a6e8ffa801b 383 // Configure the magnetometer for continuous read and highest resolution
xosuuu 0:1a6e8ffa801b 384 // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register,
xosuuu 0:1a6e8ffa801b 385 // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates
xosuuu 0:1a6e8ffa801b 386 writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR
xosuuu 0:1a6e8ffa801b 387 wait(0.01);
xosuuu 0:1a6e8ffa801b 388 }
xosuuu 0:1a6e8ffa801b 389
xosuuu 0:1a6e8ffa801b 390 void initMPU9250(){
xosuuu 0:1a6e8ffa801b 391 // Initialize MPU9250 device
xosuuu 0:1a6e8ffa801b 392 // wake up device
xosuuu 0:1a6e8ffa801b 393 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
xosuuu 0:1a6e8ffa801b 394 wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
xosuuu 0:1a6e8ffa801b 395
xosuuu 0:1a6e8ffa801b 396 // get stable time source
xosuuu 0:1a6e8ffa801b 397 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
xosuuu 0:1a6e8ffa801b 398
xosuuu 0:1a6e8ffa801b 399 // Configure Gyro and Accelerometer
xosuuu 0:1a6e8ffa801b 400 // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
xosuuu 0:1a6e8ffa801b 401 // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
xosuuu 0:1a6e8ffa801b 402 // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
xosuuu 0:1a6e8ffa801b 403 writeByte(MPU9250_ADDRESS, CONFIG, 0x03);
xosuuu 0:1a6e8ffa801b 404
xosuuu 0:1a6e8ffa801b 405 // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
xosuuu 0:1a6e8ffa801b 406 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above
xosuuu 0:1a6e8ffa801b 407
xosuuu 0:1a6e8ffa801b 408 // Set gyroscope full scale range
xosuuu 0:1a6e8ffa801b 409 // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
xosuuu 0:1a6e8ffa801b 410 uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG);
xosuuu 0:1a6e8ffa801b 411 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
xosuuu 0:1a6e8ffa801b 412 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
xosuuu 0:1a6e8ffa801b 413 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
xosuuu 0:1a6e8ffa801b 414
xosuuu 0:1a6e8ffa801b 415 // Set accelerometer configuration
xosuuu 0:1a6e8ffa801b 416 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG);
xosuuu 0:1a6e8ffa801b 417 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
xosuuu 0:1a6e8ffa801b 418 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
xosuuu 0:1a6e8ffa801b 419 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
xosuuu 0:1a6e8ffa801b 420
xosuuu 0:1a6e8ffa801b 421 // Set accelerometer sample rate configuration
xosuuu 0:1a6e8ffa801b 422 // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for
xosuuu 0:1a6e8ffa801b 423 // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz
xosuuu 0:1a6e8ffa801b 424 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2);
xosuuu 0:1a6e8ffa801b 425 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])
xosuuu 0:1a6e8ffa801b 426 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
xosuuu 0:1a6e8ffa801b 427
xosuuu 0:1a6e8ffa801b 428 // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates,
xosuuu 0:1a6e8ffa801b 429 // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
xosuuu 0:1a6e8ffa801b 430
xosuuu 0:1a6e8ffa801b 431 // Configure Interrupts and Bypass Enable
xosuuu 0:1a6e8ffa801b 432 // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
xosuuu 0:1a6e8ffa801b 433 // can join the I2C bus and all can be controlled by the Arduino as master
xosuuu 0:1a6e8ffa801b 434 writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
xosuuu 0:1a6e8ffa801b 435 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
xosuuu 0:1a6e8ffa801b 436 }
xosuuu 0:1a6e8ffa801b 437
xosuuu 0:1a6e8ffa801b 438 // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
xosuuu 0:1a6e8ffa801b 439 // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
xosuuu 0:1a6e8ffa801b 440 void calibrateMPU9250(float * dest1, float * dest2)
xosuuu 0:1a6e8ffa801b 441 {
xosuuu 0:1a6e8ffa801b 442 uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
xosuuu 0:1a6e8ffa801b 443 uint16_t ii, packet_count, fifo_count;
xosuuu 0:1a6e8ffa801b 444 int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
xosuuu 0:1a6e8ffa801b 445
xosuuu 0:1a6e8ffa801b 446 // reset device, reset all registers, clear gyro and accelerometer bias registers
xosuuu 0:1a6e8ffa801b 447 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
xosuuu 0:1a6e8ffa801b 448 wait(0.1);
xosuuu 0:1a6e8ffa801b 449
xosuuu 0:1a6e8ffa801b 450 // get stable time source
xosuuu 0:1a6e8ffa801b 451 // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
xosuuu 0:1a6e8ffa801b 452 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);
xosuuu 0:1a6e8ffa801b 453 writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00);
xosuuu 0:1a6e8ffa801b 454 wait(0.2);
xosuuu 0:1a6e8ffa801b 455
xosuuu 0:1a6e8ffa801b 456 // Configure device for bias calculation
xosuuu 0:1a6e8ffa801b 457 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
xosuuu 0:1a6e8ffa801b 458 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
xosuuu 0:1a6e8ffa801b 459 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
xosuuu 0:1a6e8ffa801b 460 writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
xosuuu 0:1a6e8ffa801b 461 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
xosuuu 0:1a6e8ffa801b 462 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
xosuuu 0:1a6e8ffa801b 463 wait(0.015);
xosuuu 0:1a6e8ffa801b 464
xosuuu 0:1a6e8ffa801b 465 // Configure MPU9250 gyro and accelerometer for bias calculation
xosuuu 0:1a6e8ffa801b 466 writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
xosuuu 0:1a6e8ffa801b 467 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
xosuuu 0:1a6e8ffa801b 468 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
xosuuu 0:1a6e8ffa801b 469 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
xosuuu 0:1a6e8ffa801b 470
xosuuu 0:1a6e8ffa801b 471 uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
xosuuu 0:1a6e8ffa801b 472 uint16_t accelsensitivity = 16384; // = 16384 LSB/g
xosuuu 0:1a6e8ffa801b 473
xosuuu 0:1a6e8ffa801b 474 // Configure FIFO to capture accelerometer and gyro data for bias calculation
xosuuu 0:1a6e8ffa801b 475 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
xosuuu 0:1a6e8ffa801b 476 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250)
xosuuu 0:1a6e8ffa801b 477 wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes
xosuuu 0:1a6e8ffa801b 478
xosuuu 0:1a6e8ffa801b 479 // At end of sample accumulation, turn off FIFO sensor read
xosuuu 0:1a6e8ffa801b 480 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
xosuuu 0:1a6e8ffa801b 481 readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
xosuuu 0:1a6e8ffa801b 482 fifo_count = ((uint16_t)data[0] << 8) | data[1];
xosuuu 0:1a6e8ffa801b 483 packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
xosuuu 0:1a6e8ffa801b 484
xosuuu 0:1a6e8ffa801b 485 for (ii = 0; ii < packet_count; ii++) {
xosuuu 0:1a6e8ffa801b 486 int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
xosuuu 0:1a6e8ffa801b 487 readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
xosuuu 0:1a6e8ffa801b 488 accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
xosuuu 0:1a6e8ffa801b 489 accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
xosuuu 0:1a6e8ffa801b 490 accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
xosuuu 0:1a6e8ffa801b 491 gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
xosuuu 0:1a6e8ffa801b 492 gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
xosuuu 0:1a6e8ffa801b 493 gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
xosuuu 0:1a6e8ffa801b 494
xosuuu 0:1a6e8ffa801b 495 accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
xosuuu 0:1a6e8ffa801b 496 accel_bias[1] += (int32_t) accel_temp[1];
xosuuu 0:1a6e8ffa801b 497 accel_bias[2] += (int32_t) accel_temp[2];
xosuuu 0:1a6e8ffa801b 498 gyro_bias[0] += (int32_t) gyro_temp[0];
xosuuu 0:1a6e8ffa801b 499 gyro_bias[1] += (int32_t) gyro_temp[1];
xosuuu 0:1a6e8ffa801b 500 gyro_bias[2] += (int32_t) gyro_temp[2];
xosuuu 0:1a6e8ffa801b 501
xosuuu 0:1a6e8ffa801b 502 }
xosuuu 0:1a6e8ffa801b 503 accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
xosuuu 0:1a6e8ffa801b 504 accel_bias[1] /= (int32_t) packet_count;
xosuuu 0:1a6e8ffa801b 505 accel_bias[2] /= (int32_t) packet_count;
xosuuu 0:1a6e8ffa801b 506 gyro_bias[0] /= (int32_t) packet_count;
xosuuu 0:1a6e8ffa801b 507 gyro_bias[1] /= (int32_t) packet_count;
xosuuu 0:1a6e8ffa801b 508 gyro_bias[2] /= (int32_t) packet_count;
xosuuu 0:1a6e8ffa801b 509
xosuuu 0:1a6e8ffa801b 510 if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation
xosuuu 0:1a6e8ffa801b 511 else {accel_bias[2] += (int32_t) accelsensitivity;}
xosuuu 0:1a6e8ffa801b 512
xosuuu 0:1a6e8ffa801b 513 // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
xosuuu 0:1a6e8ffa801b 514 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
xosuuu 0:1a6e8ffa801b 515 data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
xosuuu 0:1a6e8ffa801b 516 data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
xosuuu 0:1a6e8ffa801b 517 data[3] = (-gyro_bias[1]/4) & 0xFF;
xosuuu 0:1a6e8ffa801b 518 data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
xosuuu 0:1a6e8ffa801b 519 data[5] = (-gyro_bias[2]/4) & 0xFF;
xosuuu 0:1a6e8ffa801b 520
xosuuu 0:1a6e8ffa801b 521 /// Push gyro biases to hardware registers
xosuuu 0:1a6e8ffa801b 522 /* writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]);
xosuuu 0:1a6e8ffa801b 523 writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]);
xosuuu 0:1a6e8ffa801b 524 writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]);
xosuuu 0:1a6e8ffa801b 525 writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]);
xosuuu 0:1a6e8ffa801b 526 writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]);
xosuuu 0:1a6e8ffa801b 527 writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]);
xosuuu 0:1a6e8ffa801b 528 */
xosuuu 0:1a6e8ffa801b 529 dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
xosuuu 0:1a6e8ffa801b 530 dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
xosuuu 0:1a6e8ffa801b 531 dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
xosuuu 0:1a6e8ffa801b 532
xosuuu 0:1a6e8ffa801b 533 // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
xosuuu 0:1a6e8ffa801b 534 // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
xosuuu 0:1a6e8ffa801b 535 // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
xosuuu 0:1a6e8ffa801b 536 // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
xosuuu 0:1a6e8ffa801b 537 // the accelerometer biases calculated above must be divided by 8.
xosuuu 0:1a6e8ffa801b 538
xosuuu 0:1a6e8ffa801b 539 int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
xosuuu 0:1a6e8ffa801b 540 readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
xosuuu 0:1a6e8ffa801b 541 accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
xosuuu 0:1a6e8ffa801b 542 readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]);
xosuuu 0:1a6e8ffa801b 543 accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
xosuuu 0:1a6e8ffa801b 544 readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
xosuuu 0:1a6e8ffa801b 545 accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
xosuuu 0:1a6e8ffa801b 546
xosuuu 0:1a6e8ffa801b 547 uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
xosuuu 0:1a6e8ffa801b 548 uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
xosuuu 0:1a6e8ffa801b 549
xosuuu 0:1a6e8ffa801b 550 for(ii = 0; ii < 3; ii++) {
xosuuu 0:1a6e8ffa801b 551 if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
xosuuu 0:1a6e8ffa801b 552 }
xosuuu 0:1a6e8ffa801b 553
xosuuu 0:1a6e8ffa801b 554 // Construct total accelerometer bias, including calculated average accelerometer bias from above
xosuuu 0:1a6e8ffa801b 555 accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
xosuuu 0:1a6e8ffa801b 556 accel_bias_reg[1] -= (accel_bias[1]/8);
xosuuu 0:1a6e8ffa801b 557 accel_bias_reg[2] -= (accel_bias[2]/8);
xosuuu 0:1a6e8ffa801b 558
xosuuu 0:1a6e8ffa801b 559 data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
xosuuu 0:1a6e8ffa801b 560 data[1] = (accel_bias_reg[0]) & 0xFF;
xosuuu 0:1a6e8ffa801b 561 data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
xosuuu 0:1a6e8ffa801b 562 data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
xosuuu 0:1a6e8ffa801b 563 data[3] = (accel_bias_reg[1]) & 0xFF;
xosuuu 0:1a6e8ffa801b 564 data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
xosuuu 0:1a6e8ffa801b 565 data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
xosuuu 0:1a6e8ffa801b 566 data[5] = (accel_bias_reg[2]) & 0xFF;
xosuuu 0:1a6e8ffa801b 567 data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
xosuuu 0:1a6e8ffa801b 568
xosuuu 0:1a6e8ffa801b 569 // Apparently this is not working for the acceleration biases in the MPU-9250
xosuuu 0:1a6e8ffa801b 570 // Are we handling the temperature correction bit properly?
xosuuu 0:1a6e8ffa801b 571 // Push accelerometer biases to hardware registers
xosuuu 0:1a6e8ffa801b 572 /* writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]);
xosuuu 0:1a6e8ffa801b 573 writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
xosuuu 0:1a6e8ffa801b 574 writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
xosuuu 0:1a6e8ffa801b 575 writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
xosuuu 0:1a6e8ffa801b 576 writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
xosuuu 0:1a6e8ffa801b 577 writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);
xosuuu 0:1a6e8ffa801b 578 */
xosuuu 0:1a6e8ffa801b 579 // Output scaled accelerometer biases for manual subtraction in the main program
xosuuu 0:1a6e8ffa801b 580 dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
xosuuu 0:1a6e8ffa801b 581 dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
xosuuu 0:1a6e8ffa801b 582 dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
xosuuu 0:1a6e8ffa801b 583 }
xosuuu 0:1a6e8ffa801b 584
xosuuu 0:1a6e8ffa801b 585
xosuuu 0:1a6e8ffa801b 586 // Accelerometer and gyroscope self test; check calibration wrt factory settings
xosuuu 0:1a6e8ffa801b 587 void MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
xosuuu 0:1a6e8ffa801b 588 {
xosuuu 0:1a6e8ffa801b 589 uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
xosuuu 0:1a6e8ffa801b 590 uint8_t selfTest[6];
xosuuu 0:1a6e8ffa801b 591 int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3];
xosuuu 0:1a6e8ffa801b 592 float factoryTrim[6];
xosuuu 0:1a6e8ffa801b 593 uint8_t FS = 0;
xosuuu 0:1a6e8ffa801b 594
xosuuu 0:1a6e8ffa801b 595 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
xosuuu 0:1a6e8ffa801b 596 writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
xosuuu 0:1a6e8ffa801b 597 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
xosuuu 0:1a6e8ffa801b 598 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
xosuuu 0:1a6e8ffa801b 599 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
xosuuu 0:1a6e8ffa801b 600
xosuuu 0:1a6e8ffa801b 601 for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer
xosuuu 0:1a6e8ffa801b 602
xosuuu 0:1a6e8ffa801b 603 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
xosuuu 0:1a6e8ffa801b 604 aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
xosuuu 0:1a6e8ffa801b 605 aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
xosuuu 0:1a6e8ffa801b 606 aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
xosuuu 0:1a6e8ffa801b 607
xosuuu 0:1a6e8ffa801b 608 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
xosuuu 0:1a6e8ffa801b 609 gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
xosuuu 0:1a6e8ffa801b 610 gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
xosuuu 0:1a6e8ffa801b 611 gAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
xosuuu 0:1a6e8ffa801b 612 }
xosuuu 0:1a6e8ffa801b 613
xosuuu 0:1a6e8ffa801b 614 for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average current readings
xosuuu 0:1a6e8ffa801b 615 aAvg[ii] /= 200;
xosuuu 0:1a6e8ffa801b 616 gAvg[ii] /= 200;
xosuuu 0:1a6e8ffa801b 617 }
xosuuu 0:1a6e8ffa801b 618
xosuuu 0:1a6e8ffa801b 619 // Configure the accelerometer for self-test
xosuuu 0:1a6e8ffa801b 620 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
xosuuu 0:1a6e8ffa801b 621 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
xosuuu 0:1a6e8ffa801b 622 //delay(25); // Delay a while to let the device stabilize
xosuuu 0:1a6e8ffa801b 623 wait_ms(25); // Delay a while to let the device stabilize
xosuuu 0:1a6e8ffa801b 624
xosuuu 0:1a6e8ffa801b 625 for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
xosuuu 0:1a6e8ffa801b 626
xosuuu 0:1a6e8ffa801b 627 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
xosuuu 0:1a6e8ffa801b 628 aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
xosuuu 0:1a6e8ffa801b 629 aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
xosuuu 0:1a6e8ffa801b 630 aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
xosuuu 0:1a6e8ffa801b 631
xosuuu 0:1a6e8ffa801b 632 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
xosuuu 0:1a6e8ffa801b 633 gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
xosuuu 0:1a6e8ffa801b 634 gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
xosuuu 0:1a6e8ffa801b 635 gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
xosuuu 0:1a6e8ffa801b 636 }
xosuuu 0:1a6e8ffa801b 637
xosuuu 0:1a6e8ffa801b 638 for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average self-test readings
xosuuu 0:1a6e8ffa801b 639 aSTAvg[ii] /= 200;
xosuuu 0:1a6e8ffa801b 640 gSTAvg[ii] /= 200;
xosuuu 0:1a6e8ffa801b 641 }
xosuuu 0:1a6e8ffa801b 642
xosuuu 0:1a6e8ffa801b 643 // Configure the gyro and accelerometer for normal operation
xosuuu 0:1a6e8ffa801b 644 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
xosuuu 0:1a6e8ffa801b 645 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
xosuuu 0:1a6e8ffa801b 646 //delay(25); // Delay a while to let the device stabilize
xosuuu 0:1a6e8ffa801b 647 wait_ms(25); // Delay a while to let the device stabilize
xosuuu 0:1a6e8ffa801b 648
xosuuu 0:1a6e8ffa801b 649 // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
xosuuu 0:1a6e8ffa801b 650 selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results
xosuuu 0:1a6e8ffa801b 651 selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results
xosuuu 0:1a6e8ffa801b 652 selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results
xosuuu 0:1a6e8ffa801b 653 selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results
xosuuu 0:1a6e8ffa801b 654 selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results
xosuuu 0:1a6e8ffa801b 655 selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results
xosuuu 0:1a6e8ffa801b 656
xosuuu 0:1a6e8ffa801b 657 // Retrieve factory self-test value from self-test code reads
xosuuu 0:1a6e8ffa801b 658 factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
xosuuu 0:1a6e8ffa801b 659 factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
xosuuu 0:1a6e8ffa801b 660 factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
xosuuu 0:1a6e8ffa801b 661 factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
xosuuu 0:1a6e8ffa801b 662 factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
xosuuu 0:1a6e8ffa801b 663 factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
xosuuu 0:1a6e8ffa801b 664
xosuuu 0:1a6e8ffa801b 665 // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
xosuuu 0:1a6e8ffa801b 666 // To get percent, must multiply by 100
xosuuu 0:1a6e8ffa801b 667 for (int i = 0; i < 3; i++) {
xosuuu 0:1a6e8ffa801b 668 destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
xosuuu 0:1a6e8ffa801b 669 destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
xosuuu 0:1a6e8ffa801b 670 }
xosuuu 0:1a6e8ffa801b 671 }
xosuuu 0:1a6e8ffa801b 672
xosuuu 0:1a6e8ffa801b 673
xosuuu 0:1a6e8ffa801b 674
xosuuu 0:1a6e8ffa801b 675 // Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
xosuuu 0:1a6e8ffa801b 676 // (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
xosuuu 0:1a6e8ffa801b 677 // which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
xosuuu 0:1a6e8ffa801b 678 // device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
xosuuu 0:1a6e8ffa801b 679 // The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
xosuuu 0:1a6e8ffa801b 680 // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
xosuuu 0:1a6e8ffa801b 681 void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
xosuuu 0:1a6e8ffa801b 682 {
xosuuu 0:1a6e8ffa801b 683 float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
xosuuu 0:1a6e8ffa801b 684 float norm;
xosuuu 0:1a6e8ffa801b 685 float hx, hy, _2bx, _2bz;
xosuuu 0:1a6e8ffa801b 686 float s1, s2, s3, s4;
xosuuu 0:1a6e8ffa801b 687 float qDot1, qDot2, qDot3, qDot4;
xosuuu 0:1a6e8ffa801b 688
xosuuu 0:1a6e8ffa801b 689 // Auxiliary variables to avoid repeated arithmetic
xosuuu 0:1a6e8ffa801b 690 float _2q1mx;
xosuuu 0:1a6e8ffa801b 691 float _2q1my;
xosuuu 0:1a6e8ffa801b 692 float _2q1mz;
xosuuu 0:1a6e8ffa801b 693 float _2q2mx;
xosuuu 0:1a6e8ffa801b 694 float _4bx;
xosuuu 0:1a6e8ffa801b 695 float _4bz;
xosuuu 0:1a6e8ffa801b 696 float _2q1 = 2.0f * q1;
xosuuu 0:1a6e8ffa801b 697 float _2q2 = 2.0f * q2;
xosuuu 0:1a6e8ffa801b 698 float _2q3 = 2.0f * q3;
xosuuu 0:1a6e8ffa801b 699 float _2q4 = 2.0f * q4;
xosuuu 0:1a6e8ffa801b 700 float _2q1q3 = 2.0f * q1 * q3;
xosuuu 0:1a6e8ffa801b 701 float _2q3q4 = 2.0f * q3 * q4;
xosuuu 0:1a6e8ffa801b 702 float q1q1 = q1 * q1;
xosuuu 0:1a6e8ffa801b 703 float q1q2 = q1 * q2;
xosuuu 0:1a6e8ffa801b 704 float q1q3 = q1 * q3;
xosuuu 0:1a6e8ffa801b 705 float q1q4 = q1 * q4;
xosuuu 0:1a6e8ffa801b 706 float q2q2 = q2 * q2;
xosuuu 0:1a6e8ffa801b 707 float q2q3 = q2 * q3;
xosuuu 0:1a6e8ffa801b 708 float q2q4 = q2 * q4;
xosuuu 0:1a6e8ffa801b 709 float q3q3 = q3 * q3;
xosuuu 0:1a6e8ffa801b 710 float q3q4 = q3 * q4;
xosuuu 0:1a6e8ffa801b 711 float q4q4 = q4 * q4;
xosuuu 0:1a6e8ffa801b 712
xosuuu 0:1a6e8ffa801b 713 // Normalise accelerometer measurement
xosuuu 0:1a6e8ffa801b 714 norm = sqrt(ax * ax + ay * ay + az * az);
xosuuu 0:1a6e8ffa801b 715 if (norm == 0.0f) return; // handle NaN
xosuuu 0:1a6e8ffa801b 716 norm = 1.0f/norm;
xosuuu 0:1a6e8ffa801b 717 ax *= norm;
xosuuu 0:1a6e8ffa801b 718 ay *= norm;
xosuuu 0:1a6e8ffa801b 719 az *= norm;
xosuuu 0:1a6e8ffa801b 720
xosuuu 0:1a6e8ffa801b 721 // Normalise magnetometer measurement
xosuuu 0:1a6e8ffa801b 722 norm = sqrt(mx * mx + my * my + mz * mz);
xosuuu 0:1a6e8ffa801b 723 if (norm == 0.0f) return; // handle NaN
xosuuu 0:1a6e8ffa801b 724 norm = 1.0f/norm;
xosuuu 0:1a6e8ffa801b 725 mx *= norm;
xosuuu 0:1a6e8ffa801b 726 my *= norm;
xosuuu 0:1a6e8ffa801b 727 mz *= norm;
xosuuu 0:1a6e8ffa801b 728
xosuuu 0:1a6e8ffa801b 729 // Reference direction of Earth's magnetic field
xosuuu 0:1a6e8ffa801b 730 _2q1mx = 2.0f * q1 * mx;
xosuuu 0:1a6e8ffa801b 731 _2q1my = 2.0f * q1 * my;
xosuuu 0:1a6e8ffa801b 732 _2q1mz = 2.0f * q1 * mz;
xosuuu 0:1a6e8ffa801b 733 _2q2mx = 2.0f * q2 * mx;
xosuuu 0:1a6e8ffa801b 734 hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
xosuuu 0:1a6e8ffa801b 735 hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
xosuuu 0:1a6e8ffa801b 736 _2bx = sqrt(hx * hx + hy * hy);
xosuuu 0:1a6e8ffa801b 737 _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
xosuuu 0:1a6e8ffa801b 738 _4bx = 2.0f * _2bx;
xosuuu 0:1a6e8ffa801b 739 _4bz = 2.0f * _2bz;
xosuuu 0:1a6e8ffa801b 740
xosuuu 0:1a6e8ffa801b 741 // Gradient decent algorithm corrective step
xosuuu 0:1a6e8ffa801b 742 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);
xosuuu 0:1a6e8ffa801b 743 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);
xosuuu 0:1a6e8ffa801b 744 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);
xosuuu 0:1a6e8ffa801b 745 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);
xosuuu 0:1a6e8ffa801b 746 norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
xosuuu 0:1a6e8ffa801b 747 norm = 1.0f/norm;
xosuuu 0:1a6e8ffa801b 748 s1 *= norm;
xosuuu 0:1a6e8ffa801b 749 s2 *= norm;
xosuuu 0:1a6e8ffa801b 750 s3 *= norm;
xosuuu 0:1a6e8ffa801b 751 s4 *= norm;
xosuuu 0:1a6e8ffa801b 752
xosuuu 0:1a6e8ffa801b 753 // Compute rate of change of quaternion
xosuuu 0:1a6e8ffa801b 754 qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
xosuuu 0:1a6e8ffa801b 755 qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
xosuuu 0:1a6e8ffa801b 756 qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
xosuuu 0:1a6e8ffa801b 757 qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
xosuuu 0:1a6e8ffa801b 758
xosuuu 0:1a6e8ffa801b 759 // Integrate to yield quaternion
xosuuu 0:1a6e8ffa801b 760 q1 += qDot1 * deltat;
xosuuu 0:1a6e8ffa801b 761 q2 += qDot2 * deltat;
xosuuu 0:1a6e8ffa801b 762 q3 += qDot3 * deltat;
xosuuu 0:1a6e8ffa801b 763 q4 += qDot4 * deltat;
xosuuu 0:1a6e8ffa801b 764 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
xosuuu 0:1a6e8ffa801b 765 norm = 1.0f/norm;
xosuuu 0:1a6e8ffa801b 766 q[0] = q1 * norm;
xosuuu 0:1a6e8ffa801b 767 q[1] = q2 * norm;
xosuuu 0:1a6e8ffa801b 768 q[2] = q3 * norm;
xosuuu 0:1a6e8ffa801b 769 q[3] = q4 * norm;
xosuuu 0:1a6e8ffa801b 770
xosuuu 0:1a6e8ffa801b 771 }
xosuuu 0:1a6e8ffa801b 772
xosuuu 0:1a6e8ffa801b 773
xosuuu 0:1a6e8ffa801b 774
xosuuu 0:1a6e8ffa801b 775 // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
xosuuu 0:1a6e8ffa801b 776 // measured ones.
xosuuu 0:1a6e8ffa801b 777 void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
xosuuu 0:1a6e8ffa801b 778 {
xosuuu 0:1a6e8ffa801b 779 float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
xosuuu 0:1a6e8ffa801b 780 float norm;
xosuuu 0:1a6e8ffa801b 781 float hx, hy, bx, bz;
xosuuu 0:1a6e8ffa801b 782 float vx, vy, vz, wx, wy, wz;
xosuuu 0:1a6e8ffa801b 783 float ex, ey, ez;
xosuuu 0:1a6e8ffa801b 784 float pa, pb, pc;
xosuuu 0:1a6e8ffa801b 785
xosuuu 0:1a6e8ffa801b 786 // Auxiliary variables to avoid repeated arithmetic
xosuuu 0:1a6e8ffa801b 787 float q1q1 = q1 * q1;
xosuuu 0:1a6e8ffa801b 788 float q1q2 = q1 * q2;
xosuuu 0:1a6e8ffa801b 789 float q1q3 = q1 * q3;
xosuuu 0:1a6e8ffa801b 790 float q1q4 = q1 * q4;
xosuuu 0:1a6e8ffa801b 791 float q2q2 = q2 * q2;
xosuuu 0:1a6e8ffa801b 792 float q2q3 = q2 * q3;
xosuuu 0:1a6e8ffa801b 793 float q2q4 = q2 * q4;
xosuuu 0:1a6e8ffa801b 794 float q3q3 = q3 * q3;
xosuuu 0:1a6e8ffa801b 795 float q3q4 = q3 * q4;
xosuuu 0:1a6e8ffa801b 796 float q4q4 = q4 * q4;
xosuuu 0:1a6e8ffa801b 797
xosuuu 0:1a6e8ffa801b 798 // Normalise accelerometer measurement
xosuuu 0:1a6e8ffa801b 799 norm = sqrt(ax * ax + ay * ay + az * az);
xosuuu 0:1a6e8ffa801b 800 if (norm == 0.0f) return; // handle NaN
xosuuu 0:1a6e8ffa801b 801 norm = 1.0f / norm; // use reciprocal for division
xosuuu 0:1a6e8ffa801b 802 ax *= norm;
xosuuu 0:1a6e8ffa801b 803 ay *= norm;
xosuuu 0:1a6e8ffa801b 804 az *= norm;
xosuuu 0:1a6e8ffa801b 805
xosuuu 0:1a6e8ffa801b 806 // Normalise magnetometer measurement
xosuuu 0:1a6e8ffa801b 807 norm = sqrt(mx * mx + my * my + mz * mz);
xosuuu 0:1a6e8ffa801b 808 if (norm == 0.0f) return; // handle NaN
xosuuu 0:1a6e8ffa801b 809 norm = 1.0f / norm; // use reciprocal for division
xosuuu 0:1a6e8ffa801b 810 mx *= norm;
xosuuu 0:1a6e8ffa801b 811 my *= norm;
xosuuu 0:1a6e8ffa801b 812 mz *= norm;
xosuuu 0:1a6e8ffa801b 813
xosuuu 0:1a6e8ffa801b 814 // Reference direction of Earth's magnetic field
xosuuu 0:1a6e8ffa801b 815 hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
xosuuu 0:1a6e8ffa801b 816 hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
xosuuu 0:1a6e8ffa801b 817 bx = sqrt((hx * hx) + (hy * hy));
xosuuu 0:1a6e8ffa801b 818 bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
xosuuu 0:1a6e8ffa801b 819
xosuuu 0:1a6e8ffa801b 820 // Estimated direction of gravity and magnetic field
xosuuu 0:1a6e8ffa801b 821 vx = 2.0f * (q2q4 - q1q3);
xosuuu 0:1a6e8ffa801b 822 vy = 2.0f * (q1q2 + q3q4);
xosuuu 0:1a6e8ffa801b 823 vz = q1q1 - q2q2 - q3q3 + q4q4;
xosuuu 0:1a6e8ffa801b 824 wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
xosuuu 0:1a6e8ffa801b 825 wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
xosuuu 0:1a6e8ffa801b 826 wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
xosuuu 0:1a6e8ffa801b 827
xosuuu 0:1a6e8ffa801b 828 // Error is cross product between estimated direction and measured direction of gravity
xosuuu 0:1a6e8ffa801b 829 ex = (ay * vz - az * vy) + (my * wz - mz * wy);
xosuuu 0:1a6e8ffa801b 830 ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
xosuuu 0:1a6e8ffa801b 831 ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
xosuuu 0:1a6e8ffa801b 832 if (Ki > 0.0f)
xosuuu 0:1a6e8ffa801b 833 {
xosuuu 0:1a6e8ffa801b 834 eInt[0] += ex; // accumulate integral error
xosuuu 0:1a6e8ffa801b 835 eInt[1] += ey;
xosuuu 0:1a6e8ffa801b 836 eInt[2] += ez;
xosuuu 0:1a6e8ffa801b 837 }
xosuuu 0:1a6e8ffa801b 838 else
xosuuu 0:1a6e8ffa801b 839 {
xosuuu 0:1a6e8ffa801b 840 eInt[0] = 0.0f; // prevent integral wind up
xosuuu 0:1a6e8ffa801b 841 eInt[1] = 0.0f;
xosuuu 0:1a6e8ffa801b 842 eInt[2] = 0.0f;
xosuuu 0:1a6e8ffa801b 843 }
xosuuu 0:1a6e8ffa801b 844
xosuuu 0:1a6e8ffa801b 845 // Apply feedback terms
xosuuu 0:1a6e8ffa801b 846 gx = gx + Kp * ex + Ki * eInt[0];
xosuuu 0:1a6e8ffa801b 847 gy = gy + Kp * ey + Ki * eInt[1];
xosuuu 0:1a6e8ffa801b 848 gz = gz + Kp * ez + Ki * eInt[2];
xosuuu 0:1a6e8ffa801b 849
xosuuu 0:1a6e8ffa801b 850 // Integrate rate of change of quaternion
xosuuu 0:1a6e8ffa801b 851 pa = q2;
xosuuu 0:1a6e8ffa801b 852 pb = q3;
xosuuu 0:1a6e8ffa801b 853 pc = q4;
xosuuu 0:1a6e8ffa801b 854 q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
xosuuu 0:1a6e8ffa801b 855 q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
xosuuu 0:1a6e8ffa801b 856 q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
xosuuu 0:1a6e8ffa801b 857 q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
xosuuu 0:1a6e8ffa801b 858
xosuuu 0:1a6e8ffa801b 859 // Normalise quaternion
xosuuu 0:1a6e8ffa801b 860 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
xosuuu 0:1a6e8ffa801b 861 norm = 1.0f / norm;
xosuuu 0:1a6e8ffa801b 862 q[0] = q1 * norm;
xosuuu 0:1a6e8ffa801b 863 q[1] = q2 * norm;
xosuuu 0:1a6e8ffa801b 864 q[2] = q3 * norm;
xosuuu 0:1a6e8ffa801b 865 q[3] = q4 * norm;
xosuuu 0:1a6e8ffa801b 866
xosuuu 0:1a6e8ffa801b 867 }
xosuuu 0:1a6e8ffa801b 868 };
xosuuu 0:1a6e8ffa801b 869 #endif