Team H - TVZ Seminar
/
Zavrsni_Daljinski
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Dependencies: mbed SSD1308_128x64_I2C
Revision 2:0cf2ef636323, committed 2019-09-07
- Comitter:
- jjokocha
- Date:
- Sat Sep 07 16:55:08 2019 +0000
- Parent:
- 1:4c27d179c6c2
- Commit message:
- kommit
Changed in this revision
| MPU9250.h | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250.h Sat Sep 07 16:55:08 2019 +0000
@@ -0,0 +1,887 @@
+#ifndef MPU9250_H
+#define MPU9250_H
+
+#include "mbed.h"
+#include "math.h"
+
+#define USE_ISR 0 // poll or data ready interrupt
+
+// 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 WHO_AM_I_AK8963 0x00 // should return 0x48
+#define INFO 0x01
+#define AK8963_ST1 0x02 // data ready status bit 0
+#define AK8963_XOUT_L 0x03 // data
+#define AK8963_XOUT_H 0x04
+#define AK8963_YOUT_L 0x05
+#define AK8963_YOUT_H 0x06
+#define AK8963_ZOUT_L 0x07
+#define AK8963_ZOUT_H 0x08
+#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
+#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
+#define AK8963_ASTC 0x0C // Self test control
+#define AK8963_I2CDIS 0x0F // I2C disable
+#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
+#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
+#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
+
+#define SELF_TEST_X_GYRO 0x00
+#define SELF_TEST_Y_GYRO 0x01
+#define SELF_TEST_Z_GYRO 0x02
+
+/*#define X_FINE_GAIN 0x03 // [7:0] fine gain
+#define Y_FINE_GAIN 0x04
+#define Z_FINE_GAIN 0x05
+#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
+#define XA_OFFSET_L_TC 0x07
+#define YA_OFFSET_H 0x08
+#define YA_OFFSET_L_TC 0x09
+#define ZA_OFFSET_H 0x0A
+#define ZA_OFFSET_L_TC 0x0B */
+
+#define SELF_TEST_X_ACCEL 0x0D
+#define SELF_TEST_Y_ACCEL 0x0E
+#define SELF_TEST_Z_ACCEL 0x0F
+
+#define SELF_TEST_A 0x10
+
+#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
+#define XG_OFFSET_L 0x14
+#define YG_OFFSET_H 0x15
+#define YG_OFFSET_L 0x16
+#define ZG_OFFSET_H 0x17
+#define ZG_OFFSET_L 0x18
+#define SMPLRT_DIV 0x19
+#define CONFIG 0x1A
+#define GYRO_CONFIG 0x1B
+#define ACCEL_CONFIG 0x1C
+#define ACCEL_CONFIG2 0x1D
+#define LP_ACCEL_ODR 0x1E
+#define WOM_THR 0x1F
+
+#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
+#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
+#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
+
+#define FIFO_EN 0x23
+#define I2C_MST_CTRL 0x24
+#define I2C_SLV0_ADDR 0x25
+#define I2C_SLV0_REG 0x26
+#define I2C_SLV0_CTRL 0x27
+#define I2C_SLV1_ADDR 0x28
+#define I2C_SLV1_REG 0x29
+#define I2C_SLV1_CTRL 0x2A
+#define I2C_SLV2_ADDR 0x2B
+#define I2C_SLV2_REG 0x2C
+#define I2C_SLV2_CTRL 0x2D
+#define I2C_SLV3_ADDR 0x2E
+#define I2C_SLV3_REG 0x2F
+#define I2C_SLV3_CTRL 0x30
+#define I2C_SLV4_ADDR 0x31
+#define I2C_SLV4_REG 0x32
+#define I2C_SLV4_DO 0x33
+#define I2C_SLV4_CTRL 0x34
+#define I2C_SLV4_DI 0x35
+#define I2C_MST_STATUS 0x36
+#define INT_PIN_CFG 0x37
+#define INT_ENABLE 0x38
+#define DMP_INT_STATUS 0x39 // Check DMP interrupt
+#define INT_STATUS 0x3A
+#define ACCEL_XOUT_H 0x3B
+#define ACCEL_XOUT_L 0x3C
+#define ACCEL_YOUT_H 0x3D
+#define ACCEL_YOUT_L 0x3E
+#define ACCEL_ZOUT_H 0x3F
+#define ACCEL_ZOUT_L 0x40
+#define TEMP_OUT_H 0x41
+#define TEMP_OUT_L 0x42
+#define GYRO_XOUT_H 0x43
+#define GYRO_XOUT_L 0x44
+#define GYRO_YOUT_H 0x45
+#define GYRO_YOUT_L 0x46
+#define GYRO_ZOUT_H 0x47
+#define GYRO_ZOUT_L 0x48
+#define EXT_SENS_DATA_00 0x49
+#define EXT_SENS_DATA_01 0x4A
+#define EXT_SENS_DATA_02 0x4B
+#define EXT_SENS_DATA_03 0x4C
+#define EXT_SENS_DATA_04 0x4D
+#define EXT_SENS_DATA_05 0x4E
+#define EXT_SENS_DATA_06 0x4F
+#define EXT_SENS_DATA_07 0x50
+#define EXT_SENS_DATA_08 0x51
+#define EXT_SENS_DATA_09 0x52
+#define EXT_SENS_DATA_10 0x53
+#define EXT_SENS_DATA_11 0x54
+#define EXT_SENS_DATA_12 0x55
+#define EXT_SENS_DATA_13 0x56
+#define EXT_SENS_DATA_14 0x57
+#define EXT_SENS_DATA_15 0x58
+#define EXT_SENS_DATA_16 0x59
+#define EXT_SENS_DATA_17 0x5A
+#define EXT_SENS_DATA_18 0x5B
+#define EXT_SENS_DATA_19 0x5C
+#define EXT_SENS_DATA_20 0x5D
+#define EXT_SENS_DATA_21 0x5E
+#define EXT_SENS_DATA_22 0x5F
+#define EXT_SENS_DATA_23 0x60
+#define MOT_DETECT_STATUS 0x61
+#define I2C_SLV0_DO 0x63
+#define I2C_SLV1_DO 0x64
+#define I2C_SLV2_DO 0x65
+#define I2C_SLV3_DO 0x66
+#define I2C_MST_DELAY_CTRL 0x67
+#define SIGNAL_PATH_RESET 0x68
+#define MOT_DETECT_CTRL 0x69
+#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
+#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
+#define PWR_MGMT_2 0x6C
+#define DMP_BANK 0x6D // Activates a specific bank in the DMP
+#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
+#define DMP_REG 0x6F // Register in DMP from which to read or to which to write
+#define DMP_REG_1 0x70
+#define DMP_REG_2 0x71
+#define FIFO_COUNTH 0x72
+#define FIFO_COUNTL 0x73
+#define FIFO_R_W 0x74
+#define WHO_AM_I_MPU9250 0x75 // Should return 0x71
+#define XA_OFFSET_H 0x77
+#define XA_OFFSET_L 0x78
+#define YA_OFFSET_H 0x7A
+#define YA_OFFSET_L 0x7B
+#define ZA_OFFSET_H 0x7D
+#define ZA_OFFSET_L 0x7E
+
+// Using the MSENSR-9250 breakout board, ADO is set to 0
+// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
+//mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
+#define ADO 0
+#if ADO
+#define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
+#else
+#define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
+#endif
+
+// 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)
+//#define I2C_SDA PB_7
+//#define I2C_SCL PB_6
+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];
+
+
+
+// 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 = sqrtf(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 = sqrtf(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*4219.0/8190.0; // Proper scale to return milliGauss
+ break;
+ case MFS_16BITS:
+ mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss
+ break;
+ }
+}
+
+
+void 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
+
+#if USE_ISR
+ writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x12); // INT is 50 microsecond pulse and any read to clear
+#else
+ writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
+#endif
+ 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, 1<<FS); // Set full scale range for the gyro to 250 dps
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
+
+ for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer
+
+ readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
+ aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+ aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+ aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+
+ readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
+ gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+ gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+ gAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+ }
+
+ for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average current readings
+ aAvg[ii] /= 200;
+ gAvg[ii] /= 200;
+ }
+
+// Configure the accelerometer for self-test
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
+ writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
+ wait(0.025); // 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(0.025); // 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 = sqrtf(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 = sqrtf(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 = sqrtf(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 = sqrtf(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 = sqrtf(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 = sqrtf(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 = sqrtf((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 = sqrtf(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
\ No newline at end of file
--- a/main.cpp Mon Aug 26 09:47:32 2019 +0000
+++ b/main.cpp Sat Sep 07 16:55:08 2019 +0000
@@ -1,8 +1,7 @@
#include "mbed.h"
-//#include <math.h> //Probo sma bez toga radi sve pa nije ni potrebno mozda tj tamo kad ubacis onaj library i kod za akcelometar ce trebat mozda vidi sta taj main ima includano
-//#include "SSD1308.h" //lib za ekran to cu ti isto donjet jedan dan
-
-//#define AVG 5 //Broj mjerenja za pocetni gps, ne koristi se jer nema gpsa
+#include "MPU9250.h"
+#include <math.h>
+#include "SSD1308.h"
#define cal_num 10 // broj ocitanja analognih ulaza za kalibraciju, za dobivanje srednje vrijednosti
//Analogni ulazi
@@ -14,7 +13,6 @@
AnalogIn a6(PA_6);
AnalogIn abat(PA_7);
-//Digitalni ulazi SW su oni gumbici desno (3) a JSW su gumbici kad stisnes joystick
DigitalIn SW1(PA_11);
DigitalIn SW2(PB_5);
DigitalIn SW3(PB_4);
@@ -24,77 +22,39 @@
DigitalIn TSW(PB_1);
//Serijska veza sa modulom za radio komunikaciju to samo prosljeduje poruku koda koristi print na PC i tera term
Serial hc(PA_9, PA_10);
-//Serial pc(PA_2, PA_15);
+Serial pc(PA_2, PA_15);
-//Proglasio i2c pinove za prosljedivanje ekranu al mozda ces moc i prosljedit akcelometru odmah
-I2C i2c(PB_7, PB_6);
-//Tak je pisalo u biblioteci da se proglasava
+//I2C i2c(PB_7, PB_6);
+
//SSD1308 oled = SSD1308(&i2c, SSD1308_SA0);
-// GPS //
-/*
-char data[300];
-int i=0;
-char ndone=1;
-char avg_count=0;
-
-float LAT,LON,TIME;
-char NS,EW,status;
-float check;
-int latdeg,londeg;
-float latmin,lonmin;
-float lat_arr[AVG];
-float lon_arr[AVG];
-*/
-
-short TH,PI,RO,YA,TH_def;//Throttle pitch roll yaw i TH_def, th def mos promjenit ime u nes smisleno tipa th_novi il tak nes jer ovo def nemam pojma zas sam stavio nema nikakve veze s nicim
+short TH,PT,RO,YA,TH_def;//Throttle pitch roll yaw i TH_def
float x1_ar,x2_ar,x3_ar,y1_ar,y2_ar,y3_ar; //privremene varijable za zbrajanje ulaza, ocitava se znaci analagni ulaz i zbroji sa prijasnjim pa se na krjau sve podjeli s broje ocitanja
-//realno bolje je da ovu liniju stavis u funkciju dolje od kalibracije posto se ti brojevi samo koriste u funkciji al nije bitno
-short mid_point=50; //to samo drzi vrijednos tkoju smatramo sredinom u nasem slucaju 50 (analogni ulaz ide od 0 do 1.0 pomnozen sa sto od 0 do 100%)
-short x1_cor,x2_cor,x3_cor,y1_cor,y2_cor,y3_cor; //ovo drzi korekcijski broj
+short mid_point=50; //vrijednost koju smatramo sredinom u nasem slucaju 50 (analogni ulaz ide od 0 do 1.0 pomnozen sa sto od 0 do 100%)
+short x1_cor,x2_cor,x3_cor,y1_cor,y2_cor,y3_cor; // korekcijski broj
short low_us=1350; //inace 1000 al da smanjimo osjetljivost joysticka smo stavili 1350 pa ide do 1650
short multiplier_us=3; // s tim mnozimo nas izracunati analogni ulaz u nominalnom stanju 50*3 znaci 150 + 1350 =1500us posto dron prima od 1000 do 2000us s tim da
-// za ove vrijednosti roll pitch yaw je 1500 nominalno di se ne dogada nista a pomak prema 2000 il 1000 oznacava zakret oko osi to si mos ili u mom radu pogled ili guglas pitch yaw roll i pogleda slike da znas sta je oko koje osi
-//ako je pozitivni smjer x osi u smjeru gibanja drona onda ti je yaw zakret oko Z osi znaci dron se okrece ljevo desno, pitch je pomak oko Y dron ima nagib naprijed nazad i roll je oko x osi znaci dron ima nagib ljevo il desno
-
-//flag za gps kad je 0 hocemo upravljat mi dronom ako se digne u 2 gps upravlja dronom
-int rcom=0;
-//nemam pojma sta sma tu mislio ne koristi se za nis
-//int arcom;
+// za ove vrijednosti roll pitch yaw je 1500 nominalno di se ne dogada nista a pomak prema 2000 il 1000 oznacava zakret oko osi
-//gps funkcije
-/*
-void reads();
-void rounder();
-int get_deg(float);
-float get_min(float);
-void avg_read();
-*/
+int rcom=0;
+
//spremanje napona baterije
float vbat;
-//vrijednost otpornickog djelila znaci ulazni napon podjeljeno s tim daje napon baterije s tim da ulazni napon tj ocitanje analognog ulaza (0-1) moras prvo pomnoziti sa 3.3
+//vrijednost otpornickog djelila znaci ulazni napon podjeljeno s tim daje napon baterije s tim da ulazni napon tj ocitanje analognog ulaza (0-1)* 3.3
float bat_divider=0.703313;
-
-//moras prvo proglasiti koliko je dugacak string za oled (,malo cudno), a posto je string ustvari array char to radis tako, ovjde mozemo imat 30 znakova u nasoj poruci z aoled moze s epovecat
char oled_str[30];
-
-//prototip funkcije da ju mos pozvat u main makar je napravljena ispod maina
-//kalibracija analognih ulaza
void calibration();
-//skaliranje throttlea da ne ide od 1000 do 2000 nego da se postepeno penje za 10 ovisno jel drzis joystick prema gore ili dolje
void th_calc();
int main(){
- //switchevi su spojeni s jedne strane na mbed s druge na 3.3v pa ih pull downam da budu default 0 pa kad ih spojim skoce na 1
+
SW1.mode(PullDown);
SW2.mode(PullDown);
SW3.mode(PullDown);
JSW1.mode(PullDown);
- //naravno kinezi sposobni imaju svoj krug na joysticku za gumb i na jednom gumbu je isto tak pin spojen na mbed a drugi na VCC il sta vec pise na toj maloj plocici od joysticka
- //ali na druga 2 joysticka je spojen na pin mbeda i na gnd pa sam moro default stavit pull up tj 1 a onda kad stisnes gumb id eu 0
JSW2.mode(PullUp);
- JSW3.mode(PullUp);//default 1 uvjet ako 0
- //Onaj switch izmedu 2 joysticka
+ JSW3.mode(PullUp);
+ //switch izmedu 2 joysticka
TSW.mode(PullDown);
//kalibraciju vrsim nakon sto ih sve pull up/downam
calibration();
@@ -107,12 +67,7 @@
//sprintf(oled_str, "%d", TH_def);
//oled.writeString(0, 0, oled_str);
- //ok znaci to sma ti prico vrti se petlja i ako je taj switch na 1 onda se gledaju analogni ulazi i radi joystick a ako je na 0 salje se default dronu tkao da s ene dogada nista i ne cita inpute korisnika
if(TSW.read()){
- //gps opet
- //reads();
- //avg_read();
- //rounder();
//ulaz znaci npr 0.54 default *100 =54- korekcija izracunata u kalibraciji pa je blizu 50 nekad 49 nekad 51 ali blize nego bez korekcije, *5=250
//-250=0 za default nema spustanja il dizanja TH, recimo da dizes sto je u nasem slucaju zbog naopacke zalemljenog joysticka ustvari prema dolje (zato je -1 tu)
//ond aje npr 0.74*100 -korekcija =70*5=350 -250=100 pozitivan broj ali *-1 posto smo ustvari joystick pomakli prema dolje i logicno je da je to spustanje gasa
@@ -122,44 +77,43 @@
// slicno kao kod th samo ovdje nam dalje pretvorbi nego se direktno vrijednost salje dronu
//ocitano npr 0.53*100 - kalibracija =50 * multi koji je 3 znaci 150 + low us 1350 je 1500 i zbog obrnutih joysticka ovja put 3000-1500=1500
//ali da je broj npr 1250, 3000-1250= 1750 (recimo za pitch unaprijed dron treba vise od 1500 ali mi kad taj joystick pomaknemo naprijed dobijemo manje od 1500 pa zato 3000-X nam daje suprotnu vrijednost
- RO =3000-(low_us+((a3.read()*100)+y1_cor)*multiplier_us);
+ PT =3000-(low_us+((a3.read()*100)+y1_cor)*multiplier_us);
YA =3000-(low_us+((a2.read()*100)+x2_cor)*multiplier_us);
- PI =3000-(low_us+((a4.read()*100)+y2_cor)*multiplier_us);
+ RO =3000-(low_us+((a4.read()*100)+y2_cor)*multiplier_us);
+ double getme ();
+
//jos uvijek nez za sta sam to koristio
- //arcom=a5.read()*100;
- //svakim prolazom kroz petlju vracam rcom na 0 jer je to default i tek kad stisnes on postane nes drugo
+ //svakim prolazom kroz petlju vracam rcom na 0 jer je to default i tek kad stisnes on postane nes drugo, flag za gps i slično
rcom=0;
- //switch desno u sredini sluzi za gps makar je sad na dronu iskljucen pa ga mos stiskat kolko hoces
+ //switch desno u sredini sluzi za gps
if(SW2.read()==1){
rcom=2;
}
- //switch skroz dolje desno sluzi za Arming drona moras mu poslat tocno te vrijednosti
+ //switch skroz dolje desno sluzi za Arming drona
if(SW3.read()==1){
hc.printf("MSG,%hd,%hd,%hd,%hd,%hd,%d,%d,%d\n",1000,1000,1000,1000,2000,0,0,0);
}
- //ako nisi nista stisnuo salje se ono sa inputa normalno inace ak ne diras nes th_def je 1000 pi ro ya su 1500 rcom 0 a ove 2 nule izmedu su za longitude i latitude od gpsa
+
else{
- hc.printf("MSG,%hd,%hd,%hd,%hd,%hd,%d,%d,%d\n",TH_def,PI,RO,YA,1000,0,0,rcom);
+ hc.printf("MSG,%hd,%hd,%hd,%hd,%hd,%d,%d,%d\n",TH_def,RO,PT,YA,1000,0,0,rcom);
+ pc.printf("MSG,%hd,%hd,%hd,%hd,%hd,%d,%d,%d\n",TH_def,RO,PT,YA,1000,0,0,rcom);
+ pc.printf("%0.2f\n",vbat);
+ pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
}
//testiranje na pcu
//printf("%hd,%hd,%hd,%hd,%hd,%hd\n",x1,y1,x2,y2,sw1.read(),sw2.read());
//printf("%hd,%hd,%hd,%hd\n",sw1.read(),sw2.read(),sw3.read(),tog1.read());
- //napon baterije mos pokazat na ekranu kao, bilo bi jebeno da sam implementiro da dron salje napon baterije svoje al jbg to nije tvoj dio ti mos na ekranu napisat Dron bat=? kao da si napravio sve d amoze primit al huda nije slao
- //vbat=(abat.read()*3.3f)/bat_divider;
+ vbat=(abat.read()*3.3f)/bat_divider;
//ispis na komp
- //printf("%0.2f\n",vbat);
- //zelimo da salje sto vise ali opet ne zelimo pretjerati 10ms je ok , dron nece pola tih poruka procitat jer nema prekida na dronu za serijski ulaz pa ustvari svakim prolaz kroz
- // glavnu petlju drona ja gledam jel ima sta, ovak brzim slanjem izbjegavamo to da se mimoidu pa da dron mora bit u petlji cekat poruku jer daljinski salje tolko brzo da dron nikad ne mora cekat ustvari
+ pc.printf("%0.2f\n",vbat);
wait_ms(10);//
}
- //ako switch nije ukljucen salje se default poruka da sse ne doagada nista
+
else{
-
hc.printf("MSG,%hd,%hd,%hd,%hd,%hd,%d,%d,%d\n",1000,1500,1500,1500,2000,0,0,0);
- //to ne moramo slat tako cesto jer se ne dogada nis dron je na tlu nema letenja
wait_ms(100);
}
@@ -167,14 +121,14 @@
}
void calibration(){
- //postavljane tih varijabli u 0
+
x1_ar=0;
x2_ar=0;
x3_ar=0;
y1_ar=0;
y2_ar=0;
y3_ar=0;
- //citanje ulaza zbrajanje sa prijasnjim
+
for(int a=0;a<cal_num;a++){
x1_ar+=a1.read();
x2_ar+=a2.read();
@@ -183,10 +137,6 @@
y2_ar+=a4.read();
y3_ar+=a6.read();
}
- //uzimamo sve zbojrene npr postose kalibracija radi dok ne mices nista recimo je x1_ar =5.4
- // /10 mjerenja je srednja vrijednost 0.54*100=54 midpoint ili ti 50-54 je -4
- //korekcijskia vrijednost je -4 znaci da kad se gore mjeri ulaz koji mozda nece bit svaki put 54 jer je to srednja vrijednost ali kakav god da bio zbrojit ce se korekcija sa njim u ovom slucaju negativna
- // pa ce to dat 50 lijepo il 49 il 51 mozda nekad i gore vrijednost ali u prosjeku ce bit blize 50 nego bez kalibracije
x1_cor=mid_point-((x1_ar/cal_num)*100);
x2_cor=mid_point-((x2_ar/cal_num)*100);
x3_cor=mid_point-((x3_ar/cal_num)*100);
@@ -197,14 +147,12 @@
}
void th_calc(){
- //ovo prvo sluzi tome da ne registriramo smetnje dok ne diramo throttle
- //jer moze vrijednost skakat malo pa sam ovako odredio da nisu te greske vece od 10, mos stavit i 20 radi sigurnosti jer i tako joystick sada mos pomaknut skroz i bit ce isto ko kad ga pomaknes malo
- //jer se ne gleda sama vrijednost nego jel pozitivna il negativna (osim naravno u toj prvoj provjeri za smetnje)
- if(abs(TH)<10){
+
+ if(abs(TH)<20){
TH_def+=0;
}
else{
- //ako je veca povecaj th def za 10 ak je manja od 0 smanji th def za 10
+ //ako je veca povecaj th def za 10, ako je manja od 0 smanji th def za 10
if(TH>0){
TH_def+=10;
}
@@ -215,76 +163,178 @@
//sprjecavamo da ode izvan granica
if(TH_def<1000)TH_def=1000;
if(TH_def>2000)TH_def=2000;
- // u slucaju da osoba stisne gumb na joysticku ljevo gore th se spusta na 1000 th zaustavlaju se motori
- //sad bjaza moze pitat zas to nije prekid na sto nemam dobar odgovor jer se ne sjecam jel bilo problema kad sam stavio prekid il jednostavno nije bio potreban
- //ali mozes argumentirat da ako stisnemo gum u trenutku slanja poruke prekid moze zasmetat i mozemo poslat "losu" poruku dali ce to izazvat probleme vjerojatno ne jer ce se 10ms kasnije poslat druga poruka
- // a i realno slanje poruka unutar prekida nije najbolje rjesenje jer se izbjegavaju radit takve stvari u prekidu pa kad bi u prekid samo stavili ovo th_def=1000 opet bi se to tek poslalo kad bi se slala slijedeca poruka
- //petlja se odvija toliko brzo da prekid stvarno nije potreban pogotovo kad uzmemo brzinu ljudskih refleksi u obzir tih par ms je nebitno, mislim onaj delay od 10 se moze maknut i petlja se ce odvijat maksimalnom brzinom
- //bez negativnih posljedica
- if(JSW1.read()==1)TH_def=1000;
+ // u slucaju da osoba stisne gumb na joysticku lijevo th se spusta na 1000 th zaustavlaju se motori
+ if(JSW2.read()==1)TH_def=1000;
}
-//// GPS /////
-/*
+
+//Spojio na standardne pinove 14,15 s desne strane ploce mislimd a su to pb9 i pb8
+//onda ko i kog magnetometras idu otpornici sa sda i scl na 3.3v
+//VCC 5 ili 3.3 probaj s 3.3 ak
+//GND gnd
+//SCL scl
+//sda sda
+//eda i ecl na nista
+//AD0 na GND
+//i ova ostala 3 na nista, INT,NCS,FSYNC
+
-void reads(){
- while(avg_count<AVG){
- while(gps.getc() != '$');
- while(ndone){
- data[i]=gps.getc();
- pc.printf("%c",data[i]);
- if(data[i]=='\r'){
- data[i]='\0';
- ndone=0;
- }
- i++;
- }
- //GPGLL,4540.45939,N,01539.27211,E,164202.00,A,A*64
- if(sscanf(data,"GPGLL,%f,%c,%f,%c,%f,%c,%f",&LAT, &NS, &LON, &EW, &TIME, &status, &check) >= 1) {
- pc.printf("%s\n",data);
- lat_arr[avg_count]=LAT;
- lon_arr[avg_count]=LON;
- avg_count++;
-
- time = time + 20000.00f;
- hour = int(time) / 10000;
- minute = (int(time) % 10000) / 100;
- seconed = int(time) % 100;
-
-
- }
- memset(data, 0, i);
- ndone=1;
- i=0;
- }
+float sum = 0;
+uint32_t sumCount = 0;
+
+MPU9250 mpu9250;
+
+Timer t;
+
+//Serial pc(PA_2, PA_3); // tx, rx
+
+volatile bool newData = false;
+
+InterruptIn isrPin(D12); //k64 D12 dragon PD_0
+
+void mpuisr()
+{
+ newData=true;
}
-void rounder(){
- latdeg=get_deg(LAT);
- londeg=get_deg(LON);
- latmin=get_min(LAT);
- lonmin=get_min(LON);
- pc.printf("%d %.3f, %d %.3f\n",latdeg,latmin,londeg,lonmin);
-}
+void ziroskop()
+{
+ pc.baud(9600);
+
+ //Set up I2C
+ i2c.frequency(400000); // use fast (400 kHz) I2C
+
+ pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+
+ t.start();
+ isrPin.rise(&mpuisr);
+
+ // 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);
+
+
+ mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+ mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+
+ wait(2);
+ mpu9250.initMPU9250();
+ mpu9250.initAK8963(magCalibration);
+ 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);
+
+
+ while(1) ; // Loop forever if communication doesn't happen
+ }
+
+ 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) {
+ static int readycnt=0;
+ // If intPin goes high, all data registers have new data
+
+#if USE_ISR
+ if(newData) {
+ newData=false;
+ mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS); //? need this with ISR
+#else
+ if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
+#endif
+ readycnt++;
+ 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];
-int get_deg(float fnum){
- return floor(fnum/100.0f);
+ 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++;
+
+
+ // Pass gyro rate as rad/s
+ uint32_t us = t.read_us();
+ mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+ us = t.read_us()-us;
+ int delt_t = 0; // used to control display output rate
+ int count = 0; // used to control display output rate
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+ if (delt_t > 500) { // update LCD once per half-second independent of read rate
+ pc.printf("readycnt %d us %d\n",readycnt,us);
+ readycnt=0;
+ pc.printf("ax = %f", 1000*ax);
+ pc.printf(" ay = %f", 1000*ay);
+ pc.printf(" az = %f mg\n\r", 1000*az);
+
+ pc.printf("gx = %f", gx);
+ pc.printf(" gy = %f", gy);
+ pc.printf(" gz = %f deg/s\n\r", 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]);
+
+ 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 += 3.95f; // Godine 2018 magnetna deklinacija je +3* 57’ za Zagreb
+ roll *= 180.0f / PI;
+
+ pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+
+ count = t.read_ms();
+ sum = 0;
+ sumCount = 0;
+
+ }
+ }
+
}
-float get_min(float fnum){
- unsigned int tempmini=(int(fnum*1000))%100000;
- return tempmini/1000.0f;
-}
-
-void avg_read(){
- LAT=0;
- LON=0;
- for(int k=0;k<AVG;k++){
- LAT+=lat_arr[k];
- LON+=lon_arr[k];
- }
- LAT=LAT/AVG;
- LON=LON/AVG;
-}
-
-*/
-