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Mon Apr 02 10:18:44 2018 +0000
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diff -r 3af6fae90816 -r 852156b5cca1 MPU9250.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250.h	Mon Apr 02 10:18:44 2018 +0000
@@ -0,0 +1,874 @@
+#ifndef MPU9250_H
+#define MPU9250_H
+ 
+#include "mbed.h"
+#include "math.h"
+ 
+// See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in 
+// above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
+//
+//Magnetometer Registers
+#define AK8963_ADDRESS   0x0C<<1
+#define 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)
+I2C i2c(I2C_SDA, I2C_SCL);
+
+DigitalOut myled(LED1);
+    
+// Pin definitions
+int intPin = 12;  // These can be changed, 2 and 3 are the Arduinos ext int pins
+
+int16_t accelCount[3];  // Stores the 16-bit signed accelerometer sensor output
+int16_t gyroCount[3];   // Stores the 16-bit signed gyro sensor output
+int16_t magCount[3];    // Stores the 16-bit signed magnetometer sensor output
+float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0};  // Factory mag calibration and mag bias
+float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
+float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values 
+int16_t tempCount;   // Stores the real internal chip temperature in degrees Celsius
+float temperature;
+float SelfTest[6];
+
+int delt_t = 0; // used to control display output rate
+int count = 0;  // used to control display output rate
+
+// parameters for 6 DoF sensor fusion calculations
+float PI = 3.14159265358979323846f;
+float GyroMeasError = PI * (60.0f / 180.0f);     // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
+float beta = sqrt(3.0f / 4.0f) * GyroMeasError;  // compute beta
+float GyroMeasDrift = PI * (1.0f / 180.0f);      // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
+float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift;  // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
+#define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
+#define Ki 0.0f
+
+float pitch, yaw, roll;
+float deltat = 0.0f;                             // integration interval for both filter schemes
+int lastUpdate = 0, firstUpdate = 0, Now = 0;    // used to calculate integration interval                               // used to calculate integration interval
+float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};           // vector to hold quaternion
+float eInt[3] = {0.0f, 0.0f, 0.0f};              // vector to hold integral error for Mahony method
+
+class MPU9250 {
+ 
+    protected:
+ 
+    public:
+  //===================================================================================================================
+//====== Set of useful function to access acceleratio, gyroscope, and temperature data
+//===================================================================================================================
+
+    void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
+{
+   char data_write[2];
+   data_write[0] = subAddress;
+   data_write[1] = data;
+   i2c.write(address, data_write, 2, 0);
+}
+
+    char readByte(uint8_t address, uint8_t subAddress)
+{
+    char data[1]; // `data` will store the register data     
+    char data_write[1];
+    data_write[0] = subAddress;
+    i2c.write(address, data_write, 1, 1); // no stop
+    i2c.read(address, data, 1, 0); 
+    return data[0]; 
+}
+
+    void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
+{     
+    char data[14];
+    char data_write[1];
+    data_write[0] = subAddress;
+    i2c.write(address, data_write, 1, 1); // no stop
+    i2c.read(address, data, count, 0); 
+    for(int ii = 0; ii < count; ii++) {
+     dest[ii] = data[ii];
+    }
+} 
+ 
+
+void getMres() {
+  switch (Mscale)
+  {
+    // Possible magnetometer scales (and their register bit settings) are:
+    // 14 bit resolution (0) and 16 bit resolution (1)
+    case MFS_14BITS:
+          mRes = 10.0*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);
+  writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] 
+  writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
+  writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
+   
+ // Set accelerometer configuration
+  c =  readByte(MPU9250_ADDRESS, ACCEL_CONFIG);
+  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] 
+  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
+  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer 
+
+ // 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);
+  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])  
+  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
+
+ // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates, 
+ // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
+
+  // Configure Interrupts and Bypass Enable
+  // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips 
+  // can join the I2C bus and all can be controlled by the Arduino as master
+   writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);    
+   writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01);  // Enable data ready (bit 0) interrupt
+}
+
+// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
+// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
+void calibrateMPU9250(float * dest1, float * dest2)
+{  
+  uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
+  uint16_t ii, packet_count, fifo_count;
+  int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
+  
+// reset device, reset all registers, clear gyro and accelerometer bias registers
+  writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
+  wait(0.1);  
+   
+// get stable time source
+// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
+  writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);  
+  writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00); 
+  wait(0.2);
+  
+// Configure device for bias calculation
+  writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00);   // Disable all interrupts
+  writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00);      // Disable FIFO
+  writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00);   // Turn on internal clock source
+  writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
+  writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00);    // Disable FIFO and I2C master modes
+  writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C);    // Reset FIFO and DMP
+  wait(0.015);
+  
+// Configure MPU9250 gyro and accelerometer for bias calculation
+  writeByte(MPU9250_ADDRESS, CONFIG, 0x01);      // Set low-pass filter to 188 Hz
+  writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00);  // Set sample rate to 1 kHz
+  writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);  // Set gyro full-scale to 250 degrees per second, maximum sensitivity
+  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
+ 
+  uint16_t  gyrosensitivity  = 131;   // = 131 LSB/degrees/sec
+  uint16_t  accelsensitivity = 16384;  // = 16384 LSB/g
+
+// Configure FIFO to capture accelerometer and gyro data for bias calculation
+  writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40);   // Enable FIFO  
+  writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78);     // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250)
+  wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes
+
+// At end of sample accumulation, turn off FIFO sensor read
+  writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00);        // Disable gyro and accelerometer sensors for FIFO
+  readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
+  fifo_count = ((uint16_t)data[0] << 8) | data[1];
+  packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
+
+  for (ii = 0; ii < packet_count; ii++) {
+    int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
+    readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
+    accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1]  ) ;  // Form signed 16-bit integer for each sample in FIFO
+    accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3]  ) ;
+    accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5]  ) ;    
+    gyro_temp[0]  = (int16_t) (((int16_t)data[6] << 8) | data[7]  ) ;
+    gyro_temp[1]  = (int16_t) (((int16_t)data[8] << 8) | data[9]  ) ;
+    gyro_temp[2]  = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
+    
+    accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
+    accel_bias[1] += (int32_t) accel_temp[1];
+    accel_bias[2] += (int32_t) accel_temp[2];
+    gyro_bias[0]  += (int32_t) gyro_temp[0];
+    gyro_bias[1]  += (int32_t) gyro_temp[1];
+    gyro_bias[2]  += (int32_t) gyro_temp[2];
+            
+}
+    accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
+    accel_bias[1] /= (int32_t) packet_count;
+    accel_bias[2] /= (int32_t) packet_count;
+    gyro_bias[0]  /= (int32_t) packet_count;
+    gyro_bias[1]  /= (int32_t) packet_count;
+    gyro_bias[2]  /= (int32_t) packet_count;
+    
+  if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;}  // Remove gravity from the z-axis accelerometer bias calculation
+  else {accel_bias[2] += (int32_t) accelsensitivity;}
+ 
+// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
+  data[0] = (-gyro_bias[0]/4  >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
+  data[1] = (-gyro_bias[0]/4)       & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
+  data[2] = (-gyro_bias[1]/4  >> 8) & 0xFF;
+  data[3] = (-gyro_bias[1]/4)       & 0xFF;
+  data[4] = (-gyro_bias[2]/4  >> 8) & 0xFF;
+  data[5] = (-gyro_bias[2]/4)       & 0xFF;
+
+/// Push gyro biases to hardware registers
+/*  writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]);
+  writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]);
+  writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]);
+  writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]);
+  writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]);
+  writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]);
+*/
+  dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
+  dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
+  dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
+
+// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
+// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
+// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
+// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
+// the accelerometer biases calculated above must be divided by 8.
+
+  int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
+  readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
+  accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+  readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]);
+  accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+  readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
+  accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+  
+  uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
+  uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
+  
+  for(ii = 0; ii < 3; ii++) {
+    if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
+  }
+
+  // Construct total accelerometer bias, including calculated average accelerometer bias from above
+  accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
+  accel_bias_reg[1] -= (accel_bias[1]/8);
+  accel_bias_reg[2] -= (accel_bias[2]/8);
+ 
+  data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
+  data[1] = (accel_bias_reg[0])      & 0xFF;
+  data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+  data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
+  data[3] = (accel_bias_reg[1])      & 0xFF;
+  data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+  data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
+  data[5] = (accel_bias_reg[2])      & 0xFF;
+  data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+
+// Apparently this is not working for the acceleration biases in the MPU-9250
+// Are we handling the temperature correction bit properly?
+// Push accelerometer biases to hardware registers
+/*  writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]);
+  writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
+  writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
+  writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
+  writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
+  writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);
+*/
+// Output scaled accelerometer biases for manual subtraction in the main program
+   dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; 
+   dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
+   dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
+}
+
+
+// Accelerometer and gyroscope self test; check calibration wrt factory settings
+void MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
+{
+   uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
+   uint8_t selfTest[6];
+   int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3];
+   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_ms(25); // Delay a while to let the device stabilize
+
+  for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
+  
+  readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
+  aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+  aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+  aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+  
+    readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
+  gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+  gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+  gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+  }
+  
+  for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average self-test readings
+  aSTAvg[ii] /= 200;
+  gSTAvg[ii] /= 200;
+  }
+  
+ // Configure the gyro and accelerometer for normal operation
+   writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
+   writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
+   wait_ms(25); // Delay a while to let the device stabilize
+   
+   // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
+   selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results
+   selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results
+   selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results
+   selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results
+   selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results
+   selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results
+
+  // Retrieve factory self-test value from self-test code reads
+   factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
+   factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
+   factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
+   factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
+   factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
+   factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
+ 
+ // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
+ // To get percent, must multiply by 100
+   for (int i = 0; i < 3; i++) {
+     destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
+     destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
+   }
+   
+}
+
+
+
+// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
+// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
+// which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
+// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
+// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
+// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
+        void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
+        {
+            float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];   // short name local variable for readability
+            float norm;
+            float hx, hy, _2bx, _2bz;
+            float s1, s2, s3, s4;
+            float qDot1, qDot2, qDot3, qDot4;
+
+            // Auxiliary variables to avoid repeated arithmetic
+            float _2q1mx;
+            float _2q1my;
+            float _2q1mz;
+            float _2q2mx;
+            float _4bx;
+            float _4bz;
+            float _2q1 = 2.0f * q1;
+            float _2q2 = 2.0f * q2;
+            float _2q3 = 2.0f * q3;
+            float _2q4 = 2.0f * q4;
+            float _2q1q3 = 2.0f * q1 * q3;
+            float _2q3q4 = 2.0f * q3 * q4;
+            float q1q1 = q1 * q1;
+            float q1q2 = q1 * q2;
+            float q1q3 = q1 * q3;
+            float q1q4 = q1 * q4;
+            float q2q2 = q2 * q2;
+            float q2q3 = q2 * q3;
+            float q2q4 = q2 * q4;
+            float q3q3 = q3 * q3;
+            float q3q4 = q3 * q4;
+            float q4q4 = q4 * q4;
+
+            // Normalise accelerometer measurement
+            norm = sqrt(ax * ax + ay * ay + az * az);
+            if (norm == 0.0f) return; // handle NaN
+            norm = 1.0f/norm;
+            ax *= norm;
+            ay *= norm;
+            az *= norm;
+
+            // Normalise magnetometer measurement
+            norm = sqrt(mx * mx + my * my + mz * mz);
+            if (norm == 0.0f) return; // handle NaN
+            norm = 1.0f/norm;
+            mx *= norm;
+            my *= norm;
+            mz *= norm;
+
+            // Reference direction of Earth's magnetic field
+            _2q1mx = 2.0f * q1 * mx;
+            _2q1my = 2.0f * q1 * my;
+            _2q1mz = 2.0f * q1 * mz;
+            _2q2mx = 2.0f * q2 * mx;
+            hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
+            hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
+            _2bx = sqrt(hx * hx + hy * hy);
+            _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
+            _4bx = 2.0f * _2bx;
+            _4bz = 2.0f * _2bz;
+
+            // Gradient decent algorithm corrective step
+            s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+            s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+            s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+            s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+            norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
+            norm = 1.0f/norm;
+            s1 *= norm;
+            s2 *= norm;
+            s3 *= norm;
+            s4 *= norm;
+
+            // Compute rate of change of quaternion
+            qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
+            qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
+            qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
+            qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
+
+            // Integrate to yield quaternion
+            q1 += qDot1 * deltat;
+            q2 += qDot2 * deltat;
+            q3 += qDot3 * deltat;
+            q4 += qDot4 * deltat;
+            norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);    // normalise quaternion
+            norm = 1.0f/norm;
+            q[0] = q1 * norm;
+            q[1] = q2 * norm;
+            q[2] = q3 * norm;
+            q[3] = q4 * norm;
+
+        }
+  
+  
+  
+ // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
+ // measured ones. 
+            void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
+        {
+            float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];   // short name local variable for readability
+            float norm;
+            float hx, hy, bx, bz;
+            float vx, vy, vz, wx, wy, wz;
+            float ex, ey, ez;
+            float pa, pb, pc;
+
+            // Auxiliary variables to avoid repeated arithmetic
+            float q1q1 = q1 * q1;
+            float q1q2 = q1 * q2;
+            float q1q3 = q1 * q3;
+            float q1q4 = q1 * q4;
+            float q2q2 = q2 * q2;
+            float q2q3 = q2 * q3;
+            float q2q4 = q2 * q4;
+            float q3q3 = q3 * q3;
+            float q3q4 = q3 * q4;
+            float q4q4 = q4 * q4;   
+
+            // Normalise accelerometer measurement
+            norm = sqrt(ax * ax + ay * ay + az * az);
+            if (norm == 0.0f) return; // handle NaN
+            norm = 1.0f / norm;        // use reciprocal for division
+            ax *= norm;
+            ay *= norm;
+            az *= norm;
+
+            // Normalise magnetometer measurement
+            norm = sqrt(mx * mx + my * my + mz * mz);
+            if (norm == 0.0f) return; // handle NaN
+            norm = 1.0f / norm;        // use reciprocal for division
+            mx *= norm;
+            my *= norm;
+            mz *= norm;
+
+            // Reference direction of Earth's magnetic field
+            hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
+            hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
+            bx = sqrt((hx * hx) + (hy * hy));
+            bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
+
+            // Estimated direction of gravity and magnetic field
+            vx = 2.0f * (q2q4 - q1q3);
+            vy = 2.0f * (q1q2 + q3q4);
+            vz = q1q1 - q2q2 - q3q3 + q4q4;
+            wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
+            wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
+            wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);  
+
+            // Error is cross product between estimated direction and measured direction of gravity
+            ex = (ay * vz - az * vy) + (my * wz - mz * wy);
+            ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
+            ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
+            if (Ki > 0.0f)
+            {
+                eInt[0] += ex;      // accumulate integral error
+                eInt[1] += ey;
+                eInt[2] += ez;
+            }
+            else
+            {
+                eInt[0] = 0.0f;     // prevent integral wind up
+                eInt[1] = 0.0f;
+                eInt[2] = 0.0f;
+            }
+
+            // Apply feedback terms
+            gx = gx + Kp * ex + Ki * eInt[0];
+            gy = gy + Kp * ey + Ki * eInt[1];
+            gz = gz + Kp * ez + Ki * eInt[2];
+
+            // Integrate rate of change of quaternion
+            pa = q2;
+            pb = q3;
+            pc = q4;
+            q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
+            q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
+            q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
+            q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
+
+            // Normalise quaternion
+            norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
+            norm = 1.0f / norm;
+            q[0] = q1 * norm;
+            q[1] = q2 * norm;
+            q[2] = q3 * norm;
+            q[3] = q4 * norm;
+ 
+        }
+  };
+#endif
\ No newline at end of file
diff -r 3af6fae90816 -r 852156b5cca1 attitude.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/attitude.h	Mon Apr 02 10:18:44 2018 +0000
@@ -0,0 +1,81 @@
+#include "MPU9250.h"
+
+MPU9250 mpu9250;
+
+Timer t;
+
+void attitude_setup(void)
+{
+    i2c.frequency(400000);  // use fast (400 kHz) I2C
+    
+    t.start();
+
+    // 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
+    
+
+    if (whoami == 0x73) { // WHO_AM_I should always be 0x68
+        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);
+        wait(2);
+    } else while(1) ; // Loop forever if communication doesn't happen
+
+    mpu9250.getAres(); // Get accelerometer sensitivity
+    mpu9250.getGres(); // Get gyro sensitivity
+    mpu9250.getMres(); // Get magnetometer sensitivity
+
+    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
+}
+
+int attitude_get(void)
+{
+    // If intPin goes high, all data registers have new data
+    if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt
+
+        mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values
+        // Now we'll calculate the accleration value into actual g's
+        ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
+        ay = (float)accelCount[1]*aRes - accelBias[1];
+        az = (float)accelCount[2]*aRes - accelBias[2];
+
+        mpu9250.readGyroData(gyroCount);  // Read the x/y/z adc values
+        // Calculate the gyro value into actual degrees per second
+        gx = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
+        gy = (float)gyroCount[1]*gRes - gyroBias[1];
+        gz = (float)gyroCount[2]*gRes - gyroBias[2];
+
+        mpu9250.readMagData(magCount);  // Read the x/y/z adc values
+        // Calculate the magnetometer values in milliGauss
+        // Include factory calibration per data sheet and user environmental corrections
+        mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0];  // get actual magnetometer value, this depends on scale being set
+        my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
+        mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
+
+
+        Now = t.read_us();
+        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+        lastUpdate = Now;
+
+        // Pass gyro rate as rad/s
+        mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f,  my,  mx, mz);
+        mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+
+        yaw   = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+        pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+        roll  = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+        pitch *= 180.0f / PI;
+        yaw   *= 180.0f / PI;
+        yaw   -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
+        roll  *= 180.0f / PI;
+
+        return 0;
+    }
+    return -1;
+}
+
diff -r 3af6fae90816 -r 852156b5cca1 main.cpp
--- a/main.cpp	Sun Apr 01 14:20:53 2018 +0000
+++ b/main.cpp	Mon Apr 02 10:18:44 2018 +0000
@@ -1,65 +1,121 @@
 #include "mbed.h"
 #include "Servo.h"
 #include "rtos.h"
+#include "attitude.h"
 
 Serial pc(USBTX, USBRX);
- 
+//Serial bt(A7,A2);
+Timer timer1; 
+Thread thread1;         
+
+Thread thread2;
+
+void IMU()
+{
+    while(1) {
+    if (timer1.read_us()  >=1000)// read time in ms
+        {
+            attitude_get();
+            pc.printf(" %f \t", ax*10 ); 
+            pc.printf("  %f \t", ay*10 ); 
+            pc.printf("  %f \t", az*10 - 10); //cm/s*s
+
+            pc.printf(" %f \t", gx ); 
+            pc.printf("  %f \t", gy );  
+            pc.printf("  %f  \t", gz );  //deg/s    */
+            pc.printf("%.0f\t  %.0f \t   \n\r",  roll,   pitch ); 
+
+            timer1.reset(); // reset timer 
+            }
+            }
+}
+
 Servo Servo1(D6);
 Servo Servo2(D8);
 Servo Servo3(D9);
 Servo Servo4(D10);
 
 void myservoLeft();
+void move();
 
 int pos_down = 1400;
 int pos_up = 1000;
 int pos_down_end = 1700;
-int pos_up_end = 1700;
+int pos_up_end = ;  
+int final_posdown = 1700 ;             
+int final_posup = 1466.66;                                                                                                                    
+int state_count = 1;
+int round_count = 1;
 
 int main() {
-    pc.baud(9600);
-    wait(5);
+    pc.baud(1000000); 
+    pc.printf("malin");
+    
+    timer1.start(); // start timer counting
+    if (pc.getc() == '1')
+    {
+        thread2.start(move);
+        thread1.start(IMU); 
+    }
+    
+}
+void move() {
+    attitude_setup();
     Servo1.Enable(1000,2000);
     Servo2.Enable(1000,2000);
     Servo3.Enable(1000,2000);
     Servo4.Enable(1000,2000);
+    pc.printf("start");
+    pc.printf("start");
+    pc.printf("start");
+    pc.printf("start");
+    pc.printf("start");
     while(1){
-        myservoLeft();
-        if(pos_down <= pos_down_end and pos_up == 1000){
+        
+        if(state_count == 1){
             Servo1.SetPosition(pos_down);
-            pos_down = pos_down+2;
+            Servo3.SetPosition(pos_down);
+            pos_down = pos_down+5;
+            wait(0.01);
+            if(pos_down >= pos_down_end+5 and pos_up >= 1000){
+                state_count = 2;
+            }
         }
-        else if(pos_down == pos_down_end+2 and pos_up <= 1700){
+        else if(state_count == 2){
             Servo2.SetPosition(pos_up);
-            pos_up = pos_up+2;
+            Servo4.SetPosition(pos_up);
+            pos_up = pos_up+5;
+            wait(0.01);
+            if(pos_down >= pos_down_end+5 and pos_up >= pos_up_end+5){
+                state_count = 3;
+            }
         }
-        else if(pos_down >= 1400 and pos_up == pos_up_end+2){
+        else if(state_count == 3){
             Servo1.SetPosition(pos_down);
-            pos_down = pos_down-2;
+            Servo3.SetPosition(pos_down);
+            pos_down = pos_down-5;
+            wait(0.01);
+            if(pos_down <= 1395 and pos_up >= pos_up_end+5){
+                state_count = 4;
+            }
         }
-        else if(pos_down == 1398 and pos_up > 1000){
+        else if(state_count == 4){
             Servo2.SetPosition(pos_up);
-            pos_up = pos_up-2;
-        }           
+            Servo4.SetPosition(pos_up);
+            pos_up = pos_up-5;
+            wait(0.01); 
+            if(pos_down <= 1395 and pos_up <= 995){
+                state_count = 0;
+            }       
+        }
+         else if (state_count == 0 and round_count < 10){
+            round_count = round_count+1;
+            state_count = 1;
+            pos_down = 1400;
+            pos_up = 1000;
+        }          
+         else {
+             pc.printf("stop"); 
+             } 
     }
-}
-
-void myservoLeft() 
-{   
-        if(pos_down <= pos_down_end and pos_up == 1000){
-            Servo3.SetPosition(pos_down);
-            pos_down = pos_down+2;
-        }
-        else if(pos_down == pos_down_end+2 and pos_up <= 1700){
-            Servo4.SetPosition(pos_up);
-            pos_up = pos_up+2;
-        }
-        else if(pos_down >= 1400 and pos_up == pos_up_end+2){
-            Servo3.SetPosition(pos_down);
-            pos_down = pos_down-2;
-        }
-        else if(pos_down == 1398 and pos_up > 1000){
-            Servo4.SetPosition(pos_up);
-            pos_up = pos_up-2;
-        }           
-}
+}
\ No newline at end of file
diff -r 3af6fae90816 -r 852156b5cca1 mbed-rtos.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Mon Apr 02 10:18:44 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/mbed_official/code/mbed-rtos/#5713cbbdb706