altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

AHRS.cpp@4:3c21fb0c9e84, 2019-05-03 (annotated)

Committer:
altb2
Date:
Fri May 03 13:46:40 2019 +0000
Revision:
4:3c21fb0c9e84
Parent:
3:6811c0ce95f6
Child:
5:eee47600b772
mit EKF, noch nicht lauffaehig

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 3:6811c0ce95f6 1 #include "AHRS.h"
altb 3:6811c0ce95f6 2 #include "Mahony.h"
altb 3:6811c0ce95f6 3 #include "MadgwickAHRS.h"
altb2 4:3c21fb0c9e84 4 #include "ekf.h"
altb2 4:3c21fb0c9e84 5
altb 3:6811c0ce95f6 6 #define PI 3.141592653589793
altb 3:6811c0ce95f6 7
altb 3:6811c0ce95f6 8 using namespace std;
altb 3:6811c0ce95f6 9
altb2 4:3c21fb0c9e84 10 //OLD: AHRS::AHRS(uint8_t filtertype,float TS) : RPY_filter(TS), csAG(PA_15),csM(PD_2), spi(PC_12, PC_11, PC_10), imu(&spi, &csM, &csAG), thread(osPriorityBelowNormal, 4096){
altb2 4:3c21fb0c9e84 11 AHRS::AHRS(uint8_t filtertype,float TS) : imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), thread(osPriorityBelowNormal, 4096){
altb2 4:3c21fb0c9e84 12
altb 3:6811c0ce95f6 13 thread.start(callback(this, &AHRS::update));
altb 3:6811c0ce95f6 14 ticker.attach(callback(this, &AHRS::sendSignal), TS);
altb2 4:3c21fb0c9e84 15 /* LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0); // use gain and offset here
altb 3:6811c0ce95f6 16 LinearCharacteristics raw_ay2ay(-40.0/65536.0,-307.0); // y-axis reversed
altb 3:6811c0ce95f6 17 LinearCharacteristics raw_az2az(-16350.0,16350,-10.0, 10.0);
altb 3:6811c0ce95f6 18 LinearCharacteristics raw_gx2gx(-32767,32768,-500*PI/180.0, 500*PI/180.0);
altb 3:6811c0ce95f6 19 LinearCharacteristics raw_gy2gy(-32767,32768, 500*PI/180.0,-500*PI/180.0); // y-axis reversed (lefthanded system)
altb 3:6811c0ce95f6 20 LinearCharacteristics raw_gz2gz(-32767,32768,-500*PI/180.0, 500*PI/180.0);
altb 3:6811c0ce95f6 21 LinearCharacteristics int2magx( -32767,32768,100.0,-100.0); // x-axis reversed
altb2 4:3c21fb0c9e84 22 LinearCharacteristics int2magy( -32767,32768,100.0,-100.0); // y-axis reversed*/
altb2 4:3c21fb0c9e84 23 LinearCharacteristics raw_ax2ax( 1.0,0.0); // use gain and offset here
altb2 4:3c21fb0c9e84 24 LinearCharacteristics raw_ay2ay(-1.0,0.0); // y-axis reversed
altb2 4:3c21fb0c9e84 25 LinearCharacteristics raw_az2az( 1.0,0.0);
altb2 4:3c21fb0c9e84 26 LinearCharacteristics raw_gx2gx( 1.0,0.0);
altb2 4:3c21fb0c9e84 27 LinearCharacteristics raw_gy2gy(-1.0,0.0); // y-axis reversed (lefthanded system)
altb2 4:3c21fb0c9e84 28 LinearCharacteristics raw_gz2gz( 1.0,0.0);
altb2 4:3c21fb0c9e84 29 LinearCharacteristics int2magx( -1.0,0.0); // x-axis reversed
altb2 4:3c21fb0c9e84 30 LinearCharacteristics int2magy( -1.0,0.0); // y-axis reversed
altb2 4:3c21fb0c9e84 31 LinearCharacteristics int2magz( 1.0,0.0);
altb2 4:3c21fb0c9e84 32 matrix measurement(6,1,0.0);
altb 3:6811c0ce95f6 33 while (!imu.begin()) {
altb 3:6811c0ce95f6 34 wait(1);
altb 3:6811c0ce95f6 35 printf("Failed to communicate with LSM9DS1.\r\n");
altb 3:6811c0ce95f6 36 }
altb 3:6811c0ce95f6 37
altb 3:6811c0ce95f6 38 }
altb 3:6811c0ce95f6 39
altb 3:6811c0ce95f6 40 AHRS::~AHRS() {}
altb 3:6811c0ce95f6 41
altb 3:6811c0ce95f6 42 void AHRS::update(void)
altb 3:6811c0ce95f6 43 {
altb 3:6811c0ce95f6 44 while(1){
altb 3:6811c0ce95f6 45 thread.signal_wait(signal);
altb 3:6811c0ce95f6 46 imu.readAccel();
altb2 4:3c21fb0c9e84 47 //imu.readMag_calibrated();
altb2 4:3c21fb0c9e84 48 imu.readMag();
altb 3:6811c0ce95f6 49 imu.readGyro();
altb2 4:3c21fb0c9e84 50
altb 3:6811c0ce95f6 51 //Perform Madgwick-filter update
altb2 4:3c21fb0c9e84 52 //RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy), raw_gz2gz(imu.gz) ,
altb2 4:3c21fb0c9e84 53 // raw_ax2ax(imu.ax), raw_ay2ay(imu.ay), raw_az2az(imu.az),
altb2 4:3c21fb0c9e84 54 // int2magx(imu.mx), int2magy(imu.my), int2magz(imu.mz));
altb2 4:3c21fb0c9e84 55 measurement.put_entry(1,1,raw_gx2gx(imu.gyroX));
altb2 4:3c21fb0c9e84 56 measurement.put_entry(2,1,raw_gy2gy(imu.gyroY));
altb2 4:3c21fb0c9e84 57 measurement.put_entry(3,1,raw_ax2ax(imu.accX));
altb2 4:3c21fb0c9e84 58 measurement.put_entry(4,1,raw_ay2ay(imu.accY));
altb2 4:3c21fb0c9e84 59 //RPY_filter.loop(&measurement);
altb 3:6811c0ce95f6 60
altb 3:6811c0ce95f6 61 } // while(1)
altb 3:6811c0ce95f6 62 }
altb 3:6811c0ce95f6 63 void AHRS::sendSignal() {
altb 3:6811c0ce95f6 64
altb 3:6811c0ce95f6 65 thread.signal_set(signal);
altb 3:6811c0ce95f6 66 }