File content as of revision 7:bfde7bd5fe31:

#include "AHRS.h"
#include "Mahony.h"
#include "MadgwickAHRS.h"
#include "ekf.h"

#define PI 3.141592653589793

using namespace std;

//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){  
AHRS::AHRS(uint8_t filtertype,float TS) :  imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), thread(osPriorityBelowNormal, 4096){  
       
    thread.start(callback(this, &AHRS::update));
    ticker.attach(callback(this, &AHRS::sendSignal), TS);
/*    LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0);       // use gain and offset here
    LinearCharacteristics raw_ay2ay(-40.0/65536.0,-307.0);      // y-axis reversed
    LinearCharacteristics raw_az2az(-16350.0,16350,-10.0, 10.0);
    LinearCharacteristics raw_gx2gx(-32767,32768,-500*PI/180.0, 500*PI/180.0);
    LinearCharacteristics raw_gy2gy(-32767,32768, 500*PI/180.0,-500*PI/180.0);  // y-axis reversed (lefthanded system)
    LinearCharacteristics raw_gz2gz(-32767,32768,-500*PI/180.0, 500*PI/180.0);
    LinearCharacteristics int2magx( -32767,32768,100.0,-100.0);     // x-axis reversed
    LinearCharacteristics int2magy( -32767,32768,100.0,-100.0);     // y-axis reversed*/
    raw_ax2ax.setup( 1.0,-.31);       // use gain and offset here
    raw_ay2ay.setup(-1.0,-0.31);      // y-axis reversed // was -1,0.0
    raw_az2az.setup( 1.0,0.0);
    raw_gx2gx.setup( 1.0,0.0);
    raw_gy2gy.setup(-1.0,0.0);  // y-axis reversed (lefthanded system)
    raw_gz2gz.setup( 1.0,0.0);
    int2magx.setup(  1.0,0.0);     // x-axis reversed
    int2magy.setup(  1.0,0.0);     // y-axis reversed
    int2magz.setup(  1.0,0.0);
    local_time = 0.0;
    //
    
    //matrix measurement(6,1,0.0);
    while (!imu.begin()) {
        wait(1);
        printf("Failed to communicate with LSM9DS1.\r\n");
    }

}

AHRS::~AHRS() {}

void AHRS::update(void)
{
    while(1){   
        thread.signal_wait(signal);
        imu.readAccel();
        //imu.readMag_calibrated();
        //imu.readMag();
        imu.readGyro();
        matrix measurement(6,1,0.0);
        //Perform filter update
        //RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy),  raw_gz2gz(imu.gz) ,
        //              raw_ax2ax(imu.ax), raw_ay2ay(imu.ay),  raw_az2az(imu.az),
        //              int2magx(imu.mx), int2magy(imu.my),  int2magz(imu.mz));
        measurement.put_entry(0,0,raw_gx2gx(imu.gyroX));
        measurement.put_entry(1,0,raw_gy2gy(imu.gyroY));
        measurement.put_entry(3,0,raw_ax2ax(imu.accX));
        measurement.put_entry(4,0,raw_ay2ay(imu.accY));
        RPY_filter.loop(&measurement);
        //measurement.put_entry(0,0,10*sin(local_time));   my_logger.data_vector[8]=10*sin(local_time);    measurement.put_entry(1,0,-5*cos(local_time));    my_logger.data_vector[9]=-5*cos(local_time);   measurement.put_entry(3,0,sin(2*local_time));  measurement.put_entry(4,0,cos(3*local_time));
        //if(local_time<=2.0) RPY_filter.loop(&measurement); if(local_time==0.0) printf("\r\n"); if(local_time<=0.2){ printf("%1.2f xk: ",local_time); for(int k=0;k<6;k++) printf("%1.5f ",RPY_filter.get_est_state(k)); printf("\r\n");}
        //local_time += 0.01;
        my_logger.data_vector[0] = raw_gx2gx(imu.gyroX);
        my_logger.data_vector[1] = raw_gy2gy(imu.gyroY);
        my_logger.data_vector[2] = raw_gz2gz(imu.gyroZ);
        my_logger.data_vector[3] = raw_ax2ax(imu.accX);
        my_logger.data_vector[4] = raw_ay2ay(imu.accY);
        my_logger.data_vector[5] = raw_az2az(imu.accZ);
        my_logger.data_vector[6] = RPY_filter.get_est_state(0);
        my_logger.data_vector[7] = RPY_filter.get_est_state(1);
        my_logger.data_vector[8] = RPY_filter.get_est_state(4);
        my_logger.data_vector[9] = RPY_filter.get_est_state(5);
        
        //printf("R %1.5f P %1.5f gx: %1.5f gy: %1.5f\r\n",my_logger.data_vector[6],my_logger.data_vector[7],my_logger.data_vector[0],my_logger.data_vector[1]); 
        //printf("%1.6f %1.6f %1.6f %1.6f %1.6f %1.6f %1.6f %1.6f\r\n",my_logger.data_vector[6],my_logger.data_vector[7],raw_gx2gx(imu.gyroX),raw_gy2gy(imu.gyroY),raw_gz2gz(imu.gyroZ),raw_ax2ax(imu.accX),raw_ay2ay(imu.accY),raw_az2az(imu.accZ)); 
        //printf("ax: %1.4f ay: %1.4f az: %1.4f\r\n",raw_ax2ax(imu.accX),raw_ay2ay(imu.accY),raw_az2az(imu.accZ)); 
        //printf("gx: %1.4f gy: %1.4f gz: %1.4f\r\n",raw_gx2gx(imu.gyroX),raw_gy2gy(imu.gyroY),raw_gz2gz(imu.gyroZ)); 
        //printf("ax: %1.4f ay: %1.4f az: %1.4f\r\n",raw_ax2ax(imu.accX),raw_ay2ay(imu.accY),raw_az2az(imu.accZ)); 
        }       // while(1) (the thread)
        
}
void AHRS::sendSignal() {
    
    thread.signal_set(signal);
}