Diff: MPU9250.h

Revision:

3:e7be5e23013d

Parent:

2:4e59a37182df

--- a/MPU9250.h	Tue Aug 05 01:37:23 2014 +0000
+++ b/MPU9250.h	Mon Jul 25 05:54:41 2022 +0000
@@ -1,12 +1,12 @@
+//------------------------------------------------------------------------------
+// Attitude measurement using IMU(MPU-9250)
+//------------------------------------------------------------------------------
 #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
@@ -30,7 +30,8 @@
 #define SELF_TEST_Y_GYRO 0x01                                                                          
 #define SELF_TEST_Z_GYRO 0x02
 
-/*#define X_FINE_GAIN      0x03 // [7:0] fine gain
+/*
+#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
@@ -38,7 +39,8 @@
 #define YA_OFFSET_H      0x08
 #define YA_OFFSET_L_TC   0x09
 #define ZA_OFFSET_H      0x0A
-#define ZA_OFFSET_L_TC   0x0B */
+#define ZA_OFFSET_L_TC   0x0B 
+*/
 
 #define SELF_TEST_X_ACCEL 0x0D
 #define SELF_TEST_Y_ACCEL 0x0E    
@@ -153,7 +155,6 @@
 #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
@@ -190,25 +191,27 @@
 float aRes, gRes, mRes;      // scale resolutions per LSB for the sensors
 
 //Set up I2C, (SDA,SCL)
-I2C i2c(I2C_SDA, I2C_SCL);
+I2C i2c(p9, p10);
 
-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 
+float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
+float th_ax, th_ay, th_az;
+float th_ax_LPF, th_ay_LPF, th_az_LPF;
+float pre_th_ax, pre_th_ay, pre_th_az;
+float th_gx, th_gy, th_gz;
+float pre_gx, pre_gy, pre_gz;
+float th_x, th_y, th_z, th_x_d, th_y_d, th_z_d;
 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
+float delt_t = 0.0f; // used to display output rate
+float sum_dt = 0.0f; // 
 
 // parameters for 6 DoF sensor fusion calculations
 float PI = 3.14159265358979323846f;
@@ -221,7 +224,7 @@
 
 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 lastUpdate = 0.0f, firstUpdate = 0.0f, Now = 0.0f;  // 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
 
@@ -263,7 +266,6 @@
      dest[ii] = data[ii];
     }
 } 
- 
 
 void getMres() {
   switch (Mscale)
@@ -279,7 +281,6 @@
   }
 }
 
-
 void getGres() {
   switch (Gscale)
   {
@@ -301,7 +302,6 @@
   }
 }
 
-
 void getAres() {
   switch (Ascale)
   {
@@ -348,11 +348,12 @@
   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
+    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]) ; 
-   }
+    }
   }
 }
 
@@ -364,11 +365,12 @@
 }
 
 
-void resetMPU9250() {
+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)
 {
@@ -428,7 +430,7 @@
  // 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 & ~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, 
@@ -488,7 +490,8 @@
   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++) {
+  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
@@ -503,9 +506,9 @@
     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];
-            
-}
+    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;
@@ -513,16 +516,16 @@
     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;}
+    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;
+    // 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]);
@@ -532,9 +535,9 @@
   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;
+    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
@@ -542,35 +545,35 @@
 // 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];
+    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
+    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
-  }
+    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);
+    // 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
+    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?
@@ -617,7 +620,9 @@
   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
+  for (int ii =0; ii < 3; ii++)
+  {
+  // Get average of 200 values and store as average current readings
   aAvg[ii] /= 200;
   gAvg[ii] /= 200;
   }
@@ -625,22 +630,25 @@
 // 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
-   delay(25); // Delay a while to let the device stabilize
+   //delay(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
-  
+  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
+  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
+  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;
   }
@@ -648,7 +656,7 @@
  // Configure the gyro and accelerometer for normal operation
    writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
    writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
-   delay(25); // Delay a while to let the device stabilize
+   //delay(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
@@ -668,7 +676,8 @@
  
  // 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++) {
+   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
    }