Joseph Roberts / FreeIMU_external_magnetometer

Added external magnetometer functionality

Dependencies:   HMC58X31 MODI2C MPU6050 MS561101BA

Dependents:   Quadcopter_mk2

Fork of FreeIMU by Yifei Teng

FreeIMU.h@0:21840c01d3d7, 2013-11-02 (annotated)

Committer:
tyftyftyf
Date:
Sat Nov 02 17:25:51 2013 +0000
Revision:
0:21840c01d3d7
Child:
2:5c419926dcd7
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tyftyftyf 0:21840c01d3d7 1 /*
tyftyftyf 0:21840c01d3d7 2 FreeIMU.h - A libre and easy to use orientation sensing library for Arduino
tyftyftyf 0:21840c01d3d7 3 Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net>
tyftyftyf 0:21840c01d3d7 4
tyftyftyf 0:21840c01d3d7 5 Development of this code has been supported by the Department of Computer Science,
tyftyftyf 0:21840c01d3d7 6 Universita' degli Studi di Torino, Italy within the Piemonte Project
tyftyftyf 0:21840c01d3d7 7 http://www.piemonte.di.unito.it/
tyftyftyf 0:21840c01d3d7 8
tyftyftyf 0:21840c01d3d7 9
tyftyftyf 0:21840c01d3d7 10 This program is free software: you can redistribute it and/or modify
tyftyftyf 0:21840c01d3d7 11 it under the terms of the version 3 GNU General Public License as
tyftyftyf 0:21840c01d3d7 12 published by the Free Software Foundation.
tyftyftyf 0:21840c01d3d7 13
tyftyftyf 0:21840c01d3d7 14 This program is distributed in the hope that it will be useful,
tyftyftyf 0:21840c01d3d7 15 but WITHOUT ANY WARRANTY; without even the implied warranty of
tyftyftyf 0:21840c01d3d7 16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
tyftyftyf 0:21840c01d3d7 17 GNU General Public License for more details.
tyftyftyf 0:21840c01d3d7 18
tyftyftyf 0:21840c01d3d7 19 You should have received a copy of the GNU General Public License
tyftyftyf 0:21840c01d3d7 20 along with this program. If not, see <http://www.gnu.org/licenses/>.
tyftyftyf 0:21840c01d3d7 21
tyftyftyf 0:21840c01d3d7 22 */
tyftyftyf 0:21840c01d3d7 23
tyftyftyf 0:21840c01d3d7 24 #ifndef FreeIMU_h
tyftyftyf 0:21840c01d3d7 25 #define FreeIMU_h
tyftyftyf 0:21840c01d3d7 26
tyftyftyf 0:21840c01d3d7 27 // Uncomment the appropriated version of FreeIMU you are using
tyftyftyf 0:21840c01d3d7 28 //#define FREEIMU_v01
tyftyftyf 0:21840c01d3d7 29 //#define FREEIMU_v02
tyftyftyf 0:21840c01d3d7 30 //#define FREEIMU_v03
tyftyftyf 0:21840c01d3d7 31 //#define FREEIMU_v035
tyftyftyf 0:21840c01d3d7 32 //#define FREEIMU_v035_MS
tyftyftyf 0:21840c01d3d7 33 //#define FREEIMU_v035_BMP
tyftyftyf 0:21840c01d3d7 34 #define FREEIMU_v04
tyftyftyf 0:21840c01d3d7 35
tyftyftyf 0:21840c01d3d7 36 // 3rd party boards. Please consider donating or buying a FreeIMU board to support this library development.
tyftyftyf 0:21840c01d3d7 37 //#define SEN_10121 //IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345 SEN-10121 http://www.sparkfun.com/products/10121
tyftyftyf 0:21840c01d3d7 38 //#define SEN_10736 //9 Degrees of Freedom - Razor IMU SEN-10736 http://www.sparkfun.com/products/10736
tyftyftyf 0:21840c01d3d7 39 //#define SEN_10724 //9 Degrees of Freedom - Sensor Stick SEN-10724 http://www.sparkfun.com/products/10724
tyftyftyf 0:21840c01d3d7 40 //#define SEN_10183 //9 Degrees of Freedom - Sensor Stick SEN-10183 http://www.sparkfun.com/products/10183
tyftyftyf 0:21840c01d3d7 41 //#define ARDUIMU_v3 // DIYDrones ArduIMU+ V3 http://store.diydrones.com/ArduIMU_V3_p/kt-arduimu-30.htm or https://www.sparkfun.com/products/11055
tyftyftyf 0:21840c01d3d7 42 #define GEN_MPU6050 // Generic MPU6050 breakout board. Compatible with GY-521, SEN-11028 and other MPU6050 wich have the MPU6050 AD0 pin connected to GND.
tyftyftyf 0:21840c01d3d7 43
tyftyftyf 0:21840c01d3d7 44 // *** No configuration needed below this line ***
tyftyftyf 0:21840c01d3d7 45
tyftyftyf 0:21840c01d3d7 46
tyftyftyf 0:21840c01d3d7 47 #define FREEIMU_LIB_VERSION "20121122"
tyftyftyf 0:21840c01d3d7 48
tyftyftyf 0:21840c01d3d7 49 #define FREEIMU_DEVELOPER "Fabio Varesano - varesano.net"
tyftyftyf 0:21840c01d3d7 50
tyftyftyf 0:21840c01d3d7 51 #if F_CPU == 16000000L
tyftyftyf 0:21840c01d3d7 52 #define FREEIMU_FREQ "16 MHz"
tyftyftyf 0:21840c01d3d7 53 #elif F_CPU == 8000000L
tyftyftyf 0:21840c01d3d7 54 #define FREEIMU_FREQ "8 MHz"
tyftyftyf 0:21840c01d3d7 55 #endif
tyftyftyf 0:21840c01d3d7 56
tyftyftyf 0:21840c01d3d7 57
tyftyftyf 0:21840c01d3d7 58 // board IDs
tyftyftyf 0:21840c01d3d7 59
tyftyftyf 0:21840c01d3d7 60 #if defined(FREEIMU_v04)
tyftyftyf 0:21840c01d3d7 61 #define FREEIMU_ID "FreeIMU v0.4"
tyftyftyf 0:21840c01d3d7 62 #endif
tyftyftyf 0:21840c01d3d7 63
tyftyftyf 0:21840c01d3d7 64
tyftyftyf 0:21840c01d3d7 65 #define HAS_MPU6050() (defined(FREEIMU_v04) || defined(GEN_MPU6050))
tyftyftyf 0:21840c01d3d7 66
tyftyftyf 0:21840c01d3d7 67 #define IS_6DOM() (defined(SEN_10121) || defined(GEN_MPU6050))
tyftyftyf 0:21840c01d3d7 68 #define HAS_AXIS_ALIGNED() (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10121) || defined(SEN_10736))
tyftyftyf 0:21840c01d3d7 69
tyftyftyf 0:21840c01d3d7 70
tyftyftyf 0:21840c01d3d7 71
tyftyftyf 0:21840c01d3d7 72 //#include <Wire.h>
tyftyftyf 0:21840c01d3d7 73
tyftyftyf 0:21840c01d3d7 74 #include "mbed.h"
tyftyftyf 0:21840c01d3d7 75 #include "calibration.h"
tyftyftyf 0:21840c01d3d7 76 /*
tyftyftyf 0:21840c01d3d7 77 #ifndef CALIBRATION_H
tyftyftyf 0:21840c01d3d7 78 #include <EEPROM.h>
tyftyftyf 0:21840c01d3d7 79 #endif
tyftyftyf 0:21840c01d3d7 80
tyftyftyf 0:21840c01d3d7 81 #define FREEIMU_EEPROM_BASE 0x0A
tyftyftyf 0:21840c01d3d7 82 #define FREEIMU_EEPROM_SIGNATURE 0x19
tyftyftyf 0:21840c01d3d7 83 */
tyftyftyf 0:21840c01d3d7 84 //#if FREEIMU_VER <= 3
tyftyftyf 0:21840c01d3d7 85
tyftyftyf 0:21840c01d3d7 86 #if HAS_MPU6050()
tyftyftyf 0:21840c01d3d7 87 // #include <Wire.h>
tyftyftyf 0:21840c01d3d7 88 #include "I2Cdev.h"
tyftyftyf 0:21840c01d3d7 89 #include "MPU6050.h"
tyftyftyf 0:21840c01d3d7 90 #define FIMU_ACCGYRO_ADDR MPU6050_DEFAULT_ADDRESS
tyftyftyf 0:21840c01d3d7 91
tyftyftyf 0:21840c01d3d7 92 #endif
tyftyftyf 0:21840c01d3d7 93
tyftyftyf 0:21840c01d3d7 94 #include <HMC58X3.h>
tyftyftyf 0:21840c01d3d7 95 #include <MS561101BA.h>
tyftyftyf 0:21840c01d3d7 96
tyftyftyf 0:21840c01d3d7 97
tyftyftyf 0:21840c01d3d7 98 #define FIMU_BARO_ADDR MS561101BA_ADDR_CSB_LOW
tyftyftyf 0:21840c01d3d7 99
tyftyftyf 0:21840c01d3d7 100
tyftyftyf 0:21840c01d3d7 101 #define FIMU_BMA180_DEF_ADDR BMA180_ADDRESS_SDO_LOW
tyftyftyf 0:21840c01d3d7 102 #define FIMU_ITG3200_DEF_ADDR ITG3200_ADDR_AD0_LOW // AD0 connected to GND
tyftyftyf 0:21840c01d3d7 103 // HMC5843 address is fixed so don't bother to define it
tyftyftyf 0:21840c01d3d7 104
tyftyftyf 0:21840c01d3d7 105
tyftyftyf 0:21840c01d3d7 106 #define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
tyftyftyf 0:21840c01d3d7 107 #define twoKiDef (2.0f * 0.1f) // 2 * integral gain
tyftyftyf 0:21840c01d3d7 108
tyftyftyf 0:21840c01d3d7 109 #ifndef cbi
tyftyftyf 0:21840c01d3d7 110 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
tyftyftyf 0:21840c01d3d7 111 #endif
tyftyftyf 0:21840c01d3d7 112
tyftyftyf 0:21840c01d3d7 113 class FreeIMU
tyftyftyf 0:21840c01d3d7 114 {
tyftyftyf 0:21840c01d3d7 115 public:
tyftyftyf 0:21840c01d3d7 116 FreeIMU();
tyftyftyf 0:21840c01d3d7 117 void init();
tyftyftyf 0:21840c01d3d7 118 void init(bool fastmode);
tyftyftyf 0:21840c01d3d7 119
tyftyftyf 0:21840c01d3d7 120 void init(int accgyro_addr, bool fastmode);
tyftyftyf 0:21840c01d3d7 121
tyftyftyf 0:21840c01d3d7 122 #ifndef CALIBRATION_H
tyftyftyf 0:21840c01d3d7 123 void calLoad();
tyftyftyf 0:21840c01d3d7 124 #endif
tyftyftyf 0:21840c01d3d7 125 void zeroGyro();
tyftyftyf 0:21840c01d3d7 126 void getRawValues(int16_t * raw_values);
tyftyftyf 0:21840c01d3d7 127 void getValues(float * values);
tyftyftyf 0:21840c01d3d7 128 void getQ(float * q);
tyftyftyf 0:21840c01d3d7 129 void getEuler(float * angles);
tyftyftyf 0:21840c01d3d7 130 void getYawPitchRoll(float * ypr);
tyftyftyf 0:21840c01d3d7 131 void getEulerRad(float * angles);
tyftyftyf 0:21840c01d3d7 132 void getYawPitchRollRad(float * ypr);
tyftyftyf 0:21840c01d3d7 133 void gravityCompensateAcc(float * acc, float * q);
tyftyftyf 0:21840c01d3d7 134 float getRawPressure();
tyftyftyf 0:21840c01d3d7 135
tyftyftyf 0:21840c01d3d7 136 float getBaroAlt();
tyftyftyf 0:21840c01d3d7 137 float getBaroAlt(float sea_press);
tyftyftyf 0:21840c01d3d7 138
tyftyftyf 0:21840c01d3d7 139 // we make them public so that users can interact directly with device classes
tyftyftyf 0:21840c01d3d7 140
tyftyftyf 0:21840c01d3d7 141 MPU6050 accgyro;
tyftyftyf 0:21840c01d3d7 142 MS561101BA baro;
tyftyftyf 0:21840c01d3d7 143 HMC58X3 magn;
tyftyftyf 0:21840c01d3d7 144
tyftyftyf 0:21840c01d3d7 145 int* raw_acc, raw_gyro, raw_magn;
tyftyftyf 0:21840c01d3d7 146 // calibration parameters
tyftyftyf 0:21840c01d3d7 147 int16_t gyro_off_x, gyro_off_y, gyro_off_z;
tyftyftyf 0:21840c01d3d7 148 int16_t acc_off_x, acc_off_y, acc_off_z, magn_off_x, magn_off_y, magn_off_z;
tyftyftyf 0:21840c01d3d7 149 float acc_scale_x, acc_scale_y, acc_scale_z, magn_scale_x, magn_scale_y, magn_scale_z;
tyftyftyf 0:21840c01d3d7 150
tyftyftyf 0:21840c01d3d7 151 private:
tyftyftyf 0:21840c01d3d7 152
tyftyftyf 0:21840c01d3d7 153 void AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
tyftyftyf 0:21840c01d3d7 154
tyftyftyf 0:21840c01d3d7 155 //float q0, q1, q2, q3; // quaternion elements representing the estimated orientation
tyftyftyf 0:21840c01d3d7 156 float iq0, iq1, iq2, iq3;
tyftyftyf 0:21840c01d3d7 157 float exInt, eyInt, ezInt; // scaled integral error
tyftyftyf 0:21840c01d3d7 158 volatile float twoKp; // 2 * proportional gain (Kp)
tyftyftyf 0:21840c01d3d7 159 volatile float twoKi; // 2 * integral gain (Ki)
tyftyftyf 0:21840c01d3d7 160 volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame
tyftyftyf 0:21840c01d3d7 161 volatile float integralFBx, integralFBy, integralFBz;
tyftyftyf 0:21840c01d3d7 162 Timer update;
tyftyftyf 0:21840c01d3d7 163 int dt_us;
tyftyftyf 0:21840c01d3d7 164 //unsigned long lastUpdate, now; // sample period expressed in milliseconds
tyftyftyf 0:21840c01d3d7 165 float sampleFreq; // half the sample period expressed in seconds
tyftyftyf 0:21840c01d3d7 166
tyftyftyf 0:21840c01d3d7 167 void getQ_simple(float* q);
tyftyftyf 0:21840c01d3d7 168 };
tyftyftyf 0:21840c01d3d7 169
tyftyftyf 0:21840c01d3d7 170 float invSqrt(float number);
tyftyftyf 0:21840c01d3d7 171 void arr3_rad_to_deg(float * arr);
tyftyftyf 0:21840c01d3d7 172
tyftyftyf 0:21840c01d3d7 173
tyftyftyf 0:21840c01d3d7 174
tyftyftyf 0:21840c01d3d7 175 #endif // FreeIMU_h
tyftyftyf 0:21840c01d3d7 176