Luke Petre
Port of http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs to an mbed, tested with a 9DOF Sensor Stick, SEN-10724
Razor_AHRS.cpp@2:5aa75c3d8cc3, 2011-12-28 (annotated)
- Committer:
- lpetre
- Date:
- Wed Dec 28 18:09:14 2011 +0000
- Revision:
- 2:5aa75c3d8cc3
- Parent:
- 0:9a72d42c0da3
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| lpetre | 0:9a72d42c0da3 | 1 | /* This file is part of the Razor AHRS Firmware */ |
| lpetre | 0:9a72d42c0da3 | 2 | #include "Razor_AHRS.h" |
| lpetre | 0:9a72d42c0da3 | 3 | #include <math.h> |
| lpetre | 0:9a72d42c0da3 | 4 | |
| lpetre | 0:9a72d42c0da3 | 5 | void IMU::read_sensors() { |
| lpetre | 0:9a72d42c0da3 | 6 | Read_Gyro(); // Read gyroscope |
| lpetre | 0:9a72d42c0da3 | 7 | Read_Accel(); // Read accelerometer |
| lpetre | 0:9a72d42c0da3 | 8 | Read_Magn(); // Read magnetometer |
| lpetre | 0:9a72d42c0da3 | 9 | } |
| lpetre | 0:9a72d42c0da3 | 10 | |
| lpetre | 0:9a72d42c0da3 | 11 | // Read every sensor and record a time stamp |
| lpetre | 0:9a72d42c0da3 | 12 | // Init DCM with unfiltered orientation |
| lpetre | 0:9a72d42c0da3 | 13 | // TODO re-init global vars? |
| lpetre | 0:9a72d42c0da3 | 14 | void IMU::reset_sensor_fusion() { |
| lpetre | 0:9a72d42c0da3 | 15 | float temp0[3] = { accel[0], accel[1], accel[2] }; |
| lpetre | 0:9a72d42c0da3 | 16 | float temp1[3]; |
| lpetre | 0:9a72d42c0da3 | 17 | float temp2[3]; |
| lpetre | 0:9a72d42c0da3 | 18 | float xAxis[] = {1.0f, 0.0f, 0.0f}; |
| lpetre | 0:9a72d42c0da3 | 19 | |
| lpetre | 0:9a72d42c0da3 | 20 | read_sensors(); |
| lpetre | 0:9a72d42c0da3 | 21 | timestamp = timer.read_ms(); |
| lpetre | 0:9a72d42c0da3 | 22 | |
| lpetre | 0:9a72d42c0da3 | 23 | // GET PITCH |
| lpetre | 0:9a72d42c0da3 | 24 | // Using y-z-plane-component/x-component of gravity vector |
| lpetre | 0:9a72d42c0da3 | 25 | pitch = -atan2(accel[0], sqrt((double)(accel[1] * accel[1] + accel[2] * accel[2]))); |
| lpetre | 0:9a72d42c0da3 | 26 | |
| lpetre | 0:9a72d42c0da3 | 27 | // GET ROLL |
| lpetre | 0:9a72d42c0da3 | 28 | // Compensate pitch of gravity vector |
| lpetre | 2:5aa75c3d8cc3 | 29 | |
| lpetre | 0:9a72d42c0da3 | 30 | Vector_Cross_Product(temp1, temp0, xAxis); |
| lpetre | 0:9a72d42c0da3 | 31 | Vector_Cross_Product(temp2, xAxis, temp1); |
| lpetre | 0:9a72d42c0da3 | 32 | // Normally using x-z-plane-component/y-component of compensated gravity vector |
| lpetre | 0:9a72d42c0da3 | 33 | // roll = atan2(temp2[1], sqrt(temp2[0] * temp2[0] + temp2[2] * temp2[2])); |
| lpetre | 0:9a72d42c0da3 | 34 | // Since we compensated for pitch, x-z-plane-component equals z-component: |
| lpetre | 0:9a72d42c0da3 | 35 | roll = atan2(temp2[1], temp2[2]); |
| lpetre | 0:9a72d42c0da3 | 36 | |
| lpetre | 0:9a72d42c0da3 | 37 | // GET YAW |
| lpetre | 0:9a72d42c0da3 | 38 | Compass_Heading(); |
| lpetre | 0:9a72d42c0da3 | 39 | yaw = MAG_Heading; |
| lpetre | 0:9a72d42c0da3 | 40 | |
| lpetre | 0:9a72d42c0da3 | 41 | // Init rotation matrix |
| lpetre | 0:9a72d42c0da3 | 42 | init_rotation_matrix(DCM_Matrix, yaw, pitch, roll); |
| lpetre | 0:9a72d42c0da3 | 43 | } |
| lpetre | 0:9a72d42c0da3 | 44 | |
| lpetre | 0:9a72d42c0da3 | 45 | // Apply calibration to raw sensor readings |
| lpetre | 0:9a72d42c0da3 | 46 | void IMU::compensate_sensor_errors() { |
| lpetre | 0:9a72d42c0da3 | 47 | // Compensate accelerometer error |
| lpetre | 0:9a72d42c0da3 | 48 | accel[0] = (accel[0] - ACCEL_X_OFFSET) * ACCEL_X_SCALE; |
| lpetre | 0:9a72d42c0da3 | 49 | accel[1] = (accel[1] - ACCEL_Y_OFFSET) * ACCEL_Y_SCALE; |
| lpetre | 0:9a72d42c0da3 | 50 | accel[2] = (accel[2] - ACCEL_Z_OFFSET) * ACCEL_Z_SCALE; |
| lpetre | 0:9a72d42c0da3 | 51 | |
| lpetre | 0:9a72d42c0da3 | 52 | // Compensate magnetometer error |
| lpetre | 0:9a72d42c0da3 | 53 | magnetom[0] = (magnetom[0] - MAGN_X_OFFSET) * MAGN_X_SCALE; |
| lpetre | 0:9a72d42c0da3 | 54 | magnetom[1] = (magnetom[1] - MAGN_Y_OFFSET) * MAGN_Y_SCALE; |
| lpetre | 0:9a72d42c0da3 | 55 | magnetom[2] = (magnetom[2] - MAGN_Z_OFFSET) * MAGN_Z_SCALE; |
| lpetre | 0:9a72d42c0da3 | 56 | |
| lpetre | 0:9a72d42c0da3 | 57 | // Compensate gyroscope error |
| lpetre | 0:9a72d42c0da3 | 58 | gyro[0] -= GYRO_AVERAGE_OFFSET_X; |
| lpetre | 0:9a72d42c0da3 | 59 | gyro[1] -= GYRO_AVERAGE_OFFSET_Y; |
| lpetre | 0:9a72d42c0da3 | 60 | gyro[2] -= GYRO_AVERAGE_OFFSET_Z; |
| lpetre | 0:9a72d42c0da3 | 61 | } |
| lpetre | 0:9a72d42c0da3 | 62 | |
| lpetre | 0:9a72d42c0da3 | 63 | // Reset calibration session if reset_calibration_session_flag is set |
| lpetre | 0:9a72d42c0da3 | 64 | void IMU::check_reset_calibration_session() { |
| lpetre | 0:9a72d42c0da3 | 65 | // Raw sensor values have to be read already, but no error compensation applied |
| lpetre | 0:9a72d42c0da3 | 66 | |
| lpetre | 0:9a72d42c0da3 | 67 | // Reset this calibration session? |
| lpetre | 0:9a72d42c0da3 | 68 | if (!reset_calibration_session_flag) return; |
| lpetre | 0:9a72d42c0da3 | 69 | |
| lpetre | 0:9a72d42c0da3 | 70 | // Reset acc and mag calibration variables |
| lpetre | 0:9a72d42c0da3 | 71 | for (int i = 0; i < 3; i++) { |
| lpetre | 0:9a72d42c0da3 | 72 | accel_min[i] = accel_max[i] = accel[i]; |
| lpetre | 0:9a72d42c0da3 | 73 | magnetom_min[i] = magnetom_max[i] = magnetom[i]; |
| lpetre | 0:9a72d42c0da3 | 74 | } |
| lpetre | 0:9a72d42c0da3 | 75 | |
| lpetre | 0:9a72d42c0da3 | 76 | // Reset gyro calibration variables |
| lpetre | 0:9a72d42c0da3 | 77 | gyro_num_samples = 0; // Reset gyro calibration averaging |
| lpetre | 0:9a72d42c0da3 | 78 | gyro_average[0] = gyro_average[1] = gyro_average[2] = 0; |
| lpetre | 0:9a72d42c0da3 | 79 | |
| lpetre | 0:9a72d42c0da3 | 80 | reset_calibration_session_flag = false; |
| lpetre | 0:9a72d42c0da3 | 81 | } |
| lpetre | 0:9a72d42c0da3 | 82 | |
| lpetre | 0:9a72d42c0da3 | 83 | void IMU::turn_output_stream_on() { |
| lpetre | 0:9a72d42c0da3 | 84 | output_stream_on = true; |
| lpetre | 0:9a72d42c0da3 | 85 | statusLed = 1; |
| lpetre | 0:9a72d42c0da3 | 86 | } |
| lpetre | 0:9a72d42c0da3 | 87 | |
| lpetre | 0:9a72d42c0da3 | 88 | void IMU::turn_output_stream_off() { |
| lpetre | 0:9a72d42c0da3 | 89 | output_stream_on = false; |
| lpetre | 0:9a72d42c0da3 | 90 | statusLed = 0; |
| lpetre | 0:9a72d42c0da3 | 91 | } |
| lpetre | 0:9a72d42c0da3 | 92 | |
| lpetre | 0:9a72d42c0da3 | 93 | // Blocks until another byte is available on serial port |
| lpetre | 0:9a72d42c0da3 | 94 | char IMU::readChar() { |
| lpetre | 0:9a72d42c0da3 | 95 | while (pc.rxBufferGetCount() < 1) { } // Block |
| lpetre | 0:9a72d42c0da3 | 96 | return pc.getc(); |
| lpetre | 0:9a72d42c0da3 | 97 | } |
| lpetre | 0:9a72d42c0da3 | 98 | |
| lpetre | 2:5aa75c3d8cc3 | 99 | void IMU::readInput() { |
| lpetre | 0:9a72d42c0da3 | 100 | // Read incoming control messages |
| lpetre | 0:9a72d42c0da3 | 101 | if (pc.rxBufferGetCount() >= 2) { |
| lpetre | 0:9a72d42c0da3 | 102 | if (pc.getc() == '#') { // Start of new control message |
| lpetre | 0:9a72d42c0da3 | 103 | int command = pc.getc(); // Commands |
| lpetre | 0:9a72d42c0da3 | 104 | if (command == 'f') // request one output _f_rame |
| lpetre | 0:9a72d42c0da3 | 105 | output_single_on = true; |
| lpetre | 0:9a72d42c0da3 | 106 | else if (command == 's') { // _s_ynch request |
| lpetre | 0:9a72d42c0da3 | 107 | // Read ID |
| lpetre | 0:9a72d42c0da3 | 108 | char id[2]; |
| lpetre | 0:9a72d42c0da3 | 109 | id[0] = readChar(); |
| lpetre | 0:9a72d42c0da3 | 110 | id[1] = readChar(); |
| lpetre | 0:9a72d42c0da3 | 111 | |
| lpetre | 0:9a72d42c0da3 | 112 | // Reply with synch message |
| lpetre | 0:9a72d42c0da3 | 113 | pc.printf("#SYNCH"); |
| lpetre | 0:9a72d42c0da3 | 114 | pc.putc(id[0]); |
| lpetre | 0:9a72d42c0da3 | 115 | pc.putc(id[1]); |
| lpetre | 0:9a72d42c0da3 | 116 | pc.printf(NEW_LINE); |
| lpetre | 0:9a72d42c0da3 | 117 | } else if (command == 'o') { // Set _o_utput mode |
| lpetre | 0:9a72d42c0da3 | 118 | char output_param = readChar(); |
| lpetre | 0:9a72d42c0da3 | 119 | if (output_param == 'n') { // Calibrate _n_ext sensor |
| lpetre | 0:9a72d42c0da3 | 120 | curr_calibration_sensor = (curr_calibration_sensor + 1) % 3; |
| lpetre | 0:9a72d42c0da3 | 121 | reset_calibration_session_flag = true; |
| lpetre | 0:9a72d42c0da3 | 122 | } else if (output_param == 't') // Output angles as _t_ext |
| lpetre | 0:9a72d42c0da3 | 123 | output_mode = OUTPUT__MODE_ANGLES_TEXT; |
| lpetre | 0:9a72d42c0da3 | 124 | else if (output_param == 'b') // Output angles in _b_inary form |
| lpetre | 0:9a72d42c0da3 | 125 | output_mode = OUTPUT__MODE_ANGLES_BINARY; |
| lpetre | 0:9a72d42c0da3 | 126 | else if (output_param == 'c') { // Go to _c_alibration mode |
| lpetre | 0:9a72d42c0da3 | 127 | output_mode = OUTPUT__MODE_CALIBRATE_SENSORS; |
| lpetre | 0:9a72d42c0da3 | 128 | reset_calibration_session_flag = true; |
| lpetre | 0:9a72d42c0da3 | 129 | } else if (output_param == 's') // Output _s_ensor values as text |
| lpetre | 0:9a72d42c0da3 | 130 | output_mode = OUTPUT__MODE_SENSORS_TEXT; |
| lpetre | 0:9a72d42c0da3 | 131 | else if (output_param == '0') { // Disable continuous streaming output |
| lpetre | 0:9a72d42c0da3 | 132 | turn_output_stream_off(); |
| lpetre | 0:9a72d42c0da3 | 133 | reset_calibration_session_flag = true; |
| lpetre | 0:9a72d42c0da3 | 134 | } else if (output_param == '1') { // Enable continuous streaming output |
| lpetre | 0:9a72d42c0da3 | 135 | reset_calibration_session_flag = true; |
| lpetre | 0:9a72d42c0da3 | 136 | turn_output_stream_on(); |
| lpetre | 0:9a72d42c0da3 | 137 | } else if (output_param == 'e') { // _e_rror output settings |
| lpetre | 0:9a72d42c0da3 | 138 | char error_param = readChar(); |
| lpetre | 0:9a72d42c0da3 | 139 | if (error_param == '0') output_errors = false; |
| lpetre | 0:9a72d42c0da3 | 140 | else if (error_param == '1') output_errors = true; |
| lpetre | 0:9a72d42c0da3 | 141 | else if (error_param == 'c') { // get error count |
| lpetre | 0:9a72d42c0da3 | 142 | pc.printf("#AMG-ERR:%d,%d,%d" NEW_LINE,num_accel_errors,num_magn_errors,num_gyro_errors); |
| lpetre | 0:9a72d42c0da3 | 143 | } |
| lpetre | 0:9a72d42c0da3 | 144 | } |
| lpetre | 0:9a72d42c0da3 | 145 | } |
| lpetre | 0:9a72d42c0da3 | 146 | #if OUTPUT__HAS_RN_BLUETOOTH == true |
| lpetre | 0:9a72d42c0da3 | 147 | // Read messages from bluetooth module |
| lpetre | 0:9a72d42c0da3 | 148 | // For this to work, the connect/disconnect message prefix of the module has to be set to "#". |
| lpetre | 0:9a72d42c0da3 | 149 | else if (command == 'C') // Bluetooth "#CONNECT" message (does the same as "#o1") |
| lpetre | 0:9a72d42c0da3 | 150 | turn_output_stream_on(); |
| lpetre | 0:9a72d42c0da3 | 151 | else if (command == 'D') // Bluetooth "#DISCONNECT" message (does the same as "#o0") |
| lpetre | 0:9a72d42c0da3 | 152 | turn_output_stream_off(); |
| lpetre | 0:9a72d42c0da3 | 153 | #endif // OUTPUT__HAS_RN_BLUETOOTH == true |
| lpetre | 0:9a72d42c0da3 | 154 | } else { } // Skip character |
| lpetre | 0:9a72d42c0da3 | 155 | } |
| lpetre | 2:5aa75c3d8cc3 | 156 | } |
| lpetre | 0:9a72d42c0da3 | 157 | |
| lpetre | 2:5aa75c3d8cc3 | 158 | IMU::IMU() |
| lpetre | 2:5aa75c3d8cc3 | 159 | : gyro_num_samples(0) |
| lpetre | 2:5aa75c3d8cc3 | 160 | , yaw(0) |
| lpetre | 2:5aa75c3d8cc3 | 161 | , pitch(0) |
| lpetre | 2:5aa75c3d8cc3 | 162 | , roll(0) |
| lpetre | 2:5aa75c3d8cc3 | 163 | , MAG_Heading(0) |
| lpetre | 2:5aa75c3d8cc3 | 164 | , timestamp(0) |
| lpetre | 2:5aa75c3d8cc3 | 165 | , timestamp_old(0) |
| lpetre | 2:5aa75c3d8cc3 | 166 | , G_Dt(0) |
| lpetre | 2:5aa75c3d8cc3 | 167 | , output_mode(-1) // Select your startup output mode here!// Select your startup output mode here! |
| lpetre | 2:5aa75c3d8cc3 | 168 | , output_stream_on(false) |
| lpetre | 2:5aa75c3d8cc3 | 169 | , output_single_on(true) |
| lpetre | 2:5aa75c3d8cc3 | 170 | , curr_calibration_sensor(0) |
| lpetre | 2:5aa75c3d8cc3 | 171 | , reset_calibration_session_flag(true) |
| lpetre | 2:5aa75c3d8cc3 | 172 | , num_accel_errors(0) |
| lpetre | 2:5aa75c3d8cc3 | 173 | , num_magn_errors(0) |
| lpetre | 2:5aa75c3d8cc3 | 174 | , num_gyro_errors(0) |
| lpetre | 2:5aa75c3d8cc3 | 175 | , output_errors(true) |
| lpetre | 2:5aa75c3d8cc3 | 176 | , statusLed(LED1) |
| lpetre | 2:5aa75c3d8cc3 | 177 | , pc(USBTX, USBRX) |
| lpetre | 2:5aa75c3d8cc3 | 178 | , Wire(p28, p27) { |
| lpetre | 2:5aa75c3d8cc3 | 179 | |
| lpetre | 2:5aa75c3d8cc3 | 180 | accel[0] = accel_min[0] = accel_max[0] = magnetom[0] = magnetom_min[0] = magnetom_max[0] = gyro[0] = gyro_average[0] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 181 | accel[1] = accel_min[1] = accel_max[1] = magnetom[1] = magnetom_min[1] = magnetom_max[1] = gyro[1] = gyro_average[1] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 182 | accel[2] = accel_min[2] = accel_max[2] = magnetom[2] = magnetom_min[2] = magnetom_max[2] = gyro[2] = gyro_average[2] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 183 | |
| lpetre | 2:5aa75c3d8cc3 | 184 | Accel_Vector[0] = Gyro_Vector[0] = Omega_Vector[0] = Omega_P[0] = Omega_I[0] = Omega[0] = errorRollPitch[0] = errorYaw[0] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 185 | Accel_Vector[1] = Gyro_Vector[1] = Omega_Vector[1] = Omega_P[1] = Omega_I[1] = Omega[1] = errorRollPitch[1] = errorYaw[1] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 186 | Accel_Vector[2] = Gyro_Vector[2] = Omega_Vector[2] = Omega_P[2] = Omega_I[2] = Omega[2] = errorRollPitch[2] = errorYaw[2] = 0; |
| lpetre | 0:9a72d42c0da3 | 187 | |
| lpetre | 2:5aa75c3d8cc3 | 188 | DCM_Matrix[0][0] = 1; |
| lpetre | 2:5aa75c3d8cc3 | 189 | DCM_Matrix[0][1] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 190 | DCM_Matrix[0][2] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 191 | DCM_Matrix[1][0] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 192 | DCM_Matrix[1][1] = 1; |
| lpetre | 2:5aa75c3d8cc3 | 193 | DCM_Matrix[1][2] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 194 | DCM_Matrix[2][0] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 195 | DCM_Matrix[2][1] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 196 | DCM_Matrix[2][2] = 1; |
| lpetre | 2:5aa75c3d8cc3 | 197 | |
| lpetre | 2:5aa75c3d8cc3 | 198 | Update_Matrix[0][0] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 199 | Update_Matrix[0][1] = 1; |
| lpetre | 2:5aa75c3d8cc3 | 200 | Update_Matrix[0][2] = 2; |
| lpetre | 2:5aa75c3d8cc3 | 201 | Update_Matrix[1][0] = 3; |
| lpetre | 2:5aa75c3d8cc3 | 202 | Update_Matrix[1][1] = 4; |
| lpetre | 2:5aa75c3d8cc3 | 203 | Update_Matrix[1][2] = 5; |
| lpetre | 2:5aa75c3d8cc3 | 204 | Update_Matrix[2][0] = 6; |
| lpetre | 2:5aa75c3d8cc3 | 205 | Update_Matrix[2][1] = 7; |
| lpetre | 2:5aa75c3d8cc3 | 206 | Update_Matrix[2][2] = 8; |
| lpetre | 2:5aa75c3d8cc3 | 207 | |
| lpetre | 2:5aa75c3d8cc3 | 208 | Temporary_Matrix[0][0] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 209 | Temporary_Matrix[0][1] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 210 | Temporary_Matrix[0][2] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 211 | Temporary_Matrix[1][0] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 212 | Temporary_Matrix[1][1] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 213 | Temporary_Matrix[1][2] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 214 | Temporary_Matrix[2][0] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 215 | Temporary_Matrix[2][1] = 0; |
| lpetre | 2:5aa75c3d8cc3 | 216 | Temporary_Matrix[2][2] = 0; |
| lpetre | 0:9a72d42c0da3 | 217 | |
| lpetre | 2:5aa75c3d8cc3 | 218 | timer.start(); |
| lpetre | 2:5aa75c3d8cc3 | 219 | // Init serial output |
| lpetre | 2:5aa75c3d8cc3 | 220 | pc.baud(OUTPUT__BAUD_RATE); |
| lpetre | 2:5aa75c3d8cc3 | 221 | |
| lpetre | 2:5aa75c3d8cc3 | 222 | // Init status LED |
| lpetre | 2:5aa75c3d8cc3 | 223 | statusLed = 0; |
| lpetre | 2:5aa75c3d8cc3 | 224 | |
| lpetre | 2:5aa75c3d8cc3 | 225 | // Init sensors |
| lpetre | 2:5aa75c3d8cc3 | 226 | wait_ms(50); // Give sensors enough time to start |
| lpetre | 2:5aa75c3d8cc3 | 227 | I2C_Init(); |
| lpetre | 2:5aa75c3d8cc3 | 228 | Accel_Init(); |
| lpetre | 2:5aa75c3d8cc3 | 229 | Magn_Init(); |
| lpetre | 2:5aa75c3d8cc3 | 230 | Gyro_Init(); |
| lpetre | 2:5aa75c3d8cc3 | 231 | |
| lpetre | 2:5aa75c3d8cc3 | 232 | // Read sensors, init DCM algorithm |
| lpetre | 2:5aa75c3d8cc3 | 233 | wait_ms(20); // Give sensors enough time to collect data |
| lpetre | 2:5aa75c3d8cc3 | 234 | reset_sensor_fusion(); |
| lpetre | 2:5aa75c3d8cc3 | 235 | |
| lpetre | 2:5aa75c3d8cc3 | 236 | // Init output |
| lpetre | 2:5aa75c3d8cc3 | 237 | #if (OUTPUT__HAS_RN_BLUETOOTH == true) || (OUTPUT__STARTUP_STREAM_ON == false) |
| lpetre | 2:5aa75c3d8cc3 | 238 | turn_output_stream_off(); |
| lpetre | 2:5aa75c3d8cc3 | 239 | #else |
| lpetre | 2:5aa75c3d8cc3 | 240 | turn_output_stream_on(); |
| lpetre | 2:5aa75c3d8cc3 | 241 | #endif |
| lpetre | 2:5aa75c3d8cc3 | 242 | } |
| lpetre | 0:9a72d42c0da3 | 243 | |
| lpetre | 2:5aa75c3d8cc3 | 244 | // Main loop |
| lpetre | 2:5aa75c3d8cc3 | 245 | void IMU::loop() { |
| lpetre | 2:5aa75c3d8cc3 | 246 | timestamp_old = timestamp; |
| lpetre | 2:5aa75c3d8cc3 | 247 | timestamp = timer.read_ms(); |
| lpetre | 2:5aa75c3d8cc3 | 248 | if (timestamp > timestamp_old) |
| lpetre | 2:5aa75c3d8cc3 | 249 | G_Dt = (float) (timestamp - timestamp_old) / 1000.0f; // Real time of loop run. We use this on the DCM algorithm (gyro integration time) |
| lpetre | 2:5aa75c3d8cc3 | 250 | else |
| lpetre | 2:5aa75c3d8cc3 | 251 | G_Dt = 0; |
| lpetre | 2:5aa75c3d8cc3 | 252 | |
| lpetre | 2:5aa75c3d8cc3 | 253 | // Update sensor readings |
| lpetre | 2:5aa75c3d8cc3 | 254 | read_sensors(); |
| lpetre | 0:9a72d42c0da3 | 255 | |
| lpetre | 2:5aa75c3d8cc3 | 256 | if (output_mode == OUTPUT__MODE_CALIBRATE_SENSORS) { // We're in calibration mode |
| lpetre | 2:5aa75c3d8cc3 | 257 | check_reset_calibration_session(); // Check if this session needs a reset |
| lpetre | 2:5aa75c3d8cc3 | 258 | if (output_stream_on || output_single_on) |
| lpetre | 2:5aa75c3d8cc3 | 259 | output_calibration(curr_calibration_sensor); |
| lpetre | 2:5aa75c3d8cc3 | 260 | } else if (output_mode == OUTPUT__MODE_SENSORS_TEXT) { |
| lpetre | 2:5aa75c3d8cc3 | 261 | // Apply sensor calibration |
| lpetre | 2:5aa75c3d8cc3 | 262 | compensate_sensor_errors(); |
| lpetre | 0:9a72d42c0da3 | 263 | |
| lpetre | 2:5aa75c3d8cc3 | 264 | if (output_stream_on || output_single_on) |
| lpetre | 2:5aa75c3d8cc3 | 265 | output_sensors(); |
| lpetre | 2:5aa75c3d8cc3 | 266 | } else if (output_mode == OUTPUT__MODE_ANGLES_TEXT || output_mode == OUTPUT__MODE_ANGLES_BINARY) { |
| lpetre | 2:5aa75c3d8cc3 | 267 | // Apply sensor calibration |
| lpetre | 2:5aa75c3d8cc3 | 268 | compensate_sensor_errors(); |
| lpetre | 0:9a72d42c0da3 | 269 | |
| lpetre | 2:5aa75c3d8cc3 | 270 | // Run DCM algorithm |
| lpetre | 2:5aa75c3d8cc3 | 271 | Compass_Heading(); // Calculate magnetic heading |
| lpetre | 2:5aa75c3d8cc3 | 272 | Matrix_update(); |
| lpetre | 2:5aa75c3d8cc3 | 273 | Normalize(); |
| lpetre | 2:5aa75c3d8cc3 | 274 | Drift_correction(); |
| lpetre | 2:5aa75c3d8cc3 | 275 | Euler_angles(); |
| lpetre | 2:5aa75c3d8cc3 | 276 | |
| lpetre | 2:5aa75c3d8cc3 | 277 | if (output_stream_on || output_single_on) |
| lpetre | 2:5aa75c3d8cc3 | 278 | output_angles(); |
| lpetre | 2:5aa75c3d8cc3 | 279 | } |
| lpetre | 2:5aa75c3d8cc3 | 280 | |
| lpetre | 2:5aa75c3d8cc3 | 281 | output_single_on = false; |
| lpetre | 0:9a72d42c0da3 | 282 | |
| lpetre | 0:9a72d42c0da3 | 283 | #if DEBUG__PRINT_LOOP_TIME == true |
| lpetre | 2:5aa75c3d8cc3 | 284 | pc.printf("loop time (ms) = %f" NEW_LINE, timer.read_ms() - timestamp); |
| lpetre | 0:9a72d42c0da3 | 285 | #endif |
| lpetre | 0:9a72d42c0da3 | 286 | } |
| lpetre | 2:5aa75c3d8cc3 | 287 | |
| lpetre | 2:5aa75c3d8cc3 | 288 | int main() { |
| lpetre | 2:5aa75c3d8cc3 | 289 | IMU imu; |
| lpetre | 2:5aa75c3d8cc3 | 290 | |
| lpetre | 2:5aa75c3d8cc3 | 291 | Ticker looper; |
| lpetre | 2:5aa75c3d8cc3 | 292 | looper.attach(&imu, &IMU::loop, (float)OUTPUT__DATA_INTERVAL / 1000.0f); // 50Hz update |
| lpetre | 2:5aa75c3d8cc3 | 293 | |
| lpetre | 2:5aa75c3d8cc3 | 294 | while (1) |
| lpetre | 2:5aa75c3d8cc3 | 295 | { |
| lpetre | 2:5aa75c3d8cc3 | 296 | imu.readInput(); |
| lpetre | 2:5aa75c3d8cc3 | 297 | wait_ms(5); |
| lpetre | 2:5aa75c3d8cc3 | 298 | } |
| lpetre | 2:5aa75c3d8cc3 | 299 | |
| lpetre | 2:5aa75c3d8cc3 | 300 | return 0; |
| lpetre | 2:5aa75c3d8cc3 | 301 | } |