Ran Katz
A Jedi light saber controller program with the following "features": - Using RGB LEDs - User can change light colors with a button - Motion dependent (PWM) sounds with a MPU6050 motion sensor - Low voltage detection
Dependencies: L152RE_USBDevice STM32_USB48MHz Watchdog mbed
Diff: MPU6050IMU/MPU6050.h
- Revision:
- 2:59a7d4677474
- Parent:
- 1:8143972a0587
- Child:
- 4:7e4bb0c29d3b
--- a/MPU6050IMU/MPU6050.h Thu Mar 24 21:53:12 2016 +0000
+++ b/MPU6050IMU/MPU6050.h Thu Mar 24 22:42:59 2016 +0000
@@ -133,6 +133,13 @@
#define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0
#endif
+#ifndef TRUE
+#define TRUE true
+#endif
+#ifndef FALSE
+#define FALSE false
+#endif
+
// Set initial input parameters
enum Ascale {
AFS_2G = 0,
@@ -148,547 +155,65 @@
GFS_2000DPS
};
-// Specify sensor full scale
-int Gscale = GFS_250DPS;
-int Ascale = AFS_8G;
-
-//Set up I2C, (SDA,SCL)
-I2C MPU_i2c(PB_9, PB_8);
-
-//DigitalOut myled(LED1);
-
-float aRes, gRes; // scale resolutions per LSB for the sensors
-
-// Pin definitions
-int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
+typedef struct {
+ int ax;
+ int ay;
+ int az;
+ int yaw;
+ int pitch;
+ int roll;
+} MPU_data_type;
-int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
-float ax, ay, az; // Stores the real accel value in g's
-int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
-float gx, gy, gz; // Stores the real gyro value in degrees per seconds
-float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
-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
-
-// parameters for 6 DoF sensor fusion calculations
-float PI = 3.14159265358979323846f;
-float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
-float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
-float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
-float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
-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 q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
class MPU6050 {
protected:
-
+
+ private:
+
+ void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
+
+ char readByte(uint8_t address, uint8_t subAddress);
+
+ void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest);
+
public:
//===================================================================================================================
//====== Set of useful function to access acceleratio, gyroscope, and temperature data
//===================================================================================================================
- void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
-{
- char data_write[2];
- data_write[0] = subAddress;
- data_write[1] = data;
- __disable_irq();
- MPU_i2c.write(address, data_write, 2, 0);
- __enable_irq();
-}
+
+ void getGres();
- char readByte(uint8_t address, uint8_t subAddress)
-{
- char data[1]; // `data` will store the register data
- char data_write[1];
- data_write[0] = subAddress;
- __disable_irq();
- MPU_i2c.write(address, data_write, 1, 1); // no stop
- MPU_i2c.read(address, data, 1, 0);
- __enable_irq();
- return data[0];
-}
-
- void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
-{
- char data[14];
- char data_write[1];
- data_write[0] = subAddress;
- __disable_irq();
- MPU_i2c.write(address, data_write, 1, 1); // no stop
- MPU_i2c.read(address, data, count, 0);
- __enable_irq();
- for(int ii = 0; ii < count; ii++) {
- dest[ii] = data[ii];
- }
-}
-
+ void getAres();
-void getGres() {
- switch (Gscale)
- {
- // Possible gyro scales (and their register bit settings) are:
- // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
- // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
- case GFS_250DPS:
- gRes = 250.0/32768.0;
- break;
- case GFS_500DPS:
- gRes = 500.0/32768.0;
- break;
- case GFS_1000DPS:
- gRes = 1000.0/32768.0;
- break;
- case GFS_2000DPS:
- gRes = 2000.0/32768.0;
- break;
- }
-}
+ void readAccelData(int16_t * destination);
+
+ void readGyroData(int16_t * destination);
-void getAres() {
- switch (Ascale)
- {
- // Possible accelerometer scales (and their register bit settings) are:
- // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
- // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
- case AFS_2G:
- aRes = 2.0/32768.0;
- break;
- case AFS_4G:
- aRes = 4.0/32768.0;
- break;
- case AFS_8G:
- aRes = 8.0/32768.0;
- break;
- case AFS_16G:
- aRes = 16.0/32768.0;
- break;
- }
-}
+ int16_t readTempData();
+ void LowPowerAccelOnly();
-void readAccelData(int16_t * destination)
-{
- uint8_t rawData[6]; // x/y/z accel register data stored here
- readBytes(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
- destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
-}
-
-void readGyroData(int16_t * destination)
-{
- uint8_t rawData[6]; // x/y/z gyro register data stored here
- readBytes(MPU6050_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
- destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
-}
+ void resetMPU6050();
+
+ void initMPU6050();
-int16_t readTempData()
-{
- uint8_t rawData[2]; // x/y/z gyro register data stored here
- readBytes(MPU6050_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
- return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
-}
-
-
+ void calibrateMPU6050(float * dest1, float * dest2);
-// Configure the motion detection control for low power accelerometer mode
-void LowPowerAccelOnly()
-{
-
-// The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly
-// Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration
-// above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a
-// threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out
-// consideration for these threshold evaluations; otherwise, the flags would be set all the time!
-
- uint8_t c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x30); // Clear sleep and cycle bits [5:6]
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x30); // Set sleep and cycle bits [5:6] to zero to make sure accelerometer is running
+ void MPU6050SelfTest(float * destination);
- c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
- writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0x38); // Clear standby XA, YA, and ZA bits [3:5]
- writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x00); // Set XA, YA, and ZA bits [3:5] to zero to make sure accelerometer is running
-
- c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
-// Set high-pass filter to 0) reset (disable), 1) 5 Hz, 2) 2.5 Hz, 3) 1.25 Hz, 4) 0.63 Hz, or 7) Hold
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x00); // Set ACCEL_HPF to 0; reset mode disbaling high-pass filter
-
- c = readByte(MPU6050_ADDRESS, CONFIG);
- writeByte(MPU6050_ADDRESS, CONFIG, c & ~0x07); // Clear low-pass filter bits [2:0]
- writeByte(MPU6050_ADDRESS, CONFIG, c | 0x00); // Set DLPD_CFG to 0; 260 Hz bandwidth, 1 kHz rate
-
- c = readByte(MPU6050_ADDRESS, INT_ENABLE);
- writeByte(MPU6050_ADDRESS, INT_ENABLE, c & ~0xFF); // Clear all interrupts
- writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x40); // Enable motion threshold (bits 5) interrupt only
-
-// Motion detection interrupt requires the absolute value of any axis to lie above the detection threshold
-// for at least the counter duration
- writeByte(MPU6050_ADDRESS, MOT_THR, 0x80); // Set motion detection to 0.256 g; LSB = 2 mg
- writeByte(MPU6050_ADDRESS, MOT_DUR, 0x01); // Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate
+ void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz);
+
+ bool motion_sensor_init();
- wait(0.1); // Add delay for accumulation of samples
+ bool motion_update_data(MPU_data_type *new_data, int current_time_us);
+
+ };
- c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x07); // Set ACCEL_HPF to 7; hold the initial accleration value as a referance
-
- c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
- writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0xC7); // Clear standby XA, YA, and ZA bits [3:5] and LP_WAKE_CTRL bits [6:7]
- writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x47); // Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2])
-
- c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x20); // Clear sleep and cycle bit 5
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x20); // Set cycle bit 5 to begin low power accelerometer motion interrupts
-
-}
-
-
-void resetMPU6050() {
- // reset device
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
- wait(0.1);
- }
+ void MPU6050_set_I2C_freq(int i2c_frequency);
-void initMPU6050()
-{
- // Initialize MPU6050 device
- // wake up device
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
- wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
-
- // get stable time source
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
-
- // Configure Gyro and Accelerometer
- // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
- // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
- // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
- writeByte(MPU6050_ADDRESS, CONFIG, 0x03);
-
- // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
- writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above
-
- // Set gyroscope full scale range
- // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
- uint8_t c = readByte(MPU6050_ADDRESS, GYRO_CONFIG);
- writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
- writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
- writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
-
- // Set accelerometer configuration
- c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
-
- // Configure Interrupts and Bypass Enable
- // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
- // can join the I2C bus and all can be controlled by the Arduino as master
- writeByte(MPU6050_ADDRESS, INT_PIN_CFG, 0x22);
- writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
-}
-
-// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
-// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
-void calibrateMPU6050(float * dest1, float * dest2)
-{
- uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
- uint16_t ii, packet_count, fifo_count;
- int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
-// reset device, reset all registers, clear gyro and accelerometer bias registers
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
- wait(0.1);
-
-// get stable time source
-// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01);
- writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00);
- wait(0.2);
-
-// Configure device for bias calculation
- writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
- writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
- writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
- writeByte(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
- writeByte(MPU6050_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
- writeByte(MPU6050_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
- wait(0.015);
-
-// Configure MPU6050 gyro and accelerometer for bias calculation
- writeByte(MPU6050_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
- writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
- writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
-
- uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
- uint16_t accelsensitivity = 16384; // = 16384 LSB/g
-
-// Configure FIFO to capture accelerometer and gyro data for bias calculation
- writeByte(MPU6050_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
- writeByte(MPU6050_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050)
- wait(0.08); // accumulate 80 samples in 80 milliseconds = 960 bytes
-
-// At end of sample accumulation, turn off FIFO sensor read
- writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
- readBytes(MPU6050_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
- 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++) {
- int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
- readBytes(MPU6050_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
- accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
- accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
- gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
- gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
- gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
-
- accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
- accel_bias[1] += (int32_t) accel_temp[1];
- 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];
-
-}
- 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;
- gyro_bias[0] /= (int32_t) packet_count;
- 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;}
-
-// 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(MPU6050_ADDRESS, XG_OFFS_USRH, data[0]);
- writeByte(MPU6050_ADDRESS, XG_OFFS_USRL, data[1]);
- writeByte(MPU6050_ADDRESS, YG_OFFS_USRH, data[2]);
- writeByte(MPU6050_ADDRESS, YG_OFFS_USRL, data[3]);
- writeByte(MPU6050_ADDRESS, ZG_OFFS_USRH, data[4]);
- writeByte(MPU6050_ADDRESS, ZG_OFFS_USRL, 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;
-
-// 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
-// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
-// 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(MPU6050_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(MPU6050_ADDRESS, YA_OFFSET_H, 2, &data[0]);
- accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
- readBytes(MPU6050_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
- 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);
-
- 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
-
- // Push accelerometer biases to hardware registers
-// writeByte(MPU6050_ADDRESS, XA_OFFSET_H, data[0]);
-// writeByte(MPU6050_ADDRESS, XA_OFFSET_L_TC, data[1]);
-// writeByte(MPU6050_ADDRESS, YA_OFFSET_H, data[2]);
-// writeByte(MPU6050_ADDRESS, YA_OFFSET_L_TC, data[3]);
-// writeByte(MPU6050_ADDRESS, ZA_OFFSET_H, data[4]);
-// writeByte(MPU6050_ADDRESS, ZA_OFFSET_L_TC, data[5]);
-
-// Output scaled accelerometer biases for manual subtraction in the main program
- dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
- dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
- dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
-}
-
-
-// Accelerometer and gyroscope self test; check calibration wrt factory settings
-void MPU6050SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
-{
- uint8_t rawData[4] = {0, 0, 0, 0};
- uint8_t selfTest[6];
- float factoryTrim[6];
-
- // Configure the accelerometer for self-test
- writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g
- writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
- wait(0.25); // Delay a while to let the device execute the self-test
- rawData[0] = readByte(MPU6050_ADDRESS, SELF_TEST_X); // X-axis self-test results
- rawData[1] = readByte(MPU6050_ADDRESS, SELF_TEST_Y); // Y-axis self-test results
- rawData[2] = readByte(MPU6050_ADDRESS, SELF_TEST_Z); // Z-axis self-test results
- rawData[3] = readByte(MPU6050_ADDRESS, SELF_TEST_A); // Mixed-axis self-test results
- // Extract the acceleration test results first
- selfTest[0] = (rawData[0] >> 3) | (rawData[3] & 0x30) >> 4 ; // XA_TEST result is a five-bit unsigned integer
- selfTest[1] = (rawData[1] >> 3) | (rawData[3] & 0x0C) >> 4 ; // YA_TEST result is a five-bit unsigned integer
- selfTest[2] = (rawData[2] >> 3) | (rawData[3] & 0x03) >> 4 ; // ZA_TEST result is a five-bit unsigned integer
- // Extract the gyration test results first
- selfTest[3] = rawData[0] & 0x1F ; // XG_TEST result is a five-bit unsigned integer
- selfTest[4] = rawData[1] & 0x1F ; // YG_TEST result is a five-bit unsigned integer
- selfTest[5] = rawData[2] & 0x1F ; // ZG_TEST result is a five-bit unsigned integer
- // Process results to allow final comparison with factory set values
- factoryTrim[0] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[0] - 1.0f)/30.0f))); // FT[Xa] factory trim calculation
- factoryTrim[1] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[1] - 1.0f)/30.0f))); // FT[Ya] factory trim calculation
- factoryTrim[2] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[2] - 1.0f)/30.0f))); // FT[Za] factory trim calculation
- factoryTrim[3] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[3] - 1.0f) )); // FT[Xg] factory trim calculation
- factoryTrim[4] = (-25.0f*131.0f)*(pow( 1.046f , (selfTest[4] - 1.0f) )); // FT[Yg] factory trim calculation
- factoryTrim[5] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[5] - 1.0f) )); // FT[Zg] factory trim calculation
-
- // Output self-test results and factory trim calculation if desired
- // Serial.println(selfTest[0]); Serial.println(selfTest[1]); Serial.println(selfTest[2]);
- // Serial.println(selfTest[3]); Serial.println(selfTest[4]); Serial.println(selfTest[5]);
- // Serial.println(factoryTrim[0]); Serial.println(factoryTrim[1]); Serial.println(factoryTrim[2]);
- // Serial.println(factoryTrim[3]); Serial.println(factoryTrim[4]); Serial.println(factoryTrim[5]);
-
- // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
- // To get to percent, must multiply by 100 and subtract result from 100
- for (int i = 0; i < 6; i++) {
- destination[i] = 100.0f + 100.0f*(selfTest[i] - factoryTrim[i])/factoryTrim[i]; // Report percent differences
- }
-
-}
-
-
-// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
-// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
-// which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative
-// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
-// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
-// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
- void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz)
- {
- float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
- float norm; // vector norm
- float f1, f2, f3; // objective funcyion elements
- float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33; // objective function Jacobian elements
- float qDot1, qDot2, qDot3, qDot4;
- float hatDot1, hatDot2, hatDot3, hatDot4;
- float gerrx, gerry, gerrz, gbiasx, gbiasy, gbiasz; // gyro bias error
-
- // Auxiliary variables to avoid repeated arithmetic
- float _halfq1 = 0.5f * q1;
- float _halfq2 = 0.5f * q2;
- float _halfq3 = 0.5f * q3;
- float _halfq4 = 0.5f * q4;
- float _2q1 = 2.0f * q1;
- float _2q2 = 2.0f * q2;
- float _2q3 = 2.0f * q3;
- float _2q4 = 2.0f * q4;
-// float _2q1q3 = 2.0f * q1 * q3;
-// float _2q3q4 = 2.0f * q3 * q4;
-
- // Normalise accelerometer measurement
- norm = sqrt(ax * ax + ay * ay + az * az);
- if (norm == 0.0f) return; // handle NaN (INF ???)
- norm = 1.0f/norm;
- ax *= norm;
- ay *= norm;
- az *= norm;
-
- // Compute the objective function and Jacobian
- f1 = _2q2 * q4 - _2q1 * q3 - ax;
- f2 = _2q1 * q2 + _2q3 * q4 - ay;
- f3 = 1.0f - _2q2 * q2 - _2q3 * q3 - az;
- J_11or24 = _2q3;
- J_12or23 = _2q4;
- J_13or22 = _2q1;
- J_14or21 = _2q2;
- J_32 = 2.0f * J_14or21;
- J_33 = 2.0f * J_11or24;
-
- // Compute the gradient (matrix multiplication)
- hatDot1 = J_14or21 * f2 - J_11or24 * f1;
- hatDot2 = J_12or23 * f1 + J_13or22 * f2 - J_32 * f3;
- hatDot3 = J_12or23 * f2 - J_33 *f3 - J_13or22 * f1;
- hatDot4 = J_14or21 * f1 + J_11or24 * f2;
-
- // Normalize the gradient
- norm = sqrt(hatDot1 * hatDot1 + hatDot2 * hatDot2 + hatDot3 * hatDot3 + hatDot4 * hatDot4);
- if (norm == 0.0f) return; // handle NaN (INF ???)
- hatDot1 /= norm;
- hatDot2 /= norm;
- hatDot3 /= norm;
- hatDot4 /= norm;
-
- // Compute estimated gyroscope biases
- gerrx = _2q1 * hatDot2 - _2q2 * hatDot1 - _2q3 * hatDot4 + _2q4 * hatDot3;
- gerry = _2q1 * hatDot3 + _2q2 * hatDot4 - _2q3 * hatDot1 - _2q4 * hatDot2;
- gerrz = _2q1 * hatDot4 - _2q2 * hatDot3 + _2q3 * hatDot2 - _2q4 * hatDot1;
-
- // Compute and remove gyroscope biases
- gbiasx += gerrx * deltat * zeta;
- gbiasy += gerry * deltat * zeta;
- gbiasz += gerrz * deltat * zeta;
- // gx -= gbiasx;
- // gy -= gbiasy;
- // gz -= gbiasz;
-
- // Compute the quaternion derivative
- qDot1 = -_halfq2 * gx - _halfq3 * gy - _halfq4 * gz;
- qDot2 = _halfq1 * gx + _halfq3 * gz - _halfq4 * gy;
- qDot3 = _halfq1 * gy - _halfq2 * gz + _halfq4 * gx;
- qDot4 = _halfq1 * gz + _halfq2 * gy - _halfq3 * gx;
-
- // Compute then integrate estimated quaternion derivative
- q1 += (qDot1 -(beta * hatDot1)) * deltat;
- q2 += (qDot2 -(beta * hatDot2)) * deltat;
- q3 += (qDot3 -(beta * hatDot3)) * deltat;
- q4 += (qDot4 -(beta * hatDot4)) * deltat;
-
- // Normalize the quaternion
- norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
- if (norm == 0.0f) return; // handle NaN (INF ???)
- norm = 1.0f/norm;
- q[0] = q1 * norm;
- q[1] = q2 * norm;
- q[2] = q3 * norm;
- q[3] = q4 * norm;
-
- }
-
-
- };
#endif
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