File content as of revision 1:85fcfcb7b137:

/*
FreeIMU.cpp - A libre and easy to use orientation sensing library for Arduino
Copyright (C) 2011-2012 Fabio Varesano <fabio at varesano dot net>
ported for HobbyKing's 10DOF stick on a mbed platform by Aloïs Wolff(wolffalois@gmail.com)

Development of this code has been supported by the Department of Computer Science,
Universita' degli Studi di Torino, Italy within the Piemonte Project
http://www.piemonte.di.unito.it/


This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/


//#define DEBUG


#include "HK10DOF.h"
#include "helper_3dmath.h"
#include <math.h>  

// #include "WireUtils.h"
//#include "DebugUtils.h"
//#include "vector_math.h"

#define     M_PI 3.1415926535897932384626433832795

HK10DOF::HK10DOF(PinName sda, PinName scl) : acc(sda,scl), magn(sda,scl),gyro(sda,scl), baro(sda,scl),pc(USBTX,USBRX)
{

    pc.baud(921600);
    
    // initialize quaternion
    q0 = 1.0f;
    q1 = 0.0f;
    q2 = 0.0f;
    q3 = 0.0f;
    exInt = 0.0;
    eyInt = 0.0;
    ezInt = 0.0;
    twoKp = twoKpDef;
    twoKi = twoKiDef;
    integralFBx = 0.0f,  integralFBy = 0.0f, integralFBz = 0.0f;


#ifndef CALIBRATION_H
    // initialize scale factors to neutral values
    acc_scale_x = 1;
    acc_scale_y = 1;
    acc_scale_z = 1;
    magn_scale_x = 1;
    magn_scale_y = 1;
    magn_scale_z = 1;
#else
    // get values from global variables of same name defined in calibration.h
    acc_off_x = ::acc_off_x;
    acc_off_y = ::acc_off_y;
    acc_off_z = ::acc_off_z;
    acc_scale_x = ::acc_scale_x;
    acc_scale_y = ::acc_scale_y;
    acc_scale_z = ::acc_scale_z;
    magn_off_x = ::magn_off_x;
    magn_off_y = ::magn_off_y;
    magn_off_z = ::magn_off_z;
    magn_scale_x = ::magn_scale_x;
    magn_scale_y = ::magn_scale_y;
    magn_scale_z = ::magn_scale_z;
#endif
}




/**
 * Initialize the FreeIMU I2C bus, sensors and performs gyro offsets calibration
*/

void HK10DOF::init(bool fastmode)
{


         //Sensors Initialization
     pc.printf("Initializing sensors...\n\r");
     magn.init();
     baro.getCalibrationData();
     acc.setPowerControl(0x00);
     wait_ms(10);
     acc.setDataFormatControl(0x0B);
     wait_ms(10);
     acc.setPowerControl(MeasurementMode);
     wait_ms(10);
    pc.printf("Sensors OK!\n\r");

    update.start();
    int dt_us=0;
    pc.printf("ZeroGyro\n\r");
    // zero gyro
    //zeroGyro();
    gyro.zeroCalibrate(128,5);
    pc.printf("ZeroGyro OK, CalLoad...\n\r");
    // load calibration from eeprom
    calLoad();

}

void HK10DOF::calLoad()
{

    
    acc_off_x = 0;
    acc_off_y = 0;
    acc_off_z = 0;
    acc_scale_x = 1;
    acc_scale_y = 1;
    acc_scale_z = 1;

    magn_off_x = 0;
    magn_off_y = 0;
    magn_off_z = 0;
    magn_scale_x = 1;
    magn_scale_y = 1;
    magn_scale_z = 1;
}

void HK10DOF::getRawValues(int16_t * raw_values)
{
    int16_t raw3[3];
    int raw[3];
    
    pc.printf("GetRaw IN \n\r");

    acc.getOutput(&raw_values[0], &raw_values[1], &raw_values[2]);
    pc.printf("GotACC\n\r");
    
    gyro.read(raw);
    
    raw_values[3]=(int16_t)raw[0];
    raw_values[4]=(int16_t)raw[1];
    raw_values[5]=(int16_t)raw[2];
    pc.printf("GotGYRO\n\r");
    

    magn.getXYZ(raw3);
    raw_values[6]=raw3[0];
    raw_values[7]=raw3[1];
    raw_values[8]=raw3[2];
    pc.printf("GotMAG\n\r");
    


    baro.readSensor();
    raw_values[9]=(int16_t)baro.temp();
    raw_values[10]=(int16_t)baro.press();
    pc.printf("GotBARO\n\r");
    

}


/**
 * Populates values with calibrated readings from the sensors
*/
void HK10DOF::getValues(float * values)
{

    int16_t accval[3];
    float     gyrval[3];
    acc.getOutput(accval);
    values[0] = (float) accval[0];
    values[1] = (float) accval[1];
    values[2] = (float) accval[2];
    
    gyro.readFin(gyrval);
    values[3] =  gyrval[0];
    values[4] =  gyrval[1];
    values[5] =  gyrval[2];
    
    magn.getXYZ(accval);
    values[6]=accval[0];
    values[7]=accval[1];
    values[8]=accval[2];


#warning Accelerometer calibration active: have you calibrated your device?
    // remove offsets and scale accelerometer (calibration)
    values[0] = (values[0] - acc_off_x) / acc_scale_x;
    values[1] = (values[1] - acc_off_y) / acc_scale_y;
    values[2] = (values[2] - acc_off_z) / acc_scale_z;

    // calibration
#warning Magnetometer calibration active: have you calibrated your device?
    values[6] = (values[6] - magn_off_x) / magn_scale_x;
    values[7] = (values[7] - magn_off_y) / magn_scale_y;
    values[8] = (values[8] - magn_off_z) / magn_scale_z;

    
    
}


/**
 * Computes gyro offsets
*/
void HK10DOF::zeroGyro()
{
    const int totSamples = 3;
    int16_t raw[11];
    float tmpOffsets[] = {0,0,0};

    for (int i = 0; i < totSamples; i++) {
        getRawValues(raw);
        tmpOffsets[0] += raw[3];
        tmpOffsets[1] += raw[4];
        tmpOffsets[2] += raw[5];
    }

    gyro_off_x = tmpOffsets[0] / totSamples;
    gyro_off_y = tmpOffsets[1] / totSamples;
    gyro_off_z = tmpOffsets[2] / totSamples;
}


/**
 * Quaternion implementation of the 'DCM filter' [Mayhony et al].  Incorporates the magnetic distortion
 * compensation algorithms from Sebastian Madgwick's filter which eliminates the need for a reference
 * direction of flux (bx bz) to be predefined and limits the effect of magnetic distortions to yaw
 * axis only.
 *
 * @see: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
*/
//#if IS_9DOM()
void  HK10DOF::AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
{

    float recipNorm;
    float q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
    float halfex = 0.0f, halfey = 0.0f, halfez = 0.0f;
    float qa, qb, qc;

    // Auxiliary variables to avoid repeated arithmetic
    q0q0 = q0 * q0;
    q0q1 = q0 * q1;
    q0q2 = q0 * q2;
    q0q3 = q0 * q3;
    q1q1 = q1 * q1;
    q1q2 = q1 * q2;
    q1q3 = q1 * q3;
    q2q2 = q2 * q2;
    q2q3 = q2 * q3;
    q3q3 = q3 * q3;

    // Use magnetometer measurement only when valid (avoids NaN in magnetometer normalisation)
    if((mx != 0.0f) && (my != 0.0f) && (mz != 0.0f)) {
        float hx, hy, bx, bz;
        float halfwx, halfwy, halfwz;

        // Normalise magnetometer measurement
        recipNorm = invSqrt(mx * mx + my * my + mz * mz);
        mx *= recipNorm;
        my *= recipNorm;
        mz *= recipNorm;

        // Reference direction of Earth's magnetic field
        hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
        hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
        bx = sqrt(hx * hx + hy * hy);
        bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2));

        // Estimated direction of magnetic field
        halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
        halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
        halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);

        // Error is sum of cross product between estimated direction and measured direction of field vectors
        halfex = (my * halfwz - mz * halfwy);
        halfey = (mz * halfwx - mx * halfwz);
        halfez = (mx * halfwy - my * halfwx);
    }


    // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
    if((ax != 0.0f) && (ay != 0.0f) && (az != 0.0f)) {
        float halfvx, halfvy, halfvz;

        // Normalise accelerometer measurement
        recipNorm = invSqrt(ax * ax + ay * ay + az * az);
        ax *= recipNorm;
        ay *= recipNorm;
        az *= recipNorm;

        // Estimated direction of gravity
        halfvx = q1q3 - q0q2;
        halfvy = q0q1 + q2q3;
        halfvz = q0q0 - 0.5f + q3q3;

        // Error is sum of cross product between estimated direction and measured direction of field vectors
        halfex += (ay * halfvz - az * halfvy);
        halfey += (az * halfvx - ax * halfvz);
        halfez += (ax * halfvy - ay * halfvx);
    }

    // Apply feedback only when valid data has been gathered from the accelerometer or magnetometer
    if(halfex != 0.0f && halfey != 0.0f && halfez != 0.0f) {
        // Compute and apply integral feedback if enabled
        if(twoKi > 0.0f) {
            integralFBx += twoKi * halfex * (1.0f / sampleFreq);  // integral error scaled by Ki
            integralFBy += twoKi * halfey * (1.0f / sampleFreq);
            integralFBz += twoKi * halfez * (1.0f / sampleFreq);
            gx += integralFBx;  // apply integral feedback
            gy += integralFBy;
            gz += integralFBz;
        } else {
            integralFBx = 0.0f; // prevent integral windup
            integralFBy = 0.0f;
            integralFBz = 0.0f;
        }

        // Apply proportional feedback
        gx += twoKp * halfex;
        gy += twoKp * halfey;
        gz += twoKp * halfez;
    }

    // Integrate rate of change of quaternion
    gx *= (0.5f * (1.0f / sampleFreq));   // pre-multiply common factors
    gy *= (0.5f * (1.0f / sampleFreq));
    gz *= (0.5f * (1.0f / sampleFreq));
    qa = q0;
    qb = q1;
    qc = q2;
    q0 += (-qb * gx - qc * gy - q3 * gz);
    q1 += (qa * gx + qc * gz - q3 * gy);
    q2 += (qa * gy - qb * gz + q3 * gx);
    q3 += (qa * gz + qb * gy - qc * gx);

    // Normalise quaternion
    recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
    q0 *= recipNorm;
    q1 *= recipNorm;
    q2 *= recipNorm;
    q3 *= recipNorm;
}


/**
 * Populates array q with a quaternion representing the IMU orientation with respect to the Earth
 *
 * @param q the quaternion to populate
*/
void HK10DOF::getQ(float * q)
{
    float val[9];
    getValues(val);
    /*
        DEBUG_PRINT(val[3] * M_PI/180);
        DEBUG_PRINT(val[4] * M_PI/180);
        DEBUG_PRINT(val[5] * M_PI/180);
        DEBUG_PRINT(val[0]);
        DEBUG_PRINT(val[1]);
        DEBUG_PRINT(val[2]);
        DEBUG_PRINT(val[6]);
        DEBUG_PRINT(val[7]);
        DEBUG_PRINT(val[8]);
    */

    dt_us=update.read_us();
    sampleFreq = 1.0 / ((dt_us) / 1000000.0);
    update.reset();



    // gyro values are expressed in deg/sec, the * M_PI/180 will convert it to radians/sec
    AHRSupdate(val[3] * M_PI/180, val[4] * M_PI/180, val[5] * M_PI/180, val[0], val[1], val[2], val[6], val[7], val[8]);



    q[0] = q0;
    q[1] = q1;
    q[2] = q2;
    q[3] = q3;
}



const float def_sea_press = 1013.25;

/**
 * Returns an altitude estimate from baromether readings only using sea_press as current sea level pressure
*/
float HK10DOF::getBaroAlt(float sea_press)
{
    //float temp,press,res;
    baro.readSensor();
    //temp=(float)baro.temp();
    //press=(float)baro.press();
    
    

    return baro.altitud();
    //return(temp,press);
}

/**
 * Returns an altitude estimate from baromether readings only using a default sea level pressure
*/
float HK10DOF::getBaroAlt()
{
    return getBaroAlt(def_sea_press);
}


/**
 * Compensates the accelerometer readings in the 3D vector acc expressed in the sensor frame for gravity
 * @param acc the accelerometer readings to compensate for gravity
 * @param q the quaternion orientation of the sensor board with respect to the world
*/
void HK10DOF::gravityCompensateAcc(float * acc, float * q)
{
    float g[3];

    // get expected direction of gravity in the sensor frame
    g[0] = 2 * (q[1] * q[3] - q[0] * q[2]);
    g[1] = 2 * (q[0] * q[1] + q[2] * q[3]);
    g[2] = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];

    // compensate accelerometer readings with the expected direction of gravity
    acc[0] = acc[0] - g[0];
    acc[1] = acc[1] - g[1];
    acc[2] = acc[2] - g[2];
}



/**
 * Returns the Euler angles in radians defined in the Aerospace sequence.
 * See Sebastian O.H. Madwick report "An efficient orientation filter for
 * inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation
 *
 * @param angles three floats array which will be populated by the Euler angles in radians
*/
void HK10DOF::getEulerRad(float * angles)
{
    float q[4]; // quaternion
    getQ(q);
    angles[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1); // psi
    angles[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
    angles[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1); // phi
}


/**
 * Returns the Euler angles in degrees defined with the Aerospace sequence.
 * See Sebastian O.H. Madwick report "An efficient orientation filter for
 * inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation
 *
 * @param angles three floats array which will be populated by the Euler angles in degrees
*/
void HK10DOF::getEuler(float * angles)
{
    getEulerRad(angles);
    arr3_rad_to_deg(angles);
}


/**
 * Returns the yaw pitch and roll angles, respectively defined as the angles in radians between
 * the Earth North and the IMU X axis (yaw), the Earth ground plane and the IMU X axis (pitch)
 * and the Earth ground plane and the IMU Y axis.
 *
 * @note This is not an Euler representation: the rotations aren't consecutive rotations but only
 * angles from Earth and the IMU. For Euler representation Yaw, Pitch and Roll see HK10DOF::getEuler
 *
 * @param ypr three floats array which will be populated by Yaw, Pitch and Roll angles in radians
*/
void HK10DOF::getYawPitchRollRad(float * ypr)
{
    float q[4]; // quaternion
    float gx, gy, gz; // estimated gravity direction
    getQ(q);

    gx = 2 * (q[1]*q[3] - q[0]*q[2]);
    gy = 2 * (q[0]*q[1] + q[2]*q[3]);
    gz = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];

    ypr[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1);
    ypr[1] = atan(gx / sqrt(gy*gy + gz*gz));
    ypr[2] = atan(gy / sqrt(gx*gx + gz*gz));
}


/**
 * Returns the yaw pitch and roll angles, respectively defined as the angles in degrees between
 * the Earth North and the IMU X axis (yaw), the Earth ground plane and the IMU X axis (pitch)
 * and the Earth ground plane and the IMU Y axis.
 *
 * @note This is not an Euler representation: the rotations aren't consecutive rotations but only
 * angles from Earth and the IMU. For Euler representation Yaw, Pitch and Roll see HK10DOF::getEuler
 *
 * @param ypr three floats array which will be populated by Yaw, Pitch and Roll angles in degrees
*/
void HK10DOF::getYawPitchRoll(float * ypr)
{
    getYawPitchRollRad(ypr);
    arr3_rad_to_deg(ypr);
}


/**
 * Converts a 3 elements array arr of angles expressed in radians into degrees
*/
void arr3_rad_to_deg(float * arr)
{
    arr[0] *= 180/M_PI;
    arr[1] *= 180/M_PI;
    arr[2] *= 180/M_PI;
}


/**
 * Fast inverse square root implementation
 * @see http://en.wikipedia.org/wiki/Fast_inverse_square_root
*/
float invSqrt(float number)
{
    volatile long i;
    volatile float x, y;
    volatile const float f = 1.5F;

    x = number * 0.5F;
    y = number;
    i = * ( long * ) &y;
    i = 0x5f375a86 - ( i >> 1 );
    y = * ( float * ) &i;
    y = y * ( f - ( x * y * y ) );
    return y;
}