Patrick Ciccone
imu_serial initial commit
Dependencies: MadgwickAHRS mpu9250 mbed
Revision 4:7fa9cfebb00c, committed 2016-10-06
- Comitter:
- rctaduio
- Date:
- Thu Oct 06 23:42:28 2016 +0000
- Parent:
- 3:c1902ecb30a7
- Commit message:
- asdf
Changed in this revision
diff -r c1902ecb30a7 -r 7fa9cfebb00c MPU9250.h
--- a/MPU9250.h Thu Oct 06 17:35:14 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1031 +0,0 @@
-/*
-TODO:
-add configuration function:
-loop through mux
-if imu
- append imu to a list
- ...
- ...
-if list > 0
- return something good
-
-add config output function
-
-
-
-
-*/
-
-
-#ifndef MPU9250_H
-#define MPU9250_H
-
-#include "mbed.h"
-#include "math.h"
-#include "MadgwickAHRS.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
-#define INFO 0x01
-#define AK8963_ST1 0x02 // data ready status bit 0
-#define AK8963_XOUT_L 0x03 // data
-#define AK8963_XOUT_H 0x04
-#define AK8963_YOUT_L 0x05
-#define AK8963_YOUT_H 0x06
-#define AK8963_ZOUT_L 0x07
-#define AK8963_ZOUT_H 0x08
-#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
-#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
-#define AK8963_ASTC 0x0C // Self test control
-#define AK8963_I2CDIS 0x0F // I2C disable
-#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
-#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
-#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
-
-#define SELF_TEST_X_GYRO 0x00
-#define SELF_TEST_Y_GYRO 0x01
-#define SELF_TEST_Z_GYRO 0x02
-
-/*#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
-#define XA_OFFSET_L_TC 0x07
-#define YA_OFFSET_H 0x08
-#define YA_OFFSET_L_TC 0x09
-#define ZA_OFFSET_H 0x0A
-#define ZA_OFFSET_L_TC 0x0B */
-
-#define SELF_TEST_X_ACCEL 0x0D
-#define SELF_TEST_Y_ACCEL 0x0E
-#define SELF_TEST_Z_ACCEL 0x0F
-
-#define SELF_TEST_A 0x10
-
-#define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
-#define XG_OFFSET_L 0x14
-#define YG_OFFSET_H 0x15
-#define YG_OFFSET_L 0x16
-#define ZG_OFFSET_H 0x17
-#define ZG_OFFSET_L 0x18
-#define SMPLRT_DIV 0x19
-#define CONFIG 0x1A
-#define GYRO_CONFIG 0x1B
-#define ACCEL_CONFIG 0x1C
-#define ACCEL_CONFIG2 0x1D
-#define LP_ACCEL_ODR 0x1E
-#define WOM_THR 0x1F
-
-#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
-#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
-#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
-
-#define FIFO_EN 0x23
-#define I2C_MST_CTRL 0x24
-#define I2C_SLV0_ADDR 0x25
-#define I2C_SLV0_REG 0x26
-#define I2C_SLV0_CTRL 0x27
-#define I2C_SLV1_ADDR 0x28
-#define I2C_SLV1_REG 0x29
-#define I2C_SLV1_CTRL 0x2A
-#define I2C_SLV2_ADDR 0x2B
-#define I2C_SLV2_REG 0x2C
-#define I2C_SLV2_CTRL 0x2D
-#define I2C_SLV3_ADDR 0x2E
-#define I2C_SLV3_REG 0x2F
-#define I2C_SLV3_CTRL 0x30
-#define I2C_SLV4_ADDR 0x31
-#define I2C_SLV4_REG 0x32
-#define I2C_SLV4_DO 0x33
-#define I2C_SLV4_CTRL 0x34
-#define I2C_SLV4_DI 0x35
-#define I2C_MST_STATUS 0x36
-#define INT_PIN_CFG 0x37
-#define INT_ENABLE 0x38
-#define DMP_INT_STATUS 0x39 // Check DMP interrupt
-#define INT_STATUS 0x3A
-#define ACCEL_XOUT_H 0x3B
-#define ACCEL_XOUT_L 0x3C
-#define ACCEL_YOUT_H 0x3D
-#define ACCEL_YOUT_L 0x3E
-#define ACCEL_ZOUT_H 0x3F
-#define ACCEL_ZOUT_L 0x40
-#define TEMP_OUT_H 0x41
-#define TEMP_OUT_L 0x42
-#define GYRO_XOUT_H 0x43
-#define GYRO_XOUT_L 0x44
-#define GYRO_YOUT_H 0x45
-#define GYRO_YOUT_L 0x46
-#define GYRO_ZOUT_H 0x47
-#define GYRO_ZOUT_L 0x48
-#define EXT_SENS_DATA_00 0x49
-#define EXT_SENS_DATA_01 0x4A
-#define EXT_SENS_DATA_02 0x4B
-#define EXT_SENS_DATA_03 0x4C
-#define EXT_SENS_DATA_04 0x4D
-#define EXT_SENS_DATA_05 0x4E
-#define EXT_SENS_DATA_06 0x4F
-#define EXT_SENS_DATA_07 0x50
-#define EXT_SENS_DATA_08 0x51
-#define EXT_SENS_DATA_09 0x52
-#define EXT_SENS_DATA_10 0x53
-#define EXT_SENS_DATA_11 0x54
-#define EXT_SENS_DATA_12 0x55
-#define EXT_SENS_DATA_13 0x56
-#define EXT_SENS_DATA_14 0x57
-#define EXT_SENS_DATA_15 0x58
-#define EXT_SENS_DATA_16 0x59
-#define EXT_SENS_DATA_17 0x5A
-#define EXT_SENS_DATA_18 0x5B
-#define EXT_SENS_DATA_19 0x5C
-#define EXT_SENS_DATA_20 0x5D
-#define EXT_SENS_DATA_21 0x5E
-#define EXT_SENS_DATA_22 0x5F
-#define EXT_SENS_DATA_23 0x60
-#define MOT_DETECT_STATUS 0x61
-#define I2C_SLV0_DO 0x63
-#define I2C_SLV1_DO 0x64
-#define I2C_SLV2_DO 0x65
-#define I2C_SLV3_DO 0x66
-#define I2C_MST_DELAY_CTRL 0x67
-#define SIGNAL_PATH_RESET 0x68
-#define MOT_DETECT_CTRL 0x69
-#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
-#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
-#define PWR_MGMT_2 0x6C
-#define DMP_BANK 0x6D // Activates a specific bank in the DMP
-#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
-#define DMP_REG 0x6F // Register in DMP from which to read or to which to write
-#define DMP_REG_1 0x70
-#define DMP_REG_2 0x71
-#define FIFO_COUNTH 0x72
-#define FIFO_COUNTL 0x73
-#define FIFO_R_W 0x74
-#define WHO_AM_I_MPU9250 0x75 // Should return 0x71
-#define XA_OFFSET_H 0x77
-#define XA_OFFSET_L 0x78
-#define YA_OFFSET_H 0x7A
-#define YA_OFFSET_L 0x7B
-#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
-#if ADO
-#define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
-#else
-#define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
-#endif
-
-// Set initial input parameters
-enum Ascale {
- AFS_2G = 0,
- AFS_4G,
- AFS_8G,
- AFS_16G
-};
-
-enum Gscale {
- GFS_250DPS = 0,
- GFS_500DPS,
- GFS_1000DPS,
- GFS_2000DPS
-};
-
-enum Mscale {
- MFS_14BITS = 0, // 0.6 mG per LSB
- MFS_16BITS // 0.15 mG per LSB
-};
-
-uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
-uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
-uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
-uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
-float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
-
-//Set up I2C, (SDA,SCL)
-I2C i2c(I2C_SDA, I2C_SCL);
-
-DigitalOut myled(LED1);
-
-// Pin definitions
-int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
-
-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
-#define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
-#define Ki 0.0f
-
-
-
-class MPU9250
-{
-
-protected:
-
-public:
- 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 ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
- float magCalibration[3];
- float magbias[3]; // Factory mag calibration and mag bias
- float gyroBias[3];
- float accelBias[3]; // Bias corrections for gyro and accelerometer
- int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
- float temperature;
- float pitch, yaw, roll;
- float deltat; // integration interval for both filter schemes
- int lastUpdate;
- int firstUpdate;
- int Now; // used to calculate integration interval
- float q[4]; // vector to hold quaternion
- float eInt[3]; // vector to hold integral error for Mahony method
- uint32_t checksum;
-
- MPU9250() {
- ax=ay=az=gx=gy=gz=mx=my=mz=0.0;
- for (int i = 0; i < 3; i++) {
- magCalibration[i] = 0.0;
- magbias[i] = 0.0;
- gyroBias[i] = 0.0;
- accelBias[i] = 0.0;
- eInt[i] = 0.0f;
- } // end of for
- q[0] = 1.0f;
- q[1] = 0.0f;
- q[2] = 0.0f;
- q[3] = 0.0f;
- lastUpdate = 0, firstUpdate = 0, Now = 0;
- deltat = 0.0f;
- } // end of initalizer
-
-//===================================================================================================================
-//====== 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;
- i2c.write(address, data_write, 2, 0);
- }
-
-
- void selfTest(Serial &pc , bool show = false) {
- resetMPU9250(); // Reset registers to default in preparation for device calibration
- MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
- if (show) {
- pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
- pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
- pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
- pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
- pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
- pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
- }
- //calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
- if(show) {
- pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
- pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
- pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
- pc.printf("x accel bias = %f\n\r", accelBias[0]);
- pc.printf("y accel bias = %f\n\r", accelBias[1]);
- pc.printf("z accel bias = %f\n\r", accelBias[2]);
- }
- }
-
-
- void config(Serial &pc, bool show = false) {
- initMPU9250();
- if (show)
- pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
- initAK8963(magCalibration);
- if(show) {
- pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
- pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
- pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
- if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
- if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
- if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
- if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
- pc.printf("mag calibration: \r\nx:\t%f\r\ny:\t%f\r\nz:\t%f\r\n", magbias[0], magbias[1], magbias[2]);
- }
- }
-
-
- void sensitivity(Serial &pc, bool show = false) {
- getAres(); // Get accelerometer sensitivity
- getGres(); // Get gyro sensitivity
- getMres(); // Get magnetometer sensitivity
- if (show) {
- pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
- pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
- pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
- }
- }
-
-
- 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;
- i2c.write(address, data_write, 1, 1); // no stop
- i2c.read(address, data, 1, 0);
- 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;
- i2c.write(address, data_write, 1, 1); // no stop
- i2c.read(address, data, count, 0);
- for(int ii = 0; ii < count; ii++) {
- dest[ii] = data[ii];
- }
- }
-
-
- void getMres() {
- switch (Mscale) {
- // Possible magnetometer scales (and their register bit settings) are:
- // 14 bit resolution (0) and 16 bit resolution (1)
- case MFS_14BITS:
- mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss
- break;
- case MFS_16BITS:
- mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss
- break;
- }
- }
-
-
- 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 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;
- }
- }
-
-
- void readAccelData() {
- uint8_t rawData[6]; // x/y/z accel register data stored here
- readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
- ax = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- ay = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- az = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
- }
-
- void readGyroData() {
- uint8_t rawData[6]; // x/y/z gyro register data stored here
- readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]) ; // Read the six raw data registers sequentially into data array
- gx = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- gy = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- gz = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
- }
-
- void readMagData() {
- uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
- 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
- mx = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]) ; // Turn the MSB and LSB into a signed 16-bit value
- my = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
- mz = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
- }
- }
- }
-
- void readimu() {
- readAccelData();
- ax = ax*aRes - accelBias[0];
- ay = ay*aRes - accelBias[1];
- az = az*aRes - accelBias[2];
-
- readGyroData();
- gx = gx*gRes - gyroBias[0];
- gy = gy*gRes - gyroBias[1];
- gz = gz*gRes - gyroBias[2];
-
- // Calculate the magnetometer values in milliGauss
- // Include factory calibration per data sheet and user environmental corrections
- readMagData();
- mx = mx*mRes*magCalibration[0] - magbias[0];
- my = my*mRes*magCalibration[1] - magbias[1];
- mz = mz*mRes*magCalibration[2] - magbias[2];
-
- checksum = 0;
- checksum += int(1000*ax) + int(1000*ay) + int(1000*az) +int(gx) + int(gy) + int(gz) +int(mx) + int(my) + int(mz);
-
- }// end of read IMUData()
-
- int16_t readTempData() {
- uint8_t rawData[2]; // x/y/z gyro register data stored here
- readBytes(MPU9250_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 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) {
- // First extract the factory calibration for each magnetometer axis
- uint8_t rawData[3]; // x/y/z gyro calibration data stored here
- writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
- wait(0.01);
- writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
- wait(0.01);
- readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values
- destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc.
- destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f;
- destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f;
- writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
- wait(0.01);
- // Configure the magnetometer for continuous read and highest resolution
- // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register,
- // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates
- writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR
- wait(0.01);
- }
-
-
- void initMPU9250() {
- // Initialize MPU9250 device
- // wake up device
- writeByte(MPU9250_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(MPU9250_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(MPU9250_ADDRESS, CONFIG, 0x03);
-
- // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
- writeByte(MPU9250_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(MPU9250_ADDRESS, GYRO_CONFIG);
- writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
- writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
- writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
-
- // Set accelerometer configuration
- c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG);
- writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
- writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
- writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
-
- // Set accelerometer sample rate configuration
- // 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 | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
-
- // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates,
- // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
-
- // 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(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
- writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
- }
-
- //void calibrateMag(float * dest1, float * dest2, Serial &pc)
- void calibrateMag(Serial &pc) {
- uint16_t ii = 0, sample_count = 0;
- //int32_t mag_bias[3] = {0, 0, 0};
- int32_t mag_scale[3] = {0, 0, 0};
- int16_t mag_max[3] = {0x8000, 0x8000, 0x8000};
- int16_t mag_min[3] = {0x7FFF, 0x7FFF, 0x7FFF};
- int16_t mag_temp[3] = {0, 0, 0};
- pc.printf("Pre-Mag Calibration: \r\nx:\t%f\r\ny:\t%f\r\nz:\t%f\r\n", magbias[0], magbias[1], magbias[2]);
- pc.printf("Mag Calibration: Wave device in a figure eight until done!\n");
- wait(4);
-
- sample_count = 500;
- for(ii = 0; ii < sample_count; ii++) {
- //readMagData(mag_temp); // Read the mag data
- for (int jj = 0; jj < 3; jj++) {
- if(mag_temp[jj] > mag_max[jj]) mag_max[jj] = mag_temp[jj];
- if(mag_temp[jj] < mag_min[jj]) mag_min[jj] = mag_temp[jj];
- }// end of inner for
- wait(.035); // at 8 Hz ODR, new mag data is available every 125 ms
- pc.printf("%d\t%d\t%d\r\n", mag_temp[0], mag_temp[1], mag_temp[2]);
- }// end of outer for
- wait(1);
- pc.printf("%d\t%d\t%d\t%d\t%d\t%d\r\n", mag_min[0], mag_max[0], mag_min[1], mag_max[1], mag_min[2], mag_max[2]);
- wait(10);
- // Get hard iron correction
- magbias[0] = (mag_max[0] + mag_min[0])/2; // get average x mag bias in counts
- magbias[1] = (mag_max[1] + mag_min[1])/2; // get average y mag bias in counts
- magbias[2] = (mag_max[2] + mag_min[2])/2; // get average z mag bias in counts
-
- //dest1[0] = (float) mag_bias[0]*mRes*MPU9250magCalibration[0]; // save mag biases in G for main program
- //dest1[1] = (float) mag_bias[1]*mRes*MPU9250magCalibration[1];
- //dest1[2] = (float) mag_bias[2]*mRes*MPU9250magCalibration[2];
-
- // Get soft iron correction estimate
- mag_scale[0] = (mag_max[0] - mag_min[0])/2; // get average x axis max chord length in counts
- mag_scale[1] = (mag_max[1] - mag_min[1])/2; // get average y axis max chord length in counts
- mag_scale[2] = (mag_max[2] - mag_min[2])/2; // get average z axis max chord length in counts
-
- float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2];
- avg_rad /= 3.0;
-
- //dest2[0] = avg_rad/((float)mag_scale[0]);
- //dest2[1] = avg_rad/((float)mag_scale[1]);
- //dest2[2] = avg_rad/((float)mag_scale[2]);
- pc.printf("Post-Mag Calibration: \r\nx:\t%f\r\ny:\t%f\r\nz:\t%f\r\n", magbias[0], magbias[1], magbias[2]);
- pc.printf("Mag Calibration done!\n");
- }// end of calibrateMag
-
- // 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 calibrateMPU9250(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(MPU9250_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(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);
- writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00);
- wait(0.2);
-
- // Configure device for bias calculation
- writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
- writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
- writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
- writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
- writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
- writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
- wait(0.015);
-
- // Configure MPU9250 gyro and accelerometer for bias calculation
- writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
- writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
- writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
- writeByte(MPU9250_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(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
- writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250)
- wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes
-
- // At end of sample accumulation, turn off FIFO sensor read
- writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
- readBytes(MPU9250_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(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
- 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(MPU9250_ADDRESS, XG_OFFSET_H, data[0]);
- writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]);
- writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]);
- writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]);
- 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;
-
- // 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(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
-
- 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
-
- // Apparently this is not working for the acceleration biases in the MPU-9250
- // Are we handling the temperature correction bit properly?
- // Push accelerometer biases to hardware registers
- /* writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]);
- writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
- writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
- writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
- writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
- writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, 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 MPU9250SelfTest(float * destination) { // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
- uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
- uint8_t selfTest[6];
- int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3];
- float factoryTrim[6];
- uint8_t FS = 0;
-
- writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
- writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
- writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
- writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
- writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
-
- for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer
-
- readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
- aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- aAvg[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
- gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- 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
- aAvg[ii] /= 200;
- gAvg[ii] /= 200;
- }
-
- // 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
- wait_ms(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
-
- 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
- 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
- aSTAvg[ii] /= 200;
- gSTAvg[ii] /= 200;
- }
-
- // Configure the gyro and accelerometer for normal operation
- writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
- writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
- wait_ms(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
- selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results
- selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results
- selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results
- selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results
- selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results
-
- // Retrieve factory self-test value from self-test code reads
- factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
- factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
- factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
- factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
- factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
- factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
-
- // 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++) {
- 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
- }
-
- }
-
-
-
- // 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, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
- // 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 mx, float my, float mz) {
- float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
- float norm;
- float hx, hy, _2bx, _2bz;
- float s1, s2, s3, s4;
- float qDot1, qDot2, qDot3, qDot4;
-
- // Auxiliary variables to avoid repeated arithmetic
- float _2q1mx;
- float _2q1my;
- float _2q1mz;
- float _2q2mx;
- float _4bx;
- float _4bz;
- 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;
- float q1q1 = q1 * q1;
- float q1q2 = q1 * q2;
- float q1q3 = q1 * q3;
- float q1q4 = q1 * q4;
- float q2q2 = q2 * q2;
- float q2q3 = q2 * q3;
- float q2q4 = q2 * q4;
- float q3q3 = q3 * q3;
- float q3q4 = q3 * q4;
- float q4q4 = q4 * q4;
-
- // Normalise accelerometer measurement
- norm = sqrt(ax * ax + ay * ay + az * az);
- if (norm == 0.0f) return; // handle NaN
- norm = 1.0f/norm;
- ax *= norm;
- ay *= norm;
- az *= norm;
-
- // Normalise magnetometer measurement
- norm = sqrt(mx * mx + my * my + mz * mz);
- if (norm == 0.0f) return; // handle NaN
- norm = 1.0f/norm;
- mx *= norm;
- my *= norm;
- mz *= norm;
-
- // Reference direction of Earth's magnetic field
- _2q1mx = 2.0f * q1 * mx;
- _2q1my = 2.0f * q1 * my;
- _2q1mz = 2.0f * q1 * mz;
- _2q2mx = 2.0f * q2 * mx;
- hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
- hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
- _2bx = sqrt(hx * hx + hy * hy);
- _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
- _4bx = 2.0f * _2bx;
- _4bz = 2.0f * _2bz;
-
- // Gradient decent algorithm corrective step
- s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
- s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
- s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
- s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
- norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
- norm = 1.0f/norm;
- s1 *= norm;
- s2 *= norm;
- s3 *= norm;
- s4 *= norm;
-
- // Compute rate of change of quaternion
- qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
- qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
- qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
- qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
-
- // Integrate to yield quaternion
- q1 += qDot1 * deltat;
- q2 += qDot2 * deltat;
- q3 += qDot3 * deltat;
- q4 += qDot4 * deltat;
- norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
- norm = 1.0f/norm;
- q[0] = q1 * norm;
- q[1] = q2 * norm;
- q[2] = q3 * norm;
- q[3] = q4 * norm;
-
- }
-
-
- // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
- // measured ones.
- void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz) {
- float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
- float norm;
- float hx, hy, bx, bz;
- float vx, vy, vz, wx, wy, wz;
- float ex, ey, ez;
- float pa, pb, pc;
-
- // Auxiliary variables to avoid repeated arithmetic
- float q1q1 = q1 * q1;
- float q1q2 = q1 * q2;
- float q1q3 = q1 * q3;
- float q1q4 = q1 * q4;
- float q2q2 = q2 * q2;
- float q2q3 = q2 * q3;
- float q2q4 = q2 * q4;
- float q3q3 = q3 * q3;
- float q3q4 = q3 * q4;
- float q4q4 = q4 * q4;
-
- // Normalise accelerometer measurement
- norm = sqrt(ax * ax + ay * ay + az * az);
- if (norm == 0.0f) return; // handle NaN
- norm = 1.0f / norm; // use reciprocal for division
- ax *= norm;
- ay *= norm;
- az *= norm;
-
- // Normalise magnetometer measurement
- norm = sqrt(mx * mx + my * my + mz * mz);
- if (norm == 0.0f) return; // handle NaN
- norm = 1.0f / norm; // use reciprocal for division
- mx *= norm;
- my *= norm;
- mz *= norm;
-
- // Reference direction of Earth's magnetic field
- hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
- hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
- bx = sqrt((hx * hx) + (hy * hy));
- bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
-
- // Estimated direction of gravity and magnetic field
- vx = 2.0f * (q2q4 - q1q3);
- vy = 2.0f * (q1q2 + q3q4);
- vz = q1q1 - q2q2 - q3q3 + q4q4;
- wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
- wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
- wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
-
- // Error is cross product between estimated direction and measured direction of gravity
- ex = (ay * vz - az * vy) + (my * wz - mz * wy);
- ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
- ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
- if (Ki > 0.0f) {
- eInt[0] += ex; // accumulate integral error
- eInt[1] += ey;
- eInt[2] += ez;
- } else {
- eInt[0] = 0.0f; // prevent integral wind up
- eInt[1] = 0.0f;
- eInt[2] = 0.0f;
- }
-
- // Apply feedback terms
- gx = gx + Kp * ex + Ki * eInt[0];
- gy = gy + Kp * ey + Ki * eInt[1];
- gz = gz + Kp * ez + Ki * eInt[2];
-
- // Integrate rate of change of quaternion
- pa = q2;
- pb = q3;
- pc = q4;
- q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
- q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
- q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
- q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
-
- // Normalise quaternion
- norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
- norm = 1.0f / norm;
- q[0] = q1 * norm;
- q[1] = q2 * norm;
- q[2] = q3 * norm;
- q[3] = q4 * norm;
-
- }
-};
-#endif
\ No newline at end of file
diff -r c1902ecb30a7 -r 7fa9cfebb00c MadgwickAHRS.lib --- a/MadgwickAHRS.lib Thu Oct 06 17:35:14 2016 +0000 +++ b/MadgwickAHRS.lib Thu Oct 06 23:42:28 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/rctaduio/code/MadgwickAHRS/#11ffe983c3f8 +https://developer.mbed.org/users/rctaduio/code/MadgwickAHRS/#689b64501b7d
diff -r c1902ecb30a7 -r 7fa9cfebb00c main.cpp
--- a/main.cpp Thu Oct 06 17:35:14 2016 +0000
+++ b/main.cpp Thu Oct 06 23:42:28 2016 +0000
@@ -8,7 +8,7 @@
(1) hardcoded output - allow for an output object to change what interface data comes from
(2) hardcoded input -allow for an input object to change what interface data goes to
(3) robustness, sometimes needs to be rebooted. maybe the serial interface times out?
-(4) optimization - lots of ineffeciencies in code,
+(4) optimization - lots of ineffeciencies in code,
(5) need to rerun some speed tests - find out how long it takes to get data from IMU, current sampling rate, if rate can be increased
(6) have ?4? i2c ports, can maybe use all 4 to log faster?
(7) need to run some speed tests on mux, find out how long it takes to switch a channel
@@ -163,7 +163,7 @@
mpu9250[7].magbias[1] = 35.75;
mpu9250[7].magbias[2] = -94.875;
*/
-
+ /*
mpu9250[0].magbias[0] = 278.785;
mpu9250[0].magbias[1] = 205.86;
mpu9250[0].magbias[2] = 60.225;
@@ -188,6 +188,14 @@
mpu9250[7].magbias[0] = -92.965;
mpu9250[7].magbias[1] = 34.195;
mpu9250[7].magbias[2] = -18.675;
+ */
+ mpu9250[0].magbias[0] = 153.895;
+ mpu9250[0].magbias[1] = 347.325;
+ mpu9250[0].magbias[2] = -227.89;
+ mpu9250[1].magbias[0] = 158.285;
+ mpu9250[1].magbias[1] = 314.005;
+ mpu9250[1].magbias[2] = -302.905;
+
menu(pc);
} // end of main
@@ -428,11 +436,12 @@
mpu9250[i].Now = t.read_us();
mpu9250[i].deltat = (float)((mpu9250[i].Now - mpu9250[i].lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
mpu9250[i].lastUpdate = mpu9250[i].Now;
- MadgwickAHRSupdate(mpu9250[i].gx*PI/180.0f, mpu9250[i].gy*PI/180.0f, mpu9250[i].gz*PI/180.0f, mpu9250[i].ax, mpu9250[i].ay, mpu9250[i].az, mpu9250[i].my, mpu9250[i].mx, -1.0f*mpu9250[i].mz);
- mpu9250[i].q[0] = q0;
- mpu9250[i].q[1] = q1;
- mpu9250[i].q[2] = q2;
- mpu9250[i].q[3] = q3;
+ //mpu9250[i].MadgwickAHRSupdate(mpu9250[i].gx*PI/180.0f, mpu9250[i].gy*PI/180.0f, mpu9250[i].gz*PI/180.0f, mpu9250[i].ax, mpu9250[i].ay, mpu9250[i].az, mpu9250[i].my, mpu9250[i].mx, -1.0f*mpu9250[i].mz, mpu9250[i].q[0], mpu9250[i].q[1], mpu9250[i].q[2], mpu9250[i].q[3]);
+ mpu9250[i].Madgwickupdate();
+ //mpu9250[i].q[0] = q0;
+ //mpu9250[i].q[1] = q1;
+ //mpu9250[i].q[2] = q2;
+ //mpu9250[i].q[3] = q3;
delt_t = t.read_ms() - count;
diff -r c1902ecb30a7 -r 7fa9cfebb00c mpu9250.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mpu9250.lib Thu Oct 06 23:42:28 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/rctaduio/code/mpu9250/#89967a01628c