Rogelio Vazquez
first publish
Revision 2:359f1f075c72, committed 2017-06-04
- Comitter:
- roger_wee
- Date:
- Sun Jun 04 06:46:28 2017 +0000
- Parent:
- 1:11117343d223
- Child:
- 3:394c971eab83
- Commit message:
- 9-dof implementation using madgwick's filter
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.lib Sun Jun 04 06:46:28 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/BaserK/code/HMC5883L/#f5f6aaf24be0
--- a/IMU.h Mon May 15 21:26:09 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,235 +0,0 @@
-#include "MPU6050.h"
-
-float sum = 0;
-uint32_t sumCount = 0;
-Timer t;
-Serial pc(USBTX, USBRX);
-
-void IMUinit(MPU6050 &mpu6050)
-{
- //start timer/clock
- t.start();
-
- // Read the WHO_AM_I register, this is a good test of communication
- uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
- pc.printf("I AM 0x%x\n\r", whoami);
- pc.printf("I SHOULD BE 0x68\n\r");
-
- if (whoami == 0x68) { // WHO_AM_I should always be 0x68
- pc.printf("MPU6050 is online...");
- wait(1);
- //lcd.clear();
- //lcd.printString("MPU6050 OK", 0, 0);
-
- mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
- pc.printf("x-axis self test: acceleration trim within : ");
- pc.printf("%f", SelfTest[0]);
- pc.printf("% of factory value \n\r");
- pc.printf("y-axis self test: acceleration trim within : ");
- pc.printf("%f", SelfTest[1]);
- pc.printf("% of factory value \n\r");
- pc.printf("z-axis self test: acceleration trim within : ");
- pc.printf("%f", SelfTest[2]);
- pc.printf("% of factory value \n\r");
- pc.printf("x-axis self test: gyration trim within : ");
- pc.printf("%f", SelfTest[3]);
- pc.printf("% of factory value \n\r");
- pc.printf("y-axis self test: gyration trim within : ");
- pc.printf("%f", SelfTest[4]);
- pc.printf("% of factory value \n\r");
- pc.printf("z-axis self test: gyration trim within : ");
- pc.printf("%f", SelfTest[5]);
- pc.printf("% of factory value \n\r");
- wait(1);
-
- if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
- mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
-
- mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
-
- mpu6050.resetMPU6050();
-
- mpu6050.initMPU6050();
- pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
- wait(2);
-
- } else {
- pc.printf("Device did not the pass self-test!\n\r");
- }
- } else {
- pc.printf("Could not connect to MPU6050: \n\r");
- pc.printf("%#x \n", whoami);
-
- while(1) ; // Loop forever if communication doesn't happen
- }
-}
-
-
-void IMUPrintData(MPU6050 &mpu6050)
-{
-
- // pc.printf("Beginning IMU read\n");
-// If data ready bit set, all data registers have new data
- if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
-
- mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
- mpu6050.getAres();
-
- // Now we'll calculate the accleration value into actual g's
- ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
- ay = (float)accelCount[1]*aRes - accelBias[1];
- az = (float)accelCount[2]*aRes - accelBias[2];
-
- mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
- mpu6050.getGres();
-
- // Calculate the gyro value into actual degrees per second
- gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
- gy = (float)gyroCount[1]*gRes - gyroBias[1];
- gz = (float)gyroCount[2]*gRes - gyroBias[2];
-
- tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
- temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
- }
-
- Now = t.read_us();
- deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
- sampleFreq = 1/deltat;
- lastUpdate = Now;
-
- sum += deltat;
- sumCount++;
-
- if(lastUpdate - firstUpdate > 10000000.0f) {
- beta = 0.04; // decrease filter gain after stabilized
- zeta = 0.015; // increasey bias drift gain after stabilized
- }
-
- //Convert gyro rate as rad/s
- gx *= PI/180.0f;
- gy *= PI/180.0f;
- gz *= PI/180.0f;
-
-
- // Pass gyro rate as rad/s
- mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx, gy, gz);
- //mpu6050.MadgwickAHRSupdate(gx, gy, gz, ax, ay, az, magData[0], magData[1], magData[2]);
-
- // Serial print and/or display at 0.5 s rate independent of data rates
- delt_t = t.read_ms() - count;
- if (delt_t > 0) { // update LCD once per half-second independent of read rate
-
- // pc.printf("ax = %f", 1000*ax);
- // pc.printf(" ay = %f", 1000*ay);
- // pc.printf(" az = %f mg\n\r", 1000*az);
-
- // pc.printf("gx = %f", gx);
- // pc.printf(" gy = %f", gy);
- // pc.printf(" gz = %f deg/s\n\r", gz);
-
- // pc.printf(" temperature = %f C\n\r", temperature);
-
- // pc.printf("q0 = %f\n\r", q[0]);
- // pc.printf("q1 = %f\n\r", q[1]);
- // pc.printf("q2 = %f\n\r", q[2]);
- // pc.printf("q3 = %f\n\r", q[3]);
-
- // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
- // In this coordinate system, the positive z-axis is down toward Earth.
- // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
- // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
- // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
- // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
- // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
- // applied in the correct order which for this configuration is yaw, pitch, and then roll.
- // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
- yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
- pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
- roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
- pitch *= 180.0f / PI;
- yaw *= 180.0f / PI;
- roll *= 180.0f / PI;
-
-// pc.printf("Yaw, Pitch, Roll: \n\r");
-// pc.printf("%f", yaw);
-// pc.printf(", ");
-// pc.printf("%f", pitch);
-// pc.printf(", ");
-// pc.printf("%f\n\r", roll);
-// pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r");
-
- //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
-
- //myled= !myled;
- count = t.read_ms();
- sum = 0;
- sumCount = 0;
- }
-}
-
-void IMUUpdate(MPU6050 &mpu6050)
-{
- // If data ready bit set, all data registers have new data
- if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
- mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
- mpu6050.getAres();
-
- // Now we'll calculate the accleration value into actual g's
- ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
- ay = (float)accelCount[1]*aRes - accelBias[1];
- az = (float)accelCount[2]*aRes - accelBias[2];
-
- mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
- mpu6050.getGres();
-
- // Calculate the gyro value into actual degrees per second
- gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
- gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
- gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
-
- tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
- temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
- }
-
- Now = t.read_us();
- deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
- lastUpdate = Now;
-
- sum += deltat;
- sumCount++;
-
- if(lastUpdate - firstUpdate > 10000000.0f) {
- beta = 0.04; // decrease filter gain after stabilized
- zeta = 0.015; // increasey bias drift gain after stabilized
- }
-
- // Pass gyro rate as rad/s
- mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
-
- // Serial print and/or display at 0.5 s rate independent of data rates
- delt_t = t.read_ms() - count;
-
- // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
- // In this coordinate system, the positive z-axis is down toward Earth.
- // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
- // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
- // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
- // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
- // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
- // applied in the correct order which for this configuration is yaw, pitch, and then roll.
- // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
- yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
- pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
- roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
- pitch *= 180.0f / PI;
- yaw *= 180.0f / PI;
- roll *= 180.0f / PI;
-
- //update timer for filter
- count = t.read_ms();
- sum = 0;
- sumCount = 0;
-
-}
-
-
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MARGfilter.lib Sun Jun 04 06:46:28 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/elromulous/code/MARGfilter/#6259fdd04e83
--- a/MPU6050.h Mon May 15 21:26:09 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,802 +0,0 @@
-#ifndef MPU6050_H
-#define MPU6050_H
-
-#include "mbed.h"
-#include "math.h"
-
-// Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
-// Invensense Inc., www.invensense.com
-// See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
-// above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
-//
-#define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
-#define YGOFFS_TC 0x01
-#define ZGOFFS_TC 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 0x0D
-#define SELF_TEST_Y 0x0E
-#define SELF_TEST_Z 0x0F
-#define SELF_TEST_A 0x10
-#define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
-#define XG_OFFS_USRL 0x14
-#define YG_OFFS_USRH 0x15
-#define YG_OFFS_USRL 0x16
-#define ZG_OFFS_USRH 0x17
-#define ZG_OFFS_USRL 0x18
-#define SMPLRT_DIV 0x19
-#define CONFIG 0x1A
-#define GYRO_CONFIG 0x1B
-#define ACCEL_CONFIG 0x1C
-#define FF_THR 0x1D // Free-fall
-#define FF_DUR 0x1E // Free-fall
-#define MOT_THR 0x1F // Motion detection threshold bits [7:0]
-#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_MPU6050 0x75 // Should return 0x68
-
-// Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
-// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
-
-//create constructor
-#define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
-
-//Set up I2C, (SDA,SCL)
-I2C i2c(D14, D15);
-
-// 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
-};
-
-// Specify sensor full scale
-int Gscale = GFS_250DPS;
-int Ascale = AFS_2G;
-
-
-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
-
-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 * (30.0f / 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 yaw, pitch, 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
-
-//free IMU variables
-#define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
-#define twoKiDef (2.0f * 0.1f) // 2 * integral gain
-float sampleFreq; // half the sample period expressed in seconds
-volatile float twoKp = twoKpDef; // 2 * proportional gain (Kp)
-volatile float twoKi = twoKiDef; // 2 * integral gain (Ki)
-float exInt, eyInt, ezInt; // scaled integral error
-volatile float integralFBx, integralFBy, integralFBz;
-
-//math helper
-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;
-}
-
-
-class MPU6050
-{
- protected:
-
- public:
- //===================================================================================================================
- //====== Set of useful function to access acceleratio, gyroscope, and temperature data
- //===================================================================================================================
-
- //create constructor to pass in address
-
- 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);
- }
-
- 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 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(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]) ;
- }
-
- 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
- }
-
-
-
- // 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
-
- 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
-
- wait(0.1); // Add delay for accumulation of samples
-
- 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 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];// * scale_factor_gyro;
- gyro_bias[1] += (int32_t) gyro_temp[1];// * scale_factor_gyro;
- gyro_bias[2] += (int32_t) gyro_temp[2];// * scale_factor_gyro;
-
- }
- 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
- 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);
- 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
- norm = 1.0f/norm;
- q[0] = q1 * norm;
- q[1] = q2 * norm;
- q[2] = q3 * norm;
- q[3] = q4 * norm;
-
- }
-
- void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {
- float recipNorm;
- float q0 = q[0], q1 = q[1], q2 = q[2], q3 = q[3];
- float qDot1, qDot2, qDot3, qDot4;
- float hx, hy;
- float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
-
- // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation)
- if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
- MadgwickQuaternionUpdate(ax, ay, az, gx, gy, gz);
- return;
- }
-
- // Rate of change of quaternion from gyroscope
- qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
- qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
- qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
- qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);
-
- // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
- if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
-
- // Normalise accelerometer measurement
- recipNorm = invSqrt(ax * ax + ay * ay + az * az);
- ax *= recipNorm;
- ay *= recipNorm;
- az *= recipNorm;
-
- // Normalise magnetometer measurement
- recipNorm = invSqrt(mx * mx + my * my + mz * mz);
- mx *= recipNorm;
- my *= recipNorm;
- mz *= recipNorm;
-
- // Auxiliary variables to avoid repeated arithmetic
- _2q0mx = 2.0f * q0 * mx;
- _2q0my = 2.0f * q0 * my;
- _2q0mz = 2.0f * q0;// * mz;
- _2q1mx = 2.0f * q1 * mx;
- _2q0 = 2.0f * q0;
- _2q1 = 2.0f * q1;
- _2q2 = 2.0f * q2;
- _2q3 = 2.0f * q3;
- _2q0q2 = 2.0f * q0 * q2;
- _2q2q3 = 2.0f * q2 * q3;
- 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;
-
- // Reference direction of Earth's magnetic field
- hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
- hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
- _2bx = sqrt(hx * hx + hy * hy);
- _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
- _4bx = 2.0f * _2bx;
- _4bz = 2.0f * _2bz;
-
- // Gradient decent algorithm corrective step
- q0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
- q1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
- q2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
- q3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
- recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); // normalise step magnitude
- q0 *= recipNorm;
- q1 *= recipNorm;
- q2 *= recipNorm;
- q3 *= recipNorm;
-
- // Apply feedback step
- qDot1 -= beta * q0;
- qDot2 -= beta * q1;
- qDot3 -= beta * q2;
- qDot4 -= beta * q3;
- }
-
- // Integrate rate of change of quaternion to yield quaternion
- q0 += qDot1 * (1.0f / sampleFreq);
- q1 += qDot2 * (1.0f / sampleFreq);
- q2 += qDot3 * (1.0f / sampleFreq);
- q3 += qDot4 * (1.0f / sampleFreq);
-
- // Normalise quaternion
- recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
- q0 *= recipNorm;
- q1 *= recipNorm;
- q2 *= recipNorm;
- q3 *= recipNorm;
-
- q[0] = q0;
- q[1] = q1;
- q[2] = q2;
- q[3] = q3;
-}
-
-};
-#endif
\ No newline at end of file
--- a/MS5837.cpp Mon May 15 21:26:09 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,100 +0,0 @@
-#include <stdlib.h>
-#include "MS5837.h"
-
-
-/*
- * Sensor operating function according data sheet
- */
-
-void MS5837::MS5837Init(void)
-{
- MS5837Reset();
- MS5837ReadProm();
- return;
-}
-
-/* Send soft reset to the sensor */
-void MS5837::MS5837Reset(void)
-{
- /* transmit out 1 byte reset command */
- ms5837_tx_data[0] = ms5837_reset;
- if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
- //printf("send soft reset");
- wait_ms(20);
-}
-
-/* read the sensor calibration data from rom */
-void MS5837::MS5837ReadProm(void)
-{
- uint8_t i,j;
- for (i=0; i<8; i++) {
- j = i;
- ms5837_tx_data[0] = ms5837_PROMread + (j<<1);
- if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
- if ( i2c.read( device_address, ms5837_rx_data, 2 ) );
- C[i] = ms5837_rx_data[1] + (ms5837_rx_data[0]<<8);
- }
-}
-
-/* Start the sensor pressure conversion */
-void MS5837::MS5837ConvertD1(void)
-{
- ms5837_tx_data[0] = ms5837_convD1;
- if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
-}
-
-/* Start the sensor temperature conversion */
-void MS5837:: MS5837ConvertD2(void)
-{
- ms5837_tx_data[0] = ms5837_convD2;
- if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
-}
-
-/* Read the previous started conversion results */
-int32_t MS5837::MS5837ReadADC(void)
-{
- int32_t adc;
- wait_ms(150);
- ms5837_tx_data[0] = ms5837_ADCread;
- if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
- if ( i2c.read( device_address, ms5837_rx_data, 3 ) );
- adc = ms5837_rx_data[2] + (ms5837_rx_data[1]<<8) + (ms5837_rx_data[0]<<16);
- return (adc);
-}
-
-/* return the results */
-float MS5837::MS5837_Pressure (void)
-{
- return P_MS5837;
-}
-float MS5837::MS5837_Temperature (void)
-{
- return T_MS5837;
-}
-
-/* Sensor reading and calculation procedure */
-void MS5837::Barometer_MS5837(void)
-{
- int32_t dT, temp;
- int64_t OFF, SENS, press;
-
- //no need to do this everytime!
- //MS5837Reset(); // reset the sensor
- //MS5837ReadProm(); // read the calibration values
-
-
- MS5837ConvertD1(); // start pressure conversion
- D1 = MS5837ReadADC(); // read the pressure value
- MS5837ConvertD2(); // start temperature conversion
- D2 = MS5837ReadADC(); // read the temperature value
-
- /* calculation according MS5837-01BA data sheet DA5837-01BA_006 */
- dT = D2 - (C[5]* 256);
- OFF = (int64_t)C[2] * (1<<16) + ((int64_t)dT * (int64_t)C[4]) / (1<<7);
- SENS = (int64_t)C[1] * (1<<15) + ((int64_t)dT * (int64_t)C[3]) / (1<<8);
-
- temp = 2000 + (dT * C[6]) / (1<<23);
- T_MS5837 = (float) temp / 100.0f; // result of temperature in deg C in this var
- press = (((int64_t)D1 * SENS) / (1<<21) - OFF) / (1<<13);
- P_MS5837 = (float) press / 10.0f; // result of pressure in mBar in this var
-}
\ No newline at end of file
--- a/MS5837.h Mon May 15 21:26:09 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,64 +0,0 @@
-#include "mbed.h"
-
-#ifndef MS5837_H
-#define MS5837_H
-
-#define MS5837_RX_DEPTH 3 //
-#define MS5837_TX_DEPTH 2 //
-
-// choose your connection here
-#define ms5837_addr_no_CS 0x76 //0b1110110
-
-#define ms5837_reset 0x1E // Sensor Reset
-
-#define ms5837_convD1_256 0x40 // Convert D1 OSR 256
-#define ms5837_convD1_512 0x42 // Convert D1 OSR 512
-#define ms5837_convD1_1024 0x44 // Convert D1 OSR 1024
-#define ms5837_convD1_2048 0x46 // Convert D1 OSR 2048
-#define ms5837_convD1_4096 0x48 // Convert D1 OSR 4096
-#define ms5837_convD1_8192 0x4A // Convert D1 OSR 8192
-
-#define ms5837_convD1 ms5837_convD1_4096 // choose your sampling rate here
-
-#define ms5837_convD2_256 0x50 // Convert D2 OSR 256
-#define ms5837_convD2_512 0x52 // Convert D2 OSR 512
-#define ms5837_convD2_1024 0x54 // Convert D2 OSR 1024
-#define ms5837_convD2_2048 0x56 // Convert D2 OSR 2048
-#define ms5837_convD2_4096 0x58 // Convert D2 OSR 4096
-#define ms5837_convD2_8192 0x5A // Convert D2 OSR 8192
-
-#define ms5837_convD2 ms5837_convD2_4096 // choose your sampling rate here
-
-#define ms5837_ADCread 0x00 // read ADC command
-#define ms5837_PROMread 0xA0 // read PROM command base address
-
-class MS5837{
-private:
- int D1, D2, Temp, C[8];
- float T_MS5837, P_MS5837;
- /* Data buffers */
- char ms5837_rx_data[MS5837_RX_DEPTH];
- char ms5837_tx_data[MS5837_TX_DEPTH];
-
-public:
- MS5837 (PinName sda, PinName scl,
- char ms5837_addr = ms5837_addr_no_CS )
- : i2c( sda, scl ), device_address( ms5837_addr << 1 ) {
- }
- void MS5837Init(void);
- void MS5837Reset(void);
- void MS5837ReadProm(void);
- void MS5837ConvertD1(void);
- void MS5837ConvertD2(void);
- int32_t MS5837ReadADC(void);
- float MS5837_Pressure (void);
- float MS5837_Temperature (void);
- void Barometer_MS5837(void);
-
-
-private:
- I2C i2c;
- char device_address;
-
-};
-#endif
\ No newline at end of file
--- a/PID.h Mon May 15 21:26:09 2017 +0000
+++ b/PID.h Sun Jun 04 06:46:28 2017 +0000
@@ -40,7 +40,7 @@
void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
// the PID calculation is performed. default is 100
-
+ // void changeSetpoint(*double); // changes system setpoint
//Display functions ****************************************************************
double GetKp(); // These functions query the pid for interal values.
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/IMU.h Sun Jun 04 06:46:28 2017 +0000
@@ -0,0 +1,241 @@
+#include "MPU6050.h"
+#include "HMC5883L.h"
+
+float sum = 0;
+uint32_t sumCount = 0;
+Timer t;
+Serial pc(USBTX, USBRX);
+
+void IMUinit(MPU6050 &mpu6050)
+{
+ //start timer/clock
+ t.start();
+
+ // Read the WHO_AM_I register, this is a good test of communication
+ uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
+ pc.printf("I AM 0x%x\n\r", whoami);
+ pc.printf("I SHOULD BE 0x68\n\r");
+
+ if (whoami == 0x68) { // WHO_AM_I should always be 0x68
+ pc.printf("MPU6050 is online...");
+ wait(1);
+ //lcd.clear();
+ //lcd.printString("MPU6050 OK", 0, 0);
+
+ mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+ pc.printf("x-axis self test: acceleration trim within : ");
+ pc.printf("%f", SelfTest[0]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("y-axis self test: acceleration trim within : ");
+ pc.printf("%f", SelfTest[1]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("z-axis self test: acceleration trim within : ");
+ pc.printf("%f", SelfTest[2]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("x-axis self test: gyration trim within : ");
+ pc.printf("%f", SelfTest[3]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("y-axis self test: gyration trim within : ");
+ pc.printf("%f", SelfTest[4]);
+ pc.printf("% of factory value \n\r");
+ pc.printf("z-axis self test: gyration trim within : ");
+ pc.printf("%f", SelfTest[5]);
+ pc.printf("% of factory value \n\r");
+ wait(1);
+
+ if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
+ mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
+
+ mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+
+ mpu6050.resetMPU6050();
+
+ mpu6050.initMPU6050();
+ pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ wait(2);
+
+ } else {
+ pc.printf("Device did not the pass self-test!\n\r");
+ }
+ } else {
+ pc.printf("Could not connect to MPU6050: \n\r");
+ pc.printf("%#x \n", whoami);
+
+ while(1) ; // Loop forever if communication doesn't happen
+ }
+}
+
+
+void IMUPrintData(MPU6050 &mpu6050, HMC5883L &compass)
+{
+
+ // pc.printf("Beginning IMU read\n");
+// If data ready bit set, all data registers have new data
+ if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
+
+ mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
+ mpu6050.getAres();
+
+ // Now we'll calculate the accleration value into actual g's
+ ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)accelCount[1]*aRes - accelBias[1];
+ az = (float)accelCount[2]*aRes - accelBias[2];
+
+ mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
+ mpu6050.getGres();
+
+ // Calculate the gyro value into actual degrees per second
+ gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gy = (float)gyroCount[1]*gRes - gyroBias[1];
+ gz = (float)gyroCount[2]*gRes - gyroBias[2];
+
+ tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
+ temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+
+ }
+
+ //get magdata
+ compass.readMagData(magdata);
+ heading = compass.getHeading();
+
+ Now = t.read_us();
+ deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ sampleFreq = 1/deltat;
+ lastUpdate = Now;
+
+ sum += deltat;
+ sumCount++;
+
+ if(lastUpdate - firstUpdate > 10000000.0f) {
+ beta = 0.04; // decrease filter gain after stabilized
+ zeta = 0.015; // increasey bias drift gain after stabilized
+ }
+
+ //Convert gyro rate as rad/s
+ gx *= PI/180.0f;
+ gy *= PI/180.0f;
+ gz *= PI/180.0f;
+
+
+ // Pass gyro rate as rad/s
+ mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx, gy, gz, magdata[0], magdata[1], magdata[2]);
+
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+ if (delt_t > 0) { // update LCD once per half-second independent of read rate
+
+ // pc.printf("ax = %f", 1000*ax);
+ // pc.printf(" ay = %f", 1000*ay);
+ // pc.printf(" az = %f mg\n\r", 1000*az);
+
+ // pc.printf("gx = %f", gx);
+ // pc.printf(" gy = %f", gy);
+ // pc.printf(" gz = %f deg/s\n\r", gz);
+
+ // pc.printf(" temperature = %f C\n\r", temperature);
+
+ // pc.printf("q0 = %f\n\r", q[0]);
+ // pc.printf("q1 = %f\n\r", q[1]);
+ // pc.printf("q2 = %f\n\r", q[2]);
+ // pc.printf("q3 = %f\n\r", q[3]);
+
+ // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
+ // In this coordinate system, the positive z-axis is down toward Earth.
+ // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
+ // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
+ // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
+ // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
+ // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
+ // applied in the correct order which for this configuration is yaw, pitch, and then roll.
+ // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
+ yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+ pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+ roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+
+ pitch *= 180.0f / PI;
+ yaw *= 180.0f / PI;
+ roll *= 180.0f / PI;
+
+// pc.printf("Yaw, Pitch, Roll: \n\r");
+// pc.printf("%f", yaw);
+// pc.printf(", ");
+// pc.printf("%f", pitch);
+// pc.printf(", ");
+// pc.printf("%f\n\r", roll);
+// pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r");
+
+ //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+
+ //myled= !myled;
+ count = t.read_ms();
+ sum = 0;
+ sumCount = 0;
+ }
+}
+
+void IMUUpdate(MPU6050 &mpu6050)
+{
+ // If data ready bit set, all data registers have new data
+ if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
+ mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
+ mpu6050.getAres();
+
+ // Now we'll calculate the accleration value into actual g's
+ ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)accelCount[1]*aRes - accelBias[1];
+ az = (float)accelCount[2]*aRes - accelBias[2];
+
+ mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
+ mpu6050.getGres();
+
+ // Calculate the gyro value into actual degrees per second
+ gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
+ gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
+
+ tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
+ temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+ }
+
+ Now = t.read_us();
+ deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ lastUpdate = Now;
+
+ sum += deltat;
+ sumCount++;
+
+ if(lastUpdate - firstUpdate > 10000000.0f) {
+ beta = 0.04; // decrease filter gain after stabilized
+ zeta = 0.015; // increasey bias drift gain after stabilized
+ }
+
+ // Pass gyro rate as rad/s
+ mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
+
+ // Serial print and/or display at 0.5 s rate independent of data rates
+ delt_t = t.read_ms() - count;
+
+ // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
+ // In this coordinate system, the positive z-axis is down toward Earth.
+ // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
+ // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
+ // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
+ // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
+ // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
+ // applied in the correct order which for this configuration is yaw, pitch, and then roll.
+ // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
+ yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+ pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+ roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+ pitch *= 180.0f / PI;
+ yaw *= 180.0f / PI;
+ roll *= 180.0f / PI;
+
+ //update timer for filter
+ count = t.read_ms();
+ sum = 0;
+ sumCount = 0;
+
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/MPU6050.h Sun Jun 04 06:46:28 2017 +0000
@@ -0,0 +1,803 @@
+#ifndef MPU6050_H
+#define MPU6050_H
+
+#include "mbed.h"
+#include "math.h"
+
+// Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
+// Invensense Inc., www.invensense.com
+// See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
+// above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
+//
+#define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
+#define YGOFFS_TC 0x01
+#define ZGOFFS_TC 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 0x0D
+#define SELF_TEST_Y 0x0E
+#define SELF_TEST_Z 0x0F
+#define SELF_TEST_A 0x10
+#define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
+#define XG_OFFS_USRL 0x14
+#define YG_OFFS_USRH 0x15
+#define YG_OFFS_USRL 0x16
+#define ZG_OFFS_USRH 0x17
+#define ZG_OFFS_USRL 0x18
+#define SMPLRT_DIV 0x19
+#define CONFIG 0x1A
+#define GYRO_CONFIG 0x1B
+#define ACCEL_CONFIG 0x1C
+#define FF_THR 0x1D // Free-fall
+#define FF_DUR 0x1E // Free-fall
+#define MOT_THR 0x1F // Motion detection threshold bits [7:0]
+#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_MPU6050 0x75 // Should return 0x68
+
+// Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
+// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
+
+//create constructor
+#define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
+
+//Set up I2C, (SDA,SCL)
+I2C i2c(D14, D15);
+
+// 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
+};
+
+// Specify sensor full scale
+int Gscale = GFS_250DPS;
+int Ascale = AFS_2G;
+
+
+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
+
+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];
+
+
+float heading = 0;
+float magdata[3];
+
+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 * (40.0f / 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 yaw, pitch, 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
+
+//free IMU variables
+#define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
+#define twoKiDef (2.0f * 0.1f) // 2 * integral gain
+float sampleFreq; // half the sample period expressed in seconds
+volatile float twoKp = twoKpDef; // 2 * proportional gain (Kp)
+volatile float twoKi = twoKiDef; // 2 * integral gain (Ki)
+float exInt, eyInt, ezInt; // scaled integral error
+volatile float integralFBx, integralFBy, integralFBz;
+
+//math helper
+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;
+}
+
+
+class MPU6050
+{
+ protected:
+
+ public:
+ //===================================================================================================================
+ //====== Set of useful function to access acceleratio, gyroscope, and temperature data
+ //===================================================================================================================
+
+ //create constructor to pass in address
+
+ 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);
+ }
+
+ 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 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(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]) ;
+ }
+
+ 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
+ }
+
+
+
+ // 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
+
+ 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
+
+ wait(0.1); // Add delay for accumulation of samples
+
+ 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 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];// * scale_factor_gyro;
+ gyro_bias[1] += (int32_t) gyro_temp[1];// * scale_factor_gyro;
+ gyro_bias[2] += (int32_t) gyro_temp[2];// * scale_factor_gyro;
+
+ }
+ 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
+ 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);
+ 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
+ norm = 1.0f/norm;
+ q[0] = q1 * norm;
+ q[1] = q2 * norm;
+ q[2] = q3 * norm;
+ q[3] = q4 * norm;
+ }
+
+// 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;
+
+ }
+
+
+};
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/MS5837.cpp Sun Jun 04 06:46:28 2017 +0000
@@ -0,0 +1,100 @@
+#include <stdlib.h>
+#include "MS5837.h"
+ //Pressure Sensor
+
+/*
+ * Sensor operating function according data sheet
+ */
+
+void MS5837::MS5837Init(void)
+{
+ MS5837Reset();
+ MS5837ReadProm();
+ return;
+}
+
+/* Send soft reset to the sensor */
+void MS5837::MS5837Reset(void)
+{
+ /* transmit out 1 byte reset command */
+ ms5837_tx_data[0] = ms5837_reset;
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+ //printf("send soft reset");
+ wait_ms(20);
+}
+
+/* read the sensor calibration data from rom */
+void MS5837::MS5837ReadProm(void)
+{
+ uint8_t i,j;
+ for (i=0; i<8; i++) {
+ j = i;
+ ms5837_tx_data[0] = ms5837_PROMread + (j<<1);
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+ if ( i2c.read( device_address, ms5837_rx_data, 2 ) );
+ C[i] = ms5837_rx_data[1] + (ms5837_rx_data[0]<<8);
+ }
+}
+
+/* Start the sensor pressure conversion */
+void MS5837::MS5837ConvertD1(void)
+{
+ ms5837_tx_data[0] = ms5837_convD1;
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+}
+
+/* Start the sensor temperature conversion */
+void MS5837:: MS5837ConvertD2(void)
+{
+ ms5837_tx_data[0] = ms5837_convD2;
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+}
+
+/* Read the previous started conversion results */
+int32_t MS5837::MS5837ReadADC(void)
+{
+ int32_t adc;
+ wait_ms(150);
+ ms5837_tx_data[0] = ms5837_ADCread;
+ if ( i2c.write( device_address, ms5837_tx_data, 1 ) );
+ if ( i2c.read( device_address, ms5837_rx_data, 3 ) );
+ adc = ms5837_rx_data[2] + (ms5837_rx_data[1]<<8) + (ms5837_rx_data[0]<<16);
+ return (adc);
+}
+
+/* return the results */
+float MS5837::MS5837_Pressure (void)
+{
+ return P_MS5837;
+}
+float MS5837::MS5837_Temperature (void)
+{
+ return T_MS5837;
+}
+
+/* Sensor reading and calculation procedure */
+void MS5837::Barometer_MS5837(void)
+{
+ int32_t dT, temp;
+ int64_t OFF, SENS, press;
+
+ //no need to do this everytime!
+ //MS5837Reset(); // reset the sensor
+ //MS5837ReadProm(); // read the calibration values
+
+
+ MS5837ConvertD1(); // start pressure conversion
+ D1 = MS5837ReadADC(); // read the pressure value
+ MS5837ConvertD2(); // start temperature conversion
+ D2 = MS5837ReadADC(); // read the temperature value
+
+ /* calculation according MS5837-01BA data sheet DA5837-01BA_006 */
+ dT = D2 - (C[5]* 256);
+ OFF = (int64_t)C[2] * (1<<16) + ((int64_t)dT * (int64_t)C[4]) / (1<<7);
+ SENS = (int64_t)C[1] * (1<<15) + ((int64_t)dT * (int64_t)C[3]) / (1<<8);
+
+ temp = 2000 + (dT * C[6]) / (1<<23);
+ T_MS5837 = (float) temp / 100.0f; // result of temperature in deg C in this var
+ press = (((int64_t)D1 * SENS) / (1<<21) - OFF) / (1<<13);
+ P_MS5837 = (float) press / 10.0f; // result of pressure in mBar in this var
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/MS5837.h Sun Jun 04 06:46:28 2017 +0000
@@ -0,0 +1,64 @@
+#include "mbed.h"
+
+#ifndef MS5837_H
+#define MS5837_H
+
+#define MS5837_RX_DEPTH 3 //
+#define MS5837_TX_DEPTH 2 //
+
+// choose your connection here
+#define ms5837_addr_no_CS 0x76 //0b1110110
+
+#define ms5837_reset 0x1E // Sensor Reset
+
+#define ms5837_convD1_256 0x40 // Convert D1 OSR 256
+#define ms5837_convD1_512 0x42 // Convert D1 OSR 512
+#define ms5837_convD1_1024 0x44 // Convert D1 OSR 1024
+#define ms5837_convD1_2048 0x46 // Convert D1 OSR 2048
+#define ms5837_convD1_4096 0x48 // Convert D1 OSR 4096
+#define ms5837_convD1_8192 0x4A // Convert D1 OSR 8192
+
+#define ms5837_convD1 ms5837_convD1_4096 // choose your sampling rate here
+
+#define ms5837_convD2_256 0x50 // Convert D2 OSR 256
+#define ms5837_convD2_512 0x52 // Convert D2 OSR 512
+#define ms5837_convD2_1024 0x54 // Convert D2 OSR 1024
+#define ms5837_convD2_2048 0x56 // Convert D2 OSR 2048
+#define ms5837_convD2_4096 0x58 // Convert D2 OSR 4096
+#define ms5837_convD2_8192 0x5A // Convert D2 OSR 8192
+
+#define ms5837_convD2 ms5837_convD2_4096 // choose your sampling rate here
+
+#define ms5837_ADCread 0x00 // read ADC command
+#define ms5837_PROMread 0xA0 // read PROM command base address
+
+class MS5837{
+private:
+ int D1, D2, Temp, C[8];
+ float T_MS5837, P_MS5837;
+ /* Data buffers */
+ char ms5837_rx_data[MS5837_RX_DEPTH];
+ char ms5837_tx_data[MS5837_TX_DEPTH];
+
+public:
+ MS5837 (PinName sda, PinName scl,
+ char ms5837_addr = ms5837_addr_no_CS )
+ : i2c( sda, scl ), device_address( ms5837_addr << 1 ) {
+ }
+ void MS5837Init(void);
+ void MS5837Reset(void);
+ void MS5837ReadProm(void);
+ void MS5837ConvertD1(void);
+ void MS5837ConvertD2(void);
+ int32_t MS5837ReadADC(void);
+ float MS5837_Pressure (void);
+ float MS5837_Temperature (void);
+ void Barometer_MS5837(void);
+
+
+private:
+ I2C i2c;
+ char device_address;
+
+};
+#endif
\ No newline at end of file
--- a/main.cpp Mon May 15 21:26:09 2017 +0000
+++ b/main.cpp Sun Jun 04 06:46:28 2017 +0000
@@ -1,45 +1,109 @@
#include "IMU.h"
#include "PID.h"
-//#include "MS5837.h"
+#include "MS5837.h"
#include "Motor.h"
+#include "HMC5883L.h"
-//Declare IMU object
-MPU6050 mpu1;
+// Maps value from incoming analog signal to correct range
+// to be sent out to as pwm signal to motors
+float map(float x, float in_min, float in_max, float out_min, float out_max)
+{
+ return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
double myPitch, sOut, setPoint;
double k_p, k_i, k_d;
+//Declare digital button input
+DigitalIn tuningButton(USER_BUTTON);
+
+
+// Declare mpu object
+MPU6050 mpu1;
+HMC5883L compass;
+
+MS5837 pressure_sensor = MS5837(D14, D15, ms5837_addr_no_CS);
+
+// Declare motor objects
Motor mBlack(D3,D2,D9); // pwm, fwd, rev
Motor mWhite(D4,D5,D8);
-//Input, Output, SetPoint, kp, ki, kd, Controller Direction
+// Declare analog input pin
+AnalogIn kpKnob(A0);
+AnalogIn kiKnob(A1);
+AnalogIn kdKnob(A2);
+
+// Input, Output, SetPoint, kp, ki, kd, Controller Direction
PID pidp(&myPitch, &sOut, &setPoint, 1, 1, 1, DIRECT);
+//Serial pc(USBTX, USBRX);
+
int main()
-{
- i2c.frequency(400000); // use fast (400 kHz) I2C
- wait(.2);
- //Initialize mpu]
+{
+ // Initialize IMU
IMUinit(mpu1);
+ compass.init();
+ // Initialize pressure sensor
+ // pressure_sensor.MS5837Init();
+
+ // Initialize PID
pidp.SetMode(AUTOMATIC);
pidp.SetOutputLimits(0.5, 1);
- pidp.SetTunings(.028, 0.01, 0.025);
+
+ //Default kp ki kd parameters
+ float kpKnobVal = .028;
+ float kiKnobVal = .01;
+ float kdKnobVal = .025;
+ pidp.SetTunings(kpKnobVal, kiKnobVal, kdKnobVal);
setPoint = 0;
+ // float pressure;
+
while(1)
{
- //other stuff .. ie state machines
- IMUPrintData(mpu1);
- myPitch = pitch;
- pidp.Compute();
- float s2Out = 1.5 - sOut;
- mWhite.speed(s2Out);
- mBlack.speed(-sOut);
+
+ // Read pressure sensor data
+ // pressure_sensor.Barometer_MS5837();
+ // pressure = pressure_sensor.MS5837_Temperature();
+ // pc.printf("pressure: %f \n", pressure);
- char text[60];
- sprintf(text, "%f,%f,%f,%f,%f \n", yaw, pitch, roll,sOut, s2Out);
+ // If button is pressed kp ki kd values can be adjusted
+ if(!tuningButton)
+ {
+ // Read raw potentiometer values from k-knob and map to kpknobVal
+ kpKnobVal = map(kpKnob.read(), 0.000, 1.000, 0.000, .050);
+ kiKnobVal = map(kiKnob.read(), 0.000, 1.000, 0.000, 0.008);
+ kdKnobVal = map(kdKnob.read(), 0.000, 1.000, 0.000, .040);
+
+ // Adjust tunings
+ pidp.SetTunings(kpKnobVal,kiKnobVal,kdKnobVal);
+
+ }
+ //print mapped joystick values
+ // pc.printf("kp: %f -- ki: %f -- kd %f \n", kpKnobVal, kiKnobVal, kdKnobVal);
+
+ // Obtain mpu data -> pass through filter -> obtain yaw pitch roll
+ IMUPrintData(mpu1, compass);
+ //myPitch = pitch;
+
+ // char textA[90];
+ // sprintf(textA, "%f,%f,%f,%f \n", heading, magdata[0], magdata[1], heading);
+ // pc.printf("%s", textA);
+
+ // Compute output using pid controller
+ //pidp.Compute();
+
+ // Send pwm output to Motors
+ //float s2Out = 1.5 - sOut;
+ //mWhite.speed(s2Out);
+ //mBlack.speed(-sOut);
+
+ //Display telemetry
+ char text[90];
+ sprintf(text, "%f,%f,%f \n", yaw, pitch, roll);
pc.printf("%s", text);
+ wait(.01);
}
}