takuto soeda / MPU9250

Mpu9250

Dependents:   ACC_MPU9250

MPU9250.cpp@0:98a0cccbc509, 2016-07-05 (annotated)

Committer:
brdarji
Date:
Tue Jul 05 07:09:43 2016 +0000
Revision:
0:98a0cccbc509
Child:
1:ca2a40219dc1
MPU9250;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brdarji 0:98a0cccbc509 1 #include "MPU9250.h"
brdarji 0:98a0cccbc509 2
brdarji 0:98a0cccbc509 3 #define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
brdarji 0:98a0cccbc509 4 #define Ki 0.0f
brdarji 0:98a0cccbc509 5
brdarji 0:98a0cccbc509 6 //******************************************************************************
brdarji 0:98a0cccbc509 7 MPU9250::MPU9250(PinName sda, PinName scl)
brdarji 0:98a0cccbc509 8 {
brdarji 0:98a0cccbc509 9 i2c_ = new I2C(sda, scl);
brdarji 0:98a0cccbc509 10 i2c_->frequency(400000);
brdarji 0:98a0cccbc509 11 }
brdarji 0:98a0cccbc509 12
brdarji 0:98a0cccbc509 13 //******************************************************************************
brdarji 0:98a0cccbc509 14 MPU9250::MPU9250(I2C *i2c):i2c_(i2c){}
brdarji 0:98a0cccbc509 15
brdarji 0:98a0cccbc509 16 //******************************************************************************
brdarji 0:98a0cccbc509 17 MPU9250::~MPU9250()
brdarji 0:98a0cccbc509 18 {
brdarji 0:98a0cccbc509 19 delete i2c_;
brdarji 0:98a0cccbc509 20 }
brdarji 0:98a0cccbc509 21
brdarji 0:98a0cccbc509 22 void MPU9250::writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
brdarji 0:98a0cccbc509 23 {
brdarji 0:98a0cccbc509 24 char data_write[2];
brdarji 0:98a0cccbc509 25 data_write[0] = subAddress;
brdarji 0:98a0cccbc509 26 data_write[1] = data;
brdarji 0:98a0cccbc509 27 i2c_->write(address, data_write, 2, 0);
brdarji 0:98a0cccbc509 28 }
brdarji 0:98a0cccbc509 29
brdarji 0:98a0cccbc509 30 char MPU9250::readByte(uint8_t address, uint8_t subAddress)
brdarji 0:98a0cccbc509 31 {
brdarji 0:98a0cccbc509 32 char data[1]; // `data` will store the register data
brdarji 0:98a0cccbc509 33 char data_write[1];
brdarji 0:98a0cccbc509 34 data_write[0] = subAddress;
brdarji 0:98a0cccbc509 35 i2c_->write(address, data_write, 1, 1); // no stop
brdarji 0:98a0cccbc509 36 i2c_->read(address, data, 1, 0);
brdarji 0:98a0cccbc509 37 return data[0];
brdarji 0:98a0cccbc509 38 }
brdarji 0:98a0cccbc509 39
brdarji 0:98a0cccbc509 40 void MPU9250::readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
brdarji 0:98a0cccbc509 41 {
brdarji 0:98a0cccbc509 42 char data[14];
brdarji 0:98a0cccbc509 43 char data_write[1];
brdarji 0:98a0cccbc509 44 data_write[0] = subAddress;
brdarji 0:98a0cccbc509 45 i2c_->write(address, data_write, 1, 1); // no stop
brdarji 0:98a0cccbc509 46 i2c_->read(address, data, count, 0);
brdarji 0:98a0cccbc509 47 for(int ii = 0; ii < count; ii++) {
brdarji 0:98a0cccbc509 48 dest[ii] = data[ii];
brdarji 0:98a0cccbc509 49 }
brdarji 0:98a0cccbc509 50 }
brdarji 0:98a0cccbc509 51
brdarji 0:98a0cccbc509 52 void MPU9250::getMres() {
brdarji 0:98a0cccbc509 53 switch (Mscale)
brdarji 0:98a0cccbc509 54 {
brdarji 0:98a0cccbc509 55 // Possible magnetometer scales (and their register bit settings) are:
brdarji 0:98a0cccbc509 56 // 14 bit resolution (0) and 16 bit resolution (1)
brdarji 0:98a0cccbc509 57 case MFS_14BITS:
brdarji 0:98a0cccbc509 58 mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss
brdarji 0:98a0cccbc509 59 break;
brdarji 0:98a0cccbc509 60 case MFS_16BITS:
brdarji 0:98a0cccbc509 61 mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss
brdarji 0:98a0cccbc509 62 break;
brdarji 0:98a0cccbc509 63 }
brdarji 0:98a0cccbc509 64 }
brdarji 0:98a0cccbc509 65
brdarji 0:98a0cccbc509 66
brdarji 0:98a0cccbc509 67 void MPU9250::getGres() {
brdarji 0:98a0cccbc509 68 switch (Gscale)
brdarji 0:98a0cccbc509 69 {
brdarji 0:98a0cccbc509 70 // Possible gyro scales (and their register bit settings) are:
brdarji 0:98a0cccbc509 71 // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
brdarji 0:98a0cccbc509 72 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
brdarji 0:98a0cccbc509 73 case GFS_250DPS:
brdarji 0:98a0cccbc509 74 gRes = 250.0/32768.0;
brdarji 0:98a0cccbc509 75 break;
brdarji 0:98a0cccbc509 76 case GFS_500DPS:
brdarji 0:98a0cccbc509 77 gRes = 500.0/32768.0;
brdarji 0:98a0cccbc509 78 break;
brdarji 0:98a0cccbc509 79 case GFS_1000DPS:
brdarji 0:98a0cccbc509 80 gRes = 1000.0/32768.0;
brdarji 0:98a0cccbc509 81 break;
brdarji 0:98a0cccbc509 82 case GFS_2000DPS:
brdarji 0:98a0cccbc509 83 gRes = 2000.0/32768.0;
brdarji 0:98a0cccbc509 84 break;
brdarji 0:98a0cccbc509 85 }
brdarji 0:98a0cccbc509 86 }
brdarji 0:98a0cccbc509 87
brdarji 0:98a0cccbc509 88
brdarji 0:98a0cccbc509 89 void MPU9250::getAres() {
brdarji 0:98a0cccbc509 90 switch (Ascale)
brdarji 0:98a0cccbc509 91 {
brdarji 0:98a0cccbc509 92 // Possible accelerometer scales (and their register bit settings) are:
brdarji 0:98a0cccbc509 93 // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
brdarji 0:98a0cccbc509 94 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
brdarji 0:98a0cccbc509 95 case AFS_2G:
brdarji 0:98a0cccbc509 96 aRes = 2.0/32768.0;
brdarji 0:98a0cccbc509 97 break;
brdarji 0:98a0cccbc509 98 case AFS_4G:
brdarji 0:98a0cccbc509 99 aRes = 4.0/32768.0;
brdarji 0:98a0cccbc509 100 break;
brdarji 0:98a0cccbc509 101 case AFS_8G:
brdarji 0:98a0cccbc509 102 aRes = 8.0/32768.0;
brdarji 0:98a0cccbc509 103 break;
brdarji 0:98a0cccbc509 104 case AFS_16G:
brdarji 0:98a0cccbc509 105 aRes = 16.0/32768.0;
brdarji 0:98a0cccbc509 106 break;
brdarji 0:98a0cccbc509 107 }
brdarji 0:98a0cccbc509 108 }
brdarji 0:98a0cccbc509 109
brdarji 0:98a0cccbc509 110
brdarji 0:98a0cccbc509 111 void MPU9250::readAccelData(int16_t * destination)
brdarji 0:98a0cccbc509 112 {
brdarji 0:98a0cccbc509 113 uint8_t rawData[6]; // x/y/z accel register data stored here
brdarji 0:98a0cccbc509 114 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
brdarji 0:98a0cccbc509 115 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
brdarji 0:98a0cccbc509 116 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
brdarji 0:98a0cccbc509 117 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
brdarji 0:98a0cccbc509 118 }
brdarji 0:98a0cccbc509 119
brdarji 0:98a0cccbc509 120 void MPU9250::readGyroData(int16_t * destination)
brdarji 0:98a0cccbc509 121 {
brdarji 0:98a0cccbc509 122 uint8_t rawData[6]; // x/y/z gyro register data stored here
brdarji 0:98a0cccbc509 123 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
brdarji 0:98a0cccbc509 124 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
brdarji 0:98a0cccbc509 125 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
brdarji 0:98a0cccbc509 126 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
brdarji 0:98a0cccbc509 127 }
brdarji 0:98a0cccbc509 128
brdarji 0:98a0cccbc509 129 void MPU9250::readMagData(int16_t * destination)
brdarji 0:98a0cccbc509 130 {
brdarji 0:98a0cccbc509 131 uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
brdarji 0:98a0cccbc509 132 if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
brdarji 0:98a0cccbc509 133 readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
brdarji 0:98a0cccbc509 134 uint8_t c = rawData[6]; // End data read by reading ST2 register
brdarji 0:98a0cccbc509 135 if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
brdarji 0:98a0cccbc509 136 destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
brdarji 0:98a0cccbc509 137 destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
brdarji 0:98a0cccbc509 138 destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
brdarji 0:98a0cccbc509 139 }
brdarji 0:98a0cccbc509 140 }
brdarji 0:98a0cccbc509 141 }
brdarji 0:98a0cccbc509 142
brdarji 0:98a0cccbc509 143 int16_t MPU9250::readTempData()
brdarji 0:98a0cccbc509 144 {
brdarji 0:98a0cccbc509 145 uint8_t rawData[2]; // x/y/z gyro register data stored here
brdarji 0:98a0cccbc509 146 readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
brdarji 0:98a0cccbc509 147 return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
brdarji 0:98a0cccbc509 148 }
brdarji 0:98a0cccbc509 149
brdarji 0:98a0cccbc509 150
brdarji 0:98a0cccbc509 151 void MPU9250::resetMPU9250() {
brdarji 0:98a0cccbc509 152 // reset device
brdarji 0:98a0cccbc509 153 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
brdarji 0:98a0cccbc509 154 wait(0.1);
brdarji 0:98a0cccbc509 155 }
brdarji 0:98a0cccbc509 156
brdarji 0:98a0cccbc509 157 void MPU9250::initAK8963(float * destination)
brdarji 0:98a0cccbc509 158 {
brdarji 0:98a0cccbc509 159 // First extract the factory calibration for each magnetometer axis
brdarji 0:98a0cccbc509 160 uint8_t rawData[3]; // x/y/z gyro calibration data stored here
brdarji 0:98a0cccbc509 161 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
brdarji 0:98a0cccbc509 162 wait(0.01);
brdarji 0:98a0cccbc509 163 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
brdarji 0:98a0cccbc509 164 wait(0.01);
brdarji 0:98a0cccbc509 165 readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values
brdarji 0:98a0cccbc509 166 destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc.
brdarji 0:98a0cccbc509 167 destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f;
brdarji 0:98a0cccbc509 168 destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f;
brdarji 0:98a0cccbc509 169 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
brdarji 0:98a0cccbc509 170 wait(0.01);
brdarji 0:98a0cccbc509 171 // Configure the magnetometer for continuous read and highest resolution
brdarji 0:98a0cccbc509 172 // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register,
brdarji 0:98a0cccbc509 173 // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates
brdarji 0:98a0cccbc509 174 writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR
brdarji 0:98a0cccbc509 175 wait(0.01);
brdarji 0:98a0cccbc509 176 }
brdarji 0:98a0cccbc509 177
brdarji 0:98a0cccbc509 178
brdarji 0:98a0cccbc509 179 void MPU9250::initMPU9250()
brdarji 0:98a0cccbc509 180 {
brdarji 0:98a0cccbc509 181 // Initialize MPU9250 device
brdarji 0:98a0cccbc509 182 // wake up device
brdarji 0:98a0cccbc509 183 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
brdarji 0:98a0cccbc509 184 wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
brdarji 0:98a0cccbc509 185
brdarji 0:98a0cccbc509 186 // get stable time source
brdarji 0:98a0cccbc509 187 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
brdarji 0:98a0cccbc509 188
brdarji 0:98a0cccbc509 189 // Configure Gyro and Accelerometer
brdarji 0:98a0cccbc509 190 // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
brdarji 0:98a0cccbc509 191 // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
brdarji 0:98a0cccbc509 192 // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
brdarji 0:98a0cccbc509 193 writeByte(MPU9250_ADDRESS, CONFIG, 0x03);
brdarji 0:98a0cccbc509 194
brdarji 0:98a0cccbc509 195 // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
brdarji 0:98a0cccbc509 196 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above
brdarji 0:98a0cccbc509 197
brdarji 0:98a0cccbc509 198 // Set gyroscope full scale range
brdarji 0:98a0cccbc509 199 // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
brdarji 0:98a0cccbc509 200 uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG);
brdarji 0:98a0cccbc509 201 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
brdarji 0:98a0cccbc509 202 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
brdarji 0:98a0cccbc509 203 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
brdarji 0:98a0cccbc509 204
brdarji 0:98a0cccbc509 205 // Set accelerometer configuration
brdarji 0:98a0cccbc509 206 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG);
brdarji 0:98a0cccbc509 207 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
brdarji 0:98a0cccbc509 208 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
brdarji 0:98a0cccbc509 209 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
brdarji 0:98a0cccbc509 210
brdarji 0:98a0cccbc509 211 // Set accelerometer sample rate configuration
brdarji 0:98a0cccbc509 212 // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for
brdarji 0:98a0cccbc509 213 // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz
brdarji 0:98a0cccbc509 214 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2);
brdarji 0:98a0cccbc509 215 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])
brdarji 0:98a0cccbc509 216 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
brdarji 0:98a0cccbc509 217
brdarji 0:98a0cccbc509 218 // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates,
brdarji 0:98a0cccbc509 219 // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
brdarji 0:98a0cccbc509 220
brdarji 0:98a0cccbc509 221 // Configure Interrupts and Bypass Enable
brdarji 0:98a0cccbc509 222 // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
brdarji 0:98a0cccbc509 223 // can join the I2C bus and all can be controlled by the Arduino as master
brdarji 0:98a0cccbc509 224 writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
brdarji 0:98a0cccbc509 225 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
brdarji 0:98a0cccbc509 226 }
brdarji 0:98a0cccbc509 227
brdarji 0:98a0cccbc509 228 // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
brdarji 0:98a0cccbc509 229 // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
brdarji 0:98a0cccbc509 230 void MPU9250::calibrateMPU9250(float * dest1, float * dest2)
brdarji 0:98a0cccbc509 231 {
brdarji 0:98a0cccbc509 232 uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
brdarji 0:98a0cccbc509 233 uint16_t ii, packet_count, fifo_count;
brdarji 0:98a0cccbc509 234 int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
brdarji 0:98a0cccbc509 235
brdarji 0:98a0cccbc509 236 // reset device, reset all registers, clear gyro and accelerometer bias registers
brdarji 0:98a0cccbc509 237 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
brdarji 0:98a0cccbc509 238 wait(0.1);
brdarji 0:98a0cccbc509 239
brdarji 0:98a0cccbc509 240 // get stable time source
brdarji 0:98a0cccbc509 241 // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
brdarji 0:98a0cccbc509 242 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);
brdarji 0:98a0cccbc509 243 writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00);
brdarji 0:98a0cccbc509 244 wait(0.2);
brdarji 0:98a0cccbc509 245
brdarji 0:98a0cccbc509 246 // Configure device for bias calculation
brdarji 0:98a0cccbc509 247 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
brdarji 0:98a0cccbc509 248 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
brdarji 0:98a0cccbc509 249 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
brdarji 0:98a0cccbc509 250 writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
brdarji 0:98a0cccbc509 251 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
brdarji 0:98a0cccbc509 252 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
brdarji 0:98a0cccbc509 253 wait(0.015);
brdarji 0:98a0cccbc509 254
brdarji 0:98a0cccbc509 255 // Configure MPU9250 gyro and accelerometer for bias calculation
brdarji 0:98a0cccbc509 256 writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
brdarji 0:98a0cccbc509 257 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
brdarji 0:98a0cccbc509 258 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
brdarji 0:98a0cccbc509 259 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
brdarji 0:98a0cccbc509 260
brdarji 0:98a0cccbc509 261 uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
brdarji 0:98a0cccbc509 262 uint16_t accelsensitivity = 16384; // = 16384 LSB/g
brdarji 0:98a0cccbc509 263
brdarji 0:98a0cccbc509 264 // Configure FIFO to capture accelerometer and gyro data for bias calculation
brdarji 0:98a0cccbc509 265 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
brdarji 0:98a0cccbc509 266 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250)
brdarji 0:98a0cccbc509 267 wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes
brdarji 0:98a0cccbc509 268
brdarji 0:98a0cccbc509 269 // At end of sample accumulation, turn off FIFO sensor read
brdarji 0:98a0cccbc509 270 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
brdarji 0:98a0cccbc509 271 readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
brdarji 0:98a0cccbc509 272 fifo_count = ((uint16_t)data[0] << 8) | data[1];
brdarji 0:98a0cccbc509 273 packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
brdarji 0:98a0cccbc509 274
brdarji 0:98a0cccbc509 275 for (ii = 0; ii < packet_count; ii++) {
brdarji 0:98a0cccbc509 276 int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
brdarji 0:98a0cccbc509 277 readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
brdarji 0:98a0cccbc509 278 accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
brdarji 0:98a0cccbc509 279 accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
brdarji 0:98a0cccbc509 280 accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
brdarji 0:98a0cccbc509 281 gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
brdarji 0:98a0cccbc509 282 gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
brdarji 0:98a0cccbc509 283 gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
brdarji 0:98a0cccbc509 284
brdarji 0:98a0cccbc509 285 accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
brdarji 0:98a0cccbc509 286 accel_bias[1] += (int32_t) accel_temp[1];
brdarji 0:98a0cccbc509 287 accel_bias[2] += (int32_t) accel_temp[2];
brdarji 0:98a0cccbc509 288 gyro_bias[0] += (int32_t) gyro_temp[0];
brdarji 0:98a0cccbc509 289 gyro_bias[1] += (int32_t) gyro_temp[1];
brdarji 0:98a0cccbc509 290 gyro_bias[2] += (int32_t) gyro_temp[2];
brdarji 0:98a0cccbc509 291
brdarji 0:98a0cccbc509 292 }
brdarji 0:98a0cccbc509 293 accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
brdarji 0:98a0cccbc509 294 accel_bias[1] /= (int32_t) packet_count;
brdarji 0:98a0cccbc509 295 accel_bias[2] /= (int32_t) packet_count;
brdarji 0:98a0cccbc509 296 gyro_bias[0] /= (int32_t) packet_count;
brdarji 0:98a0cccbc509 297 gyro_bias[1] /= (int32_t) packet_count;
brdarji 0:98a0cccbc509 298 gyro_bias[2] /= (int32_t) packet_count;
brdarji 0:98a0cccbc509 299
brdarji 0:98a0cccbc509 300 if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation
brdarji 0:98a0cccbc509 301 else {accel_bias[2] += (int32_t) accelsensitivity;}
brdarji 0:98a0cccbc509 302
brdarji 0:98a0cccbc509 303 // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
brdarji 0:98a0cccbc509 304 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
brdarji 0:98a0cccbc509 305 data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
brdarji 0:98a0cccbc509 306 data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
brdarji 0:98a0cccbc509 307 data[3] = (-gyro_bias[1]/4) & 0xFF;
brdarji 0:98a0cccbc509 308 data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
brdarji 0:98a0cccbc509 309 data[5] = (-gyro_bias[2]/4) & 0xFF;
brdarji 0:98a0cccbc509 310
brdarji 0:98a0cccbc509 311 /// Push gyro biases to hardware registers
brdarji 0:98a0cccbc509 312 /* writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]);
brdarji 0:98a0cccbc509 313 writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]);
brdarji 0:98a0cccbc509 314 writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]);
brdarji 0:98a0cccbc509 315 writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]);
brdarji 0:98a0cccbc509 316 writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]);
brdarji 0:98a0cccbc509 317 writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]);
brdarji 0:98a0cccbc509 318 */
brdarji 0:98a0cccbc509 319 dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
brdarji 0:98a0cccbc509 320 dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
brdarji 0:98a0cccbc509 321 dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
brdarji 0:98a0cccbc509 322
brdarji 0:98a0cccbc509 323 // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
brdarji 0:98a0cccbc509 324 // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
brdarji 0:98a0cccbc509 325 // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
brdarji 0:98a0cccbc509 326 // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
brdarji 0:98a0cccbc509 327 // the accelerometer biases calculated above must be divided by 8.
brdarji 0:98a0cccbc509 328
brdarji 0:98a0cccbc509 329 int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
brdarji 0:98a0cccbc509 330 readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
brdarji 0:98a0cccbc509 331 accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
brdarji 0:98a0cccbc509 332 readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]);
brdarji 0:98a0cccbc509 333 accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
brdarji 0:98a0cccbc509 334 readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
brdarji 0:98a0cccbc509 335 accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
brdarji 0:98a0cccbc509 336
brdarji 0:98a0cccbc509 337 uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
brdarji 0:98a0cccbc509 338 uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
brdarji 0:98a0cccbc509 339
brdarji 0:98a0cccbc509 340 for(ii = 0; ii < 3; ii++) {
brdarji 0:98a0cccbc509 341 if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
brdarji 0:98a0cccbc509 342 }
brdarji 0:98a0cccbc509 343
brdarji 0:98a0cccbc509 344 // Construct total accelerometer bias, including calculated average accelerometer bias from above
brdarji 0:98a0cccbc509 345 accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
brdarji 0:98a0cccbc509 346 accel_bias_reg[1] -= (accel_bias[1]/8);
brdarji 0:98a0cccbc509 347 accel_bias_reg[2] -= (accel_bias[2]/8);
brdarji 0:98a0cccbc509 348
brdarji 0:98a0cccbc509 349 data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
brdarji 0:98a0cccbc509 350 data[1] = (accel_bias_reg[0]) & 0xFF;
brdarji 0:98a0cccbc509 351 data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
brdarji 0:98a0cccbc509 352 data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
brdarji 0:98a0cccbc509 353 data[3] = (accel_bias_reg[1]) & 0xFF;
brdarji 0:98a0cccbc509 354 data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
brdarji 0:98a0cccbc509 355 data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
brdarji 0:98a0cccbc509 356 data[5] = (accel_bias_reg[2]) & 0xFF;
brdarji 0:98a0cccbc509 357 data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
brdarji 0:98a0cccbc509 358
brdarji 0:98a0cccbc509 359 // Apparently this is not working for the acceleration biases in the MPU-9250
brdarji 0:98a0cccbc509 360 // Are we handling the temperature correction bit properly?
brdarji 0:98a0cccbc509 361 // Push accelerometer biases to hardware registers
brdarji 0:98a0cccbc509 362 /* writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]);
brdarji 0:98a0cccbc509 363 writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
brdarji 0:98a0cccbc509 364 writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
brdarji 0:98a0cccbc509 365 writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
brdarji 0:98a0cccbc509 366 writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
brdarji 0:98a0cccbc509 367 writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);
brdarji 0:98a0cccbc509 368 */
brdarji 0:98a0cccbc509 369 // Output scaled accelerometer biases for manual subtraction in the main program
brdarji 0:98a0cccbc509 370 dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
brdarji 0:98a0cccbc509 371 dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
brdarji 0:98a0cccbc509 372 dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
brdarji 0:98a0cccbc509 373 }
brdarji 0:98a0cccbc509 374
brdarji 0:98a0cccbc509 375
brdarji 0:98a0cccbc509 376 // Accelerometer and gyroscope self test; check calibration wrt factory settings
brdarji 0:98a0cccbc509 377 void MPU9250::MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
brdarji 0:98a0cccbc509 378 {
brdarji 0:98a0cccbc509 379 uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
brdarji 0:98a0cccbc509 380 uint8_t selfTest[6];
brdarji 0:98a0cccbc509 381 int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3];
brdarji 0:98a0cccbc509 382 float factoryTrim[6];
brdarji 0:98a0cccbc509 383 uint8_t FS = 0;
brdarji 0:98a0cccbc509 384
brdarji 0:98a0cccbc509 385 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
brdarji 0:98a0cccbc509 386 writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
brdarji 0:98a0cccbc509 387 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
brdarji 0:98a0cccbc509 388 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
brdarji 0:98a0cccbc509 389 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
brdarji 0:98a0cccbc509 390
brdarji 0:98a0cccbc509 391 for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer
brdarji 0:98a0cccbc509 392
brdarji 0:98a0cccbc509 393 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
brdarji 0:98a0cccbc509 394 aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
brdarji 0:98a0cccbc509 395 aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
brdarji 0:98a0cccbc509 396 aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
brdarji 0:98a0cccbc509 397
brdarji 0:98a0cccbc509 398 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
brdarji 0:98a0cccbc509 399 gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
brdarji 0:98a0cccbc509 400 gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
brdarji 0:98a0cccbc509 401 gAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
brdarji 0:98a0cccbc509 402 }
brdarji 0:98a0cccbc509 403
brdarji 0:98a0cccbc509 404 for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average current readings
brdarji 0:98a0cccbc509 405 aAvg[ii] /= 200;
brdarji 0:98a0cccbc509 406 gAvg[ii] /= 200;
brdarji 0:98a0cccbc509 407 }
brdarji 0:98a0cccbc509 408
brdarji 0:98a0cccbc509 409 // Configure the accelerometer for self-test
brdarji 0:98a0cccbc509 410 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
brdarji 0:98a0cccbc509 411 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
brdarji 0:98a0cccbc509 412 wait_ms(25); // Delay a while to let the device stabilize
brdarji 0:98a0cccbc509 413
brdarji 0:98a0cccbc509 414 for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
brdarji 0:98a0cccbc509 415
brdarji 0:98a0cccbc509 416 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
brdarji 0:98a0cccbc509 417 aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
brdarji 0:98a0cccbc509 418 aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
brdarji 0:98a0cccbc509 419 aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
brdarji 0:98a0cccbc509 420
brdarji 0:98a0cccbc509 421 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
brdarji 0:98a0cccbc509 422 gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
brdarji 0:98a0cccbc509 423 gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
brdarji 0:98a0cccbc509 424 gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
brdarji 0:98a0cccbc509 425 }
brdarji 0:98a0cccbc509 426
brdarji 0:98a0cccbc509 427 for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average self-test readings
brdarji 0:98a0cccbc509 428 aSTAvg[ii] /= 200;
brdarji 0:98a0cccbc509 429 gSTAvg[ii] /= 200;
brdarji 0:98a0cccbc509 430 }
brdarji 0:98a0cccbc509 431
brdarji 0:98a0cccbc509 432 // Configure the gyro and accelerometer for normal operation
brdarji 0:98a0cccbc509 433 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
brdarji 0:98a0cccbc509 434 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
brdarji 0:98a0cccbc509 435 wait_ms(25); // Delay a while to let the device stabilize
brdarji 0:98a0cccbc509 436
brdarji 0:98a0cccbc509 437 // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
brdarji 0:98a0cccbc509 438 selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results
brdarji 0:98a0cccbc509 439 selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results
brdarji 0:98a0cccbc509 440 selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results
brdarji 0:98a0cccbc509 441 selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results
brdarji 0:98a0cccbc509 442 selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results
brdarji 0:98a0cccbc509 443 selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results
brdarji 0:98a0cccbc509 444
brdarji 0:98a0cccbc509 445 // Retrieve factory self-test value from self-test code reads
brdarji 0:98a0cccbc509 446 factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
brdarji 0:98a0cccbc509 447 factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
brdarji 0:98a0cccbc509 448 factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
brdarji 0:98a0cccbc509 449 factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
brdarji 0:98a0cccbc509 450 factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
brdarji 0:98a0cccbc509 451 factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
brdarji 0:98a0cccbc509 452
brdarji 0:98a0cccbc509 453 // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
brdarji 0:98a0cccbc509 454 // To get percent, must multiply by 100
brdarji 0:98a0cccbc509 455 for (int i = 0; i < 3; i++) {
brdarji 0:98a0cccbc509 456 destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
brdarji 0:98a0cccbc509 457 destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
brdarji 0:98a0cccbc509 458 }
brdarji 0:98a0cccbc509 459
brdarji 0:98a0cccbc509 460 }
brdarji 0:98a0cccbc509 461
brdarji 0:98a0cccbc509 462
brdarji 0:98a0cccbc509 463
brdarji 0:98a0cccbc509 464 // Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
brdarji 0:98a0cccbc509 465 // (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
brdarji 0:98a0cccbc509 466 // which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
brdarji 0:98a0cccbc509 467 // device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
brdarji 0:98a0cccbc509 468 // The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
brdarji 0:98a0cccbc509 469 // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
brdarji 0:98a0cccbc509 470 void MPU9250::MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
brdarji 0:98a0cccbc509 471 {
brdarji 0:98a0cccbc509 472 float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
brdarji 0:98a0cccbc509 473 float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
brdarji 0:98a0cccbc509 474 float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
brdarji 0:98a0cccbc509 475 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
brdarji 0:98a0cccbc509 476 q[0] = 1.0f;
brdarji 0:98a0cccbc509 477 q[1] = 0.0f;
brdarji 0:98a0cccbc509 478 q[2] = 0.0f;
brdarji 0:98a0cccbc509 479 q[3] = 0.0f;
brdarji 0:98a0cccbc509 480 float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
brdarji 0:98a0cccbc509 481 float norm;
brdarji 0:98a0cccbc509 482 float hx, hy, _2bx, _2bz;
brdarji 0:98a0cccbc509 483 float s1, s2, s3, s4;
brdarji 0:98a0cccbc509 484 float qDot1, qDot2, qDot3, qDot4;
brdarji 0:98a0cccbc509 485
brdarji 0:98a0cccbc509 486 // Auxiliary variables to avoid repeated arithmetic
brdarji 0:98a0cccbc509 487 float _2q1mx;
brdarji 0:98a0cccbc509 488 float _2q1my;
brdarji 0:98a0cccbc509 489 float _2q1mz;
brdarji 0:98a0cccbc509 490 float _2q2mx;
brdarji 0:98a0cccbc509 491 float _4bx;
brdarji 0:98a0cccbc509 492 float _4bz;
brdarji 0:98a0cccbc509 493 float _2q1 = 2.0f * q1;
brdarji 0:98a0cccbc509 494 float _2q2 = 2.0f * q2;
brdarji 0:98a0cccbc509 495 float _2q3 = 2.0f * q3;
brdarji 0:98a0cccbc509 496 float _2q4 = 2.0f * q4;
brdarji 0:98a0cccbc509 497 float _2q1q3 = 2.0f * q1 * q3;
brdarji 0:98a0cccbc509 498 float _2q3q4 = 2.0f * q3 * q4;
brdarji 0:98a0cccbc509 499 float q1q1 = q1 * q1;
brdarji 0:98a0cccbc509 500 float q1q2 = q1 * q2;
brdarji 0:98a0cccbc509 501 float q1q3 = q1 * q3;
brdarji 0:98a0cccbc509 502 float q1q4 = q1 * q4;
brdarji 0:98a0cccbc509 503 float q2q2 = q2 * q2;
brdarji 0:98a0cccbc509 504 float q2q3 = q2 * q3;
brdarji 0:98a0cccbc509 505 float q2q4 = q2 * q4;
brdarji 0:98a0cccbc509 506 float q3q3 = q3 * q3;
brdarji 0:98a0cccbc509 507 float q3q4 = q3 * q4;
brdarji 0:98a0cccbc509 508 float q4q4 = q4 * q4;
brdarji 0:98a0cccbc509 509
brdarji 0:98a0cccbc509 510 // Normalise accelerometer measurement
brdarji 0:98a0cccbc509 511 norm = sqrt(ax * ax + ay * ay + az * az);
brdarji 0:98a0cccbc509 512 if (norm == 0.0f) return; // handle NaN
brdarji 0:98a0cccbc509 513 norm = 1.0f/norm;
brdarji 0:98a0cccbc509 514 ax *= norm;
brdarji 0:98a0cccbc509 515 ay *= norm;
brdarji 0:98a0cccbc509 516 az *= norm;
brdarji 0:98a0cccbc509 517
brdarji 0:98a0cccbc509 518 // Normalise magnetometer measurement
brdarji 0:98a0cccbc509 519 norm = sqrt(mx * mx + my * my + mz * mz);
brdarji 0:98a0cccbc509 520 if (norm == 0.0f) return; // handle NaN
brdarji 0:98a0cccbc509 521 norm = 1.0f/norm;
brdarji 0:98a0cccbc509 522 mx *= norm;
brdarji 0:98a0cccbc509 523 my *= norm;
brdarji 0:98a0cccbc509 524 mz *= norm;
brdarji 0:98a0cccbc509 525
brdarji 0:98a0cccbc509 526 // Reference direction of Earth's magnetic field
brdarji 0:98a0cccbc509 527 _2q1mx = 2.0f * q1 * mx;
brdarji 0:98a0cccbc509 528 _2q1my = 2.0f * q1 * my;
brdarji 0:98a0cccbc509 529 _2q1mz = 2.0f * q1 * mz;
brdarji 0:98a0cccbc509 530 _2q2mx = 2.0f * q2 * mx;
brdarji 0:98a0cccbc509 531 hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
brdarji 0:98a0cccbc509 532 hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
brdarji 0:98a0cccbc509 533 _2bx = sqrt(hx * hx + hy * hy);
brdarji 0:98a0cccbc509 534 _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
brdarji 0:98a0cccbc509 535 _4bx = 2.0f * _2bx;
brdarji 0:98a0cccbc509 536 _4bz = 2.0f * _2bz;
brdarji 0:98a0cccbc509 537
brdarji 0:98a0cccbc509 538 // Gradient decent algorithm corrective step
brdarji 0:98a0cccbc509 539 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);
brdarji 0:98a0cccbc509 540 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);
brdarji 0:98a0cccbc509 541 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);
brdarji 0:98a0cccbc509 542 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);
brdarji 0:98a0cccbc509 543 norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
brdarji 0:98a0cccbc509 544 norm = 1.0f/norm;
brdarji 0:98a0cccbc509 545 s1 *= norm;
brdarji 0:98a0cccbc509 546 s2 *= norm;
brdarji 0:98a0cccbc509 547 s3 *= norm;
brdarji 0:98a0cccbc509 548 s4 *= norm;
brdarji 0:98a0cccbc509 549
brdarji 0:98a0cccbc509 550 // Compute rate of change of quaternion
brdarji 0:98a0cccbc509 551 qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
brdarji 0:98a0cccbc509 552 qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
brdarji 0:98a0cccbc509 553 qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
brdarji 0:98a0cccbc509 554 qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
brdarji 0:98a0cccbc509 555
brdarji 0:98a0cccbc509 556 // Integrate to yield quaternion
brdarji 0:98a0cccbc509 557 q1 += qDot1 * deltat;
brdarji 0:98a0cccbc509 558 q2 += qDot2 * deltat;
brdarji 0:98a0cccbc509 559 q3 += qDot3 * deltat;
brdarji 0:98a0cccbc509 560 q4 += qDot4 * deltat;
brdarji 0:98a0cccbc509 561 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
brdarji 0:98a0cccbc509 562 norm = 1.0f/norm;
brdarji 0:98a0cccbc509 563 q[0] = q1 * norm;
brdarji 0:98a0cccbc509 564 q[1] = q2 * norm;
brdarji 0:98a0cccbc509 565 q[2] = q3 * norm;
brdarji 0:98a0cccbc509 566 q[3] = q4 * norm;
brdarji 0:98a0cccbc509 567
brdarji 0:98a0cccbc509 568 }
brdarji 0:98a0cccbc509 569
brdarji 0:98a0cccbc509 570
brdarji 0:98a0cccbc509 571
brdarji 0:98a0cccbc509 572 // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
brdarji 0:98a0cccbc509 573 // measured ones.
brdarji 0:98a0cccbc509 574 void MPU9250::MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
brdarji 0:98a0cccbc509 575 {
brdarji 0:98a0cccbc509 576 float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method
brdarji 0:98a0cccbc509 577 q[0] = 1.0f;
brdarji 0:98a0cccbc509 578 q[1] = 0.0f;
brdarji 0:98a0cccbc509 579 q[2] = 0.0f;
brdarji 0:98a0cccbc509 580 q[3] = 0.0f;
brdarji 0:98a0cccbc509 581 float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
brdarji 0:98a0cccbc509 582 float norm;
brdarji 0:98a0cccbc509 583 float hx, hy, bx, bz;
brdarji 0:98a0cccbc509 584 float vx, vy, vz, wx, wy, wz;
brdarji 0:98a0cccbc509 585 float ex, ey, ez;
brdarji 0:98a0cccbc509 586 float pa, pb, pc;
brdarji 0:98a0cccbc509 587
brdarji 0:98a0cccbc509 588 // Auxiliary variables to avoid repeated arithmetic
brdarji 0:98a0cccbc509 589 float q1q1 = q1 * q1;
brdarji 0:98a0cccbc509 590 float q1q2 = q1 * q2;
brdarji 0:98a0cccbc509 591 float q1q3 = q1 * q3;
brdarji 0:98a0cccbc509 592 float q1q4 = q1 * q4;
brdarji 0:98a0cccbc509 593 float q2q2 = q2 * q2;
brdarji 0:98a0cccbc509 594 float q2q3 = q2 * q3;
brdarji 0:98a0cccbc509 595 float q2q4 = q2 * q4;
brdarji 0:98a0cccbc509 596 float q3q3 = q3 * q3;
brdarji 0:98a0cccbc509 597 float q3q4 = q3 * q4;
brdarji 0:98a0cccbc509 598 float q4q4 = q4 * q4;
brdarji 0:98a0cccbc509 599
brdarji 0:98a0cccbc509 600 // Normalise accelerometer measurement
brdarji 0:98a0cccbc509 601 norm = sqrt(ax * ax + ay * ay + az * az);
brdarji 0:98a0cccbc509 602 if (norm == 0.0f) return; // handle NaN
brdarji 0:98a0cccbc509 603 norm = 1.0f / norm; // use reciprocal for division
brdarji 0:98a0cccbc509 604 ax *= norm;
brdarji 0:98a0cccbc509 605 ay *= norm;
brdarji 0:98a0cccbc509 606 az *= norm;
brdarji 0:98a0cccbc509 607
brdarji 0:98a0cccbc509 608 // Normalise magnetometer measurement
brdarji 0:98a0cccbc509 609 norm = sqrt(mx * mx + my * my + mz * mz);
brdarji 0:98a0cccbc509 610 if (norm == 0.0f) return; // handle NaN
brdarji 0:98a0cccbc509 611 norm = 1.0f / norm; // use reciprocal for division
brdarji 0:98a0cccbc509 612 mx *= norm;
brdarji 0:98a0cccbc509 613 my *= norm;
brdarji 0:98a0cccbc509 614 mz *= norm;
brdarji 0:98a0cccbc509 615
brdarji 0:98a0cccbc509 616 // Reference direction of Earth's magnetic field
brdarji 0:98a0cccbc509 617 hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
brdarji 0:98a0cccbc509 618 hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
brdarji 0:98a0cccbc509 619 bx = sqrt((hx * hx) + (hy * hy));
brdarji 0:98a0cccbc509 620 bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
brdarji 0:98a0cccbc509 621
brdarji 0:98a0cccbc509 622 // Estimated direction of gravity and magnetic field
brdarji 0:98a0cccbc509 623 vx = 2.0f * (q2q4 - q1q3);
brdarji 0:98a0cccbc509 624 vy = 2.0f * (q1q2 + q3q4);
brdarji 0:98a0cccbc509 625 vz = q1q1 - q2q2 - q3q3 + q4q4;
brdarji 0:98a0cccbc509 626 wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
brdarji 0:98a0cccbc509 627 wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
brdarji 0:98a0cccbc509 628 wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
brdarji 0:98a0cccbc509 629
brdarji 0:98a0cccbc509 630 // Error is cross product between estimated direction and measured direction of gravity
brdarji 0:98a0cccbc509 631 ex = (ay * vz - az * vy) + (my * wz - mz * wy);
brdarji 0:98a0cccbc509 632 ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
brdarji 0:98a0cccbc509 633 ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
brdarji 0:98a0cccbc509 634 if (Ki > 0.0f)
brdarji 0:98a0cccbc509 635 {
brdarji 0:98a0cccbc509 636 eInt[0] += ex; // accumulate integral error
brdarji 0:98a0cccbc509 637 eInt[1] += ey;
brdarji 0:98a0cccbc509 638 eInt[2] += ez;
brdarji 0:98a0cccbc509 639 }
brdarji 0:98a0cccbc509 640 else
brdarji 0:98a0cccbc509 641 {
brdarji 0:98a0cccbc509 642 eInt[0] = 0.0f; // prevent integral wind up
brdarji 0:98a0cccbc509 643 eInt[1] = 0.0f;
brdarji 0:98a0cccbc509 644 eInt[2] = 0.0f;
brdarji 0:98a0cccbc509 645 }
brdarji 0:98a0cccbc509 646
brdarji 0:98a0cccbc509 647 // Apply feedback terms
brdarji 0:98a0cccbc509 648 gx = gx + Kp * ex + Ki * eInt[0];
brdarji 0:98a0cccbc509 649 gy = gy + Kp * ey + Ki * eInt[1];
brdarji 0:98a0cccbc509 650 gz = gz + Kp * ez + Ki * eInt[2];
brdarji 0:98a0cccbc509 651
brdarji 0:98a0cccbc509 652 // Integrate rate of change of quaternion
brdarji 0:98a0cccbc509 653 pa = q2;
brdarji 0:98a0cccbc509 654 pb = q3;
brdarji 0:98a0cccbc509 655 pc = q4;
brdarji 0:98a0cccbc509 656 q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
brdarji 0:98a0cccbc509 657 q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
brdarji 0:98a0cccbc509 658 q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
brdarji 0:98a0cccbc509 659 q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
brdarji 0:98a0cccbc509 660
brdarji 0:98a0cccbc509 661 // Normalise quaternion
brdarji 0:98a0cccbc509 662 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
brdarji 0:98a0cccbc509 663 norm = 1.0f / norm;
brdarji 0:98a0cccbc509 664 q[0] = q1 * norm;
brdarji 0:98a0cccbc509 665 q[1] = q2 * norm;
brdarji 0:98a0cccbc509 666 q[2] = q3 * norm;
brdarji 0:98a0cccbc509 667 q[3] = q4 * norm;
brdarji 0:98a0cccbc509 668
brdarji 0:98a0cccbc509 669 }