Revision 26:e35dd673fd13, committed 2017-02-02

Comitter:

whatnick

Date:

Thu Feb 02 03:08:13 2017 +0000

Parent:

25:6e43bbe76aec

Child:

27:8c84611a4ca5

Commit message:

Changed acc-mag library

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXOS8700CQ.lib	Thu Feb 02 03:08:13 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/eencae/code/FXOS8700CQ/#b320fe026cc5

--- a/FXOS8700Q.lib	Sat Sep 24 06:10:54 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/JimCarver/code/FXOS8700Q/#5553a64d0762

--- a/Hexi_KW40Z.lib	Sat Sep 24 06:10:54 2016 +0000
+++ b/Hexi_KW40Z.lib	Thu Feb 02 03:08:13 2017 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/Hexiwear/code/Hexi_KW40Z/#8c7c1cc024ed
+https://developer.mbed.org/teams/Hexiwear/code/Hexi_KW40Z/#3f5ed7abc5c7

--- a/Hexi_OLED_SSD1351.lib	Sat Sep 24 06:10:54 2016 +0000
+++ b/Hexi_OLED_SSD1351.lib	Thu Feb 02 03:08:13 2017 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/Hexiwear/code/Hexi_OLED_SSD1351/#9961c525e249
+https://developer.mbed.org/teams/Hexiwear/code/Hexi_OLED_SSD1351/#ae5fad429790

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Madgwick.lib	Thu Feb 02 03:08:13 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Anaesthetix/code/Madgwick/#9b434b5e28d4

--- a/main.cpp	Sat Sep 24 06:10:54 2016 +0000
+++ b/main.cpp	Thu Feb 02 03:08:13 2017 +0000
@@ -1,9 +1,9 @@
 #include "mbed.h"
-#include "FXOS8700Q.h"
+#include "FXOS8700CQ.h"
 #include "FXAS21000.h"
 #include "MBed_Adafruit_GPS.h"
 #include "Hexi_OLED_SSD1351.h"
-#include "sensor_fusion.h"
+#include "MadgwickAHRS.h"
 #include "images.h"
 
 #include "rtos.h"
@@ -35,20 +35,11 @@
 #define RED 0xFF0000
 #define BLUE 0x0000FF
 
-FXOS8700Q_acc acc( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear
-FXOS8700Q_mag mag( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear
-MotionSensorDataUnits mag_data;
-MotionSensorDataUnits acc_data;
-
-MotionSensorDataCounts mag_raw;
-MotionSensorDataCounts acc_raw;
+FXOS8700CQ combo( PTC11, PTC10); // Proper Ports and I2C Address for Hexiwear
 
 FXAS21000 gyro( PTC11, PTC10); // Proper Ports for Hexiwear
 
-float faX, faY, faZ;
-float fmX, fmY, fmZ;
-int16_t raX, raY, raZ;
-int16_t rmX, rmY, rmZ;
+Data combo_data;
 float gyro_data[3];
 
 Timer t;
@@ -78,45 +69,8 @@
 void imu_thread(void)
 {
     while(true) {
-        acc.getAxis(acc_data);
-        mag.getAxis(mag_data);
         gyro.ReadXYZ(gyro_data);
-        
-        LOG("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f  ", acc_data.x, acc_data.y, acc_data.z);
-        LOG("    MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z);
-        LOG("FXAS21000      X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
-        
-        acc.getX(&faX);
-        acc.getY(&faY);
-        acc.getZ(&faZ);
-        mag.getX(&fmX);
-        mag.getY(&fmY);
-        mag.getZ(&fmZ);
-        
-        LOG("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f  ", faX, faY, faZ);
-        LOG("    MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", fmX, fmY, fmZ);
-        
-        acc.getAxis(acc_raw);
-        mag.getAxis(mag_raw);
-        
-        LOG("FXOS8700Q ACC: X=%d Y=%d Z=%d  ", acc_raw.x, acc_raw.y, acc_raw.z);
-        LOG("    MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z);
-        
-        acc.getX(&raX);
-        acc.getY(&raY);
-        acc.getZ(&raZ);
-        mag.getX(&rmX);
-        mag.getY(&rmY);
-        mag.getZ(&rmZ);
-        
-        LOG("FXOS8700Q ACC: X=%d Y=%d Z=%d  ", raX, raY, raZ);
-        LOG("    MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ);
-        
-        MadgwickQuaternionUpdate(faX,faY,faZ,gyro_data[0],gyro_data[1],gyro_data[2],fmX,fmY,fmZ);
-        calcEuler();
-        
-        LOG("EULER: Y=%f R=%f P=%f\n", yaw,roll,pitch);
-        
+        combo_data = combo.get_values();
         Thread::wait(10);
     }
 }
@@ -148,9 +102,10 @@
 //Connect to Nikon D800 UART at 4800baud
     camera.baud(4800);
 
-    acc.enable();
-    LOG("\r\n\nFXOS8700Q Who Am I= %X\r\n", acc.whoAmI());
-    LOG("\r\n\nFXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI());
+//Initialise gyro
+    char whoami = gyro.getWhoAmI();
+//Initialise combo (acc&mag)
+    combo.init();
 
     /* Get OLED Class Default Text Properties */
     oled_text_properties_t textProperties = {0};
@@ -211,16 +166,6 @@
     imu_t.start(imu_thread);
 
     while (true) {     
-        /* Format the MAG reading */
-        sprintf(text,"%.1f %.1f %.1f",fmX,fmY,fmZ);
-        /* Display Mag readings to 1 decimal */
-        oled.TextBox((uint8_t *)text,15,15,80,15); /*Expand textbox for more digits*/
-
-        /* Format the ACC reading */
-        sprintf(text,"%.2f %.2f %.2f",faX,faY,faZ);
-        /* Display acceleration to 2 decimal */
-        oled.TextBox((uint8_t *)text,15,30,80,15); /*Expand textbox for more digits*/
-
         /* Format the GYRO reading */
         sprintf(text,"%.2f %.2f %.2f",gyro_data[0],gyro_data[1],gyro_data[2]);
         /* Display gyro to 2 decimal */

--- a/sensor_fusion.h	Sat Sep 24 06:10:54 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,223 +0,0 @@
-#ifndef SENSOR_FUSION_H
-#define SENSOR_FUSION_H
-
-#include "mbed.h"
-
-// parameters for 6 DoF sensor fusion calculations
-float PI = 3.14159265358979323846f;
-float GyroMeasError = PI * (60.0f / 180.0f);     // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
-float beta = sqrt(3.0f / 4.0f) * GyroMeasError;  // compute beta
-float GyroMeasDrift = PI * (1.0f / 180.0f);      // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
-float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift;  // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
-#define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
-#define Ki 0.0f
-
-
-float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};           // vector to hold quaternion
-float eInt[3] = {0.0f, 0.0f, 0.0f};              // vector to hold integral error for Mahony method
-float pitch, yaw, roll;
-float mag_dec = 7.97;                            // Adelaide Magnetic declination http://www.magnetic-declination.com/Australia/Adelaide/116230.html
-float deltat = 0.0f;                             // integration interval for both filter schemes
-int lastUpdate = 0, firstUpdate = 0, Now = 0;    // used to calculate integration interval
-
-// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
-// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
-// which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
-// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
-// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
-// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
-void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
-{
-    float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];   // short name local variable for readability
-    float norm;
-    float hx, hy, _2bx, _2bz;
-    float s1, s2, s3, s4;
-    float qDot1, qDot2, qDot3, qDot4;
-
-    // Auxiliary variables to avoid repeated arithmetic
-    float _2q1mx;
-    float _2q1my;
-    float _2q1mz;
-    float _2q2mx;
-    float _4bx;
-    float _4bz;
-    float _2q1 = 2.0f * q1;
-    float _2q2 = 2.0f * q2;
-    float _2q3 = 2.0f * q3;
-    float _2q4 = 2.0f * q4;
-    float _2q1q3 = 2.0f * q1 * q3;
-    float _2q3q4 = 2.0f * q3 * q4;
-    float q1q1 = q1 * q1;
-    float q1q2 = q1 * q2;
-    float q1q3 = q1 * q3;
-    float q1q4 = q1 * q4;
-    float q2q2 = q2 * q2;
-    float q2q3 = q2 * q3;
-    float q2q4 = q2 * q4;
-    float q3q3 = q3 * q3;
-    float q3q4 = q3 * q4;
-    float q4q4 = q4 * q4;
-
-    // Normalise accelerometer measurement
-    norm = sqrt(ax * ax + ay * ay + az * az);
-    if (norm == 0.0f) return; // handle NaN
-    norm = 1.0f/norm;
-    ax *= norm;
-    ay *= norm;
-    az *= norm;
-
-    // Normalise magnetometer measurement
-    norm = sqrt(mx * mx + my * my + mz * mz);
-    if (norm == 0.0f) return; // handle NaN
-    norm = 1.0f/norm;
-    mx *= norm;
-    my *= norm;
-    mz *= norm;
-
-    // Reference direction of Earth's magnetic field
-    _2q1mx = 2.0f * q1 * mx;
-    _2q1my = 2.0f * q1 * my;
-    _2q1mz = 2.0f * q1 * mz;
-    _2q2mx = 2.0f * q2 * mx;
-    hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
-    hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
-    _2bx = sqrt(hx * hx + hy * hy);
-    _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
-    _4bx = 2.0f * _2bx;
-    _4bz = 2.0f * _2bz;
-
-    // Gradient decent algorithm corrective step
-    s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-    s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-    s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-    s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
-    norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
-    norm = 1.0f/norm;
-    s1 *= norm;
-    s2 *= norm;
-    s3 *= norm;
-    s4 *= norm;
-
-    // Compute rate of change of quaternion
-    qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
-    qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
-    qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
-    qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
-
-    // Integrate to yield quaternion
-    q1 += qDot1 * deltat;
-    q2 += qDot2 * deltat;
-    q3 += qDot3 * deltat;
-    q4 += qDot4 * deltat;
-    norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);    // normalise quaternion
-    norm = 1.0f/norm;
-    q[0] = q1 * norm;
-    q[1] = q2 * norm;
-    q[2] = q3 * norm;
-    q[3] = q4 * norm;
-
-}
-
-// Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
-// measured ones.
-void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
-{
-    float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];   // short name local variable for readability
-    float norm;
-    float hx, hy, bx, bz;
-    float vx, vy, vz, wx, wy, wz;
-    float ex, ey, ez;
-    float pa, pb, pc;
-
-    // Auxiliary variables to avoid repeated arithmetic
-    float q1q1 = q1 * q1;
-    float q1q2 = q1 * q2;
-    float q1q3 = q1 * q3;
-    float q1q4 = q1 * q4;
-    float q2q2 = q2 * q2;
-    float q2q3 = q2 * q3;
-    float q2q4 = q2 * q4;
-    float q3q3 = q3 * q3;
-    float q3q4 = q3 * q4;
-    float q4q4 = q4 * q4;
-
-    // Normalise accelerometer measurement
-    norm = sqrt(ax * ax + ay * ay + az * az);
-    if (norm == 0.0f) return; // handle NaN
-    norm = 1.0f / norm;        // use reciprocal for division
-    ax *= norm;
-    ay *= norm;
-    az *= norm;
-
-    // Normalise magnetometer measurement
-    norm = sqrt(mx * mx + my * my + mz * mz);
-    if (norm == 0.0f) return; // handle NaN
-    norm = 1.0f / norm;        // use reciprocal for division
-    mx *= norm;
-    my *= norm;
-    mz *= norm;
-
-    // Reference direction of Earth's magnetic field
-    hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
-    hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
-    bx = sqrt((hx * hx) + (hy * hy));
-    bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
-
-    // Estimated direction of gravity and magnetic field
-    vx = 2.0f * (q2q4 - q1q3);
-    vy = 2.0f * (q1q2 + q3q4);
-    vz = q1q1 - q2q2 - q3q3 + q4q4;
-    wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
-    wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
-    wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
-
-    // Error is cross product between estimated direction and measured direction of gravity
-    ex = (ay * vz - az * vy) + (my * wz - mz * wy);
-    ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
-    ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
-    if (Ki > 0.0f) {
-        eInt[0] += ex;      // accumulate integral error
-        eInt[1] += ey;
-        eInt[2] += ez;
-    } else {
-        eInt[0] = 0.0f;     // prevent integral wind up
-        eInt[1] = 0.0f;
-        eInt[2] = 0.0f;
-    }
-
-    // Apply feedback terms
-    gx = gx + Kp * ex + Ki * eInt[0];
-    gy = gy + Kp * ey + Ki * eInt[1];
-    gz = gz + Kp * ez + Ki * eInt[2];
-
-    // Integrate rate of change of quaternion
-    pa = q2;
-    pb = q3;
-    pc = q4;
-    q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
-    q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
-    q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
-    q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
-
-    // Normalise quaternion
-    norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
-    norm = 1.0f / norm;
-    q[0] = q1 * norm;
-    q[1] = q2 * norm;
-    q[2] = q3 * norm;
-    q[3] = q4 * norm;
-
-}
-
-void calcEuler()
-{
-    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;
-    yaw   -= mag_dec; // Declination from BLE/SD storage at GPS location
-    roll  *= 180.0f / PI;
-}
-
-#endif
\ No newline at end of file