Tisham Dhar
This program is designed to run on a set of Xadow M0 modules to create a Hotshoe IMU which outputs GPS and Orientation data to Nikon cameras, as well as triggering the camera at set intervals.
Dependencies: MBed_Adafruit-GPS-Library SC16IS750 SDFileSystem SSD1308_128x64_I2C USBDevice mbed BMP085
Fork of
MPU9150AHRS
by 
Kris Winer
Revision 9:b7062c55d36c, committed 2015-12-01
- Comitter:
- whatnick
- Date:
- Tue Dec 01 04:42:30 2015 +0000
- Parent:
- 8:66640587e61d
- Child:
- 10:46b5acee9472
- Commit message:
- New logo and magnetometer calibration
Changed in this revision
--- a/MPU9150.h Tue Dec 01 02:03:48 2015 +0000
+++ b/MPU9150.h Tue Dec 01 04:42:30 2015 +0000
@@ -2,6 +2,16 @@
#define MPU9150_H
#include "mbed.h"
+
+//#define DEBUG
+
+#ifdef DEBUG
+#include "USBSerial.h" // To use USB virtual serial, a driver is needed, check http://mbed.org/handbook/USBSerial
+#define LOG(args...) pc.printf(args)
+USBSerial pc;
+#else
+#define LOG(args...)
+#endif
// 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
@@ -183,7 +193,7 @@
int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias
-float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
+float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}, magBias[3] = {0, 0, 0}; ; // Bias corrections for gyro, accelerometer and mag
float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
float temperature;
@@ -337,6 +347,45 @@
destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f;
}
+void magcalMPU9150(float * dest1)
+{
+ uint16_t ii = 0, sample_count = 0;
+ int32_t mag_bias[3] = {0, 0, 0};
+ int16_t mag_max[3] = {0, 0, 0}, mag_min[3] = {0, 0, 0}, mag_temp[3] = {0, 0, 0};
+
+ LOG("Mag Calibration: Wave device in a figure eight until done!");
+ wait(4);
+
+ sample_count = 64;
+ for(ii = 0; ii < sample_count; ii++) {
+ readMagData(mag_temp); // Read the mag data
+ for (int jj = 0; jj < 3; jj++) {
+ if (ii == 0) {
+ mag_max[jj] = mag_temp[jj]; // Offsets may be large enough that mag_temp[i] may not be bipolar!
+ mag_min[jj] = mag_temp[jj]; // This prevents max or min being pinned to 0 if the values are unipolar...
+ } else {
+ if(mag_temp[jj] > mag_max[jj]) mag_max[jj] = mag_temp[jj];
+ if(mag_temp[jj] < mag_min[jj]) mag_min[jj] = mag_temp[jj];
+ }
+ }
+ wait_ms(135); // at 8 Hz ODR, new mag data is available every 125 ms
+ }
+
+// Serial.println("mag x min/max:"); Serial.println(mag_max[0]); Serial.println(mag_min[0]);
+// Serial.println("mag y min/max:"); Serial.println(mag_max[1]); Serial.println(mag_min[1]);
+// Serial.println("mag z min/max:"); Serial.println(mag_max[2]); Serial.println(mag_min[2]);
+
+ mag_bias[0] = (mag_max[0] + mag_min[0])/2; // get average x mag bias in counts
+ mag_bias[1] = (mag_max[1] + mag_min[1])/2; // get average y mag bias in counts
+ mag_bias[2] = (mag_max[2] + mag_min[2])/2; // get average z mag bias in counts
+
+ dest1[0] = (float) mag_bias[0]*mRes*magCalibration[0]; // save mag biases in G for main program
+ dest1[1] = (float) mag_bias[1]*mRes*magCalibration[1];
+ dest1[2] = (float) mag_bias[2]*mRes*magCalibration[2];
+
+ LOG("Mag Calibration done!");
+}
+
int16_t readTempData()
{
uint8_t rawData[2]; // x/y/z gyro register data stored here
--- a/main.cpp Tue Dec 01 02:03:48 2015 +0000
+++ b/main.cpp Tue Dec 01 04:42:30 2015 +0000
@@ -66,7 +66,6 @@
#ifdef DEBUG
#include "USBSerial.h" // To use USB virtual serial, a driver is needed, check http://mbed.org/handbook/USBSerial
#define LOG(args...) pc.printf(args)
-USBSerial pc;
#else
#define LOG(args...)
#endif
@@ -187,6 +186,10 @@
MPU9150.initMPU9150();
LOG("MPU9150 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
MPU9150.initAK8975A(magCalibration);
+ oled.writeString(2,0,"Mag Cal, wave 8");
+ MPU9150.magcalMPU9150(magBias);
+ oled.writeString(2,0,"Mag Cal done ");
+ wait(1);
LOG("AK8975 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
} else {
LOG("Could not connect to MPU9150: \n\r");
@@ -207,12 +210,9 @@
mRes = 10.*1229./4096.; // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale
// So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically
// like the gyro and accelerometer biases
- magbias[0] = -5.; // User environmental x-axis correction in milliGauss
- magbias[1] = -95.; // User environmental y-axis correction in milliGauss
- magbias[2] = -260.; // User environmental z-axis correction in milliGauss
-
+
//Wait for GPS to acquire lock
- oled.writeString(2,0,"GPS Simul ");
+ oled.writeString(2,0,"GPS Waiting...");
while(!myGPS.fix) {
c = myGPS.read(); //queries the GPS
if (c) {
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