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Diff: MPU9250.h
- Revision:
- 0:80f939ca1f14
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- 1:f0f34b17c4f0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU9250.h Fri Sep 04 21:37:38 2015 +0000 @@ -0,0 +1,493 @@ +#include "DefineMPU.h" +#include "mbed.h" +#include "math.h" + +#define Kp 3.0f * 5.0f // 2 - 5 these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral +#define Ki 1.0f + +class MPU9250 { + public : + int numero; + + private: + + static float Filter; + + static float magCalibration[3]; // Factory mag calibration and mag bias + static float magbias[3]; // Factory mag calibration and mag bias + + static float gyroBias[3]; // Bias corrections for gyro and accelerometer + static float accelBias[3]; // Bias corrections for gyro and accelerometer + + int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output + int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output + int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output + + int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius + float temperature; + float SelfTest[6]; + + static float GyroMeasError; // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 + static float beta; // compute beta + static float GyroMeasDrift; // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) + static float zeta; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value + + float pitch, yaw, roll; + + static float q[4]; // vector to hold quaternion + static float eInt[3]; // vector to hold integral error for Mahony method + + float aRes, gRes, mRes; // scale resolutions per LSB for the sensors + float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values + + public: + +//=================================================================================================================== +//====== Set of useful function to access acceleratio, gyroscope, and temperature data +//=================================================================================================================== + + MPU9250() {} + + MPU9250(int n){ numero = n; } + + int GetPitch (void){ return (int)pitch; } + int GetRoll (void){ return (int)roll; } + int GetYaw (void){ return (int)yaw; } + + 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]; + char data_write[1]; + data_write[0] = subAddress; + i2c.write(address, data_write, 1, 1); + 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); + i2c.read(address, data, count, 0); + for(int ii = 0; ii < count; ii++) { + dest[ii] = data[ii]; + } + } + + void getMres() { + switch (Mscale){ + case MFS_14BITS: mRes = 10.0*4219.0/8190.0; break; + case MFS_16BITS: mRes = 10.0*4219.0/32760.0; break; + } + } + + void getGres() { + switch (Gscale){ + 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){ + 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(MPU9250_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(MPU9250_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]) ; + } + + void readMagData(int16_t * destination){ + uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition + if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set + readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array + uint8_t c = rawData[6]; // End data read by reading ST2 register + if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data + destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value + destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian + destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ; + } + } + } + + void resetMPU9250() { // reset device + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device + wait(0.1); + } + + void initAK8963(float * destination){ // First extract the factory calibration for each magnetometer axis + uint8_t rawData[3]; // x/y/z gyro calibration data stored here + writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer + wait(0.01); + writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode + wait(0.01); + readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values + destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc. + destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f; + destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f; + writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer + wait(0.01); + writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR + wait(0.01); + } + + void initMPU9250(){ + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors + wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt + + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 + writeByte(MPU9250_ADDRESS, CONFIG, 0x03); + + writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above + + uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3] + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro + + c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3] + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer + + c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2); + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0]) + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz + + writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22); + writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt + } + + void calibrateMPU9250(float * dest1, float * dest2){ + uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data + uint16_t ii, packet_count, fifo_count; + int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; + + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device + wait(0.1); + + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); + writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00); + wait(0.2); + + writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts + writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO + writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source + writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master + writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes + writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP + wait(0.015); + + writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz + writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz + writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity + writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity + + uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec + uint16_t accelsensitivity = 16384; // = 16384 LSB/g + + writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO + writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250) + wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes + + writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO + readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count + fifo_count = ((uint16_t)data[0] << 8) | data[1]; + packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging + + for (ii = 0; ii < packet_count; ii++) { + int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; + readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging + accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO + accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ; + accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ; + gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ; + gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ; + gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ; + + accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases + accel_bias[1] += (int32_t) accel_temp[1]; + accel_bias[2] += (int32_t) accel_temp[2]; + gyro_bias[0] += (int32_t) gyro_temp[0]; + gyro_bias[1] += (int32_t) gyro_temp[1]; + gyro_bias[2] += (int32_t) gyro_temp[2]; + } + + accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases + accel_bias[1] /= (int32_t) packet_count; + accel_bias[2] /= (int32_t) packet_count; + gyro_bias[0] /= (int32_t) packet_count; + gyro_bias[1] /= (int32_t) packet_count; + gyro_bias[2] /= (int32_t) packet_count; + + if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation + else {accel_bias[2] += (int32_t) accelsensitivity;} + + 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; + + 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; + + int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases + readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values + accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1]; + readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]); + accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1]; + readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]); + accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1]; + + uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers + uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis + + for(ii = 0; ii < 3; ii++) { + if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit + } + + 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 + + dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; + dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; + dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; + } + + void MadgwickQuaternionUpdate(void){ + //void MadgwickQuaternionUpdate(float deltat){ + + /*float tmp = mx; + mx = my; + my = tmp; + az = -az;*/ + + gx = gx*PI/180.0f; + gy = gy*PI/180.0f; + gz = gz*PI/180.0f; + + 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; + + 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; + + norm = sqrt(ax * ax + ay * ay + az * az); + if (norm == 0.0f) return; + norm = 1.0f/norm; + ax *= norm; + ay *= norm; + az *= norm; + + norm = sqrt(mx * mx + my * my + mz * mz); + if (norm == 0.0f) return; + norm = 1.0f/norm; + mx *= norm; + my *= norm; + mz *= norm; + + _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; + + 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); + norm = 1.0f/norm; + s1 *= norm; + s2 *= norm; + s3 *= norm; + s4 *= norm; + + 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; + + /*q1 += qDot1 * deltat; + q2 += qDot2 * deltat; + q3 += qDot3 * deltat; + q4 += qDot4 * deltat;*/ + + q1 += qDot1 * Filter; + q2 += qDot2 * Filter; + q3 += qDot3 * Filter; + q4 += qDot4 * Filter; + + 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; + } + + int Float_to_Int(float numb){ + float n = numb -(int)numb; + if(n >= 0 && n < 0.5) return (int)numb; + if(n >= 0.5 && n <= 1) return (int)numb + 1; + if(n <= 0 && n > -0.5) return (int)numb; + if(n <= -0.5 && n >= -1) return (int)numb - 1; + else return 0; + } + + void CalibIMU(void){ + wait(1); + resetMPU9250(); + calibrateMPU9250(gyroBias, accelBias); + wait(2); + initMPU9250(); + initAK8963(magCalibration); + wait(2); + } + + void BiasIMU(void){ + getAres(); + getGres(); + getMres(); + magbias[0] = +470.; + magbias[1] = +120.; + magbias[2] = +125.; + } + + void GetQuaternion(void){ + readAccelData(accelCount); + ax = (float)accelCount[0]*aRes - accelBias[0]; + ay = (float)accelCount[1]*aRes - accelBias[1]; + az = (float)accelCount[2]*aRes - accelBias[2]; + + readGyroData(gyroCount); + gx = (float)gyroCount[0]*gRes - gyroBias[0]; + gy = (float)gyroCount[1]*gRes - gyroBias[1]; + gz = (float)gyroCount[2]*gRes - gyroBias[2]; + + readMagData(magCount); + mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; + my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; + mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; + } + + void FinalQuaternion(void){ + 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 -= 0.9f; + roll *= 180.0f / PI; + + /*if((q[0]*q[1] + q[2]*q[3]) == 0.5){ //north pole + pitch = atan2(2*q[1]*q[3]-2*q[0]*q[2], 1 - 2*(q[1] * q[1]) - 2*(q[2] * q[2])); + yaw = atan2(2*q[0]*q[3]-2*q[1]*q[2], 1 - 2*(q[0] * q[0]) - 2*(q[2] * q[2])); + } + else{ + pitch = 2.0 * atan2(q[0],q[4]); + yaw = 0; + } + + if((q[0]*q[1] + q[2]*q[3]) == -0.5){ //south pole + pitch = atan2(2*q[1]*q[3]-2*q[0]*q[2], 1 - 2*(q[1] * q[1]) - 2*(q[2] * q[2])); + yaw = atan2(2*q[0]*q[3]-2*q[1]*q[2], 1 - 2*(q[0] * q[0]) - 2*(q[2] * q[2])); + } + else { + pitch = -2.0 * atan2(q[0],q[4]); + yaw = 0; + } + roll = asin(2*q[0]*q[1] + 2*q[2]*q[3]);*/ + + + + //if(roll < 180 & roll > 0) roll -= 180; + //else if(roll > -180 & roll < 0) roll += 180; + + pitch = Float_to_Int(pitch); + roll = Float_to_Int(roll); + yaw = Float_to_Int(yaw); + } +}; + +//Definition des variables dans la Class MPU9250, car la definition ne peut pas être faite à l'intérieur +float MPU9250::gyroBias[3] = {0, 0, 0}; +float MPU9250::accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer +float MPU9250::magCalibration[3] = {0, 0, 0}; +float MPU9250::magbias[3] = {0, 0, 0}; +float MPU9250::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 MPU9250::beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta +float MPU9250::GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) +float MPU9250::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 MPU9250::q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion +float MPU9250::eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method +float MPU9250::Filter = 0.05; \ No newline at end of file