Pakorn Vongseela / Mbed 2 deprecated B18_MP3_PLAYER

MP3 PLAYER

Dependencies:   DebouncedInterrupt SDFileSystem SPI_TFT_ILI9341 ST_401_84MHZ TFT_fonts VS1053 mbed

Fork of MP3333 by FRA221_B18

MPU9250.h@1:28ecafb2b832, 2015-12-07 (annotated)

Committer:
PKnevermind
Date:
Mon Dec 07 12:17:55 2015 +0000
Revision:
1:28ecafb2b832
Child:
2:c4b198e96ded
fsdfsf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PKnevermind 1:28ecafb2b832 1 #ifndef MPU9250_H
PKnevermind 1:28ecafb2b832 2 #define MPU9250_H
PKnevermind 1:28ecafb2b832 3
PKnevermind 1:28ecafb2b832 4 #include "mbed.h"
PKnevermind 1:28ecafb2b832 5 #include "math.h"
PKnevermind 1:28ecafb2b832 6
PKnevermind 1:28ecafb2b832 7 // See also MPU-9250 Register Map and Descriptions, Revision 4.0, RM-MPU-9250A-00, Rev. 1.4, 9/9/2013 for registers not listed in
PKnevermind 1:28ecafb2b832 8 // above document; the MPU9250 and MPU9150 are virtually identical but the latter has a different register map
PKnevermind 1:28ecafb2b832 9 //
PKnevermind 1:28ecafb2b832 10 //Magnetometer Registers
PKnevermind 1:28ecafb2b832 11 #define AK8963_ADDRESS 0x0C<<1
PKnevermind 1:28ecafb2b832 12 #define WHO_AM_I_AK8963 0x00 // should return 0x48
PKnevermind 1:28ecafb2b832 13 #define INFO 0x01
PKnevermind 1:28ecafb2b832 14 #define AK8963_ST1 0x02 // data ready status bit 0
PKnevermind 1:28ecafb2b832 15 #define AK8963_XOUT_L 0x03 // data
PKnevermind 1:28ecafb2b832 16 #define AK8963_XOUT_H 0x04
PKnevermind 1:28ecafb2b832 17 #define AK8963_YOUT_L 0x05
PKnevermind 1:28ecafb2b832 18 #define AK8963_YOUT_H 0x06
PKnevermind 1:28ecafb2b832 19 #define AK8963_ZOUT_L 0x07
PKnevermind 1:28ecafb2b832 20 #define AK8963_ZOUT_H 0x08
PKnevermind 1:28ecafb2b832 21 #define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
PKnevermind 1:28ecafb2b832 22 #define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
PKnevermind 1:28ecafb2b832 23 #define AK8963_ASTC 0x0C // Self test control
PKnevermind 1:28ecafb2b832 24 #define AK8963_I2CDIS 0x0F // I2C disable
PKnevermind 1:28ecafb2b832 25 #define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
PKnevermind 1:28ecafb2b832 26 #define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
PKnevermind 1:28ecafb2b832 27 #define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
PKnevermind 1:28ecafb2b832 28
PKnevermind 1:28ecafb2b832 29 #define SELF_TEST_X_GYRO 0x00
PKnevermind 1:28ecafb2b832 30 #define SELF_TEST_Y_GYRO 0x01
PKnevermind 1:28ecafb2b832 31 #define SELF_TEST_Z_GYRO 0x02
PKnevermind 1:28ecafb2b832 32
PKnevermind 1:28ecafb2b832 33 /*#define X_FINE_GAIN 0x03 // [7:0] fine gain
PKnevermind 1:28ecafb2b832 34 #define Y_FINE_GAIN 0x04
PKnevermind 1:28ecafb2b832 35 #define Z_FINE_GAIN 0x05
PKnevermind 1:28ecafb2b832 36 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
PKnevermind 1:28ecafb2b832 37 #define XA_OFFSET_L_TC 0x07
PKnevermind 1:28ecafb2b832 38 #define YA_OFFSET_H 0x08
PKnevermind 1:28ecafb2b832 39 #define YA_OFFSET_L_TC 0x09
PKnevermind 1:28ecafb2b832 40 #define ZA_OFFSET_H 0x0A
PKnevermind 1:28ecafb2b832 41 #define ZA_OFFSET_L_TC 0x0B */
PKnevermind 1:28ecafb2b832 42
PKnevermind 1:28ecafb2b832 43 #define SELF_TEST_X_ACCEL 0x0D
PKnevermind 1:28ecafb2b832 44 #define SELF_TEST_Y_ACCEL 0x0E
PKnevermind 1:28ecafb2b832 45 #define SELF_TEST_Z_ACCEL 0x0F
PKnevermind 1:28ecafb2b832 46
PKnevermind 1:28ecafb2b832 47 #define SELF_TEST_A 0x10
PKnevermind 1:28ecafb2b832 48
PKnevermind 1:28ecafb2b832 49 #define XG_OFFSET_H 0x13 // User-defined trim values for gyroscope
PKnevermind 1:28ecafb2b832 50 #define XG_OFFSET_L 0x14
PKnevermind 1:28ecafb2b832 51 #define YG_OFFSET_H 0x15
PKnevermind 1:28ecafb2b832 52 #define YG_OFFSET_L 0x16
PKnevermind 1:28ecafb2b832 53 #define ZG_OFFSET_H 0x17
PKnevermind 1:28ecafb2b832 54 #define ZG_OFFSET_L 0x18
PKnevermind 1:28ecafb2b832 55 #define SMPLRT_DIV 0x19
PKnevermind 1:28ecafb2b832 56 #define CONFIG 0x1A
PKnevermind 1:28ecafb2b832 57 #define GYRO_CONFIG 0x1B
PKnevermind 1:28ecafb2b832 58 #define ACCEL_CONFIG 0x1C
PKnevermind 1:28ecafb2b832 59 #define ACCEL_CONFIG2 0x1D
PKnevermind 1:28ecafb2b832 60 #define LP_ACCEL_ODR 0x1E
PKnevermind 1:28ecafb2b832 61 #define WOM_THR 0x1F
PKnevermind 1:28ecafb2b832 62
PKnevermind 1:28ecafb2b832 63 #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
PKnevermind 1:28ecafb2b832 64 #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
PKnevermind 1:28ecafb2b832 65 #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
PKnevermind 1:28ecafb2b832 66
PKnevermind 1:28ecafb2b832 67 #define FIFO_EN 0x23
PKnevermind 1:28ecafb2b832 68 #define I2C_MST_CTRL 0x24
PKnevermind 1:28ecafb2b832 69 #define I2C_SLV0_ADDR 0x25
PKnevermind 1:28ecafb2b832 70 #define I2C_SLV0_REG 0x26
PKnevermind 1:28ecafb2b832 71 #define I2C_SLV0_CTRL 0x27
PKnevermind 1:28ecafb2b832 72 #define I2C_SLV1_ADDR 0x28
PKnevermind 1:28ecafb2b832 73 #define I2C_SLV1_REG 0x29
PKnevermind 1:28ecafb2b832 74 #define I2C_SLV1_CTRL 0x2A
PKnevermind 1:28ecafb2b832 75 #define I2C_SLV2_ADDR 0x2B
PKnevermind 1:28ecafb2b832 76 #define I2C_SLV2_REG 0x2C
PKnevermind 1:28ecafb2b832 77 #define I2C_SLV2_CTRL 0x2D
PKnevermind 1:28ecafb2b832 78 #define I2C_SLV3_ADDR 0x2E
PKnevermind 1:28ecafb2b832 79 #define I2C_SLV3_REG 0x2F
PKnevermind 1:28ecafb2b832 80 #define I2C_SLV3_CTRL 0x30
PKnevermind 1:28ecafb2b832 81 #define I2C_SLV4_ADDR 0x31
PKnevermind 1:28ecafb2b832 82 #define I2C_SLV4_REG 0x32
PKnevermind 1:28ecafb2b832 83 #define I2C_SLV4_DO 0x33
PKnevermind 1:28ecafb2b832 84 #define I2C_SLV4_CTRL 0x34
PKnevermind 1:28ecafb2b832 85 #define I2C_SLV4_DI 0x35
PKnevermind 1:28ecafb2b832 86 #define I2C_MST_STATUS 0x36
PKnevermind 1:28ecafb2b832 87 #define INT_PIN_CFG 0x37
PKnevermind 1:28ecafb2b832 88 #define INT_ENABLE 0x38
PKnevermind 1:28ecafb2b832 89 #define DMP_INT_STATUS 0x39 // Check DMP interrupt
PKnevermind 1:28ecafb2b832 90 #define INT_STATUS 0x3A
PKnevermind 1:28ecafb2b832 91 #define ACCEL_XOUT_H 0x3B
PKnevermind 1:28ecafb2b832 92 #define ACCEL_XOUT_L 0x3C
PKnevermind 1:28ecafb2b832 93 #define ACCEL_YOUT_H 0x3D
PKnevermind 1:28ecafb2b832 94 #define ACCEL_YOUT_L 0x3E
PKnevermind 1:28ecafb2b832 95 #define ACCEL_ZOUT_H 0x3F
PKnevermind 1:28ecafb2b832 96 #define ACCEL_ZOUT_L 0x40
PKnevermind 1:28ecafb2b832 97 #define TEMP_OUT_H 0x41
PKnevermind 1:28ecafb2b832 98 #define TEMP_OUT_L 0x42
PKnevermind 1:28ecafb2b832 99 #define GYRO_XOUT_H 0x43
PKnevermind 1:28ecafb2b832 100 #define GYRO_XOUT_L 0x44
PKnevermind 1:28ecafb2b832 101 #define GYRO_YOUT_H 0x45
PKnevermind 1:28ecafb2b832 102 #define GYRO_YOUT_L 0x46
PKnevermind 1:28ecafb2b832 103 #define GYRO_ZOUT_H 0x47
PKnevermind 1:28ecafb2b832 104 #define GYRO_ZOUT_L 0x48
PKnevermind 1:28ecafb2b832 105 #define EXT_SENS_DATA_00 0x49
PKnevermind 1:28ecafb2b832 106 #define EXT_SENS_DATA_01 0x4A
PKnevermind 1:28ecafb2b832 107 #define EXT_SENS_DATA_02 0x4B
PKnevermind 1:28ecafb2b832 108 #define EXT_SENS_DATA_03 0x4C
PKnevermind 1:28ecafb2b832 109 #define EXT_SENS_DATA_04 0x4D
PKnevermind 1:28ecafb2b832 110 #define EXT_SENS_DATA_05 0x4E
PKnevermind 1:28ecafb2b832 111 #define EXT_SENS_DATA_06 0x4F
PKnevermind 1:28ecafb2b832 112 #define EXT_SENS_DATA_07 0x50
PKnevermind 1:28ecafb2b832 113 #define EXT_SENS_DATA_08 0x51
PKnevermind 1:28ecafb2b832 114 #define EXT_SENS_DATA_09 0x52
PKnevermind 1:28ecafb2b832 115 #define EXT_SENS_DATA_10 0x53
PKnevermind 1:28ecafb2b832 116 #define EXT_SENS_DATA_11 0x54
PKnevermind 1:28ecafb2b832 117 #define EXT_SENS_DATA_12 0x55
PKnevermind 1:28ecafb2b832 118 #define EXT_SENS_DATA_13 0x56
PKnevermind 1:28ecafb2b832 119 #define EXT_SENS_DATA_14 0x57
PKnevermind 1:28ecafb2b832 120 #define EXT_SENS_DATA_15 0x58
PKnevermind 1:28ecafb2b832 121 #define EXT_SENS_DATA_16 0x59
PKnevermind 1:28ecafb2b832 122 #define EXT_SENS_DATA_17 0x5A
PKnevermind 1:28ecafb2b832 123 #define EXT_SENS_DATA_18 0x5B
PKnevermind 1:28ecafb2b832 124 #define EXT_SENS_DATA_19 0x5C
PKnevermind 1:28ecafb2b832 125 #define EXT_SENS_DATA_20 0x5D
PKnevermind 1:28ecafb2b832 126 #define EXT_SENS_DATA_21 0x5E
PKnevermind 1:28ecafb2b832 127 #define EXT_SENS_DATA_22 0x5F
PKnevermind 1:28ecafb2b832 128 #define EXT_SENS_DATA_23 0x60
PKnevermind 1:28ecafb2b832 129 #define MOT_DETECT_STATUS 0x61
PKnevermind 1:28ecafb2b832 130 #define I2C_SLV0_DO 0x63
PKnevermind 1:28ecafb2b832 131 #define I2C_SLV1_DO 0x64
PKnevermind 1:28ecafb2b832 132 #define I2C_SLV2_DO 0x65
PKnevermind 1:28ecafb2b832 133 #define I2C_SLV3_DO 0x66
PKnevermind 1:28ecafb2b832 134 #define I2C_MST_DELAY_CTRL 0x67
PKnevermind 1:28ecafb2b832 135 #define SIGNAL_PATH_RESET 0x68
PKnevermind 1:28ecafb2b832 136 #define MOT_DETECT_CTRL 0x69
PKnevermind 1:28ecafb2b832 137 #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
PKnevermind 1:28ecafb2b832 138 #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
PKnevermind 1:28ecafb2b832 139 #define PWR_MGMT_2 0x6C
PKnevermind 1:28ecafb2b832 140 #define DMP_BANK 0x6D // Activates a specific bank in the DMP
PKnevermind 1:28ecafb2b832 141 #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
PKnevermind 1:28ecafb2b832 142 #define DMP_REG 0x6F // Register in DMP from which to read or to which to write
PKnevermind 1:28ecafb2b832 143 #define DMP_REG_1 0x70
PKnevermind 1:28ecafb2b832 144 #define DMP_REG_2 0x71
PKnevermind 1:28ecafb2b832 145 #define FIFO_COUNTH 0x72
PKnevermind 1:28ecafb2b832 146 #define FIFO_COUNTL 0x73
PKnevermind 1:28ecafb2b832 147 #define FIFO_R_W 0x74
PKnevermind 1:28ecafb2b832 148 #define WHO_AM_I_MPU9250 0x75 // Should return 0x71
PKnevermind 1:28ecafb2b832 149 #define XA_OFFSET_H 0x77
PKnevermind 1:28ecafb2b832 150 #define XA_OFFSET_L 0x78
PKnevermind 1:28ecafb2b832 151 #define YA_OFFSET_H 0x7A
PKnevermind 1:28ecafb2b832 152 #define YA_OFFSET_L 0x7B
PKnevermind 1:28ecafb2b832 153 #define ZA_OFFSET_H 0x7D
PKnevermind 1:28ecafb2b832 154 #define ZA_OFFSET_L 0x7E
PKnevermind 1:28ecafb2b832 155
PKnevermind 1:28ecafb2b832 156 // Using the MSENSR-9250 breakout board, ADO is set to 0
PKnevermind 1:28ecafb2b832 157 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
PKnevermind 1:28ecafb2b832 158 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
PKnevermind 1:28ecafb2b832 159 #define ADO 0
PKnevermind 1:28ecafb2b832 160 #if ADO
PKnevermind 1:28ecafb2b832 161 #define MPU9250_ADDRESS 0x69<<1 // Device address when ADO = 1
PKnevermind 1:28ecafb2b832 162 #else
PKnevermind 1:28ecafb2b832 163 #define MPU9250_ADDRESS 0x68<<1 // Device address when ADO = 0
PKnevermind 1:28ecafb2b832 164 #endif
PKnevermind 1:28ecafb2b832 165
PKnevermind 1:28ecafb2b832 166 // Set initial input parameters
PKnevermind 1:28ecafb2b832 167 enum Ascale {
PKnevermind 1:28ecafb2b832 168 AFS_2G = 0,
PKnevermind 1:28ecafb2b832 169 AFS_4G,
PKnevermind 1:28ecafb2b832 170 AFS_8G,
PKnevermind 1:28ecafb2b832 171 AFS_16G
PKnevermind 1:28ecafb2b832 172 };
PKnevermind 1:28ecafb2b832 173
PKnevermind 1:28ecafb2b832 174 enum Gscale {
PKnevermind 1:28ecafb2b832 175 GFS_250DPS = 0,
PKnevermind 1:28ecafb2b832 176 GFS_500DPS,
PKnevermind 1:28ecafb2b832 177 GFS_1000DPS,
PKnevermind 1:28ecafb2b832 178 GFS_2000DPS
PKnevermind 1:28ecafb2b832 179 };
PKnevermind 1:28ecafb2b832 180
PKnevermind 1:28ecafb2b832 181 enum Mscale {
PKnevermind 1:28ecafb2b832 182 MFS_14BITS = 0, // 0.6 mG per LSB
PKnevermind 1:28ecafb2b832 183 MFS_16BITS // 0.15 mG per LSB
PKnevermind 1:28ecafb2b832 184 };
PKnevermind 1:28ecafb2b832 185
PKnevermind 1:28ecafb2b832 186 uint8_t Ascale = AFS_2G; // AFS_2G, AFS_4G, AFS_8G, AFS_16G
PKnevermind 1:28ecafb2b832 187 uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
PKnevermind 1:28ecafb2b832 188 uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
PKnevermind 1:28ecafb2b832 189 uint8_t Mmode = 0x06; // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR
PKnevermind 1:28ecafb2b832 190 float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
PKnevermind 1:28ecafb2b832 191
PKnevermind 1:28ecafb2b832 192 //Set up I2C, (SDA,SCL)
PKnevermind 1:28ecafb2b832 193 I2C i2c(D14, D15);
PKnevermind 1:28ecafb2b832 194
PKnevermind 1:28ecafb2b832 195
PKnevermind 1:28ecafb2b832 196 // Pin definitions
PKnevermind 1:28ecafb2b832 197 int intPin = 3; // These can be changed, 2 and 3 are the Arduinos ext int pins
PKnevermind 1:28ecafb2b832 198
PKnevermind 1:28ecafb2b832 199 int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
PKnevermind 1:28ecafb2b832 200 int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
PKnevermind 1:28ecafb2b832 201 int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
PKnevermind 1:28ecafb2b832 202 float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias
PKnevermind 1:28ecafb2b832 203 float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
PKnevermind 1:28ecafb2b832 204 float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
PKnevermind 1:28ecafb2b832 205 int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
PKnevermind 1:28ecafb2b832 206 float temperature;
PKnevermind 1:28ecafb2b832 207 float SelfTest[6];
PKnevermind 1:28ecafb2b832 208
PKnevermind 1:28ecafb2b832 209 int delt_t = 0; // used to control display output rate
PKnevermind 1:28ecafb2b832 210 int count = 0; // used to control display output rate
PKnevermind 1:28ecafb2b832 211
PKnevermind 1:28ecafb2b832 212 // parameters for 6 DoF sensor fusion calculations
PKnevermind 1:28ecafb2b832 213 float PI = 3.14159265358979323846f;
PKnevermind 1:28ecafb2b832 214 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
PKnevermind 1:28ecafb2b832 215 float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
PKnevermind 1:28ecafb2b832 216 float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
PKnevermind 1:28ecafb2b832 217 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
PKnevermind 1:28ecafb2b832 218 #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
PKnevermind 1:28ecafb2b832 219 #define Ki 0.0f
PKnevermind 1:28ecafb2b832 220
PKnevermind 1:28ecafb2b832 221 float pitch, yaw, roll;
PKnevermind 1:28ecafb2b832 222 float deltat = 0.0f; // integration interval for both filter schemes
PKnevermind 1:28ecafb2b832 223 int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval
PKnevermind 1:28ecafb2b832 224 float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
PKnevermind 1:28ecafb2b832 225 float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method
PKnevermind 1:28ecafb2b832 226
PKnevermind 1:28ecafb2b832 227 class MPU9250 {
PKnevermind 1:28ecafb2b832 228
PKnevermind 1:28ecafb2b832 229 protected:
PKnevermind 1:28ecafb2b832 230
PKnevermind 1:28ecafb2b832 231 public:
PKnevermind 1:28ecafb2b832 232 //===================================================================================================================
PKnevermind 1:28ecafb2b832 233 //====== Set of useful function to access acceleratio, gyroscope, and temperature data
PKnevermind 1:28ecafb2b832 234 //===================================================================================================================
PKnevermind 1:28ecafb2b832 235
PKnevermind 1:28ecafb2b832 236 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
PKnevermind 1:28ecafb2b832 237 {
PKnevermind 1:28ecafb2b832 238 char data_write[2];
PKnevermind 1:28ecafb2b832 239 data_write[0] = subAddress;
PKnevermind 1:28ecafb2b832 240 data_write[1] = data;
PKnevermind 1:28ecafb2b832 241 i2c.write(address, data_write, 2, 0);
PKnevermind 1:28ecafb2b832 242 }
PKnevermind 1:28ecafb2b832 243
PKnevermind 1:28ecafb2b832 244 char readByte(uint8_t address, uint8_t subAddress)
PKnevermind 1:28ecafb2b832 245 {
PKnevermind 1:28ecafb2b832 246 char data[1]; // `data` will store the register data
PKnevermind 1:28ecafb2b832 247 char data_write[1];
PKnevermind 1:28ecafb2b832 248 data_write[0] = subAddress;
PKnevermind 1:28ecafb2b832 249 i2c.write(address, data_write, 1, 1); // no stop
PKnevermind 1:28ecafb2b832 250 i2c.read(address, data, 1, 0);
PKnevermind 1:28ecafb2b832 251 return data[0];
PKnevermind 1:28ecafb2b832 252 }
PKnevermind 1:28ecafb2b832 253
PKnevermind 1:28ecafb2b832 254 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
PKnevermind 1:28ecafb2b832 255 {
PKnevermind 1:28ecafb2b832 256 char data[14];
PKnevermind 1:28ecafb2b832 257 char data_write[1];
PKnevermind 1:28ecafb2b832 258 data_write[0] = subAddress;
PKnevermind 1:28ecafb2b832 259 i2c.write(address, data_write, 1, 1); // no stop
PKnevermind 1:28ecafb2b832 260 i2c.read(address, data, count, 0);
PKnevermind 1:28ecafb2b832 261 for(int ii = 0; ii < count; ii++) {
PKnevermind 1:28ecafb2b832 262 dest[ii] = data[ii];
PKnevermind 1:28ecafb2b832 263 }
PKnevermind 1:28ecafb2b832 264 }
PKnevermind 1:28ecafb2b832 265
PKnevermind 1:28ecafb2b832 266
PKnevermind 1:28ecafb2b832 267 void getMres() {
PKnevermind 1:28ecafb2b832 268 switch (Mscale)
PKnevermind 1:28ecafb2b832 269 {
PKnevermind 1:28ecafb2b832 270 // Possible magnetometer scales (and their register bit settings) are:
PKnevermind 1:28ecafb2b832 271 // 14 bit resolution (0) and 16 bit resolution (1)
PKnevermind 1:28ecafb2b832 272 case MFS_14BITS:
PKnevermind 1:28ecafb2b832 273 mRes = 10.0*4219.0/8190.0; // Proper scale to return milliGauss
PKnevermind 1:28ecafb2b832 274 break;
PKnevermind 1:28ecafb2b832 275 case MFS_16BITS:
PKnevermind 1:28ecafb2b832 276 mRes = 10.0*4219.0/32760.0; // Proper scale to return milliGauss
PKnevermind 1:28ecafb2b832 277 break;
PKnevermind 1:28ecafb2b832 278 }
PKnevermind 1:28ecafb2b832 279 }
PKnevermind 1:28ecafb2b832 280
PKnevermind 1:28ecafb2b832 281
PKnevermind 1:28ecafb2b832 282 void getGres() {
PKnevermind 1:28ecafb2b832 283 switch (Gscale)
PKnevermind 1:28ecafb2b832 284 {
PKnevermind 1:28ecafb2b832 285 // Possible gyro scales (and their register bit settings) are:
PKnevermind 1:28ecafb2b832 286 // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
PKnevermind 1:28ecafb2b832 287 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
PKnevermind 1:28ecafb2b832 288 case GFS_250DPS:
PKnevermind 1:28ecafb2b832 289 gRes = 250.0/32768.0;
PKnevermind 1:28ecafb2b832 290 break;
PKnevermind 1:28ecafb2b832 291 case GFS_500DPS:
PKnevermind 1:28ecafb2b832 292 gRes = 500.0/32768.0;
PKnevermind 1:28ecafb2b832 293 break;
PKnevermind 1:28ecafb2b832 294 case GFS_1000DPS:
PKnevermind 1:28ecafb2b832 295 gRes = 1000.0/32768.0;
PKnevermind 1:28ecafb2b832 296 break;
PKnevermind 1:28ecafb2b832 297 case GFS_2000DPS:
PKnevermind 1:28ecafb2b832 298 gRes = 2000.0/32768.0;
PKnevermind 1:28ecafb2b832 299 break;
PKnevermind 1:28ecafb2b832 300 }
PKnevermind 1:28ecafb2b832 301 }
PKnevermind 1:28ecafb2b832 302
PKnevermind 1:28ecafb2b832 303
PKnevermind 1:28ecafb2b832 304 void getAres() {
PKnevermind 1:28ecafb2b832 305 switch (Ascale)
PKnevermind 1:28ecafb2b832 306 {
PKnevermind 1:28ecafb2b832 307 // Possible accelerometer scales (and their register bit settings) are:
PKnevermind 1:28ecafb2b832 308 // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
PKnevermind 1:28ecafb2b832 309 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
PKnevermind 1:28ecafb2b832 310 case AFS_2G:
PKnevermind 1:28ecafb2b832 311 aRes = 2.0/32768.0;
PKnevermind 1:28ecafb2b832 312 break;
PKnevermind 1:28ecafb2b832 313 case AFS_4G:
PKnevermind 1:28ecafb2b832 314 aRes = 4.0/32768.0;
PKnevermind 1:28ecafb2b832 315 break;
PKnevermind 1:28ecafb2b832 316 case AFS_8G:
PKnevermind 1:28ecafb2b832 317 aRes = 8.0/32768.0;
PKnevermind 1:28ecafb2b832 318 break;
PKnevermind 1:28ecafb2b832 319 case AFS_16G:
PKnevermind 1:28ecafb2b832 320 aRes = 16.0/32768.0;
PKnevermind 1:28ecafb2b832 321 break;
PKnevermind 1:28ecafb2b832 322 }
PKnevermind 1:28ecafb2b832 323 }
PKnevermind 1:28ecafb2b832 324
PKnevermind 1:28ecafb2b832 325
PKnevermind 1:28ecafb2b832 326 void readAccelData(int16_t * destination)
PKnevermind 1:28ecafb2b832 327 {
PKnevermind 1:28ecafb2b832 328 uint8_t rawData[6]; // x/y/z accel register data stored here
PKnevermind 1:28ecafb2b832 329 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
PKnevermind 1:28ecafb2b832 330 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
PKnevermind 1:28ecafb2b832 331 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
PKnevermind 1:28ecafb2b832 332 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
PKnevermind 1:28ecafb2b832 333 }
PKnevermind 1:28ecafb2b832 334
PKnevermind 1:28ecafb2b832 335 void readGyroData(int16_t * destination)
PKnevermind 1:28ecafb2b832 336 {
PKnevermind 1:28ecafb2b832 337 uint8_t rawData[6]; // x/y/z gyro register data stored here
PKnevermind 1:28ecafb2b832 338 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
PKnevermind 1:28ecafb2b832 339 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
PKnevermind 1:28ecafb2b832 340 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
PKnevermind 1:28ecafb2b832 341 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
PKnevermind 1:28ecafb2b832 342 }
PKnevermind 1:28ecafb2b832 343
PKnevermind 1:28ecafb2b832 344 void readMagData(int16_t * destination)
PKnevermind 1:28ecafb2b832 345 {
PKnevermind 1:28ecafb2b832 346 uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
PKnevermind 1:28ecafb2b832 347 if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
PKnevermind 1:28ecafb2b832 348 readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
PKnevermind 1:28ecafb2b832 349 uint8_t c = rawData[6]; // End data read by reading ST2 register
PKnevermind 1:28ecafb2b832 350 if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
PKnevermind 1:28ecafb2b832 351 destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
PKnevermind 1:28ecafb2b832 352 destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian
PKnevermind 1:28ecafb2b832 353 destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ;
PKnevermind 1:28ecafb2b832 354 }
PKnevermind 1:28ecafb2b832 355 }
PKnevermind 1:28ecafb2b832 356 }
PKnevermind 1:28ecafb2b832 357
PKnevermind 1:28ecafb2b832 358 int16_t readTempData()
PKnevermind 1:28ecafb2b832 359 {
PKnevermind 1:28ecafb2b832 360 uint8_t rawData[2]; // x/y/z gyro register data stored here
PKnevermind 1:28ecafb2b832 361 readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
PKnevermind 1:28ecafb2b832 362 return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
PKnevermind 1:28ecafb2b832 363 }
PKnevermind 1:28ecafb2b832 364
PKnevermind 1:28ecafb2b832 365
PKnevermind 1:28ecafb2b832 366 void resetMPU9250() {
PKnevermind 1:28ecafb2b832 367 // reset device
PKnevermind 1:28ecafb2b832 368 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
PKnevermind 1:28ecafb2b832 369 wait(0.1);
PKnevermind 1:28ecafb2b832 370 }
PKnevermind 1:28ecafb2b832 371
PKnevermind 1:28ecafb2b832 372 void initAK8963(float * destination)
PKnevermind 1:28ecafb2b832 373 {
PKnevermind 1:28ecafb2b832 374 // First extract the factory calibration for each magnetometer axis
PKnevermind 1:28ecafb2b832 375 uint8_t rawData[3]; // x/y/z gyro calibration data stored here
PKnevermind 1:28ecafb2b832 376 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
PKnevermind 1:28ecafb2b832 377 wait(0.01);
PKnevermind 1:28ecafb2b832 378 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
PKnevermind 1:28ecafb2b832 379 wait(0.01);
PKnevermind 1:28ecafb2b832 380 readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values
PKnevermind 1:28ecafb2b832 381 destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc.
PKnevermind 1:28ecafb2b832 382 destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f;
PKnevermind 1:28ecafb2b832 383 destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f;
PKnevermind 1:28ecafb2b832 384 writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
PKnevermind 1:28ecafb2b832 385 wait(0.01);
PKnevermind 1:28ecafb2b832 386 // Configure the magnetometer for continuous read and highest resolution
PKnevermind 1:28ecafb2b832 387 // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register,
PKnevermind 1:28ecafb2b832 388 // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates
PKnevermind 1:28ecafb2b832 389 writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR
PKnevermind 1:28ecafb2b832 390 wait(0.01);
PKnevermind 1:28ecafb2b832 391 }
PKnevermind 1:28ecafb2b832 392
PKnevermind 1:28ecafb2b832 393
PKnevermind 1:28ecafb2b832 394 void initMPU9250()
PKnevermind 1:28ecafb2b832 395 {
PKnevermind 1:28ecafb2b832 396 // Initialize MPU9250 device
PKnevermind 1:28ecafb2b832 397 // wake up device
PKnevermind 1:28ecafb2b832 398 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
PKnevermind 1:28ecafb2b832 399 wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
PKnevermind 1:28ecafb2b832 400
PKnevermind 1:28ecafb2b832 401 // get stable time source
PKnevermind 1:28ecafb2b832 402 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
PKnevermind 1:28ecafb2b832 403
PKnevermind 1:28ecafb2b832 404 // Configure Gyro and Accelerometer
PKnevermind 1:28ecafb2b832 405 // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
PKnevermind 1:28ecafb2b832 406 // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
PKnevermind 1:28ecafb2b832 407 // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
PKnevermind 1:28ecafb2b832 408 writeByte(MPU9250_ADDRESS, CONFIG, 0x03);
PKnevermind 1:28ecafb2b832 409
PKnevermind 1:28ecafb2b832 410 // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
PKnevermind 1:28ecafb2b832 411 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above
PKnevermind 1:28ecafb2b832 412
PKnevermind 1:28ecafb2b832 413 // Set gyroscope full scale range
PKnevermind 1:28ecafb2b832 414 // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
PKnevermind 1:28ecafb2b832 415 uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG);
PKnevermind 1:28ecafb2b832 416 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
PKnevermind 1:28ecafb2b832 417 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
PKnevermind 1:28ecafb2b832 418 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
PKnevermind 1:28ecafb2b832 419
PKnevermind 1:28ecafb2b832 420 // Set accelerometer configuration
PKnevermind 1:28ecafb2b832 421 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG);
PKnevermind 1:28ecafb2b832 422 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
PKnevermind 1:28ecafb2b832 423 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
PKnevermind 1:28ecafb2b832 424 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
PKnevermind 1:28ecafb2b832 425
PKnevermind 1:28ecafb2b832 426 // Set accelerometer sample rate configuration
PKnevermind 1:28ecafb2b832 427 // It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for
PKnevermind 1:28ecafb2b832 428 // accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz
PKnevermind 1:28ecafb2b832 429 c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2);
PKnevermind 1:28ecafb2b832 430 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])
PKnevermind 1:28ecafb2b832 431 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
PKnevermind 1:28ecafb2b832 432
PKnevermind 1:28ecafb2b832 433 // The accelerometer, gyro, and thermometer are set to 1 kHz sample rates,
PKnevermind 1:28ecafb2b832 434 // but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
PKnevermind 1:28ecafb2b832 435
PKnevermind 1:28ecafb2b832 436 // Configure Interrupts and Bypass Enable
PKnevermind 1:28ecafb2b832 437 // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
PKnevermind 1:28ecafb2b832 438 // can join the I2C bus and all can be controlled by the Arduino as master
PKnevermind 1:28ecafb2b832 439 writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
PKnevermind 1:28ecafb2b832 440 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
PKnevermind 1:28ecafb2b832 441 }
PKnevermind 1:28ecafb2b832 442
PKnevermind 1:28ecafb2b832 443 // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
PKnevermind 1:28ecafb2b832 444 // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
PKnevermind 1:28ecafb2b832 445 void calibrateMPU9250(float * dest1, float * dest2)
PKnevermind 1:28ecafb2b832 446 {
PKnevermind 1:28ecafb2b832 447 uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
PKnevermind 1:28ecafb2b832 448 uint16_t ii, packet_count, fifo_count;
PKnevermind 1:28ecafb2b832 449 int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
PKnevermind 1:28ecafb2b832 450
PKnevermind 1:28ecafb2b832 451 // reset device, reset all registers, clear gyro and accelerometer bias registers
PKnevermind 1:28ecafb2b832 452 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
PKnevermind 1:28ecafb2b832 453 wait(0.1);
PKnevermind 1:28ecafb2b832 454
PKnevermind 1:28ecafb2b832 455 // get stable time source
PKnevermind 1:28ecafb2b832 456 // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
PKnevermind 1:28ecafb2b832 457 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);
PKnevermind 1:28ecafb2b832 458 writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00);
PKnevermind 1:28ecafb2b832 459 wait(0.2);
PKnevermind 1:28ecafb2b832 460
PKnevermind 1:28ecafb2b832 461 // Configure device for bias calculation
PKnevermind 1:28ecafb2b832 462 writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
PKnevermind 1:28ecafb2b832 463 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
PKnevermind 1:28ecafb2b832 464 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
PKnevermind 1:28ecafb2b832 465 writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
PKnevermind 1:28ecafb2b832 466 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
PKnevermind 1:28ecafb2b832 467 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
PKnevermind 1:28ecafb2b832 468 wait(0.015);
PKnevermind 1:28ecafb2b832 469
PKnevermind 1:28ecafb2b832 470 // Configure MPU9250 gyro and accelerometer for bias calculation
PKnevermind 1:28ecafb2b832 471 writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
PKnevermind 1:28ecafb2b832 472 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
PKnevermind 1:28ecafb2b832 473 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
PKnevermind 1:28ecafb2b832 474 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
PKnevermind 1:28ecafb2b832 475
PKnevermind 1:28ecafb2b832 476 uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
PKnevermind 1:28ecafb2b832 477 uint16_t accelsensitivity = 16384; // = 16384 LSB/g
PKnevermind 1:28ecafb2b832 478
PKnevermind 1:28ecafb2b832 479 // Configure FIFO to capture accelerometer and gyro data for bias calculation
PKnevermind 1:28ecafb2b832 480 writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
PKnevermind 1:28ecafb2b832 481 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250)
PKnevermind 1:28ecafb2b832 482 wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes
PKnevermind 1:28ecafb2b832 483
PKnevermind 1:28ecafb2b832 484 // At end of sample accumulation, turn off FIFO sensor read
PKnevermind 1:28ecafb2b832 485 writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
PKnevermind 1:28ecafb2b832 486 readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
PKnevermind 1:28ecafb2b832 487 fifo_count = ((uint16_t)data[0] << 8) | data[1];
PKnevermind 1:28ecafb2b832 488 packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
PKnevermind 1:28ecafb2b832 489
PKnevermind 1:28ecafb2b832 490 for (ii = 0; ii < packet_count; ii++) {
PKnevermind 1:28ecafb2b832 491 int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
PKnevermind 1:28ecafb2b832 492 readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
PKnevermind 1:28ecafb2b832 493 accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
PKnevermind 1:28ecafb2b832 494 accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
PKnevermind 1:28ecafb2b832 495 accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
PKnevermind 1:28ecafb2b832 496 gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
PKnevermind 1:28ecafb2b832 497 gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
PKnevermind 1:28ecafb2b832 498 gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
PKnevermind 1:28ecafb2b832 499
PKnevermind 1:28ecafb2b832 500 accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
PKnevermind 1:28ecafb2b832 501 accel_bias[1] += (int32_t) accel_temp[1];
PKnevermind 1:28ecafb2b832 502 accel_bias[2] += (int32_t) accel_temp[2];
PKnevermind 1:28ecafb2b832 503 gyro_bias[0] += (int32_t) gyro_temp[0];
PKnevermind 1:28ecafb2b832 504 gyro_bias[1] += (int32_t) gyro_temp[1];
PKnevermind 1:28ecafb2b832 505 gyro_bias[2] += (int32_t) gyro_temp[2];
PKnevermind 1:28ecafb2b832 506
PKnevermind 1:28ecafb2b832 507 }
PKnevermind 1:28ecafb2b832 508 accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
PKnevermind 1:28ecafb2b832 509 accel_bias[1] /= (int32_t) packet_count;
PKnevermind 1:28ecafb2b832 510 accel_bias[2] /= (int32_t) packet_count;
PKnevermind 1:28ecafb2b832 511 gyro_bias[0] /= (int32_t) packet_count;
PKnevermind 1:28ecafb2b832 512 gyro_bias[1] /= (int32_t) packet_count;
PKnevermind 1:28ecafb2b832 513 gyro_bias[2] /= (int32_t) packet_count;
PKnevermind 1:28ecafb2b832 514
PKnevermind 1:28ecafb2b832 515 if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation
PKnevermind 1:28ecafb2b832 516 else {accel_bias[2] += (int32_t) accelsensitivity;}
PKnevermind 1:28ecafb2b832 517
PKnevermind 1:28ecafb2b832 518 // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
PKnevermind 1:28ecafb2b832 519 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
PKnevermind 1:28ecafb2b832 520 data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
PKnevermind 1:28ecafb2b832 521 data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
PKnevermind 1:28ecafb2b832 522 data[3] = (-gyro_bias[1]/4) & 0xFF;
PKnevermind 1:28ecafb2b832 523 data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
PKnevermind 1:28ecafb2b832 524 data[5] = (-gyro_bias[2]/4) & 0xFF;
PKnevermind 1:28ecafb2b832 525
PKnevermind 1:28ecafb2b832 526 /// Push gyro biases to hardware registers
PKnevermind 1:28ecafb2b832 527 /* writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]);
PKnevermind 1:28ecafb2b832 528 writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]);
PKnevermind 1:28ecafb2b832 529 writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]);
PKnevermind 1:28ecafb2b832 530 writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]);
PKnevermind 1:28ecafb2b832 531 writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]);
PKnevermind 1:28ecafb2b832 532 writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]);
PKnevermind 1:28ecafb2b832 533 */
PKnevermind 1:28ecafb2b832 534 dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
PKnevermind 1:28ecafb2b832 535 dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
PKnevermind 1:28ecafb2b832 536 dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
PKnevermind 1:28ecafb2b832 537
PKnevermind 1:28ecafb2b832 538 // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
PKnevermind 1:28ecafb2b832 539 // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
PKnevermind 1:28ecafb2b832 540 // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
PKnevermind 1:28ecafb2b832 541 // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
PKnevermind 1:28ecafb2b832 542 // the accelerometer biases calculated above must be divided by 8.
PKnevermind 1:28ecafb2b832 543
PKnevermind 1:28ecafb2b832 544 int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
PKnevermind 1:28ecafb2b832 545 readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
PKnevermind 1:28ecafb2b832 546 accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
PKnevermind 1:28ecafb2b832 547 readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]);
PKnevermind 1:28ecafb2b832 548 accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
PKnevermind 1:28ecafb2b832 549 readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
PKnevermind 1:28ecafb2b832 550 accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
PKnevermind 1:28ecafb2b832 551
PKnevermind 1:28ecafb2b832 552 uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
PKnevermind 1:28ecafb2b832 553 uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
PKnevermind 1:28ecafb2b832 554
PKnevermind 1:28ecafb2b832 555 for(ii = 0; ii < 3; ii++) {
PKnevermind 1:28ecafb2b832 556 if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
PKnevermind 1:28ecafb2b832 557 }
PKnevermind 1:28ecafb2b832 558
PKnevermind 1:28ecafb2b832 559 // Construct total accelerometer bias, including calculated average accelerometer bias from above
PKnevermind 1:28ecafb2b832 560 accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
PKnevermind 1:28ecafb2b832 561 accel_bias_reg[1] -= (accel_bias[1]/8);
PKnevermind 1:28ecafb2b832 562 accel_bias_reg[2] -= (accel_bias[2]/8);
PKnevermind 1:28ecafb2b832 563
PKnevermind 1:28ecafb2b832 564 data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
PKnevermind 1:28ecafb2b832 565 data[1] = (accel_bias_reg[0]) & 0xFF;
PKnevermind 1:28ecafb2b832 566 data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
PKnevermind 1:28ecafb2b832 567 data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
PKnevermind 1:28ecafb2b832 568 data[3] = (accel_bias_reg[1]) & 0xFF;
PKnevermind 1:28ecafb2b832 569 data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
PKnevermind 1:28ecafb2b832 570 data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
PKnevermind 1:28ecafb2b832 571 data[5] = (accel_bias_reg[2]) & 0xFF;
PKnevermind 1:28ecafb2b832 572 data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
PKnevermind 1:28ecafb2b832 573
PKnevermind 1:28ecafb2b832 574 // Apparently this is not working for the acceleration biases in the MPU-9250
PKnevermind 1:28ecafb2b832 575 // Are we handling the temperature correction bit properly?
PKnevermind 1:28ecafb2b832 576 // Push accelerometer biases to hardware registers
PKnevermind 1:28ecafb2b832 577 /* writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]);
PKnevermind 1:28ecafb2b832 578 writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
PKnevermind 1:28ecafb2b832 579 writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
PKnevermind 1:28ecafb2b832 580 writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
PKnevermind 1:28ecafb2b832 581 writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
PKnevermind 1:28ecafb2b832 582 writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);
PKnevermind 1:28ecafb2b832 583 */
PKnevermind 1:28ecafb2b832 584 // Output scaled accelerometer biases for manual subtraction in the main program
PKnevermind 1:28ecafb2b832 585 dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
PKnevermind 1:28ecafb2b832 586 dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
PKnevermind 1:28ecafb2b832 587 dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
PKnevermind 1:28ecafb2b832 588 }
PKnevermind 1:28ecafb2b832 589
PKnevermind 1:28ecafb2b832 590
PKnevermind 1:28ecafb2b832 591 // Accelerometer and gyroscope self test; check calibration wrt factory settings
PKnevermind 1:28ecafb2b832 592 void MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
PKnevermind 1:28ecafb2b832 593 {
PKnevermind 1:28ecafb2b832 594 uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
PKnevermind 1:28ecafb2b832 595 uint8_t selfTest[6];
PKnevermind 1:28ecafb2b832 596 int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3];
PKnevermind 1:28ecafb2b832 597 float factoryTrim[6];
PKnevermind 1:28ecafb2b832 598 uint8_t FS = 0;
PKnevermind 1:28ecafb2b832 599
PKnevermind 1:28ecafb2b832 600 writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
PKnevermind 1:28ecafb2b832 601 writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
PKnevermind 1:28ecafb2b832 602 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
PKnevermind 1:28ecafb2b832 603 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
PKnevermind 1:28ecafb2b832 604 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
PKnevermind 1:28ecafb2b832 605
PKnevermind 1:28ecafb2b832 606 for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer
PKnevermind 1:28ecafb2b832 607
PKnevermind 1:28ecafb2b832 608 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
PKnevermind 1:28ecafb2b832 609 aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
PKnevermind 1:28ecafb2b832 610 aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
PKnevermind 1:28ecafb2b832 611 aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
PKnevermind 1:28ecafb2b832 612
PKnevermind 1:28ecafb2b832 613 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
PKnevermind 1:28ecafb2b832 614 gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
PKnevermind 1:28ecafb2b832 615 gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
PKnevermind 1:28ecafb2b832 616 gAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
PKnevermind 1:28ecafb2b832 617 }
PKnevermind 1:28ecafb2b832 618
PKnevermind 1:28ecafb2b832 619 for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average current readings
PKnevermind 1:28ecafb2b832 620 aAvg[ii] /= 200;
PKnevermind 1:28ecafb2b832 621 gAvg[ii] /= 200;
PKnevermind 1:28ecafb2b832 622 }
PKnevermind 1:28ecafb2b832 623
PKnevermind 1:28ecafb2b832 624 // Configure the accelerometer for self-test
PKnevermind 1:28ecafb2b832 625 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
PKnevermind 1:28ecafb2b832 626 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
PKnevermind 1:28ecafb2b832 627
PKnevermind 1:28ecafb2b832 628 for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
PKnevermind 1:28ecafb2b832 629
PKnevermind 1:28ecafb2b832 630 readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
PKnevermind 1:28ecafb2b832 631 aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
PKnevermind 1:28ecafb2b832 632 aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
PKnevermind 1:28ecafb2b832 633 aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
PKnevermind 1:28ecafb2b832 634
PKnevermind 1:28ecafb2b832 635 readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
PKnevermind 1:28ecafb2b832 636 gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
PKnevermind 1:28ecafb2b832 637 gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
PKnevermind 1:28ecafb2b832 638 gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
PKnevermind 1:28ecafb2b832 639 }
PKnevermind 1:28ecafb2b832 640
PKnevermind 1:28ecafb2b832 641 for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average self-test readings
PKnevermind 1:28ecafb2b832 642 aSTAvg[ii] /= 200;
PKnevermind 1:28ecafb2b832 643 gSTAvg[ii] /= 200;
PKnevermind 1:28ecafb2b832 644 }
PKnevermind 1:28ecafb2b832 645
PKnevermind 1:28ecafb2b832 646 // Configure the gyro and accelerometer for normal operation
PKnevermind 1:28ecafb2b832 647 writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
PKnevermind 1:28ecafb2b832 648 writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
PKnevermind 1:28ecafb2b832 649
PKnevermind 1:28ecafb2b832 650 // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
PKnevermind 1:28ecafb2b832 651 selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results
PKnevermind 1:28ecafb2b832 652 selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results
PKnevermind 1:28ecafb2b832 653 selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results
PKnevermind 1:28ecafb2b832 654 selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results
PKnevermind 1:28ecafb2b832 655 selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results
PKnevermind 1:28ecafb2b832 656 selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results
PKnevermind 1:28ecafb2b832 657
PKnevermind 1:28ecafb2b832 658 // Retrieve factory self-test value from self-test code reads
PKnevermind 1:28ecafb2b832 659 factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
PKnevermind 1:28ecafb2b832 660 factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
PKnevermind 1:28ecafb2b832 661 factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
PKnevermind 1:28ecafb2b832 662 factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
PKnevermind 1:28ecafb2b832 663 factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
PKnevermind 1:28ecafb2b832 664 factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
PKnevermind 1:28ecafb2b832 665
PKnevermind 1:28ecafb2b832 666 // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
PKnevermind 1:28ecafb2b832 667 // To get percent, must multiply by 100
PKnevermind 1:28ecafb2b832 668 for (int i = 0; i < 3; i++) {
PKnevermind 1:28ecafb2b832 669 destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
PKnevermind 1:28ecafb2b832 670 destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
PKnevermind 1:28ecafb2b832 671 }
PKnevermind 1:28ecafb2b832 672
PKnevermind 1:28ecafb2b832 673 }
PKnevermind 1:28ecafb2b832 674
PKnevermind 1:28ecafb2b832 675
PKnevermind 1:28ecafb2b832 676
PKnevermind 1:28ecafb2b832 677 // Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
PKnevermind 1:28ecafb2b832 678 // (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
PKnevermind 1:28ecafb2b832 679 // which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
PKnevermind 1:28ecafb2b832 680 // device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
PKnevermind 1:28ecafb2b832 681 // The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
PKnevermind 1:28ecafb2b832 682 // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
PKnevermind 1:28ecafb2b832 683 void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
PKnevermind 1:28ecafb2b832 684 {
PKnevermind 1:28ecafb2b832 685 float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
PKnevermind 1:28ecafb2b832 686 float norm;
PKnevermind 1:28ecafb2b832 687 float hx, hy, _2bx, _2bz;
PKnevermind 1:28ecafb2b832 688 float s1, s2, s3, s4;
PKnevermind 1:28ecafb2b832 689 float qDot1, qDot2, qDot3, qDot4;
PKnevermind 1:28ecafb2b832 690
PKnevermind 1:28ecafb2b832 691 // Auxiliary variables to avoid repeated arithmetic
PKnevermind 1:28ecafb2b832 692 float _2q1mx;
PKnevermind 1:28ecafb2b832 693 float _2q1my;
PKnevermind 1:28ecafb2b832 694 float _2q1mz;
PKnevermind 1:28ecafb2b832 695 float _2q2mx;
PKnevermind 1:28ecafb2b832 696 float _4bx;
PKnevermind 1:28ecafb2b832 697 float _4bz;
PKnevermind 1:28ecafb2b832 698 float _2q1 = 2.0f * q1;
PKnevermind 1:28ecafb2b832 699 float _2q2 = 2.0f * q2;
PKnevermind 1:28ecafb2b832 700 float _2q3 = 2.0f * q3;
PKnevermind 1:28ecafb2b832 701 float _2q4 = 2.0f * q4;
PKnevermind 1:28ecafb2b832 702 float _2q1q3 = 2.0f * q1 * q3;
PKnevermind 1:28ecafb2b832 703 float _2q3q4 = 2.0f * q3 * q4;
PKnevermind 1:28ecafb2b832 704 float q1q1 = q1 * q1;
PKnevermind 1:28ecafb2b832 705 float q1q2 = q1 * q2;
PKnevermind 1:28ecafb2b832 706 float q1q3 = q1 * q3;
PKnevermind 1:28ecafb2b832 707 float q1q4 = q1 * q4;
PKnevermind 1:28ecafb2b832 708 float q2q2 = q2 * q2;
PKnevermind 1:28ecafb2b832 709 float q2q3 = q2 * q3;
PKnevermind 1:28ecafb2b832 710 float q2q4 = q2 * q4;
PKnevermind 1:28ecafb2b832 711 float q3q3 = q3 * q3;
PKnevermind 1:28ecafb2b832 712 float q3q4 = q3 * q4;
PKnevermind 1:28ecafb2b832 713 float q4q4 = q4 * q4;
PKnevermind 1:28ecafb2b832 714
PKnevermind 1:28ecafb2b832 715 // Normalise accelerometer measurement
PKnevermind 1:28ecafb2b832 716 norm = sqrt(ax * ax + ay * ay + az * az);
PKnevermind 1:28ecafb2b832 717 if (norm == 0.0f) return; // handle NaN
PKnevermind 1:28ecafb2b832 718 norm = 1.0f/norm;
PKnevermind 1:28ecafb2b832 719 ax *= norm;
PKnevermind 1:28ecafb2b832 720 ay *= norm;
PKnevermind 1:28ecafb2b832 721 az *= norm;
PKnevermind 1:28ecafb2b832 722
PKnevermind 1:28ecafb2b832 723 // Normalise magnetometer measurement
PKnevermind 1:28ecafb2b832 724 norm = sqrt(mx * mx + my * my + mz * mz);
PKnevermind 1:28ecafb2b832 725 if (norm == 0.0f) return; // handle NaN
PKnevermind 1:28ecafb2b832 726 norm = 1.0f/norm;
PKnevermind 1:28ecafb2b832 727 mx *= norm;
PKnevermind 1:28ecafb2b832 728 my *= norm;
PKnevermind 1:28ecafb2b832 729 mz *= norm;
PKnevermind 1:28ecafb2b832 730
PKnevermind 1:28ecafb2b832 731 // Reference direction of Earth's magnetic field
PKnevermind 1:28ecafb2b832 732 _2q1mx = 2.0f * q1 * mx;
PKnevermind 1:28ecafb2b832 733 _2q1my = 2.0f * q1 * my;
PKnevermind 1:28ecafb2b832 734 _2q1mz = 2.0f * q1 * mz;
PKnevermind 1:28ecafb2b832 735 _2q2mx = 2.0f * q2 * mx;
PKnevermind 1:28ecafb2b832 736 hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
PKnevermind 1:28ecafb2b832 737 hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
PKnevermind 1:28ecafb2b832 738 _2bx = sqrt(hx * hx + hy * hy);
PKnevermind 1:28ecafb2b832 739 _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
PKnevermind 1:28ecafb2b832 740 _4bx = 2.0f * _2bx;
PKnevermind 1:28ecafb2b832 741 _4bz = 2.0f * _2bz;
PKnevermind 1:28ecafb2b832 742
PKnevermind 1:28ecafb2b832 743 // Gradient decent algorithm corrective step
PKnevermind 1:28ecafb2b832 744 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);
PKnevermind 1:28ecafb2b832 745 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);
PKnevermind 1:28ecafb2b832 746 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);
PKnevermind 1:28ecafb2b832 747 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);
PKnevermind 1:28ecafb2b832 748 norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
PKnevermind 1:28ecafb2b832 749 norm = 1.0f/norm;
PKnevermind 1:28ecafb2b832 750 s1 *= norm;
PKnevermind 1:28ecafb2b832 751 s2 *= norm;
PKnevermind 1:28ecafb2b832 752 s3 *= norm;
PKnevermind 1:28ecafb2b832 753 s4 *= norm;
PKnevermind 1:28ecafb2b832 754
PKnevermind 1:28ecafb2b832 755 // Compute rate of change of quaternion
PKnevermind 1:28ecafb2b832 756 qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
PKnevermind 1:28ecafb2b832 757 qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
PKnevermind 1:28ecafb2b832 758 qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
PKnevermind 1:28ecafb2b832 759 qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
PKnevermind 1:28ecafb2b832 760
PKnevermind 1:28ecafb2b832 761 // Integrate to yield quaternion
PKnevermind 1:28ecafb2b832 762 q1 += qDot1 * deltat;
PKnevermind 1:28ecafb2b832 763 q2 += qDot2 * deltat;
PKnevermind 1:28ecafb2b832 764 q3 += qDot3 * deltat;
PKnevermind 1:28ecafb2b832 765 q4 += qDot4 * deltat;
PKnevermind 1:28ecafb2b832 766 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
PKnevermind 1:28ecafb2b832 767 norm = 1.0f/norm;
PKnevermind 1:28ecafb2b832 768 q[0] = q1 * norm;
PKnevermind 1:28ecafb2b832 769 q[1] = q2 * norm;
PKnevermind 1:28ecafb2b832 770 q[2] = q3 * norm;
PKnevermind 1:28ecafb2b832 771 q[3] = q4 * norm;
PKnevermind 1:28ecafb2b832 772
PKnevermind 1:28ecafb2b832 773 }
PKnevermind 1:28ecafb2b832 774
PKnevermind 1:28ecafb2b832 775
PKnevermind 1:28ecafb2b832 776
PKnevermind 1:28ecafb2b832 777 // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
PKnevermind 1:28ecafb2b832 778 // measured ones.
PKnevermind 1:28ecafb2b832 779 void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
PKnevermind 1:28ecafb2b832 780 {
PKnevermind 1:28ecafb2b832 781 float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
PKnevermind 1:28ecafb2b832 782 float norm;
PKnevermind 1:28ecafb2b832 783 float hx, hy, bx, bz;
PKnevermind 1:28ecafb2b832 784 float vx, vy, vz, wx, wy, wz;
PKnevermind 1:28ecafb2b832 785 float ex, ey, ez;
PKnevermind 1:28ecafb2b832 786 float pa, pb, pc;
PKnevermind 1:28ecafb2b832 787
PKnevermind 1:28ecafb2b832 788 // Auxiliary variables to avoid repeated arithmetic
PKnevermind 1:28ecafb2b832 789 float q1q1 = q1 * q1;
PKnevermind 1:28ecafb2b832 790 float q1q2 = q1 * q2;
PKnevermind 1:28ecafb2b832 791 float q1q3 = q1 * q3;
PKnevermind 1:28ecafb2b832 792 float q1q4 = q1 * q4;
PKnevermind 1:28ecafb2b832 793 float q2q2 = q2 * q2;
PKnevermind 1:28ecafb2b832 794 float q2q3 = q2 * q3;
PKnevermind 1:28ecafb2b832 795 float q2q4 = q2 * q4;
PKnevermind 1:28ecafb2b832 796 float q3q3 = q3 * q3;
PKnevermind 1:28ecafb2b832 797 float q3q4 = q3 * q4;
PKnevermind 1:28ecafb2b832 798 float q4q4 = q4 * q4;
PKnevermind 1:28ecafb2b832 799
PKnevermind 1:28ecafb2b832 800 // Normalise accelerometer measurement
PKnevermind 1:28ecafb2b832 801 norm = sqrt(ax * ax + ay * ay + az * az);
PKnevermind 1:28ecafb2b832 802 if (norm == 0.0f) return; // handle NaN
PKnevermind 1:28ecafb2b832 803 norm = 1.0f / norm; // use reciprocal for division
PKnevermind 1:28ecafb2b832 804 ax *= norm;
PKnevermind 1:28ecafb2b832 805 ay *= norm;
PKnevermind 1:28ecafb2b832 806 az *= norm;
PKnevermind 1:28ecafb2b832 807
PKnevermind 1:28ecafb2b832 808 // Normalise magnetometer measurement
PKnevermind 1:28ecafb2b832 809 norm = sqrt(mx * mx + my * my + mz * mz);
PKnevermind 1:28ecafb2b832 810 if (norm == 0.0f) return; // handle NaN
PKnevermind 1:28ecafb2b832 811 norm = 1.0f / norm; // use reciprocal for division
PKnevermind 1:28ecafb2b832 812 mx *= norm;
PKnevermind 1:28ecafb2b832 813 my *= norm;
PKnevermind 1:28ecafb2b832 814 mz *= norm;
PKnevermind 1:28ecafb2b832 815
PKnevermind 1:28ecafb2b832 816 // Reference direction of Earth's magnetic field
PKnevermind 1:28ecafb2b832 817 hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
PKnevermind 1:28ecafb2b832 818 hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
PKnevermind 1:28ecafb2b832 819 bx = sqrt((hx * hx) + (hy * hy));
PKnevermind 1:28ecafb2b832 820 bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
PKnevermind 1:28ecafb2b832 821
PKnevermind 1:28ecafb2b832 822 // Estimated direction of gravity and magnetic field
PKnevermind 1:28ecafb2b832 823 vx = 2.0f * (q2q4 - q1q3);
PKnevermind 1:28ecafb2b832 824 vy = 2.0f * (q1q2 + q3q4);
PKnevermind 1:28ecafb2b832 825 vz = q1q1 - q2q2 - q3q3 + q4q4;
PKnevermind 1:28ecafb2b832 826 wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
PKnevermind 1:28ecafb2b832 827 wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
PKnevermind 1:28ecafb2b832 828 wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
PKnevermind 1:28ecafb2b832 829
PKnevermind 1:28ecafb2b832 830 // Error is cross product between estimated direction and measured direction of gravity
PKnevermind 1:28ecafb2b832 831 ex = (ay * vz - az * vy) + (my * wz - mz * wy);
PKnevermind 1:28ecafb2b832 832 ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
PKnevermind 1:28ecafb2b832 833 ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
PKnevermind 1:28ecafb2b832 834 if (Ki > 0.0f)
PKnevermind 1:28ecafb2b832 835 {
PKnevermind 1:28ecafb2b832 836 eInt[0] += ex; // accumulate integral error
PKnevermind 1:28ecafb2b832 837 eInt[1] += ey;
PKnevermind 1:28ecafb2b832 838 eInt[2] += ez;
PKnevermind 1:28ecafb2b832 839 }
PKnevermind 1:28ecafb2b832 840 else
PKnevermind 1:28ecafb2b832 841 {
PKnevermind 1:28ecafb2b832 842 eInt[0] = 0.0f; // prevent integral wind up
PKnevermind 1:28ecafb2b832 843 eInt[1] = 0.0f;
PKnevermind 1:28ecafb2b832 844 eInt[2] = 0.0f;
PKnevermind 1:28ecafb2b832 845 }
PKnevermind 1:28ecafb2b832 846
PKnevermind 1:28ecafb2b832 847 // Apply feedback terms
PKnevermind 1:28ecafb2b832 848 gx = gx + Kp * ex + Ki * eInt[0];
PKnevermind 1:28ecafb2b832 849 gy = gy + Kp * ey + Ki * eInt[1];
PKnevermind 1:28ecafb2b832 850 gz = gz + Kp * ez + Ki * eInt[2];
PKnevermind 1:28ecafb2b832 851
PKnevermind 1:28ecafb2b832 852 // Integrate rate of change of quaternion
PKnevermind 1:28ecafb2b832 853 pa = q2;
PKnevermind 1:28ecafb2b832 854 pb = q3;
PKnevermind 1:28ecafb2b832 855 pc = q4;
PKnevermind 1:28ecafb2b832 856 q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
PKnevermind 1:28ecafb2b832 857 q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
PKnevermind 1:28ecafb2b832 858 q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
PKnevermind 1:28ecafb2b832 859 q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);
PKnevermind 1:28ecafb2b832 860
PKnevermind 1:28ecafb2b832 861 // Normalise quaternion
PKnevermind 1:28ecafb2b832 862 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
PKnevermind 1:28ecafb2b832 863 norm = 1.0f / norm;
PKnevermind 1:28ecafb2b832 864 q[0] = q1 * norm;
PKnevermind 1:28ecafb2b832 865 q[1] = q2 * norm;
PKnevermind 1:28ecafb2b832 866 q[2] = q3 * norm;
PKnevermind 1:28ecafb2b832 867 q[3] = q4 * norm;
PKnevermind 1:28ecafb2b832 868
PKnevermind 1:28ecafb2b832 869 }
PKnevermind 1:28ecafb2b832 870 };
PKnevermind 1:28ecafb2b832 871 #endif