Xadow_MPU9150AHRS - This program is designed to run on a set of Xadow…

Users » whatnick » Code » Xadow_MPU9150AHRS

Tisham Dhar / Mbed 2 deprecated Xadow_MPU9150AHRS

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

/media/uploads/whatnick/20151022_004759.jpg

Files at this revision

API Documentation at this revision

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

MPU9150.h	Show annotated file Show diff for this revision Revisions of this file
main.cpp	Show annotated file Show diff for this revision Revisions of this file
mbed_logo.h	Show annotated file Show diff for this revision Revisions of this file

--- 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) {

--- a/mbed_logo.h	Tue Dec 01 02:03:48 2015 +0000
+++ b/mbed_logo.h	Tue Dec 01 04:42:30 2015 +0000
@@ -8,6 +8,53 @@
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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	28 Dec 2014
Imports:	7
Forks:	0
Commits:	11
Dependents:	0
Dependencies:	7
Followers:	4

Revision 9:b7062c55d36c, committed 2015-12-01

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