644 lines
30 KiB
C++
644 lines
30 KiB
C++
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/*************************************************************************
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* Freematics MPU6050 helper class
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* Distributed under BSD license
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* Visit http://freematics.com for more information
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* (C)2016-2018 Stanley Huang <stanley@freematics.com.au>
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*************************************************************************/
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#include <Arduino.h>
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#include <Wire.h>
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#include "FreematicsBase.h"
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#include "FreematicsMEMS.h"
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// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
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// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
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// which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
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// device orientation
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void CQuaterion::MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
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{
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uint32_t now = millis();
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deltat = ((float)(now - lastUpdate)/1000.0f); // set integration time by time elapsed since last filter update
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lastUpdate = now;
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float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
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float norm;
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float hx, hy, _2bx, _2bz;
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float s1, s2, s3, s4;
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float qDot1, qDot2, qDot3, qDot4;
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// Auxiliary variables to avoid repeated arithmetic
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float _2q1mx;
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float _2q1my;
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float _2q1mz;
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float _2q2mx;
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float _4bx;
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float _4bz;
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float _2q1 = 2.0f * q1;
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float _2q2 = 2.0f * q2;
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float _2q3 = 2.0f * q3;
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float _2q4 = 2.0f * q4;
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float _2q1q3 = 2.0f * q1 * q3;
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float _2q3q4 = 2.0f * q3 * q4;
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float q1q1 = q1 * q1;
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float q1q2 = q1 * q2;
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float q1q3 = q1 * q3;
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float q1q4 = q1 * q4;
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float q2q2 = q2 * q2;
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float q2q3 = q2 * q3;
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float q2q4 = q2 * q4;
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float q3q3 = q3 * q3;
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float q3q4 = q3 * q4;
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float q4q4 = q4 * q4;
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// Normalise accelerometer measurement
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norm = sqrtf(ax * ax + ay * ay + az * az);
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if (norm == 0.0f) return; // handle NaN
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norm = 1.0f/norm;
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ax *= norm;
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ay *= norm;
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az *= norm;
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// Normalise magnetometer measurement
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norm = sqrtf(mx * mx + my * my + mz * mz);
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if (norm == 0.0f) return; // handle NaN
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norm = 1.0f/norm;
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mx *= norm;
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my *= norm;
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mz *= norm;
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// Reference direction of Earth's magnetic field
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_2q1mx = 2.0f * q1 * mx;
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_2q1my = 2.0f * q1 * my;
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_2q1mz = 2.0f * q1 * mz;
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_2q2mx = 2.0f * q2 * mx;
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hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
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hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
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_2bx = sqrtf(hx * hx + hy * hy);
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_2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
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_4bx = 2.0f * _2bx;
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_4bz = 2.0f * _2bz;
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// Gradient decent algorithm corrective step
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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);
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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);
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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);
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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);
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norm = sqrtf(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
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norm = 1.0f/norm;
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s1 *= norm;
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s2 *= norm;
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s3 *= norm;
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s4 *= norm;
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// Compute rate of change of quaternion
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qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
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qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
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qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
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qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
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// Integrate to yield quaternion
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q1 += qDot1 * deltat;
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q2 += qDot2 * deltat;
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q3 += qDot3 * deltat;
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q4 += qDot4 * deltat;
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norm = sqrtf(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
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norm = 1.0f/norm;
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q[0] = q1 * norm;
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q[1] = q2 * norm;
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q[2] = q3 * norm;
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q[3] = q4 * norm;
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}
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void CQuaterion::getOrientation(ORIENTATION* ori)
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{
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ori->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]) * 180.0f / PI;
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ori->pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])) * 180.0f / PI;
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ori->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]) * 180.0f / PI;
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}
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//==============================================================================
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//====== Set of useful function to access acceleration. gyroscope, magnetometer,
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//====== and temperature data
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//==============================================================================
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void MPU9250_ACC::readAccelData(int16_t * destination)
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{
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uint8_t rawData[6]; // x/y/z accel register data stored here
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readBytes(ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
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destination[0] = ((int16_t)rawData[0] << 8) | rawData[1] ; // Turn the MSB and LSB into a signed 16-bit value
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destination[1] = ((int16_t)rawData[2] << 8) | rawData[3] ;
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destination[2] = ((int16_t)rawData[4] << 8) | rawData[5] ;
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}
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void MPU9250_9DOF::readGyroData(int16_t * destination)
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{
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uint8_t rawData[6]; // x/y/z gyro register data stored here
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readBytes(GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
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destination[0] = ((int16_t)rawData[0] << 8) | rawData[1] ; // Turn the MSB and LSB into a signed 16-bit value
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destination[1] = ((int16_t)rawData[2] << 8) | rawData[3] ;
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destination[2] = ((int16_t)rawData[4] << 8) | rawData[5] ;
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}
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void MPU9250_9DOF::readMagData(int16_t * destination)
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{
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if(readByteAK(AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
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uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
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readBytesAK(AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
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uint8_t c = rawData[6]; // End data read by reading ST2 register
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if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
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destination[0] = ((int16_t)rawData[1] << 8) | rawData[0] ; // Turn the MSB and LSB into a signed 16-bit value
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destination[1] = ((int16_t)rawData[3] << 8) | rawData[2] ; // Data stored as little Endian
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destination[2] = ((int16_t)rawData[5] << 8) | rawData[4] ;
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}
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}
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}
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int16_t MPU9250_ACC::readTempData()
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{
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uint8_t rawData[2]; // x/y/z gyro register data stored here
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readBytes(TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
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return ((int16_t)rawData[0] << 8) | rawData[1]; // Turn the MSB and LSB into a 16-bit value
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}
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bool MPU9250_9DOF::initAK8963(float * destination)
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{
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if (readByteAK(WHO_AM_I_AK8963) != 0x48) {
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return false;
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}
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// First extract the factory calibration for each magnetometer axis
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uint8_t rawData[3]; // x/y/z gyro calibration data stored here
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writeByteAK(AK8963_CNTL, 0x00); // Power down magnetometer
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delay(10);
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writeByteAK(AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
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delay(10);
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// Read the x-, y-, and z-axis calibration values
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/*
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if (!readBytesAK(AK8963_ASAX, 3, &rawData[0], 3000)) {
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return false;
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}
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*/
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rawData[0] = readByteAK(AK8963_ASAX);
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rawData[1] = readByteAK(AK8963_ASAX);
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rawData[2] = readByteAK(AK8963_ASAX);
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destination[0] = (float)(rawData[0] - 128)/256. + 1.; // Return x-axis sensitivity adjustment values, etc.
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destination[1] = (float)(rawData[1] - 128)/256. + 1.;
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destination[2] = (float)(rawData[2] - 128)/256. + 1.;
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writeByte(AK8963_CNTL, 0x00); // Power down magnetometer
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delay(10);
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// Configure the magnetometer for continuous read and highest resolution
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// set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register,
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// and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates
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writeByte(AK8963_CNTL, MFS_16BITS << 4 | Mmode); // Set magnetometer data resolution and sample ODR
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delay(10);
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return true;
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}
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// Function which accumulates gyro and accelerometer data after device
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// initialization. It calculates the average of the at-rest readings and then
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// loads the resulting offsets into accelerometer and gyro bias registers.
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void MPU9250_9DOF::calibrateMPU9250(float * gyroBias, float * accelBias)
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{
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uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
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uint16_t ii, packet_count, fifo_count;
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int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
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// reset device
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// Write a one to bit 7 reset bit; toggle reset device
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writeByte(PWR_MGMT_1, 0x80);
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delay(100);
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// get stable time source; Auto select clock source to be PLL gyroscope
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// reference if ready else use the internal oscillator, bits 2:0 = 001
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writeByte(PWR_MGMT_1, 0x01);
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writeByte(PWR_MGMT_2, 0x00);
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delay(200);
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// Configure device for bias calculation
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writeByte(INT_ENABLE, 0x00); // Disable all interrupts
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writeByte(FIFO_EN, 0x00); // Disable FIFO
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writeByte(PWR_MGMT_1, 0x00); // Turn on internal clock source
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writeByte(I2C_MST_CTRL, 0x00); // Disable master
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writeByte(USER_CTRL, 0x00); // Disable FIFO and I2C master modes
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writeByte(USER_CTRL, 0x2C); // Reset FIFO and DMP
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delay(15);
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// Configure MPU6050 gyro and accelerometer for bias calculation
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writeByte(CONFIG, 0x01); // Set low-pass filter to 188 Hz
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writeByte(SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
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writeByte(GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
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writeByte(ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
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uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
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uint16_t accelsensitivity = 16384; // = 16384 LSB/g
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// Configure FIFO to capture accelerometer and gyro data for bias calculation
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writeByte(USER_CTRL, 0x40); // Enable FIFO
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writeByte(FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9150)
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delay(40); // accumulate 40 samples in 40 milliseconds = 480 bytes
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// At end of sample accumulation, turn off FIFO sensor read
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writeByte(FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
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readBytes(FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
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fifo_count = ((uint16_t)data[0] << 8) | data[1];
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packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
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for (ii = 0; ii < packet_count; ii++)
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{
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int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
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readBytes(FIFO_R_W, 12, &data[0]); // read data for averaging
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accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ); // Form signed 16-bit integer for each sample in FIFO
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accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] );
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accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] );
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gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] );
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gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] );
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gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]);
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accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
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accel_bias[1] += (int32_t) accel_temp[1];
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accel_bias[2] += (int32_t) accel_temp[2];
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gyro_bias[0] += (int32_t) gyro_temp[0];
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gyro_bias[1] += (int32_t) gyro_temp[1];
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gyro_bias[2] += (int32_t) gyro_temp[2];
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}
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accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
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accel_bias[1] /= (int32_t) packet_count;
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accel_bias[2] /= (int32_t) packet_count;
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gyro_bias[0] /= (int32_t) packet_count;
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gyro_bias[1] /= (int32_t) packet_count;
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gyro_bias[2] /= (int32_t) packet_count;
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if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation
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else {accel_bias[2] += (int32_t) accelsensitivity;}
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// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
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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
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data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
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data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
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data[3] = (-gyro_bias[1]/4) & 0xFF;
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data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
|
||
|
data[5] = (-gyro_bias[2]/4) & 0xFF;
|
||
|
|
||
|
// Push gyro biases to hardware registers
|
||
|
writeByte(XG_OFFSET_H, data[0]);
|
||
|
writeByte(XG_OFFSET_L, data[1]);
|
||
|
writeByte(YG_OFFSET_H, data[2]);
|
||
|
writeByte(YG_OFFSET_L, data[3]);
|
||
|
writeByte(ZG_OFFSET_H, data[4]);
|
||
|
writeByte(ZG_OFFSET_L, data[5]);
|
||
|
|
||
|
// Output scaled gyro biases for display in the main program
|
||
|
gyroBias[0] = (float) gyro_bias[0]/(float) gyrosensitivity;
|
||
|
gyroBias[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
|
||
|
gyroBias[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
|
||
|
|
||
|
// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
|
||
|
// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
|
||
|
// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
|
||
|
// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
|
||
|
// the accelerometer biases calculated above must be divided by 8.
|
||
|
|
||
|
int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
|
||
|
readBytes(XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
|
||
|
accel_bias_reg[0] = (int32_t) (((int16_t)data[0] << 8) | data[1]);
|
||
|
readBytes(YA_OFFSET_H, 2, &data[0]);
|
||
|
accel_bias_reg[1] = (int32_t) (((int16_t)data[0] << 8) | data[1]);
|
||
|
readBytes(ZA_OFFSET_H, 2, &data[0]);
|
||
|
accel_bias_reg[2] = (int32_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
|
||
|
}
|
||
|
|
||
|
// Construct total accelerometer bias, including calculated average accelerometer bias from above
|
||
|
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
|
||
|
|
||
|
// Apparently this is not working for the acceleration biases in the MPU-9250
|
||
|
// Are we handling the temperature correction bit properly?
|
||
|
// Push accelerometer biases to hardware registers
|
||
|
writeByte(XA_OFFSET_H, data[0]);
|
||
|
writeByte(XA_OFFSET_L, data[1]);
|
||
|
writeByte(YA_OFFSET_H, data[2]);
|
||
|
writeByte(YA_OFFSET_L, data[3]);
|
||
|
writeByte(ZA_OFFSET_H, data[4]);
|
||
|
writeByte(ZA_OFFSET_L, data[5]);
|
||
|
|
||
|
// Output scaled accelerometer biases for display in the main program
|
||
|
accelBias[0] = (float)accel_bias[0]/(float)accelsensitivity;
|
||
|
accelBias[1] = (float)accel_bias[1]/(float)accelsensitivity;
|
||
|
accelBias[2] = (float)accel_bias[2]/(float)accelsensitivity;
|
||
|
}
|
||
|
|
||
|
|
||
|
// Accelerometer and gyroscope self test; check calibration wrt factory settings
|
||
|
void MPU9250_9DOF::MPU9250SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
|
||
|
{
|
||
|
uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
|
||
|
uint8_t selfTest[6];
|
||
|
int16_t gAvg[3], aAvg[3], aSTAvg[3], gSTAvg[3];
|
||
|
float factoryTrim[6];
|
||
|
uint8_t FS = 0;
|
||
|
|
||
|
writeByte(SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
|
||
|
writeByte(CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
|
||
|
writeByte(GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
|
||
|
writeByte(ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
|
||
|
writeByte(ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
|
||
|
|
||
|
for( int ii = 0; ii < 200; ii++) { // get average current values of gyro and acclerometer
|
||
|
|
||
|
readBytes(ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
|
||
|
aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
|
||
|
aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
|
||
|
aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
|
||
|
|
||
|
readBytes(GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
|
||
|
gAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
|
||
|
gAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
|
||
|
gAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
|
||
|
}
|
||
|
|
||
|
for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average current readings
|
||
|
aAvg[ii] /= 200;
|
||
|
gAvg[ii] /= 200;
|
||
|
}
|
||
|
|
||
|
// Configure the accelerometer for self-test
|
||
|
writeByte(ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
|
||
|
writeByte(GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
|
||
|
delay(25); // Delay a while to let the device stabilize
|
||
|
|
||
|
for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
|
||
|
|
||
|
readBytes(ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
|
||
|
aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
|
||
|
aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
|
||
|
aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
|
||
|
|
||
|
readBytes(GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
|
||
|
gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
|
||
|
gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
|
||
|
gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
|
||
|
}
|
||
|
|
||
|
for (int ii =0; ii < 3; ii++) { // Get average of 200 values and store as average self-test readings
|
||
|
aSTAvg[ii] /= 200;
|
||
|
gSTAvg[ii] /= 200;
|
||
|
}
|
||
|
|
||
|
// Configure the gyro and accelerometer for normal operation
|
||
|
writeByte(ACCEL_CONFIG, 0x00);
|
||
|
writeByte(GYRO_CONFIG, 0x00);
|
||
|
delay(25); // Delay a while to let the device stabilize
|
||
|
|
||
|
// Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
|
||
|
selfTest[0] = readByte(SELF_TEST_X_ACCEL); // X-axis accel self-test results
|
||
|
selfTest[1] = readByte(SELF_TEST_Y_ACCEL); // Y-axis accel self-test results
|
||
|
selfTest[2] = readByte(SELF_TEST_Z_ACCEL); // Z-axis accel self-test results
|
||
|
selfTest[3] = readByte(SELF_TEST_X_GYRO); // X-axis gyro self-test results
|
||
|
selfTest[4] = readByte(SELF_TEST_Y_GYRO); // Y-axis gyro self-test results
|
||
|
selfTest[5] = readByte(SELF_TEST_Z_GYRO); // Z-axis gyro self-test results
|
||
|
|
||
|
// Retrieve factory self-test value from self-test code reads
|
||
|
factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
|
||
|
factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
|
||
|
factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
|
||
|
factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
|
||
|
factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
|
||
|
factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
|
||
|
|
||
|
// Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
|
||
|
// To get percent, must multiply by 100
|
||
|
for (int i = 0; i < 3; i++) {
|
||
|
destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
|
||
|
destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
// Wire.h read and write protocols
|
||
|
void MPU9250_ACC::writeByte(uint8_t subAddress, uint8_t data)
|
||
|
{
|
||
|
Wire.beginTransmission(MPU9250_ADDRESS); // Initialize the Tx buffer
|
||
|
Wire.write(subAddress); // Put slave register address in Tx buffer
|
||
|
Wire.write(data); // Put data in Tx buffer
|
||
|
Wire.endTransmission(); // Send the Tx buffer
|
||
|
}
|
||
|
|
||
|
uint8_t MPU9250_ACC::readByte(uint8_t subAddress)
|
||
|
{
|
||
|
uint8_t data; // `data` will store the register data
|
||
|
Wire.beginTransmission(MPU9250_ADDRESS); // Initialize the Tx buffer
|
||
|
Wire.write(subAddress); // Put slave register address in Tx buffer
|
||
|
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
|
||
|
Wire.requestFrom((uint8_t)MPU9250_ADDRESS, (uint8_t) 1); // Read one byte from slave register address
|
||
|
data = Wire.read(); // Fill Rx buffer with result
|
||
|
return data; // Return data read from slave register
|
||
|
}
|
||
|
|
||
|
void MPU9250_ACC::readBytes(uint8_t subAddress, uint8_t count, uint8_t * dest)
|
||
|
{
|
||
|
Wire.beginTransmission(MPU9250_ADDRESS); // Initialize the Tx buffer
|
||
|
Wire.write(subAddress); // Put slave register address in Tx buffer
|
||
|
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
|
||
|
Wire.requestFrom((uint8_t)MPU9250_ADDRESS, count); // Read bytes from slave register address
|
||
|
uint8_t i = 0;
|
||
|
while (Wire.available() && i < count) {
|
||
|
dest[i++] = Wire.read();
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void MPU9250_9DOF::writeByteAK(uint8_t subAddress, uint8_t data)
|
||
|
{
|
||
|
Wire.beginTransmission(MPU9250_ADDRESS); // Initialize the Tx buffer
|
||
|
Wire.write(subAddress); // Put slave register address in Tx buffer
|
||
|
Wire.write(data); // Put data in Tx buffer
|
||
|
Wire.endTransmission(); // Send the Tx buffer
|
||
|
}
|
||
|
|
||
|
uint8_t MPU9250_9DOF::readByteAK(uint8_t subAddress)
|
||
|
{
|
||
|
uint8_t data; // `data` will store the register data
|
||
|
Wire.beginTransmission(AK8963_ADDRESS); // Initialize the Tx buffer
|
||
|
Wire.write(subAddress); // Put slave register address in Tx buffer
|
||
|
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
|
||
|
Wire.requestFrom((uint8_t)AK8963_ADDRESS, (uint8_t) 1); // Read one byte from slave register address
|
||
|
data = Wire.read(); // Fill Rx buffer with result
|
||
|
return data; // Return data read from slave register
|
||
|
}
|
||
|
|
||
|
void MPU9250_9DOF::readBytesAK(uint8_t subAddress, uint8_t count, uint8_t * dest)
|
||
|
{
|
||
|
Wire.beginTransmission(AK8963_ADDRESS); // Initialize the Tx buffer
|
||
|
Wire.write(subAddress); // Put slave register address in Tx buffer
|
||
|
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
|
||
|
Wire.requestFrom((uint8_t)AK8963_ADDRESS, count); // Read bytes from slave register address
|
||
|
uint8_t i = 0;
|
||
|
while (Wire.available() && i < count) {
|
||
|
dest[i++] = Wire.read();
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void MPU9250_ACC::initMPU9250()
|
||
|
{
|
||
|
// wake up device
|
||
|
writeByte(PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
|
||
|
delay(100); // Wait for all registers to reset
|
||
|
|
||
|
// get stable time source
|
||
|
writeByte(PWR_MGMT_1, 0x01); // Auto select clock source to be PLL gyroscope reference if ready else
|
||
|
delay(200);
|
||
|
|
||
|
// Configure Gyro and Thermometer
|
||
|
// Disable FSYNC and set thermometer and gyro bandwidth to 41 and 42 Hz, respectively;
|
||
|
// minimum delay time for this setting is 5.9 ms, which means sensor fusion update rates cannot
|
||
|
// be higher than 1 / 0.0059 = 170 Hz
|
||
|
// DLPF_CFG = bits 2:0 = 011; this limits the sample rate to 1000 Hz for both
|
||
|
// With the MPU9250, it is possible to get gyro sample rates of 32 kHz (!), 8 kHz, or 1 kHz
|
||
|
writeByte(CONFIG, 0x03);
|
||
|
|
||
|
// Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
|
||
|
writeByte(SMPLRT_DIV, 0x04); // Use a 200 Hz rate; a rate consistent with the filter update rate
|
||
|
// determined inset in CONFIG above
|
||
|
|
||
|
// Set gyroscope full scale range
|
||
|
// Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
|
||
|
uint8_t c = readByte(GYRO_CONFIG); // get current GYRO_CONFIG register value
|
||
|
// c = c & ~0xE0; // Clear self-test bits [7:5]
|
||
|
c = c & ~0x02; // Clear Fchoice bits [1:0]
|
||
|
c = c & ~0x18; // Clear AFS bits [4:3]
|
||
|
c = c | Gscale << 3; // Set full scale range for the gyro
|
||
|
// c =| 0x00; // Set Fchoice for the gyro to 11 by writing its inverse to bits 1:0 of GYRO_CONFIG
|
||
|
writeByte(GYRO_CONFIG, c ); // Write new GYRO_CONFIG value to register
|
||
|
|
||
|
// Set accelerometer full-scale range configuration
|
||
|
c = readByte(ACCEL_CONFIG); // get current ACCEL_CONFIG register value
|
||
|
// c = c & ~0xE0; // Clear self-test bits [7:5]
|
||
|
c = c & ~0x18; // Clear AFS bits [4:3]
|
||
|
c = c | Ascale << 3; // Set full scale range for the accelerometer
|
||
|
writeByte(ACCEL_CONFIG, c); // Write new ACCEL_CONFIG register value
|
||
|
|
||
|
// Set accelerometer sample rate configuration
|
||
|
// It is possible to get a 4 kHz sample rate from the accelerometer by choosing 1 for
|
||
|
// accel_fchoice_b bit [3]; in this case the bandwidth is 1.13 kHz
|
||
|
c = readByte(ACCEL_CONFIG2); // get current ACCEL_CONFIG2 register value
|
||
|
c = c & ~0x0F; // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0])
|
||
|
c = c | 0x03; // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz
|
||
|
writeByte(ACCEL_CONFIG2, c); // Write new ACCEL_CONFIG2 register value
|
||
|
// The accelerometer, gyro, and thermometer are set to 1 kHz sample rates,
|
||
|
// but all these rates are further reduced by a factor of 5 to 200 Hz because of the SMPLRT_DIV setting
|
||
|
|
||
|
// Configure Interrupts and Bypass Enable
|
||
|
// Set interrupt pin active high, push-pull, hold interrupt pin level HIGH until interrupt cleared,
|
||
|
// clear on read of INT_STATUS, and enable I2C_BYPASS_EN so additional chips
|
||
|
// can join the I2C bus and all can be controlled by the Arduino as master
|
||
|
writeByte(INT_PIN_CFG, 0x22);
|
||
|
writeByte(INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
|
||
|
delay(100);
|
||
|
|
||
|
}
|
||
|
|
||
|
byte MPU9250_ACC::begin(bool fusion)
|
||
|
{
|
||
|
Wire.begin();
|
||
|
Wire.setClock(400000);
|
||
|
//float SelfTest[6];
|
||
|
//MPU9250SelfTest(SelfTest);
|
||
|
byte c = readByte(WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
|
||
|
if (c != 0x68 && c != 0x71) return 0;
|
||
|
initMPU9250();
|
||
|
return (c == 0x71) ? 2 : 1;
|
||
|
}
|
||
|
|
||
|
bool MPU9250_ACC::read(float* acc, float* gyr, float* mag, int16_t* temp, ORIENTATION* ori)
|
||
|
{
|
||
|
if (acc) {
|
||
|
readAccelData(accelCount);
|
||
|
acc[0] = (float)accelCount[0]*aRes; // - accelBias[0]; // get actual g value, this depends on scale being set
|
||
|
acc[1] = (float)accelCount[1]*aRes; // - accelBias[1];
|
||
|
acc[2] = (float)accelCount[2]*aRes; // - accelBias[2];
|
||
|
}
|
||
|
if (temp) {
|
||
|
int t = readTempData();
|
||
|
*temp = (float)t / 33.387 + 210;
|
||
|
}
|
||
|
return true;
|
||
|
}
|
||
|
|
||
|
byte MPU9250_9DOF::begin(bool fusion)
|
||
|
{
|
||
|
byte ret = 0;
|
||
|
Wire.begin();
|
||
|
Wire.setClock(400000);
|
||
|
for (byte attempt = 0; attempt < 2; attempt++) {
|
||
|
//float SelfTest[6];
|
||
|
//MPU9250SelfTest(SelfTest);
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||
|
byte c = readByte(WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
|
||
|
if (c != 0x68 && c != 0x71) continue;
|
||
|
calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
|
||
|
initMPU9250();
|
||
|
initAK8963(magCalibration);
|
||
|
ret = (c == 0x71) ? 2 : 1;
|
||
|
break;
|
||
|
}
|
||
|
if (ret && fusion && !quaterion) {
|
||
|
quaterion = new CQuaterion;
|
||
|
}
|
||
|
return ret;
|
||
|
}
|
||
|
|
||
|
bool MPU9250_9DOF::read(float* acc, float* gyr, float* mag, int16_t* temp, ORIENTATION* ori)
|
||
|
{
|
||
|
if (acc) {
|
||
|
readAccelData(accelCount);
|
||
|
acc[0] = (float)accelCount[0]*aRes; // - accelBias[0]; // get actual g value, this depends on scale being set
|
||
|
acc[1] = (float)accelCount[1]*aRes; // - accelBias[1];
|
||
|
acc[2] = (float)accelCount[2]*aRes; // - accelBias[2];
|
||
|
}
|
||
|
if (gyr) {
|
||
|
readGyroData(gyroCount);
|
||
|
gyr[0] = (float)gyroCount[0]*gRes; // get actual gyro value, this depends on scale being set
|
||
|
gyr[1] = (float)gyroCount[1]*gRes;
|
||
|
gyr[2] = (float)gyroCount[2]*gRes;
|
||
|
}
|
||
|
if (mag) {
|
||
|
float magbias[3];
|
||
|
magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
|
||
|
magbias[1] = +120.; // User environmental x-axis correction in milliGauss
|
||
|
magbias[2] = +125.; // User environmental x-axis correction in milliGauss
|
||
|
|
||
|
// Calculate the magnetometer values in milliGauss
|
||
|
// Include factory calibration per data sheet and user environmental corrections
|
||
|
mag[0] = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
|
||
|
mag[1] = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
|
||
|
mag[2] = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
|
||
|
}
|
||
|
if (temp) {
|
||
|
int t = readTempData();
|
||
|
*temp = (float)t / 33.387 + 210;
|
||
|
}
|
||
|
|
||
|
if (quaterion && acc && gyr && mag) {
|
||
|
quaterion->MadgwickQuaternionUpdate(acc[0], acc[1], acc[2], gyr[0]*PI/180.0f, gyr[1]*PI/180.0f, gyr[2]*PI/180.0f, mag[0], mag[1], mag[2]);
|
||
|
quaterion->getOrientation(ori);
|
||
|
}
|
||
|
return true;
|
||
|
}
|