|
|
@@ -0,0 +1,954 @@
|
|
|
+#pragma once
|
|
|
+#ifndef MPU9250_H
|
|
|
+#define MPU9250_H
|
|
|
+
|
|
|
+#include <Wire.h>
|
|
|
+
|
|
|
+#include "MPU9250/MPU9250RegisterMap.h"
|
|
|
+#include "MPU9250/QuaternionFilter.h"
|
|
|
+
|
|
|
+enum class AFS { A2G,
|
|
|
+ A4G,
|
|
|
+ A8G,
|
|
|
+ A16G };
|
|
|
+enum class GFS { G250DPS,
|
|
|
+ G500DPS,
|
|
|
+ G1000DPS,
|
|
|
+ G2000DPS };
|
|
|
+enum class MFS { M14BITS,
|
|
|
+ M16BITS };
|
|
|
+static constexpr uint8_t MPU9250_WHOAMI_DEFAULT_VALUE{0x71};
|
|
|
+static constexpr uint8_t MPU9255_WHOAMI_DEFAULT_VALUE{0x73};
|
|
|
+
|
|
|
+template <typename WireType, uint8_t WHO_AM_I, AFS AFSSEL = AFS::A16G, GFS GFSSEL = GFS::G2000DPS, MFS MFSSEL = MFS::M16BITS>
|
|
|
+class MPU9250_ {
|
|
|
+ static constexpr uint8_t MPU9250_DEFAULT_ADDRESS{0x68}; // Device address when ADO = 0
|
|
|
+ static constexpr uint8_t AK8963_ADDRESS{0x0C}; // Address of magnetometer
|
|
|
+ uint8_t MPU9250_ADDRESS{MPU9250_DEFAULT_ADDRESS};
|
|
|
+
|
|
|
+ const uint8_t AK8963_WHOAMI_DEFAULT_VALUE{0x48};
|
|
|
+
|
|
|
+ // Set initial input parameters
|
|
|
+ // const uint8_t Mmode {0x02}; // 2 for 8 Hz, 6 for 100 Hz continuous magnetometer data read
|
|
|
+ const uint8_t Mmode{0x06}; // 2 for 8 Hz, 6 for 100 Hz continuous magnetometer data read
|
|
|
+ const float aRes{getAres()}; // scale resolutions per LSB for the sensors
|
|
|
+ const float gRes{getGres()}; // scale resolutions per LSB for the sensors
|
|
|
+ const float mRes{getMres()}; // scale resolutions per LSB for the sensors
|
|
|
+
|
|
|
+ float magCalibration[3] = {0, 0, 0}; // factory mag calibration
|
|
|
+ float magBias[3] = {0, 0, 0};
|
|
|
+ float magScale[3] = {1.0, 1.0, 1.0}; // Bias corrections for gyro and accelerometer
|
|
|
+
|
|
|
+ float gyroBias[3] = {0, 0, 0}; // bias corrections
|
|
|
+ float accelBias[3] = {0, 0, 0}; // bias corrections
|
|
|
+
|
|
|
+ int16_t tempCount; // temperature raw count output
|
|
|
+ float temperature; // Stores the real internal chip temperature in degrees Celsius
|
|
|
+ float SelfTestResult[6]; // holds results of gyro and accelerometer self test
|
|
|
+
|
|
|
+ float a[3], g[3], m[3];
|
|
|
+ float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
|
|
|
+ float pitch, yaw, roll;
|
|
|
+ float a12, a22, a31, a32, a33; // rotation matrix coefficients for Euler angles and gravity components
|
|
|
+ float lin_ax, lin_ay, lin_az; // linear acceleration (acceleration with gravity component subtracted)
|
|
|
+
|
|
|
+ QuaternionFilter qFilter;
|
|
|
+
|
|
|
+ float magnetic_declination = 4.6; // Köthen, 26th November
|
|
|
+
|
|
|
+ bool b_verbose{false};
|
|
|
+
|
|
|
+public:
|
|
|
+ MPU9250_() : aRes(getAres()), gRes(getGres()), mRes(getMres()) {}
|
|
|
+
|
|
|
+ bool setup(const uint8_t addr, WireType& w = Wire) {
|
|
|
+ // addr should be valid for MPU
|
|
|
+ if ((addr < MPU9250_DEFAULT_ADDRESS) || (addr > MPU9250_DEFAULT_ADDRESS + 7)) {
|
|
|
+ Serial.print("I2C address 0x");
|
|
|
+ Serial.print(addr, HEX);
|
|
|
+ Serial.println(" is not valid for MPU. Please check your I2C address.");
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ wire = &w;
|
|
|
+ MPU9250_ADDRESS = addr;
|
|
|
+
|
|
|
+ if (isConnectedMPU9250()) {
|
|
|
+ if (b_verbose)
|
|
|
+ Serial.println("MPU9250 is online...");
|
|
|
+
|
|
|
+ initMPU9250();
|
|
|
+
|
|
|
+ if (isConnectedAK8963())
|
|
|
+ initAK8963(magCalibration);
|
|
|
+ else {
|
|
|
+ if (b_verbose)
|
|
|
+ Serial.println("Could not connect to AK8963");
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ } else {
|
|
|
+ if (b_verbose)
|
|
|
+ Serial.println("Could not connect to MPU9250");
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+
|
|
|
+ void verbose(const bool b) { b_verbose = b; }
|
|
|
+
|
|
|
+ void calibrateAccelGyro() {
|
|
|
+ calibrateMPU9250(gyroBias, accelBias);
|
|
|
+ }
|
|
|
+
|
|
|
+ void calibrateMag() {
|
|
|
+ magcalMPU9250(magBias, magScale);
|
|
|
+ }
|
|
|
+
|
|
|
+ bool isConnectedMPU9250() {
|
|
|
+ byte c = readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
|
|
+ if (b_verbose) {
|
|
|
+ Serial.print("MPU9250 WHO AM I = ");
|
|
|
+ Serial.println(c, HEX);
|
|
|
+ }
|
|
|
+ return (c == WHO_AM_I);
|
|
|
+ }
|
|
|
+
|
|
|
+ bool isConnectedAK8963() {
|
|
|
+ byte c = readByte(AK8963_ADDRESS, AK8963_WHO_AM_I);
|
|
|
+ if (b_verbose) {
|
|
|
+ Serial.print("AK8963 WHO AM I = ");
|
|
|
+ Serial.println(c, HEX);
|
|
|
+ }
|
|
|
+ return (c == AK8963_WHOAMI_DEFAULT_VALUE);
|
|
|
+ }
|
|
|
+
|
|
|
+ bool available() {
|
|
|
+ return (readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01);
|
|
|
+ }
|
|
|
+
|
|
|
+ bool update() {
|
|
|
+ if (!available()) return false;
|
|
|
+
|
|
|
+ updateAccelGyro();
|
|
|
+ updateMag();
|
|
|
+
|
|
|
+ // Madgwick function needs to be fed North, East, and Down direction like
|
|
|
+ // (AN, AE, AD, GN, GE, GD, MN, ME, MD)
|
|
|
+ // Accel and Gyro direction is Right-Hand, X-Forward, Z-Up
|
|
|
+ // Magneto direction is Right-Hand, Y-Forward, Z-Down
|
|
|
+ // So to adopt to the general Aircraft coordinate system (Right-Hand, X-Forward, Z-Down),
|
|
|
+ // we need to feed (ax, -ay, -az, gx, -gy, -gz, my, -mx, mz)
|
|
|
+ // but we pass (-ax, ay, az, gx, -gy, -gz, my, -mx, mz)
|
|
|
+ // because gravity is by convention positive down, we need to ivnert the accel data
|
|
|
+
|
|
|
+ // get quaternion based on aircraft coordinate (Right-Hand, X-Forward, Z-Down)
|
|
|
+ // acc[mg], gyro[deg/s], mag [mG]
|
|
|
+ // gyro will be convert from [deg/s] to [rad/s] inside of this function
|
|
|
+ qFilter.update(-a[0], a[1], a[2], g[0], -g[1], -g[2], m[1], -m[0], m[2], q);
|
|
|
+
|
|
|
+ if (!b_ahrs) {
|
|
|
+ tempCount = readTempData(); // Read the adc values
|
|
|
+ temperature = ((float)tempCount) / 333.87 + 21.0; // Temperature in degrees Centigrade
|
|
|
+ } else {
|
|
|
+ // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
|
|
|
+ // In this coordinate system, the positive z-axis is down toward Earth.
|
|
|
+ // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
|
|
|
+ // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
|
|
|
+ // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
|
|
|
+ // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
|
|
|
+ // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
|
|
|
+ // applied in the correct order which for this configuration is yaw, pitch, and then roll.
|
|
|
+ // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
|
|
|
+ updateRPY();
|
|
|
+ }
|
|
|
+
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+
|
|
|
+ // TODO: more efficient getter, const refrerence of struct??
|
|
|
+ float getRoll() const { return roll; }
|
|
|
+ float getPitch() const { return pitch; }
|
|
|
+ float getYaw() const { return yaw; }
|
|
|
+
|
|
|
+ float getQuaternion(const uint8_t i) const { return (i < 4) ? q[i] : 0.f; }
|
|
|
+
|
|
|
+ float getQuaternionX() const { return q[0]; }
|
|
|
+ float getQuaternionY() const { return q[1]; }
|
|
|
+ float getQuaternionZ() const { return q[2]; }
|
|
|
+ float getQuaternionW() const { return q[3]; }
|
|
|
+
|
|
|
+ float getAcc(const uint8_t i) const { return (i < 3) ? a[i] : 0.f; }
|
|
|
+ float getGyro(const uint8_t i) const { return (i < 3) ? g[i] : 0.f; }
|
|
|
+ float getMag(const uint8_t i) const { return (i < 3) ? m[i] : 0.f; }
|
|
|
+
|
|
|
+ float getAccX() const { return a[0]; }
|
|
|
+ float getAccY() const { return a[1]; }
|
|
|
+ float getAccZ() const { return a[2]; }
|
|
|
+ float getGyroX() const { return g[0]; }
|
|
|
+ float getGyroY() const { return g[1]; }
|
|
|
+ float getGyroZ() const { return g[2]; }
|
|
|
+ float getMagX() const { return m[0]; }
|
|
|
+ float getMagY() const { return m[1]; }
|
|
|
+ float getMagZ() const { return m[2]; }
|
|
|
+
|
|
|
+ float getAccBias(const uint8_t i) const { return (i < 3) ? accelBias[i] : 0.f; }
|
|
|
+ float getGyroBias(const uint8_t i) const { return (i < 3) ? gyroBias[i] : 0.f; }
|
|
|
+ float getMagBias(const uint8_t i) const { return (i < 3) ? magBias[i] : 0.f; }
|
|
|
+ float getMagScale(const uint8_t i) const { return (i < 3) ? magScale[i] : 0.f; }
|
|
|
+
|
|
|
+ float getAccBiasX() const { return accelBias[0]; }
|
|
|
+ float getAccBiasY() const { return accelBias[1]; }
|
|
|
+ float getAccBiasZ() const { return accelBias[2]; }
|
|
|
+ float getGyroBiasX() const { return gyroBias[0]; }
|
|
|
+ float getGyroBiasY() const { return gyroBias[1]; }
|
|
|
+ float getGyroBiasZ() const { return gyroBias[2]; }
|
|
|
+ float getMagBiasX() const { return magBias[0]; }
|
|
|
+ float getMagBiasY() const { return magBias[1]; }
|
|
|
+ float getMagBiasZ() const { return magBias[2]; }
|
|
|
+ float getMagScaleX() const { return magScale[0]; }
|
|
|
+ float getMagScaleY() const { return magScale[1]; }
|
|
|
+ float getMagScaleZ() const { return magScale[2]; }
|
|
|
+
|
|
|
+ float getTemperature() const { return temperature; }
|
|
|
+
|
|
|
+ void setAccBias(const uint8_t i, const float v) {
|
|
|
+ if (i < 3) accelBias[i] = v;
|
|
|
+ }
|
|
|
+ void setGyroBias(const uint8_t i, const float v) {
|
|
|
+ if (i < 3) gyroBias[i] = v;
|
|
|
+ }
|
|
|
+ void setMagBias(const uint8_t i, const float v) {
|
|
|
+ if (i < 3) magBias[i] = v;
|
|
|
+ }
|
|
|
+ void setMagScale(const uint8_t i, const float v) {
|
|
|
+ if (i < 3) magScale[i] = v;
|
|
|
+ }
|
|
|
+
|
|
|
+ void setAccBiasX(const float v) { accelBias[0] = v; }
|
|
|
+ void setAccBiasY(const float v) { accelBias[1] = v; }
|
|
|
+ void setAccBiasZ(const float v) { accelBias[2] = v; }
|
|
|
+ void setGyroBiasX(const float v) { gyroBias[0] = v; }
|
|
|
+ void setGyroBiasY(const float v) { gyroBias[1] = v; }
|
|
|
+ void setGyroBiasZ(const float v) { gyroBias[2] = v; }
|
|
|
+ void setMagBiasX(const float v) { magBias[0] = v; }
|
|
|
+ void setMagBiasY(const float v) { magBias[1] = v; }
|
|
|
+ void setMagBiasZ(const float v) { magBias[2] = v; }
|
|
|
+ void setMagScaleX(const float v) { magScale[0] = v; }
|
|
|
+ void setMagScaleY(const float v) { magScale[1] = v; }
|
|
|
+ void setMagScaleZ(const float v) { magScale[2] = v; }
|
|
|
+
|
|
|
+ void setMagneticDeclination(const float d) { magnetic_declination = d; }
|
|
|
+
|
|
|
+ void print() const {
|
|
|
+ printRawData();
|
|
|
+ printRollPitchYaw();
|
|
|
+ printCalibration();
|
|
|
+ }
|
|
|
+
|
|
|
+ void printRawData() const {
|
|
|
+ // Print acceleration values in milligs!
|
|
|
+ Serial.print("ax = ");
|
|
|
+ Serial.print((int)1000 * a[0]);
|
|
|
+ Serial.print(" ay = ");
|
|
|
+ Serial.print((int)1000 * a[1]);
|
|
|
+ Serial.print(" az = ");
|
|
|
+ Serial.print((int)1000 * a[2]);
|
|
|
+ Serial.println(" mg");
|
|
|
+ // Print gyro values in degree/sec
|
|
|
+ Serial.print("gx = ");
|
|
|
+ Serial.print(g[0], 2);
|
|
|
+ Serial.print(" gy = ");
|
|
|
+ Serial.print(g[1], 2);
|
|
|
+ Serial.print(" gz = ");
|
|
|
+ Serial.print(g[2], 2);
|
|
|
+ Serial.println(" deg/s");
|
|
|
+ // Print mag values in degree/sec
|
|
|
+ Serial.print("mx = ");
|
|
|
+ Serial.print((int)m[0]);
|
|
|
+ Serial.print(" my = ");
|
|
|
+ Serial.print((int)m[1]);
|
|
|
+ Serial.print(" mz = ");
|
|
|
+ Serial.print((int)m[2]);
|
|
|
+ Serial.println(" mG");
|
|
|
+
|
|
|
+ Serial.print("q0 = ");
|
|
|
+ Serial.print(q[0]);
|
|
|
+ Serial.print(" qx = ");
|
|
|
+ Serial.print(q[1]);
|
|
|
+ Serial.print(" qy = ");
|
|
|
+ Serial.print(q[2]);
|
|
|
+ Serial.print(" qz = ");
|
|
|
+ Serial.println(q[3]);
|
|
|
+ }
|
|
|
+
|
|
|
+ void printRollPitchYaw() const {
|
|
|
+ Serial.print("Yaw, Pitch, Roll: ");
|
|
|
+ Serial.print(yaw, 2);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(pitch, 2);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.println(roll, 2);
|
|
|
+ }
|
|
|
+
|
|
|
+ void printCalibration() const {
|
|
|
+ Serial.println("< calibration parameters >");
|
|
|
+ Serial.println("accel bias [g]: ");
|
|
|
+ Serial.print(accelBias[0] * 1000.f);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(accelBias[1] * 1000.f);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(accelBias[2] * 1000.f);
|
|
|
+ Serial.println();
|
|
|
+ Serial.println("gyro bias [deg/s]: ");
|
|
|
+ Serial.print(gyroBias[0]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(gyroBias[1]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(gyroBias[2]);
|
|
|
+ Serial.println();
|
|
|
+ Serial.println("mag bias [mG]: ");
|
|
|
+ Serial.print(magBias[0]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(magBias[1]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(magBias[2]);
|
|
|
+ Serial.println();
|
|
|
+ Serial.println("mag scale []: ");
|
|
|
+ Serial.print(magScale[0]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(magScale[1]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(magScale[2]);
|
|
|
+ Serial.println();
|
|
|
+ }
|
|
|
+
|
|
|
+private:
|
|
|
+ float getAres() const {
|
|
|
+ switch (AFSSEL) {
|
|
|
+ // Possible accelerometer scales (and their register bit settings) are:
|
|
|
+ // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
|
|
|
+ // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
|
|
|
+ case AFS::A2G:
|
|
|
+ return 2.0 / 32768.0;
|
|
|
+ case AFS::A4G:
|
|
|
+ return 4.0 / 32768.0;
|
|
|
+ case AFS::A8G:
|
|
|
+ return 8.0 / 32768.0;
|
|
|
+ case AFS::A16G:
|
|
|
+ return 16.0 / 32768.0;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ float getGres() const {
|
|
|
+ switch (GFSSEL) {
|
|
|
+ // Possible gyro scales (and their register bit settings) are:
|
|
|
+ // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
|
|
|
+ // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
|
|
|
+ case GFS::G250DPS:
|
|
|
+ return 250.0 / 32768.0;
|
|
|
+ case GFS::G500DPS:
|
|
|
+ return 500.0 / 32768.0;
|
|
|
+ case GFS::G1000DPS:
|
|
|
+ return 1000.0 / 32768.0;
|
|
|
+ case GFS::G2000DPS:
|
|
|
+ return 2000.0 / 32768.0;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ float getMres() const {
|
|
|
+ switch (MFSSEL) {
|
|
|
+ // Possible magnetometer scales (and their register bit settings) are:
|
|
|
+ // 14 bit resolution (0) and 16 bit resolution (1)
|
|
|
+ // Proper scale to return milliGauss
|
|
|
+ case MFS::M14BITS:
|
|
|
+ return 10. * 4912. / 8190.0;
|
|
|
+ case MFS::M16BITS:
|
|
|
+ return 10. * 4912. / 32760.0;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ void updateAccelGyro() {
|
|
|
+ int16_t MPU9250Data[7]; // used to read all 14 bytes at once from the MPU9250 accel/gyro
|
|
|
+ readMPU9250Data(MPU9250Data); // INT cleared on any read
|
|
|
+
|
|
|
+ // Now we'll calculate the accleration value into actual g's
|
|
|
+ a[0] = (float)MPU9250Data[0] * aRes - accelBias[0]; // get actual g value, this depends on scale being set
|
|
|
+ a[1] = (float)MPU9250Data[1] * aRes - accelBias[1];
|
|
|
+ a[2] = (float)MPU9250Data[2] * aRes - accelBias[2];
|
|
|
+
|
|
|
+ tempCount = MPU9250Data[3]; // Read the adc values
|
|
|
+ temperature = ((float)tempCount) / 333.87 + 21.0; // Temperature in degrees Centigrade
|
|
|
+
|
|
|
+ // Calculate the gyro value into actual degrees per second
|
|
|
+ g[0] = (float)MPU9250Data[4] * gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
|
|
|
+ g[1] = (float)MPU9250Data[5] * gRes - gyroBias[1];
|
|
|
+ g[2] = (float)MPU9250Data[6] * gRes - gyroBias[2];
|
|
|
+ }
|
|
|
+
|
|
|
+ void readMPU9250Data(int16_t* destination) {
|
|
|
+ uint8_t rawData[14]; // x/y/z accel register data stored here
|
|
|
+ readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 14, &rawData[0]); // Read the 14 raw data registers into data array
|
|
|
+ destination[0] = ((int16_t)rawData[0] << 8) | rawData[1]; // Turn the MSB and LSB into a signed 16-bit value
|
|
|
+ destination[1] = ((int16_t)rawData[2] << 8) | rawData[3];
|
|
|
+ destination[2] = ((int16_t)rawData[4] << 8) | rawData[5];
|
|
|
+ destination[3] = ((int16_t)rawData[6] << 8) | rawData[7];
|
|
|
+ destination[4] = ((int16_t)rawData[8] << 8) | rawData[9];
|
|
|
+ destination[5] = ((int16_t)rawData[10] << 8) | rawData[11];
|
|
|
+ destination[6] = ((int16_t)rawData[12] << 8) | rawData[13];
|
|
|
+ }
|
|
|
+
|
|
|
+ void updateMag() {
|
|
|
+ int16_t magCount[3] = {0, 0, 0}; // Stores the 16-bit signed magnetometer sensor output
|
|
|
+ readMagData(magCount); // Read the x/y/z adc values
|
|
|
+ // getMres();
|
|
|
+
|
|
|
+ // Calculate the magnetometer values in milliGauss
|
|
|
+ // Include factory calibration per data sheet and user environmental corrections
|
|
|
+ m[0] = (float)(magCount[0] * mRes * magCalibration[0] - magBias[0]) * magScale[0]; // get actual magnetometer value, this depends on scale being set
|
|
|
+ m[1] = (float)(magCount[1] * mRes * magCalibration[1] - magBias[1]) * magScale[1];
|
|
|
+ m[2] = (float)(magCount[2] * mRes * magCalibration[2] - magBias[2]) * magScale[2];
|
|
|
+ }
|
|
|
+
|
|
|
+ void readMagData(int16_t* destination) {
|
|
|
+ uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition
|
|
|
+ if (readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set
|
|
|
+ readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array
|
|
|
+ uint8_t c = rawData[6]; // End data read by reading ST2 register
|
|
|
+ if (!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data
|
|
|
+ destination[0] = ((int16_t)rawData[1] << 8) | rawData[0]; // Turn the MSB and LSB into a signed 16-bit value
|
|
|
+ destination[1] = ((int16_t)rawData[3] << 8) | rawData[2]; // Data stored as little Endian
|
|
|
+ destination[2] = ((int16_t)rawData[5] << 8) | rawData[4];
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ void updateRPY() {
|
|
|
+ a12 = 2.0f * (q[1] * q[2] + q[0] * q[3]);
|
|
|
+ a22 = q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3];
|
|
|
+ a31 = 2.0f * (q[0] * q[1] + q[2] * q[3]);
|
|
|
+ a32 = 2.0f * (q[1] * q[3] - q[0] * q[2]);
|
|
|
+ a33 = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
|
|
|
+ pitch = -asinf(a32);
|
|
|
+ roll = atan2f(a31, a33);
|
|
|
+ yaw = atan2f(a12, a22);
|
|
|
+ pitch *= 180.0f / PI;
|
|
|
+ roll *= 180.0f / PI;
|
|
|
+ yaw *= 180.0f / PI;
|
|
|
+ yaw += magnetic_declination;
|
|
|
+ if (yaw >= +180.f)
|
|
|
+ yaw -= 360.f;
|
|
|
+ else if (yaw < -180.f)
|
|
|
+ yaw += 360.f;
|
|
|
+
|
|
|
+ lin_ax = a[0] + a31;
|
|
|
+ lin_ay = a[1] + a32;
|
|
|
+ lin_az = a[2] - a33;
|
|
|
+ }
|
|
|
+
|
|
|
+ int16_t readTempData() {
|
|
|
+ uint8_t rawData[2]; // x/y/z gyro register data stored here
|
|
|
+ readBytes(MPU9250_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
|
|
|
+ return ((int16_t)rawData[0] << 8) | rawData[1]; // Turn the MSB and LSB into a 16-bit value
|
|
|
+ }
|
|
|
+
|
|
|
+ void initAK8963(float* destination) {
|
|
|
+ // First extract the factory calibration for each magnetometer axis
|
|
|
+ uint8_t rawData[3]; // x/y/z gyro calibration data stored here
|
|
|
+ writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
|
|
|
+ delay(10);
|
|
|
+ writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
|
|
|
+ delay(10);
|
|
|
+ readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values
|
|
|
+ destination[0] = (float)(rawData[0] - 128) / 256. + 1.; // Return x-axis sensitivity adjustment values, etc.
|
|
|
+ destination[1] = (float)(rawData[1] - 128) / 256. + 1.;
|
|
|
+ destination[2] = (float)(rawData[2] - 128) / 256. + 1.;
|
|
|
+ writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
|
|
|
+ delay(10);
|
|
|
+ // Configure the magnetometer for continuous read and highest resolution
|
|
|
+ // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register,
|
|
|
+ // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates
|
|
|
+ writeByte(AK8963_ADDRESS, AK8963_CNTL, (uint8_t)MFSSEL << 4 | Mmode); // Set magnetometer data resolution and sample ODR
|
|
|
+ delay(10);
|
|
|
+
|
|
|
+ if (b_verbose) {
|
|
|
+ Serial.println("Calibration values: ");
|
|
|
+ Serial.print("X-Axis sensitivity adjustment value ");
|
|
|
+ Serial.println(destination[0], 2);
|
|
|
+ Serial.print("Y-Axis sensitivity adjustment value ");
|
|
|
+ Serial.println(destination[1], 2);
|
|
|
+ Serial.print("Z-Axis sensitivity adjustment value ");
|
|
|
+ Serial.println(destination[2], 2);
|
|
|
+ Serial.print("X-Axis sensitivity offset value ");
|
|
|
+ Serial.println(magBias[0], 2);
|
|
|
+ Serial.print("Y-Axis sensitivity offset value ");
|
|
|
+ Serial.println(magBias[1], 2);
|
|
|
+ Serial.print("Z-Axis sensitivity offset value ");
|
|
|
+ Serial.println(magBias[2], 2);
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ void magcalMPU9250(float* dest1, float* dest2) {
|
|
|
+ uint16_t ii = 0, sample_count = 0;
|
|
|
+ int32_t mag_bias[3] = {0, 0, 0}, mag_scale[3] = {0, 0, 0};
|
|
|
+ int16_t mag_max[3] = {-32767, -32767, -32767}, mag_min[3] = {32767, 32767, 32767}, mag_temp[3] = {0, 0, 0};
|
|
|
+
|
|
|
+ if (b_verbose)
|
|
|
+ Serial.println("Mag Calibration: Wave device in a figure eight until done!");
|
|
|
+ delay(4000);
|
|
|
+
|
|
|
+ // shoot for ~fifteen seconds of mag data
|
|
|
+ if (Mmode == 0x02)
|
|
|
+ sample_count = 128; // at 8 Hz ODR, new mag data is available every 125 ms
|
|
|
+ else if (Mmode == 0x06)
|
|
|
+ sample_count = 1500; // at 100 Hz ODR, new mag data is available every 10 ms
|
|
|
+
|
|
|
+ for (ii = 0; ii < sample_count; ii++) {
|
|
|
+ readMagData(mag_temp); // Read the mag data
|
|
|
+ for (int jj = 0; jj < 3; jj++) {
|
|
|
+ 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];
|
|
|
+ }
|
|
|
+ if (Mmode == 0x02) delay(135); // at 8 Hz ODR, new mag data is available every 125 ms
|
|
|
+ if (Mmode == 0x06) delay(12); // at 100 Hz ODR, new mag data is available every 10 ms
|
|
|
+ }
|
|
|
+
|
|
|
+ if (b_verbose) {
|
|
|
+ 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]);
|
|
|
+ }
|
|
|
+
|
|
|
+ // Get hard iron correction
|
|
|
+ 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];
|
|
|
+
|
|
|
+ // Get soft iron correction estimate
|
|
|
+ mag_scale[0] = (mag_max[0] - mag_min[0]) / 2; // get average x axis max chord length in counts
|
|
|
+ mag_scale[1] = (mag_max[1] - mag_min[1]) / 2; // get average y axis max chord length in counts
|
|
|
+ mag_scale[2] = (mag_max[2] - mag_min[2]) / 2; // get average z axis max chord length in counts
|
|
|
+
|
|
|
+ float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2];
|
|
|
+ avg_rad /= 3.0;
|
|
|
+
|
|
|
+ dest2[0] = avg_rad / ((float)mag_scale[0]);
|
|
|
+ dest2[1] = avg_rad / ((float)mag_scale[1]);
|
|
|
+ dest2[2] = avg_rad / ((float)mag_scale[2]);
|
|
|
+
|
|
|
+ if (b_verbose) {
|
|
|
+ Serial.println("Mag Calibration done!");
|
|
|
+
|
|
|
+ Serial.println("AK8963 mag biases (mG)");
|
|
|
+ Serial.print(magBias[0]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(magBias[1]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(magBias[2]);
|
|
|
+ Serial.println();
|
|
|
+ Serial.println("AK8963 mag scale (mG)");
|
|
|
+ Serial.print(magScale[0]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(magScale[1]);
|
|
|
+ Serial.print(", ");
|
|
|
+ Serial.print(magScale[2]);
|
|
|
+ Serial.println();
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ void initMPU9250() {
|
|
|
+ // wake up device
|
|
|
+ writeByte(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, MPU_CONFIG, 0x03);
|
|
|
+
|
|
|
+ // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
|
|
|
+ writeByte(MPU9250_ADDRESS, 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 GFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
|
|
|
+ uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); // get current GYRO_CONFIG register value
|
|
|
+ // c = c & ~0xE0; // Clear self-test bits [7:5]
|
|
|
+ c = c & ~0x03; // Clear Fchoice bits [1:0]
|
|
|
+ c = c & ~0x18; // Clear GFS bits [4:3]
|
|
|
+ c = c | (uint8_t)GFSSEL << 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(MPU9250_ADDRESS, GYRO_CONFIG, c); // Write new GYRO_CONFIG value to register
|
|
|
+
|
|
|
+ // Set accelerometer full-scale range configuration
|
|
|
+ c = readByte(MPU9250_ADDRESS, 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 | (uint8_t)AFSSEL << 3; // Set full scale range for the accelerometer
|
|
|
+ writeByte(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
|
|
|
+ writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
|
|
|
+ delay(100);
|
|
|
+ }
|
|
|
+
|
|
|
+ // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
|
|
|
+ // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
|
|
|
+ void calibrateMPU9250(float* dest1, float* dest2) {
|
|
|
+ uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
|
|
|
+ uint16_t ii, packet_count, fifo_count;
|
|
|
+ int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
|
|
|
+
|
|
|
+ // reset device
|
|
|
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
|
|
|
+ delay(100);
|
|
|
+
|
|
|
+ // get stable time source; Auto select clock source to be PLL gyroscope reference if ready
|
|
|
+ // else use the internal oscillator, bits 2:0 = 001
|
|
|
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);
|
|
|
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00);
|
|
|
+ delay(200);
|
|
|
+
|
|
|
+ // Configure device for bias calculation
|
|
|
+ writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
|
|
|
+ writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
|
|
|
+ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
|
|
|
+ writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
|
|
|
+ writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
|
|
|
+ writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
|
|
|
+ delay(15);
|
|
|
+
|
|
|
+ // Configure MPU6050 gyro and accelerometer for bias calculation
|
|
|
+ writeByte(MPU9250_ADDRESS, MPU_CONFIG, 0x01); // Set low-pass filter to 188 Hz
|
|
|
+ writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
|
|
|
+ writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
|
|
|
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
|
|
|
+
|
|
|
+ uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
|
|
|
+ uint16_t accelsensitivity = 16384; // = 16384 LSB/g
|
|
|
+
|
|
|
+ // Configure FIFO to capture accelerometer and gyro data for bias calculation
|
|
|
+ writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
|
|
|
+ writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9150)
|
|
|
+ delay(40); // accumulate 40 samples in 40 milliseconds = 480 bytes
|
|
|
+
|
|
|
+ // At end of sample accumulation, turn off FIFO sensor read
|
|
|
+ writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
|
|
|
+ readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
|
|
|
+ fifo_count = ((uint16_t)data[0] << 8) | data[1];
|
|
|
+ packet_count = fifo_count / 12; // How many sets of full gyro and accelerometer data for averaging
|
|
|
+
|
|
|
+ for (ii = 0; ii < packet_count; ii++) {
|
|
|
+ int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
|
|
|
+ readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
|
|
|
+ accel_temp[0] = (int16_t)(((int16_t)data[0] << 8) | data[1]); // Form signed 16-bit integer for each sample in FIFO
|
|
|
+ accel_temp[1] = (int16_t)(((int16_t)data[2] << 8) | data[3]);
|
|
|
+ accel_temp[2] = (int16_t)(((int16_t)data[4] << 8) | data[5]);
|
|
|
+ gyro_temp[0] = (int16_t)(((int16_t)data[6] << 8) | data[7]);
|
|
|
+ gyro_temp[1] = (int16_t)(((int16_t)data[8] << 8) | data[9]);
|
|
|
+ gyro_temp[2] = (int16_t)(((int16_t)data[10] << 8) | data[11]);
|
|
|
+
|
|
|
+ accel_bias[0] += (int32_t)accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
|
|
|
+ accel_bias[1] += (int32_t)accel_temp[1];
|
|
|
+ accel_bias[2] += (int32_t)accel_temp[2];
|
|
|
+ gyro_bias[0] += (int32_t)gyro_temp[0];
|
|
|
+ gyro_bias[1] += (int32_t)gyro_temp[1];
|
|
|
+ gyro_bias[2] += (int32_t)gyro_temp[2];
|
|
|
+ }
|
|
|
+ accel_bias[0] /= (int32_t)packet_count; // Normalize sums to get average count biases
|
|
|
+ accel_bias[1] /= (int32_t)packet_count;
|
|
|
+ accel_bias[2] /= (int32_t)packet_count;
|
|
|
+ gyro_bias[0] /= (int32_t)packet_count;
|
|
|
+ gyro_bias[1] /= (int32_t)packet_count;
|
|
|
+ gyro_bias[2] /= (int32_t)packet_count;
|
|
|
+
|
|
|
+ if (accel_bias[2] > 0L) {
|
|
|
+ accel_bias[2] -= (int32_t)accelsensitivity;
|
|
|
+ } // Remove gravity from the z-axis accelerometer bias calculation
|
|
|
+ else {
|
|
|
+ accel_bias[2] += (int32_t)accelsensitivity;
|
|
|
+ }
|
|
|
+
|
|
|
+ // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
|
|
|
+ data[0] = (-gyro_bias[0] / 4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
|
|
|
+ data[1] = (-gyro_bias[0] / 4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
|
|
|
+ data[2] = (-gyro_bias[1] / 4 >> 8) & 0xFF;
|
|
|
+ data[3] = (-gyro_bias[1] / 4) & 0xFF;
|
|
|
+ data[4] = (-gyro_bias[2] / 4 >> 8) & 0xFF;
|
|
|
+ data[5] = (-gyro_bias[2] / 4) & 0xFF;
|
|
|
+
|
|
|
+ // Push gyro biases to hardware registers
|
|
|
+ writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]);
|
|
|
+ writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]);
|
|
|
+ writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]);
|
|
|
+ writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]);
|
|
|
+ writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]);
|
|
|
+ writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]);
|
|
|
+
|
|
|
+ // Output scaled gyro biases for display in the main program
|
|
|
+ dest1[0] = (float)gyro_bias[0] / (float)gyrosensitivity;
|
|
|
+ dest1[1] = (float)gyro_bias[1] / (float)gyrosensitivity;
|
|
|
+ dest1[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(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]);
|
|
|
+ // accel_bias_reg[1] = (int32_t) (((int16_t)data[0] << 8) | data[1]);
|
|
|
+ // readBytes(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, XA_OFFSET_H, data[0]);
|
|
|
+ // writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
|
|
|
+ // writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
|
|
|
+ // writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
|
|
|
+ // writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
|
|
|
+ // writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);
|
|
|
+
|
|
|
+ // Output scaled accelerometer biases for display in the main program
|
|
|
+ dest2[0] = (float)accel_bias[0] / (float)accelsensitivity;
|
|
|
+ dest2[1] = (float)accel_bias[1] / (float)accelsensitivity;
|
|
|
+ dest2[2] = (float)accel_bias[2] / (float)accelsensitivity;
|
|
|
+
|
|
|
+ if (b_verbose) {
|
|
|
+ Serial.println("MPU9250 bias");
|
|
|
+ Serial.println(" x y z ");
|
|
|
+ Serial.print((int)(1000 * accelBias[0]));
|
|
|
+ Serial.print(" ");
|
|
|
+ Serial.print((int)(1000 * accelBias[1]));
|
|
|
+ Serial.print(" ");
|
|
|
+ Serial.print((int)(1000 * accelBias[2]));
|
|
|
+ Serial.print(" ");
|
|
|
+ Serial.println("mg");
|
|
|
+ Serial.print(gyroBias[0], 1);
|
|
|
+ Serial.print(" ");
|
|
|
+ Serial.print(gyroBias[1], 1);
|
|
|
+ Serial.print(" ");
|
|
|
+ Serial.print(gyroBias[2], 1);
|
|
|
+ Serial.print(" ");
|
|
|
+ Serial.println("o/s");
|
|
|
+ }
|
|
|
+
|
|
|
+ delay(100);
|
|
|
+
|
|
|
+ initMPU9250();
|
|
|
+
|
|
|
+ delay(1000);
|
|
|
+ }
|
|
|
+
|
|
|
+ // Accelerometer and gyroscope self test; check calibration wrt factory settings
|
|
|
+ void SelfTest() // 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];
|
|
|
+ int32_t gAvg[3] = {0}, aAvg[3] = {0}, aSTAvg[3] = {0}, gSTAvg[3] = {0};
|
|
|
+ float factoryTrim[6];
|
|
|
+ uint8_t FS = 0;
|
|
|
+
|
|
|
+ writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
|
|
|
+ writeByte(MPU9250_ADDRESS, MPU_CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
|
|
|
+ writeByte(MPU9250_ADDRESS, GYRO_CONFIG, FS << 3); // Set full scale range for the gyro to 250 dps
|
|
|
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
|
|
|
+ writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, FS << 3); // 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(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
|
|
|
+ writeByte(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
|
|
|
+ writeByte(MPU9250_ADDRESS, 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(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results
|
|
|
+ selfTest[1] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_ACCEL); // Y-axis accel self-test results
|
|
|
+ selfTest[2] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_ACCEL); // Z-axis accel self-test results
|
|
|
+ selfTest[3] = readByte(MPU9250_ADDRESS, SELF_TEST_X_GYRO); // X-axis gyro self-test results
|
|
|
+ selfTest[4] = readByte(MPU9250_ADDRESS, SELF_TEST_Y_GYRO); // Y-axis gyro self-test results
|
|
|
+ selfTest[5] = readByte(MPU9250_ADDRESS, 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++) {
|
|
|
+ SelfTestResult[i] = 100.0 * ((float)(aSTAvg[i] - aAvg[i])) / factoryTrim[i] - 100.; // Report percent differences
|
|
|
+ SelfTestResult[i + 3] = 100.0 * ((float)(gSTAvg[i] - gAvg[i])) / factoryTrim[i + 3] - 100.; // Report percent differences
|
|
|
+ }
|
|
|
+
|
|
|
+ if (b_verbose) {
|
|
|
+ Serial.print("x-axis self test: acceleration trim within : ");
|
|
|
+ Serial.print(SelfTestResult[0], 1);
|
|
|
+ Serial.println("% of factory value");
|
|
|
+ Serial.print("y-axis self test: acceleration trim within : ");
|
|
|
+ Serial.print(SelfTestResult[1], 1);
|
|
|
+ Serial.println("% of factory value");
|
|
|
+ Serial.print("z-axis self test: acceleration trim within : ");
|
|
|
+ Serial.print(SelfTestResult[2], 1);
|
|
|
+ Serial.println("% of factory value");
|
|
|
+ Serial.print("x-axis self test: gyration trim within : ");
|
|
|
+ Serial.print(SelfTestResult[3], 1);
|
|
|
+ Serial.println("% of factory value");
|
|
|
+ Serial.print("y-axis self test: gyration trim within : ");
|
|
|
+ Serial.print(SelfTestResult[4], 1);
|
|
|
+ Serial.println("% of factory value");
|
|
|
+ Serial.print("z-axis self test: gyration trim within : ");
|
|
|
+ Serial.print(SelfTestResult[5], 1);
|
|
|
+ Serial.println("% of factory value");
|
|
|
+ }
|
|
|
+ delay(5000);
|
|
|
+ }
|
|
|
+
|
|
|
+ void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) {
|
|
|
+ wire->beginTransmission(address); // Initialize the Tx buffer
|
|
|
+ wire->write(subAddress); // Put slave register address in Tx buffer
|
|
|
+ wire->write(data); // Put data in Tx buffer
|
|
|
+ i2c_err_ = wire->endTransmission(); // Send the Tx buffer
|
|
|
+ if (i2c_err_) pirntI2CError();
|
|
|
+ }
|
|
|
+
|
|
|
+ uint8_t readByte(uint8_t address, uint8_t subAddress) {
|
|
|
+ uint8_t data = 0; // `data` will store the register data
|
|
|
+ wire->beginTransmission(address); // Initialize the Tx buffer
|
|
|
+ wire->write(subAddress); // Put slave register address in Tx buffer
|
|
|
+ i2c_err_ = wire->endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
|
|
|
+ if (i2c_err_) pirntI2CError();
|
|
|
+ wire->requestFrom(address, (size_t)1); // Read one byte from slave register address
|
|
|
+ if (wire->available()) data = wire->read(); // Fill Rx buffer with result
|
|
|
+ return data; // Return data read from slave register
|
|
|
+ }
|
|
|
+
|
|
|
+ void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest) {
|
|
|
+ wire->beginTransmission(address); // Initialize the Tx buffer
|
|
|
+ wire->write(subAddress); // Put slave register address in Tx buffer
|
|
|
+ i2c_err_ = wire->endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
|
|
|
+ if (i2c_err_) pirntI2CError();
|
|
|
+ uint8_t i = 0;
|
|
|
+ wire->requestFrom(address, count); // Read bytes from slave register address
|
|
|
+ while (wire->available()) {
|
|
|
+ dest[i++] = wire->read();
|
|
|
+ } // Put read results in the Rx buffer
|
|
|
+ }
|
|
|
+
|
|
|
+ void pirntI2CError() {
|
|
|
+ if (i2c_err_ == 7) return; // to avoid stickbreaker-i2c branch's error code
|
|
|
+ Serial.print("I2C ERROR CODE : ");
|
|
|
+ Serial.println(i2c_err_);
|
|
|
+ }
|
|
|
+
|
|
|
+ bool b_ahrs{true};
|
|
|
+
|
|
|
+ WireType* wire;
|
|
|
+ uint8_t i2c_err_;
|
|
|
+};
|
|
|
+
|
|
|
+using MPU9250 = MPU9250_<TwoWire, MPU9250_WHOAMI_DEFAULT_VALUE>;
|
|
|
+using MPU9255 = MPU9250_<TwoWire, MPU9255_WHOAMI_DEFAULT_VALUE>;
|
|
|
+
|
|
|
+#endif // MPU9250_H
|
