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EM7180_STM32/EM7180_LSM6DSM_LIS2MDL_LPS2.../USFS.cpp

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/* 06/29/2017 Copyright Tlera Corporation
*
* Created by Kris Winer
*
*
* Library may be used freely and without limit with attribution.
*
*/
#include "USFS.h"
USFS::USFS(uint8_t intPin, bool passThru)
{
pinMode(intPin, INPUT);
_intPin = intPin;
_passThru = passThru;
}
void USFS::getChipID()
{
// Read SENtral device information
uint16_t ROM1 = readByte(EM7180_ADDRESS, EM7180_ROMVersion1);
uint16_t ROM2 = readByte(EM7180_ADDRESS, EM7180_ROMVersion2);
Serial.print("EM7180 ROM Version: 0x"); Serial.print(ROM1, HEX); Serial.println(ROM2, HEX); Serial.println("Should be: 0xE609");
uint16_t RAM1 = readByte(EM7180_ADDRESS, EM7180_RAMVersion1);
uint16_t RAM2 = readByte(EM7180_ADDRESS, EM7180_RAMVersion2);
Serial.print("EM7180 RAM Version: 0x"); Serial.print(RAM1); Serial.println(RAM2);
uint8_t PID = readByte(EM7180_ADDRESS, EM7180_ProductID);
Serial.print("EM7180 ProductID: 0x"); Serial.print(PID, HEX); Serial.println(" Should be: 0x80");
uint8_t RID = readByte(EM7180_ADDRESS, EM7180_RevisionID);
Serial.print("EM7180 RevisionID: 0x"); Serial.print(RID, HEX); Serial.println(" Should be: 0x02");
}
void USFS::loadfwfromEEPROM()
{
// Check which sensors can be detected by the EM7180
uint8_t featureflag = readByte(EM7180_ADDRESS, EM7180_FeatureFlags);
if(featureflag & 0x01) Serial.println("A barometer is installed");
if(featureflag & 0x02) Serial.println("A humidity sensor is installed");
if(featureflag & 0x04) Serial.println("A temperature sensor is installed");
if(featureflag & 0x08) Serial.println("A custom sensor is installed");
if(featureflag & 0x10) Serial.println("A second custom sensor is installed");
if(featureflag & 0x20) Serial.println("A third custom sensor is installed");
delay(1000); // give some time to read the screen
// Check SENtral status, make sure EEPROM upload of firmware was accomplished
byte STAT = (readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01);
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01) Serial.println("EEPROM detected on the sensor bus!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02) Serial.println("EEPROM uploaded config file!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04) Serial.println("EEPROM CRC incorrect!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08) Serial.println("EM7180 in initialized state!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10) Serial.println("No EEPROM detected!");
int count = 0;
while(!STAT) {
writeByte(EM7180_ADDRESS, EM7180_ResetRequest, 0x01);
delay(500);
count++;
STAT = (readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01);
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01) Serial.println("EEPROM detected on the sensor bus!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02) Serial.println("EEPROM uploaded config file!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04) Serial.println("EEPROM CRC incorrect!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08) Serial.println("EM7180 in initialized state!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10) Serial.println("No EEPROM detected!");
if(count > 10) break;
}
if(!(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04)) Serial.println("EEPROM upload successful!");
}
uint8_t USFS::checkEM7180Status(){
// Check event status register, way to check data ready by polling rather than interrupt
uint8_t c = readByte(EM7180_ADDRESS, EM7180_EventStatus); // reading clears the register and interrupt
return c;
}
uint8_t USFS::checkEM7180Errors(){
uint8_t c = readByte(EM7180_ADDRESS, EM7180_ErrorRegister); // check error register
return c;
}
void USFS::initEM7180(uint8_t accBW, uint8_t gyroBW, uint16_t accFS, uint16_t gyroFS, uint16_t magFS, uint8_t QRtDiv, uint8_t magRt, uint8_t accRt, uint8_t gyroRt, uint8_t baroRt)
{
uint16_t EM7180_mag_fs, EM7180_acc_fs, EM7180_gyro_fs; // EM7180 sensor full scale ranges
uint8_t param[4];
// Enter EM7180 initialized state
writeByte(EM7180_ADDRESS, EM7180_HostControl, 0x00); // set SENtral in initialized state to configure registers
writeByte(EM7180_ADDRESS, EM7180_PassThruControl, 0x00); // make sure pass through mode is off
writeByte(EM7180_ADDRESS, EM7180_HostControl, 0x01); // Force initialize
writeByte(EM7180_ADDRESS, EM7180_HostControl, 0x00); // set SENtral in initialized state to configure registers
//Setup LPF bandwidth (BEFORE setting ODR's)
writeByte(EM7180_ADDRESS, EM7180_ACC_LPF_BW, accBW); // accBW = 3 = 41Hz
writeByte(EM7180_ADDRESS, EM7180_GYRO_LPF_BW, gyroBW); // gyroBW = 3 = 41Hz
// Set accel/gyro/mag desired ODR rates
writeByte(EM7180_ADDRESS, EM7180_QRateDivisor, QRtDiv); // quat rate = gyroRt/(1 QRTDiv)
writeByte(EM7180_ADDRESS, EM7180_MagRate, magRt); // 0x64 = 100 Hz
writeByte(EM7180_ADDRESS, EM7180_AccelRate, accRt); // 200/10 Hz, 0x14 = 200 Hz
writeByte(EM7180_ADDRESS, EM7180_GyroRate, gyroRt); // 200/10 Hz, 0x14 = 200 Hz
writeByte(EM7180_ADDRESS, EM7180_BaroRate, 0x80 | baroRt); // set enable bit and set Baro rate to 25 Hz, rate = baroRt/2, 0x32 = 25 Hz
// Configure operating mode
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // read scale sensor data
// Enable interrupt to host upon certain events
// choose host interrupts when any sensor updated (0x40), new gyro data (0x20), new accel data (0x10),
// new mag data (0x08), quaternions updated (0x04), an error occurs (0x02), or the SENtral needs to be reset(0x01)
writeByte(EM7180_ADDRESS, EM7180_EnableEvents, 0x07);
// Enable EM7180 run mode
writeByte(EM7180_ADDRESS, EM7180_HostControl, 0x01); // set SENtral in normal run mode
delay(100);
// EM7180 parameter adjustments
Serial.println("Beginning Parameter Adjustments");
// Read sensor default FS values from parameter space
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4A); // Request to read parameter 74
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer process
byte param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer==0x4A)) {
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
param[0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
param[1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
param[2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_mag_fs = ((int16_t)(param[1]<<8) | param[0]);
EM7180_acc_fs = ((int16_t)(param[3]<<8) | param[2]);
Serial.print("Magnetometer Default Full Scale Range: +/-"); Serial.print(EM7180_mag_fs); Serial.println("uT");
Serial.print("Accelerometer Default Full Scale Range: +/-"); Serial.print(EM7180_acc_fs); Serial.println("g");
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4B); // Request to read parameter 75
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer==0x4B)) {
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
param[0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
param[1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
param[2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_gyro_fs = ((int16_t)(param[1]<<8) | param[0]);
Serial.print("Gyroscope Default Full Scale Range: +/-"); Serial.print(EM7180_gyro_fs); Serial.println("dps");
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //End parameter transfer
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // re-enable algorithm
//Disable stillness mode for balancing robot application
EM7180_set_integer_param (0x49, 0x00);
//Write desired sensor full scale ranges to the EM7180
EM7180_set_mag_acc_FS (magFS, accFS); // 1000 uT == 0x3E8, 8 g == 0x08
EM7180_set_gyro_FS (gyroFS); // 2000 dps == 0x7D0
// Read sensor new FS values from parameter space
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4A); // Request to read parameter 74
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer process
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer==0x4A)) {
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
param[0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
param[1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
param[2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_mag_fs = ((int16_t)(param[1]<<8) | param[0]);
EM7180_acc_fs = ((int16_t)(param[3]<<8) | param[2]);
Serial.print("Magnetometer New Full Scale Range: +/-"); Serial.print(EM7180_mag_fs); Serial.println("uT");
Serial.print("Accelerometer New Full Scale Range: +/-"); Serial.print(EM7180_acc_fs); Serial.println("g");
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4B); // Request to read parameter 75
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer==0x4B)) {
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
param[0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
param[1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
param[2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_gyro_fs = ((int16_t)(param[1]<<8) | param[0]);
Serial.print("Gyroscope New Full Scale Range: +/-"); Serial.print(EM7180_gyro_fs); Serial.println("dps");
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //End parameter transfer
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // re-enable algorithm
// Read EM7180 status
uint8_t runStatus = readByte(EM7180_ADDRESS, EM7180_RunStatus);
if(runStatus & 0x01) Serial.println(" EM7180 run status = normal mode");
uint8_t algoStatus = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
if(algoStatus & 0x01) Serial.println(" EM7180 standby status");
if(algoStatus & 0x02) Serial.println(" EM7180 algorithm slow");
if(algoStatus & 0x04) Serial.println(" EM7180 in stillness mode");
if(algoStatus & 0x08) Serial.println(" EM7180 mag calibration completed");
if(algoStatus & 0x10) Serial.println(" EM7180 magnetic anomaly detected");
if(algoStatus & 0x20) Serial.println(" EM7180 unreliable sensor data");
uint8_t passthruStatus = readByte(EM7180_ADDRESS, EM7180_PassThruStatus);
if(passthruStatus & 0x01) Serial.print(" EM7180 in passthru mode!");
uint8_t eventStatus = readByte(EM7180_ADDRESS, EM7180_EventStatus);
if(eventStatus & 0x01) Serial.println(" EM7180 CPU reset");
if(eventStatus & 0x02) Serial.println(" EM7180 Error");
if(eventStatus & 0x04) Serial.println(" EM7180 new quaternion result");
if(eventStatus & 0x08) Serial.println(" EM7180 new mag result");
if(eventStatus & 0x10) Serial.println(" EM7180 new accel result");
if(eventStatus & 0x20) Serial.println(" EM7180 new gyro result");
delay(1000); // give some time to read the screen
// Check sensor status
uint8_t sensorStatus = readByte(EM7180_ADDRESS, EM7180_SensorStatus);
Serial.print(" EM7180 sensor status = "); Serial.println(sensorStatus);
if(sensorStatus & 0x01) Serial.print("Magnetometer not acknowledging!");
if(sensorStatus & 0x02) Serial.print("Accelerometer not acknowledging!");
if(sensorStatus & 0x04) Serial.print("Gyro not acknowledging!");
if(sensorStatus & 0x10) Serial.print("Magnetometer ID not recognized!");
if(sensorStatus & 0x20) Serial.print("Accelerometer ID not recognized!");
if(sensorStatus & 0x40) Serial.print("Gyro ID not recognized!");
Serial.print("Actual MagRate = "); Serial.print(readByte(EM7180_ADDRESS, EM7180_ActualMagRate)); Serial.println(" Hz");
Serial.print("Actual AccelRate = "); Serial.print(10*readByte(EM7180_ADDRESS, EM7180_ActualAccelRate)); Serial.println(" Hz");
Serial.print("Actual GyroRate = "); Serial.print(10*readByte(EM7180_ADDRESS, EM7180_ActualGyroRate)); Serial.println(" Hz");
Serial.print("Actual BaroRate = "); Serial.print(readByte(EM7180_ADDRESS, EM7180_ActualBaroRate)); Serial.println(" Hz");
}
float USFS::uint32_reg_to_float (uint8_t *buf)
{
union {
uint32_t ui32;
float f;
} u;
u.ui32 = (((uint32_t)buf[0]) +
(((uint32_t)buf[1]) << 8) +
(((uint32_t)buf[2]) << 16) +
(((uint32_t)buf[3]) << 24));
return u.f;
}
float USFS::int32_reg_to_float (uint8_t *buf)
{
union {
int32_t i32;
float f;
} u;
u.i32 = (((int32_t)buf[0]) +
(((int32_t)buf[1]) << 8) +
(((int32_t)buf[2]) << 16) +
(((int32_t)buf[3]) << 24));
return u.f;
}
void USFS::float_to_bytes (float param_val, uint8_t *buf) {
union {
float f;
uint8_t comp[sizeof(float)];
} u;
u.f = param_val;
for (uint8_t i=0; i < sizeof(float); i++) {
buf[i] = u.comp[i];
}
//Convert to LITTLE ENDIAN
for (uint8_t i=0; i < sizeof(float); i++) {
buf[i] = buf[(sizeof(float)-1) - i];
}
}
void USFS::EM7180_set_gyro_FS (uint16_t gyro_fs) {
uint8_t bytes[4], STAT;
bytes[0] = gyro_fs & (0xFF);
bytes[1] = (gyro_fs >> 8) & (0xFF);
bytes[2] = 0x00;
bytes[3] = 0x00;
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); //Gyro LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]); //Gyro MSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]); //Unused
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); //Unused
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0xCB); //Parameter 75; 0xCB is 75 decimal with the MSB set high to indicate a paramter write processs
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); //Request parameter transfer procedure
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge); //Check the parameter acknowledge register and loop until the result matches parameter request byte
while(!(STAT==0xCB)) {
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
}
void USFS::EM7180_set_mag_acc_FS (uint16_t mag_fs, uint16_t acc_fs) {
uint8_t bytes[4], STAT;
bytes[0] = mag_fs & (0xFF);
bytes[1] = (mag_fs >> 8) & (0xFF);
bytes[2] = acc_fs & (0xFF);
bytes[3] = (acc_fs >> 8) & (0xFF);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); //Mag LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]); //Mag MSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]); //Acc LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); //Acc MSB
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0xCA); //Parameter 74; 0xCA is 74 decimal with the MSB set high to indicate a paramter write processs
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); //Request parameter transfer procedure
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge); //Check the parameter acknowledge register and loop until the result matches parameter request byte
while(!(STAT==0xCA)) {
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
}
void USFS::EM7180_set_integer_param (uint8_t param, uint32_t param_val) {
uint8_t bytes[4], STAT;
bytes[0] = param_val & (0xFF);
bytes[1] = (param_val >> 8) & (0xFF);
bytes[2] = (param_val >> 16) & (0xFF);
bytes[3] = (param_val >> 24) & (0xFF);
param = param | 0x80; //Parameter is the decimal value with the MSB set high to indicate a paramter write processs
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); //Param LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); //Param MSB
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, param);
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); //Request parameter transfer procedure
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge); //Check the parameter acknowledge register and loop until the result matches parameter request byte
while(!(STAT==param)) {
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
}
void USFS::EM7180_set_float_param (uint8_t param, float param_val) {
uint8_t bytes[4], STAT;
float_to_bytes (param_val, &bytes[0]);
param = param | 0x80; //Parameter is the decimal value with the MSB set high to indicate a paramter write processs
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); //Param LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); //Param MSB
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, param);
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); //Request parameter transfer procedure
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge); //Check the parameter acknowledge register and loop until the result matches parameter request byte
while(!(STAT==param)) {
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
}
void USFS::readSENtralQuatData(float * destination)
{
uint8_t rawData[16]; // x/y/z quaternion register data stored here
readBytes(EM7180_ADDRESS, EM7180_QX, 16, &rawData[0]); // Read the sixteen raw data registers into data array
destination[1] = uint32_reg_to_float (&rawData[0]);
destination[2] = uint32_reg_to_float (&rawData[4]);
destination[3] = uint32_reg_to_float (&rawData[8]);
destination[0] = uint32_reg_to_float (&rawData[12]); // SENtral stores quats as qx, qy, qz, q0!
}
void USFS::readSENtralAccelData(int16_t * destination)
{
uint8_t rawData[6]; // x/y/z accel register data stored here
readBytes(EM7180_ADDRESS, EM7180_AX, 6, &rawData[0]); // Read the six raw data registers into data array
destination[0] = (int16_t) (((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
destination[1] = (int16_t) (((int16_t)rawData[3] << 8) | rawData[2]);
destination[2] = (int16_t) (((int16_t)rawData[5] << 8) | rawData[4]);
}
void USFS::readSENtralGyroData(int16_t * destination)
{
uint8_t rawData[6]; // x/y/z gyro register data stored here
readBytes(EM7180_ADDRESS, EM7180_GX, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
destination[0] = (int16_t) (((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
destination[1] = (int16_t) (((int16_t)rawData[3] << 8) | rawData[2]);
destination[2] = (int16_t) (((int16_t)rawData[5] << 8) | rawData[4]);
}
void USFS::readSENtralMagData(int16_t * destination)
{
uint8_t rawData[6]; // x/y/z gyro register data stored here
readBytes(EM7180_ADDRESS, EM7180_MX, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
destination[0] = (int16_t) (((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
destination[1] = (int16_t) (((int16_t)rawData[3] << 8) | rawData[2]);
destination[2] = (int16_t) (((int16_t)rawData[5] << 8) | rawData[4]);
}
float USFS::getMres(uint8_t Mscale) {
switch (Mscale)
{
// Possible magnetometer scales (and their register bit settings) are:
// 14 bit resolution (0) and 16 bit resolution (1)
case MFS_14BITS:
_mRes = 10.*4912./8190.; // Proper scale to return milliGauss
return _mRes;
break;
case MFS_16BITS:
_mRes = 10.*4912./32760.0; // Proper scale to return milliGauss
return _mRes;
break;
}
}
float USFS::getGres(uint8_t Gscale) {
switch (Gscale)
{
// 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_250DPS:
_gRes = 250.0/32768.0;
return _gRes;
break;
case GFS_500DPS:
_gRes = 500.0/32768.0;
return _gRes;
break;
case GFS_1000DPS:
_gRes = 1000.0/32768.0;
return _gRes;
break;
case GFS_2000DPS:
_gRes = 2000.0/32768.0;
return _gRes;
break;
}
}
float USFS::getAres(uint8_t Ascale) {
switch (Ascale)
{
// 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_2G:
_aRes = 2.0/32768.0;
return _aRes;
break;
case AFS_4G:
_aRes = 4.0/32768.0;
return _aRes;
break;
case AFS_8G:
_aRes = 8.0/32768.0;
return _aRes;
break;
case AFS_16G:
_aRes = 16.0/32768.0;
return _aRes;
break;
}
}
void USFS::readAccelData(int16_t * destination)
{
uint8_t rawData[6]; // x/y/z accel register data stored here
readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
destination[0] = ((int16_t)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] ;
}
void USFS::readGyroData(int16_t * destination)
{
uint8_t rawData[6]; // x/y/z gyro register data stored here
readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
destination[0] = ((int16_t)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] ;
}
void USFS::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] ;
}
}
}
int16_t USFS::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 USFS::initAK8963(uint8_t Mscale, uint8_t Mmode, float * destination)
{
_Mmode = Mmode;
// 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(20);
writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode
delay(20);
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.;
_fuseROMx = destination[0];
_fuseROMy = destination[1];
_fuseROMz = destination[2];
writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
delay(20);
// 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, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR
delay(20);
}
void USFS::initMPU9250(uint8_t Ascale, uint8_t Gscale)
{
// 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, 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 AFS_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 & ~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(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 | Ascale << 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 USFS::accelgyrocalMPU9250(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, 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) & 0xFE;
data[1] = (accel_bias_reg[0]) & 0xFE;
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) & 0xFE;
data[3] = (accel_bias_reg[1]) & 0xFE;
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) & 0xFE;
data[5] = (accel_bias_reg[2]) & 0xFE;
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;
}
void USFS::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] = {0x8000, 0x8000, 0x8000}, mag_min[3] = {0x7FFF, 0x7FFF, 0x7FFF}, mag_temp[3] = {0, 0, 0};
Serial.println("Mag Calibration: Wave device in a figure eight until done!");
delay(4000);
if(_Mmode == 0x02) sample_count = 128;
if(_Mmode == 0x06) sample_count = 1500;
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
}
// 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*_fuseROMx; // save mag biases in G for main program
dest1[1] = (float) mag_bias[1]*_mRes*_fuseROMy;
dest1[2] = (float) mag_bias[2]*_mRes*_fuseROMz;
// 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]);
Serial.println("Mag Calibration done!");
}
// Accelerometer and gyroscope self test; check calibration wrt factory settings
void USFS::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(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
writeByte(MPU9250_ADDRESS, CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // 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, 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(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++) {
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
}
}
int16_t USFS::readSENtralBaroData()
{
uint8_t rawData[2]; // x/y/z gyro register data stored here
readBytes(EM7180_ADDRESS, EM7180_Baro, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
return (int16_t) (((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
}
int16_t USFS::readSENtralTempData()
{
uint8_t rawData[2]; // x/y/z gyro register data stored here
readBytes(EM7180_ADDRESS, EM7180_Temp, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
return (int16_t) (((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value
}
void USFS::SENtralPassThroughMode()
{
// First put SENtral in standby mode
uint8_t c = readByte(EM7180_ADDRESS, EM7180_AlgorithmControl);
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, c | 0x01);
// c = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
// Serial.print("c = "); Serial.println(c);
// Verify standby status
// if(readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus) & 0x01) {
Serial.println("SENtral in standby mode");
// Place SENtral in pass-through mode
writeByte(EM7180_ADDRESS, EM7180_PassThruControl, 0x01);
if(readByte(EM7180_ADDRESS, EM7180_PassThruStatus) & 0x01) {
Serial.println("SENtral in pass-through mode");
}
else {
Serial.println("ERROR! SENtral not in pass-through mode!");
}
}
// I2C communication with the M24512DFM EEPROM is a little different from I2C communication with the usual motion sensor
// since the address is defined by two bytes
void USFS::M24512DFMwriteByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t data)
{
uint8_t temp[2] = {data_address1, data_address2};
Wire.transfer(device_address, &temp[0], 2, NULL, 0);
Wire.transfer(device_address, &data, 1, NULL, 0);
}
void USFS::M24512DFMwriteBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest)
{
if(count > 128)
{
count = 128;
Serial.print("Page count cannot be more than 128 bytes!");
}
uint8_t temp[2] = {data_address1, data_address2};
Wire.transfer(device_address, &temp[0], 2, NULL, 0);
Wire.transfer(device_address, &dest[0], count, NULL, 0);
}
uint8_t USFS::M24512DFMreadByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2)
{
uint8_t data; // `data` will store the register data
Wire.beginTransmission(device_address); // Initialize the Tx buffer
Wire.write(data_address1); // Put slave register address in Tx buffer
Wire.write(data_address2); // Put slave register address in Tx buffer
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
Wire.requestFrom(device_address, 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 USFS::M24512DFMreadBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest)
{
uint8_t temp[2] = {data_address1, data_address2};
Wire.transfer(device_address, &temp[0], 2, dest, count);
}
// I2C communication with the MS5637 is a little different from that with the MPU9250 and most other sensors
// For the MS5637, we write commands, and the MS5637 sends data in response, rather than directly reading
// MS5637 registers
void USFS::MS5637Reset()
{
uint8_t temp[1] = {MS5637_RESET};
Wire.transfer(MS5637_ADDRESS, &temp[0], 1, NULL, 0);
}
void USFS::MS5637PromRead(uint16_t * destination)
{
uint8_t data[2] = {0,0};
uint8_t temp[1];
for (uint8_t ii = 0; ii < 7; ii++) {
temp[0] = 0xA0 | ii << 1;
Wire.transfer(MS5637_ADDRESS, &temp[0], 1, data, 2);
destination[ii] = (uint16_t) (((uint16_t) data[0] << 8) | data[1]); // construct PROM data for return to main program
}
}
uint32_t USFS::MS5637Read(uint8_t CMD, uint8_t OSR) // temperature data read
{
uint8_t data[3] = {0,0,0};
uint8_t temp[2] = {CMD | OSR, 0x00}; // Put pressure conversion, ADC read commands in Tx buffer
Wire.transfer(MS5637_ADDRESS, &temp[0], 1, NULL, 0);
switch (OSR)
{
case ADC_256: delay(1); break; // delay for conversion to complete
case ADC_512: delay(3); break;
case ADC_1024: delay(4); break;
case ADC_2048: delay(6); break;
case ADC_4096: delay(10); break;
case ADC_8192: delay(20); break;
}
Wire.transfer(MS5637_ADDRESS, &temp[1], 1, data, 3);
return (uint32_t) (((uint32_t) data[0] << 16) | (uint32_t) data[1] << 8 | data[2]); // construct PROM data for return to main program
}
unsigned char USFS::MS5637checkCRC(uint16_t * n_prom) // calculate checksum from PROM register contents
{
int cnt;
unsigned int n_rem = 0;
unsigned char n_bit;
n_prom[0] = ((n_prom[0]) & 0x0FFF); // replace CRC byte by 0 for checksum calculation
n_prom[7] = 0;
for(cnt = 0; cnt < 16; cnt++)
{
if(cnt%2==1) n_rem ^= (unsigned short) ((n_prom[cnt>>1]) & 0x00FF);
else n_rem ^= (unsigned short) (n_prom[cnt>>1]>>8);
for(n_bit = 8; n_bit > 0; n_bit--)
{
if(n_rem & 0x8000) n_rem = (n_rem<<1) ^ 0x3000;
else n_rem = (n_rem<<1);
}
}
n_rem = ((n_rem>>12) & 0x000F);
return (n_rem ^ 0x00);
}
void USFS::I2Cscan()
{
// scan for i2c devices
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ )
{
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
error = Wire.transfer(address, NULL, 0, NULL, 0);
if (error == 0)
{
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.print(address,HEX);
Serial.println(" !");
nDevices++;
}
else if (error==4)
{
Serial.print("Unknown error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
}
// I2C read/write functions for the MPU9250 sensors
void USFS::writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
{
uint8_t temp[2];
temp[0] = subAddress;
temp[1] = data;
Wire.transfer(address, &temp[0], 2, NULL, 0);
}
uint8_t USFS::readByte(uint8_t address, uint8_t subAddress)
{
uint8_t temp[1];
Wire.transfer(address, &subAddress, 1, &temp[0], 1);
return temp[0];
}
void USFS::readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
{
Wire.transfer(address, &subAddress, 1, dest, count);
}
// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
// which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
__attribute__((optimize("O3"))) void USFS::MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
{
float q1 = _q[0], q2 = _q[1], q3 = _q[2], q4 = _q[3]; // short name local variable for readability
float norm;
float hx, hy, _2bx, _2bz;
float s1, s2, s3, s4;
float qDot1, qDot2, qDot3, qDot4;
// Auxiliary variables to avoid repeated arithmetic
float _2q1mx;
float _2q1my;
float _2q1mz;
float _2q2mx;
float _4bx;
float _4bz;
float _2q1 = 2.0f * q1;
float _2q2 = 2.0f * q2;
float _2q3 = 2.0f * q3;
float _2q4 = 2.0f * q4;
float _2q1q3 = 2.0f * q1 * q3;
float _2q3q4 = 2.0f * q3 * q4;
float q1q1 = q1 * q1;
float q1q2 = q1 * q2;
float q1q3 = q1 * q3;
float q1q4 = q1 * q4;
float q2q2 = q2 * q2;
float q2q3 = q2 * q3;
float q2q4 = q2 * q4;
float q3q3 = q3 * q3;
float q3q4 = q3 * q4;
float q4q4 = q4 * q4;
// Normalise accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az);
if (norm == 0.0f) return; // handle NaN
norm = 1.0f/norm;
ax *= norm;
ay *= norm;
az *= norm;
// Normalise magnetometer measurement
norm = sqrt(mx * mx + my * my + mz * mz);
if (norm == 0.0f) return; // handle NaN
norm = 1.0f/norm;
mx *= norm;
my *= norm;
mz *= norm;
// Reference direction of Earth's magnetic field
_2q1mx = 2.0f * q1 * mx;
_2q1my = 2.0f * q1 * my;
_2q1mz = 2.0f * q1 * mz;
_2q2mx = 2.0f * q2 * mx;
hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
_2bx = sqrt(hx * hx + hy * hy);
_2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
_4bx = 2.0f * _2bx;
_4bz = 2.0f * _2bz;
// Gradient decent algorithm corrective step
s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
norm = 1.0f/norm;
s1 *= norm;
s2 *= norm;
s3 *= norm;
s4 *= norm;
// Compute rate of change of quaternion
qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - _beta * s1;
qDot2 = 0.5f * ( q1 * gx + q3 * gz - q4 * gy) - _beta * s2;
qDot3 = 0.5f * ( q1 * gy - q2 * gz + q4 * gx) - _beta * s3;
qDot4 = 0.5f * ( q1 * gz + q2 * gy - q3 * gx) - _beta * s4;
// Integrate to yield quaternion
q1 += qDot1 * _deltat;
q2 += qDot2 * _deltat;
q3 += qDot3 * _deltat;
q4 += qDot4 * _deltat;
norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
norm = 1.0f/norm;
_q[0] = q1 * norm;
_q[1] = q2 * norm;
_q[2] = q3 * norm;
_q[3] = q4 * norm;
}
// Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
// measured ones.
void USFS::MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
{
float q1 = _q[0], q2 = _q[1], q3 = _q[2], q4 = _q[3]; // short name local variable for readability
float eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method
float norm;
float hx, hy, bx, bz;
float vx, vy, vz, wx, wy, wz;
float ex, ey, ez;
float pa, pb, pc;
// Auxiliary variables to avoid repeated arithmetic
float q1q1 = q1 * q1;
float q1q2 = q1 * q2;
float q1q3 = q1 * q3;
float q1q4 = q1 * q4;
float q2q2 = q2 * q2;
float q2q3 = q2 * q3;
float q2q4 = q2 * q4;
float q3q3 = q3 * q3;
float q3q4 = q3 * q4;
float q4q4 = q4 * q4;
// Normalise accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az);
if (norm == 0.0f) return; // handle NaN
norm = 1.0f / norm; // use reciprocal for division
ax *= norm;
ay *= norm;
az *= norm;
// Normalise magnetometer measurement
norm = sqrt(mx * mx + my * my + mz * mz);
if (norm == 0.0f) return; // handle NaN
norm = 1.0f / norm; // use reciprocal for division
mx *= norm;
my *= norm;
mz *= norm;
// Reference direction of Earth's magnetic field
hx = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4 + q1q3);
hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 - q4q4) + 2.0f * mz * (q3q4 - q1q2);
bx = sqrt((hx * hx) + (hy * hy));
bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2) + 2.0f * mz * (0.5f - q2q2 - q3q3);
// Estimated direction of gravity and magnetic field
vx = 2.0f * (q2q4 - q1q3);
vy = 2.0f * (q1q2 + q3q4);
vz = q1q1 - q2q2 - q3q3 + q4q4;
wx = 2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
wy = 2.0f * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
wz = 2.0f * bx * (q1q3 + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
// Error is cross product between estimated direction and measured direction of gravity
ex = (ay * vz - az * vy) + (my * wz - mz * wy);
ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
if (_Ki > 0.0f)
{
eInt[0] += ex; // accumulate integral error
eInt[1] += ey;
eInt[2] += ez;
}
else
{
eInt[0] = 0.0f; // prevent integral wind up
eInt[1] = 0.0f;
eInt[2] = 0.0f;
}
// Apply feedback terms
gx = gx + _Kp * ex + _Ki * eInt[0];
gy = gy + _Kp * ey + _Ki * eInt[1];
gz = gz + _Kp * ez + _Ki * eInt[2];
// Integrate rate of change of quaternion
pa = q2;
pb = q3;
pc = q4;
q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * _deltat);
q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * _deltat);
q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * _deltat);
q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * _deltat);
// Normalise quaternion
norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);
norm = 1.0f / norm;
_q[0] = q1 * norm;
_q[1] = q2 * norm;
_q[2] = q3 * norm;
_q[3] = q4 * norm;
}