X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=imu.c;h=7e9a17f6421944151dc8dfe7a2a9741e506d7c53;hp=25ea1c3f656327a8e2f040cbc63044d1a5686936;hb=99a00646c85d806f34d7a4aa9f52b318607f7530;hpb=a4e442441be45647f1115a59b7bff452910cf509 diff --git a/imu.c b/imu.c index 25ea1c3..7e9a17f 100644 --- a/imu.c +++ b/imu.c @@ -1,302 +1,132 @@ #include #include +#include #include #include #include -#include - - -#include -//#include "i2cm_sw.h" - - -#include "math.h" -#include "i2c_helper.h" -//#include "bma150.h" -//#include "itg3200.h" -//#include "ak8500.h" +#include -#include "main.h" #include "mpu6050.h" - -#include "vector.h" #include "matrix.h" - #include "MadgwickAHRS.h" - - - -#include -#include -#include -#include "fat.h" -#include "fat_config.h" -#include "partition.h" -#include "sd_raw.h" -#include "sd_raw_config.h" #include "sd_log.h" +#include "imu.h" +#include "main.h" -#include -#include -#include -#include "cmdline.h" - - -//#define LED_PRIO 170 -#define GYRO_PRIO 100 +/* structure storing the latest imu infos returned by the sensor */ +static struct imu_info g_imu; -int internal_mag_x; -int internal_mag_y; -int internal_mag_z; +/* structure storing the latest quaternion */ +static struct quaternion g_quat; -int mag_x; -int mag_y; -int mag_z; +/* structure storing the latest euler position */ +static struct euler g_euler; +/* periodical timer structure */ +static struct callout imu_timer; -#if 0 -static void main_timer_interrupt(void) +static void quaternion2euler(const struct quaternion *quat, struct euler *euler) { - static uint8_t cpt = 0; - cpt++; - sei(); - if ((cpt & 0x3) == 0) - scheduler_interrupt(); + float q0 = quat->q0; + float q1 = quat->q1; + float q2 = quat->q2; + float q3 = quat->q3; + + euler->roll = atan2f(2.0f * (q0 * q1 + q2 * q3), + q0*q0 - q1*q1 - q2*q2 + q3*q3); + euler->pitch = -asinf(2.0f * (q1 * q3 - q0 * q2)); + euler->yaw = atan2f(2.0f * (q1 * q2 + q0 * q3), + q0*q0 + q1*q1 - q2*q2 - q3*q3); } -#endif - -#define LED1_TOGGLE() PORTB ^= 0x20; - -uint16_t counter; - -void do_led_blink(void *dummy) +/* timer callback that polls IMU and does the calculation */ +static void imu_cb(struct callout_mgr *cm, struct callout *tim, void *arg) { - (void)dummy; - -#if 1 /* simple blink */ - LED1_TOGGLE(); -#endif - //counter ++; - printf("\r\n%"PRId16"\r\n", counter); - counter = 0; - + struct imu_info imu; + struct quaternion quat; + struct euler euler; + uint8_t irq_flags; + + (void)arg; + + /* copy previous quaternion locally */ + IRQ_LOCK(irq_flags); + memcpy(&quat, &g_quat, sizeof(quat)); + IRQ_UNLOCK(irq_flags); + + mpu6050_read_all_axes(&g_imu); + MadgwickAHRSupdate(&g_imu, &g_quat); + quaternion2euler(&g_quat, &g_euler); + + /* update global variables */ + IRQ_LOCK(irq_flags); + memcpy(&g_imu, &imu, sizeof(g_imu)); + IRQ_UNLOCK(irq_flags); + IRQ_LOCK(irq_flags); + memcpy(&g_quat, &quat, sizeof(g_quat)); + IRQ_UNLOCK(irq_flags); + IRQ_LOCK(irq_flags); + memcpy(&g_euler, &euler, sizeof(g_euler)); + IRQ_UNLOCK(irq_flags); + + /* reschedule event */ + callout_schedule(cm, tim, 2); } +void imu_init(void) +{ + mpu6050_init(); -/* for i2c */ -//uint8_t command_buf[I2C_SEND_BUFFER_SIZE]; - - -double Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector -double Gyro_Vector[3]= {0,0,0};//Store the gyros rutn rate in a vector -double Magnet_Vector[3]= {0,0,0}; //Store the acceleration in a vector - -double Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data -double Omega_P[3]= {0,0,0};//Omega Proportional correction -double Omega_I[3]= {0,0,0};//Omega Integrator -double Omega[3]= {0,0,0}; - -double Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here - -double DCM_Matrix[3][3]= { - { - 1,0,0 } - ,{ - 0,1,0 } - ,{ - 0,0,1 } -}; - -double Temporary_Matrix[3][3]={ - { - 0,0,0 } - ,{ - 0,0,0 } - ,{ - 0,0,0 } -}; - -double errorRollPitch[3]= {0,0,0}; -double errorYaw[3]= {0,0,0}; -double errorCourse=180; -double COGX=0; //Course overground X axis -double COGY=1; //Course overground Y axis - - - -#define OUTPUTMODE 2 - -#define ToRad(x) (x*0.01745329252) // *pi/180 -#define ToDeg(x) (x*57.2957795131) // *180/pi - -/* -#define Gyro_Gain_X 0.92 //X axis Gyro gain -#define Gyro_Gain_Y 0.92 //Y axis Gyro gain -#define Gyro_Gain_Z 0.94 //Z axis Gyro gain -*/ -#define Gyro_Gain_X (1.) //X axis Gyro gain -#define Gyro_Gain_Y (1.) //Y axis Gyro gain -#define Gyro_Gain_Z (1.) //Z axis Gyro gain - -#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second -#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second -#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second - -double G_Dt=0.02; // Integration time (DCM algorithm) - -#define GRAVITY 1.01 //this equivalent to 1G in the raw data coming from the accelerometer -#define Accel_Scale(x) x*(GRAVITY/9.81)//Scaling the raw data of the accel to actual acceleration in meters for seconds square - - -#define Kp_ROLLPITCH (1.515/GRAVITY) -#define Ki_ROLLPITCH (0.00101/GRAVITY) - -#define Kp_YAW 1.2 -//#define Kp_YAW 2.5 //High yaw drift correction gain - use with caution! -#define Ki_YAW 0.00005 - -#define MAGNETIC_DECLINATION 4.0 - -#define constrain(v, a, b) (((v)<(a))?(a):((v)>(b)?(b):(v))) - - -int mag_offset[3]; -double Heading; -double Heading_X; -double Heading_Y; - - -// Euler angles -double roll; -double pitch; -double yaw; - -int SENSOR_SIGN[]= { - 1,1,1, // GYROX, GYROY, GYROZ, - 1,1,1, // ACCELX, ACCELY, ACCELZ, - 1,1,1 // MAGX, MAGY, MAGZ, -}; + callout_init(&imu_timer, imu_cb, NULL, IMU_PRIO); + callout_schedule(&imuboard.intr_cm, &imu_timer, 20); /* every 20ms */ +} -void quaternion2euler(void) +void imu_get_info(struct imu_info *imu) { - /* - roll = atan2f(2. * (q0*q1 + q2*q3), 1. - 2. * (q1*q1 + q2*q2)); - pitch = asinf(2 * (q0*q2 - q3*q1)); - yaw = atan2f(2. * (q0*q3 + q1*q2), 1. - 2. * (q2*q2 + q3*q3)); - */ - roll = atan2f(2.0f * (q0 * q1 + q2 * q3), q0*q0 - q1*q1 - q2*q2 + q3*q3); - pitch = -asinf(2.0f * (q1 * q3 - q0 * q2)); - yaw = atan2f(2.0f * (q1 * q2 + q0 * q3), q0*q0 + q1*q1 - q2*q2 - q3*q3); + memcpy(imu, &g_imu, sizeof(*imu)); } -#define swap_u16(a) (((a>>8)&0xff) | (((a&0xFF)<<8))) +void imu_get_pos_quat(struct quaternion *quat) +{ + memcpy(quat, &g_quat, sizeof(*quat)); +} -void imu_init(void) +void imu_get_pos_euler(struct euler *euler) { - /* - bma150_init(); - itg3200_init(); - ak8975_read_sensitivity(); - */ - /* - scheduler_add_periodical_event_priority(update_gyro, NULL, - 1000000L / SCHEDULER_UNIT, - GYRO_PRIO); - */ - mpu6050_init(); + memcpy(euler, &g_euler, sizeof(*euler)); } -int imu_loop(void) + +int imu_log(void) { - struct fat_file_struct *fd = NULL; - int16_t mpu6050_axes[10]; char buf[128]; int16_t len; uint32_t ms; uint8_t flags; - - while (1) { - - counter ++; - mpu6050_read_all_axes(mpu6050_axes); - /* - for (i=0;i<7; i++){ - printf("%"PRId16" ", mpu6050_axes[i]); - } - printf("\r\n"); - */ - /* - printf("%3.3f %3.3f %3.3f\r\n", - mpu6050_gx, - mpu6050_gy, - mpu6050_gz); - continue; - */ - - /* - MadgwickAHRSupdateIMU(mpu6050_gx, - mpu6050_gy, - mpu6050_gz, - mpu6050_ax, - mpu6050_ay, - mpu6050_az); - */ - - MadgwickAHRSupdate(mpu6050_gx, - mpu6050_gy, - mpu6050_gz, - mpu6050_ax, - mpu6050_ay, - mpu6050_az, - mpu6050_mx, - mpu6050_my, - mpu6050_mz - ); - - quaternion2euler(); - - /* - mpu6050_axes[7] = swap_u16(mpu6050_axes[7]); - mpu6050_axes[8] = swap_u16(mpu6050_axes[8]); - mpu6050_axes[9] = swap_u16(mpu6050_axes[9]); - */ - //printf("%+3.3f\t%+3.3f\t%+3.3f\r\n", roll, pitch, yaw); - - IRQ_LOCK(flags); - ms = global_ms; - IRQ_UNLOCK(flags); - - if (fd != NULL) { - len = snprintf(buf, sizeof(buf), - "%"PRIu32"\t" - "gyro %+3.3f\t%+3.3f\t%+3.3f\t\t" - "accel %+3.3f\t%+3.3f\t%+3.3f\t\t" - "magnet %+3.3f\t%+3.3f\t%+3.3f\r\n", - ms, - mpu6050_gx, mpu6050_gy, mpu6050_gz, - mpu6050_ax, mpu6050_ay, mpu6050_az, - mpu6050_mx, mpu6050_my, mpu6050_mz); - if (fat_write_file(fd, (unsigned char *)buf, len) != len) { - printf_P(PSTR("error writing to file\n")); - return -1; - } - } - - printf("%"PRIu32"\t", ms); - printf("gyro %+3.3f\t%+3.3f\t%+3.3f\t\t", - mpu6050_gx, mpu6050_gy, mpu6050_gz); - printf("accel %+3.3f\t%+3.3f\t%+3.3f\t\t", - mpu6050_ax, mpu6050_ay, mpu6050_az); - printf("magnet %+3.3f\t%+3.3f\t%+3.3f\r\n", - mpu6050_mx, mpu6050_my, mpu6050_mz); - - //printf("%+.4d %+.4d %+.4d\r\n", mpu6050_axes[7], mpu6050_axes[8], mpu6050_axes[9]); - //printf("%+3.3f\r\n", mpu6050_temp);//, mpu6050_axes[9]); - //printf("%+3.3f\t%+3.3f\t%+3.3f\r\n", mpu6050_mx, mpu6050_my, mpu6050_mz ); - + struct imu_info imu; + + if (sd_log_enabled() == 0) + return 0; + + IRQ_LOCK(flags); + ms = global_ms; + imu_get_info(&imu); + IRQ_UNLOCK(flags); + + len = snprintf(buf, sizeof(buf), + "%"PRIu32"\t" + "gyro %+3.3f\t%+3.3f\t%+3.3f\t\t" + "accel %+3.3f\t%+3.3f\t%+3.3f\t\t" + "magnet %+3.3f\t%+3.3f\t%+3.3f\r\n", + ms, + imu.gx, imu.gy, imu.gz, + imu.ax, imu.ay, imu.az, + imu.mx, imu.my, imu.mz); + if (sd_log_write(buf, len) != len) { + printf_P(PSTR("error writing to file\n")); + return -1; } return 0;