From 9a2241fcc428e58d0c208d1dc3b6c27a8481cd98 Mon Sep 17 00:00:00 2001 From: Olivier Matz Date: Thu, 24 Jul 2014 18:26:52 +0200 Subject: [PATCH] Initial revision Start from protos/imu 950c56ac3c1e5651f54965700f385076ab63c8ea protos/xbee-avr 9a090567b4bf503a5919673e7416f3bc7963f3e4 --- common/i2c_commands.h | 76 + common/todo.txt | 3 + imuboard/IMU_Razor9DOF.py | 146 ++ imuboard/MadgwickAHRS.c | 239 +++ imuboard/MadgwickAHRS.h | 46 + imuboard/Makefile | 30 + imuboard/PS-MPU-9150A.pdf | Bin 0 -> 4139884 bytes imuboard/RM-MPU-9150A-00.pdf | Bin 0 -> 863489 bytes imuboard/byteordering.c | 110 ++ imuboard/byteordering.h | 188 +++ imuboard/cmdline.c | 236 +++ imuboard/cmdline.h | 63 + imuboard/commands.c | 276 ++++ imuboard/commands_gen.c | 382 +++++ imuboard/diagnostic_config.h | 44 + imuboard/eeprom_config.c | 157 ++ imuboard/eeprom_config.h | 48 + imuboard/error_config.h | 28 + imuboard/fat.c | 2558 +++++++++++++++++++++++++++++++++ imuboard/fat.h | 131 ++ imuboard/fat_config.h | 128 ++ imuboard/gps_venus.c | 600 ++++++++ imuboard/gps_venus.h | 52 + imuboard/graph_imu.py | 83 ++ imuboard/i2c_config.h | 30 + imuboard/i2c_protocol.c | 157 ++ imuboard/i2c_protocol.h | 30 + imuboard/i2cm_sw.c | 332 +++++ imuboard/i2cm_sw.h | 55 + imuboard/imu.c | 133 ++ imuboard/imu.h | 83 ++ imuboard/main.c | 196 +++ imuboard/main.h | 87 ++ imuboard/matrix.c | 16 + imuboard/matrix.h | 6 + imuboard/mpu6050.c | 351 +++++ imuboard/mpu6050.h | 43 + imuboard/mpu6050_regs.h | 116 ++ imuboard/partition.c | 155 ++ imuboard/partition.h | 212 +++ imuboard/partition_config.h | 44 + imuboard/rdline_config.h | 0 imuboard/scheduler_config.h | 77 + imuboard/sd-reader_config.h | 53 + imuboard/sd_log.c | 146 ++ imuboard/sd_log.h | 30 + imuboard/sd_main.c | 656 +++++++++ imuboard/sd_raw.c | 1002 +++++++++++++ imuboard/sd_raw.h | 148 ++ imuboard/sd_raw_config.h | 151 ++ imuboard/timer_config.h | 36 + imuboard/translate_code.py | 90 ++ imuboard/uart_config.h | 92 ++ mainboard/Makefile | 26 + mainboard/avr6.x | 251 ++++ mainboard/beep.c | 109 ++ mainboard/beep.h | 32 + mainboard/cmdline.c | 236 +++ mainboard/cmdline.h | 63 + mainboard/commands.c | 2356 ++++++++++++++++++++++++++++++ mainboard/commands_gen.c | 382 +++++ mainboard/diagnostic_config.h | 44 + mainboard/dump_stats.py | 210 +++ mainboard/eeprom_config.c | 157 ++ mainboard/eeprom_config.h | 48 + mainboard/error_config.h | 31 + mainboard/i2c_config.h | 30 + mainboard/i2c_protocol.c | 341 +++++ mainboard/i2c_protocol.h | 45 + mainboard/main.c | 213 +++ mainboard/main.h | 93 ++ mainboard/notes.txt | 503 +++++++ mainboard/parse_atcmd.c | 134 ++ mainboard/parse_atcmd.h | 64 + mainboard/parse_monitor.c | 123 ++ mainboard/parse_monitor.h | 62 + mainboard/parse_neighbor.c | 132 ++ mainboard/parse_neighbor.h | 60 + mainboard/rc_proto.c | 851 +++++++++++ mainboard/rc_proto.h | 151 ++ mainboard/rdline_config.h | 0 mainboard/scheduler_config.h | 53 + mainboard/spi_config.h | 36 + mainboard/spi_servo.c | 272 ++++ mainboard/spi_servo.h | 10 + mainboard/time_config.h | 23 + mainboard/timer_config.h | 36 + mainboard/uart_config.h | 92 ++ mainboard/xbee_user.c | 569 ++++++++ mainboard/xbee_user.h | 92 ++ 90 files changed, 18081 insertions(+) create mode 100644 common/i2c_commands.h create mode 100644 common/todo.txt create mode 100644 imuboard/IMU_Razor9DOF.py create mode 100644 imuboard/MadgwickAHRS.c create mode 100644 imuboard/MadgwickAHRS.h create mode 100644 imuboard/Makefile create mode 100644 imuboard/PS-MPU-9150A.pdf create mode 100644 imuboard/RM-MPU-9150A-00.pdf create mode 100644 imuboard/byteordering.c create mode 100644 imuboard/byteordering.h create mode 100644 imuboard/cmdline.c create mode 100644 imuboard/cmdline.h create mode 100644 imuboard/commands.c create mode 100644 imuboard/commands_gen.c create mode 100644 imuboard/diagnostic_config.h create mode 100644 imuboard/eeprom_config.c create mode 100644 imuboard/eeprom_config.h create mode 100644 imuboard/error_config.h create mode 100644 imuboard/fat.c create mode 100644 imuboard/fat.h create mode 100644 imuboard/fat_config.h create mode 100644 imuboard/gps_venus.c create mode 100644 imuboard/gps_venus.h create mode 100644 imuboard/graph_imu.py create mode 100644 imuboard/i2c_config.h create mode 100644 imuboard/i2c_protocol.c create mode 100644 imuboard/i2c_protocol.h create mode 100644 imuboard/i2cm_sw.c create mode 100644 imuboard/i2cm_sw.h create mode 100644 imuboard/imu.c create mode 100644 imuboard/imu.h create mode 100644 imuboard/main.c create mode 100644 imuboard/main.h create mode 100644 imuboard/matrix.c create mode 100644 imuboard/matrix.h create mode 100644 imuboard/mpu6050.c create mode 100644 imuboard/mpu6050.h create mode 100644 imuboard/mpu6050_regs.h create mode 100644 imuboard/partition.c create mode 100644 imuboard/partition.h create mode 100644 imuboard/partition_config.h create mode 100644 imuboard/rdline_config.h create mode 100644 imuboard/scheduler_config.h create mode 100644 imuboard/sd-reader_config.h create mode 100644 imuboard/sd_log.c create mode 100644 imuboard/sd_log.h create mode 100644 imuboard/sd_main.c create mode 100644 imuboard/sd_raw.c create mode 100644 imuboard/sd_raw.h create mode 100644 imuboard/sd_raw_config.h create mode 100644 imuboard/timer_config.h create mode 100644 imuboard/translate_code.py create mode 100644 imuboard/uart_config.h create mode 100644 mainboard/Makefile create mode 100644 mainboard/avr6.x create mode 100644 mainboard/beep.c create mode 100644 mainboard/beep.h create mode 100644 mainboard/cmdline.c create mode 100644 mainboard/cmdline.h create mode 100644 mainboard/commands.c create mode 100644 mainboard/commands_gen.c create mode 100644 mainboard/diagnostic_config.h create mode 100644 mainboard/dump_stats.py create mode 100644 mainboard/eeprom_config.c create mode 100644 mainboard/eeprom_config.h create mode 100644 mainboard/error_config.h create mode 100644 mainboard/i2c_config.h create mode 100644 mainboard/i2c_protocol.c create mode 100644 mainboard/i2c_protocol.h create mode 100644 mainboard/main.c create mode 100644 mainboard/main.h create mode 100644 mainboard/notes.txt create mode 100644 mainboard/parse_atcmd.c create mode 100644 mainboard/parse_atcmd.h create mode 100644 mainboard/parse_monitor.c create mode 100644 mainboard/parse_monitor.h create mode 100644 mainboard/parse_neighbor.c create mode 100644 mainboard/parse_neighbor.h create mode 100644 mainboard/rc_proto.c create mode 100644 mainboard/rc_proto.h create mode 100644 mainboard/rdline_config.h create mode 100644 mainboard/scheduler_config.h create mode 100644 mainboard/spi_config.h create mode 100644 mainboard/spi_servo.c create mode 100644 mainboard/spi_servo.h create mode 100644 mainboard/time_config.h create mode 100644 mainboard/timer_config.h create mode 100644 mainboard/uart_config.h create mode 100644 mainboard/xbee_user.c create mode 100644 mainboard/xbee_user.h diff --git a/common/i2c_commands.h b/common/i2c_commands.h new file mode 100644 index 0000000..4f4953c --- /dev/null +++ b/common/i2c_commands.h @@ -0,0 +1,76 @@ +/* + * Copyright Droids Corporation (2010) + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: i2c_commands.h,v 1.9 2009-05-27 20:04:06 zer0 Exp $ + * + */ + +#ifndef _I2C_COMMANDS_H_ +#define _I2C_COMMANDS_H_ + +#define I2C_MAINBOARD_ADDR 1 +#define I2C_IMUBOARD_ADDR 2 + +struct i2c_cmd_hdr { + uint8_t cmd; +}; + +/****/ +/* commands that do not need and answer */ +/****/ + +#define I2C_CMD_GENERIC_LED_CONTROL 0x00 + +struct i2c_cmd_led_control { + struct i2c_cmd_hdr hdr; + uint8_t led_num:7; + uint8_t state:1; +}; + +/****/ +/* requests and their answers */ +/****/ + + +#define I2C_REQ_IMUBOARD_STATUS 0x80 + +struct i2c_req_imuboard_status { + struct i2c_cmd_hdr hdr; + /* add data in request if any */ +}; + +#define I2C_ANS_IMUBOARD_STATUS 0x81 + +struct i2c_ans_imuboard_status { + struct i2c_cmd_hdr hdr; + +#define IMUBOARD_STATUS_GPS_OK 0x01 +#define IMUBOARD_STATUS_IMU_OK 0x02 + uint8_t flags; + + int32_t latitude; /* between -90e7 and 90e7, in 1/1e-7 degrees, + * positive means north hemisphere */ + int32_t longitude; /* between -180e7 and 180e7, in 1/1e-7 degrees, + * positive means east */ + uint32_t altitude; /* altitude from elipsoid, in 1/100 meters */ + + uint16_t roll; /* XXX unit ? */ + uint16_t pitch; + uint16_t yaw; +}; + +#endif /* _I2C_PROTOCOL_H_ */ diff --git a/common/todo.txt b/common/todo.txt new file mode 100644 index 0000000..53ac9d6 --- /dev/null +++ b/common/todo.txt @@ -0,0 +1,3 @@ +- printf -> printf_P +- check log rate limitation +- eeprom check to avoid programming the mcu with the prog of another board diff --git a/imuboard/IMU_Razor9DOF.py b/imuboard/IMU_Razor9DOF.py new file mode 100644 index 0000000..91351ae --- /dev/null +++ b/imuboard/IMU_Razor9DOF.py @@ -0,0 +1,146 @@ +# Test for Razor 9DOF IMU +# Jose Julio @2009 +# This script needs VPhyton, pyserial and pywin modules + +# First Install Python 2.6.4 +# Install pywin from http://sourceforge.net/projects/pywin32/ +# Install pyserial from http://sourceforge.net/projects/pyserial/files/ +# Install Vphyton from http://vpython.org/contents/download_windows.html + +from visual import * +import serial +import string +import math +import sys + +from time import time + +#ev = scene.waitfor('click keydown') + +grad2rad = 3.141592/180.0 + +# Check your COM port and baud rate +ser = serial.Serial(port='/dev/ttyUSB0',baudrate=57600, timeout=1) + +# Main scene +scene=display(title="9DOF Razor IMU test") +scene.range=(1.2,1.2,1.2) +#scene.forward = (0,-1,-0.25) +scene.forward = (1,0,-0.25) +scene.up=(0,0,1) + +# Second scene (Roll, Pitch, Yaw) +scene2 = display(title='9DOF Razor IMU test',x=0, y=0, width=500, height=200,center=(0,0,0), background=(0,0,0)) +scene2.range=(1,1,1) +scene.width=500 +scene.y=200 + +scene2.select() +#Roll, Pitch, Yaw +cil_roll = cylinder(pos=(-0.4,0,0),axis=(0.2,0,0),radius=0.01,color=color.red) +cil_roll2 = cylinder(pos=(-0.4,0,0),axis=(-0.2,0,0),radius=0.01,color=color.red) +cil_pitch = cylinder(pos=(0.1,0,0),axis=(0.2,0,0),radius=0.01,color=color.green) +cil_pitch2 = cylinder(pos=(0.1,0,0),axis=(-0.2,0,0),radius=0.01,color=color.green) +#cil_course = cylinder(pos=(0.6,0,0),axis=(0.2,0,0),radius=0.01,color=color.blue) +#cil_course2 = cylinder(pos=(0.6,0,0),axis=(-0.2,0,0),radius=0.01,color=color.blue) +arrow_course = arrow(pos=(0.6,0,0),color=color.cyan,axis=(-0.2,0,0), shaftwidth=0.02, fixedwidth=1) + +#Roll,Pitch,Yaw labels +label(pos=(-0.4,0.3,0),text="Roll",box=0,opacity=0) +label(pos=(0.1,0.3,0),text="Pitch",box=0,opacity=0) +label(pos=(0.55,0.3,0),text="Yaw",box=0,opacity=0) +label(pos=(0.6,0.22,0),text="N",box=0,opacity=0,color=color.yellow) +label(pos=(0.6,-0.22,0),text="S",box=0,opacity=0,color=color.yellow) +label(pos=(0.38,0,0),text="W",box=0,opacity=0,color=color.yellow) +label(pos=(0.82,0,0),text="E",box=0,opacity=0,color=color.yellow) +label(pos=(0.75,0.15,0),height=7,text="NE",box=0,color=color.yellow) +label(pos=(0.45,0.15,0),height=7,text="NW",box=0,color=color.yellow) +label(pos=(0.75,-0.15,0),height=7,text="SE",box=0,color=color.yellow) +label(pos=(0.45,-0.15,0),height=7,text="SW",box=0,color=color.yellow) + +L1 = label(pos=(-0.4,0.22,0),text="-",box=0,opacity=0) +L2 = label(pos=(0.1,0.22,0),text="-",box=0,opacity=0) +L3 = label(pos=(0.7,0.3,0),text="-",box=0,opacity=0) + +# Main scene objects +scene.select() +# Reference axis (x,y,z) +arrow(color=color.green,axis=(1,0,0), shaftwidth=0.02, fixedwidth=1) +arrow(color=color.green,axis=(0,-1,0), shaftwidth=0.02 , fixedwidth=1) +arrow(color=color.green,axis=(0,0,-1), shaftwidth=0.02, fixedwidth=1) +# labels +label(pos=(0,0,0.8),text="9DOF Razor IMU test",box=0,opacity=0) +label(pos=(1,0,0),text="X",box=0,opacity=0) +label(pos=(0,-1,0),text="Y",box=0,opacity=0) +label(pos=(0,0,-1),text="Z",box=0,opacity=0) +# IMU object +platform = box(length=1, height=0.05, width=1, color=color.red) +p_line = box(length=1,height=0.08,width=0.1,color=color.yellow) +plat_arrow = arrow(color=color.green,axis=(1,0,0), shaftwidth=0.06, fixedwidth=1) + + +f = open("Serial"+str(time())+".txt", 'w') + +roll=0 +pitch=0 +yaw=0 +cpt = 0 +t_start = time() +while 1: + line = ser.readline() + line = line.replace("!ANG:","") # Delete "!ANG:" + #print line + f.write(line) # Write to the output log file + words = string.split(line,"\t") # Fields split + #print words + print words + if len(words) != 3: + continue + + """ + a = float(words[0])#*grad2rad + b = float(words[1])#*grad2rad + c = float(words[2])#*grad2rad + d = float(words[3])#*grad2rad + + platform.axis = (1, 1, 1) + #print a, b, c, d + platform.rotate(angle=a, axis = (b, c, d)) + continue + """ + try: + roll = float(words[0])#*grad2rad + pitch = float(words[1])#*grad2rad + yaw = float(words[2])#*grad2rad + except: + print "Invalid line" + continue + + cpt += 1 + if cpt > 10: + t = time() - t_start + t_start = time() + print "XXX", cpt/t + cpt = 0 + + axis=(cos(pitch)*cos(yaw),-cos(pitch)*sin(yaw),sin(pitch)) + up=(sin(roll)*sin(yaw)+cos(roll)*sin(pitch)*cos(yaw),sin(roll)*cos(yaw)-cos(roll)*sin(pitch)*sin(yaw),-cos(roll)*cos(pitch)) + platform.axis=axis + platform.up=up + platform.length=1.0 + platform.width=0.65 + plat_arrow.axis=axis + plat_arrow.up=up + plat_arrow.length=0.8 + p_line.axis=axis + p_line.up=up + cil_roll.axis=(0.2*cos(roll),0.2*sin(roll),0) + cil_roll2.axis=(-0.2*cos(roll),-0.2*sin(roll),0) + cil_pitch.axis=(0.2*cos(pitch),0.2*sin(pitch),0) + cil_pitch2.axis=(-0.2*cos(pitch),-0.2*sin(pitch),0) + arrow_course.axis=(0.2*sin(yaw),0.2*cos(yaw),0) + L1.text = str(float(words[0])) + L2.text = str(float(words[1])) + L3.text = str(float(words[2])) +ser.close() +f.close() diff --git a/imuboard/MadgwickAHRS.c b/imuboard/MadgwickAHRS.c new file mode 100644 index 0000000..5f03d6f --- /dev/null +++ b/imuboard/MadgwickAHRS.c @@ -0,0 +1,239 @@ +/* + * Copyright (c) 2014, Olivier MATZ + * Copyright (c) 2011-2012, SOH Madgwick + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +//============================================================================ +// MadgwickAHRS.c +//============================================================================ +// +// Implementation of Madgwick's IMU and AHRS algorithms. +// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms +// +// Date Author Notes +// 29/09/2011 SOH Madgwick Initial release +// 02/10/2011 SOH Madgwick Optimised for reduced CPU load +// 19/02/2012 SOH Madgwick Magnetometer measurement is normalised +// +//============================================================================ + +#include "MadgwickAHRS.h" +#include + +//#define sampleFreq 512.0f // sample frequency in Hz +//#define sampleFreq 46.0f // sample frequency in Hz +#define sampleFreq 85.0f // sample frequency in Hz +#define betaDef 0.1f // 2 * proportional gain + +volatile float beta = betaDef; // 2 * proportional gain (Kp) +volatile float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to auxiliary frame + + +static float invSqrt(float x) +{ + return 1.0f / sqrtf(x); +} + +/* AHRS algorithm update */ +void MadgwickAHRSupdate(const struct imu_info *imu, struct quaternion *quat) +{ + float recipNorm; + float s0, s1, s2, s3; + float qDot1, qDot2, qDot3, qDot4; + float hx, hy; + float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz; + float _2q0, _2q1, _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3; + float q1q1, q1q2, q1q3, q2q2, q2q3, q3q3; + float mx, my, mz, ax, ay, az; + float q0 = quat->q0; + float q1 = quat->q1; + float q2 = quat->q2; + float q3 = quat->q3; + + /* Use IMU algorithm if magnetometer measurement invalid (avoids NaN in + * magnetometer normalisation) */ + if ((imu->mx == 0.0f) && (imu->my == 0.0f) && (imu->mz == 0.0f)) { + MadgwickAHRSupdateIMU(imu, quat); + return; + } + + /* Rate of change of quaternion from gyroscope */ + qDot1 = 0.5f * (-q1 * imu->gx - q2 * imu->gy - q3 * imu->gz); + qDot2 = 0.5f * (q0 * imu->gx + q2 * imu->gz - q3 * imu->gy); + qDot3 = 0.5f * (q0 * imu->gy - q1 * imu->gz + q3 * imu->gx); + qDot4 = 0.5f * (q0 * imu->gz + q1 * imu->gy - q2 * imu->gx); + + /* Compute feedback only if accelerometer measurement valid (avoids NaN + * in accelerometer normalisation) */ + if (!((imu->ax == 0.0f) && (imu->ay == 0.0f) && (imu->az == 0.0f))) { + + /* Normalise accelerometer measurement */ + recipNorm = invSqrt(imu->ax * imu->ax + imu->ay * imu->ay + + imu->az * imu->az); + ax = imu->ax * recipNorm; + ay = imu->ay * recipNorm; + az = imu->az * recipNorm; + + /* Normalise magnetometer measurement */ + recipNorm = invSqrt(imu->mx * imu->mx + imu->my * imu->my + + imu->mz * imu->mz); + mx = imu->mx * recipNorm; + my = imu->my * recipNorm; + mz = imu->mz * recipNorm; + + /* Auxiliary variables to avoid repeated arithmetic */ + _2q0mx = 2.0f * q0 * mx; + _2q0my = 2.0f * q0 * my; + _2q0mz = 2.0f * q0 * mz; + _2q1mx = 2.0f * q1 * mx; + _2q0 = 2.0f * q0; + _2q1 = 2.0f * q1; + _2q2 = 2.0f * q2; + _2q3 = 2.0f * q3; + _2q0q2 = 2.0f * q0 * q2; + _2q2q3 = 2.0f * q2 * q3; + q0q0 = q0 * q0; + q0q1 = q0 * q1; + q0q2 = q0 * q2; + q0q3 = q0 * q3; + q1q1 = q1 * q1; + q1q2 = q1 * q2; + q1q3 = q1 * q3; + q2q2 = q2 * q2; + q2q3 = q2 * q3; + q3q3 = q3 * q3; + + /* Reference direction of Earth's magnetic field */ + hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3; + hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3; + _2bx = sqrt(hx * hx + hy * hy); + _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3; + _4bx = 2.0f * _2bx; + _4bz = 2.0f * _2bz; + + /* Gradient decent algorithm corrective step */ + s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + + /* normalize step magnitude */ + recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); + s0 *= recipNorm; + s1 *= recipNorm; + s2 *= recipNorm; + s3 *= recipNorm; + + /* Apply feedback step */ + qDot1 -= beta * s0; + qDot2 -= beta * s1; + qDot3 -= beta * s2; + qDot4 -= beta * s3; + } + + /* Integrate rate of change of quaternion to yield quaternion */ + q0 += qDot1 * (1.0f / sampleFreq); + q1 += qDot2 * (1.0f / sampleFreq); + q2 += qDot3 * (1.0f / sampleFreq); + q3 += qDot4 * (1.0f / sampleFreq); + + /* Normalise quaternion */ + recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + quat->q0 = q0 * recipNorm; + quat->q1 = q1 * recipNorm; + quat->q2 = q2 * recipNorm; + quat->q3 = q3 * recipNorm; +} + +/* IMU algorithm update (does not take magneto in account) */ +void MadgwickAHRSupdateIMU(const struct imu_info *imu, struct quaternion *quat) +{ + float recipNorm; + float s0, s1, s2, s3; + float qDot1, qDot2, qDot3, qDot4; + float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3; + float ax, ay, az; + float q0 = quat->q0; + float q1 = quat->q1; + float q2 = quat->q2; + float q3 = quat->q3; + + /* Rate of change of quaternion from gyroscope */ + qDot1 = 0.5f * (-q1 * imu->gx - q2 * imu->gy - q3 * imu->gz); + qDot2 = 0.5f * (q0 * imu->gx + q2 * imu->gz - q3 * imu->gy); + qDot3 = 0.5f * (q0 * imu->gy - q1 * imu->gz + q3 * imu->gx); + qDot4 = 0.5f * (q0 * imu->gz + q1 * imu->gy - q2 * imu->gx); + + + /* Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) */ + if(!((imu->ax == 0.0f) && (imu->ay == 0.0f) && (imu->az == 0.0f))) { + + /* Normalise accelerometer measurement */ + recipNorm = invSqrt(imu->ax * imu->ax + imu->ay * imu->ay + imu->az * imu->az); + ax = imu->ax * recipNorm; + ay = imu->ay * recipNorm; + az = imu->az * recipNorm; + + /* Auxiliary variables to avoid repeated arithmetic */ + _2q0 = 2.0f * q0; + _2q1 = 2.0f * q1; + _2q2 = 2.0f * q2; + _2q3 = 2.0f * q3; + _4q0 = 4.0f * q0; + _4q1 = 4.0f * q1; + _4q2 = 4.0f * q2; + _8q1 = 8.0f * q1; + _8q2 = 8.0f * q2; + q0q0 = q0 * q0; + q1q1 = q1 * q1; + q2q2 = q2 * q2; + q3q3 = q3 * q3; + + /* Gradient decent algorithm corrective step */ + s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; + s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; + s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; + s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay; + recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); /* normalise step magnitude */ + + s0 *= recipNorm; + s1 *= recipNorm; + s2 *= recipNorm; + s3 *= recipNorm; + + /* Apply feedback step */ + qDot1 -= beta * s0; + qDot2 -= beta * s1; + qDot3 -= beta * s2; + qDot4 -= beta * s3; + } + + /* Integrate rate of change of quaternion to yield quaternion */ + q0 += qDot1 * (1.0f / sampleFreq); + q1 += qDot2 * (1.0f / sampleFreq); + q2 += qDot3 * (1.0f / sampleFreq); + q3 += qDot4 * (1.0f / sampleFreq); + + /* Normalise quaternion */ + recipNorm = invSqrt(q0 * q0 + q1 * q1 + + q2 * q2 + q3 * q3); + quat->q0 = q0 * recipNorm; + quat->q1 = q1 * recipNorm; + quat->q2 = q2 * recipNorm; + quat->q3 = q3 * recipNorm; +} + diff --git a/imuboard/MadgwickAHRS.h b/imuboard/MadgwickAHRS.h new file mode 100644 index 0000000..018f34a --- /dev/null +++ b/imuboard/MadgwickAHRS.h @@ -0,0 +1,46 @@ +/* + * Copyright (c) 2014, Olivier MATZ + * Copyright (c) 2011, SOH Madgwick + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +//============================================================================= +// MadgwickAHRS.h +//============================================================================= +// +// Implementation of Madgwick's IMU and AHRS algorithms. +// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms +// +// Date Author Notes +// 29/09/2011 SOH Madgwick Initial release +// 02/10/2011 SOH Madgwick Optimised for reduced CPU load +// +//============================================================================= + +#ifndef MadgwickAHRS_h +#define MadgwickAHRS_h + +#include "imu.h" + +extern volatile float beta; // algorithm gain + +/* update quaternion structure using the new IMU infos */ +void MadgwickAHRSupdate(const struct imu_info *imu, struct quaternion *quat); + +/* update quaternion structure using the new IMU infos, without using magneto */ +void MadgwickAHRSupdateIMU(const struct imu_info *imu, struct quaternion *quat); + +#endif diff --git a/imuboard/Makefile b/imuboard/Makefile new file mode 100644 index 0000000..4ab55ad --- /dev/null +++ b/imuboard/Makefile @@ -0,0 +1,30 @@ +TARGET = main + +AVERSIVE_DIR ?= ../.. + +# List C source files here. (C dependencies are automatically generated.) +SRC = $(TARGET).c +SRC += commands.c +SRC += commands_gen.c +SRC += cmdline.c +SRC += eeprom_config.c +SRC += i2cm_sw.c +SRC += imu.c +SRC += mpu6050.c +SRC += MadgwickAHRS.c +SRC += byteordering.c +SRC += fat.c +SRC += sd_main.c +SRC += partition.c +SRC += sd_raw.c +SRC += gps_venus.c +SRC += sd_log.c +SRC += i2c_protocol.c + + +CFLAGS += -W -Wall -Werror + +######################################## + +-include .aversive_conf +include $(AVERSIVE_DIR)/mk/aversive_project.mk diff --git a/imuboard/PS-MPU-9150A.pdf b/imuboard/PS-MPU-9150A.pdf new file mode 100644 index 0000000000000000000000000000000000000000..309f5c81112819f1d78bdd699aa63f63270f24a0 GIT binary patch literal 4139884 zcmbSz2RK|?*Z+uKqD4v3q9j9fMlaD@5~D>Y$`D=jK1xJ_5TYb{iReU+E)pRG5iNQU z1W^a0&G?@g?tAlo-~ImYy|3rl&YpAjTI;vgS!M5Y_6!G9QJF`8SNJ@~+3W}DJi~NcFr&hH#Ef!$`A#pJ=VLnY3h>$p+5{s}nL{yyb4huw( zPZx7hOjJaWPnE?OxFEnHDj;SmBXb_+Y>i>Y^5-8Q10wjR3`Llgi!}^t;pXHHNK|lf 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