360 lines
10 KiB
C++
360 lines
10 KiB
C++
#include "IMU.h"
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void calibrateMagn();
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void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
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float invSqrt(float x);
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/******************************************************************************
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* IMU module *
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******************************************************************************/
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// #define S_SCL 33
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// #define S_SDA 32
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AK09918_err_type_t err;
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QMI8658 qmi8658_;
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AK09918 magnetometer_;
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int16_t offset_x = -12, offset_y = 0, offset_z = 0;
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int16_t x, y, z;
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// Find the magnetic declination at your location
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// http://www.magnetic-declination.com/
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double declination_shenzhen = -3.22;
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#define Kp 4.50f // proportional gain governs rate of convergence to accelerometer/magnetometer
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#define Ki 1.0f // integral gain governs rate of convergence of gyroscope biases
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float angles[3];
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float q0, q1, q2, q3;
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float exInt = 0.0f;
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float eyInt = 0.0f;
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float ezInt = 0.0f;
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uint32_t lastFilterUpdateUs = 0;
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namespace {
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constexpr float kDegToRad = 0.01745329251994329577f;
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constexpr float kDefaultSampleDt = 0.01f;
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constexpr float kMaxSampleDt = 0.1f;
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float clampUnit(float value)
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{
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if (value > 1.0f) {
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return 1.0f;
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}
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if (value < -1.0f) {
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return -1.0f;
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}
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return value;
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}
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void resetFilterState()
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{
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q0 = 1.0f;
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q1 = 0.0f;
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q2 = 0.0f;
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q3 = 0.0f;
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exInt = 0.0f;
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eyInt = 0.0f;
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ezInt = 0.0f;
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lastFilterUpdateUs = micros();
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}
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float getSampleDeltaSeconds()
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{
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const uint32_t nowUs = micros();
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if (lastFilterUpdateUs == 0) {
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lastFilterUpdateUs = nowUs;
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return kDefaultSampleDt;
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}
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const uint32_t elapsedUs = nowUs - lastFilterUpdateUs;
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lastFilterUpdateUs = nowUs;
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const float deltaSeconds = elapsedUs * 1.0e-6f;
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if (deltaSeconds <= 0.0f || deltaSeconds > kMaxSampleDt) {
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return kDefaultSampleDt;
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}
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return deltaSeconds;
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}
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bool normalizeVector(float *xAxis, float *yAxis, float *zAxis)
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{
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const float normSquared = (*xAxis * *xAxis) + (*yAxis * *yAxis) + (*zAxis * *zAxis);
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if (normSquared <= 1.0e-12f) {
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return false;
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}
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const float norm = invSqrt(normSquared);
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*xAxis *= norm;
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*yAxis *= norm;
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*zAxis *= norm;
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return true;
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}
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} // namespace
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void imuInit()
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{
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// Wire.begin(S_SDA, S_SCL);
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// Serial.begin(115200);
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if (qmi8658_.begin() == 0)
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Serial.println("qmi8658_init fail");
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if (magnetometer_.initialize())
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Serial.println("AK09918_init fail") ;
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magnetometer_.switchMode(AK09918_CONTINUOUS_100HZ);
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err = magnetometer_.isDataReady();
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int retry_times = 0;
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while (err != AK09918_ERR_OK) {
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Serial.println(err);
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Serial.println("Waiting Sensor");
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delay(100);
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magnetometer_.reset();
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delay(100);
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magnetometer_.switchMode(AK09918_CONTINUOUS_100HZ);
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err = magnetometer_.isDataReady();
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retry_times ++;
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if (retry_times > 10) {
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break;
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}
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}
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// Serial.println("Start figure-8 calibration after 1 seconds.");
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// delay(1000);
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// calibrate(10000, &offset_x, &offset_y, &offset_z);
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// calibrateMagn();
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resetFilterState();
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}
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void imuDataGet(EulerAngles *pstAngles,
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IMU_ST_SENSOR_DATA_FLOAT *pstGyroRawData,
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IMU_ST_SENSOR_DATA_FLOAT *pstAccelRawData,
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IMU_ST_SENSOR_DATA *pstMagnRawData)
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{
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if (pstAngles == nullptr || pstGyroRawData == nullptr ||
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pstAccelRawData == nullptr || pstMagnRawData == nullptr) {
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return;
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}
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float acc[3] = {0.0f, 0.0f, 0.0f};
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float gyro[3] = {0.0f, 0.0f, 0.0f};
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float MotionVal[9];
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const AK09918_err_type_t magErr = magnetometer_.getData(&x, &y, &z);
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if (magErr == AK09918_ERR_OVERFLOW) {
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Serial.println("AK09918 overflow detected, keeping last valid magnetic sample.");
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}
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pstMagnRawData->s16X = x- offset_x;
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pstMagnRawData->s16Y = y- offset_y;
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pstMagnRawData->s16Z = z- offset_z;
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// qmi8658_.GetEulerAngles(&pstAngles->pitch,&pstAngles->roll,&pstAngles->yaw,acc,gyro);
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qmi8658_.read_sensor_data(acc,gyro);
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// pstAngles->roll = atan2((float)acc[1], (float)acc[2]);
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// pstAngles->pitch = atan2(-(float)acc[0], sqrt((float)(acc[1] * acc[1]) + (float)(acc[2] * acc[2])));
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// double Xheading = pstMagnRawData->s16X * cos(pstAngles->pitch) + pstMagnRawData->s16Y * sin(pstAngles->roll) * sin(pstAngles->pitch) + pstMagnRawData->s16Z * cos(pstAngles->roll) * sin(pstAngles->pitch);
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// double Yheading = pstMagnRawData->s16Y * cos(pstAngles->roll) - pstMagnRawData->s16Z * sin(pstAngles->pitch);
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// pstAngles->yaw = /*180 + */57.3 * atan2(Yheading, Xheading) + declination_shenzhen;
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// pstAngles->roll = atan2((float)acc[1], (float)acc[2]) * 57.3;
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// pstAngles->pitch = atan2(-(float)acc[0], sqrt((float)(acc[1] * acc[1]) + (float)(acc[2] * acc[2]))) * 57.3;
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MotionVal[0]=gyro[0];
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MotionVal[1]=gyro[1];
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MotionVal[2]=gyro[2];
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MotionVal[3]=acc[0];
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MotionVal[4]=acc[1];
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MotionVal[5]=acc[2];
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MotionVal[6]=pstMagnRawData->s16X;
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MotionVal[7]=pstMagnRawData->s16Y;
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MotionVal[8]=pstMagnRawData->s16Z;
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imuAHRSupdate((float)MotionVal[0] * kDegToRad, (float)MotionVal[1] * kDegToRad, (float)MotionVal[2] * kDegToRad,
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(float)MotionVal[3], (float)MotionVal[4], (float)MotionVal[5],
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(float)MotionVal[6], (float)MotionVal[7], MotionVal[8]);
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pstAngles->pitch = asinf(clampUnit(-2.0f * q1 * q3 + 2.0f * q0 * q2)) * 57.2957795f;
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pstAngles->roll = atan2f(2.0f * q2 * q3 + 2.0f * q0 * q1,
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-2.0f * q1 * q1 - 2.0f * q2 * q2 + 1.0f) * 57.2957795f;
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pstAngles->yaw = atan2f(-2.0f * q1 * q2 - 2.0f * q0 * q3,
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2.0f * q2 * q2 + 2.0f * q3 * q3 - 1.0f) * 57.2957795f;
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pstGyroRawData->X = gyro[0];
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pstGyroRawData->Y = gyro[1];
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pstGyroRawData->Z = gyro[2];
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pstAccelRawData->X = acc[0];
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pstAccelRawData->Y = acc[1];
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pstAccelRawData->Z = acc[2];
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return;
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}
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bool imuRecalibrate()
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{
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qmi8658_.autoOffsets();
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resetFilterState();
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return true;
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}
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void imuGetMagnOffsets(IMU_ST_SENSOR_DATA *pstMagnOffset)
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{
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if (pstMagnOffset == nullptr) {
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return;
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}
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pstMagnOffset->s16X = offset_x;
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pstMagnOffset->s16Y = offset_y;
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pstMagnOffset->s16Z = offset_z;
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}
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void imuSetMagnOffsets(int16_t inputX, int16_t inputY, int16_t inputZ)
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{
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offset_x = inputX;
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offset_y = inputY;
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offset_z = inputZ;
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resetFilterState();
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}
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float imuGetTemperature()
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{
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return qmi8658_.read_temperature();
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}
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void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
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{
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const float sampleDt = getSampleDeltaSeconds();
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const float halfT = 0.5f * sampleDt;
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float hx = 0.0f, hy = 0.0f, hz = 0.0f, bx = 0.0f, bz = 0.0f;
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float vx = 0.0f, vy = 0.0f, vz = 0.0f, wx = 0.0f, wy = 0.0f, wz = 0.0f;
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float ex = 0.0f, ey = 0.0f, ez = 0.0f;
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float q0q0 = q0 * q0;
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float q0q1 = q0 * q1;
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float q0q2 = q0 * q2;
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float q0q3 = q0 * q3;
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float q1q1 = q1 * q1;
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float q1q2 = q1 * q2;
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float q1q3 = q1 * q3;
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float q2q2 = q2 * q2;
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float q2q3 = q2 * q3;
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float q3q3 = q3 * q3;
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const bool accelValid = normalizeVector(&ax, &ay, &az);
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const bool magnValid = normalizeVector(&mx, &my, &mz);
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if (accelValid) {
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vx = 2.0f * (q1q3 - q0q2);
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vy = 2.0f * (q0q1 + q2q3);
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vz = q0q0 - q1q1 - q2q2 + q3q3;
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ex += (ay * vz - az * vy);
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ey += (az * vx - ax * vz);
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ez += (ax * vy - ay * vx);
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}
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if (magnValid) {
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hx = 2.0f * mx * (0.5f - q2q2 - q3q3) + 2.0f * my * (q1q2 - q0q3) + 2.0f * mz * (q1q3 + q0q2);
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hy = 2.0f * mx * (q1q2 + q0q3) + 2.0f * my * (0.5f - q1q1 - q3q3) + 2.0f * mz * (q2q3 - q0q1);
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hz = 2.0f * mx * (q1q3 - q0q2) + 2.0f * my * (q2q3 + q0q1) + 2.0f * mz * (0.5f - q1q1 - q2q2);
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bx = sqrtf((hx * hx) + (hy * hy));
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bz = hz;
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wx = 2.0f * bx * (0.5f - q2q2 - q3q3) + 2.0f * bz * (q1q3 - q0q2);
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wy = 2.0f * bx * (q1q2 - q0q3) + 2.0f * bz * (q0q1 + q2q3);
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wz = 2.0f * bx * (q0q2 + q1q3) + 2.0f * bz * (0.5f - q1q1 - q2q2);
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ex += (my * wz - mz * wy);
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ey += (mz * wx - mx * wz);
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ez += (mx * wy - my * wx);
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}
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if (accelValid || magnValid) {
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exInt += ex * Ki * sampleDt;
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eyInt += ey * Ki * sampleDt;
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ezInt += ez * Ki * sampleDt;
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gx = gx + Kp * ex + exInt;
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gy = gy + Kp * ey + eyInt;
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gz = gz + Kp * ez + ezInt;
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}
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const float q0Prev = q0;
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const float q1Prev = q1;
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const float q2Prev = q2;
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const float q3Prev = q3;
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q0 = q0Prev + (-q1Prev * gx - q2Prev * gy - q3Prev * gz) * halfT;
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q1 = q1Prev + (q0Prev * gx + q2Prev * gz - q3Prev * gy) * halfT;
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q2 = q2Prev + (q0Prev * gy - q1Prev * gz + q3Prev * gx) * halfT;
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q3 = q3Prev + (q0Prev * gz + q1Prev * gy - q2Prev * gx) * halfT;
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const float normSquared = q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3;
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if (normSquared <= 1.0e-12f) {
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resetFilterState();
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return;
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}
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const float norm = invSqrt(normSquared);
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q0 = q0 * norm;
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q1 = q1 * norm;
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q2 = q2 * norm;
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q3 = q3 * norm;
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}
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float invSqrt(float x)
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{
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if (x <= 0.0f) {
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return 0.0f;
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}
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float halfx = 0.5f * x;
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union {
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float f;
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uint32_t i;
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} conv = { x };
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conv.i = 0x5f3759df - (conv.i >> 1);
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float y = conv.f;
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y = y * (1.5f - (halfx * y * y));
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return y;
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}
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void calibrateMagn(void)
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{
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int16_t temp[9];
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Serial.printf("keep 10dof-imu device horizontal and it will read x y z axis offset value after 4 seconds\n");
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delay(4000);
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Serial.printf("start read all axises offset value\n");
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magnetometer_.getData(&x, &y, &z);
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temp[0] = x;
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temp[1] = y;
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temp[2] = z;
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Serial.printf("rotate z axis 180 degrees and it will read all axises offset value after 4 seconds\n");
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delay(4000);
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Serial.printf("start read all axises offset value\n");
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magnetometer_.getData(&x, &y, &z);
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temp[3] = x;
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temp[4] = y;
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temp[5] = z;
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Serial.printf("flip 10dof-imu device and keep it horizontal and it will read all axises offset value after 4 seconds\n");
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delay(4000);
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Serial.printf("start read all axises offset value\n");
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magnetometer_.getData(&x, &y, &z);
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temp[6] = x;
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temp[7] = y;
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temp[8] = z;
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offset_x = (temp[0]+temp[3])/2;
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offset_y = (temp[1]+temp[4])/2;
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offset_z = (temp[5]+temp[8])/2;
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}
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