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Added support for "OpenLog Artemis": DEV-16832
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@lebarsfa
lebarsfa committed Dec 20, 2020
1 parent 71f2593 commit 6f20e11
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96 changes: 73 additions & 23 deletions Arduino/Razor_AHRS/Razor_AHRS.ino
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
/***************************************************************************************************************
* Razor AHRS Firmware
* 9 Degree of Measurement Attitude and Heading Reference System
* for Sparkfun "9DOF Razor IMU" (SEN-10125 and SEN-10736)
* and "9DOF Sensor Stick" (SEN-10183, 10321 and SEN-10724)
* for Sparkfun "OpenLog Artemis" (DEV-16832), "9DoF Razor IMU M0" (SEN-14001),
* "9DOF Razor IMU" (SEN-10125 and SEN-10736) and "9DOF Sensor Stick" (SEN-10183, 10321 and SEN-10724)
*
* Released under GNU GPL (General Public License) v3.0
* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
* Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
*
* Infos, updates, bug reports, contributions and feedback:
* Original repository:
* https://github.com/ptrbrtz/razor-9dof-ahrs
*
*
Expand Down Expand Up @@ -44,7 +44,7 @@
* * Added static magnetometer soft iron distortion compensation.
* * v1.4.2
* * (No core firmware changes)
* * v1.5
* * v1.5.0
* * Added support for "9DoF Razor IMU M0": SEN-14001.
* * v1.5.1
* * Added ROS-compatible output mode.
Expand All @@ -64,19 +64,29 @@
* * Increased startup delay to try to get a correct initial orientation for the M0.
* * v1.5.7
* * Calibration data are now also used to compute the initial orientation.
* * v1.6.0
* * Added support for "OpenLog Artemis": DEV-16832. See OLA_IMU_Basics.ino sample from https://github.com/sparkfun/OpenLog_Artemis.
* * Added a command to toggle the status LED.
*
* TODOs:
* * Allow optional use of Flash/EEPROM for storing and reading calibration values.
* * Use self-test and temperature-compensation features of the sensors.
***************************************************************************************************************/

/*
"OpenLog Artemis" hardware versions: DEV-16832
Arduino IDE : Follow the same instructions as for the default firmware on
https://github.com/sparkfun/OpenLog_Artemis/blob/master/Firmware/Test%20Sketches/OLA_IMU_Basics/OLA_IMU_Basics.ino
*/

/*
"9DoF Razor IMU M0" hardware versions: SEN-14001
Arduino IDE : Follow the same instructions as for the default firmware on
https://learn.sparkfun.com/tutorials/9dof-razor-imu-m0-hookup-guide
and use an updated version of SparkFun_MPU-9250-DMP_Arduino_Library from
https://github.com/lebarsfa/SparkFun_MPU-9250-DMP_Arduino_Library"
https://github.com/lebarsfa/SparkFun_MPU-9250-DMP_Arduino_Library
*/

/*
Expand All @@ -102,8 +112,8 @@
*/

/*
Axis definition (differs from definition printed on the board!):
X axis pointing forward (towards the short edge with the connector holes)
Axis definition (differs from definition printed on the board, see also https://github.com/Razor-AHRS/razor-9dof-ahrs/issues/57#issuecomment-378585065!):
X axis pointing forward (towards where "sparkfun" is written for DEV-16832 and SEN-14001, the short edge with the connector holes for SEN-10125 and SEN-10736)
Y axis pointing to the right
and Z axis pointing down.
Expand Down Expand Up @@ -174,6 +184,9 @@
"#I" - Toggle INERTIAL-only mode for yaw computation.
"#L" - Toggle status LED.
"#f" - Request one output frame - useful when continuous output is disabled and updates are
required in larger intervals only. Though #f only requests one reply, replies are still
bound to the internal 20ms (50Hz) time raster. So worst case delay that #f can add is 19.99ms.
Expand All @@ -192,7 +205,7 @@
would set binary output mode, enable continuous streaming output and request
a synch token all at once.
The status LED will be on if streaming output is enabled and off otherwise.
The status LED will be on if streaming output is enabled and off otherwise, unless "#L" is sent.
Byte order of binary output is little-endian: least significant byte comes first.
*/
Expand All @@ -209,6 +222,7 @@
//#define HW__VERSION_CODE 10125 // SparkFun "9DOF Razor IMU" version "SEN-10125" (HMC5843 magnetometer)
//#define HW__VERSION_CODE 10736 // SparkFun "9DOF Razor IMU" version "SEN-10736" (HMC5883L magnetometer)
//#define HW__VERSION_CODE 14001 // SparkFun "9DoF Razor IMU M0" version "SEN-14001"
//#define HW__VERSION_CODE 16832 // SparkFun "OpenLog Artemis" version "DEV-16832"
//#define HW__VERSION_CODE 10183 // SparkFun "9DOF Sensor Stick" version "SEN-10183" (HMC5843 magnetometer)
//#define HW__VERSION_CODE 10321 // SparkFun "9DOF Sensor Stick" version "SEN-10321" (HMC5843 magnetometer)
//#define HW__VERSION_CODE 10724 // SparkFun "9DOF Sensor Stick" version "SEN-10724" (HMC5883L magnetometer)
Expand All @@ -218,12 +232,16 @@
/*****************************************************************/
// Set your serial port baud rate used to send out data here!
#define OUTPUT__BAUD_RATE 57600
#if HW__VERSION_CODE == 14001
// Set your port used to send out data here!
#if HW__VERSION_CODE == 16832
#define LOG_PORT Serial
//#define LOG_PORT Serial1
//Uart SerialLog(1, 13, 12); // Declares a Uart object called Serial1 using instance 1 of Apollo3 UART peripherals with RX on pin 13 and TX on pin 12 (note, you specify *pins* not Apollo3 pads. This uses the variant's pin map to determine the Apollo3 pad)
//#define LOG_PORT SerialLog
#elif HW__VERSION_CODE == 14001
#define LOG_PORT SERIAL_PORT_USBVIRTUAL
//#define LOG_PORT SERIAL_PORT_HARDWARE
#else
// Set your port used to send out data here!
#define LOG_PORT Serial
#endif // HW__VERSION_CODE

Expand Down Expand Up @@ -268,7 +286,7 @@ boolean output_errors = false; // true or false

// SENSOR CALIBRATION
/*****************************************************************/
// How to calibrate? Read the tutorial at http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs
// How to calibrate? Read the tutorial at https://github.com/ptrbrtz/razor-9dof-ahrs/wiki/Tutorial
// Put MIN/MAX and OFFSET readings for your board here!
// For the M0, only the extended magnetometer calibration seems to be really necessary if DEBUG__USE_DMP_M0 is set to true...
// Accelerometer
Expand Down Expand Up @@ -383,7 +401,34 @@ boolean DEBUG__NO_DRIFT_CORRECTION = false;
#error YOU HAVE TO SELECT THE HARDWARE YOU ARE USING! See "HARDWARE OPTIONS" in "USER SETUP AREA" at top of Razor_AHRS.ino!
#endif

#if HW__VERSION_CODE == 14001
#if HW__VERSION_CODE == 16832
// OLA Specifics:
const byte PIN_IMU_POWER = 27; // The Red SparkFun version of the OLA (V10) uses pin 27
//const byte PIN_IMU_POWER = 22; // The Black SparkX version of the OLA (X04) uses pin 22
const byte PIN_IMU_INT = 37;
const byte PIN_IMU_CHIP_SELECT = 44;
// For low power...
const byte PIN_QWIIC_POWER = 18;
const byte PIN_MICROSD_POWER = 15; //x04

#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU

#define USE_SPI // Uncomment this to use SPI

#define SPI_PORT SPI // Your desired SPI port. Used only when "USE_SPI" is defined
#define CS_PIN PIN_IMU_CHIP_SELECT // Which pin you connect CS to. Used only when "USE_SPI" is defined. OLA uses pin 44.

#define WIRE_PORT Wire // Your desired Wire port. Used when "USE_SPI" is not defined
#define AD0_VAL 1 // The value of the last bit of the I2C address.
// On the SparkFun 9DoF IMU breakout the default is 1, and when
// the ADR jumper is closed the value becomes 0

#ifdef USE_SPI
ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
#else
ICM_20948_I2C myICM; // Otherwise create an ICM_20948_I2C object
#endif
#elif HW__VERSION_CODE == 14001
// MPU-9250 Digital Motion Processing (DMP) Library
#include <SparkFunMPU9250-DMP.h>

Expand Down Expand Up @@ -431,7 +476,7 @@ float MAGN_Z_SCALE = (100.0f / (MAGN_Z_MAX - MAGN_Z_OFFSET));



#if HW__VERSION_CODE == 14001
#if (HW__VERSION_CODE == 16832) || (HW__VERSION_CODE == 14001)
#define GYRO_SCALED_RAD(x) (x) // Calculate the scaled gyro readings in radians per second
#else
// Gain for gyroscope (ITG-3200)
Expand All @@ -445,8 +490,13 @@ float MAGN_Z_SCALE = (100.0f / (MAGN_Z_MAX - MAGN_Z_OFFSET));
#define Kp_YAW 1.2f
#define Ki_YAW 0.00002f

// Stuff
#define STATUS_LED_PIN 13 // Pin number of status LED
// Pin number of status LED
#if (HW__VERSION_CODE == 16832)
#define STATUS_LED_PIN 19
#else
#define STATUS_LED_PIN 13
#endif // HW__VERSION_CODE

#define TO_RAD(x) (x * 0.01745329252) // *pi/180
#define TO_DEG(x) (x * 57.2957795131) // *180/pi

Expand Down Expand Up @@ -499,7 +549,7 @@ int num_gyro_errors = 0;
int num_math_errors = 0;

void read_sensors() {
#if HW__VERSION_CODE == 14001
#if (HW__VERSION_CODE == 16832) || (HW__VERSION_CODE == 14001)
loop_imu();
#else
Read_Gyro(); // Read gyroscope
Expand Down Expand Up @@ -639,12 +689,8 @@ void setup()

// Init sensors
delay(50); // Give sensors enough time to start
#if HW__VERSION_CODE == 14001
#if DEBUG__ENABLE_INTERRUPT_M0 == true
// Set up MPU-9250 interrupt input (active-low)
pinMode(MPU9250_INT_PIN, INPUT_PULLUP);
#endif // DEBUG__ENABLE_INTERRUPT_M0
initIMU();
#if (HW__VERSION_CODE == 16832) || (HW__VERSION_CODE == 14001)
beginIMU();
#else
I2C_Init();
Accel_Init();
Expand All @@ -653,7 +699,7 @@ void setup()
#endif // HW__VERSION_CODE

// Read sensors, init DCM algorithm
#if HW__VERSION_CODE == 14001
#if (HW__VERSION_CODE == 16832) || (HW__VERSION_CODE == 14001)
delay(400); // Give sensors enough time to collect data
#else
delay(20); // Give sensors enough time to collect data
Expand Down Expand Up @@ -944,6 +990,10 @@ void loop()
initialimuyaw = imu.yaw*PI/180.0f;
#endif // DEBUG__USE_ONLY_DMP_M0
}
else if (command == 'L') // Toggle status _L_ed
{
if (digitalRead(STATUS_LED_PIN) == HIGH) digitalWrite(STATUS_LED_PIN, LOW); else digitalWrite(STATUS_LED_PIN, HIGH);
}
#if OUTPUT__HAS_RN_BLUETOOTH == true
// Read messages from bluetooth module
// For this to work, the connect/disconnect message prefix of the module has to be set to "#".
Expand Down
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