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IMU.c
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//=====================================================================================================
// IMU.c
// S.O.H. Madgwick
// 25th September 2010
//=====================================================================================================
// Description:
//
// Quaternion implementation of the 'DCM filter' [Mayhony et al].
//
// User must define 'halfT' as the (sample period / 2), and the filter gains 'Kp' and 'Ki'.
//
// Global variables 'q0', 'q1', 'q2', 'q3' are the quaternion elements representing the estimated
// orientation. See my report for an overview of the use of quaternions in this application.
//
// User must call 'IMUupdate()' every sample period and parse calibrated gyroscope ('gx', 'gy', 'gz')
// and accelerometer ('ax', 'ay', 'ay') data. Gyroscope units are radians/second, accelerometer
// units are irrelevant as the vector is normalised.
//
//=====================================================================================================
//----------------------------------------------------------------------------------------------------
// Header files
#include "IMU.h"
#include "msp430_math.h"
#include "I2C.h"
#include "UART.h"
#include "TimerA1.h"
#include "MPU6050.h"
//----------------------------------------------------------------------------------------------------
// Definitions
#define Kp 3.0f // proportional gain governs rate of convergence to accelerometer/magnetometer
#define Ki 0.05f // integral gain governs rate of convergence of gyroscope biases
#define halfT 0.0025f // half the sample period
#define FilterLen 10
#define IMUDelayTime 100
//---------------------------------------------------------------------------------------------------
// Variable definitions
float q0 = 1, q1 = 0, q2 = 0, q3 = 0; // quaternion elements representing the estimated orientation
float exInt = 0, eyInt = 0, ezInt = 0; // scaled integral error
signed int ax_raw,ay_raw,az_raw,gx_raw,gy_raw,gz_raw;
signed int axar[FilterLen],ayar[FilterLen],azar[FilterLen];
signed long axar_sum=0,ayar_sum=0,azar_sum=0;
unsigned char axar_cnt=0,ayar_cnt=0,azar_cnt=0;
signed int ax_filtered,ay_filtered,az_filtered,gx_filtered,gy_filtered,gz_filtered;
signed int ax_bias,ay_bias,az_bias,gx_bias,gy_bias,gz_bias;
signed int mx_raw,my_raw,mz_raw;
//====================================================================================================
// Function
//====================================================================================================
void IMUupdate()
{
float gx, gy, gz, ax, ay, az;
float norm;
float vx, vy, vz;
float ex, ey, ez;
#ifdef Bias_Clear
static unsigned char cycle=0;
#endif
gx = gx_filtered*0.00106526443603169529841533860381f;
gy = gy_filtered*0.00106526443603169529841533860381f;
gz = gz_filtered*0.00106526443603169529841533860381f;
ax = ax_filtered
#ifdef MPU6050_Used_
+ MPU6050_filtered.AX*9
#endif
;
ay = ay_filtered
#ifdef MPU6050_Used_
+ MPU6050_filtered.AY*9
#endif
;
az = az_filtered
#ifdef MPU6050_Used_
+ MPU6050_filtered.AZ*9
#endif
;
// normalise the measurements
norm = sqrt(ax*ax + ay*ay + az*az);
ax = ax / norm;
ay = ay / norm;
az = az / norm;
// estimated direction of gravity
vx = 2*(q1*q3 - q0*q2);
vy = 2*(q0*q1 + q2*q3);
vz = q0*q0 - q1*q1 - q2*q2 + q3*q3;
// error is sum of cross product between reference direction of field and direction measured by sensor
ex = (ay*vz - az*vy);
ey = (az*vx - ax*vz);
ez = (ax*vy - ay*vx);
// integral error scaled integral gain
exInt = exInt + ex*Ki;
eyInt = eyInt + ey*Ki;
ezInt = ezInt + ez*Ki;
// adjusted gyroscope measurements
gx = gx + Kp*ex + exInt;
gy = gy + Kp*ey + eyInt;
gz = gz + Kp*ez + ezInt;
// integrate quaternion rate and normalise
q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;
q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;
q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;
// normalise quaternion
norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
q0 = q0 / norm;
q1 = q1 / norm;
q2 = q2 / norm;
q3 = q3 / norm;
#ifdef Bias_Clear
cycle++;
if (cycle==200)
{
gx_bias=
exInt=0;
eyInt=0;
ezInt=0;
}
#endif
}
void AHRSupdate()
{
float gx, gy, gz, ax, ay, az, mx, my, mz;
float norm;
float hx, hy, hz, bx, bz;
float vx, vy, vz, wx, wy, wz;
float ex, ey, ez;
float fusePara;
// auxiliary variables to reduce number of repeated operations
float q0q0 = q0*q0;
float q0q1 = q0*q1;
float q0q2 = q0*q2;
float q0q3 = q0*q3;
float q1q1 = q1*q1;
float q1q2 = q1*q2;
float q1q3 = q1*q3;
float q2q2 = q2*q2;
float q2q3 = q2*q3;
float q3q3 = q3*q3;
gx = gx_filtered*0.00106526443603169529841533860381f;
gy = gy_filtered*0.00106526443603169529841533860381f;
gz = gz_filtered*0.00106526443603169529841533860381f;
#ifdef MPU6050_Used_
fusePara = (ax_filtered*ax_filtered+ay_filtered*ay_filtered+az_filtered*az_filtered-65536)/
(float)(MPU6050_filtered.AX*MPU6050_filtered.AX+MPU6050_filtered.AY*MPU6050_filtered.AY+MPU6050_filtered.AZ*MPU6050_filtered.AZ-268435456L);
if (fusePara<0)
fusePara=-fusePara;
#endif
ax = ax_filtered*64
#ifdef MPU6050_Used_
+ MPU6050_filtered.AX*fusePara
#endif
;
ay = ay_filtered*64
#ifdef MPU6050_Used_
+ MPU6050_filtered.AY*fusePara
#endif
;
az = az_filtered*64
#ifdef MPU6050_Used_
- MPU6050_filtered.AZ*fusePara
#endif
;
mx = mx_raw;
my = my_raw;
mz = mz_raw;
// normalise the measurements
norm = sqrt(ax*ax + ay*ay + az*az);
ax = ax / norm;
ay = ay / norm;
az = az / norm;
norm = sqrt(mx*mx + my*my + mz*mz);
mx = mx / norm;
my = my / norm;
mz = mz / norm;
// compute reference direction of flux
hx = 2*mx*(0.5 - q2q2 - q3q3) + 2*my*(q1q2 - q0q3) + 2*mz*(q1q3 + q0q2);
hy = 2*mx*(q1q2 + q0q3) + 2*my*(0.5 - q1q1 - q3q3) + 2*mz*(q2q3 - q0q1);
hz = 2*mx*(q1q3 - q0q2) + 2*my*(q2q3 + q0q1) + 2*mz*(0.5 - q1q1 - q2q2);
bx = sqrt((hx*hx) + (hy*hy));
bz = hz;
// estimated direction of gravity and flux (v and w)
vx = 2*(q1q3 - q0q2);
vy = 2*(q0q1 + q2q3);
vz = q0q0 - q1q1 - q2q2 + q3q3;
wx = 2*bx*(0.5 - q2q2 - q3q3) + 2*bz*(q1q3 - q0q2);
wy = 2*bx*(q1q2 - q0q3) + 2*bz*(q0q1 + q2q3);
wz = 2*bx*(q0q2 + q1q3) + 2*bz*(0.5 - q1q1 - q2q2);
// error is sum of cross product between reference direction of fields and direction measured by sensors
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);
// integral error scaled integral gain
exInt = exInt + ex*Ki;
eyInt = eyInt + ey*Ki;
ezInt = ezInt + ez*Ki;
// adjusted gyroscope measurements
gx = gx + Kp*ex + exInt;
gy = gy + Kp*ey + eyInt;
gz = gz + Kp*ez + ezInt;
// integrate quaternion rate and normalise
q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;
q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;
q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;
// normalise quaternion
norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
q0 = q0 / norm;
q1 = q1 / norm;
q2 = q2 / norm;
q3 = q3 / norm;
}
//====================================================================================================
//Reimplemented Functions by WuYingnan
//====================================================================================================
signed int abs(signed int a)
{
if (a<0)
return -a;
else
return a;
}
void IMU_init()
{
//HMC5883_init
while(I2C_write(HMC5883_Address,0x00,0x78));
while(I2C_write(HMC5883_Address,0x01,0x40));
while(I2C_write(HMC5883_Address,0x02,0x00));
//ADXL345_init
while(I2C_write(ADXL345_Address,0x31,0x08)); //测量范围,正负2g，13位模式 分辨率4mg
while(I2C_write(ADXL345_Address,0x2C,0x08)); //速率设定为12.5 参考pdf13页
while(I2C_write(ADXL345_Address,0x2D,0x08)); //选择电源模式 参考pdf24页
//L3G2440_init
while(I2C_write(L3G2440_Address,CTRL_REG1, 0x4f)); //
while(I2C_write(L3G2440_Address,CTRL_REG2, 0x00)); //
while(I2C_write(L3G2440_Address,CTRL_REG3, 0x08)); //
while(I2C_write(L3G2440_Address,CTRL_REG4, 0xF0)); //+-2000dps
while(I2C_write(L3G2440_Address,CTRL_REG5, 0x10)); //enable High Pass Filter
#ifdef MPU6050_Used_
//MPU6050_init
MPU6050_init();
#endif
}
unsigned char IMU_getdata()
{
unsigned long IMUPreTime =TimeBase;
if(IMUPreTime % 20==5)
{
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
I2C_read(0x1e,0x03,2,(unsigned char *)&mx_raw);
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
I2C_read(0x1e,0x05,2,(unsigned char *)&mz_raw);
mx_raw=(unsigned)mx_raw/256+((unsigned)mx_raw%256)*256;
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
I2C_read(0x1e,0x07,2,(unsigned char *)&my_raw);
mz_raw=(unsigned)mz_raw/256+((unsigned)mz_raw%256)*256;
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
my_raw=(unsigned)my_raw/256+((unsigned)my_raw%256)*256;
}
if(I2C_read(0x53,0x32,2,(unsigned char *)&ax_raw))
return 1;
#ifdef MPU6050_Used_
MPU6050_changeFormat();
MPU6050_filter();
#endif
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
if(I2C_read(0x53,0x34,2,(unsigned char *)&ay_raw))
return 1;
// ax_raw=(unsigned)ax_raw/256+((unsigned)ax_raw%256)*256-ax_bias;
ax_raw-=ax_bias;
if (axar_cnt<FilterLen-1)
{
axar_cnt++;
axar_sum+=ax_raw;
axar_sum-=axar[axar_cnt];
axar[axar_cnt]=ax_raw;
ax_filtered=axar_sum/FilterLen;
}
else
{
axar_cnt=0;
axar_sum+=ax_raw;
axar_sum-=axar[FilterLen-1];
axar[axar_cnt]=ax_raw;
ax_filtered=axar_sum/FilterLen;
}
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
if(I2C_read(0x53,0x36,2,(unsigned char *)&az_raw))
return 1;
// ay_raw=(unsigned)ay_raw/256+((unsigned)ay_raw%256)*256-ay_bias;
ay_raw-=ay_bias;
if (ayar_cnt<FilterLen-1)
{
ayar_cnt++;
ayar_sum+=ay_raw;
ayar_sum-=ayar[ayar_cnt];
ayar[ayar_cnt]=ay_raw;
ay_filtered=ayar_sum/FilterLen;
}
else
{
ayar_cnt=0;
ayar_sum+=ay_raw;
ayar_sum-=ayar[FilterLen-1];
ayar[ayar_cnt]=ay_raw;
ay_filtered=ayar_sum/FilterLen;
}
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
if(I2C_read(0x69,0x28|0x80,2,(unsigned char *)&gx_raw))
return 1;
// az_raw=(unsigned)az_raw/256+((unsigned)az_raw%256)*256-az_bias;
az_raw-=az_bias;
if (azar_cnt<FilterLen-1)
{
azar_cnt++;
azar_sum+=az_raw;
azar_sum-=azar[azar_cnt];
azar[azar_cnt]=az_raw;
az_filtered=azar_sum/FilterLen;
}
else
{
azar_cnt=0;
azar_sum+=az_raw;
azar_sum-=azar[FilterLen-1];
azar[azar_cnt]=az_raw;
az_filtered=azar_sum/FilterLen;
}
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
if(I2C_read(0x69,0x2a|0x80,2,(unsigned char *)&gy_raw))
return 1;
gx_raw=(unsigned)gx_raw/256+((unsigned)gx_raw%256)*256-gx_bias;
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
if(I2C_read(0x69,0x2c|0x80,2,(unsigned char *)&gz_raw))
return 1;
gy_raw=(unsigned)gy_raw/256+((unsigned)gy_raw%256)*256-gy_bias;
while(!I2C_RXFIN)
{
if(IMUPreTime + IMUDelayTime <TimeBase)
{
I2C_init();
return 1;
}
}
#ifdef MPU6050_Used_
MPU6050_getData();
#endif
gz_raw=(unsigned)gz_raw/256+((unsigned)gz_raw%256)*256-gz_bias;
// if (abs(gx_raw-gx_filtered)<100)
gx_filtered=(gx_raw*3+gx_filtered)/4;
// if (abs(gy_raw-gy_filtered)<100)
gy_filtered=(gy_raw*3+gy_filtered)/4;
// if (abs(gz_raw-gz_filtered)<100)
gz_filtered=(gz_raw*3+gz_filtered)/4;
/*
UART_sendint(UCA1,ax_filtered+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,ay_filtered+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,az_filtered+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,gx_filtered+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,gy_filtered+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,gz_filtered+32768);
UART_sendstr(UCA1," "); */
return 0;
}
void IMU_calibrate()
{
signed long ax_sum=0,ay_sum=0,az_sum=0,gx_sum=0,gy_sum=0,gz_sum=0;
ax_bias=0;
ay_bias=0;
az_bias=0;
gx_bias=0;
gy_bias=0;
gz_bias=0;
for(unsigned int i=0;i<1000;i++)
{
IMU_getdata();
ax_sum+=ax_raw;
ay_sum+=ay_raw;
az_sum+=az_raw;
gx_sum+=gx_raw;
gy_sum+=gy_raw;
gz_sum+=gz_raw;
}
ax_bias=ax_sum/1000;
ay_bias=ay_sum/1000;
az_bias=az_sum/1000-256;
gx_bias=gx_sum/1000;
gy_bias=gy_sum/1000;
gz_bias=gz_sum/1000;
for(unsigned int i=0;i<FilterLen;i++)
{
axar[i]=0;
ayar[i]=0;
azar[i]=256;
}
axar_sum=0;
ayar_sum=0;
azar_sum=256L*FilterLen;
axar_cnt=0;
ayar_cnt=0;
azar_cnt=0;
#ifdef MPU6050_Used_
MPU6050_calibrate();
#endif
}
void IMU_update()
{
static signed long a;
static float roll=0.0,pitch=0.0,yaw=0.0;
roll += (long)gx_filtered*2000/32768;
pitch+= (long)gy_filtered*2000/32768;
yaw += (long)gz_filtered*2000/32768;
a=(long)ax_filtered*(long)ax_filtered+(long)ay_filtered*(long)ay_filtered+(long)az_filtered*(long)az_filtered;
/*
UART_sendint(UCA1,(signed int)(roll)+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,(signed int)(pitch)+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,(signed int)(yaw)+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,(signed int)(gx_filtered)+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,(signed int)(gy_filtered)+32768);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,(signed int)(gz_filtered)+32768);
UART_sendstr(UCA1," ");*/
UART_sendint(UCA1,ax_filtered+32767);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,ay_filtered+32767);
UART_sendstr(UCA1," ");
UART_sendint(UCA1,az_filtered+32767);
UART_sendstr(UCA1," ");
}
Euler_struct IMU_getEuler()
{
Euler_struct euler;
euler.pitch=-asin(-2 * q1 * q3 + 2 * q0* q2);
euler.roll =atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1);
euler.yaw =atan2(2 * q1 * q2 + 2 * q0 * q3, -2 * q2*q2 - 2 * q3* q3 + 1);
return euler;
}
//====================================================================================================
// END OF CODE
//====================================================================================================