Documented non-DMP software. Checked switching between DMP & non-DMP

vedranMv · Jan 28, 2018 · 88bbe3d · 88bbe3d
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diff --git a/.cproject b/.cproject
@@ -70,7 +70,7 @@
 							</tool>
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+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.linkerID.STACK_SIZE.767351590" name="Set C system stack size (--stack_size, -stack)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.linkerID.STACK_SIZE" value="21000" valueType="string"/>
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diff --git a/roverKernel/mpu9250/MahonyAHRS.cpp b/roverKernel/mpu9250/MahonyAHRS.cpp
@@ -0,0 +1,274 @@
+//=============================================================================================
+// MahonyAHRS.c
+//=============================================================================================
+//
+// Madgwick's implementation of Mayhony's AHRS algorithm.
+// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
+//
+// From the x-io website "Open-source resources available on this website are
+// provided under the GNU General Public Licence unless an alternative licence
+// is provided in source."
+//
+// Date			Author			Notes
+// 29/09/2011	SOH Madgwick    Initial release
+// 02/10/2011	SOH Madgwick	Optimised for reduced CPU load
+//
+// Algorithm paper:
+// http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4608934&url=http%3A%2F%2Fieeexplore.ieee.org%2Fstamp%2Fstamp.jsp%3Ftp%3D%26arnumber%3D4608934
+//
+//=============================================================================================
+
+//-------------------------------------------------------------------------------------------
+// Header files
+
+#include "MahonyAHRS.h"
+#include <math.h>
+
+//-------------------------------------------------------------------------------------------
+// Definitions
+
+#define DEFAULT_SAMPLE_FREQ	20.0f	// sample frequency in Hz
+#define twoKpDef	(2.0f * 0.5f)	// 2 * proportional gain
+#define twoKiDef	(2.0f * 0.0f)	// 2 * integral gain
+
+
+//============================================================================================
+// Functions
+
+//-------------------------------------------------------------------------------------------
+// AHRS algorithm update
+
+Mahony::Mahony()
+{
+	twoKp = twoKpDef;	// 2 * proportional gain (Kp)
+	twoKi = twoKiDef;	// 2 * integral gain (Ki)
+	q0 = 1.0f;
+	q1 = 0.0f;
+	q2 = 0.0f;
+	q3 = 0.0f;
+	integralFBx = 0.0f;
+	integralFBy = 0.0f;
+	integralFBz = 0.0f;
+	anglesComputed = 0;
+	invSampleFreq = 1.0f / DEFAULT_SAMPLE_FREQ;
+}
+
+void Mahony::update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
+{
+	float recipNorm;
+	float q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
+	float hx, hy, bx, bz;
+	float halfvx, halfvy, halfvz, halfwx, halfwy, halfwz;
+	float halfex, halfey, halfez;
+	float qa, qb, qc;
+
+	// Use IMU algorithm if magnetometer measurement invalid
+	// (avoids NaN in magnetometer normalisation)
+	if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
+		updateIMU(gx, gy, gz, ax, ay, az);
+		return;
+	}
+
+	// Convert gyroscope degrees/sec to radians/sec
+	gx *= 0.0174533f;
+	gy *= 0.0174533f;
+	gz *= 0.0174533f;
+
+	// Compute feedback only if accelerometer measurement valid
+	// (avoids NaN in accelerometer normalisation)
+	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
+
+		// Normalise accelerometer measurement
+		recipNorm = invSqrt(ax * ax + ay * ay + az * az);
+		ax *= recipNorm;
+		ay *= recipNorm;
+		az *= recipNorm;
+
+		// Normalise magnetometer measurement
+		recipNorm = invSqrt(mx * mx + my * my + mz * mz);
+		mx *= recipNorm;
+		my *= recipNorm;
+		mz *= recipNorm;
+
+		// Auxiliary variables to avoid repeated arithmetic
+		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 = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
+		hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
+		bx = sqrtf(hx * hx + hy * hy);
+		bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2));
+
+		// Estimated direction of gravity and magnetic field
+		halfvx = q1q3 - q0q2;
+		halfvy = q0q1 + q2q3;
+		halfvz = q0q0 - 0.5f + q3q3;
+		halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
+		halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
+		halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);
+
+		// Error is sum of cross product between estimated direction
+		// and measured direction of field vectors
+		halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy);
+		halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz);
+		halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx);
+
+		// Compute and apply integral feedback if enabled
+		if(twoKi > 0.0f) {
+			// integral error scaled by Ki
+			integralFBx += twoKi * halfex * invSampleFreq;
+			integralFBy += twoKi * halfey * invSampleFreq;
+			integralFBz += twoKi * halfez * invSampleFreq;
+			gx += integralFBx;	// apply integral feedback
+			gy += integralFBy;
+			gz += integralFBz;
+		} else {
+			integralFBx = 0.0f;	// prevent integral windup
+			integralFBy = 0.0f;
+			integralFBz = 0.0f;
+		}
+
+		// Apply proportional feedback
+		gx += twoKp * halfex;
+		gy += twoKp * halfey;
+		gz += twoKp * halfez;
+	}
+
+	// Integrate rate of change of quaternion
+	gx *= (0.5f * invSampleFreq);		// pre-multiply common factors
+	gy *= (0.5f * invSampleFreq);
+	gz *= (0.5f * invSampleFreq);
+	qa = q0;
+	qb = q1;
+	qc = q2;
+	q0 += (-qb * gx - qc * gy - q3 * gz);
+	q1 += (qa * gx + qc * gz - q3 * gy);
+	q2 += (qa * gy - qb * gz + q3 * gx);
+	q3 += (qa * gz + qb * gy - qc * gx);
+
+	// Normalise quaternion
+	recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+	q0 *= recipNorm;
+	q1 *= recipNorm;
+	q2 *= recipNorm;
+	q3 *= recipNorm;
+	anglesComputed = 0;
+}
+
+//-------------------------------------------------------------------------------------------
+// IMU algorithm update
+
+void Mahony::updateIMU(float gx, float gy, float gz, float ax, float ay, float az)
+{
+	float recipNorm;
+	float halfvx, halfvy, halfvz;
+	float halfex, halfey, halfez;
+	float qa, qb, qc;
+
+	// Convert gyroscope degrees/sec to radians/sec
+	gx *= 0.0174533f;
+	gy *= 0.0174533f;
+	gz *= 0.0174533f;
+
+	// Compute feedback only if accelerometer measurement valid
+	// (avoids NaN in accelerometer normalisation)
+	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
+
+		// Normalise accelerometer measurement
+		recipNorm = invSqrt(ax * ax + ay * ay + az * az);
+		ax *= recipNorm;
+		ay *= recipNorm;
+		az *= recipNorm;
+
+		// Estimated direction of gravity
+		halfvx = q1 * q3 - q0 * q2;
+		halfvy = q0 * q1 + q2 * q3;
+		halfvz = q0 * q0 - 0.5f + q3 * q3;
+
+		// Error is sum of cross product between estimated
+		// and measured direction of gravity
+		halfex = (ay * halfvz - az * halfvy);
+		halfey = (az * halfvx - ax * halfvz);
+		halfez = (ax * halfvy - ay * halfvx);
+
+		// Compute and apply integral feedback if enabled
+		if(twoKi > 0.0f) {
+			// integral error scaled by Ki
+			integralFBx += twoKi * halfex * invSampleFreq;
+			integralFBy += twoKi * halfey * invSampleFreq;
+			integralFBz += twoKi * halfez * invSampleFreq;
+			gx += integralFBx;	// apply integral feedback
+			gy += integralFBy;
+			gz += integralFBz;
+		} else {
+			integralFBx = 0.0f;	// prevent integral windup
+			integralFBy = 0.0f;
+			integralFBz = 0.0f;
+		}
+
+		// Apply proportional feedback
+		gx += twoKp * halfex;
+		gy += twoKp * halfey;
+		gz += twoKp * halfez;
+	}
+
+	// Integrate rate of change of quaternion
+	gx *= (0.5f * invSampleFreq);		// pre-multiply common factors
+	gy *= (0.5f * invSampleFreq);
+	gz *= (0.5f * invSampleFreq);
+	qa = q0;
+	qb = q1;
+	qc = q2;
+	q0 += (-qb * gx - qc * gy - q3 * gz);
+	q1 += (qa * gx + qc * gz - q3 * gy);
+	q2 += (qa * gy - qb * gz + q3 * gx);
+	q3 += (qa * gz + qb * gy - qc * gx);
+
+	// Normalise quaternion
+	recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+	q0 *= recipNorm;
+	q1 *= recipNorm;
+	q2 *= recipNorm;
+	q3 *= recipNorm;
+	anglesComputed = 0;
+}
+
+//-------------------------------------------------------------------------------------------
+// Fast inverse square-root
+// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
+
+float Mahony::invSqrt(float x)
+{
+	float halfx = 0.5f * x;
+	float y = x;
+	long i = *(long*)&y;
+	i = 0x5f3759df - (i>>1);
+	y = *(float*)&i;
+	y = y * (1.5f - (halfx * y * y));
+	y = y * (1.5f - (halfx * y * y));
+	return y;
+}
+
+//-------------------------------------------------------------------------------------------
+
+void Mahony::computeAngles()
+{
+	roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2);
+	pitch = asinf(-2.0f * (q1*q3 - q0*q2));
+	yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
+	anglesComputed = 1;
+}
+
+
+//============================================================================================
+// END OF CODE
+//============================================================================================
diff --git a/roverKernel/mpu9250/MahonyAHRS.h b/roverKernel/mpu9250/MahonyAHRS.h
@@ -0,0 +1,66 @@
+//=============================================================================================
+// MahonyAHRS.h
+//=============================================================================================
+//
+// Madgwick's implementation of Mayhony's AHRS algorithm.
+// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
+//
+// Date			Author			Notes
+// 29/09/2011	SOH Madgwick    Initial release
+// 02/10/2011	SOH Madgwick	Optimised for reduced CPU load
+//
+//=============================================================================================
+#ifndef MahonyAHRS_h
+#define MahonyAHRS_h
+#include <math.h>
+
+//--------------------------------------------------------------------------------------------
+// Variable declaration
+
+class Mahony {
+private:
+	float twoKp;		// 2 * proportional gain (Kp)
+	float twoKi;		// 2 * integral gain (Ki)
+	float q0, q1, q2, q3;	// quaternion of sensor frame relative to auxiliary frame
+	float integralFBx, integralFBy, integralFBz;  // integral error terms scaled by Ki
+	float invSampleFreq;
+	float roll, pitch, yaw;
+	char anglesComputed;
+	static float invSqrt(float x);
+	void computeAngles();
+
+//-------------------------------------------------------------------------------------------
+// Function declarations
+
+public:
+	Mahony();
+	void begin(float sampleFrequency) { invSampleFreq = 1.0f / sampleFrequency; }
+	void update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+	void updateIMU(float gx, float gy, float gz, float ax, float ay, float az);
+	float getRoll() {
+		if (!anglesComputed) computeAngles();
+		return roll * 57.29578f;
+	}
+	float getPitch() {
+		if (!anglesComputed) computeAngles();
+		return pitch * 57.29578f;
+	}
+	float getYaw() {
+		if (!anglesComputed) computeAngles();
+		return yaw * 57.29578f + 180.0f;
+	}
+	float getRollRadians() {
+		if (!anglesComputed) computeAngles();
+		return roll;
+	}
+	float getPitchRadians() {
+		if (!anglesComputed) computeAngles();
+		return pitch;
+	}
+	float getYawRadians() {
+		if (!anglesComputed) computeAngles();
+		return yaw;
+	}
+};
+
+#endif