231 lines
8.5 KiB
C
231 lines
8.5 KiB
C
#ifndef IMUread_h_
|
|
#define IMUread_h_
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <stdint.h>
|
|
#include <stdarg.h>
|
|
#include <string.h>
|
|
#include <ctype.h>
|
|
#include <math.h>
|
|
#include <errno.h>
|
|
#include <sys/types.h>
|
|
#include <sys/stat.h>
|
|
#include <fcntl.h>
|
|
#if defined(LINUX)
|
|
#include <termios.h>
|
|
#include <unistd.h>
|
|
#include <GL/gl.h>
|
|
#include <GL/glu.h>
|
|
#elif defined(WINDOWS)
|
|
#include <windows.h>
|
|
#include <GL/gl.h>
|
|
#include <GL/glu.h>
|
|
#define random() rand()
|
|
#elif defined(MACOSX)
|
|
#include <termios.h>
|
|
#include <unistd.h>
|
|
#include <OpenGL/gl.h>
|
|
#include <OpenGL/glu.h>
|
|
#endif
|
|
|
|
|
|
#if defined(LINUX)
|
|
#define PORT "/dev/ttyACM0"
|
|
#elif defined(WINDOWS)
|
|
#define PORT "COM3"
|
|
#elif defined(MACOSX)
|
|
#define PORT "/dev/cu.usbmodemfd132"
|
|
#endif
|
|
|
|
#define TIMEOUT_MSEC 33
|
|
|
|
#define MAGBUFFSIZE 650 // Freescale's lib needs at least 392
|
|
|
|
#ifdef __cplusplus
|
|
extern "C"{
|
|
#endif
|
|
|
|
typedef struct {
|
|
float x;
|
|
float y;
|
|
float z;
|
|
//int valid;
|
|
} Point_t;
|
|
|
|
typedef struct {
|
|
float q0; // w
|
|
float q1; // x
|
|
float q2; // y
|
|
float q3; // z
|
|
} Quaternion_t;
|
|
extern Quaternion_t current_orientation;
|
|
|
|
extern int port_is_open(void);
|
|
extern int open_port(const char *name);
|
|
extern int read_serial_data(void);
|
|
extern int write_serial_data(const void *ptr, int len);
|
|
extern void close_port(void);
|
|
void raw_data_reset(void);
|
|
void raw_data(const int16_t *data);
|
|
int send_calibration(void);
|
|
void visualize_init(void);
|
|
void apply_calibration(int16_t rawx, int16_t rawy, int16_t rawz, Point_t *out);
|
|
void display_callback(void);
|
|
void resize_callback(int width, int height);
|
|
void MagCal_Run(void);
|
|
|
|
|
|
// magnetic calibration & buffer structure
|
|
typedef struct {
|
|
float V[3]; // current hard iron offset x, y, z, (uT)
|
|
float invW[3][3]; // current inverse soft iron matrix
|
|
float B; // current geomagnetic field magnitude (uT)
|
|
float FourBsq; // current 4*B*B (uT^2)
|
|
float FitError; // current fit error %
|
|
float FitErrorAge; // current fit error % (grows automatically with age)
|
|
float trV[3]; // trial value of hard iron offset z, y, z (uT)
|
|
float trinvW[3][3]; // trial inverse soft iron matrix size
|
|
float trB; // trial value of geomagnetic field magnitude in uT
|
|
float trFitErrorpc; // trial value of fit error %
|
|
float A[3][3]; // ellipsoid matrix A
|
|
float invA[3][3]; // inverse of ellipsoid matrix A
|
|
float matA[10][10]; // scratch 10x10 matrix used by calibration algorithms
|
|
float matB[10][10]; // scratch 10x10 matrix used by calibration algorithms
|
|
float vecA[10]; // scratch 10x1 vector used by calibration algorithms
|
|
float vecB[4]; // scratch 4x1 vector used by calibration algorithms
|
|
int8_t ValidMagCal; // integer value 0, 4, 7, 10 denoting both valid calibration and solver used
|
|
int16_t BpFast[3][MAGBUFFSIZE]; // uncalibrated magnetometer readings
|
|
int8_t valid[MAGBUFFSIZE]; // 1=has data, 0=empty slot
|
|
int16_t MagBufferCount; // number of magnetometer readings
|
|
} MagCalibration_t;
|
|
|
|
extern MagCalibration_t magcal;
|
|
|
|
|
|
void f3x3matrixAeqI(float A[][3]);
|
|
void fmatrixAeqI(float *A[], int16_t rc);
|
|
void f3x3matrixAeqScalar(float A[][3], float Scalar);
|
|
void f3x3matrixAeqInvSymB(float A[][3], float B[][3]);
|
|
void f3x3matrixAeqAxScalar(float A[][3], float Scalar);
|
|
void f3x3matrixAeqMinusA(float A[][3]);
|
|
float f3x3matrixDetA(float A[][3]);
|
|
void eigencompute(float A[][10], float eigval[], float eigvec[][10], int8_t n);
|
|
void fmatrixAeqInvA(float *A[], int8_t iColInd[], int8_t iRowInd[], int8_t iPivot[], int8_t isize);
|
|
void fmatrixAeqRenormRotA(float A[][3]);
|
|
|
|
|
|
#define SENSORFS 100
|
|
#define OVERSAMPLE_RATIO 4
|
|
|
|
|
|
// accelerometer sensor structure definition
|
|
#define G_PER_COUNT 0.0001220703125F // = 1/8192
|
|
typedef struct
|
|
{
|
|
//int32_t iSumGpFast[3]; // sum of fast measurements
|
|
float GpFast[3]; // fast (typically 200Hz) readings (g)
|
|
float Gp[3]; // slow (typically 25Hz) averaged readings (g)
|
|
//float fgPerCount; // initialized to FGPERCOUNT
|
|
//int16_t iGpFast[3]; // fast (typically 200Hz) readings
|
|
//int16_t iGp[3]; // slow (typically 25Hz) averaged readings (counts)
|
|
} AccelSensor_t;
|
|
|
|
// magnetometer sensor structure definition
|
|
#define UT_PER_COUNT 0.1F
|
|
typedef struct
|
|
{
|
|
//int32_t iSumBpFast[3]; // sum of fast measurements
|
|
//float fBpFast[3]; // fast (typically 200Hz) raw readings (uT)
|
|
//float fBp[3]; // slow (typically 25Hz) averaged raw readings (uT)
|
|
float BcFast[3]; // fast (typically 200Hz) calibrated readings (uT)
|
|
float Bc[3]; // slow (typically 25Hz) averaged calibrated readings (uT)
|
|
//float fuTPerCount; // initialized to FUTPERCOUNT
|
|
//float fCountsPeruT; // initialized to FCOUNTSPERUT
|
|
//int16_t iBpFast[3]; // fast (typically 200Hz) raw readings (counts)
|
|
//int16_t iBp[3]; // slow (typically 25Hz) averaged raw readings (counts)
|
|
//int16_t iBc[3]; // slow (typically 25Hz) averaged calibrated readings (counts)
|
|
} MagSensor_t;
|
|
|
|
// gyro sensor structure definition
|
|
#define DEG_PER_SEC_PER_COUNT 0.0625F // = 1/16
|
|
typedef struct
|
|
{
|
|
//int32_t iSumYpFast[3]; // sum of fast measurements
|
|
float Yp[3]; // raw gyro sensor output (deg/s)
|
|
//float fDegPerSecPerCount; // initialized to FDEGPERSECPERCOUNT
|
|
int16_t YpFast[OVERSAMPLE_RATIO][3]; // fast (typically 200Hz) readings
|
|
//int16_t iYp[3]; // averaged gyro sensor output (counts)
|
|
} GyroSensor_t;
|
|
|
|
|
|
|
|
// 9DOF Kalman filter accelerometer, magnetometer and gyroscope state vector structure
|
|
typedef struct
|
|
{
|
|
// start: elements common to all motion state vectors
|
|
// Euler angles
|
|
float PhiPl; // roll (deg)
|
|
float ThePl; // pitch (deg)
|
|
float PsiPl; // yaw (deg)
|
|
float RhoPl; // compass (deg)
|
|
float ChiPl; // tilt from vertical (deg)
|
|
// orientation matrix, quaternion and rotation vector
|
|
float RPl[3][3]; // a posteriori orientation matrix
|
|
Quaternion_t qPl; // a posteriori orientation quaternion
|
|
float RVecPl[3]; // rotation vector
|
|
// angular velocity
|
|
float Omega[3]; // angular velocity (deg/s)
|
|
// systick timer for benchmarking
|
|
int32_t systick; // systick timer;
|
|
// end: elements common to all motion state vectors
|
|
|
|
// elements transmitted over bluetooth in kalman packet
|
|
float bPl[3]; // gyro offset (deg/s)
|
|
float ThErrPl[3]; // orientation error (deg)
|
|
float bErrPl[3]; // gyro offset error (deg/s)
|
|
// end elements transmitted in kalman packet
|
|
|
|
float dErrGlPl[3]; // magnetic disturbance error (uT, global frame)
|
|
float dErrSePl[3]; // magnetic disturbance error (uT, sensor frame)
|
|
float aErrSePl[3]; // linear acceleration error (g, sensor frame)
|
|
float aSeMi[3]; // linear acceleration (g, sensor frame)
|
|
float DeltaPl; // inclination angle (deg)
|
|
float aSePl[3]; // linear acceleration (g, sensor frame)
|
|
float aGlPl[3]; // linear acceleration (g, global frame)
|
|
float gErrSeMi[3]; // difference (g, sensor frame) of gravity vector (accel) and gravity vector (gyro)
|
|
float mErrSeMi[3]; // difference (uT, sensor frame) of geomagnetic vector (magnetometer) and geomagnetic vector (gyro)
|
|
float gSeGyMi[3]; // gravity vector (g, sensor frame) measurement from gyro
|
|
float mSeGyMi[3]; // geomagnetic vector (uT, sensor frame) measurement from gyro
|
|
float mGl[3]; // geomagnetic vector (uT, global frame)
|
|
float QvAA; // accelerometer terms of Qv
|
|
float QvMM; // magnetometer terms of Qv
|
|
float PPlus12x12[12][12]; // covariance matrix P+
|
|
float K12x6[12][6]; // kalman filter gain matrix K
|
|
float Qw12x12[12][12]; // covariance matrix Qw
|
|
float C6x12[6][12]; // measurement matrix C
|
|
float RMi[3][3]; // a priori orientation matrix
|
|
Quaternion_t Deltaq; // delta quaternion
|
|
Quaternion_t qMi; // a priori orientation quaternion
|
|
float casq; // FCA * FCA;
|
|
float cdsq; // FCD * FCD;
|
|
float Fastdeltat; // sensor sampling interval (s) = 1 / SENSORFS
|
|
float deltat; // kalman filter sampling interval (s) = OVERSAMPLE_RATIO / SENSORFS
|
|
float deltatsq; // fdeltat * fdeltat
|
|
float QwbplusQvG; // FQWB + FQVG
|
|
int16_t FirstOrientationLock; // denotes that 9DOF orientation has locked to 6DOF
|
|
int8_t resetflag; // flag to request re-initialization on next pass
|
|
} SV_9DOF_GBY_KALMAN_t;
|
|
|
|
void fInit_9DOF_GBY_KALMAN(SV_9DOF_GBY_KALMAN_t *SV);
|
|
void fRun_9DOF_GBY_KALMAN(SV_9DOF_GBY_KALMAN_t *SV,
|
|
const AccelSensor_t *Accel, const MagSensor_t *Mag, const GyroSensor_t *Gyro,
|
|
const MagCalibration_t *MagCal);
|
|
|
|
|
|
|
|
#ifdef __cplusplus
|
|
} // extern "C"
|
|
#endif
|
|
|
|
#endif
|