(yet another prototype of)
Version: 2.2 2016-08-05
This version fully supports quaternion 3D calculations.
| Version | Notes |
| 2.2 | Math processing functions exported into separate file `engine.c`. Calibration offsets & factors calculated with more precision exclusively for my chip. |
| 2.1 | Added software low-pass filter. Some how calculated accelerometer hardware zero offsets. |
| 2.0 | Introduced quaternion-based 3D rotation. |
Images of new test placed at /nav/img.
There is still lack of any smart filters.
Sensors supported: Ivensense MPU-6050 only.
HW Connection: Sensor is connected to I2C-1 Bus, interrupt line is connected
to GPIO pin. See .dts file.
Sensor settings are hardcoded into driver.
- Introduce smart calibrations.
- Add smart filter(s).
- Export settings of sensor driver to sysfs.
./nav-- userspace calculation program./drv-- sensor driver./ref-- reference materials./pub-- presentation, public speech./btn-- utility for demonstrtation, board-specific
Copy mknod.sh to your board.
Edit device tree of your board to add mpu6050 sensor support.
Look in bcm2708-rpi-b.dts for reference.
On the host computer: go to ./drv, add you cross compiler to Makefile.
Run
$ make
Copy fast-mpu6050.ko to /lib/modules/<your kernel release>/extra on your board.
On your board:
Run
# depmod
Reboot.
After each reboot of your board you should run
# ./mknod.sh
in order to create /dev/mpu6050 node.
On the host: go to ./nav, add you cross compiler to Makefile.
Run
$ make PLATFORM=board
Copy nav to your board.
On the host:
Run
$ make
This makes the host version of nav. Use it to calculate trajectory.
Warning: this will rewrite cross-version of nav binary you've
compiled in previous step.
see ./nav/README.md
