void mpu9150_set_accel_cal(caldata_t *cal)
{
int i;
long bias[3];
if (!cal) {
use_accel_cal = 0;
return;
}
memcpy(&accel_cal_data, cal, sizeof(caldata_t));
for (i = 0; i < 3; i++) {
if (accel_cal_data.range[i] < 1)
accel_cal_data.range[i] = 1;
else if (accel_cal_data.range[i] > ACCEL_SENSOR_RANGE)
accel_cal_data.range[i] = ACCEL_SENSOR_RANGE;
bias[i] = -accel_cal_data.offset[i];
}
if (debug_on) {
printk(KERN_DEBUG "\naccel cal (range : offset)\n");
for (i = 0; i < 3; i++)
printk(KERN_DEBUG "%d : %d\n", accel_cal_data.range[i], accel_cal_data.offset[i]);
}
mpu_set_accel_bias(bias);
use_accel_cal = 1;
}
boolean MPU9150Lib::init(int mpuRate, int magMix)
{
struct int_param_s int_param;
int result;
long accelOffset[3];
m_magMix = magMix;
m_lastDMPYaw = 0;
m_lastYaw = 0;
// get calibration data if it's there
if (calSensRead(&m_calData)) { // use calibration data if it's there and wanted
m_useMagCalibration &= m_calData.magValid;
m_useAccelCalibration &= m_calData.accelValid;
// Process calibration data for runtime
if (m_useMagCalibration) {
m_magXOffset = (short)(((long)m_calData.magMaxX + (long)m_calData.magMinX) / 2);
m_magXRange = m_calData.magMaxX - m_magXOffset;
m_magYOffset = (short)(((long)m_calData.magMaxY + (long)m_calData.magMinY) / 2);
m_magYRange = m_calData.magMaxY - m_magYOffset;
m_magZOffset = (short)(((long)m_calData.magMaxZ + (long)m_calData.magMinZ) / 2);
m_magZRange = m_calData.magMaxZ - m_magZOffset;
}
if (m_useAccelCalibration) {
accelOffset[0] = -((long)m_calData.accelMaxX + (long)m_calData.accelMinX) / 2;
accelOffset[1] = -((long)m_calData.accelMaxY + (long)m_calData.accelMinY) / 2;
accelOffset[2] = -((long)m_calData.accelMaxZ + (long)m_calData.accelMinZ) / 2;
mpu_set_accel_bias(accelOffset);
m_accelXRange = m_calData.accelMaxX + accelOffset[0];
m_accelYRange = m_calData.accelMaxY + accelOffset[1];
m_accelZRange = m_calData.accelMaxZ + accelOffset[2];
}
}
#ifdef MPULIB_DEBUG
if (m_useMagCalibration)
Serial.println("Using mag cal");
if (m_useAccelCalibration)
Serial.println("Using accel cal");
#endif
mpu_init_structures();
// Not using interrupts so set up this structure to keep the driver happy
int_param.cb = NULL;
int_param.pin = 0;
int_param.lp_exit = 0;
int_param.active_low = 1;
result = mpu_init(&int_param);
if (result != 0) {
#ifdef MPULIB_DEBUG
Serial.print("mpu_init failed with code: ");
Serial.println(result);
#endif
return false;
}
mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS); // enable all of the sensors
mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL); // get accel and gyro data in the FIFO also
mpu_set_sample_rate(mpuRate); // set the update rate
mpu_set_compass_sample_rate(mpuRate); // set the compass update rate to match
#ifdef MPULIB_DEBUG
Serial.println("Loading firmware");
#endif
if ((result = dmp_load_motion_driver_firmware()) != 0) { // try to load the DMP firmware
#ifdef MPULIB_DEBUG
Serial.print("Failed to load dmp firmware: ");
Serial.println(result);
#endif
return false;
}
dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)); // set up the correct orientation
dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
DMP_FEATURE_GYRO_CAL);
dmp_set_fifo_rate(mpuRate);
if (mpu_set_dmp_state(1) != 0) {
#ifdef MPULIB_DEBUG
Serial.println("mpu_set_dmp_state failed");
#endif
return false;
}
return true;
}
int mpu9150_init(int i2c_bus, int sample_rate, int mix_factor)
{
signed char gyro_orientation[9] = { 1, 0, 0,
0, 1, 0,
0, 0, 1 };
if (i2c_bus < 0 || i2c_bus > 3)
return -1;
if (sample_rate < 2 || sample_rate > 50)
return -1;
if (mix_factor < 0 || mix_factor > 100)
return -1;
yaw_mixing_factor = mix_factor;
linux_set_i2c_bus(i2c_bus);
printf("\nInitializing IMU .");
fflush(stdout);
if (mpu_init(NULL)) {
printf("\nmpu_init() failed\n");
return -1;
}
printf(".");
fflush(stdout);
#ifdef AK89xx_SECONDARY
if (mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS)) {
#else
if (mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS)) {
#endif
printf("\nmpu_set_sensors() failed\n");
return -1;
}
printf(".");
fflush(stdout);
if (mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) {
printf("\nmpu_configure_fifo() failed\n");
return -1;
}
printf(".");
fflush(stdout);
if (mpu_set_sample_rate(sample_rate)) {
printf("\nmpu_set_sample_rate() failed\n");
return -1;
}
printf(".");
fflush(stdout);
#ifdef AK89xx_SECONDARY
if (mpu_set_compass_sample_rate(sample_rate)) {
printf("\nmpu_set_compass_sample_rate() failed\n");
return -1;
}
#endif
printf(".");
fflush(stdout);
if (dmp_load_motion_driver_firmware()) {
printf("\ndmp_load_motion_driver_firmware() failed\n");
return -1;
}
printf(".");
fflush(stdout);
if (dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))) {
printf("\ndmp_set_orientation() failed\n");
return -1;
}
printf(".");
fflush(stdout);
if (dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_SEND_RAW_ACCEL
| DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL)) {
printf("\ndmp_enable_feature() failed\n");
return -1;
}
printf(".");
fflush(stdout);
if (dmp_set_fifo_rate(sample_rate)) {
printf("\ndmp_set_fifo_rate() failed\n");
return -1;
}
printf(".");
fflush(stdout);
if (mpu_set_dmp_state(1)) {
printf("\nmpu_set_dmp_state(1) failed\n");
return -1;
}
printf(" done\n\n");
return 0;
}
/* New functions to enable / disable 6axis on the fly */
int enableAccelerometerFusion(void) {
if (dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL)) {
printf("Failure enabling accelerometer fusion\n");
return -1;
}
printf("mpu9150.c: Accelerometer fusion enabled\n");
return 0;
}
int disableAccelerometerFusion(void) {
if (dmp_enable_feature(DMP_FEATURE_LP_QUAT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL)) {
printf("Failure disabling accelerometer fusion\n");
return -1;
}
printf("mpu9150.c: Accelerometer fusion disabled\n");
return 0;
}
void mpu9150_exit()
{
// turn off the DMP on exit
if (mpu_set_dmp_state(0))
printf("mpu_set_dmp_state(0) failed\n");
// TODO: Should turn off the sensors too
}
void mpu9150_set_accel_cal(caldata_t *cal)
{
int i;
long bias[3];
if (!cal) {
use_accel_cal = 0;
return;
}
memcpy(&accel_cal_data, cal, sizeof(caldata_t));
for (i = 0; i < 3; i++) {
if (accel_cal_data.range[i] < 1)
accel_cal_data.range[i] = 1;
else if (accel_cal_data.range[i] > ACCEL_SENSOR_RANGE)
accel_cal_data.range[i] = ACCEL_SENSOR_RANGE;
bias[i] = -accel_cal_data.offset[i];
}
if (debug_on) {
printf("\naccel cal (range : offset)\n");
for (i = 0; i < 3; i++)
printf("%d : %d\n", accel_cal_data.range[i], accel_cal_data.offset[i]);
}
mpu_set_accel_bias(bias);
use_accel_cal = 1;
}
