void MPU9150::device_setup(){
//Todo: Read calibration values from EPROM
Wire.begin();
MPU.selectDevice(MPUDeviceId);
// MAG fusion temprorarily disabled until we dial in the noisy MAG readings
if (!MPU.init(MPU_UPDATE_RATE, MPU_MAG_MIX_GYRO_ONLY, MAG_UPDATE_RATE, MPU_LPF_RATE)){
Serial.println(F("log:Trying other MPU9150 address to init;"));
Serial.print(F("log:IMU Address was :"));
Serial.print(1);
MPUDeviceId = !MPUDeviceId;
Serial.print(F(" but is now:"));
Serial.print(MPUDeviceId);
Serial.println(";");
MPU.selectDevice(MPUDeviceId);
if (MPU.init(MPU_UPDATE_RATE, MPU_MAG_MIX_GYRO_ONLY, MAG_UPDATE_RATE, MPU_LPF_RATE)){
DidInit = true;
Serial.println(F("log:Init worked the second time;"));
} else {
Serial.println(F("log:Failed to init on both addresses;"));
}
} else {
DidInit = true;
Serial.println(F("log:init on primary addresses;"));
} // start the MPU
Settings::capability_bitarray |= (1 << COMPASS_CAPABLE);
Settings::capability_bitarray |= (1 << ORIENTATION_CAPABLE);
MPU9150ReInit.reset();
}
void MPU9150::device_setup(){
//Todo: Read calibration values from EPROM
Wire.begin();
MPU.selectDevice(1);
MPU.init(MPU_UPDATE_RATE); // start the MPU
Settings::capability_bitarray |= (1 << COMPASS_CAPABLE);
Settings::capability_bitarray |= (1 << ORIENTATION_CAPABLE);
}
void MPU9150::device_loop(Command command){
if (!DidInit){
if( MPU9150ReInit.elapsed(30000)){
MPU9150::device_setup();
}
return;
}
if (command.cmp("ccal")){
// Compass_Calibrate();
// The IMU needs both Magnatrometer and Acceleromter to be calibrated. This attempts to do them both at the same time
calLibRead(MPUDeviceId, &calData); // pick up existing accel data if there
// calData.accelValid = false;
// calData.accelMinX = 0x7fff; // init accel cal data
// calData.accelMaxX = 0x8000;
// calData.accelMinY = 0x7fff;
// calData.accelMaxY = 0x8000;
// calData.accelMinZ = 0x7fff;
// calData.accelMaxZ = 0x8000;
calData.magValid = false;
calData.magMinX = 0x7fff; // init mag cal data
calData.magMaxX = 0x8000;
calData.magMinY = 0x7fff;
calData.magMaxY = 0x8000;
calData.magMinZ = 0x7fff;
calData.magMaxZ = 0x8000;
// MPU.useAccelCal(false);
MPU.init(MPU_UPDATE_RATE, 5, MAG_UPDATE_RATE);
counter = 359;
InCallibrationMode = true;
calibration_timer.reset();
Serial.println(F("!!!:While the compass counts down from 360 to 0, rotate the ROV slowly in all three axis;"));
}
if (InCallibrationMode){
bool changed = false;
if(counter>0){
if (MPU.read()) { // get the latest data
changed = false;
if (MPU.m_rawAccel[VEC3_X] < calData.accelMinX) {
calData.accelMinX = MPU.m_rawAccel[VEC3_X];
changed = true;
}
if (MPU.m_rawAccel[VEC3_X] > calData.accelMaxX) {
calData.accelMaxX = MPU.m_rawAccel[VEC3_X];
changed = true;
}
if (MPU.m_rawAccel[VEC3_Y] < calData.accelMinY) {
calData.accelMinY = MPU.m_rawAccel[VEC3_Y];
changed = true;
}
if (MPU.m_rawAccel[VEC3_Y] > calData.accelMaxY) {
calData.accelMaxY = MPU.m_rawAccel[VEC3_Y];
changed = true;
}
if (MPU.m_rawAccel[VEC3_Z] < calData.accelMinZ) {
calData.accelMinZ = MPU.m_rawAccel[VEC3_Z];
changed = true;
}
if (MPU.m_rawAccel[VEC3_Z] > calData.accelMaxZ) {
calData.accelMaxZ = MPU.m_rawAccel[VEC3_Z];
changed = true;
}
if (MPU.m_rawMag[VEC3_X] < calData.magMinX) {
calData.magMinX = MPU.m_rawMag[VEC3_X];
changed = true;
}
if (MPU.m_rawMag[VEC3_X] > calData.magMaxX) {
calData.magMaxX = MPU.m_rawMag[VEC3_X];
changed = true;
}
if (MPU.m_rawMag[VEC3_Y] < calData.magMinY) {
calData.magMinY = MPU.m_rawMag[VEC3_Y];
changed = true;
}
if (MPU.m_rawMag[VEC3_Y] > calData.magMaxY) {
calData.magMaxY = MPU.m_rawMag[VEC3_Y];
changed = true;
}
if (MPU.m_rawMag[VEC3_Z] < calData.magMinZ) {
calData.magMinZ = MPU.m_rawMag[VEC3_Z];
changed = true;
}
if (MPU.m_rawMag[VEC3_Z] > calData.magMaxZ) {
calData.magMaxZ = MPU.m_rawMag[VEC3_Z];
changed = true;
}
if (changed) {
Serial.print(F("dia:accel.MinX=")); Serial.print(calData.accelMinX); Serial.println(";");
Serial.print(F("dia:accel.maxX=")); Serial.print(calData.accelMaxX); Serial.println(";");
Serial.print(F("dia:accel.minY=")); Serial.print(calData.accelMinY); Serial.println(";");
Serial.print(F("dia:accel.maxY=")); Serial.print(calData.accelMaxY); Serial.println(";");
Serial.print(F("dia:accel.minZ=")); Serial.print(calData.accelMinZ); Serial.println(";");
Serial.print(F("dia:accel.maxZ=")); Serial.print(calData.accelMaxZ); Serial.println(";");
Serial.print(F("dia:mag.minX=")); Serial.print(calData.magMinX); Serial.println(";");
Serial.print(F("dia:mag.maxX=")); Serial.print(calData.magMaxX); Serial.println(";");
Serial.print(F("dia:mag.minY=")); Serial.print(calData.magMinY); Serial.println(";");
Serial.print(F("dia:mag.maxY=")); Serial.print(calData.magMaxY); Serial.println(";");
Serial.print(F("dia:mag.minZ=")); Serial.print(calData.magMinZ); Serial.println(";");
Serial.print(F("dia:mag.maxZ=")); Serial.print(calData.magMaxZ); Serial.println(";");
}
}
if (calibration_timer.elapsed (100)) {
counter--;
navdata::HDGD = counter;
Serial.print(F("hdgd:"));
Serial.print(navdata::HDGD);
Serial.print(';');
}
}
if (counter <= 0){
// calData.accelValid = true;
calData.magValid = true;
calLibWrite(MPUDeviceId, &calData);
Serial.println(F("log:Accel cal data saved for device;"));
InCallibrationMode = false;
MPU9150::device_setup();
}
return; //prevents the normal read and reporting of IMU data
}
else if (command.cmp("i2cscan")){
// scan();
}
// MPU.selectDevice(MPUDeviceId);
MPU.read();
// {
// Serial.println(F("log:SwappingIMUAddress;"));
// MPUDeviceId = !MPUDeviceId;
// MPU.selectDevice(MPUDeviceId);
// if(!MPU.read()){
// Serial.println(F("log:Failed to read IMU on both addresses. Sleeping for 1 minute"));
// DidInit = false;
// }
// }
navdata::HDGD = MPU.m_fusedEulerPose[VEC3_Z] * RAD_TO_DEGREE;
//To convert to-180/180 to 0/360
if (navdata::HDGD < 0) navdata::HDGD+=360;
navdata::PITC = MPU.m_fusedEulerPose[VEC3_X] * RAD_TO_DEGREE;
navdata::ROLL = MPU.m_fusedEulerPose[VEC3_Y] * RAD_TO_DEGREE;
navdata::YAW = MPU.m_fusedEulerPose[VEC3_Z] * RAD_TO_DEGREE;
}