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EM7180_MPU9250_BMP280_M24512DFC_WS
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EM7180_MPU9250_BMP280_M24512DFC_WS
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/* EM7180_MPU9250_BMP280_M24512DFC Basic Example Code
by: Kris Winer
date: September 11, 2015
license: Beerware - Use this code however you'd like. If you
find it useful you can buy me a beer some time.
The EM7180 SENtral sensor hub is not a motion sensor, but rather takes raw sensor data from a variety of motion sensors,
in this case the MPU9250 (with embedded MPU9250 + AK8963C), and does sensor fusion with quaternions as its output. The SENtral loads firmware from the
on-board M24512DRC 512 kbit EEPROM upon startup, configures and manages the sensors on its dedicated master I2C bus,
and outputs scaled sensor data (accelerations, rotation rates, and magnetic fields) as well as quaternions and
heading/pitch/roll, if selected.
This sketch demonstrates basic EM7180 SENtral functionality including parameterizing the register addresses, initializing the sensor,
getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
Mahony filter algorithms to compare with the hardware sensor fusion results.
Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
This sketch is specifically for the Teensy 3.1 Mini Add-On shield with the EM7180 SENtral sensor hub as master,
the MPU9250 9-axis motion sensor (accel/gyro/mag) as slave, a BMP280 pressure/temperature sensor, and an M24512DRC
512kbit (64 kByte) EEPROM as slave all connected via I2C. The SENtral can use the pressure data in the sensor fusion
yet and there is a driver for the BMP280 in the SENtral firmware.
This sketch uses SDA/SCL on pins 17/16, respectively, and it uses the Teensy 3.1-specific Wire library i2c_t3.h.
The BMP280 is a simple but high resolution pressure sensor, which can be used in its high resolution
mode but with power consumption of 20 microAmp, or in a lower resolution mode with power consumption of
only 1 microAmp. The choice will depend on the application.
SDA and SCL should have external pull-up resistors (to 3.3V).
4k7 resistors are on the EM7180+MPU9250+BMP280+M24512DRC Mini Add-On board for Teensy 3.1.
Hardware setup:
EM7180 Mini Add-On ------- Teensy 3.1
VDD ---------------------- 3.3V
SDA ----------------------- 17
SCL ----------------------- 16
GND ---------------------- GND
INT------------------------ 8
Note: All the sensors n this board are I2C sensor and uses the Teensy 3.1 i2c_t3.h Wire library.
Because the sensors are not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
*/
#include "Arduino.h"
#include "Globals.h"
#include <i2c_t3.h>
#include <SPI.h>
#define SerialDebug true
//#define SerialDebug false
bool passThru = false;
void setup()
{
// Setup for Master mode, pins 16/17, external pullups, 400kHz for Teensy 3.1
Wire.begin(I2C_MASTER, 0x00, I2C_PINS_16_17, I2C_PULLUP_EXT, I2C_RATE_400);
delay(100);
// Read Acc offset info
//eeprom->readGlobalSet();
delay(100);
Serial.begin(115200);
delay(5000);
// Set up the interrupt pin, its set as active high, push-pull
pinMode(myLed, OUTPUT);
digitalWrite(myLed, LOW);
// should detect SENtral at 0x28
I2Cscan();
// Read SENtral device information
uint16_t ROM1 = readByte(EM7180_ADDRESS, EM7180_ROMVersion1);
uint16_t ROM2 = readByte(EM7180_ADDRESS, EM7180_ROMVersion2);
Serial.print("EM7180 ROM Version: 0x"); Serial.print(ROM1, HEX); Serial.println(ROM2, HEX); Serial.println("Should be: 0xE609");
uint16_t RAM1 = readByte(EM7180_ADDRESS, EM7180_RAMVersion1);
uint16_t RAM2 = readByte(EM7180_ADDRESS, EM7180_RAMVersion2);
Serial.print("EM7180 RAM Version: 0x"); Serial.print(RAM1); Serial.println(RAM2);
uint8_t PID = readByte(EM7180_ADDRESS, EM7180_ProductID);
Serial.print("EM7180 ProductID: 0x"); Serial.print(PID, HEX); Serial.println(" Should be: 0x80");
uint8_t RID = readByte(EM7180_ADDRESS, EM7180_RevisionID);
Serial.print("EM7180 RevisionID: 0x"); Serial.print(RID, HEX); Serial.println(" Should be: 0x02");
// Give some time to read the screen
delay(1000);
// Check which sensors can be detected by the EM7180
uint8_t featureflag = readByte(EM7180_ADDRESS, EM7180_FeatureFlags);
if(featureflag & 0x01) Serial.println("A barometer is installed");
if(featureflag & 0x02) Serial.println("A humidity sensor is installed");
if(featureflag & 0x04) Serial.println("A temperature sensor is installed");
if(featureflag & 0x08) Serial.println("A custom sensor is installed");
if(featureflag & 0x10) Serial.println("A second custom sensor is installed");
if(featureflag & 0x20) Serial.println("A third custom sensor is installed");
// Give some time to read the screen
delay(1000);
// Check SENtral status, make sure EEPROM upload of firmware was accomplished
byte STAT = (readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01);
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01) Serial.println("EEPROM detected on the sensor bus!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02) Serial.println("EEPROM uploaded config file!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04) Serial.println("EEPROM CRC incorrect!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08) Serial.println("EM7180 in initialized state!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10) Serial.println("No EEPROM detected!");
int count = 0;
while(!STAT)
{
writeByte(EM7180_ADDRESS, EM7180_ResetRequest, 0x01);
delay(500);
count++;
STAT = (readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01);
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01) Serial.println("EEPROM detected on the sensor bus!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02) Serial.println("EEPROM uploaded config file!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04) Serial.println("EEPROM CRC incorrect!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08) Serial.println("EM7180 in initialized state!");
if(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10) Serial.println("No EEPROM detected!");
if(count > 10) break;
}
if(!(readByte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04)) Serial.println("EEPROM upload successful!");
// Take user input to choose Warm Start or not...
// "1" from the keboard is ASCII "1" which gives integer value 49
// "0" from the keboard is ASCII "0" which gives integer value 48
Serial.println("Send '1' for Warm Start, '0' for no Warm Start");
serial_input = Serial.read();
while(!(serial_input == 49) && !(serial_input == 48))
{
serial_input = Serial.read();
delay(500);
}
if(serial_input == 49)
{
warm_start = 1;
} else
{
warm_start = 0;
}
if(warm_start)
{
Serial.println("!!!Warm Start active!!!");
// Put the Sentral in pass-thru mode
WS_PassThroughMode();
// Fetch the WarmStart data from the M24512DFM I2C EEPROM
readSenParams();
// Take Sentral out of pass-thru mode and re-start algorithm
WS_Resume();
} else
{
Serial.println("***No Warm Start***");
}
// Reset Sentral after
// Give some time to read the screen
delay(1000);
// Set up the SENtral as sensor bus in normal operating mode
if(!passThru)
{
// Set SENtral in initialized state to configure registers
writeByte(EM7180_ADDRESS, EM7180_HostControl, 0x00);
// Insert Acc Cal upload here when the time comes...
// Force initialize
writeByte(EM7180_ADDRESS, EM7180_HostControl, 0x01);
// Load Warm Start parameters
if(warm_start)
{
EM7180_set_WS_params();
}
// Set SENtral in initialized state to configure registers
writeByte(EM7180_ADDRESS, EM7180_HostControl, 0x00);
//Setup LPF bandwidth (BEFORE setting ODR's)
writeByte(EM7180_ADDRESS, EM7180_ACC_LPF_BW, 0x03); // 41 Hz
writeByte(EM7180_ADDRESS, EM7180_GYRO_LPF_BW, 0x03); // 42 Hz
// Set accel/gyro/mage desired ODR rates
writeByte(EM7180_ADDRESS, EM7180_QRateDivisor, 0x02); // 100 Hz
writeByte(EM7180_ADDRESS, EM7180_MagRate, 0x64); // 100 Hz
writeByte(EM7180_ADDRESS, EM7180_AccelRate, 0x14); // 200/10 Hz
writeByte(EM7180_ADDRESS, EM7180_GyroRate, 0x14); // 200/10 Hz
writeByte(EM7180_ADDRESS, EM7180_BaroRate, 0x80 | 0x32); // set enable bit and set Baro rate to 25 Hz
// Configure operating mode
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // read scale sensor data
// Enable interrupt to host upon certain events
// choose host interrupts when any sensor updated (0x40), new gyro data (0x20), new accel data (0x10),
// new mag data (0x08), quaternions updated (0x04), an error occurs (0x02), or the SENtral needs to be reset(0x01)
writeByte(EM7180_ADDRESS, EM7180_EnableEvents, 0x07);
// Enable EM7180 run mode
writeByte(EM7180_ADDRESS, EM7180_HostControl, 0x01); // set SENtral in normal run mode
delay(100);
// EM7180 parameter adjustments
Serial.println("Beginning Parameter Adjustments");
// Read sensor default FS values from parameter space
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4A); // Request to read parameter 74
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer process
byte param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer==0x4A))
{
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
param[0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
param[1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
param[2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_mag_fs = ((int16_t)(param[1]<<8) | param[0]);
EM7180_acc_fs = ((int16_t)(param[3]<<8) | param[2]);
Serial.print("Magnetometer Default Full Scale Range: +/-"); Serial.print(EM7180_mag_fs); Serial.println("uT");
Serial.print("Accelerometer Default Full Scale Range: +/-"); Serial.print(EM7180_acc_fs); Serial.println("g");
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4B); // Request to read parameter 75
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer==0x4B))
{
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
param[0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
param[1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
param[2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_gyro_fs = ((int16_t)(param[1]<<8) | param[0]);
Serial.print("Gyroscope Default Full Scale Range: +/-"); Serial.print(EM7180_gyro_fs); Serial.println("dps");
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //End parameter transfer
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // re-enable algorithm
//Disable stillness mode
EM7180_set_integer_param (0x49, 0x00);
//Write desired sensor full scale ranges to the EM7180
EM7180_set_mag_acc_FS (0x3E8, 0x08); // 1000 uT, 8 g
EM7180_set_gyro_FS (0x7D0); // 2000 dps
// Read sensor new FS values from parameter space
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4A); // Request to read parameter 74
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer process
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer==0x4A))
{
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
param[0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
param[1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
param[2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_mag_fs = ((int16_t)(param[1]<<8) | param[0]);
EM7180_acc_fs = ((int16_t)(param[3]<<8) | param[2]);
Serial.print("Magnetometer New Full Scale Range: +/-"); Serial.print(EM7180_mag_fs); Serial.println("uT");
Serial.print("Accelerometer New Full Scale Range: +/-"); Serial.print(EM7180_acc_fs); Serial.println("g");
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4B); // Request to read parameter 75
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer==0x4B))
{
param_xfer = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
param[0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
param[1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
param[2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_gyro_fs = ((int16_t)(param[1]<<8) | param[0]);
Serial.print("Gyroscope New Full Scale Range: +/-"); Serial.print(EM7180_gyro_fs); Serial.println("dps");
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //End parameter transfer
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // re-enable algorithm
// Read EM7180 status
uint8_t runStatus = readByte(EM7180_ADDRESS, EM7180_RunStatus);
if(runStatus & 0x01) Serial.println(" EM7180 run status = normal mode");
uint8_t algoStatus = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
if(algoStatus & 0x01) Serial.println(" EM7180 standby status");
if(algoStatus & 0x02) Serial.println(" EM7180 algorithm slow");
if(algoStatus & 0x04) Serial.println(" EM7180 in stillness mode");
if(algoStatus & 0x08) Serial.println(" EM7180 mag calibration completed");
if(algoStatus & 0x10) Serial.println(" EM7180 magnetic anomaly detected");
if(algoStatus & 0x20) Serial.println(" EM7180 unreliable sensor data");
uint8_t passthruStatus = readByte(EM7180_ADDRESS, EM7180_PassThruStatus);
if(passthruStatus & 0x01) Serial.print(" EM7180 in passthru mode!");
uint8_t eventStatus = readByte(EM7180_ADDRESS, EM7180_EventStatus);
if(eventStatus & 0x01) Serial.println(" EM7180 CPU reset");
if(eventStatus & 0x02) Serial.println(" EM7180 Error");
if(eventStatus & 0x04) Serial.println(" EM7180 new quaternion result");
if(eventStatus & 0x08) Serial.println(" EM7180 new mag result");
if(eventStatus & 0x10) Serial.println(" EM7180 new accel result");
if(eventStatus & 0x20) Serial.println(" EM7180 new gyro result");
// Give some time to read the screen
delay(1000);
// Check sensor status
uint8_t sensorStatus = readByte(EM7180_ADDRESS, EM7180_SensorStatus);
Serial.print(" EM7180 sensor status = "); Serial.println(sensorStatus);
if(sensorStatus & 0x01) Serial.print("Magnetometer not acknowledging!");
if(sensorStatus & 0x02) Serial.print("Accelerometer not acknowledging!");
if(sensorStatus & 0x04) Serial.print("Gyro not acknowledging!");
if(sensorStatus & 0x10) Serial.print("Magnetometer ID not recognized!");
if(sensorStatus & 0x20) Serial.print("Accelerometer ID not recognized!");
if(sensorStatus & 0x40) Serial.print("Gyro ID not recognized!");
Serial.print("Actual MagRate = "); Serial.print(readByte(EM7180_ADDRESS, EM7180_ActualMagRate)); Serial.println(" Hz");
Serial.print("Actual AccelRate = "); Serial.print(10*readByte(EM7180_ADDRESS, EM7180_ActualAccelRate)); Serial.println(" Hz");
Serial.print("Actual GyroRate = "); Serial.print(10*readByte(EM7180_ADDRESS, EM7180_ActualGyroRate)); Serial.println(" Hz");
Serial.print("Actual BaroRate = "); Serial.print(readByte(EM7180_ADDRESS, EM7180_ActualBaroRate)); Serial.println(" Hz");
Serial.println(""); Serial.println("*******************************************");
Serial.println("Send '1' to store Warm Start configuration");
Serial.println("*******************************************"); Serial.println("");
// Give some time to read the screen
delay(1000);
}
// If pass through mode desired, set it up here
if(passThru)
{
// Put EM7180 SENtral into pass-through mode
SENtralPassThroughMode();
delay(1000);
// should see all the devices on the I2C bus including two from the EEPROM (ID page and data pages)
I2Cscan();
// Read first page of EEPROM
uint8_t data[128];
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x00, 0x00, 128, data);
Serial.println("EEPROM Signature Byte");
Serial.print(data[0], HEX); Serial.println(" Should be 0x2A");
Serial.print(data[1], HEX); Serial.println(" Should be 0x65");
for (int i = 0; i < 128; i++)
{
Serial.print(data[i], HEX); Serial.print(" ");
}
// Set up the interrupt pin, its set as active high, push-pull
pinMode(myLed, OUTPUT);
digitalWrite(myLed, HIGH);
// Read the WHO_AM_I register, this is a good test of communication
Serial.println("MPU9250 9-axis motion sensor...");
byte c = readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX);
if (c == 0x71) // WHO_AM_I should always be 0x71
{
Serial.println("MPU9250 is online...");
MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
Serial.print("x-axis self test: acceleration trim within : "); Serial.print(SelfTest[0],1); Serial.println("% of factory value");
Serial.print("y-axis self test: acceleration trim within : "); Serial.print(SelfTest[1],1); Serial.println("% of factory value");
Serial.print("z-axis self test: acceleration trim within : "); Serial.print(SelfTest[2],1); Serial.println("% of factory value");
Serial.print("x-axis self test: gyration trim within : "); Serial.print(SelfTest[3],1); Serial.println("% of factory value");
Serial.print("y-axis self test: gyration trim within : "); Serial.print(SelfTest[4],1); Serial.println("% of factory value");
Serial.print("z-axis self test: gyration trim within : "); Serial.print(SelfTest[5],1); Serial.println("% of factory value");
delay(1000);
// get sensor resolutions, only need to do this once
getAres();
getGres();
getMres();
Serial.println(" Calibrate gyro and accel");
accelgyrocalMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
Serial.println("accel biases (mg)"); Serial.println(1000.*accelBias[0]); Serial.println(1000.*accelBias[1]); Serial.println(1000.*accelBias[2]);
Serial.println("gyro biases (dps)"); Serial.println(gyroBias[0]); Serial.println(gyroBias[1]); Serial.println(gyroBias[2]);
delay(1000);
initMPU9250();
Serial.println("MPU9250 initialized for active data mode...."); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);
I2Cscan(); // should see all the devices on the I2C bus including two from the EEPROM (ID page and data pages)
// Read the WHO_AM_I register of the magnetometer, this is a good test of communication
byte d = readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); // Read WHO_AM_I register for AK8963
Serial.print("AK8963 "); Serial.print("I AM "); Serial.print(d, HEX); Serial.print(" I should be "); Serial.println(0x48, HEX);
delay(1000);
// Get magnetometer calibration from AK8963 ROM
// Initialize device for active mode read of magnetometer
initAK8963(magCalibration); Serial.println("AK8963 initialized for active data mode....");
magcalMPU9250(magBias, magScale);
Serial.println("AK8963 mag biases (mG)"); Serial.println(magBias[0]); Serial.println(magBias[1]); Serial.println(magBias[2]);
Serial.println("AK8963 mag scale (mG)"); Serial.println(magScale[0]); Serial.println(magScale[1]); Serial.println(magScale[2]);
delay(2000); // add delay to see results before serial spew of data
if(SerialDebug)
{
Serial.print("X-Axis sensitivity adjustment value "); Serial.println(magCalibration[0], 2);
Serial.print("Y-Axis sensitivity adjustment value "); Serial.println(magCalibration[1], 2);
Serial.print("Z-Axis sensitivity adjustment value "); Serial.println(magCalibration[2], 2);
}
delay(1000);
// Read the WHO_AM_I register of the BMP280 this is a good test of communication
// Read WHO_AM_I register for BMP280
byte f = readByte(BMP280_ADDRESS, BMP280_ID);
Serial.print("BMP280 ");
Serial.print("I AM ");
Serial.print(f, HEX);
Serial.print(" I should be ");
Serial.println(0x58, HEX);
Serial.println(" ");
delay(1000);
// reset BMP280 before initilization
writeByte(BMP280_ADDRESS, BMP280_RESET, 0xB6);
delay(100);
// Initialize BMP280 altimeter
BMP280Init();
Serial.println("Calibration coeficients:");
Serial.print("dig_T1 =");
Serial.println(dig_T1);
Serial.print("dig_T2 =");
Serial.println(dig_T2);
Serial.print("dig_T3 =");
Serial.println(dig_T3);
Serial.print("dig_P1 =");
Serial.println(dig_P1);
Serial.print("dig_P2 =");
Serial.println(dig_P2);
Serial.print("dig_P3 =");
Serial.println(dig_P3);
Serial.print("dig_P4 =");
Serial.println(dig_P4);
Serial.print("dig_P5 =");
Serial.println(dig_P5);
Serial.print("dig_P6 =");
Serial.println(dig_P6);
Serial.print("dig_P7 =");
Serial.println(dig_P7);
Serial.print("dig_P8 =");
Serial.println(dig_P8);
Serial.print("dig_P9 =");
Serial.println(dig_P9);
delay(1000);
}
else
{
Serial.print("Could not connect to MPU9250: 0x");
Serial.println(c, HEX);
while(1) ; // Loop forever if communication doesn't happen
}
}
}
void loop()
{
if(!passThru)
{
serial_input = Serial.read();
if (serial_input == 49)
{
delay(100);
EM7180_get_WS_params();
// Put the Sentral in pass-thru mode
WS_PassThroughMode();
// Store WarmStart data to the M24512DFM I2C EEPROM
writeSenParams();
// Take Sentral out of pass-thru mode and re-start algorithm
WS_Resume();
warm_start_saved = 1;
}
// Check event status register, way to chech data ready by polling rather than interrupt
uint8_t eventStatus = readByte(EM7180_ADDRESS, EM7180_EventStatus); // reading clears the register
// Check for errors
// Error detected, what is it?
if(eventStatus & 0x02)
{
uint8_t errorStatus = readByte(EM7180_ADDRESS, EM7180_ErrorRegister);
if(!errorStatus)
{
Serial.print(" EM7180 sensor status = "); Serial.println(errorStatus);
if(errorStatus == 0x11) Serial.print("Magnetometer failure!");
if(errorStatus == 0x12) Serial.print("Accelerometer failure!");
if(errorStatus == 0x14) Serial.print("Gyro failure!");
if(errorStatus == 0x21) Serial.print("Magnetometer initialization failure!");
if(errorStatus == 0x22) Serial.print("Accelerometer initialization failure!");
if(errorStatus == 0x24) Serial.print("Gyro initialization failure!");
if(errorStatus == 0x30) Serial.print("Math error!");
if(errorStatus == 0x80) Serial.print("Invalid sample rate!");
}
// Handle errors ToDo
}
// if no errors, see if new data is ready
// new acceleration data available
if(eventStatus & 0x10)
{
readSENtralAccelData(accelCount);
// Now we'll calculate the accleration value into actual g's
ax = (float)accelCount[0]*0.000488; // get actual g value
ay = (float)accelCount[1]*0.000488;
az = (float)accelCount[2]*0.000488;
}
if(eventStatus & 0x20)
{
// new gyro data available
readSENtralGyroData(gyroCount);
// Now we'll calculate the gyro value into actual dps's
gx = (float)gyroCount[0]*0.153; // get actual dps value
gy = (float)gyroCount[1]*0.153;
gz = (float)gyroCount[2]*0.153;
}
if(eventStatus & 0x08)
{
// new mag data available
readSENtralMagData(magCount);
// Now we'll calculate the mag value into actual G's
// get actual G value
mx = (float)magCount[0]*0.305176;
my = (float)magCount[1]*0.305176;
mz = (float)magCount[2]*0.305176;
}
if(eventStatus & 0x04) // new quaternions available
{
readSENtralQuatData(Quat);
}
// get BMP280 pressure
// new baro data available
if(eventStatus & 0x40)
{
rawPressure = readSENtralBaroData();
pressure = (float)rawPressure*0.01f +1013.25f; // pressure in mBar
// get BMP280 temperature
rawTemperature = readSENtralTempData();
temperature = (float) rawTemperature*0.01; // temperature in degrees C
}
}
if(passThru)
{
// If intPin goes high, all data registers have new data
readAccelData(accelCount); // Read the x/y/z adc values
// Now we'll calculate the acceleration value into actual g's
ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
ay = (float)accelCount[1]*aRes - accelBias[1];
az = (float)accelCount[2]*aRes - accelBias[2];
// Read the x/y/z adc values
readGyroData(gyroCount);
// Calculate the gyro value into actual degrees per second
gx = (float)gyroCount[0]*gRes; // get actual gyro value, this depends on scale being set
gy = (float)gyroCount[1]*gRes;
gz = (float)gyroCount[2]*gRes;
readMagData(magCount); // Read the x/y/z adc values
// Calculate the magnetometer values in milliGauss
mx = (float)magCount[0]*mRes*magCalibration[0] - magBias[0]; // get actual magnetometer value, this depends on scale being set
my = (float)magCount[1]*mRes*magCalibration[1] - magBias[1];
mz = (float)magCount[2]*mRes*magCalibration[2] - magBias[2];
}
// keep track of rates
Now = micros();
// set integration time by time elapsed since last filter update
deltat = ((Now - lastUpdate)/1000000.0f);
lastUpdate = Now;
sum += deltat; // sum for averaging filter update rate
sumCount++;
// Sensors x (y)-axis of the accelerometer is aligned with the -y (x)-axis of the magnetometer;
// the magnetometer z-axis (+ up) is aligned with z-axis (+ up) of accelerometer and gyro!
// We have to make some allowance for this orientation mismatch in feeding the output to the quaternion filter.
// For the BMX-055, we have chosen a magnetic rotation that keeps the sensor forward along the x-axis just like
// in the MPU9250 sensor. This rotation can be modified to allow any convenient orientation convention.
// This is ok by aircraft orientation standards!
// Pass gyro rate as rad/s
MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, mx, my, mz);
// if(passThru)MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, -my, mx, mz);
// Serial print and/or display at 0.5 s rate independent of data rates
delt_t = millis() - count;
// update LCD once per half-second independent of read rate
if (delt_t > 500)
{
if(SerialDebug)
{
Serial.print("ax = "); Serial.print((int)1000*ax);
Serial.print(" ay = "); Serial.print((int)1000*ay);
Serial.print(" az = "); Serial.print((int)1000*az); Serial.println(" mg");
Serial.print("gx = "); Serial.print( gx, 2);
Serial.print(" gy = "); Serial.print( gy, 2);
Serial.print(" gz = "); Serial.print( gz, 2); Serial.println(" deg/s");
Serial.print("mx = "); Serial.print( (int)mx);
Serial.print(" my = "); Serial.print( (int)my);
Serial.print(" mz = "); Serial.print( (int)mz); Serial.println(" mG");
Serial.println("Software quaternions (ENU):");
Serial.print("q0 = "); Serial.print(q[0]);
Serial.print(" qx = "); Serial.print(q[1]);
Serial.print(" qy = "); Serial.print(q[2]);
Serial.print(" qz = "); Serial.println(q[3]);
Serial.println("Hardware quaternions (NED):");
Serial.print("Q0 = "); Serial.print(Quat[0]);
Serial.print(" Qx = "); Serial.print(Quat[1]);
Serial.print(" Qy = "); Serial.print(Quat[2]);
Serial.print(" Qz = "); Serial.println(Quat[3]);
}
if(passThru)
{
rawPress = readBMP280Pressure();
pressure = (float) bmp280_compensate_P(rawPress)/25600.; // Pressure in mbar
rawTemp = readBMP280Temperature();
temperature = (float) bmp280_compensate_T(rawTemp)/100.;
}
// Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
// In this coordinate system, the positive z-axis is down toward Earth.
// Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
// Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
// Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
// These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
// Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
// applied in the correct order which for this configuration is yaw, pitch, and then roll.
// For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
//Software AHRS:
yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
pitch *= 180.0f / PI;
yaw *= 180.0f / PI;
yaw += 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
if(yaw < 0) yaw += 360.0f; // Ensure yaw stays between 0 and 360
roll *= 180.0f / PI;
//Hardware AHRS:
Yaw = atan2(2.0f * (Quat[0] * Quat[1] + Quat[3] * Quat[2]), Quat[3] * Quat[3] + Quat[0] * Quat[0] - Quat[1] * Quat[1] - Quat[2] * Quat[2]);
Pitch = -asin(2.0f * (Quat[0] * Quat[2] - Quat[3] * Quat[1]));
Roll = atan2(2.0f * (Quat[3] * Quat[0] + Quat[1] * Quat[2]), Quat[3] * Quat[3] - Quat[0] * Quat[0] - Quat[1] * Quat[1] + Quat[2] * Quat[2]);
Pitch *= 180.0f / PI;
Yaw *= 180.0f / PI;
Yaw += 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
if(Yaw < 0) Yaw += 360.0f ; // Ensure yaw stays between 0 and 360
Roll *= 180.0f / PI;
// Or define output variable according to the Android system, where heading (0 to 360) is defined by the angle between the y-axis
// and True North, pitch is rotation about the x-axis (-180 to +180), and roll is rotation about the y-axis (-90 to +90)
// In this systen, the z-axis is pointing away from Earth, the +y-axis is at the "top" of the device (cellphone) and the +x-axis
// points toward the right of the device.
if(SerialDebug)
{
Serial.print("Software yaw, pitch, roll: ");
Serial.print(yaw, 2);
Serial.print(", ");
Serial.print(pitch, 2);
Serial.print(", ");
Serial.println(roll, 2);
Serial.print("Hardware Yaw, Pitch, Roll: ");
Serial.print(Yaw, 2);
Serial.print(", ");
Serial.print(Pitch, 2);
Serial.print(", ");
Serial.println(Roll, 2);
Serial.println("BMP280:");
Serial.print("Altimeter temperature = ");
Serial.print( temperature, 2);
Serial.println(" C"); // temperature in degrees Celsius
Serial.print("Altimeter temperature = ");
Serial.print(9.*temperature/5. + 32., 2);
Serial.println(" F"); // temperature in degrees Fahrenheit
Serial.print("Altimeter pressure = ");
Serial.print(pressure, 2);
Serial.println(" mbar");// pressure in millibar
altitude = 145366.45f*(1.0f - pow((pressure/1013.25f), 0.190284f));
Serial.print("Altitude = ");
Serial.print(altitude, 2);
Serial.println(" feet");
Serial.println(" ");
if(warm_start_saved)
{
Serial.println("Warm Start configuration saved!");
} else
{
Serial.println("Send '1' to store Warm Start configuration");
}
}
Serial.print(millis()/1000.0, 1);Serial.print(",");
Serial.print(yaw); Serial.print(",");Serial.print(pitch); Serial.print(",");Serial.print(roll); Serial.print(",");
Serial.print(Yaw); Serial.print(",");Serial.print(Pitch); Serial.print(",");Serial.println(Roll);
digitalWrite(myLed, !digitalRead(myLed));
count = millis();
sumCount = 0;
sum = 0;
}
}
//===================================================================================================================
//====== Sentral parameter management functions
//===================================================================================================================
void EM7180_set_gyro_FS (uint16_t gyro_fs)
{
uint8_t bytes[4], STAT;
bytes[0] = gyro_fs & (0xFF);
bytes[1] = (gyro_fs >> 8) & (0xFF);
bytes[2] = 0x00;
bytes[3] = 0x00;
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); //Gyro LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]); //Gyro MSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]); //Unused
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); //Unused
// Parameter 75; 0xCB is 75 decimal with the MSB set high to indicate a paramter write processs
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0xCB);
// Request parameter transfer procedure
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80);
// Check the parameter acknowledge register and loop until the result matches parameter request byte
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(STAT==0xCB)) {
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
}
void EM7180_set_mag_acc_FS (uint16_t mag_fs, uint16_t acc_fs) {
uint8_t bytes[4], STAT;
bytes[0] = mag_fs & (0xFF);
bytes[1] = (mag_fs >> 8) & (0xFF);
bytes[2] = acc_fs & (0xFF);
bytes[3] = (acc_fs >> 8) & (0xFF);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); //Mag LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]); //Mag MSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]); //Acc LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); //Acc MSB
// Parameter 74; 0xCA is 74 decimal with the MSB set high to indicate a paramter write processs
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0xCA);
//Request parameter transfer procedure
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80);
// Check the parameter acknowledge register and loop until the result matches parameter request byte
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(STAT==0xCA)) {
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
// Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00);
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
}
void EM7180_set_integer_param (uint8_t param, uint32_t param_val)
{
uint8_t bytes[4], STAT;
bytes[0] = param_val & (0xFF);
bytes[1] = (param_val >> 8) & (0xFF);
bytes[2] = (param_val >> 16) & (0xFF);
bytes[3] = (param_val >> 24) & (0xFF);
// Parameter is the decimal value with the MSB set high to indicate a paramter write processs
param = param | 0x80;
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); //Param LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); //Param MSB
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, param);
// Request parameter transfer procedure
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80);
// Check the parameter acknowledge register and loop until the result matches parameter request byte
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(STAT==param)) {
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
// Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00);
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
}
void EM7180_set_float_param (uint8_t param, float param_val) {
uint8_t bytes[4], STAT;
float_to_bytes (param_val, &bytes[0]);
// Parameter is the decimal value with the MSB set high to indicate a paramter write processs
param = param | 0x80;
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); //Param LSB
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); //Param MSB
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, param);
// Request parameter transfer procedure
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80);
// Check the parameter acknowledge register and loop until the result matches parameter request byte
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(STAT==param)) {
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
// Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00);
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
}
void EM7180_set_WS_params()
{
uint8_t param = 1;
uint8_t STAT;
// Parameter is the decimal value with the MSB set high to indicate a paramter write processs
param = param | 0x80;
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, WS_params.Sen_param[0][0]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, WS_params.Sen_param[0][1]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, WS_params.Sen_param[0][2]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, WS_params.Sen_param[0][3]);
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, param);
// Request parameter transfer procedure
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80);
// Check the parameter acknowledge register and loop until the result matches parameter request byte
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(STAT==param))
{
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
for(uint8_t i=1; i<35; i++)
{
param = (i+1) | 0x80;
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte0, WS_params.Sen_param[i][0]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte1, WS_params.Sen_param[i][1]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte2, WS_params.Sen_param[i][2]);
writeByte(EM7180_ADDRESS, EM7180_LoadParamByte3, WS_params.Sen_param[i][3]);
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, param);
// Check the parameter acknowledge register and loop until the result matches parameter request byte
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(STAT==param))
{
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
}
// Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00);
}
void EM7180_get_WS_params()
{
uint8_t param = 1;
uint8_t STAT;
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, param);
delay(10);
// Request parameter transfer procedure
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80);
delay(10);
// Check the parameter acknowledge register and loop until the result matches parameter request byte
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(STAT==param))
{
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
// Parameter is the decimal value with the MSB set low (default) to indicate a paramter read processs
WS_params.Sen_param[0][0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
WS_params.Sen_param[0][1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
WS_params.Sen_param[0][2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
WS_params.Sen_param[0][3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
for(uint8_t i=1; i<35; i++)
{
param = (i+1);
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, param);
delay(10);
// Check the parameter acknowledge register and loop until the result matches parameter request byte
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(STAT==param))
{
STAT = readByte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
}
WS_params.Sen_param[i][0] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte0);
WS_params.Sen_param[i][1] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte1);
WS_params.Sen_param[i][2] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte2);
WS_params.Sen_param[i][3] = readByte(EM7180_ADDRESS, EM7180_SavedParamByte3);
}
// Parameter request = 0 to end parameter transfer process
writeByte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00);
// Re-start algorithm
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00);
}
void WS_PassThroughMode()
{
uint8_t stat = 0;
// First put SENtral in standby mode
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x01);
delay(5);
// Place SENtral in pass-through mode
writeByte(EM7180_ADDRESS, EM7180_PassThruControl, 0x01);
delay(5);
stat = readByte(EM7180_ADDRESS, EM7180_PassThruStatus);
while(!(stat & 0x01))
{
stat = readByte(EM7180_ADDRESS, EM7180_PassThruStatus);
delay(5);
}
}
void WS_Resume()
{
uint8_t stat = 0;
// Cancel pass-through mode
writeByte(EM7180_ADDRESS, EM7180_PassThruControl, 0x00);
delay(5);
stat = readByte(EM7180_ADDRESS, EM7180_PassThruStatus);
while((stat & 0x01))
{
stat = readByte(EM7180_ADDRESS, EM7180_PassThruStatus);
delay(5);
}
// Re-start algorithm
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00);
delay(5);
stat = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
while((stat & 0x01))
{
stat = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
delay(5);
}
}
void readSenParams()
{
uint8_t data[140];
uint8_t paramnum;
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x7f, 0x80, 12, &data[128]); // Page 255
delay(100);
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x7f, 0x00, 128, &data[0]); // Page 254
for (paramnum = 0; paramnum < 35; paramnum++) // 35 parameters
{
for (uint8_t i= 0; i < 4; i++)
{
WS_params.Sen_param[paramnum][i] = data[(paramnum*4 + i)];
}
}
}
void writeSenParams()
{
uint8_t data[140];
uint8_t paramnum;
for (paramnum = 0; paramnum < 35; paramnum++) // 35 parameters
{
for (uint8_t i= 0; i < 4; i++)
{
data[(paramnum*4 + i)] = WS_params.Sen_param[paramnum][i];
}
}
M24512DFMwriteBytes(M24512DFM_DATA_ADDRESS, 0x7f, 0x80, 12, &data[128]); // Page 255
delay(100);
M24512DFMwriteBytes(M24512DFM_DATA_ADDRESS, 0x7f, 0x00, 128, &data[0]); // Page 254
}
//===================================================================================================================