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imu_filter.cpp
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imu_filter.cpp
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#define M5STACK_MPU6886
#include "imu_filter.h"
#include "M5Stack.h"
#include "MadgwickAHRS.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
static volatile float angle;
SemaphoreHandle_t angle_lock = NULL;
static void ImuUpdateTask(void *arg);
int16_t gryo_x_offset;
int16_t gryo_y_offset;
int16_t gryo_z_offset;
static float acc_x_2, acc_y_2, acc_z_2;
// maybe not need
typedef struct {
float a1;
float a2;
float b0;
float b1;
float b2;
float y1;
float y2;
float x1;
float x2;
} Butter_t;
float ButterFilter2(Butter_t *butter, float input) {
float output;
output = butter->b0 * input - butter->a2 * butter->y2 +
butter->b1 * butter->x1 + butter->b2 * butter->x2 -
butter->a1 * butter->y1;
butter->y2 = butter->y1;
butter->y1 = output;
butter->x2 = butter->x1;
butter->x1 = input;
return output;
}
float getAngle() {
float angle_out;
if (angle_lock == NULL) {
return 0;
}
xSemaphoreTake(angle_lock, portMAX_DELAY);
angle_out = angle;
xSemaphoreGive(angle_lock);
return angle_out;
}
void ImuTaskStart(int16_t x_offset, int16_t y_offset, int16_t z_offset,
SemaphoreHandle_t *i2c_lock) {
gryo_x_offset = 0 - x_offset;
gryo_y_offset = 0 - y_offset;
gryo_z_offset = 0 - z_offset;
xTaskCreatePinnedToCore(ImuUpdateTask, "imu_task", 4 * 1024, i2c_lock, 5,
NULL, 1);
}
void ImuUpdateTask(void *arg) {
uint32_t last_ticks = xTaskGetTickCount();
uint8_t *fifo_buff = NULL;
uint16_t fifo_count = 0;
uint16_t data_number = 0;
fifo_buff = (uint8_t *)malloc(sizeof(uint8_t) * 1024);
float acc_x = 0, acc_y = 0, acc_z = 0;
float gyro_x, gyro_y, gyro_z;
float yaw_ahrs, pitch_ahrs, roll_ahrs;
ImuData_t *imu_data;
SemaphoreHandle_t i2c_lock = *(SemaphoreHandle_t *)arg;
angle_lock = xSemaphoreCreateRecursiveMutex();
bool fast_to_normal_angle = true;
Butter_t butter_acc_x;
Butter_t butter_acc_y;
Butter_t butter_acc_z;
memset(&butter_acc_x, 0, sizeof(Butter_t));
memset(&butter_acc_y, 0, sizeof(Butter_t));
memset(&butter_acc_z, 0, sizeof(Butter_t));
// 500hz in, filter 50hz, low pass, butterworth
butter_acc_x.a1 = -1.142980f;
butter_acc_x.a2 = 0.412801f;
butter_acc_x.b0 = 0.067455f;
butter_acc_x.b1 = 0.134910f;
butter_acc_x.b2 = 0.067455f;
memcpy(&butter_acc_y, &butter_acc_x, sizeof(Butter_t));
memcpy(&butter_acc_z, &butter_acc_x, sizeof(Butter_t));
// Read from fifo to ensure that data will not be lost
// IMU data freq is 500HZ
xSemaphoreTake(i2c_lock, portMAX_DELAY);
M5.IMU.setFIFOEnable(true);
M5.IMU.RestFIFO();
xSemaphoreGive(i2c_lock);
// make sure angle fast to normal
MadgwickAHRSetBeta(10);
for (;;) {
xSemaphoreTake(i2c_lock, portMAX_DELAY);
fifo_count = M5.IMU.ReadFIFOCount();
M5.IMU.ReadFIFOBuff(fifo_buff, fifo_count);
xSemaphoreGive(i2c_lock);
imu_data = (ImuData_t *)fifo_buff;
data_number = fifo_count / 14;
for (uint8_t i = 0; i < data_number; i++) {
acc_x = ACC_8G_RES * (int16_t)(imu_data[i].value.acc_x_l |
(imu_data[i].value.acc_x_h << 8));
acc_y = ACC_8G_RES * (int16_t)(imu_data[i].value.acc_y_l |
(imu_data[i].value.acc_y_h << 8));
acc_z = ACC_8G_RES * (int16_t)(imu_data[i].value.acc_z_l |
(imu_data[i].value.acc_z_h << 8));
gyro_x = GYRO_2000DPS_RES *
((int16_t)(imu_data[i].value.gyro_x_l |
(imu_data[i].value.gyro_x_h << 8)) +
gryo_x_offset);
gyro_y = GYRO_2000DPS_RES *
((int16_t)(imu_data[i].value.gyro_y_l |
(imu_data[i].value.gyro_y_h << 8)) +
gryo_y_offset);
gyro_z = GYRO_2000DPS_RES *
((int16_t)(imu_data[i].value.gyro_z_l |
(imu_data[i].value.gyro_z_h << 8)) +
gryo_z_offset);
// Don't know if this is necessary
acc_x_2 = ButterFilter2(&butter_acc_x, acc_x);
acc_y_2 = ButterFilter2(&butter_acc_y, acc_y);
acc_z_2 = ButterFilter2(&butter_acc_z, acc_z);
MadgwickAHRSupdateIMU(gyro_x * DEG_TO_RAD, gyro_y * DEG_TO_RAD,
gyro_z * DEG_TO_RAD, acc_x_2, acc_y_2,
acc_z_2, &pitch_ahrs, &roll_ahrs, &yaw_ahrs);
// MadgwickAHRSupdateIMU(gyro_x * DEG_TO_RAD, gyro_y * DEG_TO_RAD,
// gyro_z * DEG_TO_RAD, acc_x, acc_y, acc_z, &pitch_ahrs,
// &roll_ahrs, &yaw_ahrs);
}
if (fast_to_normal_angle) {
int16_t roll = atan2(acc_y, sqrt(acc_z * acc_z + acc_x * acc_x)) *
360.0 / 2.0 / PI;
if (fabs(roll - roll_ahrs) < 1 && roll != roll_ahrs) {
fast_to_normal_angle = false;
MadgwickAHRSetBeta(0.1);
}
}
xSemaphoreTake(angle_lock, portMAX_DELAY);
if (!fast_to_normal_angle) {
angle = roll_ahrs;
}
xSemaphoreGive(angle_lock);
vTaskDelayUntil(&last_ticks, pdMS_TO_TICKS(5));
}
}