lots of work on MPU calibration
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calib/calib.nb
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}, Open ]],
|
||||||
|
Cell[CellGroupData[{
|
||||||
|
Cell[29106, 579, 288, 5, 55, "Input",ExpressionUUID->"6e2382e3-be00-4738-b380-b67947d32194"],
|
||||||
|
Cell[29397, 586, 7797, 223, 243, "Output",ExpressionUUID->"23ec7069-7289-4ea8-840d-63776a63d3eb"]
|
||||||
|
}, Open ]]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
*)
|
||||||
|
|
||||||
|
(* End of internal cache information *)
|
||||||
|
|
||||||
@ -3,9 +3,9 @@ import serial
|
|||||||
import re
|
import re
|
||||||
import datetime
|
import datetime
|
||||||
|
|
||||||
if __name__ == "__main__":
|
def capture_data():
|
||||||
num_re = r"([\-0-9\.]+)"
|
num_re = r"([\-0-9\.]+)"
|
||||||
line_re = re.compile(r"inputs: acc=\({0}, {0}, {0}\) gyro=\({0}, {0}, {0}\) mag=\({0}, {0}, {0}\)".format(num_re))
|
line_re = re.compile(r".*inputs: acc=\({0}, {0}, {0}\) gyro=\({0}, {0}, {0}\) mag=\({0}, {0}, {0}\)".format(num_re))
|
||||||
|
|
||||||
ser = serial.serial_for_url("hwgrep://", baudrate=115200, parity=serial.PARITY_NONE,
|
ser = serial.serial_for_url("hwgrep://", baudrate=115200, parity=serial.PARITY_NONE,
|
||||||
stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
|
stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
|
||||||
@ -14,14 +14,27 @@ if __name__ == "__main__":
|
|||||||
timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
|
timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
|
||||||
fname = "UGVDATA_{}.csv".format(timestr)
|
fname = "UGVDATA_{}.csv".format(timestr)
|
||||||
with open(fname, "w") as f:
|
with open(fname, "w") as f:
|
||||||
f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
|
try:
|
||||||
while True:
|
f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
|
||||||
line = ser.read_until()
|
while True:
|
||||||
matches = line_re.match(line)
|
try:
|
||||||
if not matches:
|
line = ser.read_until().decode("utf-8")
|
||||||
continue
|
except Exception as e:
|
||||||
nums = [str(numstr) for numstr in matches.groups()]
|
print("line decode error: ", e)
|
||||||
if len(nums) != 9:
|
continue
|
||||||
continue
|
matches = line_re.match(line)
|
||||||
f.write(",".join(nums))
|
if not matches:
|
||||||
f.write("\n")
|
print("line did not match: ", line)
|
||||||
|
continue
|
||||||
|
nums = [str(numstr) for numstr in matches.groups()]
|
||||||
|
if len(nums) != 9:
|
||||||
|
continue
|
||||||
|
f.write(",".join(nums))
|
||||||
|
f.write("\n")
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
print("interrupt")
|
||||||
|
f.flush()
|
||||||
|
return
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
capture_data()
|
||||||
12
calib/plot.sh
Executable file
12
calib/plot.sh
Executable file
@ -0,0 +1,12 @@
|
|||||||
|
#!/usr/bin/env bash
|
||||||
|
|
||||||
|
file=$1
|
||||||
|
|
||||||
|
gnuplot -persist <<EOF
|
||||||
|
set datafile separator ","
|
||||||
|
set xzeroaxis
|
||||||
|
set yzeroaxis
|
||||||
|
set style data points
|
||||||
|
set pointsize 0.5
|
||||||
|
plot "$file" using 7:8 with points title "X-Y", "$file" using 8:9 with points title "Y-Z", "$file" using 9:7 with points title "Z-X"
|
||||||
|
EOF
|
||||||
@ -22,8 +22,9 @@ static constexpr float MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
|
|||||||
|
|
||||||
static const Vec3f ACCEL_OFFSET = {0., 0., 0.};
|
static const Vec3f ACCEL_OFFSET = {0., 0., 0.};
|
||||||
static const Mat3f ACCEL_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
|
static const Mat3f ACCEL_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
|
||||||
static const Vec3f MAG_OFFSET = {0., 0., 0.};
|
static const Vec3f MAG_OFFSET = {-7.79683, 3.6735, 32.3868};
|
||||||
static const Mat3f MAG_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
|
static const Mat3f MAG_MAT = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544};
|
||||||
|
static const Mat3f GYRO_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
|
||||||
static const Vec3f GYRO_OFFSET = {0., 0., 0.};
|
static const Vec3f GYRO_OFFSET = {0., 0., 0.};
|
||||||
|
|
||||||
static const char *TAG = "ugv_io_mpu";
|
static const char *TAG = "ugv_io_mpu";
|
||||||
@ -39,26 +40,36 @@ MPU::~MPU() { delete mpu_; }
|
|||||||
|
|
||||||
void MPU::Init() {
|
void MPU::Init() {
|
||||||
xSemaphoreTake(i2c_mutex, portMAX_DELAY);
|
xSemaphoreTake(i2c_mutex, portMAX_DELAY);
|
||||||
mpu_bus_ = &i2c0;
|
mpu_bus_ = &i2c1;
|
||||||
// This is shared with the oled, so just use those pins
|
// This is shared with the oled, so just use those pins
|
||||||
|
mpu_bus_->setTimeout(10);
|
||||||
mpu_bus_->begin(MPU_SDA, MPU_SCL, 100000);
|
mpu_bus_->begin(MPU_SDA, MPU_SCL, 100000);
|
||||||
mpu_ = new mpud::MPU(*mpu_bus_);
|
mpu_ = new mpud::MPU(*mpu_bus_);
|
||||||
|
|
||||||
esp_err_t ret;
|
esp_err_t ret;
|
||||||
ret = mpu_->testConnection();
|
int tries = 0;
|
||||||
if (ret != ESP_OK) {
|
for (; tries < 5; ++tries) {
|
||||||
uint8_t wai = mpu_->whoAmI();
|
mpu_->getInterruptStatus();
|
||||||
ESP_LOGE(TAG, "MPU not connected (whoAmI: %d)", wai);
|
ret = mpu_->testConnection();
|
||||||
return;
|
if (ret != ESP_OK) {
|
||||||
|
uint8_t wai = mpu_->whoAmI();
|
||||||
|
ESP_LOGE(TAG, "MPU not connected (whoAmI: %#x)", wai);
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(100));
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
ret = mpu_->compassTestConnection();
|
||||||
|
if (ret != ESP_OK) {
|
||||||
|
uint8_t wai = mpu_->compassWhoAmI();
|
||||||
|
ESP_LOGW(TAG, "MPU compass not connected (whoAmI: %#x)", wai);
|
||||||
|
}
|
||||||
|
ret = mpu_->initialize();
|
||||||
|
if (ret != ESP_OK) {
|
||||||
|
ESP_LOGE(TAG, "MPU initialization error");
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
break;
|
||||||
}
|
}
|
||||||
ret = mpu_->compassTestConnection();
|
if (tries == 5) {
|
||||||
if (ret != ESP_OK) {
|
|
||||||
uint8_t wai = mpu_->compassWhoAmI();
|
|
||||||
ESP_LOGW(TAG, "MPU compass not connected (whoAmI: %d)", wai);
|
|
||||||
}
|
|
||||||
ret = mpu_->initialize();
|
|
||||||
if (ret != ESP_OK) {
|
|
||||||
ESP_LOGE(TAG, "MPU initialization error");
|
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
// Calibrate();
|
// Calibrate();
|
||||||
@ -86,27 +97,19 @@ void MPU::Calibrate() {
|
|||||||
|
|
||||||
void MPU::GetData(MpuData &data) {
|
void MPU::GetData(MpuData &data) {
|
||||||
esp_err_t ret;
|
esp_err_t ret;
|
||||||
// uint8_t mxh, mxl, myh, myl, mzh, mzl, n;
|
|
||||||
xSemaphoreTake(i2c_mutex, portMAX_DELAY);
|
xSemaphoreTake(i2c_mutex, portMAX_DELAY);
|
||||||
ret = mpu_->motion(&accel_, &gyro_);
|
ret = mpu_->motion(&accel_, &gyro_);
|
||||||
|
if (ret != ESP_OK) {
|
||||||
|
ESP_LOGE(TAG, "error reading MPU: %#x", ret);
|
||||||
|
}
|
||||||
uint8_t compass_data[7];
|
uint8_t compass_data[7];
|
||||||
mpu_->setAuxI2CBypass(true);
|
mpu_->setAuxI2CBypass(true);
|
||||||
mpu_bus_->readBytes(mpud::COMPASS_I2CADDRESS, 0x03, 7, compass_data);
|
ret = mpu_bus_->readBytes(mpud::COMPASS_I2CADDRESS, 0x03, 7, compass_data);
|
||||||
mpu_->setAuxI2CBypass(false);
|
|
||||||
// mpu_->compassReadByte(0x03, &mxl);
|
|
||||||
// mpu_->compassReadByte(0x04, &mxh);
|
|
||||||
// mpu_->compassReadByte(0x05, &myl);
|
|
||||||
// mpu_->compassReadByte(0x06, &myh);
|
|
||||||
// mpu_->compassReadByte(0x07, &mzl);
|
|
||||||
// mpu_->compassReadByte(0x08, &mzh);
|
|
||||||
// mpu_->compassReadByte(0x09, &n);
|
|
||||||
xSemaphoreGive(i2c_mutex);
|
|
||||||
if (ret != ESP_OK) {
|
if (ret != ESP_OK) {
|
||||||
ESP_LOGE(TAG, "error reading MPU");
|
ESP_LOGE(TAG, "error reading MPU compass: %#x", ret);
|
||||||
}
|
}
|
||||||
// int16_t mx = (static_cast<int16_t>(mxh) << 8) | static_cast<int16_t>(mxl);
|
mpu_->setAuxI2CBypass(false);
|
||||||
// int16_t my = (static_cast<int16_t>(myh) << 8) | static_cast<int16_t>(myl);
|
xSemaphoreGive(i2c_mutex);
|
||||||
// int16_t mz = (static_cast<int16_t>(mzh) << 8) | static_cast<int16_t>(mzl);
|
|
||||||
int16_t mx = (static_cast<int16_t>(compass_data[1]) << 8) |
|
int16_t mx = (static_cast<int16_t>(compass_data[1]) << 8) |
|
||||||
static_cast<int16_t>(compass_data[0]);
|
static_cast<int16_t>(compass_data[0]);
|
||||||
int16_t my = (static_cast<int16_t>(compass_data[3]) << 8) |
|
int16_t my = (static_cast<int16_t>(compass_data[3]) << 8) |
|
||||||
@ -117,7 +120,7 @@ void MPU::GetData(MpuData &data) {
|
|||||||
data.accel = mpud::accelGravity(accel_, MPU_ACCEL_FS);
|
data.accel = mpud::accelGravity(accel_, MPU_ACCEL_FS);
|
||||||
data.accel = ACCEL_MAT * (data.accel + ACCEL_OFFSET);
|
data.accel = ACCEL_MAT * (data.accel + ACCEL_OFFSET);
|
||||||
data.gyro_rate = mpud::gyroDegPerSec(gyro_, MPU_GYRO_FS);
|
data.gyro_rate = mpud::gyroDegPerSec(gyro_, MPU_GYRO_FS);
|
||||||
data.gyro_rate += GYRO_OFFSET;
|
data.gyro_rate = GYRO_MAT * (data.gyro_rate + GYRO_OFFSET);
|
||||||
data.mag.x = ((float)mx) * MPU_MAG_TO_FLUX;
|
data.mag.x = ((float)mx) * MPU_MAG_TO_FLUX;
|
||||||
data.mag.y = ((float)my) * MPU_MAG_TO_FLUX;
|
data.mag.y = ((float)my) * MPU_MAG_TO_FLUX;
|
||||||
data.mag.z = ((float)mz) * MPU_MAG_TO_FLUX;
|
data.mag.z = ((float)mz) * MPU_MAG_TO_FLUX;
|
||||||
|
|||||||
@ -31,7 +31,7 @@ struct Mat3f {
|
|||||||
float zx, zy, zz;
|
float zx, zy, zz;
|
||||||
|
|
||||||
Vec3f operator*(const Vec3f& v) const {
|
Vec3f operator*(const Vec3f& v) const {
|
||||||
return {xx * v.x + xy * v.y + xz + v.z,
|
return {xx * v.x + xy * v.y + xz * v.z,
|
||||||
yx * v.x + yy * v.y + yz * v.z,
|
yx * v.x + yy * v.y + yz * v.z,
|
||||||
zx * v.x + zy * v.y + zz * v.z};
|
zx * v.x + zy * v.y + zz * v.z};
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user