lots of work on MPU calibration

6 years ago · 3f724fce03
5 changed files with 934 additions and 46 deletions
--- a/calib/calib.nb
+++ b/calib/calib.nb
@ -0,0 +1,860 @@
				@@ -0,0 +1,860 @@
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+Cell[14182, 295, 394, 7, 35, "Output",ExpressionUUID->"b2979ec0-2228-4101-a551-ceafaf22282f"]
+}, Open  ]],
+Cell[CellGroupData[{
+Cell[14613, 307, 290, 5, 31, "Input",ExpressionUUID->"9c3fe212-89fa-46ec-bed5-0affe4811ced"],
+Cell[14906, 314, 288, 6, 35, "Output",ExpressionUUID->"ef485533-27f2-4451-90fc-eff443044e16"]
+}, Open  ]],
+Cell[CellGroupData[{
+Cell[15231, 325, 476, 11, 55, "Input",ExpressionUUID->"bd9700b2-e7a8-4e50-89dd-94e26b677ce3"],
+Cell[15710, 338, 13359, 236, 377, "Output",ExpressionUUID->"95e60565-77ed-4935-ba0d-34c22a07a34b"]
+}, 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 *)
+
--- a/calib/calib.py
+++ b/calib/calib.py
@ -3,9 +3,9 @@ import serial
				@@ -3,9 +3,9 @@ import serial
 import re
 import datetime

-if __name__ == "__main__":
+def capture_data():
    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,
                                stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
@ -14,14 +14,27 @@ if __name__ == "__main__":
				@@ -14,14 +14,27 @@ if __name__ == "__main__":
        timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
        fname = "UGVDATA_{}.csv".format(timestr)
        with open(fname, "w") as f:
+            try:
                f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
                while True:
-                line = ser.read_until()
+                    try:
+                        line = ser.read_until().decode("utf-8")
+                    except Exception as e:
+                        print("line decode error: ", e)
+                        continue
                    matches = line_re.match(line)
                    if not matches:
+                        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()
--- a/calib/plot.sh
+++ b/calib/plot.sh
@ -0,0 +1,12 @@
				@@ -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
--- a/main/ugv_io_mpu.cc
+++ b/main/ugv_io_mpu.cc
@ -22,8 +22,9 @@ static constexpr float            MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
				@@ -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 Mat3f ACCEL_MAT    = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
-static const Vec3f MAG_OFFSET   = {0., 0., 0.};
-static const Mat3f MAG_MAT      = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
+static const Vec3f MAG_OFFSET   = {-7.79683, 3.6735, 32.3868};
+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 char *TAG = "ugv_io_mpu";
@ -39,26 +40,36 @@ MPU::~MPU() { delete mpu_; }
				@@ -39,26 +40,36 @@ MPU::~MPU() { delete mpu_; }

 void MPU::Init() {
  xSemaphoreTake(i2c_mutex, portMAX_DELAY);
-  mpu_bus_ = &i2c0;
+  mpu_bus_ = &i2c1;
  // This is shared with the oled, so just use those pins
+  mpu_bus_->setTimeout(10);
  mpu_bus_->begin(MPU_SDA, MPU_SCL, 100000);
  mpu_ = new mpud::MPU(*mpu_bus_);

  esp_err_t ret;
+  int tries = 0;
+  for (; tries < 5; ++tries) {
+    mpu_->getInterruptStatus();
    ret = mpu_->testConnection();
    if (ret != ESP_OK) {
      uint8_t wai = mpu_->whoAmI();
-    ESP_LOGE(TAG, "MPU not connected (whoAmI: %d)", wai);
-    return;
+      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: %d)", wai);
+      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;
+  }
+  if (tries == 5) {
    return;
  }
  // Calibrate();
@ -86,27 +97,19 @@ void MPU::Calibrate() {
				@@ -86,27 +97,19 @@ void MPU::Calibrate() {

 void MPU::GetData(MpuData &data) {
  esp_err_t ret;
-  //  uint8_t mxh, mxl, myh, myl, mzh, mzl, n;
  xSemaphoreTake(i2c_mutex, portMAX_DELAY);
  ret = mpu_->motion(&accel_, &gyro_);
+  if (ret != ESP_OK) {
+    ESP_LOGE(TAG, "error reading MPU: %#x", ret);
+  }
  uint8_t compass_data[7];
  mpu_->setAuxI2CBypass(true);
-  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);
+  ret = mpu_bus_->readBytes(mpud::COMPASS_I2CADDRESS, 0x03, 7, compass_data);
  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);
-  //  int16_t my = (static_cast<int16_t>(myh) << 8) | static_cast<int16_t>(myl);
-  //  int16_t mz = (static_cast<int16_t>(mzh) << 8) | static_cast<int16_t>(mzl);
+  mpu_->setAuxI2CBypass(false);
+  xSemaphoreGive(i2c_mutex);
  int16_t mx = (static_cast<int16_t>(compass_data[1]) << 8) |
               static_cast<int16_t>(compass_data[0]);
  int16_t my = (static_cast<int16_t>(compass_data[3]) << 8) |
@ -117,7 +120,7 @@ void MPU::GetData(MpuData &data) {
				@@ -117,7 +120,7 @@ void MPU::GetData(MpuData &data) {
  data.accel     = mpud::accelGravity(accel_, MPU_ACCEL_FS);
  data.accel     = ACCEL_MAT * (data.accel + ACCEL_OFFSET);
  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.y = ((float)my) * MPU_MAG_TO_FLUX;
  data.mag.z = ((float)mz) * MPU_MAG_TO_FLUX;
--- a/main/ugv_io_mpu.hh
+++ b/main/ugv_io_mpu.hh
@ -31,7 +31,7 @@ struct Mat3f {
				@@ -31,7 +31,7 @@ struct Mat3f {
  float zx, zy, zz;

  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,
            zx * v.x + zy * v.y + zz * v.z};
  }