lots of work on MPU calibration
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calib/calib.nb
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calib/calib.nb
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TagBox[
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||||
TooltipBox[
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||||
Opacity[0.66]}], {}, {}],
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RectangleBox[{26., 0}, {28., 44.}, "RoundingRadius" -> 0]},
|
||||
ImageSizeCache->{{51.35266394934132,
|
||||
81.85484751437514}, {-14.86863804976393, 92.96535391600986}}],
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|
||||
TagBoxNote->"44"],
|
||||
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||||
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||||
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||||
TagBox[
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
RectangleBox[{28., 0}, {30., 59.}, "RoundingRadius" -> 0]},
|
||||
ImageSizeCache->{{81.35484751437514,
|
||||
111.85703107940901`}, {-51.459771674459546`, 92.96535391600986}}],
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||||
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|
||||
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|
||||
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|
||||
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TagBox[
|
||||
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|
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||||
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|
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|
||||
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||||
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|
||||
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|
||||
RectangleBox[{30., 0}, {32., 70.}, "RoundingRadius" -> 0]},
|
||||
ImageSizeCache->{{111.35703107940901`,
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||||
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TagBox[
|
||||
TooltipBox[
|
||||
TagBox[
|
||||
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|
||||
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|
||||
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|
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||||
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|
||||
Opacity[0.66]}], {}, {}],
|
||||
RectangleBox[{32., 0}, {34., 57.}, "RoundingRadius" -> 0]},
|
||||
ImageSizeCache->{{141.35921464444283`,
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171.86139820947665`}, {-46.580953857833464`, 92.96535391600986}}],
|
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StatusArea[#, 57]& ,
|
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|
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|
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|
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TagBox[
|
||||
TooltipBox[
|
||||
TagBox[
|
||||
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|
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|
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|
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|
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|
||||
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|
||||
RectangleBox[{34., 0}, {36., 81.}, "RoundingRadius" -> 0]},
|
||||
ImageSizeCache->{{171.36139820947665`,
|
||||
201.86358177451052`}, {-105.12676765734642`, 92.96535391600986}}],
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StatusArea[#, 81]& ,
|
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|
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|
||||
RectangleBox[{36., 0}, {38., 62.}, "RoundingRadius" -> 0]},
|
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TagBox[
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|
||||
RectangleBox[{38., 0}, {40., 80.}, "RoundingRadius" -> 0]},
|
||||
ImageSizeCache->{{231.3657653395444,
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||||
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StatusArea[#, 80]& ,
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TagBox[
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TagBox[
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Opacity[0.66]}], {}, {}],
|
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RectangleBox[{40., 0}, {42., 40.}, "RoundingRadius" -> 0]},
|
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ImageSizeCache->{{261.36794890457816`,
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291.87013246961203`}, {-5.1110024165117665`, 92.96535391600986}}],
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TagBox[
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Opacity[0.66]}], {}, {}],
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RectangleBox[{42., 0}, {44., 20.}, "RoundingRadius" -> 0]},
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ImageSizeCache->{{291.37013246961203`, 321.8723160346459}, {
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43.67717574974905, 92.96535391600986}}],
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StatusArea[#, 20]& ,
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TagBoxNote->"20"],
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TagBox[
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TooltipBox[
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AbsoluteThickness[1.5],
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Opacity[0.66]}], {}, {}],
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RectangleBox[{44., 0}, {46., 8.}, "RoundingRadius" -> 0]},
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ImageSizeCache->{{321.3723160346459, 351.8744995996798}, {
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StatusArea[#, 8]& ,
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TagBoxNote->"8"],
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StyleBox["8", {}, StripOnInput -> False]],
|
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Annotation[#,
|
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Style[8, {}],
|
||||
"Tooltip"]& ]}, {}, {}}, {{}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}}},
|
||||
|
||||
AspectRatio->NCache[GoldenRatio^(-1), 0.6180339887498948],
|
||||
Axes->{True, True},
|
||||
AxesLabel->{None, None},
|
||||
AxesOrigin->{23.56, 0},
|
||||
FrameLabel->{{None, None}, {None, None}},
|
||||
FrameTicks->{{Automatic, Automatic}, {Automatic, Automatic}},
|
||||
GridLines->{None, None},
|
||||
GridLinesStyle->Directive[
|
||||
GrayLevel[0.5, 0.4]],
|
||||
PlotRange->{{24., 46.}, {All, All}},
|
||||
PlotRangePadding->{{
|
||||
Scaled[0.02],
|
||||
Scaled[0.02]}, {
|
||||
Scaled[0.02],
|
||||
Scaled[0.05]}},
|
||||
Ticks->{Automatic, Automatic}]], "Output",
|
||||
CellChangeTimes->{{3.764181855648719*^9, 3.764181902239205*^9}},
|
||||
CellLabel->"Out[49]=",ExpressionUUID->"23ec7069-7289-4ea8-840d-63776a63d3eb"]
|
||||
}, Open ]]
|
||||
},
|
||||
WindowSize->{808, 911},
|
||||
WindowMargins->{{Automatic, 634}, {118, Automatic}},
|
||||
FrontEndVersion->"11.3 for Linux x86 (64-bit) (March 6, 2018)",
|
||||
StyleDefinitions->"Default.nb"
|
||||
]
|
||||
(* End of Notebook Content *)
|
||||
|
||||
(* Internal cache information *)
|
||||
(*CellTagsOutline
|
||||
CellTagsIndex->{}
|
||||
*)
|
||||
(*CellTagsIndex
|
||||
CellTagsIndex->{}
|
||||
*)
|
||||
(*NotebookFileOutline
|
||||
Notebook[{
|
||||
Cell[CellGroupData[{
|
||||
Cell[580, 22, 253, 4, 31, "Input",ExpressionUUID->"bb7c7b01-0cfa-4c90-a2db-09590ed14465"],
|
||||
Cell[836, 28, 189, 2, 35, "Output",ExpressionUUID->"d714e440-83e1-402e-946a-6ad01a10cf86"]
|
||||
}, Open ]],
|
||||
Cell[1040, 33, 694, 16, 55, "Input",ExpressionUUID->"9d982e0c-62ac-49c9-8fab-0efac1e57ee1"],
|
||||
Cell[1737, 51, 1197, 31, 78, "Input",ExpressionUUID->"9e6d0196-dead-4dc5-9762-497e415abc3e"],
|
||||
Cell[CellGroupData[{
|
||||
Cell[2959, 86, 214, 3, 31, "Input",ExpressionUUID->"55fc2693-bfc0-4284-878d-723d16de613e"],
|
||||
Cell[3176, 91, 10583, 191, 377, "Output",ExpressionUUID->"902da2ce-607d-4066-90c0-08d837866834"]
|
||||
}, Open ]],
|
||||
Cell[CellGroupData[{
|
||||
Cell[13796, 287, 383, 6, 31, "Input",ExpressionUUID->"f29f83fe-0d9c-4ec9-a48d-4ac4733e0b37"],
|
||||
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 *)
|
||||
|
||||
@ -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__":
|
||||
timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
|
||||
fname = "UGVDATA_{}.csv".format(timestr)
|
||||
with open(fname, "w") as f:
|
||||
f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
|
||||
while True:
|
||||
line = ser.read_until()
|
||||
matches = line_re.match(line)
|
||||
if not matches:
|
||||
continue
|
||||
nums = [str(numstr) for numstr in matches.groups()]
|
||||
if len(nums) != 9:
|
||||
continue
|
||||
f.write(",".join(nums))
|
||||
f.write("\n")
|
||||
try:
|
||||
f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
|
||||
while True:
|
||||
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()
|
||||
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 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_; }
|
||||
|
||||
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;
|
||||
ret = mpu_->testConnection();
|
||||
if (ret != ESP_OK) {
|
||||
uint8_t wai = mpu_->whoAmI();
|
||||
ESP_LOGE(TAG, "MPU not connected (whoAmI: %d)", wai);
|
||||
return;
|
||||
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: %#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 (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");
|
||||
if (tries == 5) {
|
||||
return;
|
||||
}
|
||||
// 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) {
|
||||
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;
|
||||
|
||||
@ -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};
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user