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Hello,
I'm using compdcm_mpu9150 example to get readings from boostxl-senshub but i think that there is something wrong with roll, pitch, and yaw reading. Especially yaw readings. The value of raw never reaches to zero.
So are these readings wrong or i understand something wrong ?
thanks.
Hello Mo,
This was a known bug with the display of those values due to how the UART print was handled. We have fixed that and it will be out with the new TivaWare release.
Try this updated code for main():
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int
main(void)
{
int_fast32_t i32IPart[16], i32FPart[16];
char cSign[16];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[16];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
MAP_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Enable port B used for motion interrupt.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x0000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
MAP_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
MAP_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
MAP_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
MAP_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
MAP_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
MAP_IntEnable(INT_GPIOB);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOB is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
MAP_SysCtlPeripheralClockGating(true);
MAP_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
MAP_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
MAP_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
MAP_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
MAP_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
MAP_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
MAP_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
MAP_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
UARTprintf("\033[2J\033[H");
UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
UARTprintf("\033[20GX\033[31G|\033[43GY\033[54G|\033[66GZ\n\n");
UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Gyro\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Mag\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[20GRoll\033[31G|\033[43GPitch\033[54G|\033[66GYaw\n\n");
UARTprintf("Eulers\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[17GQ1\033[26G|\033[35GQ2\033[44G|\033[53GQ3\033[62G|"
"\033[71GQ4\n\n");
UARTprintf("Q\033[8G|\033[26G|\033[44G|\033[62G|\n\n");
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
ui32CompDCMStarted = 0;
while(1)
{
//
// Go to sleep mode while waiting for data ready.
//
while(!g_vui8I2CDoneFlag)
{
MAP_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
//
// Check if this is our first data ever.
//
if(ui32CompDCMStarted == 0)
{
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
{
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
{
if (pfData[ui32Idx] < 0)
{
cSign[ui32Idx] = '-';
}
else
{
cSign[ui32Idx] = ' ';
}
//
// Convert float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) fabs(pfData[ui32Idx]);
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) fabs((pfData[ui32Idx] * 1000.0f));
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx] -
(i32IPart[ui32Idx] * 1000);
//
// Handle the corner case where a negative number that is less
// than 0.000 was displaying as '-0.000' on the terminal.
//
if ((i32FPart[ui32Idx] == 0) && (i32IPart[ui32Idx] == 0))
{
cSign[ui32Idx] = ' ';
}
}
//
// Print the acceleration numbers in the table.
//
UARTprintf("\033[5;17H%c%1d.%03d", cSign[0],i32IPart[0], i32FPart[0]);
UARTprintf("\033[5;40H%c%1d.%03d", cSign[1],i32IPart[1], i32FPart[1]);
UARTprintf("\033[5;63H%c%1d.%03d", cSign[2],i32IPart[2], i32FPart[2]);
//
// Print the angular velocities in the table.
//
UARTprintf("\033[7;17H%c%1d.%03d", cSign[3],i32IPart[3], i32FPart[3]);
UARTprintf("\033[7;40H%c%1d.%03d", cSign[4],i32IPart[4], i32FPart[4]);
UARTprintf("\033[7;63H%c%1d.%03d", cSign[5],i32IPart[5], i32FPart[5]);
//
// Print the magnetic data in the table.
//
UARTprintf("\033[9;17H%c%1d.%03d", cSign[6],i32IPart[6], i32FPart[6]);
UARTprintf("\033[9;40H%c%1d.%03d", cSign[7],i32IPart[7], i32FPart[7]);
UARTprintf("\033[9;63H%c%1d.%03d", cSign[8],i32IPart[8], i32FPart[8]);
//
// Print the Eulers in a table.
//
UARTprintf("\033[14;17H%c%1d.%03d", cSign[9],i32IPart[9], i32FPart[9]);
UARTprintf("\033[14;40H%c%1d.%03d", cSign[10],i32IPart[10], i32FPart[10]);
UARTprintf("\033[14;63H%c%1d.%03d", cSign[11],i32IPart[11], i32FPart[11]);
//
// Print the quaternions in a table format.
//
UARTprintf("\033[19;14H%c%1d.%03d", cSign[12],i32IPart[12], i32FPart[12]);
UARTprintf("\033[19;32H%c%1d.%03d", cSign[13],i32IPart[13], i32FPart[13]);
UARTprintf("\033[19;50H%c%1d.%03d", cSign[14],i32IPart[14], i32FPart[14]);
UARTprintf("\033[19;68H%c%1d.%03d", cSign[15],i32IPart[15], i32FPart[15]);
}
}
}