257 lines
6.5 KiB
C++
257 lines
6.5 KiB
C++
/**
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*
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* @license MIT License
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*
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* Copyright (c) 2022 lewis he
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* @file QMI8658_MadgwickAHRS.ino
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* @author Lewis He (lewishe@outlook.com)
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* @date 2022-10-16
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*
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*/
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#include <Arduino.h>
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#include <Wire.h>
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#include <SPI.h>
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#include "SensorQMI8658.hpp"
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#include <MadgwickAHRS.h> //MadgwickAHRS from https://github.com/arduino-libraries/MadgwickAHRS
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#ifdef ARDUINO_T_BEAM_S3_SUPREME
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#include <XPowersAXP2101.tpp> //PMU Library https://github.com/lewisxhe/XPowersLib.git
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#endif
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// #define USE_I2C //Using the I2C interface
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#ifdef USE_I2C
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#ifndef SENSOR_SDA
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#define SENSOR_SDA 17
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#endif
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#ifndef SENSOR_SCL
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#define SENSOR_SCL 18
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#endif
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#else /* SPI interface */
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#ifndef SPI_MOSI
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#define SPI_MOSI (35)
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#endif
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#ifndef SPI_SCK
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#define SPI_SCK (36)
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#endif
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#ifndef SPI_MISO
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#define SPI_MISO (37)
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#endif
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#endif /* USE_I2C*/
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#ifndef IMU_CS
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#define IMU_CS 34 // IMU CS PIN
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#endif
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#ifndef IMU_IRQ
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#define IMU_IRQ 33 // IMU INT PIN
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#endif
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#ifndef OLED_SDA
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#define OLED_SDA 22 // Display Wire SDA Pin
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#endif
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#ifndef OLED_SCL
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#define OLED_SCL 21 // Display Wire SCL Pin
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#endif
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SensorQMI8658 qmi;
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IMUdata acc;
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IMUdata gyr;
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Madgwick filter;
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uint32_t microsPerReading, microsPrevious;
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void beginPower()
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{
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// T_BEAM_S3_SUPREME The PMU voltage needs to be turned on to use the sensor
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#if defined(ARDUINO_T_BEAM_S3_SUPREME)
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XPowersAXP2101 power;
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power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41);
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power.disableALDO1();
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power.disableALDO2();
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delay(250);
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power.setALDO1Voltage(3300); power.enableALDO1();
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power.setALDO2Voltage(3300); power.enableALDO2();
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#endif
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}
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void setup()
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{
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Serial.begin(115200);
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while (!Serial);
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beginPower();
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bool ret = false;
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#ifdef USE_I2C
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ret = qmi.begin(Wire, QMI8658_L_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL);
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#else
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#if defined(SPI_MOSI) && defined(SPI_SCK) && defined(SPI_MISO)
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ret = qmi.begin(SPI, IMU_CS, SPI_MOSI, SPI_MISO, SPI_SCK);
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#else
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ret = qmi.begin(SPI, IMU_CS);
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#endif
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#endif
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if (!ret) {
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Serial.println("Failed to find QMI8658 - check your wiring!");
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while (1) {
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delay(1000);
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}
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}
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/* Get chip id*/
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Serial.print("Device ID:");
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Serial.println(qmi.getChipID(), HEX);
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qmi.configAccelerometer(
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/*
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* ACC_RANGE_2G
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* ACC_RANGE_4G
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* ACC_RANGE_8G
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* ACC_RANGE_16G
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* */
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SensorQMI8658::ACC_RANGE_2G,
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/*
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* ACC_ODR_1000H
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* ACC_ODR_500Hz
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* ACC_ODR_250Hz
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* ACC_ODR_125Hz
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* ACC_ODR_62_5Hz
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* ACC_ODR_31_25Hz
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* ACC_ODR_LOWPOWER_128Hz
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* ACC_ODR_LOWPOWER_21Hz
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* ACC_ODR_LOWPOWER_11Hz
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* ACC_ODR_LOWPOWER_3H
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* */
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SensorQMI8658::ACC_ODR_1000Hz,
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/*
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* LPF_MODE_0 //2.66% of ODR
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* LPF_MODE_1 //3.63% of ODR
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* LPF_MODE_2 //5.39% of ODR
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* LPF_MODE_3 //13.37% of ODR
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* LPF_OFF // OFF Low-Pass Fitter
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* */
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SensorQMI8658::LPF_MODE_0);
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qmi.configGyroscope(
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/*
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* GYR_RANGE_16DPS
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* GYR_RANGE_32DPS
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* GYR_RANGE_64DPS
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* GYR_RANGE_128DPS
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* GYR_RANGE_256DPS
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* GYR_RANGE_512DPS
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* GYR_RANGE_1024DPS
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* */
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SensorQMI8658::GYR_RANGE_256DPS,
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/*
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* GYR_ODR_7174_4Hz
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* GYR_ODR_3587_2Hz
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* GYR_ODR_1793_6Hz
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* GYR_ODR_896_8Hz
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* GYR_ODR_448_4Hz
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* GYR_ODR_224_2Hz
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* GYR_ODR_112_1Hz
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* GYR_ODR_56_05Hz
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* GYR_ODR_28_025H
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* */
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SensorQMI8658::GYR_ODR_896_8Hz,
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/*
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* LPF_MODE_0 //2.66% of ODR
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* LPF_MODE_1 //3.63% of ODR
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* LPF_MODE_2 //5.39% of ODR
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* LPF_MODE_3 //13.37% of ODR
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* LPF_OFF // OFF Low-Pass Fitter
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* */
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SensorQMI8658::LPF_MODE_3);
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/*
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* If both the accelerometer and gyroscope sensors are turned on at the same time,
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* the output frequency will be based on the gyroscope output frequency.
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* The example configuration is 896.8HZ output frequency,
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* so the acceleration output frequency is also limited to 896.8HZ
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* */
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qmi.enableGyroscope();
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qmi.enableAccelerometer();
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// Print register configuration information
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qmi.dumpCtrlRegister();
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// start filter
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filter.begin(25);
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// initialize variables to pace updates to correct rate
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microsPerReading = 1000000 / 25;
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microsPrevious = micros();
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Serial.println("Read data now...");
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}
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void loop()
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{
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float roll, pitch, heading;
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// check if it's time to read data and update the filter
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if (micros() - microsPrevious >= microsPerReading) {
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// read raw data from IMU
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if (qmi.getDataReady()) {
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qmi.getAccelerometer(acc.x, acc.y, acc.z);
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qmi.getGyroscope(gyr.x, gyr.y, gyr.z);
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// update the filter, which computes orientation
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filter.updateIMU(gyr.x, gyr.y, gyr.z, acc.x, acc.y, acc.z);
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// print the heading, pitch and roll
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roll = filter.getRoll();
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pitch = filter.getPitch();
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heading = filter.getYaw();
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Serial.print("Orientation: ");
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Serial.print(heading);
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Serial.print(" ");
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Serial.print(pitch);
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Serial.print(" ");
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Serial.println(roll);
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}
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// increment previous time, so we keep proper pace
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microsPrevious = microsPrevious + microsPerReading;
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}
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}
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