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-rw-r--r--tools/imu_calib.cpp222
1 files changed, 0 insertions, 222 deletions
diff --git a/tools/imu_calib.cpp b/tools/imu_calib.cpp
deleted file mode 100644
index dc45f39..0000000
--- a/tools/imu_calib.cpp
+++ /dev/null
@@ -1,222 +0,0 @@
-#include <stdio.h>
-#include <stdint.h>
-#include <inttypes.h>
-#include <Eigen/Geometry>
-
-#include "pico/stdio.h"
-#include "hardware/gpio.h"
-#include "hardware/i2c.h"
-
-#define MAX_SCL 400000
-
-#define BNO055_OPR_MODE_ADDR 0x3D
-#define BNO055_OPR_MODE_CONFIG 0x00
-#define BNO055_SYS_TRIGGER_ADDR 0x3F
-#define BNO055_ADDRESS 0x28
-#define BNO055_CHIP_ID_ADDR 0x00
-#define BNO055_CHIP_ID 0xA0
-#define BNO055_OPR_MODE_NDOF 0x0C
-#define BNO055_CALIB_STAT_ADDR 0x35
-#define ACCEL_OFFSET_X_LSB_ADDR 0x55
-#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
-#define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
-#define UNIT_SELECTION 0x3B
-
-void get_calibration(uint8_t *sys, uint8_t *gyro, uint8_t *accel, uint8_t *mag);
-
-int main() {
- stdio_init_all();
-
- getchar();
-
- i2c_init(i2c_default, MAX_SCL);
- gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
- gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
- gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
- gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
-
- uint8_t buf[2] = {BNO055_CHIP_ID_ADDR};
-
- uint8_t id = 0x00;
- sleep_ms(1000);
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 1, false);
- i2c_read_blocking(i2c_default, BNO055_ADDRESS, &id, 1, false);
- while (id != BNO055_CHIP_ID) {
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 1, false);
- i2c_read_blocking(i2c_default, BNO055_ADDRESS, &id, 1, false);
- printf("Id not correct!, seeing: %" PRIu8 "\n", id);
- sleep_ms(10);
- }
-
- buf[0] = BNO055_OPR_MODE_ADDR;
- buf[1] = BNO055_OPR_MODE_CONFIG;
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 2, false);
-
- buf[0] = BNO055_SYS_TRIGGER_ADDR;
- buf[1] = 0x20; // RESET
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 2, false);
- sleep_ms(30);
-
- buf[0] = BNO055_CHIP_ID_ADDR;
- id = 0x00;
- while (id != BNO055_CHIP_ID) {
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 1, false);
- i2c_read_blocking(i2c_default, BNO055_ADDRESS, &id, 1, false);
- printf("Id not correct!, seeing: %" PRIu8 "\n", id);
- sleep_ms(10);
- }
-
- buf[0] = BNO055_SYS_TRIGGER_ADDR;
- buf[1] = 0x00; // RESET
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 2, false);
- sleep_ms(30);
-
- // Set units to m/s^2
- buf[0] = UNIT_SELECTION;
- buf[1] = 0x00; // Windows, Celsius, Degrees, DPS, m/s^2
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 2, false);
- sleep_ms(50);
-
- buf[0] = BNO055_OPR_MODE_ADDR;
- buf[1] = BNO055_OPR_MODE_NDOF;
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 2, false);
-
- uint8_t gyro = 0x00, accel = 0x00, mag = 0x00;
-
- printf("Magnetometer: Perform the figure-eight calibration dance.\n");
- while (mag != 3) {
- // Calibration Dance Step One: Magnetometer
- // Move sensor away from magnetic interference or shields
- // Perform the figure-eight until calibrated
- get_calibration(NULL, NULL, NULL, &mag);
- printf("Mag Calib Status: %3.0f\n", (100 / 3 * mag));
- sleep_ms(1000);
- }
- printf("... CALIBRATED\n");
- sleep_ms(1000);
-
- printf("Accelerometer: Perform the six-step calibration dance.\n");
- while (accel != 3) {
- // Calibration Dance Step Two: Accelerometer
- // Place sensor board into six stable positions for a few seconds each:
- // 1) x-axis right, y-axis up, z-axis away
- // 2) x-axis up, y-axis left, z-axis away
- // 3) x-axis left, y-axis down, z-axis away
- // 4) x-axis down, y-axis right, z-axis away
- // 5) x-axis left, y-axis right, z-axis up
- // 6) x-axis right, y-axis left, z-axis down
- // Repeat the steps until calibrated
- get_calibration(NULL, NULL, &accel, NULL);
- printf("Accel Calib Status: %3.0f\n", (100 / 3 * accel));
- sleep_ms(1000);
- }
- printf("... CALIBRATED\n");
- sleep_ms(1000);
-
- printf("Gyroscope: Perform the hold-in-place calibration dance.\n");
- while (gyro != 3) {
- // Calibration Dance Step Three: Gyroscope
- // Place sensor in any stable position for a few seconds
- // (Accelerometer calibration may also calibrate the gyro)
- get_calibration(NULL, &gyro, NULL, NULL);
- printf("Gyro Calib Status: %3.0f\n", (100 / 3 * gyro));
- sleep_ms(1000);
- }
- printf("... CALIBRATED\n");
- sleep_ms(1000);
- printf("CALIBRATION COMPLETED\n");
-
- // Get Sensor Offsets
- buf[0] = BNO055_OPR_MODE_ADDR;
- buf[1] = BNO055_OPR_MODE_CONFIG;
- uint8_t sensor_offsets[22];
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 2, false);
- sleep_ms(30);
-
- buf[0] = ACCEL_OFFSET_X_LSB_ADDR;
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 1, false);
- i2c_read_blocking(i2c_default, BNO055_ADDRESS, sensor_offsets, 18, false);
- for (uint8_t i = 0; i < 18; i++) {
- printf("sensor_offsets[%" PRIu8 "] = 0x%" PRIx8 ";\r\n", i + 1, sensor_offsets[i]);
- }
- sleep_ms(5000);
-
- buf[0] = BNO055_OPR_MODE_ADDR;
- buf[1] = BNO055_OPR_MODE_NDOF;
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 2, false);
- sleep_ms(5000);
-
- getchar();
-
- uint8_t lin_accel[6];
- uint8_t quat[8];
- float accel_x, accel_y, accel_z;
- float abs_lin_accel_x, abs_lin_accel_y, abs_lin_accel_z;
- float abs_quaternion_w, abs_quaternion_x, abs_quaternion_y, abs_quaternion_z;
- while (1) {
- uint8_t lin_accel_reg = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, &lin_accel_reg, 1, true);
- i2c_read_blocking(i2c_default, BNO055_ADDRESS, lin_accel, 6, false);
- int16_t x, y, z;
- x = y = z = 0;
- x = ((int16_t)lin_accel[0]) | (((int16_t)lin_accel[1]) << 8);
- y = ((int16_t)lin_accel[2]) | (((int16_t)lin_accel[3]) << 8);
- z = ((int16_t)lin_accel[4]) | (((int16_t)lin_accel[5]) << 8);
- accel_x = ((float)x) / 100.0;
- accel_y = ((float)y) / 100.0;
- accel_z = ((float)z) / 100.0;
-
- uint8_t quat_reg = BNO055_QUATERNION_DATA_W_LSB_ADDR;
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, &quat_reg, 1, true);
- i2c_read_blocking(i2c_default, BNO055_ADDRESS, quat, 8, false);
- int16_t w;
- w = x = y = z = 0;
- w = ((int16_t)quat[0]) | (((int16_t)quat[1]) << 8);
- x = ((int16_t)quat[2]) | (((int16_t)quat[3]) << 8);
- y = ((int16_t)quat[4]) | (((int16_t)quat[5]) << 8);
- z = ((int16_t)quat[6]) | (((int16_t)quat[7]) << 8);
- abs_quaternion_w = ((float)w) / 16384.0; // 2^14 LSB
- abs_quaternion_x = ((float)x) / 16384.0;
- abs_quaternion_y = ((float)y) / 16384.0;
- abs_quaternion_z = ((float)z) / 16384.0;
-
- Eigen::Quaternion<float> q;
- q.w() = abs_quaternion_w;
- q.x() = abs_quaternion_x;
- q.y() = abs_quaternion_y;
- q.z() = abs_quaternion_z;
- // q.normalize();
- Eigen::Matrix3f rotation_matrix = q.toRotationMatrix();
- Eigen::Vector3f lin_accel;
- abs_lin_accel_x = accel_x* rotation_matrix(0, 0) + accel_y * rotation_matrix(0, 1) + accel_z* rotation_matrix(0, 2);
- abs_lin_accel_y = accel_x * rotation_matrix(1, 0) + accel_y * rotation_matrix(1, 1) + accel_z * rotation_matrix(1, 2);
- abs_lin_accel_z = -1.0f * (accel_x * rotation_matrix(2, 0) + accel_y * rotation_matrix(2, 1) + accel_z * rotation_matrix(2, 2));
-
- printf("Acceleration Vector: %4.2f, %4.2f, %4.2f\n", accel_x, accel_y, accel_z);
- printf("Abs Acceleration Vector: %4.2f, %4.2f, %4.2f\n", abs_lin_accel_x, abs_lin_accel_y, abs_lin_accel_z);
- printf("Quaternion: %4.2f, %4.2f, %4.2f, %4.2f\n\n\n", abs_quaternion_w, abs_quaternion_x, abs_quaternion_y, abs_quaternion_z);
- sleep_ms(1000);
- }
-
- return 0;
-}
-
-void get_calibration(uint8_t *sys, uint8_t *gyro, uint8_t *accel, uint8_t *mag) {
- uint8_t buf[1] = {BNO055_CALIB_STAT_ADDR};
- uint8_t cal_data = 0x00;
- i2c_write_blocking(i2c_default, BNO055_ADDRESS, buf, 1, false);
- i2c_read_blocking(i2c_default, BNO055_ADDRESS, &cal_data, 1, false);
- if (sys != NULL) {
- *sys = (cal_data >> 6) & 0x03;
- }
- if (gyro != NULL) {
- *gyro = (cal_data >> 4) & 0x03;
- }
- if (accel != NULL) {
- *accel = (cal_data >> 2) & 0x03;
- }
- if (mag != NULL) {
- *mag = cal_data & 0x03;
- }
-}
-
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