Merge pull request #3 from Texas-Aerial-Robotics/workflows

added github workflow, gitignore, and mahony filter

Author: JasonKlm

.cproject

@@ -0,0 +1,23 @@
+name: Build STM32 Project
+
+on:
+  push:
+    branches: ["master", "workflows"]
+  pull_request:
+    branches: ["master", "workflows"]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+
+      - name: Install ARM GCC toolchain
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y gcc-arm-none-eabi
+
+      - name: Build project
+        run: make

.github/workflows/build.yml

@@ -0,0 +1,5 @@
+debug/
+*.o
+.settings/
+*.cproject
+*.project

.gitignore

@@ -0,0 +1,32 @@
+//=====================================================================================================
+// MahonyAHRS.h
+//=====================================================================================================
+//
+// Madgwick's implementation of Mayhony's AHRS algorithm.
+// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
+//
+// Date			Author			Notes
+// 29/09/2011	SOH Madgwick    Initial release
+// 02/10/2011	SOH Madgwick	Optimised for reduced CPU load
+//
+//=====================================================================================================
+#ifndef MahonyAHRS_h
+#define MahonyAHRS_h
+
+//----------------------------------------------------------------------------------------------------
+// Variable declaration
+
+extern volatile float twoKp;			// 2 * proportional gain (Kp)
+extern volatile float twoKi;			// 2 * integral gain (Ki)
+extern volatile float q0, q1, q2, q3;	// quaternion of sensor frame relative to auxiliary frame
+
+//---------------------------------------------------------------------------------------------------
+// Function declarations
+
+void MahonyAHRSupdate(float q[4], float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+void MahonyAHRSupdateIMU(float q[4], float gx, float gy, float gz, float ax, float ay, float az);
+
+#endif
+//=====================================================================================================
+// End of file
+//=====================================================================================================

.project

@@ -19,18 +19,33 @@ typedef struct {
     volatile int16_t gyro_x;
     volatile int16_t gyro_y;
     volatile int16_t gyro_z;
+    volatile int16_t mag_x;
+    volatile int16_t mag_y;
+    volatile int16_t mag_z;
 } IMU_RawData_t;
 
 // Struct for processed IMU data
 typedef struct {
+	float gyro_offX;
+	float gyro_offY;
+	float gyro_offZ;
     volatile float accel_x;
     volatile float accel_y;
     volatile float accel_z;
     volatile float gyro_x;
     volatile float gyro_y;
     volatile float gyro_z;
+    volatile float mag_x;
+    volatile float mag_y;
+    volatile float mag_z;
 } IMU_ProcessedData_t;
 
+typedef struct {
+	float calibData1;
+	float calibData2;
+	float calibData3;
+} Mag_CalibData_t;
+
 // Struct for Kalman filter outputs
 typedef struct {
     double angle;          // Estimated angle
@@ -54,11 +69,11 @@ void mpu9250_setup();
 void mpu9250_write_reg(uint8_t reg, uint8_t data);
 void mpu9250_read_reg(uint8_t reg, uint8_t *data, uint8_t len);
 
-//update raw measurements from IMU
-void mpu9250_getRawAngle();
+void mpu9250_calibrateGyro(uint16_t numCalPoints);
 
-//provide pointer to Kalman struct, newAngle requires raw angle measurement, newRate requires raw gyro measurement, dt is delta time
-double kalman_getAngle(Kalman_t *Kalman, double newAngle, double newRate, double dt);
+//update raw measurements from IMU
+void mpu9250_getRawData();
+void mpu9250_getProcessedAngle();
 
 
 #endif /* INC_MPU9250_H_ */