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jeki
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May 6, 2021
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| //////////////////////////////////////////////////////////////////////////// | ||
| // | ||
| // This file is part of linux-mpu9150 | ||
| // | ||
| // Copyright (c) 2013 Pansenti, LLC | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy of | ||
| // this software and associated documentation files (the "Software"), to deal in | ||
| // the Software without restriction, including without limitation the rights to use, | ||
| // copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the | ||
| // Software, and to permit persons to whom the Software is furnished to do so, | ||
| // subject to the following conditions: | ||
| // | ||
| // The above copyright notice and this permission notice shall be included in all | ||
| // copies or substantial portions of the Software. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, | ||
| // INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A | ||
| // PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT | ||
| // HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION | ||
| // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE | ||
| // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
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| #include "quaternion.h" | ||
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| void quaternionNorm(quaternion_t q, double *n) | ||
| { | ||
| *n = sqrtf(q[QUAT_W] * q[QUAT_W] + q[QUAT_X] * q[QUAT_X] + | ||
| q[QUAT_Y] * q[QUAT_Y] + q[QUAT_Z] * q[QUAT_Z]); | ||
| } | ||
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| void quaternionNormalize(quaternion_t q) | ||
| { | ||
| double length; | ||
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| quaternionNorm(q, &length); | ||
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| if (length == 0) | ||
| return; | ||
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| q[QUAT_W] /= length; | ||
| q[QUAT_X] /= length; | ||
| q[QUAT_Y] /= length; | ||
| q[QUAT_Z] /= length; | ||
| } | ||
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| void quaternionToEuler(quaternion_t q, vector3d_t v) | ||
| { | ||
| // fix roll near poles with this tolerance | ||
| double pole = (double)M_PI / 2.0 - 0.05; | ||
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| double qysqr = q[QUAT_Y] * q[QUAT_Y]; | ||
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| double sinr_cosp = 2.0 * (q[QUAT_W] * q[QUAT_X] + q[QUAT_Y] * q[QUAT_Z]); | ||
| double cosr_cosp = 1.0 - 2.0 * (q[QUAT_X] * q[QUAT_X] + qysqr); | ||
| double sinp = 2.0 * (q[QUAT_W] * q[QUAT_Y] - q[QUAT_Z] * q[QUAT_X]); | ||
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| double siny_cosp = 2.0 * (q[QUAT_W] * q[QUAT_Z] + q[QUAT_X] * q[QUAT_Y]); | ||
| double cosy_cosp = 1.0 - 2.0 * (qysqr + q[QUAT_Z] * q[QUAT_Z]); | ||
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| // Keep t2 within range of asin (-1, 1) | ||
| sinp = sinp > 1.0 ? 1.0 : sinp; | ||
| sinp = sinp < -1.0 ? -1.0 : sinp; | ||
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| v[VEC3_Y] = asin(sinp); | ||
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| if ((v[VEC3_Y] < pole) && (v[VEC3_Y] > -pole)) { | ||
| v[VEC3_X] = atan2(sinr_cosp, cosr_cosp); | ||
| } | ||
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| v[VEC3_Z] = atan2(siny_cosp, cosy_cosp); | ||
| } | ||
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| void eulerToQuaternion(vector3d_t v, quaternion_t q) | ||
| { | ||
| double cosX2 = cos(v[VEC3_X] / 2.0); | ||
| double sinX2 = sin(v[VEC3_X] / 2.0); | ||
| double cosY2 = cos(v[VEC3_Y] / 2.0); | ||
| double sinY2 = sin(v[VEC3_Y] / 2.0); | ||
| double cosZ2 = cos(v[VEC3_Z] / 2.0); | ||
| double sinZ2 = sin(v[VEC3_Z] / 2.0); | ||
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| q[QUAT_W] = cosX2 * cosY2 * cosZ2 + sinX2 * sinY2 * sinZ2; | ||
| q[QUAT_X] = sinX2 * cosY2 * cosZ2 - cosX2 * sinY2 * sinZ2; | ||
| q[QUAT_Y] = cosX2 * sinY2 * cosZ2 + sinX2 * cosY2 * sinZ2; | ||
| q[QUAT_Z] = cosX2 * cosY2 * sinZ2 - sinX2 * sinY2 * cosZ2; | ||
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| quaternionNormalize(q); | ||
| } | ||
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| void quaternionConjugate(quaternion_t s, quaternion_t d) | ||
| { | ||
| d[QUAT_W] = s[QUAT_W]; | ||
| d[QUAT_X] = -s[QUAT_X]; | ||
| d[QUAT_Y] = -s[QUAT_Y]; | ||
| d[QUAT_Z] = -s[QUAT_Z]; | ||
| } | ||
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| void quaternionMultiply(quaternion_t qa, quaternion_t qb, quaternion_t qd) | ||
| { | ||
| vector3d_t va; | ||
| vector3d_t vb; | ||
| double dotAB; | ||
| vector3d_t crossAB; | ||
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| va[VEC3_X] = qa[QUAT_X]; | ||
| va[VEC3_Y] = qa[QUAT_Y]; | ||
| va[VEC3_Z] = qa[QUAT_Z]; | ||
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| vb[VEC3_X] = qb[QUAT_X]; | ||
| vb[VEC3_Y] = qb[QUAT_Y]; | ||
| vb[VEC3_Z] = qb[QUAT_Z]; | ||
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| vector3DotProduct(va, vb, &dotAB); | ||
| vector3CrossProduct(va, vb, crossAB); | ||
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| qd[QUAT_W] = qa[QUAT_W] * qb[QUAT_W] - dotAB; | ||
| qd[QUAT_X] = qa[QUAT_W] * vb[VEC3_X] + qb[QUAT_W] * va[VEC3_X] + crossAB[VEC3_X]; | ||
| qd[QUAT_Y] = qa[QUAT_W] * vb[VEC3_Y] + qb[QUAT_W] * va[VEC3_Y] + crossAB[VEC3_Y]; | ||
| qd[QUAT_Z] = qa[QUAT_W] * vb[VEC3_Z] + qb[QUAT_W] * va[VEC3_Z] + crossAB[VEC3_Z]; | ||
| } | ||
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| void tiltCompensate(quaternion_t magQ, quaternion_t unfusedQ) | ||
| { | ||
| quaternion_t unfusedConjugateQ; | ||
| quaternion_t tempQ; | ||
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| quaternionConjugate(unfusedQ, unfusedConjugateQ); | ||
| quaternionMultiply(magQ, unfusedConjugateQ, tempQ); | ||
| quaternionMultiply(unfusedQ, tempQ, magQ); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| //////////////////////////////////////////////////////////////////////////// | ||
| // | ||
| // This file is part of linux-mpu9150 | ||
| // | ||
| // Copyright (c) 2013 Pansenti, LLC | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy of | ||
| // this software and associated documentation files (the "Software"), to deal in | ||
| // the Software without restriction, including without limitation the rights to use, | ||
| // copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the | ||
| // Software, and to permit persons to whom the Software is furnished to do so, | ||
| // subject to the following conditions: | ||
| // | ||
| // The above copyright notice and this permission notice shall be included in all | ||
| // copies or substantial portions of the Software. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, | ||
| // INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A | ||
| // PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT | ||
| // HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION | ||
| // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE | ||
| // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
|
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| #ifndef MPUQUATERNION_H | ||
| #define MPUQUATERNION_H | ||
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| #include "vector3d.h" | ||
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| #define QUAT_W 0 | ||
| #define QUAT_X 1 | ||
| #define QUAT_Y 2 | ||
| #define QUAT_Z 3 | ||
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| typedef double quaternion_t[4]; | ||
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| void quaternionNormalize(quaternion_t q); | ||
| void quaternionToEuler(quaternion_t q, vector3d_t v); | ||
| void eulerToQuaternion(vector3d_t v, quaternion_t q); | ||
| void quaternionConjugate(quaternion_t s, quaternion_t d); | ||
| void quaternionMultiply(quaternion_t qa, quaternion_t qb, quaternion_t qd); | ||
| void tiltCompensate(quaternion_t magQ, quaternion_t unfusedQ); | ||
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| #endif /* MPUQUATERNION_H */ | ||
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| //////////////////////////////////////////////////////////////////////////// | ||
| // | ||
| // This file is part of linux-mpu9150 | ||
| // | ||
| // Copyright (c) 2013 Pansenti, LLC | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy of | ||
| // this software and associated documentation files (the "Software"), to deal in | ||
| // the Software without restriction, including without limitation the rights to use, | ||
| // copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the | ||
| // Software, and to permit persons to whom the Software is furnished to do so, | ||
| // subject to the following conditions: | ||
| // | ||
| // The above copyright notice and this permission notice shall be included in all | ||
| // copies or substantial portions of the Software. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, | ||
| // INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A | ||
| // PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT | ||
| // HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION | ||
| // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE | ||
| // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
|
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| #include "vector3d.h" | ||
|
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| void vector3DotProduct(vector3d_t a, vector3d_t b, double *d) | ||
| { | ||
| *d = a[VEC3_X] * b[VEC3_X] + a[VEC3_Y] * b[VEC3_Y] + a[VEC3_Z] * b[VEC3_Z]; | ||
| } | ||
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| void vector3CrossProduct(vector3d_t a, vector3d_t b, vector3d_t d) | ||
| { | ||
| d[VEC3_X] = a[VEC3_Y] * b[VEC3_Z] - a[VEC3_Z] * b[VEC3_Y]; | ||
| d[VEC3_Y] = a[VEC3_Z] * b[VEC3_X] - a[VEC3_X] * b[VEC3_Z]; | ||
| d[VEC3_Z] = a[VEC3_X] * b[VEC3_Y] - a[VEC3_Y] * b[VEC3_X]; | ||
| } | ||
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