Hi i'm trying to using link with SDK14.2, and modified to the code with some init api,
when i used the MadgwickAHRS.c i modified, i got some trouble when i try to new a pointer madgwick_t in my main.c.
it always got no memory located with the pointer, so i can't compute.
any suggestion can help me using the MadgwickAHRS?
//main.c
#include <stdbool.h>
#include <stdint.h>
#include "nrf_delay.h"
#include "boards.h"
#include "MadgwickAHRS.h"
/**
* @brief Function for application main entry.
*/
static madgwick_t *mad;
madgwick_t mad1;
int main(void)
{
/* Configure board. */
bsp_board_leds_init();
/* Toggle LEDs. */
madgwick_init(mad);
float test=mad->q0;
float test1=mad->q1;
float test2=mad->q2;
float test3=mad->q3;
float test_add=test1+test2;
}
/**
*@}
**/
// MadgwickAHRS.c
//=============================================================================================
// MadgwickAHRS.c
//=============================================================================================
//
// Implementation of Madgwick's IMU and AHRS algorithms.
// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
//
// From the x-io website "Open-source resources available on this website are
// provided under the GNU General Public Licence unless an alternative licence
// is provided in source."
//
// Date Author Notes
// 29/09/2011 SOH Madgwick Initial release
// 02/10/2011 SOH Madgwick Optimised for reduced CPU load
// 19/02/2012 SOH Madgwick Magnetometer measurement is normalised
//
//=============================================================================================
//-------------------------------------------------------------------------------------------
// Header files
#include "MadgwickAHRS.h"
#include <math.h>
//#include "SEGGER_RTT.h"
//#include "app_config.h"
//#include "custom_log.h"
//-------------------------------------------------------------------------------------------
// Definitions
#define MADGWICK_SAMPLE_FREQUENCY_HZ APP_IMU_FREQUENCY // sample frequency in Hz
#define MADGWICK_BETA_REF 0.05f // 2 * proportional gain
#define M_PI 3.1416f
//============================================================================================
// Functions
//-------------------------------------------------------------------------------------------
// AHRS algorithm update
void madgwick_init(madgwick_t *mad) {
mad->beta = MADGWICK_BETA_REF;
mad->q0 = 1.0f;
mad->q1 = 0.0f;
mad->q2 = 0.0f;
mad->q3 = 0.0f;
mad->inv_sample_freq = 1.0f / 10;//MADGWICK_SAMPLE_FREQUENCY_HZ;
mad->angles_computed = false;
mad->roll=0.0f;
mad->pitch=0.0f;
mad->yaw=0.0f;
mad->angles_computed=false;
//SEGGER_RTT_printf(0,"q0=%d,q1=%d,q2=%d,q3=%d\n",mad->q0,mad->q1,mad->q2,mad->q3);
}
void madgwick_update(madgwick_t *mad, float gx, float gy, float gz, float ax,
float ay, float az, float mx, float my, float mz) {
float recipNorm;
float s0, s1, s2, s3;
float qDot1, qDot2, qDot3, qDot4;
float hx, hy;
float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1,
_2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3,
q2q2, q2q3, q3q3;
// Use IMU algorithm if magnetometer measurement invalid (avoids NaN in
// magnetometer normalisation)
if ((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
madgwick_update_imu(mad, gx, gy, gz, ax, ay, az);
return;
}
// Rate of change of quaternion from gyroscope
qDot1 = 0.5f * (-mad->q1 * gx - mad->q2 * gy - mad->q3 * gz);
qDot2 = 0.5f * (mad->q0 * gx + mad->q2 * gz - mad->q3 * gy);
qDot3 = 0.5f * (mad->q0 * gy - mad->q1 * gz + mad->q3 * gx);
qDot4 = 0.5f * (mad->q0 * gz + mad->q1 * gy - mad->q2 * gx);
// Compute feedback only if accelerometer measurement valid (avoids NaN in
// accelerometer normalisation)
if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement
recipNorm = inv_sqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm;
ay *= recipNorm;
az *= recipNorm;
// Normalise magnetometer measurement
recipNorm = inv_sqrt(mx * mx + my * my + mz * mz);
mx *= recipNorm;
my *= recipNorm;
mz *= recipNorm;
// Auxiliary variables to avoid repeated arithmetic
_2q0mx = 2.0f * mad->q0 * mx;
_2q0my = 2.0f * mad->q0 * my;
_2q0mz = 2.0f * mad->q0 * mz;
_2q1mx = 2.0f * mad->q1 * mx;
_2q0 = 2.0f * mad->q0;
_2q1 = 2.0f * mad->q1;
_2q2 = 2.0f * mad->q2;
_2q3 = 2.0f * mad->q3;
_2q0q2 = 2.0f * mad->q0 * mad->q2;
_2q2q3 = 2.0f * mad->q2 * mad->q3;
q0q0 = mad->q0 * mad->q0;
q0q1 = mad->q0 * mad->q1;
q0q2 = mad->q0 * mad->q2;
q0q3 = mad->q0 * mad->q3;
q1q1 = mad->q1 * mad->q1;
q1q2 = mad->q1 * mad->q2;
q1q3 = mad->q1 * mad->q3;
q2q2 = mad->q2 * mad->q2;
q2q3 = mad->q2 * mad->q3;
q3q3 = mad->q3 * mad->q3;
// Reference direction of Earth's magnetic field
hx = mx * q0q0 - _2q0my * mad->q3 + _2q0mz * mad->q2 + mx * q1q1 +
_2q1 * my * mad->q2 + _2q1 * mz * mad->q3 - mx * q2q2 - mx * q3q3;
hy = _2q0mx * mad->q3 + my * q0q0 - _2q0mz * mad->q1 + _2q1mx * mad->q2 -
my * q1q1 + my * q2q2 + _2q2 * mz * mad->q3 - my * q3q3;
_2bx = sqrtf(hx * hx + hy * hy);
_2bz = -_2q0mx * mad->q2 + _2q0my * mad->q1 + mz * q0q0 + _2q1mx * mad->q3 -
mz * q1q1 + _2q2 * my * mad->q3 - mz * q2q2 + mz * q3q3;
_4bx = 2.0f * _2bx;
_4bz = 2.0f * _2bz;
// Gradient decent algorithm corrective step
s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) +
_2q1 * (2.0f * q0q1 + _2q2q3 - ay) -
_2bz * mad->q2 *
(_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) +
(-_2bx * mad->q3 + _2bz * mad->q1) *
(_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) +
_2bx * mad->q2 *
(_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) +
_2q0 * (2.0f * q0q1 + _2q2q3 - ay) -
4.0f * mad->q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) +
_2bz * mad->q3 *
(_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) +
(_2bx * mad->q2 + _2bz * mad->q0) *
(_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) +
(_2bx * mad->q3 - _4bz * mad->q1) *
(_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) +
_2q3 * (2.0f * q0q1 + _2q2q3 - ay) -
4.0f * mad->q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) +
(-_4bx * mad->q2 - _2bz * mad->q0) *
(_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) +
(_2bx * mad->q1 + _2bz * mad->q3) *
(_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) +
(_2bx * mad->q0 - _4bz * mad->q2) *
(_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) +
_2q2 * (2.0f * q0q1 + _2q2q3 - ay) +
(-_4bx * mad->q3 + _2bz * mad->q1) *
(_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) +
(-_2bx * mad->q0 + _2bz * mad->q2) *
(_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) +
_2bx * mad->q1 *
(_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
recipNorm = inv_sqrt(s0 * s0 + s1 * s1 + s2 * s2 +
s3 * s3); // normalise step magnitude
s0 *= recipNorm;
s1 *= recipNorm;
s2 *= recipNorm;
s3 *= recipNorm;
// Apply feedback step
qDot1 -= mad->beta * s0;
qDot2 -= mad->beta * s1;
qDot3 -= mad->beta * s2;
qDot4 -= mad->beta * s3;
}
// Integrate rate of change of quaternion to yield quaternion
mad->q0 += qDot1 * mad->inv_sample_freq;
mad->q1 += qDot2 * mad->inv_sample_freq;
mad->q2 += qDot3 * mad->inv_sample_freq;
mad->q3 += qDot4 * mad->inv_sample_freq;
// Normalise quaternion
recipNorm = inv_sqrt(mad->q0 * mad->q0 + mad->q1 * mad->q1 +
mad->q2 * mad->q2 + mad->q3 * mad->q3);
mad->q0 *= recipNorm;
mad->q1 *= recipNorm;
mad->q2 *= recipNorm;
mad->q3 *= recipNorm;
mad->angles_computed = false;
}
//-------------------------------------------------------------------------------------------
// IMU algorithm update
void madgwick_update_imu(madgwick_t *mad, float gx, float gy, float gz,
float ax, float ay, float az) {
float recipNorm;
float s0, s1, s2, s3;
float qDot1, qDot2, qDot3, qDot4;
float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2,
q3q3;
// Rate of change of quaternion from gyroscope
qDot1 = 0.5f * (-mad->q1 * gx - mad->q2 * gy - mad->q3 * gz);
qDot2 = 0.5f * (mad->q0 * gx + mad->q2 * gz - mad->q3 * gy);
qDot3 = 0.5f * (mad->q0 * gy - mad->q1 * gz + mad->q3 * gx);
qDot4 = 0.5f * (mad->q0 * gz + mad->q1 * gy - mad->q2 * gx);
// Compute feedback only if accelerometer measurement valid (avoids NaN in
// accelerometer normalisation)
if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement
recipNorm = inv_sqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm;
ay *= recipNorm;
az *= recipNorm;
// Auxiliary variables to avoid repeated arithmetic
_2q0 = 2.0f * mad->q0;
_2q1 = 2.0f * mad->q1;
_2q2 = 2.0f * mad->q2;
_2q3 = 2.0f * mad->q3;
_4q0 = 4.0f * mad->q0;
_4q1 = 4.0f * mad->q1;
_4q2 = 4.0f * mad->q2;
_8q1 = 8.0f * mad->q1;
_8q2 = 8.0f * mad->q2;
q0q0 = mad->q0 * mad->q0;
q1q1 = mad->q1 * mad->q1;
q2q2 = mad->q2 * mad->q2;
q3q3 = mad->q3 * mad->q3;
// Gradient decent algorithm corrective step
s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay;
s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * mad->q1 - _2q0 * ay - _4q1 +
_8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
s2 = 4.0f * q0q0 * mad->q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 +
_8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
s3 = 4.0f * q1q1 * mad->q3 - _2q1 * ax + 4.0f * q2q2 * mad->q3 - _2q2 * ay;
recipNorm = inv_sqrt(s0 * s0 + s1 * s1 + s2 * s2 +
s3 * s3); // normalise step magnitude
s0 *= recipNorm;
s1 *= recipNorm;
s2 *= recipNorm;
s3 *= recipNorm;
// Apply feedback step
qDot1 -= mad->beta * s0;
qDot2 -= mad->beta * s1;
qDot3 -= mad->beta * s2;
qDot4 -= mad->beta * s3;
}
// Integrate rate of change of quaternion to yield quaternion
mad->q0 += qDot1 * mad->inv_sample_freq;
mad->q1 += qDot2 * mad->inv_sample_freq;
mad->q2 += qDot3 * mad->inv_sample_freq;
mad->q3 += qDot4 * mad->inv_sample_freq;
// Normalise quaternion
recipNorm = inv_sqrt(mad->q0 * mad->q0 + mad->q1 * mad->q1 +
mad->q2 * mad->q2 + mad->q3 * mad->q3);
mad->q0 *= recipNorm;
mad->q1 *= recipNorm;
mad->q2 *= recipNorm;
mad->q3 *= recipNorm;
//SEGGER_RTT_printf(0,"Normalise quaternion :q0=%d,q1=%d,q2=%d,q3=%d\n",mad->q0,mad->q1,mad->q2,mad->q3);
mad->angles_computed = false;
}
//-------------------------------------------------------------------------------------------
// Fast inverse square-root
// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
float inv_sqrt(float x) {
// float halfx = 0.5f * x;
// float y = x;
// long i = *(long *)&y;
// i = 0x5f3759df - (i >> 1);
// y = *(float *)&i;
// y = y * (1.5f - (halfx * y * y));
// y = y * (1.5f - (halfx * y * y));
// return y;
return 1.0 / sqrtf(x);
}
//-------------------------------------------------------------------------------------------
void madgwick_compute_angles(madgwick_t *mad) {
mad->roll = atan2f(mad->q0 * mad->q1 + mad->q2 * mad->q3,
0.5f - mad->q1 * mad->q1 - mad->q2 * mad->q2);
mad->pitch = asinf(-2.0f * (mad->q1 * mad->q3 - mad->q0 * mad->q2));
mad->yaw = atan2f(mad->q1 * mad->q2 + mad->q0 * mad->q3,
0.5f - mad->q2 * mad->q2 - mad->q3 * mad->q3);
mad->angles_computed = true;
}
// MadgwickAHRS.h
//=============================================================================================
// MadgwickAHRS.h
//=============================================================================================
//
// Implementation of Madgwick's IMU and AHRS algorithms.
// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
//
// From the x-io website "Open-source resources available on this website are
// provided under the GNU General Public Licence unless an alternative licence
// is provided in source."
//
// Date Author Notes
// 29/09/2011 SOH Madgwick Initial release
// 02/10/2011 SOH Madgwick Optimised for reduced CPU load
//
//=============================================================================================
#pragma once
#include <math.h>
#include <stdbool.h>
typedef struct {
float beta;
float q0;
float q1;
float q2;
float q3;
float inv_sample_freq;
float roll;
float pitch;
float yaw;
bool angles_computed;
} madgwick_t;
float inv_sqrt(float x);
void madgwick_init(madgwick_t *mad);
void madgwick_update(madgwick_t *mad, float gx, float gy, float gz, float ax,
float ay, float az, float mx, float my, float mz);
void madgwick_update_imu(madgwick_t *mad, float gx, float gy, float gz,
float ax, float ay, float az);
void madgwick_compute_angles(madgwick_t *mad);
