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);