https://github.com/j1elo/ironahrs

A custom Attitude and Heading Reference System (AHRS) built on a SOC Robotics IMU6410 development board
https://github.com/j1elo/ironahrs

Last synced: about 1 month ago
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A custom Attitude and Heading Reference System (AHRS) built on a SOC Robotics IMU6410 development board

• Host: GitHub
• URL: https://github.com/j1elo/ironahrs
• Owner: j1elo
• License: apache-2.0
• Created: 2014-08-14T00:05:02.000Z (over 10 years ago)
• Default Branch: master
• Last Pushed: 2021-07-17T19:52:03.000Z (over 3 years ago)
• Last Synced: 2024-10-16T11:25:02.157Z (3 months ago)
• Language: C
• Homepage:
• Size: 3.75 MB
• Stars: 1
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
IronAHRS

========

An **Attitude and Heading Reference System** (*AHRS*) built on top of a `SOC Robotics IMU6410` board and powered by an `Atmel ATmega1284P` 8-bit AVR RISC-based microcontroller.

This was a small step on our personal *Virtual Reality head-mounted display* technology project. It allowed us to simulate a gameplay in which the device would follow any movement made by the player's head. See it in action! (**[click for a video](http://www.youtube.com/watch?v=CbZY3lHCA_A)**):



This project serves as an integration and test bench for different *IMU* and *AHRS* algorithms. Currently, the incorporated implementation of signal filtering is the one made by Sparkfun for their `9DOF Razor IMU` board: the [Razor AHRS firmware](https://github.com/ptrbrtz/razor-9dof-ahrs).

Other algorithms which could be integrated in the future includes the implementation from Android, the sensor fusion algorithm [made by Sebastian Madgwick](http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/), and the [FreeIMU implementation](http://www.varesano.net/topic/freeimu).

Folder structure:

  

- `src/avr` includes all the source code for the firmware which will be loaded on the board's microcontroller.

- `src/avr/board` contains a modularized skeleton of code used to handle the most common functionalities of the Atmel AVR uC used for the project: board initialization, access to the EEPROM, SPI channels, Serial Port communication and time measurement functions.

- `src/razor` contains the implementation of the different AHRS filtering algorithms. This code is shared between the board C code and the application C++ code.

- `src/win` contains the desktop application which serves as a test bench for the sensor board. This application can receive the sensor inputs in a variety of ways, either in RAW form (from the sensors output) or in calculated AHRS positions, and store them for further processing.