https://github.com/sunsided/frdm-kl25z-marg-fusion

Regular Kalman-based IMU/MARG sensor fusion on a bare metal Freescale FRDM-KL25Z
https://github.com/sunsided/frdm-kl25z-marg-fusion

c dcm embedded frdm-kl25z hmc5883l imu kalman-filter magnetometer marg mma8451q mpu6050 sensor-fusion signal-processing triad

Last synced: 24 days ago
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Regular Kalman-based IMU/MARG sensor fusion on a bare metal Freescale FRDM-KL25Z

• Host: GitHub
• URL: https://github.com/sunsided/frdm-kl25z-marg-fusion
• Owner: sunsided
• Created: 2013-10-29T21:12:51.000Z (about 11 years ago)
• Default Branch: master
• Last Pushed: 2023-08-18T19:36:21.000Z (over 1 year ago)
• Last Synced: 2024-10-11T02:31:11.125Z (about 1 month ago)
• Topics: c, dcm, embedded, frdm-kl25z, hmc5883l, imu, kalman-filter, magnetometer, marg, mma8451q, mpu6050, sensor-fusion, signal-processing, triad
• Language: C
• Homepage:
• Size: 548 KB
• Stars: 7
• Watchers: 8
• Forks: 11
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
FRDM-KL25Z MARG fusion

======================

Evaluation of a regular Kalman filter based Direction Cosine Matrix estimation through MARG (IMU) sensor fusion, implemented on bare metal Freescale FRDM-KL25Z.

A demonstration video is available [here](https://www.youtube.com/watch?v=tmC5kjQn-uA).

## Implemented so far ##

### Inertial Sensing ###

- (on-board) MMA8451Q accelerometer driver, sensor data dumping in 14-bit non-fifo mode

- MPU6050 accelerometer, gyroscope and temperature sensor driver

- HMC5883L magnetometer sensor driver

- Full configuration fetch and store over I2C

- Automatic endian conversion based on system settings

- Interrupt-based update notification and polling

- MATLAB interfacing at up 800 Hz over serial port

  - serial protocol decoder

  - visual representation of the measured accelerations at 60 FPS with virtual horizon. For an older version, see [https://www.youtube.com/watch?v=RunpaR2PdHQ](https://www.youtube.com/watch?v=RunpaR2PdHQ).

### Sensor Fusion ###

- Standard Kalman filter in 32bit Q16 fixed point using [libfixkalman](https://github.com/sunsided/libfixkalman)

- Direct estimation of DCM axes based on *A DCM Based Orientation Estimation Algorithm with an Inertial Measurement Unit and a Magnetic Compass* (Nguyen Ho Quoc Phuong et al., [J.UCS 15.4](http://www.jucs.org/jucs_15_4/a_dcm_based_orientation)), but using TRIAD approach instead of magnetometer tilt-compensation.

- Quaternion conversion for transfer

- C# demonstration program using OpenTK available in branch [orientation-opengl](https://github.com/sunsided/frdm-kl25z-acc-uart/tree/orientation-opengl) 

### System ###

- Clock in PLL engaged mode (PEE) with 48 MHz core, 24 MHz bus

- SysTick timer running at 0.25ms

- delay_ms() function with low power wait support (WFI)

### Communication ###

- UART0 on pins PTA1/PTA2 with 115.2 kbaud

- interrupt-decoupled UART0 using custom ring buffers

- simple IO layer for data output over UART

  - binary single and bulk transfer

  - integer-to-string, basically itoa() without arrays

  - Q2.12 fixed point to string (nice for the MMA8451Q 14bit mode)

- simple escaping protocol encoder with preamble and length header

- I2C driver for I2C0 (currently hardcoded, but easy to change)

  - arbiter that sets pin configurations on demand per requested device (e.g. when I2C0 is used from different ports)

### LED ###

- RGB LED GPIO access using fast GPIO (Core IOPORT; very trivial API, basically crap)