File content as of revision 58:a7947322db87:

#include "global.hpp"

void setup()
{
    pc.baud(57600);
    pitchPID.setSetPoint(0.0);
    pitchratePID.setSetPoint(0.0); 
    pitchPID.setBias(0.0);
    pitchratePID.setBias(0.0);  
    pitchPID.setOutputLimits(-1.0,1.0);
    pitchratePID.setOutputLimits(-1.0,1.0);
    pitchPID.setInputLimits(-M_PI, M_PI);
    pitchratePID.setInputLimits(-M_PI, M_PI);
    
    servo.period_us(15000.0);
    servo.pulsewidth_us(1500.0);
    
    accelgyro.initialize();
    //加速度計のフルスケールレンジを設定
    accelgyro.setFullScaleAccelRange(ACCEL_FSR);
    //角速度計のフルスケールレンジを設定
    accelgyro.setFullScaleGyroRange(GYRO_FSR);
    //MPU6050のLPFを設定
    accelgyro.setDLPFMode(MPU6050_LPF);
    //地磁気
    mag_sensor.enable();
}

void calibrate()
{
    pc.printf("\r\nEnter to Calibration Mode\r\n");
    wait(5);
    pc.printf("Acc and Gyro Calibration Start\r\n");
    
    int gxs = 0;
    int gys = 0;
    int gzs = 0;
    int iter_n = 10000;
    
    for(int i = 0;i<iter_n ;i++)
    {
        accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
        gxs += gx;
        gys += gy;
        gzs -= gz;
        //wait(0.01);
    }
    gxs = gxs /iter_n; 
    gys = gys /iter_n; 
    gzs = gzs /iter_n; 
    agoffset[3] = gxs;
    agoffset[4] = gys;
    agoffset[5] = gzs;
    pc.printf("Gyrooffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs);
    pc.printf("Mag Calibration Start\r\n");
    
    float f = 0;
    
    while(1)
    {
        mag_sensor.getAxis(mdata); // flush the magnetmeter
        magval[0] = (mdata.x - magbias[0]);
        magval[1] = (mdata.y - magbias[1]);
        magval[2] = (mdata.z - magbias[2]);
        float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2];
        float lr = 0.000001f;
        f = mag_r - magbias[3]*magbias[3];
        magbias[0] = magbias[0] + 4 * lr * f * magval[0];
        magbias[1] = magbias[1] + 4 * lr * f * magval[1];
        magbias[2] = magbias[2] + 4 * lr * f * magval[2];
        magbias[3] = magbias[3] + 4 * lr * f * magbias[3];   
        if(userButton.read() == 1)
        {
            break;
        }
        wait(0.001);
    }
    pc.printf("Magbias : %f, %f, %f, %f\r\n", magbias[0], magbias[1], magbias[2], magbias[3]);
    pc.printf("Determine Position of MBED\r\n");
    wait(1);
    pc.printf("Press the user button\r\n");
    
    while(userButton.read() == 0)
    {
        wait(0.01);
    }
    while(1)
    {
        pc.printf("Left\r\n");
        wait(2);
        if(userButton.read() == 0)
        {
            pos_tail = 0;
            break;
        };
        pc.printf("Center\r\n");
        wait(2);
        if(userButton.read() == 0)
        {
            pos_tail = 1;
            break;
        };
        pc.printf("Right\r\n");
        wait(2);
        if(userButton.read() == 0)
        {
            pos_tail = 2;
            break;
        };
    };
    pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
    switch(pos_tail)
    {
    case 0:
        pc.printf("This MBED is Located at Left \r\n");
        break;
    case 1:
        pc.printf("This MBED is Located at Center \r\n");
        break;
    case 2:
        pc.printf("This MBED is Located at Right \r\n");
        break;
    default:   // error situation
        pc.printf("error\r\n");
        break;
    }
        
    //姿勢オフセットを計算
    rpy_align.y = 0.0f*M_PI/180.0f;
    rpy_align.x = 0.0f*M_PI/180.0f;
    float ave_pitch = 0.0f;
    float ave_roll = 0.0f;
    Timer _t;
    _t.start();
    for (int i = 0 ; i < 2200; i++)
    {
        float tstart = _t.read();
        //姿勢角を更新
        getIMUval();
        ekf.updateBetweenMeasures(gyro, att_dt);
        ekf.updateAcrossMeasures(LPmag/LPmag.Norm(), magref/magref.Norm(), ekf.Rmag);
        ekf.updateAcrossMeasures(LPacc/LPacc.Norm(), accref/accref.Norm(), ekf.Racc);
        ekf.computeAngles(rpy, rpy_g, rpy_align);
        if(i>199)
        {
            ave_pitch += rpy.y;
            ave_roll += rpy.x;
        }
        wait(0.001);
        float tend = _t.read();
        att_dt = (tend-tstart);
    }
    
    pc.printf("aliginment data : %f(pitch deg) %f(roll deg)\r\n",ave_pitch/2000.0f*180.0f/M_PI,ave_roll/2000.0f*180.0f/M_PI);
    pc.printf("Writing to EEPROM...\r\n");
    
    U transfer_data;
    transfer_data.i[0] = pos_tail;
    for (int i = 1; i < 5; i++)
    {
        if (!isnan(magbias[i - 1]))
            transfer_data.i[i] = int(magbias[i - 1]*1000);  // intに丸めた値を送る。
        else
        {
            pc.printf("Mag bias is NOT transferred\n");
            transfer_data.i[i] = 100;
        }
    }
    // gxs,gys,gzsを送る
    int gxyzs[3] = {gxs, gys, gzs};
    for (int i = 5; i < 8; i++)
    {
        if (!isnan(gxyzs[i - 5]))
            transfer_data.i[i] = gxyzs[i - 5];
        else
        {
            pc.printf("gxyzs is NOT transferred\n");
            transfer_data.i[i] = 0;
        }
    }
    
    // ave_pitch,ave_rollを送る
    int ave_pr[2] = {ave_pitch*100, ave_roll*100};
    for (int i = 8; i < 10; i++)
    {
        if (!isnan(ave_pr[i - 8]))
            transfer_data.i[i] = ave_pr[i - 8];
        else
        {
          pc.printf("alignment data is NOT transferred\n");
          transfer_data.i[i] = 0;
        }
    }
//    transfer_data.i[10] = tail_address[pos_tail];
    for (int i = 0; i < N_EEPROM; i++)
    {
        pc.printf("transfer_data[%d]: %d\r\n", i, transfer_data.i[i]);
    }
    writeEEPROM(eeprom_address, eeprom_pointeraddress, transfer_data.c, N_EEPROM*4);
    wait(3);
    
    U read_test;
    readEEPROM(eeprom_address, eeprom_pointeraddress, read_test.c, N_EEPROM*4);
    wait(3);
    for (int i = 0 ; i < N_EEPROM; i ++)
    {
        pc.printf("transfer_data[%d]: %d\r\n",i, read_test.i[i]); 
    }
    
    while(1)
    {
        wait(1000);
    }
}