MPUとHMCでうごくかもver
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
main.cpp@6:2b68f85a984a, 2015-06-12 (annotated)
- Committer:
- onaka
- Date:
- Fri Jun 12 04:00:23 2015 +0000
- Revision:
- 6:2b68f85a984a
- Parent:
- 5:182f6356bce1
- Child:
- 7:0ec343d29641
- Child:
- 8:602865d8fca3
logger update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ojan | 0:bc6f14fc60c7 | 1 | #include "mbed.h" |
ojan | 0:bc6f14fc60c7 | 2 | #include "MPU6050.h" |
ojan | 0:bc6f14fc60c7 | 3 | #include "HMC5883L.h" |
ojan | 0:bc6f14fc60c7 | 4 | #include "LPS25H.h" |
ojan | 1:6cd6d2760856 | 5 | #include "GMS6_CR6.h" |
ojan | 0:bc6f14fc60c7 | 6 | #include "ErrorLogger.h" |
ojan | 0:bc6f14fc60c7 | 7 | #include "Vector.h" |
ojan | 3:5358a691a100 | 8 | #include "Matrix.h" |
ojan | 3:5358a691a100 | 9 | #include "Vector_Matrix_operator.h" |
ojan | 0:bc6f14fc60c7 | 10 | #include "myConstants.h" |
ojan | 3:5358a691a100 | 11 | #include "Log.h" |
ojan | 0:bc6f14fc60c7 | 12 | |
ojan | 0:bc6f14fc60c7 | 13 | /********** private define **********/ |
ojan | 0:bc6f14fc60c7 | 14 | #define TRUE 1 |
ojan | 0:bc6f14fc60c7 | 15 | #define FALSE 0 |
ojan | 0:bc6f14fc60c7 | 16 | /********** private macro **********/ |
ojan | 1:6cd6d2760856 | 17 | |
ojan | 0:bc6f14fc60c7 | 18 | /********** private typedef **********/ |
ojan | 1:6cd6d2760856 | 19 | |
ojan | 0:bc6f14fc60c7 | 20 | /********** private variables **********/ |
ojan | 4:45dc5590abc0 | 21 | DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力 |
ojan | 4:45dc5590abc0 | 22 | I2C i2c(PB_9, PB_8); // I2Cポート |
ojan | 1:6cd6d2760856 | 23 | MPU6050 mpu(&i2c); // 加速度・角速度センサ |
ojan | 1:6cd6d2760856 | 24 | HMC5883L hmc(&i2c); // 地磁気センサ |
ojan | 1:6cd6d2760856 | 25 | LPS25H lps(&i2c); // 気圧センサ |
ojan | 3:5358a691a100 | 26 | Serial gps(PA_11, PA_12); // GPS通信用シリアルポート |
ojan | 1:6cd6d2760856 | 27 | Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート |
ojan | 1:6cd6d2760856 | 28 | GMS6_CR6 gms(&gps, &pc); // GPS |
ojan | 3:5358a691a100 | 29 | Ticker INT_timer; // 割り込みタイマー |
onaka | 6:2b68f85a984a | 30 | Log logger(PB_5, PB_4, PB_3, PB_10, PA_9, PA_10, PC_1); // ロガー(microSD、XBee) |
ojan | 5:182f6356bce1 | 31 | PwmOut servoL(PC_7), servoR(PB_6); |
ojan | 5:182f6356bce1 | 32 | AnalogIn rf(PC_0); |
ojan | 5:182f6356bce1 | 33 | AnalogIn servoVcc(PA_0); |
ojan | 5:182f6356bce1 | 34 | AnalogIn logicVcc(PA_1); |
ojan | 5:182f6356bce1 | 35 | |
ojan | 0:bc6f14fc60c7 | 36 | |
ojan | 3:5358a691a100 | 37 | const float dt = 0.1f; // 割り込み周期(s) |
ojan | 0:bc6f14fc60c7 | 38 | |
ojan | 0:bc6f14fc60c7 | 39 | int lps_cnt = 0; // 気圧センサ読み取りカウント |
ojan | 3:5358a691a100 | 40 | uint8_t INT_flag = TRUE; // 割り込み可否フラグ |
ojan | 4:45dc5590abc0 | 41 | Vector raw_acc(3); // 加速度(m/s^2) 生 |
ojan | 4:45dc5590abc0 | 42 | Vector raw_gyro(3); // 角速度(deg/s) 生 |
ojan | 4:45dc5590abc0 | 43 | Vector raw_geomag(3); // 地磁気(?) 生 |
ojan | 4:45dc5590abc0 | 44 | float raw_press; // 気圧(hPa) 生 |
ojan | 1:6cd6d2760856 | 45 | Vector acc(3); // 加速度(m/s^2) |
ojan | 1:6cd6d2760856 | 46 | Vector gyro(3); // 角速度(deg/s) |
ojan | 1:6cd6d2760856 | 47 | Vector geomag(3); // 地磁気(?) |
ojan | 0:bc6f14fc60c7 | 48 | float press; // 気圧(hPa) |
ojan | 1:6cd6d2760856 | 49 | |
ojan | 4:45dc5590abc0 | 50 | Vector raw_g(3); // 重力ベクトル 生 |
ojan | 4:45dc5590abc0 | 51 | Vector g(3); // 重力ベクトル 生 |
ojan | 3:5358a691a100 | 52 | //Vector n(3); // 地磁気ベクトル |
ojan | 3:5358a691a100 | 53 | |
ojan | 3:5358a691a100 | 54 | /* ----- Kalman Filter ----- */ |
ojan | 3:5358a691a100 | 55 | Vector pri_x(6); |
ojan | 3:5358a691a100 | 56 | Matrix pri_P(6, 6); |
ojan | 3:5358a691a100 | 57 | Vector post_x(6); |
ojan | 3:5358a691a100 | 58 | Matrix post_P(6, 6); |
ojan | 3:5358a691a100 | 59 | Matrix F(6, 6), H(3, 6); |
ojan | 3:5358a691a100 | 60 | Matrix R(6, 6), Q(3, 3); |
ojan | 3:5358a691a100 | 61 | Matrix I(6, 6); |
ojan | 3:5358a691a100 | 62 | Matrix K(6, 3); |
ojan | 3:5358a691a100 | 63 | Matrix S(3, 3), inv(3, 3); |
ojan | 3:5358a691a100 | 64 | /* ----- ------------- ----- */ |
ojan | 3:5358a691a100 | 65 | |
ojan | 3:5358a691a100 | 66 | Timer timer; |
ojan | 3:5358a691a100 | 67 | |
onaka | 6:2b68f85a984a | 68 | char data[512] = {}; |
ojan | 1:6cd6d2760856 | 69 | |
ojan | 0:bc6f14fc60c7 | 70 | /********** private functions **********/ |
ojan | 4:45dc5590abc0 | 71 | void KalmanInit(); // カルマンフィルタ初期化 |
ojan | 4:45dc5590abc0 | 72 | void KalmanUpdate(); // カルマンフィルタ更新 |
ojan | 0:bc6f14fc60c7 | 73 | void INT_func(); // 割り込み用関数 |
ojan | 3:5358a691a100 | 74 | void toString(Matrix& m); |
ojan | 3:5358a691a100 | 75 | void toString(Vector& v); |
ojan | 1:6cd6d2760856 | 76 | |
ojan | 0:bc6f14fc60c7 | 77 | /********** main function **********/ |
ojan | 0:bc6f14fc60c7 | 78 | |
ojan | 0:bc6f14fc60c7 | 79 | int main() { |
ojan | 0:bc6f14fc60c7 | 80 | |
ojan | 0:bc6f14fc60c7 | 81 | i2c.frequency(400000); // I2Cの通信速度を400kHzに設定 |
ojan | 0:bc6f14fc60c7 | 82 | |
ojan | 0:bc6f14fc60c7 | 83 | if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化 |
ojan | 0:bc6f14fc60c7 | 84 | if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化 |
ojan | 0:bc6f14fc60c7 | 85 | |
ojan | 4:45dc5590abc0 | 86 | char* title = "log data\r\n"; // ログのタイトル行 |
onaka | 6:2b68f85a984a | 87 | logger.initialize_sdlog(title); // ログファイル初期設定 |
ojan | 3:5358a691a100 | 88 | |
ojan | 3:5358a691a100 | 89 | KalmanInit(); |
ojan | 3:5358a691a100 | 90 | |
ojan | 3:5358a691a100 | 91 | INT_timer.attach(&INT_func, dt); // 割り込み有効化(Freq = 0.01fなので、10msおきの割り込み) |
ojan | 1:6cd6d2760856 | 92 | |
ojan | 1:6cd6d2760856 | 93 | //重力ベクトルの初期化 |
ojan | 4:45dc5590abc0 | 94 | raw_g.SetComp(1, 0.0f); |
ojan | 4:45dc5590abc0 | 95 | raw_g.SetComp(2, 0.0f); |
ojan | 4:45dc5590abc0 | 96 | raw_g.SetComp(3, 1.0f); |
ojan | 0:bc6f14fc60c7 | 97 | |
ojan | 2:d2b60a1d0cd9 | 98 | /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */ |
ojan | 0:bc6f14fc60c7 | 99 | while(1) { |
ojan | 4:45dc5590abc0 | 100 | timer.stop(); |
ojan | 4:45dc5590abc0 | 101 | timer.reset(); |
ojan | 4:45dc5590abc0 | 102 | timer.start(); |
ojan | 3:5358a691a100 | 103 | // 0.1秒おきにセンサーの出力をpcへ出力 |
ojan | 4:45dc5590abc0 | 104 | myled = 1; // LED is ON |
ojan | 4:45dc5590abc0 | 105 | wait(0.05f); // 50 ms |
ojan | 4:45dc5590abc0 | 106 | myled = 0; // LED is OFF |
ojan | 1:6cd6d2760856 | 107 | |
ojan | 0:bc6f14fc60c7 | 108 | INT_flag = FALSE; // 割り込みによる変数書き換えを阻止 |
ojan | 0:bc6f14fc60c7 | 109 | |
ojan | 5:182f6356bce1 | 110 | float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 111 | float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 112 | |
ojan | 5:182f6356bce1 | 113 | sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n", |
ojan | 5:182f6356bce1 | 114 | g.GetComp(1), g.GetComp(2), g.GetComp(3), |
ojan | 4:45dc5590abc0 | 115 | geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3), |
ojan | 5:182f6356bce1 | 116 | press, gms.longitude, gms.latitude, |
ojan | 5:182f6356bce1 | 117 | sv, lv, gms.Ns); |
onaka | 6:2b68f85a984a | 118 | logger.write(data); |
ojan | 4:45dc5590abc0 | 119 | |
ojan | 0:bc6f14fc60c7 | 120 | INT_flag = TRUE; // 割り込み許可 |
ojan | 0:bc6f14fc60c7 | 121 | |
ojan | 4:45dc5590abc0 | 122 | pc.printf("time: %.3f[s]\r\n", (float)timer.read_ms()/1000.0f); |
ojan | 4:45dc5590abc0 | 123 | |
ojan | 5:182f6356bce1 | 124 | // 制御ルーチン |
ojan | 5:182f6356bce1 | 125 | { |
ojan | 5:182f6356bce1 | 126 | } |
ojan | 5:182f6356bce1 | 127 | |
ojan | 5:182f6356bce1 | 128 | |
ojan | 4:45dc5590abc0 | 129 | // ループはきっかり1秒ごと |
ojan | 4:45dc5590abc0 | 130 | while(timer.read_ms() < 1000); |
ojan | 4:45dc5590abc0 | 131 | |
ojan | 0:bc6f14fc60c7 | 132 | } |
ojan | 2:d2b60a1d0cd9 | 133 | |
ojan | 2:d2b60a1d0cd9 | 134 | /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */ |
ojan | 0:bc6f14fc60c7 | 135 | } |
ojan | 0:bc6f14fc60c7 | 136 | |
ojan | 3:5358a691a100 | 137 | void KalmanInit() { |
ojan | 3:5358a691a100 | 138 | |
ojan | 3:5358a691a100 | 139 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 3:5358a691a100 | 140 | float alpha_R = 60.0f; |
ojan | 3:5358a691a100 | 141 | float alpha_Q = 100.0f; |
ojan | 3:5358a691a100 | 142 | R *= alpha_R; |
ojan | 3:5358a691a100 | 143 | Q *= alpha_Q; |
ojan | 3:5358a691a100 | 144 | |
ojan | 3:5358a691a100 | 145 | // 状態方程式のヤコビアンの初期値を代入(時間変化あり) |
ojan | 3:5358a691a100 | 146 | float f[36] = { |
ojan | 4:45dc5590abc0 | 147 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 148 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 149 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 150 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 151 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 152 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 153 | }; |
ojan | 3:5358a691a100 | 154 | |
ojan | 3:5358a691a100 | 155 | F.SetComps(f); |
ojan | 3:5358a691a100 | 156 | |
ojan | 3:5358a691a100 | 157 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 3:5358a691a100 | 158 | float h[18] = { |
ojan | 3:5358a691a100 | 159 | 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 160 | 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 161 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 162 | }; |
ojan | 3:5358a691a100 | 163 | |
ojan | 3:5358a691a100 | 164 | H.SetComps(h); |
ojan | 3:5358a691a100 | 165 | } |
ojan | 3:5358a691a100 | 166 | |
ojan | 3:5358a691a100 | 167 | void KalmanUpdate() { |
ojan | 3:5358a691a100 | 168 | // ヤコビアンの更新 |
ojan | 3:5358a691a100 | 169 | float f[36] = { |
ojan | 4:45dc5590abc0 | 170 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 171 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 172 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 173 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 174 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 175 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 176 | }; |
ojan | 3:5358a691a100 | 177 | |
ojan | 3:5358a691a100 | 178 | F.SetComps(f); |
ojan | 3:5358a691a100 | 179 | |
ojan | 3:5358a691a100 | 180 | // 事前推定値の更新 |
ojan | 3:5358a691a100 | 181 | pri_x = F * post_x; |
ojan | 3:5358a691a100 | 182 | // 事前誤差分散行列の更新 |
ojan | 3:5358a691a100 | 183 | pri_P = F * post_P * F.Transpose() + R; |
ojan | 3:5358a691a100 | 184 | |
ojan | 3:5358a691a100 | 185 | // カルマンゲインの計算 |
ojan | 3:5358a691a100 | 186 | S = Q + H * pri_P * H.Transpose(); |
ojan | 3:5358a691a100 | 187 | float det; |
ojan | 3:5358a691a100 | 188 | if((det = S.Inverse(inv)) >= 0.0f) { |
ojan | 3:5358a691a100 | 189 | pc.printf("E:%.3f\r\n", det); |
ojan | 3:5358a691a100 | 190 | return; // 万が一、逆行列が見つからなかった場合は前回の推定値を保持して終了 |
ojan | 3:5358a691a100 | 191 | } |
ojan | 3:5358a691a100 | 192 | K = pri_P * H.Transpose() * inv; |
ojan | 3:5358a691a100 | 193 | |
ojan | 3:5358a691a100 | 194 | // 事後推定値の更新 |
ojan | 4:45dc5590abc0 | 195 | post_x = pri_x + K * (raw_geomag - H * pri_x); |
ojan | 3:5358a691a100 | 196 | // 事後誤差分散行列の更新 |
ojan | 3:5358a691a100 | 197 | post_P = (I - K * H) * pri_P; |
ojan | 3:5358a691a100 | 198 | } |
ojan | 3:5358a691a100 | 199 | |
ojan | 0:bc6f14fc60c7 | 200 | void INT_func() { |
ojan | 4:45dc5590abc0 | 201 | // センサーの値を更新 |
ojan | 4:45dc5590abc0 | 202 | mpu.read(); |
ojan | 4:45dc5590abc0 | 203 | hmc.read(); |
ojan | 4:45dc5590abc0 | 204 | |
ojan | 4:45dc5590abc0 | 205 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 206 | raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G); |
ojan | 4:45dc5590abc0 | 207 | raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD); |
ojan | 4:45dc5590abc0 | 208 | raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS); |
ojan | 4:45dc5590abc0 | 209 | } |
ojan | 0:bc6f14fc60c7 | 210 | |
ojan | 4:45dc5590abc0 | 211 | Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g |
ojan | 4:45dc5590abc0 | 212 | raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ |
ojan | 4:45dc5590abc0 | 213 | raw_g = raw_g.Normalize(); |
ojan | 4:45dc5590abc0 | 214 | |
ojan | 4:45dc5590abc0 | 215 | KalmanUpdate(); |
ojan | 0:bc6f14fc60c7 | 216 | |
ojan | 4:45dc5590abc0 | 217 | // LPS25Hによる気圧の取得は10Hz |
ojan | 4:45dc5590abc0 | 218 | lps_cnt = (lps_cnt+1)%10; |
ojan | 4:45dc5590abc0 | 219 | if(lps_cnt == 0) { |
ojan | 4:45dc5590abc0 | 220 | raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 4:45dc5590abc0 | 221 | } |
ojan | 4:45dc5590abc0 | 222 | //pc.printf("%d(us)\r\n", timer.read_us()); |
ojan | 4:45dc5590abc0 | 223 | |
ojan | 4:45dc5590abc0 | 224 | if(INT_flag != FALSE) { |
ojan | 4:45dc5590abc0 | 225 | g = raw_g; |
ojan | 4:45dc5590abc0 | 226 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 227 | geomag.SetComp(i+1, post_x.GetComp(i+1)); |
ojan | 4:45dc5590abc0 | 228 | } |
ojan | 4:45dc5590abc0 | 229 | acc = raw_acc; |
ojan | 4:45dc5590abc0 | 230 | gyro = raw_gyro; |
ojan | 4:45dc5590abc0 | 231 | press = raw_press; |
ojan | 1:6cd6d2760856 | 232 | |
ojan | 0:bc6f14fc60c7 | 233 | } |
ojan | 3:5358a691a100 | 234 | } |
ojan | 3:5358a691a100 | 235 | |
ojan | 3:5358a691a100 | 236 | void toString(Matrix& m) { |
ojan | 3:5358a691a100 | 237 | |
ojan | 3:5358a691a100 | 238 | for(int i=0; i<m.GetRow(); i++) { |
ojan | 3:5358a691a100 | 239 | for(int j=0; j<m.GetCol(); j++) { |
ojan | 3:5358a691a100 | 240 | pc.printf("%.6f\t", m.GetComp(i+1, j+1)); |
ojan | 3:5358a691a100 | 241 | } |
ojan | 3:5358a691a100 | 242 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 243 | } |
ojan | 3:5358a691a100 | 244 | |
ojan | 3:5358a691a100 | 245 | } |
ojan | 3:5358a691a100 | 246 | |
ojan | 3:5358a691a100 | 247 | void toString(Vector& v) { |
ojan | 3:5358a691a100 | 248 | |
ojan | 3:5358a691a100 | 249 | for(int i=0; i<v.GetDim(); i++) { |
ojan | 3:5358a691a100 | 250 | pc.printf("%.6f\t", v.GetComp(i+1)); |
ojan | 3:5358a691a100 | 251 | } |
ojan | 3:5358a691a100 | 252 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 253 | |
ojan | 0:bc6f14fc60c7 | 254 | } |