一応着地判定できます。
Dependencies: mbed
main.cpp@0:1070e8be3721, 2018-07-14 (annotated)
- Committer:
- ponpoko1939
- Date:
- Sat Jul 14 08:15:05 2018 +0000
- Revision:
- 0:1070e8be3721
- Child:
- 1:1ad86845f584
ver ?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ponpoko1939 | 0:1070e8be3721 | 1 | #include "mbed.h" |
ponpoko1939 | 0:1070e8be3721 | 2 | #include "math.h" |
ponpoko1939 | 0:1070e8be3721 | 3 | #include "MPU9250.h" |
ponpoko1939 | 0:1070e8be3721 | 4 | |
ponpoko1939 | 0:1070e8be3721 | 5 | float sum = 0; |
ponpoko1939 | 0:1070e8be3721 | 6 | uint32_t sumCount = 0; |
ponpoko1939 | 0:1070e8be3721 | 7 | char buffer[14]; |
ponpoko1939 | 0:1070e8be3721 | 8 | MPU9250 mpu9250; |
ponpoko1939 | 0:1070e8be3721 | 9 | Timer t; |
ponpoko1939 | 0:1070e8be3721 | 10 | Serial pc(USBTX, USBRX); // tx, rx |
ponpoko1939 | 0:1070e8be3721 | 11 | double acx,acy,acz; |
ponpoko1939 | 0:1070e8be3721 | 12 | |
ponpoko1939 | 0:1070e8be3721 | 13 | int main() |
ponpoko1939 | 0:1070e8be3721 | 14 | { |
ponpoko1939 | 0:1070e8be3721 | 15 | pc.baud(9600); |
ponpoko1939 | 0:1070e8be3721 | 16 | |
ponpoko1939 | 0:1070e8be3721 | 17 | //Set up I2C |
ponpoko1939 | 0:1070e8be3721 | 18 | i2c.frequency(400000); // use fast (400 kHz) I2C ← KPのは100kHzじゃなかった? |
ponpoko1939 | 0:1070e8be3721 | 19 | |
ponpoko1939 | 0:1070e8be3721 | 20 | pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); |
ponpoko1939 | 0:1070e8be3721 | 21 | |
ponpoko1939 | 0:1070e8be3721 | 22 | t.start(); |
ponpoko1939 | 0:1070e8be3721 | 23 | |
ponpoko1939 | 0:1070e8be3721 | 24 | // Read the WHO_AM_I register, this is a good test of communication |
ponpoko1939 | 0:1070e8be3721 | 25 | uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 |
ponpoko1939 | 0:1070e8be3721 | 26 | pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r"); |
ponpoko1939 | 0:1070e8be3721 | 27 | |
ponpoko1939 | 0:1070e8be3721 | 28 | if (whoami == 0x71) // WHO_AM_I should always be 0x68 |
ponpoko1939 | 0:1070e8be3721 | 29 | { |
ponpoko1939 | 0:1070e8be3721 | 30 | pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami); |
ponpoko1939 | 0:1070e8be3721 | 31 | pc.printf("MPU9250 is online...\n\r"); |
ponpoko1939 | 0:1070e8be3721 | 32 | sprintf(buffer, "0x%x", whoami); |
ponpoko1939 | 0:1070e8be3721 | 33 | wait(1); |
ponpoko1939 | 0:1070e8be3721 | 34 | |
ponpoko1939 | 0:1070e8be3721 | 35 | mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration |
ponpoko1939 | 0:1070e8be3721 | 36 | mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values |
ponpoko1939 | 0:1070e8be3721 | 37 | pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); |
ponpoko1939 | 0:1070e8be3721 | 38 | pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); |
ponpoko1939 | 0:1070e8be3721 | 39 | pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); |
ponpoko1939 | 0:1070e8be3721 | 40 | pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); |
ponpoko1939 | 0:1070e8be3721 | 41 | pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); |
ponpoko1939 | 0:1070e8be3721 | 42 | pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); |
ponpoko1939 | 0:1070e8be3721 | 43 | mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
ponpoko1939 | 0:1070e8be3721 | 44 | pc.printf("x gyro bias = %f\n\r", gyroBias[0]); |
ponpoko1939 | 0:1070e8be3721 | 45 | pc.printf("y gyro bias = %f\n\r", gyroBias[1]); |
ponpoko1939 | 0:1070e8be3721 | 46 | pc.printf("z gyro bias = %f\n\r", gyroBias[2]); |
ponpoko1939 | 0:1070e8be3721 | 47 | pc.printf("x accel bias = %f\n\r", accelBias[0]); |
ponpoko1939 | 0:1070e8be3721 | 48 | pc.printf("y accel bias = %f\n\r", accelBias[1]); |
ponpoko1939 | 0:1070e8be3721 | 49 | pc.printf("z accel bias = %f\n\r", accelBias[2]); |
ponpoko1939 | 0:1070e8be3721 | 50 | wait(2); |
ponpoko1939 | 0:1070e8be3721 | 51 | mpu9250.initMPU9250(); |
ponpoko1939 | 0:1070e8be3721 | 52 | pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
ponpoko1939 | 0:1070e8be3721 | 53 | mpu9250.initAK8963(magCalibration); |
ponpoko1939 | 0:1070e8be3721 | 54 | pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer |
ponpoko1939 | 0:1070e8be3721 | 55 | pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); |
ponpoko1939 | 0:1070e8be3721 | 56 | pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); |
ponpoko1939 | 0:1070e8be3721 | 57 | if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r"); |
ponpoko1939 | 0:1070e8be3721 | 58 | if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r"); |
ponpoko1939 | 0:1070e8be3721 | 59 | if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r"); |
ponpoko1939 | 0:1070e8be3721 | 60 | if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r"); |
ponpoko1939 | 0:1070e8be3721 | 61 | wait(1); |
ponpoko1939 | 0:1070e8be3721 | 62 | } |
ponpoko1939 | 0:1070e8be3721 | 63 | else |
ponpoko1939 | 0:1070e8be3721 | 64 | { |
ponpoko1939 | 0:1070e8be3721 | 65 | pc.printf("Could not connect to MPU9250: \n\r"); |
ponpoko1939 | 0:1070e8be3721 | 66 | pc.printf("%#x \n", whoami); |
ponpoko1939 | 0:1070e8be3721 | 67 | sprintf(buffer, "WHO_AM_I 0x%x", whoami); |
ponpoko1939 | 0:1070e8be3721 | 68 | |
ponpoko1939 | 0:1070e8be3721 | 69 | while(1) ; // Loop forever if communication doesn't happen |
ponpoko1939 | 0:1070e8be3721 | 70 | } |
ponpoko1939 | 0:1070e8be3721 | 71 | |
ponpoko1939 | 0:1070e8be3721 | 72 | mpu9250.getAres(); // Get accelerometer sensitivity |
ponpoko1939 | 0:1070e8be3721 | 73 | mpu9250.getGres(); // Get gyro sensitivity |
ponpoko1939 | 0:1070e8be3721 | 74 | mpu9250.getMres(); // Get magnetometer sensitivity |
ponpoko1939 | 0:1070e8be3721 | 75 | pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); |
ponpoko1939 | 0:1070e8be3721 | 76 | pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); |
ponpoko1939 | 0:1070e8be3721 | 77 | pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); |
ponpoko1939 | 0:1070e8be3721 | 78 | magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated |
ponpoko1939 | 0:1070e8be3721 | 79 | magbias[1] = +120.; // User environmental x-axis correction in milliGauss |
ponpoko1939 | 0:1070e8be3721 | 80 | magbias[2] = +125.; // User environmental x-axis correction in milliGauss |
ponpoko1939 | 0:1070e8be3721 | 81 | |
ponpoko1939 | 0:1070e8be3721 | 82 | while(1) { |
ponpoko1939 | 0:1070e8be3721 | 83 | |
ponpoko1939 | 0:1070e8be3721 | 84 | // If intPin goes high, all data registers have new data |
ponpoko1939 | 0:1070e8be3721 | 85 | if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt |
ponpoko1939 | 0:1070e8be3721 | 86 | |
ponpoko1939 | 0:1070e8be3721 | 87 | mpu9250.readAccelData(accelCount); // Read the x/y/z adc values |
ponpoko1939 | 0:1070e8be3721 | 88 | // Now we'll calculate the accleration value into actual g's |
ponpoko1939 | 0:1070e8be3721 | 89 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
ponpoko1939 | 0:1070e8be3721 | 90 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
ponpoko1939 | 0:1070e8be3721 | 91 | az = (float)accelCount[2]*aRes - accelBias[2]; |
ponpoko1939 | 0:1070e8be3721 | 92 | |
ponpoko1939 | 0:1070e8be3721 | 93 | mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values |
ponpoko1939 | 0:1070e8be3721 | 94 | // Calculate the gyro value into actual degrees per second |
ponpoko1939 | 0:1070e8be3721 | 95 | gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set |
ponpoko1939 | 0:1070e8be3721 | 96 | gy = (float)gyroCount[1]*gRes - gyroBias[1]; |
ponpoko1939 | 0:1070e8be3721 | 97 | gz = (float)gyroCount[2]*gRes - gyroBias[2]; |
ponpoko1939 | 0:1070e8be3721 | 98 | |
ponpoko1939 | 0:1070e8be3721 | 99 | mpu9250.readMagData(magCount); // Read the x/y/z adc values |
ponpoko1939 | 0:1070e8be3721 | 100 | // Calculate the magnetometer values in milliGauss |
ponpoko1939 | 0:1070e8be3721 | 101 | // Include factory calibration per data sheet and user environmental corrections |
ponpoko1939 | 0:1070e8be3721 | 102 | mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set |
ponpoko1939 | 0:1070e8be3721 | 103 | my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; |
ponpoko1939 | 0:1070e8be3721 | 104 | mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; |
ponpoko1939 | 0:1070e8be3721 | 105 | } |
ponpoko1939 | 0:1070e8be3721 | 106 | |
ponpoko1939 | 0:1070e8be3721 | 107 | Now = t.read_us(); |
ponpoko1939 | 0:1070e8be3721 | 108 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
ponpoko1939 | 0:1070e8be3721 | 109 | lastUpdate = Now; |
ponpoko1939 | 0:1070e8be3721 | 110 | |
ponpoko1939 | 0:1070e8be3721 | 111 | sum += deltat; |
ponpoko1939 | 0:1070e8be3721 | 112 | sumCount++; |
ponpoko1939 | 0:1070e8be3721 | 113 | |
ponpoko1939 | 0:1070e8be3721 | 114 | // if(lastUpdate - firstUpdate > 10000000.0f) { |
ponpoko1939 | 0:1070e8be3721 | 115 | // beta = 0.04; // decrease filter gain after stabilized |
ponpoko1939 | 0:1070e8be3721 | 116 | // zeta = 0.015; // increasey bias drift gain after stabilized |
ponpoko1939 | 0:1070e8be3721 | 117 | // } |
ponpoko1939 | 0:1070e8be3721 | 118 | |
ponpoko1939 | 0:1070e8be3721 | 119 | // Pass gyro rate as rad/s |
ponpoko1939 | 0:1070e8be3721 | 120 | // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
ponpoko1939 | 0:1070e8be3721 | 121 | mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
ponpoko1939 | 0:1070e8be3721 | 122 | //出力されるのはここから |
ponpoko1939 | 0:1070e8be3721 | 123 | // Serial print and/or display at 0.5 s rate independent of data rates |
ponpoko1939 | 0:1070e8be3721 | 124 | delt_t = t.read_ms() - count; |
ponpoko1939 | 0:1070e8be3721 | 125 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
ponpoko1939 | 0:1070e8be3721 | 126 | |
ponpoko1939 | 0:1070e8be3721 | 127 | acx = 1000*ax; |
ponpoko1939 | 0:1070e8be3721 | 128 | acy = 1000*ay; |
ponpoko1939 | 0:1070e8be3721 | 129 | acz = 1000*az; |
ponpoko1939 | 0:1070e8be3721 | 130 | |
ponpoko1939 | 0:1070e8be3721 | 131 | pc.printf(" ax = %f", 1000*ax); |
ponpoko1939 | 0:1070e8be3721 | 132 | pc.printf(" ay = %f", 1000*ay); |
ponpoko1939 | 0:1070e8be3721 | 133 | pc.printf(" az = %f mg\n\r", 1000*az); |
ponpoko1939 | 0:1070e8be3721 | 134 | |
ponpoko1939 | 0:1070e8be3721 | 135 | pc.printf(" gx = %f", gx); |
ponpoko1939 | 0:1070e8be3721 | 136 | pc.printf(" gy = %f", gy); |
ponpoko1939 | 0:1070e8be3721 | 137 | pc.printf(" gz = %f deg/s\n\r", gz); |
ponpoko1939 | 0:1070e8be3721 | 138 | |
ponpoko1939 | 0:1070e8be3721 | 139 | pc.printf(" mx = %f", mx); |
ponpoko1939 | 0:1070e8be3721 | 140 | pc.printf(" my = %f", my); |
ponpoko1939 | 0:1070e8be3721 | 141 | pc.printf(" mz = %f mG\n\r", mz); |
ponpoko1939 | 0:1070e8be3721 | 142 | |
ponpoko1939 | 0:1070e8be3721 | 143 | /*//温度/* |
ponpoko1939 | 0:1070e8be3721 | 144 | tempCount = mpu9250.readTempData(); // Read the adc values |
ponpoko1939 | 0:1070e8be3721 | 145 | temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade |
ponpoko1939 | 0:1070e8be3721 | 146 | pc.printf(" temperature = %f C\n\r", temperature); |
ponpoko1939 | 0:1070e8be3721 | 147 | */ |
ponpoko1939 | 0:1070e8be3721 | 148 | |
ponpoko1939 | 0:1070e8be3721 | 149 | pc.printf("q0 = %f\n\r", q[0]); |
ponpoko1939 | 0:1070e8be3721 | 150 | pc.printf("q1 = %f\n\r", q[1]); |
ponpoko1939 | 0:1070e8be3721 | 151 | pc.printf("q2 = %f\n\r", q[2]); |
ponpoko1939 | 0:1070e8be3721 | 152 | pc.printf("q3 = %f\n\r", q[3]); |
ponpoko1939 | 0:1070e8be3721 | 153 | |
ponpoko1939 | 0:1070e8be3721 | 154 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
ponpoko1939 | 0:1070e8be3721 | 155 | // In this coordinate system, the positive z-axis is down toward Earth. |
ponpoko1939 | 0:1070e8be3721 | 156 | // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise. |
ponpoko1939 | 0:1070e8be3721 | 157 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
ponpoko1939 | 0:1070e8be3721 | 158 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
ponpoko1939 | 0:1070e8be3721 | 159 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
ponpoko1939 | 0:1070e8be3721 | 160 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
ponpoko1939 | 0:1070e8be3721 | 161 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
ponpoko1939 | 0:1070e8be3721 | 162 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
ponpoko1939 | 0:1070e8be3721 | 163 | yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); |
ponpoko1939 | 0:1070e8be3721 | 164 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
ponpoko1939 | 0:1070e8be3721 | 165 | roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); |
ponpoko1939 | 0:1070e8be3721 | 166 | pitch *= 180.0f / PI; |
ponpoko1939 | 0:1070e8be3721 | 167 | yaw *= 180.0f / PI; |
ponpoko1939 | 0:1070e8be3721 | 168 | yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 |
ponpoko1939 | 0:1070e8be3721 | 169 | roll *= 180.0f / PI; |
ponpoko1939 | 0:1070e8be3721 | 170 | |
ponpoko1939 | 0:1070e8be3721 | 171 | pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); |
ponpoko1939 | 0:1070e8be3721 | 172 | pc.printf("average rate = %f\n\r", (float) sumCount/sum); |
ponpoko1939 | 0:1070e8be3721 | 173 | // sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll); |
ponpoko1939 | 0:1070e8be3721 | 174 | // sprintf(buffer, "rate = %f", (float) sumCount/sum); |
ponpoko1939 | 0:1070e8be3721 | 175 | |
ponpoko1939 | 0:1070e8be3721 | 176 | myled= !myled; |
ponpoko1939 | 0:1070e8be3721 | 177 | count = t.read_ms(); |
ponpoko1939 | 0:1070e8be3721 | 178 | |
ponpoko1939 | 0:1070e8be3721 | 179 | if(count > 1<<21) { |
ponpoko1939 | 0:1070e8be3721 | 180 | t.start(); // start the timer over again if ~30 minutes has passed |
ponpoko1939 | 0:1070e8be3721 | 181 | count = 0; |
ponpoko1939 | 0:1070e8be3721 | 182 | deltat= 0; |
ponpoko1939 | 0:1070e8be3721 | 183 | lastUpdate = t.read_us(); |
ponpoko1939 | 0:1070e8be3721 | 184 | } |
ponpoko1939 | 0:1070e8be3721 | 185 | sum = 0; |
ponpoko1939 | 0:1070e8be3721 | 186 | sumCount = 0; |
ponpoko1939 | 0:1070e8be3721 | 187 | |
ponpoko1939 | 0:1070e8be3721 | 188 | |
ponpoko1939 | 0:1070e8be3721 | 189 | double ac[3] = {0}; |
ponpoko1939 | 0:1070e8be3721 | 190 | do{ |
ponpoko1939 | 0:1070e8be3721 | 191 | for(int j = 0;j < 3;j++){ |
ponpoko1939 | 0:1070e8be3721 | 192 | for(int i = 0;i < 30;i++){ |
ponpoko1939 | 0:1070e8be3721 | 193 | ac[j] += sqrt(pow(acx,2.0) + pow(acy,2.0) + pow(acz,2.0)); |
ponpoko1939 | 0:1070e8be3721 | 194 | } |
ponpoko1939 | 0:1070e8be3721 | 195 | ac[j] /= 30; |
ponpoko1939 | 0:1070e8be3721 | 196 | pc.printf("%The Average is・・・%f\n\r",ac[0]); |
ponpoko1939 | 0:1070e8be3721 | 197 | } |
ponpoko1939 | 0:1070e8be3721 | 198 | }while(ac[1] > ac[0] && ac[1] < ac[2]); |
ponpoko1939 | 0:1070e8be3721 | 199 | while(1) { |
ponpoko1939 | 0:1070e8be3721 | 200 | myled = 1; |
ponpoko1939 | 0:1070e8be3721 | 201 | wait(0.2); |
ponpoko1939 | 0:1070e8be3721 | 202 | myled = 0; |
ponpoko1939 | 0:1070e8be3721 | 203 | wait(0.2); |
ponpoko1939 | 0:1070e8be3721 | 204 | ac[0] = sqrt(pow(acx,2.0) + pow(acy,2.0) + pow(acz,2.0)); |
ponpoko1939 | 0:1070e8be3721 | 205 | if(ac[0] > 500){ |
ponpoko1939 | 0:1070e8be3721 | 206 | pc.printf("平均値は・・・%f\n\r",ac[0]); |
ponpoko1939 | 0:1070e8be3721 | 207 | break; |
ponpoko1939 | 0:1070e8be3721 | 208 | } |
ponpoko1939 | 0:1070e8be3721 | 209 | } |
ponpoko1939 | 0:1070e8be3721 | 210 | |
ponpoko1939 | 0:1070e8be3721 | 211 | } |
ponpoko1939 | 0:1070e8be3721 | 212 | } |
ponpoko1939 | 0:1070e8be3721 | 213 | } |