Raynaud Gilles / Mbed OS VITI_motor_angle_3

angle3

Dependencies:   LSM9DS1 TB5649

main.cpp@12:ab387ced85ab, 2020-05-26 (annotated)

Committer:
gr66
Date:
Tue May 26 13:56:30 2020 +0000
Revision:
12:ab387ced85ab
Parent:
11:9d83bb9a611c
Child:
13:0549a3e57bc4
v6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gr66 2:952d41c26b43 1 // test avec RTOS
gr66 11:9d83bb9a611c 2 #define viti 1 // 1 montage viti ; 0 montage sur table
gr66 0:a2296270a125 3 #include "mbed.h"
gr66 0:a2296270a125 4 #include "LSM9DS1.h"
gr66 0:a2296270a125 5
gr66 0:a2296270a125 6
gr66 0:a2296270a125 7
gr66 0:a2296270a125 8 #include "TB6549.h"
gr66 0:a2296270a125 9
gr66 9:2a16e3930e1d 10 #define dt 0.01 // pas d'integration
gr66 5:d51ba8e93d10 11 #define FDC_PLUS 0.9 // fin de course +
gr66 5:d51ba8e93d10 12 #define FDC_MOINS 0.1 // din de course -
gr66 5:d51ba8e93d10 13 #define ZM 2 // zone morte +/- zm
gr66 5:d51ba8e93d10 14 #define SP 0.5 // pwm moteur en % (0-1)
gr66 5:d51ba8e93d10 15
gr66 8:41752698aa35 16 void calcul(void);
gr66 12:ab387ced85ab 17
gr66 12:ab387ced85ab 18 DigitalOut LedVP(PC_8); // led Verin P
gr66 12:ab387ced85ab 19 DigitalOut LedVM(PC_5); // led Verin M
gr66 12:ab387ced85ab 20 DigitalOut LedOK(PC_6); // led Système OK
gr66 0:a2296270a125 21
gr66 0:a2296270a125 22 Serial pc(SERIAL_TX, SERIAL_RX,115200);
gr66 5:d51ba8e93d10 23
gr66 0:a2296270a125 24 LSM9DS1 DOF(PB_9, PB_8, 0xD4, 0x38);
gr66 4:b40027cb3012 25 Thread thread (osPriorityAboveNormal);
gr66 8:41752698aa35 26 EventQueue queue;
gr66 12:ab387ced85ab 27 //Mutex pr;
gr66 0:a2296270a125 28 AnalogIn verin(PC_3); // lecture pos verin
gr66 0:a2296270a125 29 AnalogOut ana (PA_5); // pour debug analogique ISR
gr66 0:a2296270a125 30 Motor motor(PB_4,PA_1,PA_4,PC_7);
gr66 8:41752698aa35 31 Ticker tic;
gr66 5:d51ba8e93d10 32
gr66 0:a2296270a125 33 int flag_affich=0;
gr66 0:a2296270a125 34 int flag_imu=0;
gr66 0:a2296270a125 35 double pi= 3.1415926535897932;
gr66 0:a2296270a125 36 double gx_off=0,gy_off=0,gz_off=0;
gr66 0:a2296270a125 37 double ang_off=0;
gr66 8:41752698aa35 38 //
gr66 3:d552b7419f51 39 double ang;
gr66 3:d552b7419f51 40 // fitres complémentaires
gr66 3:d552b7419f51 41 double Fc=0.05;
gr66 5:d51ba8e93d10 42 double RC ; //calcul de RC
gr66 5:d51ba8e93d10 43 double a0; //calcul du coefficient a du filtre
gr66 5:d51ba8e93d10 44 double b0; //calcul du coefficient b du filtre
gr66 5:d51ba8e93d10 45 double a1; //calcul du coefficient a du filtre
gr66 0:a2296270a125 46
gr66 3:d552b7419f51 47 double angle_acce_pred=0.0f;
gr66 3:d552b7419f51 48 double angle_acce=0.0f;
gr66 3:d552b7419f51 49 double angle_acce_f_pred=0.0f;
gr66 3:d552b7419f51 50 double angle_acce_f=0.0f;
gr66 3:d552b7419f51 51 //
gr66 3:d552b7419f51 52 double gyroy_pred=0.0f;
gr66 3:d552b7419f51 53 double gyroy=0.0f;
gr66 3:d552b7419f51 54 double angle_gyroy_f_pred=0.0f;
gr66 3:d552b7419f51 55 double angle_gyroy_f=0.0f;
gr66 3:d552b7419f51 56 //
gr66 3:d552b7419f51 57 double angle_final;
gr66 6:65c511f6f1fc 58 //
gr66 3:d552b7419f51 59 void calcul(void)
gr66 0:a2296270a125 60 {
gr66 8:41752698aa35 61 ana=0.3;
gr66 8:41752698aa35 62 Fc=0.05;
gr66 8:41752698aa35 63 RC=1./(Fc*2*pi); //calcul de RC
gr66 8:41752698aa35 64 a0=1./(1+(2*RC/dt)); //calcul du coefficient a du filtre
gr66 8:41752698aa35 65 b0=(1-(2.*RC/dt))*a0; //calcul du coefficient b du filtre
gr66 8:41752698aa35 66 a1=a0*RC*1.0; //calcul du coefficient a du filtre
gr66 8:41752698aa35 67 DOF.readAccel();
gr66 8:41752698aa35 68 DOF.readGyro();
gr66 6:65c511f6f1fc 69 #if viti
gr66 12:ab387ced85ab 70 //ang=((180/pi)*atan2((double)DOF.ax,-(double)DOF.ay)-90-ang_off); // sur site USB dessous
gr66 12:ab387ced85ab 71 ang=((180/pi)*atan2((double)DOF.ay,(double)DOF.ax)+90.00-ang_off); // sur site USB gauche
gr66 6:65c511f6f1fc 72 #else
gr66 8:41752698aa35 73 ang=((180/pi)*atan2((double)DOF.ay,(double)DOF.az)-ang_off); // sur table
gr66 6:65c511f6f1fc 74 #endif
gr66 8:41752698aa35 75 // filtres complémentaires
gr66 8:41752698aa35 76 angle_acce_pred = angle_acce;
gr66 8:41752698aa35 77 angle_acce=ang;
gr66 8:41752698aa35 78 angle_acce_f_pred = angle_acce_f;
gr66 8:41752698aa35 79 angle_acce_f=a0*angle_acce+a0*angle_acce_pred-b0*angle_acce_f_pred; //filtrage accéléromètre
gr66 10:2a1abbd2c84c 80 //
gr66 8:41752698aa35 81 gyroy_pred = gyroy;
gr66 6:65c511f6f1fc 82 #if viti
gr66 8:41752698aa35 83 gyroy=DOF.gz-gz_off; //sur site
gr66 6:65c511f6f1fc 84 #else
gr66 8:41752698aa35 85 gyroy=-DOF.gx-gx_off; //sur table
gr66 6:65c511f6f1fc 86 #endif
gr66 10:2a1abbd2c84c 87 //
gr66 8:41752698aa35 88 angle_gyroy_f_pred = angle_gyroy_f;
gr66 8:41752698aa35 89 angle_gyroy_f=a1*gyroy+a1*gyroy_pred-b0*angle_gyroy_f_pred;
gr66 8:41752698aa35 90 //
gr66 8:41752698aa35 91 angle_final=angle_acce_f+angle_gyroy_f;
gr66 8:41752698aa35 92 ana=0.0;
gr66 0:a2296270a125 93 }
gr66 10:2a1abbd2c84c 94 //
gr66 0:a2296270a125 95 int main()
gr66 0:a2296270a125 96 {
gr66 12:ab387ced85ab 97 LedVP=1;
gr66 12:ab387ced85ab 98 LedVM=1;
gr66 12:ab387ced85ab 99 LedOK=1;
gr66 0:a2296270a125 100 wait(1);
gr66 12:ab387ced85ab 101 LedVP=0;
gr66 12:ab387ced85ab 102 LedVM=0;
gr66 12:ab387ced85ab 103 LedOK=0;
gr66 12:ab387ced85ab 104 wait(1);
gr66 12:ab387ced85ab 105 LedVP=1;
gr66 12:ab387ced85ab 106 LedVM=1;
gr66 12:ab387ced85ab 107 LedOK=1;
gr66 0:a2296270a125 108 DOF.begin();
gr66 0:a2296270a125 109 wait(1);
gr66 12:ab387ced85ab 110 LedVP=0;
gr66 12:ab387ced85ab 111 LedVM=0;
gr66 12:ab387ced85ab 112 LedOK=0;
gr66 0:a2296270a125 113 DOF.calibration();
gr66 12:ab387ced85ab 114 LedVP=1;
gr66 12:ab387ced85ab 115 LedVM=1;
gr66 12:ab387ced85ab 116 LedOK=1;
gr66 0:a2296270a125 117 wait(1);
gr66 12:ab387ced85ab 118 LedVP=0;
gr66 12:ab387ced85ab 119 LedVM=0;
gr66 12:ab387ced85ab 120 LedOK=0;
gr66 8:41752698aa35 121 thread.start(callback(&queue,&EventQueue::dispatch_forever));
gr66 9:2a16e3930e1d 122 tic.attach(queue.event(&calcul),dt);
gr66 12:ab387ced85ab 123 LedOK=1;
gr66 0:a2296270a125 124 while(1) {
gr66 6:65c511f6f1fc 125 ana=0.6;
gr66 3:d552b7419f51 126 //moteur
gr66 3:d552b7419f51 127 float x=verin.read();
gr66 3:d552b7419f51 128 float s=0.0;
gr66 12:ab387ced85ab 129 if((angle_final<-ZM)&&(x>FDC_MOINS)) {
gr66 12:ab387ced85ab 130 s=SP;
gr66 12:ab387ced85ab 131 LedVP=1;
gr66 12:ab387ced85ab 132 LedVM=0;
gr66 12:ab387ced85ab 133 } else if((angle_final>ZM)&&(x<FDC_PLUS)) {
gr66 12:ab387ced85ab 134 s=-SP;
gr66 12:ab387ced85ab 135 LedVP=1;
gr66 12:ab387ced85ab 136 LedVM=0;
gr66 12:ab387ced85ab 137 } else {
gr66 12:ab387ced85ab 138 s=0;
gr66 12:ab387ced85ab 139 LedVP=0;
gr66 12:ab387ced85ab 140 LedVM=0;
gr66 12:ab387ced85ab 141 }
gr66 5:d51ba8e93d10 142 //
gr66 3:d552b7419f51 143 motor.speed(s);
gr66 9:2a16e3930e1d 144 //pr.lock();
gr66 9:2a16e3930e1d 145 pc.printf("$%6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f;\r\n",ang,angle_acce_f,angle_gyroy_f,angle_final,gyroy,x,s);
gr66 9:2a16e3930e1d 146 //pr.unlock();
gr66 3:d552b7419f51 147 ana=0.0;
gr66 7:f5c5cf499311 148 wait(0.095);
gr66 0:a2296270a125 149 }
gr66 0:a2296270a125 150 }
gr66 0:a2296270a125 151