Kyohei Shinomoto / Mbed 2 deprecated YNU_MPU_0108

add homotopy

Fork of YNU_MPUd2h by hige dura

main.cpp@3:17236ad0ff1e, 2013-01-07 (annotated)

Committer:
higedura
Date:
Mon Jan 07 08:58:34 2013 +0000
Revision:
3:17236ad0ff1e
Parent:
2:30f96c159d9c
Child:
4:037fab837823
130107_??_SD????; ???????fprinf?????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
higedura 0:9aa9be24636a 1 #include "mbed.h"
higedura 0:9aa9be24636a 2 #include "SDFileSystem.h"
higedura 0:9aa9be24636a 3
higedura 0:9aa9be24636a 4 #define pi 3.1416
higedura 0:9aa9be24636a 5 #define data 6
higedura 0:9aa9be24636a 6
khoshino 2:30f96c159d9c 7 #define zer 0.0
khoshino 2:30f96c159d9c 8 #define hal 0.5
khoshino 2:30f96c159d9c 9 #define one 1.0
khoshino 2:30f96c159d9c 10 #define dtr 0.01745
khoshino 2:30f96c159d9c 11 #define rtd 57.3
khoshino 2:30f96c159d9c 12 //parameter//
khoshino 2:30f96c159d9c 13 #define dt1 0.2 // 1/N
khoshino 2:30f96c159d9c 14 #define hdt 0.1 // 1/2N
khoshino 2:30f96c159d9c 15 #define md 6 //kizami N
khoshino 2:30f96c159d9c 16 #define mt 7 //md+1
khoshino 2:30f96c159d9c 17 #define mx 4
khoshino 2:30f96c159d9c 18 #define mv 8
khoshino 2:30f96c159d9c 19 #define mh 56 //mt*mv
khoshino 2:30f96c159d9c 20
higedura 0:9aa9be24636a 21 Serial pc(USBTX, USBRX);
higedura 0:9aa9be24636a 22 DigitalOut led1(LED1);
higedura 0:9aa9be24636a 23 DigitalOut led2(LED2);
higedura 0:9aa9be24636a 24 DigitalOut led3(LED3);
higedura 0:9aa9be24636a 25 DigitalOut led4(LED4);
higedura 0:9aa9be24636a 26
higedura 0:9aa9be24636a 27 SDFileSystem sd(p5, p6, p7, p8, "sd");
higedura 0:9aa9be24636a 28 Serial mavc(p9, p10);
higedura 0:9aa9be24636a 29 DigitalIn stop_sd(p11);
higedura 0:9aa9be24636a 30
higedura 0:9aa9be24636a 31 int main() {
higedura 1:ca296cfa603b 32
higedura 1:ca296cfa603b 33 // ******************** TORATANI ********************
higedura 1:ca296cfa603b 34 //pc.baud(921600);
higedura 0:9aa9be24636a 35 mavc.baud(115200);
higedura 0:9aa9be24636a 36
higedura 0:9aa9be24636a 37 char buf_char;
higedura 0:9aa9be24636a 38 unsigned int buf_hex[30] = {0};
higedura 0:9aa9be24636a 39 unsigned int buf_dec[10] = {0};
higedura 0:9aa9be24636a 40
higedura 0:9aa9be24636a 41 // rx
higedura 0:9aa9be24636a 42 double acc[3] = {0};
higedura 0:9aa9be24636a 43 double gyro[3] = {0};
higedura 0:9aa9be24636a 44 double azi;
higedura 0:9aa9be24636a 45 double alt;
higedura 0:9aa9be24636a 46 double GPS[2] = {0};
higedura 0:9aa9be24636a 47
higedura 0:9aa9be24636a 48 // tx
higedura 0:9aa9be24636a 49 double com[3] = {0};
higedura 0:9aa9be24636a 50 char H;
higedura 0:9aa9be24636a 51 char D[data];
higedura 0:9aa9be24636a 52 char test[9];
higedura 0:9aa9be24636a 53 H = 0x02; // header of dateset2
higedura 0:9aa9be24636a 54 D[0] = 0xff; D[1] = 0xff; // p_com
higedura 0:9aa9be24636a 55 D[2] = 0x7f; D[3] = 0xff; // q_com
higedura 0:9aa9be24636a 56 D[4] = 0x00; D[5] = 0x00; // r_com
higedura 1:ca296cfa603b 57 // ******************** TORATANI ********************
higedura 0:9aa9be24636a 58
khoshino 2:30f96c159d9c 59 // ******************** HOSHINO *********************
khoshino 2:30f96c159d9c 60 float time = 0; //time
khoshino 2:30f96c159d9c 61 float xs = 0;
khoshino 2:30f96c159d9c 62 float ys = 0;
khoshino 2:30f96c159d9c 63 float psis = 0;
khoshino 2:30f96c159d9c 64 float x0 = 0;
khoshino 2:30f96c159d9c 65 float y0 = 0;
khoshino 2:30f96c159d9c 66 float psi0 = 0;
khoshino 2:30f96c159d9c 67 float xf = 200; //syuutandaunrenji
khoshino 2:30f96c159d9c 68 float h0 = 200;
khoshino 2:30f96c159d9c 69 float hf = 10;
khoshino 2:30f96c159d9c 70 float gm0 = 20*pi/180;
khoshino 2:30f96c159d9c 71 float gmf = 5*pi/180;
khoshino 2:30f96c159d9c 72 float b0 = h0;
khoshino 2:30f96c159d9c 73 float b1 = tan(gm0);
khoshino 2:30f96c159d9c 74 float b2 = (3*(hf-h0)-xf*(2*tan(gm0)+tan(gmf)))/(xf*xf);
khoshino 2:30f96c159d9c 75 float b3 = -(2*(hf-h0)-xf*(tan(gm0)+tan(gmf)))/(xf*xf*xf);
khoshino 2:30f96c159d9c 76 float hr = 0;
khoshino 2:30f96c159d9c 77 float x = 0;
khoshino 2:30f96c159d9c 78 float ua = 10; //initial horizontal velosity
khoshino 2:30f96c159d9c 79 float xs1 = 0;
khoshino 2:30f96c159d9c 80 float ys1 = 0;
khoshino 2:30f96c159d9c 81 float xr = 0;
khoshino 2:30f96c159d9c 82 float yr = 0;
khoshino 2:30f96c159d9c 83 float drc = 0;
khoshino 2:30f96c159d9c 84 float dr = 0;
khoshino 2:30f96c159d9c 85 float dt = 0.1;
khoshino 2:30f96c159d9c 86 float psi = 1;
khoshino 2:30f96c159d9c 87 float s = 0;
khoshino 2:30f96c159d9c 88
khoshino 2:30f96c159d9c 89 //homotopy
khoshino 2:30f96c159d9c 90 float drf = 800.0;
khoshino 2:30f96c159d9c 91 float rps0 = 90.0;
khoshino 2:30f96c159d9c 92 float rxi0 = -600.0;
khoshino 2:30f96c159d9c 93 float ret0 = -200.0;
khoshino 2:30f96c159d9c 94 float ps0 = rps0*dtr;
khoshino 2:30f96c159d9c 95 float xi0 = rxi0/drf;
khoshino 2:30f96c159d9c 96 float et0 = ret0/drf;
khoshino 2:30f96c159d9c 97 float eps = 0.00000001;
khoshino 2:30f96c159d9c 98 float ueps = 0.000001;
khoshino 2:30f96c159d9c 99 float ier = 0.0;
khoshino 2:30f96c159d9c 100 float sum = 0.0;
khoshino 2:30f96c159d9c 101 float ph0[mh] = {0.0};
khoshino 2:30f96c159d9c 102 float phi[mh] = {0.0};
khoshino 2:30f96c159d9c 103 float fn[mh] = {0.0};
khoshino 2:30f96c159d9c 104 float wk[mh] = {0.0};
khoshino 2:30f96c159d9c 105 int iwk[mh] = {0};
khoshino 2:30f96c159d9c 106 float dph1[mh] = {0.0};
khoshino 2:30f96c159d9c 107 float dph2[mh] = {0.0};
khoshino 2:30f96c159d9c 108 float dph3[mh] = {0.0};
khoshino 2:30f96c159d9c 109 float dph4[mh] = {0.0};
khoshino 2:30f96c159d9c 110 float fph[mh][mh] = {0.0};
khoshino 2:30f96c159d9c 111 float fpi[mh][mh] = {0.0};
khoshino 2:30f96c159d9c 112 float x1[4][mt] = {0.0};
khoshino 2:30f96c159d9c 113 float rl[4][mt] = {0.0};
khoshino 2:30f96c159d9c 114 float qmax=0.0;
khoshino 2:30f96c159d9c 115 float rdet =1.0;
khoshino 2:30f96c159d9c 116 float idet =0.0;
khoshino 2:30f96c159d9c 117 float t = 0.0;
khoshino 2:30f96c159d9c 118 float phf[mh]={0.0};
khoshino 2:30f96c159d9c 119 //********************* HOSHINO *********************
khoshino 2:30f96c159d9c 120
higedura 0:9aa9be24636a 121 FILE *fp = fopen("/sd/sdtest.txt", "w");
higedura 0:9aa9be24636a 122 if(fp == NULL) {
higedura 0:9aa9be24636a 123 error("Could not open file for write\n");
higedura 0:9aa9be24636a 124 }
higedura 0:9aa9be24636a 125
higedura 1:ca296cfa603b 126 while(1){
higedura 0:9aa9be24636a 127 //for(int j=0;j<1800;j++){ flag tukuru // for 2 minuts
higedura 0:9aa9be24636a 128
higedura 0:9aa9be24636a 129 // ******************** sequence No.1 ********************
higedura 0:9aa9be24636a 130 buf_char = mavc.getc();
higedura 0:9aa9be24636a 131 buf_hex[0] = (unsigned int)buf_char;
higedura 0:9aa9be24636a 132 for(int i=0;i<29;i++){ buf_hex[29-i] = buf_hex[28-i]; }
higedura 0:9aa9be24636a 133 // !!! switch bun ni suru
higedura 0:9aa9be24636a 134 if(buf_hex[29]==0x40 && buf_hex[28]==0x43 && buf_hex[27]==0x4D && buf_hex[26]==0x0D){
higedura 0:9aa9be24636a 135 // ******************** sequence No.1 ********************
higedura 0:9aa9be24636a 136
higedura 0:9aa9be24636a 137 // ******************** sequence No.2 ********************
higedura 0:9aa9be24636a 138 // send to mavc
higedura 0:9aa9be24636a 139 mavc.putc(H);
higedura 0:9aa9be24636a 140 for(int i=0;i<data;i++){ mavc.putc(D[i]); }
higedura 0:9aa9be24636a 141 //for(int i=0;i<9;i++){ mavc.putc(test[i]); }
higedura 0:9aa9be24636a 142 // ******************** sequence No.2 ********************
higedura 0:9aa9be24636a 143
higedura 0:9aa9be24636a 144 // ******************** sequence No.3 ********************
higedura 0:9aa9be24636a 145 // buf | 25 | 24 | 23 | 22 | 21 | 20 | 19 | 18 | 17 | 16 | 15 | 14 | 13 | 12 | 11 | 10 | 9 | 8 | 7 | 6 | 5 |
higedura 0:9aa9be24636a 146 // |header| AccX | AccY | AccZ | GyroX | GyroY | GyroZ | Azimuth | Altitude| GPSX | GPSY |
higedura 0:9aa9be24636a 147 // | H | D[1] | D[2] | D[3] | D[4] | D[5] | D[6] | D[7] | D[8] | D[9] | D[10] |
higedura 0:9aa9be24636a 148 // transrating hex to dec
higedura 0:9aa9be24636a 149 for(int i=0;i<10;i++){ buf_dec[i] = buf_hex[24-i*2]*256+buf_hex[23-i*2]; }
higedura 0:9aa9be24636a 150 // wakariyasuku surutame bunnkatsu, honnrai ha matrix ga yoi
higedura 0:9aa9be24636a 151 // -> saisyuteki niha matrix ni simasu?
higedura 0:9aa9be24636a 152 for(int i=0;i<3;i++){ acc[i] = ((double)buf_dec[i]-32768)/65535*20*9.8; }
higedura 0:9aa9be24636a 153 for(int i=0;i<3;i++){ gyro[i] = ((double)buf_dec[i+3]-32768)/65535*600/180*pi; }
higedura 0:9aa9be24636a 154 azi = (double)buf_dec[6]/65535*2*pi;
higedura 0:9aa9be24636a 155 alt = ((double)buf_dec[7]-32768)*0.1;
higedura 0:9aa9be24636a 156 for(int i=0;i<2;i++){ GPS[i] = ((double)buf_dec[i+8]-32768)*0.1; }
higedura 0:9aa9be24636a 157 // ******************** sequence No.3 ********************
higedura 0:9aa9be24636a 158
khoshino 2:30f96c159d9c 159 // ******************** initialization *******************
khoshino 2:30f96c159d9c 160 if(t == 0){
khoshino 2:30f96c159d9c 161 x0 = GPS[0];
khoshino 2:30f96c159d9c 162 y0 = GPS[1];
khoshino 2:30f96c159d9c 163 psi0= azi;
khoshino 2:30f96c159d9c 164 }
khoshino 2:30f96c159d9c 165 xs = GPS[0] - x0;
khoshino 2:30f96c159d9c 166 ys = GPS[1] - y0;
khoshino 2:30f96c159d9c 167 psis= azi - psi0;
khoshino 2:30f96c159d9c 168 // ******************** initialization *******************
khoshino 2:30f96c159d9c 169
khoshino 2:30f96c159d9c 170 // ******************** interpolation ********************
khoshino 2:30f96c159d9c 171 dr = dr + ua * dt;
khoshino 2:30f96c159d9c 172 xr = xr + ua * dt * cos(psi);
khoshino 2:30f96c159d9c 173 yr = yr + ua * dt * sin(psi);
khoshino 2:30f96c159d9c 174
khoshino 2:30f96c159d9c 175 if (xs != xs1 || fabs(xs-xs1)<50) {
khoshino 2:30f96c159d9c 176 s = (xs-xs1)*(xs-xs1)+(ys-ys1)*(ys-ys1);
khoshino 2:30f96c159d9c 177 ua = 0.5*(ua+sqrt(s));
khoshino 2:30f96c159d9c 178 drc = drc+ua;
khoshino 2:30f96c159d9c 179 dr= drc;
khoshino 2:30f96c159d9c 180 xr=xs;
khoshino 2:30f96c159d9c 181 yr=ys;
khoshino 2:30f96c159d9c 182 }
khoshino 2:30f96c159d9c 183 xs1=xs;
khoshino 2:30f96c159d9c 184 ys1=ys;
khoshino 2:30f96c159d9c 185 // ******************** interpolation ********************
khoshino 2:30f96c159d9c 186
khoshino 2:30f96c159d9c 187 // ******************** guidance law WO homo *************
khoshino 2:30f96c159d9c 188 hr = b0 + b1*x + b2*x*x + b3*x*x*x;
khoshino 2:30f96c159d9c 189
khoshino 2:30f96c159d9c 190 /*
khoshino 2:30f96c159d9c 191 c = drp-dr[i];
khoshino 2:30f96c159d9c 192 c1= dr[i+1]-drp;
khoshino 2:30f96c159d9c 193
khoshino 2:30f96c159d9c 194 if(c >=0 && c1 >= 0)
khoshino 2:30f96c159d9c 195 {
khoshino 2:30f96c159d9c 196 c0=c/(dr[i+1]-dr[i]);
khoshino 2:30f96c159d9c 197 c1=c1/(dr[i+1]-dr[i]);
khoshino 2:30f96c159d9c 198 psc=c0*ps[i+1]+c1*ps[i];
khoshino 2:30f96c159d9c 199 xic=c0*xi[i+1]+c1*xi[i];
khoshino 2:30f96c159d9c 200 etc=c0*et[i+1]+c1*et[i];
khoshino 2:30f96c159d9c 201 break;
khoshino 2:30f96c159d9c 202 }
khoshino 2:30f96c159d9c 203 */
khoshino 2:30f96c159d9c 204
khoshino 2:30f96c159d9c 205 // ******************** guidance law WO homo *************
khoshino 2:30f96c159d9c 206
khoshino 2:30f96c159d9c 207 // ******************** control law **********************
higedura 0:9aa9be24636a 208 // transrating dec to hex
higedura 0:9aa9be24636a 209 //com
khoshino 2:30f96c159d9c 210 // ******************** control law **********************
higedura 0:9aa9be24636a 211
higedura 3:17236ad0ff1e 212 // !!! HOSHINO !!! fprintf add guidance, velocity and control
higedura 3:17236ad0ff1e 213 fprintf(fp, "%7.4f %7.4f %7.4f %7.3f %7.3f %7.3f %8.5f %8.1f %8.1f %8.1f\r\n", acc[0], acc[1], acc[2], gyro[0], gyro[1], gyro[2], azi, alt, GPS[0], GPS[1]);
higedura 0:9aa9be24636a 214
higedura 0:9aa9be24636a 215 }
higedura 3:17236ad0ff1e 216
higedura 3:17236ad0ff1e 217 time = time + 0.1;
higedura 3:17236ad0ff1e 218
higedura 0:9aa9be24636a 219 }
higedura 0:9aa9be24636a 220
higedura 0:9aa9be24636a 221 fclose(fp);
higedura 0:9aa9be24636a 222 led1 = 1; led2 = 1; led3 = 1; led4 = 1;
higedura 0:9aa9be24636a 223
higedura 0:9aa9be24636a 224 }