2Chx3dof Magnetrometer supported M-Series Random Sequence Generator Servo Control
Sampling Frequency
Sampling Frequency in main.cpp
#define SampleFreq 200 // [Hz]
Auto Stop Setting
Auto-stop Timer 15sec after
// auto-stop when 15sec after if(smpl_cnt>3000){stop_dump();}
The number of 3000 means Sample Count. The number is given by SampleFreq[Hz] * Auto-Stop Time [sec].
M-Series Random Sequence
M-series Random Update Term in main.cpp
// M-series update flag #define M_TERM 200;
Unit is sample count.
cf.) 200 equals to 200 [samples] which equals to 1 [second] where SampleFreq = 200 [Hz}.
See above.
M-Series Random Servo Control
main.cpp@3:70be84fad39e, 2021-02-02 (annotated)
- Committer:
- mfurukawa
- Date:
- Tue Feb 02 14:28:36 2021 +0000
- Branch:
- MPU-9250-MagSensServo
- Revision:
- 3:70be84fad39e
- Parent:
- 2:3470f2c07582
- Child:
- 4:e1d7947336f4
init_sensor func added;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mfurukawa | 0:4656a133ed1a | 1 | /** |
mfurukawa | 0:4656a133ed1a | 2 | * Masahiro FURUKAWA - m.furukawa@ist.osaka-u.ac.jp |
mfurukawa | 0:4656a133ed1a | 3 | * |
mfurukawa | 0:4656a133ed1a | 4 | * Dec 26, 2017 |
mfurukawa | 0:4656a133ed1a | 5 | * Aug 29, 2018 |
mfurukawa | 0:4656a133ed1a | 6 | * Dec 17, 2019 @ Digital Low Pass Filter 5Hz -> No LPF |
mfurukawa | 0:4656a133ed1a | 7 | @ ACC range 2G -> 4G |
mfurukawa | 0:4656a133ed1a | 8 | @ GYRO range 250 -> 500 Degree per second |
mfurukawa | 0:4656a133ed1a | 9 | @ Deleted magnet sensor checking |
mfurukawa | 0:4656a133ed1a | 10 | @ Set Acc Data Rates, Enable Acc LPF , Bandwidth 218Hz |
mfurukawa | 0:4656a133ed1a | 11 | @ Use DLPF set Gyroscope bandwidth 5Hz, temperature bandwidth 5Hz |
mfurukawa | 3:70be84fad39e | 12 | * Feb 1, 2021 @Magnetro Meter Ch1 & Ch3, |
mfurukawa | 3:70be84fad39e | 13 | Servo Motor PWM (p22), |
mfurukawa | 3:70be84fad39e | 14 | 2000DPS, 2G, DLP 5Hz |
mfurukawa | 0:4656a133ed1a | 15 | * |
mfurukawa | 0:4656a133ed1a | 16 | * MPU9250 9DoF Sensor (Extended to Ch1 ~ Ch4) |
mfurukawa | 0:4656a133ed1a | 17 | * |
mfurukawa | 0:4656a133ed1a | 18 | **/ |
mfurukawa | 0:4656a133ed1a | 19 | |
mfurukawa | 0:4656a133ed1a | 20 | /* |
mfurukawa | 0:4656a133ed1a | 21 | https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf |
mfurukawa | 0:4656a133ed1a | 22 | |
mfurukawa | 0:4656a133ed1a | 23 | 3.3 Magnetometer Specifications |
mfurukawa | 0:4656a133ed1a | 24 | |
mfurukawa | 0:4656a133ed1a | 25 | Typical Operating Circuit of section 4.2, |
mfurukawa | 0:4656a133ed1a | 26 | VDD = 2.5V, |
mfurukawa | 0:4656a133ed1a | 27 | VDDIO = 2.5V, |
mfurukawa | 0:4656a133ed1a | 28 | TA=25°C, unless otherwise noted. |
mfurukawa | 0:4656a133ed1a | 29 | |
mfurukawa | 0:4656a133ed1a | 30 | PARAMETER CONDITIONS MIN TYP MAX UNITS |
mfurukawa | 0:4656a133ed1a | 31 | MAGNETOMETER SENSITIVITY |
mfurukawa | 0:4656a133ed1a | 32 | Full-Scale Range ±4800 µT |
mfurukawa | 0:4656a133ed1a | 33 | ADC Word Length 14 bits |
mfurukawa | 0:4656a133ed1a | 34 | Sensitivity Scale Factor 0.6 µT / LSB |
mfurukawa | 0:4656a133ed1a | 35 | ZERO-FIELD OUTPUT |
mfurukawa | 0:4656a133ed1a | 36 | Initial Calibration Tolerance ±500 LSB |
mfurukawa | 0:4656a133ed1a | 37 | */ |
mfurukawa | 0:4656a133ed1a | 38 | |
mfurukawa | 0:4656a133ed1a | 39 | |
mfurukawa | 0:4656a133ed1a | 40 | #include "mbed.h" |
mfurukawa | 0:4656a133ed1a | 41 | #include "MPU9250.h" |
mfurukawa | 1:3bcd844dd707 | 42 | #include "KST_Servo.h" |
mfurukawa | 1:3bcd844dd707 | 43 | #include "M-Series.h" |
mfurukawa | 3:70be84fad39e | 44 | #include "error_led_flash.h" |
mfurukawa | 0:4656a133ed1a | 45 | |
mfurukawa | 0:4656a133ed1a | 46 | /* MPU9250 Library |
mfurukawa | 0:4656a133ed1a | 47 | * |
mfurukawa | 0:4656a133ed1a | 48 | * https://developer.mbed.org/users/kylongmu/code/MPU9250_SPI_Test/file/5839d1b118bc/main.cpp |
mfurukawa | 0:4656a133ed1a | 49 | * |
mfurukawa | 0:4656a133ed1a | 50 | * MOSI (Master Out Slave In) p5 |
mfurukawa | 0:4656a133ed1a | 51 | * MISO (Master In Slave Out p6 |
mfurukawa | 0:4656a133ed1a | 52 | * SCK (Serial Clock) p7 |
mfurukawa | 0:4656a133ed1a | 53 | * ~CS (Chip Select) p8 -> p30 |
mfurukawa | 0:4656a133ed1a | 54 | */ |
mfurukawa | 0:4656a133ed1a | 55 | |
mfurukawa | 0:4656a133ed1a | 56 | // define serial objects |
mfurukawa | 0:4656a133ed1a | 57 | Serial pc(USBTX, USBRX); |
mfurukawa | 0:4656a133ed1a | 58 | |
mfurukawa | 0:4656a133ed1a | 59 | Ticker ticker; |
mfurukawa | 0:4656a133ed1a | 60 | Timer timer; |
mfurukawa | 0:4656a133ed1a | 61 | |
mfurukawa | 3:70be84fad39e | 62 | #define SampleFreq 200 // [Hz] |
mfurukawa | 0:4656a133ed1a | 63 | #define nCh 4 // number of ch |
mfurukawa | 0:4656a133ed1a | 64 | #define baudRate 921600 //921600 / 115200 |
mfurukawa | 0:4656a133ed1a | 65 | |
mfurukawa | 0:4656a133ed1a | 66 | unsigned int counter = 0; |
mfurukawa | 0:4656a133ed1a | 67 | unsigned int usCycle = 1000000/SampleFreq ; |
mfurukawa | 0:4656a133ed1a | 68 | |
mfurukawa | 0:4656a133ed1a | 69 | int errFlag = 0; |
mfurukawa | 0:4656a133ed1a | 70 | |
mfurukawa | 0:4656a133ed1a | 71 | //define the mpu9250 object |
mfurukawa | 1:3bcd844dd707 | 72 | mpu9250_spi *imu[nCh]; |
mfurukawa | 0:4656a133ed1a | 73 | |
mfurukawa | 0:4656a133ed1a | 74 | // define SPI object for imu objects |
mfurukawa | 1:3bcd844dd707 | 75 | SPI spi1(p5, p6, p7); |
mfurukawa | 1:3bcd844dd707 | 76 | SPI spi2(p11, p12, p13); |
mfurukawa | 1:3bcd844dd707 | 77 | // pins already used for SPI Chip selector pin |
mfurukawa | 1:3bcd844dd707 | 78 | // p21, p23, p29, p30 |
mfurukawa | 1:3bcd844dd707 | 79 | |
mfurukawa | 1:3bcd844dd707 | 80 | // Servo Motor Control |
mfurukawa | 1:3bcd844dd707 | 81 | PwmOut pwm_(p22); |
mfurukawa | 1:3bcd844dd707 | 82 | |
mfurukawa | 1:3bcd844dd707 | 83 | // M-Series Random Sequence |
mfurukawa | 2:3470f2c07582 | 84 | Mseries m; |
mfurukawa | 1:3bcd844dd707 | 85 | |
mfurukawa | 3:70be84fad39e | 86 | #define BINARY_MODE 0 |
mfurukawa | 3:70be84fad39e | 87 | #define ASCII_MODE 1 |
mfurukawa | 3:70be84fad39e | 88 | int send_mode = BINARY_MODE; |
mfurukawa | 0:4656a133ed1a | 89 | |
mfurukawa | 0:4656a133ed1a | 90 | |
mfurukawa | 3:70be84fad39e | 91 | void servo_test(void) |
mfurukawa | 3:70be84fad39e | 92 | { |
mfurukawa | 3:70be84fad39e | 93 | while(1) { |
mfurukawa | 3:70be84fad39e | 94 | if(m.update()) |
mfurukawa | 3:70be84fad39e | 95 | pwm_.pulsewidth_us(KST_SERVO_USEC_MIN); |
mfurukawa | 3:70be84fad39e | 96 | else |
mfurukawa | 3:70be84fad39e | 97 | pwm_.pulsewidth_us(KST_SERVO_USEC_90); |
mfurukawa | 3:70be84fad39e | 98 | wait(.5); |
mfurukawa | 0:4656a133ed1a | 99 | |
mfurukawa | 3:70be84fad39e | 100 | } |
mfurukawa | 3:70be84fad39e | 101 | } |
mfurukawa | 3:70be84fad39e | 102 | void init_sensor(void) |
mfurukawa | 3:70be84fad39e | 103 | { |
mfurukawa | 0:4656a133ed1a | 104 | for(int i=0; i<nCh; i++) { |
mfurukawa | 0:4656a133ed1a | 105 | |
mfurukawa | 0:4656a133ed1a | 106 | imu[0]->deselect(); |
mfurukawa | 0:4656a133ed1a | 107 | imu[1]->deselect(); |
mfurukawa | 0:4656a133ed1a | 108 | imu[2]->deselect(); |
mfurukawa | 0:4656a133ed1a | 109 | imu[3]->deselect(); |
mfurukawa | 0:4656a133ed1a | 110 | |
mfurukawa | 0:4656a133ed1a | 111 | imu[i]->select(); |
mfurukawa | 0:4656a133ed1a | 112 | |
mfurukawa | 0:4656a133ed1a | 113 | //INIT the mpu9250 |
mfurukawa | 0:4656a133ed1a | 114 | //if(imu[i]->init(1,BITS_DLPF_CFG_188HZ)) |
mfurukawa | 3:70be84fad39e | 115 | if(imu[i]->init(1,BITS_DLPF_CFG_5HZ)) { |
mfurukawa | 3:70be84fad39e | 116 | //if(imu[i]->init(1,BITS_DLPF_CFG_256HZ_NOLPF2)) { |
mfurukawa | 0:4656a133ed1a | 117 | printf("\nCH %d\n\nCouldn't initialize MPU9250 via SPI!", i+1); |
mfurukawa | 0:4656a133ed1a | 118 | wait(90); |
mfurukawa | 0:4656a133ed1a | 119 | } |
mfurukawa | 0:4656a133ed1a | 120 | |
mfurukawa | 0:4656a133ed1a | 121 | //output the I2C address to know if SPI is working, it should be 104 |
mfurukawa | 0:4656a133ed1a | 122 | printf("\nCH %d\nWHOAMI = 0x%2x\n",i+1, imu[i]->whoami()); |
mfurukawa | 0:4656a133ed1a | 123 | |
mfurukawa | 0:4656a133ed1a | 124 | if(imu[i]->whoami() != 0x71) { |
mfurukawa | 0:4656a133ed1a | 125 | printf(" *** ERROR *** acc and gyro sensor does not respond correctly!\n"); |
mfurukawa | 0:4656a133ed1a | 126 | errFlag |= 0x01<<(i*2); |
mfurukawa | 3:70be84fad39e | 127 | if(i==0||i==2) LED_flash_error_notice(i); |
mfurukawa | 0:4656a133ed1a | 128 | continue; |
mfurukawa | 0:4656a133ed1a | 129 | } |
mfurukawa | 0:4656a133ed1a | 130 | |
mfurukawa | 3:70be84fad39e | 131 | printf("Gyro_scale = %u[DPS]\n",imu[i]->set_gyro_scale(BITS_FS_2000DPS)); //Set 500DPS scale range for gyros //0706 wada 500to2000 |
mfurukawa | 0:4656a133ed1a | 132 | wait_ms(20); |
mfurukawa | 0:4656a133ed1a | 133 | |
mfurukawa | 3:70be84fad39e | 134 | printf("Acc_scale = %u[G]\n",imu[i]->set_acc_scale(BITS_FS_2G)); //Set 4G scale range for accs //0706 wada 4to16 |
mfurukawa | 0:4656a133ed1a | 135 | wait_ms(20); |
mfurukawa | 0:4656a133ed1a | 136 | |
mfurukawa | 0:4656a133ed1a | 137 | printf("AK8963 WHIAM = 0x%2x\n",imu[i]->AK8963_whoami()); |
mfurukawa | 0:4656a133ed1a | 138 | |
mfurukawa | 0:4656a133ed1a | 139 | if(imu[i]->AK8963_whoami() != 0x48) { |
mfurukawa | 0:4656a133ed1a | 140 | printf(" *** ERROR *** magnetrometer does not respond correctly!\n"); |
mfurukawa | 0:4656a133ed1a | 141 | errFlag |= 0x02<<(i*2); |
mfurukawa | 3:70be84fad39e | 142 | if(i==0||i==2) LED_flash_error_notice(i); |
mfurukawa | 0:4656a133ed1a | 143 | continue; |
mfurukawa | 0:4656a133ed1a | 144 | } |
mfurukawa | 0:4656a133ed1a | 145 | |
mfurukawa | 0:4656a133ed1a | 146 | imu[i]->AK8963_calib_Magnetometer(); |
mfurukawa | 0:4656a133ed1a | 147 | wait_ms(100); |
mfurukawa | 0:4656a133ed1a | 148 | printf("Calibrated Magnetrometer\n"); |
mfurukawa | 0:4656a133ed1a | 149 | } |
mfurukawa | 1:3bcd844dd707 | 150 | |
mfurukawa | 3:70be84fad39e | 151 | } |
mfurukawa | 1:3bcd844dd707 | 152 | |
mfurukawa | 3:70be84fad39e | 153 | void init(void) |
mfurukawa | 3:70be84fad39e | 154 | { |
mfurukawa | 2:3470f2c07582 | 155 | // servo requires a 20ms period |
mfurukawa | 2:3470f2c07582 | 156 | pwm_.period_ms(20); |
mfurukawa | 1:3bcd844dd707 | 157 | |
mfurukawa | 3:70be84fad39e | 158 | pc.baud(baudRate); |
mfurukawa | 3:70be84fad39e | 159 | |
mfurukawa | 3:70be84fad39e | 160 | printf("\nrev Feb 1, 2021 for Magnetrometer by Masahiro Furukawa\n"); |
mfurukawa | 1:3bcd844dd707 | 161 | |
mfurukawa | 3:70be84fad39e | 162 | imu[3] = new mpu9250_spi(spi2, p21); |
mfurukawa | 3:70be84fad39e | 163 | imu[2] = new mpu9250_spi(spi2, p23); |
mfurukawa | 3:70be84fad39e | 164 | imu[1] = new mpu9250_spi(spi1, p29); |
mfurukawa | 3:70be84fad39e | 165 | imu[0] = new mpu9250_spi(spi1, p30); |
mfurukawa | 3:70be84fad39e | 166 | |
mfurukawa | 3:70be84fad39e | 167 | init_sensor(); |
mfurukawa | 3:70be84fad39e | 168 | |
mfurukawa | 3:70be84fad39e | 169 | // servo_test(); |
mfurukawa | 3:70be84fad39e | 170 | |
mfurukawa | 3:70be84fad39e | 171 | printf("\nHit Key [t] to start. Hit Key [r] to finish. [s] for binary sending.\n"); |
mfurukawa | 3:70be84fad39e | 172 | |
mfurukawa | 0:4656a133ed1a | 173 | } |
mfurukawa | 0:4656a133ed1a | 174 | |
mfurukawa | 0:4656a133ed1a | 175 | void eventFunc(void) |
mfurukawa | 0:4656a133ed1a | 176 | { |
mfurukawa | 0:4656a133ed1a | 177 | // limitation on sending bytes at 921600bps - 92bits(under 100us/sample) |
mfurukawa | 0:4656a133ed1a | 178 | // requirement : 1kHz sampling |
mfurukawa | 0:4656a133ed1a | 179 | // = 921.5 bits/sample |
mfurukawa | 0:4656a133ed1a | 180 | // = 115.1 bytes/sample |
mfurukawa | 0:4656a133ed1a | 181 | // = 50 bytes/axis (2byte/axis) |
mfurukawa | 0:4656a133ed1a | 182 | |
mfurukawa | 0:4656a133ed1a | 183 | // 2 byte * 6 axes * 4 ch = 48 bytes/sample |
mfurukawa | 0:4656a133ed1a | 184 | |
mfurukawa | 0:4656a133ed1a | 185 | |
mfurukawa | 0:4656a133ed1a | 186 | imu[0]->select(); |
mfurukawa | 0:4656a133ed1a | 187 | imu[1]->deselect(); |
mfurukawa | 0:4656a133ed1a | 188 | imu[2]->select(); |
mfurukawa | 0:4656a133ed1a | 189 | imu[3]->deselect(); |
mfurukawa | 0:4656a133ed1a | 190 | |
mfurukawa | 3:70be84fad39e | 191 | imu[0]->read_acc(); |
mfurukawa | 3:70be84fad39e | 192 | imu[0]->read_rot(); |
mfurukawa | 0:4656a133ed1a | 193 | imu[0]->AK8963_read_Magnetometer(); |
mfurukawa | 3:70be84fad39e | 194 | |
mfurukawa | 3:70be84fad39e | 195 | imu[2]->read_acc(); |
mfurukawa | 3:70be84fad39e | 196 | imu[2]->read_rot(); |
mfurukawa | 0:4656a133ed1a | 197 | imu[2]->AK8963_read_Magnetometer(); |
mfurukawa | 0:4656a133ed1a | 198 | |
mfurukawa | 3:70be84fad39e | 199 | // imu[0]->deselect(); |
mfurukawa | 3:70be84fad39e | 200 | // imu[1]->select(); |
mfurukawa | 3:70be84fad39e | 201 | // imu[2]->deselect(); |
mfurukawa | 3:70be84fad39e | 202 | // imu[3]->select(); |
mfurukawa | 3:70be84fad39e | 203 | |
mfurukawa | 3:70be84fad39e | 204 | // imu[1]->read_acc(); |
mfurukawa | 3:70be84fad39e | 205 | // imu[1]->read_rot(); |
mfurukawa | 3:70be84fad39e | 206 | // imu[1]->AK8963_read_Magnetometer(); |
mfurukawa | 3:70be84fad39e | 207 | |
mfurukawa | 3:70be84fad39e | 208 | // imu[3]->read_acc(); |
mfurukawa | 3:70be84fad39e | 209 | // imu[3]->read_rot(); |
mfurukawa | 3:70be84fad39e | 210 | // imu[3]->AK8963_read_Magnetometer(); |
mfurukawa | 3:70be84fad39e | 211 | |
mfurukawa | 3:70be84fad39e | 212 | |
mfurukawa | 3:70be84fad39e | 213 | switch(send_mode) { |
mfurukawa | 0:4656a133ed1a | 214 | |
mfurukawa | 3:70be84fad39e | 215 | case ASCII_MODE: |
mfurukawa | 3:70be84fad39e | 216 | |
mfurukawa | 3:70be84fad39e | 217 | for(int i=0; i<3; i+=2) { |
mfurukawa | 3:70be84fad39e | 218 | for(int j=0; j<3; j++) printf("%1.3f, ",imu[i]->Magnetometer[j] / 1000.0f); |
mfurukawa | 3:70be84fad39e | 219 | } |
mfurukawa | 3:70be84fad39e | 220 | printf("[mT]"); |
mfurukawa | 3:70be84fad39e | 221 | break; |
mfurukawa | 0:4656a133ed1a | 222 | |
mfurukawa | 3:70be84fad39e | 223 | case BINARY_MODE: |
mfurukawa | 3:70be84fad39e | 224 | |
mfurukawa | 3:70be84fad39e | 225 | for(int i=0; i<3; i+=2) { |
mfurukawa | 3:70be84fad39e | 226 | for(int j=0; j<6; j++) putc(imu[i]->accelerometer_response[j], stdout); |
mfurukawa | 3:70be84fad39e | 227 | for(int j=0; j<6; j++) putc(imu[i]->gyroscope_response[j], stdout); |
mfurukawa | 3:70be84fad39e | 228 | } |
mfurukawa | 3:70be84fad39e | 229 | break; |
mfurukawa | 0:4656a133ed1a | 230 | } |
mfurukawa | 0:4656a133ed1a | 231 | |
mfurukawa | 0:4656a133ed1a | 232 | putc(13, stdout); //0x0d CR(復帰) |
mfurukawa | 0:4656a133ed1a | 233 | putc(10, stdout); //0x0a LF(改行) |
mfurukawa | 0:4656a133ed1a | 234 | } |
mfurukawa | 0:4656a133ed1a | 235 | |
mfurukawa | 0:4656a133ed1a | 236 | int main() |
mfurukawa | 0:4656a133ed1a | 237 | { |
mfurukawa | 0:4656a133ed1a | 238 | // make instances and check sensors |
mfurukawa | 0:4656a133ed1a | 239 | init(); |
mfurukawa | 0:4656a133ed1a | 240 | |
mfurukawa | 0:4656a133ed1a | 241 | char c; |
mfurukawa | 0:4656a133ed1a | 242 | |
mfurukawa | 0:4656a133ed1a | 243 | while(1) { |
mfurukawa | 0:4656a133ed1a | 244 | if(pc.readable()) { |
mfurukawa | 0:4656a133ed1a | 245 | c = pc.getc(); |
mfurukawa | 0:4656a133ed1a | 246 | |
mfurukawa | 3:70be84fad39e | 247 | switch(c) { |
mfurukawa | 3:70be84fad39e | 248 | case 'r': |
mfurukawa | 3:70be84fad39e | 249 | ticker.detach(); |
mfurukawa | 3:70be84fad39e | 250 | break; |
mfurukawa | 3:70be84fad39e | 251 | |
mfurukawa | 3:70be84fad39e | 252 | case 'R': |
mfurukawa | 3:70be84fad39e | 253 | init_sensor(); |
mfurukawa | 3:70be84fad39e | 254 | break; |
mfurukawa | 3:70be84fad39e | 255 | |
mfurukawa | 3:70be84fad39e | 256 | case 't': |
mfurukawa | 3:70be84fad39e | 257 | send_mode = ASCII_MODE; |
mfurukawa | 3:70be84fad39e | 258 | ticker.attach_us(eventFunc, 1000000.0f/SampleFreq); |
mfurukawa | 3:70be84fad39e | 259 | break; |
mfurukawa | 3:70be84fad39e | 260 | |
mfurukawa | 3:70be84fad39e | 261 | case 's': |
mfurukawa | 3:70be84fad39e | 262 | send_mode = BINARY_MODE; |
mfurukawa | 3:70be84fad39e | 263 | ticker.attach_us(eventFunc, 1000000.0f/SampleFreq); |
mfurukawa | 3:70be84fad39e | 264 | break; |
mfurukawa | 0:4656a133ed1a | 265 | } |
mfurukawa | 0:4656a133ed1a | 266 | } |
mfurukawa | 0:4656a133ed1a | 267 | } |
mfurukawa | 0:4656a133ed1a | 268 | } |