Masahiro Furukawa / Mbed 2 deprecated MPU-9250-MagSens_M-Series

2Chx3dof Magnetrometer supported M-Series Random Sequence Generator Servo Control

Dependencies:   mbed

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@7:a711da20a262, 2021-02-02 (annotated)

Committer:
mfurukawa
Date:
Tue Feb 02 15:44:38 2021 +0000
Branch:
MPU-9250-MagSensServo
Revision:
7:a711da20a262
Parent:
6:493df7718ecb
Child:
8:07c3cb01a5b6
TEXT Dump 200Hz Stable

Who changed what in which revision?

UserRevisionLine numberNew 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 6:493df7718ecb 59 long int smpl_cnt = 0;
mfurukawa 0:4656a133ed1a 60 Ticker ticker;
mfurukawa 0:4656a133ed1a 61 Timer timer;
mfurukawa 0:4656a133ed1a 62
mfurukawa 3:70be84fad39e 63 #define SampleFreq 200 // [Hz]
mfurukawa 0:4656a133ed1a 64 #define nCh 4 // number of ch
mfurukawa 0:4656a133ed1a 65 #define baudRate 921600 //921600 / 115200
mfurukawa 0:4656a133ed1a 66
mfurukawa 0:4656a133ed1a 67 unsigned int counter = 0;
mfurukawa 0:4656a133ed1a 68 unsigned int usCycle = 1000000/SampleFreq ;
mfurukawa 0:4656a133ed1a 69
mfurukawa 0:4656a133ed1a 70 int errFlag = 0;
mfurukawa 0:4656a133ed1a 71
mfurukawa 0:4656a133ed1a 72 //define the mpu9250 object
mfurukawa 1:3bcd844dd707 73 mpu9250_spi *imu[nCh];
mfurukawa 0:4656a133ed1a 74
mfurukawa 0:4656a133ed1a 75 // define SPI object for imu objects
mfurukawa 1:3bcd844dd707 76 SPI spi1(p5, p6, p7);
mfurukawa 1:3bcd844dd707 77 SPI spi2(p11, p12, p13);
mfurukawa 1:3bcd844dd707 78 // pins already used for SPI Chip selector pin
mfurukawa 1:3bcd844dd707 79 // p21, p23, p29, p30
mfurukawa 1:3bcd844dd707 80
mfurukawa 1:3bcd844dd707 81 // Servo Motor Control
mfurukawa 1:3bcd844dd707 82 PwmOut pwm_(p22);
mfurukawa 1:3bcd844dd707 83
mfurukawa 1:3bcd844dd707 84 // M-Series Random Sequence
mfurukawa 2:3470f2c07582 85 Mseries m;
mfurukawa 1:3bcd844dd707 86
mfurukawa 3:70be84fad39e 87 #define BINARY_MODE 0
mfurukawa 3:70be84fad39e 88 #define ASCII_MODE 1
mfurukawa 3:70be84fad39e 89 int send_mode = BINARY_MODE;
mfurukawa 0:4656a133ed1a 90
mfurukawa 6:493df7718ecb 91 #define CSV_TITLE_COLMUN "smpl_cnt,time[sec],accX,accY,accZ,gyroX,gyroY,gyroZ,magX,magY,magZ,accX,accY,accZ,gyroX,gyroY,gyroZ,magX,magY,magZ,\r\n"
mfurukawa 6:493df7718ecb 92
mfurukawa 0:4656a133ed1a 93
mfurukawa 3:70be84fad39e 94 void servo_test(void)
mfurukawa 3:70be84fad39e 95 {
mfurukawa 3:70be84fad39e 96 while(1) {
mfurukawa 3:70be84fad39e 97 if(m.update())
mfurukawa 3:70be84fad39e 98 pwm_.pulsewidth_us(KST_SERVO_USEC_MIN);
mfurukawa 3:70be84fad39e 99 else
mfurukawa 3:70be84fad39e 100 pwm_.pulsewidth_us(KST_SERVO_USEC_90);
mfurukawa 3:70be84fad39e 101 wait(.5);
mfurukawa 0:4656a133ed1a 102
mfurukawa 3:70be84fad39e 103 }
mfurukawa 3:70be84fad39e 104 }
mfurukawa 3:70be84fad39e 105 void init_sensor(void)
mfurukawa 3:70be84fad39e 106 {
mfurukawa 0:4656a133ed1a 107 for(int i=0; i<nCh; i++) {
mfurukawa 0:4656a133ed1a 108
mfurukawa 0:4656a133ed1a 109 imu[0]->deselect();
mfurukawa 0:4656a133ed1a 110 imu[1]->deselect();
mfurukawa 0:4656a133ed1a 111 imu[2]->deselect();
mfurukawa 0:4656a133ed1a 112 imu[3]->deselect();
mfurukawa 0:4656a133ed1a 113
mfurukawa 0:4656a133ed1a 114 imu[i]->select();
mfurukawa 0:4656a133ed1a 115
mfurukawa 0:4656a133ed1a 116 //INIT the mpu9250
mfurukawa 0:4656a133ed1a 117 //if(imu[i]->init(1,BITS_DLPF_CFG_188HZ))
mfurukawa 3:70be84fad39e 118 if(imu[i]->init(1,BITS_DLPF_CFG_5HZ)) {
mfurukawa 3:70be84fad39e 119 //if(imu[i]->init(1,BITS_DLPF_CFG_256HZ_NOLPF2)) {
mfurukawa 0:4656a133ed1a 120 printf("\nCH %d\n\nCouldn't initialize MPU9250 via SPI!", i+1);
mfurukawa 0:4656a133ed1a 121 wait(90);
mfurukawa 0:4656a133ed1a 122 }
mfurukawa 0:4656a133ed1a 123
mfurukawa 0:4656a133ed1a 124 //output the I2C address to know if SPI is working, it should be 104
mfurukawa 0:4656a133ed1a 125 printf("\nCH %d\nWHOAMI = 0x%2x\n",i+1, imu[i]->whoami());
mfurukawa 0:4656a133ed1a 126
mfurukawa 0:4656a133ed1a 127 if(imu[i]->whoami() != 0x71) {
mfurukawa 0:4656a133ed1a 128 printf(" *** ERROR *** acc and gyro sensor does not respond correctly!\n");
mfurukawa 0:4656a133ed1a 129 errFlag |= 0x01<<(i*2);
mfurukawa 6:493df7718ecb 130
mfurukawa 3:70be84fad39e 131 if(i==0||i==2) LED_flash_error_notice(i);
mfurukawa 0:4656a133ed1a 132 continue;
mfurukawa 0:4656a133ed1a 133 }
mfurukawa 0:4656a133ed1a 134
mfurukawa 3:70be84fad39e 135 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 136 wait_ms(20);
mfurukawa 0:4656a133ed1a 137
mfurukawa 3:70be84fad39e 138 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 139 wait_ms(20);
mfurukawa 0:4656a133ed1a 140
mfurukawa 0:4656a133ed1a 141 printf("AK8963 WHIAM = 0x%2x\n",imu[i]->AK8963_whoami());
mfurukawa 0:4656a133ed1a 142
mfurukawa 0:4656a133ed1a 143 if(imu[i]->AK8963_whoami() != 0x48) {
mfurukawa 0:4656a133ed1a 144 printf(" *** ERROR *** magnetrometer does not respond correctly!\n");
mfurukawa 0:4656a133ed1a 145 errFlag |= 0x02<<(i*2);
mfurukawa 6:493df7718ecb 146
mfurukawa 3:70be84fad39e 147 if(i==0||i==2) LED_flash_error_notice(i);
mfurukawa 0:4656a133ed1a 148 continue;
mfurukawa 0:4656a133ed1a 149 }
mfurukawa 6:493df7718ecb 150
mfurukawa 5:521f1c79123d 151 imu[i]->calib_acc();
mfurukawa 5:521f1c79123d 152 wait_ms(100);
mfurukawa 5:521f1c79123d 153 printf("Calibrated Acc\n");
mfurukawa 6:493df7718ecb 154
mfurukawa 0:4656a133ed1a 155 imu[i]->AK8963_calib_Magnetometer();
mfurukawa 0:4656a133ed1a 156 wait_ms(100);
mfurukawa 0:4656a133ed1a 157 printf("Calibrated Magnetrometer\n");
mfurukawa 0:4656a133ed1a 158 }
mfurukawa 1:3bcd844dd707 159
mfurukawa 3:70be84fad39e 160 }
mfurukawa 1:3bcd844dd707 161
mfurukawa 3:70be84fad39e 162 void init(void)
mfurukawa 3:70be84fad39e 163 {
mfurukawa 2:3470f2c07582 164 // servo requires a 20ms period
mfurukawa 2:3470f2c07582 165 pwm_.period_ms(20);
mfurukawa 1:3bcd844dd707 166
mfurukawa 3:70be84fad39e 167 pc.baud(baudRate);
mfurukawa 3:70be84fad39e 168
mfurukawa 3:70be84fad39e 169 printf("\nrev Feb 1, 2021 for Magnetrometer by Masahiro Furukawa\n");
mfurukawa 1:3bcd844dd707 170
mfurukawa 3:70be84fad39e 171 imu[3] = new mpu9250_spi(spi2, p21);
mfurukawa 3:70be84fad39e 172 imu[2] = new mpu9250_spi(spi2, p23);
mfurukawa 3:70be84fad39e 173 imu[1] = new mpu9250_spi(spi1, p29);
mfurukawa 3:70be84fad39e 174 imu[0] = new mpu9250_spi(spi1, p30);
mfurukawa 3:70be84fad39e 175
mfurukawa 3:70be84fad39e 176 init_sensor();
mfurukawa 3:70be84fad39e 177
mfurukawa 3:70be84fad39e 178 // servo_test();
mfurukawa 6:493df7718ecb 179
mfurukawa 3:70be84fad39e 180 printf("\nHit Key [t] to start. Hit Key [r] to finish. [s] for binary sending.\n");
mfurukawa 3:70be84fad39e 181
mfurukawa 6:493df7718ecb 182 // fixed channel usage (only Ch1, Ch3 is connected)
mfurukawa 6:493df7718ecb 183 imu[0]->select(); // Ch1
mfurukawa 6:493df7718ecb 184 imu[1]->deselect();
mfurukawa 6:493df7718ecb 185 imu[2]->select(); // Ch3
mfurukawa 6:493df7718ecb 186 imu[3]->deselect();
mfurukawa 6:493df7718ecb 187
mfurukawa 0:4656a133ed1a 188 }
mfurukawa 0:4656a133ed1a 189
mfurukawa 0:4656a133ed1a 190 void eventFunc(void)
mfurukawa 0:4656a133ed1a 191 {
mfurukawa 6:493df7718ecb 192 int t_ms = timer.read_ms() - 5; // initial call takes 5ms
mfurukawa 6:493df7718ecb 193
mfurukawa 0:4656a133ed1a 194 // limitation on sending bytes at 921600bps - 92bits(under 100us/sample)
mfurukawa 0:4656a133ed1a 195 // requirement : 1kHz sampling
mfurukawa 0:4656a133ed1a 196 // = 921.5 bits/sample
mfurukawa 0:4656a133ed1a 197 // = 115.1 bytes/sample
mfurukawa 0:4656a133ed1a 198 // = 50 bytes/axis (2byte/axis)
mfurukawa 0:4656a133ed1a 199
mfurukawa 0:4656a133ed1a 200 // 2 byte * 6 axes * 4 ch = 48 bytes/sample
mfurukawa 0:4656a133ed1a 201
mfurukawa 5:521f1c79123d 202 // imu[0]->read_acc();
mfurukawa 5:521f1c79123d 203 // imu[0]->read_rot();
mfurukawa 5:521f1c79123d 204 // imu[0]->AK8963_read_Magnetometer();
mfurukawa 5:521f1c79123d 205 //
mfurukawa 5:521f1c79123d 206 // imu[2]->read_acc();
mfurukawa 5:521f1c79123d 207 // imu[2]->read_rot();
mfurukawa 5:521f1c79123d 208 // imu[2]->AK8963_read_Magnetometer();
mfurukawa 6:493df7718ecb 209
mfurukawa 6:493df7718ecb 210 // measurement step takes 3ms
mfurukawa 5:521f1c79123d 211 imu[0]->read_all();
mfurukawa 5:521f1c79123d 212 imu[2]->read_all();
mfurukawa 6:493df7718ecb 213
mfurukawa 3:70be84fad39e 214 // imu[0]->deselect();
mfurukawa 3:70be84fad39e 215 // imu[1]->select();
mfurukawa 3:70be84fad39e 216 // imu[2]->deselect();
mfurukawa 3:70be84fad39e 217 // imu[3]->select();
mfurukawa 3:70be84fad39e 218
mfurukawa 3:70be84fad39e 219 // imu[1]->read_acc();
mfurukawa 3:70be84fad39e 220 // imu[1]->read_rot();
mfurukawa 3:70be84fad39e 221 // imu[1]->AK8963_read_Magnetometer();
mfurukawa 3:70be84fad39e 222
mfurukawa 3:70be84fad39e 223 // imu[3]->read_acc();
mfurukawa 3:70be84fad39e 224 // imu[3]->read_rot();
mfurukawa 3:70be84fad39e 225 // imu[3]->AK8963_read_Magnetometer();
mfurukawa 3:70be84fad39e 226
mfurukawa 3:70be84fad39e 227 switch(send_mode) {
mfurukawa 0:4656a133ed1a 228
mfurukawa 3:70be84fad39e 229 case ASCII_MODE:
mfurukawa 6:493df7718ecb 230 printf("%ld,",smpl_cnt++);
mfurukawa 6:493df7718ecb 231 printf("%1.3f,",t_ms/1000.0f);
mfurukawa 3:70be84fad39e 232 for(int i=0; i<3; i+=2) {
mfurukawa 6:493df7718ecb 233 for(int j=0; j<3; j++) printf("%1.3f,",imu[i]->accelerometer_data[j]);
mfurukawa 6:493df7718ecb 234 for(int j=0; j<3; j++) printf("%1.3f,",imu[i]->gyroscope_data[j]);
mfurukawa 6:493df7718ecb 235 for(int j=0; j<3; j++) printf("%1.3f,",imu[i]->Magnetometer[j] / 1000.0f);
mfurukawa 3:70be84fad39e 236 }
mfurukawa 5:521f1c79123d 237 // printf("[mT]");
mfurukawa 3:70be84fad39e 238 break;
mfurukawa 0:4656a133ed1a 239
mfurukawa 3:70be84fad39e 240 case BINARY_MODE:
mfurukawa 3:70be84fad39e 241
mfurukawa 6:493df7718ecb 242 // TO BE IMPLEMENTED ...
mfurukawa 6:493df7718ecb 243 // for(int i=0; i<3; i+=2) {
mfurukawa 6:493df7718ecb 244 // for(int j=0; j<6; j++) putc(imu[i]->accelerometer_response[j], stdout);
mfurukawa 6:493df7718ecb 245 // for(int j=0; j<6; j++) putc(imu[i]->gyroscope_response[j], stdout);
mfurukawa 6:493df7718ecb 246 // }
mfurukawa 3:70be84fad39e 247 break;
mfurukawa 0:4656a133ed1a 248 }
mfurukawa 0:4656a133ed1a 249
mfurukawa 0:4656a133ed1a 250 putc(13, stdout); //0x0d CR（復帰）
mfurukawa 0:4656a133ed1a 251 putc(10, stdout); //0x0a LF（改行）
mfurukawa 0:4656a133ed1a 252 }
mfurukawa 0:4656a133ed1a 253
mfurukawa 0:4656a133ed1a 254 int main()
mfurukawa 0:4656a133ed1a 255 {
mfurukawa 0:4656a133ed1a 256 // make instances and check sensors
mfurukawa 0:4656a133ed1a 257 init();
mfurukawa 0:4656a133ed1a 258
mfurukawa 0:4656a133ed1a 259 char c;
mfurukawa 0:4656a133ed1a 260
mfurukawa 0:4656a133ed1a 261 while(1) {
mfurukawa 0:4656a133ed1a 262 if(pc.readable()) {
mfurukawa 0:4656a133ed1a 263 c = pc.getc();
mfurukawa 0:4656a133ed1a 264
mfurukawa 3:70be84fad39e 265 switch(c) {
mfurukawa 3:70be84fad39e 266 case 'r':
mfurukawa 3:70be84fad39e 267 ticker.detach();
mfurukawa 6:493df7718ecb 268 timer.stop();
mfurukawa 6:493df7718ecb 269 smpl_cnt = 0;
mfurukawa 3:70be84fad39e 270 break;
mfurukawa 3:70be84fad39e 271
mfurukawa 3:70be84fad39e 272 case 'R':
mfurukawa 6:493df7718ecb 273 smpl_cnt = 0;
mfurukawa 3:70be84fad39e 274 init_sensor();
mfurukawa 6:493df7718ecb 275 timer.stop();
mfurukawa 6:493df7718ecb 276 timer.reset();
mfurukawa 3:70be84fad39e 277 break;
mfurukawa 6:493df7718ecb 278
mfurukawa 3:70be84fad39e 279 case 't':
mfurukawa 7:a711da20a262 280 printf(CSV_TITLE_COLMUN);
mfurukawa 6:493df7718ecb 281 smpl_cnt = 0;
mfurukawa 6:493df7718ecb 282 timer.reset();
mfurukawa 6:493df7718ecb 283 timer.start();
mfurukawa 3:70be84fad39e 284 send_mode = ASCII_MODE;
mfurukawa 6:493df7718ecb 285 ticker.attach_us(eventFunc, 1000000/SampleFreq);
mfurukawa 6:493df7718ecb 286 break;
mfurukawa 6:493df7718ecb 287
mfurukawa 6:493df7718ecb 288 case 'c':
mfurukawa 6:493df7718ecb 289 printf(CSV_TITLE_COLMUN);
mfurukawa 3:70be84fad39e 290 break;
mfurukawa 3:70be84fad39e 291
mfurukawa 3:70be84fad39e 292 case 's':
mfurukawa 6:493df7718ecb 293 smpl_cnt = 0;
mfurukawa 6:493df7718ecb 294 timer.reset();
mfurukawa 6:493df7718ecb 295 timer.start();
mfurukawa 3:70be84fad39e 296 send_mode = BINARY_MODE;
mfurukawa 6:493df7718ecb 297 ticker.attach_us(eventFunc, 1000000/SampleFreq);
mfurukawa 3:70be84fad39e 298 break;
mfurukawa 0:4656a133ed1a 299 }
mfurukawa 0:4656a133ed1a 300 }
mfurukawa 0:4656a133ed1a 301 }
mfurukawa 0:4656a133ed1a 302 }