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

Diff: M-Series.h

Branch:
MPU-9250-MagSensServo
Revision:
8:07c3cb01a5b6
Parent:
2:3470f2c07582
Child:
9:b32312aacbba
--- a/M-Series.h	Tue Feb 02 15:44:38 2021 +0000
+++ b/M-Series.h	Tue Feb 02 17:12:57 2021 +0000
@@ -6,7 +6,12 @@
 
 // m-sequence
 // https://okasho-engineer.com/m-sequence/
-
+//
+// Maximum-Length Tap Position and Number of taps
+// http://wista.jp/M-Seq.htm
+//
+// 既約多項式
+// https://www.nagoya-bunri.ac.jp//~t-ymzm/rand/rand_mseq4.html
 
 #ifndef __M_SERIES_H__
 #define __M_SERIES_H__
@@ -23,6 +28,11 @@
 public:
     Mseries()
     {
+        init();
+    }
+
+    void init(void)
+    {
         // the following initial values are not validated
         M[0] = 0;
         M[1] = 0;
@@ -41,23 +51,50 @@
         M[14] = 0;
         M[15] = 1;
 
-        // the following initial values are not validated
-        H[0] = 1;
+        // Maximum-Length Tap Position and Number of taps
+        // http://www5b.biglobe.ne.jp/~pisan/radio-Msequence.htm
+        //
+        H[0] = 1; 
         H[1] = 0;
-        H[2] = 0;
-        H[3] = 1;
-        H[4] = 1;
+        H[2] = 1;
+        H[3] = 0;
+        
+        H[4] = 0; 
         H[5] = 0;
         H[6] = 0;
-        H[7] = 1;
-        H[8] = 1;
-        H[9] = 0;
+        H[7] = 0;
+        
+        H[8]  = 0; 
+        H[9]  = 0;
         H[10] = 0;
         H[11] = 1;
-        H[12] = 1;
+        
+        H[12] = 0;
         H[13] = 0;
         H[14] = 0;
         H[15] = 1;
+        //
+//        
+//        // 0806(HEX) = [latest] 0001 1111 0101 0000 (2) [oldest]
+//        H[0] = 0; // 0000 (oldest)
+//        H[1] = 0;
+//        H[2] = 0;
+//        H[3] = 0;
+//        
+//        H[4] = 1; // 0101
+//        H[5] = 0;
+//        H[6] = 1;
+//        H[7] = 0;
+//        
+//        H[8]  = 1; // 1111 
+//        H[9]  = 1;
+//        H[10] = 1;
+//        H[11] = 1;
+//        
+//        H[12] = 1; // 0001 
+//        H[13] = 0;
+//        H[14] = 0;
+//        H[15] = 0;
     }
 
     uint8_t update(void)