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: main.cpp

Branch:
MPU-9250-MagSensServo
Revision:
6:493df7718ecb
Parent:
5:521f1c79123d
Child:
7:a711da20a262
--- a/main.cpp	Tue Feb 02 15:04:04 2021 +0000
+++ b/main.cpp	Tue Feb 02 15:39:02 2021 +0000
@@ -56,6 +56,7 @@
 // define serial objects
 Serial          pc(USBTX, USBRX);
 
+long int        smpl_cnt = 0;
 Ticker          ticker;
 Timer           timer;
 
@@ -87,6 +88,8 @@
 #define ASCII_MODE  1
 int send_mode = BINARY_MODE;
 
+#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"
+
 
 void servo_test(void)
 {
@@ -124,7 +127,7 @@
         if(imu[i]->whoami() != 0x71) {
             printf(" *** ERROR *** acc and gyro sensor does not respond correctly!\n");
             errFlag |= 0x01<<(i*2);
-            
+
             if(i==0||i==2) LED_flash_error_notice(i);
             continue;
         }
@@ -140,15 +143,15 @@
         if(imu[i]->AK8963_whoami() != 0x48) {
             printf(" *** ERROR *** magnetrometer does not respond correctly!\n");
             errFlag |= 0x02<<(i*2);
-            
+
             if(i==0||i==2) LED_flash_error_notice(i);
             continue;
         }
-        
+
         imu[i]->calib_acc();
         wait_ms(100);
         printf("Calibrated Acc\n");
-        
+
         imu[i]->AK8963_calib_Magnetometer();
         wait_ms(100);
         printf("Calibrated Magnetrometer\n");
@@ -173,13 +176,21 @@
     init_sensor();
 
     // servo_test();
-    
+
     printf("\nHit Key [t] to start.  Hit Key [r] to finish. [s] for binary sending.\n");
 
+    // fixed channel usage (only Ch1, Ch3 is connected)
+    imu[0]->select();       // Ch1
+    imu[1]->deselect();
+    imu[2]->select();       // Ch3
+    imu[3]->deselect();
+
 }
 
 void eventFunc(void)
 {
+    int t_ms = timer.read_ms() - 5; // initial call takes 5ms
+    
     // limitation on sending bytes at 921600bps - 92bits(under 100us/sample)
     // requirement : 1kHz sampling
     // = 921.5 bits/sample
@@ -188,11 +199,6 @@
 
     // 2 byte * 6 axes * 4 ch = 48 bytes/sample
 
-    imu[0]->select();
-    imu[1]->deselect();
-    imu[2]->select();
-    imu[3]->deselect();
-
 //    imu[0]->read_acc();
 //    imu[0]->read_rot();
 //    imu[0]->AK8963_read_Magnetometer();
@@ -200,10 +206,11 @@
 //    imu[2]->read_acc();
 //    imu[2]->read_rot();
 //    imu[2]->AK8963_read_Magnetometer();
-    
+
+    //  measurement step takes 3ms
     imu[0]->read_all();
     imu[2]->read_all();
-    
+
 //    imu[0]->deselect();
 //    imu[1]->select();
 //    imu[2]->deselect();
@@ -220,21 +227,23 @@
     switch(send_mode) {
 
         case ASCII_MODE:
-
+            printf("%ld,",smpl_cnt++);
+            printf("%1.3f,",t_ms/1000.0f);
             for(int i=0; i<3; i+=2) {
-                for(int j=0; j<3; j++) printf("a:%1.3f,",imu[i]->accelerometer_data[j]);
-                for(int j=0; j<3; j++) printf("g:%1.3f,",imu[i]->gyroscope_data[j]);
-                for(int j=0; j<3; j++) printf("m:%1.3f,",imu[i]->Magnetometer[j] / 1000.0f);
+                for(int j=0; j<3; j++) printf("%1.3f,",imu[i]->accelerometer_data[j]);
+                for(int j=0; j<3; j++) printf("%1.3f,",imu[i]->gyroscope_data[j]);
+                for(int j=0; j<3; j++) printf("%1.3f,",imu[i]->Magnetometer[j] / 1000.0f);
             }
 //            printf("[mT]");
             break;
 
         case BINARY_MODE:
 
-            for(int i=0; i<3; i+=2) {
-                for(int j=0; j<6; j++) putc(imu[i]->accelerometer_response[j], stdout);
-                for(int j=0; j<6; j++) putc(imu[i]->gyroscope_response[j],     stdout);
-            }
+            // TO BE IMPLEMENTED ...
+//            for(int i=0; i<3; i+=2) {
+//                for(int j=0; j<6; j++) putc(imu[i]->accelerometer_response[j], stdout);
+//                for(int j=0; j<6; j++) putc(imu[i]->gyroscope_response[j],     stdout);
+//            }
             break;
     }
 
@@ -256,20 +265,35 @@
             switch(c) {
                 case 'r':
                     ticker.detach();
+                    timer.stop();
+                    smpl_cnt = 0;
                     break;
 
                 case 'R':
+                    smpl_cnt = 0;
                     init_sensor();
+                    timer.stop();
+                    timer.reset();
                     break;
-                    
+
                 case 't':
+                    smpl_cnt = 0;
+                    timer.reset();
+                    timer.start();
                     send_mode = ASCII_MODE;
-                    ticker.attach_us(eventFunc, 1000000.0f/SampleFreq);
+                    ticker.attach_us(eventFunc, 1000000/SampleFreq);
+                    break;
+
+                case 'c':
+                    printf(CSV_TITLE_COLMUN);
                     break;
 
                 case 's':
+                    smpl_cnt = 0;
+                    timer.reset();
+                    timer.start();
                     send_mode = BINARY_MODE;
-                    ticker.attach_us(eventFunc, 1000000.0f/SampleFreq);
+                    ticker.attach_us(eventFunc, 1000000/SampleFreq);
                     break;
             }
         }