Masahiro Furukawa
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
Diff: main.cpp
- Branch:
- MPU-9250-MagSensServo
- Revision:
- 5:521f1c79123d
- Parent:
- 4:e1d7947336f4
- Child:
- 6:493df7718ecb
--- a/main.cpp Tue Feb 02 14:29:33 2021 +0000
+++ b/main.cpp Tue Feb 02 15:04:04 2021 +0000
@@ -144,7 +144,11 @@
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");
@@ -189,14 +193,17 @@
imu[2]->select();
imu[3]->deselect();
- imu[0]->read_acc();
- imu[0]->read_rot();
- imu[0]->AK8963_read_Magnetometer();
-
- imu[2]->read_acc();
- imu[2]->read_rot();
- imu[2]->AK8963_read_Magnetometer();
-
+// imu[0]->read_acc();
+// imu[0]->read_rot();
+// imu[0]->AK8963_read_Magnetometer();
+//
+// imu[2]->read_acc();
+// imu[2]->read_rot();
+// imu[2]->AK8963_read_Magnetometer();
+
+ imu[0]->read_all();
+ imu[2]->read_all();
+
// imu[0]->deselect();
// imu[1]->select();
// imu[2]->deselect();
@@ -210,15 +217,16 @@
// imu[3]->read_rot();
// imu[3]->AK8963_read_Magnetometer();
-
switch(send_mode) {
case ASCII_MODE:
for(int i=0; i<3; i+=2) {
- for(int j=0; j<3; j++) printf("%1.3f, ",imu[i]->Magnetometer[j] / 1000.0f);
+ 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);
}
- printf("[mT]");
+// printf("[mT]");
break;
case BINARY_MODE: