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@0:4656a133ed1a, 2021-02-01 (annotated)
- Committer:
- mfurukawa
- Date:
- Mon Feb 01 17:11:03 2021 +0000
- Revision:
- 0:4656a133ed1a
- Child:
- 1:3bcd844dd707
initial commit;
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 | 0:4656a133ed1a | 12 | * Feb 1, 2021 @Magnetro Meter Ch1 |
mfurukawa | 0:4656a133ed1a | 13 | * |
mfurukawa | 0:4656a133ed1a | 14 | * MPU9250 9DoF Sensor (Extended to Ch1 ~ Ch4) |
mfurukawa | 0:4656a133ed1a | 15 | * |
mfurukawa | 0:4656a133ed1a | 16 | **/ |
mfurukawa | 0:4656a133ed1a | 17 | |
mfurukawa | 0:4656a133ed1a | 18 | /* |
mfurukawa | 0:4656a133ed1a | 19 | https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf |
mfurukawa | 0:4656a133ed1a | 20 | |
mfurukawa | 0:4656a133ed1a | 21 | 3.3 Magnetometer Specifications |
mfurukawa | 0:4656a133ed1a | 22 | |
mfurukawa | 0:4656a133ed1a | 23 | Typical Operating Circuit of section 4.2, |
mfurukawa | 0:4656a133ed1a | 24 | VDD = 2.5V, |
mfurukawa | 0:4656a133ed1a | 25 | VDDIO = 2.5V, |
mfurukawa | 0:4656a133ed1a | 26 | TA=25°C, unless otherwise noted. |
mfurukawa | 0:4656a133ed1a | 27 | |
mfurukawa | 0:4656a133ed1a | 28 | PARAMETER CONDITIONS MIN TYP MAX UNITS |
mfurukawa | 0:4656a133ed1a | 29 | MAGNETOMETER SENSITIVITY |
mfurukawa | 0:4656a133ed1a | 30 | Full-Scale Range ±4800 µT |
mfurukawa | 0:4656a133ed1a | 31 | ADC Word Length 14 bits |
mfurukawa | 0:4656a133ed1a | 32 | Sensitivity Scale Factor 0.6 µT / LSB |
mfurukawa | 0:4656a133ed1a | 33 | ZERO-FIELD OUTPUT |
mfurukawa | 0:4656a133ed1a | 34 | Initial Calibration Tolerance ±500 LSB |
mfurukawa | 0:4656a133ed1a | 35 | */ |
mfurukawa | 0:4656a133ed1a | 36 | |
mfurukawa | 0:4656a133ed1a | 37 | |
mfurukawa | 0:4656a133ed1a | 38 | #include "mbed.h" |
mfurukawa | 0:4656a133ed1a | 39 | #include "MPU9250.h" |
mfurukawa | 0:4656a133ed1a | 40 | |
mfurukawa | 0:4656a133ed1a | 41 | /* MPU9250 Library |
mfurukawa | 0:4656a133ed1a | 42 | * |
mfurukawa | 0:4656a133ed1a | 43 | * https://developer.mbed.org/users/kylongmu/code/MPU9250_SPI_Test/file/5839d1b118bc/main.cpp |
mfurukawa | 0:4656a133ed1a | 44 | * |
mfurukawa | 0:4656a133ed1a | 45 | * MOSI (Master Out Slave In) p5 |
mfurukawa | 0:4656a133ed1a | 46 | * MISO (Master In Slave Out p6 |
mfurukawa | 0:4656a133ed1a | 47 | * SCK (Serial Clock) p7 |
mfurukawa | 0:4656a133ed1a | 48 | * ~CS (Chip Select) p8 -> p30 |
mfurukawa | 0:4656a133ed1a | 49 | */ |
mfurukawa | 0:4656a133ed1a | 50 | |
mfurukawa | 0:4656a133ed1a | 51 | // define serial objects |
mfurukawa | 0:4656a133ed1a | 52 | Serial pc(USBTX, USBRX); |
mfurukawa | 0:4656a133ed1a | 53 | |
mfurukawa | 0:4656a133ed1a | 54 | Ticker ticker; |
mfurukawa | 0:4656a133ed1a | 55 | Timer timer; |
mfurukawa | 0:4656a133ed1a | 56 | |
mfurukawa | 0:4656a133ed1a | 57 | #define SampleFreq 20 // [Hz] |
mfurukawa | 0:4656a133ed1a | 58 | #define nCh 4 // number of ch |
mfurukawa | 0:4656a133ed1a | 59 | #define baudRate 921600 //921600 / 115200 |
mfurukawa | 0:4656a133ed1a | 60 | |
mfurukawa | 0:4656a133ed1a | 61 | unsigned int counter = 0; |
mfurukawa | 0:4656a133ed1a | 62 | unsigned int usCycle = 1000000/SampleFreq ; |
mfurukawa | 0:4656a133ed1a | 63 | |
mfurukawa | 0:4656a133ed1a | 64 | int errFlag = 0; |
mfurukawa | 0:4656a133ed1a | 65 | |
mfurukawa | 0:4656a133ed1a | 66 | //define the mpu9250 object |
mfurukawa | 0:4656a133ed1a | 67 | mpu9250_spi *imu[nCh]; |
mfurukawa | 0:4656a133ed1a | 68 | |
mfurukawa | 0:4656a133ed1a | 69 | // define SPI object for imu objects |
mfurukawa | 0:4656a133ed1a | 70 | SPI spi1(p5, p6, p7); |
mfurukawa | 0:4656a133ed1a | 71 | SPI spi2(p11, p12, p13); |
mfurukawa | 0:4656a133ed1a | 72 | |
mfurukawa | 0:4656a133ed1a | 73 | void init(void) |
mfurukawa | 0:4656a133ed1a | 74 | { |
mfurukawa | 0:4656a133ed1a | 75 | pc.baud(baudRate); |
mfurukawa | 0:4656a133ed1a | 76 | |
mfurukawa | 0:4656a133ed1a | 77 | printf("\nrev Feb 1, 2021 for Magnetrometer by Masahiro Furukawa\n\n"); |
mfurukawa | 0:4656a133ed1a | 78 | |
mfurukawa | 0:4656a133ed1a | 79 | imu[3] = new mpu9250_spi(spi2, p21); |
mfurukawa | 0:4656a133ed1a | 80 | imu[2] = new mpu9250_spi(spi2, p23); |
mfurukawa | 0:4656a133ed1a | 81 | imu[1] = new mpu9250_spi(spi1, p29); |
mfurukawa | 0:4656a133ed1a | 82 | imu[0] = new mpu9250_spi(spi1, p30); |
mfurukawa | 0:4656a133ed1a | 83 | for(int i=0; i<nCh; i++) { |
mfurukawa | 0:4656a133ed1a | 84 | |
mfurukawa | 0:4656a133ed1a | 85 | imu[0]->deselect(); |
mfurukawa | 0:4656a133ed1a | 86 | imu[1]->deselect(); |
mfurukawa | 0:4656a133ed1a | 87 | imu[2]->deselect(); |
mfurukawa | 0:4656a133ed1a | 88 | imu[3]->deselect(); |
mfurukawa | 0:4656a133ed1a | 89 | |
mfurukawa | 0:4656a133ed1a | 90 | imu[i]->select(); |
mfurukawa | 0:4656a133ed1a | 91 | |
mfurukawa | 0:4656a133ed1a | 92 | //INIT the mpu9250 |
mfurukawa | 0:4656a133ed1a | 93 | //if(imu[i]->init(1,BITS_DLPF_CFG_188HZ)) |
mfurukawa | 0:4656a133ed1a | 94 | //if(imu[i]->init(1,BITS_DLPF_CFG_5HZ)) |
mfurukawa | 0:4656a133ed1a | 95 | if(imu[i]->init(1,BITS_DLPF_CFG_256HZ_NOLPF2)) { |
mfurukawa | 0:4656a133ed1a | 96 | printf("\nCH %d\n\nCouldn't initialize MPU9250 via SPI!", i+1); |
mfurukawa | 0:4656a133ed1a | 97 | wait(90); |
mfurukawa | 0:4656a133ed1a | 98 | } |
mfurukawa | 0:4656a133ed1a | 99 | |
mfurukawa | 0:4656a133ed1a | 100 | //output the I2C address to know if SPI is working, it should be 104 |
mfurukawa | 0:4656a133ed1a | 101 | printf("\nCH %d\nWHOAMI = 0x%2x\n",i+1, imu[i]->whoami()); |
mfurukawa | 0:4656a133ed1a | 102 | |
mfurukawa | 0:4656a133ed1a | 103 | if(imu[i]->whoami() != 0x71) { |
mfurukawa | 0:4656a133ed1a | 104 | printf(" *** ERROR *** acc and gyro sensor does not respond correctly!\n"); |
mfurukawa | 0:4656a133ed1a | 105 | errFlag |= 0x01<<(i*2); |
mfurukawa | 0:4656a133ed1a | 106 | continue; |
mfurukawa | 0:4656a133ed1a | 107 | } |
mfurukawa | 0:4656a133ed1a | 108 | |
mfurukawa | 0:4656a133ed1a | 109 | printf("Gyro_scale = %u[DPS]\n",imu[i]->set_gyro_scale(BITS_FS_500DPS)); //Set 500DPS scale range for gyros //0706 wada 500to2000 |
mfurukawa | 0:4656a133ed1a | 110 | wait_ms(20); |
mfurukawa | 0:4656a133ed1a | 111 | |
mfurukawa | 0:4656a133ed1a | 112 | printf("Acc_scale = %u[G]\n",imu[i]->set_acc_scale(BITS_FS_4G)); //Set 4G scale range for accs //0706 wada 4to16 |
mfurukawa | 0:4656a133ed1a | 113 | wait_ms(20); |
mfurukawa | 0:4656a133ed1a | 114 | |
mfurukawa | 0:4656a133ed1a | 115 | printf("AK8963 WHIAM = 0x%2x\n",imu[i]->AK8963_whoami()); |
mfurukawa | 0:4656a133ed1a | 116 | |
mfurukawa | 0:4656a133ed1a | 117 | if(imu[i]->AK8963_whoami() != 0x48) { |
mfurukawa | 0:4656a133ed1a | 118 | printf(" *** ERROR *** magnetrometer does not respond correctly!\n"); |
mfurukawa | 0:4656a133ed1a | 119 | errFlag |= 0x02<<(i*2); |
mfurukawa | 0:4656a133ed1a | 120 | continue; |
mfurukawa | 0:4656a133ed1a | 121 | } |
mfurukawa | 0:4656a133ed1a | 122 | |
mfurukawa | 0:4656a133ed1a | 123 | imu[i]->AK8963_calib_Magnetometer(); |
mfurukawa | 0:4656a133ed1a | 124 | wait_ms(100); |
mfurukawa | 0:4656a133ed1a | 125 | printf("Calibrated Magnetrometer\n"); |
mfurukawa | 0:4656a133ed1a | 126 | } |
mfurukawa | 0:4656a133ed1a | 127 | |
mfurukawa | 0:4656a133ed1a | 128 | |
mfurukawa | 0:4656a133ed1a | 129 | printf("\nHit Key [s] to start. Hit Key [r] to finish.\n"); |
mfurukawa | 0:4656a133ed1a | 130 | } |
mfurukawa | 0:4656a133ed1a | 131 | |
mfurukawa | 0:4656a133ed1a | 132 | void eventFunc(void) |
mfurukawa | 0:4656a133ed1a | 133 | { |
mfurukawa | 0:4656a133ed1a | 134 | // limitation on sending bytes at 921600bps - 92bits(under 100us/sample) |
mfurukawa | 0:4656a133ed1a | 135 | // requirement : 1kHz sampling |
mfurukawa | 0:4656a133ed1a | 136 | // = 921.5 bits/sample |
mfurukawa | 0:4656a133ed1a | 137 | // = 115.1 bytes/sample |
mfurukawa | 0:4656a133ed1a | 138 | // = 50 bytes/axis (2byte/axis) |
mfurukawa | 0:4656a133ed1a | 139 | |
mfurukawa | 0:4656a133ed1a | 140 | // 2 byte * 6 axes * 4 ch = 48 bytes/sample |
mfurukawa | 0:4656a133ed1a | 141 | |
mfurukawa | 0:4656a133ed1a | 142 | |
mfurukawa | 0:4656a133ed1a | 143 | imu[0]->select(); |
mfurukawa | 0:4656a133ed1a | 144 | imu[1]->deselect(); |
mfurukawa | 0:4656a133ed1a | 145 | imu[2]->select(); |
mfurukawa | 0:4656a133ed1a | 146 | imu[3]->deselect(); |
mfurukawa | 0:4656a133ed1a | 147 | |
mfurukawa | 0:4656a133ed1a | 148 | imu[0]->AK8963_read_Magnetometer(); |
mfurukawa | 0:4656a133ed1a | 149 | imu[2]->AK8963_read_Magnetometer(); |
mfurukawa | 0:4656a133ed1a | 150 | |
mfurukawa | 0:4656a133ed1a | 151 | imu[0]->deselect(); |
mfurukawa | 0:4656a133ed1a | 152 | imu[1]->select(); |
mfurukawa | 0:4656a133ed1a | 153 | imu[2]->deselect(); |
mfurukawa | 0:4656a133ed1a | 154 | imu[3]->select(); |
mfurukawa | 0:4656a133ed1a | 155 | |
mfurukawa | 0:4656a133ed1a | 156 | imu[1]->AK8963_read_Magnetometer(); |
mfurukawa | 0:4656a133ed1a | 157 | imu[3]->AK8963_read_Magnetometer(); |
mfurukawa | 0:4656a133ed1a | 158 | |
mfurukawa | 0:4656a133ed1a | 159 | for(int i=0; i<2; i++) { |
mfurukawa | 0:4656a133ed1a | 160 | for(int j=0; j<3; j++) printf("%1.3f, ",imu[i]->Magnetometer[j] / 1000.0f); |
mfurukawa | 0:4656a133ed1a | 161 | } |
mfurukawa | 0:4656a133ed1a | 162 | printf("[mT]"); |
mfurukawa | 0:4656a133ed1a | 163 | |
mfurukawa | 0:4656a133ed1a | 164 | putc(13, stdout); //0x0d CR(復帰) |
mfurukawa | 0:4656a133ed1a | 165 | putc(10, stdout); //0x0a LF(改行) |
mfurukawa | 0:4656a133ed1a | 166 | // printf("\r\n"); |
mfurukawa | 0:4656a133ed1a | 167 | |
mfurukawa | 0:4656a133ed1a | 168 | } |
mfurukawa | 0:4656a133ed1a | 169 | |
mfurukawa | 0:4656a133ed1a | 170 | int main() |
mfurukawa | 0:4656a133ed1a | 171 | { |
mfurukawa | 0:4656a133ed1a | 172 | // make instances and check sensors |
mfurukawa | 0:4656a133ed1a | 173 | init(); |
mfurukawa | 0:4656a133ed1a | 174 | |
mfurukawa | 0:4656a133ed1a | 175 | char c; |
mfurukawa | 0:4656a133ed1a | 176 | |
mfurukawa | 0:4656a133ed1a | 177 | while(1) { |
mfurukawa | 0:4656a133ed1a | 178 | if(pc.readable()) { |
mfurukawa | 0:4656a133ed1a | 179 | c = pc.getc(); |
mfurukawa | 0:4656a133ed1a | 180 | |
mfurukawa | 0:4656a133ed1a | 181 | if(c == 'r') { |
mfurukawa | 0:4656a133ed1a | 182 | ticker.detach(); |
mfurukawa | 0:4656a133ed1a | 183 | } else if(c == 's') { |
mfurukawa | 0:4656a133ed1a | 184 | ticker.attach_us(eventFunc, 1000000.0f/SampleFreq); |
mfurukawa | 0:4656a133ed1a | 185 | } |
mfurukawa | 0:4656a133ed1a | 186 | } |
mfurukawa | 0:4656a133ed1a | 187 | } |
mfurukawa | 0:4656a133ed1a | 188 | } |