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: M-Series.h
- Branch:
- MPU-9250-MagSensServo
- Revision:
- 1:3bcd844dd707
- Child:
- 2:3470f2c07582
diff -r 4656a133ed1a -r 3bcd844dd707 M-Series.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/M-Series.h Tue Feb 02 13:43:21 2021 +0000
@@ -0,0 +1,89 @@
+//
+// M-Series Random Sequence Generator
+//
+// Masahiro Furukawa, m.furukawa@ist.osaka-u.ac.jp
+// Feb 2, 2021
+
+// m-sequence
+// https://okasho-engineer.com/m-sequence/
+
+
+#ifndef __M_SERIES_H__
+#define __M_SERIES_H__
+
+#define MSeries_N 16
+
+// m-series definition
+class Mseries
+{
+private:
+ uint8_t M[MSeries_N];
+ uint8_t H[MSeries_N];
+
+public:
+ Mseries()
+ {
+
+ // the following initial values are not validated
+ M[0] = 0;
+ M[1] = 0;
+ M[2] = 0;
+ M[3] = 1;
+ M[4] = 0;
+ M[5] = 0;
+ M[6] = 0;
+ M[7] = 1;
+ M[8] = 0;
+ M[9] = 0;
+ M[10] = 0;
+ M[11] = 1;
+ M[12] = 0;
+ M[13] = 0;
+ M[14] = 0;
+ M[15] = 1;
+
+ // the following initial values are not validated
+ H[0] = 1;
+ H[1] = 0;
+ H[2] = 0;
+ H[3] = 1;
+ H[4] = 1;
+ H[5] = 0;
+ H[6] = 0;
+ H[7] = 1;
+ H[8] = 1;
+ H[9] = 0;
+ H[10] = 0;
+ H[11] = 1;
+ H[12] = 1;
+ H[13] = 0;
+ H[14] = 0;
+ H[15] = 1;
+ }
+
+ uint8_t update(void)
+ {
+ // update M-series
+ uint8_t Mtmp = M[0] * H[0];
+
+ // one left-shifting on ring buffer
+ M[0] = M[1];
+
+ // take sequential XOR on the entire sequence
+ for (int i = 1 ; i < MSeries_N - 1 ; i++) {
+ // XOR
+ Mtmp = (Mtmp + M[i] * H[i]) % 2;
+
+ // one left-shifting on ring buffer
+ M[i] = M[i + 1];
+ }
+
+ // store the latest value at the last
+ M[MSeries_N - 1] = Mtmp;
+
+ return Mtmp;
+ }
+};
+
+
+#endif // __M_SERIES_H__
\ No newline at end of file