hiroya taura / Mbed 2 deprecated LAURUS_program

MPU6050のサンプルプログラム２

Dependencies:   ConfigFile SDFileSystem mbed

Fork of LAURUS_program by LAURUS

main.cpp@5:182f6356bce1, 2015-06-11 (annotated)

Committer:
ojan
Date:
Thu Jun 11 17:40:39 2015 +0000
Revision:
5:182f6356bce1
Parent:
4:45dc5590abc0
Child:
6:2b68f85a984a
add Battery meter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ojan 0:bc6f14fc60c7 1 #include "mbed.h"
ojan 0:bc6f14fc60c7 2 #include "MPU6050.h"
ojan 0:bc6f14fc60c7 3 #include "HMC5883L.h"
ojan 0:bc6f14fc60c7 4 #include "LPS25H.h"
ojan 1:6cd6d2760856 5 #include "GMS6_CR6.h"
ojan 0:bc6f14fc60c7 6 #include "ErrorLogger.h"
ojan 0:bc6f14fc60c7 7 #include "Vector.h"
ojan 3:5358a691a100 8 #include "Matrix.h"
ojan 3:5358a691a100 9 #include "Vector_Matrix_operator.h"
ojan 0:bc6f14fc60c7 10 #include "myConstants.h"
ojan 3:5358a691a100 11 #include "Log.h"
ojan 0:bc6f14fc60c7 12
ojan 0:bc6f14fc60c7 13 /********** private define **********/
ojan 0:bc6f14fc60c7 14 #define TRUE 1
ojan 0:bc6f14fc60c7 15 #define FALSE 0
ojan 0:bc6f14fc60c7 16 /********** private macro **********/
ojan 1:6cd6d2760856 17
ojan 0:bc6f14fc60c7 18 /********** private typedef **********/
ojan 1:6cd6d2760856 19
ojan 0:bc6f14fc60c7 20 /********** private variables **********/
ojan 4:45dc5590abc0 21 DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力
ojan 4:45dc5590abc0 22 I2C i2c(PB_9, PB_8); // I2Cポート
ojan 1:6cd6d2760856 23 MPU6050 mpu(&i2c); // 加速度・角速度センサ
ojan 1:6cd6d2760856 24 HMC5883L hmc(&i2c); // 地磁気センサ
ojan 1:6cd6d2760856 25 LPS25H lps(&i2c); // 気圧センサ
ojan 3:5358a691a100 26 Serial gps(PA_11, PA_12); // GPS通信用シリアルポート
ojan 1:6cd6d2760856 27 Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート
ojan 1:6cd6d2760856 28 GMS6_CR6 gms(&gps, &pc); // GPS
ojan 3:5358a691a100 29 Ticker INT_timer; // 割り込みタイマー
ojan 4:45dc5590abc0 30 Log logger(PA_9, PA_10, PC_1, PB_5, PB_4, PB_3, PB_10); // ロガー（microSD、XBee）
ojan 5:182f6356bce1 31 PwmOut servoL(PC_7), servoR(PB_6);
ojan 5:182f6356bce1 32 AnalogIn rf(PC_0);
ojan 5:182f6356bce1 33 AnalogIn servoVcc(PA_0);
ojan 5:182f6356bce1 34 AnalogIn logicVcc(PA_1);
ojan 5:182f6356bce1 35
ojan 0:bc6f14fc60c7 36
ojan 3:5358a691a100 37 const float dt = 0.1f; // 割り込み周期（s）
ojan 0:bc6f14fc60c7 38
ojan 0:bc6f14fc60c7 39 int lps_cnt = 0; // 気圧センサ読み取りカウント
ojan 3:5358a691a100 40 uint8_t INT_flag = TRUE; // 割り込み可否フラグ
ojan 4:45dc5590abc0 41 Vector raw_acc(3); // 加速度(m/s^2) 生
ojan 4:45dc5590abc0 42 Vector raw_gyro(3); // 角速度(deg/s) 生
ojan 4:45dc5590abc0 43 Vector raw_geomag(3); // 地磁気(?) 生
ojan 4:45dc5590abc0 44 float raw_press; // 気圧(hPa) 生
ojan 1:6cd6d2760856 45 Vector acc(3); // 加速度(m/s^2)
ojan 1:6cd6d2760856 46 Vector gyro(3); // 角速度(deg/s)
ojan 1:6cd6d2760856 47 Vector geomag(3); // 地磁気(?)
ojan 0:bc6f14fc60c7 48 float press; // 気圧(hPa)
ojan 1:6cd6d2760856 49
ojan 4:45dc5590abc0 50 Vector raw_g(3); // 重力ベクトル 生
ojan 4:45dc5590abc0 51 Vector g(3); // 重力ベクトル 生
ojan 3:5358a691a100 52 //Vector n(3); // 地磁気ベクトル
ojan 3:5358a691a100 53
ojan 3:5358a691a100 54 /* ----- Kalman Filter ----- */
ojan 3:5358a691a100 55 Vector pri_x(6);
ojan 3:5358a691a100 56 Matrix pri_P(6, 6);
ojan 3:5358a691a100 57 Vector post_x(6);
ojan 3:5358a691a100 58 Matrix post_P(6, 6);
ojan 3:5358a691a100 59 Matrix F(6, 6), H(3, 6);
ojan 3:5358a691a100 60 Matrix R(6, 6), Q(3, 3);
ojan 3:5358a691a100 61 Matrix I(6, 6);
ojan 3:5358a691a100 62 Matrix K(6, 3);
ojan 3:5358a691a100 63 Matrix S(3, 3), inv(3, 3);
ojan 3:5358a691a100 64 /* ----- ------------- ----- */
ojan 3:5358a691a100 65
ojan 3:5358a691a100 66 Timer timer;
ojan 3:5358a691a100 67
ojan 3:5358a691a100 68 char data[1024] = {};
ojan 1:6cd6d2760856 69
ojan 0:bc6f14fc60c7 70 /********** private functions **********/
ojan 4:45dc5590abc0 71 void KalmanInit(); // カルマンフィルタ初期化
ojan 4:45dc5590abc0 72 void KalmanUpdate(); // カルマンフィルタ更新
ojan 0:bc6f14fc60c7 73 void INT_func(); // 割り込み用関数
ojan 3:5358a691a100 74 void toString(Matrix& m);
ojan 3:5358a691a100 75 void toString(Vector& v);
ojan 1:6cd6d2760856 76
ojan 0:bc6f14fc60c7 77 /********** main function **********/
ojan 0:bc6f14fc60c7 78
ojan 0:bc6f14fc60c7 79 int main() {
ojan 0:bc6f14fc60c7 80
ojan 0:bc6f14fc60c7 81 i2c.frequency(400000); // I2Cの通信速度を400kHzに設定
ojan 0:bc6f14fc60c7 82
ojan 0:bc6f14fc60c7 83 if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化
ojan 0:bc6f14fc60c7 84 if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化
ojan 0:bc6f14fc60c7 85
ojan 4:45dc5590abc0 86 char* title = "log data\r\n"; // ログのタイトル行
ojan 4:45dc5590abc0 87 if(!logger.initialize_sdlog(title)) return 0; // ログファイル初期設定
ojan 3:5358a691a100 88
ojan 3:5358a691a100 89 KalmanInit();
ojan 3:5358a691a100 90
ojan 3:5358a691a100 91 INT_timer.attach(&INT_func, dt); // 割り込み有効化（Freq = 0.01fなので、10msおきの割り込み）
ojan 1:6cd6d2760856 92
ojan 1:6cd6d2760856 93 //重力ベクトルの初期化
ojan 4:45dc5590abc0 94 raw_g.SetComp(1, 0.0f);
ojan 4:45dc5590abc0 95 raw_g.SetComp(2, 0.0f);
ojan 4:45dc5590abc0 96 raw_g.SetComp(3, 1.0f);
ojan 0:bc6f14fc60c7 97
ojan 2:d2b60a1d0cd9 98 /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */
ojan 0:bc6f14fc60c7 99 while(1) {
ojan 4:45dc5590abc0 100 timer.stop();
ojan 4:45dc5590abc0 101 timer.reset();
ojan 4:45dc5590abc0 102 timer.start();
ojan 3:5358a691a100 103 // 0.1秒おきにセンサーの出力をpcへ出力
ojan 4:45dc5590abc0 104 myled = 1; // LED is ON
ojan 4:45dc5590abc0 105 wait(0.05f); // 50 ms
ojan 4:45dc5590abc0 106 myled = 0; // LED is OFF
ojan 1:6cd6d2760856 107
ojan 0:bc6f14fc60c7 108 INT_flag = FALSE; // 割り込みによる変数書き換えを阻止
ojan 0:bc6f14fc60c7 109
ojan 5:182f6356bce1 110 float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f;
ojan 5:182f6356bce1 111 float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f;
ojan 5:182f6356bce1 112
ojan 5:182f6356bce1 113 sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n",
ojan 5:182f6356bce1 114 g.GetComp(1), g.GetComp(2), g.GetComp(3),
ojan 4:45dc5590abc0 115 geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3),
ojan 5:182f6356bce1 116 press, gms.longitude, gms.latitude,
ojan 5:182f6356bce1 117 sv, lv, gms.Ns);
ojan 3:5358a691a100 118 logger.puts(data);
ojan 4:45dc5590abc0 119
ojan 0:bc6f14fc60c7 120 INT_flag = TRUE; // 割り込み許可
ojan 0:bc6f14fc60c7 121
ojan 4:45dc5590abc0 122 pc.printf("time: %.3f[s]\r\n", (float)timer.read_ms()/1000.0f);
ojan 4:45dc5590abc0 123
ojan 5:182f6356bce1 124 // 制御ルーチン
ojan 5:182f6356bce1 125 {
ojan 5:182f6356bce1 126 }
ojan 5:182f6356bce1 127
ojan 5:182f6356bce1 128
ojan 4:45dc5590abc0 129 // ループはきっかり1秒ごと
ojan 4:45dc5590abc0 130 while(timer.read_ms() < 1000);
ojan 4:45dc5590abc0 131
ojan 0:bc6f14fc60c7 132 }
ojan 2:d2b60a1d0cd9 133
ojan 2:d2b60a1d0cd9 134 /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */
ojan 0:bc6f14fc60c7 135 }
ojan 0:bc6f14fc60c7 136
ojan 3:5358a691a100 137 void KalmanInit() {
ojan 3:5358a691a100 138
ojan 3:5358a691a100 139 // 誤差共分散行列の値を決める（対角成分のみ）
ojan 3:5358a691a100 140 float alpha_R = 60.0f;
ojan 3:5358a691a100 141 float alpha_Q = 100.0f;
ojan 3:5358a691a100 142 R *= alpha_R;
ojan 3:5358a691a100 143 Q *= alpha_Q;
ojan 3:5358a691a100 144
ojan 3:5358a691a100 145 // 状態方程式のヤコビアンの初期値を代入（時間変化あり）
ojan 3:5358a691a100 146 float f[36] = {
ojan 4:45dc5590abc0 147 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 148 -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 149 raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 150 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 151 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 152 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 153 };
ojan 3:5358a691a100 154
ojan 3:5358a691a100 155 F.SetComps(f);
ojan 3:5358a691a100 156
ojan 3:5358a691a100 157 // 観測方程式のヤコビアンの値を設定（時間変化無し）
ojan 3:5358a691a100 158 float h[18] = {
ojan 3:5358a691a100 159 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 160 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 161 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 162 };
ojan 3:5358a691a100 163
ojan 3:5358a691a100 164 H.SetComps(h);
ojan 3:5358a691a100 165 }
ojan 3:5358a691a100 166
ojan 3:5358a691a100 167 void KalmanUpdate() {
ojan 3:5358a691a100 168 // ヤコビアンの更新
ojan 3:5358a691a100 169 float f[36] = {
ojan 4:45dc5590abc0 170 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 171 -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 172 raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 173 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 174 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 175 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 176 };
ojan 3:5358a691a100 177
ojan 3:5358a691a100 178 F.SetComps(f);
ojan 3:5358a691a100 179
ojan 3:5358a691a100 180 // 事前推定値の更新
ojan 3:5358a691a100 181 pri_x = F * post_x;
ojan 3:5358a691a100 182 // 事前誤差分散行列の更新
ojan 3:5358a691a100 183 pri_P = F * post_P * F.Transpose() + R;
ojan 3:5358a691a100 184
ojan 3:5358a691a100 185 // カルマンゲインの計算
ojan 3:5358a691a100 186 S = Q + H * pri_P * H.Transpose();
ojan 3:5358a691a100 187 float det;
ojan 3:5358a691a100 188 if((det = S.Inverse(inv)) >= 0.0f) {
ojan 3:5358a691a100 189 pc.printf("E:%.3f\r\n", det);
ojan 3:5358a691a100 190 return; // 万が一、逆行列が見つからなかった場合は前回の推定値を保持して終了
ojan 3:5358a691a100 191 }
ojan 3:5358a691a100 192 K = pri_P * H.Transpose() * inv;
ojan 3:5358a691a100 193
ojan 3:5358a691a100 194 // 事後推定値の更新
ojan 4:45dc5590abc0 195 post_x = pri_x + K * (raw_geomag - H * pri_x);
ojan 3:5358a691a100 196 // 事後誤差分散行列の更新
ojan 3:5358a691a100 197 post_P = (I - K * H) * pri_P;
ojan 3:5358a691a100 198 }
ojan 3:5358a691a100 199
ojan 0:bc6f14fc60c7 200 void INT_func() {
ojan 4:45dc5590abc0 201 // センサーの値を更新
ojan 4:45dc5590abc0 202 mpu.read();
ojan 4:45dc5590abc0 203 hmc.read();
ojan 4:45dc5590abc0 204
ojan 4:45dc5590abc0 205 for(int i=0; i<3; i++) {
ojan 4:45dc5590abc0 206 raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G);
ojan 4:45dc5590abc0 207 raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD);
ojan 4:45dc5590abc0 208 raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS);
ojan 4:45dc5590abc0 209 }
ojan 0:bc6f14fc60c7 210
ojan 4:45dc5590abc0 211 Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g
ojan 4:45dc5590abc0 212 raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ
ojan 4:45dc5590abc0 213 raw_g = raw_g.Normalize();
ojan 4:45dc5590abc0 214
ojan 4:45dc5590abc0 215 KalmanUpdate();
ojan 0:bc6f14fc60c7 216
ojan 4:45dc5590abc0 217 // LPS25Hによる気圧の取得は10Hz
ojan 4:45dc5590abc0 218 lps_cnt = (lps_cnt+1)%10;
ojan 4:45dc5590abc0 219 if(lps_cnt == 0) {
ojan 4:45dc5590abc0 220 raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA;
ojan 4:45dc5590abc0 221 }
ojan 4:45dc5590abc0 222 //pc.printf("%d(us)\r\n", timer.read_us());
ojan 4:45dc5590abc0 223
ojan 4:45dc5590abc0 224 if(INT_flag != FALSE) {
ojan 4:45dc5590abc0 225 g = raw_g;
ojan 4:45dc5590abc0 226 for(int i=0; i<3; i++) {
ojan 4:45dc5590abc0 227 geomag.SetComp(i+1, post_x.GetComp(i+1));
ojan 4:45dc5590abc0 228 }
ojan 4:45dc5590abc0 229 acc = raw_acc;
ojan 4:45dc5590abc0 230 gyro = raw_gyro;
ojan 4:45dc5590abc0 231 press = raw_press;
ojan 1:6cd6d2760856 232
ojan 0:bc6f14fc60c7 233 }
ojan 3:5358a691a100 234 }
ojan 3:5358a691a100 235
ojan 3:5358a691a100 236 void toString(Matrix& m) {
ojan 3:5358a691a100 237
ojan 3:5358a691a100 238 for(int i=0; i<m.GetRow(); i++) {
ojan 3:5358a691a100 239 for(int j=0; j<m.GetCol(); j++) {
ojan 3:5358a691a100 240 pc.printf("%.6f\t", m.GetComp(i+1, j+1));
ojan 3:5358a691a100 241 }
ojan 3:5358a691a100 242 pc.printf("\r\n");
ojan 3:5358a691a100 243 }
ojan 3:5358a691a100 244
ojan 3:5358a691a100 245 }
ojan 3:5358a691a100 246
ojan 3:5358a691a100 247 void toString(Vector& v) {
ojan 3:5358a691a100 248
ojan 3:5358a691a100 249 for(int i=0; i<v.GetDim(); i++) {
ojan 3:5358a691a100 250 pc.printf("%.6f\t", v.GetComp(i+1));
ojan 3:5358a691a100 251 }
ojan 3:5358a691a100 252 pc.printf("\r\n");
ojan 3:5358a691a100 253
ojan 0:bc6f14fc60c7 254 }