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@4:45dc5590abc0, 2015-06-11 (annotated)

Committer:
ojan
Date:
Thu Jun 11 15:43:07 2015 +0000
Revision:
4:45dc5590abc0
Parent:
3:5358a691a100
Child:
5:182f6356bce1
add flow control

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 4:45dc5590abc0 31 DigitalIn cts(PC_1);
ojan 0:bc6f14fc60c7 32
ojan 3:5358a691a100 33 const float dt = 0.1f; // 割り込み周期（s）
ojan 0:bc6f14fc60c7 34
ojan 0:bc6f14fc60c7 35 int lps_cnt = 0; // 気圧センサ読み取りカウント
ojan 3:5358a691a100 36 uint8_t INT_flag = TRUE; // 割り込み可否フラグ
ojan 4:45dc5590abc0 37 Vector raw_acc(3); // 加速度(m/s^2) 生
ojan 4:45dc5590abc0 38 Vector raw_gyro(3); // 角速度(deg/s) 生
ojan 4:45dc5590abc0 39 Vector raw_geomag(3); // 地磁気(?) 生
ojan 4:45dc5590abc0 40 float raw_press; // 気圧(hPa) 生
ojan 1:6cd6d2760856 41 Vector acc(3); // 加速度(m/s^2)
ojan 1:6cd6d2760856 42 Vector gyro(3); // 角速度(deg/s)
ojan 1:6cd6d2760856 43 Vector geomag(3); // 地磁気(?)
ojan 0:bc6f14fc60c7 44 float press; // 気圧(hPa)
ojan 1:6cd6d2760856 45
ojan 4:45dc5590abc0 46 Vector raw_g(3); // 重力ベクトル 生
ojan 4:45dc5590abc0 47 Vector g(3); // 重力ベクトル 生
ojan 3:5358a691a100 48 //Vector n(3); // 地磁気ベクトル
ojan 3:5358a691a100 49
ojan 3:5358a691a100 50 /* ----- Kalman Filter ----- */
ojan 3:5358a691a100 51 Vector pri_x(6);
ojan 3:5358a691a100 52 Matrix pri_P(6, 6);
ojan 3:5358a691a100 53 Vector post_x(6);
ojan 3:5358a691a100 54 Matrix post_P(6, 6);
ojan 3:5358a691a100 55 Matrix F(6, 6), H(3, 6);
ojan 3:5358a691a100 56 Matrix R(6, 6), Q(3, 3);
ojan 3:5358a691a100 57 Matrix I(6, 6);
ojan 3:5358a691a100 58 Matrix K(6, 3);
ojan 3:5358a691a100 59 Matrix S(3, 3), inv(3, 3);
ojan 3:5358a691a100 60 /* ----- ------------- ----- */
ojan 3:5358a691a100 61
ojan 3:5358a691a100 62 Timer timer;
ojan 3:5358a691a100 63
ojan 3:5358a691a100 64 char data[1024] = {};
ojan 1:6cd6d2760856 65
ojan 0:bc6f14fc60c7 66 /********** private functions **********/
ojan 4:45dc5590abc0 67 void KalmanInit(); // カルマンフィルタ初期化
ojan 4:45dc5590abc0 68 void KalmanUpdate(); // カルマンフィルタ更新
ojan 0:bc6f14fc60c7 69 void INT_func(); // 割り込み用関数
ojan 3:5358a691a100 70 void toString(Matrix& m);
ojan 3:5358a691a100 71 void toString(Vector& v);
ojan 1:6cd6d2760856 72
ojan 0:bc6f14fc60c7 73 /********** main function **********/
ojan 0:bc6f14fc60c7 74
ojan 0:bc6f14fc60c7 75 int main() {
ojan 0:bc6f14fc60c7 76
ojan 0:bc6f14fc60c7 77 i2c.frequency(400000); // I2Cの通信速度を400kHzに設定
ojan 0:bc6f14fc60c7 78
ojan 0:bc6f14fc60c7 79 if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化
ojan 0:bc6f14fc60c7 80 if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化
ojan 0:bc6f14fc60c7 81
ojan 4:45dc5590abc0 82 char* title = "log data\r\n"; // ログのタイトル行
ojan 4:45dc5590abc0 83 if(!logger.initialize_sdlog(title)) return 0; // ログファイル初期設定
ojan 3:5358a691a100 84
ojan 3:5358a691a100 85 KalmanInit();
ojan 3:5358a691a100 86
ojan 3:5358a691a100 87 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 88
ojan 1:6cd6d2760856 89 //重力ベクトルの初期化
ojan 4:45dc5590abc0 90 raw_g.SetComp(1, 0.0f);
ojan 4:45dc5590abc0 91 raw_g.SetComp(2, 0.0f);
ojan 4:45dc5590abc0 92 raw_g.SetComp(3, 1.0f);
ojan 0:bc6f14fc60c7 93
ojan 2:d2b60a1d0cd9 94 /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */
ojan 0:bc6f14fc60c7 95 while(1) {
ojan 4:45dc5590abc0 96 timer.stop();
ojan 4:45dc5590abc0 97 timer.reset();
ojan 4:45dc5590abc0 98 timer.start();
ojan 3:5358a691a100 99 // 0.1秒おきにセンサーの出力をpcへ出力
ojan 4:45dc5590abc0 100 myled = 1; // LED is ON
ojan 4:45dc5590abc0 101 wait(0.05f); // 50 ms
ojan 4:45dc5590abc0 102 myled = 0; // LED is OFF
ojan 1:6cd6d2760856 103
ojan 0:bc6f14fc60c7 104 INT_flag = FALSE; // 割り込みによる変数書き換えを阻止
ojan 0:bc6f14fc60c7 105
ojan 4:45dc5590abc0 106 sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n",
ojan 3:5358a691a100 107 acc.GetComp(1), acc.GetComp(2), acc.GetComp(3),
ojan 3:5358a691a100 108 gyro.GetComp(1), gyro.GetComp(2), gyro.GetComp(3),
ojan 4:45dc5590abc0 109 geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3),
ojan 4:45dc5590abc0 110 press, gms.longitude, gms.latitude);
ojan 3:5358a691a100 111 logger.puts(data);
ojan 4:45dc5590abc0 112
ojan 0:bc6f14fc60c7 113 INT_flag = TRUE; // 割り込み許可
ojan 0:bc6f14fc60c7 114
ojan 4:45dc5590abc0 115 pc.printf("time: %.3f[s]\r\n", (float)timer.read_ms()/1000.0f);
ojan 4:45dc5590abc0 116
ojan 4:45dc5590abc0 117 // ループはきっかり1秒ごと
ojan 4:45dc5590abc0 118 while(timer.read_ms() < 1000);
ojan 4:45dc5590abc0 119
ojan 0:bc6f14fc60c7 120 }
ojan 2:d2b60a1d0cd9 121
ojan 2:d2b60a1d0cd9 122 /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */
ojan 0:bc6f14fc60c7 123 }
ojan 0:bc6f14fc60c7 124
ojan 3:5358a691a100 125 void KalmanInit() {
ojan 3:5358a691a100 126
ojan 3:5358a691a100 127 // 誤差共分散行列の値を決める（対角成分のみ）
ojan 3:5358a691a100 128 float alpha_R = 60.0f;
ojan 3:5358a691a100 129 float alpha_Q = 100.0f;
ojan 3:5358a691a100 130 R *= alpha_R;
ojan 3:5358a691a100 131 Q *= alpha_Q;
ojan 3:5358a691a100 132
ojan 3:5358a691a100 133 // 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 134 float f[36] = {
ojan 4:45dc5590abc0 135 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 136 -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 137 raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 138 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 139 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 140 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 141 };
ojan 3:5358a691a100 142
ojan 3:5358a691a100 143 F.SetComps(f);
ojan 3:5358a691a100 144
ojan 3:5358a691a100 145 // 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 146 float h[18] = {
ojan 3:5358a691a100 147 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 148 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 149 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 150 };
ojan 3:5358a691a100 151
ojan 3:5358a691a100 152 H.SetComps(h);
ojan 3:5358a691a100 153 }
ojan 3:5358a691a100 154
ojan 3:5358a691a100 155 void KalmanUpdate() {
ojan 3:5358a691a100 156 // ヤコビアンの更新
ojan 3:5358a691a100 157 float f[36] = {
ojan 4:45dc5590abc0 158 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 159 -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 160 raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 161 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 162 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 163 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 164 };
ojan 3:5358a691a100 165
ojan 3:5358a691a100 166 F.SetComps(f);
ojan 3:5358a691a100 167
ojan 3:5358a691a100 168 // 事前推定値の更新
ojan 3:5358a691a100 169 pri_x = F * post_x;
ojan 3:5358a691a100 170 // 事前誤差分散行列の更新
ojan 3:5358a691a100 171 pri_P = F * post_P * F.Transpose() + R;
ojan 3:5358a691a100 172
ojan 3:5358a691a100 173 // カルマンゲインの計算
ojan 3:5358a691a100 174 S = Q + H * pri_P * H.Transpose();
ojan 3:5358a691a100 175 float det;
ojan 3:5358a691a100 176 if((det = S.Inverse(inv)) >= 0.0f) {
ojan 3:5358a691a100 177 pc.printf("E:%.3f\r\n", det);
ojan 3:5358a691a100 178 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 179 }
ojan 3:5358a691a100 180 K = pri_P * H.Transpose() * inv;
ojan 3:5358a691a100 181
ojan 3:5358a691a100 182 // 事後推定値の更新
ojan 4:45dc5590abc0 183 post_x = pri_x + K * (raw_geomag - H * pri_x);
ojan 3:5358a691a100 184 // 事後誤差分散行列の更新
ojan 3:5358a691a100 185 post_P = (I - K * H) * pri_P;
ojan 3:5358a691a100 186 }
ojan 3:5358a691a100 187
ojan 0:bc6f14fc60c7 188 void INT_func() {
ojan 4:45dc5590abc0 189 // センサーの値を更新
ojan 4:45dc5590abc0 190 mpu.read();
ojan 4:45dc5590abc0 191 hmc.read();
ojan 4:45dc5590abc0 192
ojan 4:45dc5590abc0 193 for(int i=0; i<3; i++) {
ojan 4:45dc5590abc0 194 raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G);
ojan 4:45dc5590abc0 195 raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD);
ojan 4:45dc5590abc0 196 raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS);
ojan 4:45dc5590abc0 197 }
ojan 0:bc6f14fc60c7 198
ojan 4:45dc5590abc0 199 Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g
ojan 4:45dc5590abc0 200 raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ
ojan 4:45dc5590abc0 201 raw_g = raw_g.Normalize();
ojan 4:45dc5590abc0 202
ojan 4:45dc5590abc0 203 KalmanUpdate();
ojan 0:bc6f14fc60c7 204
ojan 4:45dc5590abc0 205 // LPS25Hによる気圧の取得は10Hz
ojan 4:45dc5590abc0 206 lps_cnt = (lps_cnt+1)%10;
ojan 4:45dc5590abc0 207 if(lps_cnt == 0) {
ojan 4:45dc5590abc0 208 raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA;
ojan 4:45dc5590abc0 209 }
ojan 4:45dc5590abc0 210 //pc.printf("%d(us)\r\n", timer.read_us());
ojan 4:45dc5590abc0 211
ojan 4:45dc5590abc0 212 //pc.printf("PC_1 = %d\r\n", (int)cts);
ojan 4:45dc5590abc0 213 //pc.printf("test\r\n");
ojan 4:45dc5590abc0 214
ojan 4:45dc5590abc0 215 if(INT_flag != FALSE) {
ojan 4:45dc5590abc0 216 g = raw_g;
ojan 4:45dc5590abc0 217 for(int i=0; i<3; i++) {
ojan 4:45dc5590abc0 218 geomag.SetComp(i+1, post_x.GetComp(i+1));
ojan 4:45dc5590abc0 219 }
ojan 4:45dc5590abc0 220 acc = raw_acc;
ojan 4:45dc5590abc0 221 gyro = raw_gyro;
ojan 4:45dc5590abc0 222 press = raw_press;
ojan 1:6cd6d2760856 223
ojan 0:bc6f14fc60c7 224 }
ojan 3:5358a691a100 225 }
ojan 3:5358a691a100 226
ojan 3:5358a691a100 227 void toString(Matrix& m) {
ojan 3:5358a691a100 228
ojan 3:5358a691a100 229 for(int i=0; i<m.GetRow(); i++) {
ojan 3:5358a691a100 230 for(int j=0; j<m.GetCol(); j++) {
ojan 3:5358a691a100 231 pc.printf("%.6f\t", m.GetComp(i+1, j+1));
ojan 3:5358a691a100 232 }
ojan 3:5358a691a100 233 pc.printf("\r\n");
ojan 3:5358a691a100 234 }
ojan 3:5358a691a100 235
ojan 3:5358a691a100 236 }
ojan 3:5358a691a100 237
ojan 3:5358a691a100 238 void toString(Vector& v) {
ojan 3:5358a691a100 239
ojan 3:5358a691a100 240 for(int i=0; i<v.GetDim(); i++) {
ojan 3:5358a691a100 241 pc.printf("%.6f\t", v.GetComp(i+1));
ojan 3:5358a691a100 242 }
ojan 3:5358a691a100 243 pc.printf("\r\n");
ojan 3:5358a691a100 244
ojan 0:bc6f14fc60c7 245 }