Revision 17:0a0c4277d960, committed 2016-10-28

Comitter:

YusukeWakuta

Date:

Fri Oct 28 15:08:14 2016 +0000

Branch:

7_????????????

Parent:

11:90e2b070f337

Child:

18:fa3f9ba17af8

Commit message:

#7 mpu???????????

Changed in this revision

--- a/MPU6050.h	Thu Oct 27 15:56:19 2016 +0000
+++ b/MPU6050.h	Fri Oct 28 15:08:14 2016 +0000
@@ -133,6 +133,9 @@
 #define MPU6050_ADDRESS 0x68<<1  // Device address when ADO = 0
 #endif
 
+//自分で定義したマクロ
+#define MPU_DELT_MIN 250
+
 // Set initial input parameters
 enum Ascale {
   AFS_2G = 0,
@@ -151,6 +154,8 @@
 // Specify sensor full scale
 int Gscale = GFS_250DPS;
 int Ascale = AFS_2G;
+float sum = 0;
+uint32_t sumCount = 0;
 
 //Set up I2C, (SDA,SCL)
 I2C i2c(p28,p27);
@@ -224,6 +229,65 @@
     }
 } 
  
+ void MPUInit(Timer t){
+      i2c.frequency(400000);  // use fast (400 kHz) I2C
+    t.start();
+    uint8_t whoami = readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
+    if (whoami == 0x68) { // WHO_AM_I should always be 0x68
+        wait(1);
+        MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+        wait(1);
+        if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
+            resetMPU6050(); // Reset registers to default in preparation for device calibration
+            calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+            initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+            wait(2);
+        } else {
+        }
+    } else {
+        //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
+    }   
+     }
+     
+     void mpuProcessing(Timer t){
+    if(readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
+        readAccelData(accelCount);  // Read the x/y/z adc values
+        getAres();
+        ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
+        ay = (float)accelCount[1]*aRes - accelBias[1];
+        az = (float)accelCount[2]*aRes - accelBias[2];
+        readGyroData(gyroCount);  // Read the x/y/z adc values
+        getGres();
+        gx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
+        gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
+        gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
+        tempCount = readTempData();  // Read the x/y/z adc values
+        temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+    }
+    Now = t.read_us();
+    deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+    lastUpdate = Now;
+    sum += deltat;
+    sumCount++;
+    if(lastUpdate - firstUpdate > 10000000.0f) {
+        beta = 0.04;  // decrease filter gain after stabilized
+        zeta = 0.015; // increasey bias drift gain after stabilized
+    }
+    MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
+    delt_t = t.read_ms() - count;
+    if (delt_t > MPU_DELT_MIN) {
+        yaw   = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+        pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+        roll  = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+        pitch *= 180.0f / PI;
+        yaw   *= 180.0f / PI;
+        roll  *= 180.0f / PI;
+        myled= !myled;
+        count = t.read_ms();
+        sum = 0;
+        sumCount = 0;
+    }
+}
 
 void getGres() {
   switch (Gscale)

--- a/main.cpp	Thu Oct 27 15:56:19 2016 +0000
+++ b/main.cpp	Fri Oct 28 15:08:14 2016 +0000
@@ -1,4 +1,5 @@
 //計器プログラム
+
 #include "mbed.h"
 #include "Fusokukei.h"
 #include "MPU6050.h"
@@ -13,7 +14,6 @@
 #define WRITE_DATAS_LOOP_TIME 1
 #define ROLL_R_MAX_DEG 2
 #define ROLL_L_MAX_DEG 2
-#define MPU_DELT_MIN 250
 #define SD_WRITE_NUM 10
 #define INIT_SERVO_PERIOD_MS 20
 
@@ -28,8 +28,7 @@
 Fusokukei air;
 volatile int air_kaitensu= 0;
 
-float sum = 0;
-uint32_t sumCount = 0;
+
 MPU6050 mpu6050;
 Timer t;
 Ticker mpu6050Ticker;
@@ -58,8 +57,6 @@
 void call_calcAirSpeed();
 void init();
 void FusokukeiInit();
-void MpuInit();
-void mpuProcessing();
 void SdInit();
 void DataReceiveFromSouda();
 void WriteDatas();
@@ -81,7 +78,7 @@
     kisokuServo.period_ms(INIT_SERVO_PERIOD_MS);
     geikakuServo.period_ms(INIT_SERVO_PERIOD_MS);
     FusokukeiInit();
-    MpuInit(); 
+    mpu6050.MPUInit(t); 
     SdInit();
     //writeDatasTicker.attach(&WriteDatas,1);
     //soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq);
@@ -92,71 +89,13 @@
     FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
 }
 
-void MpuInit(){
-    i2c.frequency(400000);  // use fast (400 kHz) I2C
-    t.start();
-    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
-    if (whoami == 0x68) { // WHO_AM_I should always be 0x68
-        wait(1);
-        mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
-        wait(1);
-        if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
-            mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
-            mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
-            mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
-            wait(2);
-        } else {
-        }
-    } else {
-        //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
-    }   
-}
+
 
 double calcPulse(int deg){
     return (0.0006+(deg/180.0)*(0.00235-0.00045));
 
 }
 
-void mpuProcessing(){
-    if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
-        mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
-        mpu6050.getAres();
-        ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
-        ay = (float)accelCount[1]*aRes - accelBias[1];
-        az = (float)accelCount[2]*aRes - accelBias[2];
-        mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
-        mpu6050.getGres();
-        gx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
-        gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
-        gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
-        tempCount = mpu6050.readTempData();  // Read the x/y/z adc values
-        temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
-    }
-    Now = t.read_us();
-    deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
-    lastUpdate = Now;
-    sum += deltat;
-    sumCount++;
-    if(lastUpdate - firstUpdate > 10000000.0f) {
-        beta = 0.04;  // decrease filter gain after stabilized
-        zeta = 0.015; // increasey bias drift gain after stabilized
-    }
-    mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
-    delt_t = t.read_ms() - count;
-    if (delt_t > MPU_DELT_MIN) {
-        yaw   = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
-        pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
-        roll  = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
-        pitch *= 180.0f / PI;
-        yaw   *= 180.0f / PI;
-        roll  *= 180.0f / PI;
-        myled= !myled;
-        count = t.read_ms();
-        sum = 0;
-        sumCount = 0;
-    }
-}
-
 void SdInit(){
     mkdir("/sd/mydir", 0777);
     fp = fopen("/sd/mydir/sdtest2.csv", "w");
@@ -277,7 +216,7 @@
     init();
     while(1){
         pc.printf("test\n\r");
-        mpuProcessing();
+        mpu6050.mpuProcessing(t);
         RollAlarm();
         DataReceiveFromSouda();
         WriteDatas();