From ff9ad4682d634147ed57ef343afc6550b2afaaad Mon Sep 17 00:00:00 2001 From: Samuel Date: Fri, 28 Oct 2022 23:35:26 +0200 Subject: [PATCH] Lecture de l'ADXRS453 OK --- acq_ADXRS453_5ms_filtre_0_001_enr02.csv | 99975 ++++++++++++++++++++++ acq_ADXRS453_5ms_no_filter_enr01.csv | 23346 +++++ acq_ADXRS453_5ms_no_filter_enr02.csv | 24933 ++++++ graph/ADXRS453_Filtre_10s.png | Bin 0 -> 59033 bytes graph_ADXRS453_enr01.gp | 11 + graph_ADXRS453_enr02.gp | 11 + graph_enr03.gp | 11 + graph_enr04.gp | 11 + gyro.c | 4 +- gyro_ADXRS453.c | 77 +- test.c | 6 +- 11 files changed, 148322 insertions(+), 63 deletions(-) create mode 100644 acq_ADXRS453_5ms_filtre_0_001_enr02.csv create mode 100644 acq_ADXRS453_5ms_no_filter_enr01.csv create mode 100644 acq_ADXRS453_5ms_no_filter_enr02.csv create mode 100644 graph/ADXRS453_Filtre_10s.png create mode 100644 graph_ADXRS453_enr01.gp create mode 100644 graph_ADXRS453_enr02.gp create mode 100644 graph_enr03.gp create mode 100644 graph_enr04.gp diff --git 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z1{Q~>ItdD9Vj_3QTe1(?3)jBLyN*R;<_D=h>(94p1`J1uDfS#l4~XDaxds1k(8?D_ zBNG(?eN&-y_B-FS_b==7+G2rASsV_63W^sd0dsP4AiS_F6+#pxEALebLar>CYtl3% zI>JAjKt0se((;LyJTU<`^`Lt>9uYNaGv+t`0G0jIr|V;!*i>Mz7Q8hl6&8A*CkzwA`NE(<&kom}t zOIcSNKp+w-z%Q(U(w^udW)g`+5@}^^u{Sd%1^*R5Jxn^1NF?o888FsF$8MRV=H(=X zwdygqfV+3$=LH4?uu54hOmy(`^Y^^(#}16@RRLj9Z6WqVt0WflXqVD2_gA^1IQFFl z8bSG|pC+gv)nq5d+aV= z-q^UfQcSyS2}CsvK=r7Cf+>>=rUk$_h|9>_D!;>gE@>81ew<2JZe4wSJXmd|RAVhb zJK<<>Cv~KAIabaK@lqVQ1={ML$?vD; vrC)VUZ_J9VhHYdlKME~^amc?k)D)Jrh(481Y!1|QWzbMPr$SIN`{h3YzoGvb literal 0 HcmV?d00001 diff --git a/graph_ADXRS453_enr01.gp b/graph_ADXRS453_enr01.gp new file mode 100644 index 0000000..3041061 --- /dev/null +++ b/graph_ADXRS453_enr01.gp @@ -0,0 +1,11 @@ +set title "ADXRS453 - Axe Z\nT_{acq} : 5 ms - sans filtre" + +set xlabel "Temps (s)" +set ylabel "Vitesse (°/s)" +set grid ytics + +#set term png size 1200,600 + +plot "./acq_ADXRS453_5ms_no_filter_enr01.csv" using 1:4 w l title "Vitesse Z" + +pause -1 \ No newline at end of file diff --git a/graph_ADXRS453_enr02.gp b/graph_ADXRS453_enr02.gp new file mode 100644 index 0000000..d2f93d2 --- /dev/null +++ b/graph_ADXRS453_enr02.gp @@ -0,0 +1,11 @@ +set title "ADXRS453 - Axe Z\nT_{acq} : 5 ms - filtre 10 s" + +set xlabel "Temps (s)" +set ylabel "Vitesse (°/s)" +set grid ytics + +#set term png size 1200,600 + +plot "./acq_ADXRS453_5ms_filtre_0_001_enr02.csv" using 1:4 w l title "Vitesse Z" + +pause -1 \ No newline at end of file diff --git a/graph_enr03.gp b/graph_enr03.gp new file mode 100644 index 0000000..37ae2a5 --- /dev/null +++ b/graph_enr03.gp @@ -0,0 +1,11 @@ +set title "Observation des 3 axes\nT_{acq} : 5 ms - filtre 100 ms" + +set xlabel "Temps (s)" +set ylabel "Vitesse (°/s)" +set grid ytics + +#set term png size 1200,600 + +plot "./acq_5ms_env_50ms_enr_03.csv" using 1:2 w l title "Vitesse X", "./acq_5ms_env_50ms_enr_03.csv" using 1:3 w l title "Vitesse Y", "./acq_5ms_env_50ms_enr_03.csv" using 1:4 w l title "Vitesse Z" + +pause -1 \ No newline at end of file diff --git a/graph_enr04.gp b/graph_enr04.gp new file mode 100644 index 0000000..20bf2b0 --- /dev/null +++ b/graph_enr04.gp @@ -0,0 +1,11 @@ +set title "Observation des 3 axes\nT_{acq} : 5 ms - filtre 1 seconde" + +set xlabel "Temps (s)" +set ylabel "Vitesse (°/s)" +set grid ytics + +#set term png size 1200,600 + +plot "./acq_5ms_env_50ms_enr_04.csv" using 1:2 w l title "Vitesse X", "./acq_5ms_env_50ms_enr_04.csv" using 1:3 w l title "Vitesse Y", "./acq_5ms_env_50ms_enr_04.csv" using 1:4 w l title "Vitesse Z" + +pause -1 \ No newline at end of file diff --git a/gyro.c b/gyro.c index 5e734b9..9d00172 100644 --- a/gyro.c +++ b/gyro.c @@ -93,7 +93,7 @@ void Gyro_Read(uint16_t step_ms){ gyro_get_vitesse_brute(_vitesse_angulaire_brute, vitesse_calibration); //gyro_get_angles(&vitesse_angulaire, NULL); - /* + // conversion de la vitesse angulaire en degré/seconde gyro_get_vitesse_normalisee(_vitesse_angulaire_brute, vitesse_angulaire); @@ -103,7 +103,7 @@ void Gyro_Read(uint16_t step_ms){ angle_gyro.rot_x = angle_gyro.rot_x + vitesse_angulaire->rot_x * step_ms * 0.001; angle_gyro.rot_y = angle_gyro.rot_y + vitesse_angulaire->rot_y * step_ms * 0.001; angle_gyro.rot_z = angle_gyro.rot_z + vitesse_angulaire->rot_z * step_ms * 0.001; - */ + } int16_t gyro_get_temp(void){ diff --git a/gyro_ADXRS453.c b/gyro_ADXRS453.c index 5487ad0..3655951 100644 --- a/gyro_ADXRS453.c +++ b/gyro_ADXRS453.c @@ -24,7 +24,7 @@ struct { void Gyro_traitementDonnees(unsigned char * tamponRecu); unsigned char pariteOctet(unsigned char octet); -int gyro_spi_wr_32bits(uint8_t *transmit_buffer, uint8_t *recieve_buffer){ +int gyro_spi_wr_32bits(uint16_t *transmit_buffer, uint8_t *recieve_buffer){ int nb_recu; cs_select(); @@ -48,7 +48,7 @@ void affiche_tampon_32bits(uint8_t *tampon){ } -int gyro_get_sensor_data(uint8_t tampon_envoi[], uint8_t tampon_reception[]){ +int gyro_get_sensor_data(uint16_t tampon_envoi[], uint8_t tampon_reception[]){ tampon_envoi[0] = 0x30; tampon_envoi[1] = 0x00; tampon_envoi[2] = 0x00; @@ -65,86 +65,74 @@ int gyro_get_sensor_data(uint8_t tampon_envoi[], uint8_t tampon_reception[]){ affiche_tampon_32bits(tampon_reception); return 1; } - affiche_tampon_32bits(tampon_reception); return 0; } int gyro_init_check(){ // Renvoi 0 si l'initialisation s'est bien passée // Renvoi 1 si le gyroscope n'a pas répondu - uint8_t tampon_envoi[5]="\0\0\0\0\0"; + uint16_t tampon_envoi[5]={0, 0, 0, 0, 0}; uint8_t tampon_reception[5]="\0\0\0\0\0"; // On suit les instructions de la page 20 de la fiche technique - sleep_ms(100); // init du gyro + sleep_ms(100); // init du gyro - On ignore la réponse printf("T=100ms\n"); tampon_envoi[0] = 0x30; tampon_envoi[1] = 0x00; tampon_envoi[2] = 0x00; tampon_envoi[3] = 0x02; - printf("envoi : "); - affiche_tampon_32bits(tampon_envoi); gyro_spi_wr_32bits(tampon_envoi, tampon_reception); Gyro_traitementDonnees(tampon_reception); - printf("recoi : "); affiche_tampon_32bits(tampon_reception); - sleep_ms(50); // t=150ms + sleep_ms(50); // t=150ms - On ignore, les données ne sont pas actualisées printf("T=150ms\n"); tampon_envoi[0] = 0x30; tampon_envoi[1] = 0x00; tampon_envoi[2] = 0x00; tampon_envoi[3] = 0x01; - printf("envoi : "); - affiche_tampon_32bits(tampon_envoi); gyro_spi_wr_32bits(tampon_envoi, tampon_reception); Gyro_traitementDonnees(tampon_reception); - affiche_tampon_32bits(tampon_reception); - Gyro_traitementDonnees(tampon_reception); if(Gyro_SensorData.SQ != 0b100){ printf("Gyro_Init - SQ bits (%#01x)!= 0x4", Gyro_SensorData.SQ); return 1; } + affiche_tampon_32bits(tampon_reception); - sleep_ms(50); // t=200ms + sleep_ms(50); // t=200ms - En cours d'autotest printf("T=200ms\n"); tampon_envoi[0] = 0x30; tampon_envoi[1] = 0x00; tampon_envoi[2] = 0x00; tampon_envoi[3] = 0x01; - printf("envoi : "); - affiche_tampon_32bits(tampon_envoi); gyro_spi_wr_32bits(tampon_envoi, tampon_reception); Gyro_traitementDonnees(tampon_reception); - - printf("recoi : "); + if(Gyro_SensorData.SQ != 0b100){ + printf("Gyro_Init - SQ bits (%#01x)!= 0x4", Gyro_SensorData.SQ); + return 1; + } affiche_tampon_32bits(tampon_reception); - sleep_us(1); // t=200ms + TD + sleep_us(1); // t=200ms + TD - résultats de 200ms + TD, en cours d'autotest. printf("T=200ms+TD\n"); tampon_envoi[0] = 0x30; tampon_envoi[1] = 0x00; tampon_envoi[2] = 0x00; tampon_envoi[3] = 0x01; + gyro_spi_wr_32bits(tampon_envoi, tampon_reception); Gyro_traitementDonnees(tampon_reception); - if(Gyro_SensorData.SQ != 0x4){ - printf("Gyro_Init - SQ bits (%#01x)!= 0x4\n", Gyro_SensorData.SQ); - affiche_tampon_32bits(tampon_reception); - return 1; - } - if(Gyro_SensorData.ST != 0x1){ - printf("Gyro_Init - Status (%#01x)!= 0x1\n", Gyro_SensorData.ST); - affiche_tampon_32bits(tampon_reception); + if(Gyro_SensorData.SQ != 0b100){ + printf("Gyro_Init - SQ bits (%#01x)!= 0x4", Gyro_SensorData.SQ); return 1; } affiche_tampon_32bits(tampon_reception); - sleep_us(1); // t=200ms + 2TD + sleep_us(1); // t=200ms + 2TD - doit être nominal printf("T=200ms+2TD\n"); tampon_envoi[0] = 0x00; tampon_envoi[1] = 0x00; @@ -153,32 +141,6 @@ int gyro_init_check(){ if(gyro_get_sensor_data(tampon_envoi, tampon_reception)){ return 1; } - - - for(int i=3; i<10; i++){ - sleep_us(1); // t=200ms + 3TD - printf("T=200ms+%dTD\n", i); - if(gyro_get_sensor_data(tampon_envoi, tampon_reception)){ - return 1; - } - } - - for(int i=10; i<20; i++){ - gyro_get_vitesse_brute(NULL, NULL); - } - - - for(int i=20; i<30; i++){ - sleep_us(1); // t=200ms + 3TD - printf("T=200ms+%dTD\n", i); - if(gyro_get_sensor_data(tampon_envoi, tampon_reception)){ - //return 1; - } - } - //DEBUG - return 1; - - return 0; } @@ -191,16 +153,15 @@ int gyro_config(){ void gyro_get_vitesse_brute(struct t_angle_gyro* angle_gyro, struct t_angle_gyro* angle_gyro_moy){ - uint8_t tampon_envoi[5]="\0\0\0\0\0"; + uint16_t tampon_envoi[5]={0, 0, 0, 0, 0}; uint8_t tampon_reception[5]="\0\0\0\0\0"; int16_t rot_z; sleep_us(1); // A supprimer plus tard - printf("T=READ\n"); if(gyro_get_sensor_data(tampon_envoi, tampon_reception)){ return; } - /* + rot_z = Gyro_SensorData.rateData; if(angle_gyro_moy == NULL){ @@ -211,7 +172,7 @@ void gyro_get_vitesse_brute(struct t_angle_gyro* angle_gyro, struct t_angle_gyro angle_gyro->rot_x = 0; angle_gyro->rot_y = 0; angle_gyro->rot_z = (int32_t) rot_z * 32 - angle_gyro_moy->rot_z; - }*/ + } } void gyro_get_vitesse_normalisee(struct t_angle_gyro* _vitesse_angulaire, diff --git a/test.c b/test.c index c0a9a9d..aa60601 100644 --- a/test.c +++ b/test.c @@ -38,7 +38,7 @@ int main() { temps_ms_old = temps_ms; while (1) { u_int16_t step_ms = 5; - float coef_filtre = 0.977; + float coef_filtre = 1-0.977; while(temps_ms_old == Temps_get_temps_ms()); temps_ms_old = Temps_get_temps_ms(); @@ -46,7 +46,7 @@ int main() { // Tous les pas de step_ms if(Temps_get_temps_ms() % step_ms){ Gyro_Read(step_ms); - /* + //gyro_affiche(gyro_get_vitesse(), "Angle :"); // Filtre angle_gyro = gyro_get_vitesse(); @@ -62,7 +62,7 @@ int main() { printf("%f, %f, %f, %f\n", (double)temps_ms_old / 1000, vitesse_filtre_x, vitesse_filtre_y, vitesse_filtre_z); //gyro_affiche(angle_gyro, "Vitesse (°/s),"); - */ + } // Toutes les 50 ms