航空研究会 / Mbed 2 deprecated hassi_17

sdカードに焦点調整を追加

Dependencies:   mbed MPU6050_2 HMC5883L_2 SDFileSystem3

main.cpp@4:67f705d42f1e, 2019-02-08 (annotated)

Committer:
taknokolat
Date:
Fri Feb 08 07:28:48 2019 +0000
Revision:
4:67f705d42f1e
Parent:
3:c18342e4fddd
Child:
5:8bfe95431ec0
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HARUKIDELTA 0:84ddd6d354e1 1 #include "mbed.h"
Skykon 3:c18342e4fddd 2 #include "MPU6050_DMP6.h"
Skykon 3:c18342e4fddd 3
Skykon 3:c18342e4fddd 4 //MPU_check用
Skykon 3:c18342e4fddd 5 #define PI 3.14159265358979
HARUKIDELTA 0:84ddd6d354e1 6
taknokolat 4:67f705d42f1e 7 #define servo_NEUTRAL_R 1616
taknokolat 4:67f705d42f1e 8 #define servo_NEUTRAL_L 1616
HARUKIDELTA 0:84ddd6d354e1 9 #define servo_FORWARD_R 1860
HARUKIDELTA 0:84ddd6d354e1 10 #define servo_FORWARD_L 1860
HARUKIDELTA 0:84ddd6d354e1 11 #define servo_back_R 1060
HARUKIDELTA 0:84ddd6d354e1 12 #define servo_back_L 1060
HARUKIDELTA 0:84ddd6d354e1 13 #define servo_slow_FORWARD_R 1560
HARUKIDELTA 0:84ddd6d354e1 14 #define servo_slow_FORWARD_L 1560
HARUKIDELTA 0:84ddd6d354e1 15 #define servo_slow_back_R 1360
HARUKIDELTA 0:84ddd6d354e1 16 #define servo_slow_back_L 1360
HARUKIDELTA 0:84ddd6d354e1 17
HARUKIDELTA 0:84ddd6d354e1 18 #define MOVE_NEUTRAL 0
HARUKIDELTA 0:84ddd6d354e1 19 #define MOVE_FORWARD 1
HARUKIDELTA 0:84ddd6d354e1 20 #define MOVE_LEFT 2
HARUKIDELTA 0:84ddd6d354e1 21 #define MOVE_RIGHT 3
HARUKIDELTA 0:84ddd6d354e1 22 #define MOVE_BACK 4
Skykon 3:c18342e4fddd 23 #define GOAL_FORWARD 5 //ゴール付近_ゆっくり
HARUKIDELTA 0:84ddd6d354e1 24 #define GOAL_LEFT 6
HARUKIDELTA 0:84ddd6d354e1 25 #define GOAL_RIGHT 7
Skykon 3:c18342e4fddd 26 #define MAX_FORWARD 8 //はやい_姿勢修正用
HARUKIDELTA 0:84ddd6d354e1 27 #define MAX_BACK 9
HARUKIDELTA 0:84ddd6d354e1 28
Skykon 3:c18342e4fddd 29
taknokolat 1:290e621741fd 30 void getSF_Serial_jevois();
taknokolat 1:290e621741fd 31 void getSF_Serial_pi();
taknokolat 1:290e621741fd 32
Skykon 3:c18342e4fddd 33
Skykon 3:c18342e4fddd 34 //MPU_check用
Skykon 3:c18342e4fddd 35 void SensingMPU();
Skykon 3:c18342e4fddd 36 void setup();
Skykon 3:c18342e4fddd 37 void Init_sensors();
Skykon 3:c18342e4fddd 38 void DisplayClock();
taknokolat 4:67f705d42f1e 39 void DebugPrint();
Skykon 3:c18342e4fddd 40
Skykon 3:c18342e4fddd 41 static float nowAngle[3] = {0,0,0};
Skykon 3:c18342e4fddd 42 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
Skykon 3:c18342e4fddd 43
taknokolat 4:67f705d42f1e 44 bool setupFlag=false;
taknokolat 4:67f705d42f1e 45
Skykon 3:c18342e4fddd 46 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 47
Skykon 3:c18342e4fddd 48 Timer t;
Skykon 3:c18342e4fddd 49
Skykon 3:c18342e4fddd 50
HARUKIDELTA 0:84ddd6d354e1 51 PwmOut servoR(PC_6);
Skykon 3:c18342e4fddd 52 //pc6:TIM3_CH1
HARUKIDELTA 0:84ddd6d354e1 53 PwmOut servoL(PC_7);
Skykon 3:c18342e4fddd 54 //pc7:TIM3_CH2
HARUKIDELTA 0:84ddd6d354e1 55
taknokolat 2:f30666d7838b 56 RawSerial pc(PA_2,PA_3,115200); //uart2
Skykon 3:c18342e4fddd 57 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 2:f30666d7838b 58 RawSerial pc2(PB_6,PB_7,115200); //uart1
Skykon 3:c18342e4fddd 59 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 1:290e621741fd 60
taknokolat 2:f30666d7838b 61 char g_landingcommand='N';
taknokolat 1:290e621741fd 62
taknokolat 1:290e621741fd 63 void MoveCansat(char g_landingcommand);
HARUKIDELTA 0:84ddd6d354e1 64
Skykon 3:c18342e4fddd 65 //MPU_check用
Skykon 3:c18342e4fddd 66 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 67
Skykon 3:c18342e4fddd 68
HARUKIDELTA 0:84ddd6d354e1 69 int main() {
taknokolat 1:290e621741fd 70
Skykon 3:c18342e4fddd 71 //MPU_check
Skykon 3:c18342e4fddd 72 setup();
Skykon 3:c18342e4fddd 73
taknokolat 1:290e621741fd 74 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 75 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 1:290e621741fd 76 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
taknokolat 1:290e621741fd 77
taknokolat 1:290e621741fd 78 NVIC_SetPriority(USART1_IRQn,0);//割り込み優先度
taknokolat 1:290e621741fd 79 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 1:290e621741fd 80
HARUKIDELTA 0:84ddd6d354e1 81 while(1) {
taknokolat 1:290e621741fd 82 //pc.printf("Hello World!!");
taknokolat 1:290e621741fd 83 MoveCansat(g_landingcommand);
Skykon 3:c18342e4fddd 84
Skykon 3:c18342e4fddd 85 SensingMPU();
taknokolat 4:67f705d42f1e 86 DebugPrint();
taknokolat 4:67f705d42f1e 87
Skykon 3:c18342e4fddd 88 wait_ms(23);
HARUKIDELTA 0:84ddd6d354e1 89 }
HARUKIDELTA 0:84ddd6d354e1 90 }
HARUKIDELTA 0:84ddd6d354e1 91
Skykon 3:c18342e4fddd 92
taknokolat 1:290e621741fd 93 void MoveCansat(char g_landingcommand)
HARUKIDELTA 0:84ddd6d354e1 94 {
taknokolat 2:f30666d7838b 95 //NVIC_DisableIRQ(USART1_IRQn);
taknokolat 1:290e621741fd 96 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 97 switch(g_landingcommand){
taknokolat 2:f30666d7838b 98 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 0:84ddd6d354e1 99 servoR.pulsewidth_us(servo_NEUTRAL_R);
HARUKIDELTA 0:84ddd6d354e1 100 servoL.pulsewidth_us(servo_NEUTRAL_L);
taknokolat 2:f30666d7838b 101 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 2:f30666d7838b 102 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 103 break;
taknokolat 1:290e621741fd 104
taknokolat 2:f30666d7838b 105 case 'Y': //MOVE_FORWARD
HARUKIDELTA 0:84ddd6d354e1 106 servoR.pulsewidth_us(servo_FORWARD_R);
HARUKIDELTA 0:84ddd6d354e1 107 servoL.pulsewidth_us(servo_FORWARD_L);
taknokolat 2:f30666d7838b 108 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 2:f30666d7838b 109 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 110 break;
taknokolat 1:290e621741fd 111
taknokolat 1:290e621741fd 112 case 'L': //MOVE_LEFT
HARUKIDELTA 0:84ddd6d354e1 113 servoR.pulsewidth_us(servo_slow_FORWARD_R);
HARUKIDELTA 0:84ddd6d354e1 114 servoL.pulsewidth_us(servo_slow_back_L);
taknokolat 2:f30666d7838b 115 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 2:f30666d7838b 116 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 117
taknokolat 2:f30666d7838b 118 case 'R': //MOVE_RIGHT
HARUKIDELTA 0:84ddd6d354e1 119 servoR.pulsewidth_us(servo_slow_back_R);
HARUKIDELTA 0:84ddd6d354e1 120 servoL.pulsewidth_us(servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 121 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 2:f30666d7838b 122 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 123 break;
taknokolat 1:290e621741fd 124
taknokolat 1:290e621741fd 125 case 'B': //MOVE_BACK
HARUKIDELTA 0:84ddd6d354e1 126 servoR.pulsewidth_us(servo_back_R);
HARUKIDELTA 0:84ddd6d354e1 127 servoL.pulsewidth_us(servo_back_L);
taknokolat 2:f30666d7838b 128 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 2:f30666d7838b 129 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 130 break;
taknokolat 1:290e621741fd 131
taknokolat 1:290e621741fd 132 case 'G': //GOAL_FORWARD
HARUKIDELTA 0:84ddd6d354e1 133 servoR.pulsewidth_us(servo_slow_FORWARD_R);
HARUKIDELTA 0:84ddd6d354e1 134 servoL.pulsewidth_us(servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 135 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 2:f30666d7838b 136 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 137 break;
taknokolat 1:290e621741fd 138
taknokolat 1:290e621741fd 139 default :
taknokolat 2:f30666d7838b 140 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 1:290e621741fd 141 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 142 break;
taknokolat 1:290e621741fd 143
HARUKIDELTA 0:84ddd6d354e1 144 }
HARUKIDELTA 0:84ddd6d354e1 145 return;
taknokolat 1:290e621741fd 146 }
taknokolat 1:290e621741fd 147
taknokolat 1:290e621741fd 148 void getSF_Serial_jevois(){
taknokolat 1:290e621741fd 149
taknokolat 1:290e621741fd 150
taknokolat 1:290e621741fd 151 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 152
taknokolat 1:290e621741fd 153 static int bufcounter=0;
taknokolat 1:290e621741fd 154
taknokolat 1:290e621741fd 155
taknokolat 1:290e621741fd 156
taknokolat 1:290e621741fd 157 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 158
taknokolat 1:290e621741fd 159 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 160 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 161 //pc.printf("x");
taknokolat 1:290e621741fd 162 return;
taknokolat 1:290e621741fd 163 }
taknokolat 1:290e621741fd 164
taknokolat 1:290e621741fd 165
taknokolat 1:290e621741fd 166
taknokolat 1:290e621741fd 167 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 168
Skykon 3:c18342e4fddd 169 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 170
taknokolat 1:290e621741fd 171 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 172
taknokolat 1:290e621741fd 173 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 174 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 175 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 176 //wait_ms(20);
taknokolat 1:290e621741fd 177 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 178 bufcounter = 0;
taknokolat 1:290e621741fd 179 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 180 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 181 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 182 }
taknokolat 1:290e621741fd 183
taknokolat 1:290e621741fd 184 else if(bufcounter>=5){
taknokolat 1:290e621741fd 185 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 186 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 187 bufcounter = 0;
taknokolat 1:290e621741fd 188 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 189 }
taknokolat 1:290e621741fd 190 }
taknokolat 1:290e621741fd 191
taknokolat 1:290e621741fd 192
taknokolat 1:290e621741fd 193 }
taknokolat 1:290e621741fd 194
taknokolat 1:290e621741fd 195
taknokolat 1:290e621741fd 196 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 197
taknokolat 2:f30666d7838b 198 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 199
taknokolat 1:290e621741fd 200 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 201
taknokolat 1:290e621741fd 202 static int bufcounter=0;
taknokolat 1:290e621741fd 203
taknokolat 1:290e621741fd 204
taknokolat 1:290e621741fd 205
taknokolat 1:290e621741fd 206 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 207
taknokolat 1:290e621741fd 208 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 209 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 210 //pc.printf("x");
taknokolat 1:290e621741fd 211 return;
taknokolat 1:290e621741fd 212 }
taknokolat 1:290e621741fd 213
taknokolat 1:290e621741fd 214
taknokolat 1:290e621741fd 215
taknokolat 1:290e621741fd 216 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 217
taknokolat 1:290e621741fd 218 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 219
taknokolat 1:290e621741fd 220 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 221
taknokolat 1:290e621741fd 222 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 223 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 224 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 225 //wait_ms(20);
taknokolat 1:290e621741fd 226 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 227 bufcounter = 0;
taknokolat 1:290e621741fd 228 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 229 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 230 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 231 }
taknokolat 1:290e621741fd 232
taknokolat 1:290e621741fd 233 else if(bufcounter>=5){
taknokolat 1:290e621741fd 234 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 235 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 236 bufcounter = 0;
taknokolat 1:290e621741fd 237 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 238 }
taknokolat 1:290e621741fd 239 }
taknokolat 2:f30666d7838b 240
taknokolat 2:f30666d7838b 241 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 242
Skykon 3:c18342e4fddd 243 }
taknokolat 1:290e621741fd 244
Skykon 3:c18342e4fddd 245
Skykon 3:c18342e4fddd 246 void setup(){
Skykon 3:c18342e4fddd 247
Skykon 3:c18342e4fddd 248 Init_sensors();
Skykon 3:c18342e4fddd 249 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 250
Skykon 3:c18342e4fddd 251 NVIC_SetPriority(USART1_IRQn,0);
Skykon 3:c18342e4fddd 252 NVIC_SetPriority(EXTI0_IRQn,1);
Skykon 3:c18342e4fddd 253 NVIC_SetPriority(TIM5_IRQn,2);
Skykon 3:c18342e4fddd 254 NVIC_SetPriority(EXTI9_5_IRQn,3);
Skykon 3:c18342e4fddd 255 NVIC_SetPriority(USART2_IRQn,4);
Skykon 3:c18342e4fddd 256 DisplayClock();
Skykon 3:c18342e4fddd 257 t.start();
Skykon 3:c18342e4fddd 258
Skykon 3:c18342e4fddd 259 pc.printf("MPU calibration start\r\n");
Skykon 3:c18342e4fddd 260
Skykon 3:c18342e4fddd 261 float offsetstart = t.read();
Skykon 3:c18342e4fddd 262 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 263 SensingMPU();
Skykon 3:c18342e4fddd 264 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
Skykon 3:c18342e4fddd 265 pc.printf("\r\n");
Skykon 3:c18342e4fddd 266 }
Skykon 3:c18342e4fddd 267
Skykon 3:c18342e4fddd 268 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 269 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 270 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 271 nowAngle[PITCH] -=FirstPITCH;
Skykon 3:c18342e4fddd 272
Skykon 3:c18342e4fddd 273 wait(0.2);
Skykon 3:c18342e4fddd 274
Skykon 3:c18342e4fddd 275 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 276 setupFlag=true;
taknokolat 1:290e621741fd 277 }
taknokolat 1:290e621741fd 278
Skykon 3:c18342e4fddd 279
Skykon 3:c18342e4fddd 280 void SensingMPU(){
Skykon 3:c18342e4fddd 281 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 282 //t_start = t.read_us();
Skykon 3:c18342e4fddd 283
Skykon 3:c18342e4fddd 284 float rpy[3] = {0}, oldrpy[3] = {0};
Skykon 3:c18342e4fddd 285 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 286 static bool flg_checkoutlier = false;
Skykon 3:c18342e4fddd 287 NVIC_DisableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 288 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 289 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 290 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 291 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 292
Skykon 3:c18342e4fddd 293 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 294
Skykon 3:c18342e4fddd 295 NVIC_EnableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 296 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 297 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 298 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 299 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 300
Skykon 3:c18342e4fddd 301
Skykon 3:c18342e4fddd 302 //外れ値対策
Skykon 3:c18342e4fddd 303 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 304 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 305 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 306 if(!setupFlag){
taknokolat 4:67f705d42f1e 307 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 308 }else{
taknokolat 4:67f705d42f1e 309 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 310 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 311 }else{
taknokolat 4:67f705d42f1e 312 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 313 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 314 }
taknokolat 4:67f705d42f1e 315 }
Skykon 3:c18342e4fddd 316
Skykon 3:c18342e4fddd 317 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}}
Skykon 3:c18342e4fddd 318 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 319 for(uint8_t i=0; i<3; i++){
Skykon 3:c18342e4fddd 320 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
Skykon 3:c18342e4fddd 321 }
Skykon 3:c18342e4fddd 322 count_changeRPY = 0;
Skykon 3:c18342e4fddd 323 }else count_changeRPY++;
Skykon 3:c18342e4fddd 324 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 325
Skykon 3:c18342e4fddd 326 }
Skykon 3:c18342e4fddd 327
Skykon 3:c18342e4fddd 328
Skykon 3:c18342e4fddd 329 void Init_sensors(){
Skykon 3:c18342e4fddd 330 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 331 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 332 }
Skykon 3:c18342e4fddd 333 }
Skykon 3:c18342e4fddd 334
Skykon 3:c18342e4fddd 335
Skykon 3:c18342e4fddd 336 void DisplayClock(){
Skykon 3:c18342e4fddd 337 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 338 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 339 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 340 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 341 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 342 }
taknokolat 4:67f705d42f1e 343
taknokolat 4:67f705d42f1e 344 void DebugPrint(){
taknokolat 4:67f705d42f1e 345 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); //skipper地磁気センサ_デバック用
taknokolat 4:67f705d42f1e 346 pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 4:67f705d42f1e 347 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 348 }
taknokolat 4:67f705d42f1e 349