Revision 2:d83d5822dc25, committed 2020-08-07

Comitter:

momoa

Date:

Fri Aug 07 10:08:33 2020 +0000

Parent:

1:d77a49b0e9ff

Commit message:

initialize

Changed in this revision

--- a/SDFileSystem.lib	Fri Jul 31 04:44:04 2020 +0000
+++ b/SDFileSystem.lib	Fri Aug 07 10:08:33 2020 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/2020NSE_SSLB4/code/SDFileSystem/#28ac6b98391b
+https://os.mbed.com/users/tubemerc/code/SDFileSystem/#1427f73ac782

--- a/main.cpp	Fri Jul 31 04:44:04 2020 +0000
+++ b/main.cpp	Fri Aug 07 10:08:33 2020 +0000
@@ -23,16 +23,18 @@
 Serial pc(PA_9,PA_10); //pin19,20 TX,RX
 BME280 bmp = BME280(PB_7, PB_6); // pin30,29 SDA,SCL
 MPU9250 mpu = MPU9250(PB_7, PB_6); // pin30,29 SDA,SCL​
+CAN can(PA_11, PA_12,100000); //pin21,22 rd,td
 #define PI 3.14159265358979323846f
 #define N 5 // 5回移動平均
 #define sampleFreq 100.0f
 #define beta 0.33f // gain（大きいと加速度による補正が早い）
+Timer timea;
 
-char senddate[5];
 union Float2Byte{
     float _float;
     char _byte[4];
-}f2b;
+};
+typedef union Float2Byte Float2Byte;
 
 float pressure_ave = 0.0f; // 気圧[hPa]
 float pressure_new = 0.0f;
@@ -42,6 +44,7 @@
 float tem = 0.0f; // 温度[C]
 
 FILE *fp;
+CANMessage msg;
 
 void mpu_init(){
     uint8_t whoami_MPU9250, whoami_AK8963;
@@ -72,11 +75,32 @@
     }
 }
 
+void send(float senddata,int id){
+    pc.printf("Master send()\n\r");
+    
+    /*ID: 0x01*/
+    Float2Byte sendFloat;
+    sendFloat._float = senddata;
+    //ここに送りたい値を入れる．
+    
+    char serialData[4];
+    for(int i=0;i<4;++i){
+        serialData[i] = sendFloat._byte[i];
+        pc.printf("send_char: %d\n\r", serialData[i]);
+    }
+    pc.printf("sendFloat: %f\n\r", sendFloat._float);
+    if(can.write(CANMessage(id, serialData, 4))){
+        pc.printf("Send.\n\r");
+    } 
+    //myled = !myled;
+}
+
 int main(){
     
     fp = fopen("/sd/log.txt","a");
     if(fp != NULL){
-        fprintf(fp,"Start.\n");
+        fprintf(fp,"Start.\n\r");
+        fprintf(fp,"time,ax_ave,ay_ave,az_ave,gx_ave,gy_ave,gz_ave,Pre[hPa],Tem[C]\n\r");
         fclose(fp);
     }
     else{
@@ -110,6 +134,8 @@
     float qdot0, qdot1, qdot2, qdot3;
     float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, _q0q0, _q1q1, _q2q2, _q3q3;
     
+    float f = 0.0;
+    
     wait(0.1);
     mpu_init();
     bmp.initialize();
@@ -150,10 +176,11 @@
     pc.printf("gyr_ini:%f,%f,%f\n\r", gx_i, gy_i, gz_i);
     
     wait(0.1);
+    timea.start();
     pc.printf("Start.\n\r");
     
     while(1){
-        //timea.start();
+        
         mpu.readGyroData(gyr);
         mpu.readAccelData(acc);
         mpu.readMagData(mag);
@@ -300,27 +327,32 @@
         if(fp != NULL){
         
             //fprintf(fp,"a_norm:%f\n\r", a_norm);       
-            fprintf(fp,"acc_ave:%f,%f,%f\n\r", ax, ay, az);
-            fprintf(fp,"gyr_ave:%f,%f,%f\n\r", gx, gy, gz);
+            //fprintf(fp,"acc_ave:%f,%f,%f\n\r", ax, ay, az);
+            //fprintf(fp,"gyr_ave:%f,%f,%f\n\r", gx, gy, gz);
             //fprintf(fp,"mag_ave:%f,%f,%f\n\r", mx, my, mz);
             //fprintf(fp,"%f,%f,%f,%f\n\r", q0, q1, q2, q3);
             //fprintf(fp,"angle: %f, %f, %f\n\r", psi, cta, eta);
             //fprintf(fp,"%f\n\r", timea.read());
                 
-            fprintf(fp,"Pre[hPa]: %f\n\r", pressure_ave);
-            fprintf(fp,"Tem[C] : %f\n\r", tem);
+            //fprintf(fp,"Pre[hPa]: %f\n\r", pressure_ave);
+            //fprintf(fp,"Tem[C] : %f\n\r", tem);
+            //fprintf(fp,"ax_ave,ay_ave,az_ave,gx_ave,gy_ave,gz_ave,Pre[hPa],Tem[C]\n\r");
+            fprintf(fp,"%f,%f,%f,%f,%f,%f,%f,%f,%f\n\r",timea.read(),ax, ay, az, gx, gy, gz, pressure_ave, tem);
+            
             cntsd++;
             
             if(cntsd == 10){
                 fclose(fp);
                 pc.printf("Save.\n\r");
-                int cntsd = 0;
-                break;
+                cntsd = 0;
             }
         }else{
             pc.printf("Failed.\n\r");
         }
-        //timea.read
+        timea.read();
+        send(f,0x03);
+        f = f + 0.86;
+        pc.printf("%d", cntsd);
         wait(0.001);
     }
 }
\ No newline at end of file

--- a/mbed.bld	Fri Jul 31 04:44:04 2020 +0000
+++ b/mbed.bld	Fri Aug 07 10:08:33 2020 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file