I-O DATA DEV2 / Mbed 2 deprecated ud-gs4-R_400G_SD_Log_No1

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed SDFileSystem_

main.cpp@37:1b459e0ef847, 2021-09-10 (annotated)

Committer:
tnanbu
Date:
Fri Sep 10 04:35:22 2021 +0000
Revision:
37:1b459e0ef847
Parent:
36:709c6fae0b2e
Child:
38:87b7b3de6e88
Button

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hakusan270 0:b76e4ba14765 1 #include "mbed.h"
rgoto 6:bf4321ef0330 2 #include "SDFileSystem.h"
tnanbu 28:8bda44be0dd0 3 #include <errno.h>
tnanbu 37:1b459e0ef847 4 #include <stdio.h>
tnanbu 37:1b459e0ef847 5 #include <FileHandle.h>
tnanbu 37:1b459e0ef847 6 #include <mbed_poll.h>
tnanbu 8:7f80139df48d 7
hakusan270 0:b76e4ba14765 8 /*
hakusan270 0:b76e4ba14765 9 This basic example just shows how to read the ADC internal channels raw values.
hakusan270 0:b76e4ba14765 10 Please look in the corresponding device reference manual for a complete
hakusan270 0:b76e4ba14765 11 description of how to make a temperature sensor, VBat or Vref measurement.
hakusan270 0:b76e4ba14765 12 */
hakusan270 0:b76e4ba14765 13
hakusan270 0:b76e4ba14765 14 AnalogIn adc_temp(ADC_TEMP);
hakusan270 0:b76e4ba14765 15 AnalogIn adc_vref(ADC_VREF);
tnanbu 11:2d5fcf102778 16 /* UD-GS2 H/W define
tnanbu 11:2d5fcf102778 17 PIO_SWin PB_4
tnanbu 11:2d5fcf102778 18 PIO_wkup PA_4
hakusan270 0:b76e4ba14765 19 PIO_enable PB_0
hakusan270 0:b76e4ba14765 20 PIO_intout1 PB_2
hakusan270 0:b76e4ba14765 21 PIO_led PB_5
hakusan270 0:b76e4ba14765 22 PIO_v20v PC_13
hakusan270 0:b76e4ba14765 23 PIO_v18v PH_0
hakusan270 0:b76e4ba14765 24 PIO_intout2 PH_1
hakusan270 0:b76e4ba14765 25 PIO_spics PB_12
hakusan270 0:b76e4ba14765 26 PIO_battryMonEn PA_5
hakusan270 5:fbeb85ebd47b 27 PB_7 SDA
hakusan270 5:fbeb85ebd47b 28 PB_6 SCL
tnanbu 11:2d5fcf102778 29
hakusan270 0:b76e4ba14765 30 */
hakusan270 5:fbeb85ebd47b 31 //DigitalOut hx_clk(PB_7);
hakusan270 5:fbeb85ebd47b 32 //DigitalIn hx_dt(PB_6);
hakusan270 5:fbeb85ebd47b 33 //I2C i2cacc(p_sda, p_scl)
hakusan270 5:fbeb85ebd47b 34
tnanbu 13:df67ca499051 35 //#include "H3LIS331DL.h"
tnanbu 13:df67ca499051 36
tnanbu 13:df67ca499051 37 //#define TIMEINTERVAL
hakusan270 5:fbeb85ebd47b 38
tnanbu 13:df67ca499051 39 //キャリブレーション　仮値
tnanbu 31:4ac70aa71542 40 //No.1
tnanbu 34:6bffe97ae35d 41 #define OFFSET_X 220
tnanbu 34:6bffe97ae35d 42 #define OFFSET_Y 220
tnanbu 34:6bffe97ae35d 43 #define OFFSET_Z -40
tnanbu 31:4ac70aa71542 44 //No.2
tnanbu 31:4ac70aa71542 45 //#define OFFSET_X 375
tnanbu 31:4ac70aa71542 46 //#define OFFSET_Y 340
tnanbu 31:4ac70aa71542 47 //#define OFFSET_Z -200
tnanbu 34:6bffe97ae35d 48 //#define OFFSET_X 0
tnanbu 34:6bffe97ae35d 49 //#define OFFSET_Y 0
tnanbu 34:6bffe97ae35d 50 //#define OFFSET_Z 0
tnanbu 33:3369e5fe46aa 51
tnanbu 33:3369e5fe46aa 52 #define DATA_SIZE 512
tnanbu 33:3369e5fe46aa 53 //#define MBED_BUFF 512
tnanbu 31:4ac70aa71542 54
tnanbu 11:2d5fcf102778 55
tnanbu 13:df67ca499051 56 HAL_StatusTypeDef writeEEPROMByte(uint32_t address, uint8_t data);
tnanbu 13:df67ca499051 57 uint8_t readEEPROMByte(uint32_t address);
tnanbu 13:df67ca499051 58
tnanbu 13:df67ca499051 59
tnanbu 13:df67ca499051 60 //H3LIS331DL h3dacc(PB_7,PB_6);
tnanbu 13:df67ca499051 61 I2C i2c(PB_7,PB_6); //NUCLEO pin assign
hakusan270 5:fbeb85ebd47b 62
hakusan270 0:b76e4ba14765 63 RawSerial pc(PA_9, PA_10,115200); //console UART
tnanbu 13:df67ca499051 64 //LowPowerTicker interrupt;
tnanbu 18:2a42f4052139 65 //Ticker interrupt;
hakusan270 0:b76e4ba14765 66 SPI STSPI(PB_15, PB_14, PB_13); //mosi,miso,clk
hakusan270 0:b76e4ba14765 67 DigitalOut STSPICS(PB_12);
rgoto 6:bf4321ef0330 68
rgoto 6:bf4321ef0330 69 SDFileSystem *sd = new SDFileSystem(PA_12, PA_11, PB_3, PA_15, "sd"); // mosi, miso, sclk, cs, name
rgoto 6:bf4321ef0330 70
hakusan270 0:b76e4ba14765 71 DigitalOut led(PB_5);
tnanbu 37:1b459e0ef847 72 DigitalIn button(PB_4);
tnanbu 37:1b459e0ef847 73 int btn_flag = 0;
tnanbu 37:1b459e0ef847 74
hakusan270 1:025596ffc973 75 int initLIS3DH();
hakusan270 1:025596ffc973 76 int read3axes(short *tx,short *ty,short *tz);
tnanbu 13:df67ca499051 77 int initLIS331();
tnanbu 13:df67ca499051 78 int read3axes331(short *tx,short *ty,short *tz);
tnanbu 13:df67ca499051 79 int int_sqrt(unsigned int x);
tnanbu 7:b69fa9bb320d 80 //int readTemp(short *tmp);
tnanbu 11:2d5fcf102778 81 FILE *fp1,*fp2;//fp1:H3LIS331DL, fp2:LIS3DH
tnanbu 13:df67ca499051 82 unsigned long timecount = 0;
tnanbu 33:3369e5fe46aa 83 short oldcount = 0;
tnanbu 33:3369e5fe46aa 84 short newcount = 0;
tnanbu 28:8bda44be0dd0 85 long max_g=0;
tnanbu 33:3369e5fe46aa 86 long tmp_max=0;
tnanbu 35:69e2bc347f0c 87 long tmp_max2=0;
tnanbu 33:3369e5fe46aa 88 short update=0;
tnanbu 33:3369e5fe46aa 89 char buffer1[DATA_SIZE] = {};
tnanbu 33:3369e5fe46aa 90 char buffer2[DATA_SIZE] = {};
tnanbu 31:4ac70aa71542 91 char stracc1[32] = {}, stracc2[32] = {};
tnanbu 13:df67ca499051 92 int lognum1 = 0, lognum2 = 0;
tnanbu 33:3369e5fe46aa 93 char filename1[16]= {};
tnanbu 33:3369e5fe46aa 94 char filename2[16]= {};
tnanbu 19:2475d32bd93f 95 int ret = 0,init=1;
tnanbu 36:709c6fae0b2e 96 //uint8_t *bufferIndex = NULL;
tnanbu 11:2d5fcf102778 97
tnanbu 18:2a42f4052139 98 /*
tnanbu 13:df67ca499051 99 void timer(){
tnanbu 15:12d0699ad423 100 }
tnanbu 18:2a42f4052139 101 */
tnanbu 15:12d0699ad423 102
tnanbu 15:12d0699ad423 103 void sub(){
tnanbu 33:3369e5fe46aa 104 static short tx=0,ty=0,tz=0;
tnanbu 36:709c6fae0b2e 105 static short tx2=0,ty2=0,tz2=0;
tnanbu 33:3369e5fe46aa 106 static long scr = 0;
tnanbu 36:709c6fae0b2e 107 static long scr2 = 0;
tnanbu 33:3369e5fe46aa 108 static long ax,ay,az,as;
tnanbu 35:69e2bc347f0c 109 static long ax2,ay2,az2,as2;
tnanbu 36:709c6fae0b2e 110 //char tmpbuffer[32] = {};
tnanbu 13:df67ca499051 111 //static int cnt;
tnanbu 13:df67ca499051 112
tnanbu 13:df67ca499051 113 read3axes331(&tx,&ty,&tz);
tnanbu 13:df67ca499051 114 //キャリブレーションの補正
tnanbu 13:df67ca499051 115 tx += OFFSET_X;
tnanbu 13:df67ca499051 116 ty += OFFSET_Y;
tnanbu 13:df67ca499051 117 tz += OFFSET_Z;
tnanbu 13:df67ca499051 118
tnanbu 13:df67ca499051 119 //スカラー値変換
tnanbu 18:2a42f4052139 120 scr = int_sqrt( tx*tx + ty*ty + tz*tz);// 195mg/digit
tnanbu 33:3369e5fe46aa 121 //now_g = scr;
tnanbu 13:df67ca499051 122
tnanbu 33:3369e5fe46aa 123 ax+= tx;
tnanbu 33:3369e5fe46aa 124 ay+= ty;
tnanbu 33:3369e5fe46aa 125 az+= tz;
tnanbu 33:3369e5fe46aa 126 as+= scr;
tnanbu 35:69e2bc347f0c 127 //newcount++;
tnanbu 36:709c6fae0b2e 128 //pc.printf("%d,%d,x:%2.2f y:%2.2f,z:%2.2f scaler = %2.2f \r\n",timecount,time(NULL),(float)tx*0.005,(float)ty*0.005,(float)tz*0.005,(float)scr*0.005);
tnanbu 19:2475d32bd93f 129 //pc.printf("new x:%d y:%d,z:%d scaler = %d \r\n",tx,ty,tz,scr);
tnanbu 18:2a42f4052139 130
tnanbu 33:3369e5fe46aa 131 //Total Max G
tnanbu 13:df67ca499051 132 if ( max_g < scr) {
tnanbu 13:df67ca499051 133 max_g = scr;
tnanbu 13:df67ca499051 134 update=1;
tnanbu 33:3369e5fe46aa 135 //pc.printf("%max g=%d \r\n",max_g);
tnanbu 13:df67ca499051 136 //Save EEPROM
tnanbu 28:8bda44be0dd0 137 for(int i = 0; i < 4; i++){
tnanbu 28:8bda44be0dd0 138 pc.printf("writerom 0x%x\r\n",(max_g >> 8*i) & 0xFF);
tnanbu 28:8bda44be0dd0 139 writeEEPROMByte(i, (max_g >> 8*i) & 0xFF);
tnanbu 28:8bda44be0dd0 140 }
tnanbu 8:7f80139df48d 141 }
tnanbu 13:df67ca499051 142
tnanbu 36:709c6fae0b2e 143 //MAX G per cycle
tnanbu 33:3369e5fe46aa 144 if(tmp_max < scr){
tnanbu 33:3369e5fe46aa 145 tmp_max = scr;
tnanbu 33:3369e5fe46aa 146 }
tnanbu 33:3369e5fe46aa 147
tnanbu 36:709c6fae0b2e 148 //平均(/s)
tnanbu 36:709c6fae0b2e 149 if (newcount == 500) {
tnanbu 36:709c6fae0b2e 150 float asc = (float)as / 500.0f;
tnanbu 37:1b459e0ef847 151 pc.printf("avarage(new) x:%2.2f,y:%2.2f,z:%2.2f,scaler=%2.2f,max:%2.2f\r\n",
tnanbu 37:1b459e0ef847 152 (float)ax/500.0f*0.005,(float)ay/500.0f*0.005,(float)az/500.0f*0.005,(float)as/500.0f*0.005, (float)tmp_max*0.005);
tnanbu 36:709c6fae0b2e 153 sprintf(stracc1,"%d,%d,%2.2f,%2.2f\r\n",timecount,time(NULL),asc*0.005,(float)tmp_max*0.005);
tnanbu 33:3369e5fe46aa 154
tnanbu 36:709c6fae0b2e 155 if((strlen(buffer1)+strlen(stracc1)) > DATA_SIZE) {
tnanbu 36:709c6fae0b2e 156 pc.printf("try write fp1:%d,%d\r\n",strlen(buffer1),strlen(stracc1));
tnanbu 33:3369e5fe46aa 157 //ret = fprintf(fp1,"%s",buffer1);
tnanbu 33:3369e5fe46aa 158 ret = fwrite(buffer1,sizeof(char),strlen(buffer1),fp1);
tnanbu 33:3369e5fe46aa 159 if(ret < strlen(buffer1)){
tnanbu 28:8bda44be0dd0 160 pc.printf("fp1 write failed:%d. errno:%d. Reboot!!!\r\n",ret,errno);
tnanbu 13:df67ca499051 161 NVIC_SystemReset();
tnanbu 37:1b459e0ef847 162 }
tnanbu 37:1b459e0ef847 163 //ret = fflush(fp1);
tnanbu 37:1b459e0ef847 164 //if(ret != 0){
tnanbu 37:1b459e0ef847 165 //pc.printf("fp1 fflush failed:%d,%d\r\n",ret,errno);
tnanbu 37:1b459e0ef847 166 //}
tnanbu 8:7f80139df48d 167 memset(buffer1,0,sizeof(buffer1));
tnanbu 8:7f80139df48d 168 sprintf(buffer1,"%s",stracc1);
tnanbu 35:69e2bc347f0c 169 } else {
tnanbu 11:2d5fcf102778 170 sprintf(buffer1,"%s%s",buffer1,stracc1);
tnanbu 7:b69fa9bb320d 171 }
tnanbu 13:df67ca499051 172
tnanbu 33:3369e5fe46aa 173 as=ax=ay=az=0;
tnanbu 33:3369e5fe46aa 174 newcount = 0;
tnanbu 33:3369e5fe46aa 175 tmp_max = 0;
tnanbu 33:3369e5fe46aa 176 }
tnanbu 33:3369e5fe46aa 177
tnanbu 35:69e2bc347f0c 178 if( (oldcount % 10) == 0){
tnanbu 11:2d5fcf102778 179 //LIS3DH
tnanbu 36:709c6fae0b2e 180 read3axes(&tx2,&ty2,&tz2);
tnanbu 36:709c6fae0b2e 181 scr2 = int_sqrt( tx2*tx2 + ty2*ty2 + tz2*tz2);
tnanbu 36:709c6fae0b2e 182 ax2+= tx2;
tnanbu 36:709c6fae0b2e 183 ay2+= ty2;
tnanbu 36:709c6fae0b2e 184 az2+= tz2;
tnanbu 36:709c6fae0b2e 185 as2+= scr2;
tnanbu 36:709c6fae0b2e 186 if(tmp_max2 < scr2){
tnanbu 36:709c6fae0b2e 187 tmp_max2 = scr2;
tnanbu 35:69e2bc347f0c 188 }
tnanbu 36:709c6fae0b2e 189 //pc.printf("old %d,%d,x:%2.2f y:%2.2f,z:%2.2f scaler = %2.2f \r\n",timecount,time(NULL),(float)tx2*0.005,(float)ty2*0.005,(float)tz2*0.005,(float)scr2*0.005);
tnanbu 36:709c6fae0b2e 190 //pc.printf("%d,%d,old x:%d,y:%d,z:%d scaler = %d\r\n",timecount,time(NULL),tx,ty,tz,scr);
tnanbu 33:3369e5fe46aa 191 //sprintf(stracc2,"%d,%d,%d\r\n",timecount,time(NULL),scr);
tnanbu 11:2d5fcf102778 192 //pc.printf("lis3dh:%s",stracc2);
tnanbu 36:709c6fae0b2e 193 if(oldcount == 5000){
tnanbu 36:709c6fae0b2e 194 float asc2 = (float)as2 / 500.0f;
tnanbu 37:1b459e0ef847 195 pc.printf("avarage(old) x:%2.2f,y:%2.2f,z:%2.2f,scaler=%2.2f,max:%2.2f\r\n",
tnanbu 37:1b459e0ef847 196 (float)ax2/500.0f*0.005,(float)ay2/500.0f*0.005,(float)az2/500.0f*0.005,(float)as2/500.0f*0.005, (float)tmp_max2*0.005);
tnanbu 36:709c6fae0b2e 197 sprintf(stracc2,"%d,%d,%2.2f,%2.2f\r\n",timecount,time(NULL),asc2*0.005,(float)tmp_max2*0.005);
tnanbu 35:69e2bc347f0c 198
tnanbu 36:709c6fae0b2e 199 if( (strlen(buffer2)+ strlen(stracc2)) > DATA_SIZE) {
tnanbu 36:709c6fae0b2e 200 pc.printf("try write fp2:%d,%d\r\n",strlen(buffer2),strlen(stracc2));
tnanbu 35:69e2bc347f0c 201 ret = fwrite(buffer2,sizeof(char),strlen(buffer2),fp2);
tnanbu 35:69e2bc347f0c 202 if(ret < strlen(buffer2)){
tnanbu 35:69e2bc347f0c 203 pc.printf("fp2 write failed:%d. errno:%d. Reboot!!!\r\n",ret,errno);
tnanbu 35:69e2bc347f0c 204 NVIC_SystemReset();
tnanbu 35:69e2bc347f0c 205 }
tnanbu 37:1b459e0ef847 206 //ret = fflush(fp2);
tnanbu 37:1b459e0ef847 207 //if(ret != 0){
tnanbu 37:1b459e0ef847 208 //pc.printf("fp2 fflush failed:%d,%d\r\n",ret,errno);
tnanbu 37:1b459e0ef847 209 //}
tnanbu 35:69e2bc347f0c 210
tnanbu 35:69e2bc347f0c 211 memset(buffer2,0,sizeof(buffer2));
tnanbu 35:69e2bc347f0c 212 sprintf(buffer2,"%s",stracc2);
tnanbu 35:69e2bc347f0c 213 } else {
tnanbu 35:69e2bc347f0c 214 sprintf(buffer2,"%s%s",buffer2,stracc2);
tnanbu 13:df67ca499051 215 }
tnanbu 35:69e2bc347f0c 216
tnanbu 35:69e2bc347f0c 217 oldcount = 0;
tnanbu 35:69e2bc347f0c 218 as2=ax2=ay2=az2=0;
tnanbu 35:69e2bc347f0c 219 tmp_max2 = 0;
tnanbu 7:b69fa9bb320d 220 }
tnanbu 11:2d5fcf102778 221 }
tnanbu 19:2475d32bd93f 222
tnanbu 13:df67ca499051 223 if(time(NULL) > 86400){
tnanbu 8:7f80139df48d 224 //Create New File
tnanbu 8:7f80139df48d 225 set_time(NULL);
tnanbu 11:2d5fcf102778 226 timecount = 0;
tnanbu 36:709c6fae0b2e 227 if(fp1){
tnanbu 36:709c6fae0b2e 228 fclose(fp1);
tnanbu 36:709c6fae0b2e 229 //free(fp1);
tnanbu 36:709c6fae0b2e 230 fp1 = NULL;
tnanbu 36:709c6fae0b2e 231 }
tnanbu 36:709c6fae0b2e 232 if(fp2){
tnanbu 36:709c6fae0b2e 233 fclose(fp2);
tnanbu 36:709c6fae0b2e 234 //free(fp2);
tnanbu 36:709c6fae0b2e 235 fp2 = NULL;
tnanbu 36:709c6fae0b2e 236 }
tnanbu 8:7f80139df48d 237 lognum1++;
tnanbu 8:7f80139df48d 238 lognum2++;
tnanbu 13:df67ca499051 239 sprintf(filename1,"/sd/new_%d",lognum1);
tnanbu 13:df67ca499051 240 sprintf(filename2,"/sd/old_%d",lognum2);
tnanbu 33:3369e5fe46aa 241 fp1 = fopen(filename1,"ab");
tnanbu 8:7f80139df48d 242 if(!fp1){
tnanbu 28:8bda44be0dd0 243 pc.printf("fp1 create file failed:%d\r\n",errno);
tnanbu 13:df67ca499051 244 NVIC_SystemReset();
tnanbu 8:7f80139df48d 245 }
tnanbu 33:3369e5fe46aa 246 fp2 = fopen(filename2,"ab");
tnanbu 11:2d5fcf102778 247 if(!fp2){
tnanbu 28:8bda44be0dd0 248 pc.printf("fp2 create file failed:%d\r\n",errno);
tnanbu 13:df67ca499051 249 NVIC_SystemReset();
tnanbu 11:2d5fcf102778 250 }
tnanbu 31:4ac70aa71542 251 pc.printf("Create New File:%d,%d",timecount,time(NULL));
tnanbu 7:b69fa9bb320d 252 }
tnanbu 37:1b459e0ef847 253
tnanbu 37:1b459e0ef847 254 //Button Check
tnanbu 37:1b459e0ef847 255 if(button.read() == 1){
tnanbu 37:1b459e0ef847 256 btn_flag++;
tnanbu 37:1b459e0ef847 257 //pc.printf("Button pressed:%d\r\n",btn_flag);
tnanbu 37:1b459e0ef847 258 }
tnanbu 37:1b459e0ef847 259 else{
tnanbu 37:1b459e0ef847 260 btn_flag = 0;
tnanbu 37:1b459e0ef847 261 }
tnanbu 37:1b459e0ef847 262
tnanbu 37:1b459e0ef847 263 if(btn_flag > 200){
tnanbu 37:1b459e0ef847 264 //pc.printf("Button Pressed. Close fp\r\n");
tnanbu 37:1b459e0ef847 265 if(fp1){
tnanbu 37:1b459e0ef847 266 fclose(fp1);
tnanbu 37:1b459e0ef847 267 fp1 = NULL;
tnanbu 37:1b459e0ef847 268 }
tnanbu 37:1b459e0ef847 269 if(fp2){
tnanbu 37:1b459e0ef847 270 fclose(fp2);
tnanbu 37:1b459e0ef847 271 fp2 = NULL;
tnanbu 37:1b459e0ef847 272 }
tnanbu 37:1b459e0ef847 273 }
tnanbu 37:1b459e0ef847 274
tnanbu 13:df67ca499051 275 }
tnanbu 13:df67ca499051 276
tnanbu 13:df67ca499051 277 int main()
tnanbu 13:df67ca499051 278 {
tnanbu 36:709c6fae0b2e 279 i2c.frequency(400000);
tnanbu 33:3369e5fe46aa 280 short retry = 0;
tnanbu 13:df67ca499051 281 sprintf(filename1,"/sd/new_%d",lognum1);
tnanbu 13:df67ca499051 282 sprintf(filename2,"/sd/old_%d",lognum2);
tnanbu 13:df67ca499051 283
tnanbu 33:3369e5fe46aa 284 while(!fp1 && retry < 5){
tnanbu 33:3369e5fe46aa 285 fp1 = fopen(filename1,"ab");
tnanbu 33:3369e5fe46aa 286 if(!fp1) {
tnanbu 33:3369e5fe46aa 287 pc.printf("fp1(%s) open failed errno:%d\r\n",filename1,errno);
tnanbu 33:3369e5fe46aa 288 //NVIC_SystemReset();
tnanbu 33:3369e5fe46aa 289 }
tnanbu 33:3369e5fe46aa 290 retry++;
tnanbu 33:3369e5fe46aa 291 wait_ms(100);
tnanbu 19:2475d32bd93f 292 }
tnanbu 33:3369e5fe46aa 293 retry = 0;
tnanbu 33:3369e5fe46aa 294 while(!fp2 && retry < 5){
tnanbu 33:3369e5fe46aa 295 fp2 = fopen(filename2,"ab");
tnanbu 33:3369e5fe46aa 296 if(!fp2) {
tnanbu 33:3369e5fe46aa 297 pc.printf("fp2(%s) open failed errno:%d\r\n",filename2,errno);
tnanbu 33:3369e5fe46aa 298 //NVIC_SystemReset();
tnanbu 33:3369e5fe46aa 299 }
tnanbu 36:709c6fae0b2e 300 retry++;
tnanbu 33:3369e5fe46aa 301 wait_ms(100);
tnanbu 13:df67ca499051 302 }
tnanbu 28:8bda44be0dd0 303
tnanbu 28:8bda44be0dd0 304 //Read Max G
tnanbu 28:8bda44be0dd0 305 for(int i = 0; i < 4; i++){
tnanbu 28:8bda44be0dd0 306 //pc.printf("readEEPROM:0x%x\r\n",readEEPROMByte(i));
tnanbu 28:8bda44be0dd0 307 max_g |= readEEPROMByte(i) << 8*i;
tnanbu 28:8bda44be0dd0 308 }
tnanbu 28:8bda44be0dd0 309 pc.printf("read max_g from eeprom:%d\r\n",max_g);
tnanbu 13:df67ca499051 310
tnanbu 19:2475d32bd93f 311 while(init) {
tnanbu 19:2475d32bd93f 312 init = initLIS331();
tnanbu 19:2475d32bd93f 313 initLIS3DH();
tnanbu 19:2475d32bd93f 314 pc.printf(" init acc sensor %d\r\n",ret);
tnanbu 19:2475d32bd93f 315 wait_ms(100);
tnanbu 13:df67ca499051 316 }
tnanbu 18:2a42f4052139 317 //interrupt.attach_us(&timer,20000);//20ms
tnanbu 13:df67ca499051 318 while(1)
tnanbu 13:df67ca499051 319 {
tnanbu 35:69e2bc347f0c 320 timecount++;
tnanbu 35:69e2bc347f0c 321 oldcount++;
tnanbu 35:69e2bc347f0c 322 newcount++;
tnanbu 28:8bda44be0dd0 323 sub();
tnanbu 36:709c6fae0b2e 324 //wait_ms(20);
tnanbu 36:709c6fae0b2e 325 //wait_ms(1);
hakusan270 0:b76e4ba14765 326 }
hakusan270 0:b76e4ba14765 327 }
tnanbu 11:2d5fcf102778 328 /*********** porting **************/
tnanbu 11:2d5fcf102778 329 void spiFormat(int b,int m)
tnanbu 11:2d5fcf102778 330 {
tnanbu 11:2d5fcf102778 331 STSPI.format(b,m); /* 8bit */
hakusan270 1:025596ffc973 332 }
tnanbu 11:2d5fcf102778 333 void spiFrequency(int f)
tnanbu 11:2d5fcf102778 334 {
hakusan270 1:025596ffc973 335 STSPI.frequency(f); /* 1Mbps */
hakusan270 1:025596ffc973 336 }
tnanbu 11:2d5fcf102778 337 void spiWriteCS(int cs)
tnanbu 11:2d5fcf102778 338 {
hakusan270 1:025596ffc973 339 STSPICS=cs;
hakusan270 1:025596ffc973 340 }
tnanbu 11:2d5fcf102778 341 int spiWrite(int wd)
tnanbu 11:2d5fcf102778 342 {
tnanbu 11:2d5fcf102778 343 return ( STSPI.write(wd));
tnanbu 11:2d5fcf102778 344 }
tnanbu 7:b69fa9bb320d 345
tnanbu 13:df67ca499051 346 /*******************************************************
tnanbu 13:df67ca499051 347 EEPROM WRITE
tnanbu 13:df67ca499051 348 ********************************************************/
tnanbu 13:df67ca499051 349 HAL_StatusTypeDef writeEEPROMByte(uint32_t address, uint8_t data)
tnanbu 13:df67ca499051 350 {
tnanbu 13:df67ca499051 351 HAL_StatusTypeDef status;
tnanbu 13:df67ca499051 352 address = address + 0x08080000;
tnanbu 13:df67ca499051 353 HAL_FLASHEx_DATAEEPROM_Unlock(); //Unprotect the EEPROM to allow writing
tnanbu 13:df67ca499051 354 status = HAL_FLASHEx_DATAEEPROM_Program(TYPEPROGRAMDATA_BYTE, address, data);
tnanbu 13:df67ca499051 355 HAL_FLASHEx_DATAEEPROM_Lock(); // Reprotect the EEPROM
tnanbu 13:df67ca499051 356 return status;
tnanbu 13:df67ca499051 357 }
tnanbu 13:df67ca499051 358
tnanbu 13:df67ca499051 359 /*******************************************************
tnanbu 13:df67ca499051 360 EEPROM READ
tnanbu 13:df67ca499051 361 ********************************************************/
tnanbu 13:df67ca499051 362 uint8_t readEEPROMByte(uint32_t address) {
tnanbu 13:df67ca499051 363 volatile uint8_t tmp ;
tnanbu 13:df67ca499051 364 address = address + 0x08080000;
tnanbu 13:df67ca499051 365 tmp = *(__IO uint8_t*)address;
tnanbu 13:df67ca499051 366 return tmp;
tnanbu 13:df67ca499051 367 }
tnanbu 13:df67ca499051 368
tnanbu 13:df67ca499051 369 /***************************
tnanbu 13:df67ca499051 370 integer sqrt
tnanbu 13:df67ca499051 371 整数 sqrt √演算を整数で　ライブラリより速い
tnanbu 13:df67ca499051 372 ****************************/
tnanbu 13:df67ca499051 373 int int_sqrt(unsigned int x)
tnanbu 11:2d5fcf102778 374 {
tnanbu 13:df67ca499051 375 register int a = 0, c = 0, y = 0, i = 0, t = x;
tnanbu 13:df67ca499051 376 while(t >>= 1){
tnanbu 13:df67ca499051 377 ++i;
tnanbu 13:df67ca499051 378 }
tnanbu 13:df67ca499051 379 for(i += i & 1; i >= 0; i -= 2){
tnanbu 13:df67ca499051 380 c = (y << 1 | 1) <= x >> i;
tnanbu 13:df67ca499051 381 a = a << 1 | c;
tnanbu 13:df67ca499051 382 y = y << 1 | c;
tnanbu 13:df67ca499051 383 x -= c * y << i;
tnanbu 13:df67ca499051 384 y += c;
tnanbu 13:df67ca499051 385 }
tnanbu 13:df67ca499051 386 return a;
tnanbu 7:b69fa9bb320d 387 }