Diff: main.cpp

Revision:

1:5ec2409854da

Parent:

0:085b2c5e3254

Child:

2:5a1a638f5fe6

--- a/main.cpp	Tue Feb 23 13:05:06 2016 +0000
+++ b/main.cpp	Wed Feb 24 10:22:59 2016 +0000
@@ -1,3 +1,4 @@
+//計器プログラム
 #include "mbed.h"
 #include "Fusokukei.h"
 #include "MPU6050.h"
@@ -5,7 +6,7 @@
 
 #define KX_VALUE_MIN 0.4
 #define KX_VALUE_MAX 0.8
-#define SOUDA_DATAS_NUM 14
+#define SOUDA_DATAS_NUM 13
 #define WRITE_DATAS_NUM 28
 #define MPU_LOOP_TIME 0.01
 #define AIR_LOOP_TIME 0.01
@@ -15,7 +16,7 @@
 
 Serial pc(USBTX,USBRX);
 Serial soudaSerial(p13,p14);
-Serial twelite(p9,p10);
+Serial twe(p9,p10);
 Ticker writeDatasTicker;
 
 InterruptIn FusokukeiPin(p30);
@@ -36,6 +37,7 @@
 DigitalOut RollAlarmR(p20);
 DigitalOut RollAlarmL(p19);
 DigitalOut led(LED1);
+DigitalOut led2(LED2);
 
 SDFileSystem sd(p5, p6, p7, p8, "sd");
 FILE* fp;
@@ -65,11 +67,12 @@
 }
 
 void init(){
-    soudaSerial.attach(DataReceiveFromSouda, Serial::RxIrq);
-    //wait(0.01);
+    twe.baud(115200);
     FusokukeiInit();
     MpuInit(); 
-   // SdInit();
+    SdInit();
+    writeDatasTicker.attach(&WriteDatas,0.25);
+    //soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq);
 }
 
 void FusokukeiInit(){
@@ -123,14 +126,13 @@
         }
         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 > 200) { // update LCD once per half-second independent of read rate
+        if (delt_t > 500) { // update LCD once per half-second independent of read rate
             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;
-            pc.printf("p:%f,r:%f,y:%f\n\r",pitch,roll,yaw);
             myled= !myled;
             count = t.read_ms();
             sum = 0;
@@ -149,31 +151,38 @@
 }
 
 void DataReceiveFromSouda(){
-    int soudaDatasIndex = 0;
-    while(soudaSerial.readable()){
-        soudaDatas[soudaDatasIndex++] = soudaSerial.getc();     
+    led2 = !led2;
+    pc.printf("received\n\r");
+    for(int i = 0; i < SOUDA_DATAS_NUM; i++){
+        soudaDatas[i] = soudaSerial.getc();
     }
 }
 
 void WriteDatas(){
-    //for(int i = 0; i < WRITE_DATAS_NUM; i++){
-//        pc.printf("%i\t",writeDatas[i]);
-//        if(i % 7 == 0){
-//            pc.printf("\n\r");
-//        }
-//    }
-    //pc.printf("p:%f,r:%f,y:%f\n\r",pitch,roll,yaw);
-   // pc.printf("gx:%f,gy:%f,gz:%f\n\r",gx,gy,gz);   
-   // pc.printf("angleX:%f,angleY:%f,angleZ:%f\n\r",calcKXdeg(gx),calcKXdeg(gy),calcKXdeg(gz));
-    //pc.printf("as:%f\n\r",airSpeed);
-    //fp = fopen("/sd/mydir/sdtest.csv", "a");
-//    if(fp == NULL) {
-//        error("Could not open file for write\n");
-//    }
-//    fprintf(fp, "p:%f,r:%f,y:%f\n",pitch,roll,yaw);
-//    fprintf(fp, "gx:%f,gy:%f,gz:%f\n",gx,gy,gz);
-//    fprintf(fp, "as:%f\n",airSpeed);
-//    fclose(fp);
+    pc.printf("write\n\r");
+    for(int i = 0; i < SOUDA_DATAS_NUM; i++){
+        pc.printf("%i   ",soudaDatas[i]);
+        twe.printf("%i  ",soudaDatas[i]);
+    }
+    pc.printf("\n\r");
+    twe.printf("\n\r");
+    twe.printf("%f,%f,%f\n\r",pitch,roll,yaw);
+   // twe.printf("%f,%f,%f\n\r",gx,gy,gz);   
+//    twe.printf("%f\n\r",airSpeed); 
+    pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
+    pc.printf("%f,%f,%f\n\r",gx,gy,gz);   
+    pc.printf("%f\n\r",airSpeed);
+    fp = fopen("/sd/mydir/sdtest.csv", "a");
+    if(fp == NULL) {
+        error("Could not open file for write\n");
+    }
+    for(int i = 0; i < SOUDA_DATAS_NUM; i++){
+        fprintf(fp,"%i   ",soudaDatas[i]);
+    }
+    fprintf(fp, "p:%f,r:%f,y:%f\n",pitch,roll,yaw);
+    fprintf(fp, "gx:%f,gy:%f,gz:%f\n",gx,gy,gz);
+    fprintf(fp, "as:%f\n",airSpeed);
+    fclose(fp);
 }
 
 float calcKXdeg(float x){
@@ -207,13 +216,11 @@
 }
 
 int main(){
-    pc.printf("test\n\r");
     init();
     while(1){
         mpuProcessing();
         kxRead();
-        WriteDatas();
         RollAlarm();
-        wait(0.01);
+        DataReceiveFromSouda();
     }
 }
\ No newline at end of file