albatross / Mbed 2 deprecated keiki2016ver4

20160815 計器最新版

Dependencies:   SDFileSystem mbed

Fork of keiki2016verRtos by albatross

main.cpp@2:5a1a638f5fe6, 2016-02-25 (annotated)

Committer:
taurin
Date:
Thu Feb 25 09:13:46 2016 +0000
Revision:
2:5a1a638f5fe6
Parent:
1:5ec2409854da
Child:
3:8dc516be2e7e
aaaa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 1:5ec2409854da 1 //計器プログラム
taurin 0:085b2c5e3254 2 #include "mbed.h"
taurin 0:085b2c5e3254 3 #include "Fusokukei.h"
taurin 0:085b2c5e3254 4 #include "MPU6050.h"
taurin 0:085b2c5e3254 5 #include "SDFileSystem.h"
taurin 0:085b2c5e3254 6
taurin 0:085b2c5e3254 7 #define KX_VALUE_MIN 0.4
taurin 0:085b2c5e3254 8 #define KX_VALUE_MAX 0.8
taurin 1:5ec2409854da 9 #define SOUDA_DATAS_NUM 13
taurin 0:085b2c5e3254 10 #define WRITE_DATAS_NUM 28
taurin 0:085b2c5e3254 11 #define MPU_LOOP_TIME 0.01
taurin 0:085b2c5e3254 12 #define AIR_LOOP_TIME 0.01
taurin 0:085b2c5e3254 13 #define WRITE_DATAS_LOOP_TIME 0.5
taurin 0:085b2c5e3254 14 #define ROLL_R_MAX_DEG 5
taurin 0:085b2c5e3254 15 #define ROLL_L_MAX_DEG 5
taurin 0:085b2c5e3254 16
taurin 0:085b2c5e3254 17 Serial pc(USBTX,USBRX);
taurin 0:085b2c5e3254 18 Serial soudaSerial(p13,p14);
taurin 1:5ec2409854da 19 Serial twe(p9,p10);
taurin 0:085b2c5e3254 20 Ticker writeDatasTicker;
taurin 0:085b2c5e3254 21
taurin 0:085b2c5e3254 22 InterruptIn FusokukeiPin(p30);
taurin 0:085b2c5e3254 23 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 24 Fusokukei air;
taurin 0:085b2c5e3254 25 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 26
taurin 0:085b2c5e3254 27 float sum = 0;
taurin 0:085b2c5e3254 28 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 29 MPU6050 mpu6050;
taurin 0:085b2c5e3254 30 Timer t;
taurin 0:085b2c5e3254 31 Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 32
taurin 0:085b2c5e3254 33 AnalogIn kx_X(p17);
taurin 0:085b2c5e3254 34 AnalogIn kx_Y(p16);
taurin 0:085b2c5e3254 35 AnalogIn kx_Z(p15);
taurin 0:085b2c5e3254 36
taurin 0:085b2c5e3254 37 DigitalOut RollAlarmR(p20);
taurin 0:085b2c5e3254 38 DigitalOut RollAlarmL(p19);
taurin 0:085b2c5e3254 39 DigitalOut led(LED1);
taurin 1:5ec2409854da 40 DigitalOut led2(LED2);
taurin 0:085b2c5e3254 41
taurin 0:085b2c5e3254 42 SDFileSystem sd(p5, p6, p7, p8, "sd");
taurin 0:085b2c5e3254 43 FILE* fp;
taurin 0:085b2c5e3254 44
taurin 0:085b2c5e3254 45 char soudaDatas[SOUDA_DATAS_NUM];
taurin 0:085b2c5e3254 46 char writeDatas[WRITE_DATAS_NUM];
taurin 0:085b2c5e3254 47
taurin 0:085b2c5e3254 48 void air_countUp();
taurin 0:085b2c5e3254 49 void call_calcAirSpeed();
taurin 0:085b2c5e3254 50 void init();
taurin 0:085b2c5e3254 51 void FusokukeiInit();
taurin 0:085b2c5e3254 52 void MpuInit();
taurin 0:085b2c5e3254 53 void mpuProcessing();
taurin 0:085b2c5e3254 54 void SdInit();
taurin 0:085b2c5e3254 55 void DataReceiveFromSouda();
taurin 0:085b2c5e3254 56 void WriteDatas();
taurin 0:085b2c5e3254 57 float calcAttackAngle();
taurin 0:085b2c5e3254 58 float calcKXdeg(float x);
taurin 0:085b2c5e3254 59
taurin 0:085b2c5e3254 60 void air_countUp(){
taurin 0:085b2c5e3254 61 air_kaitensu++;
taurin 0:085b2c5e3254 62 }
taurin 0:085b2c5e3254 63
taurin 0:085b2c5e3254 64 void call_calcAirSpeed(){
taurin 0:085b2c5e3254 65 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 66 air_kaitensu = 0;
taurin 0:085b2c5e3254 67 }
taurin 0:085b2c5e3254 68
taurin 0:085b2c5e3254 69 void init(){
taurin 1:5ec2409854da 70 twe.baud(115200);
taurin 0:085b2c5e3254 71 FusokukeiInit();
taurin 0:085b2c5e3254 72 MpuInit();
taurin 1:5ec2409854da 73 SdInit();
taurin 1:5ec2409854da 74 writeDatasTicker.attach(&WriteDatas,0.25);
taurin 1:5ec2409854da 75 //soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq);
taurin 0:085b2c5e3254 76 }
taurin 0:085b2c5e3254 77
taurin 0:085b2c5e3254 78 void FusokukeiInit(){
taurin 0:085b2c5e3254 79 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 80 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 81 }
taurin 0:085b2c5e3254 82
taurin 0:085b2c5e3254 83 void MpuInit(){
taurin 0:085b2c5e3254 84 i2c.frequency(400000); // use fast (400 kHz) I2C
taurin 0:085b2c5e3254 85 t.start();
taurin 0:085b2c5e3254 86 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
taurin 0:085b2c5e3254 87 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
taurin 0:085b2c5e3254 88 wait(1);
taurin 0:085b2c5e3254 89 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
taurin 0:085b2c5e3254 90 wait(1);
taurin 0:085b2c5e3254 91 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
taurin 0:085b2c5e3254 92 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
taurin 0:085b2c5e3254 93 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
taurin 0:085b2c5e3254 94 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
taurin 0:085b2c5e3254 95 wait(2);
taurin 0:085b2c5e3254 96 } else {
taurin 0:085b2c5e3254 97 }
taurin 0:085b2c5e3254 98 } else {
taurin 0:085b2c5e3254 99 pc.printf("out\n\r"); // Loop forever if communication doesn't happen
taurin 0:085b2c5e3254 100 }
taurin 0:085b2c5e3254 101 }
taurin 0:085b2c5e3254 102
taurin 0:085b2c5e3254 103 void mpuProcessing(){
taurin 0:085b2c5e3254 104 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
taurin 0:085b2c5e3254 105 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
taurin 0:085b2c5e3254 106 mpu6050.getAres();
taurin 0:085b2c5e3254 107 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
taurin 0:085b2c5e3254 108 ay = (float)accelCount[1]*aRes - accelBias[1];
taurin 0:085b2c5e3254 109 az = (float)accelCount[2]*aRes - accelBias[2];
taurin 0:085b2c5e3254 110 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
taurin 0:085b2c5e3254 111 mpu6050.getGres();
taurin 0:085b2c5e3254 112 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
taurin 0:085b2c5e3254 113 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
taurin 0:085b2c5e3254 114 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
taurin 0:085b2c5e3254 115 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
taurin 0:085b2c5e3254 116 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
taurin 0:085b2c5e3254 117 }
taurin 0:085b2c5e3254 118 Now = t.read_us();
taurin 0:085b2c5e3254 119 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
taurin 0:085b2c5e3254 120 lastUpdate = Now;
taurin 0:085b2c5e3254 121 sum += deltat;
taurin 0:085b2c5e3254 122 sumCount++;
taurin 0:085b2c5e3254 123 if(lastUpdate - firstUpdate > 10000000.0f) {
taurin 0:085b2c5e3254 124 beta = 0.04; // decrease filter gain after stabilized
taurin 0:085b2c5e3254 125 zeta = 0.015; // increasey bias drift gain after stabilized
taurin 0:085b2c5e3254 126 }
taurin 0:085b2c5e3254 127 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
taurin 0:085b2c5e3254 128 delt_t = t.read_ms() - count;
taurin 2:5a1a638f5fe6 129 if (delt_t > 800) { // update LCD once per half-second independent of read rate
taurin 0:085b2c5e3254 130 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]);
taurin 0:085b2c5e3254 131 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
taurin 0:085b2c5e3254 132 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]);
taurin 0:085b2c5e3254 133 pitch *= 180.0f / PI;
taurin 0:085b2c5e3254 134 yaw *= 180.0f / PI;
taurin 0:085b2c5e3254 135 roll *= 180.0f / PI;
taurin 0:085b2c5e3254 136 myled= !myled;
taurin 0:085b2c5e3254 137 count = t.read_ms();
taurin 0:085b2c5e3254 138 sum = 0;
taurin 0:085b2c5e3254 139 sumCount = 0;
taurin 0:085b2c5e3254 140 }
taurin 0:085b2c5e3254 141 }
taurin 0:085b2c5e3254 142
taurin 0:085b2c5e3254 143 void SdInit(){
taurin 0:085b2c5e3254 144 mkdir("/sd/mydir", 0777);
taurin 0:085b2c5e3254 145 fp = fopen("/sd/mydir/sdtest2.csv", "w");
taurin 0:085b2c5e3254 146 if(fp == NULL) {
taurin 0:085b2c5e3254 147 error("Could not open file for write\n");
taurin 0:085b2c5e3254 148 }
taurin 0:085b2c5e3254 149 fprintf(fp, "Hello fun SD Card World!\n\r");
taurin 0:085b2c5e3254 150 fclose(fp);
taurin 0:085b2c5e3254 151 }
taurin 0:085b2c5e3254 152
taurin 0:085b2c5e3254 153 void DataReceiveFromSouda(){
taurin 1:5ec2409854da 154 led2 = !led2;
taurin 1:5ec2409854da 155 pc.printf("received\n\r");
taurin 1:5ec2409854da 156 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
taurin 1:5ec2409854da 157 soudaDatas[i] = soudaSerial.getc();
taurin 0:085b2c5e3254 158 }
taurin 0:085b2c5e3254 159 }
taurin 0:085b2c5e3254 160
taurin 0:085b2c5e3254 161 void WriteDatas(){
taurin 1:5ec2409854da 162 pc.printf("write\n\r");
taurin 1:5ec2409854da 163 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
taurin 1:5ec2409854da 164 pc.printf("%i ",soudaDatas[i]);
taurin 1:5ec2409854da 165 twe.printf("%i ",soudaDatas[i]);
taurin 1:5ec2409854da 166 }
taurin 1:5ec2409854da 167 pc.printf("\n\r");
taurin 1:5ec2409854da 168 twe.printf("\n\r");
taurin 1:5ec2409854da 169 twe.printf("%f,%f,%f\n\r",pitch,roll,yaw);
taurin 1:5ec2409854da 170 // twe.printf("%f,%f,%f\n\r",gx,gy,gz);
taurin 1:5ec2409854da 171 // twe.printf("%f\n\r",airSpeed);
taurin 1:5ec2409854da 172 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
taurin 1:5ec2409854da 173 pc.printf("%f,%f,%f\n\r",gx,gy,gz);
taurin 1:5ec2409854da 174 pc.printf("%f\n\r",airSpeed);
taurin 1:5ec2409854da 175 fp = fopen("/sd/mydir/sdtest.csv", "a");
taurin 1:5ec2409854da 176 if(fp == NULL) {
taurin 1:5ec2409854da 177 error("Could not open file for write\n");
taurin 1:5ec2409854da 178 }
taurin 1:5ec2409854da 179 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
taurin 1:5ec2409854da 180 fprintf(fp,"%i ",soudaDatas[i]);
taurin 1:5ec2409854da 181 }
taurin 1:5ec2409854da 182 fprintf(fp, "p:%f,r:%f,y:%f\n",pitch,roll,yaw);
taurin 1:5ec2409854da 183 fprintf(fp, "gx:%f,gy:%f,gz:%f\n",gx,gy,gz);
taurin 1:5ec2409854da 184 fprintf(fp, "as:%f\n",airSpeed);
taurin 1:5ec2409854da 185 fclose(fp);
taurin 0:085b2c5e3254 186 }
taurin 0:085b2c5e3254 187
taurin 0:085b2c5e3254 188 float calcKXdeg(float x){
taurin 0:085b2c5e3254 189 return -310.54*x+156.65;
taurin 0:085b2c5e3254 190 }
taurin 0:085b2c5e3254 191
taurin 0:085b2c5e3254 192 float calcAttackAngle(){
taurin 0:085b2c5e3254 193 return pitch-calcKXdeg(kx_Z.read());
taurin 0:085b2c5e3254 194 }
taurin 0:085b2c5e3254 195
taurin 0:085b2c5e3254 196 void kxRead(){
taurin 0:085b2c5e3254 197 gx = kx_X.read();
taurin 0:085b2c5e3254 198 gy = kx_Y.read();
taurin 0:085b2c5e3254 199 gz = kx_Z.read();
taurin 0:085b2c5e3254 200 }
taurin 0:085b2c5e3254 201
taurin 0:085b2c5e3254 202 void RollAlarm(){
taurin 0:085b2c5e3254 203 if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){
taurin 0:085b2c5e3254 204 RollAlarmL = 1;
taurin 0:085b2c5e3254 205 }
taurin 0:085b2c5e3254 206 else{
taurin 0:085b2c5e3254 207 RollAlarmL = 0;
taurin 0:085b2c5e3254 208 }
taurin 0:085b2c5e3254 209
taurin 0:085b2c5e3254 210 if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){
taurin 0:085b2c5e3254 211 RollAlarmR = 1;
taurin 0:085b2c5e3254 212 }
taurin 0:085b2c5e3254 213 else{
taurin 0:085b2c5e3254 214 RollAlarmR = 0;
taurin 0:085b2c5e3254 215 }
taurin 0:085b2c5e3254 216 }
taurin 0:085b2c5e3254 217
taurin 0:085b2c5e3254 218 int main(){
taurin 0:085b2c5e3254 219 init();
taurin 0:085b2c5e3254 220 while(1){
taurin 0:085b2c5e3254 221 mpuProcessing();
taurin 0:085b2c5e3254 222 kxRead();
taurin 0:085b2c5e3254 223 RollAlarm();
taurin 1:5ec2409854da 224 DataReceiveFromSouda();
taurin 0:085b2c5e3254 225 }
taurin 0:085b2c5e3254 226 }