Diff: main.cpp

Revision:

0:085b2c5e3254

Child:

1:5ec2409854da

diff -r 000000000000 -r 085b2c5e3254 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 23 13:05:06 2016 +0000
@@ -0,0 +1,219 @@
+#include "mbed.h"
+#include "Fusokukei.h"
+#include "MPU6050.h"
+#include "SDFileSystem.h"
+
+#define KX_VALUE_MIN 0.4
+#define KX_VALUE_MAX 0.8
+#define SOUDA_DATAS_NUM 14
+#define WRITE_DATAS_NUM 28
+#define MPU_LOOP_TIME 0.01
+#define AIR_LOOP_TIME 0.01
+#define WRITE_DATAS_LOOP_TIME 0.5
+#define ROLL_R_MAX_DEG 5
+#define ROLL_L_MAX_DEG 5
+
+Serial pc(USBTX,USBRX);
+Serial soudaSerial(p13,p14);
+Serial twelite(p9,p10);
+Ticker writeDatasTicker;
+
+InterruptIn FusokukeiPin(p30);
+Ticker FusokukeiTicker;
+Fusokukei air;
+volatile int air_kaitensu= 0;
+
+float sum = 0;
+uint32_t sumCount = 0;
+MPU6050 mpu6050;
+Timer t;
+Ticker mpu6050Ticker;
+
+AnalogIn kx_X(p17);
+AnalogIn kx_Y(p16);
+AnalogIn kx_Z(p15);
+
+DigitalOut RollAlarmR(p20);
+DigitalOut RollAlarmL(p19);
+DigitalOut led(LED1);
+
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+FILE* fp;
+
+char soudaDatas[SOUDA_DATAS_NUM];
+char writeDatas[WRITE_DATAS_NUM];
+
+void air_countUp();
+void call_calcAirSpeed();
+void init();
+void FusokukeiInit();
+void MpuInit();
+void mpuProcessing();
+void SdInit();
+void DataReceiveFromSouda();
+void WriteDatas();
+float calcAttackAngle();
+float calcKXdeg(float x);
+
+void air_countUp(){
+    air_kaitensu++;
+}
+
+void call_calcAirSpeed(){
+    air.calcAirSpeed(air_kaitensu);
+    air_kaitensu = 0;
+}
+
+void init(){
+    soudaSerial.attach(DataReceiveFromSouda, Serial::RxIrq);
+    //wait(0.01);
+    FusokukeiInit();
+    MpuInit(); 
+   // SdInit();
+}
+
+void FusokukeiInit(){
+    FusokukeiPin.rise(air_countUp);
+    FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
+}
+
+void MpuInit(){
+    i2c.frequency(400000);  // use fast (400 kHz) I2C
+    t.start();
+    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
+    if (whoami == 0x68) { // WHO_AM_I should always be 0x68
+        wait(1);
+        mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+        wait(1);
+        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) {
+            mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
+            mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+            mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+            wait(2);
+        } else {
+        }
+    } else {
+        pc.printf("out\n\r"); // Loop forever if communication doesn't happen
+    }   
+}
+
+void mpuProcessing(){
+    if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
+            mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
+            mpu6050.getAres();
+            ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
+            ay = (float)accelCount[1]*aRes - accelBias[1];
+            az = (float)accelCount[2]*aRes - accelBias[2];
+            mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
+            mpu6050.getGres();
+            gx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
+            gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
+            gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
+            tempCount = mpu6050.readTempData();  // Read the x/y/z adc values
+            temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
+        }
+        Now = t.read_us();
+        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+        lastUpdate = Now;
+        sum += deltat;
+        sumCount++;
+        if(lastUpdate - firstUpdate > 10000000.0f) {
+            beta = 0.04;  // decrease filter gain after stabilized
+            zeta = 0.015; // increasey bias drift gain after stabilized
+        }
+        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
+            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;
+            sumCount = 0;
+    }
+}
+
+void SdInit(){
+    mkdir("/sd/mydir", 0777);
+    fp = fopen("/sd/mydir/sdtest2.csv", "w");
+    if(fp == NULL) {
+        error("Could not open file for write\n");
+    }
+    fprintf(fp, "Hello fun SD Card World!\n\r");
+    fclose(fp);
+}
+
+void DataReceiveFromSouda(){
+    int soudaDatasIndex = 0;
+    while(soudaSerial.readable()){
+        soudaDatas[soudaDatasIndex++] = 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);
+}
+
+float calcKXdeg(float x){
+    return -310.54*x+156.65;
+}
+
+float calcAttackAngle(){
+    return pitch-calcKXdeg(kx_Z.read());
+}
+
+void kxRead(){
+    gx = kx_X.read();
+    gy = kx_Y.read();
+    gz = kx_Z.read();
+}
+
+void RollAlarm(){ 
+    if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){
+        RollAlarmL = 1;
+    }
+    else{
+        RollAlarmL = 0;
+    }
+    
+    if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){
+        RollAlarmR = 1;
+    }
+    else{
+        RollAlarmR = 0;
+    }
+}
+
+int main(){
+    pc.printf("test\n\r");
+    init();
+    while(1){
+        mpuProcessing();
+        kxRead();
+        WriteDatas();
+        RollAlarm();
+        wait(0.01);
+    }
+}
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