albatross / Mbed 2 deprecated keiki2016ver4

20160815 計器最新版

Dependencies:   SDFileSystem mbed

Fork of keiki2016verRtos by albatross

main.cpp@0:085b2c5e3254, 2016-02-23 (annotated)

Committer:
taurin
Date:
Tue Feb 23 13:05:06 2016 +0000
Revision:
0:085b2c5e3254
Child:
1:5ec2409854da
2/23 ??;

Who changed what in which revision?

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