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20160812
Dependencies: SDFileSystem mbed
Fork of keiki20160527 by
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); + } +} \ No newline at end of file