albatross / Mbed 2 deprecated keiki2017

2017年度の製作を開始します。

Dependencies:   BufferedSoftSerial2 SDFileSystem-RTOS mbed mbed-rtos INA226_ver1

Fork of keiki2016ver5 by albatross

main.cpp@41:1bd730c4840d, 2017-03-18 (annotated)

Committer:
tsumagari
Date:
Sat Mar 18 03:13:36 2017 +0000
Branch:
Thread-gyogetsuMPU
Revision:
41:1bd730c4840d
Parent:
40:f15c11485e95
Child:
42:73c3862e4c12
Cadence.h?readData??????ver.???myBuff?string??????????????

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"
tsumagari 33:69ad9920f693 3 #include "rtos.h"
tsumagari 41:1bd730c4840d 4 #include "Cadence.h"
taurin 0:085b2c5e3254 5 #include "Fusokukei.h"
taurin 0:085b2c5e3254 6 #include "MPU6050.h"
tsumagari 15:6966299bea4c 7 #include "BufferedSoftSerial.h"
tsumagari 41:1bd730c4840d 8 //#include "SDFileSystem.h"
taurin 0:085b2c5e3254 9
tsumagari 34:c46f2f687c7b 10 #define SOUDA_DATAS_NUM 24 //(yokutan 7 + input 5)*2
tsumagari 40:f15c11485e95 11 #define WRITE_DATAS_NUM 30 // souda_datas_num + 6( rpy, airspeed, height, cadence)
tsumagari 40:f15c11485e95 12 #define SD_WRITE_NUM 20
tsumagari 27:d2955f29a3aa 13 #define MPU_LOOP_TIME 0.01
taurin 0:085b2c5e3254 14 #define AIR_LOOP_TIME 0.01
taurin 3:8dc516be2e7e 15 #define WRITE_DATAS_LOOP_TIME 1
taurin 3:8dc516be2e7e 16 #define ROLL_R_MAX_DEG 2
taurin 3:8dc516be2e7e 17 #define ROLL_L_MAX_DEG 2
tsumagari 27:d2955f29a3aa 18 #define MPU_DELT_MIN 250
taurin 4:a863a092141c 19 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 20
tsumagari 26:50272431cd1e 21 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 22 extern "C" void mbed_reset();
tsumagari 38:32f483b0a77f 23 InterruptIn resetPin(p25);
tsumagari 26:50272431cd1e 24 Timer resetTimeCount;
tsumagari 26:50272431cd1e 25 void resetInterrupt(){
tsumagari 26:50272431cd1e 26 while(resetPin){
tsumagari 26:50272431cd1e 27 resetTimeCount.start();
tsumagari 26:50272431cd1e 28 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 29 }
tsumagari 26:50272431cd1e 30 resetTimeCount.reset();
tsumagari 26:50272431cd1e 31 }
tsumagari 26:50272431cd1e 32 //-------------------------------------------------------
tsumagari 26:50272431cd1e 33
tsumagari 41:1bd730c4840d 34 //SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 41:1bd730c4840d 35 //FILE* fp;
tsumagari 39:7623678de4e2 36
tsumagari 21:8802034b7810 37 RawSerial pc(USBTX,USBRX);
tsumagari 27:d2955f29a3aa 38 RawSerial android(p9,p10);
tsumagari 27:d2955f29a3aa 39 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 40 BufferedSoftSerial twe(p11,p12);
tsumagari 27:d2955f29a3aa 41 Cadence cadence_twe(p13,p14);
tsumagari 41:1bd730c4840d 42 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 43 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 44 //Timer writeTimer;
taurin 0:085b2c5e3254 45
tsumagari 38:32f483b0a77f 46 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 47 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 48 Fusokukei air;
taurin 0:085b2c5e3254 49 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 50
tsumagari 34:c46f2f687c7b 51 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 52 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 53 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 54 //double sonarDistTime
tsumagari 27:d2955f29a3aa 55 double sonarDist;
tsumagari 27:d2955f29a3aa 56 float sonarV;
tsumagari 27:d2955f29a3aa 57
tsumagari 27:d2955f29a3aa 58
tsumagari 26:50272431cd1e 59 float sum = 0;
tsumagari 26:50272431cd1e 60 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 61 MPU6050 mpu6050;
taurin 0:085b2c5e3254 62 Timer t;
tsumagari 34:c46f2f687c7b 63 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 64
tsumagari 38:32f483b0a77f 65 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 66 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 67 DigitalOut led2(LED2);
tsumagari 40:f15c11485e95 68 DigitalOut led4(LED4);
taurin 4:a863a092141c 69
taurin 0:085b2c5e3254 70 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 71 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 72 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 73
taurin 0:085b2c5e3254 74 void air_countUp();
taurin 0:085b2c5e3254 75 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 76 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 77 void sonarInterruptStop();
tsumagari 41:1bd730c4840d 78 void updateCadence(/*void const *arg*/);
taurin 0:085b2c5e3254 79 void init();
taurin 0:085b2c5e3254 80 void FusokukeiInit();
tsumagari 26:50272431cd1e 81 void MpuInit();
tsumagari 34:c46f2f687c7b 82 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 83 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 84 void SdInit();
tsumagari 41:1bd730c4840d 85 //void SDprintf();
taurin 0:085b2c5e3254 86 void WriteDatas();
tsumagari 27:d2955f29a3aa 87 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 88 float calcKXdeg(float x);
tsumagari 15:6966299bea4c 89
taurin 0:085b2c5e3254 90 void air_countUp(){
taurin 0:085b2c5e3254 91 air_kaitensu++;
taurin 0:085b2c5e3254 92 }
taurin 0:085b2c5e3254 93
taurin 0:085b2c5e3254 94 void call_calcAirSpeed(){
taurin 0:085b2c5e3254 95 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 96 air_kaitensu = 0;
taurin 0:085b2c5e3254 97 }
taurin 0:085b2c5e3254 98
tsumagari 27:d2955f29a3aa 99 void sonarInterruptStart(){
tsumagari 34:c46f2f687c7b 100 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 101 }
tsumagari 27:d2955f29a3aa 102
tsumagari 27:d2955f29a3aa 103 void sonarInterruptStop(){
tsumagari 26:50272431cd1e 104 // sonarTimer.stop();
tsumagari 26:50272431cd1e 105 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 106 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 107 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 108 }
tsumagari 27:d2955f29a3aa 109 void sonarCalc(){
tsumagari 27:d2955f29a3aa 110 sonarV = 0;
tsumagari 27:d2955f29a3aa 111 for(int i = 0; i<20; i++){
tsumagari 27:d2955f29a3aa 112 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 113 wait(0.01);
tsumagari 27:d2955f29a3aa 114 }
tsumagari 27:d2955f29a3aa 115 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 116 }
tsumagari 27:d2955f29a3aa 117
tsumagari 34:c46f2f687c7b 118 void updateCadence(/*void const *arg*/){
tsumagari 34:c46f2f687c7b 119 // while(1){
tsumagari 27:d2955f29a3aa 120 cadence_twe.readData();
tsumagari 37:34aaa1951390 121 // Thread::wait(5);
tsumagari 34:c46f2f687c7b 122 // }
tsumagari 27:d2955f29a3aa 123 }
tsumagari 26:50272431cd1e 124
taurin 0:085b2c5e3254 125 void init(){
tsumagari 26:50272431cd1e 126 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 127 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 128 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 129 //-----------------------------------------------------------
tsumagari 27:d2955f29a3aa 130 twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
tsumagari 27:d2955f29a3aa 131 //writeTimer.start();
taurin 0:085b2c5e3254 132 FusokukeiInit();
tsumagari 41:1bd730c4840d 133 // SdInit();
tsumagari 33:69ad9920f693 134 // MpuInit();
tsumagari 27:d2955f29a3aa 135 //writeDatasTicker.attach(&WriteDatas,1);
tsumagari 41:1bd730c4840d 136 cadenceUpdateTicker.attach(&updateCadence, 1);
tsumagari 27:d2955f29a3aa 137
tsumagari 27:d2955f29a3aa 138 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 139 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 140 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 141 //-----------------------------------------------------------
taurin 0:085b2c5e3254 142 }
taurin 0:085b2c5e3254 143
taurin 0:085b2c5e3254 144 void FusokukeiInit(){
taurin 0:085b2c5e3254 145 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 146 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 147 }
taurin 0:085b2c5e3254 148
tsumagari 26:50272431cd1e 149 void MpuInit(){
tsumagari 26:50272431cd1e 150 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 151 t.start();
tsumagari 26:50272431cd1e 152 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 153 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 154 Thread::wait(100);
tsumagari 26:50272431cd1e 155 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 156 Thread::wait(100);
tsumagari 26:50272431cd1e 157 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) {
tsumagari 26:50272431cd1e 158 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 159 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 26:50272431cd1e 160 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
tsumagari 34:c46f2f687c7b 161 Thread::wait(200);
tsumagari 26:50272431cd1e 162 } else {
tsumagari 26:50272431cd1e 163 }
tsumagari 26:50272431cd1e 164 } else {
tsumagari 26:50272431cd1e 165 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
tsumagari 26:50272431cd1e 166 }
tsumagari 26:50272431cd1e 167 }
taurin 0:085b2c5e3254 168
tsumagari 27:d2955f29a3aa 169 double calcPulse(int deg){
tsumagari 27:d2955f29a3aa 170 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 171
tsumagari 27:d2955f29a3aa 172 }
tsumagari 27:d2955f29a3aa 173
tsumagari 34:c46f2f687c7b 174 void mpuProcessing(void const *arg){
tsumagari 33:69ad9920f693 175 MpuInit();
tsumagari 33:69ad9920f693 176 while(1){
tsumagari 33:69ad9920f693 177 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 178 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 179 mpu6050.getAres();
tsumagari 33:69ad9920f693 180 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 181 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 182 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 183 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 184 mpu6050.getGres();
tsumagari 33:69ad9920f693 185 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 186 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 187 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 188 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 189 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 190 }
tsumagari 33:69ad9920f693 191 Now = t.read_us();
tsumagari 33:69ad9920f693 192 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 193 lastUpdate = Now;
tsumagari 33:69ad9920f693 194 sum += deltat;
tsumagari 33:69ad9920f693 195 sumCount++;
tsumagari 33:69ad9920f693 196 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 197 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 198 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 199 }
tsumagari 33:69ad9920f693 200 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 201 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 202 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 203 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]);
tsumagari 33:69ad9920f693 204 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 205 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]);
tsumagari 33:69ad9920f693 206 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 207 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 208 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 209 myled= !myled;
tsumagari 33:69ad9920f693 210 count = t.read_ms();
tsumagari 33:69ad9920f693 211 sum = 0;
tsumagari 33:69ad9920f693 212 sumCount = 0;
tsumagari 33:69ad9920f693 213 }
tsumagari 40:f15c11485e95 214 Thread::wait(1);
tsumagari 33:69ad9920f693 215 }//while(1)
tsumagari 26:50272431cd1e 216 }
tsumagari 26:50272431cd1e 217
tsumagari 34:c46f2f687c7b 218 void DataReceiveFromSouda(/*void const *arg*/){
tsumagari 34:c46f2f687c7b 219 // while(1){
tsumagari 34:c46f2f687c7b 220 if(soudaSerial.readable()){
tsumagari 34:c46f2f687c7b 221 led2 = !led2;
tsumagari 34:c46f2f687c7b 222 char c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 223 while( c != ';' ){
tsumagari 34:c46f2f687c7b 224 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 225 }
tsumagari 34:c46f2f687c7b 226 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 34:c46f2f687c7b 227 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 228 }
tsumagari 34:c46f2f687c7b 229 }//if
tsumagari 34:c46f2f687c7b 230 // }//while(1)
taurin 3:8dc516be2e7e 231 }
tsumagari 41:1bd730c4840d 232 //
tsumagari 41:1bd730c4840d 233 //void SdInit(){
tsumagari 41:1bd730c4840d 234 // mkdir("/sd/mydir", 0777);
tsumagari 41:1bd730c4840d 235 // fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 41:1bd730c4840d 236 // if(fp == NULL) {
tsumagari 41:1bd730c4840d 237 // error("Could not open file for write\n");
tsumagari 41:1bd730c4840d 238 // }
tsumagari 41:1bd730c4840d 239 // fprintf(fp, "Hello fun SD Card World!\n\r");
tsumagari 41:1bd730c4840d 240 // fclose(fp);
tsumagari 41:1bd730c4840d 241 //}
tsumagari 41:1bd730c4840d 242 //
tsumagari 41:1bd730c4840d 243 //void SDprintf(){
tsumagari 41:1bd730c4840d 244 // fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 41:1bd730c4840d 245 // if(fp == NULL) {
tsumagari 41:1bd730c4840d 246 // error("Could not open file for write\n");
tsumagari 41:1bd730c4840d 247 // }
tsumagari 41:1bd730c4840d 248 // for(int i = 0; i < SD_WRITE_NUM; i++){
tsumagari 41:1bd730c4840d 249 // for(int j = 0; j < WRITE_DATAS_NUM; j++){
tsumagari 41:1bd730c4840d 250 // fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 41:1bd730c4840d 251 // }
tsumagari 41:1bd730c4840d 252 // }
tsumagari 41:1bd730c4840d 253 // fprintf(fp,"\n\r");
tsumagari 41:1bd730c4840d 254 // fclose(fp);
tsumagari 41:1bd730c4840d 255 //}
tsumagari 39:7623678de4e2 256
taurin 3:8dc516be2e7e 257 void WriteDatas(){
taurin 8:31e07f6ed0f7 258 int i;
tsumagari 27:d2955f29a3aa 259 for(i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 260 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 261 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 262 }
taurin 8:31e07f6ed0f7 263 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 264 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 265 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 266 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 267 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 37:34aaa1951390 268 writeDatas[write_datas_index][i++] = cadence_twe.cadence;
taurin 8:31e07f6ed0f7 269 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 270 //for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 271 // pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 272 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 273 // }
tsumagari 27:d2955f29a3aa 274 // pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 275 // twe.printf("\n\r");
tsumagari 39:7623678de4e2 276 if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 41:1bd730c4840d 277 // SDprintf();
tsumagari 39:7623678de4e2 278 write_datas_index=0;
tsumagari 39:7623678de4e2 279 }
tsumagari 39:7623678de4e2 280 else{
tsumagari 39:7623678de4e2 281 write_datas_index++;
tsumagari 39:7623678de4e2 282 }
taurin 9:95eb0bbdc2a9 283 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 284 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 285 twe.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 286 // android.printf("%i,",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 287 }
taurin 9:95eb0bbdc2a9 288 //pc.printf("\n\r");
YusukeWakuta 10:1389f938f5f7 289 twe.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 41:1bd730c4840d 290 twe.printf("%f,%f,%f\r\n",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 27:d2955f29a3aa 291 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
tsumagari 41:1bd730c4840d 292 //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 41:1bd730c4840d 293 pc.printf("%f,%f\n\r",airSpeed,sonarDist);
tsumagari 41:1bd730c4840d 294 for(int i = 0; i < cadence_twe.strData.length(); i++){
tsumagari 41:1bd730c4840d 295 pc.printf("%c",*(cadence_twe.strData.c_str()+i));
tsumagari 41:1bd730c4840d 296 }
tsumagari 27:d2955f29a3aa 297 if(android.writeable()){
tsumagari 27:d2955f29a3aa 298 // for(int i = 0; i<SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 299 // android.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 300 // }
tsumagari 27:d2955f29a3aa 301 // android.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 27:d2955f29a3aa 302 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 27:d2955f29a3aa 303 android.printf("%f,%f,test\n\r",roll,airSpeed);
tsumagari 27:d2955f29a3aa 304 }
tsumagari 40:f15c11485e95 305 // SDprintf();
taurin 9:95eb0bbdc2a9 306 }
taurin 9:95eb0bbdc2a9 307
taurin 9:95eb0bbdc2a9 308 void WriteDatasF(){
taurin 9:95eb0bbdc2a9 309 pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 310 }
tsumagari 27:d2955f29a3aa 311
tsumagari 26:50272431cd1e 312 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 313 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 314 //}
taurin 0:085b2c5e3254 315
tsumagari 26:50272431cd1e 316 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 317 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 318 //}
taurin 0:085b2c5e3254 319
taurin 0:085b2c5e3254 320 void RollAlarm(){
tsumagari 34:c46f2f687c7b 321 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)){
taurin 0:085b2c5e3254 322 RollAlarmL = 1;
taurin 0:085b2c5e3254 323 }
taurin 0:085b2c5e3254 324 else{
taurin 0:085b2c5e3254 325 RollAlarmL = 0;
taurin 0:085b2c5e3254 326 }
tsumagari 27:d2955f29a3aa 327
tsumagari 34:c46f2f687c7b 328 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)){
taurin 0:085b2c5e3254 329 RollAlarmR = 1;
taurin 0:085b2c5e3254 330 }
taurin 0:085b2c5e3254 331 else{
taurin 0:085b2c5e3254 332 RollAlarmR = 0;
taurin 0:085b2c5e3254 333 }
taurin 0:085b2c5e3254 334 }
taurin 0:085b2c5e3254 335
tsumagari 27:d2955f29a3aa 336 void WriteServo(){
tsumagari 27:d2955f29a3aa 337 //kisokuServo.pulsewidth(calcPulse(airSpeed*10));
tsumagari 27:d2955f29a3aa 338 // kisokuServo.pulsewidth(calcPulse(9*airSpeed));
tsumagari 27:d2955f29a3aa 339 if(pitch<0){
tsumagari 27:d2955f29a3aa 340 // geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 341 }
tsumagari 27:d2955f29a3aa 342 else{
tsumagari 27:d2955f29a3aa 343 // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0)));
tsumagari 27:d2955f29a3aa 344 }
tsumagari 27:d2955f29a3aa 345 //pc.printf("a:%f",airSpeed);
tsumagari 27:d2955f29a3aa 346 //pc.printf("p:%f\r\n",pitch);
tsumagari 27:d2955f29a3aa 347 //kisokuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 348 //geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 349 }
taurin 4:a863a092141c 350
taurin 0:085b2c5e3254 351 int main(){
tsumagari 27:d2955f29a3aa 352 // Thread cadence_thread(&updateCadence);
tsumagari 38:32f483b0a77f 353 Thread mpu_thread(&mpuProcessing);
tsumagari 34:c46f2f687c7b 354 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 355 init();
taurin 0:085b2c5e3254 356 while(1){
taurin 9:95eb0bbdc2a9 357 pc.printf("test\n\r");
tsumagari 33:69ad9920f693 358 // mpuProcessing();
tsumagari 27:d2955f29a3aa 359 sonarCalc();
taurin 8:31e07f6ed0f7 360 RollAlarm();
tsumagari 27:d2955f29a3aa 361 DataReceiveFromSouda();
tsumagari 40:f15c11485e95 362 // updateCadence();
taurin 3:8dc516be2e7e 363 WriteDatas();
tsumagari 27:d2955f29a3aa 364 // WriteServo();
tsumagari 40:f15c11485e95 365 led4 = !led4;
taurin 0:085b2c5e3254 366 }
taurin 0:085b2c5e3254 367 }