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@69:1f892421d694, 2017-06-16 (annotated)

Committer:
tsumagari
Date:
Fri Jun 16 02:04:45 2017 +0000
Branch:
SDandCadenceThread
Revision:
69:1f892421d694
Parent:
65:075118165355
Child:
70:763d62c486ca
6/15?SD?thread?updatecadence????????

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 56:6823d2324704 8 #include "SDFileSystem.h"//2014.6/5以前の環境で動作します。アップデートすると動きません。
YusukeWakuta 61:7f980cb3a7a8 9 #include "INA226.hpp"
taurin 0:085b2c5e3254 10
YusukeWakuta 46:c649987c4d84 11 #define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2
YusukeWakuta 46:c649987c4d84 12 #define YOKUTAN_DATAS_NUM 14
tsumagari 56:6823d2324704 13 #define WRITE_DATAS_NUM 34 // souda_datas_num + 6( rpy, airspeed, height, cadence)
tsumagari 40:f15c11485e95 14 #define SD_WRITE_NUM 20
tsumagari 27:d2955f29a3aa 15 #define MPU_LOOP_TIME 0.01
tsumagari 51:f391d3a02397 16 #define AIR_LOOP_TIME 0.01//(0.002005)
taurin 3:8dc516be2e7e 17 #define WRITE_DATAS_LOOP_TIME 1
tsumagari 53:9bc528ee224b 18 #define ROLL_R_MAX_DEG 1.5
tsumagari 53:9bc528ee224b 19 #define ROLL_L_MAX_DEG 1.5
tsumagari 27:d2955f29a3aa 20 #define MPU_DELT_MIN 250
taurin 4:a863a092141c 21 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 22
tsumagari 26:50272431cd1e 23 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 24 extern "C" void mbed_reset();
tsumagari 38:32f483b0a77f 25 InterruptIn resetPin(p25);
tsumagari 26:50272431cd1e 26 Timer resetTimeCount;
YusukeWakuta 46:c649987c4d84 27 void resetInterrupt()
YusukeWakuta 46:c649987c4d84 28 {
YusukeWakuta 46:c649987c4d84 29 while(resetPin) {
tsumagari 26:50272431cd1e 30 resetTimeCount.start();
tsumagari 26:50272431cd1e 31 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 32 }
tsumagari 26:50272431cd1e 33 resetTimeCount.reset();
tsumagari 26:50272431cd1e 34 }
tsumagari 26:50272431cd1e 35 //-------------------------------------------------------
tsumagari 26:50272431cd1e 36
tsumagari 56:6823d2324704 37 SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 56:6823d2324704 38 FILE* fp;
tsumagari 39:7623678de4e2 39
tsumagari 42:73c3862e4c12 40 //RawSerial pc(USBTX,USBRX);
tsumagari 62:98294011f568 41 //Serial android(p9,p10);
tsumagari 27:d2955f29a3aa 42 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 43 BufferedSoftSerial twe(p11,p12);
tsumagari 62:98294011f568 44 //Cadence cadence_twe(p13,p14);
tsumagari 63:f7f4edd463b1 45 RawSerial android(p13,p14);
tsumagari 62:98294011f568 46
tsumagari 41:1bd730c4840d 47 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 48 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 49 //Timer writeTimer;
taurin 0:085b2c5e3254 50
tsumagari 38:32f483b0a77f 51 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 52 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 53 Fusokukei air;
taurin 0:085b2c5e3254 54 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 55
tsumagari 34:c46f2f687c7b 56 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 57 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 58 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 59 //double sonarDistTime
tsumagari 27:d2955f29a3aa 60 double sonarDist;
tsumagari 27:d2955f29a3aa 61 float sonarV;
tsumagari 27:d2955f29a3aa 62
tsumagari 27:d2955f29a3aa 63
tsumagari 26:50272431cd1e 64 float sum = 0;
tsumagari 26:50272431cd1e 65 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 66 MPU6050 mpu6050;
taurin 0:085b2c5e3254 67 Timer t;
YusukeWakuta 61:7f980cb3a7a8 68 Timer cadenceTimer;
YusukeWakuta 61:7f980cb3a7a8 69
tsumagari 34:c46f2f687c7b 70 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 71
tsumagari 38:32f483b0a77f 72 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 73 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 74 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 75 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 76 DigitalOut led4(LED4);
tsumagari 62:98294011f568 77 I2C InaI2c(p9,p10);
tsumagari 62:98294011f568 78 INA226 VCmonitor(InaI2c,0x9C);
YusukeWakuta 61:7f980cb3a7a8 79 AnalogIn mgPin(p20);
tsumagari 62:98294011f568 80 AnalogIn mgPin2(p16);
taurin 4:a863a092141c 81
taurin 0:085b2c5e3254 82 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 83 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 84 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 85
taurin 0:085b2c5e3254 86 void air_countUp();
taurin 0:085b2c5e3254 87 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 88 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 89 void sonarInterruptStop();
YusukeWakuta 61:7f980cb3a7a8 90 void updateCadence(double source, double input,double input2,bool isFFlag);
taurin 0:085b2c5e3254 91 void init();
taurin 0:085b2c5e3254 92 void FusokukeiInit();
tsumagari 26:50272431cd1e 93 void MpuInit();
tsumagari 34:c46f2f687c7b 94 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 95 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 96 void SdInit();
tsumagari 56:6823d2324704 97 void SDprintf();
taurin 0:085b2c5e3254 98 void WriteDatas();
tsumagari 27:d2955f29a3aa 99 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 100 float calcKXdeg(float x);
YusukeWakuta 61:7f980cb3a7a8 101 int lastCadenceInput = 0; //1つ前のケイデンスのパルス値を取得します。これの取りうる値は0か1です。
YusukeWakuta 61:7f980cb3a7a8 102 int lastCadenceInput2 = 0; //1つ前のケイデンスのパルス値を取得します。これの取りうる値は0か1です。
YusukeWakuta 61:7f980cb3a7a8 103 double cadenceResult = 0.0; //最終的なケイデンスの値です。
YusukeWakuta 61:7f980cb3a7a8 104 int cadenceCounter = 0; //クランクが一回転すると、二つのセンサがそれぞれ2回ずつ状態が変化するため、0～4をカウントするためのカウンタです。
YusukeWakuta 61:7f980cb3a7a8 105 double V;
tsumagari 15:6966299bea4c 106
YusukeWakuta 46:c649987c4d84 107 void air_countUp()
YusukeWakuta 46:c649987c4d84 108 {
taurin 0:085b2c5e3254 109 air_kaitensu++;
tsumagari 69:1f892421d694 110 // led3 = !led3;
taurin 0:085b2c5e3254 111 }
taurin 0:085b2c5e3254 112
YusukeWakuta 46:c649987c4d84 113 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 114 {
taurin 0:085b2c5e3254 115 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 116 air_kaitensu = 0;
taurin 0:085b2c5e3254 117 }
taurin 0:085b2c5e3254 118
YusukeWakuta 46:c649987c4d84 119 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 120 {
tsumagari 34:c46f2f687c7b 121 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 122 }
tsumagari 27:d2955f29a3aa 123
YusukeWakuta 46:c649987c4d84 124 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 125 {
tsumagari 26:50272431cd1e 126 // sonarTimer.stop();
tsumagari 26:50272431cd1e 127 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 128 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 129 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 130 }
YusukeWakuta 46:c649987c4d84 131 void sonarCalc()
YusukeWakuta 46:c649987c4d84 132 {
tsumagari 27:d2955f29a3aa 133 sonarV = 0;
YusukeWakuta 46:c649987c4d84 134 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 135 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 136 wait(0.01);
tsumagari 27:d2955f29a3aa 137 }
tsumagari 27:d2955f29a3aa 138 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 139 }
tsumagari 27:d2955f29a3aa 140
jaity 59:7cb8eaf553ef 141
jaity 59:7cb8eaf553ef 142 // 定格12V電源の電圧値から定めた閾値を、oh182/E非接触回転速度センサ値が超えているかどうか
jaity 59:7cb8eaf553ef 143 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 144 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 145 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 146 {
jaity 59:7cb8eaf553ef 147 double a, b;
jaity 59:7cb8eaf553ef 148 if(source < 3200)
jaity 59:7cb8eaf553ef 149 return -1;
jaity 59:7cb8eaf553ef 150
jaity 59:7cb8eaf553ef 151 if(source < 5500)
jaity 59:7cb8eaf553ef 152 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 153 else if(source < 7000)
jaity 59:7cb8eaf553ef 154 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 155 else
jaity 59:7cb8eaf553ef 156 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 157
jaity 59:7cb8eaf553ef 158 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 159 }
jaity 59:7cb8eaf553ef 160
YusukeWakuta 61:7f980cb3a7a8 161 //ケイデンスの値を取得します。
YusukeWakuta 61:7f980cb3a7a8 162 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
YusukeWakuta 61:7f980cb3a7a8 163 void updateCadence(double source, double input,double input2,bool isFFlag)
YusukeWakuta 46:c649987c4d84 164 {
YusukeWakuta 61:7f980cb3a7a8 165 if(isFFlag) {
YusukeWakuta 61:7f980cb3a7a8 166 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 61:7f980cb3a7a8 167 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 168 cadenceTimer.start();
YusukeWakuta 61:7f980cb3a7a8 169 return;
YusukeWakuta 61:7f980cb3a7a8 170 }
YusukeWakuta 61:7f980cb3a7a8 171 if((isOh182eOverThreshold(source,input) ^ lastCadenceInput) ||(isOh182eOverThreshold(source,input2) ^ lastCadenceInput2)) {
tsumagari 69:1f892421d694 172 if(cadenceCounter < 3) {
YusukeWakuta 61:7f980cb3a7a8 173 cadenceCounter++;
YusukeWakuta 61:7f980cb3a7a8 174 return;
YusukeWakuta 61:7f980cb3a7a8 175 }
YusukeWakuta 61:7f980cb3a7a8 176 cadenceResult =60.0/ (cadenceTimer.read_us() / 1000000.0); //クランク一回転にかかる時間を取得
YusukeWakuta 61:7f980cb3a7a8 177 cadenceTimer.reset();
YusukeWakuta 61:7f980cb3a7a8 178 cadenceCounter = 0;
YusukeWakuta 61:7f980cb3a7a8 179 }
tsumagari 69:1f892421d694 180 lastCadenceInput = isOh182eOverThreshold(source,input);
tsumagari 69:1f892421d694 181 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
tsumagari 27:d2955f29a3aa 182 }
tsumagari 26:50272431cd1e 183
YusukeWakuta 46:c649987c4d84 184 void init()
YusukeWakuta 46:c649987c4d84 185 {
tsumagari 58:b4f3ed763cb4 186 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 187 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 188 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 189 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 190 //-----------------------------------------------------------
YusukeWakuta 48:2160c28d02f8 191 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 48:2160c28d02f8 192 android.baud(9600);
tsumagari 27:d2955f29a3aa 193 //writeTimer.start();
taurin 0:085b2c5e3254 194 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 195 // SdInit();
YusukeWakuta 46:c649987c4d84 196 // MpuInit();
tsumagari 27:d2955f29a3aa 197 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 198
tsumagari 27:d2955f29a3aa 199 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 200 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 201 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 202 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 203 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 204 val = 0;
YusukeWakuta 61:7f980cb3a7a8 205 if(VCmonitor.rawRead(0x00,&val) != 0) {
YusukeWakuta 61:7f980cb3a7a8 206 printf("VCmonitor READ ERROR\n");
YusukeWakuta 61:7f980cb3a7a8 207 while(1) {}
YusukeWakuta 61:7f980cb3a7a8 208 }
YusukeWakuta 61:7f980cb3a7a8 209 VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 210 }
taurin 0:085b2c5e3254 211
YusukeWakuta 46:c649987c4d84 212 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 213 {
taurin 0:085b2c5e3254 214 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 215 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 216 }
taurin 0:085b2c5e3254 217
YusukeWakuta 46:c649987c4d84 218 void MpuInit()
YusukeWakuta 46:c649987c4d84 219 {
tsumagari 26:50272431cd1e 220 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 221 t.start();
tsumagari 26:50272431cd1e 222 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 223 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 224 Thread::wait(100);
tsumagari 26:50272431cd1e 225 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 226 Thread::wait(100);
tsumagari 26:50272431cd1e 227 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 228 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 229 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 48:2160c28d02f8 230 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 231 Thread::wait(200);
tsumagari 26:50272431cd1e 232 } else {
tsumagari 26:50272431cd1e 233 }
tsumagari 26:50272431cd1e 234 } else {
YusukeWakuta 48:2160c28d02f8 235 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 236 }
tsumagari 26:50272431cd1e 237 }
taurin 0:085b2c5e3254 238
YusukeWakuta 46:c649987c4d84 239 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 240 {
tsumagari 27:d2955f29a3aa 241 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 242 }
tsumagari 27:d2955f29a3aa 243
YusukeWakuta 46:c649987c4d84 244 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 245 {
tsumagari 33:69ad9920f693 246 MpuInit();
YusukeWakuta 46:c649987c4d84 247 while(1) {
tsumagari 33:69ad9920f693 248 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 249 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 250 mpu6050.getAres();
tsumagari 33:69ad9920f693 251 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 252 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 253 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 254 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 255 mpu6050.getGres();
tsumagari 33:69ad9920f693 256 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 257 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 258 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 259 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 260 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 261 }
tsumagari 33:69ad9920f693 262 Now = t.read_us();
tsumagari 33:69ad9920f693 263 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 264 lastUpdate = Now;
tsumagari 33:69ad9920f693 265 sum += deltat;
tsumagari 33:69ad9920f693 266 sumCount++;
tsumagari 33:69ad9920f693 267 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 268 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 269 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 270 }
tsumagari 33:69ad9920f693 271 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 272 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 273 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 274 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 275 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 276 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 277 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 278 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 279 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 280 myled= !myled;
tsumagari 33:69ad9920f693 281 count = t.read_ms();
tsumagari 33:69ad9920f693 282 sum = 0;
tsumagari 33:69ad9920f693 283 sumCount = 0;
tsumagari 33:69ad9920f693 284 }
tsumagari 40:f15c11485e95 285 Thread::wait(1);
tsumagari 33:69ad9920f693 286 }//while(1)
tsumagari 26:50272431cd1e 287 }
tsumagari 26:50272431cd1e 288
YusukeWakuta 46:c649987c4d84 289 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 290 {
tsumagari 34:c46f2f687c7b 291 // while(1){
YusukeWakuta 46:c649987c4d84 292 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 293 led2 = !led2;
tsumagari 34:c46f2f687c7b 294 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 295 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 296 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 297 }
YusukeWakuta 46:c649987c4d84 298 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 299 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 300 }
YusukeWakuta 46:c649987c4d84 301 }//if
tsumagari 34:c46f2f687c7b 302 // }//while(1)
taurin 3:8dc516be2e7e 303 }
tsumagari 56:6823d2324704 304
YusukeWakuta 61:7f980cb3a7a8 305 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 306 {
tsumagari 56:6823d2324704 307 mkdir("/sd/mydir", 0777);
tsumagari 56:6823d2324704 308 fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 56:6823d2324704 309 if(fp == NULL) {
tsumagari 69:1f892421d694 310 printf("Could not open file for write\n");
tsumagari 69:1f892421d694 311 return;
tsumagari 56:6823d2324704 312 }
tsumagari 56:6823d2324704 313 fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
tsumagari 56:6823d2324704 314 fclose(fp);
tsumagari 56:6823d2324704 315 }
tsumagari 56:6823d2324704 316
YusukeWakuta 61:7f980cb3a7a8 317 void SDprintf(const void* arg)
YusukeWakuta 61:7f980cb3a7a8 318 {
tsumagari 58:b4f3ed763cb4 319 SdInit();
tsumagari 69:1f892421d694 320 bool isFirstCadenceFlag = true;
YusukeWakuta 61:7f980cb3a7a8 321 while(1) {
tsumagari 69:1f892421d694 322 led3 = !led3;
tsumagari 69:1f892421d694 323 updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
tsumagari 69:1f892421d694 324 printf("mgPin V:%f\n",mgPin.read()*3.3);
tsumagari 69:1f892421d694 325 isFirstCadenceFlag = false;
YusukeWakuta 61:7f980cb3a7a8 326 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 327 fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 58:b4f3ed763cb4 328 if(fp == NULL) {
tsumagari 69:1f892421d694 329 error("Could not open file for write!!\n");
tsumagari 58:b4f3ed763cb4 330 }
YusukeWakuta 61:7f980cb3a7a8 331 for(int i = 0; i < SD_WRITE_NUM; i++) {
YusukeWakuta 61:7f980cb3a7a8 332 for(int j = 0; j < WRITE_DATAS_NUM; j++) {
tsumagari 58:b4f3ed763cb4 333 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 58:b4f3ed763cb4 334 }
tsumagari 58:b4f3ed763cb4 335 }
tsumagari 58:b4f3ed763cb4 336 fprintf(fp,"\n");
tsumagari 58:b4f3ed763cb4 337 fclose(fp);
YusukeWakuta 61:7f980cb3a7a8 338
tsumagari 58:b4f3ed763cb4 339 write_datas_index=0;
tsumagari 58:b4f3ed763cb4 340 }
tsumagari 69:1f892421d694 341 Thread::wait(100);
tsumagari 56:6823d2324704 342 }
tsumagari 56:6823d2324704 343 }
tsumagari 39:7623678de4e2 344
YusukeWakuta 46:c649987c4d84 345 void WriteDatas()
YusukeWakuta 46:c649987c4d84 346 {
taurin 8:31e07f6ed0f7 347 int i;
YusukeWakuta 46:c649987c4d84 348 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 349 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 350 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 351 }
taurin 8:31e07f6ed0f7 352 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 353 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 354 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 355 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 356 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 62:98294011f568 357 writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence;
taurin 8:31e07f6ed0f7 358 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 359 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 48:2160c28d02f8 360 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 361 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 362 // }
YusukeWakuta 48:2160c28d02f8 363 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 364 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 365 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 366 // SDprintf();
tsumagari 39:7623678de4e2 367 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 368 } else {
tsumagari 39:7623678de4e2 369 write_datas_index++;
YusukeWakuta 46:c649987c4d84 370 }
tsumagari 64:2de7ea84d39a 371 char sbuf[128];
tsumagari 64:2de7ea84d39a 372 int p=0;
tsumagari 64:2de7ea84d39a 373 // twe.printf("con,");
tsumagari 65:075118165355 374 p += sprintf(sbuf,"con,");
YusukeWakuta 46:c649987c4d84 375 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 63:f7f4edd463b1 376 // pc.printf("%i ",soudaDatas[i]);
tsumagari 64:2de7ea84d39a 377 // twe.printf("%i,",soudaDatas[i]);
tsumagari 65:075118165355 378 p += sprintf(sbuf+p,"%i,",soudaDatas[i]);
YusukeWakuta 48:2160c28d02f8 379
YusukeWakuta 47:0c9f3a057f79 380 if(i == YOKUTAN_DATAS_NUM - 1)
tsumagari 64:2de7ea84d39a 381 // twe.printf("%i\n",soudaDatas[i]);
tsumagari 65:075118165355 382 p += sprintf(sbuf+p,"%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 383 }
tsumagari 64:2de7ea84d39a 384 twe.printf("%s",sbuf);
YusukeWakuta 47:0c9f3a057f79 385 twe.printf("inp,%d,%i,%d,%i\n",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]);
tsumagari 63:f7f4edd463b1 386
YusukeWakuta 46:c649987c4d84 387 /*
YusukeWakuta 46:c649987c4d84 388 送信文字列
YusukeWakuta 46:c649987c4d84 389 0-13翼端データ
YusukeWakuta 46:c649987c4d84 390 14-17 R erebon
YusukeWakuta 46:c649987c4d84 391 18 R DRUG
YusukeWakuta 46:c649987c4d84 392 19-22 L erebon
YusukeWakuta 46:c649987c4d84 393 23 LDRUG
YusukeWakuta 46:c649987c4d84 394 */
YusukeWakuta 48:2160c28d02f8 395 ////pc.printf("\n\r");
YusukeWakuta 47:0c9f3a057f79 396 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
tsumagari 62:98294011f568 397 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 398
YusukeWakuta 48:2160c28d02f8 399 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 63:f7f4edd463b1 400 // pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 401 // pc.printf("%d,%i,%d,%i,",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]);
tsumagari 63:f7f4edd463b1 402 // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
tsumagari 64:2de7ea84d39a 403 // printf("mgPin V:%f\n\r",mgPin.read()*3.3);
tsumagari 69:1f892421d694 404 pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",
tsumagari 69:1f892421d694 405 soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1],
tsumagari 69:1f892421d694 406 pitch,roll,yaw,
tsumagari 69:1f892421d694 407 airSpeed,sonarDist,cadenceResult);
tsumagari 42:73c3862e4c12 408 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 48:2160c28d02f8 409 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 410 // }
tsumagari 51:f391d3a02397 411 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 412 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 413 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 414 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 62:98294011f568 415 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
tsumagari 64:2de7ea84d39a 416 // led2 = !led2;
tsumagari 27:d2955f29a3aa 417 }
tsumagari 40:f15c11485e95 418 // SDprintf();
taurin 9:95eb0bbdc2a9 419 }
taurin 9:95eb0bbdc2a9 420
YusukeWakuta 46:c649987c4d84 421 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 422 {
YusukeWakuta 48:2160c28d02f8 423 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 424 }
tsumagari 27:d2955f29a3aa 425
tsumagari 26:50272431cd1e 426 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 427 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 428 //}
taurin 0:085b2c5e3254 429
YusukeWakuta 46:c649987c4d84 430 void RollAlarm()
YusukeWakuta 46:c649987c4d84 431 {
YusukeWakuta 46:c649987c4d84 432 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 433 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 434 } else {
taurin 0:085b2c5e3254 435 RollAlarmL = 0;
taurin 0:085b2c5e3254 436 }
YusukeWakuta 46:c649987c4d84 437
YusukeWakuta 46:c649987c4d84 438 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 439 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 440 } else {
taurin 0:085b2c5e3254 441 RollAlarmR = 0;
taurin 0:085b2c5e3254 442 }
taurin 0:085b2c5e3254 443 }
taurin 0:085b2c5e3254 444
YusukeWakuta 46:c649987c4d84 445 int main()
YusukeWakuta 46:c649987c4d84 446 {
tsumagari 58:b4f3ed763cb4 447 Thread mpu_thread(&mpuProcessing);
tsumagari 58:b4f3ed763cb4 448 Thread SD_thread(&SDprintf);
tsumagari 34:c46f2f687c7b 449 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 450 init();
tsumagari 69:1f892421d694 451 int VCcounter = 0;
YusukeWakuta 46:c649987c4d84 452 while(1) {
tsumagari 69:1f892421d694 453 if(VCcounter%20 == 0 && VCmonitor.getVoltage(&V) == 0) {
tsumagari 69:1f892421d694 454 pc.printf("e:%f\n",V);
tsumagari 69:1f892421d694 455 }VCcounter++;
tsumagari 69:1f892421d694 456
tsumagari 69:1f892421d694 457 // updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
YusukeWakuta 48:2160c28d02f8 458 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 459 // mpuProcessing();
tsumagari 27:d2955f29a3aa 460 sonarCalc();
tsumagari 69:1f892421d694 461 Thread::wait(30);
taurin 8:31e07f6ed0f7 462 RollAlarm();
tsumagari 27:d2955f29a3aa 463 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 464 WriteDatas();
tsumagari 40:f15c11485e95 465 led4 = !led4;
taurin 0:085b2c5e3254 466 }
taurin 0:085b2c5e3254 467 }