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@38:32f483b0a77f, 2017-03-09 (annotated)

Committer:
tsumagari
Date:
Thu Mar 09 13:36:24 2017 +0000
Branch:
Thread-gyogetsuMPU
Revision:
38:32f483b0a77f
Parent:
37:34aaa1951390
Child:
39:7623678de4e2
Child:
44:c51b60c74fef
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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"
taurin 0:085b2c5e3254 4 #include "Fusokukei.h"
taurin 0:085b2c5e3254 5 #include "MPU6050.h"
tsumagari 15:6966299bea4c 6 #include "BufferedSoftSerial.h"
tsumagari 15:6966299bea4c 7 #include "Cadence.h"
taurin 0:085b2c5e3254 8
tsumagari 34:c46f2f687c7b 9 #define SOUDA_DATAS_NUM 24 //(yokutan 7 + input 5)*2
tsumagari 27:d2955f29a3aa 10 #define WRITE_DATAS_NUM 20
tsumagari 27:d2955f29a3aa 11 #define SD_WRITE_NUM 1
tsumagari 27:d2955f29a3aa 12 #define MPU_LOOP_TIME 0.01
taurin 0:085b2c5e3254 13 #define AIR_LOOP_TIME 0.01
taurin 3:8dc516be2e7e 14 #define WRITE_DATAS_LOOP_TIME 1
taurin 3:8dc516be2e7e 15 #define ROLL_R_MAX_DEG 2
taurin 3:8dc516be2e7e 16 #define ROLL_L_MAX_DEG 2
tsumagari 27:d2955f29a3aa 17 #define MPU_DELT_MIN 250
taurin 4:a863a092141c 18 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 19
tsumagari 26:50272431cd1e 20 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 21 extern "C" void mbed_reset();
tsumagari 38:32f483b0a77f 22 InterruptIn resetPin(p25);
tsumagari 26:50272431cd1e 23 Timer resetTimeCount;
tsumagari 26:50272431cd1e 24 void resetInterrupt(){
tsumagari 26:50272431cd1e 25 while(resetPin){
tsumagari 26:50272431cd1e 26 resetTimeCount.start();
tsumagari 26:50272431cd1e 27 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 28 }
tsumagari 26:50272431cd1e 29 resetTimeCount.reset();
tsumagari 26:50272431cd1e 30 }
tsumagari 26:50272431cd1e 31 //-------------------------------------------------------
tsumagari 26:50272431cd1e 32
tsumagari 21:8802034b7810 33 RawSerial pc(USBTX,USBRX);
tsumagari 27:d2955f29a3aa 34 RawSerial android(p9,p10);
tsumagari 27:d2955f29a3aa 35 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 36 BufferedSoftSerial twe(p11,p12);
tsumagari 27:d2955f29a3aa 37 Cadence cadence_twe(p13,p14);
tsumagari 34:c46f2f687c7b 38 //Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 39 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 40 //Timer writeTimer;
taurin 0:085b2c5e3254 41
tsumagari 38:32f483b0a77f 42 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 43 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 44 Fusokukei air;
taurin 0:085b2c5e3254 45 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 46
tsumagari 34:c46f2f687c7b 47 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 48 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 49 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 50 //double sonarDistTime
tsumagari 27:d2955f29a3aa 51 double sonarDist;
tsumagari 27:d2955f29a3aa 52 float sonarV;
tsumagari 27:d2955f29a3aa 53
tsumagari 27:d2955f29a3aa 54
tsumagari 26:50272431cd1e 55 float sum = 0;
tsumagari 26:50272431cd1e 56 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 57 MPU6050 mpu6050;
taurin 0:085b2c5e3254 58 Timer t;
tsumagari 34:c46f2f687c7b 59 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 60
tsumagari 38:32f483b0a77f 61 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 62 DigitalOut RollAlarmL(p22);
tsumagari 27:d2955f29a3aa 63 DigitalOut led(LED1);
taurin 1:5ec2409854da 64 DigitalOut led2(LED2);
taurin 4:a863a092141c 65
taurin 0:085b2c5e3254 66 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 67 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 68 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 69
taurin 0:085b2c5e3254 70 void air_countUp();
taurin 0:085b2c5e3254 71 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 72 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 73 void sonarInterruptStop();
tsumagari 34:c46f2f687c7b 74 void updateCadence(void const *arg);
taurin 0:085b2c5e3254 75 void init();
taurin 0:085b2c5e3254 76 void FusokukeiInit();
tsumagari 26:50272431cd1e 77 void MpuInit();
tsumagari 34:c46f2f687c7b 78 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 79 void DataReceiveFromSouda(void const *arg);
taurin 0:085b2c5e3254 80 void WriteDatas();
tsumagari 27:d2955f29a3aa 81 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 82 float calcKXdeg(float x);
tsumagari 15:6966299bea4c 83
taurin 0:085b2c5e3254 84 void air_countUp(){
taurin 0:085b2c5e3254 85 air_kaitensu++;
taurin 0:085b2c5e3254 86 }
taurin 0:085b2c5e3254 87
taurin 0:085b2c5e3254 88 void call_calcAirSpeed(){
taurin 0:085b2c5e3254 89 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 90 air_kaitensu = 0;
taurin 0:085b2c5e3254 91 }
taurin 0:085b2c5e3254 92
tsumagari 27:d2955f29a3aa 93 void sonarInterruptStart(){
tsumagari 34:c46f2f687c7b 94 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 95 }
tsumagari 27:d2955f29a3aa 96
tsumagari 27:d2955f29a3aa 97 void sonarInterruptStop(){
tsumagari 26:50272431cd1e 98 // sonarTimer.stop();
tsumagari 26:50272431cd1e 99 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 100 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 101 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 102 }
tsumagari 27:d2955f29a3aa 103 void sonarCalc(){
tsumagari 27:d2955f29a3aa 104 sonarV = 0;
tsumagari 27:d2955f29a3aa 105 for(int i = 0; i<20; i++){
tsumagari 27:d2955f29a3aa 106 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 107 wait(0.01);
tsumagari 27:d2955f29a3aa 108 }
tsumagari 27:d2955f29a3aa 109 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 110 }
tsumagari 27:d2955f29a3aa 111
tsumagari 34:c46f2f687c7b 112 void updateCadence(/*void const *arg*/){
tsumagari 34:c46f2f687c7b 113 // while(1){
tsumagari 27:d2955f29a3aa 114 cadence_twe.readData();
tsumagari 37:34aaa1951390 115 // Thread::wait(5);
tsumagari 34:c46f2f687c7b 116 // }
tsumagari 27:d2955f29a3aa 117 }
tsumagari 26:50272431cd1e 118
taurin 0:085b2c5e3254 119 void init(){
tsumagari 26:50272431cd1e 120 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 121 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 122 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 123 //-----------------------------------------------------------
tsumagari 27:d2955f29a3aa 124 twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
tsumagari 27:d2955f29a3aa 125 //writeTimer.start();
taurin 0:085b2c5e3254 126 FusokukeiInit();
tsumagari 33:69ad9920f693 127 // MpuInit();
tsumagari 27:d2955f29a3aa 128 //writeDatasTicker.attach(&WriteDatas,1);
tsumagari 27:d2955f29a3aa 129 // cadenceUpdateTicker.attach(&updateCadence, 1);
tsumagari 27:d2955f29a3aa 130
tsumagari 27:d2955f29a3aa 131 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 132 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 133 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 134 //-----------------------------------------------------------
taurin 0:085b2c5e3254 135 }
taurin 0:085b2c5e3254 136
taurin 0:085b2c5e3254 137 void FusokukeiInit(){
taurin 0:085b2c5e3254 138 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 139 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 140 }
taurin 0:085b2c5e3254 141
tsumagari 26:50272431cd1e 142 void MpuInit(){
tsumagari 26:50272431cd1e 143 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 144 t.start();
tsumagari 26:50272431cd1e 145 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 146 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 147 Thread::wait(100);
tsumagari 26:50272431cd1e 148 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 149 Thread::wait(100);
tsumagari 26:50272431cd1e 150 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 151 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 152 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 26:50272431cd1e 153 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 154 Thread::wait(200);
tsumagari 26:50272431cd1e 155 } else {
tsumagari 26:50272431cd1e 156 }
tsumagari 26:50272431cd1e 157 } else {
tsumagari 26:50272431cd1e 158 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
tsumagari 26:50272431cd1e 159 }
tsumagari 26:50272431cd1e 160 }
taurin 0:085b2c5e3254 161
tsumagari 27:d2955f29a3aa 162 double calcPulse(int deg){
tsumagari 27:d2955f29a3aa 163 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 164
tsumagari 27:d2955f29a3aa 165 }
tsumagari 27:d2955f29a3aa 166
tsumagari 34:c46f2f687c7b 167 void mpuProcessing(void const *arg){
tsumagari 33:69ad9920f693 168 MpuInit();
tsumagari 33:69ad9920f693 169 while(1){
tsumagari 33:69ad9920f693 170 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 171 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 172 mpu6050.getAres();
tsumagari 33:69ad9920f693 173 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 174 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 175 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 176 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 177 mpu6050.getGres();
tsumagari 33:69ad9920f693 178 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 179 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 180 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 181 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 182 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 183 }
tsumagari 33:69ad9920f693 184 Now = t.read_us();
tsumagari 33:69ad9920f693 185 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 186 lastUpdate = Now;
tsumagari 33:69ad9920f693 187 sum += deltat;
tsumagari 33:69ad9920f693 188 sumCount++;
tsumagari 33:69ad9920f693 189 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 190 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 191 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 192 }
tsumagari 33:69ad9920f693 193 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 194 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 195 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 196 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 197 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 198 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 199 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 200 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 201 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 202 myled= !myled;
tsumagari 33:69ad9920f693 203 count = t.read_ms();
tsumagari 33:69ad9920f693 204 sum = 0;
tsumagari 33:69ad9920f693 205 sumCount = 0;
tsumagari 33:69ad9920f693 206 }
tsumagari 33:69ad9920f693 207 Thread::wait(0.01);
tsumagari 33:69ad9920f693 208 }//while(1)
tsumagari 26:50272431cd1e 209 }
tsumagari 26:50272431cd1e 210
tsumagari 34:c46f2f687c7b 211 void DataReceiveFromSouda(/*void const *arg*/){
tsumagari 34:c46f2f687c7b 212 // while(1){
tsumagari 34:c46f2f687c7b 213 if(soudaSerial.readable()){
tsumagari 34:c46f2f687c7b 214 led2 = !led2;
tsumagari 34:c46f2f687c7b 215 char c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 216 while( c != ';' ){
tsumagari 34:c46f2f687c7b 217 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 218 }
tsumagari 34:c46f2f687c7b 219 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 34:c46f2f687c7b 220 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 221 }
tsumagari 34:c46f2f687c7b 222 }//if
tsumagari 34:c46f2f687c7b 223 // }//while(1)
taurin 3:8dc516be2e7e 224 }
taurin 3:8dc516be2e7e 225
taurin 3:8dc516be2e7e 226 void WriteDatas(){
taurin 8:31e07f6ed0f7 227 int i;
tsumagari 27:d2955f29a3aa 228 for(i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 229 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 230 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 231 }
taurin 8:31e07f6ed0f7 232 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 233 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 234 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 235 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 236 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 37:34aaa1951390 237 writeDatas[write_datas_index][i++] = cadence_twe.cadence;
taurin 8:31e07f6ed0f7 238 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 239 //for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 240 // pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 241 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 242 // }
tsumagari 27:d2955f29a3aa 243 // pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 244 // twe.printf("\n\r");
tsumagari 27:d2955f29a3aa 245 // if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 27:d2955f29a3aa 246 // write_datas_index=0;
tsumagari 27:d2955f29a3aa 247 // }
tsumagari 27:d2955f29a3aa 248 // else{
tsumagari 27:d2955f29a3aa 249 // write_datas_index++;
tsumagari 27:d2955f29a3aa 250 // }
taurin 9:95eb0bbdc2a9 251 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 252 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 253 twe.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 254 // android.printf("%i,",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 255 }
taurin 9:95eb0bbdc2a9 256 //pc.printf("\n\r");
YusukeWakuta 10:1389f938f5f7 257 twe.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 37:34aaa1951390 258 twe.printf("%f,%f,%f\r\n",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 27:d2955f29a3aa 259 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
taurin 9:95eb0bbdc2a9 260 //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 37:34aaa1951390 261 pc.printf("%f,%f,%s\n\r",airSpeed,sonarDist,cadence_twe.myBuff);
tsumagari 37:34aaa1951390 262 pc.printf(cadence_twe.strData.c_str());
tsumagari 27:d2955f29a3aa 263 pc.putc(cadence_twe.strV[0]);
tsumagari 27:d2955f29a3aa 264 if(android.writeable()){
tsumagari 27:d2955f29a3aa 265 // for(int i = 0; i<SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 266 // android.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 267 // }
tsumagari 27:d2955f29a3aa 268 // android.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 27:d2955f29a3aa 269 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 27:d2955f29a3aa 270 android.printf("%f,%f,test\n\r",roll,airSpeed);
tsumagari 27:d2955f29a3aa 271 }
taurin 9:95eb0bbdc2a9 272 //SDprintf();
taurin 9:95eb0bbdc2a9 273 }
taurin 9:95eb0bbdc2a9 274
taurin 9:95eb0bbdc2a9 275 void WriteDatasF(){
taurin 9:95eb0bbdc2a9 276 pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 277 }
tsumagari 27:d2955f29a3aa 278
tsumagari 26:50272431cd1e 279 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 280 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 281 //}
taurin 0:085b2c5e3254 282
tsumagari 26:50272431cd1e 283 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 284 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 285 //}
taurin 0:085b2c5e3254 286
taurin 0:085b2c5e3254 287 void RollAlarm(){
tsumagari 34:c46f2f687c7b 288 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)){
taurin 0:085b2c5e3254 289 RollAlarmL = 1;
taurin 0:085b2c5e3254 290 }
taurin 0:085b2c5e3254 291 else{
taurin 0:085b2c5e3254 292 RollAlarmL = 0;
taurin 0:085b2c5e3254 293 }
tsumagari 27:d2955f29a3aa 294
tsumagari 34:c46f2f687c7b 295 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)){
taurin 0:085b2c5e3254 296 RollAlarmR = 1;
taurin 0:085b2c5e3254 297 }
taurin 0:085b2c5e3254 298 else{
taurin 0:085b2c5e3254 299 RollAlarmR = 0;
taurin 0:085b2c5e3254 300 }
taurin 0:085b2c5e3254 301 }
taurin 0:085b2c5e3254 302
tsumagari 27:d2955f29a3aa 303 void WriteServo(){
tsumagari 27:d2955f29a3aa 304 //kisokuServo.pulsewidth(calcPulse(airSpeed*10));
tsumagari 27:d2955f29a3aa 305 // kisokuServo.pulsewidth(calcPulse(9*airSpeed));
tsumagari 27:d2955f29a3aa 306 if(pitch<0){
tsumagari 27:d2955f29a3aa 307 // geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 308 }
tsumagari 27:d2955f29a3aa 309 else{
tsumagari 27:d2955f29a3aa 310 // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0)));
tsumagari 27:d2955f29a3aa 311 }
tsumagari 27:d2955f29a3aa 312 //pc.printf("a:%f",airSpeed);
tsumagari 27:d2955f29a3aa 313 //pc.printf("p:%f\r\n",pitch);
tsumagari 27:d2955f29a3aa 314 //kisokuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 315 //geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 316 }
taurin 4:a863a092141c 317
taurin 0:085b2c5e3254 318 int main(){
tsumagari 27:d2955f29a3aa 319 // Thread cadence_thread(&updateCadence);
tsumagari 38:32f483b0a77f 320 Thread mpu_thread(&mpuProcessing);
tsumagari 34:c46f2f687c7b 321 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 322 init();
taurin 0:085b2c5e3254 323 while(1){
taurin 9:95eb0bbdc2a9 324 pc.printf("test\n\r");
tsumagari 33:69ad9920f693 325 // mpuProcessing();
tsumagari 27:d2955f29a3aa 326 sonarCalc();
taurin 8:31e07f6ed0f7 327 RollAlarm();
tsumagari 27:d2955f29a3aa 328 DataReceiveFromSouda();
tsumagari 34:c46f2f687c7b 329 updateCadence();
taurin 3:8dc516be2e7e 330 WriteDatas();
tsumagari 27:d2955f29a3aa 331 // WriteServo();
taurin 0:085b2c5e3254 332 }
taurin 0:085b2c5e3254 333 }