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@26:50272431cd1e, 2017-01-25 (annotated)

Committer:
tsumagari
Date:
Wed Jan 25 12:24:10 2017 +0000
Revision:
26:50272431cd1e
Parent:
23:e59afb2044df
Child:
27:d2955f29a3aa
Child:
29:2da9b8d03c0b
Child:
43:0d7d2e703523
??????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 1:5ec2409854da 1 //計器プログラム
YusukeWakuta 17:0a0c4277d960 2
taurin 0:085b2c5e3254 3 #include "mbed.h"
tsumagari 22:5cbebf097600 4 #include "rtos.h"
taurin 0:085b2c5e3254 5 #include "Fusokukei.h"
taurin 0:085b2c5e3254 6 #include "MPU6050.h"
taurin 0:085b2c5e3254 7 #include "SDFileSystem.h"
tsumagari 15:6966299bea4c 8 #include "BufferedSoftSerial.h"
tsumagari 15:6966299bea4c 9 #include "Cadence.h"
taurin 0:085b2c5e3254 10
taurin 0:085b2c5e3254 11 #define KX_VALUE_MIN 0.4
taurin 0:085b2c5e3254 12 #define KX_VALUE_MAX 0.8
tsumagari 26:50272431cd1e 13 #define SOUDA_DATAS_NUM 18
tsumagari 26:50272431cd1e 14 #define YOKUTAN_DATAS_NUM 14
tsumagari 26:50272431cd1e 15 #define WRITE_DATAS_NUM 18
taurin 0:085b2c5e3254 16 #define AIR_LOOP_TIME 0.01
taurin 3:8dc516be2e7e 17 #define WRITE_DATAS_LOOP_TIME 1
taurin 3:8dc516be2e7e 18 #define ROLL_R_MAX_DEG 2
taurin 3:8dc516be2e7e 19 #define ROLL_L_MAX_DEG 2
tsumagari 26:50272431cd1e 20 #define SD_WRITE_NUM 20
taurin 4:a863a092141c 21 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 22
tsumagari 26:50272431cd1e 23 #define MPU_LOOP_TIME 0.01
tsumagari 26:50272431cd1e 24 #define MPU_DELT_MIN 250
tsumagari 26:50272431cd1e 25
tsumagari 26:50272431cd1e 26 Mutex ssMutex;
tsumagari 26:50272431cd1e 27
tsumagari 26:50272431cd1e 28 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 29 extern "C" void mbed_reset();
tsumagari 26:50272431cd1e 30 InterruptIn resetPin(p26);
tsumagari 26:50272431cd1e 31 Timer resetTimeCount;
tsumagari 26:50272431cd1e 32 void resetInterrupt(){
tsumagari 26:50272431cd1e 33 while(resetPin){
tsumagari 26:50272431cd1e 34 resetTimeCount.start();
tsumagari 26:50272431cd1e 35 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 36 }
tsumagari 26:50272431cd1e 37 resetTimeCount.reset();
tsumagari 26:50272431cd1e 38 }
tsumagari 26:50272431cd1e 39 //-------------------------------------------------------
tsumagari 26:50272431cd1e 40
tsumagari 26:50272431cd1e 41
tsumagari 21:8802034b7810 42 Cadence cadence(p13,p14);
tsumagari 15:6966299bea4c 43
tsumagari 21:8802034b7810 44 RawSerial pc(USBTX,USBRX);
tsumagari 26:50272431cd1e 45 //RawSerial Android(p13,p14);
tsumagari 26:50272431cd1e 46 BufferedSoftSerial twe(p11,p12);
tsumagari 26:50272431cd1e 47 RawSerial Android(p9,p10);
tsumagari 15:6966299bea4c 48 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 15:6966299bea4c 49 //Ticker writeDatasTicker;
taurin 3:8dc516be2e7e 50 Timer writeTimer;
taurin 0:085b2c5e3254 51
tsumagari 26:50272431cd1e 52 InterruptIn FusokukeiPin(p22);
taurin 0:085b2c5e3254 53 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 54 Fusokukei air;
taurin 0:085b2c5e3254 55 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 56
tsumagari 26:50272431cd1e 57 float sum = 0;
tsumagari 26:50272431cd1e 58 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 59 MPU6050 mpu6050;
taurin 0:085b2c5e3254 60 Timer t;
tsumagari 26:50272431cd1e 61 //
tsumagari 26:50272431cd1e 62 //AnalogIn kx_X(p17);
tsumagari 26:50272431cd1e 63 //AnalogIn kx_Y(p16);
tsumagari 26:50272431cd1e 64 //AnalogIn kx_Z(p15);
tsumagari 26:50272431cd1e 65 //float KX_X,KX_Y,KX_Z;
taurin 0:085b2c5e3254 66
tsumagari 26:50272431cd1e 67
tsumagari 26:50272431cd1e 68 //Timer sonarTimer;
tsumagari 26:50272431cd1e 69 //InterruptIn sonarPin(p22);
tsumagari 26:50272431cd1e 70 AnalogIn sonarPin(p15);
tsumagari 26:50272431cd1e 71 //double sonarDistTime=0;
tsumagari 26:50272431cd1e 72 double sonarV = 0.0, sonarDist = 0.0;
taurin 0:085b2c5e3254 73
taurin 0:085b2c5e3254 74 DigitalOut RollAlarmR(p20);
taurin 0:085b2c5e3254 75 DigitalOut RollAlarmL(p19);
tsumagari 26:50272431cd1e 76 //DigitalOut led(LED1);
taurin 1:5ec2409854da 77 DigitalOut led2(LED2);
tsumagari 26:50272431cd1e 78 DigitalOut led3(LED3);
tsumagari 23:e59afb2044df 79 DigitalOut led4(LED4);
taurin 0:085b2c5e3254 80
taurin 0:085b2c5e3254 81 SDFileSystem sd(p5, p6, p7, p8, "sd");
taurin 0:085b2c5e3254 82 FILE* fp;
taurin 0:085b2c5e3254 83
YusukeWakuta 11:90e2b070f337 84 PwmOut kisokuServo(p26);
YusukeWakuta 11:90e2b070f337 85 PwmOut geikakuServo(p22);
taurin 4:a863a092141c 86
taurin 0:085b2c5e3254 87 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 88 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 89 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 90
tsumagari 15:6966299bea4c 91 void cadenceDataReceive();
taurin 0:085b2c5e3254 92 void air_countUp();
taurin 0:085b2c5e3254 93 void call_calcAirSpeed();
taurin 0:085b2c5e3254 94 void init();
taurin 0:085b2c5e3254 95 void FusokukeiInit();
taurin 0:085b2c5e3254 96 void SdInit();
tsumagari 26:50272431cd1e 97 void MpuInit();
tsumagari 26:50272431cd1e 98 //void SonarInit();
tsumagari 26:50272431cd1e 99 void mpuProcessing();
tsumagari 26:50272431cd1e 100 void DataReceiveFromSouda();
tsumagari 21:8802034b7810 101 void SDprintf(void const *argument);
taurin 0:085b2c5e3254 102 void WriteDatas();
tsumagari 26:50272431cd1e 103 //float calcAttackAngle();
tsumagari 26:50272431cd1e 104 //float calcKXdeg(float x);
taurin 0:085b2c5e3254 105
tsumagari 15:6966299bea4c 106 void cadenceDataReceive(){
tsumagari 26:50272431cd1e 107 while(1){
tsumagari 26:50272431cd1e 108 cadence.readData();
tsumagari 26:50272431cd1e 109 Thread::wait(0.01);
tsumagari 26:50272431cd1e 110 }
tsumagari 15:6966299bea4c 111 }
tsumagari 15:6966299bea4c 112
taurin 0:085b2c5e3254 113 void air_countUp(){
taurin 0:085b2c5e3254 114 air_kaitensu++;
taurin 0:085b2c5e3254 115 }
taurin 0:085b2c5e3254 116
taurin 0:085b2c5e3254 117 void call_calcAirSpeed(){
taurin 0:085b2c5e3254 118 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 119 air_kaitensu = 0;
taurin 0:085b2c5e3254 120 }
taurin 0:085b2c5e3254 121
tsumagari 26:50272431cd1e 122 //void sonarInterruptStart(){
tsumagari 26:50272431cd1e 123 // sonarTimer.start();
tsumagari 26:50272431cd1e 124 // led3 = 1;
tsumagari 26:50272431cd1e 125 //}
tsumagari 26:50272431cd1e 126 //void sonarInterruptStop(){
tsumagari 26:50272431cd1e 127 // sonarTimer.stop();
tsumagari 26:50272431cd1e 128 // led3 = 0;
tsumagari 26:50272431cd1e 129 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 130 // sonarTimer.reset();
tsumagari 26:50272431cd1e 131 //}
tsumagari 26:50272431cd1e 132
taurin 0:085b2c5e3254 133 void init(){
tsumagari 26:50272431cd1e 134 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 135 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 136 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 137 //-----------------------------------------------------------
tsumagari 26:50272431cd1e 138 twe.baud(115200);
YusukeWakuta 18:fa3f9ba17af8 139 Android.baud(9600);
tsumagari 15:6966299bea4c 140 soudaSerial.baud(9600);
taurin 5:1b3c8e5ee99e 141 kisokuServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 5:1b3c8e5ee99e 142 geikakuServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:085b2c5e3254 143 FusokukeiInit();
tsumagari 26:50272431cd1e 144 // MpuInit(); //mpuProcessing内で
tsumagari 26:50272431cd1e 145 // SonarInit();
tsumagari 26:50272431cd1e 146 // SdInit();//SDprintf 内で
taurin 0:085b2c5e3254 147 }
taurin 0:085b2c5e3254 148
taurin 0:085b2c5e3254 149 void FusokukeiInit(){
taurin 0:085b2c5e3254 150 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 151 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 152 }
taurin 0:085b2c5e3254 153
taurin 4:a863a092141c 154 double calcPulse(int deg){
taurin 4:a863a092141c 155 return (0.0006+(deg/180.0)*(0.00235-0.00045));
taurin 4:a863a092141c 156 }
taurin 4:a863a092141c 157
taurin 0:085b2c5e3254 158 void SdInit(){
taurin 0:085b2c5e3254 159 mkdir("/sd/mydir", 0777);
taurin 0:085b2c5e3254 160 fp = fopen("/sd/mydir/sdtest2.csv", "w");
taurin 0:085b2c5e3254 161 if(fp == NULL) {
taurin 0:085b2c5e3254 162 error("Could not open file for write\n");
taurin 0:085b2c5e3254 163 }
taurin 0:085b2c5e3254 164 fprintf(fp, "Hello fun SD Card World!\n\r");
taurin 0:085b2c5e3254 165 fclose(fp);
tsumagari 23:e59afb2044df 166 // Thread sd_thread(&SDprintf);
taurin 0:085b2c5e3254 167 }
tsumagari 26:50272431cd1e 168 void MpuInit(){
tsumagari 26:50272431cd1e 169 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 170 t.start();
tsumagari 26:50272431cd1e 171 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 172 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 26:50272431cd1e 173 Thread::wait(1);
tsumagari 26:50272431cd1e 174 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 26:50272431cd1e 175 Thread::wait(1);
tsumagari 26:50272431cd1e 176 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 177 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 178 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 26:50272431cd1e 179 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
tsumagari 26:50272431cd1e 180 Thread::wait(2);
tsumagari 26:50272431cd1e 181 } else {
tsumagari 26:50272431cd1e 182 }
tsumagari 26:50272431cd1e 183 } else {
tsumagari 26:50272431cd1e 184 pc.printf("MPU6050 not ready...\n\r");
tsumagari 26:50272431cd1e 185 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
tsumagari 26:50272431cd1e 186 }
tsumagari 26:50272431cd1e 187 }
taurin 0:085b2c5e3254 188
tsumagari 26:50272431cd1e 189 //void SonarInit(){
tsumagari 26:50272431cd1e 190 // sonarPin.rise(&sonarInterruptStart);
tsumagari 26:50272431cd1e 191 // sonarPin.fall(&sonarInterruptStop);
tsumagari 26:50272431cd1e 192 //}
tsumagari 26:50272431cd1e 193 void sonarCalc(void const *argument){
tsumagari 26:50272431cd1e 194 // return sonarDistTime*0.018624 - 13.511;
tsumagari 26:50272431cd1e 195 while(1){
tsumagari 26:50272431cd1e 196 sonarV = 0;
tsumagari 26:50272431cd1e 197 for(int i =0; i<20; i++){
tsumagari 26:50272431cd1e 198 sonarV += sonarPin.read();
tsumagari 26:50272431cd1e 199 Thread::wait(0.01);
tsumagari 26:50272431cd1e 200 }
tsumagari 26:50272431cd1e 201 sonarDist = (sonarV/20)*2062.5;
tsumagari 26:50272431cd1e 202 Thread::wait(0.01);
tsumagari 26:50272431cd1e 203 }
tsumagari 26:50272431cd1e 204 }
tsumagari 26:50272431cd1e 205
tsumagari 26:50272431cd1e 206 void mpuProcessing(void const *argument){
tsumagari 26:50272431cd1e 207 MpuInit();
tsumagari 26:50272431cd1e 208 while(1){
tsumagari 26:50272431cd1e 209 Thread::wait(0.1);
tsumagari 26:50272431cd1e 210 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 26:50272431cd1e 211 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 26:50272431cd1e 212 mpu6050.getAres();
tsumagari 26:50272431cd1e 213 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 26:50272431cd1e 214 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 26:50272431cd1e 215 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 26:50272431cd1e 216 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 26:50272431cd1e 217 mpu6050.getGres();
tsumagari 26:50272431cd1e 218 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 26:50272431cd1e 219 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 26:50272431cd1e 220 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 26:50272431cd1e 221 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 26:50272431cd1e 222 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 26:50272431cd1e 223 }
tsumagari 26:50272431cd1e 224 Now = t.read_us();
tsumagari 26:50272431cd1e 225 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 26:50272431cd1e 226 lastUpdate = Now;
tsumagari 26:50272431cd1e 227 sum += deltat;
tsumagari 26:50272431cd1e 228 sumCount++;
tsumagari 26:50272431cd1e 229 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 26:50272431cd1e 230 beta = 0.04; // decrease filter gain after stabilized
tsumagari 26:50272431cd1e 231 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 26:50272431cd1e 232 }
tsumagari 26:50272431cd1e 233 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 26:50272431cd1e 234 delt_t = t.read_ms() - count;
tsumagari 26:50272431cd1e 235 if (delt_t > MPU_DELT_MIN) {
tsumagari 26:50272431cd1e 236 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 26:50272431cd1e 237 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 26:50272431cd1e 238 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 26:50272431cd1e 239 pitch *= 180.0f / PI;
tsumagari 26:50272431cd1e 240 yaw *= 180.0f / PI;
tsumagari 26:50272431cd1e 241 roll *= 180.0f / PI;
tsumagari 26:50272431cd1e 242 myled= !myled;
tsumagari 26:50272431cd1e 243 count = t.read_ms();
tsumagari 26:50272431cd1e 244 sum = 0;
tsumagari 26:50272431cd1e 245 sumCount = 0;
tsumagari 26:50272431cd1e 246 }
tsumagari 26:50272431cd1e 247 }
tsumagari 26:50272431cd1e 248 }
tsumagari 26:50272431cd1e 249
tsumagari 26:50272431cd1e 250 void DataReceiveFromSouda(void const *argument){
tsumagari 26:50272431cd1e 251 while(1){
tsumagari 26:50272431cd1e 252 led2 = !led2;
tsumagari 26:50272431cd1e 253 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 254 if(soudaSerial.readable()) {
tsumagari 26:50272431cd1e 255 // ssMutex.lock();
tsumagari 26:50272431cd1e 256 soudaDatas[i] = (char)soudaSerial.getc();
tsumagari 26:50272431cd1e 257 // ssMutex.unlock();
tsumagari 26:50272431cd1e 258 if(soudaDatas[i]==';') i=-1;
tsumagari 26:50272431cd1e 259 }else i--;
tsumagari 26:50272431cd1e 260 }
taurin 0:085b2c5e3254 261 }
taurin 0:085b2c5e3254 262 }
taurin 0:085b2c5e3254 263
tsumagari 21:8802034b7810 264 void SDprintf(void const *argument){
tsumagari 23:e59afb2044df 265 SdInit();
tsumagari 22:5cbebf097600 266 while(1){
tsumagari 23:e59afb2044df 267 if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 26:50272431cd1e 268 // led4 = !led4;
tsumagari 23:e59afb2044df 269 fp = fopen("/sd/mydir/sdtest.csv", "a");
tsumagari 23:e59afb2044df 270 if(fp == NULL) {
tsumagari 23:e59afb2044df 271 error("Could not open file for write\n");
tsumagari 23:e59afb2044df 272 }
tsumagari 23:e59afb2044df 273 for(int i = 0; i < SD_WRITE_NUM; i++){
tsumagari 23:e59afb2044df 274 for(int j = 0; j < WRITE_DATAS_NUM; j++){
tsumagari 23:e59afb2044df 275 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 23:e59afb2044df 276 }
tsumagari 23:e59afb2044df 277 }
tsumagari 23:e59afb2044df 278 fprintf(fp,"\n\r");
tsumagari 23:e59afb2044df 279 fclose(fp);
tsumagari 23:e59afb2044df 280 write_datas_index=0;
tsumagari 21:8802034b7810 281 }
tsumagari 26:50272431cd1e 282 Thread::wait(0.01);
tsumagari 22:5cbebf097600 283 }
taurin 3:8dc516be2e7e 284 }
taurin 3:8dc516be2e7e 285
taurin 3:8dc516be2e7e 286 void WriteDatas(){
taurin 8:31e07f6ed0f7 287 int i;
tsumagari 26:50272431cd1e 288 for(i = 0; i < 6; i++){ //翼端のmpu
tsumagari 26:50272431cd1e 289 if(!(i%2)){
tsumagari 26:50272431cd1e 290 writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2]<<8) + soudaDatas[(i+1)*2] );
tsumagari 26:50272431cd1e 291 }else{
tsumagari 26:50272431cd1e 292 writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2-1]<<8) + soudaDatas[i*2+1] );
tsumagari 26:50272431cd1e 293 }
tsumagari 26:50272431cd1e 294 // writeDatas[write_datas_index][i] = i;
taurin 8:31e07f6ed0f7 295 }
tsumagari 26:50272431cd1e 296 for(i = 6; i < 12; i++){//翼端のV,操舵
tsumagari 26:50272431cd1e 297 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 26:50272431cd1e 298 writeDatas[write_datas_index][i] = (float)soudaDatas[i+6];
tsumagari 26:50272431cd1e 299 }
tsumagari 26:50272431cd1e 300 writeDatas[write_datas_index][i++] = cadence.cadence;
tsumagari 26:50272431cd1e 301 writeDatas[write_datas_index][i++] = sonarDist;
taurin 8:31e07f6ed0f7 302 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 303 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 304 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 305 writeDatas[write_datas_index][i++] = airSpeed;
taurin 8:31e07f6ed0f7 306 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 26:50272431cd1e 307 for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 308 pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 309 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 26:50272431cd1e 310 }
tsumagari 26:50272431cd1e 311 pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 312 // twe.printf("\n\r");
tsumagari 23:e59afb2044df 313 if(write_datas_index < SD_WRITE_NUM-1){
taurin 8:31e07f6ed0f7 314 write_datas_index++;
taurin 8:31e07f6ed0f7 315 }
taurin 9:95eb0bbdc2a9 316 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 317 // pc.printf("%i ",soudaDatas[i]);
tsumagari 26:50272431cd1e 318 ssMutex.lock();
YusukeWakuta 10:1389f938f5f7 319 twe.printf("%i,",soudaDatas[i]);
tsumagari 26:50272431cd1e 320 ssMutex.unlock();
taurin 9:95eb0bbdc2a9 321 }
tsumagari 15:6966299bea4c 322 // twe.printf("%f\n\r",cadence.cadence);
tsumagari 15:6966299bea4c 323 // pc.printf("%f\n\r",cadence.cadence);
taurin 9:95eb0bbdc2a9 324 //pc.printf("\n\r");
YusukeWakuta 18:fa3f9ba17af8 325
YusukeWakuta 18:fa3f9ba17af8 326 if(Android.writeable()){
YusukeWakuta 18:fa3f9ba17af8 327 Android.printf("%f,%f,%f",airSpeed,roll,0);
YusukeWakuta 18:fa3f9ba17af8 328 }
tsumagari 26:50272431cd1e 329 ssMutex.lock();
YusukeWakuta 10:1389f938f5f7 330 twe.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 26:50272431cd1e 331 // twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
YusukeWakuta 10:1389f938f5f7 332 twe.printf("%f,\r\n",airSpeed);
tsumagari 26:50272431cd1e 333 ssMutex.unlock();
tsumagari 26:50272431cd1e 334 // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
taurin 9:95eb0bbdc2a9 335 //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 26:50272431cd1e 336 // pc.printf("%f\n\r",airSpeed);
taurin 9:95eb0bbdc2a9 337 //SDprintf();
tsumagari 23:e59afb2044df 338 pc.printf("%d\n\r",write_datas_index);
taurin 9:95eb0bbdc2a9 339 }
taurin 9:95eb0bbdc2a9 340
taurin 9:95eb0bbdc2a9 341 void WriteDatasF(){
taurin 9:95eb0bbdc2a9 342 pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 343 }
tsumagari 26:50272431cd1e 344 //
tsumagari 26:50272431cd1e 345 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 346 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 347 //}
taurin 0:085b2c5e3254 348
tsumagari 26:50272431cd1e 349 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 350 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 351 //}
taurin 0:085b2c5e3254 352
taurin 0:085b2c5e3254 353 void RollAlarm(){
taurin 0:085b2c5e3254 354 if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){
taurin 0:085b2c5e3254 355 RollAlarmL = 1;
taurin 0:085b2c5e3254 356 }
taurin 0:085b2c5e3254 357 else{
taurin 0:085b2c5e3254 358 RollAlarmL = 0;
taurin 0:085b2c5e3254 359 }
taurin 0:085b2c5e3254 360 if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){
taurin 0:085b2c5e3254 361 RollAlarmR = 1;
taurin 0:085b2c5e3254 362 }
taurin 0:085b2c5e3254 363 else{
taurin 0:085b2c5e3254 364 RollAlarmR = 0;
taurin 0:085b2c5e3254 365 }
taurin 0:085b2c5e3254 366 }
taurin 0:085b2c5e3254 367
tsumagari 26:50272431cd1e 368
taurin 4:a863a092141c 369
taurin 0:085b2c5e3254 370 int main(){
tsumagari 23:e59afb2044df 371 Thread sd_thread(&SDprintf);//必ずmain内で
tsumagari 26:50272431cd1e 372 Thread sonar_thread(&sonarCalc);
tsumagari 26:50272431cd1e 373 Thread mpu_thread(&mpuProcessing);
tsumagari 26:50272431cd1e 374 Thread soudaSerial_thread(&DataReceiveFromSouda);
tsumagari 26:50272431cd1e 375 Thread cadence_thread(&cadenceDataReceive);
taurin 0:085b2c5e3254 376 init();
taurin 0:085b2c5e3254 377 while(1){
taurin 9:95eb0bbdc2a9 378 pc.printf("test\n\r");
tsumagari 26:50272431cd1e 379 // mpuProcessing();
taurin 8:31e07f6ed0f7 380 RollAlarm();
tsumagari 26:50272431cd1e 381 // DataReceiveFromSouda();
tsumagari 15:6966299bea4c 382 // cadence.readData();
taurin 3:8dc516be2e7e 383 WriteDatas();
taurin 0:085b2c5e3254 384 }
taurin 0:085b2c5e3254 385 }