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@45:73ac4054ea23, 2017-03-12 (annotated)

Committer:
YusukeWakuta
Date:
Sun Mar 12 16:42:12 2017 +0000
Branch:
Thread-gyogetsuMPU
Revision:
45:73ac4054ea23
Parent:
40:f15c11485e95
Parent:
44:c51b60c74fef 
merge

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"
tsumagari 39:7623678de4e2 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;
YusukeWakuta 44:c51b60c74fef 25 void resetInterrupt()
YusukeWakuta 44:c51b60c74fef 26 {
YusukeWakuta 44:c51b60c74fef 27 while(resetPin) {
tsumagari 26:50272431cd1e 28 resetTimeCount.start();
tsumagari 26:50272431cd1e 29 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 30 }
tsumagari 26:50272431cd1e 31 resetTimeCount.reset();
tsumagari 26:50272431cd1e 32 }
tsumagari 26:50272431cd1e 33 //-------------------------------------------------------
tsumagari 26:50272431cd1e 34
tsumagari 39:7623678de4e2 35 SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 39:7623678de4e2 36 FILE* fp;
tsumagari 39:7623678de4e2 37
tsumagari 21:8802034b7810 38 RawSerial pc(USBTX,USBRX);
tsumagari 27:d2955f29a3aa 39 RawSerial android(p9,p10);
tsumagari 27:d2955f29a3aa 40 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 41 BufferedSoftSerial twe(p11,p12);
tsumagari 27:d2955f29a3aa 42 Cadence cadence_twe(p13,p14);
tsumagari 34:c46f2f687c7b 43 //Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 44 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 45 //Timer writeTimer;
taurin 0:085b2c5e3254 46
tsumagari 38:32f483b0a77f 47 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 48 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 49 Fusokukei air;
taurin 0:085b2c5e3254 50 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 51
tsumagari 34:c46f2f687c7b 52 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 53 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 54 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 55 //double sonarDistTime
tsumagari 27:d2955f29a3aa 56 double sonarDist;
tsumagari 27:d2955f29a3aa 57 float sonarV;
tsumagari 27:d2955f29a3aa 58
tsumagari 27:d2955f29a3aa 59
tsumagari 26:50272431cd1e 60 float sum = 0;
tsumagari 26:50272431cd1e 61 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 62 MPU6050 mpu6050;
taurin 0:085b2c5e3254 63 Timer t;
tsumagari 34:c46f2f687c7b 64 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 65
tsumagari 38:32f483b0a77f 66 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 67 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 68 DigitalOut led2(LED2);
tsumagari 40:f15c11485e95 69 DigitalOut led4(LED4);
taurin 4:a863a092141c 70
taurin 0:085b2c5e3254 71 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 72 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 73 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 74
taurin 0:085b2c5e3254 75 void air_countUp();
taurin 0:085b2c5e3254 76 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 77 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 78 void sonarInterruptStop();
tsumagari 34:c46f2f687c7b 79 void updateCadence(void const *arg);
taurin 0:085b2c5e3254 80 void init();
taurin 0:085b2c5e3254 81 void FusokukeiInit();
tsumagari 26:50272431cd1e 82 void MpuInit();
tsumagari 34:c46f2f687c7b 83 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 84 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 85 void SdInit();
tsumagari 39:7623678de4e2 86 void SDprintf();
taurin 0:085b2c5e3254 87 void WriteDatas();
tsumagari 27:d2955f29a3aa 88 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 89 float calcKXdeg(float x);
tsumagari 15:6966299bea4c 90
YusukeWakuta 44:c51b60c74fef 91 void air_countUp()
YusukeWakuta 44:c51b60c74fef 92 {
taurin 0:085b2c5e3254 93 air_kaitensu++;
taurin 0:085b2c5e3254 94 }
taurin 0:085b2c5e3254 95
YusukeWakuta 44:c51b60c74fef 96 void call_calcAirSpeed()
YusukeWakuta 44:c51b60c74fef 97 {
taurin 0:085b2c5e3254 98 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 99 air_kaitensu = 0;
taurin 0:085b2c5e3254 100 }
taurin 0:085b2c5e3254 101
YusukeWakuta 44:c51b60c74fef 102 void sonarInterruptStart()
YusukeWakuta 44:c51b60c74fef 103 {
tsumagari 34:c46f2f687c7b 104 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 105 }
tsumagari 27:d2955f29a3aa 106
YusukeWakuta 44:c51b60c74fef 107 void sonarInterruptStop()
YusukeWakuta 44:c51b60c74fef 108 {
tsumagari 26:50272431cd1e 109 // sonarTimer.stop();
tsumagari 26:50272431cd1e 110 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 111 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 112 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 113 }
YusukeWakuta 44:c51b60c74fef 114 void sonarCalc()
YusukeWakuta 44:c51b60c74fef 115 {
tsumagari 27:d2955f29a3aa 116 sonarV = 0;
YusukeWakuta 44:c51b60c74fef 117 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 118 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 119 wait(0.01);
tsumagari 27:d2955f29a3aa 120 }
tsumagari 27:d2955f29a3aa 121 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 122 }
tsumagari 27:d2955f29a3aa 123
YusukeWakuta 44:c51b60c74fef 124 void updateCadence(/*void const *arg*/)
YusukeWakuta 44:c51b60c74fef 125 {
tsumagari 34:c46f2f687c7b 126 // while(1){
YusukeWakuta 44:c51b60c74fef 127 cadence_twe.readData();
tsumagari 37:34aaa1951390 128 // Thread::wait(5);
tsumagari 34:c46f2f687c7b 129 // }
tsumagari 27:d2955f29a3aa 130 }
tsumagari 26:50272431cd1e 131
YusukeWakuta 44:c51b60c74fef 132 void init()
YusukeWakuta 44:c51b60c74fef 133 {
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 27:d2955f29a3aa 138 twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
tsumagari 27:d2955f29a3aa 139 //writeTimer.start();
taurin 0:085b2c5e3254 140 FusokukeiInit();
tsumagari 39:7623678de4e2 141 SdInit();
tsumagari 33:69ad9920f693 142 // MpuInit();
YusukeWakuta 45:73ac4054ea23 143
tsumagari 27:d2955f29a3aa 144 //writeDatasTicker.attach(&WriteDatas,1);
tsumagari 27:d2955f29a3aa 145 // cadenceUpdateTicker.attach(&updateCadence, 1);
YusukeWakuta 44:c51b60c74fef 146
tsumagari 27:d2955f29a3aa 147 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 148 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 149 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 150 //-----------------------------------------------------------
taurin 0:085b2c5e3254 151 }
taurin 0:085b2c5e3254 152
YusukeWakuta 44:c51b60c74fef 153 void FusokukeiInit()
YusukeWakuta 44:c51b60c74fef 154 {
taurin 0:085b2c5e3254 155 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 156 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 157 }
taurin 0:085b2c5e3254 158
YusukeWakuta 44:c51b60c74fef 159 void MpuInit()
YusukeWakuta 44:c51b60c74fef 160 {
tsumagari 26:50272431cd1e 161 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 162 t.start();
tsumagari 26:50272431cd1e 163 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 164 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 165 Thread::wait(100);
tsumagari 26:50272431cd1e 166 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 167 Thread::wait(100);
tsumagari 26:50272431cd1e 168 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 169 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 170 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 26:50272431cd1e 171 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 172 Thread::wait(200);
tsumagari 26:50272431cd1e 173 } else {
tsumagari 26:50272431cd1e 174 }
tsumagari 26:50272431cd1e 175 } else {
tsumagari 26:50272431cd1e 176 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 44:c51b60c74fef 177 }
tsumagari 26:50272431cd1e 178 }
taurin 0:085b2c5e3254 179
YusukeWakuta 44:c51b60c74fef 180 void mpuProcessing(void const *arg)
YusukeWakuta 44:c51b60c74fef 181 {
tsumagari 33:69ad9920f693 182 MpuInit();
YusukeWakuta 44:c51b60c74fef 183 while(1) {
tsumagari 33:69ad9920f693 184 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 185 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 186 mpu6050.getAres();
tsumagari 33:69ad9920f693 187 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 188 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 189 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 190 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 191 mpu6050.getGres();
tsumagari 33:69ad9920f693 192 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 193 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 194 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 195 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 196 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 197 }
tsumagari 33:69ad9920f693 198 Now = t.read_us();
tsumagari 33:69ad9920f693 199 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 200 lastUpdate = Now;
tsumagari 33:69ad9920f693 201 sum += deltat;
tsumagari 33:69ad9920f693 202 sumCount++;
tsumagari 33:69ad9920f693 203 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 204 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 205 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 206 }
tsumagari 33:69ad9920f693 207 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 208 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 209 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 210 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 211 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 212 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 213 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 214 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 215 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 216 myled= !myled;
tsumagari 33:69ad9920f693 217 count = t.read_ms();
tsumagari 33:69ad9920f693 218 sum = 0;
tsumagari 33:69ad9920f693 219 sumCount = 0;
tsumagari 33:69ad9920f693 220 }
tsumagari 40:f15c11485e95 221 Thread::wait(1);
tsumagari 33:69ad9920f693 222 }//while(1)
tsumagari 26:50272431cd1e 223 }
tsumagari 26:50272431cd1e 224
YusukeWakuta 44:c51b60c74fef 225 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 44:c51b60c74fef 226 {
tsumagari 34:c46f2f687c7b 227 // while(1){
YusukeWakuta 44:c51b60c74fef 228 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 229 led2 = !led2;
tsumagari 34:c46f2f687c7b 230 char c = soudaSerial.getc();
YusukeWakuta 44:c51b60c74fef 231 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 232 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 233 }
YusukeWakuta 44:c51b60c74fef 234 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 235 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 236 }
YusukeWakuta 44:c51b60c74fef 237 }//if
tsumagari 34:c46f2f687c7b 238 // }//while(1)
taurin 3:8dc516be2e7e 239 }
taurin 3:8dc516be2e7e 240
tsumagari 39:7623678de4e2 241 void SdInit(){
tsumagari 39:7623678de4e2 242 mkdir("/sd/mydir", 0777);
tsumagari 39:7623678de4e2 243 fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 39:7623678de4e2 244 if(fp == NULL) {
tsumagari 39:7623678de4e2 245 error("Could not open file for write\n");
tsumagari 39:7623678de4e2 246 }
tsumagari 39:7623678de4e2 247 fprintf(fp, "Hello fun SD Card World!\n\r");
tsumagari 39:7623678de4e2 248 fclose(fp);
tsumagari 39:7623678de4e2 249 }
tsumagari 39:7623678de4e2 250
tsumagari 39:7623678de4e2 251 void SDprintf(){
tsumagari 40:f15c11485e95 252 fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 39:7623678de4e2 253 if(fp == NULL) {
tsumagari 39:7623678de4e2 254 error("Could not open file for write\n");
tsumagari 39:7623678de4e2 255 }
tsumagari 39:7623678de4e2 256 for(int i = 0; i < SD_WRITE_NUM; i++){
tsumagari 39:7623678de4e2 257 for(int j = 0; j < WRITE_DATAS_NUM; j++){
tsumagari 39:7623678de4e2 258 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 39:7623678de4e2 259 }
tsumagari 39:7623678de4e2 260 }
tsumagari 39:7623678de4e2 261 fprintf(fp,"\n\r");
tsumagari 39:7623678de4e2 262 fclose(fp);
tsumagari 39:7623678de4e2 263 }
tsumagari 39:7623678de4e2 264
taurin 3:8dc516be2e7e 265 void WriteDatas(){
taurin 8:31e07f6ed0f7 266 int i;
YusukeWakuta 44:c51b60c74fef 267 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 44:c51b60c74fef 268 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 269 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 270 }
taurin 8:31e07f6ed0f7 271 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 272 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 273 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 274 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 275 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 37:34aaa1951390 276 writeDatas[write_datas_index][i++] = cadence_twe.cadence;
taurin 8:31e07f6ed0f7 277 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 278 //for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 279 // pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 280 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 281 // }
tsumagari 27:d2955f29a3aa 282 // pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 283 // twe.printf("\n\r");
tsumagari 39:7623678de4e2 284 if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 40:f15c11485e95 285 SDprintf();
tsumagari 39:7623678de4e2 286 write_datas_index=0;
tsumagari 39:7623678de4e2 287 }
tsumagari 39:7623678de4e2 288 else{
tsumagari 39:7623678de4e2 289 write_datas_index++;
tsumagari 39:7623678de4e2 290 }
taurin 9:95eb0bbdc2a9 291 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 292 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 293 twe.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 294 // android.printf("%i,",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 295 }
taurin 9:95eb0bbdc2a9 296 //pc.printf("\n\r");
YusukeWakuta 44:c51b60c74fef 297 twe.printf("%f,%f,%f,%f,%f,%f\r\n",pitch,roll,yaw,airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 27:d2955f29a3aa 298 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
YusukeWakuta 44:c51b60c74fef 299 //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 37:34aaa1951390 300 pc.printf("%f,%f,%s\n\r",airSpeed,sonarDist,cadence_twe.myBuff);
tsumagari 37:34aaa1951390 301 pc.printf(cadence_twe.strData.c_str());
tsumagari 27:d2955f29a3aa 302 pc.putc(cadence_twe.strV[0]);
YusukeWakuta 44:c51b60c74fef 303 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 304 // for(int i = 0; i<SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 305 // android.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 306 // }
tsumagari 27:d2955f29a3aa 307 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 44:c51b60c74fef 308 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 27:d2955f29a3aa 309 android.printf("%f,%f,test\n\r",roll,airSpeed);
tsumagari 27:d2955f29a3aa 310 }
tsumagari 40:f15c11485e95 311 // SDprintf();
taurin 9:95eb0bbdc2a9 312 }
taurin 9:95eb0bbdc2a9 313
YusukeWakuta 44:c51b60c74fef 314 void WriteDatasF()
YusukeWakuta 44:c51b60c74fef 315 {
taurin 9:95eb0bbdc2a9 316 pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 317 }
tsumagari 27:d2955f29a3aa 318
YusukeWakuta 44:c51b60c74fef 319 void RollAlarm()
YusukeWakuta 44:c51b60c74fef 320 {
YusukeWakuta 44:c51b60c74fef 321 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 322 RollAlarmL = 1;
YusukeWakuta 44:c51b60c74fef 323 } else {
taurin 0:085b2c5e3254 324 RollAlarmL = 0;
taurin 0:085b2c5e3254 325 }
YusukeWakuta 44:c51b60c74fef 326
YusukeWakuta 44:c51b60c74fef 327 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 328 RollAlarmR = 1;
YusukeWakuta 44:c51b60c74fef 329 } else {
taurin 0:085b2c5e3254 330 RollAlarmR = 0;
taurin 0:085b2c5e3254 331 }
taurin 0:085b2c5e3254 332 }
taurin 0:085b2c5e3254 333
YusukeWakuta 44:c51b60c74fef 334 int main()
YusukeWakuta 44:c51b60c74fef 335 {
tsumagari 27:d2955f29a3aa 336 // Thread cadence_thread(&updateCadence);
tsumagari 38:32f483b0a77f 337 Thread mpu_thread(&mpuProcessing);
tsumagari 34:c46f2f687c7b 338 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 339 init();
YusukeWakuta 44:c51b60c74fef 340 while(1) {
taurin 9:95eb0bbdc2a9 341 pc.printf("test\n\r");
tsumagari 33:69ad9920f693 342 // mpuProcessing();
tsumagari 27:d2955f29a3aa 343 sonarCalc();
taurin 8:31e07f6ed0f7 344 RollAlarm();
tsumagari 27:d2955f29a3aa 345 DataReceiveFromSouda();
tsumagari 40:f15c11485e95 346 // updateCadence();
taurin 3:8dc516be2e7e 347 WriteDatas();
tsumagari 27:d2955f29a3aa 348 // WriteServo();
tsumagari 40:f15c11485e95 349 led4 = !led4;
taurin 0:085b2c5e3254 350 }
taurin 0:085b2c5e3254 351 }