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@70:763d62c486ca, 2017-06-16 (annotated)

Committer:
YusukeWakuta
Date:
Fri Jun 16 07:34:32 2017 +0000
Branch:
SDandCadenceThread
Revision:
70:763d62c486ca
Parent:
69:1f892421d694
Child:
71:c06da87572f1
????????????????

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 double sonarDist;
tsumagari 27:d2955f29a3aa 59 float sonarV;
tsumagari 27:d2955f29a3aa 60
tsumagari 27:d2955f29a3aa 61
tsumagari 26:50272431cd1e 62 float sum = 0;
tsumagari 26:50272431cd1e 63 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 64 MPU6050 mpu6050;
taurin 0:085b2c5e3254 65 Timer t;
YusukeWakuta 61:7f980cb3a7a8 66 Timer cadenceTimer;
YusukeWakuta 61:7f980cb3a7a8 67
tsumagari 34:c46f2f687c7b 68 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 69
tsumagari 38:32f483b0a77f 70 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 71 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 72 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 73 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 74 DigitalOut led4(LED4);
tsumagari 62:98294011f568 75 I2C InaI2c(p9,p10);
tsumagari 62:98294011f568 76 INA226 VCmonitor(InaI2c,0x9C);
YusukeWakuta 61:7f980cb3a7a8 77 AnalogIn mgPin(p20);
tsumagari 62:98294011f568 78 AnalogIn mgPin2(p16);
taurin 4:a863a092141c 79
taurin 0:085b2c5e3254 80 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 81 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 82 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 83
taurin 0:085b2c5e3254 84 void air_countUp();
taurin 0:085b2c5e3254 85 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 86 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 87 void sonarInterruptStop();
YusukeWakuta 61:7f980cb3a7a8 88 void updateCadence(double source, double input,double input2,bool isFFlag);
taurin 0:085b2c5e3254 89 void init();
taurin 0:085b2c5e3254 90 void FusokukeiInit();
tsumagari 26:50272431cd1e 91 void MpuInit();
tsumagari 34:c46f2f687c7b 92 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 93 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 94 void SdInit();
tsumagari 56:6823d2324704 95 void SDprintf();
taurin 0:085b2c5e3254 96 void WriteDatas();
tsumagari 27:d2955f29a3aa 97 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 98 float calcKXdeg(float x);
YusukeWakuta 61:7f980cb3a7a8 99 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 100 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 101 double cadenceResult = 0.0; //最終的なケイデンスの値です。
YusukeWakuta 61:7f980cb3a7a8 102 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 103 double V;
tsumagari 15:6966299bea4c 104
YusukeWakuta 46:c649987c4d84 105 void air_countUp()
YusukeWakuta 46:c649987c4d84 106 {
taurin 0:085b2c5e3254 107 air_kaitensu++;
tsumagari 69:1f892421d694 108 // led3 = !led3;
taurin 0:085b2c5e3254 109 }
taurin 0:085b2c5e3254 110
YusukeWakuta 46:c649987c4d84 111 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 112 {
taurin 0:085b2c5e3254 113 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 114 air_kaitensu = 0;
taurin 0:085b2c5e3254 115 }
taurin 0:085b2c5e3254 116
YusukeWakuta 46:c649987c4d84 117 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 118 {
tsumagari 34:c46f2f687c7b 119 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 120 }
tsumagari 27:d2955f29a3aa 121
YusukeWakuta 46:c649987c4d84 122 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 123 {
tsumagari 26:50272431cd1e 124 // sonarTimer.stop();
tsumagari 26:50272431cd1e 125 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 126 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 127 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 128 }
YusukeWakuta 46:c649987c4d84 129 void sonarCalc()
YusukeWakuta 46:c649987c4d84 130 {
tsumagari 27:d2955f29a3aa 131 sonarV = 0;
YusukeWakuta 46:c649987c4d84 132 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 133 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 134 wait(0.01);
tsumagari 27:d2955f29a3aa 135 }
tsumagari 27:d2955f29a3aa 136 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 137 }
tsumagari 27:d2955f29a3aa 138
jaity 59:7cb8eaf553ef 139
jaity 59:7cb8eaf553ef 140 // 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 141 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 142 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 143 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 144 {
jaity 59:7cb8eaf553ef 145 double a, b;
jaity 59:7cb8eaf553ef 146 if(source < 3200)
jaity 59:7cb8eaf553ef 147 return -1;
jaity 59:7cb8eaf553ef 148
jaity 59:7cb8eaf553ef 149 if(source < 5500)
jaity 59:7cb8eaf553ef 150 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 151 else if(source < 7000)
jaity 59:7cb8eaf553ef 152 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 153 else
jaity 59:7cb8eaf553ef 154 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 155
jaity 59:7cb8eaf553ef 156 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 157 }
jaity 59:7cb8eaf553ef 158
YusukeWakuta 61:7f980cb3a7a8 159 //ケイデンスの値を取得します。
YusukeWakuta 61:7f980cb3a7a8 160 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
YusukeWakuta 70:763d62c486ca 161 void updateCadence(double source, double input,double input2)
YusukeWakuta 46:c649987c4d84 162 {
YusukeWakuta 70:763d62c486ca 163
YusukeWakuta 70:763d62c486ca 164 static bool isFFlag = true;
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 70:763d62c486ca 169 isFFlag = false;
YusukeWakuta 61:7f980cb3a7a8 170 return;
YusukeWakuta 61:7f980cb3a7a8 171 }
YusukeWakuta 70:763d62c486ca 172 if((isOh182eOverThreshold(source,input) != lastCadenceInput) ||(isOh182eOverThreshold(source,input2) != lastCadenceInput2)) {
tsumagari 69:1f892421d694 173 if(cadenceCounter < 3) {
YusukeWakuta 61:7f980cb3a7a8 174 cadenceCounter++;
YusukeWakuta 70:763d62c486ca 175 led3 = !led3;
YusukeWakuta 70:763d62c486ca 176 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 70:763d62c486ca 177 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 178 return;
YusukeWakuta 61:7f980cb3a7a8 179 }
YusukeWakuta 61:7f980cb3a7a8 180 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 181 cadenceTimer.reset();
YusukeWakuta 61:7f980cb3a7a8 182 cadenceCounter = 0;
YusukeWakuta 61:7f980cb3a7a8 183 }
YusukeWakuta 70:763d62c486ca 184 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 70:763d62c486ca 185 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
tsumagari 27:d2955f29a3aa 186 }
tsumagari 26:50272431cd1e 187
YusukeWakuta 46:c649987c4d84 188 void init()
YusukeWakuta 46:c649987c4d84 189 {
tsumagari 58:b4f3ed763cb4 190 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 191 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 192 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 193 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 194 //-----------------------------------------------------------
YusukeWakuta 48:2160c28d02f8 195 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 48:2160c28d02f8 196 android.baud(9600);
tsumagari 27:d2955f29a3aa 197 //writeTimer.start();
taurin 0:085b2c5e3254 198 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 199 // SdInit();
YusukeWakuta 46:c649987c4d84 200 // MpuInit();
tsumagari 27:d2955f29a3aa 201 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 202
tsumagari 27:d2955f29a3aa 203 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 204 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 205 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 206 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 207 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 208 val = 0;
YusukeWakuta 61:7f980cb3a7a8 209 if(VCmonitor.rawRead(0x00,&val) != 0) {
YusukeWakuta 61:7f980cb3a7a8 210 printf("VCmonitor READ ERROR\n");
YusukeWakuta 61:7f980cb3a7a8 211 while(1) {}
YusukeWakuta 61:7f980cb3a7a8 212 }
YusukeWakuta 61:7f980cb3a7a8 213 VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 214 }
taurin 0:085b2c5e3254 215
YusukeWakuta 46:c649987c4d84 216 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 217 {
taurin 0:085b2c5e3254 218 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 219 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 220 }
taurin 0:085b2c5e3254 221
YusukeWakuta 46:c649987c4d84 222 void MpuInit()
YusukeWakuta 46:c649987c4d84 223 {
tsumagari 26:50272431cd1e 224 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 225 t.start();
tsumagari 26:50272431cd1e 226 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 227 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 228 Thread::wait(100);
tsumagari 26:50272431cd1e 229 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 230 Thread::wait(100);
tsumagari 26:50272431cd1e 231 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 232 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 233 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 48:2160c28d02f8 234 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 235 Thread::wait(200);
tsumagari 26:50272431cd1e 236 } else {
tsumagari 26:50272431cd1e 237 }
tsumagari 26:50272431cd1e 238 } else {
YusukeWakuta 48:2160c28d02f8 239 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 240 }
tsumagari 26:50272431cd1e 241 }
taurin 0:085b2c5e3254 242
YusukeWakuta 46:c649987c4d84 243 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 244 {
tsumagari 27:d2955f29a3aa 245 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 246 }
tsumagari 27:d2955f29a3aa 247
YusukeWakuta 46:c649987c4d84 248 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 249 {
tsumagari 33:69ad9920f693 250 MpuInit();
YusukeWakuta 46:c649987c4d84 251 while(1) {
tsumagari 33:69ad9920f693 252 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 253 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 254 mpu6050.getAres();
tsumagari 33:69ad9920f693 255 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 256 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 257 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 258 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 259 mpu6050.getGres();
tsumagari 33:69ad9920f693 260 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 261 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 262 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 263 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 264 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 265 }
tsumagari 33:69ad9920f693 266 Now = t.read_us();
tsumagari 33:69ad9920f693 267 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 268 lastUpdate = Now;
tsumagari 33:69ad9920f693 269 sum += deltat;
tsumagari 33:69ad9920f693 270 sumCount++;
tsumagari 33:69ad9920f693 271 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 272 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 273 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 274 }
tsumagari 33:69ad9920f693 275 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 276 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 277 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 278 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 279 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 280 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 281 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 282 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 283 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 284 myled= !myled;
tsumagari 33:69ad9920f693 285 count = t.read_ms();
tsumagari 33:69ad9920f693 286 sum = 0;
tsumagari 33:69ad9920f693 287 sumCount = 0;
tsumagari 33:69ad9920f693 288 }
tsumagari 40:f15c11485e95 289 Thread::wait(1);
tsumagari 33:69ad9920f693 290 }//while(1)
tsumagari 26:50272431cd1e 291 }
tsumagari 26:50272431cd1e 292
YusukeWakuta 46:c649987c4d84 293 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 294 {
tsumagari 34:c46f2f687c7b 295 // while(1){
YusukeWakuta 46:c649987c4d84 296 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 297 led2 = !led2;
tsumagari 34:c46f2f687c7b 298 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 299 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 300 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 301 }
YusukeWakuta 46:c649987c4d84 302 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 303 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 304 }
YusukeWakuta 46:c649987c4d84 305 }//if
tsumagari 34:c46f2f687c7b 306 // }//while(1)
taurin 3:8dc516be2e7e 307 }
tsumagari 56:6823d2324704 308
YusukeWakuta 61:7f980cb3a7a8 309 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 310 {
tsumagari 56:6823d2324704 311 mkdir("/sd/mydir", 0777);
tsumagari 56:6823d2324704 312 fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 56:6823d2324704 313 if(fp == NULL) {
tsumagari 69:1f892421d694 314 printf("Could not open file for write\n");
tsumagari 69:1f892421d694 315 return;
tsumagari 56:6823d2324704 316 }
tsumagari 56:6823d2324704 317 fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
tsumagari 56:6823d2324704 318 fclose(fp);
tsumagari 56:6823d2324704 319 }
tsumagari 56:6823d2324704 320
YusukeWakuta 61:7f980cb3a7a8 321 void SDprintf(const void* arg)
YusukeWakuta 61:7f980cb3a7a8 322 {
YusukeWakuta 70:763d62c486ca 323 // SdInit();
YusukeWakuta 61:7f980cb3a7a8 324 while(1) {
YusukeWakuta 70:763d62c486ca 325 updateCadence(V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
YusukeWakuta 70:763d62c486ca 326 // pc.printf("V:%5.5f mgPin:%5.5f mgPin2:%5.5f",V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
YusukeWakuta 70:763d62c486ca 327 // if(write_datas_index == SD_WRITE_NUM-1) {
YusukeWakuta 70:763d62c486ca 328 // fp = fopen("/sd/mydir/data.csv", "a");
YusukeWakuta 70:763d62c486ca 329 // if(fp == NULL) {
YusukeWakuta 70:763d62c486ca 330 // error("Could not open file for write!!\n");
YusukeWakuta 70:763d62c486ca 331 // }
YusukeWakuta 70:763d62c486ca 332 // for(int i = 0; i < SD_WRITE_NUM; i++) {
YusukeWakuta 70:763d62c486ca 333 // for(int j = 0; j < WRITE_DATAS_NUM; j++) {
YusukeWakuta 70:763d62c486ca 334 // fprintf(fp,"%f,", writeDatas[i][j]);
YusukeWakuta 70:763d62c486ca 335 // }
YusukeWakuta 70:763d62c486ca 336 // fprintf(fp,"\n");
YusukeWakuta 70:763d62c486ca 337 // }
YusukeWakuta 70:763d62c486ca 338 //
YusukeWakuta 70:763d62c486ca 339 // fclose(fp);
YusukeWakuta 70:763d62c486ca 340 //
YusukeWakuta 70:763d62c486ca 341 // write_datas_index=0;
YusukeWakuta 70:763d62c486ca 342 // }
tsumagari 69:1f892421d694 343 Thread::wait(100);
tsumagari 56:6823d2324704 344 }
tsumagari 56:6823d2324704 345 }
tsumagari 39:7623678de4e2 346
YusukeWakuta 46:c649987c4d84 347 void WriteDatas()
YusukeWakuta 46:c649987c4d84 348 {
taurin 8:31e07f6ed0f7 349 int i;
YusukeWakuta 46:c649987c4d84 350 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 351 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 352 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 353 }
taurin 8:31e07f6ed0f7 354 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 355 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 356 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 357 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 358 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 62:98294011f568 359 writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence;
taurin 8:31e07f6ed0f7 360 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 361 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 48:2160c28d02f8 362 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 363 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 364 // }
YusukeWakuta 48:2160c28d02f8 365 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 366 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 367 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 368 // SDprintf();
tsumagari 39:7623678de4e2 369 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 370 } else {
tsumagari 39:7623678de4e2 371 write_datas_index++;
YusukeWakuta 46:c649987c4d84 372 }
tsumagari 64:2de7ea84d39a 373 char sbuf[128];
tsumagari 64:2de7ea84d39a 374 int p=0;
tsumagari 64:2de7ea84d39a 375 // twe.printf("con,");
tsumagari 65:075118165355 376 p += sprintf(sbuf,"con,");
YusukeWakuta 46:c649987c4d84 377 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 63:f7f4edd463b1 378 // pc.printf("%i ",soudaDatas[i]);
tsumagari 64:2de7ea84d39a 379 // twe.printf("%i,",soudaDatas[i]);
tsumagari 65:075118165355 380 p += sprintf(sbuf+p,"%i,",soudaDatas[i]);
YusukeWakuta 48:2160c28d02f8 381
YusukeWakuta 47:0c9f3a057f79 382 if(i == YOKUTAN_DATAS_NUM - 1)
tsumagari 64:2de7ea84d39a 383 // twe.printf("%i\n",soudaDatas[i]);
tsumagari 65:075118165355 384 p += sprintf(sbuf+p,"%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 385 }
tsumagari 64:2de7ea84d39a 386 twe.printf("%s",sbuf);
YusukeWakuta 47:0c9f3a057f79 387 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]);
YusukeWakuta 70:763d62c486ca 388
YusukeWakuta 46:c649987c4d84 389 /*
YusukeWakuta 46:c649987c4d84 390 送信文字列
YusukeWakuta 46:c649987c4d84 391 0-13翼端データ
YusukeWakuta 46:c649987c4d84 392 14-17 R erebon
YusukeWakuta 46:c649987c4d84 393 18 R DRUG
YusukeWakuta 46:c649987c4d84 394 19-22 L erebon
YusukeWakuta 46:c649987c4d84 395 23 LDRUG
YusukeWakuta 46:c649987c4d84 396 */
YusukeWakuta 48:2160c28d02f8 397 ////pc.printf("\n\r");
YusukeWakuta 47:0c9f3a057f79 398 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
tsumagari 62:98294011f568 399 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 400
YusukeWakuta 48:2160c28d02f8 401 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 63:f7f4edd463b1 402 // pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 403 // 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 404 // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
tsumagari 64:2de7ea84d39a 405 // printf("mgPin V:%f\n\r",mgPin.read()*3.3);
YusukeWakuta 70:763d62c486ca 406 // pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",
YusukeWakuta 70:763d62c486ca 407 // soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1],
YusukeWakuta 70:763d62c486ca 408 // pitch,roll,yaw,
YusukeWakuta 70:763d62c486ca 409 // airSpeed,sonarDist,cadenceResult);
YusukeWakuta 70:763d62c486ca 410 pc.printf("cadence:%5.5f\n\r",cadenceResult);
YusukeWakuta 70:763d62c486ca 411
tsumagari 42:73c3862e4c12 412 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 48:2160c28d02f8 413 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 414 // }
tsumagari 51:f391d3a02397 415 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 416 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 417 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 418 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 62:98294011f568 419 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
YusukeWakuta 70:763d62c486ca 420 // led2 = !led2;
tsumagari 27:d2955f29a3aa 421 }
tsumagari 40:f15c11485e95 422 // SDprintf();
taurin 9:95eb0bbdc2a9 423 }
taurin 9:95eb0bbdc2a9 424
YusukeWakuta 46:c649987c4d84 425 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 426 {
YusukeWakuta 48:2160c28d02f8 427 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 428 }
tsumagari 27:d2955f29a3aa 429
tsumagari 26:50272431cd1e 430 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 431 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 432 //}
taurin 0:085b2c5e3254 433
YusukeWakuta 46:c649987c4d84 434 void RollAlarm()
YusukeWakuta 46:c649987c4d84 435 {
YusukeWakuta 46:c649987c4d84 436 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 437 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 438 } else {
taurin 0:085b2c5e3254 439 RollAlarmL = 0;
taurin 0:085b2c5e3254 440 }
YusukeWakuta 46:c649987c4d84 441
YusukeWakuta 46:c649987c4d84 442 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 443 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 444 } else {
taurin 0:085b2c5e3254 445 RollAlarmR = 0;
taurin 0:085b2c5e3254 446 }
taurin 0:085b2c5e3254 447 }
taurin 0:085b2c5e3254 448
YusukeWakuta 46:c649987c4d84 449 int main()
YusukeWakuta 46:c649987c4d84 450 {
tsumagari 58:b4f3ed763cb4 451 Thread mpu_thread(&mpuProcessing);
tsumagari 58:b4f3ed763cb4 452 Thread SD_thread(&SDprintf);
tsumagari 34:c46f2f687c7b 453 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 454 init();
tsumagari 69:1f892421d694 455 int VCcounter = 0;
YusukeWakuta 46:c649987c4d84 456 while(1) {
YusukeWakuta 70:763d62c486ca 457 if(VCcounter%20 == 0 ) {
YusukeWakuta 70:763d62c486ca 458 if( VCmonitor.getVoltage(&V) == 0) {
YusukeWakuta 70:763d62c486ca 459 pc.printf("e:%f\n",V);
YusukeWakuta 70:763d62c486ca 460 }
YusukeWakuta 70:763d62c486ca 461 }
YusukeWakuta 70:763d62c486ca 462 VCcounter++;
YusukeWakuta 70:763d62c486ca 463
tsumagari 69:1f892421d694 464 // updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
YusukeWakuta 48:2160c28d02f8 465 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 466 // mpuProcessing();
tsumagari 27:d2955f29a3aa 467 sonarCalc();
tsumagari 69:1f892421d694 468 Thread::wait(30);
taurin 8:31e07f6ed0f7 469 RollAlarm();
tsumagari 27:d2955f29a3aa 470 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 471 WriteDatas();
tsumagari 40:f15c11485e95 472 led4 = !led4;
taurin 0:085b2c5e3254 473 }
taurin 0:085b2c5e3254 474 }