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@59:7cb8eaf553ef, 2017-06-09 (annotated)

Committer:
jaity
Date:
Fri Jun 09 13:14:38 2017 +0000
Branch:
Thread-gyogetsuMPU
Revision:
59:7cb8eaf553ef
Parent:
58:b4f3ed763cb4
Child:
61:7f980cb3a7a8
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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"
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。
taurin 0:085b2c5e3254 9
YusukeWakuta 46:c649987c4d84 10 #define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2
YusukeWakuta 46:c649987c4d84 11 #define YOKUTAN_DATAS_NUM 14
tsumagari 56:6823d2324704 12 #define WRITE_DATAS_NUM 34 // souda_datas_num + 6( rpy, airspeed, height, cadence)
tsumagari 40:f15c11485e95 13 #define SD_WRITE_NUM 20
tsumagari 27:d2955f29a3aa 14 #define MPU_LOOP_TIME 0.01
tsumagari 51:f391d3a02397 15 #define AIR_LOOP_TIME 0.01//(0.002005)
taurin 3:8dc516be2e7e 16 #define WRITE_DATAS_LOOP_TIME 1
tsumagari 53:9bc528ee224b 17 #define ROLL_R_MAX_DEG 1.5
tsumagari 53:9bc528ee224b 18 #define ROLL_L_MAX_DEG 1.5
tsumagari 27:d2955f29a3aa 19 #define MPU_DELT_MIN 250
taurin 4:a863a092141c 20 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 21
tsumagari 26:50272431cd1e 22 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 23 extern "C" void mbed_reset();
tsumagari 38:32f483b0a77f 24 InterruptIn resetPin(p25);
tsumagari 26:50272431cd1e 25 Timer resetTimeCount;
YusukeWakuta 46:c649987c4d84 26 void resetInterrupt()
YusukeWakuta 46:c649987c4d84 27 {
YusukeWakuta 46:c649987c4d84 28 while(resetPin) {
tsumagari 26:50272431cd1e 29 resetTimeCount.start();
tsumagari 26:50272431cd1e 30 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 31 }
tsumagari 26:50272431cd1e 32 resetTimeCount.reset();
tsumagari 26:50272431cd1e 33 }
tsumagari 26:50272431cd1e 34 //-------------------------------------------------------
tsumagari 26:50272431cd1e 35
tsumagari 56:6823d2324704 36 SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 56:6823d2324704 37 FILE* fp;
tsumagari 39:7623678de4e2 38
tsumagari 42:73c3862e4c12 39 //RawSerial pc(USBTX,USBRX);
YusukeWakuta 48:2160c28d02f8 40 Serial android(p9,p10);
tsumagari 27:d2955f29a3aa 41 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 42 BufferedSoftSerial twe(p11,p12);
tsumagari 27:d2955f29a3aa 43 Cadence cadence_twe(p13,p14);
tsumagari 41:1bd730c4840d 44 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 45 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 46 //Timer writeTimer;
taurin 0:085b2c5e3254 47
tsumagari 38:32f483b0a77f 48 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 49 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 50 Fusokukei air;
taurin 0:085b2c5e3254 51 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 52
tsumagari 34:c46f2f687c7b 53 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 54 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 55 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 56 //double sonarDistTime
tsumagari 27:d2955f29a3aa 57 double sonarDist;
tsumagari 27:d2955f29a3aa 58 float sonarV;
tsumagari 27:d2955f29a3aa 59
tsumagari 27:d2955f29a3aa 60
tsumagari 26:50272431cd1e 61 float sum = 0;
tsumagari 26:50272431cd1e 62 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 63 MPU6050 mpu6050;
taurin 0:085b2c5e3254 64 Timer t;
tsumagari 34:c46f2f687c7b 65 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 66
tsumagari 38:32f483b0a77f 67 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 68 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 69 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 70 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 71 DigitalOut led4(LED4);
taurin 4:a863a092141c 72
taurin 0:085b2c5e3254 73 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 74 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 75 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 76
taurin 0:085b2c5e3254 77 void air_countUp();
taurin 0:085b2c5e3254 78 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 79 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 80 void sonarInterruptStop();
tsumagari 41:1bd730c4840d 81 void updateCadence(/*void const *arg*/);
taurin 0:085b2c5e3254 82 void init();
taurin 0:085b2c5e3254 83 void FusokukeiInit();
tsumagari 26:50272431cd1e 84 void MpuInit();
tsumagari 34:c46f2f687c7b 85 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 86 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 87 void SdInit();
tsumagari 56:6823d2324704 88 void SDprintf();
taurin 0:085b2c5e3254 89 void WriteDatas();
tsumagari 27:d2955f29a3aa 90 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 91 float calcKXdeg(float x);
tsumagari 15:6966299bea4c 92
YusukeWakuta 46:c649987c4d84 93 void air_countUp()
YusukeWakuta 46:c649987c4d84 94 {
taurin 0:085b2c5e3254 95 air_kaitensu++;
tsumagari 51:f391d3a02397 96 led3 = !led3;
taurin 0:085b2c5e3254 97 }
taurin 0:085b2c5e3254 98
YusukeWakuta 46:c649987c4d84 99 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 100 {
taurin 0:085b2c5e3254 101 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 102 air_kaitensu = 0;
taurin 0:085b2c5e3254 103 }
taurin 0:085b2c5e3254 104
YusukeWakuta 46:c649987c4d84 105 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 106 {
tsumagari 34:c46f2f687c7b 107 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 108 }
tsumagari 27:d2955f29a3aa 109
YusukeWakuta 46:c649987c4d84 110 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 111 {
tsumagari 26:50272431cd1e 112 // sonarTimer.stop();
tsumagari 26:50272431cd1e 113 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 114 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 115 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 116 }
YusukeWakuta 46:c649987c4d84 117 void sonarCalc()
YusukeWakuta 46:c649987c4d84 118 {
tsumagari 27:d2955f29a3aa 119 sonarV = 0;
YusukeWakuta 46:c649987c4d84 120 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 121 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 122 wait(0.01);
tsumagari 27:d2955f29a3aa 123 }
tsumagari 27:d2955f29a3aa 124 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 125 }
tsumagari 27:d2955f29a3aa 126
jaity 59:7cb8eaf553ef 127
jaity 59:7cb8eaf553ef 128 // 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 129 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 130 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 131 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 132 {
jaity 59:7cb8eaf553ef 133 double a, b;
jaity 59:7cb8eaf553ef 134 if(source < 3200)
jaity 59:7cb8eaf553ef 135 return -1;
jaity 59:7cb8eaf553ef 136
jaity 59:7cb8eaf553ef 137 if(source < 5500)
jaity 59:7cb8eaf553ef 138 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 139 else if(source < 7000)
jaity 59:7cb8eaf553ef 140 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 141 else
jaity 59:7cb8eaf553ef 142 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 143
jaity 59:7cb8eaf553ef 144 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 145 }
jaity 59:7cb8eaf553ef 146
YusukeWakuta 46:c649987c4d84 147 void updateCadence(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 148 {
tsumagari 34:c46f2f687c7b 149 // while(1){
YusukeWakuta 46:c649987c4d84 150 cadence_twe.readData();
tsumagari 37:34aaa1951390 151 // Thread::wait(5);
tsumagari 34:c46f2f687c7b 152 // }
tsumagari 27:d2955f29a3aa 153 }
tsumagari 26:50272431cd1e 154
YusukeWakuta 46:c649987c4d84 155 void init()
YusukeWakuta 46:c649987c4d84 156 {
tsumagari 58:b4f3ed763cb4 157 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 158 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 159 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 160 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 161 //-----------------------------------------------------------
YusukeWakuta 48:2160c28d02f8 162 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 48:2160c28d02f8 163 android.baud(9600);
tsumagari 27:d2955f29a3aa 164 //writeTimer.start();
taurin 0:085b2c5e3254 165 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 166 // SdInit();
YusukeWakuta 46:c649987c4d84 167 // MpuInit();
tsumagari 27:d2955f29a3aa 168 //writeDatasTicker.attach(&WriteDatas,1);
tsumagari 42:73c3862e4c12 169 // cadenceUpdateTicker.attach(&updateCadence, 0.2);
YusukeWakuta 46:c649987c4d84 170
tsumagari 27:d2955f29a3aa 171 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 172 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 173 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 174 //-----------------------------------------------------------
taurin 0:085b2c5e3254 175 }
taurin 0:085b2c5e3254 176
YusukeWakuta 46:c649987c4d84 177 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 178 {
taurin 0:085b2c5e3254 179 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 180 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 181 }
taurin 0:085b2c5e3254 182
YusukeWakuta 46:c649987c4d84 183 void MpuInit()
YusukeWakuta 46:c649987c4d84 184 {
tsumagari 26:50272431cd1e 185 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 186 t.start();
tsumagari 26:50272431cd1e 187 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 188 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 189 Thread::wait(100);
tsumagari 26:50272431cd1e 190 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 191 Thread::wait(100);
tsumagari 26:50272431cd1e 192 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 193 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 194 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 48:2160c28d02f8 195 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 196 Thread::wait(200);
tsumagari 26:50272431cd1e 197 } else {
tsumagari 26:50272431cd1e 198 }
tsumagari 26:50272431cd1e 199 } else {
YusukeWakuta 48:2160c28d02f8 200 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 201 }
tsumagari 26:50272431cd1e 202 }
taurin 0:085b2c5e3254 203
YusukeWakuta 46:c649987c4d84 204 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 205 {
tsumagari 27:d2955f29a3aa 206 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 207
tsumagari 27:d2955f29a3aa 208 }
tsumagari 27:d2955f29a3aa 209
YusukeWakuta 46:c649987c4d84 210 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 211 {
tsumagari 33:69ad9920f693 212 MpuInit();
YusukeWakuta 46:c649987c4d84 213 while(1) {
tsumagari 33:69ad9920f693 214 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 215 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 216 mpu6050.getAres();
tsumagari 33:69ad9920f693 217 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 218 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 219 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 220 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 221 mpu6050.getGres();
tsumagari 33:69ad9920f693 222 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 223 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 224 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 225 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 226 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 227 }
tsumagari 33:69ad9920f693 228 Now = t.read_us();
tsumagari 33:69ad9920f693 229 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 230 lastUpdate = Now;
tsumagari 33:69ad9920f693 231 sum += deltat;
tsumagari 33:69ad9920f693 232 sumCount++;
tsumagari 33:69ad9920f693 233 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 234 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 235 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 236 }
tsumagari 33:69ad9920f693 237 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 238 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 239 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 240 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 241 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 242 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 243 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 244 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 245 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 246 myled= !myled;
tsumagari 33:69ad9920f693 247 count = t.read_ms();
tsumagari 33:69ad9920f693 248 sum = 0;
tsumagari 33:69ad9920f693 249 sumCount = 0;
tsumagari 33:69ad9920f693 250 }
tsumagari 40:f15c11485e95 251 Thread::wait(1);
tsumagari 33:69ad9920f693 252 }//while(1)
tsumagari 26:50272431cd1e 253 }
tsumagari 26:50272431cd1e 254
YusukeWakuta 46:c649987c4d84 255 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 256 {
tsumagari 34:c46f2f687c7b 257 // while(1){
YusukeWakuta 46:c649987c4d84 258 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 259 led2 = !led2;
tsumagari 34:c46f2f687c7b 260 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 261 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 262 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 263 }
YusukeWakuta 46:c649987c4d84 264 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 265 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 266 }
YusukeWakuta 46:c649987c4d84 267 }//if
tsumagari 34:c46f2f687c7b 268 // }//while(1)
taurin 3:8dc516be2e7e 269 }
tsumagari 56:6823d2324704 270
tsumagari 56:6823d2324704 271 void SdInit(){
tsumagari 56:6823d2324704 272 mkdir("/sd/mydir", 0777);
tsumagari 56:6823d2324704 273 fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 56:6823d2324704 274 if(fp == NULL) {
tsumagari 56:6823d2324704 275 error("Could not open file for write\n");
tsumagari 56:6823d2324704 276 }
tsumagari 56:6823d2324704 277 fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
tsumagari 56:6823d2324704 278 fclose(fp);
tsumagari 56:6823d2324704 279 }
tsumagari 56:6823d2324704 280
tsumagari 58:b4f3ed763cb4 281 void SDprintf(const void* arg){
tsumagari 58:b4f3ed763cb4 282 SdInit();
tsumagari 58:b4f3ed763cb4 283 while(1){
tsumagari 58:b4f3ed763cb4 284 if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 58:b4f3ed763cb4 285 fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 58:b4f3ed763cb4 286 if(fp == NULL) {
tsumagari 58:b4f3ed763cb4 287 printf("Could not open file for write\n");
tsumagari 58:b4f3ed763cb4 288 }
tsumagari 58:b4f3ed763cb4 289 for(int i = 0; i < SD_WRITE_NUM; i++){
tsumagari 58:b4f3ed763cb4 290 for(int j = 0; j < WRITE_DATAS_NUM; j++){
tsumagari 58:b4f3ed763cb4 291 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 58:b4f3ed763cb4 292 }
tsumagari 58:b4f3ed763cb4 293 }
tsumagari 58:b4f3ed763cb4 294 fprintf(fp,"\n");
tsumagari 58:b4f3ed763cb4 295 fclose(fp);
tsumagari 58:b4f3ed763cb4 296
tsumagari 58:b4f3ed763cb4 297 write_datas_index=0;
tsumagari 58:b4f3ed763cb4 298 }
tsumagari 58:b4f3ed763cb4 299 Thread::wait(1);
tsumagari 56:6823d2324704 300 }
tsumagari 56:6823d2324704 301 }
tsumagari 39:7623678de4e2 302
YusukeWakuta 46:c649987c4d84 303 void WriteDatas()
YusukeWakuta 46:c649987c4d84 304 {
taurin 8:31e07f6ed0f7 305 int i;
YusukeWakuta 46:c649987c4d84 306 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 307 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 308 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 309 }
taurin 8:31e07f6ed0f7 310 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 311 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 312 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 313 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 314 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 37:34aaa1951390 315 writeDatas[write_datas_index][i++] = cadence_twe.cadence;
taurin 8:31e07f6ed0f7 316 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 317 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 48:2160c28d02f8 318 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 319 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 320 // }
YusukeWakuta 48:2160c28d02f8 321 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 322 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 323 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 324 // SDprintf();
tsumagari 39:7623678de4e2 325 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 326 } else {
tsumagari 39:7623678de4e2 327 write_datas_index++;
YusukeWakuta 46:c649987c4d84 328 }
YusukeWakuta 47:0c9f3a057f79 329 twe.printf("con,");
YusukeWakuta 46:c649987c4d84 330 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 51:f391d3a02397 331 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 332 twe.printf("%i,",soudaDatas[i]);
YusukeWakuta 48:2160c28d02f8 333
YusukeWakuta 47:0c9f3a057f79 334 if(i == YOKUTAN_DATAS_NUM - 1)
YusukeWakuta 48:2160c28d02f8 335 twe.printf("%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 336 }
YusukeWakuta 47:0c9f3a057f79 337 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 51:f391d3a02397 338 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]);
YusukeWakuta 46:c649987c4d84 339 /*
YusukeWakuta 46:c649987c4d84 340 送信文字列
YusukeWakuta 46:c649987c4d84 341 0-13翼端データ
YusukeWakuta 46:c649987c4d84 342 14-17 R erebon
YusukeWakuta 46:c649987c4d84 343 18 R DRUG
YusukeWakuta 46:c649987c4d84 344 19-22 L erebon
YusukeWakuta 46:c649987c4d84 345 23 LDRUG
YusukeWakuta 46:c649987c4d84 346 */
YusukeWakuta 48:2160c28d02f8 347 ////pc.printf("\n\r");
YusukeWakuta 47:0c9f3a057f79 348 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
YusukeWakuta 47:0c9f3a057f79 349 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 51:f391d3a02397 350 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
YusukeWakuta 48:2160c28d02f8 351 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 51:f391d3a02397 352 pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 42:73c3862e4c12 353 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 48:2160c28d02f8 354 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 355 // }
tsumagari 51:f391d3a02397 356 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 357 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 358 // for(int i = 0; i<SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 359 // android.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 360 // }
tsumagari 27:d2955f29a3aa 361 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 362 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 56:6823d2324704 363 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadence_twe.cadence);
YusukeWakuta 48:2160c28d02f8 364 led2 = !led2;
tsumagari 27:d2955f29a3aa 365 }
tsumagari 40:f15c11485e95 366 // SDprintf();
taurin 9:95eb0bbdc2a9 367 }
taurin 9:95eb0bbdc2a9 368
YusukeWakuta 46:c649987c4d84 369 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 370 {
YusukeWakuta 48:2160c28d02f8 371 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 372 }
tsumagari 27:d2955f29a3aa 373
tsumagari 26:50272431cd1e 374 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 375 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 376 //}
taurin 0:085b2c5e3254 377
tsumagari 26:50272431cd1e 378 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 379 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 380 //}
taurin 0:085b2c5e3254 381
YusukeWakuta 46:c649987c4d84 382 void RollAlarm()
YusukeWakuta 46:c649987c4d84 383 {
YusukeWakuta 46:c649987c4d84 384 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 385 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 386 } else {
taurin 0:085b2c5e3254 387 RollAlarmL = 0;
taurin 0:085b2c5e3254 388 }
YusukeWakuta 46:c649987c4d84 389
YusukeWakuta 46:c649987c4d84 390 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 391 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 392 } else {
taurin 0:085b2c5e3254 393 RollAlarmR = 0;
taurin 0:085b2c5e3254 394 }
taurin 0:085b2c5e3254 395 }
taurin 0:085b2c5e3254 396
YusukeWakuta 46:c649987c4d84 397 void WriteServo()
YusukeWakuta 46:c649987c4d84 398 {
tsumagari 27:d2955f29a3aa 399 //kisokuServo.pulsewidth(calcPulse(airSpeed*10));
tsumagari 27:d2955f29a3aa 400 // kisokuServo.pulsewidth(calcPulse(9*airSpeed));
YusukeWakuta 46:c649987c4d84 401 if(pitch<0) {
tsumagari 27:d2955f29a3aa 402 // geikakuServo.pulsewidth(calcPulse(0));
YusukeWakuta 46:c649987c4d84 403 } else {
tsumagari 27:d2955f29a3aa 404 // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0)));
tsumagari 27:d2955f29a3aa 405 }
YusukeWakuta 48:2160c28d02f8 406 //////////pc.printf("a:%f",airSpeed);
YusukeWakuta 48:2160c28d02f8 407 //pc.printf("p:%f\r\n",pitch);
tsumagari 27:d2955f29a3aa 408 //kisokuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 409 //geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 410 }
taurin 4:a863a092141c 411
YusukeWakuta 46:c649987c4d84 412 int main()
YusukeWakuta 46:c649987c4d84 413 {
jaity 59:7cb8eaf553ef 414 Thread cadence_thread(&updateCadence);
tsumagari 58:b4f3ed763cb4 415 Thread mpu_thread(&mpuProcessing);
tsumagari 58:b4f3ed763cb4 416 Thread SD_thread(&SDprintf);
tsumagari 34:c46f2f687c7b 417 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 418 init();
YusukeWakuta 46:c649987c4d84 419 while(1) {
YusukeWakuta 48:2160c28d02f8 420 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 421 // mpuProcessing();
tsumagari 27:d2955f29a3aa 422 sonarCalc();
taurin 8:31e07f6ed0f7 423 RollAlarm();
tsumagari 27:d2955f29a3aa 424 DataReceiveFromSouda();
tsumagari 40:f15c11485e95 425 // updateCadence();
taurin 3:8dc516be2e7e 426 WriteDatas();
tsumagari 27:d2955f29a3aa 427 // WriteServo();
tsumagari 40:f15c11485e95 428 led4 = !led4;
taurin 0:085b2c5e3254 429 }
taurin 0:085b2c5e3254 430 }