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@62:98294011f568, 2017-06-14 (annotated)

Committer:
tsumagari
Date:
Wed Jun 14 09:45:04 2017 +0000
Branch:
cadence
Revision:
62:98294011f568
Parent:
61:7f980cb3a7a8
Child:
63:f7f4edd463b1
????????????????????

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 62:98294011f568 45 Serial 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 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 59 //double sonarDistTime
tsumagari 27:d2955f29a3aa 60 double sonarDist;
tsumagari 27:d2955f29a3aa 61 float sonarV;
tsumagari 27:d2955f29a3aa 62
tsumagari 27:d2955f29a3aa 63
tsumagari 26:50272431cd1e 64 float sum = 0;
tsumagari 26:50272431cd1e 65 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 66 MPU6050 mpu6050;
taurin 0:085b2c5e3254 67 Timer t;
YusukeWakuta 61:7f980cb3a7a8 68 Timer cadenceTimer;
YusukeWakuta 61:7f980cb3a7a8 69
tsumagari 34:c46f2f687c7b 70 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 71
tsumagari 38:32f483b0a77f 72 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 73 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 74 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 75 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 76 DigitalOut led4(LED4);
tsumagari 62:98294011f568 77 I2C InaI2c(p9,p10);
tsumagari 62:98294011f568 78 INA226 VCmonitor(InaI2c,0x9C);
YusukeWakuta 61:7f980cb3a7a8 79 AnalogIn mgPin(p20);
tsumagari 62:98294011f568 80 AnalogIn mgPin2(p16);
taurin 4:a863a092141c 81
taurin 0:085b2c5e3254 82 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 83 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 84 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 85
taurin 0:085b2c5e3254 86 void air_countUp();
taurin 0:085b2c5e3254 87 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 88 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 89 void sonarInterruptStop();
YusukeWakuta 61:7f980cb3a7a8 90 void updateCadence(double source, double input,double input2,bool isFFlag);
taurin 0:085b2c5e3254 91 void init();
taurin 0:085b2c5e3254 92 void FusokukeiInit();
tsumagari 26:50272431cd1e 93 void MpuInit();
tsumagari 34:c46f2f687c7b 94 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 95 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 96 void SdInit();
tsumagari 56:6823d2324704 97 void SDprintf();
taurin 0:085b2c5e3254 98 void WriteDatas();
tsumagari 27:d2955f29a3aa 99 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 100 float calcKXdeg(float x);
YusukeWakuta 61:7f980cb3a7a8 101 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 102 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 103 double cadenceResult = 0.0; //最終的なケイデンスの値です。
YusukeWakuta 61:7f980cb3a7a8 104 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 105 double V;
tsumagari 15:6966299bea4c 106
YusukeWakuta 46:c649987c4d84 107 void air_countUp()
YusukeWakuta 46:c649987c4d84 108 {
taurin 0:085b2c5e3254 109 air_kaitensu++;
tsumagari 51:f391d3a02397 110 led3 = !led3;
taurin 0:085b2c5e3254 111 }
taurin 0:085b2c5e3254 112
YusukeWakuta 46:c649987c4d84 113 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 114 {
taurin 0:085b2c5e3254 115 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 116 air_kaitensu = 0;
taurin 0:085b2c5e3254 117 }
taurin 0:085b2c5e3254 118
YusukeWakuta 46:c649987c4d84 119 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 120 {
tsumagari 34:c46f2f687c7b 121 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 122 }
tsumagari 27:d2955f29a3aa 123
YusukeWakuta 46:c649987c4d84 124 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 125 {
tsumagari 26:50272431cd1e 126 // sonarTimer.stop();
tsumagari 26:50272431cd1e 127 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 128 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 129 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 130 }
YusukeWakuta 46:c649987c4d84 131 void sonarCalc()
YusukeWakuta 46:c649987c4d84 132 {
tsumagari 27:d2955f29a3aa 133 sonarV = 0;
YusukeWakuta 46:c649987c4d84 134 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 135 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 136 wait(0.01);
tsumagari 27:d2955f29a3aa 137 }
tsumagari 27:d2955f29a3aa 138 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 139 }
tsumagari 27:d2955f29a3aa 140
jaity 59:7cb8eaf553ef 141
jaity 59:7cb8eaf553ef 142 // 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 143 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 144 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 145 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 146 {
jaity 59:7cb8eaf553ef 147 double a, b;
jaity 59:7cb8eaf553ef 148 if(source < 3200)
jaity 59:7cb8eaf553ef 149 return -1;
jaity 59:7cb8eaf553ef 150
jaity 59:7cb8eaf553ef 151 if(source < 5500)
jaity 59:7cb8eaf553ef 152 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 153 else if(source < 7000)
jaity 59:7cb8eaf553ef 154 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 155 else
jaity 59:7cb8eaf553ef 156 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 157
jaity 59:7cb8eaf553ef 158 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 159 }
jaity 59:7cb8eaf553ef 160
YusukeWakuta 61:7f980cb3a7a8 161 //ケイデンスの値を取得します。
YusukeWakuta 61:7f980cb3a7a8 162 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
YusukeWakuta 61:7f980cb3a7a8 163 void updateCadence(double source, double input,double input2,bool isFFlag)
YusukeWakuta 46:c649987c4d84 164 {
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 61:7f980cb3a7a8 169 return;
YusukeWakuta 61:7f980cb3a7a8 170 }
YusukeWakuta 61:7f980cb3a7a8 171 if((isOh182eOverThreshold(source,input) ^ lastCadenceInput) ||(isOh182eOverThreshold(source,input2) ^ lastCadenceInput2)) {
YusukeWakuta 61:7f980cb3a7a8 172 if(cadenceCounter < 4) {
YusukeWakuta 61:7f980cb3a7a8 173 cadenceCounter++;
YusukeWakuta 61:7f980cb3a7a8 174 return;
YusukeWakuta 61:7f980cb3a7a8 175 }
YusukeWakuta 61:7f980cb3a7a8 176 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 177 cadenceTimer.reset();
YusukeWakuta 61:7f980cb3a7a8 178 cadenceCounter = 0;
YusukeWakuta 61:7f980cb3a7a8 179 }
tsumagari 27:d2955f29a3aa 180 }
tsumagari 26:50272431cd1e 181
YusukeWakuta 46:c649987c4d84 182 void init()
YusukeWakuta 46:c649987c4d84 183 {
tsumagari 58:b4f3ed763cb4 184 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 185 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 186 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 187 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 188 //-----------------------------------------------------------
YusukeWakuta 48:2160c28d02f8 189 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 48:2160c28d02f8 190 android.baud(9600);
tsumagari 27:d2955f29a3aa 191 //writeTimer.start();
taurin 0:085b2c5e3254 192 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 193 // SdInit();
YusukeWakuta 46:c649987c4d84 194 // MpuInit();
tsumagari 27:d2955f29a3aa 195 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 196
tsumagari 27:d2955f29a3aa 197 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 198 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 199 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 200 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 201 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 202 val = 0;
YusukeWakuta 61:7f980cb3a7a8 203 if(VCmonitor.rawRead(0x00,&val) != 0) {
YusukeWakuta 61:7f980cb3a7a8 204 printf("VCmonitor READ ERROR\n");
YusukeWakuta 61:7f980cb3a7a8 205 while(1) {}
YusukeWakuta 61:7f980cb3a7a8 206 }
YusukeWakuta 61:7f980cb3a7a8 207 VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 208 }
taurin 0:085b2c5e3254 209
YusukeWakuta 46:c649987c4d84 210 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 211 {
taurin 0:085b2c5e3254 212 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 213 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 214 }
taurin 0:085b2c5e3254 215
YusukeWakuta 46:c649987c4d84 216 void MpuInit()
YusukeWakuta 46:c649987c4d84 217 {
tsumagari 26:50272431cd1e 218 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 219 t.start();
tsumagari 26:50272431cd1e 220 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 221 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 222 Thread::wait(100);
tsumagari 26:50272431cd1e 223 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 224 Thread::wait(100);
tsumagari 26:50272431cd1e 225 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 226 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 227 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 48:2160c28d02f8 228 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 229 Thread::wait(200);
tsumagari 26:50272431cd1e 230 } else {
tsumagari 26:50272431cd1e 231 }
tsumagari 26:50272431cd1e 232 } else {
YusukeWakuta 48:2160c28d02f8 233 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 234 }
tsumagari 26:50272431cd1e 235 }
taurin 0:085b2c5e3254 236
YusukeWakuta 46:c649987c4d84 237 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 238 {
tsumagari 27:d2955f29a3aa 239 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 240 }
tsumagari 27:d2955f29a3aa 241
YusukeWakuta 46:c649987c4d84 242 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 243 {
tsumagari 33:69ad9920f693 244 MpuInit();
YusukeWakuta 46:c649987c4d84 245 while(1) {
tsumagari 33:69ad9920f693 246 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 247 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 248 mpu6050.getAres();
tsumagari 33:69ad9920f693 249 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 250 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 251 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 252 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 253 mpu6050.getGres();
tsumagari 33:69ad9920f693 254 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 255 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 256 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 257 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 258 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 259 }
tsumagari 33:69ad9920f693 260 Now = t.read_us();
tsumagari 33:69ad9920f693 261 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 262 lastUpdate = Now;
tsumagari 33:69ad9920f693 263 sum += deltat;
tsumagari 33:69ad9920f693 264 sumCount++;
tsumagari 33:69ad9920f693 265 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 266 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 267 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 268 }
tsumagari 33:69ad9920f693 269 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 270 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 271 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 272 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 273 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 274 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 275 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 276 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 277 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 278 myled= !myled;
tsumagari 33:69ad9920f693 279 count = t.read_ms();
tsumagari 33:69ad9920f693 280 sum = 0;
tsumagari 33:69ad9920f693 281 sumCount = 0;
tsumagari 33:69ad9920f693 282 }
tsumagari 40:f15c11485e95 283 Thread::wait(1);
tsumagari 33:69ad9920f693 284 }//while(1)
tsumagari 26:50272431cd1e 285 }
tsumagari 26:50272431cd1e 286
YusukeWakuta 46:c649987c4d84 287 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 288 {
tsumagari 34:c46f2f687c7b 289 // while(1){
YusukeWakuta 46:c649987c4d84 290 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 291 led2 = !led2;
tsumagari 34:c46f2f687c7b 292 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 293 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 294 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 295 }
YusukeWakuta 46:c649987c4d84 296 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 297 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 298 }
YusukeWakuta 46:c649987c4d84 299 }//if
tsumagari 34:c46f2f687c7b 300 // }//while(1)
taurin 3:8dc516be2e7e 301 }
tsumagari 56:6823d2324704 302
YusukeWakuta 61:7f980cb3a7a8 303 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 304 {
tsumagari 56:6823d2324704 305 mkdir("/sd/mydir", 0777);
tsumagari 56:6823d2324704 306 fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 56:6823d2324704 307 if(fp == NULL) {
tsumagari 56:6823d2324704 308 error("Could not open file for write\n");
tsumagari 56:6823d2324704 309 }
tsumagari 56:6823d2324704 310 fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
tsumagari 56:6823d2324704 311 fclose(fp);
tsumagari 56:6823d2324704 312 }
tsumagari 56:6823d2324704 313
YusukeWakuta 61:7f980cb3a7a8 314 void SDprintf(const void* arg)
YusukeWakuta 61:7f980cb3a7a8 315 {
tsumagari 58:b4f3ed763cb4 316 SdInit();
YusukeWakuta 61:7f980cb3a7a8 317 while(1) {
YusukeWakuta 61:7f980cb3a7a8 318 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 319 fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 58:b4f3ed763cb4 320 if(fp == NULL) {
tsumagari 58:b4f3ed763cb4 321 printf("Could not open file for write\n");
tsumagari 58:b4f3ed763cb4 322 }
YusukeWakuta 61:7f980cb3a7a8 323 for(int i = 0; i < SD_WRITE_NUM; i++) {
YusukeWakuta 61:7f980cb3a7a8 324 for(int j = 0; j < WRITE_DATAS_NUM; j++) {
tsumagari 58:b4f3ed763cb4 325 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 58:b4f3ed763cb4 326 }
tsumagari 58:b4f3ed763cb4 327 }
tsumagari 58:b4f3ed763cb4 328 fprintf(fp,"\n");
tsumagari 58:b4f3ed763cb4 329 fclose(fp);
YusukeWakuta 61:7f980cb3a7a8 330
tsumagari 58:b4f3ed763cb4 331 write_datas_index=0;
tsumagari 58:b4f3ed763cb4 332 }
tsumagari 58:b4f3ed763cb4 333 Thread::wait(1);
tsumagari 56:6823d2324704 334 }
tsumagari 56:6823d2324704 335 }
tsumagari 39:7623678de4e2 336
YusukeWakuta 46:c649987c4d84 337 void WriteDatas()
YusukeWakuta 46:c649987c4d84 338 {
taurin 8:31e07f6ed0f7 339 int i;
YusukeWakuta 46:c649987c4d84 340 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 341 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 342 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 343 }
taurin 8:31e07f6ed0f7 344 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 345 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 346 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 347 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 348 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 62:98294011f568 349 writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence;
taurin 8:31e07f6ed0f7 350 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 351 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 48:2160c28d02f8 352 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 353 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 354 // }
YusukeWakuta 48:2160c28d02f8 355 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 356 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 357 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 358 // SDprintf();
tsumagari 39:7623678de4e2 359 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 360 } else {
tsumagari 39:7623678de4e2 361 write_datas_index++;
YusukeWakuta 46:c649987c4d84 362 }
YusukeWakuta 47:0c9f3a057f79 363 twe.printf("con,");
YusukeWakuta 46:c649987c4d84 364 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 51:f391d3a02397 365 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 366 twe.printf("%i,",soudaDatas[i]);
YusukeWakuta 48:2160c28d02f8 367
YusukeWakuta 47:0c9f3a057f79 368 if(i == YOKUTAN_DATAS_NUM - 1)
YusukeWakuta 48:2160c28d02f8 369 twe.printf("%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 370 }
YusukeWakuta 47:0c9f3a057f79 371 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 372 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 373 /*
YusukeWakuta 46:c649987c4d84 374 送信文字列
YusukeWakuta 46:c649987c4d84 375 0-13翼端データ
YusukeWakuta 46:c649987c4d84 376 14-17 R erebon
YusukeWakuta 46:c649987c4d84 377 18 R DRUG
YusukeWakuta 46:c649987c4d84 378 19-22 L erebon
YusukeWakuta 46:c649987c4d84 379 23 LDRUG
YusukeWakuta 46:c649987c4d84 380 */
YusukeWakuta 48:2160c28d02f8 381 ////pc.printf("\n\r");
YusukeWakuta 47:0c9f3a057f79 382 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
tsumagari 62:98294011f568 383 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 51:f391d3a02397 384 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
YusukeWakuta 48:2160c28d02f8 385 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 62:98294011f568 386 pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 42:73c3862e4c12 387 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 48:2160c28d02f8 388 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 389 // }
tsumagari 51:f391d3a02397 390 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 391 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 392 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 393 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 62:98294011f568 394 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
YusukeWakuta 48:2160c28d02f8 395 led2 = !led2;
tsumagari 27:d2955f29a3aa 396 }
tsumagari 40:f15c11485e95 397 // SDprintf();
taurin 9:95eb0bbdc2a9 398 }
taurin 9:95eb0bbdc2a9 399
YusukeWakuta 46:c649987c4d84 400 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 401 {
YusukeWakuta 48:2160c28d02f8 402 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 403 }
tsumagari 27:d2955f29a3aa 404
tsumagari 26:50272431cd1e 405 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 406 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 407 //}
taurin 0:085b2c5e3254 408
YusukeWakuta 46:c649987c4d84 409 void RollAlarm()
YusukeWakuta 46:c649987c4d84 410 {
YusukeWakuta 46:c649987c4d84 411 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 412 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 413 } else {
taurin 0:085b2c5e3254 414 RollAlarmL = 0;
taurin 0:085b2c5e3254 415 }
YusukeWakuta 46:c649987c4d84 416
YusukeWakuta 46:c649987c4d84 417 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 418 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 419 } else {
taurin 0:085b2c5e3254 420 RollAlarmR = 0;
taurin 0:085b2c5e3254 421 }
taurin 0:085b2c5e3254 422 }
taurin 0:085b2c5e3254 423
YusukeWakuta 46:c649987c4d84 424 int main()
YusukeWakuta 46:c649987c4d84 425 {
tsumagari 58:b4f3ed763cb4 426 Thread mpu_thread(&mpuProcessing);
tsumagari 58:b4f3ed763cb4 427 Thread SD_thread(&SDprintf);
YusukeWakuta 61:7f980cb3a7a8 428 bool isFirstCadenceFlag = true;
tsumagari 34:c46f2f687c7b 429 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 430 init();
YusukeWakuta 61:7f980cb3a7a8 431
YusukeWakuta 46:c649987c4d84 432 while(1) {
YusukeWakuta 61:7f980cb3a7a8 433 if(VCmonitor.getVoltage(&V) == 0) {
YusukeWakuta 61:7f980cb3a7a8 434 printf("e:%f\n",V);
YusukeWakuta 61:7f980cb3a7a8 435 }
YusukeWakuta 61:7f980cb3a7a8 436 printf("mgPin V:%f\n\r",mgPin.read()*3.3);
YusukeWakuta 61:7f980cb3a7a8 437 updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
YusukeWakuta 61:7f980cb3a7a8 438 isFirstCadenceFlag = false;
YusukeWakuta 48:2160c28d02f8 439 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 440 // mpuProcessing();
tsumagari 27:d2955f29a3aa 441 sonarCalc();
taurin 8:31e07f6ed0f7 442 RollAlarm();
tsumagari 27:d2955f29a3aa 443 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 444 WriteDatas();
tsumagari 40:f15c11485e95 445 led4 = !led4;
taurin 0:085b2c5e3254 446 }
taurin 0:085b2c5e3254 447 }