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@77:ba2dac12ce56, 2017-06-30 (annotated)

Committer:
tsumagari
Date:
Fri Jun 30 09:52:07 2017 +0000
Branch:
SDandCadenceThread
Revision:
77:ba2dac12ce56
Parent:
74:2514b70fd710 
7/1TF?no pc.printf

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)
YusukeWakuta 74:2514b70fd710 24 //extern "C" void mbed_reset();
YusukeWakuta 74:2514b70fd710 25 //InterruptIn resetPin(p25);
YusukeWakuta 74:2514b70fd710 26 //Timer resetTimeCount;
YusukeWakuta 74:2514b70fd710 27 //void resetInterrupt()
YusukeWakuta 74:2514b70fd710 28 //{
YusukeWakuta 74:2514b70fd710 29 // while(resetPin) {
YusukeWakuta 74:2514b70fd710 30 // resetTimeCount.start();
YusukeWakuta 74:2514b70fd710 31 // if(resetTimeCount.read()>3) mbed_reset();
YusukeWakuta 74:2514b70fd710 32 // }
YusukeWakuta 74:2514b70fd710 33 // resetTimeCount.reset();
YusukeWakuta 74:2514b70fd710 34 //}
tsumagari 26:50272431cd1e 35 //-------------------------------------------------------
tsumagari 26:50272431cd1e 36
tsumagari 71:c06da87572f1 37 //SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 71:c06da87572f1 38 LocalFileSystem local("local");
tsumagari 56:6823d2324704 39 FILE* fp;
tsumagari 39:7623678de4e2 40
tsumagari 42:73c3862e4c12 41 //RawSerial pc(USBTX,USBRX);
tsumagari 62:98294011f568 42 //Serial android(p9,p10);
tsumagari 27:d2955f29a3aa 43 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 44 BufferedSoftSerial twe(p11,p12);
tsumagari 62:98294011f568 45 //Cadence cadence_twe(p13,p14);
tsumagari 63:f7f4edd463b1 46 RawSerial android(p13,p14);
tsumagari 62:98294011f568 47
tsumagari 41:1bd730c4840d 48 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 49 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 50 //Timer writeTimer;
taurin 0:085b2c5e3254 51
tsumagari 38:32f483b0a77f 52 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 53 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 54 Fusokukei air;
taurin 0:085b2c5e3254 55 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 56
tsumagari 34:c46f2f687c7b 57 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 58 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 59 double sonarDist;
tsumagari 27:d2955f29a3aa 60 float sonarV;
tsumagari 27:d2955f29a3aa 61
tsumagari 27:d2955f29a3aa 62
tsumagari 26:50272431cd1e 63 float sum = 0;
tsumagari 26:50272431cd1e 64 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 65 MPU6050 mpu6050;
taurin 0:085b2c5e3254 66 Timer t;
YusukeWakuta 61:7f980cb3a7a8 67 Timer cadenceTimer;
YusukeWakuta 61:7f980cb3a7a8 68
tsumagari 34:c46f2f687c7b 69 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 70
tsumagari 38:32f483b0a77f 71 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 72 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 73 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 74 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 75 DigitalOut led4(LED4);
tsumagari 62:98294011f568 76 I2C InaI2c(p9,p10);
YusukeWakuta 72:bb664e4378a0 77 INA226 VCmonitor(InaI2c,0x9C);
YusukeWakuta 61:7f980cb3a7a8 78 AnalogIn mgPin(p20);
tsumagari 62:98294011f568 79 AnalogIn mgPin2(p16);
taurin 4:a863a092141c 80
taurin 0:085b2c5e3254 81 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 82 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 83 volatile int write_datas_index = 0;
YusukeWakuta 72:bb664e4378a0 84 float inputR,inputL;
YusukeWakuta 72:bb664e4378a0 85 int drugR,drugL;
taurin 0:085b2c5e3254 86
taurin 0:085b2c5e3254 87 void air_countUp();
taurin 0:085b2c5e3254 88 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 89 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 90 void sonarInterruptStop();
YusukeWakuta 61:7f980cb3a7a8 91 void updateCadence(double source, double input,double input2,bool isFFlag);
taurin 0:085b2c5e3254 92 void init();
taurin 0:085b2c5e3254 93 void FusokukeiInit();
tsumagari 26:50272431cd1e 94 void MpuInit();
tsumagari 34:c46f2f687c7b 95 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 96 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 97 void SdInit();
tsumagari 56:6823d2324704 98 void SDprintf();
taurin 0:085b2c5e3254 99 void WriteDatas();
tsumagari 27:d2955f29a3aa 100 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 101 float calcKXdeg(float x);
YusukeWakuta 61:7f980cb3a7a8 102 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 103 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 104 double cadenceResult = 0.0; //最終的なケイデンスの値です。
YusukeWakuta 61:7f980cb3a7a8 105 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 106 double V;
tsumagari 15:6966299bea4c 107
YusukeWakuta 46:c649987c4d84 108 void air_countUp()
YusukeWakuta 46:c649987c4d84 109 {
taurin 0:085b2c5e3254 110 air_kaitensu++;
tsumagari 69:1f892421d694 111 // led3 = !led3;
taurin 0:085b2c5e3254 112 }
taurin 0:085b2c5e3254 113
YusukeWakuta 46:c649987c4d84 114 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 115 {
taurin 0:085b2c5e3254 116 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 117 air_kaitensu = 0;
taurin 0:085b2c5e3254 118 }
taurin 0:085b2c5e3254 119
YusukeWakuta 46:c649987c4d84 120 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 121 {
tsumagari 34:c46f2f687c7b 122 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 123 }
tsumagari 27:d2955f29a3aa 124
YusukeWakuta 46:c649987c4d84 125 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 126 {
tsumagari 26:50272431cd1e 127 // sonarTimer.stop();
tsumagari 26:50272431cd1e 128 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 129 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 130 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 131 }
YusukeWakuta 46:c649987c4d84 132 void sonarCalc()
YusukeWakuta 46:c649987c4d84 133 {
tsumagari 27:d2955f29a3aa 134 sonarV = 0;
YusukeWakuta 46:c649987c4d84 135 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 136 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 137 wait(0.01);
tsumagari 27:d2955f29a3aa 138 }
tsumagari 27:d2955f29a3aa 139 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 140 }
tsumagari 27:d2955f29a3aa 141
jaity 59:7cb8eaf553ef 142
jaity 59:7cb8eaf553ef 143 // 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 144 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 145 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 146 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 147 {
jaity 59:7cb8eaf553ef 148 double a, b;
jaity 59:7cb8eaf553ef 149 if(source < 3200)
jaity 59:7cb8eaf553ef 150 return -1;
jaity 59:7cb8eaf553ef 151
jaity 59:7cb8eaf553ef 152 if(source < 5500)
jaity 59:7cb8eaf553ef 153 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 154 else if(source < 7000)
jaity 59:7cb8eaf553ef 155 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 156 else
jaity 59:7cb8eaf553ef 157 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 158
jaity 59:7cb8eaf553ef 159 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 160 }
jaity 59:7cb8eaf553ef 161
YusukeWakuta 61:7f980cb3a7a8 162 //ケイデンスの値を取得します。
YusukeWakuta 61:7f980cb3a7a8 163 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
YusukeWakuta 70:763d62c486ca 164 void updateCadence(double source, double input,double input2)
YusukeWakuta 46:c649987c4d84 165 {
YusukeWakuta 70:763d62c486ca 166
YusukeWakuta 70:763d62c486ca 167 static bool isFFlag = true;
YusukeWakuta 61:7f980cb3a7a8 168 if(isFFlag) {
YusukeWakuta 61:7f980cb3a7a8 169 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 61:7f980cb3a7a8 170 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 171 cadenceTimer.start();
YusukeWakuta 70:763d62c486ca 172 isFFlag = false;
YusukeWakuta 61:7f980cb3a7a8 173 return;
YusukeWakuta 61:7f980cb3a7a8 174 }
YusukeWakuta 70:763d62c486ca 175 if((isOh182eOverThreshold(source,input) != lastCadenceInput) ||(isOh182eOverThreshold(source,input2) != lastCadenceInput2)) {
tsumagari 69:1f892421d694 176 if(cadenceCounter < 3) {
YusukeWakuta 61:7f980cb3a7a8 177 cadenceCounter++;
YusukeWakuta 70:763d62c486ca 178 led3 = !led3;
YusukeWakuta 70:763d62c486ca 179 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 70:763d62c486ca 180 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 181 return;
YusukeWakuta 61:7f980cb3a7a8 182 }
YusukeWakuta 61:7f980cb3a7a8 183 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 184 cadenceTimer.reset();
YusukeWakuta 61:7f980cb3a7a8 185 cadenceCounter = 0;
YusukeWakuta 61:7f980cb3a7a8 186 }
YusukeWakuta 70:763d62c486ca 187 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 70:763d62c486ca 188 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
tsumagari 27:d2955f29a3aa 189 }
tsumagari 26:50272431cd1e 190
YusukeWakuta 46:c649987c4d84 191 void init()
YusukeWakuta 46:c649987c4d84 192 {
tsumagari 58:b4f3ed763cb4 193 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 194 //--------------------------------------(resetInterrupt init)
YusukeWakuta 74:2514b70fd710 195 // resetPin.rise(resetInterrupt);
YusukeWakuta 74:2514b70fd710 196 // resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 197 //-----------------------------------------------------------
YusukeWakuta 48:2160c28d02f8 198 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 48:2160c28d02f8 199 android.baud(9600);
tsumagari 27:d2955f29a3aa 200 //writeTimer.start();
taurin 0:085b2c5e3254 201 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 202 // SdInit();
YusukeWakuta 46:c649987c4d84 203 // MpuInit();
tsumagari 27:d2955f29a3aa 204 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 205
tsumagari 27:d2955f29a3aa 206 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 207 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 208 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 209 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 210 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 211 val = 0;
YusukeWakuta 72:bb664e4378a0 212 if(VCmonitor.rawRead(0x00,&val) != 0) {
YusukeWakuta 72:bb664e4378a0 213 printf("VCmonitor READ ERROR\n");
YusukeWakuta 74:2514b70fd710 214 // while(1) {}
YusukeWakuta 72:bb664e4378a0 215 }
YusukeWakuta 72:bb664e4378a0 216 VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 217 }
taurin 0:085b2c5e3254 218
YusukeWakuta 46:c649987c4d84 219 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 220 {
taurin 0:085b2c5e3254 221 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 222 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 223 }
taurin 0:085b2c5e3254 224
YusukeWakuta 46:c649987c4d84 225 void MpuInit()
YusukeWakuta 46:c649987c4d84 226 {
tsumagari 26:50272431cd1e 227 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 228 t.start();
tsumagari 26:50272431cd1e 229 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 230 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 231 Thread::wait(100);
tsumagari 26:50272431cd1e 232 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 233 Thread::wait(100);
tsumagari 26:50272431cd1e 234 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 235 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 236 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 48:2160c28d02f8 237 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 238 Thread::wait(200);
tsumagari 26:50272431cd1e 239 } else {
tsumagari 26:50272431cd1e 240 }
tsumagari 26:50272431cd1e 241 } else {
YusukeWakuta 48:2160c28d02f8 242 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 243 }
tsumagari 26:50272431cd1e 244 }
taurin 0:085b2c5e3254 245
YusukeWakuta 46:c649987c4d84 246 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 247 {
tsumagari 27:d2955f29a3aa 248 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 249 }
tsumagari 27:d2955f29a3aa 250
YusukeWakuta 46:c649987c4d84 251 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 252 {
tsumagari 33:69ad9920f693 253 MpuInit();
YusukeWakuta 46:c649987c4d84 254 while(1) {
tsumagari 33:69ad9920f693 255 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 256 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 257 mpu6050.getAres();
tsumagari 33:69ad9920f693 258 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 259 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 260 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 261 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 262 mpu6050.getGres();
tsumagari 33:69ad9920f693 263 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 264 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 265 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 266 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 267 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 268 }
tsumagari 33:69ad9920f693 269 Now = t.read_us();
tsumagari 33:69ad9920f693 270 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 271 lastUpdate = Now;
tsumagari 33:69ad9920f693 272 sum += deltat;
tsumagari 33:69ad9920f693 273 sumCount++;
tsumagari 33:69ad9920f693 274 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 275 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 276 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 277 }
tsumagari 33:69ad9920f693 278 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 279 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 280 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 281 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 282 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 283 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 284 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 285 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 286 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 287 myled= !myled;
tsumagari 33:69ad9920f693 288 count = t.read_ms();
tsumagari 33:69ad9920f693 289 sum = 0;
tsumagari 33:69ad9920f693 290 sumCount = 0;
tsumagari 33:69ad9920f693 291 }
tsumagari 40:f15c11485e95 292 Thread::wait(1);
tsumagari 33:69ad9920f693 293 }//while(1)
tsumagari 26:50272431cd1e 294 }
tsumagari 26:50272431cd1e 295
YusukeWakuta 46:c649987c4d84 296 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 297 {
jaity 73:2122c87cac9b 298 char cErebonR[6] = {};
jaity 73:2122c87cac9b 299 char cErebonL[6] = {};
tsumagari 34:c46f2f687c7b 300 // while(1){
YusukeWakuta 46:c649987c4d84 301 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 302 led2 = !led2;
tsumagari 34:c46f2f687c7b 303 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 304 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 305 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 306 }
YusukeWakuta 46:c649987c4d84 307 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 308 soudaDatas[i] = soudaSerial.getc();
jaity 73:2122c87cac9b 309 // pc.printf("%d,",(int)(soudaDatas[i] - '0'));
tsumagari 34:c46f2f687c7b 310 }
YusukeWakuta 72:bb664e4378a0 311 // pc.printf("\n\r");
YusukeWakuta 72:bb664e4378a0 312 // sscanf(soudaDatas+YOKUTAN_DATAS_NUM,"%5.2f,%d,%5.2,%d",&inputR,&drugR,&inputL,&drugL);
YusukeWakuta 72:bb664e4378a0 313 for(int i = 14; i < 19; i++) {
jaity 73:2122c87cac9b 314 cErebonR[i-14] = soudaDatas[i];
YusukeWakuta 72:bb664e4378a0 315 }
YusukeWakuta 72:bb664e4378a0 316 drugR = soudaDatas[19]- '0';
YusukeWakuta 72:bb664e4378a0 317 inputR = atof(cErebonR);
YusukeWakuta 72:bb664e4378a0 318 for(int i = 21; i < 26; i++) {
jaity 73:2122c87cac9b 319 cErebonL[i-21] = soudaDatas[i];
YusukeWakuta 72:bb664e4378a0 320 }
YusukeWakuta 72:bb664e4378a0 321 drugL = soudaDatas[26]- '0';
YusukeWakuta 72:bb664e4378a0 322 inputL = atof(cErebonL);
YusukeWakuta 72:bb664e4378a0 323
tsumagari 77:ba2dac12ce56 324 // pc.printf("erebonR:%5.5f, drugR:%d erebonL:%5.5f drugL:%d",inputR,drugR,inputL,drugL);
jaity 73:2122c87cac9b 325 // pc.printf("erebonR:%s, drugR:%d erebonL:%s drugL:%d",cErebonR,drugR,cErebonL,drugL);
YusukeWakuta 46:c649987c4d84 326 }//if
tsumagari 34:c46f2f687c7b 327 // }//while(1)
taurin 3:8dc516be2e7e 328 }
tsumagari 56:6823d2324704 329
YusukeWakuta 61:7f980cb3a7a8 330 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 331 {
tsumagari 71:c06da87572f1 332 // mkdir("/local/mydir", 0777);
tsumagari 71:c06da87572f1 333 fp = fopen("/local/filetest.csv", "w");
tsumagari 56:6823d2324704 334 if(fp == NULL) {
tsumagari 69:1f892421d694 335 printf("Could not open file for write\n");
tsumagari 69:1f892421d694 336 return;
tsumagari 56:6823d2324704 337 }
tsumagari 56:6823d2324704 338 fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
tsumagari 56:6823d2324704 339 fclose(fp);
tsumagari 56:6823d2324704 340 }
tsumagari 56:6823d2324704 341
YusukeWakuta 61:7f980cb3a7a8 342 void SDprintf(const void* arg)
YusukeWakuta 61:7f980cb3a7a8 343 {
tsumagari 71:c06da87572f1 344 SdInit();
YusukeWakuta 61:7f980cb3a7a8 345 while(1) {
YusukeWakuta 70:763d62c486ca 346 updateCadence(V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
YusukeWakuta 70:763d62c486ca 347 // pc.printf("V:%5.5f mgPin:%5.5f mgPin2:%5.5f",V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
tsumagari 71:c06da87572f1 348 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 71:c06da87572f1 349 fp = fopen("/local/data.csv", "a");
tsumagari 71:c06da87572f1 350 if(fp == NULL) {
tsumagari 71:c06da87572f1 351 error("Could not open file for write!!\n");
tsumagari 71:c06da87572f1 352 }
tsumagari 71:c06da87572f1 353 for(int i = 0; i < SD_WRITE_NUM; i++) {
tsumagari 71:c06da87572f1 354 for(int j = 0; j < WRITE_DATAS_NUM; j++) {
tsumagari 71:c06da87572f1 355 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 71:c06da87572f1 356 }
tsumagari 71:c06da87572f1 357 fprintf(fp,"\n");
tsumagari 71:c06da87572f1 358 }
tsumagari 71:c06da87572f1 359
tsumagari 71:c06da87572f1 360 fclose(fp);
tsumagari 71:c06da87572f1 361
tsumagari 71:c06da87572f1 362 write_datas_index=0;
tsumagari 71:c06da87572f1 363 }
tsumagari 69:1f892421d694 364 Thread::wait(100);
tsumagari 56:6823d2324704 365 }
tsumagari 56:6823d2324704 366 }
tsumagari 39:7623678de4e2 367
YusukeWakuta 46:c649987c4d84 368 void WriteDatas()
YusukeWakuta 46:c649987c4d84 369 {
taurin 8:31e07f6ed0f7 370 int i;
YusukeWakuta 46:c649987c4d84 371 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 372 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 373 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 374 }
taurin 8:31e07f6ed0f7 375 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 376 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 377 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 378 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 379 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 62:98294011f568 380 writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence;
taurin 8:31e07f6ed0f7 381 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 382 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 48:2160c28d02f8 383 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 384 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 385 // }
YusukeWakuta 48:2160c28d02f8 386 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 387 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 388 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 389 // SDprintf();
tsumagari 39:7623678de4e2 390 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 391 } else {
tsumagari 39:7623678de4e2 392 write_datas_index++;
YusukeWakuta 46:c649987c4d84 393 }
tsumagari 64:2de7ea84d39a 394 char sbuf[128];
tsumagari 64:2de7ea84d39a 395 int p=0;
tsumagari 64:2de7ea84d39a 396 // twe.printf("con,");
tsumagari 65:075118165355 397 p += sprintf(sbuf,"con,");
YusukeWakuta 46:c649987c4d84 398 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 63:f7f4edd463b1 399 // pc.printf("%i ",soudaDatas[i]);
tsumagari 64:2de7ea84d39a 400 // twe.printf("%i,",soudaDatas[i]);
YusukeWakuta 72:bb664e4378a0 401 p += sprintf(sbuf+p,"%d,",soudaDatas[i]);
YusukeWakuta 48:2160c28d02f8 402
YusukeWakuta 47:0c9f3a057f79 403 if(i == YOKUTAN_DATAS_NUM - 1)
tsumagari 64:2de7ea84d39a 404 // twe.printf("%i\n",soudaDatas[i]);
YusukeWakuta 72:bb664e4378a0 405 p += sprintf(sbuf+p,"%d\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 406 }
tsumagari 64:2de7ea84d39a 407 twe.printf("%s",sbuf);
YusukeWakuta 72:bb664e4378a0 408 // twe.printf("inp,%f,%i,%f,%i\n",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(float) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(float) - 3],soudaDatas[SOUDA_DATAS_NUM-1]);
YusukeWakuta 72:bb664e4378a0 409 twe.printf("inp,%f,%i,%f,%i\n",inputR,drugR,inputL,drugL);
YusukeWakuta 70:763d62c486ca 410
YusukeWakuta 46:c649987c4d84 411 /*
YusukeWakuta 46:c649987c4d84 412 送信文字列
YusukeWakuta 46:c649987c4d84 413 0-13翼端データ
YusukeWakuta 46:c649987c4d84 414 14-17 R erebon
YusukeWakuta 46:c649987c4d84 415 18 R DRUG
YusukeWakuta 46:c649987c4d84 416 19-22 L erebon
YusukeWakuta 46:c649987c4d84 417 23 LDRUG
YusukeWakuta 46:c649987c4d84 418 */
YusukeWakuta 48:2160c28d02f8 419 ////pc.printf("\n\r");
YusukeWakuta 47:0c9f3a057f79 420 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
tsumagari 62:98294011f568 421 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 422
YusukeWakuta 48:2160c28d02f8 423 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 63:f7f4edd463b1 424 // pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 425 // 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 426 // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
tsumagari 64:2de7ea84d39a 427 // printf("mgPin V:%f\n\r",mgPin.read()*3.3);
YusukeWakuta 70:763d62c486ca 428 // pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",
YusukeWakuta 70:763d62c486ca 429 // 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 430 // pitch,roll,yaw,
YusukeWakuta 70:763d62c486ca 431 // airSpeed,sonarDist,cadenceResult);
tsumagari 77:ba2dac12ce56 432 // pc.printf("cadence:%5.5f\n\r",cadenceResult);
YusukeWakuta 70:763d62c486ca 433
tsumagari 42:73c3862e4c12 434 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 48:2160c28d02f8 435 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 436 // }
tsumagari 51:f391d3a02397 437 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 438 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 439 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 440 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 62:98294011f568 441 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
YusukeWakuta 70:763d62c486ca 442 // led2 = !led2;
tsumagari 27:d2955f29a3aa 443 }
tsumagari 40:f15c11485e95 444 // SDprintf();
taurin 9:95eb0bbdc2a9 445 }
taurin 9:95eb0bbdc2a9 446
YusukeWakuta 46:c649987c4d84 447 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 448 {
YusukeWakuta 48:2160c28d02f8 449 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 450 }
tsumagari 27:d2955f29a3aa 451
tsumagari 26:50272431cd1e 452 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 453 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 454 //}
taurin 0:085b2c5e3254 455
YusukeWakuta 46:c649987c4d84 456 void RollAlarm()
YusukeWakuta 46:c649987c4d84 457 {
YusukeWakuta 46:c649987c4d84 458 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 459 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 460 } else {
taurin 0:085b2c5e3254 461 RollAlarmL = 0;
taurin 0:085b2c5e3254 462 }
YusukeWakuta 46:c649987c4d84 463
YusukeWakuta 46:c649987c4d84 464 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 465 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 466 } else {
taurin 0:085b2c5e3254 467 RollAlarmR = 0;
taurin 0:085b2c5e3254 468 }
taurin 0:085b2c5e3254 469 }
taurin 0:085b2c5e3254 470
YusukeWakuta 46:c649987c4d84 471 int main()
YusukeWakuta 46:c649987c4d84 472 {
tsumagari 58:b4f3ed763cb4 473 Thread mpu_thread(&mpuProcessing);
tsumagari 58:b4f3ed763cb4 474 Thread SD_thread(&SDprintf);
tsumagari 34:c46f2f687c7b 475 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 476 init();
tsumagari 77:ba2dac12ce56 477 // int VCcounter = 0;
YusukeWakuta 46:c649987c4d84 478 while(1) {
tsumagari 77:ba2dac12ce56 479 // if(VCcounter%20 == 0 ) {
tsumagari 77:ba2dac12ce56 480 // if( VCmonitor.getVoltage(&V) == 0) {
tsumagari 77:ba2dac12ce56 481 // pc.printf("e:%f\n",V);
tsumagari 77:ba2dac12ce56 482 // }
tsumagari 77:ba2dac12ce56 483 // }
tsumagari 77:ba2dac12ce56 484 // VCcounter++;
YusukeWakuta 70:763d62c486ca 485
tsumagari 69:1f892421d694 486 // updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
YusukeWakuta 48:2160c28d02f8 487 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 488 // mpuProcessing();
tsumagari 27:d2955f29a3aa 489 sonarCalc();
tsumagari 69:1f892421d694 490 Thread::wait(30);
taurin 8:31e07f6ed0f7 491 RollAlarm();
tsumagari 27:d2955f29a3aa 492 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 493 WriteDatas();
tsumagari 40:f15c11485e95 494 led4 = !led4;
taurin 0:085b2c5e3254 495 }
taurin 0:085b2c5e3254 496 }