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@68:ed8ffcb8c49a, 2017-06-15 (annotated)

Committer:
tsumagari
Date:
Thu Jun 15 09:30:43 2017 +0000
Branch:
cadence
Revision:
68:ed8ffcb8c49a
Parent:
67:9d2eb6793464 
X ????? 10V???????HIGH?????1.2?????????????????????????????con?????sprintf?????

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)
YusukeWakuta 66:1ffafa1c4a87 14 #define SD_WRITE_NUM 40
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 //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);
YusukeWakuta 66:1ffafa1c4a87 80 //AnalogIn mgPin2(p16);
YusukeWakuta 66:1ffafa1c4a87 81 InterruptIn cadenceInter(p16);
taurin 4:a863a092141c 82
taurin 0:085b2c5e3254 83 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 84 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 85 volatile int write_datas_index = 0;
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 66:1ffafa1c4a87 91 void updateCadence(double source, double input,double input2);
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 68:ed8ffcb8c49a 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]
tsumagari 68:ed8ffcb8c49a 164 //void updateCadence()
tsumagari 68:ed8ffcb8c49a 165 //{
tsumagari 68:ed8ffcb8c49a 166 // static bool isFFlag = true;
tsumagari 68:ed8ffcb8c49a 167 // if(isFFlag) {
tsumagari 68:ed8ffcb8c49a 168 // cadenceTimer.start();
tsumagari 68:ed8ffcb8c49a 169 // isFFlag = false;
tsumagari 68:ed8ffcb8c49a 170 // return;
tsumagari 68:ed8ffcb8c49a 171 // }
tsumagari 68:ed8ffcb8c49a 172 // led4 = !led4;
tsumagari 68:ed8ffcb8c49a 173 // if(cadenceCounter < 3) {
tsumagari 68:ed8ffcb8c49a 174 // cadenceCounter++;
tsumagari 68:ed8ffcb8c49a 175 // return;
tsumagari 68:ed8ffcb8c49a 176 // }
tsumagari 68:ed8ffcb8c49a 177 // cadenceResult =60.0/ (cadenceTimer.read_us() / 1000000.0); //クランク一回転にかかる時間を取得
tsumagari 68:ed8ffcb8c49a 178 // cadenceTimer.reset();
tsumagari 68:ed8ffcb8c49a 179 // cadenceCounter = 0;
tsumagari 68:ed8ffcb8c49a 180 //}
YusukeWakuta 66:1ffafa1c4a87 181 void updateCadence()
YusukeWakuta 46:c649987c4d84 182 {
YusukeWakuta 66:1ffafa1c4a87 183 static bool isFFlag = true;
YusukeWakuta 61:7f980cb3a7a8 184 if(isFFlag) {
YusukeWakuta 61:7f980cb3a7a8 185 cadenceTimer.start();
YusukeWakuta 66:1ffafa1c4a87 186 isFFlag = false;
YusukeWakuta 61:7f980cb3a7a8 187 return;
YusukeWakuta 61:7f980cb3a7a8 188 }
YusukeWakuta 66:1ffafa1c4a87 189 led4 = !led4;
tsumagari 68:ed8ffcb8c49a 190 // if(cadenceCounter < 3) {
tsumagari 68:ed8ffcb8c49a 191 // cadenceCounter++;
tsumagari 68:ed8ffcb8c49a 192 // return;
tsumagari 68:ed8ffcb8c49a 193 // }
tsumagari 68:ed8ffcb8c49a 194 cadenceResult =cadenceTimer.read_us(); //クランク半回転にかかる時間を取得
tsumagari 68:ed8ffcb8c49a 195 pc.printf("cadenceResult:%f\n\r",cadenceResult);
YusukeWakuta 66:1ffafa1c4a87 196 cadenceTimer.reset();
YusukeWakuta 66:1ffafa1c4a87 197 cadenceCounter = 0;
tsumagari 27:d2955f29a3aa 198 }
YusukeWakuta 46:c649987c4d84 199 void init()
YusukeWakuta 46:c649987c4d84 200 {
tsumagari 58:b4f3ed763cb4 201 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 202 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 203 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 204 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 205 //-----------------------------------------------------------
YusukeWakuta 48:2160c28d02f8 206 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 48:2160c28d02f8 207 android.baud(9600);
tsumagari 27:d2955f29a3aa 208 //writeTimer.start();
taurin 0:085b2c5e3254 209 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 210 // SdInit();
YusukeWakuta 46:c649987c4d84 211 // MpuInit();
tsumagari 27:d2955f29a3aa 212 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 213
tsumagari 27:d2955f29a3aa 214 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 215 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 216 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 217 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 218 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 219 val = 0;
YusukeWakuta 61:7f980cb3a7a8 220 if(VCmonitor.rawRead(0x00,&val) != 0) {
YusukeWakuta 61:7f980cb3a7a8 221 printf("VCmonitor READ ERROR\n");
YusukeWakuta 61:7f980cb3a7a8 222 }
YusukeWakuta 61:7f980cb3a7a8 223 VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 224 }
taurin 0:085b2c5e3254 225
YusukeWakuta 46:c649987c4d84 226 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 227 {
taurin 0:085b2c5e3254 228 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 229 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 230 }
taurin 0:085b2c5e3254 231
YusukeWakuta 46:c649987c4d84 232 void MpuInit()
YusukeWakuta 46:c649987c4d84 233 {
tsumagari 26:50272431cd1e 234 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 235 t.start();
tsumagari 26:50272431cd1e 236 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 237 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 238 Thread::wait(100);
tsumagari 26:50272431cd1e 239 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 240 Thread::wait(100);
tsumagari 26:50272431cd1e 241 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 242 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 243 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 68:ed8ffcb8c49a 244 mpu6050.initMPU6050(); ////////////pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperatur
tsumagari 34:c46f2f687c7b 245 Thread::wait(200);
tsumagari 26:50272431cd1e 246 } else {
tsumagari 26:50272431cd1e 247 }
tsumagari 26:50272431cd1e 248 } else {
YusukeWakuta 48:2160c28d02f8 249 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 250 }
tsumagari 26:50272431cd1e 251 }
taurin 0:085b2c5e3254 252
YusukeWakuta 46:c649987c4d84 253 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 254 {
tsumagari 27:d2955f29a3aa 255 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 256 }
tsumagari 27:d2955f29a3aa 257
YusukeWakuta 46:c649987c4d84 258 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 259 {
tsumagari 33:69ad9920f693 260 MpuInit();
YusukeWakuta 46:c649987c4d84 261 while(1) {
tsumagari 33:69ad9920f693 262 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 263 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 264 mpu6050.getAres();
tsumagari 33:69ad9920f693 265 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 266 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 267 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 268 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 269 mpu6050.getGres();
tsumagari 33:69ad9920f693 270 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 271 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 272 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 273 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 274 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 275 }
tsumagari 33:69ad9920f693 276 Now = t.read_us();
tsumagari 33:69ad9920f693 277 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 278 lastUpdate = Now;
tsumagari 33:69ad9920f693 279 sum += deltat;
tsumagari 33:69ad9920f693 280 sumCount++;
tsumagari 33:69ad9920f693 281 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 282 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 283 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 284 }
tsumagari 33:69ad9920f693 285 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 286 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 287 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 288 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 289 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 290 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 291 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 292 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 293 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 294 myled= !myled;
tsumagari 33:69ad9920f693 295 count = t.read_ms();
tsumagari 33:69ad9920f693 296 sum = 0;
tsumagari 33:69ad9920f693 297 sumCount = 0;
tsumagari 33:69ad9920f693 298 }
tsumagari 40:f15c11485e95 299 Thread::wait(1);
tsumagari 33:69ad9920f693 300 }//while(1)
tsumagari 26:50272431cd1e 301 }
tsumagari 26:50272431cd1e 302
YusukeWakuta 46:c649987c4d84 303 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 304 {
tsumagari 34:c46f2f687c7b 305 // while(1){
YusukeWakuta 46:c649987c4d84 306 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 307 led2 = !led2;
tsumagari 34:c46f2f687c7b 308 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 309 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 310 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 311 }
YusukeWakuta 46:c649987c4d84 312 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 313 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 314 }
YusukeWakuta 46:c649987c4d84 315 }//if
tsumagari 34:c46f2f687c7b 316 // }//while(1)
taurin 3:8dc516be2e7e 317 }
tsumagari 56:6823d2324704 318
YusukeWakuta 61:7f980cb3a7a8 319 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 320 {
tsumagari 56:6823d2324704 321 mkdir("/sd/mydir", 0777);
YusukeWakuta 66:1ffafa1c4a87 322 fp = fopen("/sd/mydir/TestFlight.csv", "w");
tsumagari 56:6823d2324704 323 if(fp == NULL) {
tsumagari 56:6823d2324704 324 error("Could not open file for write\n");
tsumagari 56:6823d2324704 325 }
tsumagari 56:6823d2324704 326 fclose(fp);
tsumagari 56:6823d2324704 327 }
tsumagari 56:6823d2324704 328
YusukeWakuta 61:7f980cb3a7a8 329 void SDprintf(const void* arg)
YusukeWakuta 61:7f980cb3a7a8 330 {
tsumagari 58:b4f3ed763cb4 331 SdInit();
YusukeWakuta 61:7f980cb3a7a8 332 while(1) {
YusukeWakuta 61:7f980cb3a7a8 333 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 334 fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 58:b4f3ed763cb4 335 if(fp == NULL) {
tsumagari 58:b4f3ed763cb4 336 printf("Could not open file for write\n");
tsumagari 58:b4f3ed763cb4 337 }
YusukeWakuta 61:7f980cb3a7a8 338 for(int i = 0; i < SD_WRITE_NUM; i++) {
YusukeWakuta 61:7f980cb3a7a8 339 for(int j = 0; j < WRITE_DATAS_NUM; j++) {
tsumagari 58:b4f3ed763cb4 340 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 58:b4f3ed763cb4 341 }
tsumagari 58:b4f3ed763cb4 342 }
tsumagari 58:b4f3ed763cb4 343 fprintf(fp,"\n");
tsumagari 58:b4f3ed763cb4 344 fclose(fp);
YusukeWakuta 61:7f980cb3a7a8 345
tsumagari 58:b4f3ed763cb4 346 write_datas_index=0;
tsumagari 58:b4f3ed763cb4 347 }
tsumagari 58:b4f3ed763cb4 348 Thread::wait(1);
tsumagari 56:6823d2324704 349 }
tsumagari 56:6823d2324704 350 }
tsumagari 39:7623678de4e2 351
YusukeWakuta 46:c649987c4d84 352 void WriteDatas()
YusukeWakuta 46:c649987c4d84 353 {
taurin 8:31e07f6ed0f7 354 int i;
YusukeWakuta 46:c649987c4d84 355 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 356 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 357 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 358 }
taurin 8:31e07f6ed0f7 359 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 360 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 361 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 362 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 363 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 62:98294011f568 364 writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence;
taurin 8:31e07f6ed0f7 365 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 366 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 48:2160c28d02f8 367 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 368 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 369 // }
YusukeWakuta 48:2160c28d02f8 370 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 371 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 372 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 373 // SDprintf();
tsumagari 39:7623678de4e2 374 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 375 } else {
tsumagari 39:7623678de4e2 376 write_datas_index++;
YusukeWakuta 46:c649987c4d84 377 }
YusukeWakuta 67:9d2eb6793464 378
tsumagari 64:2de7ea84d39a 379 char sbuf[128];
tsumagari 64:2de7ea84d39a 380 int p=0;
tsumagari 64:2de7ea84d39a 381 // twe.printf("con,");
tsumagari 65:075118165355 382 p += sprintf(sbuf,"con,");
YusukeWakuta 46:c649987c4d84 383 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
YusukeWakuta 67:9d2eb6793464 384
tsumagari 63:f7f4edd463b1 385 // pc.printf("%i ",soudaDatas[i]);
tsumagari 64:2de7ea84d39a 386 // twe.printf("%i,",soudaDatas[i]);
tsumagari 65:075118165355 387 p += sprintf(sbuf+p,"%i,",soudaDatas[i]);
YusukeWakuta 48:2160c28d02f8 388
YusukeWakuta 47:0c9f3a057f79 389 if(i == YOKUTAN_DATAS_NUM - 1)
tsumagari 64:2de7ea84d39a 390 // twe.printf("%i\n",soudaDatas[i]);
tsumagari 65:075118165355 391 p += sprintf(sbuf+p,"%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 392 }
YusukeWakuta 66:1ffafa1c4a87 393 // twe.printf("%s",sbuf);
YusukeWakuta 66:1ffafa1c4a87 394 //twe.printf("con,%s\n",soudaDatas);
YusukeWakuta 46:c649987c4d84 395 /*
YusukeWakuta 46:c649987c4d84 396 送信文字列
YusukeWakuta 46:c649987c4d84 397 0-13翼端データ
YusukeWakuta 46:c649987c4d84 398 14-17 R erebon
YusukeWakuta 46:c649987c4d84 399 18 R DRUG
YusukeWakuta 46:c649987c4d84 400 19-22 L erebon
YusukeWakuta 46:c649987c4d84 401 23 LDRUG
YusukeWakuta 46:c649987c4d84 402 */
tsumagari 68:ed8ffcb8c49a 403 twe.printf("%sinp,%d,%i,%d,%i\nmpu,%f,%f,%f\nkei,%f,%f,%f\n",sbuf,soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2]
YusukeWakuta 66:1ffafa1c4a87 404 ,(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]
YusukeWakuta 66:1ffafa1c4a87 405 ,pitch,roll,yaw,airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
YusukeWakuta 66:1ffafa1c4a87 406 // pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1],pitch,roll,yaw,airSpeed,sonarDist,cadenceResult);
YusukeWakuta 46:c649987c4d84 407 if(android.writeable()) {
tsumagari 62:98294011f568 408 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
tsumagari 27:d2955f29a3aa 409 }
tsumagari 40:f15c11485e95 410 // SDprintf();
taurin 9:95eb0bbdc2a9 411 }
taurin 9:95eb0bbdc2a9 412
YusukeWakuta 46:c649987c4d84 413 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 414 {
YusukeWakuta 48:2160c28d02f8 415 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 416 }
tsumagari 27:d2955f29a3aa 417
YusukeWakuta 46:c649987c4d84 418 void RollAlarm()
YusukeWakuta 46:c649987c4d84 419 {
YusukeWakuta 46:c649987c4d84 420 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 421 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 422 } else {
taurin 0:085b2c5e3254 423 RollAlarmL = 0;
taurin 0:085b2c5e3254 424 }
YusukeWakuta 46:c649987c4d84 425
YusukeWakuta 46:c649987c4d84 426 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 427 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 428 } else {
taurin 0:085b2c5e3254 429 RollAlarmR = 0;
taurin 0:085b2c5e3254 430 }
taurin 0:085b2c5e3254 431 }
taurin 0:085b2c5e3254 432
YusukeWakuta 66:1ffafa1c4a87 433 //void updateCadenceFunc(void const *arg)
YusukeWakuta 66:1ffafa1c4a87 434 //{
YusukeWakuta 66:1ffafa1c4a87 435 // while(1) {
YusukeWakuta 66:1ffafa1c4a87 436 //// VCmonitor.getVoltage(&V) == 0;
YusukeWakuta 66:1ffafa1c4a87 437 // updateCadence(V,mgPin.read()*3300.0, mgPin2.read()*3300.0);
YusukeWakuta 66:1ffafa1c4a87 438 // Thread::wait(330);
YusukeWakuta 66:1ffafa1c4a87 439 // }
YusukeWakuta 66:1ffafa1c4a87 440 //}
YusukeWakuta 46:c649987c4d84 441 int main()
YusukeWakuta 46:c649987c4d84 442 {
tsumagari 58:b4f3ed763cb4 443 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 66:1ffafa1c4a87 444 // Thread SD_thread(&SDprintf);
YusukeWakuta 66:1ffafa1c4a87 445 //Thread cadenceThread(&updateCadenceFunc);
tsumagari 68:ed8ffcb8c49a 446 cadenceInter.mode(PullDown);
YusukeWakuta 66:1ffafa1c4a87 447 cadenceInter.rise(&updateCadence);
tsumagari 68:ed8ffcb8c49a 448 // cadenceInter.fall(&updateCadence);
tsumagari 34:c46f2f687c7b 449 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 450 init();
YusukeWakuta 66:1ffafa1c4a87 451 int counter = 0;
YusukeWakuta 46:c649987c4d84 452 while(1) {
YusukeWakuta 66:1ffafa1c4a87 453 if(counter%50== 0) {
YusukeWakuta 66:1ffafa1c4a87 454 VCmonitor.getVoltage(&V);
YusukeWakuta 61:7f980cb3a7a8 455 printf("e:%f\n",V);
YusukeWakuta 61:7f980cb3a7a8 456 }
YusukeWakuta 66:1ffafa1c4a87 457 counter++;
YusukeWakuta 66:1ffafa1c4a87 458 // updateCadence(V,mgPin.read() * 3.3 * 1000.0,mgPin2.read() * 3.3* 1000.0);
tsumagari 27:d2955f29a3aa 459 sonarCalc();
taurin 8:31e07f6ed0f7 460 RollAlarm();
tsumagari 27:d2955f29a3aa 461 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 462 WriteDatas();
YusukeWakuta 66:1ffafa1c4a87 463 // wait_ms(20);
tsumagari 68:ed8ffcb8c49a 464 led3 = !led3;
taurin 0:085b2c5e3254 465 }
taurin 0:085b2c5e3254 466 }