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@51:f391d3a02397, 2017-04-21 (annotated)

Committer:
tsumagari
Date:
Fri Apr 21 10:50:05 2017 +0000
Branch:
Thread-gyogetsuMPU
Revision:
51:f391d3a02397
Parent:
48:2160c28d02f8
Child:
52:a94cbaef3602
Child:
53:9bc528ee224b
Child:
54:bbd1bf12d356
??????

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 41:1bd730c4840d 8 //#include "SDFileSystem.h"
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 40:f15c11485e95 12 #define WRITE_DATAS_NUM 30 // 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
taurin 3:8dc516be2e7e 17 #define ROLL_R_MAX_DEG 2
taurin 3:8dc516be2e7e 18 #define ROLL_L_MAX_DEG 2
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 41:1bd730c4840d 36 //SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 41:1bd730c4840d 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 41:1bd730c4840d 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
YusukeWakuta 46:c649987c4d84 127 void updateCadence(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 128 {
tsumagari 34:c46f2f687c7b 129 // while(1){
YusukeWakuta 46:c649987c4d84 130 cadence_twe.readData();
tsumagari 37:34aaa1951390 131 // Thread::wait(5);
tsumagari 34:c46f2f687c7b 132 // }
tsumagari 27:d2955f29a3aa 133 }
tsumagari 26:50272431cd1e 134
YusukeWakuta 46:c649987c4d84 135 void init()
YusukeWakuta 46:c649987c4d84 136 {
tsumagari 26:50272431cd1e 137 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 138 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 139 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 140 //-----------------------------------------------------------
YusukeWakuta 48:2160c28d02f8 141 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 48:2160c28d02f8 142 android.baud(9600);
tsumagari 27:d2955f29a3aa 143 //writeTimer.start();
taurin 0:085b2c5e3254 144 FusokukeiInit();
tsumagari 41:1bd730c4840d 145 // SdInit();
YusukeWakuta 46:c649987c4d84 146 // MpuInit();
tsumagari 27:d2955f29a3aa 147 //writeDatasTicker.attach(&WriteDatas,1);
tsumagari 42:73c3862e4c12 148 // cadenceUpdateTicker.attach(&updateCadence, 0.2);
YusukeWakuta 46:c649987c4d84 149
tsumagari 27:d2955f29a3aa 150 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 151 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 152 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 153 //-----------------------------------------------------------
taurin 0:085b2c5e3254 154 }
taurin 0:085b2c5e3254 155
YusukeWakuta 46:c649987c4d84 156 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 157 {
taurin 0:085b2c5e3254 158 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 159 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 160 }
taurin 0:085b2c5e3254 161
YusukeWakuta 46:c649987c4d84 162 void MpuInit()
YusukeWakuta 46:c649987c4d84 163 {
tsumagari 26:50272431cd1e 164 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 165 t.start();
tsumagari 26:50272431cd1e 166 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 167 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 168 Thread::wait(100);
tsumagari 26:50272431cd1e 169 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 170 Thread::wait(100);
tsumagari 26:50272431cd1e 171 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 172 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 173 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 48:2160c28d02f8 174 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 175 Thread::wait(200);
tsumagari 26:50272431cd1e 176 } else {
tsumagari 26:50272431cd1e 177 }
tsumagari 26:50272431cd1e 178 } else {
YusukeWakuta 48:2160c28d02f8 179 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 180 }
tsumagari 26:50272431cd1e 181 }
taurin 0:085b2c5e3254 182
YusukeWakuta 46:c649987c4d84 183 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 184 {
tsumagari 27:d2955f29a3aa 185 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 186
tsumagari 27:d2955f29a3aa 187 }
tsumagari 27:d2955f29a3aa 188
YusukeWakuta 46:c649987c4d84 189 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 190 {
tsumagari 33:69ad9920f693 191 MpuInit();
YusukeWakuta 46:c649987c4d84 192 while(1) {
tsumagari 33:69ad9920f693 193 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 194 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 195 mpu6050.getAres();
tsumagari 33:69ad9920f693 196 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 197 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 198 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 199 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 200 mpu6050.getGres();
tsumagari 33:69ad9920f693 201 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 202 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 203 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 204 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 205 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 206 }
tsumagari 33:69ad9920f693 207 Now = t.read_us();
tsumagari 33:69ad9920f693 208 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 209 lastUpdate = Now;
tsumagari 33:69ad9920f693 210 sum += deltat;
tsumagari 33:69ad9920f693 211 sumCount++;
tsumagari 33:69ad9920f693 212 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 213 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 214 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 215 }
tsumagari 33:69ad9920f693 216 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 217 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 218 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 219 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 220 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 221 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 222 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 223 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 224 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 225 myled= !myled;
tsumagari 33:69ad9920f693 226 count = t.read_ms();
tsumagari 33:69ad9920f693 227 sum = 0;
tsumagari 33:69ad9920f693 228 sumCount = 0;
tsumagari 33:69ad9920f693 229 }
tsumagari 40:f15c11485e95 230 Thread::wait(1);
tsumagari 33:69ad9920f693 231 }//while(1)
tsumagari 26:50272431cd1e 232 }
tsumagari 26:50272431cd1e 233
YusukeWakuta 46:c649987c4d84 234 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 235 {
tsumagari 34:c46f2f687c7b 236 // while(1){
YusukeWakuta 46:c649987c4d84 237 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 238 led2 = !led2;
tsumagari 34:c46f2f687c7b 239 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 240 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 241 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 242 }
YusukeWakuta 46:c649987c4d84 243 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 244 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 245 }
YusukeWakuta 46:c649987c4d84 246 }//if
tsumagari 34:c46f2f687c7b 247 // }//while(1)
taurin 3:8dc516be2e7e 248 }
tsumagari 41:1bd730c4840d 249 //
tsumagari 41:1bd730c4840d 250 //void SdInit(){
tsumagari 41:1bd730c4840d 251 // mkdir("/sd/mydir", 0777);
tsumagari 41:1bd730c4840d 252 // fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 41:1bd730c4840d 253 // if(fp == NULL) {
tsumagari 41:1bd730c4840d 254 // error("Could not open file for write\n");
tsumagari 41:1bd730c4840d 255 // }
tsumagari 41:1bd730c4840d 256 // fprintf(fp, "Hello fun SD Card World!\n\r");
tsumagari 41:1bd730c4840d 257 // fclose(fp);
tsumagari 41:1bd730c4840d 258 //}
tsumagari 41:1bd730c4840d 259 //
tsumagari 41:1bd730c4840d 260 //void SDprintf(){
tsumagari 41:1bd730c4840d 261 // fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 41:1bd730c4840d 262 // if(fp == NULL) {
tsumagari 41:1bd730c4840d 263 // error("Could not open file for write\n");
tsumagari 41:1bd730c4840d 264 // }
tsumagari 41:1bd730c4840d 265 // for(int i = 0; i < SD_WRITE_NUM; i++){
tsumagari 41:1bd730c4840d 266 // for(int j = 0; j < WRITE_DATAS_NUM; j++){
tsumagari 41:1bd730c4840d 267 // fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 41:1bd730c4840d 268 // }
tsumagari 41:1bd730c4840d 269 // }
tsumagari 41:1bd730c4840d 270 // fprintf(fp,"\n\r");
tsumagari 41:1bd730c4840d 271 // fclose(fp);
tsumagari 41:1bd730c4840d 272 //}
tsumagari 39:7623678de4e2 273
YusukeWakuta 46:c649987c4d84 274 void WriteDatas()
YusukeWakuta 46:c649987c4d84 275 {
taurin 8:31e07f6ed0f7 276 int i;
YusukeWakuta 46:c649987c4d84 277 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 278 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 279 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 280 }
taurin 8:31e07f6ed0f7 281 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 282 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 283 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 284 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 285 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 37:34aaa1951390 286 writeDatas[write_datas_index][i++] = cadence_twe.cadence;
taurin 8:31e07f6ed0f7 287 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 288 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 48:2160c28d02f8 289 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 290 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 291 // }
YusukeWakuta 48:2160c28d02f8 292 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 293 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 294 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 41:1bd730c4840d 295 // SDprintf();
tsumagari 39:7623678de4e2 296 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 297 } else {
tsumagari 39:7623678de4e2 298 write_datas_index++;
YusukeWakuta 46:c649987c4d84 299 }
YusukeWakuta 47:0c9f3a057f79 300 twe.printf("con,");
YusukeWakuta 46:c649987c4d84 301 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 51:f391d3a02397 302 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 303 twe.printf("%i,",soudaDatas[i]);
YusukeWakuta 48:2160c28d02f8 304
YusukeWakuta 47:0c9f3a057f79 305 if(i == YOKUTAN_DATAS_NUM - 1)
YusukeWakuta 48:2160c28d02f8 306 twe.printf("%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 307 }
YusukeWakuta 47:0c9f3a057f79 308 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 309 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 310 /*
YusukeWakuta 46:c649987c4d84 311 送信文字列
YusukeWakuta 46:c649987c4d84 312 0-13翼端データ
YusukeWakuta 46:c649987c4d84 313 14-17 R erebon
YusukeWakuta 46:c649987c4d84 314 18 R DRUG
YusukeWakuta 46:c649987c4d84 315 19-22 L erebon
YusukeWakuta 46:c649987c4d84 316 23 LDRUG
YusukeWakuta 46:c649987c4d84 317 */
YusukeWakuta 48:2160c28d02f8 318 ////pc.printf("\n\r");
YusukeWakuta 47:0c9f3a057f79 319 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
YusukeWakuta 47:0c9f3a057f79 320 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 51:f391d3a02397 321 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
YusukeWakuta 48:2160c28d02f8 322 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 51:f391d3a02397 323 pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 42:73c3862e4c12 324 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 48:2160c28d02f8 325 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 326 // }
tsumagari 51:f391d3a02397 327 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 328 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 329 // for(int i = 0; i<SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 330 // android.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 331 // }
tsumagari 27:d2955f29a3aa 332 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 333 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
YusukeWakuta 48:2160c28d02f8 334 android.printf("%4.2f,%4.2f,test,\n,",roll,airSpeed);
YusukeWakuta 48:2160c28d02f8 335 led2 = !led2;
tsumagari 27:d2955f29a3aa 336 }
tsumagari 40:f15c11485e95 337 // SDprintf();
taurin 9:95eb0bbdc2a9 338 }
taurin 9:95eb0bbdc2a9 339
YusukeWakuta 46:c649987c4d84 340 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 341 {
YusukeWakuta 48:2160c28d02f8 342 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 343 }
tsumagari 27:d2955f29a3aa 344
tsumagari 26:50272431cd1e 345 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 346 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 347 //}
taurin 0:085b2c5e3254 348
tsumagari 26:50272431cd1e 349 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 350 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 351 //}
taurin 0:085b2c5e3254 352
YusukeWakuta 46:c649987c4d84 353 void RollAlarm()
YusukeWakuta 46:c649987c4d84 354 {
YusukeWakuta 46:c649987c4d84 355 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 356 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 357 } else {
taurin 0:085b2c5e3254 358 RollAlarmL = 0;
taurin 0:085b2c5e3254 359 }
YusukeWakuta 46:c649987c4d84 360
YusukeWakuta 46:c649987c4d84 361 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 362 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 363 } else {
taurin 0:085b2c5e3254 364 RollAlarmR = 0;
taurin 0:085b2c5e3254 365 }
taurin 0:085b2c5e3254 366 }
taurin 0:085b2c5e3254 367
YusukeWakuta 46:c649987c4d84 368 void WriteServo()
YusukeWakuta 46:c649987c4d84 369 {
tsumagari 27:d2955f29a3aa 370 //kisokuServo.pulsewidth(calcPulse(airSpeed*10));
tsumagari 27:d2955f29a3aa 371 // kisokuServo.pulsewidth(calcPulse(9*airSpeed));
YusukeWakuta 46:c649987c4d84 372 if(pitch<0) {
tsumagari 27:d2955f29a3aa 373 // geikakuServo.pulsewidth(calcPulse(0));
YusukeWakuta 46:c649987c4d84 374 } else {
tsumagari 27:d2955f29a3aa 375 // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0)));
tsumagari 27:d2955f29a3aa 376 }
YusukeWakuta 48:2160c28d02f8 377 //////////pc.printf("a:%f",airSpeed);
YusukeWakuta 48:2160c28d02f8 378 //pc.printf("p:%f\r\n",pitch);
tsumagari 27:d2955f29a3aa 379 //kisokuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 380 //geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 381 }
taurin 4:a863a092141c 382
YusukeWakuta 46:c649987c4d84 383 int main()
YusukeWakuta 46:c649987c4d84 384 {
tsumagari 27:d2955f29a3aa 385 // Thread cadence_thread(&updateCadence);
tsumagari 38:32f483b0a77f 386 Thread mpu_thread(&mpuProcessing);
tsumagari 34:c46f2f687c7b 387 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 388 init();
YusukeWakuta 46:c649987c4d84 389 while(1) {
YusukeWakuta 48:2160c28d02f8 390 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 391 // mpuProcessing();
tsumagari 27:d2955f29a3aa 392 sonarCalc();
taurin 8:31e07f6ed0f7 393 RollAlarm();
tsumagari 27:d2955f29a3aa 394 DataReceiveFromSouda();
tsumagari 40:f15c11485e95 395 // updateCadence();
taurin 3:8dc516be2e7e 396 WriteDatas();
tsumagari 27:d2955f29a3aa 397 // WriteServo();
tsumagari 40:f15c11485e95 398 led4 = !led4;
taurin 0:085b2c5e3254 399 }
taurin 0:085b2c5e3254 400 }