Diff: main.cpp

Branch:

fusokukei

Revision:

16:22aae833bdae

Parent:

15:6966299bea4c

Child:

20:7056239a71dd

--- a/main.cpp	Sat Nov 26 01:12:10 2016 +0000
+++ b/main.cpp	Wed Nov 30 08:08:14 2016 +0000
@@ -19,14 +19,14 @@
 #define SD_WRITE_NUM 10
 #define INIT_SERVO_PERIOD_MS 20
 
-//Cadence cadence(p13,p14);
-//Ticker cadenceTicker;
+Cadence cadence(p11,p12);
+Ticker cadenceTicker;
 
 Serial pc(USBTX,USBRX);
-BufferedSoftSerial twe(p9,p10);
+Serial twe(p9,p10);
 //Serial soudaSerial(p13,p14);
 BufferedSoftSerial soudaSerial(p17,p18);
-//Ticker writeDatasTicker;
+Ticker writeDatasTicker;
 Timer writeTimer;
 
 InterruptIn FusokukeiPin(p21);
@@ -67,8 +67,6 @@
 void FusokukeiInit();
 void MpuInit();
 void mpuProcessing();
-//void cadenceRead();
-//void cadenceInit();
 void SdInit();
 void DataReceiveFromSouda();
 void WriteDatas();
@@ -76,7 +74,7 @@
 float calcKXdeg(float x);
 
 void cadenceDataReceive(){
-//    cadence.readData();
+    cadence.readData();
 }
 
 void air_countUp(){
@@ -89,17 +87,16 @@
 }
 
 void init(){
-    twe.baud(19200);
+    twe.baud(115200);
     soudaSerial.baud(9600);
-//    cadenceTicker.attach(&cadenceDataReceive,0.1);
+//    cadenceTicker.attach(&cadenceDataReceive,1);
     //writeTimer.start();
     kisokuServo.period_ms(INIT_SERVO_PERIOD_MS);
     geikakuServo.period_ms(INIT_SERVO_PERIOD_MS);
     FusokukeiInit();
     MpuInit(); 
     SdInit();
-    //writeDatasTicker.attach(&WriteDatas,1);
-//    soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq);
+//    writeDatasTicker.attach(&WriteDatas,1);
 }
 
 void FusokukeiInit(){
@@ -185,7 +182,7 @@
 
 void DataReceiveFromSouda(){
     led2 = !led2;
-    //pc.printf("received\n\r");
+//    pc.printf("received\n\r");
 //    bool kaigyo=0;
     for(int i = 0; i < SOUDA_DATAS_NUM; i++){
         if(soudaSerial.readable()) {
@@ -218,7 +215,7 @@
         //writeDatas[write_datas_index][i] = 0.0;    
         writeDatas[write_datas_index][i] = (float)soudaDatas[i];
     }
-//    writeDatas[write_datas_index][i++] = cadence.cadence;
+    writeDatas[write_datas_index][i++] = cadence.cadence;
     writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read());
     writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read());
     writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read());
@@ -244,8 +241,8 @@
         pc.printf("%i   ",soudaDatas[i]);
         twe.printf("%i,",soudaDatas[i]);
     }
-//    twe.printf("%f\n\r",cadence.cadence);
-//    pc.printf("%f\n\r",cadence.cadence);
+    twe.printf("%f\n\r",cadence.cadence);
+    pc.printf("%f\n\r",cadence.cadence);
     //pc.printf("\n\r");
     twe.printf("%f,%f,%f,",pitch,roll,yaw);
     twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));   
@@ -302,13 +299,13 @@
 int main(){
     init();
     while(1){
-        pc.printf("test\n\r");
 //        if(test.readable()) pc.printf("%d   ",test.getc());
 //        pc.printf("<-softserial\n\r");
         mpuProcessing();
         RollAlarm();
         DataReceiveFromSouda();
-//        cadence.readData();
+        cadenceDataReceive();
+        pc.printf("test\n\r");
         WriteDatas();
         WriteServo();
     }