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
Diff: main.cpp
- Branch:
- Thread-gyogetsuMPU
- Revision:
- 50:d30226fc087f
- Parent:
- 47:0c9f3a057f79
--- a/main.cpp Sat Apr 01 08:43:02 2017 +0000 +++ b/main.cpp Fri Apr 21 05:44:56 2017 +0000 @@ -136,7 +136,7 @@ resetPin.rise(resetInterrupt); resetPin.mode(PullDown); //----------------------------------------------------------- - twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要 + twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要 //writeTimer.start(); FusokukeiInit(); // SdInit(); @@ -168,12 +168,12 @@ 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) { mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers - mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature + mpu6050.initMPU6050(); ////pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature Thread::wait(200); } else { } } else { - //pc.printf("out\n\r"); // Loop forever if communication doesn't happen + ////pc.printf("out\n\r"); // Loop forever if communication doesn't happen } } @@ -283,10 +283,10 @@ writeDatas[write_datas_index][i++] = cadence_twe.cadence; //writeDatas[write_datas_index][i++] = writeTimer.read(); //for(i = 0; i < WRITE_DATAS_NUM; i++){ -// pc.printf("%f ", writeDatas[write_datas_index][i]); +// //pc.printf("%f ", writeDatas[write_datas_index][i]); // twe.printf("%f,", writeDatas[write_datas_index][i]); // } -// pc.printf("\n\r"); +// //pc.printf("\n\r"); // twe.printf("\n\r"); if(write_datas_index == SD_WRITE_NUM-1) { // SDprintf(); @@ -296,14 +296,14 @@ } twe.printf("con,"); for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) { - pc.printf("%i ",soudaDatas[i]); + //pc.printf("%i ",soudaDatas[i]); twe.printf("%i,",soudaDatas[i]); if(i == YOKUTAN_DATAS_NUM - 1) twe.printf("%i\n",soudaDatas[i]); } 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]); - 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]); + //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]); /* 送信文字列 0-13翼端データ @@ -312,14 +312,14 @@ 19-22 L erebon 23 LDRUG */ - //pc.printf("\n\r"); + ////pc.printf("\n\r"); twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw); twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadence_twe.cadence); - pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); - //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); - pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence_twe.cadence); + //pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); + ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); + pc.printf("%f,%f,%f\n\r%f,%f,%f\n\r",pitch,roll,yaw,airSpeed,sonarDist,cadence_twe.cadence); // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){ -// pc.printf("%c",*(cadence_twe.myBuff+i)); +// //pc.printf("%c",*(cadence_twe.myBuff+i)); // } if(android.writeable()) { // for(int i = 0; i<SOUDA_DATAS_NUM; i++){ @@ -334,7 +334,7 @@ void WriteDatasF() { - pc.printf("airSpeed:%f\n\r",airSpeed); + //pc.printf("airSpeed:%f\n\r",airSpeed); } //float calcKXdeg(float x){ @@ -369,8 +369,8 @@ } else { // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0))); } - ////pc.printf("a:%f",airSpeed); - pc.printf("p:%f\r\n",pitch); + //////pc.printf("a:%f",airSpeed); + //pc.printf("p:%f\r\n",pitch); //kisokuServo.pulsewidth(calcPulse(0)); //geikakuServo.pulsewidth(calcPulse(0)); } @@ -382,7 +382,7 @@ // Thread soudaSerial_thread(&DataReceiveFromSouda); init(); while(1) { - pc.printf("test\n\r"); + //pc.printf("test\n\r"); // mpuProcessing(); sonarCalc(); RollAlarm();