File content as of revision 45:73ac4054ea23:

//計器プログラム
#include "mbed.h"
#include "rtos.h"
#include "Fusokukei.h"
#include "MPU6050.h"
#include "BufferedSoftSerial.h"
#include "Cadence.h"
#include "SDFileSystem.h"

#define SOUDA_DATAS_NUM 24 //(yokutan 7 + input 5)*2
#define WRITE_DATAS_NUM 30 // souda_datas_num + 6( rpy, airspeed, height, cadence)
#define SD_WRITE_NUM 20
#define MPU_LOOP_TIME 0.01
#define AIR_LOOP_TIME 0.01
#define WRITE_DATAS_LOOP_TIME 1
#define ROLL_R_MAX_DEG 2
#define ROLL_L_MAX_DEG 2
#define MPU_DELT_MIN 250
#define INIT_SERVO_PERIOD_MS 20

//-----------------------------------(resetInterrupt def)
extern "C" void mbed_reset();
InterruptIn resetPin(p25);
Timer resetTimeCount;
void resetInterrupt()
{
    while(resetPin) {
        resetTimeCount.start();
        if(resetTimeCount.read()>3) mbed_reset();
    }
    resetTimeCount.reset();
}
//-------------------------------------------------------

SDFileSystem sd(p5, p6, p7, p8, "sd");
FILE* fp;

RawSerial pc(USBTX,USBRX);
RawSerial android(p9,p10);
BufferedSoftSerial soudaSerial(p17,p18);
BufferedSoftSerial twe(p11,p12);
Cadence cadence_twe(p13,p14);
//Ticker cadenceUpdateTicker;
//Ticker writeDatasTicker;
//Timer writeTimer;

InterruptIn FusokukeiPin(p24);
Ticker FusokukeiTicker;
Fusokukei air;
volatile int air_kaitensu= 0;

//Timer sonarTimer;
AnalogIn sonarPin(p15);
//InterruputIn sonarPin(p15);
//double sonarDistTime
double sonarDist;
float sonarV;


float sum = 0;
uint32_t sumCount = 0;
MPU6050 mpu6050;
Timer t;
//Ticker mpu6050Ticker;

DigitalOut RollAlarmR(p23);
DigitalOut RollAlarmL(p22);
DigitalOut led2(LED2);
DigitalOut led4(LED4);

char soudaDatas[SOUDA_DATAS_NUM];
float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
volatile int write_datas_index = 0;

void air_countUp();
void call_calcAirSpeed();
void sonarInterruptStart();
void sonarInterruptStop();
void updateCadence(void const *arg);
void init();
void FusokukeiInit();
void MpuInit();
void mpuProcessing(void const *arg);
void DataReceiveFromSouda(void const *arg);
void SdInit();
void SDprintf();
void WriteDatas();
float calcAttackAngle();
float calcKXdeg(float x);

void air_countUp()
{
    air_kaitensu++;
}

void call_calcAirSpeed()
{
    air.calcAirSpeed(air_kaitensu);
    air_kaitensu = 0;
}

void sonarInterruptStart()
{
//    sonarTimer.start();
}

void sonarInterruptStop()
{
//    sonarTimer.stop();
//    sonarDistTime = sonarTimer.read_us();
//    sonarTimer.reset();
//    sonarDist = sonarDistTime*0.018624 - 13.511;
}
void sonarCalc()
{
    sonarV = 0;
    for(int i = 0; i<20; i++) {
        sonarV += sonarPin.read();
        wait(0.01);
    }
    sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
}

void updateCadence(/*void const *arg*/)
{
//    while(1){
    cadence_twe.readData();
//        Thread::wait(5);
//    }
}

void init()
{
//--------------------------------------(resetInterrupt init)
    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
    //writeTimer.start();
    FusokukeiInit();
    SdInit();
//    MpuInit(); 

    //writeDatasTicker.attach(&WriteDatas,1);
//    cadenceUpdateTicker.attach(&updateCadence, 1);

//-----for InterruptMode of sonar----------------------------
//    sonarPin.rise(&sonarInterruptStart);
//    sonarPin.fall(&sonarInterruptStop);
//-----------------------------------------------------------
}

void FusokukeiInit()
{
    FusokukeiPin.rise(air_countUp);
    FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
}

void MpuInit()
{
    i2c.frequency(400000);  // use fast (400 kHz) I2C
    t.start();
    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
    if (whoami == 0x68) { // WHO_AM_I should always be 0x68
        Thread::wait(100);
        mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
        Thread::wait(100);
        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
            Thread::wait(200);
        } else {
        }
    } else {
        //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
    }
}

void mpuProcessing(void const *arg)
{
    MpuInit();
    while(1) {
        if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
            mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
            mpu6050.getAres();
            ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
            ay = (float)accelCount[1]*aRes - accelBias[1];
            az = (float)accelCount[2]*aRes - accelBias[2];
            mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
            mpu6050.getGres();
            gx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
            gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
            gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
            tempCount = mpu6050.readTempData();  // Read the x/y/z adc values
            temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
        }
        Now = t.read_us();
        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
        lastUpdate = Now;
        sum += deltat;
        sumCount++;
        if(lastUpdate - firstUpdate > 10000000.0f) {
            beta = 0.04;  // decrease filter gain after stabilized
            zeta = 0.015; // increasey bias drift gain after stabilized
        }
        mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
        delt_t = t.read_ms() - count;
        if (delt_t > MPU_DELT_MIN) {
            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]);
            pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
            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]);
            pitch *= 180.0f / PI;
            yaw   *= 180.0f / PI;
            roll  *= 180.0f / PI;
            myled= !myled;
            count = t.read_ms();
            sum = 0;
            sumCount = 0;
        }
        Thread::wait(1);
    }//while(1)
}

void DataReceiveFromSouda(/*void const *arg*/)
{
//    while(1){
    if(soudaSerial.readable()) {
        led2 = !led2;
        char c = soudaSerial.getc();
        while( c != ';' ) {
            c = soudaSerial.getc();
        }
        for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
            soudaDatas[i] = soudaSerial.getc();
        }
    }//if
//    }//while(1)
}

void SdInit(){
    mkdir("/sd/mydir", 0777);
    fp = fopen("/sd/mydir/sdtest2.csv", "w");
    if(fp == NULL) {
        error("Could not open file for write\n");
    }
    fprintf(fp, "Hello fun SD Card World!\n\r");
    fclose(fp);
}

void SDprintf(){
    fp = fopen("/sd/mydir/data.csv", "a");
    if(fp == NULL) {
        error("Could not open file for write\n");
    }
    for(int i = 0; i < SD_WRITE_NUM; i++){
        for(int j = 0; j < WRITE_DATAS_NUM; j++){
            fprintf(fp,"%f,", writeDatas[i][j]);
        }
    }
    fprintf(fp,"\n\r");
    fclose(fp);
}

void WriteDatas(){
    int i;
    for(i = 0; i < SOUDA_DATAS_NUM; i++) {
        //writeDatas[write_datas_index][i] = 0.0;
        writeDatas[write_datas_index][i] = (float)soudaDatas[i];
    }
    writeDatas[write_datas_index][i++] = pitch;
    writeDatas[write_datas_index][i++] = roll;
    writeDatas[write_datas_index][i++] = yaw;
    writeDatas[write_datas_index][i++] = airSpeed;
    writeDatas[write_datas_index][i++] = sonarDist;
    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]);
//        twe.printf("%f,", writeDatas[write_datas_index][i]);
//    }
//    pc.printf("\n\r");
//    twe.printf("\n\r");
    if(write_datas_index == SD_WRITE_NUM-1){
        SDprintf();
        write_datas_index=0;
    }
    else{
        write_datas_index++;
    } 
    for(int i = 0; i < SOUDA_DATAS_NUM; i++){
        pc.printf("%i   ",soudaDatas[i]);
        twe.printf("%i,",soudaDatas[i]);
//        android.printf("%i,",soudaDatas[i]);
    }
    //pc.printf("\n\r");
    twe.printf("%f,%f,%f,%f,%f,%f\r\n",pitch,roll,yaw,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,%s\n\r",airSpeed,sonarDist,cadence_twe.myBuff);
    pc.printf(cadence_twe.strData.c_str());
    pc.putc(cadence_twe.strV[0]);
    if(android.writeable()) {
//        for(int i = 0; i<SOUDA_DATAS_NUM; i++){
//            android.printf("%i,",soudaDatas[i]);
//        }
//        android.printf("%f,%f,%f,",pitch,roll,yaw);
//        android.printf("%f,%f,\r\n",airSpeed,sonarDist);
        android.printf("%f,%f,test\n\r",roll,airSpeed);
    }
//    SDprintf();
}

void WriteDatasF()
{
    pc.printf("airSpeed:%f\n\r",airSpeed);
}

void RollAlarm()
{
    if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
        RollAlarmL = 1;
    } else {
        RollAlarmL = 0;
    }

    if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
        RollAlarmR = 1;
    } else {
        RollAlarmR = 0;
    }
}

int main()
{
//    Thread cadence_thread(&updateCadence);
    Thread mpu_thread(&mpuProcessing);
//    Thread soudaSerial_thread(&DataReceiveFromSouda);
    init();
    while(1) {
        pc.printf("test\n\r");
//        mpuProcessing();
        sonarCalc();
        RollAlarm();
        DataReceiveFromSouda();
//        updateCadence();
        WriteDatas();
//        WriteServo();
        led4 = !led4;
    }
}