File content as of revision 77:ba2dac12ce56:

//計器プログラム
#include "mbed.h"
#include "rtos.h"
#include "Cadence.h"
#include "Fusokukei.h"
#include "MPU6050.h"
#include "BufferedSoftSerial.h"
#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。
#include "INA226.hpp"

#define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2
#define YOKUTAN_DATAS_NUM 14
#define WRITE_DATAS_NUM 34 // 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//(0.002005)
#define WRITE_DATAS_LOOP_TIME 1
#define ROLL_R_MAX_DEG 1.5
#define ROLL_L_MAX_DEG 1.5
#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");
LocalFileSystem local("local");
FILE* fp;

//RawSerial pc(USBTX,USBRX);
//Serial android(p9,p10);
BufferedSoftSerial soudaSerial(p17,p18);
BufferedSoftSerial twe(p11,p12);
//Cadence cadence_twe(p13,p14);
RawSerial android(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);
double sonarDist;
float sonarV;


float sum = 0;
uint32_t sumCount = 0;
MPU6050 mpu6050;
Timer t;
Timer cadenceTimer;

//Ticker mpu6050Ticker;

DigitalOut RollAlarmR(p23);
DigitalOut RollAlarmL(p22);
DigitalOut led2(LED2);
//DigitalOut led3(LED3);
DigitalOut led4(LED4);
I2C InaI2c(p9,p10);
INA226 VCmonitor(InaI2c,0x9C);
AnalogIn mgPin(p20);
AnalogIn mgPin2(p16);

char soudaDatas[SOUDA_DATAS_NUM];
float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
volatile int write_datas_index = 0;
float inputR,inputL;
int drugR,drugL;

void air_countUp();
void call_calcAirSpeed();
void sonarInterruptStart();
void sonarInterruptStop();
void updateCadence(double source, double input,double input2,bool isFFlag);
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);
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。
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。
double cadenceResult = 0.0;         //最終的なケイデンスの値です。
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。
double V;

void air_countUp()
{
    air_kaitensu++;
//    led3 = !led3;
}

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)
}


// 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
// source: 定格12V電源の電圧値[mV], input: センサ値[mV]
// return => 1:超えている, 0:超えていない, -1:エラー
int isOh182eOverThreshold(double source, double input)
{
    double a, b;
    if(source < 3200)
        return -1;

    if(source < 5500)
        a = 0.233333333, b = -308.3333333;
    else if(source < 7000)
        a = 0.173333333, b = 21.66666667;
    else
        a = 0, b = 1235;

    return (a * source + b < input) ? 1 : 0;
}

//ケイデンスの値を取得します。
// source: 定格12V電源の電圧値[mV], input: センサ値[mV]
void updateCadence(double source, double input,double input2)
{

    static bool isFFlag = true;
    if(isFFlag) {
        lastCadenceInput =  isOh182eOverThreshold(source,input);
        lastCadenceInput2 =  isOh182eOverThreshold(source,input2);
        cadenceTimer.start();
        isFFlag = false;
        return;
    }
    if((isOh182eOverThreshold(source,input) != lastCadenceInput) ||(isOh182eOverThreshold(source,input2) != lastCadenceInput2)) {
        if(cadenceCounter < 3) {
            cadenceCounter++;
            led3 = !led3;
            lastCadenceInput =  isOh182eOverThreshold(source,input);
            lastCadenceInput2 =  isOh182eOverThreshold(source,input2);
            return;
        }
        cadenceResult =60.0/  (cadenceTimer.read_us() / 1000000.0); //クランク一回転にかかる時間を取得
        cadenceTimer.reset();
        cadenceCounter = 0;
    }
    lastCadenceInput =  isOh182eOverThreshold(source,input);
    lastCadenceInput2 =  isOh182eOverThreshold(source,input2);
}

void init()
{
    pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
//--------------------------------------(resetInterrupt init)
   // resetPin.rise(resetInterrupt);
   // resetPin.mode(PullDown);
//-----------------------------------------------------------
    twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
    android.baud(9600);
    //writeTimer.start();
    FusokukeiInit();
//    SdInit();
//    MpuInit();
    //writeDatasTicker.attach(&WriteDatas,1);

//-----for InterruptMode of sonar----------------------------
//    sonarPin.rise(&sonarInterruptStart);
//    sonarPin.fall(&sonarInterruptStop);
//-----------------------------------------------------------
    unsigned short val;
    val = 0;
    if(VCmonitor.rawRead(0x00,&val) != 0) {
        printf("VCmonitor READ ERROR\n");
    //    while(1) {}
    }
    VCmonitor.setCurrentCalibration();
}

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
    }
}

double calcPulse(int deg)
{
    return (0.0006+(deg/180.0)*(0.00235-0.00045));
}

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*/)
{
    char cErebonR[6] = {};
    char cErebonL[6] = {};
//    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();
//            pc.printf("%d,",(int)(soudaDatas[i] - '0'));
        }
       // pc.printf("\n\r");
     //   sscanf(soudaDatas+YOKUTAN_DATAS_NUM,"%5.2f,%d,%5.2,%d",&inputR,&drugR,&inputL,&drugL);
        for(int i = 14; i < 19; i++) {
            cErebonR[i-14] = soudaDatas[i];
        }
        drugR = soudaDatas[19]- '0';
        inputR = atof(cErebonR);
        for(int i = 21; i < 26; i++) {
            cErebonL[i-21] = soudaDatas[i];
        }
        drugL = soudaDatas[26]- '0';
        inputL = atof(cErebonL);
        
//        pc.printf("erebonR:%5.5f,   drugR:%d     erebonL:%5.5f   drugL:%d",inputR,drugR,inputL,drugL);
//        pc.printf("erebonR:%s,   drugR:%d     erebonL:%s   drugL:%d",cErebonR,drugR,cErebonL,drugL);
    }//if
//    }//while(1)
}

void SdInit()
{
//    mkdir("/local/mydir", 0777);
    fp = fopen("/local/filetest.csv", "w");
    if(fp == NULL) {
        printf("Could not open file for write\n");
        return;
    }
    fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
    fclose(fp);
}

void SDprintf(const void* arg)
{
    SdInit();
    while(1) {
        updateCadence(V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
        //  pc.printf("V:%5.5f  mgPin:%5.5f     mgPin2:%5.5f",V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
        if(write_datas_index == SD_WRITE_NUM-1) {
            fp = fopen("/local/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");
            }

            fclose(fp);

            write_datas_index=0;
        }
        Thread::wait(100);
    }
}

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++] = cadenceResult;//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++;
    }
    char sbuf[128];
    int p=0;
//    twe.printf("con,");
    p += sprintf(sbuf,"con,");
    for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
//        pc.printf("%i   ",soudaDatas[i]);
//        twe.printf("%i,",soudaDatas[i]);
        p += sprintf(sbuf+p,"%d,",soudaDatas[i]);

        if(i == YOKUTAN_DATAS_NUM - 1)
//            twe.printf("%i\n",soudaDatas[i]);
            p += sprintf(sbuf+p,"%d\n",soudaDatas[i]);
    }
    twe.printf("%s",sbuf);
//    twe.printf("inp,%f,%i,%f,%i\n",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(float) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(float) - 3],soudaDatas[SOUDA_DATAS_NUM-1]);
    twe.printf("inp,%f,%i,%f,%i\n",inputR,drugR,inputL,drugL);

    /*
    送信文字列
    0-13翼端データ
    14-17 R erebon
    18 R DRUG
    19-22 L erebon
    23 LDRUG
    */
    ////pc.printf("\n\r");
    twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
    twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);

    ////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,cadenceResult);//cadence_twe.cadence);
//    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("%f,%f,%f\n\r",pitch,roll,yaw);
//    printf("mgPin V:%f\n\r",mgPin.read()*3.3);
    // 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);
//    pc.printf("cadence:%5.5f\n\r",cadenceResult);

//    for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
//        ////pc.printf("%c",*(cadence_twe.myBuff+i));
//    }
//    pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
    if(android.writeable()) {
//        android.printf("%f,%f,%f,",pitch,roll,yaw);
//        android.printf("%f,%f,\r\n",airSpeed,sonarDist);
        android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
//        led2 = !led2;
    }
//    SDprintf();
}

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

//float calcKXdeg(float x){
//    return -310.54*x+156.65;
//}

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 mpu_thread(&mpuProcessing);
    Thread SD_thread(&SDprintf);
//    Thread soudaSerial_thread(&DataReceiveFromSouda);
    init();
//    int VCcounter = 0;
    while(1) {
//        if(VCcounter%20 == 0 ) {
//            if( VCmonitor.getVoltage(&V) == 0) {
//                pc.printf("e:%f\n",V);
//            }
//        }
//        VCcounter++;

//        updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
        //pc.printf("test\n\r");
//        mpuProcessing();
        sonarCalc();
        Thread::wait(30);
        RollAlarm();
        DataReceiveFromSouda();
        WriteDatas();
        led4 = !led4;
    }
}