main.cpp

00001 //計器プログラム
00002 #include "mbed.h"
00003 #include "rtos.h"
00004 #include "Cadence.h"
00005 #include "Fusokukei.h"
00006 #include "MPU6050.h"
00007 #include "BufferedSoftSerial.h"
00008 #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。
00009 #include "INA226.hpp"
00010 
00011 #define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2
00012 #define YOKUTAN_DATAS_NUM 14
00013 #define WRITE_DATAS_NUM 34 // souda_datas_num + 6( rpy, airspeed, height, cadence)
00014 #define SD_WRITE_NUM 20
00015 #define MPU_LOOP_TIME 0.01
00016 #define AIR_LOOP_TIME 0.01//(0.002005)
00017 #define WRITE_DATAS_LOOP_TIME 1
00018 #define ROLL_R_MAX_DEG 1.5
00019 #define ROLL_L_MAX_DEG 1.5
00020 #define MPU_DELT_MIN 250
00021 #define INIT_SERVO_PERIOD_MS 20
00022 
00023 //-----------------------------------(resetInterrupt def)
00024 //extern "C" void mbed_reset();
00025 //InterruptIn resetPin(p25);
00026 //Timer resetTimeCount;
00027 //void resetInterrupt()
00028 //{
00029 //    while(resetPin) {
00030 //        resetTimeCount.start();
00031 //        if(resetTimeCount.read()>3) mbed_reset();
00032 //    }
00033 //    resetTimeCount.reset();
00034 //}
00035 //-------------------------------------------------------
00036 
00037 //SDFileSystem sd(p5, p6, p7, p8, "sd");
00038 LocalFileSystem local("local");
00039 FILE* fp;
00040 
00041 //RawSerial pc(USBTX,USBRX);
00042 //Serial android(p9,p10);
00043 BufferedSoftSerial soudaSerial(p17,p18);
00044 BufferedSoftSerial twe(p11,p12);
00045 //Cadence cadence_twe(p13,p14);
00046 RawSerial android(p13,p14);
00047 
00048 Ticker cadenceUpdateTicker;
00049 //Ticker writeDatasTicker;
00050 //Timer writeTimer;
00051 
00052 InterruptIn FusokukeiPin(p24);
00053 Ticker FusokukeiTicker;
00054 Fusokukei air;
00055 volatile int air_kaitensu= 0;
00056 
00057 //Timer sonarTimer;
00058 AnalogIn sonarPin(p15);
00059 double sonarDist;
00060 float sonarV;
00061 
00062 
00063 float sum = 0;
00064 uint32_t sumCount = 0;
00065 MPU6050 mpu6050;
00066 Timer t;
00067 Timer cadenceTimer;
00068 
00069 //Ticker mpu6050Ticker;
00070 
00071 DigitalOut RollAlarmR(p23);
00072 DigitalOut RollAlarmL(p22);
00073 DigitalOut led2(LED2);
00074 //DigitalOut led3(LED3);
00075 DigitalOut led4(LED4);
00076 I2C InaI2c(p9,p10);
00077 INA226 VCmonitor(InaI2c,0x9C);
00078 AnalogIn mgPin(p20);
00079 AnalogIn mgPin2(p16);
00080 
00081 char soudaDatas[SOUDA_DATAS_NUM];
00082 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
00083 volatile int write_datas_index = 0;
00084 float inputR,inputL;
00085 int drugR,drugL;
00086 
00087 void air_countUp();
00088 void call_calcAirSpeed();
00089 void sonarInterruptStart();
00090 void sonarInterruptStop();
00091 void updateCadence(double source, double input,double input2,bool isFFlag);
00092 void init();
00093 void FusokukeiInit();
00094 void MpuInit();
00095 void mpuProcessing(void const *arg);
00096 void DataReceiveFromSouda(void const *arg);
00097 void SdInit();
00098 void SDprintf();
00099 void WriteDatas();
00100 float calcAttackAngle();
00101 float calcKXdeg(float x);
00102 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。
00103 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。
00104 double cadenceResult = 0.0;         //最終的なケイデンスの値です。
00105 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。
00106 double V;
00107 
00108 void air_countUp()
00109 {
00110     air_kaitensu++;
00111 //    led3 = !led3;
00112 }
00113 
00114 void call_calcAirSpeed()
00115 {
00116     air.calcAirSpeed(air_kaitensu);
00117     air_kaitensu = 0;
00118 }
00119 
00120 void sonarInterruptStart()
00121 {
00122 //    sonarTimer.start();
00123 }
00124 
00125 void sonarInterruptStop()
00126 {
00127 //    sonarTimer.stop();
00128 //    sonarDistTime = sonarTimer.read_us();
00129 //    sonarTimer.reset();
00130 //    sonarDist = sonarDistTime*0.018624 - 13.511;
00131 }
00132 void sonarCalc()
00133 {
00134     sonarV = 0;
00135     for(int i = 0; i<20; i++) {
00136         sonarV += sonarPin.read();
00137         wait(0.01);
00138     }
00139     sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
00140 }
00141 
00142 
00143 // 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
00144 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
00145 // return => 1:超えている, 0:超えていない, -1:エラー
00146 int isOh182eOverThreshold(double source, double input)
00147 {
00148     double a, b;
00149     if(source < 3200)
00150         return -1;
00151 
00152     if(source < 5500)
00153         a = 0.233333333, b = -308.3333333;
00154     else if(source < 7000)
00155         a = 0.173333333, b = 21.66666667;
00156     else
00157         a = 0, b = 1235;
00158 
00159     return (a * source + b < input) ? 1 : 0;
00160 }
00161 
00162 //ケイデンスの値を取得します。
00163 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
00164 void updateCadence(double source, double input,double input2)
00165 {
00166 
00167     static bool isFFlag = true;
00168     if(isFFlag) {
00169         lastCadenceInput =  isOh182eOverThreshold(source,input);
00170         lastCadenceInput2 =  isOh182eOverThreshold(source,input2);
00171         cadenceTimer.start();
00172         isFFlag = false;
00173         return;
00174     }
00175     if((isOh182eOverThreshold(source,input) != lastCadenceInput) ||(isOh182eOverThreshold(source,input2) != lastCadenceInput2)) {
00176         if(cadenceCounter < 3) {
00177             cadenceCounter++;
00178             led3 = !led3;
00179             lastCadenceInput =  isOh182eOverThreshold(source,input);
00180             lastCadenceInput2 =  isOh182eOverThreshold(source,input2);
00181             return;
00182         }
00183         cadenceResult =60.0/  (cadenceTimer.read_us() / 1000000.0); //クランク一回転にかかる時間を取得
00184         cadenceTimer.reset();
00185         cadenceCounter = 0;
00186     }
00187     lastCadenceInput =  isOh182eOverThreshold(source,input);
00188     lastCadenceInput2 =  isOh182eOverThreshold(source,input2);
00189 }
00190 
00191 void init()
00192 {
00193     pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
00194 //--------------------------------------(resetInterrupt init)
00195    // resetPin.rise(resetInterrupt);
00196    // resetPin.mode(PullDown);
00197 //-----------------------------------------------------------
00198     twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
00199     android.baud(9600);
00200     //writeTimer.start();
00201     FusokukeiInit();
00202 //    SdInit();
00203 //    MpuInit();
00204     //writeDatasTicker.attach(&WriteDatas,1);
00205 
00206 //-----for InterruptMode of sonar----------------------------
00207 //    sonarPin.rise(&sonarInterruptStart);
00208 //    sonarPin.fall(&sonarInterruptStop);
00209 //-----------------------------------------------------------
00210     unsigned short val;
00211     val = 0;
00212     if(VCmonitor.rawRead(0x00,&val) != 0) {
00213         printf("VCmonitor READ ERROR\n");
00214     //    while(1) {}
00215     }
00216     VCmonitor.setCurrentCalibration();
00217 }
00218 
00219 void FusokukeiInit()
00220 {
00221     FusokukeiPin.rise(air_countUp);
00222     FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
00223 }
00224 
00225 void MpuInit()
00226 {
00227     i2c.frequency(400000);  // use fast (400 kHz) I2C
00228     t.start();
00229     uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
00230     if (whoami == 0x68) { // WHO_AM_I should always be 0x68
00231         Thread::wait(100);
00232         mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
00233         Thread::wait(100);
00234         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) {
00235             mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
00236             mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
00237             mpu6050.initMPU6050(); ////////////pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
00238             Thread::wait(200);
00239         } else {
00240         }
00241     } else {
00242         //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
00243     }
00244 }
00245 
00246 double calcPulse(int deg)
00247 {
00248     return (0.0006+(deg/180.0)*(0.00235-0.00045));
00249 }
00250 
00251 void mpuProcessing(void const *arg)
00252 {
00253     MpuInit();
00254     while(1) {
00255         if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
00256             mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
00257             mpu6050.getAres();
00258             ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
00259             ay = (float)accelCount[1]*aRes - accelBias[1];
00260             az = (float)accelCount[2]*aRes - accelBias[2];
00261             mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
00262             mpu6050.getGres();
00263             gx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
00264             gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
00265             gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
00266             tempCount = mpu6050.readTempData();  // Read the x/y/z adc values
00267             temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
00268         }
00269         Now = t.read_us();
00270         deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
00271         lastUpdate = Now;
00272         sum += deltat;
00273         sumCount++;
00274         if(lastUpdate - firstUpdate > 10000000.0f) {
00275             beta = 0.04;  // decrease filter gain after stabilized
00276             zeta = 0.015; // increasey bias drift gain after stabilized
00277         }
00278         mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
00279         delt_t = t.read_ms() - count;
00280         if (delt_t > MPU_DELT_MIN) {
00281             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]);
00282             pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
00283             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]);
00284             pitch *= 180.0f / PI;
00285             yaw   *= 180.0f / PI;
00286             roll  *= 180.0f / PI;
00287             myled= !myled;
00288             count = t.read_ms();
00289             sum = 0;
00290             sumCount = 0;
00291         }
00292         Thread::wait(1);
00293     }//while(1)
00294 }
00295 
00296 void DataReceiveFromSouda(/*void const *arg*/)
00297 {
00298     char cErebonR[6] = {};
00299     char cErebonL[6] = {};
00300 //    while(1){
00301     if(soudaSerial.readable()) {
00302         led2 = !led2;
00303         char c = soudaSerial.getc();
00304         while( c != ';' ) {
00305             c = soudaSerial.getc();
00306         }
00307         for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
00308             soudaDatas[i] = soudaSerial.getc();
00309 //            pc.printf("%d,",(int)(soudaDatas[i] - '0'));
00310         }
00311        // pc.printf("\n\r");
00312      //   sscanf(soudaDatas+YOKUTAN_DATAS_NUM,"%5.2f,%d,%5.2,%d",&inputR,&drugR,&inputL,&drugL);
00313         for(int i = 14; i < 19; i++) {
00314             cErebonR[i-14] = soudaDatas[i];
00315         }
00316         drugR = soudaDatas[19]- '0';
00317         inputR = atof(cErebonR);
00318         for(int i = 21; i < 26; i++) {
00319             cErebonL[i-21] = soudaDatas[i];
00320         }
00321         drugL = soudaDatas[26]- '0';
00322         inputL = atof(cErebonL);
00323         
00324 //        pc.printf("erebonR:%5.5f,   drugR:%d     erebonL:%5.5f   drugL:%d",inputR,drugR,inputL,drugL);
00325 //        pc.printf("erebonR:%s,   drugR:%d     erebonL:%s   drugL:%d",cErebonR,drugR,cErebonL,drugL);
00326     }//if
00327 //    }//while(1)
00328 }
00329 
00330 void SdInit()
00331 {
00332 //    mkdir("/local/mydir", 0777);
00333     fp = fopen("/local/filetest.csv", "w");
00334     if(fp == NULL) {
00335         printf("Could not open file for write\n");
00336         return;
00337     }
00338     fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
00339     fclose(fp);
00340 }
00341 
00342 void SDprintf(const void* arg)
00343 {
00344     SdInit();
00345     while(1) {
00346         updateCadence(V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
00347         //  pc.printf("V:%5.5f  mgPin:%5.5f     mgPin2:%5.5f",V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
00348         if(write_datas_index == SD_WRITE_NUM-1) {
00349             fp = fopen("/local/data.csv", "a");
00350             if(fp == NULL) {
00351                 error("Could not open file for write!!\n");
00352             }
00353             for(int i = 0; i < SD_WRITE_NUM; i++) {
00354                 for(int j = 0; j < WRITE_DATAS_NUM; j++) {
00355                     fprintf(fp,"%f,", writeDatas[i][j]);
00356                 }
00357                 fprintf(fp,"\n");
00358             }
00359 
00360             fclose(fp);
00361 
00362             write_datas_index=0;
00363         }
00364         Thread::wait(100);
00365     }
00366 }
00367 
00368 void WriteDatas()
00369 {
00370     int i;
00371     for(i = 0; i < SOUDA_DATAS_NUM; i++) {
00372         //writeDatas[write_datas_index][i] = 0.0;
00373         writeDatas[write_datas_index][i] = (float)soudaDatas[i];
00374     }
00375     writeDatas[write_datas_index][i++] = pitch;
00376     writeDatas[write_datas_index][i++] = roll;
00377     writeDatas[write_datas_index][i++] = yaw;
00378     writeDatas[write_datas_index][i++] = airSpeed;
00379     writeDatas[write_datas_index][i++] = sonarDist;
00380     writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence;
00381     //writeDatas[write_datas_index][i++] = writeTimer.read();
00382     //for(i = 0; i < WRITE_DATAS_NUM; i++){
00383 //        ////pc.printf("%f   ", writeDatas[write_datas_index][i]);
00384 //        twe.printf("%f,", writeDatas[write_datas_index][i]);
00385 //    }
00386 //    //pc.printf("\n\r");
00387 //    twe.printf("\n\r");
00388     if(write_datas_index == SD_WRITE_NUM-1) {
00389 //        SDprintf();
00390         write_datas_index=0;
00391     } else {
00392         write_datas_index++;
00393     }
00394     char sbuf[128];
00395     int p=0;
00396 //    twe.printf("con,");
00397     p += sprintf(sbuf,"con,");
00398     for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
00399 //        pc.printf("%i   ",soudaDatas[i]);
00400 //        twe.printf("%i,",soudaDatas[i]);
00401         p += sprintf(sbuf+p,"%d,",soudaDatas[i]);
00402 
00403         if(i == YOKUTAN_DATAS_NUM - 1)
00404 //            twe.printf("%i\n",soudaDatas[i]);
00405             p += sprintf(sbuf+p,"%d\n",soudaDatas[i]);
00406     }
00407     twe.printf("%s",sbuf);
00408 //    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]);
00409     twe.printf("inp,%f,%i,%f,%i\n",inputR,drugR,inputL,drugL);
00410 
00411     /*
00412     送信文字列
00413     0-13翼端データ
00414     14-17 R erebon
00415     18 R DRUG
00416     19-22 L erebon
00417     23 LDRUG
00418     */
00419     ////pc.printf("\n\r");
00420     twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
00421     twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
00422 
00423     ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
00424 //    pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
00425 //    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]);
00426 //    pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
00427 //    printf("mgPin V:%f\n\r",mgPin.read()*3.3);
00428     // pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",
00429 //              soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1],
00430 //              pitch,roll,yaw,
00431 //              airSpeed,sonarDist,cadenceResult);
00432 //    pc.printf("cadence:%5.5f\n\r",cadenceResult);
00433 
00434 //    for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
00435 //        ////pc.printf("%c",*(cadence_twe.myBuff+i));
00436 //    }
00437 //    pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
00438     if(android.writeable()) {
00439 //        android.printf("%f,%f,%f,",pitch,roll,yaw);
00440 //        android.printf("%f,%f,\r\n",airSpeed,sonarDist);
00441         android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
00442 //        led2 = !led2;
00443     }
00444 //    SDprintf();
00445 }
00446 
00447 void WriteDatasF()
00448 {
00449     //pc.printf("airSpeed:%f\n\r",airSpeed);
00450 }
00451 
00452 //float calcKXdeg(float x){
00453 //    return -310.54*x+156.65;
00454 //}
00455 
00456 void RollAlarm()
00457 {
00458     if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
00459         RollAlarmL = 1;
00460     } else {
00461         RollAlarmL = 0;
00462     }
00463 
00464     if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
00465         RollAlarmR = 1;
00466     } else {
00467         RollAlarmR = 0;
00468     }
00469 }
00470 
00471 int main()
00472 {
00473     Thread mpu_thread(&mpuProcessing);
00474     Thread SD_thread(&SDprintf);
00475 //    Thread soudaSerial_thread(&DataReceiveFromSouda);
00476     init();
00477 //    int VCcounter = 0;
00478     while(1) {
00479 //        if(VCcounter%20 == 0 ) {
00480 //            if( VCmonitor.getVoltage(&V) == 0) {
00481 //                pc.printf("e:%f\n",V);
00482 //            }
00483 //        }
00484 //        VCcounter++;
00485 
00486 //        updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
00487         //pc.printf("test\n\r");
00488 //        mpuProcessing();
00489         sonarCalc();
00490         Thread::wait(30);
00491         RollAlarm();
00492         DataReceiveFromSouda();
00493         WriteDatas();
00494         led4 = !led4;
00495     }
00496 }