2018年度計器mbed用プログラム
Dependencies: BufferedSoftSerial2 INA226_ver1 mbed-rtos mbed SDFileSystem-RTOS
Fork of keiki2017 by
main.cpp@43:0d7d2e703523, 2017-02-19 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Sun Feb 19 10:39:54 2017 +0000
- Branch:
- android?????
- Revision:
- 43:0d7d2e703523
- Parent:
- 26:50272431cd1e
??????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
taurin | 1:5ec2409854da | 1 | //計器プログラム |
YusukeWakuta | 18:0a0c4277d960 | 2 | |
taurin | 0:085b2c5e3254 | 3 | #include "mbed.h" |
tsumagari | 22:5cbebf097600 | 4 | #include "rtos.h" |
taurin | 0:085b2c5e3254 | 5 | #include "Fusokukei.h" |
taurin | 0:085b2c5e3254 | 6 | #include "MPU6050.h" |
taurin | 0:085b2c5e3254 | 7 | #include "SDFileSystem.h" |
tsumagari | 15:6966299bea4c | 8 | #include "BufferedSoftSerial.h" |
tsumagari | 15:6966299bea4c | 9 | #include "Cadence.h" |
taurin | 0:085b2c5e3254 | 10 | |
taurin | 0:085b2c5e3254 | 11 | #define KX_VALUE_MIN 0.4 |
taurin | 0:085b2c5e3254 | 12 | #define KX_VALUE_MAX 0.8 |
tsumagari | 26:50272431cd1e | 13 | #define SOUDA_DATAS_NUM 18 |
tsumagari | 26:50272431cd1e | 14 | #define YOKUTAN_DATAS_NUM 14 |
tsumagari | 26:50272431cd1e | 15 | #define WRITE_DATAS_NUM 18 |
taurin | 0:085b2c5e3254 | 16 | #define AIR_LOOP_TIME 0.01 |
taurin | 3:8dc516be2e7e | 17 | #define WRITE_DATAS_LOOP_TIME 1 |
taurin | 3:8dc516be2e7e | 18 | #define ROLL_R_MAX_DEG 2 |
taurin | 3:8dc516be2e7e | 19 | #define ROLL_L_MAX_DEG 2 |
tsumagari | 26:50272431cd1e | 20 | #define SD_WRITE_NUM 20 |
taurin | 4:a863a092141c | 21 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 0:085b2c5e3254 | 22 | |
tsumagari | 26:50272431cd1e | 23 | #define MPU_LOOP_TIME 0.01 |
tsumagari | 26:50272431cd1e | 24 | #define MPU_DELT_MIN 250 |
tsumagari | 26:50272431cd1e | 25 | |
tsumagari | 26:50272431cd1e | 26 | Mutex ssMutex; |
tsumagari | 26:50272431cd1e | 27 | |
tsumagari | 26:50272431cd1e | 28 | //-----------------------------------(resetInterrupt def) |
tsumagari | 26:50272431cd1e | 29 | extern "C" void mbed_reset(); |
tsumagari | 26:50272431cd1e | 30 | InterruptIn resetPin(p26); |
tsumagari | 26:50272431cd1e | 31 | Timer resetTimeCount; |
tsumagari | 26:50272431cd1e | 32 | void resetInterrupt(){ |
tsumagari | 26:50272431cd1e | 33 | while(resetPin){ |
tsumagari | 26:50272431cd1e | 34 | resetTimeCount.start(); |
tsumagari | 26:50272431cd1e | 35 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 26:50272431cd1e | 36 | } |
tsumagari | 26:50272431cd1e | 37 | resetTimeCount.reset(); |
tsumagari | 26:50272431cd1e | 38 | } |
tsumagari | 26:50272431cd1e | 39 | //------------------------------------------------------- |
tsumagari | 26:50272431cd1e | 40 | |
tsumagari | 26:50272431cd1e | 41 | |
tsumagari | 21:8802034b7810 | 42 | Cadence cadence(p13,p14); |
tsumagari | 15:6966299bea4c | 43 | |
tsumagari | 21:8802034b7810 | 44 | RawSerial pc(USBTX,USBRX); |
tsumagari | 26:50272431cd1e | 45 | //RawSerial Android(p13,p14); |
tsumagari | 26:50272431cd1e | 46 | BufferedSoftSerial twe(p11,p12); |
tsumagari | 26:50272431cd1e | 47 | RawSerial Android(p9,p10); |
tsumagari | 15:6966299bea4c | 48 | BufferedSoftSerial soudaSerial(p17,p18); |
tsumagari | 15:6966299bea4c | 49 | //Ticker writeDatasTicker; |
taurin | 3:8dc516be2e7e | 50 | Timer writeTimer; |
taurin | 0:085b2c5e3254 | 51 | |
tsumagari | 26:50272431cd1e | 52 | InterruptIn FusokukeiPin(p22); |
taurin | 0:085b2c5e3254 | 53 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 54 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 55 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 56 | |
tsumagari | 26:50272431cd1e | 57 | float sum = 0; |
tsumagari | 26:50272431cd1e | 58 | uint32_t sumCount = 0; |
taurin | 0:085b2c5e3254 | 59 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 60 | Timer t; |
YusukeWakuta | 43:0d7d2e703523 | 61 | string Command; |
tsumagari | 26:50272431cd1e | 62 | // |
tsumagari | 26:50272431cd1e | 63 | //AnalogIn kx_X(p17); |
tsumagari | 26:50272431cd1e | 64 | //AnalogIn kx_Y(p16); |
tsumagari | 26:50272431cd1e | 65 | //AnalogIn kx_Z(p15); |
tsumagari | 26:50272431cd1e | 66 | //float KX_X,KX_Y,KX_Z; |
taurin | 0:085b2c5e3254 | 67 | |
tsumagari | 26:50272431cd1e | 68 | |
tsumagari | 26:50272431cd1e | 69 | //Timer sonarTimer; |
tsumagari | 26:50272431cd1e | 70 | //InterruptIn sonarPin(p22); |
tsumagari | 26:50272431cd1e | 71 | AnalogIn sonarPin(p15); |
tsumagari | 26:50272431cd1e | 72 | //double sonarDistTime=0; |
tsumagari | 26:50272431cd1e | 73 | double sonarV = 0.0, sonarDist = 0.0; |
taurin | 0:085b2c5e3254 | 74 | |
taurin | 0:085b2c5e3254 | 75 | DigitalOut RollAlarmR(p20); |
taurin | 0:085b2c5e3254 | 76 | DigitalOut RollAlarmL(p19); |
tsumagari | 26:50272431cd1e | 77 | //DigitalOut led(LED1); |
taurin | 1:5ec2409854da | 78 | DigitalOut led2(LED2); |
tsumagari | 26:50272431cd1e | 79 | DigitalOut led3(LED3); |
tsumagari | 23:e59afb2044df | 80 | DigitalOut led4(LED4); |
taurin | 0:085b2c5e3254 | 81 | |
taurin | 0:085b2c5e3254 | 82 | SDFileSystem sd(p5, p6, p7, p8, "sd"); |
taurin | 0:085b2c5e3254 | 83 | FILE* fp; |
taurin | 0:085b2c5e3254 | 84 | |
YusukeWakuta | 11:90e2b070f337 | 85 | PwmOut kisokuServo(p26); |
YusukeWakuta | 11:90e2b070f337 | 86 | PwmOut geikakuServo(p22); |
taurin | 4:a863a092141c | 87 | |
taurin | 0:085b2c5e3254 | 88 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 89 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 90 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 91 | |
tsumagari | 15:6966299bea4c | 92 | void cadenceDataReceive(); |
taurin | 0:085b2c5e3254 | 93 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 94 | void call_calcAirSpeed(); |
taurin | 0:085b2c5e3254 | 95 | void init(); |
taurin | 0:085b2c5e3254 | 96 | void FusokukeiInit(); |
taurin | 0:085b2c5e3254 | 97 | void SdInit(); |
tsumagari | 26:50272431cd1e | 98 | void MpuInit(); |
tsumagari | 26:50272431cd1e | 99 | //void SonarInit(); |
tsumagari | 26:50272431cd1e | 100 | void mpuProcessing(); |
tsumagari | 26:50272431cd1e | 101 | void DataReceiveFromSouda(); |
tsumagari | 21:8802034b7810 | 102 | void SDprintf(void const *argument); |
taurin | 0:085b2c5e3254 | 103 | void WriteDatas(); |
tsumagari | 26:50272431cd1e | 104 | //float calcAttackAngle(); |
tsumagari | 26:50272431cd1e | 105 | //float calcKXdeg(float x); |
taurin | 0:085b2c5e3254 | 106 | |
tsumagari | 15:6966299bea4c | 107 | void cadenceDataReceive(){ |
tsumagari | 26:50272431cd1e | 108 | while(1){ |
tsumagari | 26:50272431cd1e | 109 | cadence.readData(); |
tsumagari | 26:50272431cd1e | 110 | Thread::wait(0.01); |
tsumagari | 26:50272431cd1e | 111 | } |
tsumagari | 15:6966299bea4c | 112 | } |
tsumagari | 15:6966299bea4c | 113 | |
taurin | 0:085b2c5e3254 | 114 | void air_countUp(){ |
taurin | 0:085b2c5e3254 | 115 | air_kaitensu++; |
taurin | 0:085b2c5e3254 | 116 | } |
taurin | 0:085b2c5e3254 | 117 | |
taurin | 0:085b2c5e3254 | 118 | void call_calcAirSpeed(){ |
taurin | 0:085b2c5e3254 | 119 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 120 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 121 | } |
taurin | 0:085b2c5e3254 | 122 | |
tsumagari | 26:50272431cd1e | 123 | //void sonarInterruptStart(){ |
tsumagari | 26:50272431cd1e | 124 | // sonarTimer.start(); |
tsumagari | 26:50272431cd1e | 125 | // led3 = 1; |
tsumagari | 26:50272431cd1e | 126 | //} |
tsumagari | 26:50272431cd1e | 127 | //void sonarInterruptStop(){ |
tsumagari | 26:50272431cd1e | 128 | // sonarTimer.stop(); |
tsumagari | 26:50272431cd1e | 129 | // led3 = 0; |
tsumagari | 26:50272431cd1e | 130 | // sonarDistTime = sonarTimer.read_us(); |
tsumagari | 26:50272431cd1e | 131 | // sonarTimer.reset(); |
tsumagari | 26:50272431cd1e | 132 | //} |
tsumagari | 26:50272431cd1e | 133 | |
taurin | 0:085b2c5e3254 | 134 | void init(){ |
tsumagari | 26:50272431cd1e | 135 | //--------------------------------------(resetInterrupt init) |
tsumagari | 26:50272431cd1e | 136 | resetPin.rise(resetInterrupt); |
tsumagari | 26:50272431cd1e | 137 | resetPin.mode(PullDown); |
tsumagari | 26:50272431cd1e | 138 | //----------------------------------------------------------- |
tsumagari | 26:50272431cd1e | 139 | twe.baud(115200); |
YusukeWakuta | 19:fa3f9ba17af8 | 140 | Android.baud(9600); |
tsumagari | 15:6966299bea4c | 141 | soudaSerial.baud(9600); |
taurin | 5:1b3c8e5ee99e | 142 | kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 5:1b3c8e5ee99e | 143 | geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:085b2c5e3254 | 144 | FusokukeiInit(); |
tsumagari | 26:50272431cd1e | 145 | // MpuInit(); //mpuProcessing内で |
tsumagari | 26:50272431cd1e | 146 | // SonarInit(); |
tsumagari | 26:50272431cd1e | 147 | // SdInit();//SDprintf 内で |
taurin | 0:085b2c5e3254 | 148 | } |
taurin | 0:085b2c5e3254 | 149 | |
taurin | 0:085b2c5e3254 | 150 | void FusokukeiInit(){ |
taurin | 0:085b2c5e3254 | 151 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 152 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 153 | } |
taurin | 0:085b2c5e3254 | 154 | |
taurin | 4:a863a092141c | 155 | double calcPulse(int deg){ |
taurin | 4:a863a092141c | 156 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
taurin | 4:a863a092141c | 157 | } |
taurin | 4:a863a092141c | 158 | |
taurin | 0:085b2c5e3254 | 159 | void SdInit(){ |
taurin | 0:085b2c5e3254 | 160 | mkdir("/sd/mydir", 0777); |
taurin | 0:085b2c5e3254 | 161 | fp = fopen("/sd/mydir/sdtest2.csv", "w"); |
taurin | 0:085b2c5e3254 | 162 | if(fp == NULL) { |
taurin | 0:085b2c5e3254 | 163 | error("Could not open file for write\n"); |
taurin | 0:085b2c5e3254 | 164 | } |
taurin | 0:085b2c5e3254 | 165 | fprintf(fp, "Hello fun SD Card World!\n\r"); |
taurin | 0:085b2c5e3254 | 166 | fclose(fp); |
tsumagari | 23:e59afb2044df | 167 | // Thread sd_thread(&SDprintf); |
taurin | 0:085b2c5e3254 | 168 | } |
tsumagari | 26:50272431cd1e | 169 | void MpuInit(){ |
tsumagari | 26:50272431cd1e | 170 | i2c.frequency(400000); // use fast (400 kHz) I2C |
tsumagari | 26:50272431cd1e | 171 | t.start(); |
tsumagari | 26:50272431cd1e | 172 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
tsumagari | 26:50272431cd1e | 173 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
tsumagari | 26:50272431cd1e | 174 | Thread::wait(1); |
tsumagari | 26:50272431cd1e | 175 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
tsumagari | 26:50272431cd1e | 176 | Thread::wait(1); |
tsumagari | 26:50272431cd1e | 177 | 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) { |
tsumagari | 26:50272431cd1e | 178 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
tsumagari | 26:50272431cd1e | 179 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
tsumagari | 26:50272431cd1e | 180 | mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
tsumagari | 26:50272431cd1e | 181 | Thread::wait(2); |
tsumagari | 26:50272431cd1e | 182 | } else { |
tsumagari | 26:50272431cd1e | 183 | } |
tsumagari | 26:50272431cd1e | 184 | } else { |
tsumagari | 26:50272431cd1e | 185 | pc.printf("MPU6050 not ready...\n\r"); |
tsumagari | 26:50272431cd1e | 186 | //pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
tsumagari | 26:50272431cd1e | 187 | } |
tsumagari | 26:50272431cd1e | 188 | } |
taurin | 0:085b2c5e3254 | 189 | |
tsumagari | 26:50272431cd1e | 190 | //void SonarInit(){ |
tsumagari | 26:50272431cd1e | 191 | // sonarPin.rise(&sonarInterruptStart); |
tsumagari | 26:50272431cd1e | 192 | // sonarPin.fall(&sonarInterruptStop); |
tsumagari | 26:50272431cd1e | 193 | //} |
tsumagari | 26:50272431cd1e | 194 | void sonarCalc(void const *argument){ |
tsumagari | 26:50272431cd1e | 195 | // return sonarDistTime*0.018624 - 13.511; |
tsumagari | 26:50272431cd1e | 196 | while(1){ |
tsumagari | 26:50272431cd1e | 197 | sonarV = 0; |
tsumagari | 26:50272431cd1e | 198 | for(int i =0; i<20; i++){ |
tsumagari | 26:50272431cd1e | 199 | sonarV += sonarPin.read(); |
tsumagari | 26:50272431cd1e | 200 | Thread::wait(0.01); |
tsumagari | 26:50272431cd1e | 201 | } |
tsumagari | 26:50272431cd1e | 202 | sonarDist = (sonarV/20)*2062.5; |
tsumagari | 26:50272431cd1e | 203 | Thread::wait(0.01); |
tsumagari | 26:50272431cd1e | 204 | } |
tsumagari | 26:50272431cd1e | 205 | } |
tsumagari | 26:50272431cd1e | 206 | |
tsumagari | 26:50272431cd1e | 207 | void mpuProcessing(void const *argument){ |
tsumagari | 26:50272431cd1e | 208 | MpuInit(); |
tsumagari | 26:50272431cd1e | 209 | while(1){ |
tsumagari | 26:50272431cd1e | 210 | Thread::wait(0.1); |
tsumagari | 26:50272431cd1e | 211 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
tsumagari | 26:50272431cd1e | 212 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
tsumagari | 26:50272431cd1e | 213 | mpu6050.getAres(); |
tsumagari | 26:50272431cd1e | 214 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
tsumagari | 26:50272431cd1e | 215 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
tsumagari | 26:50272431cd1e | 216 | az = (float)accelCount[2]*aRes - accelBias[2]; |
tsumagari | 26:50272431cd1e | 217 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
tsumagari | 26:50272431cd1e | 218 | mpu6050.getGres(); |
tsumagari | 26:50272431cd1e | 219 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
tsumagari | 26:50272431cd1e | 220 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
tsumagari | 26:50272431cd1e | 221 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
tsumagari | 26:50272431cd1e | 222 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
tsumagari | 26:50272431cd1e | 223 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
tsumagari | 26:50272431cd1e | 224 | } |
tsumagari | 26:50272431cd1e | 225 | Now = t.read_us(); |
tsumagari | 26:50272431cd1e | 226 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
tsumagari | 26:50272431cd1e | 227 | lastUpdate = Now; |
tsumagari | 26:50272431cd1e | 228 | sum += deltat; |
tsumagari | 26:50272431cd1e | 229 | sumCount++; |
tsumagari | 26:50272431cd1e | 230 | if(lastUpdate - firstUpdate > 10000000.0f) { |
tsumagari | 26:50272431cd1e | 231 | beta = 0.04; // decrease filter gain after stabilized |
tsumagari | 26:50272431cd1e | 232 | zeta = 0.015; // increasey bias drift gain after stabilized |
tsumagari | 26:50272431cd1e | 233 | } |
tsumagari | 26:50272431cd1e | 234 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
tsumagari | 26:50272431cd1e | 235 | delt_t = t.read_ms() - count; |
tsumagari | 26:50272431cd1e | 236 | if (delt_t > MPU_DELT_MIN) { |
tsumagari | 26:50272431cd1e | 237 | 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]); |
tsumagari | 26:50272431cd1e | 238 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
tsumagari | 26:50272431cd1e | 239 | 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]); |
tsumagari | 26:50272431cd1e | 240 | pitch *= 180.0f / PI; |
tsumagari | 26:50272431cd1e | 241 | yaw *= 180.0f / PI; |
tsumagari | 26:50272431cd1e | 242 | roll *= 180.0f / PI; |
tsumagari | 26:50272431cd1e | 243 | myled= !myled; |
tsumagari | 26:50272431cd1e | 244 | count = t.read_ms(); |
tsumagari | 26:50272431cd1e | 245 | sum = 0; |
tsumagari | 26:50272431cd1e | 246 | sumCount = 0; |
tsumagari | 26:50272431cd1e | 247 | } |
tsumagari | 26:50272431cd1e | 248 | } |
tsumagari | 26:50272431cd1e | 249 | } |
tsumagari | 26:50272431cd1e | 250 | |
tsumagari | 26:50272431cd1e | 251 | void DataReceiveFromSouda(void const *argument){ |
tsumagari | 26:50272431cd1e | 252 | while(1){ |
tsumagari | 26:50272431cd1e | 253 | led2 = !led2; |
tsumagari | 26:50272431cd1e | 254 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 26:50272431cd1e | 255 | if(soudaSerial.readable()) { |
tsumagari | 26:50272431cd1e | 256 | // ssMutex.lock(); |
tsumagari | 26:50272431cd1e | 257 | soudaDatas[i] = (char)soudaSerial.getc(); |
tsumagari | 26:50272431cd1e | 258 | // ssMutex.unlock(); |
tsumagari | 26:50272431cd1e | 259 | if(soudaDatas[i]==';') i=-1; |
tsumagari | 26:50272431cd1e | 260 | }else i--; |
tsumagari | 26:50272431cd1e | 261 | } |
taurin | 0:085b2c5e3254 | 262 | } |
taurin | 0:085b2c5e3254 | 263 | } |
taurin | 0:085b2c5e3254 | 264 | |
tsumagari | 21:8802034b7810 | 265 | void SDprintf(void const *argument){ |
tsumagari | 23:e59afb2044df | 266 | SdInit(); |
tsumagari | 22:5cbebf097600 | 267 | while(1){ |
tsumagari | 23:e59afb2044df | 268 | if(write_datas_index == SD_WRITE_NUM-1){ |
tsumagari | 26:50272431cd1e | 269 | // led4 = !led4; |
tsumagari | 23:e59afb2044df | 270 | fp = fopen("/sd/mydir/sdtest.csv", "a"); |
tsumagari | 23:e59afb2044df | 271 | if(fp == NULL) { |
tsumagari | 23:e59afb2044df | 272 | error("Could not open file for write\n"); |
tsumagari | 23:e59afb2044df | 273 | } |
tsumagari | 23:e59afb2044df | 274 | for(int i = 0; i < SD_WRITE_NUM; i++){ |
tsumagari | 23:e59afb2044df | 275 | for(int j = 0; j < WRITE_DATAS_NUM; j++){ |
tsumagari | 23:e59afb2044df | 276 | fprintf(fp,"%f,", writeDatas[i][j]); |
tsumagari | 23:e59afb2044df | 277 | } |
tsumagari | 23:e59afb2044df | 278 | } |
tsumagari | 23:e59afb2044df | 279 | fprintf(fp,"\n\r"); |
tsumagari | 23:e59afb2044df | 280 | fclose(fp); |
tsumagari | 23:e59afb2044df | 281 | write_datas_index=0; |
tsumagari | 21:8802034b7810 | 282 | } |
tsumagari | 26:50272431cd1e | 283 | Thread::wait(0.01); |
tsumagari | 22:5cbebf097600 | 284 | } |
taurin | 3:8dc516be2e7e | 285 | } |
taurin | 3:8dc516be2e7e | 286 | |
taurin | 3:8dc516be2e7e | 287 | void WriteDatas(){ |
taurin | 8:31e07f6ed0f7 | 288 | int i; |
tsumagari | 26:50272431cd1e | 289 | for(i = 0; i < 6; i++){ //翼端のmpu |
tsumagari | 26:50272431cd1e | 290 | if(!(i%2)){ |
tsumagari | 26:50272431cd1e | 291 | writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2]<<8) + soudaDatas[(i+1)*2] ); |
tsumagari | 26:50272431cd1e | 292 | }else{ |
tsumagari | 26:50272431cd1e | 293 | writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2-1]<<8) + soudaDatas[i*2+1] ); |
tsumagari | 26:50272431cd1e | 294 | } |
tsumagari | 26:50272431cd1e | 295 | // writeDatas[write_datas_index][i] = i; |
taurin | 8:31e07f6ed0f7 | 296 | } |
tsumagari | 26:50272431cd1e | 297 | for(i = 6; i < 12; i++){//翼端のV,操舵 |
tsumagari | 26:50272431cd1e | 298 | //writeDatas[write_datas_index][i] = 0.0; |
tsumagari | 26:50272431cd1e | 299 | writeDatas[write_datas_index][i] = (float)soudaDatas[i+6]; |
tsumagari | 26:50272431cd1e | 300 | } |
tsumagari | 26:50272431cd1e | 301 | writeDatas[write_datas_index][i++] = cadence.cadence; |
tsumagari | 26:50272431cd1e | 302 | writeDatas[write_datas_index][i++] = sonarDist; |
taurin | 8:31e07f6ed0f7 | 303 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 8:31e07f6ed0f7 | 304 | writeDatas[write_datas_index][i++] = roll; |
taurin | 8:31e07f6ed0f7 | 305 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 8:31e07f6ed0f7 | 306 | writeDatas[write_datas_index][i++] = airSpeed; |
taurin | 8:31e07f6ed0f7 | 307 | //writeDatas[write_datas_index][i++] = writeTimer.read(); |
tsumagari | 26:50272431cd1e | 308 | for(i = 0; i < WRITE_DATAS_NUM; i++){ |
tsumagari | 26:50272431cd1e | 309 | pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 310 | // twe.printf("%f,", writeDatas[write_datas_index][i]); |
tsumagari | 26:50272431cd1e | 311 | } |
tsumagari | 26:50272431cd1e | 312 | pc.printf("\n\r"); |
taurin | 9:95eb0bbdc2a9 | 313 | // twe.printf("\n\r"); |
tsumagari | 23:e59afb2044df | 314 | if(write_datas_index < SD_WRITE_NUM-1){ |
taurin | 8:31e07f6ed0f7 | 315 | write_datas_index++; |
taurin | 8:31e07f6ed0f7 | 316 | } |
taurin | 9:95eb0bbdc2a9 | 317 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 26:50272431cd1e | 318 | // pc.printf("%i ",soudaDatas[i]); |
tsumagari | 26:50272431cd1e | 319 | ssMutex.lock(); |
YusukeWakuta | 10:1389f938f5f7 | 320 | twe.printf("%i,",soudaDatas[i]); |
tsumagari | 26:50272431cd1e | 321 | ssMutex.unlock(); |
taurin | 9:95eb0bbdc2a9 | 322 | } |
tsumagari | 15:6966299bea4c | 323 | // twe.printf("%f\n\r",cadence.cadence); |
tsumagari | 15:6966299bea4c | 324 | // pc.printf("%f\n\r",cadence.cadence); |
taurin | 9:95eb0bbdc2a9 | 325 | //pc.printf("\n\r"); |
YusukeWakuta | 19:fa3f9ba17af8 | 326 | |
YusukeWakuta | 19:fa3f9ba17af8 | 327 | if(Android.writeable()){ |
YusukeWakuta | 43:0d7d2e703523 | 328 | Android.printf("%2.2f,%4.4f,%3.1f,%s,\n",airSpeed,roll,cadence.cadence,Command); |
YusukeWakuta | 19:fa3f9ba17af8 | 329 | } |
tsumagari | 26:50272431cd1e | 330 | ssMutex.lock(); |
YusukeWakuta | 10:1389f938f5f7 | 331 | twe.printf("%f,%f,%f,",pitch,roll,yaw); |
tsumagari | 26:50272431cd1e | 332 | // twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
YusukeWakuta | 10:1389f938f5f7 | 333 | twe.printf("%f,\r\n",airSpeed); |
tsumagari | 26:50272431cd1e | 334 | ssMutex.unlock(); |
tsumagari | 26:50272431cd1e | 335 | // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 9:95eb0bbdc2a9 | 336 | //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
tsumagari | 26:50272431cd1e | 337 | // pc.printf("%f\n\r",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 338 | //SDprintf(); |
tsumagari | 23:e59afb2044df | 339 | pc.printf("%d\n\r",write_datas_index); |
taurin | 9:95eb0bbdc2a9 | 340 | } |
taurin | 9:95eb0bbdc2a9 | 341 | |
taurin | 9:95eb0bbdc2a9 | 342 | void WriteDatasF(){ |
taurin | 9:95eb0bbdc2a9 | 343 | pc.printf("airSpeed:%f\n\r",airSpeed); |
taurin | 0:085b2c5e3254 | 344 | } |
tsumagari | 26:50272431cd1e | 345 | // |
tsumagari | 26:50272431cd1e | 346 | //float calcKXdeg(float x){ |
tsumagari | 26:50272431cd1e | 347 | // return -310.54*x+156.65; |
tsumagari | 26:50272431cd1e | 348 | //} |
taurin | 0:085b2c5e3254 | 349 | |
tsumagari | 26:50272431cd1e | 350 | //float calcAttackAngle(){ |
tsumagari | 26:50272431cd1e | 351 | // return pitch-calcKXdeg(kx_Z.read()); |
tsumagari | 26:50272431cd1e | 352 | //} |
taurin | 0:085b2c5e3254 | 353 | |
taurin | 0:085b2c5e3254 | 354 | void RollAlarm(){ |
taurin | 0:085b2c5e3254 | 355 | if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){ |
taurin | 0:085b2c5e3254 | 356 | RollAlarmL = 1; |
taurin | 0:085b2c5e3254 | 357 | } |
taurin | 0:085b2c5e3254 | 358 | else{ |
taurin | 0:085b2c5e3254 | 359 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 360 | } |
taurin | 0:085b2c5e3254 | 361 | if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){ |
taurin | 0:085b2c5e3254 | 362 | RollAlarmR = 1; |
taurin | 0:085b2c5e3254 | 363 | } |
taurin | 0:085b2c5e3254 | 364 | else{ |
taurin | 0:085b2c5e3254 | 365 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 366 | } |
taurin | 0:085b2c5e3254 | 367 | } |
taurin | 0:085b2c5e3254 | 368 | |
taurin | 0:085b2c5e3254 | 369 | int main(){ |
tsumagari | 23:e59afb2044df | 370 | Thread sd_thread(&SDprintf);//必ずmain内で |
tsumagari | 26:50272431cd1e | 371 | Thread sonar_thread(&sonarCalc); |
tsumagari | 26:50272431cd1e | 372 | Thread mpu_thread(&mpuProcessing); |
tsumagari | 26:50272431cd1e | 373 | Thread soudaSerial_thread(&DataReceiveFromSouda); |
tsumagari | 26:50272431cd1e | 374 | Thread cadence_thread(&cadenceDataReceive); |
taurin | 0:085b2c5e3254 | 375 | init(); |
taurin | 0:085b2c5e3254 | 376 | while(1){ |
taurin | 9:95eb0bbdc2a9 | 377 | pc.printf("test\n\r"); |
tsumagari | 26:50272431cd1e | 378 | // mpuProcessing(); |
taurin | 8:31e07f6ed0f7 | 379 | RollAlarm(); |
tsumagari | 26:50272431cd1e | 380 | // DataReceiveFromSouda(); |
tsumagari | 15:6966299bea4c | 381 | // cadence.readData(); |
taurin | 3:8dc516be2e7e | 382 | WriteDatas(); |
taurin | 0:085b2c5e3254 | 383 | } |
taurin | 0:085b2c5e3254 | 384 | } |