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@22:5cbebf097600, 2017-01-07 (annotated)
- Committer:
- tsumagari
- Date:
- Sat Jan 07 00:00:11 2017 +0000
- Branch:
- Thread????
- Revision:
- 22:5cbebf097600
- Parent:
- 21:8802034b7810
- Child:
- 23:e59afb2044df
SDprintf???Thread???????
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 | 15:6966299bea4c | 13 | #define SOUDA_DATAS_NUM 12 |
taurin | 5:1b3c8e5ee99e | 14 | #define WRITE_DATAS_NUM 20 |
taurin | 0:085b2c5e3254 | 15 | #define MPU_LOOP_TIME 0.01 |
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 |
taurin | 3:8dc516be2e7e | 20 | #define SD_WRITE_NUM 10 |
taurin | 4:a863a092141c | 21 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 0:085b2c5e3254 | 22 | |
tsumagari | 21:8802034b7810 | 23 | Cadence cadence(p13,p14); |
tsumagari | 15:6966299bea4c | 24 | //Ticker cadenceTicker; |
tsumagari | 15:6966299bea4c | 25 | |
tsumagari | 21:8802034b7810 | 26 | RawSerial pc(USBTX,USBRX); |
tsumagari | 21:8802034b7810 | 27 | RawSerial Android(p13,p14); |
tsumagari | 15:6966299bea4c | 28 | BufferedSoftSerial twe(p9,p10); |
tsumagari | 15:6966299bea4c | 29 | BufferedSoftSerial soudaSerial(p17,p18); |
tsumagari | 15:6966299bea4c | 30 | //Ticker writeDatasTicker; |
taurin | 3:8dc516be2e7e | 31 | Timer writeTimer; |
taurin | 0:085b2c5e3254 | 32 | |
tsumagari | 13:09e05e7cfca1 | 33 | InterruptIn FusokukeiPin(p21); |
taurin | 0:085b2c5e3254 | 34 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 35 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 36 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 37 | |
taurin | 0:085b2c5e3254 | 38 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 39 | Timer t; |
taurin | 0:085b2c5e3254 | 40 | Ticker mpu6050Ticker; |
taurin | 0:085b2c5e3254 | 41 | |
taurin | 0:085b2c5e3254 | 42 | AnalogIn kx_X(p17); |
taurin | 0:085b2c5e3254 | 43 | AnalogIn kx_Y(p16); |
taurin | 0:085b2c5e3254 | 44 | AnalogIn kx_Z(p15); |
taurin | 3:8dc516be2e7e | 45 | float KX_X,KX_Y,KX_Z; |
taurin | 0:085b2c5e3254 | 46 | |
taurin | 0:085b2c5e3254 | 47 | DigitalOut RollAlarmR(p20); |
taurin | 0:085b2c5e3254 | 48 | DigitalOut RollAlarmL(p19); |
taurin | 0:085b2c5e3254 | 49 | DigitalOut led(LED1); |
taurin | 1:5ec2409854da | 50 | DigitalOut led2(LED2); |
taurin | 0:085b2c5e3254 | 51 | |
taurin | 0:085b2c5e3254 | 52 | SDFileSystem sd(p5, p6, p7, p8, "sd"); |
taurin | 0:085b2c5e3254 | 53 | FILE* fp; |
taurin | 0:085b2c5e3254 | 54 | |
YusukeWakuta | 11:90e2b070f337 | 55 | PwmOut kisokuServo(p26); |
YusukeWakuta | 11:90e2b070f337 | 56 | PwmOut geikakuServo(p22); |
taurin | 4:a863a092141c | 57 | |
taurin | 0:085b2c5e3254 | 58 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 59 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 60 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 61 | |
tsumagari | 15:6966299bea4c | 62 | void cadenceDataReceive(); |
taurin | 0:085b2c5e3254 | 63 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 64 | void call_calcAirSpeed(); |
taurin | 0:085b2c5e3254 | 65 | void init(); |
taurin | 0:085b2c5e3254 | 66 | void FusokukeiInit(); |
taurin | 0:085b2c5e3254 | 67 | void SdInit(); |
tsumagari | 21:8802034b7810 | 68 | void SDprintf(void const *argument); |
taurin | 0:085b2c5e3254 | 69 | void DataReceiveFromSouda(); |
taurin | 0:085b2c5e3254 | 70 | void WriteDatas(); |
taurin | 0:085b2c5e3254 | 71 | float calcAttackAngle(); |
taurin | 0:085b2c5e3254 | 72 | float calcKXdeg(float x); |
taurin | 0:085b2c5e3254 | 73 | |
tsumagari | 15:6966299bea4c | 74 | void cadenceDataReceive(){ |
tsumagari | 15:6966299bea4c | 75 | // cadence.readData(); |
tsumagari | 15:6966299bea4c | 76 | } |
tsumagari | 15:6966299bea4c | 77 | |
taurin | 0:085b2c5e3254 | 78 | void air_countUp(){ |
taurin | 0:085b2c5e3254 | 79 | air_kaitensu++; |
taurin | 0:085b2c5e3254 | 80 | } |
taurin | 0:085b2c5e3254 | 81 | |
taurin | 0:085b2c5e3254 | 82 | void call_calcAirSpeed(){ |
taurin | 0:085b2c5e3254 | 83 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 84 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 85 | } |
taurin | 0:085b2c5e3254 | 86 | |
taurin | 0:085b2c5e3254 | 87 | void init(){ |
tsumagari | 15:6966299bea4c | 88 | twe.baud(19200); |
YusukeWakuta | 19:fa3f9ba17af8 | 89 | Android.baud(9600); |
tsumagari | 15:6966299bea4c | 90 | soudaSerial.baud(9600); |
taurin | 5:1b3c8e5ee99e | 91 | kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 5:1b3c8e5ee99e | 92 | geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:085b2c5e3254 | 93 | FusokukeiInit(); |
YusukeWakuta | 18:0a0c4277d960 | 94 | mpu6050.MPUInit(t); |
taurin | 8:31e07f6ed0f7 | 95 | SdInit(); |
taurin | 0:085b2c5e3254 | 96 | } |
taurin | 0:085b2c5e3254 | 97 | |
taurin | 0:085b2c5e3254 | 98 | void FusokukeiInit(){ |
taurin | 0:085b2c5e3254 | 99 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 100 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 101 | } |
taurin | 0:085b2c5e3254 | 102 | |
taurin | 4:a863a092141c | 103 | double calcPulse(int deg){ |
taurin | 4:a863a092141c | 104 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
taurin | 4:a863a092141c | 105 | } |
taurin | 4:a863a092141c | 106 | |
taurin | 0:085b2c5e3254 | 107 | void SdInit(){ |
taurin | 0:085b2c5e3254 | 108 | mkdir("/sd/mydir", 0777); |
taurin | 0:085b2c5e3254 | 109 | fp = fopen("/sd/mydir/sdtest2.csv", "w"); |
taurin | 0:085b2c5e3254 | 110 | if(fp == NULL) { |
taurin | 0:085b2c5e3254 | 111 | error("Could not open file for write\n"); |
taurin | 0:085b2c5e3254 | 112 | } |
taurin | 0:085b2c5e3254 | 113 | fprintf(fp, "Hello fun SD Card World!\n\r"); |
taurin | 0:085b2c5e3254 | 114 | fclose(fp); |
tsumagari | 22:5cbebf097600 | 115 | Thread sd_thread(&SDprintf); |
taurin | 0:085b2c5e3254 | 116 | } |
taurin | 0:085b2c5e3254 | 117 | |
taurin | 0:085b2c5e3254 | 118 | void DataReceiveFromSouda(){ |
taurin | 1:5ec2409854da | 119 | led2 = !led2; |
taurin | 1:5ec2409854da | 120 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 15:6966299bea4c | 121 | if(soudaSerial.readable()) { |
tsumagari | 15:6966299bea4c | 122 | soudaDatas[i] = (char)soudaSerial.getc(); |
tsumagari | 15:6966299bea4c | 123 | if(soudaDatas[i]==';') i=-1; |
tsumagari | 15:6966299bea4c | 124 | }else i--; |
taurin | 0:085b2c5e3254 | 125 | } |
taurin | 0:085b2c5e3254 | 126 | } |
taurin | 0:085b2c5e3254 | 127 | |
tsumagari | 21:8802034b7810 | 128 | void SDprintf(void const *argument){ |
tsumagari | 22:5cbebf097600 | 129 | while(1){ |
tsumagari | 21:8802034b7810 | 130 | if(write_datas_index == SD_WRITE_NUM-1){ |
tsumagari | 21:8802034b7810 | 131 | fp = fopen("/sd/mydir/sdtest.csv", "a"); |
tsumagari | 21:8802034b7810 | 132 | if(fp == NULL) { |
tsumagari | 21:8802034b7810 | 133 | error("Could not open file for write\n"); |
tsumagari | 21:8802034b7810 | 134 | } |
tsumagari | 21:8802034b7810 | 135 | for(int i = 0; i < SD_WRITE_NUM; i++){ |
tsumagari | 21:8802034b7810 | 136 | for(int j = 0; j < WRITE_DATAS_NUM; j++){ |
tsumagari | 21:8802034b7810 | 137 | fprintf(fp,"%f,", writeDatas[i][j]); |
tsumagari | 21:8802034b7810 | 138 | } |
tsumagari | 21:8802034b7810 | 139 | } |
tsumagari | 21:8802034b7810 | 140 | fprintf(fp,"\n\r"); |
tsumagari | 21:8802034b7810 | 141 | fclose(fp); |
tsumagari | 21:8802034b7810 | 142 | write_datas_index=0; |
taurin | 1:5ec2409854da | 143 | } |
tsumagari | 22:5cbebf097600 | 144 | Thread::wait(1); |
tsumagari | 22:5cbebf097600 | 145 | } |
taurin | 3:8dc516be2e7e | 146 | } |
taurin | 3:8dc516be2e7e | 147 | |
taurin | 3:8dc516be2e7e | 148 | void WriteDatas(){ |
taurin | 8:31e07f6ed0f7 | 149 | int i; |
taurin | 8:31e07f6ed0f7 | 150 | for(i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 151 | //writeDatas[write_datas_index][i] = 0.0; |
taurin | 8:31e07f6ed0f7 | 152 | writeDatas[write_datas_index][i] = (float)soudaDatas[i]; |
taurin | 8:31e07f6ed0f7 | 153 | } |
tsumagari | 15:6966299bea4c | 154 | // writeDatas[write_datas_index][i++] = cadence.cadence; |
taurin | 8:31e07f6ed0f7 | 155 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read()); |
taurin | 8:31e07f6ed0f7 | 156 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read()); |
taurin | 8:31e07f6ed0f7 | 157 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read()); |
taurin | 8:31e07f6ed0f7 | 158 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 8:31e07f6ed0f7 | 159 | writeDatas[write_datas_index][i++] = roll; |
taurin | 8:31e07f6ed0f7 | 160 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 8:31e07f6ed0f7 | 161 | writeDatas[write_datas_index][i++] = airSpeed; |
taurin | 8:31e07f6ed0f7 | 162 | //writeDatas[write_datas_index][i++] = writeTimer.read(); |
taurin | 9:95eb0bbdc2a9 | 163 | //for(i = 0; i < WRITE_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 164 | // pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 165 | // twe.printf("%f,", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 166 | // } |
taurin | 9:95eb0bbdc2a9 | 167 | // pc.printf("\n\r"); |
taurin | 9:95eb0bbdc2a9 | 168 | // twe.printf("\n\r"); |
taurin | 8:31e07f6ed0f7 | 169 | if(write_datas_index == SD_WRITE_NUM-1){ |
tsumagari | 21:8802034b7810 | 170 | // SDprintf(); |
taurin | 8:31e07f6ed0f7 | 171 | write_datas_index=0; |
taurin | 8:31e07f6ed0f7 | 172 | } |
taurin | 8:31e07f6ed0f7 | 173 | else{ |
taurin | 8:31e07f6ed0f7 | 174 | write_datas_index++; |
taurin | 8:31e07f6ed0f7 | 175 | } |
taurin | 9:95eb0bbdc2a9 | 176 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 177 | pc.printf("%i ",soudaDatas[i]); |
YusukeWakuta | 10:1389f938f5f7 | 178 | twe.printf("%i,",soudaDatas[i]); |
taurin | 9:95eb0bbdc2a9 | 179 | } |
tsumagari | 15:6966299bea4c | 180 | // twe.printf("%f\n\r",cadence.cadence); |
tsumagari | 15:6966299bea4c | 181 | // pc.printf("%f\n\r",cadence.cadence); |
taurin | 9:95eb0bbdc2a9 | 182 | //pc.printf("\n\r"); |
YusukeWakuta | 19:fa3f9ba17af8 | 183 | |
YusukeWakuta | 19:fa3f9ba17af8 | 184 | if(Android.writeable()){ |
YusukeWakuta | 19:fa3f9ba17af8 | 185 | Android.printf("%f,%f,%f",airSpeed,roll,0); |
YusukeWakuta | 19:fa3f9ba17af8 | 186 | } |
YusukeWakuta | 10:1389f938f5f7 | 187 | twe.printf("%f,%f,%f,",pitch,roll,yaw); |
YusukeWakuta | 10:1389f938f5f7 | 188 | twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
YusukeWakuta | 10:1389f938f5f7 | 189 | twe.printf("%f,\r\n",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 190 | pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 9:95eb0bbdc2a9 | 191 | //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
taurin | 9:95eb0bbdc2a9 | 192 | pc.printf("%f\n\r",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 193 | //SDprintf(); |
taurin | 9:95eb0bbdc2a9 | 194 | } |
taurin | 9:95eb0bbdc2a9 | 195 | |
taurin | 9:95eb0bbdc2a9 | 196 | void WriteDatasF(){ |
taurin | 9:95eb0bbdc2a9 | 197 | pc.printf("airSpeed:%f\n\r",airSpeed); |
taurin | 0:085b2c5e3254 | 198 | } |
taurin | 0:085b2c5e3254 | 199 | |
taurin | 0:085b2c5e3254 | 200 | float calcKXdeg(float x){ |
taurin | 0:085b2c5e3254 | 201 | return -310.54*x+156.65; |
taurin | 0:085b2c5e3254 | 202 | } |
taurin | 0:085b2c5e3254 | 203 | |
taurin | 0:085b2c5e3254 | 204 | float calcAttackAngle(){ |
taurin | 0:085b2c5e3254 | 205 | return pitch-calcKXdeg(kx_Z.read()); |
taurin | 0:085b2c5e3254 | 206 | } |
taurin | 0:085b2c5e3254 | 207 | |
taurin | 0:085b2c5e3254 | 208 | void RollAlarm(){ |
taurin | 0:085b2c5e3254 | 209 | if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){ |
taurin | 0:085b2c5e3254 | 210 | RollAlarmL = 1; |
taurin | 0:085b2c5e3254 | 211 | } |
taurin | 0:085b2c5e3254 | 212 | else{ |
taurin | 0:085b2c5e3254 | 213 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 214 | } |
taurin | 0:085b2c5e3254 | 215 | if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){ |
taurin | 0:085b2c5e3254 | 216 | RollAlarmR = 1; |
taurin | 0:085b2c5e3254 | 217 | } |
taurin | 0:085b2c5e3254 | 218 | else{ |
taurin | 0:085b2c5e3254 | 219 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 220 | } |
taurin | 0:085b2c5e3254 | 221 | } |
taurin | 0:085b2c5e3254 | 222 | |
taurin | 4:a863a092141c | 223 | void WriteServo(){ |
taurin | 9:95eb0bbdc2a9 | 224 | kisokuServo.pulsewidth(calcPulse(9*airSpeed)); |
taurin | 9:95eb0bbdc2a9 | 225 | if(pitch<0){ |
taurin | 9:95eb0bbdc2a9 | 226 | geikakuServo.pulsewidth(calcPulse(0)); |
taurin | 9:95eb0bbdc2a9 | 227 | } |
taurin | 9:95eb0bbdc2a9 | 228 | else{ |
taurin | 9:95eb0bbdc2a9 | 229 | geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0))); |
taurin | 9:95eb0bbdc2a9 | 230 | } |
taurin | 4:a863a092141c | 231 | } |
taurin | 4:a863a092141c | 232 | |
taurin | 0:085b2c5e3254 | 233 | int main(){ |
taurin | 0:085b2c5e3254 | 234 | init(); |
taurin | 0:085b2c5e3254 | 235 | while(1){ |
taurin | 9:95eb0bbdc2a9 | 236 | pc.printf("test\n\r"); |
YusukeWakuta | 18:0a0c4277d960 | 237 | mpu6050.mpuProcessing(t); |
taurin | 8:31e07f6ed0f7 | 238 | RollAlarm(); |
taurin | 8:31e07f6ed0f7 | 239 | DataReceiveFromSouda(); |
tsumagari | 15:6966299bea4c | 240 | // cadence.readData(); |
taurin | 3:8dc516be2e7e | 241 | WriteDatas(); |
taurin | 8:31e07f6ed0f7 | 242 | WriteServo(); |
taurin | 0:085b2c5e3254 | 243 | } |
taurin | 0:085b2c5e3254 | 244 | } |