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@15:6966299bea4c, 2016-11-26 (annotated)
- Committer:
- tsumagari
- Date:
- Sat Nov 26 01:12:10 2016 +0000
- Branch:
- fusokukei
- Revision:
- 15:6966299bea4c
- Parent:
- 13:09e05e7cfca1
- Child:
- 16:22aae833bdae
- Child:
- 19:fa3f9ba17af8
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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 |
taurin | 0:085b2c5e3254 | 2 | #include "mbed.h" |
taurin | 0:085b2c5e3254 | 3 | #include "Fusokukei.h" |
taurin | 0:085b2c5e3254 | 4 | #include "MPU6050.h" |
taurin | 0:085b2c5e3254 | 5 | #include "SDFileSystem.h" |
tsumagari | 15:6966299bea4c | 6 | #include "BufferedSoftSerial.h" |
tsumagari | 15:6966299bea4c | 7 | #include "Cadence.h" |
taurin | 0:085b2c5e3254 | 8 | |
taurin | 0:085b2c5e3254 | 9 | #define KX_VALUE_MIN 0.4 |
taurin | 0:085b2c5e3254 | 10 | #define KX_VALUE_MAX 0.8 |
tsumagari | 15:6966299bea4c | 11 | #define SOUDA_DATAS_NUM 12 |
taurin | 5:1b3c8e5ee99e | 12 | #define WRITE_DATAS_NUM 20 |
taurin | 0:085b2c5e3254 | 13 | #define MPU_LOOP_TIME 0.01 |
taurin | 0:085b2c5e3254 | 14 | #define AIR_LOOP_TIME 0.01 |
taurin | 3:8dc516be2e7e | 15 | #define WRITE_DATAS_LOOP_TIME 1 |
taurin | 3:8dc516be2e7e | 16 | #define ROLL_R_MAX_DEG 2 |
taurin | 3:8dc516be2e7e | 17 | #define ROLL_L_MAX_DEG 2 |
taurin | 9:95eb0bbdc2a9 | 18 | #define MPU_DELT_MIN 250 |
taurin | 3:8dc516be2e7e | 19 | #define SD_WRITE_NUM 10 |
taurin | 4:a863a092141c | 20 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 0:085b2c5e3254 | 21 | |
tsumagari | 15:6966299bea4c | 22 | //Cadence cadence(p13,p14); |
tsumagari | 15:6966299bea4c | 23 | //Ticker cadenceTicker; |
tsumagari | 15:6966299bea4c | 24 | |
taurin | 0:085b2c5e3254 | 25 | Serial pc(USBTX,USBRX); |
tsumagari | 15:6966299bea4c | 26 | BufferedSoftSerial twe(p9,p10); |
tsumagari | 15:6966299bea4c | 27 | //Serial soudaSerial(p13,p14); |
tsumagari | 15:6966299bea4c | 28 | BufferedSoftSerial soudaSerial(p17,p18); |
tsumagari | 15:6966299bea4c | 29 | //Ticker writeDatasTicker; |
taurin | 3:8dc516be2e7e | 30 | Timer writeTimer; |
taurin | 0:085b2c5e3254 | 31 | |
tsumagari | 13:09e05e7cfca1 | 32 | InterruptIn FusokukeiPin(p21); |
taurin | 0:085b2c5e3254 | 33 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 34 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 35 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 36 | |
taurin | 0:085b2c5e3254 | 37 | float sum = 0; |
taurin | 0:085b2c5e3254 | 38 | uint32_t sumCount = 0; |
taurin | 0:085b2c5e3254 | 39 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 40 | Timer t; |
taurin | 0:085b2c5e3254 | 41 | Ticker mpu6050Ticker; |
taurin | 0:085b2c5e3254 | 42 | |
taurin | 0:085b2c5e3254 | 43 | AnalogIn kx_X(p17); |
taurin | 0:085b2c5e3254 | 44 | AnalogIn kx_Y(p16); |
taurin | 0:085b2c5e3254 | 45 | AnalogIn kx_Z(p15); |
taurin | 3:8dc516be2e7e | 46 | float KX_X,KX_Y,KX_Z; |
taurin | 0:085b2c5e3254 | 47 | |
taurin | 0:085b2c5e3254 | 48 | DigitalOut RollAlarmR(p20); |
taurin | 0:085b2c5e3254 | 49 | DigitalOut RollAlarmL(p19); |
taurin | 0:085b2c5e3254 | 50 | DigitalOut led(LED1); |
taurin | 1:5ec2409854da | 51 | DigitalOut led2(LED2); |
taurin | 0:085b2c5e3254 | 52 | |
taurin | 0:085b2c5e3254 | 53 | SDFileSystem sd(p5, p6, p7, p8, "sd"); |
taurin | 0:085b2c5e3254 | 54 | FILE* fp; |
taurin | 0:085b2c5e3254 | 55 | |
tsumagari | 15:6966299bea4c | 56 | PwmOut kisokuServo(p26); |
tsumagari | 15:6966299bea4c | 57 | PwmOut geikakuServo(p22); |
taurin | 4:a863a092141c | 58 | |
taurin | 0:085b2c5e3254 | 59 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 60 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 61 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 62 | |
tsumagari | 15:6966299bea4c | 63 | void cadenceDataReceive(); |
taurin | 0:085b2c5e3254 | 64 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 65 | void call_calcAirSpeed(); |
taurin | 0:085b2c5e3254 | 66 | void init(); |
taurin | 0:085b2c5e3254 | 67 | void FusokukeiInit(); |
taurin | 0:085b2c5e3254 | 68 | void MpuInit(); |
taurin | 0:085b2c5e3254 | 69 | void mpuProcessing(); |
tsumagari | 15:6966299bea4c | 70 | //void cadenceRead(); |
tsumagari | 15:6966299bea4c | 71 | //void cadenceInit(); |
taurin | 0:085b2c5e3254 | 72 | void SdInit(); |
taurin | 0:085b2c5e3254 | 73 | void DataReceiveFromSouda(); |
taurin | 0:085b2c5e3254 | 74 | void WriteDatas(); |
taurin | 0:085b2c5e3254 | 75 | float calcAttackAngle(); |
taurin | 0:085b2c5e3254 | 76 | float calcKXdeg(float x); |
taurin | 0:085b2c5e3254 | 77 | |
tsumagari | 15:6966299bea4c | 78 | void cadenceDataReceive(){ |
tsumagari | 15:6966299bea4c | 79 | // cadence.readData(); |
tsumagari | 15:6966299bea4c | 80 | } |
tsumagari | 15:6966299bea4c | 81 | |
taurin | 0:085b2c5e3254 | 82 | void air_countUp(){ |
taurin | 0:085b2c5e3254 | 83 | air_kaitensu++; |
taurin | 0:085b2c5e3254 | 84 | } |
taurin | 0:085b2c5e3254 | 85 | |
taurin | 0:085b2c5e3254 | 86 | void call_calcAirSpeed(){ |
taurin | 0:085b2c5e3254 | 87 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 88 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 89 | } |
taurin | 0:085b2c5e3254 | 90 | |
taurin | 0:085b2c5e3254 | 91 | void init(){ |
tsumagari | 15:6966299bea4c | 92 | twe.baud(19200); |
tsumagari | 15:6966299bea4c | 93 | soudaSerial.baud(9600); |
tsumagari | 15:6966299bea4c | 94 | // cadenceTicker.attach(&cadenceDataReceive,0.1); |
taurin | 6:98a63127aa11 | 95 | //writeTimer.start(); |
taurin | 5:1b3c8e5ee99e | 96 | kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 5:1b3c8e5ee99e | 97 | geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:085b2c5e3254 | 98 | FusokukeiInit(); |
taurin | 8:31e07f6ed0f7 | 99 | MpuInit(); |
taurin | 8:31e07f6ed0f7 | 100 | SdInit(); |
taurin | 3:8dc516be2e7e | 101 | //writeDatasTicker.attach(&WriteDatas,1); |
tsumagari | 15:6966299bea4c | 102 | // soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq); |
taurin | 0:085b2c5e3254 | 103 | } |
taurin | 0:085b2c5e3254 | 104 | |
taurin | 0:085b2c5e3254 | 105 | void FusokukeiInit(){ |
taurin | 0:085b2c5e3254 | 106 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 107 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 108 | } |
taurin | 0:085b2c5e3254 | 109 | |
taurin | 0:085b2c5e3254 | 110 | void MpuInit(){ |
taurin | 0:085b2c5e3254 | 111 | i2c.frequency(400000); // use fast (400 kHz) I2C |
taurin | 0:085b2c5e3254 | 112 | t.start(); |
taurin | 0:085b2c5e3254 | 113 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
taurin | 0:085b2c5e3254 | 114 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
taurin | 0:085b2c5e3254 | 115 | wait(1); |
taurin | 0:085b2c5e3254 | 116 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
taurin | 0:085b2c5e3254 | 117 | wait(1); |
taurin | 0:085b2c5e3254 | 118 | 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) { |
taurin | 0:085b2c5e3254 | 119 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
taurin | 0:085b2c5e3254 | 120 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
taurin | 0:085b2c5e3254 | 121 | mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
taurin | 0:085b2c5e3254 | 122 | wait(2); |
taurin | 0:085b2c5e3254 | 123 | } else { |
taurin | 0:085b2c5e3254 | 124 | } |
taurin | 0:085b2c5e3254 | 125 | } else { |
taurin | 5:1b3c8e5ee99e | 126 | //pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
taurin | 0:085b2c5e3254 | 127 | } |
taurin | 0:085b2c5e3254 | 128 | } |
taurin | 0:085b2c5e3254 | 129 | |
taurin | 4:a863a092141c | 130 | double calcPulse(int deg){ |
taurin | 4:a863a092141c | 131 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
taurin | 4:a863a092141c | 132 | |
taurin | 4:a863a092141c | 133 | } |
taurin | 4:a863a092141c | 134 | |
taurin | 0:085b2c5e3254 | 135 | void mpuProcessing(){ |
taurin | 0:085b2c5e3254 | 136 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
taurin | 3:8dc516be2e7e | 137 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 138 | mpu6050.getAres(); |
taurin | 3:8dc516be2e7e | 139 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
taurin | 3:8dc516be2e7e | 140 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
taurin | 3:8dc516be2e7e | 141 | az = (float)accelCount[2]*aRes - accelBias[2]; |
taurin | 3:8dc516be2e7e | 142 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 143 | mpu6050.getGres(); |
taurin | 3:8dc516be2e7e | 144 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
taurin | 3:8dc516be2e7e | 145 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
taurin | 3:8dc516be2e7e | 146 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
taurin | 3:8dc516be2e7e | 147 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 148 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
taurin | 3:8dc516be2e7e | 149 | } |
taurin | 3:8dc516be2e7e | 150 | Now = t.read_us(); |
taurin | 3:8dc516be2e7e | 151 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
taurin | 3:8dc516be2e7e | 152 | lastUpdate = Now; |
taurin | 3:8dc516be2e7e | 153 | sum += deltat; |
taurin | 3:8dc516be2e7e | 154 | sumCount++; |
taurin | 3:8dc516be2e7e | 155 | if(lastUpdate - firstUpdate > 10000000.0f) { |
taurin | 3:8dc516be2e7e | 156 | beta = 0.04; // decrease filter gain after stabilized |
taurin | 3:8dc516be2e7e | 157 | zeta = 0.015; // increasey bias drift gain after stabilized |
taurin | 3:8dc516be2e7e | 158 | } |
taurin | 3:8dc516be2e7e | 159 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
taurin | 3:8dc516be2e7e | 160 | delt_t = t.read_ms() - count; |
taurin | 3:8dc516be2e7e | 161 | if (delt_t > MPU_DELT_MIN) { |
taurin | 3:8dc516be2e7e | 162 | 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]); |
taurin | 3:8dc516be2e7e | 163 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
taurin | 3:8dc516be2e7e | 164 | 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]); |
taurin | 3:8dc516be2e7e | 165 | pitch *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 166 | yaw *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 167 | roll *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 168 | myled= !myled; |
taurin | 3:8dc516be2e7e | 169 | count = t.read_ms(); |
taurin | 3:8dc516be2e7e | 170 | sum = 0; |
taurin | 3:8dc516be2e7e | 171 | sumCount = 0; |
taurin | 0:085b2c5e3254 | 172 | } |
taurin | 0:085b2c5e3254 | 173 | } |
taurin | 0:085b2c5e3254 | 174 | |
tsumagari | 15:6966299bea4c | 175 | |
taurin | 0:085b2c5e3254 | 176 | void SdInit(){ |
taurin | 0:085b2c5e3254 | 177 | mkdir("/sd/mydir", 0777); |
taurin | 0:085b2c5e3254 | 178 | fp = fopen("/sd/mydir/sdtest2.csv", "w"); |
taurin | 0:085b2c5e3254 | 179 | if(fp == NULL) { |
taurin | 0:085b2c5e3254 | 180 | error("Could not open file for write\n"); |
taurin | 0:085b2c5e3254 | 181 | } |
taurin | 0:085b2c5e3254 | 182 | fprintf(fp, "Hello fun SD Card World!\n\r"); |
taurin | 0:085b2c5e3254 | 183 | fclose(fp); |
taurin | 0:085b2c5e3254 | 184 | } |
taurin | 0:085b2c5e3254 | 185 | |
taurin | 0:085b2c5e3254 | 186 | void DataReceiveFromSouda(){ |
taurin | 1:5ec2409854da | 187 | led2 = !led2; |
taurin | 5:1b3c8e5ee99e | 188 | //pc.printf("received\n\r"); |
tsumagari | 15:6966299bea4c | 189 | // bool kaigyo=0; |
taurin | 1:5ec2409854da | 190 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 15:6966299bea4c | 191 | if(soudaSerial.readable()) { |
tsumagari | 15:6966299bea4c | 192 | soudaDatas[i] = (char)soudaSerial.getc(); |
tsumagari | 15:6966299bea4c | 193 | if(soudaDatas[i]==';') i=-1; |
tsumagari | 15:6966299bea4c | 194 | // else pc.printf("%5d:%3d",i,soudaDatas[i]); |
tsumagari | 15:6966299bea4c | 195 | // kaigyo =1; |
tsumagari | 15:6966299bea4c | 196 | }else i--; |
taurin | 0:085b2c5e3254 | 197 | } |
tsumagari | 15:6966299bea4c | 198 | // if(kaigyo) pc.printf("\n\r"); |
taurin | 0:085b2c5e3254 | 199 | } |
taurin | 0:085b2c5e3254 | 200 | |
taurin | 3:8dc516be2e7e | 201 | void SDprintf(){ |
taurin | 1:5ec2409854da | 202 | fp = fopen("/sd/mydir/sdtest.csv", "a"); |
taurin | 1:5ec2409854da | 203 | if(fp == NULL) { |
taurin | 1:5ec2409854da | 204 | error("Could not open file for write\n"); |
taurin | 1:5ec2409854da | 205 | } |
taurin | 3:8dc516be2e7e | 206 | for(int i = 0; i < SD_WRITE_NUM; i++){ |
taurin | 3:8dc516be2e7e | 207 | for(int j = 0; j < WRITE_DATAS_NUM; j++){ |
taurin | 5:1b3c8e5ee99e | 208 | fprintf(fp,"%f,", writeDatas[i][j]); |
taurin | 3:8dc516be2e7e | 209 | } |
taurin | 3:8dc516be2e7e | 210 | } |
taurin | 5:1b3c8e5ee99e | 211 | fprintf(fp,"\n\r"); |
taurin | 3:8dc516be2e7e | 212 | fclose(fp); |
taurin | 3:8dc516be2e7e | 213 | } |
taurin | 3:8dc516be2e7e | 214 | |
taurin | 3:8dc516be2e7e | 215 | void WriteDatas(){ |
taurin | 8:31e07f6ed0f7 | 216 | int i; |
taurin | 8:31e07f6ed0f7 | 217 | for(i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 218 | //writeDatas[write_datas_index][i] = 0.0; |
taurin | 8:31e07f6ed0f7 | 219 | writeDatas[write_datas_index][i] = (float)soudaDatas[i]; |
taurin | 8:31e07f6ed0f7 | 220 | } |
tsumagari | 15:6966299bea4c | 221 | // writeDatas[write_datas_index][i++] = cadence.cadence; |
taurin | 8:31e07f6ed0f7 | 222 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read()); |
taurin | 8:31e07f6ed0f7 | 223 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read()); |
taurin | 8:31e07f6ed0f7 | 224 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read()); |
taurin | 8:31e07f6ed0f7 | 225 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 8:31e07f6ed0f7 | 226 | writeDatas[write_datas_index][i++] = roll; |
taurin | 8:31e07f6ed0f7 | 227 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 8:31e07f6ed0f7 | 228 | writeDatas[write_datas_index][i++] = airSpeed; |
taurin | 8:31e07f6ed0f7 | 229 | //writeDatas[write_datas_index][i++] = writeTimer.read(); |
taurin | 9:95eb0bbdc2a9 | 230 | //for(i = 0; i < WRITE_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 231 | // pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 232 | // twe.printf("%f,", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 233 | // } |
taurin | 9:95eb0bbdc2a9 | 234 | // pc.printf("\n\r"); |
taurin | 9:95eb0bbdc2a9 | 235 | // twe.printf("\n\r"); |
taurin | 8:31e07f6ed0f7 | 236 | if(write_datas_index == SD_WRITE_NUM-1){ |
taurin | 8:31e07f6ed0f7 | 237 | SDprintf(); |
taurin | 8:31e07f6ed0f7 | 238 | write_datas_index=0; |
taurin | 8:31e07f6ed0f7 | 239 | } |
taurin | 8:31e07f6ed0f7 | 240 | else{ |
taurin | 8:31e07f6ed0f7 | 241 | write_datas_index++; |
taurin | 8:31e07f6ed0f7 | 242 | } |
taurin | 9:95eb0bbdc2a9 | 243 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 244 | pc.printf("%i ",soudaDatas[i]); |
YusukeWakuta | 10:1389f938f5f7 | 245 | twe.printf("%i,",soudaDatas[i]); |
taurin | 9:95eb0bbdc2a9 | 246 | } |
tsumagari | 15:6966299bea4c | 247 | // twe.printf("%f\n\r",cadence.cadence); |
tsumagari | 15:6966299bea4c | 248 | // pc.printf("%f\n\r",cadence.cadence); |
taurin | 9:95eb0bbdc2a9 | 249 | //pc.printf("\n\r"); |
YusukeWakuta | 10:1389f938f5f7 | 250 | twe.printf("%f,%f,%f,",pitch,roll,yaw); |
YusukeWakuta | 10:1389f938f5f7 | 251 | twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
YusukeWakuta | 10:1389f938f5f7 | 252 | twe.printf("%f,\r\n",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 253 | pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 9:95eb0bbdc2a9 | 254 | //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
taurin | 9:95eb0bbdc2a9 | 255 | pc.printf("%f\n\r",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 256 | //SDprintf(); |
taurin | 9:95eb0bbdc2a9 | 257 | } |
taurin | 9:95eb0bbdc2a9 | 258 | |
taurin | 9:95eb0bbdc2a9 | 259 | void WriteDatasF(){ |
taurin | 9:95eb0bbdc2a9 | 260 | pc.printf("airSpeed:%f\n\r",airSpeed); |
taurin | 0:085b2c5e3254 | 261 | } |
taurin | 0:085b2c5e3254 | 262 | |
taurin | 0:085b2c5e3254 | 263 | float calcKXdeg(float x){ |
taurin | 0:085b2c5e3254 | 264 | return -310.54*x+156.65; |
taurin | 0:085b2c5e3254 | 265 | } |
taurin | 0:085b2c5e3254 | 266 | |
taurin | 0:085b2c5e3254 | 267 | float calcAttackAngle(){ |
taurin | 0:085b2c5e3254 | 268 | return pitch-calcKXdeg(kx_Z.read()); |
taurin | 0:085b2c5e3254 | 269 | } |
taurin | 0:085b2c5e3254 | 270 | |
taurin | 0:085b2c5e3254 | 271 | void RollAlarm(){ |
taurin | 0:085b2c5e3254 | 272 | if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){ |
taurin | 0:085b2c5e3254 | 273 | RollAlarmL = 1; |
taurin | 0:085b2c5e3254 | 274 | } |
taurin | 0:085b2c5e3254 | 275 | else{ |
taurin | 0:085b2c5e3254 | 276 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 277 | } |
taurin | 0:085b2c5e3254 | 278 | |
taurin | 0:085b2c5e3254 | 279 | if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){ |
taurin | 0:085b2c5e3254 | 280 | RollAlarmR = 1; |
taurin | 0:085b2c5e3254 | 281 | } |
taurin | 0:085b2c5e3254 | 282 | else{ |
taurin | 0:085b2c5e3254 | 283 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 284 | } |
taurin | 0:085b2c5e3254 | 285 | } |
taurin | 0:085b2c5e3254 | 286 | |
taurin | 4:a863a092141c | 287 | void WriteServo(){ |
taurin | 9:95eb0bbdc2a9 | 288 | //kisokuServo.pulsewidth(calcPulse(airSpeed*10)); |
taurin | 9:95eb0bbdc2a9 | 289 | kisokuServo.pulsewidth(calcPulse(9*airSpeed)); |
taurin | 9:95eb0bbdc2a9 | 290 | if(pitch<0){ |
taurin | 9:95eb0bbdc2a9 | 291 | geikakuServo.pulsewidth(calcPulse(0)); |
taurin | 9:95eb0bbdc2a9 | 292 | } |
taurin | 9:95eb0bbdc2a9 | 293 | else{ |
taurin | 9:95eb0bbdc2a9 | 294 | geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0))); |
taurin | 9:95eb0bbdc2a9 | 295 | } |
taurin | 6:98a63127aa11 | 296 | //pc.printf("a:%f",airSpeed); |
taurin | 6:98a63127aa11 | 297 | //pc.printf("p:%f\r\n",pitch); |
taurin | 5:1b3c8e5ee99e | 298 | //kisokuServo.pulsewidth(calcPulse(0)); |
taurin | 5:1b3c8e5ee99e | 299 | //geikakuServo.pulsewidth(calcPulse(0)); |
taurin | 4:a863a092141c | 300 | } |
taurin | 4:a863a092141c | 301 | |
taurin | 0:085b2c5e3254 | 302 | int main(){ |
taurin | 0:085b2c5e3254 | 303 | init(); |
taurin | 0:085b2c5e3254 | 304 | while(1){ |
tsumagari | 13:09e05e7cfca1 | 305 | pc.printf("test\n\r"); |
tsumagari | 15:6966299bea4c | 306 | // if(test.readable()) pc.printf("%d ",test.getc()); |
tsumagari | 15:6966299bea4c | 307 | // pc.printf("<-softserial\n\r"); |
taurin | 8:31e07f6ed0f7 | 308 | mpuProcessing(); |
taurin | 8:31e07f6ed0f7 | 309 | RollAlarm(); |
taurin | 8:31e07f6ed0f7 | 310 | DataReceiveFromSouda(); |
tsumagari | 15:6966299bea4c | 311 | // cadence.readData(); |
taurin | 3:8dc516be2e7e | 312 | WriteDatas(); |
taurin | 8:31e07f6ed0f7 | 313 | WriteServo(); |
taurin | 0:085b2c5e3254 | 314 | } |
taurin | 0:085b2c5e3254 | 315 | } |