albatross / Mbed 2 deprecated keiki2018

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 albatross

main.cpp@52:a94cbaef3602, 2017-05-05 (annotated)

Committer:
tsumagari
Date:
Fri May 05 01:08:57 2017 +0000
Branch:
Thread-gyogetsuMPU
Revision:
52:a94cbaef3602
Parent:
51:f391d3a02397 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 1:5ec2409854da 1 //計器プログラム
taurin 0:085b2c5e3254 2 #include "mbed.h"
tsumagari 33:69ad9920f693 3 #include "rtos.h"
tsumagari 41:1bd730c4840d 4 #include "Cadence.h"
taurin 0:085b2c5e3254 5 #include "Fusokukei.h"
taurin 0:085b2c5e3254 6 #include "MPU6050.h"
tsumagari 15:6966299bea4c 7 #include "BufferedSoftSerial.h"
tsumagari 41:1bd730c4840d 8 //#include "SDFileSystem.h"
taurin 0:085b2c5e3254 9
YusukeWakuta 46:c649987c4d84 10 #define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2
YusukeWakuta 46:c649987c4d84 11 #define YOKUTAN_DATAS_NUM 14
tsumagari 40:f15c11485e95 12 #define WRITE_DATAS_NUM 30 // souda_datas_num + 6( rpy, airspeed, height, cadence)
tsumagari 40:f15c11485e95 13 #define SD_WRITE_NUM 20
tsumagari 27:d2955f29a3aa 14 #define MPU_LOOP_TIME 0.01
tsumagari 51:f391d3a02397 15 #define AIR_LOOP_TIME 0.01//(0.002005)
taurin 3:8dc516be2e7e 16 #define WRITE_DATAS_LOOP_TIME 1
taurin 3:8dc516be2e7e 17 #define ROLL_R_MAX_DEG 2
taurin 3:8dc516be2e7e 18 #define ROLL_L_MAX_DEG 2
tsumagari 27:d2955f29a3aa 19 #define MPU_DELT_MIN 250
taurin 4:a863a092141c 20 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 21
tsumagari 26:50272431cd1e 22 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 23 extern "C" void mbed_reset();
tsumagari 38:32f483b0a77f 24 InterruptIn resetPin(p25);
tsumagari 26:50272431cd1e 25 Timer resetTimeCount;
YusukeWakuta 46:c649987c4d84 26 void resetInterrupt()
YusukeWakuta 46:c649987c4d84 27 {
YusukeWakuta 46:c649987c4d84 28 while(resetPin) {
tsumagari 26:50272431cd1e 29 resetTimeCount.start();
tsumagari 26:50272431cd1e 30 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 31 }
tsumagari 26:50272431cd1e 32 resetTimeCount.reset();
tsumagari 26:50272431cd1e 33 }
tsumagari 26:50272431cd1e 34 //-------------------------------------------------------
tsumagari 26:50272431cd1e 35
tsumagari 41:1bd730c4840d 36 //SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 41:1bd730c4840d 37 //FILE* fp;
tsumagari 39:7623678de4e2 38
tsumagari 42:73c3862e4c12 39 //RawSerial pc(USBTX,USBRX);
YusukeWakuta 50:2160c28d02f8 40 Serial android(p9,p10);
tsumagari 27:d2955f29a3aa 41 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 42 BufferedSoftSerial twe(p11,p12);
tsumagari 27:d2955f29a3aa 43 Cadence cadence_twe(p13,p14);
tsumagari 41:1bd730c4840d 44 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 45 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 46 //Timer writeTimer;
taurin 0:085b2c5e3254 47
tsumagari 52:a94cbaef3602 48 PwmOut fusokuControlPin(p26);
tsumagari 38:32f483b0a77f 49 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 50 Ticker FusokukeiTicker;
tsumagari 52:a94cbaef3602 51 Ticker FusokuEnableTicker;
tsumagari 52:a94cbaef3602 52 Ticker FusokuDisableTicker;
taurin 0:085b2c5e3254 53 Fusokukei air;
taurin 0:085b2c5e3254 54 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 55
tsumagari 34:c46f2f687c7b 56 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 57 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 58 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 59 //double sonarDistTime
tsumagari 27:d2955f29a3aa 60 double sonarDist;
tsumagari 27:d2955f29a3aa 61 float sonarV;
tsumagari 27:d2955f29a3aa 62
tsumagari 27:d2955f29a3aa 63
tsumagari 26:50272431cd1e 64 float sum = 0;
tsumagari 26:50272431cd1e 65 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 66 MPU6050 mpu6050;
taurin 0:085b2c5e3254 67 Timer t;
tsumagari 34:c46f2f687c7b 68 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 69
tsumagari 38:32f483b0a77f 70 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 71 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 72 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 73 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 74 DigitalOut led4(LED4);
taurin 4:a863a092141c 75
taurin 0:085b2c5e3254 76 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 77 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 78 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 79
taurin 0:085b2c5e3254 80 void air_countUp();
taurin 0:085b2c5e3254 81 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 82 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 83 void sonarInterruptStop();
tsumagari 41:1bd730c4840d 84 void updateCadence(/*void const *arg*/);
taurin 0:085b2c5e3254 85 void init();
taurin 0:085b2c5e3254 86 void FusokukeiInit();
tsumagari 26:50272431cd1e 87 void MpuInit();
tsumagari 34:c46f2f687c7b 88 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 89 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 90 void SdInit();
tsumagari 41:1bd730c4840d 91 //void SDprintf();
taurin 0:085b2c5e3254 92 void WriteDatas();
tsumagari 27:d2955f29a3aa 93 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 94 float calcKXdeg(float x);
tsumagari 15:6966299bea4c 95
YusukeWakuta 46:c649987c4d84 96 void air_countUp()
YusukeWakuta 46:c649987c4d84 97 {
taurin 0:085b2c5e3254 98 air_kaitensu++;
tsumagari 51:f391d3a02397 99 led3 = !led3;
taurin 0:085b2c5e3254 100 }
tsumagari 52:a94cbaef3602 101 void fusokuEnable(){
tsumagari 52:a94cbaef3602 102 FusokukeiPin.enable_irq();
tsumagari 52:a94cbaef3602 103 }
tsumagari 52:a94cbaef3602 104 void fusokuDisable(){
tsumagari 52:a94cbaef3602 105 FusokukeiPin.disable_irq();
tsumagari 52:a94cbaef3602 106 }
YusukeWakuta 46:c649987c4d84 107 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 108 {
taurin 0:085b2c5e3254 109 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 110 air_kaitensu = 0;
taurin 0:085b2c5e3254 111 }
taurin 0:085b2c5e3254 112
YusukeWakuta 46:c649987c4d84 113 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 114 {
tsumagari 34:c46f2f687c7b 115 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 116 }
tsumagari 27:d2955f29a3aa 117
YusukeWakuta 46:c649987c4d84 118 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 119 {
tsumagari 26:50272431cd1e 120 // sonarTimer.stop();
tsumagari 26:50272431cd1e 121 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 122 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 123 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 124 }
YusukeWakuta 46:c649987c4d84 125 void sonarCalc()
YusukeWakuta 46:c649987c4d84 126 {
tsumagari 27:d2955f29a3aa 127 sonarV = 0;
YusukeWakuta 46:c649987c4d84 128 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 129 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 130 wait(0.01);
tsumagari 27:d2955f29a3aa 131 }
tsumagari 27:d2955f29a3aa 132 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 133 }
tsumagari 27:d2955f29a3aa 134
YusukeWakuta 46:c649987c4d84 135 void updateCadence(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 136 {
tsumagari 34:c46f2f687c7b 137 // while(1){
YusukeWakuta 46:c649987c4d84 138 cadence_twe.readData();
tsumagari 37:34aaa1951390 139 // Thread::wait(5);
tsumagari 34:c46f2f687c7b 140 // }
tsumagari 27:d2955f29a3aa 141 }
tsumagari 26:50272431cd1e 142
YusukeWakuta 46:c649987c4d84 143 void init()
YusukeWakuta 46:c649987c4d84 144 {
tsumagari 26:50272431cd1e 145 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 146 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 147 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 148 //-----------------------------------------------------------
YusukeWakuta 50:2160c28d02f8 149 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 50:2160c28d02f8 150 android.baud(9600);
tsumagari 27:d2955f29a3aa 151 //writeTimer.start();
taurin 0:085b2c5e3254 152 FusokukeiInit();
tsumagari 41:1bd730c4840d 153 // SdInit();
YusukeWakuta 46:c649987c4d84 154 // MpuInit();
tsumagari 27:d2955f29a3aa 155 //writeDatasTicker.attach(&WriteDatas,1);
tsumagari 42:73c3862e4c12 156 // cadenceUpdateTicker.attach(&updateCadence, 0.2);
YusukeWakuta 46:c649987c4d84 157
tsumagari 27:d2955f29a3aa 158 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 159 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 160 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 161 //-----------------------------------------------------------
taurin 0:085b2c5e3254 162 }
taurin 0:085b2c5e3254 163
YusukeWakuta 46:c649987c4d84 164 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 165 {
taurin 0:085b2c5e3254 166 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 167 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
tsumagari 52:a94cbaef3602 168 FusokuEnableTicker.attach(&fusokuEnable,0.2);
tsumagari 52:a94cbaef3602 169 wait_ms(2);
tsumagari 52:a94cbaef3602 170 FusokuDisableTicker.attach(&fusokuDisable,0.2);
taurin 0:085b2c5e3254 171 }
taurin 0:085b2c5e3254 172
YusukeWakuta 46:c649987c4d84 173 void MpuInit()
YusukeWakuta 46:c649987c4d84 174 {
tsumagari 26:50272431cd1e 175 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 176 t.start();
tsumagari 26:50272431cd1e 177 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 178 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 179 Thread::wait(100);
tsumagari 26:50272431cd1e 180 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 181 Thread::wait(100);
tsumagari 26:50272431cd1e 182 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 183 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 184 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 50:2160c28d02f8 185 mpu6050.initMPU6050(); ////////////pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
tsumagari 34:c46f2f687c7b 186 Thread::wait(200);
tsumagari 26:50272431cd1e 187 } else {
tsumagari 26:50272431cd1e 188 }
tsumagari 26:50272431cd1e 189 } else {
YusukeWakuta 50:2160c28d02f8 190 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 191 }
tsumagari 26:50272431cd1e 192 }
taurin 0:085b2c5e3254 193
YusukeWakuta 46:c649987c4d84 194 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 195 {
tsumagari 27:d2955f29a3aa 196 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 197
tsumagari 27:d2955f29a3aa 198 }
tsumagari 27:d2955f29a3aa 199
YusukeWakuta 46:c649987c4d84 200 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 201 {
tsumagari 33:69ad9920f693 202 MpuInit();
YusukeWakuta 46:c649987c4d84 203 while(1) {
tsumagari 33:69ad9920f693 204 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 205 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 206 mpu6050.getAres();
tsumagari 33:69ad9920f693 207 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 208 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 209 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 210 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 211 mpu6050.getGres();
tsumagari 33:69ad9920f693 212 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 213 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 214 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 215 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 216 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 217 }
tsumagari 33:69ad9920f693 218 Now = t.read_us();
tsumagari 33:69ad9920f693 219 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 220 lastUpdate = Now;
tsumagari 33:69ad9920f693 221 sum += deltat;
tsumagari 33:69ad9920f693 222 sumCount++;
tsumagari 33:69ad9920f693 223 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 224 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 225 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 226 }
tsumagari 33:69ad9920f693 227 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 228 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 229 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 230 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 33:69ad9920f693 231 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 232 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 33:69ad9920f693 233 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 234 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 235 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 236 myled= !myled;
tsumagari 33:69ad9920f693 237 count = t.read_ms();
tsumagari 33:69ad9920f693 238 sum = 0;
tsumagari 33:69ad9920f693 239 sumCount = 0;
tsumagari 33:69ad9920f693 240 }
tsumagari 40:f15c11485e95 241 Thread::wait(1);
tsumagari 33:69ad9920f693 242 }//while(1)
tsumagari 26:50272431cd1e 243 }
tsumagari 26:50272431cd1e 244
YusukeWakuta 46:c649987c4d84 245 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 246 {
tsumagari 34:c46f2f687c7b 247 // while(1){
YusukeWakuta 46:c649987c4d84 248 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 249 led2 = !led2;
tsumagari 34:c46f2f687c7b 250 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 251 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 252 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 253 }
YusukeWakuta 46:c649987c4d84 254 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 255 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 256 }
YusukeWakuta 46:c649987c4d84 257 }//if
tsumagari 34:c46f2f687c7b 258 // }//while(1)
taurin 3:8dc516be2e7e 259 }
tsumagari 41:1bd730c4840d 260 //
tsumagari 41:1bd730c4840d 261 //void SdInit(){
tsumagari 41:1bd730c4840d 262 // mkdir("/sd/mydir", 0777);
tsumagari 41:1bd730c4840d 263 // fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 41:1bd730c4840d 264 // if(fp == NULL) {
tsumagari 41:1bd730c4840d 265 // error("Could not open file for write\n");
tsumagari 41:1bd730c4840d 266 // }
tsumagari 41:1bd730c4840d 267 // fprintf(fp, "Hello fun SD Card World!\n\r");
tsumagari 41:1bd730c4840d 268 // fclose(fp);
tsumagari 41:1bd730c4840d 269 //}
tsumagari 41:1bd730c4840d 270 //
tsumagari 41:1bd730c4840d 271 //void SDprintf(){
tsumagari 41:1bd730c4840d 272 // fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 41:1bd730c4840d 273 // if(fp == NULL) {
tsumagari 41:1bd730c4840d 274 // error("Could not open file for write\n");
tsumagari 41:1bd730c4840d 275 // }
tsumagari 41:1bd730c4840d 276 // for(int i = 0; i < SD_WRITE_NUM; i++){
tsumagari 41:1bd730c4840d 277 // for(int j = 0; j < WRITE_DATAS_NUM; j++){
tsumagari 41:1bd730c4840d 278 // fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 41:1bd730c4840d 279 // }
tsumagari 41:1bd730c4840d 280 // }
tsumagari 41:1bd730c4840d 281 // fprintf(fp,"\n\r");
tsumagari 41:1bd730c4840d 282 // fclose(fp);
tsumagari 41:1bd730c4840d 283 //}
tsumagari 39:7623678de4e2 284
YusukeWakuta 46:c649987c4d84 285 void WriteDatas()
YusukeWakuta 46:c649987c4d84 286 {
taurin 8:31e07f6ed0f7 287 int i;
YusukeWakuta 46:c649987c4d84 288 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 289 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 290 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 291 }
taurin 8:31e07f6ed0f7 292 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 293 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 294 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 295 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 296 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 37:34aaa1951390 297 writeDatas[write_datas_index][i++] = cadence_twe.cadence;
taurin 8:31e07f6ed0f7 298 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 299 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 50:2160c28d02f8 300 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 301 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 302 // }
YusukeWakuta 50:2160c28d02f8 303 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 304 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 305 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 41:1bd730c4840d 306 // SDprintf();
tsumagari 39:7623678de4e2 307 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 308 } else {
tsumagari 39:7623678de4e2 309 write_datas_index++;
YusukeWakuta 46:c649987c4d84 310 }
YusukeWakuta 48:0c9f3a057f79 311 twe.printf("con,");
YusukeWakuta 46:c649987c4d84 312 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 51:f391d3a02397 313 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 314 twe.printf("%i,",soudaDatas[i]);
YusukeWakuta 50:2160c28d02f8 315
YusukeWakuta 48:0c9f3a057f79 316 if(i == YOKUTAN_DATAS_NUM - 1)
YusukeWakuta 50:2160c28d02f8 317 twe.printf("%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 318 }
YusukeWakuta 48:0c9f3a057f79 319 twe.printf("inp,%d,%i,%d,%i\n",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]);
tsumagari 51:f391d3a02397 320 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]);
YusukeWakuta 46:c649987c4d84 321 /*
YusukeWakuta 46:c649987c4d84 322 送信文字列
YusukeWakuta 46:c649987c4d84 323 0-13翼端データ
YusukeWakuta 46:c649987c4d84 324 14-17 R erebon
YusukeWakuta 46:c649987c4d84 325 18 R DRUG
YusukeWakuta 46:c649987c4d84 326 19-22 L erebon
YusukeWakuta 46:c649987c4d84 327 23 LDRUG
YusukeWakuta 46:c649987c4d84 328 */
YusukeWakuta 50:2160c28d02f8 329 ////pc.printf("\n\r");
YusukeWakuta 48:0c9f3a057f79 330 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
YusukeWakuta 48:0c9f3a057f79 331 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 51:f391d3a02397 332 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
YusukeWakuta 50:2160c28d02f8 333 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 51:f391d3a02397 334 pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 42:73c3862e4c12 335 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 50:2160c28d02f8 336 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 337 // }
tsumagari 51:f391d3a02397 338 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 339 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 340 // for(int i = 0; i<SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 341 // android.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 342 // }
tsumagari 27:d2955f29a3aa 343 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 344 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
YusukeWakuta 50:2160c28d02f8 345 android.printf("%4.2f,%4.2f,test,\n,",roll,airSpeed);
YusukeWakuta 50:2160c28d02f8 346 led2 = !led2;
tsumagari 27:d2955f29a3aa 347 }
tsumagari 40:f15c11485e95 348 // SDprintf();
taurin 9:95eb0bbdc2a9 349 }
taurin 9:95eb0bbdc2a9 350
YusukeWakuta 46:c649987c4d84 351 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 352 {
YusukeWakuta 50:2160c28d02f8 353 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 354 }
tsumagari 27:d2955f29a3aa 355
tsumagari 26:50272431cd1e 356 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 357 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 358 //}
taurin 0:085b2c5e3254 359
tsumagari 26:50272431cd1e 360 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 361 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 362 //}
taurin 0:085b2c5e3254 363
YusukeWakuta 46:c649987c4d84 364 void RollAlarm()
YusukeWakuta 46:c649987c4d84 365 {
YusukeWakuta 46:c649987c4d84 366 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 367 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 368 } else {
taurin 0:085b2c5e3254 369 RollAlarmL = 0;
taurin 0:085b2c5e3254 370 }
YusukeWakuta 46:c649987c4d84 371
YusukeWakuta 46:c649987c4d84 372 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 373 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 374 } else {
taurin 0:085b2c5e3254 375 RollAlarmR = 0;
taurin 0:085b2c5e3254 376 }
taurin 0:085b2c5e3254 377 }
taurin 0:085b2c5e3254 378
YusukeWakuta 46:c649987c4d84 379 void WriteServo()
YusukeWakuta 46:c649987c4d84 380 {
tsumagari 27:d2955f29a3aa 381 //kisokuServo.pulsewidth(calcPulse(airSpeed*10));
tsumagari 27:d2955f29a3aa 382 // kisokuServo.pulsewidth(calcPulse(9*airSpeed));
YusukeWakuta 46:c649987c4d84 383 if(pitch<0) {
tsumagari 27:d2955f29a3aa 384 // geikakuServo.pulsewidth(calcPulse(0));
YusukeWakuta 46:c649987c4d84 385 } else {
tsumagari 27:d2955f29a3aa 386 // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0)));
tsumagari 27:d2955f29a3aa 387 }
YusukeWakuta 50:2160c28d02f8 388 //////////pc.printf("a:%f",airSpeed);
YusukeWakuta 50:2160c28d02f8 389 //pc.printf("p:%f\r\n",pitch);
tsumagari 27:d2955f29a3aa 390 //kisokuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 391 //geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 392 }
taurin 4:a863a092141c 393
YusukeWakuta 46:c649987c4d84 394 int main()
YusukeWakuta 46:c649987c4d84 395 {
tsumagari 27:d2955f29a3aa 396 // Thread cadence_thread(&updateCadence);
tsumagari 38:32f483b0a77f 397 Thread mpu_thread(&mpuProcessing);
tsumagari 34:c46f2f687c7b 398 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 399 init();
YusukeWakuta 46:c649987c4d84 400 while(1) {
YusukeWakuta 50:2160c28d02f8 401 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 402 // mpuProcessing();
tsumagari 27:d2955f29a3aa 403 sonarCalc();
taurin 8:31e07f6ed0f7 404 RollAlarm();
tsumagari 27:d2955f29a3aa 405 DataReceiveFromSouda();
tsumagari 40:f15c11485e95 406 // updateCadence();
taurin 3:8dc516be2e7e 407 WriteDatas();
tsumagari 27:d2955f29a3aa 408 // WriteServo();
tsumagari 40:f15c11485e95 409 led4 = !led4;
taurin 0:085b2c5e3254 410 }
taurin 0:085b2c5e3254 411 }