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@34:c46f2f687c7b, 2017-02-18 (annotated)
- Committer:
- tsumagari
- Date:
- Sat Feb 18 06:45:59 2017 +0000
- Branch:
- Thread-gyogetsuMPU
- Revision:
- 34:c46f2f687c7b
- Parent:
- 33:69ad9920f693
- Child:
- 37:34aaa1951390
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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" |
tsumagari | 33:69ad9920f693 | 3 | #include "rtos.h" |
taurin | 0:085b2c5e3254 | 4 | #include "Fusokukei.h" |
taurin | 0:085b2c5e3254 | 5 | #include "MPU6050.h" |
tsumagari | 15:6966299bea4c | 6 | #include "BufferedSoftSerial.h" |
tsumagari | 15:6966299bea4c | 7 | #include "Cadence.h" |
taurin | 0:085b2c5e3254 | 8 | |
tsumagari | 34:c46f2f687c7b | 9 | #define SOUDA_DATAS_NUM 24 //(yokutan 7 + input 5)*2 |
tsumagari | 27:d2955f29a3aa | 10 | #define WRITE_DATAS_NUM 20 |
tsumagari | 27:d2955f29a3aa | 11 | #define SD_WRITE_NUM 1 |
tsumagari | 27:d2955f29a3aa | 12 | #define MPU_LOOP_TIME 0.01 |
taurin | 0:085b2c5e3254 | 13 | #define AIR_LOOP_TIME 0.01 |
taurin | 3:8dc516be2e7e | 14 | #define WRITE_DATAS_LOOP_TIME 1 |
taurin | 3:8dc516be2e7e | 15 | #define ROLL_R_MAX_DEG 2 |
taurin | 3:8dc516be2e7e | 16 | #define ROLL_L_MAX_DEG 2 |
tsumagari | 27:d2955f29a3aa | 17 | #define MPU_DELT_MIN 250 |
taurin | 4:a863a092141c | 18 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 0:085b2c5e3254 | 19 | |
tsumagari | 26:50272431cd1e | 20 | //-----------------------------------(resetInterrupt def) |
tsumagari | 26:50272431cd1e | 21 | extern "C" void mbed_reset(); |
tsumagari | 26:50272431cd1e | 22 | InterruptIn resetPin(p26); |
tsumagari | 26:50272431cd1e | 23 | Timer resetTimeCount; |
tsumagari | 26:50272431cd1e | 24 | void resetInterrupt(){ |
tsumagari | 26:50272431cd1e | 25 | while(resetPin){ |
tsumagari | 26:50272431cd1e | 26 | resetTimeCount.start(); |
tsumagari | 26:50272431cd1e | 27 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 26:50272431cd1e | 28 | } |
tsumagari | 26:50272431cd1e | 29 | resetTimeCount.reset(); |
tsumagari | 26:50272431cd1e | 30 | } |
tsumagari | 26:50272431cd1e | 31 | //------------------------------------------------------- |
tsumagari | 26:50272431cd1e | 32 | |
tsumagari | 21:8802034b7810 | 33 | RawSerial pc(USBTX,USBRX); |
tsumagari | 27:d2955f29a3aa | 34 | RawSerial android(p9,p10); |
tsumagari | 27:d2955f29a3aa | 35 | BufferedSoftSerial soudaSerial(p17,p18); |
tsumagari | 26:50272431cd1e | 36 | BufferedSoftSerial twe(p11,p12); |
tsumagari | 27:d2955f29a3aa | 37 | Cadence cadence_twe(p13,p14); |
tsumagari | 34:c46f2f687c7b | 38 | //Ticker cadenceUpdateTicker; |
tsumagari | 34:c46f2f687c7b | 39 | //Ticker writeDatasTicker; |
tsumagari | 34:c46f2f687c7b | 40 | //Timer writeTimer; |
taurin | 0:085b2c5e3254 | 41 | |
tsumagari | 27:d2955f29a3aa | 42 | InterruptIn FusokukeiPin(p23); |
taurin | 0:085b2c5e3254 | 43 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 44 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 45 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 46 | |
tsumagari | 34:c46f2f687c7b | 47 | //Timer sonarTimer; |
tsumagari | 27:d2955f29a3aa | 48 | AnalogIn sonarPin(p15); |
tsumagari | 27:d2955f29a3aa | 49 | //InterruputIn sonarPin(p15); |
tsumagari | 27:d2955f29a3aa | 50 | //double sonarDistTime |
tsumagari | 27:d2955f29a3aa | 51 | double sonarDist; |
tsumagari | 27:d2955f29a3aa | 52 | float sonarV; |
tsumagari | 27:d2955f29a3aa | 53 | |
tsumagari | 27:d2955f29a3aa | 54 | |
tsumagari | 26:50272431cd1e | 55 | float sum = 0; |
tsumagari | 26:50272431cd1e | 56 | uint32_t sumCount = 0; |
taurin | 0:085b2c5e3254 | 57 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 58 | Timer t; |
tsumagari | 34:c46f2f687c7b | 59 | //Ticker mpu6050Ticker; |
taurin | 0:085b2c5e3254 | 60 | |
taurin | 0:085b2c5e3254 | 61 | DigitalOut RollAlarmR(p20); |
taurin | 0:085b2c5e3254 | 62 | DigitalOut RollAlarmL(p19); |
tsumagari | 27:d2955f29a3aa | 63 | DigitalOut led(LED1); |
taurin | 1:5ec2409854da | 64 | DigitalOut led2(LED2); |
taurin | 4:a863a092141c | 65 | |
taurin | 0:085b2c5e3254 | 66 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 67 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 68 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 69 | |
taurin | 0:085b2c5e3254 | 70 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 71 | void call_calcAirSpeed(); |
tsumagari | 27:d2955f29a3aa | 72 | void sonarInterruptStart(); |
tsumagari | 27:d2955f29a3aa | 73 | void sonarInterruptStop(); |
tsumagari | 34:c46f2f687c7b | 74 | void updateCadence(void const *arg); |
taurin | 0:085b2c5e3254 | 75 | void init(); |
taurin | 0:085b2c5e3254 | 76 | void FusokukeiInit(); |
tsumagari | 26:50272431cd1e | 77 | void MpuInit(); |
tsumagari | 34:c46f2f687c7b | 78 | void mpuProcessing(void const *arg); |
tsumagari | 34:c46f2f687c7b | 79 | void DataReceiveFromSouda(void const *arg); |
taurin | 0:085b2c5e3254 | 80 | void WriteDatas(); |
tsumagari | 27:d2955f29a3aa | 81 | float calcAttackAngle(); |
tsumagari | 27:d2955f29a3aa | 82 | float calcKXdeg(float x); |
tsumagari | 15:6966299bea4c | 83 | |
taurin | 0:085b2c5e3254 | 84 | void air_countUp(){ |
taurin | 0:085b2c5e3254 | 85 | air_kaitensu++; |
taurin | 0:085b2c5e3254 | 86 | } |
taurin | 0:085b2c5e3254 | 87 | |
taurin | 0:085b2c5e3254 | 88 | void call_calcAirSpeed(){ |
taurin | 0:085b2c5e3254 | 89 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 90 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 91 | } |
taurin | 0:085b2c5e3254 | 92 | |
tsumagari | 27:d2955f29a3aa | 93 | void sonarInterruptStart(){ |
tsumagari | 34:c46f2f687c7b | 94 | // sonarTimer.start(); |
tsumagari | 27:d2955f29a3aa | 95 | } |
tsumagari | 27:d2955f29a3aa | 96 | |
tsumagari | 27:d2955f29a3aa | 97 | void sonarInterruptStop(){ |
tsumagari | 26:50272431cd1e | 98 | // sonarTimer.stop(); |
tsumagari | 26:50272431cd1e | 99 | // sonarDistTime = sonarTimer.read_us(); |
tsumagari | 26:50272431cd1e | 100 | // sonarTimer.reset(); |
tsumagari | 27:d2955f29a3aa | 101 | // sonarDist = sonarDistTime*0.018624 - 13.511; |
tsumagari | 27:d2955f29a3aa | 102 | } |
tsumagari | 27:d2955f29a3aa | 103 | void sonarCalc(){ |
tsumagari | 27:d2955f29a3aa | 104 | sonarV = 0; |
tsumagari | 27:d2955f29a3aa | 105 | for(int i = 0; i<20; i++){ |
tsumagari | 27:d2955f29a3aa | 106 | sonarV += sonarPin.read(); |
tsumagari | 27:d2955f29a3aa | 107 | wait(0.01); |
tsumagari | 27:d2955f29a3aa | 108 | } |
tsumagari | 27:d2955f29a3aa | 109 | sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm) |
tsumagari | 27:d2955f29a3aa | 110 | } |
tsumagari | 27:d2955f29a3aa | 111 | |
tsumagari | 34:c46f2f687c7b | 112 | void updateCadence(/*void const *arg*/){ |
tsumagari | 34:c46f2f687c7b | 113 | // while(1){ |
tsumagari | 27:d2955f29a3aa | 114 | cadence_twe.readData(); |
tsumagari | 34:c46f2f687c7b | 115 | // Thread::wait(0.5); |
tsumagari | 34:c46f2f687c7b | 116 | // } |
tsumagari | 27:d2955f29a3aa | 117 | } |
tsumagari | 26:50272431cd1e | 118 | |
taurin | 0:085b2c5e3254 | 119 | void init(){ |
tsumagari | 26:50272431cd1e | 120 | //--------------------------------------(resetInterrupt init) |
tsumagari | 26:50272431cd1e | 121 | resetPin.rise(resetInterrupt); |
tsumagari | 26:50272431cd1e | 122 | resetPin.mode(PullDown); |
tsumagari | 26:50272431cd1e | 123 | //----------------------------------------------------------- |
tsumagari | 27:d2955f29a3aa | 124 | twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要 |
tsumagari | 27:d2955f29a3aa | 125 | //writeTimer.start(); |
taurin | 0:085b2c5e3254 | 126 | FusokukeiInit(); |
tsumagari | 33:69ad9920f693 | 127 | // MpuInit(); |
tsumagari | 27:d2955f29a3aa | 128 | //writeDatasTicker.attach(&WriteDatas,1); |
tsumagari | 27:d2955f29a3aa | 129 | // cadenceUpdateTicker.attach(&updateCadence, 1); |
tsumagari | 27:d2955f29a3aa | 130 | |
tsumagari | 27:d2955f29a3aa | 131 | //-----for InterruptMode of sonar---------------------------- |
tsumagari | 27:d2955f29a3aa | 132 | // sonarPin.rise(&sonarInterruptStart); |
tsumagari | 27:d2955f29a3aa | 133 | // sonarPin.fall(&sonarInterruptStop); |
tsumagari | 27:d2955f29a3aa | 134 | //----------------------------------------------------------- |
taurin | 0:085b2c5e3254 | 135 | } |
taurin | 0:085b2c5e3254 | 136 | |
taurin | 0:085b2c5e3254 | 137 | void FusokukeiInit(){ |
taurin | 0:085b2c5e3254 | 138 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 139 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 140 | } |
taurin | 0:085b2c5e3254 | 141 | |
tsumagari | 26:50272431cd1e | 142 | void MpuInit(){ |
tsumagari | 26:50272431cd1e | 143 | i2c.frequency(400000); // use fast (400 kHz) I2C |
tsumagari | 26:50272431cd1e | 144 | t.start(); |
tsumagari | 26:50272431cd1e | 145 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
tsumagari | 26:50272431cd1e | 146 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
tsumagari | 34:c46f2f687c7b | 147 | Thread::wait(100); |
tsumagari | 26:50272431cd1e | 148 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
tsumagari | 34:c46f2f687c7b | 149 | Thread::wait(100); |
tsumagari | 26:50272431cd1e | 150 | 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 | 151 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
tsumagari | 26:50272431cd1e | 152 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
tsumagari | 26:50272431cd1e | 153 | 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 | 154 | Thread::wait(200); |
tsumagari | 26:50272431cd1e | 155 | } else { |
tsumagari | 26:50272431cd1e | 156 | } |
tsumagari | 26:50272431cd1e | 157 | } else { |
tsumagari | 26:50272431cd1e | 158 | //pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
tsumagari | 26:50272431cd1e | 159 | } |
tsumagari | 26:50272431cd1e | 160 | } |
taurin | 0:085b2c5e3254 | 161 | |
tsumagari | 27:d2955f29a3aa | 162 | double calcPulse(int deg){ |
tsumagari | 27:d2955f29a3aa | 163 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
tsumagari | 27:d2955f29a3aa | 164 | |
tsumagari | 27:d2955f29a3aa | 165 | } |
tsumagari | 27:d2955f29a3aa | 166 | |
tsumagari | 34:c46f2f687c7b | 167 | void mpuProcessing(void const *arg){ |
tsumagari | 33:69ad9920f693 | 168 | MpuInit(); |
tsumagari | 33:69ad9920f693 | 169 | while(1){ |
tsumagari | 33:69ad9920f693 | 170 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
tsumagari | 33:69ad9920f693 | 171 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 172 | mpu6050.getAres(); |
tsumagari | 33:69ad9920f693 | 173 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
tsumagari | 33:69ad9920f693 | 174 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
tsumagari | 33:69ad9920f693 | 175 | az = (float)accelCount[2]*aRes - accelBias[2]; |
tsumagari | 33:69ad9920f693 | 176 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 177 | mpu6050.getGres(); |
tsumagari | 33:69ad9920f693 | 178 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
tsumagari | 33:69ad9920f693 | 179 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
tsumagari | 33:69ad9920f693 | 180 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
tsumagari | 33:69ad9920f693 | 181 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 182 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
tsumagari | 33:69ad9920f693 | 183 | } |
tsumagari | 33:69ad9920f693 | 184 | Now = t.read_us(); |
tsumagari | 33:69ad9920f693 | 185 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
tsumagari | 33:69ad9920f693 | 186 | lastUpdate = Now; |
tsumagari | 33:69ad9920f693 | 187 | sum += deltat; |
tsumagari | 33:69ad9920f693 | 188 | sumCount++; |
tsumagari | 33:69ad9920f693 | 189 | if(lastUpdate - firstUpdate > 10000000.0f) { |
tsumagari | 33:69ad9920f693 | 190 | beta = 0.04; // decrease filter gain after stabilized |
tsumagari | 33:69ad9920f693 | 191 | zeta = 0.015; // increasey bias drift gain after stabilized |
tsumagari | 33:69ad9920f693 | 192 | } |
tsumagari | 33:69ad9920f693 | 193 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
tsumagari | 33:69ad9920f693 | 194 | delt_t = t.read_ms() - count; |
tsumagari | 33:69ad9920f693 | 195 | if (delt_t > MPU_DELT_MIN) { |
tsumagari | 33:69ad9920f693 | 196 | 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 | 197 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
tsumagari | 33:69ad9920f693 | 198 | 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 | 199 | pitch *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 200 | yaw *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 201 | roll *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 202 | myled= !myled; |
tsumagari | 33:69ad9920f693 | 203 | count = t.read_ms(); |
tsumagari | 33:69ad9920f693 | 204 | sum = 0; |
tsumagari | 33:69ad9920f693 | 205 | sumCount = 0; |
tsumagari | 33:69ad9920f693 | 206 | } |
tsumagari | 33:69ad9920f693 | 207 | Thread::wait(0.01); |
tsumagari | 33:69ad9920f693 | 208 | }//while(1) |
tsumagari | 26:50272431cd1e | 209 | } |
tsumagari | 26:50272431cd1e | 210 | |
tsumagari | 34:c46f2f687c7b | 211 | void DataReceiveFromSouda(/*void const *arg*/){ |
tsumagari | 34:c46f2f687c7b | 212 | // while(1){ |
tsumagari | 34:c46f2f687c7b | 213 | if(soudaSerial.readable()){ |
tsumagari | 34:c46f2f687c7b | 214 | led2 = !led2; |
tsumagari | 34:c46f2f687c7b | 215 | char c = soudaSerial.getc(); |
tsumagari | 34:c46f2f687c7b | 216 | while( c != ';' ){ |
tsumagari | 34:c46f2f687c7b | 217 | c = soudaSerial.getc(); |
tsumagari | 34:c46f2f687c7b | 218 | } |
tsumagari | 34:c46f2f687c7b | 219 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 34:c46f2f687c7b | 220 | soudaDatas[i] = soudaSerial.getc(); |
tsumagari | 34:c46f2f687c7b | 221 | } |
tsumagari | 34:c46f2f687c7b | 222 | }//if |
tsumagari | 34:c46f2f687c7b | 223 | // }//while(1) |
taurin | 3:8dc516be2e7e | 224 | } |
taurin | 3:8dc516be2e7e | 225 | |
taurin | 3:8dc516be2e7e | 226 | void WriteDatas(){ |
taurin | 8:31e07f6ed0f7 | 227 | int i; |
tsumagari | 27:d2955f29a3aa | 228 | for(i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 27:d2955f29a3aa | 229 | //writeDatas[write_datas_index][i] = 0.0; |
tsumagari | 27:d2955f29a3aa | 230 | writeDatas[write_datas_index][i] = (float)soudaDatas[i]; |
taurin | 8:31e07f6ed0f7 | 231 | } |
taurin | 8:31e07f6ed0f7 | 232 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 8:31e07f6ed0f7 | 233 | writeDatas[write_datas_index][i++] = roll; |
taurin | 8:31e07f6ed0f7 | 234 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 8:31e07f6ed0f7 | 235 | writeDatas[write_datas_index][i++] = airSpeed; |
tsumagari | 27:d2955f29a3aa | 236 | writeDatas[write_datas_index][i++] = sonarDist; |
tsumagari | 27:d2955f29a3aa | 237 | writeDatas[write_datas_index][i++] = cadence; |
taurin | 8:31e07f6ed0f7 | 238 | //writeDatas[write_datas_index][i++] = writeTimer.read(); |
tsumagari | 27:d2955f29a3aa | 239 | //for(i = 0; i < WRITE_DATAS_NUM; i++){ |
tsumagari | 27:d2955f29a3aa | 240 | // pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 241 | // twe.printf("%f,", writeDatas[write_datas_index][i]); |
tsumagari | 27:d2955f29a3aa | 242 | // } |
tsumagari | 27:d2955f29a3aa | 243 | // pc.printf("\n\r"); |
taurin | 9:95eb0bbdc2a9 | 244 | // twe.printf("\n\r"); |
tsumagari | 27:d2955f29a3aa | 245 | // if(write_datas_index == SD_WRITE_NUM-1){ |
tsumagari | 27:d2955f29a3aa | 246 | // write_datas_index=0; |
tsumagari | 27:d2955f29a3aa | 247 | // } |
tsumagari | 27:d2955f29a3aa | 248 | // else{ |
tsumagari | 27:d2955f29a3aa | 249 | // write_datas_index++; |
tsumagari | 27:d2955f29a3aa | 250 | // } |
taurin | 9:95eb0bbdc2a9 | 251 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 27:d2955f29a3aa | 252 | pc.printf("%i ",soudaDatas[i]); |
YusukeWakuta | 10:1389f938f5f7 | 253 | twe.printf("%i,",soudaDatas[i]); |
tsumagari | 27:d2955f29a3aa | 254 | // android.printf("%i,",soudaDatas[i]); |
taurin | 9:95eb0bbdc2a9 | 255 | } |
taurin | 9:95eb0bbdc2a9 | 256 | //pc.printf("\n\r"); |
YusukeWakuta | 10:1389f938f5f7 | 257 | twe.printf("%f,%f,%f,",pitch,roll,yaw); |
tsumagari | 27:d2955f29a3aa | 258 | twe.printf("%f,%f,%f\r\n",airSpeed,sonarDist,cadence); |
tsumagari | 27:d2955f29a3aa | 259 | pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 9:95eb0bbdc2a9 | 260 | //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
tsumagari | 27:d2955f29a3aa | 261 | pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence); |
tsumagari | 27:d2955f29a3aa | 262 | pc.putc(cadence_twe.strV[0]); |
tsumagari | 27:d2955f29a3aa | 263 | if(android.writeable()){ |
tsumagari | 27:d2955f29a3aa | 264 | // for(int i = 0; i<SOUDA_DATAS_NUM; i++){ |
tsumagari | 27:d2955f29a3aa | 265 | // android.printf("%i,",soudaDatas[i]); |
tsumagari | 27:d2955f29a3aa | 266 | // } |
tsumagari | 27:d2955f29a3aa | 267 | // android.printf("%f,%f,%f,",pitch,roll,yaw); |
tsumagari | 27:d2955f29a3aa | 268 | // android.printf("%f,%f,\r\n",airSpeed,sonarDist); |
tsumagari | 27:d2955f29a3aa | 269 | android.printf("%f,%f,test\n\r",roll,airSpeed); |
tsumagari | 27:d2955f29a3aa | 270 | } |
taurin | 9:95eb0bbdc2a9 | 271 | //SDprintf(); |
taurin | 9:95eb0bbdc2a9 | 272 | } |
taurin | 9:95eb0bbdc2a9 | 273 | |
taurin | 9:95eb0bbdc2a9 | 274 | void WriteDatasF(){ |
taurin | 9:95eb0bbdc2a9 | 275 | pc.printf("airSpeed:%f\n\r",airSpeed); |
taurin | 0:085b2c5e3254 | 276 | } |
tsumagari | 27:d2955f29a3aa | 277 | |
tsumagari | 26:50272431cd1e | 278 | //float calcKXdeg(float x){ |
tsumagari | 26:50272431cd1e | 279 | // return -310.54*x+156.65; |
tsumagari | 26:50272431cd1e | 280 | //} |
taurin | 0:085b2c5e3254 | 281 | |
tsumagari | 26:50272431cd1e | 282 | //float calcAttackAngle(){ |
tsumagari | 26:50272431cd1e | 283 | // return pitch-calcKXdeg(kx_Z.read()); |
tsumagari | 26:50272431cd1e | 284 | //} |
taurin | 0:085b2c5e3254 | 285 | |
taurin | 0:085b2c5e3254 | 286 | void RollAlarm(){ |
tsumagari | 34:c46f2f687c7b | 287 | if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)){ |
taurin | 0:085b2c5e3254 | 288 | RollAlarmL = 1; |
taurin | 0:085b2c5e3254 | 289 | } |
taurin | 0:085b2c5e3254 | 290 | else{ |
taurin | 0:085b2c5e3254 | 291 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 292 | } |
tsumagari | 27:d2955f29a3aa | 293 | |
tsumagari | 34:c46f2f687c7b | 294 | if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)){ |
taurin | 0:085b2c5e3254 | 295 | RollAlarmR = 1; |
taurin | 0:085b2c5e3254 | 296 | } |
taurin | 0:085b2c5e3254 | 297 | else{ |
taurin | 0:085b2c5e3254 | 298 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 299 | } |
taurin | 0:085b2c5e3254 | 300 | } |
taurin | 0:085b2c5e3254 | 301 | |
tsumagari | 27:d2955f29a3aa | 302 | void WriteServo(){ |
tsumagari | 27:d2955f29a3aa | 303 | //kisokuServo.pulsewidth(calcPulse(airSpeed*10)); |
tsumagari | 27:d2955f29a3aa | 304 | // kisokuServo.pulsewidth(calcPulse(9*airSpeed)); |
tsumagari | 27:d2955f29a3aa | 305 | if(pitch<0){ |
tsumagari | 27:d2955f29a3aa | 306 | // geikakuServo.pulsewidth(calcPulse(0)); |
tsumagari | 27:d2955f29a3aa | 307 | } |
tsumagari | 27:d2955f29a3aa | 308 | else{ |
tsumagari | 27:d2955f29a3aa | 309 | // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0))); |
tsumagari | 27:d2955f29a3aa | 310 | } |
tsumagari | 27:d2955f29a3aa | 311 | //pc.printf("a:%f",airSpeed); |
tsumagari | 27:d2955f29a3aa | 312 | //pc.printf("p:%f\r\n",pitch); |
tsumagari | 27:d2955f29a3aa | 313 | //kisokuServo.pulsewidth(calcPulse(0)); |
tsumagari | 27:d2955f29a3aa | 314 | //geikakuServo.pulsewidth(calcPulse(0)); |
tsumagari | 27:d2955f29a3aa | 315 | } |
taurin | 4:a863a092141c | 316 | |
taurin | 0:085b2c5e3254 | 317 | int main(){ |
tsumagari | 27:d2955f29a3aa | 318 | // Thread cadence_thread(&updateCadence); |
tsumagari | 33:69ad9920f693 | 319 | Thread mpu_thread(&mpuProcessing); |
tsumagari | 34:c46f2f687c7b | 320 | // Thread soudaSerial_thread(&DataReceiveFromSouda); |
taurin | 0:085b2c5e3254 | 321 | init(); |
taurin | 0:085b2c5e3254 | 322 | while(1){ |
taurin | 9:95eb0bbdc2a9 | 323 | pc.printf("test\n\r"); |
tsumagari | 33:69ad9920f693 | 324 | // mpuProcessing(); |
tsumagari | 27:d2955f29a3aa | 325 | sonarCalc(); |
taurin | 8:31e07f6ed0f7 | 326 | RollAlarm(); |
tsumagari | 27:d2955f29a3aa | 327 | DataReceiveFromSouda(); |
tsumagari | 34:c46f2f687c7b | 328 | updateCadence(); |
taurin | 3:8dc516be2e7e | 329 | WriteDatas(); |
tsumagari | 27:d2955f29a3aa | 330 | // WriteServo(); |
taurin | 0:085b2c5e3254 | 331 | } |
taurin | 0:085b2c5e3254 | 332 | } |