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@44:c51b60c74fef, 2017-03-12 (annotated)

Committer:
YusukeWakuta
Date:
Sun Mar 12 16:39:58 2017 +0000
Branch:
Thread-gyogetsuMPU
Revision:
44:c51b60c74fef
Parent:
38:32f483b0a77f
Child:
45:73ac4054ea23
????????????

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"
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 38:32f483b0a77f 22 InterruptIn resetPin(p25);
tsumagari 26:50272431cd1e 23 Timer resetTimeCount;
YusukeWakuta 44:c51b60c74fef 24 void resetInterrupt()
YusukeWakuta 44:c51b60c74fef 25 {
YusukeWakuta 44:c51b60c74fef 26 while(resetPin) {
tsumagari 26:50272431cd1e 27 resetTimeCount.start();
tsumagari 26:50272431cd1e 28 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 29 }
tsumagari 26:50272431cd1e 30 resetTimeCount.reset();
tsumagari 26:50272431cd1e 31 }
tsumagari 26:50272431cd1e 32 //-------------------------------------------------------
tsumagari 26:50272431cd1e 33
tsumagari 21:8802034b7810 34 RawSerial pc(USBTX,USBRX);
tsumagari 27:d2955f29a3aa 35 RawSerial android(p9,p10);
tsumagari 27:d2955f29a3aa 36 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 37 BufferedSoftSerial twe(p11,p12);
tsumagari 27:d2955f29a3aa 38 Cadence cadence_twe(p13,p14);
tsumagari 34:c46f2f687c7b 39 //Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 40 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 41 //Timer writeTimer;
taurin 0:085b2c5e3254 42
tsumagari 38:32f483b0a77f 43 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 44 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 45 Fusokukei air;
taurin 0:085b2c5e3254 46 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 47
tsumagari 34:c46f2f687c7b 48 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 49 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 50 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 51 //double sonarDistTime
tsumagari 27:d2955f29a3aa 52 double sonarDist;
tsumagari 27:d2955f29a3aa 53 float sonarV;
tsumagari 27:d2955f29a3aa 54
tsumagari 27:d2955f29a3aa 55
tsumagari 26:50272431cd1e 56 float sum = 0;
tsumagari 26:50272431cd1e 57 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 58 MPU6050 mpu6050;
taurin 0:085b2c5e3254 59 Timer t;
tsumagari 34:c46f2f687c7b 60 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 61
tsumagari 38:32f483b0a77f 62 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 63 DigitalOut RollAlarmL(p22);
tsumagari 27:d2955f29a3aa 64 DigitalOut led(LED1);
taurin 1:5ec2409854da 65 DigitalOut led2(LED2);
taurin 4:a863a092141c 66
taurin 0:085b2c5e3254 67 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 68 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 69 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 70
taurin 0:085b2c5e3254 71 void air_countUp();
taurin 0:085b2c5e3254 72 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 73 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 74 void sonarInterruptStop();
tsumagari 34:c46f2f687c7b 75 void updateCadence(void const *arg);
taurin 0:085b2c5e3254 76 void init();
taurin 0:085b2c5e3254 77 void FusokukeiInit();
tsumagari 26:50272431cd1e 78 void MpuInit();
tsumagari 34:c46f2f687c7b 79 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 80 void DataReceiveFromSouda(void const *arg);
taurin 0:085b2c5e3254 81 void WriteDatas();
tsumagari 27:d2955f29a3aa 82 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 83 float calcKXdeg(float x);
tsumagari 15:6966299bea4c 84
YusukeWakuta 44:c51b60c74fef 85 void air_countUp()
YusukeWakuta 44:c51b60c74fef 86 {
taurin 0:085b2c5e3254 87 air_kaitensu++;
taurin 0:085b2c5e3254 88 }
taurin 0:085b2c5e3254 89
YusukeWakuta 44:c51b60c74fef 90 void call_calcAirSpeed()
YusukeWakuta 44:c51b60c74fef 91 {
taurin 0:085b2c5e3254 92 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 93 air_kaitensu = 0;
taurin 0:085b2c5e3254 94 }
taurin 0:085b2c5e3254 95
YusukeWakuta 44:c51b60c74fef 96 void sonarInterruptStart()
YusukeWakuta 44:c51b60c74fef 97 {
tsumagari 34:c46f2f687c7b 98 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 99 }
tsumagari 27:d2955f29a3aa 100
YusukeWakuta 44:c51b60c74fef 101 void sonarInterruptStop()
YusukeWakuta 44:c51b60c74fef 102 {
tsumagari 26:50272431cd1e 103 // sonarTimer.stop();
tsumagari 26:50272431cd1e 104 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 105 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 106 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 107 }
YusukeWakuta 44:c51b60c74fef 108 void sonarCalc()
YusukeWakuta 44:c51b60c74fef 109 {
tsumagari 27:d2955f29a3aa 110 sonarV = 0;
YusukeWakuta 44:c51b60c74fef 111 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 112 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 113 wait(0.01);
tsumagari 27:d2955f29a3aa 114 }
tsumagari 27:d2955f29a3aa 115 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 116 }
tsumagari 27:d2955f29a3aa 117
YusukeWakuta 44:c51b60c74fef 118 void updateCadence(/*void const *arg*/)
YusukeWakuta 44:c51b60c74fef 119 {
tsumagari 34:c46f2f687c7b 120 // while(1){
YusukeWakuta 44:c51b60c74fef 121 cadence_twe.readData();
tsumagari 37:34aaa1951390 122 // Thread::wait(5);
tsumagari 34:c46f2f687c7b 123 // }
tsumagari 27:d2955f29a3aa 124 }
tsumagari 26:50272431cd1e 125
YusukeWakuta 44:c51b60c74fef 126 void init()
YusukeWakuta 44:c51b60c74fef 127 {
tsumagari 26:50272431cd1e 128 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 129 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 130 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 131 //-----------------------------------------------------------
tsumagari 27:d2955f29a3aa 132 twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
tsumagari 27:d2955f29a3aa 133 //writeTimer.start();
taurin 0:085b2c5e3254 134 FusokukeiInit();
YusukeWakuta 44:c51b60c74fef 135 // MpuInit();
tsumagari 27:d2955f29a3aa 136 //writeDatasTicker.attach(&WriteDatas,1);
tsumagari 27:d2955f29a3aa 137 // cadenceUpdateTicker.attach(&updateCadence, 1);
YusukeWakuta 44:c51b60c74fef 138
tsumagari 27:d2955f29a3aa 139 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 140 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 141 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 142 //-----------------------------------------------------------
taurin 0:085b2c5e3254 143 }
taurin 0:085b2c5e3254 144
YusukeWakuta 44:c51b60c74fef 145 void FusokukeiInit()
YusukeWakuta 44:c51b60c74fef 146 {
taurin 0:085b2c5e3254 147 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 148 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 149 }
taurin 0:085b2c5e3254 150
YusukeWakuta 44:c51b60c74fef 151 void MpuInit()
YusukeWakuta 44:c51b60c74fef 152 {
tsumagari 26:50272431cd1e 153 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 154 t.start();
tsumagari 26:50272431cd1e 155 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 156 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 157 Thread::wait(100);
tsumagari 26:50272431cd1e 158 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 159 Thread::wait(100);
tsumagari 26:50272431cd1e 160 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 161 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 162 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 26:50272431cd1e 163 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 164 Thread::wait(200);
tsumagari 26:50272431cd1e 165 } else {
tsumagari 26:50272431cd1e 166 }
tsumagari 26:50272431cd1e 167 } else {
tsumagari 26:50272431cd1e 168 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 44:c51b60c74fef 169 }
tsumagari 26:50272431cd1e 170 }
taurin 0:085b2c5e3254 171
YusukeWakuta 44:c51b60c74fef 172 void mpuProcessing(void const *arg)
YusukeWakuta 44:c51b60c74fef 173 {
tsumagari 33:69ad9920f693 174 MpuInit();
YusukeWakuta 44:c51b60c74fef 175 while(1) {
tsumagari 33:69ad9920f693 176 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 177 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 178 mpu6050.getAres();
tsumagari 33:69ad9920f693 179 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 180 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 181 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 182 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 183 mpu6050.getGres();
tsumagari 33:69ad9920f693 184 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 185 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 186 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 187 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 188 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 189 }
tsumagari 33:69ad9920f693 190 Now = t.read_us();
tsumagari 33:69ad9920f693 191 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 192 lastUpdate = Now;
tsumagari 33:69ad9920f693 193 sum += deltat;
tsumagari 33:69ad9920f693 194 sumCount++;
tsumagari 33:69ad9920f693 195 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 196 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 197 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 198 }
tsumagari 33:69ad9920f693 199 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 200 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 201 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 202 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 203 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 204 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 205 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 206 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 207 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 208 myled= !myled;
tsumagari 33:69ad9920f693 209 count = t.read_ms();
tsumagari 33:69ad9920f693 210 sum = 0;
tsumagari 33:69ad9920f693 211 sumCount = 0;
tsumagari 33:69ad9920f693 212 }
tsumagari 33:69ad9920f693 213 Thread::wait(0.01);
tsumagari 33:69ad9920f693 214 }//while(1)
tsumagari 26:50272431cd1e 215 }
tsumagari 26:50272431cd1e 216
YusukeWakuta 44:c51b60c74fef 217 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 44:c51b60c74fef 218 {
tsumagari 34:c46f2f687c7b 219 // while(1){
YusukeWakuta 44:c51b60c74fef 220 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 221 led2 = !led2;
tsumagari 34:c46f2f687c7b 222 char c = soudaSerial.getc();
YusukeWakuta 44:c51b60c74fef 223 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 224 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 225 }
YusukeWakuta 44:c51b60c74fef 226 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 227 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 228 }
YusukeWakuta 44:c51b60c74fef 229 }//if
tsumagari 34:c46f2f687c7b 230 // }//while(1)
taurin 3:8dc516be2e7e 231 }
taurin 3:8dc516be2e7e 232
YusukeWakuta 44:c51b60c74fef 233 void WriteDatas()
YusukeWakuta 44:c51b60c74fef 234 {
taurin 8:31e07f6ed0f7 235 int i;
YusukeWakuta 44:c51b60c74fef 236 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 44:c51b60c74fef 237 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 238 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 239 }
taurin 8:31e07f6ed0f7 240 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 241 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 242 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 243 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 244 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 37:34aaa1951390 245 writeDatas[write_datas_index][i++] = cadence_twe.cadence;
taurin 8:31e07f6ed0f7 246 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 247 //for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 248 // pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 249 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 250 // }
tsumagari 27:d2955f29a3aa 251 // pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 252 // twe.printf("\n\r");
tsumagari 27:d2955f29a3aa 253 // if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 27:d2955f29a3aa 254 // write_datas_index=0;
tsumagari 27:d2955f29a3aa 255 // }
tsumagari 27:d2955f29a3aa 256 // else{
tsumagari 27:d2955f29a3aa 257 // write_datas_index++;
YusukeWakuta 44:c51b60c74fef 258 // }
YusukeWakuta 44:c51b60c74fef 259 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 27:d2955f29a3aa 260 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 261 twe.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 262 // android.printf("%i,",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 263 }
taurin 9:95eb0bbdc2a9 264 //pc.printf("\n\r");
YusukeWakuta 44:c51b60c74fef 265 twe.printf("%f,%f,%f,%f,%f,%f\r\n",pitch,roll,yaw,airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 27:d2955f29a3aa 266 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
YusukeWakuta 44:c51b60c74fef 267 //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 37:34aaa1951390 268 pc.printf("%f,%f,%s\n\r",airSpeed,sonarDist,cadence_twe.myBuff);
tsumagari 37:34aaa1951390 269 pc.printf(cadence_twe.strData.c_str());
tsumagari 27:d2955f29a3aa 270 pc.putc(cadence_twe.strV[0]);
YusukeWakuta 44:c51b60c74fef 271 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 272 // for(int i = 0; i<SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 273 // android.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 274 // }
tsumagari 27:d2955f29a3aa 275 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 44:c51b60c74fef 276 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 27:d2955f29a3aa 277 android.printf("%f,%f,test\n\r",roll,airSpeed);
tsumagari 27:d2955f29a3aa 278 }
taurin 9:95eb0bbdc2a9 279 //SDprintf();
taurin 9:95eb0bbdc2a9 280 }
taurin 9:95eb0bbdc2a9 281
YusukeWakuta 44:c51b60c74fef 282 void WriteDatasF()
YusukeWakuta 44:c51b60c74fef 283 {
taurin 9:95eb0bbdc2a9 284 pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 285 }
tsumagari 27:d2955f29a3aa 286
YusukeWakuta 44:c51b60c74fef 287 void RollAlarm()
YusukeWakuta 44:c51b60c74fef 288 {
YusukeWakuta 44:c51b60c74fef 289 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 290 RollAlarmL = 1;
YusukeWakuta 44:c51b60c74fef 291 } else {
taurin 0:085b2c5e3254 292 RollAlarmL = 0;
taurin 0:085b2c5e3254 293 }
YusukeWakuta 44:c51b60c74fef 294
YusukeWakuta 44:c51b60c74fef 295 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 296 RollAlarmR = 1;
YusukeWakuta 44:c51b60c74fef 297 } else {
taurin 0:085b2c5e3254 298 RollAlarmR = 0;
taurin 0:085b2c5e3254 299 }
taurin 0:085b2c5e3254 300 }
taurin 0:085b2c5e3254 301
YusukeWakuta 44:c51b60c74fef 302 int main()
YusukeWakuta 44:c51b60c74fef 303 {
tsumagari 27:d2955f29a3aa 304 // Thread cadence_thread(&updateCadence);
tsumagari 38:32f483b0a77f 305 Thread mpu_thread(&mpuProcessing);
tsumagari 34:c46f2f687c7b 306 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 307 init();
YusukeWakuta 44:c51b60c74fef 308 while(1) {
taurin 9:95eb0bbdc2a9 309 pc.printf("test\n\r");
tsumagari 33:69ad9920f693 310 // mpuProcessing();
tsumagari 27:d2955f29a3aa 311 sonarCalc();
taurin 8:31e07f6ed0f7 312 RollAlarm();
tsumagari 27:d2955f29a3aa 313 DataReceiveFromSouda();
tsumagari 34:c46f2f687c7b 314 updateCadence();
taurin 3:8dc516be2e7e 315 WriteDatas();
tsumagari 27:d2955f29a3aa 316 // WriteServo();
taurin 0:085b2c5e3254 317 }
taurin 0:085b2c5e3254 318 }