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@12:f01c1ba847ac, 2016-11-12 (annotated)
- Committer:
- tsumagari
- Date:
- Sat Nov 12 12:03:02 2016 +0000
- Revision:
- 12:f01c1ba847ac
- Parent:
- 11:90e2b070f337
- Child:
- 13:09e05e7cfca1
???
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 | 12:f01c1ba847ac | 6 | #include "SoftwareSerial.h" |
taurin | 0:085b2c5e3254 | 7 | |
taurin | 0:085b2c5e3254 | 8 | #define KX_VALUE_MIN 0.4 |
taurin | 0:085b2c5e3254 | 9 | #define KX_VALUE_MAX 0.8 |
taurin | 1:5ec2409854da | 10 | #define SOUDA_DATAS_NUM 13 |
taurin | 5:1b3c8e5ee99e | 11 | #define WRITE_DATAS_NUM 20 |
taurin | 0:085b2c5e3254 | 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 |
taurin | 9:95eb0bbdc2a9 | 17 | #define MPU_DELT_MIN 250 |
taurin | 3:8dc516be2e7e | 18 | #define SD_WRITE_NUM 10 |
taurin | 4:a863a092141c | 19 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 0:085b2c5e3254 | 20 | |
taurin | 0:085b2c5e3254 | 21 | Serial pc(USBTX,USBRX); |
taurin | 1:5ec2409854da | 22 | Serial twe(p9,p10); |
tsumagari | 12:f01c1ba847ac | 23 | Serial cadenceTwe(p13,p14); |
tsumagari | 12:f01c1ba847ac | 24 | SoftwareSerial soudaSerial(p24,p23); |
tsumagari | 12:f01c1ba847ac | 25 | //Ticker writeDatasTicker; |
taurin | 3:8dc516be2e7e | 26 | Timer writeTimer; |
taurin | 0:085b2c5e3254 | 27 | |
taurin | 0:085b2c5e3254 | 28 | InterruptIn FusokukeiPin(p30); |
taurin | 0:085b2c5e3254 | 29 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 30 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 31 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 32 | |
taurin | 0:085b2c5e3254 | 33 | float sum = 0; |
taurin | 0:085b2c5e3254 | 34 | uint32_t sumCount = 0; |
taurin | 0:085b2c5e3254 | 35 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 36 | Timer t; |
taurin | 0:085b2c5e3254 | 37 | Ticker mpu6050Ticker; |
taurin | 0:085b2c5e3254 | 38 | |
taurin | 0:085b2c5e3254 | 39 | AnalogIn kx_X(p17); |
taurin | 0:085b2c5e3254 | 40 | AnalogIn kx_Y(p16); |
taurin | 0:085b2c5e3254 | 41 | AnalogIn kx_Z(p15); |
taurin | 3:8dc516be2e7e | 42 | float KX_X,KX_Y,KX_Z; |
taurin | 0:085b2c5e3254 | 43 | |
taurin | 0:085b2c5e3254 | 44 | DigitalOut RollAlarmR(p20); |
taurin | 0:085b2c5e3254 | 45 | DigitalOut RollAlarmL(p19); |
taurin | 0:085b2c5e3254 | 46 | DigitalOut led(LED1); |
taurin | 1:5ec2409854da | 47 | DigitalOut led2(LED2); |
taurin | 0:085b2c5e3254 | 48 | |
taurin | 0:085b2c5e3254 | 49 | SDFileSystem sd(p5, p6, p7, p8, "sd"); |
taurin | 0:085b2c5e3254 | 50 | FILE* fp; |
taurin | 0:085b2c5e3254 | 51 | |
YusukeWakuta | 11:90e2b070f337 | 52 | PwmOut kisokuServo(p26); |
YusukeWakuta | 11:90e2b070f337 | 53 | PwmOut geikakuServo(p22); |
taurin | 4:a863a092141c | 54 | |
tsumagari | 12:f01c1ba847ac | 55 | float cadence; |
taurin | 0:085b2c5e3254 | 56 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 57 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 58 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 59 | |
taurin | 0:085b2c5e3254 | 60 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 61 | void call_calcAirSpeed(); |
taurin | 0:085b2c5e3254 | 62 | void init(); |
taurin | 0:085b2c5e3254 | 63 | void FusokukeiInit(); |
taurin | 0:085b2c5e3254 | 64 | void MpuInit(); |
taurin | 0:085b2c5e3254 | 65 | void mpuProcessing(); |
tsumagari | 12:f01c1ba847ac | 66 | void cadenceRead(); |
tsumagari | 12:f01c1ba847ac | 67 | void cadenceInit(); |
taurin | 0:085b2c5e3254 | 68 | void SdInit(); |
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 | |
taurin | 0:085b2c5e3254 | 74 | void air_countUp(){ |
taurin | 0:085b2c5e3254 | 75 | air_kaitensu++; |
taurin | 0:085b2c5e3254 | 76 | } |
taurin | 0:085b2c5e3254 | 77 | |
taurin | 0:085b2c5e3254 | 78 | void call_calcAirSpeed(){ |
taurin | 0:085b2c5e3254 | 79 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 80 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 81 | } |
taurin | 0:085b2c5e3254 | 82 | |
taurin | 0:085b2c5e3254 | 83 | void init(){ |
taurin | 1:5ec2409854da | 84 | twe.baud(115200); |
tsumagari | 12:f01c1ba847ac | 85 | // test.baud(300); |
taurin | 6:98a63127aa11 | 86 | //writeTimer.start(); |
taurin | 5:1b3c8e5ee99e | 87 | kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 5:1b3c8e5ee99e | 88 | geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:085b2c5e3254 | 89 | FusokukeiInit(); |
taurin | 8:31e07f6ed0f7 | 90 | MpuInit(); |
taurin | 8:31e07f6ed0f7 | 91 | SdInit(); |
taurin | 3:8dc516be2e7e | 92 | //writeDatasTicker.attach(&WriteDatas,1); |
taurin | 1:5ec2409854da | 93 | //soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq); |
taurin | 0:085b2c5e3254 | 94 | } |
taurin | 0:085b2c5e3254 | 95 | |
taurin | 0:085b2c5e3254 | 96 | void FusokukeiInit(){ |
taurin | 0:085b2c5e3254 | 97 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 98 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 99 | } |
taurin | 0:085b2c5e3254 | 100 | |
taurin | 0:085b2c5e3254 | 101 | void MpuInit(){ |
taurin | 0:085b2c5e3254 | 102 | i2c.frequency(400000); // use fast (400 kHz) I2C |
taurin | 0:085b2c5e3254 | 103 | t.start(); |
taurin | 0:085b2c5e3254 | 104 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
taurin | 0:085b2c5e3254 | 105 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
taurin | 0:085b2c5e3254 | 106 | wait(1); |
taurin | 0:085b2c5e3254 | 107 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
taurin | 0:085b2c5e3254 | 108 | wait(1); |
taurin | 0:085b2c5e3254 | 109 | 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 | 110 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
taurin | 0:085b2c5e3254 | 111 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
taurin | 0:085b2c5e3254 | 112 | 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 | 113 | wait(2); |
taurin | 0:085b2c5e3254 | 114 | } else { |
taurin | 0:085b2c5e3254 | 115 | } |
taurin | 0:085b2c5e3254 | 116 | } else { |
taurin | 5:1b3c8e5ee99e | 117 | //pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
taurin | 0:085b2c5e3254 | 118 | } |
taurin | 0:085b2c5e3254 | 119 | } |
taurin | 0:085b2c5e3254 | 120 | |
taurin | 4:a863a092141c | 121 | double calcPulse(int deg){ |
taurin | 4:a863a092141c | 122 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
taurin | 4:a863a092141c | 123 | |
taurin | 4:a863a092141c | 124 | } |
taurin | 4:a863a092141c | 125 | |
taurin | 0:085b2c5e3254 | 126 | void mpuProcessing(){ |
taurin | 0:085b2c5e3254 | 127 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
taurin | 3:8dc516be2e7e | 128 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 129 | mpu6050.getAres(); |
taurin | 3:8dc516be2e7e | 130 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
taurin | 3:8dc516be2e7e | 131 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
taurin | 3:8dc516be2e7e | 132 | az = (float)accelCount[2]*aRes - accelBias[2]; |
taurin | 3:8dc516be2e7e | 133 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 134 | mpu6050.getGres(); |
taurin | 3:8dc516be2e7e | 135 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
taurin | 3:8dc516be2e7e | 136 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
taurin | 3:8dc516be2e7e | 137 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
taurin | 3:8dc516be2e7e | 138 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 139 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
taurin | 3:8dc516be2e7e | 140 | } |
taurin | 3:8dc516be2e7e | 141 | Now = t.read_us(); |
taurin | 3:8dc516be2e7e | 142 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
taurin | 3:8dc516be2e7e | 143 | lastUpdate = Now; |
taurin | 3:8dc516be2e7e | 144 | sum += deltat; |
taurin | 3:8dc516be2e7e | 145 | sumCount++; |
taurin | 3:8dc516be2e7e | 146 | if(lastUpdate - firstUpdate > 10000000.0f) { |
taurin | 3:8dc516be2e7e | 147 | beta = 0.04; // decrease filter gain after stabilized |
taurin | 3:8dc516be2e7e | 148 | zeta = 0.015; // increasey bias drift gain after stabilized |
taurin | 3:8dc516be2e7e | 149 | } |
taurin | 3:8dc516be2e7e | 150 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
taurin | 3:8dc516be2e7e | 151 | delt_t = t.read_ms() - count; |
taurin | 3:8dc516be2e7e | 152 | if (delt_t > MPU_DELT_MIN) { |
taurin | 3:8dc516be2e7e | 153 | 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 | 154 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
taurin | 3:8dc516be2e7e | 155 | 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 | 156 | pitch *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 157 | yaw *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 158 | roll *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 159 | myled= !myled; |
taurin | 3:8dc516be2e7e | 160 | count = t.read_ms(); |
taurin | 3:8dc516be2e7e | 161 | sum = 0; |
taurin | 3:8dc516be2e7e | 162 | sumCount = 0; |
taurin | 0:085b2c5e3254 | 163 | } |
taurin | 0:085b2c5e3254 | 164 | } |
taurin | 0:085b2c5e3254 | 165 | |
tsumagari | 12:f01c1ba847ac | 166 | void cadenceInit(){ |
tsumagari | 12:f01c1ba847ac | 167 | cadenceTwe.baud(115200); |
tsumagari | 12:f01c1ba847ac | 168 | |
tsumagari | 12:f01c1ba847ac | 169 | } |
tsumagari | 12:f01c1ba847ac | 170 | |
tsumagari | 12:f01c1ba847ac | 171 | void cadenceRead(){ |
tsumagari | 12:f01c1ba847ac | 172 | if(twe.readable()){ |
tsumagari | 12:f01c1ba847ac | 173 | data[data_count]=twe.getc(); |
tsumagari | 12:f01c1ba847ac | 174 | |
tsumagari | 12:f01c1ba847ac | 175 | if(data[data_count]=='\r'){ |
tsumagari | 12:f01c1ba847ac | 176 | for(int i=0;i<73;i++) data[i]= NULL; |
tsumagari | 12:f01c1ba847ac | 177 | data_num=0; |
tsumagari | 12:f01c1ba847ac | 178 | data_count=0; |
tsumagari | 12:f01c1ba847ac | 179 | }else{ |
tsumagari | 12:f01c1ba847ac | 180 | if(data[data_count]==';'){ |
tsumagari | 12:f01c1ba847ac | 181 | data_num++; |
tsumagari | 12:f01c1ba847ac | 182 | } |
tsumagari | 12:f01c1ba847ac | 183 | if(data_num==15){ |
tsumagari | 12:f01c1ba847ac | 184 | z_int = (int)data[data_count-1] + (int)data[data_count-2]*10 + (int)data[data_count-3]*100 - offset*111; |
tsumagari | 12:f01c1ba847ac | 185 | if(data[data_count-4]!='0') z_int *= -1; |
tsumagari | 12:f01c1ba847ac | 186 | cadence = (double)z_int/6; //角度補正前ふつうに |
tsumagari | 12:f01c1ba847ac | 187 | } |
tsumagari | 12:f01c1ba847ac | 188 | data_count++; |
tsumagari | 12:f01c1ba847ac | 189 | }//else |
tsumagari | 12:f01c1ba847ac | 190 | |
tsumagari | 12:f01c1ba847ac | 191 | } //readable |
tsumagari | 12:f01c1ba847ac | 192 | } |
tsumagari | 12:f01c1ba847ac | 193 | |
taurin | 0:085b2c5e3254 | 194 | void SdInit(){ |
taurin | 0:085b2c5e3254 | 195 | mkdir("/sd/mydir", 0777); |
taurin | 0:085b2c5e3254 | 196 | fp = fopen("/sd/mydir/sdtest2.csv", "w"); |
taurin | 0:085b2c5e3254 | 197 | if(fp == NULL) { |
taurin | 0:085b2c5e3254 | 198 | error("Could not open file for write\n"); |
taurin | 0:085b2c5e3254 | 199 | } |
taurin | 0:085b2c5e3254 | 200 | fprintf(fp, "Hello fun SD Card World!\n\r"); |
taurin | 0:085b2c5e3254 | 201 | fclose(fp); |
taurin | 0:085b2c5e3254 | 202 | } |
taurin | 0:085b2c5e3254 | 203 | |
taurin | 0:085b2c5e3254 | 204 | void DataReceiveFromSouda(){ |
taurin | 1:5ec2409854da | 205 | led2 = !led2; |
taurin | 5:1b3c8e5ee99e | 206 | //pc.printf("received\n\r"); |
taurin | 1:5ec2409854da | 207 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 12:f01c1ba847ac | 208 | if(soudaSerial.readable()) soudaDatas[i] = (char)soudaSerial.getc(); |
taurin | 0:085b2c5e3254 | 209 | } |
taurin | 0:085b2c5e3254 | 210 | } |
taurin | 0:085b2c5e3254 | 211 | |
taurin | 3:8dc516be2e7e | 212 | void SDprintf(){ |
taurin | 1:5ec2409854da | 213 | fp = fopen("/sd/mydir/sdtest.csv", "a"); |
taurin | 1:5ec2409854da | 214 | if(fp == NULL) { |
taurin | 1:5ec2409854da | 215 | error("Could not open file for write\n"); |
taurin | 1:5ec2409854da | 216 | } |
taurin | 3:8dc516be2e7e | 217 | for(int i = 0; i < SD_WRITE_NUM; i++){ |
taurin | 3:8dc516be2e7e | 218 | for(int j = 0; j < WRITE_DATAS_NUM; j++){ |
taurin | 5:1b3c8e5ee99e | 219 | fprintf(fp,"%f,", writeDatas[i][j]); |
taurin | 3:8dc516be2e7e | 220 | } |
taurin | 3:8dc516be2e7e | 221 | } |
taurin | 5:1b3c8e5ee99e | 222 | fprintf(fp,"\n\r"); |
taurin | 3:8dc516be2e7e | 223 | fclose(fp); |
taurin | 3:8dc516be2e7e | 224 | } |
taurin | 3:8dc516be2e7e | 225 | |
taurin | 3:8dc516be2e7e | 226 | void WriteDatas(){ |
taurin | 8:31e07f6ed0f7 | 227 | int i; |
taurin | 8:31e07f6ed0f7 | 228 | for(i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 229 | //writeDatas[write_datas_index][i] = 0.0; |
taurin | 8:31e07f6ed0f7 | 230 | writeDatas[write_datas_index][i] = (float)soudaDatas[i]; |
taurin | 8:31e07f6ed0f7 | 231 | } |
taurin | 8:31e07f6ed0f7 | 232 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read()); |
taurin | 8:31e07f6ed0f7 | 233 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read()); |
taurin | 8:31e07f6ed0f7 | 234 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read()); |
taurin | 8:31e07f6ed0f7 | 235 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 8:31e07f6ed0f7 | 236 | writeDatas[write_datas_index][i++] = roll; |
taurin | 8:31e07f6ed0f7 | 237 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 8:31e07f6ed0f7 | 238 | writeDatas[write_datas_index][i++] = airSpeed; |
taurin | 8:31e07f6ed0f7 | 239 | //writeDatas[write_datas_index][i++] = writeTimer.read(); |
taurin | 9:95eb0bbdc2a9 | 240 | //for(i = 0; i < WRITE_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 241 | // pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 242 | // twe.printf("%f,", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 243 | // } |
taurin | 9:95eb0bbdc2a9 | 244 | // pc.printf("\n\r"); |
taurin | 9:95eb0bbdc2a9 | 245 | // twe.printf("\n\r"); |
taurin | 8:31e07f6ed0f7 | 246 | if(write_datas_index == SD_WRITE_NUM-1){ |
taurin | 8:31e07f6ed0f7 | 247 | SDprintf(); |
taurin | 8:31e07f6ed0f7 | 248 | write_datas_index=0; |
taurin | 8:31e07f6ed0f7 | 249 | } |
taurin | 8:31e07f6ed0f7 | 250 | else{ |
taurin | 8:31e07f6ed0f7 | 251 | write_datas_index++; |
taurin | 8:31e07f6ed0f7 | 252 | } |
taurin | 9:95eb0bbdc2a9 | 253 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 254 | pc.printf("%i ",soudaDatas[i]); |
YusukeWakuta | 10:1389f938f5f7 | 255 | twe.printf("%i,",soudaDatas[i]); |
taurin | 9:95eb0bbdc2a9 | 256 | } |
taurin | 9:95eb0bbdc2a9 | 257 | //pc.printf("\n\r"); |
YusukeWakuta | 10:1389f938f5f7 | 258 | twe.printf("%f,%f,%f,",pitch,roll,yaw); |
YusukeWakuta | 10:1389f938f5f7 | 259 | twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
YusukeWakuta | 10:1389f938f5f7 | 260 | twe.printf("%f,\r\n",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 261 | pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 9:95eb0bbdc2a9 | 262 | //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
taurin | 9:95eb0bbdc2a9 | 263 | pc.printf("%f\n\r",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 264 | //SDprintf(); |
taurin | 9:95eb0bbdc2a9 | 265 | } |
taurin | 9:95eb0bbdc2a9 | 266 | |
taurin | 9:95eb0bbdc2a9 | 267 | void WriteDatasF(){ |
taurin | 9:95eb0bbdc2a9 | 268 | pc.printf("airSpeed:%f\n\r",airSpeed); |
taurin | 0:085b2c5e3254 | 269 | } |
taurin | 0:085b2c5e3254 | 270 | |
taurin | 0:085b2c5e3254 | 271 | float calcKXdeg(float x){ |
taurin | 0:085b2c5e3254 | 272 | return -310.54*x+156.65; |
taurin | 0:085b2c5e3254 | 273 | } |
taurin | 0:085b2c5e3254 | 274 | |
taurin | 0:085b2c5e3254 | 275 | float calcAttackAngle(){ |
taurin | 0:085b2c5e3254 | 276 | return pitch-calcKXdeg(kx_Z.read()); |
taurin | 0:085b2c5e3254 | 277 | } |
taurin | 0:085b2c5e3254 | 278 | |
taurin | 0:085b2c5e3254 | 279 | void RollAlarm(){ |
taurin | 0:085b2c5e3254 | 280 | if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){ |
taurin | 0:085b2c5e3254 | 281 | RollAlarmL = 1; |
taurin | 0:085b2c5e3254 | 282 | } |
taurin | 0:085b2c5e3254 | 283 | else{ |
taurin | 0:085b2c5e3254 | 284 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 285 | } |
taurin | 0:085b2c5e3254 | 286 | |
taurin | 0:085b2c5e3254 | 287 | if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){ |
taurin | 0:085b2c5e3254 | 288 | RollAlarmR = 1; |
taurin | 0:085b2c5e3254 | 289 | } |
taurin | 0:085b2c5e3254 | 290 | else{ |
taurin | 0:085b2c5e3254 | 291 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 292 | } |
taurin | 0:085b2c5e3254 | 293 | } |
taurin | 0:085b2c5e3254 | 294 | |
taurin | 4:a863a092141c | 295 | void WriteServo(){ |
taurin | 9:95eb0bbdc2a9 | 296 | //kisokuServo.pulsewidth(calcPulse(airSpeed*10)); |
taurin | 9:95eb0bbdc2a9 | 297 | kisokuServo.pulsewidth(calcPulse(9*airSpeed)); |
taurin | 9:95eb0bbdc2a9 | 298 | if(pitch<0){ |
taurin | 9:95eb0bbdc2a9 | 299 | geikakuServo.pulsewidth(calcPulse(0)); |
taurin | 9:95eb0bbdc2a9 | 300 | } |
taurin | 9:95eb0bbdc2a9 | 301 | else{ |
taurin | 9:95eb0bbdc2a9 | 302 | geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0))); |
taurin | 9:95eb0bbdc2a9 | 303 | } |
taurin | 6:98a63127aa11 | 304 | //pc.printf("a:%f",airSpeed); |
taurin | 6:98a63127aa11 | 305 | //pc.printf("p:%f\r\n",pitch); |
taurin | 5:1b3c8e5ee99e | 306 | //kisokuServo.pulsewidth(calcPulse(0)); |
taurin | 5:1b3c8e5ee99e | 307 | //geikakuServo.pulsewidth(calcPulse(0)); |
taurin | 4:a863a092141c | 308 | } |
taurin | 4:a863a092141c | 309 | |
taurin | 0:085b2c5e3254 | 310 | int main(){ |
taurin | 0:085b2c5e3254 | 311 | init(); |
taurin | 0:085b2c5e3254 | 312 | while(1){ |
tsumagari | 12:f01c1ba847ac | 313 | // pc.printf("test\n\r"); |
tsumagari | 12:f01c1ba847ac | 314 | // if(test.readable()) pc.printf("%d ",test.getc()); |
tsumagari | 12:f01c1ba847ac | 315 | // pc.printf("<-softserial\n\r"); |
taurin | 8:31e07f6ed0f7 | 316 | mpuProcessing(); |
taurin | 8:31e07f6ed0f7 | 317 | RollAlarm(); |
taurin | 8:31e07f6ed0f7 | 318 | DataReceiveFromSouda(); |
taurin | 3:8dc516be2e7e | 319 | WriteDatas(); |
taurin | 8:31e07f6ed0f7 | 320 | WriteServo(); |
taurin | 0:085b2c5e3254 | 321 | } |
taurin | 0:085b2c5e3254 | 322 | } |