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@32:fe006d07c1ea, 2017-02-17 (annotated)

Committer:
tsumagari
Date:
Fri Feb 17 12:14:23 2017 +0000
Revision:
32:fe006d07c1ea
Parent:
30:66fa18093418 
MPU6050DMP6>setup()>dmpInitialize()?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 1:5ec2409854da 1 //計器プログラム
YusukeWakuta 18:0a0c4277d960 2
taurin 0:085b2c5e3254 3 #include "mbed.h"
tsumagari 32:fe006d07c1ea 4 #define __mbed_h__
tsumagari 22:5cbebf097600 5 #include "rtos.h"
taurin 0:085b2c5e3254 6 #include "Fusokukei.h"
tsumagari 29:2da9b8d03c0b 7 //#include "xMPU6050.h"
tsumagari 29:2da9b8d03c0b 8 #include "MPU6050_DMP6.h"
taurin 0:085b2c5e3254 9 #include "SDFileSystem.h"
tsumagari 15:6966299bea4c 10 #include "BufferedSoftSerial.h"
tsumagari 15:6966299bea4c 11 #include "Cadence.h"
taurin 0:085b2c5e3254 12
taurin 0:085b2c5e3254 13 #define KX_VALUE_MIN 0.4
taurin 0:085b2c5e3254 14 #define KX_VALUE_MAX 0.8
tsumagari 26:50272431cd1e 15 #define SOUDA_DATAS_NUM 18
tsumagari 26:50272431cd1e 16 #define YOKUTAN_DATAS_NUM 14
tsumagari 26:50272431cd1e 17 #define WRITE_DATAS_NUM 18
taurin 0:085b2c5e3254 18 #define AIR_LOOP_TIME 0.01
taurin 3:8dc516be2e7e 19 #define WRITE_DATAS_LOOP_TIME 1
taurin 3:8dc516be2e7e 20 #define ROLL_R_MAX_DEG 2
taurin 3:8dc516be2e7e 21 #define ROLL_L_MAX_DEG 2
tsumagari 26:50272431cd1e 22 #define SD_WRITE_NUM 20
taurin 4:a863a092141c 23 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 24
tsumagari 26:50272431cd1e 25 #define MPU_LOOP_TIME 0.01
tsumagari 26:50272431cd1e 26 #define MPU_DELT_MIN 250
tsumagari 26:50272431cd1e 27
tsumagari 26:50272431cd1e 28 Mutex ssMutex;
tsumagari 26:50272431cd1e 29
tsumagari 26:50272431cd1e 30 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 31 extern "C" void mbed_reset();
tsumagari 26:50272431cd1e 32 InterruptIn resetPin(p26);
tsumagari 26:50272431cd1e 33 Timer resetTimeCount;
tsumagari 26:50272431cd1e 34 void resetInterrupt(){
tsumagari 26:50272431cd1e 35 while(resetPin){
tsumagari 26:50272431cd1e 36 resetTimeCount.start();
tsumagari 26:50272431cd1e 37 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 38 }
tsumagari 26:50272431cd1e 39 resetTimeCount.reset();
tsumagari 26:50272431cd1e 40 }
tsumagari 26:50272431cd1e 41 //-------------------------------------------------------
tsumagari 26:50272431cd1e 42
tsumagari 26:50272431cd1e 43
tsumagari 21:8802034b7810 44 Cadence cadence(p13,p14);
tsumagari 15:6966299bea4c 45
tsumagari 21:8802034b7810 46 RawSerial pc(USBTX,USBRX);
tsumagari 26:50272431cd1e 47 BufferedSoftSerial twe(p11,p12);
tsumagari 26:50272431cd1e 48 RawSerial Android(p9,p10);
tsumagari 15:6966299bea4c 49 BufferedSoftSerial soudaSerial(p17,p18);
taurin 3:8dc516be2e7e 50 Timer writeTimer;
taurin 0:085b2c5e3254 51
tsumagari 30:66fa18093418 52 InterruptIn FusokukeiPin(p23);
taurin 0:085b2c5e3254 53 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 54 Fusokukei air;
taurin 0:085b2c5e3254 55 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 56
tsumagari 26:50272431cd1e 57 float sum = 0;
tsumagari 26:50272431cd1e 58 uint32_t sumCount = 0;
tsumagari 29:2da9b8d03c0b 59 //MPU6050 mpu6050;
tsumagari 29:2da9b8d03c0b 60 float yaw,pitch,roll;
tsumagari 29:2da9b8d03c0b 61 float pre_ypr[3];
tsumagari 29:2da9b8d03c0b 62 float offset_ypr[3];
taurin 0:085b2c5e3254 63 Timer t;
tsumagari 26:50272431cd1e 64 //
tsumagari 26:50272431cd1e 65 //AnalogIn kx_X(p17);
tsumagari 26:50272431cd1e 66 //AnalogIn kx_Y(p16);
tsumagari 26:50272431cd1e 67 //AnalogIn kx_Z(p15);
tsumagari 26:50272431cd1e 68 //float KX_X,KX_Y,KX_Z;
taurin 0:085b2c5e3254 69
tsumagari 26:50272431cd1e 70
tsumagari 26:50272431cd1e 71 //Timer sonarTimer;
tsumagari 26:50272431cd1e 72 //InterruptIn sonarPin(p22);
tsumagari 26:50272431cd1e 73 AnalogIn sonarPin(p15);
tsumagari 26:50272431cd1e 74 //double sonarDistTime=0;
tsumagari 26:50272431cd1e 75 double sonarV = 0.0, sonarDist = 0.0;
taurin 0:085b2c5e3254 76
taurin 0:085b2c5e3254 77 DigitalOut RollAlarmR(p20);
taurin 0:085b2c5e3254 78 DigitalOut RollAlarmL(p19);
tsumagari 29:2da9b8d03c0b 79 //DigitalOut led(LED1);//for mpu
taurin 1:5ec2409854da 80 DigitalOut led2(LED2);
tsumagari 26:50272431cd1e 81 DigitalOut led3(LED3);
tsumagari 23:e59afb2044df 82 DigitalOut led4(LED4);
taurin 0:085b2c5e3254 83
taurin 0:085b2c5e3254 84 SDFileSystem sd(p5, p6, p7, p8, "sd");
taurin 0:085b2c5e3254 85 FILE* fp;
taurin 0:085b2c5e3254 86
tsumagari 32:fe006d07c1ea 87 //PwmOut kisokuServo(p26);
tsumagari 32:fe006d07c1ea 88 //PwmOut geikakuServo(p22);
taurin 4:a863a092141c 89
taurin 0:085b2c5e3254 90 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 91 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 92 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 93
tsumagari 30:66fa18093418 94 void cadenceDataReceive(void const *argument);
taurin 0:085b2c5e3254 95 void air_countUp();
taurin 0:085b2c5e3254 96 void call_calcAirSpeed();
taurin 0:085b2c5e3254 97 void init();
taurin 0:085b2c5e3254 98 void FusokukeiInit();
taurin 0:085b2c5e3254 99 void SdInit();
tsumagari 30:66fa18093418 100 //void MpuInit();
tsumagari 26:50272431cd1e 101 //void SonarInit();
tsumagari 30:66fa18093418 102 void mpuProcessing(void const *argument);
tsumagari 30:66fa18093418 103 void sonarCalc(void const *argument);
tsumagari 30:66fa18093418 104 void DataReceiveFromSouda(void const *argument);
tsumagari 21:8802034b7810 105 void SDprintf(void const *argument);
taurin 0:085b2c5e3254 106 void WriteDatas();
tsumagari 32:fe006d07c1ea 107 void calcPusle(int deg);
tsumagari 26:50272431cd1e 108 //float calcAttackAngle();
tsumagari 26:50272431cd1e 109 //float calcKXdeg(float x);
taurin 0:085b2c5e3254 110
tsumagari 30:66fa18093418 111 void cadenceDataReceive(void const *argument){
tsumagari 26:50272431cd1e 112 while(1){
tsumagari 26:50272431cd1e 113 cadence.readData();
tsumagari 26:50272431cd1e 114 Thread::wait(0.01);
tsumagari 26:50272431cd1e 115 }
tsumagari 15:6966299bea4c 116 }
tsumagari 15:6966299bea4c 117
taurin 0:085b2c5e3254 118 void air_countUp(){
taurin 0:085b2c5e3254 119 air_kaitensu++;
taurin 0:085b2c5e3254 120 }
taurin 0:085b2c5e3254 121
taurin 0:085b2c5e3254 122 void call_calcAirSpeed(){
taurin 0:085b2c5e3254 123 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 124 air_kaitensu = 0;
tsumagari 29:2da9b8d03c0b 125 led3 = !led3;
taurin 0:085b2c5e3254 126 }
taurin 0:085b2c5e3254 127
tsumagari 26:50272431cd1e 128 //void sonarInterruptStart(){
tsumagari 26:50272431cd1e 129 // sonarTimer.start();
tsumagari 26:50272431cd1e 130 // led3 = 1;
tsumagari 26:50272431cd1e 131 //}
tsumagari 26:50272431cd1e 132 //void sonarInterruptStop(){
tsumagari 26:50272431cd1e 133 // sonarTimer.stop();
tsumagari 26:50272431cd1e 134 // led3 = 0;
tsumagari 26:50272431cd1e 135 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 136 // sonarTimer.reset();
tsumagari 26:50272431cd1e 137 //}
tsumagari 26:50272431cd1e 138
taurin 0:085b2c5e3254 139 void init(){
tsumagari 26:50272431cd1e 140 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 141 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 142 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 143 //-----------------------------------------------------------
tsumagari 26:50272431cd1e 144 twe.baud(115200);
YusukeWakuta 19:fa3f9ba17af8 145 Android.baud(9600);
tsumagari 15:6966299bea4c 146 soudaSerial.baud(9600);
tsumagari 32:fe006d07c1ea 147 // kisokuServo.period_ms(INIT_SERVO_PERIOD_MS);
tsumagari 32:fe006d07c1ea 148 // geikakuServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:085b2c5e3254 149 FusokukeiInit();
tsumagari 26:50272431cd1e 150 // MpuInit(); //mpuProcessing内で
tsumagari 26:50272431cd1e 151 // SonarInit();
tsumagari 26:50272431cd1e 152 // SdInit();//SDprintf 内で
taurin 0:085b2c5e3254 153 }
taurin 0:085b2c5e3254 154
taurin 0:085b2c5e3254 155 void FusokukeiInit(){
tsumagari 29:2da9b8d03c0b 156 FusokukeiPin.rise(&air_countUp);
taurin 0:085b2c5e3254 157 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 158 }
taurin 0:085b2c5e3254 159
taurin 0:085b2c5e3254 160 void SdInit(){
taurin 0:085b2c5e3254 161 mkdir("/sd/mydir", 0777);
taurin 0:085b2c5e3254 162 fp = fopen("/sd/mydir/sdtest2.csv", "w");
taurin 0:085b2c5e3254 163 if(fp == NULL) {
taurin 0:085b2c5e3254 164 error("Could not open file for write\n");
taurin 0:085b2c5e3254 165 }
taurin 0:085b2c5e3254 166 fprintf(fp, "Hello fun SD Card World!\n\r");
taurin 0:085b2c5e3254 167 fclose(fp);
taurin 0:085b2c5e3254 168 }
tsumagari 29:2da9b8d03c0b 169
tsumagari 30:66fa18093418 170 //void MpuInit(){
tsumagari 29:2da9b8d03c0b 171 // i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 29:2da9b8d03c0b 172 // t.start();
tsumagari 29:2da9b8d03c0b 173 // uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 29:2da9b8d03c0b 174 // if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 29:2da9b8d03c0b 175 // Thread::wait(1);
tsumagari 29:2da9b8d03c0b 176 // mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 29:2da9b8d03c0b 177 // Thread::wait(1);
tsumagari 29:2da9b8d03c0b 178 // 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 29:2da9b8d03c0b 179 // mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 29:2da9b8d03c0b 180 // mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 29:2da9b8d03c0b 181 // mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
tsumagari 29:2da9b8d03c0b 182 // Thread::wait(2);
tsumagari 29:2da9b8d03c0b 183 // } else {
tsumagari 29:2da9b8d03c0b 184 // }
tsumagari 29:2da9b8d03c0b 185 // } else {
tsumagari 29:2da9b8d03c0b 186 // pc.printf("MPU6050 not ready...\n\r");
tsumagari 29:2da9b8d03c0b 187 // //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
tsumagari 29:2da9b8d03c0b 188 // }
tsumagari 30:66fa18093418 189 // using namespace MPU6050DMP6;
tsumagari 30:66fa18093418 190 // setup();
tsumagari 30:66fa18093418 191 // do{
tsumagari 30:66fa18093418 192 // for(int i = 0; i<3; i++) pre_ypr[i] = ypr[i];
tsumagari 30:66fa18093418 193 // getYPR();
tsumagari 30:66fa18093418 194 // Thread::wait(0.01);
tsumagari 30:66fa18093418 195 // }while( (pre_ypr[1]-ypr[1]<0.0003)&&(pre_ypr[2]-ypr[2]<0.0003) );
tsumagari 30:66fa18093418 196 // for(int i = 0; i<3; i++) offset_ypr[i] = ypr[i];
tsumagari 30:66fa18093418 197 //}
taurin 0:085b2c5e3254 198
tsumagari 26:50272431cd1e 199 //void SonarInit(){
tsumagari 26:50272431cd1e 200 // sonarPin.rise(&sonarInterruptStart);
tsumagari 26:50272431cd1e 201 // sonarPin.fall(&sonarInterruptStop);
tsumagari 26:50272431cd1e 202 //}
tsumagari 26:50272431cd1e 203
tsumagari 29:2da9b8d03c0b 204 //void mpuProcessing(void const *argument){
tsumagari 29:2da9b8d03c0b 205 // MpuInit();
tsumagari 29:2da9b8d03c0b 206 // while(1){
tsumagari 29:2da9b8d03c0b 207 // Thread::wait(0.1);
tsumagari 29:2da9b8d03c0b 208 // if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 29:2da9b8d03c0b 209 // mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 29:2da9b8d03c0b 210 // mpu6050.getAres();
tsumagari 29:2da9b8d03c0b 211 // ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 29:2da9b8d03c0b 212 // ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 29:2da9b8d03c0b 213 // az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 29:2da9b8d03c0b 214 // mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 29:2da9b8d03c0b 215 // mpu6050.getGres();
tsumagari 29:2da9b8d03c0b 216 // gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 29:2da9b8d03c0b 217 // gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 29:2da9b8d03c0b 218 // gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 29:2da9b8d03c0b 219 // tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 29:2da9b8d03c0b 220 // temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 29:2da9b8d03c0b 221 // }
tsumagari 29:2da9b8d03c0b 222 // Now = t.read_us();
tsumagari 29:2da9b8d03c0b 223 // deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 29:2da9b8d03c0b 224 // lastUpdate = Now;
tsumagari 29:2da9b8d03c0b 225 // sum += deltat;
tsumagari 29:2da9b8d03c0b 226 // sumCount++;
tsumagari 29:2da9b8d03c0b 227 // if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 29:2da9b8d03c0b 228 // beta = 0.04; // decrease filter gain after stabilized
tsumagari 29:2da9b8d03c0b 229 // zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 29:2da9b8d03c0b 230 // }
tsumagari 29:2da9b8d03c0b 231 // mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 29:2da9b8d03c0b 232 // delt_t = t.read_ms() - count;
tsumagari 29:2da9b8d03c0b 233 // if (delt_t > MPU_DELT_MIN) {
tsumagari 29:2da9b8d03c0b 234 // 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 29:2da9b8d03c0b 235 // pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 29:2da9b8d03c0b 236 // 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 29:2da9b8d03c0b 237 // pitch *= 180.0f / PI;
tsumagari 29:2da9b8d03c0b 238 // yaw *= 180.0f / PI;
tsumagari 29:2da9b8d03c0b 239 // roll *= 180.0f / PI;
tsumagari 29:2da9b8d03c0b 240 // myled= !myled;
tsumagari 29:2da9b8d03c0b 241 // count = t.read_ms();
tsumagari 29:2da9b8d03c0b 242 // sum = 0;
tsumagari 29:2da9b8d03c0b 243 // sumCount = 0;
tsumagari 29:2da9b8d03c0b 244 // }
tsumagari 29:2da9b8d03c0b 245 // }
tsumagari 29:2da9b8d03c0b 246 //}
tsumagari 26:50272431cd1e 247 void mpuProcessing(void const *argument){
tsumagari 29:2da9b8d03c0b 248 using namespace MPU6050DMP6;
tsumagari 32:fe006d07c1ea 249 led1 = 1;
tsumagari 29:2da9b8d03c0b 250 setup();
tsumagari 32:fe006d07c1ea 251 int j=0;
tsumagari 32:fe006d07c1ea 252 do{
tsumagari 32:fe006d07c1ea 253 for(int i = 0; i<3; i++) pre_ypr[i] = ypr[i];
tsumagari 29:2da9b8d03c0b 254 getYPR();
tsumagari 32:fe006d07c1ea 255 Thread::wait(0.05);
tsumagari 32:fe006d07c1ea 256 j++;
tsumagari 32:fe006d07c1ea 257 }while( (pre_ypr[1]-ypr[1]<0.0003)&&(pre_ypr[2]-ypr[2]<0.0003)&&j<20 );
tsumagari 29:2da9b8d03c0b 258 for(int i = 0; i<3; i++) offset_ypr[i] = ypr[i];
tsumagari 29:2da9b8d03c0b 259 // MpuInit();
tsumagari 26:50272431cd1e 260 while(1){
tsumagari 29:2da9b8d03c0b 261 getYPR();
tsumagari 29:2da9b8d03c0b 262 yaw = (ypr[0] - offset_ypr[0]) *180/M_PI;
tsumagari 29:2da9b8d03c0b 263 pitch = (ypr[1] - offset_ypr[1]) *180/M_PI;
tsumagari 29:2da9b8d03c0b 264 roll = (ypr[2] - offset_ypr[2]) *180/M_PI;
tsumagari 30:66fa18093418 265 Thread::wait(0.1);
tsumagari 30:66fa18093418 266 }
tsumagari 30:66fa18093418 267 }
tsumagari 30:66fa18093418 268
tsumagari 30:66fa18093418 269 void sonarCalc(void const *argument){
tsumagari 30:66fa18093418 270 // return sonarDistTime*0.018624 - 13.511;
tsumagari 30:66fa18093418 271 while(1){
tsumagari 30:66fa18093418 272 sonarV = 0;
tsumagari 30:66fa18093418 273 for(int i =0; i<20; i++){
tsumagari 30:66fa18093418 274 sonarV += sonarPin.read();
tsumagari 30:66fa18093418 275 Thread::wait(0.01);
tsumagari 30:66fa18093418 276 // wait(0.01);
tsumagari 30:66fa18093418 277 }
tsumagari 30:66fa18093418 278 sonarDist = (sonarV/20)*2062.5;
tsumagari 29:2da9b8d03c0b 279 Thread::wait(0.01);
tsumagari 30:66fa18093418 280 // wait(0.01);
tsumagari 26:50272431cd1e 281 }
tsumagari 26:50272431cd1e 282 }
tsumagari 26:50272431cd1e 283
tsumagari 26:50272431cd1e 284 void DataReceiveFromSouda(void const *argument){
tsumagari 26:50272431cd1e 285 while(1){
tsumagari 26:50272431cd1e 286 led2 = !led2;
tsumagari 26:50272431cd1e 287 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 288 if(soudaSerial.readable()) {
tsumagari 26:50272431cd1e 289 // ssMutex.lock();
tsumagari 26:50272431cd1e 290 soudaDatas[i] = (char)soudaSerial.getc();
tsumagari 26:50272431cd1e 291 // ssMutex.unlock();
tsumagari 26:50272431cd1e 292 if(soudaDatas[i]==';') i=-1;
tsumagari 26:50272431cd1e 293 }else i--;
tsumagari 26:50272431cd1e 294 }
taurin 0:085b2c5e3254 295 }
taurin 0:085b2c5e3254 296 }
taurin 0:085b2c5e3254 297
tsumagari 21:8802034b7810 298 void SDprintf(void const *argument){
tsumagari 23:e59afb2044df 299 SdInit();
tsumagari 22:5cbebf097600 300 while(1){
tsumagari 23:e59afb2044df 301 if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 26:50272431cd1e 302 // led4 = !led4;
tsumagari 23:e59afb2044df 303 fp = fopen("/sd/mydir/sdtest.csv", "a");
tsumagari 23:e59afb2044df 304 if(fp == NULL) {
tsumagari 23:e59afb2044df 305 error("Could not open file for write\n");
tsumagari 23:e59afb2044df 306 }
tsumagari 23:e59afb2044df 307 for(int i = 0; i < SD_WRITE_NUM; i++){
tsumagari 23:e59afb2044df 308 for(int j = 0; j < WRITE_DATAS_NUM; j++){
tsumagari 23:e59afb2044df 309 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 23:e59afb2044df 310 }
tsumagari 23:e59afb2044df 311 }
tsumagari 23:e59afb2044df 312 fprintf(fp,"\n\r");
tsumagari 23:e59afb2044df 313 fclose(fp);
tsumagari 23:e59afb2044df 314 write_datas_index=0;
tsumagari 21:8802034b7810 315 }
tsumagari 26:50272431cd1e 316 Thread::wait(0.01);
tsumagari 22:5cbebf097600 317 }
taurin 3:8dc516be2e7e 318 }
taurin 3:8dc516be2e7e 319
taurin 3:8dc516be2e7e 320 void WriteDatas(){
taurin 8:31e07f6ed0f7 321 int i;
tsumagari 26:50272431cd1e 322 for(i = 0; i < 6; i++){ //翼端のmpu
tsumagari 26:50272431cd1e 323 if(!(i%2)){
tsumagari 26:50272431cd1e 324 writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2]<<8) + soudaDatas[(i+1)*2] );
tsumagari 26:50272431cd1e 325 }else{
tsumagari 26:50272431cd1e 326 writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2-1]<<8) + soudaDatas[i*2+1] );
tsumagari 26:50272431cd1e 327 }
tsumagari 26:50272431cd1e 328 // writeDatas[write_datas_index][i] = i;
taurin 8:31e07f6ed0f7 329 }
tsumagari 26:50272431cd1e 330 for(i = 6; i < 12; i++){//翼端のV,操舵
tsumagari 26:50272431cd1e 331 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 26:50272431cd1e 332 writeDatas[write_datas_index][i] = (float)soudaDatas[i+6];
tsumagari 26:50272431cd1e 333 }
taurin 8:31e07f6ed0f7 334 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 335 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 336 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 337 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 29:2da9b8d03c0b 338 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 29:2da9b8d03c0b 339 writeDatas[write_datas_index][i++] = cadence.cadence;
taurin 8:31e07f6ed0f7 340 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 26:50272431cd1e 341 for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 342 pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 343 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 26:50272431cd1e 344 }
tsumagari 26:50272431cd1e 345 pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 346 // twe.printf("\n\r");
tsumagari 23:e59afb2044df 347 if(write_datas_index < SD_WRITE_NUM-1){
taurin 8:31e07f6ed0f7 348 write_datas_index++;
taurin 8:31e07f6ed0f7 349 }
taurin 9:95eb0bbdc2a9 350 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 351 // pc.printf("%i ",soudaDatas[i]);
tsumagari 32:fe006d07c1ea 352 // ssMutex.lock();
YusukeWakuta 10:1389f938f5f7 353 twe.printf("%i,",soudaDatas[i]);
tsumagari 32:fe006d07c1ea 354 // ssMutex.unlock();
taurin 9:95eb0bbdc2a9 355 }
tsumagari 29:2da9b8d03c0b 356
tsumagari 29:2da9b8d03c0b 357 if(Android.writeable()){
tsumagari 29:2da9b8d03c0b 358 Android.printf("%f,%f,%f",airSpeed,roll,0);
tsumagari 29:2da9b8d03c0b 359 }
tsumagari 29:2da9b8d03c0b 360
tsumagari 32:fe006d07c1ea 361 // ssMutex.lock();
YusukeWakuta 10:1389f938f5f7 362 twe.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 26:50272431cd1e 363 // twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
YusukeWakuta 10:1389f938f5f7 364 twe.printf("%f,\r\n",airSpeed);
tsumagari 32:fe006d07c1ea 365 // ssMutex.unlock();
tsumagari 26:50272431cd1e 366 // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
taurin 9:95eb0bbdc2a9 367 //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 26:50272431cd1e 368 // pc.printf("%f\n\r",airSpeed);
taurin 9:95eb0bbdc2a9 369 //SDprintf();
tsumagari 23:e59afb2044df 370 pc.printf("%d\n\r",write_datas_index);
taurin 9:95eb0bbdc2a9 371 }
taurin 9:95eb0bbdc2a9 372
tsumagari 32:fe006d07c1ea 373 double calcPulse(int deg){
tsumagari 32:fe006d07c1ea 374 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 32:fe006d07c1ea 375 }
tsumagari 32:fe006d07c1ea 376
taurin 9:95eb0bbdc2a9 377 void WriteDatasF(){
taurin 9:95eb0bbdc2a9 378 pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 379 }
tsumagari 29:2da9b8d03c0b 380
tsumagari 26:50272431cd1e 381 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 382 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 383 //}
taurin 0:085b2c5e3254 384
tsumagari 26:50272431cd1e 385 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 386 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 387 //}
taurin 0:085b2c5e3254 388
taurin 0:085b2c5e3254 389 void RollAlarm(){
taurin 0:085b2c5e3254 390 if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){
taurin 0:085b2c5e3254 391 RollAlarmL = 1;
taurin 0:085b2c5e3254 392 }
taurin 0:085b2c5e3254 393 else{
taurin 0:085b2c5e3254 394 RollAlarmL = 0;
taurin 0:085b2c5e3254 395 }
taurin 0:085b2c5e3254 396 if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){
taurin 0:085b2c5e3254 397 RollAlarmR = 1;
taurin 0:085b2c5e3254 398 }
taurin 0:085b2c5e3254 399 else{
taurin 0:085b2c5e3254 400 RollAlarmR = 0;
taurin 0:085b2c5e3254 401 }
taurin 0:085b2c5e3254 402 }
taurin 0:085b2c5e3254 403
tsumagari 26:50272431cd1e 404
taurin 4:a863a092141c 405
tsumagari 29:2da9b8d03c0b 406 int main(){
tsumagari 23:e59afb2044df 407 Thread sd_thread(&SDprintf);//必ずmain内で
tsumagari 26:50272431cd1e 408 Thread sonar_thread(&sonarCalc);
tsumagari 26:50272431cd1e 409 Thread mpu_thread(&mpuProcessing);
tsumagari 26:50272431cd1e 410 Thread soudaSerial_thread(&DataReceiveFromSouda);
tsumagari 26:50272431cd1e 411 Thread cadence_thread(&cadenceDataReceive);
taurin 0:085b2c5e3254 412 init();
taurin 0:085b2c5e3254 413 while(1){
taurin 9:95eb0bbdc2a9 414 pc.printf("test\n\r");
taurin 8:31e07f6ed0f7 415 RollAlarm();
tsumagari 26:50272431cd1e 416 // DataReceiveFromSouda();
tsumagari 15:6966299bea4c 417 // cadence.readData();
taurin 3:8dc516be2e7e 418 WriteDatas();
tsumagari 29:2da9b8d03c0b 419 // mpuProcessing();
taurin 0:085b2c5e3254 420 }
taurin 0:085b2c5e3254 421 }