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
Diff: main.cpp
- Branch:
- fusokukei
- Revision:
- 16:22aae833bdae
- Parent:
- 15:6966299bea4c
- Child:
- 20:7056239a71dd
--- a/main.cpp Sat Nov 26 01:12:10 2016 +0000 +++ b/main.cpp Wed Nov 30 08:08:14 2016 +0000 @@ -19,14 +19,14 @@ #define SD_WRITE_NUM 10 #define INIT_SERVO_PERIOD_MS 20 -//Cadence cadence(p13,p14); -//Ticker cadenceTicker; +Cadence cadence(p11,p12); +Ticker cadenceTicker; Serial pc(USBTX,USBRX); -BufferedSoftSerial twe(p9,p10); +Serial twe(p9,p10); //Serial soudaSerial(p13,p14); BufferedSoftSerial soudaSerial(p17,p18); -//Ticker writeDatasTicker; +Ticker writeDatasTicker; Timer writeTimer; InterruptIn FusokukeiPin(p21); @@ -67,8 +67,6 @@ void FusokukeiInit(); void MpuInit(); void mpuProcessing(); -//void cadenceRead(); -//void cadenceInit(); void SdInit(); void DataReceiveFromSouda(); void WriteDatas(); @@ -76,7 +74,7 @@ float calcKXdeg(float x); void cadenceDataReceive(){ -// cadence.readData(); + cadence.readData(); } void air_countUp(){ @@ -89,17 +87,16 @@ } void init(){ - twe.baud(19200); + twe.baud(115200); soudaSerial.baud(9600); -// cadenceTicker.attach(&cadenceDataReceive,0.1); +// cadenceTicker.attach(&cadenceDataReceive,1); //writeTimer.start(); kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); FusokukeiInit(); MpuInit(); SdInit(); - //writeDatasTicker.attach(&WriteDatas,1); -// soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq); +// writeDatasTicker.attach(&WriteDatas,1); } void FusokukeiInit(){ @@ -185,7 +182,7 @@ void DataReceiveFromSouda(){ led2 = !led2; - //pc.printf("received\n\r"); +// pc.printf("received\n\r"); // bool kaigyo=0; for(int i = 0; i < SOUDA_DATAS_NUM; i++){ if(soudaSerial.readable()) { @@ -218,7 +215,7 @@ //writeDatas[write_datas_index][i] = 0.0; writeDatas[write_datas_index][i] = (float)soudaDatas[i]; } -// writeDatas[write_datas_index][i++] = cadence.cadence; + writeDatas[write_datas_index][i++] = cadence.cadence; writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read()); writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read()); writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read()); @@ -244,8 +241,8 @@ pc.printf("%i ",soudaDatas[i]); twe.printf("%i,",soudaDatas[i]); } -// twe.printf("%f\n\r",cadence.cadence); -// pc.printf("%f\n\r",cadence.cadence); + twe.printf("%f\n\r",cadence.cadence); + pc.printf("%f\n\r",cadence.cadence); //pc.printf("\n\r"); twe.printf("%f,%f,%f,",pitch,roll,yaw); twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); @@ -302,13 +299,13 @@ int main(){ init(); while(1){ - pc.printf("test\n\r"); // if(test.readable()) pc.printf("%d ",test.getc()); // pc.printf("<-softserial\n\r"); mpuProcessing(); RollAlarm(); DataReceiveFromSouda(); -// cadence.readData(); + cadenceDataReceive(); + pc.printf("test\n\r"); WriteDatas(); WriteServo(); }