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:
- noThread2017ver.
- Revision:
- 27:d2955f29a3aa
- Parent:
- 26:50272431cd1e
- Child:
- 28:02e21f1fbe3d
- Child:
- 33:69ad9920f693
--- a/main.cpp Wed Jan 25 12:24:10 2017 +0000 +++ b/main.cpp Sat Jan 28 10:17:50 2017 +0000 @@ -1,30 +1,22 @@ //計器プログラム - #include "mbed.h" -#include "rtos.h" +//#include "rtos.h" #include "Fusokukei.h" #include "MPU6050.h" -#include "SDFileSystem.h" #include "BufferedSoftSerial.h" #include "Cadence.h" -#define KX_VALUE_MIN 0.4 -#define KX_VALUE_MAX 0.8 #define SOUDA_DATAS_NUM 18 -#define YOKUTAN_DATAS_NUM 14 -#define WRITE_DATAS_NUM 18 +#define WRITE_DATAS_NUM 20 +#define SD_WRITE_NUM 1 +#define MPU_LOOP_TIME 0.01 #define AIR_LOOP_TIME 0.01 #define WRITE_DATAS_LOOP_TIME 1 #define ROLL_R_MAX_DEG 2 #define ROLL_L_MAX_DEG 2 -#define SD_WRITE_NUM 20 +#define MPU_DELT_MIN 250 #define INIT_SERVO_PERIOD_MS 20 -#define MPU_LOOP_TIME 0.01 -#define MPU_DELT_MIN 250 - -Mutex ssMutex; - //-----------------------------------(resetInterrupt def) extern "C" void mbed_reset(); InterruptIn resetPin(p26); @@ -38,77 +30,55 @@ } //------------------------------------------------------- - -Cadence cadence(p13,p14); - RawSerial pc(USBTX,USBRX); -//RawSerial Android(p13,p14); +RawSerial android(p9,p10); +BufferedSoftSerial soudaSerial(p17,p18); BufferedSoftSerial twe(p11,p12); -RawSerial Android(p9,p10); -BufferedSoftSerial soudaSerial(p17,p18); -//Ticker writeDatasTicker; +Cadence cadence_twe(p13,p14); +Ticker cadenceUpdateTicker; +Ticker writeDatasTicker; Timer writeTimer; -InterruptIn FusokukeiPin(p22); +InterruptIn FusokukeiPin(p23); Ticker FusokukeiTicker; Fusokukei air; volatile int air_kaitensu= 0; +Timer sonarTimer; +AnalogIn sonarPin(p15); +//InterruputIn sonarPin(p15); +//double sonarDistTime +double sonarDist; +float sonarV; + + float sum = 0; uint32_t sumCount = 0; MPU6050 mpu6050; Timer t; -// -//AnalogIn kx_X(p17); -//AnalogIn kx_Y(p16); -//AnalogIn kx_Z(p15); -//float KX_X,KX_Y,KX_Z; - - -//Timer sonarTimer; -//InterruptIn sonarPin(p22); -AnalogIn sonarPin(p15); -//double sonarDistTime=0; -double sonarV = 0.0, sonarDist = 0.0; +Ticker mpu6050Ticker; DigitalOut RollAlarmR(p20); DigitalOut RollAlarmL(p19); -//DigitalOut led(LED1); +DigitalOut led(LED1); DigitalOut led2(LED2); -DigitalOut led3(LED3); -DigitalOut led4(LED4); - -SDFileSystem sd(p5, p6, p7, p8, "sd"); -FILE* fp; - -PwmOut kisokuServo(p26); -PwmOut geikakuServo(p22); char soudaDatas[SOUDA_DATAS_NUM]; float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; volatile int write_datas_index = 0; -void cadenceDataReceive(); void air_countUp(); void call_calcAirSpeed(); +void sonarInterruptStart(); +void sonarInterruptStop(); void init(); void FusokukeiInit(); -void SdInit(); void MpuInit(); -//void SonarInit(); void mpuProcessing(); void DataReceiveFromSouda(); -void SDprintf(void const *argument); void WriteDatas(); -//float calcAttackAngle(); -//float calcKXdeg(float x); - -void cadenceDataReceive(){ - while(1){ - cadence.readData(); - Thread::wait(0.01); - } -} +float calcAttackAngle(); +float calcKXdeg(float x); void air_countUp(){ air_kaitensu++; @@ -119,31 +89,45 @@ air_kaitensu = 0; } -//void sonarInterruptStart(){ -// sonarTimer.start(); -// led3 = 1; -//} -//void sonarInterruptStop(){ +void sonarInterruptStart(){ + sonarTimer.start(); +} + +void sonarInterruptStop(){ // sonarTimer.stop(); -// led3 = 0; // sonarDistTime = sonarTimer.read_us(); // sonarTimer.reset(); -//} +// sonarDist = sonarDistTime*0.018624 - 13.511; +} +void sonarCalc(){ + sonarV = 0; + for(int i = 0; i<20; i++){ + sonarV += sonarPin.read(); + wait(0.01); + } + sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm) +} + +void updateCadence(){ + cadence_twe.readData(); +} void init(){ //--------------------------------------(resetInterrupt init) resetPin.rise(resetInterrupt); resetPin.mode(PullDown); //----------------------------------------------------------- - twe.baud(115200); - Android.baud(9600); - soudaSerial.baud(9600); - kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); - geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); + twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要 + //writeTimer.start(); FusokukeiInit(); -// MpuInit(); //mpuProcessing内で -// SonarInit(); -// SdInit();//SDprintf 内で + MpuInit(); + //writeDatasTicker.attach(&WriteDatas,1); +// cadenceUpdateTicker.attach(&updateCadence, 1); + +//-----for InterruptMode of sonar---------------------------- +// sonarPin.rise(&sonarInterruptStart); +// sonarPin.fall(&sonarInterruptStop); +//----------------------------------------------------------- } void FusokukeiInit(){ @@ -151,197 +135,134 @@ FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); } -double calcPulse(int deg){ - return (0.0006+(deg/180.0)*(0.00235-0.00045)); -} - -void SdInit(){ - mkdir("/sd/mydir", 0777); - fp = fopen("/sd/mydir/sdtest2.csv", "w"); - if(fp == NULL) { - error("Could not open file for write\n"); - } - fprintf(fp, "Hello fun SD Card World!\n\r"); - fclose(fp); -// Thread sd_thread(&SDprintf); -} void MpuInit(){ i2c.frequency(400000); // use fast (400 kHz) I2C t.start(); uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 if (whoami == 0x68) { // WHO_AM_I should always be 0x68 - Thread::wait(1); + wait(1); mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values - Thread::wait(1); + wait(1); 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) { mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature - Thread::wait(2); + wait(2); } else { } } else { - pc.printf("MPU6050 not ready...\n\r"); //pc.printf("out\n\r"); // Loop forever if communication doesn't happen } } -//void SonarInit(){ -// sonarPin.rise(&sonarInterruptStart); -// sonarPin.fall(&sonarInterruptStop); -//} -void sonarCalc(void const *argument){ -// return sonarDistTime*0.018624 - 13.511; - while(1){ - sonarV = 0; - for(int i =0; i<20; i++){ - sonarV += sonarPin.read(); - Thread::wait(0.01); - } - sonarDist = (sonarV/20)*2062.5; - Thread::wait(0.01); +double calcPulse(int deg){ + return (0.0006+(deg/180.0)*(0.00235-0.00045)); + +} + +void mpuProcessing(){ + if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt + mpu6050.readAccelData(accelCount); // Read the x/y/z adc values + mpu6050.getAres(); + ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set + ay = (float)accelCount[1]*aRes - accelBias[1]; + az = (float)accelCount[2]*aRes - accelBias[2]; + mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values + mpu6050.getGres(); + gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set + gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; + gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; + tempCount = mpu6050.readTempData(); // Read the x/y/z adc values + temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade + } + Now = t.read_us(); + deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update + lastUpdate = Now; + sum += deltat; + sumCount++; + if(lastUpdate - firstUpdate > 10000000.0f) { + beta = 0.04; // decrease filter gain after stabilized + zeta = 0.015; // increasey bias drift gain after stabilized + } + mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); + delt_t = t.read_ms() - count; + if (delt_t > MPU_DELT_MIN) { + 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]); + pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); + 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]); + pitch *= 180.0f / PI; + yaw *= 180.0f / PI; + roll *= 180.0f / PI; + myled= !myled; + count = t.read_ms(); + sum = 0; + sumCount = 0; } } -void mpuProcessing(void const *argument){ - MpuInit(); - while(1){ - Thread::wait(0.1); - if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt - mpu6050.readAccelData(accelCount); // Read the x/y/z adc values - mpu6050.getAres(); - ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set - ay = (float)accelCount[1]*aRes - accelBias[1]; - az = (float)accelCount[2]*aRes - accelBias[2]; - mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values - mpu6050.getGres(); - gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set - gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; - gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; - tempCount = mpu6050.readTempData(); // Read the x/y/z adc values - temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade - } - Now = t.read_us(); - deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update - lastUpdate = Now; - sum += deltat; - sumCount++; - if(lastUpdate - firstUpdate > 10000000.0f) { - beta = 0.04; // decrease filter gain after stabilized - zeta = 0.015; // increasey bias drift gain after stabilized - } - mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); - delt_t = t.read_ms() - count; - if (delt_t > MPU_DELT_MIN) { - 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]); - pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); - 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]); - pitch *= 180.0f / PI; - yaw *= 180.0f / PI; - roll *= 180.0f / PI; - myled= !myled; - count = t.read_ms(); - sum = 0; - sumCount = 0; - } +void DataReceiveFromSouda(){ + led2 = !led2; + char c = soudaSerial.getc(); + while( c != ';' ){ + c = soudaSerial.getc(); } -} - -void DataReceiveFromSouda(void const *argument){ - while(1){ - led2 = !led2; - for(int i = 0; i < SOUDA_DATAS_NUM; i++){ - if(soudaSerial.readable()) { -// ssMutex.lock(); - soudaDatas[i] = (char)soudaSerial.getc(); -// ssMutex.unlock(); - if(soudaDatas[i]==';') i=-1; - }else i--; - } - } -} - -void SDprintf(void const *argument){ - SdInit(); - while(1){ - if(write_datas_index == SD_WRITE_NUM-1){ -// led4 = !led4; - fp = fopen("/sd/mydir/sdtest.csv", "a"); - if(fp == NULL) { - error("Could not open file for write\n"); - } - for(int i = 0; i < SD_WRITE_NUM; i++){ - for(int j = 0; j < WRITE_DATAS_NUM; j++){ - fprintf(fp,"%f,", writeDatas[i][j]); - } - } - fprintf(fp,"\n\r"); - fclose(fp); - write_datas_index=0; - } - Thread::wait(0.01); + for(int i = 0; i < SOUDA_DATAS_NUM; i++){ + soudaDatas[i] = soudaSerial.getc(); } } void WriteDatas(){ int i; - for(i = 0; i < 6; i++){ //翼端のmpu - if(!(i%2)){ - writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2]<<8) + soudaDatas[(i+1)*2] ); - }else{ - writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2-1]<<8) + soudaDatas[i*2+1] ); - } -// writeDatas[write_datas_index][i] = i; + for(i = 0; i < SOUDA_DATAS_NUM; i++){ + //writeDatas[write_datas_index][i] = 0.0; + writeDatas[write_datas_index][i] = (float)soudaDatas[i]; } - for(i = 6; i < 12; i++){//翼端のV,操舵 - //writeDatas[write_datas_index][i] = 0.0; - writeDatas[write_datas_index][i] = (float)soudaDatas[i+6]; - } - writeDatas[write_datas_index][i++] = cadence.cadence; - writeDatas[write_datas_index][i++] = sonarDist; writeDatas[write_datas_index][i++] = pitch; writeDatas[write_datas_index][i++] = roll; writeDatas[write_datas_index][i++] = yaw; writeDatas[write_datas_index][i++] = airSpeed; + writeDatas[write_datas_index][i++] = sonarDist; + writeDatas[write_datas_index][i++] = cadence; //writeDatas[write_datas_index][i++] = writeTimer.read(); - for(i = 0; i < WRITE_DATAS_NUM; i++){ - pc.printf("%f ", writeDatas[write_datas_index][i]); + //for(i = 0; i < WRITE_DATAS_NUM; i++){ +// pc.printf("%f ", writeDatas[write_datas_index][i]); // twe.printf("%f,", writeDatas[write_datas_index][i]); - } - pc.printf("\n\r"); +// } +// pc.printf("\n\r"); // twe.printf("\n\r"); - if(write_datas_index < SD_WRITE_NUM-1){ - write_datas_index++; - } +// if(write_datas_index == SD_WRITE_NUM-1){ +// write_datas_index=0; +// } +// else{ +// write_datas_index++; +// } for(int i = 0; i < SOUDA_DATAS_NUM; i++){ -// pc.printf("%i ",soudaDatas[i]); - ssMutex.lock(); + pc.printf("%i ",soudaDatas[i]); twe.printf("%i,",soudaDatas[i]); - ssMutex.unlock(); +// android.printf("%i,",soudaDatas[i]); } -// twe.printf("%f\n\r",cadence.cadence); -// pc.printf("%f\n\r",cadence.cadence); //pc.printf("\n\r"); - -if(Android.writeable()){ - Android.printf("%f,%f,%f",airSpeed,roll,0); -} - ssMutex.lock(); twe.printf("%f,%f,%f,",pitch,roll,yaw); -// twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); - twe.printf("%f,\r\n",airSpeed); - ssMutex.unlock(); -// pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); + twe.printf("%f,%f,%f\r\n",airSpeed,sonarDist,cadence); + pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); -// pc.printf("%f\n\r",airSpeed); + pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence); + pc.putc(cadence_twe.strV[0]); + if(android.writeable()){ +// for(int i = 0; i<SOUDA_DATAS_NUM; i++){ +// android.printf("%i,",soudaDatas[i]); +// } +// android.printf("%f,%f,%f,",pitch,roll,yaw); +// android.printf("%f,%f,\r\n",airSpeed,sonarDist); + android.printf("%f,%f,test\n\r",roll,airSpeed); + } //SDprintf(); - pc.printf("%d\n\r",write_datas_index); } void WriteDatasF(){ pc.printf("airSpeed:%f\n\r",airSpeed); } -// + //float calcKXdeg(float x){ // return -310.54*x+156.65; //} @@ -357,6 +278,7 @@ else{ RollAlarmL = 0; } + if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){ RollAlarmR = 1; } @@ -365,21 +287,32 @@ } } - +void WriteServo(){ + //kisokuServo.pulsewidth(calcPulse(airSpeed*10)); +// kisokuServo.pulsewidth(calcPulse(9*airSpeed)); + if(pitch<0){ +// geikakuServo.pulsewidth(calcPulse(0)); + } + else{ +// geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0))); + } + //pc.printf("a:%f",airSpeed); + //pc.printf("p:%f\r\n",pitch); + //kisokuServo.pulsewidth(calcPulse(0)); + //geikakuServo.pulsewidth(calcPulse(0)); +} int main(){ - Thread sd_thread(&SDprintf);//必ずmain内で - Thread sonar_thread(&sonarCalc); - Thread mpu_thread(&mpuProcessing); - Thread soudaSerial_thread(&DataReceiveFromSouda); - Thread cadence_thread(&cadenceDataReceive); +// Thread cadence_thread(&updateCadence); init(); while(1){ pc.printf("test\n\r"); -// mpuProcessing(); + mpuProcessing(); + sonarCalc(); RollAlarm(); -// DataReceiveFromSouda(); -// cadence.readData(); + DataReceiveFromSouda(); + updateCadence(); WriteDatas(); +// WriteServo(); } } \ No newline at end of file