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
- Committer:
- YusukeWakuta
- Date:
- 2016-10-28
- Branch:
- 7_????????????
- Revision:
- 18:0a0c4277d960
- Parent:
- 11:90e2b070f337
- Child:
- 19:fa3f9ba17af8
File content as of revision 18:0a0c4277d960:
//計器プログラム #include "mbed.h" #include "Fusokukei.h" #include "MPU6050.h" #include "SDFileSystem.h" #define KX_VALUE_MIN 0.4 #define KX_VALUE_MAX 0.8 #define SOUDA_DATAS_NUM 13 #define WRITE_DATAS_NUM 20 #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 10 #define INIT_SERVO_PERIOD_MS 20 Serial pc(USBTX,USBRX); Serial soudaSerial(p13,p14); Serial twe(p9,p10); Ticker writeDatasTicker; Timer writeTimer; InterruptIn FusokukeiPin(p30); Ticker FusokukeiTicker; Fusokukei air; volatile int air_kaitensu= 0; MPU6050 mpu6050; Timer t; Ticker mpu6050Ticker; AnalogIn kx_X(p17); AnalogIn kx_Y(p16); AnalogIn kx_Z(p15); float KX_X,KX_Y,KX_Z; DigitalOut RollAlarmR(p20); DigitalOut RollAlarmL(p19); DigitalOut led(LED1); DigitalOut led2(LED2); 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 air_countUp(); void call_calcAirSpeed(); void init(); void FusokukeiInit(); void SdInit(); void DataReceiveFromSouda(); void WriteDatas(); float calcAttackAngle(); float calcKXdeg(float x); void air_countUp(){ air_kaitensu++; } void call_calcAirSpeed(){ air.calcAirSpeed(air_kaitensu); air_kaitensu = 0; } void init(){ twe.baud(115200); //writeTimer.start(); kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); FusokukeiInit(); mpu6050.MPUInit(t); SdInit(); //writeDatasTicker.attach(&WriteDatas,1); //soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq); } void FusokukeiInit(){ FusokukeiPin.rise(air_countUp); 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); } void DataReceiveFromSouda(){ led2 = !led2; //pc.printf("received\n\r"); for(int i = 0; i < SOUDA_DATAS_NUM; i++){ soudaDatas[i] = soudaSerial.getc(); } } void SDprintf(){ 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); } void WriteDatas(){ int i; for(i = 0; i < SOUDA_DATAS_NUM; i++){ //writeDatas[write_datas_index][i] = 0.0; writeDatas[write_datas_index][i] = (float)soudaDatas[i]; } 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()); 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++] = writeTimer.read(); //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"); // twe.printf("\n\r"); if(write_datas_index == SD_WRITE_NUM-1){ SDprintf(); write_datas_index=0; } else{ write_datas_index++; } for(int i = 0; i < SOUDA_DATAS_NUM; i++){ pc.printf("%i ",soudaDatas[i]); twe.printf("%i,",soudaDatas[i]); } //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)); twe.printf("%f,\r\n",airSpeed); 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); //SDprintf(); } void WriteDatasF(){ pc.printf("airSpeed:%f\n\r",airSpeed); } float calcKXdeg(float x){ return -310.54*x+156.65; } float calcAttackAngle(){ return pitch-calcKXdeg(kx_Z.read()); } void RollAlarm(){ if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){ RollAlarmL = 1; } else{ RollAlarmL = 0; } if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){ RollAlarmR = 1; } else{ RollAlarmR = 0; } } 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(){ init(); while(1){ pc.printf("test\n\r"); mpu6050.mpuProcessing(t); RollAlarm(); DataReceiveFromSouda(); WriteDatas(); WriteServo(); } }