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:
- taurin
- Date:
- 2016-03-25
- Revision:
- 5:1b3c8e5ee99e
- Parent:
- 4:a863a092141c
- Child:
- 6:98a63127aa11
File content as of revision 5:1b3c8e5ee99e:
//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 MPU_DELT_MIN 500 #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; float sum = 0; uint32_t sumCount = 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(p22); PwmOut geikakuServo(p25); 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 MpuInit(); void mpuProcessing(); 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(); MpuInit(); SdInit(); //writeDatasTicker.attach(&WriteDatas,1); //soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq); } void FusokukeiInit(){ FusokukeiPin.rise(air_countUp); FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); } 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 wait(1); mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values 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 wait(2); } else { } } else { //pc.printf("out\n\r"); // Loop forever if communication doesn't happen } } 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 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]); //if(i%7==0){ // fprintf(fp,"\n\r"); // } } } //for(int i = 0; i < SOUDA_DATAS_NUM; i++){ // fprintf(fp,"%i ",soudaDatas[i]); // } // fprintf(fp, "p:%f,r:%f,y:%f\n",pitch,roll,yaw); // fprintf(fp, "gx:%f,gy:%f,gz:%f\n",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); // fprintf(fp, "as:%f\n",airSpeed); fprintf(fp,"\n\r"); fclose(fp); } void WriteDatas(){ int i; for(i = 0; i < SOUDA_DATAS_NUM; i++){ 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("\n\r"); // twe.printf("%f,%f,%f\n\r",pitch,roll,yaw); // twe.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); // twe.printf("%f\n\r",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(); } 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)); //geikakuServo.pulsewidth(calcPulse(pitch*0.13)); //kisokuServo.pulsewidth(calcPulse(0)); //geikakuServo.pulsewidth(calcPulse(0)); } int main(){ init(); while(1){ mpuProcessing(); RollAlarm(); DataReceiveFromSouda(); WriteDatas(); WriteServo(); } }