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:
- tsumagari
- Date:
- 2017-02-17
- Revision:
- 29:2da9b8d03c0b
- Parent:
- 26:50272431cd1e
- Child:
- 30:66fa18093418
File content as of revision 29:2da9b8d03c0b:
//計器プログラム #include "mbed.h" #include "rtos.h" #include "Fusokukei.h" //#include "xMPU6050.h" #include "MPU6050_DMP6.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 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 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); Timer resetTimeCount; void resetInterrupt(){ while(resetPin){ resetTimeCount.start(); if(resetTimeCount.read()>3) mbed_reset(); } resetTimeCount.reset(); } //------------------------------------------------------- Cadence cadence(p13,p14); RawSerial pc(USBTX,USBRX); //RawSerial Android(p13,p14); BufferedSoftSerial twe(p11,p12); RawSerial Android(p9,p10); BufferedSoftSerial soudaSerial(p17,p18); //Ticker writeDatasTicker; Timer writeTimer; InterruptIn FusokukeiPin(p22); Ticker FusokukeiTicker; Fusokukei air; volatile int air_kaitensu= 0; float sum = 0; uint32_t sumCount = 0; //MPU6050 mpu6050; float yaw,pitch,roll; float pre_ypr[3]; float offset_ypr[3]; 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; DigitalOut RollAlarmR(p20); DigitalOut RollAlarmL(p19); //DigitalOut led(LED1);//for mpu 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 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); } } void air_countUp(){ air_kaitensu++; } void call_calcAirSpeed(){ air.calcAirSpeed(air_kaitensu); air_kaitensu = 0; led3 = !led3; } //void sonarInterruptStart(){ // sonarTimer.start(); // led3 = 1; //} //void sonarInterruptStop(){ // sonarTimer.stop(); // led3 = 0; // sonarDistTime = sonarTimer.read_us(); // sonarTimer.reset(); //} 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); FusokukeiInit(); // MpuInit(); //mpuProcessing内で // SonarInit(); // SdInit();//SDprintf 内で } 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 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); // mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values // Thread::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); // } else { // } // } else { // pc.printf("MPU6050 not ready...\n\r"); // //pc.printf("out\n\r"); // Loop forever if communication doesn't happen // } using namespace MPU6050DMP6; setup(); do{ for(int i = 0; i<3; i++) pre_ypr[i] = ypr[i]; getYPR(); Thread::wait(0.01); }while( (pre_ypr[1]-ypr[1]<0.0003)&&(pre_ypr[2]-ypr[2]<0.0003) ); for(int i = 0; i<3; i++) offset_ypr[i] = ypr[i]; } //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); // wait(0.01); } sonarDist = (sonarV/20)*2062.5; Thread::wait(0.01); // wait(0.01); } } //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 mpuProcessing(void const *argument){ using namespace MPU6050DMP6; setup(); do{ for(int i = 0; i<3; i++) pre_ypr[i] = ypr[i]; getYPR(); Thread::wait(0.01); }while( (pre_ypr[1]-ypr[1]<0.0003)&&(pre_ypr[2]-ypr[2]<0.0003) ); for(int i = 0; i<3; i++) offset_ypr[i] = ypr[i]; // MpuInit(); while(1){ getYPR(); yaw = (ypr[0] - offset_ypr[0]) *180/M_PI; pitch = (ypr[1] - offset_ypr[1]) *180/M_PI; roll = (ypr[2] - offset_ypr[2]) *180/M_PI; Thread::wait(0.01); } } 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); } } 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 = 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++] = 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.cadence; //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){ write_datas_index++; } for(int i = 0; i < SOUDA_DATAS_NUM; i++){ // pc.printf("%i ",soudaDatas[i]); ssMutex.lock(); twe.printf("%i,",soudaDatas[i]); ssMutex.unlock(); } 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); //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); // pc.printf("%f\n\r",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; //} //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; } } 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); init(); while(1){ pc.printf("test\n\r"); RollAlarm(); // DataReceiveFromSouda(); // cadence.readData(); WriteDatas(); // mpuProcessing(); } }