2018年度計器mbed用プログラム
Dependencies: BufferedSoftSerial2 INA226_ver1 mbed-rtos mbed SDFileSystem-RTOS
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main.cpp
- Committer:
- tsumagari
- Date:
- 2017-06-14
- Branch:
- cadence
- Revision:
- 63:f7f4edd463b1
- Parent:
- 62:98294011f568
- Child:
- 64:2de7ea84d39a
File content as of revision 63:f7f4edd463b1:
//計器プログラム #include "mbed.h" #include "rtos.h" #include "Cadence.h" #include "Fusokukei.h" #include "MPU6050.h" #include "BufferedSoftSerial.h" #include "SDFileSystem.h"//2014.6/5以前の環境で動作します。アップデートすると動きません。 #include "INA226.hpp" #define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2 #define YOKUTAN_DATAS_NUM 14 #define WRITE_DATAS_NUM 34 // souda_datas_num + 6( rpy, airspeed, height, cadence) #define SD_WRITE_NUM 20 #define MPU_LOOP_TIME 0.01 #define AIR_LOOP_TIME 0.01//(0.002005) #define WRITE_DATAS_LOOP_TIME 1 #define ROLL_R_MAX_DEG 1.5 #define ROLL_L_MAX_DEG 1.5 #define MPU_DELT_MIN 250 #define INIT_SERVO_PERIOD_MS 20 //-----------------------------------(resetInterrupt def) extern "C" void mbed_reset(); InterruptIn resetPin(p25); Timer resetTimeCount; void resetInterrupt() { while(resetPin) { resetTimeCount.start(); if(resetTimeCount.read()>3) mbed_reset(); } resetTimeCount.reset(); } //------------------------------------------------------- SDFileSystem sd(p5, p6, p7, p8, "sd"); FILE* fp; //RawSerial pc(USBTX,USBRX); //Serial android(p9,p10); BufferedSoftSerial soudaSerial(p17,p18); BufferedSoftSerial twe(p11,p12); //Cadence cadence_twe(p13,p14); RawSerial android(p13,p14); Ticker cadenceUpdateTicker; //Ticker writeDatasTicker; //Timer writeTimer; InterruptIn FusokukeiPin(p24); 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; Timer cadenceTimer; //Ticker mpu6050Ticker; DigitalOut RollAlarmR(p23); DigitalOut RollAlarmL(p22); DigitalOut led2(LED2); //DigitalOut led3(LED3); DigitalOut led4(LED4); I2C InaI2c(p9,p10); INA226 VCmonitor(InaI2c,0x9C); AnalogIn mgPin(p20); AnalogIn mgPin2(p16); 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 sonarInterruptStart(); void sonarInterruptStop(); void updateCadence(double source, double input,double input2,bool isFFlag); void init(); void FusokukeiInit(); void MpuInit(); void mpuProcessing(void const *arg); void DataReceiveFromSouda(void const *arg); void SdInit(); void SDprintf(); void WriteDatas(); float calcAttackAngle(); float calcKXdeg(float x); int lastCadenceInput = 0; //1つ前のケイデンスのパルス値を取得します。これの取りうる値は0か1です。 int lastCadenceInput2 = 0; //1つ前のケイデンスのパルス値を取得します。これの取りうる値は0か1です。 double cadenceResult = 0.0; //最終的なケイデンスの値です。 int cadenceCounter = 0; //クランクが一回転すると、二つのセンサがそれぞれ2回ずつ状態が変化するため、0~4をカウントするためのカウンタです。 double V; void air_countUp() { air_kaitensu++; led3 = !led3; } void call_calcAirSpeed() { air.calcAirSpeed(air_kaitensu); air_kaitensu = 0; } void sonarInterruptStart() { // sonarTimer.start(); } void sonarInterruptStop() { // sonarTimer.stop(); // 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) } // 定格12V電源の電圧値から定めた閾値を、oh182/E非接触回転速度センサ値が超えているかどうか // source: 定格12V電源の電圧値[mV], input: センサ値[mV] // return => 1:超えている, 0:超えていない, -1:エラー int isOh182eOverThreshold(double source, double input) { double a, b; if(source < 3200) return -1; if(source < 5500) a = 0.233333333, b = -308.3333333; else if(source < 7000) a = 0.173333333, b = 21.66666667; else a = 0, b = 1235; return (a * source + b < input) ? 1 : 0; } //ケイデンスの値を取得します。 // source: 定格12V電源の電圧値[mV], input: センサ値[mV] void updateCadence(double source, double input,double input2,bool isFFlag) { if(isFFlag) { lastCadenceInput = isOh182eOverThreshold(source,input); lastCadenceInput2 = isOh182eOverThreshold(source,input2); cadenceTimer.start(); return; } if((isOh182eOverThreshold(source,input) ^ lastCadenceInput) ||(isOh182eOverThreshold(source,input2) ^ lastCadenceInput2)) { if(cadenceCounter < 4) { cadenceCounter++; return; } cadenceResult =60.0/ (cadenceTimer.read_us() / 1000000.0); //クランク一回転にかかる時間を取得 cadenceTimer.reset(); cadenceCounter = 0; } } void init() { pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r"); //--------------------------------------(resetInterrupt init) resetPin.rise(resetInterrupt); resetPin.mode(PullDown); //----------------------------------------------------------- twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要 android.baud(9600); //writeTimer.start(); FusokukeiInit(); // SdInit(); // MpuInit(); //writeDatasTicker.attach(&WriteDatas,1); //-----for InterruptMode of sonar---------------------------- // sonarPin.rise(&sonarInterruptStart); // sonarPin.fall(&sonarInterruptStop); //----------------------------------------------------------- unsigned short val; val = 0; if(VCmonitor.rawRead(0x00,&val) != 0) { printf("VCmonitor READ ERROR\n"); while(1) {} } VCmonitor.setCurrentCalibration(); } 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 Thread::wait(100); mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values Thread::wait(100); 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(200); } 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(void const *arg) { MpuInit(); while(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; } Thread::wait(1); }//while(1) } void DataReceiveFromSouda(/*void const *arg*/) { // while(1){ if(soudaSerial.readable()) { led2 = !led2; char c = soudaSerial.getc(); while( c != ';' ) { c = soudaSerial.getc(); } for(int i = 0; i < SOUDA_DATAS_NUM; i++) { soudaDatas[i] = soudaSerial.getc(); } }//if // }//while(1) } 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%f",0.1f); fclose(fp); } void SDprintf(const void* arg) { SdInit(); while(1) { if(write_datas_index == SD_WRITE_NUM-1) { fp = fopen("/sd/mydir/data.csv", "a"); if(fp == NULL) { printf("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"); fclose(fp); write_datas_index=0; } Thread::wait(1); } } 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++] = 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++] = cadenceResult;//cadence_twe.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) { // SDprintf(); write_datas_index=0; } else { write_datas_index++; } twe.printf("con,"); for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) { // pc.printf("%i ",soudaDatas[i]); twe.printf("%i,",soudaDatas[i]); if(i == YOKUTAN_DATAS_NUM - 1) twe.printf("%i\n",soudaDatas[i]); } twe.printf("inp,%d,%i,%d,%i\n",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]); /* 送信文字列 0-13翼端データ 14-17 R erebon 18 R DRUG 19-22 L erebon 23 LDRUG */ ////pc.printf("\n\r"); twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw); twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence); ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); // pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence); // pc.printf("%d,%i,%d,%i,",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]); // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1],pitch,roll,yaw,airSpeed,sonarDist,cadenceResult); // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){ // ////pc.printf("%c",*(cadence_twe.myBuff+i)); // } // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]); if(android.writeable()) { // android.printf("%f,%f,%f,",pitch,roll,yaw); // android.printf("%f,%f,\r\n",airSpeed,sonarDist); android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence); led2 = !led2; } // SDprintf(); } void WriteDatasF() { //pc.printf("airSpeed:%f\n\r",airSpeed); } //float calcKXdeg(float x){ // return -310.54*x+156.65; //} void RollAlarm() { if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) { RollAlarmL = 1; } else { RollAlarmL = 0; } if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) { RollAlarmR = 1; } else { RollAlarmR = 0; } } int main() { Thread mpu_thread(&mpuProcessing); Thread SD_thread(&SDprintf); bool isFirstCadenceFlag = true; // Thread soudaSerial_thread(&DataReceiveFromSouda); init(); while(1) { if(VCmonitor.getVoltage(&V) == 0) { printf("e:%f\n",V); } printf("mgPin V:%f\n\r",mgPin.read()*3.3); updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag); isFirstCadenceFlag = false; //pc.printf("test\n\r"); // mpuProcessing(); sonarCalc(); RollAlarm(); DataReceiveFromSouda(); WriteDatas(); led4 = !led4; } }