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@46:c649987c4d84, 2017-03-31 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Fri Mar 31 07:33:34 2017 +0000
- Branch:
- Thread-gyogetsuMPU
- Revision:
- 46:c649987c4d84
- Parent:
- 42:73c3862e4c12
- Child:
- 47:b3c81142cad6
- Child:
- 48:0c9f3a057f79
pc?????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
taurin | 1:5ec2409854da | 1 | //計器プログラム |
taurin | 0:085b2c5e3254 | 2 | #include "mbed.h" |
tsumagari | 33:69ad9920f693 | 3 | #include "rtos.h" |
tsumagari | 41:1bd730c4840d | 4 | #include "Cadence.h" |
taurin | 0:085b2c5e3254 | 5 | #include "Fusokukei.h" |
taurin | 0:085b2c5e3254 | 6 | #include "MPU6050.h" |
tsumagari | 15:6966299bea4c | 7 | #include "BufferedSoftSerial.h" |
tsumagari | 41:1bd730c4840d | 8 | //#include "SDFileSystem.h" |
taurin | 0:085b2c5e3254 | 9 | |
YusukeWakuta | 46:c649987c4d84 | 10 | #define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2 |
YusukeWakuta | 46:c649987c4d84 | 11 | #define YOKUTAN_DATAS_NUM 14 |
tsumagari | 40:f15c11485e95 | 12 | #define WRITE_DATAS_NUM 30 // souda_datas_num + 6( rpy, airspeed, height, cadence) |
tsumagari | 40:f15c11485e95 | 13 | #define SD_WRITE_NUM 20 |
tsumagari | 27:d2955f29a3aa | 14 | #define MPU_LOOP_TIME 0.01 |
taurin | 0:085b2c5e3254 | 15 | #define AIR_LOOP_TIME 0.01 |
taurin | 3:8dc516be2e7e | 16 | #define WRITE_DATAS_LOOP_TIME 1 |
taurin | 3:8dc516be2e7e | 17 | #define ROLL_R_MAX_DEG 2 |
taurin | 3:8dc516be2e7e | 18 | #define ROLL_L_MAX_DEG 2 |
tsumagari | 27:d2955f29a3aa | 19 | #define MPU_DELT_MIN 250 |
taurin | 4:a863a092141c | 20 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 0:085b2c5e3254 | 21 | |
tsumagari | 26:50272431cd1e | 22 | //-----------------------------------(resetInterrupt def) |
tsumagari | 26:50272431cd1e | 23 | extern "C" void mbed_reset(); |
tsumagari | 38:32f483b0a77f | 24 | InterruptIn resetPin(p25); |
tsumagari | 26:50272431cd1e | 25 | Timer resetTimeCount; |
YusukeWakuta | 46:c649987c4d84 | 26 | void resetInterrupt() |
YusukeWakuta | 46:c649987c4d84 | 27 | { |
YusukeWakuta | 46:c649987c4d84 | 28 | while(resetPin) { |
tsumagari | 26:50272431cd1e | 29 | resetTimeCount.start(); |
tsumagari | 26:50272431cd1e | 30 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 26:50272431cd1e | 31 | } |
tsumagari | 26:50272431cd1e | 32 | resetTimeCount.reset(); |
tsumagari | 26:50272431cd1e | 33 | } |
tsumagari | 26:50272431cd1e | 34 | //------------------------------------------------------- |
tsumagari | 26:50272431cd1e | 35 | |
tsumagari | 41:1bd730c4840d | 36 | //SDFileSystem sd(p5, p6, p7, p8, "sd"); |
tsumagari | 41:1bd730c4840d | 37 | //FILE* fp; |
tsumagari | 39:7623678de4e2 | 38 | |
tsumagari | 42:73c3862e4c12 | 39 | //RawSerial pc(USBTX,USBRX); |
tsumagari | 27:d2955f29a3aa | 40 | RawSerial android(p9,p10); |
tsumagari | 27:d2955f29a3aa | 41 | BufferedSoftSerial soudaSerial(p17,p18); |
tsumagari | 26:50272431cd1e | 42 | BufferedSoftSerial twe(p11,p12); |
tsumagari | 27:d2955f29a3aa | 43 | Cadence cadence_twe(p13,p14); |
tsumagari | 41:1bd730c4840d | 44 | Ticker cadenceUpdateTicker; |
tsumagari | 34:c46f2f687c7b | 45 | //Ticker writeDatasTicker; |
tsumagari | 34:c46f2f687c7b | 46 | //Timer writeTimer; |
taurin | 0:085b2c5e3254 | 47 | |
tsumagari | 38:32f483b0a77f | 48 | InterruptIn FusokukeiPin(p24); |
taurin | 0:085b2c5e3254 | 49 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 50 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 51 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 52 | |
tsumagari | 34:c46f2f687c7b | 53 | //Timer sonarTimer; |
tsumagari | 27:d2955f29a3aa | 54 | AnalogIn sonarPin(p15); |
tsumagari | 27:d2955f29a3aa | 55 | //InterruputIn sonarPin(p15); |
tsumagari | 27:d2955f29a3aa | 56 | //double sonarDistTime |
tsumagari | 27:d2955f29a3aa | 57 | double sonarDist; |
tsumagari | 27:d2955f29a3aa | 58 | float sonarV; |
tsumagari | 27:d2955f29a3aa | 59 | |
tsumagari | 27:d2955f29a3aa | 60 | |
tsumagari | 26:50272431cd1e | 61 | float sum = 0; |
tsumagari | 26:50272431cd1e | 62 | uint32_t sumCount = 0; |
taurin | 0:085b2c5e3254 | 63 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 64 | Timer t; |
tsumagari | 34:c46f2f687c7b | 65 | //Ticker mpu6050Ticker; |
taurin | 0:085b2c5e3254 | 66 | |
tsumagari | 38:32f483b0a77f | 67 | DigitalOut RollAlarmR(p23); |
tsumagari | 38:32f483b0a77f | 68 | DigitalOut RollAlarmL(p22); |
taurin | 1:5ec2409854da | 69 | DigitalOut led2(LED2); |
tsumagari | 40:f15c11485e95 | 70 | DigitalOut led4(LED4); |
taurin | 4:a863a092141c | 71 | |
taurin | 0:085b2c5e3254 | 72 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 73 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 74 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 75 | |
taurin | 0:085b2c5e3254 | 76 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 77 | void call_calcAirSpeed(); |
tsumagari | 27:d2955f29a3aa | 78 | void sonarInterruptStart(); |
tsumagari | 27:d2955f29a3aa | 79 | void sonarInterruptStop(); |
tsumagari | 41:1bd730c4840d | 80 | void updateCadence(/*void const *arg*/); |
taurin | 0:085b2c5e3254 | 81 | void init(); |
taurin | 0:085b2c5e3254 | 82 | void FusokukeiInit(); |
tsumagari | 26:50272431cd1e | 83 | void MpuInit(); |
tsumagari | 34:c46f2f687c7b | 84 | void mpuProcessing(void const *arg); |
tsumagari | 34:c46f2f687c7b | 85 | void DataReceiveFromSouda(void const *arg); |
tsumagari | 39:7623678de4e2 | 86 | void SdInit(); |
tsumagari | 41:1bd730c4840d | 87 | //void SDprintf(); |
taurin | 0:085b2c5e3254 | 88 | void WriteDatas(); |
tsumagari | 27:d2955f29a3aa | 89 | float calcAttackAngle(); |
tsumagari | 27:d2955f29a3aa | 90 | float calcKXdeg(float x); |
tsumagari | 15:6966299bea4c | 91 | |
YusukeWakuta | 46:c649987c4d84 | 92 | void air_countUp() |
YusukeWakuta | 46:c649987c4d84 | 93 | { |
taurin | 0:085b2c5e3254 | 94 | air_kaitensu++; |
taurin | 0:085b2c5e3254 | 95 | } |
taurin | 0:085b2c5e3254 | 96 | |
YusukeWakuta | 46:c649987c4d84 | 97 | void call_calcAirSpeed() |
YusukeWakuta | 46:c649987c4d84 | 98 | { |
taurin | 0:085b2c5e3254 | 99 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 100 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 101 | } |
taurin | 0:085b2c5e3254 | 102 | |
YusukeWakuta | 46:c649987c4d84 | 103 | void sonarInterruptStart() |
YusukeWakuta | 46:c649987c4d84 | 104 | { |
tsumagari | 34:c46f2f687c7b | 105 | // sonarTimer.start(); |
tsumagari | 27:d2955f29a3aa | 106 | } |
tsumagari | 27:d2955f29a3aa | 107 | |
YusukeWakuta | 46:c649987c4d84 | 108 | void sonarInterruptStop() |
YusukeWakuta | 46:c649987c4d84 | 109 | { |
tsumagari | 26:50272431cd1e | 110 | // sonarTimer.stop(); |
tsumagari | 26:50272431cd1e | 111 | // sonarDistTime = sonarTimer.read_us(); |
tsumagari | 26:50272431cd1e | 112 | // sonarTimer.reset(); |
tsumagari | 27:d2955f29a3aa | 113 | // sonarDist = sonarDistTime*0.018624 - 13.511; |
tsumagari | 27:d2955f29a3aa | 114 | } |
YusukeWakuta | 46:c649987c4d84 | 115 | void sonarCalc() |
YusukeWakuta | 46:c649987c4d84 | 116 | { |
tsumagari | 27:d2955f29a3aa | 117 | sonarV = 0; |
YusukeWakuta | 46:c649987c4d84 | 118 | for(int i = 0; i<20; i++) { |
tsumagari | 27:d2955f29a3aa | 119 | sonarV += sonarPin.read(); |
tsumagari | 27:d2955f29a3aa | 120 | wait(0.01); |
tsumagari | 27:d2955f29a3aa | 121 | } |
tsumagari | 27:d2955f29a3aa | 122 | sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm) |
tsumagari | 27:d2955f29a3aa | 123 | } |
tsumagari | 27:d2955f29a3aa | 124 | |
YusukeWakuta | 46:c649987c4d84 | 125 | void updateCadence(/*void const *arg*/) |
YusukeWakuta | 46:c649987c4d84 | 126 | { |
tsumagari | 34:c46f2f687c7b | 127 | // while(1){ |
YusukeWakuta | 46:c649987c4d84 | 128 | cadence_twe.readData(); |
tsumagari | 37:34aaa1951390 | 129 | // Thread::wait(5); |
tsumagari | 34:c46f2f687c7b | 130 | // } |
tsumagari | 27:d2955f29a3aa | 131 | } |
tsumagari | 26:50272431cd1e | 132 | |
YusukeWakuta | 46:c649987c4d84 | 133 | void init() |
YusukeWakuta | 46:c649987c4d84 | 134 | { |
tsumagari | 26:50272431cd1e | 135 | //--------------------------------------(resetInterrupt init) |
tsumagari | 26:50272431cd1e | 136 | resetPin.rise(resetInterrupt); |
tsumagari | 26:50272431cd1e | 137 | resetPin.mode(PullDown); |
tsumagari | 26:50272431cd1e | 138 | //----------------------------------------------------------- |
tsumagari | 27:d2955f29a3aa | 139 | twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要 |
tsumagari | 27:d2955f29a3aa | 140 | //writeTimer.start(); |
taurin | 0:085b2c5e3254 | 141 | FusokukeiInit(); |
tsumagari | 41:1bd730c4840d | 142 | // SdInit(); |
YusukeWakuta | 46:c649987c4d84 | 143 | // MpuInit(); |
tsumagari | 27:d2955f29a3aa | 144 | //writeDatasTicker.attach(&WriteDatas,1); |
tsumagari | 42:73c3862e4c12 | 145 | // cadenceUpdateTicker.attach(&updateCadence, 0.2); |
YusukeWakuta | 46:c649987c4d84 | 146 | |
tsumagari | 27:d2955f29a3aa | 147 | //-----for InterruptMode of sonar---------------------------- |
tsumagari | 27:d2955f29a3aa | 148 | // sonarPin.rise(&sonarInterruptStart); |
tsumagari | 27:d2955f29a3aa | 149 | // sonarPin.fall(&sonarInterruptStop); |
tsumagari | 27:d2955f29a3aa | 150 | //----------------------------------------------------------- |
taurin | 0:085b2c5e3254 | 151 | } |
taurin | 0:085b2c5e3254 | 152 | |
YusukeWakuta | 46:c649987c4d84 | 153 | void FusokukeiInit() |
YusukeWakuta | 46:c649987c4d84 | 154 | { |
taurin | 0:085b2c5e3254 | 155 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 156 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 157 | } |
taurin | 0:085b2c5e3254 | 158 | |
YusukeWakuta | 46:c649987c4d84 | 159 | void MpuInit() |
YusukeWakuta | 46:c649987c4d84 | 160 | { |
tsumagari | 26:50272431cd1e | 161 | i2c.frequency(400000); // use fast (400 kHz) I2C |
tsumagari | 26:50272431cd1e | 162 | t.start(); |
tsumagari | 26:50272431cd1e | 163 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
tsumagari | 26:50272431cd1e | 164 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
tsumagari | 34:c46f2f687c7b | 165 | Thread::wait(100); |
tsumagari | 26:50272431cd1e | 166 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
tsumagari | 34:c46f2f687c7b | 167 | Thread::wait(100); |
tsumagari | 26:50272431cd1e | 168 | 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) { |
tsumagari | 26:50272431cd1e | 169 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
tsumagari | 26:50272431cd1e | 170 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
tsumagari | 26:50272431cd1e | 171 | mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
tsumagari | 34:c46f2f687c7b | 172 | Thread::wait(200); |
tsumagari | 26:50272431cd1e | 173 | } else { |
tsumagari | 26:50272431cd1e | 174 | } |
tsumagari | 26:50272431cd1e | 175 | } else { |
tsumagari | 26:50272431cd1e | 176 | //pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
YusukeWakuta | 46:c649987c4d84 | 177 | } |
tsumagari | 26:50272431cd1e | 178 | } |
taurin | 0:085b2c5e3254 | 179 | |
YusukeWakuta | 46:c649987c4d84 | 180 | double calcPulse(int deg) |
YusukeWakuta | 46:c649987c4d84 | 181 | { |
tsumagari | 27:d2955f29a3aa | 182 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
tsumagari | 27:d2955f29a3aa | 183 | |
tsumagari | 27:d2955f29a3aa | 184 | } |
tsumagari | 27:d2955f29a3aa | 185 | |
YusukeWakuta | 46:c649987c4d84 | 186 | void mpuProcessing(void const *arg) |
YusukeWakuta | 46:c649987c4d84 | 187 | { |
tsumagari | 33:69ad9920f693 | 188 | MpuInit(); |
YusukeWakuta | 46:c649987c4d84 | 189 | while(1) { |
tsumagari | 33:69ad9920f693 | 190 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
tsumagari | 33:69ad9920f693 | 191 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 192 | mpu6050.getAres(); |
tsumagari | 33:69ad9920f693 | 193 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
tsumagari | 33:69ad9920f693 | 194 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
tsumagari | 33:69ad9920f693 | 195 | az = (float)accelCount[2]*aRes - accelBias[2]; |
tsumagari | 33:69ad9920f693 | 196 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 197 | mpu6050.getGres(); |
tsumagari | 33:69ad9920f693 | 198 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
tsumagari | 33:69ad9920f693 | 199 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
tsumagari | 33:69ad9920f693 | 200 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
tsumagari | 33:69ad9920f693 | 201 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 202 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
tsumagari | 33:69ad9920f693 | 203 | } |
tsumagari | 33:69ad9920f693 | 204 | Now = t.read_us(); |
tsumagari | 33:69ad9920f693 | 205 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
tsumagari | 33:69ad9920f693 | 206 | lastUpdate = Now; |
tsumagari | 33:69ad9920f693 | 207 | sum += deltat; |
tsumagari | 33:69ad9920f693 | 208 | sumCount++; |
tsumagari | 33:69ad9920f693 | 209 | if(lastUpdate - firstUpdate > 10000000.0f) { |
tsumagari | 33:69ad9920f693 | 210 | beta = 0.04; // decrease filter gain after stabilized |
tsumagari | 33:69ad9920f693 | 211 | zeta = 0.015; // increasey bias drift gain after stabilized |
tsumagari | 33:69ad9920f693 | 212 | } |
tsumagari | 33:69ad9920f693 | 213 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
tsumagari | 33:69ad9920f693 | 214 | delt_t = t.read_ms() - count; |
tsumagari | 33:69ad9920f693 | 215 | if (delt_t > MPU_DELT_MIN) { |
tsumagari | 33:69ad9920f693 | 216 | 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]); |
tsumagari | 33:69ad9920f693 | 217 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
tsumagari | 33:69ad9920f693 | 218 | 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]); |
tsumagari | 33:69ad9920f693 | 219 | pitch *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 220 | yaw *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 221 | roll *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 222 | myled= !myled; |
tsumagari | 33:69ad9920f693 | 223 | count = t.read_ms(); |
tsumagari | 33:69ad9920f693 | 224 | sum = 0; |
tsumagari | 33:69ad9920f693 | 225 | sumCount = 0; |
tsumagari | 33:69ad9920f693 | 226 | } |
tsumagari | 40:f15c11485e95 | 227 | Thread::wait(1); |
tsumagari | 33:69ad9920f693 | 228 | }//while(1) |
tsumagari | 26:50272431cd1e | 229 | } |
tsumagari | 26:50272431cd1e | 230 | |
YusukeWakuta | 46:c649987c4d84 | 231 | void DataReceiveFromSouda(/*void const *arg*/) |
YusukeWakuta | 46:c649987c4d84 | 232 | { |
tsumagari | 34:c46f2f687c7b | 233 | // while(1){ |
YusukeWakuta | 46:c649987c4d84 | 234 | if(soudaSerial.readable()) { |
tsumagari | 34:c46f2f687c7b | 235 | led2 = !led2; |
tsumagari | 34:c46f2f687c7b | 236 | char c = soudaSerial.getc(); |
YusukeWakuta | 46:c649987c4d84 | 237 | while( c != ';' ) { |
tsumagari | 34:c46f2f687c7b | 238 | c = soudaSerial.getc(); |
tsumagari | 34:c46f2f687c7b | 239 | } |
YusukeWakuta | 46:c649987c4d84 | 240 | for(int i = 0; i < SOUDA_DATAS_NUM; i++) { |
tsumagari | 34:c46f2f687c7b | 241 | soudaDatas[i] = soudaSerial.getc(); |
tsumagari | 34:c46f2f687c7b | 242 | } |
YusukeWakuta | 46:c649987c4d84 | 243 | }//if |
tsumagari | 34:c46f2f687c7b | 244 | // }//while(1) |
taurin | 3:8dc516be2e7e | 245 | } |
tsumagari | 41:1bd730c4840d | 246 | // |
tsumagari | 41:1bd730c4840d | 247 | //void SdInit(){ |
tsumagari | 41:1bd730c4840d | 248 | // mkdir("/sd/mydir", 0777); |
tsumagari | 41:1bd730c4840d | 249 | // fp = fopen("/sd/mydir/sdtest2.csv", "w"); |
tsumagari | 41:1bd730c4840d | 250 | // if(fp == NULL) { |
tsumagari | 41:1bd730c4840d | 251 | // error("Could not open file for write\n"); |
tsumagari | 41:1bd730c4840d | 252 | // } |
tsumagari | 41:1bd730c4840d | 253 | // fprintf(fp, "Hello fun SD Card World!\n\r"); |
tsumagari | 41:1bd730c4840d | 254 | // fclose(fp); |
tsumagari | 41:1bd730c4840d | 255 | //} |
tsumagari | 41:1bd730c4840d | 256 | // |
tsumagari | 41:1bd730c4840d | 257 | //void SDprintf(){ |
tsumagari | 41:1bd730c4840d | 258 | // fp = fopen("/sd/mydir/data.csv", "a"); |
tsumagari | 41:1bd730c4840d | 259 | // if(fp == NULL) { |
tsumagari | 41:1bd730c4840d | 260 | // error("Could not open file for write\n"); |
tsumagari | 41:1bd730c4840d | 261 | // } |
tsumagari | 41:1bd730c4840d | 262 | // for(int i = 0; i < SD_WRITE_NUM; i++){ |
tsumagari | 41:1bd730c4840d | 263 | // for(int j = 0; j < WRITE_DATAS_NUM; j++){ |
tsumagari | 41:1bd730c4840d | 264 | // fprintf(fp,"%f,", writeDatas[i][j]); |
tsumagari | 41:1bd730c4840d | 265 | // } |
tsumagari | 41:1bd730c4840d | 266 | // } |
tsumagari | 41:1bd730c4840d | 267 | // fprintf(fp,"\n\r"); |
tsumagari | 41:1bd730c4840d | 268 | // fclose(fp); |
tsumagari | 41:1bd730c4840d | 269 | //} |
tsumagari | 39:7623678de4e2 | 270 | |
YusukeWakuta | 46:c649987c4d84 | 271 | void WriteDatas() |
YusukeWakuta | 46:c649987c4d84 | 272 | { |
taurin | 8:31e07f6ed0f7 | 273 | int i; |
YusukeWakuta | 46:c649987c4d84 | 274 | for(i = 0; i < SOUDA_DATAS_NUM; i++) { |
YusukeWakuta | 46:c649987c4d84 | 275 | //writeDatas[write_datas_index][i] = 0.0; |
tsumagari | 27:d2955f29a3aa | 276 | writeDatas[write_datas_index][i] = (float)soudaDatas[i]; |
taurin | 8:31e07f6ed0f7 | 277 | } |
taurin | 8:31e07f6ed0f7 | 278 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 8:31e07f6ed0f7 | 279 | writeDatas[write_datas_index][i++] = roll; |
taurin | 8:31e07f6ed0f7 | 280 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 8:31e07f6ed0f7 | 281 | writeDatas[write_datas_index][i++] = airSpeed; |
tsumagari | 27:d2955f29a3aa | 282 | writeDatas[write_datas_index][i++] = sonarDist; |
tsumagari | 37:34aaa1951390 | 283 | writeDatas[write_datas_index][i++] = cadence_twe.cadence; |
taurin | 8:31e07f6ed0f7 | 284 | //writeDatas[write_datas_index][i++] = writeTimer.read(); |
tsumagari | 27:d2955f29a3aa | 285 | //for(i = 0; i < WRITE_DATAS_NUM; i++){ |
tsumagari | 27:d2955f29a3aa | 286 | // pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 287 | // twe.printf("%f,", writeDatas[write_datas_index][i]); |
tsumagari | 27:d2955f29a3aa | 288 | // } |
tsumagari | 27:d2955f29a3aa | 289 | // pc.printf("\n\r"); |
taurin | 9:95eb0bbdc2a9 | 290 | // twe.printf("\n\r"); |
YusukeWakuta | 46:c649987c4d84 | 291 | if(write_datas_index == SD_WRITE_NUM-1) { |
tsumagari | 41:1bd730c4840d | 292 | // SDprintf(); |
tsumagari | 39:7623678de4e2 | 293 | write_datas_index=0; |
YusukeWakuta | 46:c649987c4d84 | 294 | } else { |
tsumagari | 39:7623678de4e2 | 295 | write_datas_index++; |
YusukeWakuta | 46:c649987c4d84 | 296 | } |
YusukeWakuta | 46:c649987c4d84 | 297 | for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) { |
tsumagari | 27:d2955f29a3aa | 298 | pc.printf("%i ",soudaDatas[i]); |
YusukeWakuta | 10:1389f938f5f7 | 299 | twe.printf("%i,",soudaDatas[i]); |
tsumagari | 27:d2955f29a3aa | 300 | // android.printf("%i,",soudaDatas[i]); |
taurin | 9:95eb0bbdc2a9 | 301 | } |
YusukeWakuta | 46:c649987c4d84 | 302 | twe.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]); |
YusukeWakuta | 46:c649987c4d84 | 303 | 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]); |
YusukeWakuta | 46:c649987c4d84 | 304 | /* |
YusukeWakuta | 46:c649987c4d84 | 305 | 送信文字列 |
YusukeWakuta | 46:c649987c4d84 | 306 | 0-13翼端データ |
YusukeWakuta | 46:c649987c4d84 | 307 | 14-17 R erebon |
YusukeWakuta | 46:c649987c4d84 | 308 | 18 R DRUG |
YusukeWakuta | 46:c649987c4d84 | 309 | 19-22 L erebon |
YusukeWakuta | 46:c649987c4d84 | 310 | 23 LDRUG |
YusukeWakuta | 46:c649987c4d84 | 311 | */ |
taurin | 9:95eb0bbdc2a9 | 312 | //pc.printf("\n\r"); |
YusukeWakuta | 10:1389f938f5f7 | 313 | twe.printf("%f,%f,%f,",pitch,roll,yaw); |
YusukeWakuta | 46:c649987c4d84 | 314 | twe.printf("%f,%f,%f\n",airSpeed,sonarDist,cadence_twe.cadence); |
tsumagari | 27:d2955f29a3aa | 315 | pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
tsumagari | 41:1bd730c4840d | 316 | //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
tsumagari | 42:73c3862e4c12 | 317 | pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence_twe.cadence); |
tsumagari | 42:73c3862e4c12 | 318 | // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){ |
tsumagari | 42:73c3862e4c12 | 319 | // pc.printf("%c",*(cadence_twe.myBuff+i)); |
tsumagari | 42:73c3862e4c12 | 320 | // } |
YusukeWakuta | 46:c649987c4d84 | 321 | if(android.writeable()) { |
tsumagari | 27:d2955f29a3aa | 322 | // for(int i = 0; i<SOUDA_DATAS_NUM; i++){ |
tsumagari | 27:d2955f29a3aa | 323 | // android.printf("%i,",soudaDatas[i]); |
tsumagari | 27:d2955f29a3aa | 324 | // } |
tsumagari | 27:d2955f29a3aa | 325 | // android.printf("%f,%f,%f,",pitch,roll,yaw); |
YusukeWakuta | 46:c649987c4d84 | 326 | // android.printf("%f,%f,\r\n",airSpeed,sonarDist); |
tsumagari | 27:d2955f29a3aa | 327 | android.printf("%f,%f,test\n\r",roll,airSpeed); |
tsumagari | 27:d2955f29a3aa | 328 | } |
tsumagari | 40:f15c11485e95 | 329 | // SDprintf(); |
taurin | 9:95eb0bbdc2a9 | 330 | } |
taurin | 9:95eb0bbdc2a9 | 331 | |
YusukeWakuta | 46:c649987c4d84 | 332 | void WriteDatasF() |
YusukeWakuta | 46:c649987c4d84 | 333 | { |
taurin | 9:95eb0bbdc2a9 | 334 | pc.printf("airSpeed:%f\n\r",airSpeed); |
taurin | 0:085b2c5e3254 | 335 | } |
tsumagari | 27:d2955f29a3aa | 336 | |
tsumagari | 26:50272431cd1e | 337 | //float calcKXdeg(float x){ |
tsumagari | 26:50272431cd1e | 338 | // return -310.54*x+156.65; |
tsumagari | 26:50272431cd1e | 339 | //} |
taurin | 0:085b2c5e3254 | 340 | |
tsumagari | 26:50272431cd1e | 341 | //float calcAttackAngle(){ |
tsumagari | 26:50272431cd1e | 342 | // return pitch-calcKXdeg(kx_Z.read()); |
tsumagari | 26:50272431cd1e | 343 | //} |
taurin | 0:085b2c5e3254 | 344 | |
YusukeWakuta | 46:c649987c4d84 | 345 | void RollAlarm() |
YusukeWakuta | 46:c649987c4d84 | 346 | { |
YusukeWakuta | 46:c649987c4d84 | 347 | if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) { |
taurin | 0:085b2c5e3254 | 348 | RollAlarmL = 1; |
YusukeWakuta | 46:c649987c4d84 | 349 | } else { |
taurin | 0:085b2c5e3254 | 350 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 351 | } |
YusukeWakuta | 46:c649987c4d84 | 352 | |
YusukeWakuta | 46:c649987c4d84 | 353 | if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) { |
taurin | 0:085b2c5e3254 | 354 | RollAlarmR = 1; |
YusukeWakuta | 46:c649987c4d84 | 355 | } else { |
taurin | 0:085b2c5e3254 | 356 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 357 | } |
taurin | 0:085b2c5e3254 | 358 | } |
taurin | 0:085b2c5e3254 | 359 | |
YusukeWakuta | 46:c649987c4d84 | 360 | void WriteServo() |
YusukeWakuta | 46:c649987c4d84 | 361 | { |
tsumagari | 27:d2955f29a3aa | 362 | //kisokuServo.pulsewidth(calcPulse(airSpeed*10)); |
tsumagari | 27:d2955f29a3aa | 363 | // kisokuServo.pulsewidth(calcPulse(9*airSpeed)); |
YusukeWakuta | 46:c649987c4d84 | 364 | if(pitch<0) { |
tsumagari | 27:d2955f29a3aa | 365 | // geikakuServo.pulsewidth(calcPulse(0)); |
YusukeWakuta | 46:c649987c4d84 | 366 | } else { |
tsumagari | 27:d2955f29a3aa | 367 | // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0))); |
tsumagari | 27:d2955f29a3aa | 368 | } |
YusukeWakuta | 46:c649987c4d84 | 369 | ////pc.printf("a:%f",airSpeed); |
YusukeWakuta | 46:c649987c4d84 | 370 | pc.printf("p:%f\r\n",pitch); |
tsumagari | 27:d2955f29a3aa | 371 | //kisokuServo.pulsewidth(calcPulse(0)); |
tsumagari | 27:d2955f29a3aa | 372 | //geikakuServo.pulsewidth(calcPulse(0)); |
tsumagari | 27:d2955f29a3aa | 373 | } |
taurin | 4:a863a092141c | 374 | |
YusukeWakuta | 46:c649987c4d84 | 375 | int main() |
YusukeWakuta | 46:c649987c4d84 | 376 | { |
tsumagari | 27:d2955f29a3aa | 377 | // Thread cadence_thread(&updateCadence); |
tsumagari | 38:32f483b0a77f | 378 | Thread mpu_thread(&mpuProcessing); |
tsumagari | 34:c46f2f687c7b | 379 | // Thread soudaSerial_thread(&DataReceiveFromSouda); |
taurin | 0:085b2c5e3254 | 380 | init(); |
YusukeWakuta | 46:c649987c4d84 | 381 | while(1) { |
taurin | 9:95eb0bbdc2a9 | 382 | pc.printf("test\n\r"); |
tsumagari | 33:69ad9920f693 | 383 | // mpuProcessing(); |
tsumagari | 27:d2955f29a3aa | 384 | sonarCalc(); |
taurin | 8:31e07f6ed0f7 | 385 | RollAlarm(); |
tsumagari | 27:d2955f29a3aa | 386 | DataReceiveFromSouda(); |
tsumagari | 40:f15c11485e95 | 387 | // updateCadence(); |
taurin | 3:8dc516be2e7e | 388 | WriteDatas(); |
tsumagari | 27:d2955f29a3aa | 389 | // WriteServo(); |
tsumagari | 40:f15c11485e95 | 390 | led4 = !led4; |
taurin | 0:085b2c5e3254 | 391 | } |
taurin | 0:085b2c5e3254 | 392 | } |