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@68:ed8ffcb8c49a, 2017-06-15 (annotated)
- Committer:
- tsumagari
- Date:
- Thu Jun 15 09:30:43 2017 +0000
- Branch:
- cadence
- Revision:
- 68:ed8ffcb8c49a
- Parent:
- 67:9d2eb6793464
X ????? 10V???????HIGH?????1.2?????????????????????????????con?????sprintf?????
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 | 56:6823d2324704 | 8 | #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。 |
YusukeWakuta | 61:7f980cb3a7a8 | 9 | #include "INA226.hpp" |
taurin | 0:085b2c5e3254 | 10 | |
YusukeWakuta | 46:c649987c4d84 | 11 | #define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2 |
YusukeWakuta | 46:c649987c4d84 | 12 | #define YOKUTAN_DATAS_NUM 14 |
tsumagari | 56:6823d2324704 | 13 | #define WRITE_DATAS_NUM 34 // souda_datas_num + 6( rpy, airspeed, height, cadence) |
YusukeWakuta | 66:1ffafa1c4a87 | 14 | #define SD_WRITE_NUM 40 |
tsumagari | 27:d2955f29a3aa | 15 | #define MPU_LOOP_TIME 0.01 |
tsumagari | 51:f391d3a02397 | 16 | #define AIR_LOOP_TIME 0.01//(0.002005) |
taurin | 3:8dc516be2e7e | 17 | #define WRITE_DATAS_LOOP_TIME 1 |
tsumagari | 53:9bc528ee224b | 18 | #define ROLL_R_MAX_DEG 1.5 |
tsumagari | 53:9bc528ee224b | 19 | #define ROLL_L_MAX_DEG 1.5 |
tsumagari | 27:d2955f29a3aa | 20 | #define MPU_DELT_MIN 250 |
taurin | 4:a863a092141c | 21 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 0:085b2c5e3254 | 22 | |
tsumagari | 26:50272431cd1e | 23 | //-----------------------------------(resetInterrupt def) |
tsumagari | 26:50272431cd1e | 24 | extern "C" void mbed_reset(); |
tsumagari | 38:32f483b0a77f | 25 | InterruptIn resetPin(p25); |
tsumagari | 26:50272431cd1e | 26 | Timer resetTimeCount; |
YusukeWakuta | 46:c649987c4d84 | 27 | void resetInterrupt() |
YusukeWakuta | 46:c649987c4d84 | 28 | { |
YusukeWakuta | 46:c649987c4d84 | 29 | while(resetPin) { |
tsumagari | 26:50272431cd1e | 30 | resetTimeCount.start(); |
tsumagari | 26:50272431cd1e | 31 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 26:50272431cd1e | 32 | } |
tsumagari | 26:50272431cd1e | 33 | resetTimeCount.reset(); |
tsumagari | 26:50272431cd1e | 34 | } |
tsumagari | 26:50272431cd1e | 35 | //------------------------------------------------------- |
tsumagari | 26:50272431cd1e | 36 | |
tsumagari | 56:6823d2324704 | 37 | SDFileSystem sd(p5, p6, p7, p8, "sd"); |
tsumagari | 56:6823d2324704 | 38 | FILE* fp; |
tsumagari | 39:7623678de4e2 | 39 | |
tsumagari | 42:73c3862e4c12 | 40 | //RawSerial pc(USBTX,USBRX); |
tsumagari | 62:98294011f568 | 41 | //Serial android(p9,p10); |
tsumagari | 27:d2955f29a3aa | 42 | BufferedSoftSerial soudaSerial(p17,p18); |
tsumagari | 26:50272431cd1e | 43 | BufferedSoftSerial twe(p11,p12); |
tsumagari | 62:98294011f568 | 44 | //Cadence cadence_twe(p13,p14); |
tsumagari | 63:f7f4edd463b1 | 45 | RawSerial android(p13,p14); |
tsumagari | 62:98294011f568 | 46 | |
tsumagari | 41:1bd730c4840d | 47 | Ticker cadenceUpdateTicker; |
tsumagari | 34:c46f2f687c7b | 48 | //Ticker writeDatasTicker; |
tsumagari | 34:c46f2f687c7b | 49 | //Timer writeTimer; |
taurin | 0:085b2c5e3254 | 50 | |
tsumagari | 38:32f483b0a77f | 51 | InterruptIn FusokukeiPin(p24); |
taurin | 0:085b2c5e3254 | 52 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 53 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 54 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 55 | |
tsumagari | 34:c46f2f687c7b | 56 | //Timer sonarTimer; |
tsumagari | 27:d2955f29a3aa | 57 | AnalogIn sonarPin(p15); |
tsumagari | 27:d2955f29a3aa | 58 | //InterruputIn sonarPin(p15); |
tsumagari | 27:d2955f29a3aa | 59 | //double sonarDistTime |
tsumagari | 27:d2955f29a3aa | 60 | double sonarDist; |
tsumagari | 27:d2955f29a3aa | 61 | float sonarV; |
tsumagari | 27:d2955f29a3aa | 62 | |
tsumagari | 27:d2955f29a3aa | 63 | |
tsumagari | 26:50272431cd1e | 64 | float sum = 0; |
tsumagari | 26:50272431cd1e | 65 | uint32_t sumCount = 0; |
taurin | 0:085b2c5e3254 | 66 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 67 | Timer t; |
YusukeWakuta | 61:7f980cb3a7a8 | 68 | Timer cadenceTimer; |
YusukeWakuta | 61:7f980cb3a7a8 | 69 | |
tsumagari | 34:c46f2f687c7b | 70 | //Ticker mpu6050Ticker; |
taurin | 0:085b2c5e3254 | 71 | |
tsumagari | 38:32f483b0a77f | 72 | DigitalOut RollAlarmR(p23); |
tsumagari | 38:32f483b0a77f | 73 | DigitalOut RollAlarmL(p22); |
taurin | 1:5ec2409854da | 74 | DigitalOut led2(LED2); |
tsumagari | 51:f391d3a02397 | 75 | //DigitalOut led3(LED3); |
tsumagari | 40:f15c11485e95 | 76 | DigitalOut led4(LED4); |
tsumagari | 62:98294011f568 | 77 | I2C InaI2c(p9,p10); |
tsumagari | 62:98294011f568 | 78 | INA226 VCmonitor(InaI2c,0x9C); |
YusukeWakuta | 61:7f980cb3a7a8 | 79 | AnalogIn mgPin(p20); |
YusukeWakuta | 66:1ffafa1c4a87 | 80 | //AnalogIn mgPin2(p16); |
YusukeWakuta | 66:1ffafa1c4a87 | 81 | InterruptIn cadenceInter(p16); |
taurin | 4:a863a092141c | 82 | |
taurin | 0:085b2c5e3254 | 83 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 84 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 85 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 86 | |
taurin | 0:085b2c5e3254 | 87 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 88 | void call_calcAirSpeed(); |
tsumagari | 27:d2955f29a3aa | 89 | void sonarInterruptStart(); |
tsumagari | 27:d2955f29a3aa | 90 | void sonarInterruptStop(); |
YusukeWakuta | 66:1ffafa1c4a87 | 91 | void updateCadence(double source, double input,double input2); |
taurin | 0:085b2c5e3254 | 92 | void init(); |
taurin | 0:085b2c5e3254 | 93 | void FusokukeiInit(); |
tsumagari | 26:50272431cd1e | 94 | void MpuInit(); |
tsumagari | 34:c46f2f687c7b | 95 | void mpuProcessing(void const *arg); |
tsumagari | 34:c46f2f687c7b | 96 | void DataReceiveFromSouda(void const *arg); |
tsumagari | 39:7623678de4e2 | 97 | void SdInit(); |
tsumagari | 56:6823d2324704 | 98 | void SDprintf(); |
taurin | 0:085b2c5e3254 | 99 | void WriteDatas(); |
tsumagari | 27:d2955f29a3aa | 100 | float calcAttackAngle(); |
tsumagari | 27:d2955f29a3aa | 101 | float calcKXdeg(float x); |
YusukeWakuta | 61:7f980cb3a7a8 | 102 | 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。 |
YusukeWakuta | 61:7f980cb3a7a8 | 103 | 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。 |
YusukeWakuta | 61:7f980cb3a7a8 | 104 | double cadenceResult = 0.0; //最終的なケイデンスの値です。 |
YusukeWakuta | 61:7f980cb3a7a8 | 105 | 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。 |
YusukeWakuta | 61:7f980cb3a7a8 | 106 | double V; |
tsumagari | 15:6966299bea4c | 107 | |
YusukeWakuta | 46:c649987c4d84 | 108 | void air_countUp() |
YusukeWakuta | 46:c649987c4d84 | 109 | { |
taurin | 0:085b2c5e3254 | 110 | air_kaitensu++; |
tsumagari | 68:ed8ffcb8c49a | 111 | // led3 = !led3; |
taurin | 0:085b2c5e3254 | 112 | } |
taurin | 0:085b2c5e3254 | 113 | |
YusukeWakuta | 46:c649987c4d84 | 114 | void call_calcAirSpeed() |
YusukeWakuta | 46:c649987c4d84 | 115 | { |
taurin | 0:085b2c5e3254 | 116 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 117 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 118 | } |
taurin | 0:085b2c5e3254 | 119 | |
YusukeWakuta | 46:c649987c4d84 | 120 | void sonarInterruptStart() |
YusukeWakuta | 46:c649987c4d84 | 121 | { |
tsumagari | 34:c46f2f687c7b | 122 | // sonarTimer.start(); |
tsumagari | 27:d2955f29a3aa | 123 | } |
tsumagari | 27:d2955f29a3aa | 124 | |
YusukeWakuta | 46:c649987c4d84 | 125 | void sonarInterruptStop() |
YusukeWakuta | 46:c649987c4d84 | 126 | { |
tsumagari | 26:50272431cd1e | 127 | // sonarTimer.stop(); |
tsumagari | 26:50272431cd1e | 128 | // sonarDistTime = sonarTimer.read_us(); |
tsumagari | 26:50272431cd1e | 129 | // sonarTimer.reset(); |
tsumagari | 27:d2955f29a3aa | 130 | // sonarDist = sonarDistTime*0.018624 - 13.511; |
tsumagari | 27:d2955f29a3aa | 131 | } |
YusukeWakuta | 46:c649987c4d84 | 132 | void sonarCalc() |
YusukeWakuta | 46:c649987c4d84 | 133 | { |
tsumagari | 27:d2955f29a3aa | 134 | sonarV = 0; |
YusukeWakuta | 46:c649987c4d84 | 135 | for(int i = 0; i<20; i++) { |
tsumagari | 27:d2955f29a3aa | 136 | sonarV += sonarPin.read(); |
tsumagari | 27:d2955f29a3aa | 137 | wait(0.01); |
tsumagari | 27:d2955f29a3aa | 138 | } |
tsumagari | 27:d2955f29a3aa | 139 | sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm) |
tsumagari | 27:d2955f29a3aa | 140 | } |
tsumagari | 27:d2955f29a3aa | 141 | |
jaity | 59:7cb8eaf553ef | 142 | |
jaity | 59:7cb8eaf553ef | 143 | // 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 |
jaity | 59:7cb8eaf553ef | 144 | // source: 定格12V電源の電圧値[mV], input: センサ値[mV] |
jaity | 59:7cb8eaf553ef | 145 | // return => 1:超えている, 0:超えていない, -1:エラー |
jaity | 59:7cb8eaf553ef | 146 | int isOh182eOverThreshold(double source, double input) |
jaity | 59:7cb8eaf553ef | 147 | { |
jaity | 59:7cb8eaf553ef | 148 | double a, b; |
jaity | 59:7cb8eaf553ef | 149 | if(source < 3200) |
jaity | 59:7cb8eaf553ef | 150 | return -1; |
jaity | 59:7cb8eaf553ef | 151 | |
jaity | 59:7cb8eaf553ef | 152 | if(source < 5500) |
jaity | 59:7cb8eaf553ef | 153 | a = 0.233333333, b = -308.3333333; |
jaity | 59:7cb8eaf553ef | 154 | else if(source < 7000) |
jaity | 59:7cb8eaf553ef | 155 | a = 0.173333333, b = 21.66666667; |
jaity | 59:7cb8eaf553ef | 156 | else |
jaity | 59:7cb8eaf553ef | 157 | a = 0, b = 1235; |
jaity | 59:7cb8eaf553ef | 158 | |
jaity | 59:7cb8eaf553ef | 159 | return (a * source + b < input) ? 1 : 0; |
jaity | 59:7cb8eaf553ef | 160 | } |
jaity | 59:7cb8eaf553ef | 161 | |
YusukeWakuta | 61:7f980cb3a7a8 | 162 | //ケイデンスの値を取得します。 |
YusukeWakuta | 61:7f980cb3a7a8 | 163 | // source: 定格12V電源の電圧値[mV], input: センサ値[mV] |
tsumagari | 68:ed8ffcb8c49a | 164 | //void updateCadence() |
tsumagari | 68:ed8ffcb8c49a | 165 | //{ |
tsumagari | 68:ed8ffcb8c49a | 166 | // static bool isFFlag = true; |
tsumagari | 68:ed8ffcb8c49a | 167 | // if(isFFlag) { |
tsumagari | 68:ed8ffcb8c49a | 168 | // cadenceTimer.start(); |
tsumagari | 68:ed8ffcb8c49a | 169 | // isFFlag = false; |
tsumagari | 68:ed8ffcb8c49a | 170 | // return; |
tsumagari | 68:ed8ffcb8c49a | 171 | // } |
tsumagari | 68:ed8ffcb8c49a | 172 | // led4 = !led4; |
tsumagari | 68:ed8ffcb8c49a | 173 | // if(cadenceCounter < 3) { |
tsumagari | 68:ed8ffcb8c49a | 174 | // cadenceCounter++; |
tsumagari | 68:ed8ffcb8c49a | 175 | // return; |
tsumagari | 68:ed8ffcb8c49a | 176 | // } |
tsumagari | 68:ed8ffcb8c49a | 177 | // cadenceResult =60.0/ (cadenceTimer.read_us() / 1000000.0); //クランク一回転にかかる時間を取得 |
tsumagari | 68:ed8ffcb8c49a | 178 | // cadenceTimer.reset(); |
tsumagari | 68:ed8ffcb8c49a | 179 | // cadenceCounter = 0; |
tsumagari | 68:ed8ffcb8c49a | 180 | //} |
YusukeWakuta | 66:1ffafa1c4a87 | 181 | void updateCadence() |
YusukeWakuta | 46:c649987c4d84 | 182 | { |
YusukeWakuta | 66:1ffafa1c4a87 | 183 | static bool isFFlag = true; |
YusukeWakuta | 61:7f980cb3a7a8 | 184 | if(isFFlag) { |
YusukeWakuta | 61:7f980cb3a7a8 | 185 | cadenceTimer.start(); |
YusukeWakuta | 66:1ffafa1c4a87 | 186 | isFFlag = false; |
YusukeWakuta | 61:7f980cb3a7a8 | 187 | return; |
YusukeWakuta | 61:7f980cb3a7a8 | 188 | } |
YusukeWakuta | 66:1ffafa1c4a87 | 189 | led4 = !led4; |
tsumagari | 68:ed8ffcb8c49a | 190 | // if(cadenceCounter < 3) { |
tsumagari | 68:ed8ffcb8c49a | 191 | // cadenceCounter++; |
tsumagari | 68:ed8ffcb8c49a | 192 | // return; |
tsumagari | 68:ed8ffcb8c49a | 193 | // } |
tsumagari | 68:ed8ffcb8c49a | 194 | cadenceResult =cadenceTimer.read_us(); //クランク半回転にかかる時間を取得 |
tsumagari | 68:ed8ffcb8c49a | 195 | pc.printf("cadenceResult:%f\n\r",cadenceResult); |
YusukeWakuta | 66:1ffafa1c4a87 | 196 | cadenceTimer.reset(); |
YusukeWakuta | 66:1ffafa1c4a87 | 197 | cadenceCounter = 0; |
tsumagari | 27:d2955f29a3aa | 198 | } |
YusukeWakuta | 46:c649987c4d84 | 199 | void init() |
YusukeWakuta | 46:c649987c4d84 | 200 | { |
tsumagari | 58:b4f3ed763cb4 | 201 | pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r"); |
tsumagari | 26:50272431cd1e | 202 | //--------------------------------------(resetInterrupt init) |
tsumagari | 26:50272431cd1e | 203 | resetPin.rise(resetInterrupt); |
tsumagari | 26:50272431cd1e | 204 | resetPin.mode(PullDown); |
tsumagari | 26:50272431cd1e | 205 | //----------------------------------------------------------- |
YusukeWakuta | 50:2160c28d02f8 | 206 | twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要 |
YusukeWakuta | 50:2160c28d02f8 | 207 | android.baud(9600); |
tsumagari | 27:d2955f29a3aa | 208 | //writeTimer.start(); |
taurin | 0:085b2c5e3254 | 209 | FusokukeiInit(); |
tsumagari | 58:b4f3ed763cb4 | 210 | // SdInit(); |
YusukeWakuta | 46:c649987c4d84 | 211 | // MpuInit(); |
tsumagari | 27:d2955f29a3aa | 212 | //writeDatasTicker.attach(&WriteDatas,1); |
YusukeWakuta | 46:c649987c4d84 | 213 | |
tsumagari | 27:d2955f29a3aa | 214 | //-----for InterruptMode of sonar---------------------------- |
tsumagari | 27:d2955f29a3aa | 215 | // sonarPin.rise(&sonarInterruptStart); |
tsumagari | 27:d2955f29a3aa | 216 | // sonarPin.fall(&sonarInterruptStop); |
tsumagari | 27:d2955f29a3aa | 217 | //----------------------------------------------------------- |
YusukeWakuta | 61:7f980cb3a7a8 | 218 | unsigned short val; |
YusukeWakuta | 61:7f980cb3a7a8 | 219 | val = 0; |
YusukeWakuta | 61:7f980cb3a7a8 | 220 | if(VCmonitor.rawRead(0x00,&val) != 0) { |
YusukeWakuta | 61:7f980cb3a7a8 | 221 | printf("VCmonitor READ ERROR\n"); |
YusukeWakuta | 61:7f980cb3a7a8 | 222 | } |
YusukeWakuta | 61:7f980cb3a7a8 | 223 | VCmonitor.setCurrentCalibration(); |
taurin | 0:085b2c5e3254 | 224 | } |
taurin | 0:085b2c5e3254 | 225 | |
YusukeWakuta | 46:c649987c4d84 | 226 | void FusokukeiInit() |
YusukeWakuta | 46:c649987c4d84 | 227 | { |
taurin | 0:085b2c5e3254 | 228 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 229 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 230 | } |
taurin | 0:085b2c5e3254 | 231 | |
YusukeWakuta | 46:c649987c4d84 | 232 | void MpuInit() |
YusukeWakuta | 46:c649987c4d84 | 233 | { |
tsumagari | 26:50272431cd1e | 234 | i2c.frequency(400000); // use fast (400 kHz) I2C |
tsumagari | 26:50272431cd1e | 235 | t.start(); |
tsumagari | 26:50272431cd1e | 236 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
tsumagari | 26:50272431cd1e | 237 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
tsumagari | 34:c46f2f687c7b | 238 | Thread::wait(100); |
tsumagari | 26:50272431cd1e | 239 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
tsumagari | 34:c46f2f687c7b | 240 | Thread::wait(100); |
tsumagari | 26:50272431cd1e | 241 | 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 | 242 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
tsumagari | 26:50272431cd1e | 243 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
tsumagari | 68:ed8ffcb8c49a | 244 | mpu6050.initMPU6050(); ////////////pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperatur |
tsumagari | 34:c46f2f687c7b | 245 | Thread::wait(200); |
tsumagari | 26:50272431cd1e | 246 | } else { |
tsumagari | 26:50272431cd1e | 247 | } |
tsumagari | 26:50272431cd1e | 248 | } else { |
YusukeWakuta | 50:2160c28d02f8 | 249 | //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
YusukeWakuta | 46:c649987c4d84 | 250 | } |
tsumagari | 26:50272431cd1e | 251 | } |
taurin | 0:085b2c5e3254 | 252 | |
YusukeWakuta | 46:c649987c4d84 | 253 | double calcPulse(int deg) |
YusukeWakuta | 46:c649987c4d84 | 254 | { |
tsumagari | 27:d2955f29a3aa | 255 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
tsumagari | 27:d2955f29a3aa | 256 | } |
tsumagari | 27:d2955f29a3aa | 257 | |
YusukeWakuta | 46:c649987c4d84 | 258 | void mpuProcessing(void const *arg) |
YusukeWakuta | 46:c649987c4d84 | 259 | { |
tsumagari | 33:69ad9920f693 | 260 | MpuInit(); |
YusukeWakuta | 46:c649987c4d84 | 261 | while(1) { |
tsumagari | 33:69ad9920f693 | 262 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
tsumagari | 33:69ad9920f693 | 263 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 264 | mpu6050.getAres(); |
tsumagari | 33:69ad9920f693 | 265 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
tsumagari | 33:69ad9920f693 | 266 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
tsumagari | 33:69ad9920f693 | 267 | az = (float)accelCount[2]*aRes - accelBias[2]; |
tsumagari | 33:69ad9920f693 | 268 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 269 | mpu6050.getGres(); |
tsumagari | 33:69ad9920f693 | 270 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
tsumagari | 33:69ad9920f693 | 271 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
tsumagari | 33:69ad9920f693 | 272 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
tsumagari | 33:69ad9920f693 | 273 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
tsumagari | 33:69ad9920f693 | 274 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
tsumagari | 33:69ad9920f693 | 275 | } |
tsumagari | 33:69ad9920f693 | 276 | Now = t.read_us(); |
tsumagari | 33:69ad9920f693 | 277 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
tsumagari | 33:69ad9920f693 | 278 | lastUpdate = Now; |
tsumagari | 33:69ad9920f693 | 279 | sum += deltat; |
tsumagari | 33:69ad9920f693 | 280 | sumCount++; |
tsumagari | 33:69ad9920f693 | 281 | if(lastUpdate - firstUpdate > 10000000.0f) { |
tsumagari | 33:69ad9920f693 | 282 | beta = 0.04; // decrease filter gain after stabilized |
tsumagari | 33:69ad9920f693 | 283 | zeta = 0.015; // increasey bias drift gain after stabilized |
tsumagari | 33:69ad9920f693 | 284 | } |
tsumagari | 33:69ad9920f693 | 285 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
tsumagari | 33:69ad9920f693 | 286 | delt_t = t.read_ms() - count; |
tsumagari | 33:69ad9920f693 | 287 | if (delt_t > MPU_DELT_MIN) { |
tsumagari | 33:69ad9920f693 | 288 | 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 | 289 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
tsumagari | 33:69ad9920f693 | 290 | 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 | 291 | pitch *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 292 | yaw *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 293 | roll *= 180.0f / PI; |
tsumagari | 33:69ad9920f693 | 294 | myled= !myled; |
tsumagari | 33:69ad9920f693 | 295 | count = t.read_ms(); |
tsumagari | 33:69ad9920f693 | 296 | sum = 0; |
tsumagari | 33:69ad9920f693 | 297 | sumCount = 0; |
tsumagari | 33:69ad9920f693 | 298 | } |
tsumagari | 40:f15c11485e95 | 299 | Thread::wait(1); |
tsumagari | 33:69ad9920f693 | 300 | }//while(1) |
tsumagari | 26:50272431cd1e | 301 | } |
tsumagari | 26:50272431cd1e | 302 | |
YusukeWakuta | 46:c649987c4d84 | 303 | void DataReceiveFromSouda(/*void const *arg*/) |
YusukeWakuta | 46:c649987c4d84 | 304 | { |
tsumagari | 34:c46f2f687c7b | 305 | // while(1){ |
YusukeWakuta | 46:c649987c4d84 | 306 | if(soudaSerial.readable()) { |
tsumagari | 34:c46f2f687c7b | 307 | led2 = !led2; |
tsumagari | 34:c46f2f687c7b | 308 | char c = soudaSerial.getc(); |
YusukeWakuta | 46:c649987c4d84 | 309 | while( c != ';' ) { |
tsumagari | 34:c46f2f687c7b | 310 | c = soudaSerial.getc(); |
tsumagari | 34:c46f2f687c7b | 311 | } |
YusukeWakuta | 46:c649987c4d84 | 312 | for(int i = 0; i < SOUDA_DATAS_NUM; i++) { |
tsumagari | 34:c46f2f687c7b | 313 | soudaDatas[i] = soudaSerial.getc(); |
tsumagari | 34:c46f2f687c7b | 314 | } |
YusukeWakuta | 46:c649987c4d84 | 315 | }//if |
tsumagari | 34:c46f2f687c7b | 316 | // }//while(1) |
taurin | 3:8dc516be2e7e | 317 | } |
tsumagari | 56:6823d2324704 | 318 | |
YusukeWakuta | 61:7f980cb3a7a8 | 319 | void SdInit() |
YusukeWakuta | 61:7f980cb3a7a8 | 320 | { |
tsumagari | 56:6823d2324704 | 321 | mkdir("/sd/mydir", 0777); |
YusukeWakuta | 66:1ffafa1c4a87 | 322 | fp = fopen("/sd/mydir/TestFlight.csv", "w"); |
tsumagari | 56:6823d2324704 | 323 | if(fp == NULL) { |
tsumagari | 56:6823d2324704 | 324 | error("Could not open file for write\n"); |
tsumagari | 56:6823d2324704 | 325 | } |
tsumagari | 56:6823d2324704 | 326 | fclose(fp); |
tsumagari | 56:6823d2324704 | 327 | } |
tsumagari | 56:6823d2324704 | 328 | |
YusukeWakuta | 61:7f980cb3a7a8 | 329 | void SDprintf(const void* arg) |
YusukeWakuta | 61:7f980cb3a7a8 | 330 | { |
tsumagari | 58:b4f3ed763cb4 | 331 | SdInit(); |
YusukeWakuta | 61:7f980cb3a7a8 | 332 | while(1) { |
YusukeWakuta | 61:7f980cb3a7a8 | 333 | if(write_datas_index == SD_WRITE_NUM-1) { |
tsumagari | 58:b4f3ed763cb4 | 334 | fp = fopen("/sd/mydir/data.csv", "a"); |
tsumagari | 58:b4f3ed763cb4 | 335 | if(fp == NULL) { |
tsumagari | 58:b4f3ed763cb4 | 336 | printf("Could not open file for write\n"); |
tsumagari | 58:b4f3ed763cb4 | 337 | } |
YusukeWakuta | 61:7f980cb3a7a8 | 338 | for(int i = 0; i < SD_WRITE_NUM; i++) { |
YusukeWakuta | 61:7f980cb3a7a8 | 339 | for(int j = 0; j < WRITE_DATAS_NUM; j++) { |
tsumagari | 58:b4f3ed763cb4 | 340 | fprintf(fp,"%f,", writeDatas[i][j]); |
tsumagari | 58:b4f3ed763cb4 | 341 | } |
tsumagari | 58:b4f3ed763cb4 | 342 | } |
tsumagari | 58:b4f3ed763cb4 | 343 | fprintf(fp,"\n"); |
tsumagari | 58:b4f3ed763cb4 | 344 | fclose(fp); |
YusukeWakuta | 61:7f980cb3a7a8 | 345 | |
tsumagari | 58:b4f3ed763cb4 | 346 | write_datas_index=0; |
tsumagari | 58:b4f3ed763cb4 | 347 | } |
tsumagari | 58:b4f3ed763cb4 | 348 | Thread::wait(1); |
tsumagari | 56:6823d2324704 | 349 | } |
tsumagari | 56:6823d2324704 | 350 | } |
tsumagari | 39:7623678de4e2 | 351 | |
YusukeWakuta | 46:c649987c4d84 | 352 | void WriteDatas() |
YusukeWakuta | 46:c649987c4d84 | 353 | { |
taurin | 8:31e07f6ed0f7 | 354 | int i; |
YusukeWakuta | 46:c649987c4d84 | 355 | for(i = 0; i < SOUDA_DATAS_NUM; i++) { |
YusukeWakuta | 46:c649987c4d84 | 356 | //writeDatas[write_datas_index][i] = 0.0; |
tsumagari | 27:d2955f29a3aa | 357 | writeDatas[write_datas_index][i] = (float)soudaDatas[i]; |
taurin | 8:31e07f6ed0f7 | 358 | } |
taurin | 8:31e07f6ed0f7 | 359 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 8:31e07f6ed0f7 | 360 | writeDatas[write_datas_index][i++] = roll; |
taurin | 8:31e07f6ed0f7 | 361 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 8:31e07f6ed0f7 | 362 | writeDatas[write_datas_index][i++] = airSpeed; |
tsumagari | 27:d2955f29a3aa | 363 | writeDatas[write_datas_index][i++] = sonarDist; |
tsumagari | 62:98294011f568 | 364 | writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence; |
taurin | 8:31e07f6ed0f7 | 365 | //writeDatas[write_datas_index][i++] = writeTimer.read(); |
tsumagari | 27:d2955f29a3aa | 366 | //for(i = 0; i < WRITE_DATAS_NUM; i++){ |
YusukeWakuta | 50:2160c28d02f8 | 367 | // ////pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 368 | // twe.printf("%f,", writeDatas[write_datas_index][i]); |
tsumagari | 27:d2955f29a3aa | 369 | // } |
YusukeWakuta | 50:2160c28d02f8 | 370 | // //pc.printf("\n\r"); |
taurin | 9:95eb0bbdc2a9 | 371 | // twe.printf("\n\r"); |
YusukeWakuta | 46:c649987c4d84 | 372 | if(write_datas_index == SD_WRITE_NUM-1) { |
tsumagari | 58:b4f3ed763cb4 | 373 | // SDprintf(); |
tsumagari | 39:7623678de4e2 | 374 | write_datas_index=0; |
YusukeWakuta | 46:c649987c4d84 | 375 | } else { |
tsumagari | 39:7623678de4e2 | 376 | write_datas_index++; |
YusukeWakuta | 46:c649987c4d84 | 377 | } |
YusukeWakuta | 67:9d2eb6793464 | 378 | |
tsumagari | 64:2de7ea84d39a | 379 | char sbuf[128]; |
tsumagari | 64:2de7ea84d39a | 380 | int p=0; |
tsumagari | 64:2de7ea84d39a | 381 | // twe.printf("con,"); |
tsumagari | 65:075118165355 | 382 | p += sprintf(sbuf,"con,"); |
YusukeWakuta | 46:c649987c4d84 | 383 | for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) { |
YusukeWakuta | 67:9d2eb6793464 | 384 | |
tsumagari | 63:f7f4edd463b1 | 385 | // pc.printf("%i ",soudaDatas[i]); |
tsumagari | 64:2de7ea84d39a | 386 | // twe.printf("%i,",soudaDatas[i]); |
tsumagari | 65:075118165355 | 387 | p += sprintf(sbuf+p,"%i,",soudaDatas[i]); |
YusukeWakuta | 50:2160c28d02f8 | 388 | |
YusukeWakuta | 48:0c9f3a057f79 | 389 | if(i == YOKUTAN_DATAS_NUM - 1) |
tsumagari | 64:2de7ea84d39a | 390 | // twe.printf("%i\n",soudaDatas[i]); |
tsumagari | 65:075118165355 | 391 | p += sprintf(sbuf+p,"%i\n",soudaDatas[i]); |
taurin | 9:95eb0bbdc2a9 | 392 | } |
YusukeWakuta | 66:1ffafa1c4a87 | 393 | // twe.printf("%s",sbuf); |
YusukeWakuta | 66:1ffafa1c4a87 | 394 | //twe.printf("con,%s\n",soudaDatas); |
YusukeWakuta | 46:c649987c4d84 | 395 | /* |
YusukeWakuta | 46:c649987c4d84 | 396 | 送信文字列 |
YusukeWakuta | 46:c649987c4d84 | 397 | 0-13翼端データ |
YusukeWakuta | 46:c649987c4d84 | 398 | 14-17 R erebon |
YusukeWakuta | 46:c649987c4d84 | 399 | 18 R DRUG |
YusukeWakuta | 46:c649987c4d84 | 400 | 19-22 L erebon |
YusukeWakuta | 46:c649987c4d84 | 401 | 23 LDRUG |
YusukeWakuta | 46:c649987c4d84 | 402 | */ |
tsumagari | 68:ed8ffcb8c49a | 403 | twe.printf("%sinp,%d,%i,%d,%i\nmpu,%f,%f,%f\nkei,%f,%f,%f\n",sbuf,soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2] |
YusukeWakuta | 66:1ffafa1c4a87 | 404 | ,(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1] |
YusukeWakuta | 66:1ffafa1c4a87 | 405 | ,pitch,roll,yaw,airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence); |
YusukeWakuta | 66:1ffafa1c4a87 | 406 | // 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); |
YusukeWakuta | 46:c649987c4d84 | 407 | if(android.writeable()) { |
tsumagari | 62:98294011f568 | 408 | android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence); |
tsumagari | 27:d2955f29a3aa | 409 | } |
tsumagari | 40:f15c11485e95 | 410 | // SDprintf(); |
taurin | 9:95eb0bbdc2a9 | 411 | } |
taurin | 9:95eb0bbdc2a9 | 412 | |
YusukeWakuta | 46:c649987c4d84 | 413 | void WriteDatasF() |
YusukeWakuta | 46:c649987c4d84 | 414 | { |
YusukeWakuta | 50:2160c28d02f8 | 415 | //pc.printf("airSpeed:%f\n\r",airSpeed); |
taurin | 0:085b2c5e3254 | 416 | } |
tsumagari | 27:d2955f29a3aa | 417 | |
YusukeWakuta | 46:c649987c4d84 | 418 | void RollAlarm() |
YusukeWakuta | 46:c649987c4d84 | 419 | { |
YusukeWakuta | 46:c649987c4d84 | 420 | if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) { |
taurin | 0:085b2c5e3254 | 421 | RollAlarmL = 1; |
YusukeWakuta | 46:c649987c4d84 | 422 | } else { |
taurin | 0:085b2c5e3254 | 423 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 424 | } |
YusukeWakuta | 46:c649987c4d84 | 425 | |
YusukeWakuta | 46:c649987c4d84 | 426 | if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) { |
taurin | 0:085b2c5e3254 | 427 | RollAlarmR = 1; |
YusukeWakuta | 46:c649987c4d84 | 428 | } else { |
taurin | 0:085b2c5e3254 | 429 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 430 | } |
taurin | 0:085b2c5e3254 | 431 | } |
taurin | 0:085b2c5e3254 | 432 | |
YusukeWakuta | 66:1ffafa1c4a87 | 433 | //void updateCadenceFunc(void const *arg) |
YusukeWakuta | 66:1ffafa1c4a87 | 434 | //{ |
YusukeWakuta | 66:1ffafa1c4a87 | 435 | // while(1) { |
YusukeWakuta | 66:1ffafa1c4a87 | 436 | //// VCmonitor.getVoltage(&V) == 0; |
YusukeWakuta | 66:1ffafa1c4a87 | 437 | // updateCadence(V,mgPin.read()*3300.0, mgPin2.read()*3300.0); |
YusukeWakuta | 66:1ffafa1c4a87 | 438 | // Thread::wait(330); |
YusukeWakuta | 66:1ffafa1c4a87 | 439 | // } |
YusukeWakuta | 66:1ffafa1c4a87 | 440 | //} |
YusukeWakuta | 46:c649987c4d84 | 441 | int main() |
YusukeWakuta | 46:c649987c4d84 | 442 | { |
tsumagari | 58:b4f3ed763cb4 | 443 | Thread mpu_thread(&mpuProcessing); |
YusukeWakuta | 66:1ffafa1c4a87 | 444 | // Thread SD_thread(&SDprintf); |
YusukeWakuta | 66:1ffafa1c4a87 | 445 | //Thread cadenceThread(&updateCadenceFunc); |
tsumagari | 68:ed8ffcb8c49a | 446 | cadenceInter.mode(PullDown); |
YusukeWakuta | 66:1ffafa1c4a87 | 447 | cadenceInter.rise(&updateCadence); |
tsumagari | 68:ed8ffcb8c49a | 448 | // cadenceInter.fall(&updateCadence); |
tsumagari | 34:c46f2f687c7b | 449 | // Thread soudaSerial_thread(&DataReceiveFromSouda); |
taurin | 0:085b2c5e3254 | 450 | init(); |
YusukeWakuta | 66:1ffafa1c4a87 | 451 | int counter = 0; |
YusukeWakuta | 46:c649987c4d84 | 452 | while(1) { |
YusukeWakuta | 66:1ffafa1c4a87 | 453 | if(counter%50== 0) { |
YusukeWakuta | 66:1ffafa1c4a87 | 454 | VCmonitor.getVoltage(&V); |
YusukeWakuta | 61:7f980cb3a7a8 | 455 | printf("e:%f\n",V); |
YusukeWakuta | 61:7f980cb3a7a8 | 456 | } |
YusukeWakuta | 66:1ffafa1c4a87 | 457 | counter++; |
YusukeWakuta | 66:1ffafa1c4a87 | 458 | // updateCadence(V,mgPin.read() * 3.3 * 1000.0,mgPin2.read() * 3.3* 1000.0); |
tsumagari | 27:d2955f29a3aa | 459 | sonarCalc(); |
taurin | 8:31e07f6ed0f7 | 460 | RollAlarm(); |
tsumagari | 27:d2955f29a3aa | 461 | DataReceiveFromSouda(); |
taurin | 3:8dc516be2e7e | 462 | WriteDatas(); |
YusukeWakuta | 66:1ffafa1c4a87 | 463 | // wait_ms(20); |
tsumagari | 68:ed8ffcb8c49a | 464 | led3 = !led3; |
taurin | 0:085b2c5e3254 | 465 | } |
taurin | 0:085b2c5e3254 | 466 | } |