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@19:fa3f9ba17af8, 2016-12-17 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Sat Dec 17 09:12:39 2016 +0000
- Branch:
- Android?????????
- Revision:
- 19:fa3f9ba17af8
- Parent:
- 15:6966299bea4c
- Parent:
- 18:0a0c4277d960
- Child:
- 21:8802034b7810
- Child:
- 24:483dd4e61ead
Android??serial???????
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 |
YusukeWakuta | 18:0a0c4277d960 | 2 | |
taurin | 0:085b2c5e3254 | 3 | #include "mbed.h" |
taurin | 0:085b2c5e3254 | 4 | #include "Fusokukei.h" |
taurin | 0:085b2c5e3254 | 5 | #include "MPU6050.h" |
taurin | 0:085b2c5e3254 | 6 | #include "SDFileSystem.h" |
tsumagari | 15:6966299bea4c | 7 | #include "BufferedSoftSerial.h" |
tsumagari | 15:6966299bea4c | 8 | #include "Cadence.h" |
taurin | 0:085b2c5e3254 | 9 | |
taurin | 0:085b2c5e3254 | 10 | #define KX_VALUE_MIN 0.4 |
taurin | 0:085b2c5e3254 | 11 | #define KX_VALUE_MAX 0.8 |
tsumagari | 15:6966299bea4c | 12 | #define SOUDA_DATAS_NUM 12 |
taurin | 5:1b3c8e5ee99e | 13 | #define WRITE_DATAS_NUM 20 |
taurin | 0:085b2c5e3254 | 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 |
taurin | 3:8dc516be2e7e | 19 | #define SD_WRITE_NUM 10 |
taurin | 4:a863a092141c | 20 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 0:085b2c5e3254 | 21 | |
tsumagari | 15:6966299bea4c | 22 | //Cadence cadence(p13,p14); |
tsumagari | 15:6966299bea4c | 23 | //Ticker cadenceTicker; |
tsumagari | 15:6966299bea4c | 24 | |
taurin | 0:085b2c5e3254 | 25 | Serial pc(USBTX,USBRX); |
YusukeWakuta | 19:fa3f9ba17af8 | 26 | Serial Android(p13,p14); |
tsumagari | 15:6966299bea4c | 27 | BufferedSoftSerial twe(p9,p10); |
tsumagari | 15:6966299bea4c | 28 | BufferedSoftSerial soudaSerial(p17,p18); |
tsumagari | 15:6966299bea4c | 29 | //Ticker writeDatasTicker; |
taurin | 3:8dc516be2e7e | 30 | Timer writeTimer; |
taurin | 0:085b2c5e3254 | 31 | |
tsumagari | 13:09e05e7cfca1 | 32 | InterruptIn FusokukeiPin(p21); |
taurin | 0:085b2c5e3254 | 33 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 34 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 35 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 36 | |
taurin | 0:085b2c5e3254 | 37 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 38 | Timer t; |
taurin | 0:085b2c5e3254 | 39 | Ticker mpu6050Ticker; |
taurin | 0:085b2c5e3254 | 40 | |
taurin | 0:085b2c5e3254 | 41 | AnalogIn kx_X(p17); |
taurin | 0:085b2c5e3254 | 42 | AnalogIn kx_Y(p16); |
taurin | 0:085b2c5e3254 | 43 | AnalogIn kx_Z(p15); |
taurin | 3:8dc516be2e7e | 44 | float KX_X,KX_Y,KX_Z; |
taurin | 0:085b2c5e3254 | 45 | |
taurin | 0:085b2c5e3254 | 46 | DigitalOut RollAlarmR(p20); |
taurin | 0:085b2c5e3254 | 47 | DigitalOut RollAlarmL(p19); |
taurin | 0:085b2c5e3254 | 48 | DigitalOut led(LED1); |
taurin | 1:5ec2409854da | 49 | DigitalOut led2(LED2); |
taurin | 0:085b2c5e3254 | 50 | |
taurin | 0:085b2c5e3254 | 51 | SDFileSystem sd(p5, p6, p7, p8, "sd"); |
taurin | 0:085b2c5e3254 | 52 | FILE* fp; |
taurin | 0:085b2c5e3254 | 53 | |
YusukeWakuta | 11:90e2b070f337 | 54 | PwmOut kisokuServo(p26); |
YusukeWakuta | 11:90e2b070f337 | 55 | PwmOut geikakuServo(p22); |
taurin | 4:a863a092141c | 56 | |
taurin | 0:085b2c5e3254 | 57 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 58 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 59 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 60 | |
tsumagari | 15:6966299bea4c | 61 | void cadenceDataReceive(); |
taurin | 0:085b2c5e3254 | 62 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 63 | void call_calcAirSpeed(); |
taurin | 0:085b2c5e3254 | 64 | void init(); |
taurin | 0:085b2c5e3254 | 65 | void FusokukeiInit(); |
taurin | 0:085b2c5e3254 | 66 | void SdInit(); |
taurin | 0:085b2c5e3254 | 67 | void DataReceiveFromSouda(); |
taurin | 0:085b2c5e3254 | 68 | void WriteDatas(); |
taurin | 0:085b2c5e3254 | 69 | float calcAttackAngle(); |
taurin | 0:085b2c5e3254 | 70 | float calcKXdeg(float x); |
taurin | 0:085b2c5e3254 | 71 | |
tsumagari | 15:6966299bea4c | 72 | void cadenceDataReceive(){ |
tsumagari | 15:6966299bea4c | 73 | // cadence.readData(); |
tsumagari | 15:6966299bea4c | 74 | } |
tsumagari | 15:6966299bea4c | 75 | |
taurin | 0:085b2c5e3254 | 76 | void air_countUp(){ |
taurin | 0:085b2c5e3254 | 77 | air_kaitensu++; |
taurin | 0:085b2c5e3254 | 78 | } |
taurin | 0:085b2c5e3254 | 79 | |
taurin | 0:085b2c5e3254 | 80 | void call_calcAirSpeed(){ |
taurin | 0:085b2c5e3254 | 81 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 82 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 83 | } |
taurin | 0:085b2c5e3254 | 84 | |
taurin | 0:085b2c5e3254 | 85 | void init(){ |
tsumagari | 15:6966299bea4c | 86 | twe.baud(19200); |
YusukeWakuta | 19:fa3f9ba17af8 | 87 | Android.baud(9600); |
tsumagari | 15:6966299bea4c | 88 | soudaSerial.baud(9600); |
taurin | 5:1b3c8e5ee99e | 89 | kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 5:1b3c8e5ee99e | 90 | geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:085b2c5e3254 | 91 | FusokukeiInit(); |
YusukeWakuta | 18:0a0c4277d960 | 92 | mpu6050.MPUInit(t); |
taurin | 8:31e07f6ed0f7 | 93 | SdInit(); |
taurin | 0:085b2c5e3254 | 94 | } |
taurin | 0:085b2c5e3254 | 95 | |
taurin | 0:085b2c5e3254 | 96 | void FusokukeiInit(){ |
taurin | 0:085b2c5e3254 | 97 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 98 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 99 | } |
taurin | 0:085b2c5e3254 | 100 | |
taurin | 4:a863a092141c | 101 | double calcPulse(int deg){ |
taurin | 4:a863a092141c | 102 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
taurin | 4:a863a092141c | 103 | } |
taurin | 4:a863a092141c | 104 | |
taurin | 0:085b2c5e3254 | 105 | void SdInit(){ |
taurin | 0:085b2c5e3254 | 106 | mkdir("/sd/mydir", 0777); |
taurin | 0:085b2c5e3254 | 107 | fp = fopen("/sd/mydir/sdtest2.csv", "w"); |
taurin | 0:085b2c5e3254 | 108 | if(fp == NULL) { |
taurin | 0:085b2c5e3254 | 109 | error("Could not open file for write\n"); |
taurin | 0:085b2c5e3254 | 110 | } |
taurin | 0:085b2c5e3254 | 111 | fprintf(fp, "Hello fun SD Card World!\n\r"); |
taurin | 0:085b2c5e3254 | 112 | fclose(fp); |
taurin | 0:085b2c5e3254 | 113 | } |
taurin | 0:085b2c5e3254 | 114 | |
taurin | 0:085b2c5e3254 | 115 | void DataReceiveFromSouda(){ |
taurin | 1:5ec2409854da | 116 | led2 = !led2; |
taurin | 1:5ec2409854da | 117 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
tsumagari | 15:6966299bea4c | 118 | if(soudaSerial.readable()) { |
tsumagari | 15:6966299bea4c | 119 | soudaDatas[i] = (char)soudaSerial.getc(); |
tsumagari | 15:6966299bea4c | 120 | if(soudaDatas[i]==';') i=-1; |
tsumagari | 15:6966299bea4c | 121 | }else i--; |
taurin | 0:085b2c5e3254 | 122 | } |
taurin | 0:085b2c5e3254 | 123 | } |
taurin | 0:085b2c5e3254 | 124 | |
taurin | 3:8dc516be2e7e | 125 | void SDprintf(){ |
taurin | 1:5ec2409854da | 126 | fp = fopen("/sd/mydir/sdtest.csv", "a"); |
taurin | 1:5ec2409854da | 127 | if(fp == NULL) { |
taurin | 1:5ec2409854da | 128 | error("Could not open file for write\n"); |
taurin | 1:5ec2409854da | 129 | } |
taurin | 3:8dc516be2e7e | 130 | for(int i = 0; i < SD_WRITE_NUM; i++){ |
taurin | 3:8dc516be2e7e | 131 | for(int j = 0; j < WRITE_DATAS_NUM; j++){ |
taurin | 5:1b3c8e5ee99e | 132 | fprintf(fp,"%f,", writeDatas[i][j]); |
taurin | 3:8dc516be2e7e | 133 | } |
taurin | 3:8dc516be2e7e | 134 | } |
taurin | 5:1b3c8e5ee99e | 135 | fprintf(fp,"\n\r"); |
taurin | 3:8dc516be2e7e | 136 | fclose(fp); |
taurin | 3:8dc516be2e7e | 137 | } |
taurin | 3:8dc516be2e7e | 138 | |
taurin | 3:8dc516be2e7e | 139 | void WriteDatas(){ |
taurin | 8:31e07f6ed0f7 | 140 | int i; |
taurin | 8:31e07f6ed0f7 | 141 | for(i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 142 | //writeDatas[write_datas_index][i] = 0.0; |
taurin | 8:31e07f6ed0f7 | 143 | writeDatas[write_datas_index][i] = (float)soudaDatas[i]; |
taurin | 8:31e07f6ed0f7 | 144 | } |
tsumagari | 15:6966299bea4c | 145 | // writeDatas[write_datas_index][i++] = cadence.cadence; |
taurin | 8:31e07f6ed0f7 | 146 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read()); |
taurin | 8:31e07f6ed0f7 | 147 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read()); |
taurin | 8:31e07f6ed0f7 | 148 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read()); |
taurin | 8:31e07f6ed0f7 | 149 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 8:31e07f6ed0f7 | 150 | writeDatas[write_datas_index][i++] = roll; |
taurin | 8:31e07f6ed0f7 | 151 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 8:31e07f6ed0f7 | 152 | writeDatas[write_datas_index][i++] = airSpeed; |
taurin | 8:31e07f6ed0f7 | 153 | //writeDatas[write_datas_index][i++] = writeTimer.read(); |
taurin | 9:95eb0bbdc2a9 | 154 | //for(i = 0; i < WRITE_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 155 | // pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 156 | // twe.printf("%f,", writeDatas[write_datas_index][i]); |
taurin | 9:95eb0bbdc2a9 | 157 | // } |
taurin | 9:95eb0bbdc2a9 | 158 | // pc.printf("\n\r"); |
taurin | 9:95eb0bbdc2a9 | 159 | // twe.printf("\n\r"); |
taurin | 8:31e07f6ed0f7 | 160 | if(write_datas_index == SD_WRITE_NUM-1){ |
taurin | 8:31e07f6ed0f7 | 161 | SDprintf(); |
taurin | 8:31e07f6ed0f7 | 162 | write_datas_index=0; |
taurin | 8:31e07f6ed0f7 | 163 | } |
taurin | 8:31e07f6ed0f7 | 164 | else{ |
taurin | 8:31e07f6ed0f7 | 165 | write_datas_index++; |
taurin | 8:31e07f6ed0f7 | 166 | } |
taurin | 9:95eb0bbdc2a9 | 167 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 9:95eb0bbdc2a9 | 168 | pc.printf("%i ",soudaDatas[i]); |
YusukeWakuta | 10:1389f938f5f7 | 169 | twe.printf("%i,",soudaDatas[i]); |
taurin | 9:95eb0bbdc2a9 | 170 | } |
tsumagari | 15:6966299bea4c | 171 | // twe.printf("%f\n\r",cadence.cadence); |
tsumagari | 15:6966299bea4c | 172 | // pc.printf("%f\n\r",cadence.cadence); |
taurin | 9:95eb0bbdc2a9 | 173 | //pc.printf("\n\r"); |
YusukeWakuta | 19:fa3f9ba17af8 | 174 | |
YusukeWakuta | 19:fa3f9ba17af8 | 175 | if(Android.writeable()){ |
YusukeWakuta | 19:fa3f9ba17af8 | 176 | Android.printf("%f,%f,%f",airSpeed,roll,0); |
YusukeWakuta | 19:fa3f9ba17af8 | 177 | } |
YusukeWakuta | 10:1389f938f5f7 | 178 | twe.printf("%f,%f,%f,",pitch,roll,yaw); |
YusukeWakuta | 10:1389f938f5f7 | 179 | twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
YusukeWakuta | 10:1389f938f5f7 | 180 | twe.printf("%f,\r\n",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 181 | pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 9:95eb0bbdc2a9 | 182 | //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
taurin | 9:95eb0bbdc2a9 | 183 | pc.printf("%f\n\r",airSpeed); |
taurin | 9:95eb0bbdc2a9 | 184 | //SDprintf(); |
taurin | 9:95eb0bbdc2a9 | 185 | } |
taurin | 9:95eb0bbdc2a9 | 186 | |
taurin | 9:95eb0bbdc2a9 | 187 | void WriteDatasF(){ |
taurin | 9:95eb0bbdc2a9 | 188 | pc.printf("airSpeed:%f\n\r",airSpeed); |
taurin | 0:085b2c5e3254 | 189 | } |
taurin | 0:085b2c5e3254 | 190 | |
taurin | 0:085b2c5e3254 | 191 | float calcKXdeg(float x){ |
taurin | 0:085b2c5e3254 | 192 | return -310.54*x+156.65; |
taurin | 0:085b2c5e3254 | 193 | } |
taurin | 0:085b2c5e3254 | 194 | |
taurin | 0:085b2c5e3254 | 195 | float calcAttackAngle(){ |
taurin | 0:085b2c5e3254 | 196 | return pitch-calcKXdeg(kx_Z.read()); |
taurin | 0:085b2c5e3254 | 197 | } |
taurin | 0:085b2c5e3254 | 198 | |
taurin | 0:085b2c5e3254 | 199 | void RollAlarm(){ |
taurin | 0:085b2c5e3254 | 200 | if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){ |
taurin | 0:085b2c5e3254 | 201 | RollAlarmL = 1; |
taurin | 0:085b2c5e3254 | 202 | } |
taurin | 0:085b2c5e3254 | 203 | else{ |
taurin | 0:085b2c5e3254 | 204 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 205 | } |
taurin | 0:085b2c5e3254 | 206 | if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){ |
taurin | 0:085b2c5e3254 | 207 | RollAlarmR = 1; |
taurin | 0:085b2c5e3254 | 208 | } |
taurin | 0:085b2c5e3254 | 209 | else{ |
taurin | 0:085b2c5e3254 | 210 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 211 | } |
taurin | 0:085b2c5e3254 | 212 | } |
taurin | 0:085b2c5e3254 | 213 | |
taurin | 4:a863a092141c | 214 | void WriteServo(){ |
taurin | 9:95eb0bbdc2a9 | 215 | kisokuServo.pulsewidth(calcPulse(9*airSpeed)); |
taurin | 9:95eb0bbdc2a9 | 216 | if(pitch<0){ |
taurin | 9:95eb0bbdc2a9 | 217 | geikakuServo.pulsewidth(calcPulse(0)); |
taurin | 9:95eb0bbdc2a9 | 218 | } |
taurin | 9:95eb0bbdc2a9 | 219 | else{ |
taurin | 9:95eb0bbdc2a9 | 220 | geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0))); |
taurin | 9:95eb0bbdc2a9 | 221 | } |
taurin | 4:a863a092141c | 222 | } |
taurin | 4:a863a092141c | 223 | |
taurin | 0:085b2c5e3254 | 224 | int main(){ |
taurin | 0:085b2c5e3254 | 225 | init(); |
taurin | 0:085b2c5e3254 | 226 | while(1){ |
taurin | 9:95eb0bbdc2a9 | 227 | pc.printf("test\n\r"); |
YusukeWakuta | 18:0a0c4277d960 | 228 | mpu6050.mpuProcessing(t); |
taurin | 8:31e07f6ed0f7 | 229 | RollAlarm(); |
taurin | 8:31e07f6ed0f7 | 230 | DataReceiveFromSouda(); |
tsumagari | 15:6966299bea4c | 231 | // cadence.readData(); |
taurin | 3:8dc516be2e7e | 232 | WriteDatas(); |
taurin | 8:31e07f6ed0f7 | 233 | WriteServo(); |
taurin | 0:085b2c5e3254 | 234 | } |
taurin | 0:085b2c5e3254 | 235 | } |