Revision 0:a9bde4f79982, committed 2017-12-08

Comitter:

Joeatsumi

Date:

Fri Dec 08 10:27:22 2017 +0000

Commit message:

2017/12/8; TBT???????????

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.lib	Fri Dec 08 10:27:22 2017 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/Joeatsumi/code/HMC5883L/#52ffe160f17f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.lib	Fri Dec 08 10:27:22 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/mbed_official/code/SDFileSystem/#8db0d3b02cec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextOLED.lib	Fri Dec 08 10:27:22 2017 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/okini3939/code/TextOLED/#45788bd06d4c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 08 10:27:22 2017 +0000
@@ -0,0 +1,452 @@
+//H29/1208
+
+#include "mbed.h"
+#include "TextOLED.h"
+#include "SDFileSystem.h"
+#include "stdio.h"
+
+
+#define ON 1 
+#define OFF 0
+
+AnalogIn alt(p20);        //高度計読み取り
+InterruptIn speedcount(p17); //機速用のフォトインタラプタ読み取り
+InterruptIn rpmcount(p18);  //回転数用のフォトインタラプタ読み取り
+InterruptIn Log_Switch(p26);//ログスイッチ読み取り
+
+
+Serial pc(USBTX, USBRX);
+Serial control_com(p28, p27);//制御基板との通信用
+Serial android_com(p13, p14);               //Androidとの通信用txrx
+
+TextOLED pilot_oled(p29, p30,p22, p23, p24,p25); // RS, E, DB4, DB5, DB6, DB7  有機EL
+SDFileSystem sd(p5, p6, p7, p8, "sd");//SDpinの番号 3,7,5,2 //1pin--Vout,4pin--Vout,6pin--GND,8pin--Vout
+
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+//DigitalOut soundsystem(p21);//音システム用
+
+//タイマー割り込み宣言
+Ticker ticker;//updateのタイマー割り込み
+Timer t,t1;
+
+int speedcounter = 0, rpmcounter = 0, min = 0, sec = 0, i;
+int oldspeed = 0, oldrpm = 0;
+int log_count = 0;
+int SD_count = 0;
+int up2=0,up1=0,down1=0,down2=0,E_neut=0;
+int left1=0,left2=0,right1=0,right2=0,R_neut=0;
+int send_compass=0;
+
+
+double time_s = 0,time_ms=0,time1=0,time2=0, speed = 0, rpm = 0, height = 0,compass = 0;
+
+char ele;
+char rud;
+char e_trim='e',r_trim='r';
+char compass_array[4] = "000";
+char data;
+char send_buff1[24]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+
+
+unsigned char Log_flag = OFF;
+unsigned char SD_flag = OFF;
+
+//プロトタイプ宣言
+
+void SD_log();
+void OLEDdisplay_print();
+void spd_f();
+void rpm_f();
+void spd_c();
+void rpm_c();
+void control_communication();
+void android_communication();
+void update();
+//================//
+void xbee();
+//================//
+void altitude_f();
+void compass_f();
+void Log_Switch_f();
+void CGRAM_1();
+void CGRAM_2();
+void CGRAM_3();  
+void CGRAM_4();
+void CGRAM_5();
+
+FILE* fp;
+
+
+int main() {
+    
+    pilot_oled.cls();
+    
+//    init();
+
+    pc.printf("furst  TBT!!\n");
+
+     led1=1;
+    led2=1;
+    led3=1;
+    led4=1;
+    
+//    myled(1,1,0,0);
+    wait(2);
+    
+    
+   fp = fopen("/sd/log_data.txt", "w");
+    if(fp == NULL) {
+        pilot_oled.locate(0, 0);
+         pilot_oled.printf("There is no sd.");
+        error("Could not open file for write\n");
+    }
+    
+    pc.printf("Start writing!\n");
+    
+    fclose(fp);
+    fp = fopen("/sd/log_data.txt", "w");
+    fprintf(fp, "SD_count, min, sec, rpm, speed, height,compass,up2,up1,E_neut,down1,down2,left2,left1,R_neut,right1,right2\r\n");
+    fclose(fp);
+    fp = fopen("/sd/log_data.txt", "w");
+
+    android_com.baud(115200);   
+    android_com.format(8,Serial::None,1); 
+    
+    control_com.attach(control_communication, Serial::RxIrq);
+    control_com.baud(115200); 
+
+    t.start();
+    t1.start();
+
+    Log_Switch.rise(&Log_Switch_f);
+    speedcount.rise(&spd_c);
+    rpmcount.rise(&rpm_c);
+    ticker.attach(update,1);//1s更新
+
+    while (1) {
+        
+
+        led3=!led3;
+        if(min >=30) { //30分経過時、タイマーリセット
+            t.reset();
+        }
+        if(Log_flag == OFF) { //log取るごとにリセット
+            t.stop();
+            t.reset();
+        } else {
+            t.start();
+        }
+        time_s = t.read();//時間取得
+        min = (int)(time_s) / 60;
+        sec = (int)time_s % 60;
+        wait(0.2);
+    }
+}
+
+
+void xbee(){
+    //================================//
+    struct{
+    char highbyte;
+    char lowbyte;
+    short intdat;
+    }datax;
+struct{
+    char highbyte;
+    char lowbyte;
+    short intdat;
+    }datax2;
+ struct{
+    char highbyte;
+    char lowbyte;
+    short intdat;
+    }datax3;       
+
+//===========================//
+    
+    
+    datax.intdat = rpm;
+    datax2.intdat = height*10.0;
+    datax3.intdat = speed*10.0;
+    
+    datax.highbyte=datax.intdat/256;
+    datax.lowbyte=datax.intdat%256;
+    
+    datax2.highbyte=datax2.intdat/256;
+    datax2.lowbyte=datax2.intdat%256;
+    
+    datax3.highbyte=datax3.intdat/256;
+    datax3.lowbyte=datax3.intdat%256;
+    
+    control_com.putc('H');//ヘッダーを送信
+    control_com.putc(datax.highbyte);
+    control_com.putc(datax.lowbyte);
+    
+    control_com.putc(datax2.highbyte);
+    control_com.putc(datax2.lowbyte);
+     
+    
+    control_com.putc(datax3.highbyte);
+    control_com.putc(datax3.lowbyte);
+    
+    }
+    
+
+void SD_log()   //SDログ関数
+{
+    //  __disable_irq();
+    led2 = 1;
+    if (Log_flag == ON) {
+        FILE *fp;
+        fp = fopen("/sd/log_data.txt", "a");
+        if (NULL == fp) {
+            pilot_oled.locate(0, 0);
+            pilot_oled.printf("There is no SD!!");
+            pc.printf("There is no SD!!\n");
+            
+            pilot_oled.locate(0, 0);
+         pilot_oled.printf("There is no sd.");
+            
+            error("Could not open file for write \n");
+        } else {
+            
+            pc.printf("Now logging!!\r\n");
+            fprintf(fp, "NO:%d,%02d:%02d,%1.0f,%0.3f,%0.3f,%0.3f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n", SD_count, min, sec, rpm, speed, height,compass,up2,up1,E_neut,down1,down2,left2,left1,R_neut,right1,right2);
+            fclose(fp);                                                                                                              //操舵データ
+        }
+    }
+    led2 = 0;
+    //   __enable_irq();
+}
+
+void Log_Switch_f()//ログスイッチ
+{
+    log_count++;
+    if (log_count == 1) {
+        Log_flag = ON;
+        SD_count++;
+    } else if (log_count == 2) {
+        Log_flag = OFF;
+        log_count = 0;
+    }
+}
+
+void OLEDdisplay_print()  //有機EL表示用関数
+{
+    led3!=led3;
+   
+    pilot_oled.locate(0, 1);
+    pilot_oled.printf("r%3.0f s%4.1f h%4.1f", rpm,speed,height);//センサーの値
+    wait_ms(0.7);
+
+    pilot_oled.locate(4, 0);
+    pilot_oled.printf("%1d", send_compass);
+    pilot_oled.locate(11, 0);
+    if (Log_flag == ON) pilot_oled.printf("ON ");
+    else pilot_oled.printf("OFF");
+    
+//        pilot_oled.locate(0, 0);
+  //      pilot_oled.printf("count:%d",rpmcounter);//時間表示
+    wait_ms(0.7);
+// __enable_irq();
+}
+
+void compass_f()//高度の変換
+{
+    compass=atoi(compass_array);
+    
+    if(compass<22.5&&compass>=0||compass<360&&compass>=337.5)send_compass=1;//北
+    else if(compass<67.5&&compass>=22.5)send_compass=2;//
+    else if(compass<112.5&&compass>=67.5)send_compass=3;//東
+    else if(compass<157.5&&compass>=112.5)send_compass=4;//
+    else if(compass<202.5&&compass>=157.5)send_compass=5;//南
+    else if(compass<247.5&&compass>=202.5)send_compass=6;//
+    else if(compass<292.5&&compass>=247.5)send_compass=7;//西
+    else if(compass<337.5&&compass>=292.5)send_compass=8;//
+
+        
+    
+}
+
+void altitude_f()//高度の変換
+{
+    height=alt.read()*3.3*1000/1.6/100;
+}
+
+void rpm_c()  //回転数のフォトインタラプタ
+{
+    rpmcounter++;
+}
+
+void rpm_f()  //回転数計測
+{
+    rpm = (double)(rpmcounter * 60000/time_ms/48);
+    rpmcounter = 0;
+}
+
+void spd_c()  //機速のフォトインタラプタ
+{
+    speedcounter++;
+}
+
+void spd_f()
+{
+    int x = 0;
+    x = (double)(speedcounter * 60000/time_ms/8);
+    speed = (double)(0.0014*x + 0.9815);
+    //最初の機速校正時の式は、0.0015*x + 0.6063       
+    if(speed<=0.9815) {
+        speed = 0;
+    }
+    speedcounter = 0;
+}
+
+
+void control_communication()  //操舵基板との通信用
+{
+//    myled(9,9,1,9);
+
+    // __disable_irq();
+    // t1.stop();
+    for (int i = 0; i <3; i++) {
+        compass_array[i] = control_com.getc();//高度の受信
+    }
+    ele = control_com.getc();//舵角の受信
+    rud = control_com.getc();//舵角の受信
+    e_trim = control_com.getc();//trimの受信
+    r_trim = control_com.getc();//trimの受信
+   
+    pilot_oled.locate(0, 0);
+    pilot_oled.printf("%1c%1c", e_trim,r_trim);
+    pilot_oled.locate(14, 0);
+    pilot_oled.printf("%2d", SD_count);
+    wait_ms(0.7);
+    ///////////エレベータログデータ条件分岐////////////////////////////
+    switch(ele) {
+        case 'U':
+            pilot_oled.locate(6, 0);
+//            pilot_oled.putc(0x02);//
+            pilot_oled.printf("U");//
+            up2 = 5 ;
+            break;
+        case 'u':
+            pilot_oled.locate(6, 0);
+//            pilot_oled.putc(0x5E);//^
+            pilot_oled.printf("u");//
+            up1 = 4 ;
+            break;
+        case 'n':
+            pilot_oled.locate(6, 0);
+            pilot_oled.putc(0x2D);//-
+            E_neut = 3 ;
+            break;
+        case 'd':
+            pilot_oled.locate(6, 0);
+//            pilot_oled.putc(0x00);//vみたいな文字
+            pilot_oled.printf("d");//
+            down1 = 2 ;
+            break;
+        case 'D':
+            pilot_oled.locate(6, 0);
+//            pilot_oled.putc(0x01);
+            pilot_oled.printf("D");//
+            down2 = 1;
+            break;
+        default:
+            break;
+    }
+    /////////ラダーログデータ条件分岐/////////////////////////////////////
+    switch(rud) {
+        case 'L':
+            pilot_oled.locate(8, 0);
+//            pilot_oled.putc(0x03);
+            pilot_oled.printf("L");//
+            left2 =1;
+            break;
+        case 'l':
+            pilot_oled.locate(8, 0);
+            pilot_oled.putc(0x3C);//<
+            left1 =2;
+            break;
+        case 'N':
+            pilot_oled.locate(8, 0);
+            pilot_oled.putc(0x7C);//|
+            R_neut=3;
+            break;
+        case 'r':
+            pilot_oled.locate(8, 0);
+            pilot_oled.putc(0x3E);//>
+            right1=4;
+            break;
+        case 'R':
+            pilot_oled.locate(8, 0);
+ //           pilot_oled.putc(0x04);
+             pilot_oled.printf("R");//
+           right2=5;
+            break;
+        default:
+            break;
+    }
+    //  t1.start();
+    //__enable_irq();
+}
+
+void android_communication()
+{
+//    myled(9,9,9,1);
+
+    int srpm,sspeed,sheight;
+    srpm=(int)rpm;
+    sspeed=(int)speed*10;
+    sheight=(int)height*10;    
+    if(srpm<100)srpm+=900;
+    if(sspeed<100)sspeed+=900;
+    if(sheight<100)sheight+=900;
+    
+    snprintf(send_buff1,12,"s%3d%3d%3d%d",srpm,sheight,sspeed,send_compass);    
+    for(i=0;i<12;i++){
+//        pc.putc(send_buff1[i]); 
+        android_com.putc(send_buff1[i]);         
+    }
+}
+
+void update()   //データ更新。最優先関数、割り込み禁止絶対入れろ。
+{
+//    myled(1,0,0,0);
+    __disable_irq();
+    //time2 = t1.read_ms();
+    time_ms = t1.read_ms();//周期時間読み取り
+    t1.stop();
+    t1.reset();
+    led4 =! led4;
+    //time_ms =time2-time1;
+    rpm_f();
+    spd_f();
+    altitude_f();
+    compass_f();
+     SD_log();
+    OLEDdisplay_print();
+    android_communication();
+    //=============================//
+    xbee();
+    //==============================//
+    pc.printf("NO:%d,%02d:%02d,R:%1.0f,S:%0.3f,H:%0.3f,compass:%3.0f,%c%c,e:%c,r:%c,et:%c,rt:%c,%.3f\r\n", SD_count, min, sec, rpm, speed, height,compass,compass_array[0],compass_array[1], ele, rud,e_trim,r_trim,time_ms);
+//    pc.printf("TBT\n");
+    up2 = 0;
+    up1 = 0;
+    E_neut = 0;
+    down1=0;
+    down2=0;
+    left1= 0;
+    left2 =0;
+    R_neut = 0;
+    right1=0;
+    right2=0;
+    t1.start();
+    // time1 = t1.read_ms();
+    __enable_irq();
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Dec 08 10:27:22 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90
\ No newline at end of file