Atsumi Toda
TBT電装 メインプログラム 2017/12/8
Dependencies: HMC5883L SDFileSystem TextOLED mbed
Diff: main.cpp
- Revision:
- 0:a9bde4f79982
--- /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