Dependencies: HMC5883L_2 SDFileSystem2 TextOLED2 mbed
Revision 0:0af1e0fc84b2, committed 2018-03-09
- Comitter:
- basyo38
- Date:
- Fri Mar 09 11:15:14 2018 +0000
- Commit message:
- 2018/3/9 s240?????????
Changed in this revision
diff -r 000000000000 -r 0af1e0fc84b2 HMC5883L.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.lib Fri Mar 09 11:15:14 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/basyo38/code/HMC5883L_2/#17a459680d5f
diff -r 000000000000 -r 0af1e0fc84b2 SDFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Fri Mar 09 11:15:14 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/basyo38/code/SDFileSystem2/#bae9823ce641
diff -r 000000000000 -r 0af1e0fc84b2 TextOLED.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextOLED.lib Fri Mar 09 11:15:14 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/basyo38/code/TextOLED2/#d0439f62096f
diff -r 000000000000 -r 0af1e0fc84b2 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 09 11:15:14 2018 +0000
@@ -0,0 +1,556 @@
+//更新日H30/0213 作成日H30/0213
+//
+
+#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(p21); //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(p9, p10); //Androidとの通信用txrx!!
+
+Serial gps(p13,p14);// tx, rx
+
+TextOLED pilot_oled(p11, p12 ,p30 ,p29 ,p15, p16); // 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);
+
+
+//音システム用
+DigitalOut soundsystem1(p19);
+DigitalOut soundsystem2(p24);
+DigitalOut soundsystem3(p25);
+
+DigitalOut option(p22);//toGPS and jailo
+
+
+//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,com_android;
+
+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;
+
+int ETS=0,RTS=0;
+
+double time_s = 0,time_ms=0,time1=0,time2=0, speed = 0, rpm = 0, height = 0,compass = 0,time_com = 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 init();
+//void myled(int a,int b,int c,int d);
+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 altitude_f();
+void compass_f();
+void Log_Switch_f();
+void CGRAM_1();
+void CGRAM_2();
+void CGRAM_3();
+void CGRAM_4();
+void CGRAM_5();
+
+
+int main() {
+// init();
+
+ pc.printf("Start TBT!!\n");
+
+ led1=1;
+ led2=1;
+ led3=1;
+ led4=1;
+ wait(0.01);
+ pilot_oled.cls();
+ wait(0.001);
+ CGRAM_1();
+ CGRAM_2();
+ CGRAM_3();
+ CGRAM_4();
+ CGRAM_5();
+// myled(1,1,0,0);
+ wait(2);
+ mkdir("/sd/mydir", 0777);
+ 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
+ //time1 = t1.read_ms();
+ while (1) {
+// pc.printf("There is TBT!!\n");
+ 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(0.002);
+ }
+
+ }
+
+/*
+void init()
+{
+ led1=1;
+ led2=1;
+ led3=1;
+ led4=1;
+
+// myled(1,1,0,0);
+ wait_ms(2);
+// mkdir("/sd/mydir", 0777);
+ android_com.baud(115200);
+ android_com.format(8,Serial::None,1);
+
+// control_com.attach(&control_communication, Serial::RxIrq);
+// control_com.baud(9600);
+}*/
+
+void SD_log() //SDログ関数
+{
+ // __disable_irq();
+ led2 = 1;
+ if (Log_flag == ON) {
+ FILE *fp;
+ /*
+ fp = fopen("/sd/log.txt", "a");
+
+ fprintf(fp,"%2d,%2d,%2d,%4.6f,,%3.6f,\r\n",h_time,m_time,s_time,g_tokei,g_hokui);
+ fprintf(fp,"%4.6f,%3.6f,\r\n",g_tokei,g_hokui);
+ fclose(fp);
+ */
+
+ fp = fopen("/sd/mydir/TP.txt", "a");
+
+ if (NULL == fp) {
+ pilot_oled.locate(0, 0);
+ pilot_oled.printf("There is no SD!!");
+ pc.printf("There is no SD!!\n");
+ error("Could not open file for write \n");
+ } else {
+ 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;
+ //__disable_irq();
+/* if(Log_flag == OFF) {
+ wait_ms(0.7);
+ pilot_oled.locate(0, 0);
+ pilot_oled.printf("log");//時間表示
+ pilot_oled.locate(3, 0);
+ pilot_oled.putc(0xB5);//オ
+ pilot_oled.locate(4, 0);
+ pilot_oled.putc(0xBE);//セ
+ pilot_oled.locate(5, 0);
+ pilot_oled.putc(0x21);//！
+ } else {
+ pilot_oled.locate(0, 0);
+ pilot_oled.printf("%02d:%02d ", min, sec);//時間表示
+ }
+ wait_ms(0.7);*/
+ 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);
+ rpm=(double)(rpmcounter);
+ 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
+ //////////////ER操舵データ表示////////////////////
+ /* pilot_oled.locate(6, 0);
+ pilot_oled.printf("%c", ele);
+ wait_ms(0.7);
+ pilot_oled.locate(8, 0);
+ pilot_oled.printf("%c", rud);
+ wait_ms(0.7);*/
+ pilot_oled.locate(0, 0);
+ pilot_oled.printf("%02d%02d", int(e_trim-78),int(r_trim-78));
+ 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);
+ time_com=com_android.read_ms();
+ com_android.stop();
+
+// int srpm,sspeed,sheight;
+ int srpm=(int)rpm;
+ int sspeed=(int)(speed*10);
+ int sheight=(int)(height*10);
+ // if(srpm<100)srpm+=900;
+ // if(sspeed<100)sspeed+=900;
+// if(sheight<100)sheight+=900;
+
+ snprintf(send_buff1,20,"r%02Xh%02Xv%02X",srpm,sheight,sspeed);
+ for(i=0;i<10;i++){
+// pc.putc(send_buff1[i]);
+ android_com.putc(send_buff1[i]);
+ }
+ pc.putc('\n');
+ com_android.reset();
+}
+
+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();
+ pc.printf("NO:%d,%02d:%02d,R:%1.0f,S:%0.3f,H:%0.3f,E:%c,R:%c,\n\tEtrim:%c,Rtrim:%c,%.3f,timeCom%.3f\r\n",
+ SD_count, min, sec, rpm, speed, height, ele, rud,e_trim,r_trim,time_ms,time_com);
+// 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();
+}
+
+
+void CGRAM_1()
+{
+ // CGRAMアドレスの指定
+ // CGRAM(1)にビット・パターンを登録します。
+ pilot_oled.writeCommand(0x40) ;
+ // 40μ秒待ちます。
+ wait_us(40);
+
+ // ここから文字のビット・パターンを1行ずつ設定していきます。
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x11) ;//10001
+ pilot_oled.writeData((int)0x0A) ;//01010
+ pilot_oled.writeData((int)0x04) ;//00100
+ wait_us(40);
+ pilot_oled.cls();
+}
+
+void CGRAM_2()
+{
+ // CGRAMアドレスの指定
+ // CGRAM(2)にビット・パターンを登録します。
+ pilot_oled.writeCommand(0x48) ;
+ // 40μ秒待ちます。
+ wait_us(40);
+
+ // ここから文字のビット・パターンを1行ずつ設定していきます。
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x1F) ;//11111
+ pilot_oled.writeData((int)0x0E) ;//01110
+ pilot_oled.writeData((int)0x04) ;//00100
+ wait_us(40);
+ pilot_oled.cls();
+}
+
+void CGRAM_3()
+{
+ // CGRAMアドレスの指定
+ // CGRAM(3)にビット・パターンを登録します。
+ pilot_oled.writeCommand(0x50) ;
+ // 40μ秒待ちます。
+ wait_us(40);
+
+ // ここから文字のビット・パターンを1行ずつ設定していきます。
+ pilot_oled.writeData((int)0x04) ;//00100
+ pilot_oled.writeData((int)0x0E) ;//01110
+ pilot_oled.writeData((int)0x1F) ;//11111
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ pilot_oled.writeData((int)0x00) ;
+ wait_us(40);
+ pilot_oled.cls();
+}
+
+void CGRAM_4()
+{
+ // CGRAMアドレスの指定
+ // CGRAM(4)にビット・パターンを登録します。
+ pilot_oled.writeCommand(0x58) ;
+ // 40μ秒待ちます。
+ wait_us(40);
+
+ // ここから文字のビット・パターンを1行ずつ設定していきます。
+ pilot_oled.writeData((int)0x02) ;//00010
+ pilot_oled.writeData((int)0x06) ;//00110
+ pilot_oled.writeData((int)0x0E) ;//01110
+ pilot_oled.writeData((int)0x1E) ;//11110
+ pilot_oled.writeData((int)0x0E) ;//01110
+ pilot_oled.writeData((int)0x06) ;//00110
+ pilot_oled.writeData((int)0x02) ;//00010
+ pilot_oled.writeData((int)0x00) ;//00000
+ wait_us(40);
+ pilot_oled.cls();
+}
+
+void CGRAM_5()
+{
+ // CGRAMアドレスの指定
+ // CGRAM(5)にビット・パターンを登録します。
+ pilot_oled.writeCommand(0x60) ;
+ // 40μ秒待ちます。
+ wait_us(40);
+
+ // ここから文字のビット・パターンを1行ずつ設定していきます。
+ pilot_oled.writeData((int)0x08) ;//01000
+ pilot_oled.writeData((int)0x0C) ;//01100
+ pilot_oled.writeData((int)0x0E) ;//01110
+ pilot_oled.writeData((int)0x0F) ;//01111
+ pilot_oled.writeData((int)0x0E) ;//01110
+ pilot_oled.writeData((int)0x0C) ;//01100
+ pilot_oled.writeData((int)0x08) ;//01000
+ pilot_oled.writeData((int)0x00) ;//00000
+ wait_us(40);
+ pilot_oled.cls();
+}
diff -r 000000000000 -r 0af1e0fc84b2 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 09 11:15:14 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file