Diff: main.cpp

Revision:

3:660279be8484

Parent:

2:1dbaef45ae46

Child:

4:918ea47cc35c

--- a/main.cpp	Tue Jul 18 14:22:08 2017 +0000
+++ b/main.cpp	Tue Aug 15 11:51:32 2017 +0000
@@ -1,50 +1,66 @@
+
+/*  データ取得&送信するプログラム             *
+ *  各データの終わりの印として'$'を送信        *
+ *  なぜか割り込みタイマの周期が一定にならない   */
+
 #include "mbed.h"
-#include "string.h"
-#include "SDFileSystem.h"
+#include "MPU6050.h"
 
-#define BUFFNUM 50
-#define CHARNUM 16
+#define ACC 16384
+#define BUFFNUM 30 /*受信側のBUFFNUMと同値*/
+#define CHARANUM 30
+#define RATE 30.0   /*RATE[Hz]でデータ取得*/
 
-SDFileSystem sd(dp2, dp1, dp6, dp14, "sd");
-Serial mainCP(dp16, dp15);
+MPU6050 mpu(p9,p10);
+Serial  subCP(p28, p27);
+Ticker  log_timer;
+Ticker  send_timer;
+Timer   t;
 
-bool row = false;
-int8_t col=0, cnt=0;
-char data[2][BUFFNUM][CHARNUM] = {};
-FILE *fp;
+float Time[2][BUFFNUM] = {};
+float Data[2][BUFFNUM] = {};
+char  Moji[2][BUFFNUM][CHARANUM] = {};
+bool Row = false;
+int8_t Col = 0;
+int Send_cnt = 0;
+int Moji_cnt = 0;
 
 void _log();
+void _send();
 
-int main() {
-  printf("Hello World!\r\n");
-  mkdir("/sd/mydir", 0777);
-  fp = fopen("/sd/mydir/log.txt", "w");
-  if(fp == NULL) error("Could not open file for write\r\n");
-  fprintf(fp, "Hello fun SD Card World!\n");
-  fclose(fp);
-  mainCP.attach(&_log, Serial::RxIrq);
-  while(1);
+int main(){
+    t.start();
+    log_timer.attach(_log,1.0/RATE);
+    while(1);
 }
 
-void _log(){//受信割り込み用．\n区切りで保存する．
-  data[row][col][cnt] = mainCP.getc();
-  cnt++;
-  if(data[row][col][cnt]=='\n'){
-    col++;
-    cnt = 0;
-  }else if(cnt==CHARNUM){
-    memset(&data[row][col][0],'\0',CHARNUM);
-    cnt = 0;
-  }
+/*  データ取得   */
+void _log(){
+    //TODO: 高度データの取得
+    //TODO: 取得する加速度を合成加速度に変更
+    Data[Row][Col] = (float)mpu.getAcceleroRawZ()/ACC;
+    Time[Row][Col] = t.read();
+    Col++;
+    if(Col == BUFFNUM){
+        Col = 0;
+        Row = !Row;
+        send_timer.attach(_send,(BUFFNUM/(CHARANUM*RATE*RATE))*0.8);
+    }
+}
 
-  if(col==BUFFNUM){
-    col = 0;
-    row = !row;
-    fp = fopen("/sd/mydir/log.txt", "a");
-    for (int i = 0; i < BUFFNUM; i++){
-      fprintf(fp,&data[!row][i][0]);
+void _send(){
+    if(Moji_cnt==0){
+        sprintf(&Moji[Row][Send_cnt][0],"%f, %f",Time[!Row][Send_cnt],Data[!Row][Send_cnt]);
     }
-    fclose(fp);
-    memset(&data[row][0][0],'\0',BUFFNUM*CHARNUM);
-  }
+    subCP.putc(Moji[Row][Send_cnt][Moji_cnt]);
+    Moji_cnt++;
+    if(Moji_cnt==CHARANUM || Moji[Row][Send_cnt][Moji_cnt]=='\0'){
+        Moji_cnt = 0;
+        subCP.putc('$');
+        Send_cnt++;
+        if(Send_cnt==BUFFNUM){
+            Send_cnt = 0;
+            send_timer.detach();
+        }
+    }
 }
\ No newline at end of file