Revision 0:86efb6256f31, committed 2017-01-30

Comitter:

ojityan

Date:

Mon Jan 30 01:03:32 2017 +0000

Child:

1:a20656b5bfe1

Commit message:

can't save

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345_I2C.lib	Mon Jan 30 01:03:32 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/nimbusgb/code/ADXL345_I2C/#92fa975dab32

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Mon Jan 30 01:03:32 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.lib	Mon Jan 30 01:03:32 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/neilt6/code/SDFileSystem/#e4d2567200db

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jan 30 01:03:32 2017 +0000
@@ -0,0 +1,301 @@
+#include "mbed.h"
+#include "SDFileSystem.h"
+#include "ADXL345_I2C.h"
+#include "QEI.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+
+void savedata(void);
+void flipB(void);
+
+DigitalOut dir(p25);
+PwmOut duty(p24);
+I2C i2c(p28, p27);
+
+SDFileSystem sd(p11, p12, p13, p14, "sd");
+ADXL345_I2C accelerometer(p9, p10);
+Serial debug(USBTX,USBRX);
+//QEI wheel (p21, p22, p23, 1000);
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+DigitalIn  sensorA(p17);
+DigitalIn  sensorB(p18);
+DigitalIn  sensorC(p19);
+DigitalIn  sensorD(p20);
+InterruptIn sensorB_(p18);
+
+int flag = 0;
+int flipB_ = 0;
+Ticker save;
+FILE *fp;
+Timer t;
+
+
+static char i2c_addr = 0x80;
+
+
+
+int main()
+{
+
+
+
+//    int i;
+
+    char filename[80];
+    char a[200][250];
+    char rotate[80];
+    int i,j;
+    int num;
+    double C;
+    unsigned short read_item;
+    char p_addr = 0x00;
+    char p_addr_i = 0x04;
+    char I[2];
+    float duty_output;
+    int loop_break;
+
+    double F = 0;
+    double F_1 = 0;
+    double F_2 = 0;
+    double F_3 = 0;
+
+    double a_device;
+    double a_output;
+
+
+    double ka = 100;
+    double kv = 100;
+
+    int readings[3] = {0, 0, 0};
+//    int16_t a[3] = {0,0,0};
+    double a_;
+    double v;
+    
+    myled1 = 1;
+
+//---ADXL345setting---
+//    debug.printf("Starting ADXL345 test...\n");
+//    debug.printf("Device ID is: 0x%02x\n", accelerometer.getDevId());
+
+    //Go into standby mode to configure the device.
+    accelerometer.setPowerControl(0x00);
+
+    //Full resolution, +/-16g, 4mg/LSB.
+    accelerometer.setDataFormatControl(0x0B);
+
+    //3.2kHz data rate.
+    accelerometer.setDataRate(ADXL345_3200HZ);
+
+    //Measurement mode.
+    accelerometer.setPowerControl(0x08);
+
+    accelerometer.setOffset (0, 0);
+
+    myled2 = 1;
+
+//    printf("Hello World!\n");
+
+//---SDsetting--
+    mkdir("/sd/mydir", 0777);
+    for(num=1; num<=256; num=num+1) {
+        sprintf(filename,"/sd/mydir/data%d.csv",num);
+        fp = fopen(filename, "r");
+        if(fp == NULL) {
+            fp = fopen(filename,"w");
+            break;
+        }
+        fclose(fp);
+    }
+//    fprintf(fp, "Hello fun SD Card World!\n");
+    myled3 = 1;
+//---ammeter setting---
+    i2c.start();
+    if(i2c.write(i2c_addr | 0,&p_addr,sizeof(p_addr)) == 0) {
+        debug.printf("DA-ME-DA-YO!\n");
+    }
+    debug.printf("OK!\n");
+
+    //rawWrite(0x05,0x0A00);
+
+
+    char write_item[3];
+    short Config_set = 0x444F;//0x4A4F;//0x4E97;//0x4C97;
+    write_item[0] = 0x00;
+    write_item[1] = static_cast<char>((Config_set >> 8) & 0x00ff);
+    write_item[2] = static_cast<char>(Config_set & 0x00ff);
+    if(i2c.write(i2c_addr | 0,write_item,3) == 0) {
+        debug.printf("OK!!\n");
+    } else {
+        debug.printf("OH!!\n");
+    }
+
+    
+    short Calibration_set = 0x0A00;
+    write_item[0] = 0x05;
+    write_item[1] = static_cast<char>((Calibration_set >> 8) & 0x00ff);
+    write_item[2] = static_cast<char>(Calibration_set & 0x00ff);
+    if(i2c.write(i2c_addr | 0,write_item,3) == 0) {
+        debug.printf("OK!!\n");
+    } else {
+        debug.printf("OH!!\n");
+    }
+
+    myled4 = 1;
+    wait(3.0);
+    myled1 = 0;
+    myled2 = 0;
+    myled3 = 0;
+    myled4 = 0;
+    
+    
+//---ammeter setting end---
+    duty_output = 0.0;
+    duty.period(0.00005);
+//    NVIC_SetPriority(0, 1);
+
+
+/////////////////////
+//---main routen---
+/////////////////////
+    while(1) {
+        //debug.printf("enter the loop\n");
+        t.reset();
+        i = 0;
+        loop_break = 0;
+        debug.printf("writing OK!\n");
+//---position reset---
+        dir = 0;
+        duty = 0.50f;
+        while(!sensorD) {
+//            debug.printf("loop sensorD\n");
+        }
+//        debug.printf("loop end\n");
+        duty = 0.0f;
+        wait(2.0);
+
+//---sensing start---
+
+//        wheel.reset();
+        flipB_ = 0;
+//        __enable_irq();
+        dir = 1;
+//        duty.write(duty_);
+//        debug.printf("motor start\n");
+        
+//        debug.printf("interrupt start!\n");
+//        sensorB_.rise(&flipB);
+        while (1) {
+            accelerometer.getOutput(readings);
+//            debug.printf("%i\n", abs((int16_t)readings[0]));
+
+            if( abs((int16_t)readings[0]) > 30) {
+                myled3 = 1;
+                break;
+            }
+        }
+        save.attach(&savedata, 0.01 );
+        t.start();
+        
+        
+        while(t.read() <= 0.50) {
+//            debug.printf("loop sensorB\n");
+            if(flag) {
+                flag = 0;
+
+//---reading acceleration and control---
+                accelerometer.getOutput(readings);
+                //a[0] = (int16_t)readings[0];
+                a_device = (int16_t)readings[0] * 0.0383;
+                v = v + a_device * 0.01;
+                if( a_device < 0) {
+                    if(abs(v) > 0) {
+                        F_1 = -1 * ( ka * a_device) + (kv * v);
+                        F = 0.35 * F_1 + 0.4 * F_2 + 0.25 * F_3;
+                        a_output = F / 5.0;
+                        duty_output = a_output / 118 + duty_output;
+                        if(duty_output > 0.65) {
+                            duty_output = 0.65;
+                            myled4 = 1;
+                        }
+                        duty.write(duty_output);
+                        F_3 = F_2;
+                        F_2 = F;
+                        debug.printf("%i,%f,%f\n",  (int16_t)readings[0],v,duty_output);
+                    }
+                }
+
+//---reading current---
+                while(i2c.write(i2c_addr | 0,&p_addr_i,sizeof(p_addr_i)) != 0);
+                while(i2c.read(i2c_addr | 0x01,I,sizeof(I)) != 0);
+                read_item = static_cast<unsigned short>(I[0]);
+                read_item = (read_item << 8) | static_cast<unsigned short>(I[1]);
+
+                char *s_p = reinterpret_cast<char *>(&read_item);
+                short d_s;
+                char *d_p = reinterpret_cast<char *>(&d_s);
+                *(d_p + 0) = *(s_p + 0);
+                *(d_p + 1) = *(s_p + 1);
+                C = static_cast<double>(d_s) /* * 1.25 */;
+/*                if(1) {
+                    sprintf(a[i],"%f10.3,%f10.2,%d,%f10.3,%f10.3,%f10.3,%f10.3\n",t.read(),C,wheel.getPulses(),a_device,v,F,duty_output);
+                    if( i > 299) {
+                        loop_break = 1;
+                        break;
+                    }
+                    i = i + 1;
+                }*/
+
+            }
+            if(loop_break) {
+                break;
+            }
+
+        }
+        myled2 = 1;
+        t.stop();
+
+
+        duty = 0.0f;
+
+        for( j = 0; j < i; j++) {
+            fprintf(fp,a[j]);
+        }
+
+//        sprintf(rotate,"%f,%d\n",t.read(),wheel.getPulses());
+        fprintf(fp,rotate);
+
+
+        wait(3.0);
+
+        save.detach();
+        while(1) {
+            myled2 = 1;
+            wait(0.2);
+            myled2 = 0;
+            wait(0.2);
+        }
+    }
+
+}
+
+
+
+
+void savedata(void)
+{
+    flag = 1;
+//    debug.printf("interrupt!\n");
+}
+
+void flipB(void)
+{
+    flipB_ = 1;
+    duty = 0.0f;
+    debug.printf("flip sensorB!");
+    __disable_irq();
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jan 30 01:03:32 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/99b5ccf27215
\ No newline at end of file