yasuo katano
arranged by katano
Dependencies: MPU9150_DMP Neon_F303K8 QuaternionMath iSDIO mbed-rtos mbed
Fork of
Neon_F303K8
by 
Yasuhiro ISHII
Revision 4:636bb3f66dcd, committed 2016-08-05
- Comitter:
- yakatano
- Date:
- Fri Aug 05 15:05:20 2016 +0000
- Parent:
- 3:5f0d6133d34c
- Commit message:
- ??????
Changed in this revision
diff -r 5f0d6133d34c -r 636bb3f66dcd Neon_F303K8_03.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Neon_F303K8_03.lib Fri Aug 05 15:05:20 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/yishii/code/Neon_F303K8/#5f0d6133d34c
diff -r 5f0d6133d34c -r 636bb3f66dcd main.cpp
--- a/main.cpp Mon May 16 15:27:29 2016 +0000
+++ b/main.cpp Fri Aug 05 15:05:20 2016 +0000
@@ -10,29 +10,60 @@
extern void TaskSensor(void const* );
extern void TaskLed(void const* );
-extern void TaskFA(void const* );
+//extern void TaskFA(void const* );
-Thread* threadLed = NULL;
+//Thread* threadLed = NULL;
Thread* threadSensor = NULL;
-Thread* threadFA = NULL;
+//Thread* threadFA = NULL;
Serial pc(USBTX, USBRX);
+
+
int main() {
pc.baud(115200);
printf("Startup Neon main program\r\n");
Thread::wait(500); // 適当な待ち時間
- threadLed = new Thread(TaskLed, NULL, osPriorityNormal, DEFAULT_STACK_SIZE, NULL );
+ //threadLed = new Thread(TaskLed, NULL, osPriorityNormal, DEFAULT_STACK_SIZE, NULL );
threadSensor = new Thread(TaskSensor, NULL, osPriorityNormal, DEFAULT_STACK_SIZE*2, NULL ); // スタックサイズ未検証
//threadFA = new Thread(TaskFA, NULL, osPriorityNormal, DEFAULT_STACK_SIZE , NULL );
+ //pc.attach(pc_rx, Serial::RxIrq);
+ char recv[1024];
while(true){
+ if(pc.readable())
+ {
+ char ch = pc.getc();
+ //pc.putc('$');
+ //pc.printf("%s\r\n", ch);
+ switch(ch){
+ case 'z':
+
+ sprintf(recv, "");
+ break;
+ case 'a':
+ if(StatusLED == 1){StatusLED = 0;}
+ else{StatusLED = 1;}
+ break;
+ case '1':
+ if(StatusLED == 1){StatusLED = 0;}
+ else{StatusLED = 1;}
+ break;
+ default:
+ printf("%c\r\n", ch);
+ //sprintf(recv, "%s%c", recv,ch);
+ //pc.printf(recv);
+ break;
+ }
+ }
+ /*
StatusLED = 1;
Thread::wait(800);
StatusLED = 0;
Thread::wait(800);
+ */
}
}
diff -r 5f0d6133d34c -r 636bb3f66dcd taskLed.cpp
--- a/taskLed.cpp Mon May 16 15:27:29 2016 +0000
+++ b/taskLed.cpp Fri Aug 05 15:05:20 2016 +0000
@@ -125,7 +125,7 @@
int i;
int j;
int k;
- int8_t val = 255;
+ int8_t val = 128;
printf("TaskLed started\r\n");
diff -r 5f0d6133d34c -r 636bb3f66dcd taskSensor.cpp
--- a/taskSensor.cpp Mon May 16 15:27:29 2016 +0000
+++ b/taskSensor.cpp Fri Aug 05 15:05:20 2016 +0000
@@ -63,7 +63,7 @@
// 以下の#if 0～#endifを#if 1～#endifに変更すると、シリアルからセンサーの出力データが出る
// 加速度センサー生値
-#if 1
+#if 0
printf("%d, %d, %d\r\n", (int32_t)(((int32_t)buffer[34] << 24) + ((int32_t)buffer[35] << 16) + ((int32_t)buffer[36] << 8) + (int32_t)buffer[37]),
(int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]),
(int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
@@ -74,13 +74,13 @@
(int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
(int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
#endif
-#if 0
+#if 0
// 地磁気センサー生値
//pc.printf("%d, %d, %d\r\n", (int16_t)(buffer[29] << 8) + buffer[28],
(int16_t)(buffer[31] << 8) + buffer[30],
(int16_t)(buffer[33] << 8) + buffer[32]);
#endif
-#if 0
+#if 1
// センサーフュージョンによるQuartanion
printf("%f, %f, %f, %f\r\n",
(float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),