albatross / Mbed 2 deprecated keiki2018

2018年度計器mbed用プログラム

Dependencies:   BufferedSoftSerial2 INA226_ver1 mbed-rtos mbed SDFileSystem-RTOS

Fork of keiki2017 by albatross

main.cpp@43:0d7d2e703523, 2017-02-19 (annotated)

Committer:
YusukeWakuta
Date:
Sun Feb 19 10:39:54 2017 +0000
Branch:
android?????
Revision:
43:0d7d2e703523
Parent:
26:50272431cd1e 
??????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 1:5ec2409854da 1 //計器プログラム
YusukeWakuta 18:0a0c4277d960 2
taurin 0:085b2c5e3254 3 #include "mbed.h"
tsumagari 22:5cbebf097600 4 #include "rtos.h"
taurin 0:085b2c5e3254 5 #include "Fusokukei.h"
taurin 0:085b2c5e3254 6 #include "MPU6050.h"
taurin 0:085b2c5e3254 7 #include "SDFileSystem.h"
tsumagari 15:6966299bea4c 8 #include "BufferedSoftSerial.h"
tsumagari 15:6966299bea4c 9 #include "Cadence.h"
taurin 0:085b2c5e3254 10
taurin 0:085b2c5e3254 11 #define KX_VALUE_MIN 0.4
taurin 0:085b2c5e3254 12 #define KX_VALUE_MAX 0.8
tsumagari 26:50272431cd1e 13 #define SOUDA_DATAS_NUM 18
tsumagari 26:50272431cd1e 14 #define YOKUTAN_DATAS_NUM 14
tsumagari 26:50272431cd1e 15 #define WRITE_DATAS_NUM 18
taurin 0:085b2c5e3254 16 #define AIR_LOOP_TIME 0.01
taurin 3:8dc516be2e7e 17 #define WRITE_DATAS_LOOP_TIME 1
taurin 3:8dc516be2e7e 18 #define ROLL_R_MAX_DEG 2
taurin 3:8dc516be2e7e 19 #define ROLL_L_MAX_DEG 2
tsumagari 26:50272431cd1e 20 #define SD_WRITE_NUM 20
taurin 4:a863a092141c 21 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 22
tsumagari 26:50272431cd1e 23 #define MPU_LOOP_TIME 0.01
tsumagari 26:50272431cd1e 24 #define MPU_DELT_MIN 250
tsumagari 26:50272431cd1e 25
tsumagari 26:50272431cd1e 26 Mutex ssMutex;
tsumagari 26:50272431cd1e 27
tsumagari 26:50272431cd1e 28 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 29 extern "C" void mbed_reset();
tsumagari 26:50272431cd1e 30 InterruptIn resetPin(p26);
tsumagari 26:50272431cd1e 31 Timer resetTimeCount;
tsumagari 26:50272431cd1e 32 void resetInterrupt(){
tsumagari 26:50272431cd1e 33 while(resetPin){
tsumagari 26:50272431cd1e 34 resetTimeCount.start();
tsumagari 26:50272431cd1e 35 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 36 }
tsumagari 26:50272431cd1e 37 resetTimeCount.reset();
tsumagari 26:50272431cd1e 38 }
tsumagari 26:50272431cd1e 39 //-------------------------------------------------------
tsumagari 26:50272431cd1e 40
tsumagari 26:50272431cd1e 41
tsumagari 21:8802034b7810 42 Cadence cadence(p13,p14);
tsumagari 15:6966299bea4c 43
tsumagari 21:8802034b7810 44 RawSerial pc(USBTX,USBRX);
tsumagari 26:50272431cd1e 45 //RawSerial Android(p13,p14);
tsumagari 26:50272431cd1e 46 BufferedSoftSerial twe(p11,p12);
tsumagari 26:50272431cd1e 47 RawSerial Android(p9,p10);
tsumagari 15:6966299bea4c 48 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 15:6966299bea4c 49 //Ticker writeDatasTicker;
taurin 3:8dc516be2e7e 50 Timer writeTimer;
taurin 0:085b2c5e3254 51
tsumagari 26:50272431cd1e 52 InterruptIn FusokukeiPin(p22);
taurin 0:085b2c5e3254 53 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 54 Fusokukei air;
taurin 0:085b2c5e3254 55 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 56
tsumagari 26:50272431cd1e 57 float sum = 0;
tsumagari 26:50272431cd1e 58 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 59 MPU6050 mpu6050;
taurin 0:085b2c5e3254 60 Timer t;
YusukeWakuta 43:0d7d2e703523 61 string Command;
tsumagari 26:50272431cd1e 62 //
tsumagari 26:50272431cd1e 63 //AnalogIn kx_X(p17);
tsumagari 26:50272431cd1e 64 //AnalogIn kx_Y(p16);
tsumagari 26:50272431cd1e 65 //AnalogIn kx_Z(p15);
tsumagari 26:50272431cd1e 66 //float KX_X,KX_Y,KX_Z;
taurin 0:085b2c5e3254 67
tsumagari 26:50272431cd1e 68
tsumagari 26:50272431cd1e 69 //Timer sonarTimer;
tsumagari 26:50272431cd1e 70 //InterruptIn sonarPin(p22);
tsumagari 26:50272431cd1e 71 AnalogIn sonarPin(p15);
tsumagari 26:50272431cd1e 72 //double sonarDistTime=0;
tsumagari 26:50272431cd1e 73 double sonarV = 0.0, sonarDist = 0.0;
taurin 0:085b2c5e3254 74
taurin 0:085b2c5e3254 75 DigitalOut RollAlarmR(p20);
taurin 0:085b2c5e3254 76 DigitalOut RollAlarmL(p19);
tsumagari 26:50272431cd1e 77 //DigitalOut led(LED1);
taurin 1:5ec2409854da 78 DigitalOut led2(LED2);
tsumagari 26:50272431cd1e 79 DigitalOut led3(LED3);
tsumagari 23:e59afb2044df 80 DigitalOut led4(LED4);
taurin 0:085b2c5e3254 81
taurin 0:085b2c5e3254 82 SDFileSystem sd(p5, p6, p7, p8, "sd");
taurin 0:085b2c5e3254 83 FILE* fp;
taurin 0:085b2c5e3254 84
YusukeWakuta 11:90e2b070f337 85 PwmOut kisokuServo(p26);
YusukeWakuta 11:90e2b070f337 86 PwmOut geikakuServo(p22);
taurin 4:a863a092141c 87
taurin 0:085b2c5e3254 88 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 89 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 90 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 91
tsumagari 15:6966299bea4c 92 void cadenceDataReceive();
taurin 0:085b2c5e3254 93 void air_countUp();
taurin 0:085b2c5e3254 94 void call_calcAirSpeed();
taurin 0:085b2c5e3254 95 void init();
taurin 0:085b2c5e3254 96 void FusokukeiInit();
taurin 0:085b2c5e3254 97 void SdInit();
tsumagari 26:50272431cd1e 98 void MpuInit();
tsumagari 26:50272431cd1e 99 //void SonarInit();
tsumagari 26:50272431cd1e 100 void mpuProcessing();
tsumagari 26:50272431cd1e 101 void DataReceiveFromSouda();
tsumagari 21:8802034b7810 102 void SDprintf(void const *argument);
taurin 0:085b2c5e3254 103 void WriteDatas();
tsumagari 26:50272431cd1e 104 //float calcAttackAngle();
tsumagari 26:50272431cd1e 105 //float calcKXdeg(float x);
taurin 0:085b2c5e3254 106
tsumagari 15:6966299bea4c 107 void cadenceDataReceive(){
tsumagari 26:50272431cd1e 108 while(1){
tsumagari 26:50272431cd1e 109 cadence.readData();
tsumagari 26:50272431cd1e 110 Thread::wait(0.01);
tsumagari 26:50272431cd1e 111 }
tsumagari 15:6966299bea4c 112 }
tsumagari 15:6966299bea4c 113
taurin 0:085b2c5e3254 114 void air_countUp(){
taurin 0:085b2c5e3254 115 air_kaitensu++;
taurin 0:085b2c5e3254 116 }
taurin 0:085b2c5e3254 117
taurin 0:085b2c5e3254 118 void call_calcAirSpeed(){
taurin 0:085b2c5e3254 119 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 120 air_kaitensu = 0;
taurin 0:085b2c5e3254 121 }
taurin 0:085b2c5e3254 122
tsumagari 26:50272431cd1e 123 //void sonarInterruptStart(){
tsumagari 26:50272431cd1e 124 // sonarTimer.start();
tsumagari 26:50272431cd1e 125 // led3 = 1;
tsumagari 26:50272431cd1e 126 //}
tsumagari 26:50272431cd1e 127 //void sonarInterruptStop(){
tsumagari 26:50272431cd1e 128 // sonarTimer.stop();
tsumagari 26:50272431cd1e 129 // led3 = 0;
tsumagari 26:50272431cd1e 130 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 131 // sonarTimer.reset();
tsumagari 26:50272431cd1e 132 //}
tsumagari 26:50272431cd1e 133
taurin 0:085b2c5e3254 134 void init(){
tsumagari 26:50272431cd1e 135 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 136 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 137 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 138 //-----------------------------------------------------------
tsumagari 26:50272431cd1e 139 twe.baud(115200);
YusukeWakuta 19:fa3f9ba17af8 140 Android.baud(9600);
tsumagari 15:6966299bea4c 141 soudaSerial.baud(9600);
taurin 5:1b3c8e5ee99e 142 kisokuServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 5:1b3c8e5ee99e 143 geikakuServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:085b2c5e3254 144 FusokukeiInit();
tsumagari 26:50272431cd1e 145 // MpuInit(); //mpuProcessing内で
tsumagari 26:50272431cd1e 146 // SonarInit();
tsumagari 26:50272431cd1e 147 // SdInit();//SDprintf 内で
taurin 0:085b2c5e3254 148 }
taurin 0:085b2c5e3254 149
taurin 0:085b2c5e3254 150 void FusokukeiInit(){
taurin 0:085b2c5e3254 151 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 152 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 153 }
taurin 0:085b2c5e3254 154
taurin 4:a863a092141c 155 double calcPulse(int deg){
taurin 4:a863a092141c 156 return (0.0006+(deg/180.0)*(0.00235-0.00045));
taurin 4:a863a092141c 157 }
taurin 4:a863a092141c 158
taurin 0:085b2c5e3254 159 void SdInit(){
taurin 0:085b2c5e3254 160 mkdir("/sd/mydir", 0777);
taurin 0:085b2c5e3254 161 fp = fopen("/sd/mydir/sdtest2.csv", "w");
taurin 0:085b2c5e3254 162 if(fp == NULL) {
taurin 0:085b2c5e3254 163 error("Could not open file for write\n");
taurin 0:085b2c5e3254 164 }
taurin 0:085b2c5e3254 165 fprintf(fp, "Hello fun SD Card World!\n\r");
taurin 0:085b2c5e3254 166 fclose(fp);
tsumagari 23:e59afb2044df 167 // Thread sd_thread(&SDprintf);
taurin 0:085b2c5e3254 168 }
tsumagari 26:50272431cd1e 169 void MpuInit(){
tsumagari 26:50272431cd1e 170 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 171 t.start();
tsumagari 26:50272431cd1e 172 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 173 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 26:50272431cd1e 174 Thread::wait(1);
tsumagari 26:50272431cd1e 175 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 26:50272431cd1e 176 Thread::wait(1);
tsumagari 26:50272431cd1e 177 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
tsumagari 26:50272431cd1e 178 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 179 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 26:50272431cd1e 180 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
tsumagari 26:50272431cd1e 181 Thread::wait(2);
tsumagari 26:50272431cd1e 182 } else {
tsumagari 26:50272431cd1e 183 }
tsumagari 26:50272431cd1e 184 } else {
tsumagari 26:50272431cd1e 185 pc.printf("MPU6050 not ready...\n\r");
tsumagari 26:50272431cd1e 186 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
tsumagari 26:50272431cd1e 187 }
tsumagari 26:50272431cd1e 188 }
taurin 0:085b2c5e3254 189
tsumagari 26:50272431cd1e 190 //void SonarInit(){
tsumagari 26:50272431cd1e 191 // sonarPin.rise(&sonarInterruptStart);
tsumagari 26:50272431cd1e 192 // sonarPin.fall(&sonarInterruptStop);
tsumagari 26:50272431cd1e 193 //}
tsumagari 26:50272431cd1e 194 void sonarCalc(void const *argument){
tsumagari 26:50272431cd1e 195 // return sonarDistTime*0.018624 - 13.511;
tsumagari 26:50272431cd1e 196 while(1){
tsumagari 26:50272431cd1e 197 sonarV = 0;
tsumagari 26:50272431cd1e 198 for(int i =0; i<20; i++){
tsumagari 26:50272431cd1e 199 sonarV += sonarPin.read();
tsumagari 26:50272431cd1e 200 Thread::wait(0.01);
tsumagari 26:50272431cd1e 201 }
tsumagari 26:50272431cd1e 202 sonarDist = (sonarV/20)*2062.5;
tsumagari 26:50272431cd1e 203 Thread::wait(0.01);
tsumagari 26:50272431cd1e 204 }
tsumagari 26:50272431cd1e 205 }
tsumagari 26:50272431cd1e 206
tsumagari 26:50272431cd1e 207 void mpuProcessing(void const *argument){
tsumagari 26:50272431cd1e 208 MpuInit();
tsumagari 26:50272431cd1e 209 while(1){
tsumagari 26:50272431cd1e 210 Thread::wait(0.1);
tsumagari 26:50272431cd1e 211 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 26:50272431cd1e 212 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 26:50272431cd1e 213 mpu6050.getAres();
tsumagari 26:50272431cd1e 214 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 26:50272431cd1e 215 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 26:50272431cd1e 216 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 26:50272431cd1e 217 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 26:50272431cd1e 218 mpu6050.getGres();
tsumagari 26:50272431cd1e 219 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 26:50272431cd1e 220 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 26:50272431cd1e 221 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 26:50272431cd1e 222 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 26:50272431cd1e 223 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 26:50272431cd1e 224 }
tsumagari 26:50272431cd1e 225 Now = t.read_us();
tsumagari 26:50272431cd1e 226 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 26:50272431cd1e 227 lastUpdate = Now;
tsumagari 26:50272431cd1e 228 sum += deltat;
tsumagari 26:50272431cd1e 229 sumCount++;
tsumagari 26:50272431cd1e 230 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 26:50272431cd1e 231 beta = 0.04; // decrease filter gain after stabilized
tsumagari 26:50272431cd1e 232 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 26:50272431cd1e 233 }
tsumagari 26:50272431cd1e 234 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 26:50272431cd1e 235 delt_t = t.read_ms() - count;
tsumagari 26:50272431cd1e 236 if (delt_t > MPU_DELT_MIN) {
tsumagari 26:50272431cd1e 237 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
tsumagari 26:50272431cd1e 238 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 26:50272431cd1e 239 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
tsumagari 26:50272431cd1e 240 pitch *= 180.0f / PI;
tsumagari 26:50272431cd1e 241 yaw *= 180.0f / PI;
tsumagari 26:50272431cd1e 242 roll *= 180.0f / PI;
tsumagari 26:50272431cd1e 243 myled= !myled;
tsumagari 26:50272431cd1e 244 count = t.read_ms();
tsumagari 26:50272431cd1e 245 sum = 0;
tsumagari 26:50272431cd1e 246 sumCount = 0;
tsumagari 26:50272431cd1e 247 }
tsumagari 26:50272431cd1e 248 }
tsumagari 26:50272431cd1e 249 }
tsumagari 26:50272431cd1e 250
tsumagari 26:50272431cd1e 251 void DataReceiveFromSouda(void const *argument){
tsumagari 26:50272431cd1e 252 while(1){
tsumagari 26:50272431cd1e 253 led2 = !led2;
tsumagari 26:50272431cd1e 254 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 255 if(soudaSerial.readable()) {
tsumagari 26:50272431cd1e 256 // ssMutex.lock();
tsumagari 26:50272431cd1e 257 soudaDatas[i] = (char)soudaSerial.getc();
tsumagari 26:50272431cd1e 258 // ssMutex.unlock();
tsumagari 26:50272431cd1e 259 if(soudaDatas[i]==';') i=-1;
tsumagari 26:50272431cd1e 260 }else i--;
tsumagari 26:50272431cd1e 261 }
taurin 0:085b2c5e3254 262 }
taurin 0:085b2c5e3254 263 }
taurin 0:085b2c5e3254 264
tsumagari 21:8802034b7810 265 void SDprintf(void const *argument){
tsumagari 23:e59afb2044df 266 SdInit();
tsumagari 22:5cbebf097600 267 while(1){
tsumagari 23:e59afb2044df 268 if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 26:50272431cd1e 269 // led4 = !led4;
tsumagari 23:e59afb2044df 270 fp = fopen("/sd/mydir/sdtest.csv", "a");
tsumagari 23:e59afb2044df 271 if(fp == NULL) {
tsumagari 23:e59afb2044df 272 error("Could not open file for write\n");
tsumagari 23:e59afb2044df 273 }
tsumagari 23:e59afb2044df 274 for(int i = 0; i < SD_WRITE_NUM; i++){
tsumagari 23:e59afb2044df 275 for(int j = 0; j < WRITE_DATAS_NUM; j++){
tsumagari 23:e59afb2044df 276 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 23:e59afb2044df 277 }
tsumagari 23:e59afb2044df 278 }
tsumagari 23:e59afb2044df 279 fprintf(fp,"\n\r");
tsumagari 23:e59afb2044df 280 fclose(fp);
tsumagari 23:e59afb2044df 281 write_datas_index=0;
tsumagari 21:8802034b7810 282 }
tsumagari 26:50272431cd1e 283 Thread::wait(0.01);
tsumagari 22:5cbebf097600 284 }
taurin 3:8dc516be2e7e 285 }
taurin 3:8dc516be2e7e 286
taurin 3:8dc516be2e7e 287 void WriteDatas(){
taurin 8:31e07f6ed0f7 288 int i;
tsumagari 26:50272431cd1e 289 for(i = 0; i < 6; i++){ //翼端のmpu
tsumagari 26:50272431cd1e 290 if(!(i%2)){
tsumagari 26:50272431cd1e 291 writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2]<<8) + soudaDatas[(i+1)*2] );
tsumagari 26:50272431cd1e 292 }else{
tsumagari 26:50272431cd1e 293 writeDatas[write_datas_index][i] = (int)( (soudaDatas[i*2-1]<<8) + soudaDatas[i*2+1] );
tsumagari 26:50272431cd1e 294 }
tsumagari 26:50272431cd1e 295 // writeDatas[write_datas_index][i] = i;
taurin 8:31e07f6ed0f7 296 }
tsumagari 26:50272431cd1e 297 for(i = 6; i < 12; i++){//翼端のV,操舵
tsumagari 26:50272431cd1e 298 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 26:50272431cd1e 299 writeDatas[write_datas_index][i] = (float)soudaDatas[i+6];
tsumagari 26:50272431cd1e 300 }
tsumagari 26:50272431cd1e 301 writeDatas[write_datas_index][i++] = cadence.cadence;
tsumagari 26:50272431cd1e 302 writeDatas[write_datas_index][i++] = sonarDist;
taurin 8:31e07f6ed0f7 303 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 304 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 305 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 306 writeDatas[write_datas_index][i++] = airSpeed;
taurin 8:31e07f6ed0f7 307 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 26:50272431cd1e 308 for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 309 pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 310 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 26:50272431cd1e 311 }
tsumagari 26:50272431cd1e 312 pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 313 // twe.printf("\n\r");
tsumagari 23:e59afb2044df 314 if(write_datas_index < SD_WRITE_NUM-1){
taurin 8:31e07f6ed0f7 315 write_datas_index++;
taurin 8:31e07f6ed0f7 316 }
taurin 9:95eb0bbdc2a9 317 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 26:50272431cd1e 318 // pc.printf("%i ",soudaDatas[i]);
tsumagari 26:50272431cd1e 319 ssMutex.lock();
YusukeWakuta 10:1389f938f5f7 320 twe.printf("%i,",soudaDatas[i]);
tsumagari 26:50272431cd1e 321 ssMutex.unlock();
taurin 9:95eb0bbdc2a9 322 }
tsumagari 15:6966299bea4c 323 // twe.printf("%f\n\r",cadence.cadence);
tsumagari 15:6966299bea4c 324 // pc.printf("%f\n\r",cadence.cadence);
taurin 9:95eb0bbdc2a9 325 //pc.printf("\n\r");
YusukeWakuta 19:fa3f9ba17af8 326
YusukeWakuta 19:fa3f9ba17af8 327 if(Android.writeable()){
YusukeWakuta 43:0d7d2e703523 328 Android.printf("%2.2f,%4.4f,%3.1f,%s,\n",airSpeed,roll,cadence.cadence,Command);
YusukeWakuta 19:fa3f9ba17af8 329 }
tsumagari 26:50272431cd1e 330 ssMutex.lock();
YusukeWakuta 10:1389f938f5f7 331 twe.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 26:50272431cd1e 332 // twe.printf("%f,%f,%f,",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
YusukeWakuta 10:1389f938f5f7 333 twe.printf("%f,\r\n",airSpeed);
tsumagari 26:50272431cd1e 334 ssMutex.unlock();
tsumagari 26:50272431cd1e 335 // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
taurin 9:95eb0bbdc2a9 336 //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 26:50272431cd1e 337 // pc.printf("%f\n\r",airSpeed);
taurin 9:95eb0bbdc2a9 338 //SDprintf();
tsumagari 23:e59afb2044df 339 pc.printf("%d\n\r",write_datas_index);
taurin 9:95eb0bbdc2a9 340 }
taurin 9:95eb0bbdc2a9 341
taurin 9:95eb0bbdc2a9 342 void WriteDatasF(){
taurin 9:95eb0bbdc2a9 343 pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 344 }
tsumagari 26:50272431cd1e 345 //
tsumagari 26:50272431cd1e 346 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 347 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 348 //}
taurin 0:085b2c5e3254 349
tsumagari 26:50272431cd1e 350 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 351 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 352 //}
taurin 0:085b2c5e3254 353
taurin 0:085b2c5e3254 354 void RollAlarm(){
taurin 0:085b2c5e3254 355 if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){
taurin 0:085b2c5e3254 356 RollAlarmL = 1;
taurin 0:085b2c5e3254 357 }
taurin 0:085b2c5e3254 358 else{
taurin 0:085b2c5e3254 359 RollAlarmL = 0;
taurin 0:085b2c5e3254 360 }
taurin 0:085b2c5e3254 361 if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){
taurin 0:085b2c5e3254 362 RollAlarmR = 1;
taurin 0:085b2c5e3254 363 }
taurin 0:085b2c5e3254 364 else{
taurin 0:085b2c5e3254 365 RollAlarmR = 0;
taurin 0:085b2c5e3254 366 }
taurin 0:085b2c5e3254 367 }
taurin 0:085b2c5e3254 368
taurin 0:085b2c5e3254 369 int main(){
tsumagari 23:e59afb2044df 370 Thread sd_thread(&SDprintf);//必ずmain内で
tsumagari 26:50272431cd1e 371 Thread sonar_thread(&sonarCalc);
tsumagari 26:50272431cd1e 372 Thread mpu_thread(&mpuProcessing);
tsumagari 26:50272431cd1e 373 Thread soudaSerial_thread(&DataReceiveFromSouda);
tsumagari 26:50272431cd1e 374 Thread cadence_thread(&cadenceDataReceive);
taurin 0:085b2c5e3254 375 init();
taurin 0:085b2c5e3254 376 while(1){
taurin 9:95eb0bbdc2a9 377 pc.printf("test\n\r");
tsumagari 26:50272431cd1e 378 // mpuProcessing();
taurin 8:31e07f6ed0f7 379 RollAlarm();
tsumagari 26:50272431cd1e 380 // DataReceiveFromSouda();
tsumagari 15:6966299bea4c 381 // cadence.readData();
taurin 3:8dc516be2e7e 382 WriteDatas();
taurin 0:085b2c5e3254 383 }
taurin 0:085b2c5e3254 384 }