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@61:7f980cb3a7a8, 2017-06-13 (annotated)

Committer:
YusukeWakuta
Date:
Tue Jun 13 06:11:51 2017 +0000
Branch:
cadence
Revision:
61:7f980cb3a7a8
Parent:
59:7cb8eaf553ef
Child:
62:98294011f568
?????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 1:5ec2409854da 1 //計器プログラム
taurin 0:085b2c5e3254 2 #include "mbed.h"
tsumagari 33:69ad9920f693 3 #include "rtos.h"
tsumagari 41:1bd730c4840d 4 #include "Cadence.h"
taurin 0:085b2c5e3254 5 #include "Fusokukei.h"
taurin 0:085b2c5e3254 6 #include "MPU6050.h"
tsumagari 15:6966299bea4c 7 #include "BufferedSoftSerial.h"
tsumagari 56:6823d2324704 8 #include "SDFileSystem.h"//2014.6/5以前の環境で動作します。アップデートすると動きません。
YusukeWakuta 61:7f980cb3a7a8 9 #include "INA226.hpp"
taurin 0:085b2c5e3254 10
YusukeWakuta 46:c649987c4d84 11 #define SOUDA_DATAS_NUM 28 //(yokutan 7 + input 7)*2
YusukeWakuta 46:c649987c4d84 12 #define YOKUTAN_DATAS_NUM 14
tsumagari 56:6823d2324704 13 #define WRITE_DATAS_NUM 34 // souda_datas_num + 6( rpy, airspeed, height, cadence)
tsumagari 40:f15c11485e95 14 #define SD_WRITE_NUM 20
tsumagari 27:d2955f29a3aa 15 #define MPU_LOOP_TIME 0.01
tsumagari 51:f391d3a02397 16 #define AIR_LOOP_TIME 0.01//(0.002005)
taurin 3:8dc516be2e7e 17 #define WRITE_DATAS_LOOP_TIME 1
tsumagari 53:9bc528ee224b 18 #define ROLL_R_MAX_DEG 1.5
tsumagari 53:9bc528ee224b 19 #define ROLL_L_MAX_DEG 1.5
tsumagari 27:d2955f29a3aa 20 #define MPU_DELT_MIN 250
taurin 4:a863a092141c 21 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 22
tsumagari 26:50272431cd1e 23 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 24 extern "C" void mbed_reset();
tsumagari 38:32f483b0a77f 25 InterruptIn resetPin(p25);
tsumagari 26:50272431cd1e 26 Timer resetTimeCount;
YusukeWakuta 46:c649987c4d84 27 void resetInterrupt()
YusukeWakuta 46:c649987c4d84 28 {
YusukeWakuta 46:c649987c4d84 29 while(resetPin) {
tsumagari 26:50272431cd1e 30 resetTimeCount.start();
tsumagari 26:50272431cd1e 31 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 32 }
tsumagari 26:50272431cd1e 33 resetTimeCount.reset();
tsumagari 26:50272431cd1e 34 }
tsumagari 26:50272431cd1e 35 //-------------------------------------------------------
tsumagari 26:50272431cd1e 36
tsumagari 56:6823d2324704 37 SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 56:6823d2324704 38 FILE* fp;
tsumagari 39:7623678de4e2 39
tsumagari 42:73c3862e4c12 40 //RawSerial pc(USBTX,USBRX);
YusukeWakuta 50:2160c28d02f8 41 Serial android(p9,p10);
tsumagari 27:d2955f29a3aa 42 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 43 BufferedSoftSerial twe(p11,p12);
tsumagari 27:d2955f29a3aa 44 Cadence cadence_twe(p13,p14);
tsumagari 41:1bd730c4840d 45 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 46 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 47 //Timer writeTimer;
taurin 0:085b2c5e3254 48
tsumagari 38:32f483b0a77f 49 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 50 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 51 Fusokukei air;
taurin 0:085b2c5e3254 52 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 53
tsumagari 34:c46f2f687c7b 54 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 55 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 56 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 57 //double sonarDistTime
tsumagari 27:d2955f29a3aa 58 double sonarDist;
tsumagari 27:d2955f29a3aa 59 float sonarV;
tsumagari 27:d2955f29a3aa 60
tsumagari 27:d2955f29a3aa 61
tsumagari 26:50272431cd1e 62 float sum = 0;
tsumagari 26:50272431cd1e 63 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 64 MPU6050 mpu6050;
taurin 0:085b2c5e3254 65 Timer t;
YusukeWakuta 61:7f980cb3a7a8 66 Timer cadenceTimer;
YusukeWakuta 61:7f980cb3a7a8 67
tsumagari 34:c46f2f687c7b 68 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 69
tsumagari 38:32f483b0a77f 70 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 71 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 72 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 73 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 74 DigitalOut led4(LED4);
YusukeWakuta 61:7f980cb3a7a8 75 I2C i2c(p9,p10);
YusukeWakuta 61:7f980cb3a7a8 76 INA226 VCmonitor(i2c,0x9C);
YusukeWakuta 61:7f980cb3a7a8 77 AnalogIn mgPin(p20);
YusukeWakuta 61:7f980cb3a7a8 78 AnalogIn mgPin2(p19);
taurin 4:a863a092141c 79
taurin 0:085b2c5e3254 80 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 81 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 82 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 83
taurin 0:085b2c5e3254 84 void air_countUp();
taurin 0:085b2c5e3254 85 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 86 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 87 void sonarInterruptStop();
YusukeWakuta 61:7f980cb3a7a8 88 void updateCadence(double source, double input,double input2,bool isFFlag);
taurin 0:085b2c5e3254 89 void init();
taurin 0:085b2c5e3254 90 void FusokukeiInit();
tsumagari 26:50272431cd1e 91 void MpuInit();
tsumagari 34:c46f2f687c7b 92 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 93 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 94 void SdInit();
tsumagari 56:6823d2324704 95 void SDprintf();
taurin 0:085b2c5e3254 96 void WriteDatas();
tsumagari 27:d2955f29a3aa 97 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 98 float calcKXdeg(float x);
YusukeWakuta 61:7f980cb3a7a8 99 int lastCadenceInput = 0; //1つ前のケイデンスのパルス値を取得します。これの取りうる値は0か1です。
YusukeWakuta 61:7f980cb3a7a8 100 int lastCadenceInput2 = 0; //1つ前のケイデンスのパルス値を取得します。これの取りうる値は0か1です。
YusukeWakuta 61:7f980cb3a7a8 101 double cadenceResult = 0.0; //最終的なケイデンスの値です。
YusukeWakuta 61:7f980cb3a7a8 102 int cadenceCounter = 0; //クランクが一回転すると、二つのセンサがそれぞれ2回ずつ状態が変化するため、0～4をカウントするためのカウンタです。
YusukeWakuta 61:7f980cb3a7a8 103 double V;
tsumagari 15:6966299bea4c 104
YusukeWakuta 46:c649987c4d84 105 void air_countUp()
YusukeWakuta 46:c649987c4d84 106 {
taurin 0:085b2c5e3254 107 air_kaitensu++;
tsumagari 51:f391d3a02397 108 led3 = !led3;
taurin 0:085b2c5e3254 109 }
taurin 0:085b2c5e3254 110
YusukeWakuta 46:c649987c4d84 111 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 112 {
taurin 0:085b2c5e3254 113 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 114 air_kaitensu = 0;
taurin 0:085b2c5e3254 115 }
taurin 0:085b2c5e3254 116
YusukeWakuta 46:c649987c4d84 117 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 118 {
tsumagari 34:c46f2f687c7b 119 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 120 }
tsumagari 27:d2955f29a3aa 121
YusukeWakuta 46:c649987c4d84 122 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 123 {
tsumagari 26:50272431cd1e 124 // sonarTimer.stop();
tsumagari 26:50272431cd1e 125 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 126 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 127 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 128 }
YusukeWakuta 46:c649987c4d84 129 void sonarCalc()
YusukeWakuta 46:c649987c4d84 130 {
tsumagari 27:d2955f29a3aa 131 sonarV = 0;
YusukeWakuta 46:c649987c4d84 132 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 133 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 134 wait(0.01);
tsumagari 27:d2955f29a3aa 135 }
tsumagari 27:d2955f29a3aa 136 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 137 }
tsumagari 27:d2955f29a3aa 138
jaity 59:7cb8eaf553ef 139
jaity 59:7cb8eaf553ef 140 // 定格12V電源の電圧値から定めた閾値を、oh182/E非接触回転速度センサ値が超えているかどうか
jaity 59:7cb8eaf553ef 141 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 142 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 143 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 144 {
jaity 59:7cb8eaf553ef 145 double a, b;
jaity 59:7cb8eaf553ef 146 if(source < 3200)
jaity 59:7cb8eaf553ef 147 return -1;
jaity 59:7cb8eaf553ef 148
jaity 59:7cb8eaf553ef 149 if(source < 5500)
jaity 59:7cb8eaf553ef 150 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 151 else if(source < 7000)
jaity 59:7cb8eaf553ef 152 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 153 else
jaity 59:7cb8eaf553ef 154 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 155
jaity 59:7cb8eaf553ef 156 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 157 }
jaity 59:7cb8eaf553ef 158
YusukeWakuta 61:7f980cb3a7a8 159 //ケイデンスの値を取得します。
YusukeWakuta 61:7f980cb3a7a8 160 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
YusukeWakuta 61:7f980cb3a7a8 161 void updateCadence(double source, double input,double input2,bool isFFlag)
YusukeWakuta 46:c649987c4d84 162 {
YusukeWakuta 61:7f980cb3a7a8 163 if(isFFlag) {
YusukeWakuta 61:7f980cb3a7a8 164 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 61:7f980cb3a7a8 165 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 166 cadenceTimer.start();
YusukeWakuta 61:7f980cb3a7a8 167 return;
YusukeWakuta 61:7f980cb3a7a8 168 }
YusukeWakuta 61:7f980cb3a7a8 169 if((isOh182eOverThreshold(source,input) ^ lastCadenceInput) ||(isOh182eOverThreshold(source,input2) ^ lastCadenceInput2)) {
YusukeWakuta 61:7f980cb3a7a8 170 if(cadenceCounter < 4) {
YusukeWakuta 61:7f980cb3a7a8 171 cadenceCounter++;
YusukeWakuta 61:7f980cb3a7a8 172 return;
YusukeWakuta 61:7f980cb3a7a8 173 }
YusukeWakuta 61:7f980cb3a7a8 174 cadenceResult =60.0/ (cadenceTimer.read_us() / 1000000.0); //クランク一回転にかかる時間を取得
YusukeWakuta 61:7f980cb3a7a8 175 cadenceTimer.reset();
YusukeWakuta 61:7f980cb3a7a8 176 cadenceCounter = 0;
YusukeWakuta 61:7f980cb3a7a8 177 }
tsumagari 27:d2955f29a3aa 178 }
tsumagari 26:50272431cd1e 179
YusukeWakuta 46:c649987c4d84 180 void init()
YusukeWakuta 46:c649987c4d84 181 {
tsumagari 58:b4f3ed763cb4 182 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 183 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 184 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 185 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 186 //-----------------------------------------------------------
YusukeWakuta 50:2160c28d02f8 187 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 50:2160c28d02f8 188 android.baud(9600);
tsumagari 27:d2955f29a3aa 189 //writeTimer.start();
taurin 0:085b2c5e3254 190 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 191 // SdInit();
YusukeWakuta 46:c649987c4d84 192 // MpuInit();
tsumagari 27:d2955f29a3aa 193 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 194
tsumagari 27:d2955f29a3aa 195 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 196 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 197 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 198 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 199 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 200 val = 0;
YusukeWakuta 61:7f980cb3a7a8 201 if(VCmonitor.rawRead(0x00,&val) != 0) {
YusukeWakuta 61:7f980cb3a7a8 202 printf("VCmonitor READ ERROR\n");
YusukeWakuta 61:7f980cb3a7a8 203 while(1) {}
YusukeWakuta 61:7f980cb3a7a8 204 }
YusukeWakuta 61:7f980cb3a7a8 205 VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 206 }
taurin 0:085b2c5e3254 207
YusukeWakuta 46:c649987c4d84 208 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 209 {
taurin 0:085b2c5e3254 210 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 211 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 212 }
taurin 0:085b2c5e3254 213
YusukeWakuta 46:c649987c4d84 214 void MpuInit()
YusukeWakuta 46:c649987c4d84 215 {
tsumagari 26:50272431cd1e 216 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 217 t.start();
tsumagari 26:50272431cd1e 218 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 219 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 220 Thread::wait(100);
tsumagari 26:50272431cd1e 221 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 222 Thread::wait(100);
tsumagari 26:50272431cd1e 223 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 224 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 225 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 50:2160c28d02f8 226 mpu6050.initMPU6050(); ////////////pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
tsumagari 34:c46f2f687c7b 227 Thread::wait(200);
tsumagari 26:50272431cd1e 228 } else {
tsumagari 26:50272431cd1e 229 }
tsumagari 26:50272431cd1e 230 } else {
YusukeWakuta 50:2160c28d02f8 231 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 232 }
tsumagari 26:50272431cd1e 233 }
taurin 0:085b2c5e3254 234
YusukeWakuta 46:c649987c4d84 235 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 236 {
tsumagari 27:d2955f29a3aa 237 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 238 }
tsumagari 27:d2955f29a3aa 239
YusukeWakuta 46:c649987c4d84 240 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 241 {
tsumagari 33:69ad9920f693 242 MpuInit();
YusukeWakuta 46:c649987c4d84 243 while(1) {
tsumagari 33:69ad9920f693 244 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 245 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 246 mpu6050.getAres();
tsumagari 33:69ad9920f693 247 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 248 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 249 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 250 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 251 mpu6050.getGres();
tsumagari 33:69ad9920f693 252 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 253 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 254 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 255 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 256 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 257 }
tsumagari 33:69ad9920f693 258 Now = t.read_us();
tsumagari 33:69ad9920f693 259 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 260 lastUpdate = Now;
tsumagari 33:69ad9920f693 261 sum += deltat;
tsumagari 33:69ad9920f693 262 sumCount++;
tsumagari 33:69ad9920f693 263 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 264 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 265 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 266 }
tsumagari 33:69ad9920f693 267 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 268 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 269 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 270 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 33:69ad9920f693 271 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 272 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 33:69ad9920f693 273 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 274 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 275 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 276 myled= !myled;
tsumagari 33:69ad9920f693 277 count = t.read_ms();
tsumagari 33:69ad9920f693 278 sum = 0;
tsumagari 33:69ad9920f693 279 sumCount = 0;
tsumagari 33:69ad9920f693 280 }
tsumagari 40:f15c11485e95 281 Thread::wait(1);
tsumagari 33:69ad9920f693 282 }//while(1)
tsumagari 26:50272431cd1e 283 }
tsumagari 26:50272431cd1e 284
YusukeWakuta 46:c649987c4d84 285 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 286 {
tsumagari 34:c46f2f687c7b 287 // while(1){
YusukeWakuta 46:c649987c4d84 288 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 289 led2 = !led2;
tsumagari 34:c46f2f687c7b 290 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 291 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 292 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 293 }
YusukeWakuta 46:c649987c4d84 294 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 295 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 296 }
YusukeWakuta 46:c649987c4d84 297 }//if
tsumagari 34:c46f2f687c7b 298 // }//while(1)
taurin 3:8dc516be2e7e 299 }
tsumagari 56:6823d2324704 300
YusukeWakuta 61:7f980cb3a7a8 301 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 302 {
tsumagari 56:6823d2324704 303 mkdir("/sd/mydir", 0777);
tsumagari 56:6823d2324704 304 fp = fopen("/sd/mydir/sdtest2.csv", "w");
tsumagari 56:6823d2324704 305 if(fp == NULL) {
tsumagari 56:6823d2324704 306 error("Could not open file for write\n");
tsumagari 56:6823d2324704 307 }
tsumagari 56:6823d2324704 308 fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
tsumagari 56:6823d2324704 309 fclose(fp);
tsumagari 56:6823d2324704 310 }
tsumagari 56:6823d2324704 311
YusukeWakuta 61:7f980cb3a7a8 312 void SDprintf(const void* arg)
YusukeWakuta 61:7f980cb3a7a8 313 {
tsumagari 58:b4f3ed763cb4 314 SdInit();
YusukeWakuta 61:7f980cb3a7a8 315 while(1) {
YusukeWakuta 61:7f980cb3a7a8 316 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 317 fp = fopen("/sd/mydir/data.csv", "a");
tsumagari 58:b4f3ed763cb4 318 if(fp == NULL) {
tsumagari 58:b4f3ed763cb4 319 printf("Could not open file for write\n");
tsumagari 58:b4f3ed763cb4 320 }
YusukeWakuta 61:7f980cb3a7a8 321 for(int i = 0; i < SD_WRITE_NUM; i++) {
YusukeWakuta 61:7f980cb3a7a8 322 for(int j = 0; j < WRITE_DATAS_NUM; j++) {
tsumagari 58:b4f3ed763cb4 323 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 58:b4f3ed763cb4 324 }
tsumagari 58:b4f3ed763cb4 325 }
tsumagari 58:b4f3ed763cb4 326 fprintf(fp,"\n");
tsumagari 58:b4f3ed763cb4 327 fclose(fp);
YusukeWakuta 61:7f980cb3a7a8 328
tsumagari 58:b4f3ed763cb4 329 write_datas_index=0;
tsumagari 58:b4f3ed763cb4 330 }
tsumagari 58:b4f3ed763cb4 331 Thread::wait(1);
tsumagari 56:6823d2324704 332 }
tsumagari 56:6823d2324704 333 }
tsumagari 39:7623678de4e2 334
YusukeWakuta 46:c649987c4d84 335 void WriteDatas()
YusukeWakuta 46:c649987c4d84 336 {
taurin 8:31e07f6ed0f7 337 int i;
YusukeWakuta 46:c649987c4d84 338 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 339 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 340 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 341 }
taurin 8:31e07f6ed0f7 342 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 343 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 344 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 345 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 346 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 37:34aaa1951390 347 writeDatas[write_datas_index][i++] = cadence_twe.cadence;
taurin 8:31e07f6ed0f7 348 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 349 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 50:2160c28d02f8 350 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 351 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 352 // }
YusukeWakuta 50:2160c28d02f8 353 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 354 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 355 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 356 // SDprintf();
tsumagari 39:7623678de4e2 357 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 358 } else {
tsumagari 39:7623678de4e2 359 write_datas_index++;
YusukeWakuta 46:c649987c4d84 360 }
YusukeWakuta 48:0c9f3a057f79 361 twe.printf("con,");
YusukeWakuta 46:c649987c4d84 362 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 51:f391d3a02397 363 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 364 twe.printf("%i,",soudaDatas[i]);
YusukeWakuta 50:2160c28d02f8 365
YusukeWakuta 48:0c9f3a057f79 366 if(i == YOKUTAN_DATAS_NUM - 1)
YusukeWakuta 50:2160c28d02f8 367 twe.printf("%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 368 }
YusukeWakuta 48:0c9f3a057f79 369 twe.printf("inp,%d,%i,%d,%i\n",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]);
tsumagari 51:f391d3a02397 370 pc.printf("%d,%i,%d,%i,",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]);
YusukeWakuta 46:c649987c4d84 371 /*
YusukeWakuta 46:c649987c4d84 372 送信文字列
YusukeWakuta 46:c649987c4d84 373 0-13翼端データ
YusukeWakuta 46:c649987c4d84 374 14-17 R erebon
YusukeWakuta 46:c649987c4d84 375 18 R DRUG
YusukeWakuta 46:c649987c4d84 376 19-22 L erebon
YusukeWakuta 46:c649987c4d84 377 23 LDRUG
YusukeWakuta 46:c649987c4d84 378 */
YusukeWakuta 50:2160c28d02f8 379 ////pc.printf("\n\r");
YusukeWakuta 48:0c9f3a057f79 380 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
YusukeWakuta 48:0c9f3a057f79 381 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 51:f391d3a02397 382 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
YusukeWakuta 50:2160c28d02f8 383 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 51:f391d3a02397 384 pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence_twe.cadence);
tsumagari 42:73c3862e4c12 385 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 50:2160c28d02f8 386 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 387 // }
tsumagari 51:f391d3a02397 388 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 389 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 390 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 391 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 56:6823d2324704 392 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadence_twe.cadence);
YusukeWakuta 50:2160c28d02f8 393 led2 = !led2;
tsumagari 27:d2955f29a3aa 394 }
tsumagari 40:f15c11485e95 395 // SDprintf();
taurin 9:95eb0bbdc2a9 396 }
taurin 9:95eb0bbdc2a9 397
YusukeWakuta 46:c649987c4d84 398 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 399 {
YusukeWakuta 50:2160c28d02f8 400 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 401 }
tsumagari 27:d2955f29a3aa 402
tsumagari 26:50272431cd1e 403 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 404 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 405 //}
taurin 0:085b2c5e3254 406
YusukeWakuta 46:c649987c4d84 407 void RollAlarm()
YusukeWakuta 46:c649987c4d84 408 {
YusukeWakuta 46:c649987c4d84 409 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 410 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 411 } else {
taurin 0:085b2c5e3254 412 RollAlarmL = 0;
taurin 0:085b2c5e3254 413 }
YusukeWakuta 46:c649987c4d84 414
YusukeWakuta 46:c649987c4d84 415 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 416 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 417 } else {
taurin 0:085b2c5e3254 418 RollAlarmR = 0;
taurin 0:085b2c5e3254 419 }
taurin 0:085b2c5e3254 420 }
taurin 0:085b2c5e3254 421
YusukeWakuta 46:c649987c4d84 422 int main()
YusukeWakuta 46:c649987c4d84 423 {
tsumagari 58:b4f3ed763cb4 424 Thread mpu_thread(&mpuProcessing);
tsumagari 58:b4f3ed763cb4 425 Thread SD_thread(&SDprintf);
YusukeWakuta 61:7f980cb3a7a8 426 bool isFirstCadenceFlag = true;
tsumagari 34:c46f2f687c7b 427 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 428 init();
YusukeWakuta 61:7f980cb3a7a8 429
YusukeWakuta 46:c649987c4d84 430 while(1) {
YusukeWakuta 61:7f980cb3a7a8 431 if(VCmonitor.getVoltage(&V) == 0) {
YusukeWakuta 61:7f980cb3a7a8 432 printf("e:%f\n",V);
YusukeWakuta 61:7f980cb3a7a8 433 }
YusukeWakuta 61:7f980cb3a7a8 434 printf("mgPin V:%f\n\r",mgPin.read()*3.3);
YusukeWakuta 61:7f980cb3a7a8 435 updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
YusukeWakuta 61:7f980cb3a7a8 436 isFirstCadenceFlag = false;
YusukeWakuta 50:2160c28d02f8 437 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 438 // mpuProcessing();
tsumagari 27:d2955f29a3aa 439 sonarCalc();
taurin 8:31e07f6ed0f7 440 RollAlarm();
tsumagari 27:d2955f29a3aa 441 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 442 WriteDatas();
tsumagari 40:f15c11485e95 443 led4 = !led4;
taurin 0:085b2c5e3254 444 }
taurin 0:085b2c5e3254 445 }