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@67:9d2eb6793464, 2017-06-15 (annotated)

Committer:
YusukeWakuta
Date:
Thu Jun 15 08:33:31 2017 +0000
Branch:
cadence
Revision:
67:9d2eb6793464
Parent:
66:1ffafa1c4a87
Parent:
65:075118165355
Child:
68:ed8ffcb8c49a
merge

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)
YusukeWakuta 66:1ffafa1c4a87 14 #define SD_WRITE_NUM 40
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);
tsumagari 62:98294011f568 41 //Serial android(p9,p10);
tsumagari 27:d2955f29a3aa 42 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 43 BufferedSoftSerial twe(p11,p12);
tsumagari 62:98294011f568 44 //Cadence cadence_twe(p13,p14);
tsumagari 63:f7f4edd463b1 45 RawSerial android(p13,p14);
tsumagari 62:98294011f568 46
tsumagari 41:1bd730c4840d 47 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 48 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 49 //Timer writeTimer;
taurin 0:085b2c5e3254 50
tsumagari 38:32f483b0a77f 51 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 52 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 53 Fusokukei air;
taurin 0:085b2c5e3254 54 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 55
tsumagari 34:c46f2f687c7b 56 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 57 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 58 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 59 //double sonarDistTime
tsumagari 27:d2955f29a3aa 60 double sonarDist;
tsumagari 27:d2955f29a3aa 61 float sonarV;
tsumagari 27:d2955f29a3aa 62
tsumagari 27:d2955f29a3aa 63
tsumagari 26:50272431cd1e 64 float sum = 0;
tsumagari 26:50272431cd1e 65 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 66 MPU6050 mpu6050;
taurin 0:085b2c5e3254 67 Timer t;
YusukeWakuta 61:7f980cb3a7a8 68 Timer cadenceTimer;
YusukeWakuta 61:7f980cb3a7a8 69
tsumagari 34:c46f2f687c7b 70 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 71
tsumagari 38:32f483b0a77f 72 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 73 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 74 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 75 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 76 DigitalOut led4(LED4);
tsumagari 62:98294011f568 77 I2C InaI2c(p9,p10);
tsumagari 62:98294011f568 78 INA226 VCmonitor(InaI2c,0x9C);
YusukeWakuta 61:7f980cb3a7a8 79 AnalogIn mgPin(p20);
YusukeWakuta 66:1ffafa1c4a87 80 //AnalogIn mgPin2(p16);
YusukeWakuta 66:1ffafa1c4a87 81 InterruptIn cadenceInter(p16);
taurin 4:a863a092141c 82
taurin 0:085b2c5e3254 83 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 84 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 85 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 86
taurin 0:085b2c5e3254 87 void air_countUp();
taurin 0:085b2c5e3254 88 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 89 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 90 void sonarInterruptStop();
YusukeWakuta 66:1ffafa1c4a87 91 void updateCadence(double source, double input,double input2);
taurin 0:085b2c5e3254 92 void init();
taurin 0:085b2c5e3254 93 void FusokukeiInit();
tsumagari 26:50272431cd1e 94 void MpuInit();
tsumagari 34:c46f2f687c7b 95 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 96 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 97 void SdInit();
tsumagari 56:6823d2324704 98 void SDprintf();
taurin 0:085b2c5e3254 99 void WriteDatas();
tsumagari 27:d2955f29a3aa 100 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 101 float calcKXdeg(float x);
YusukeWakuta 61:7f980cb3a7a8 102 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 103 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 104 double cadenceResult = 0.0; //最終的なケイデンスの値です。
YusukeWakuta 61:7f980cb3a7a8 105 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 106 double V;
tsumagari 15:6966299bea4c 107
YusukeWakuta 46:c649987c4d84 108 void air_countUp()
YusukeWakuta 46:c649987c4d84 109 {
taurin 0:085b2c5e3254 110 air_kaitensu++;
tsumagari 51:f391d3a02397 111 led3 = !led3;
taurin 0:085b2c5e3254 112 }
taurin 0:085b2c5e3254 113
YusukeWakuta 46:c649987c4d84 114 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 115 {
taurin 0:085b2c5e3254 116 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 117 air_kaitensu = 0;
taurin 0:085b2c5e3254 118 }
taurin 0:085b2c5e3254 119
YusukeWakuta 46:c649987c4d84 120 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 121 {
tsumagari 34:c46f2f687c7b 122 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 123 }
tsumagari 27:d2955f29a3aa 124
YusukeWakuta 46:c649987c4d84 125 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 126 {
tsumagari 26:50272431cd1e 127 // sonarTimer.stop();
tsumagari 26:50272431cd1e 128 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 129 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 130 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 131 }
YusukeWakuta 46:c649987c4d84 132 void sonarCalc()
YusukeWakuta 46:c649987c4d84 133 {
tsumagari 27:d2955f29a3aa 134 sonarV = 0;
YusukeWakuta 46:c649987c4d84 135 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 136 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 137 wait(0.01);
tsumagari 27:d2955f29a3aa 138 }
tsumagari 27:d2955f29a3aa 139 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 140 }
tsumagari 27:d2955f29a3aa 141
jaity 59:7cb8eaf553ef 142
jaity 59:7cb8eaf553ef 143 // 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 144 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 145 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 146 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 147 {
jaity 59:7cb8eaf553ef 148 double a, b;
jaity 59:7cb8eaf553ef 149 if(source < 3200)
jaity 59:7cb8eaf553ef 150 return -1;
jaity 59:7cb8eaf553ef 151
jaity 59:7cb8eaf553ef 152 if(source < 5500)
jaity 59:7cb8eaf553ef 153 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 154 else if(source < 7000)
jaity 59:7cb8eaf553ef 155 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 156 else
jaity 59:7cb8eaf553ef 157 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 158
jaity 59:7cb8eaf553ef 159 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 160 }
jaity 59:7cb8eaf553ef 161
YusukeWakuta 61:7f980cb3a7a8 162 //ケイデンスの値を取得します。
YusukeWakuta 61:7f980cb3a7a8 163 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
YusukeWakuta 66:1ffafa1c4a87 164 void updateCadence()
YusukeWakuta 46:c649987c4d84 165 {
YusukeWakuta 66:1ffafa1c4a87 166 static bool isFFlag = true;
YusukeWakuta 61:7f980cb3a7a8 167 if(isFFlag) {
YusukeWakuta 61:7f980cb3a7a8 168 cadenceTimer.start();
YusukeWakuta 66:1ffafa1c4a87 169 isFFlag = false;
YusukeWakuta 61:7f980cb3a7a8 170 return;
YusukeWakuta 61:7f980cb3a7a8 171 }
YusukeWakuta 66:1ffafa1c4a87 172 led4 = !led4;
YusukeWakuta 66:1ffafa1c4a87 173 if(cadenceCounter < 3) {
YusukeWakuta 66:1ffafa1c4a87 174 cadenceCounter++;
YusukeWakuta 66:1ffafa1c4a87 175 return;
YusukeWakuta 61:7f980cb3a7a8 176 }
YusukeWakuta 66:1ffafa1c4a87 177 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 66:1ffafa1c4a87 178 cadenceTimer.reset();
YusukeWakuta 66:1ffafa1c4a87 179 cadenceCounter = 0;
tsumagari 27:d2955f29a3aa 180 }
tsumagari 26:50272431cd1e 181
YusukeWakuta 46:c649987c4d84 182 void init()
YusukeWakuta 46:c649987c4d84 183 {
tsumagari 58:b4f3ed763cb4 184 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 185 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 186 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 187 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 188 //-----------------------------------------------------------
YusukeWakuta 50:2160c28d02f8 189 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 50:2160c28d02f8 190 android.baud(9600);
tsumagari 27:d2955f29a3aa 191 //writeTimer.start();
taurin 0:085b2c5e3254 192 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 193 // SdInit();
YusukeWakuta 46:c649987c4d84 194 // MpuInit();
tsumagari 27:d2955f29a3aa 195 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 196
tsumagari 27:d2955f29a3aa 197 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 198 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 199 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 200 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 201 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 202 val = 0;
YusukeWakuta 61:7f980cb3a7a8 203 if(VCmonitor.rawRead(0x00,&val) != 0) {
YusukeWakuta 61:7f980cb3a7a8 204 printf("VCmonitor READ ERROR\n");
YusukeWakuta 61:7f980cb3a7a8 205 }
YusukeWakuta 61:7f980cb3a7a8 206 VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 207 }
taurin 0:085b2c5e3254 208
YusukeWakuta 46:c649987c4d84 209 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 210 {
taurin 0:085b2c5e3254 211 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 212 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 213 }
taurin 0:085b2c5e3254 214
YusukeWakuta 46:c649987c4d84 215 void MpuInit()
YusukeWakuta 46:c649987c4d84 216 {
tsumagari 26:50272431cd1e 217 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 218 t.start();
tsumagari 26:50272431cd1e 219 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 220 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 221 Thread::wait(100);
tsumagari 26:50272431cd1e 222 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 223 Thread::wait(100);
tsumagari 26:50272431cd1e 224 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 225 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 226 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 50:2160c28d02f8 227 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 228 Thread::wait(200);
tsumagari 26:50272431cd1e 229 } else {
tsumagari 26:50272431cd1e 230 }
tsumagari 26:50272431cd1e 231 } else {
YusukeWakuta 50:2160c28d02f8 232 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 233 }
tsumagari 26:50272431cd1e 234 }
taurin 0:085b2c5e3254 235
YusukeWakuta 46:c649987c4d84 236 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 237 {
tsumagari 27:d2955f29a3aa 238 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 239 }
tsumagari 27:d2955f29a3aa 240
YusukeWakuta 46:c649987c4d84 241 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 242 {
tsumagari 33:69ad9920f693 243 MpuInit();
YusukeWakuta 46:c649987c4d84 244 while(1) {
tsumagari 33:69ad9920f693 245 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 246 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 247 mpu6050.getAres();
tsumagari 33:69ad9920f693 248 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 249 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 250 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 251 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 252 mpu6050.getGres();
tsumagari 33:69ad9920f693 253 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 254 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 255 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 256 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 257 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 258 }
tsumagari 33:69ad9920f693 259 Now = t.read_us();
tsumagari 33:69ad9920f693 260 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 261 lastUpdate = Now;
tsumagari 33:69ad9920f693 262 sum += deltat;
tsumagari 33:69ad9920f693 263 sumCount++;
tsumagari 33:69ad9920f693 264 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 265 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 266 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 267 }
tsumagari 33:69ad9920f693 268 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 269 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 270 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 271 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 272 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 273 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 274 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 275 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 276 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 277 myled= !myled;
tsumagari 33:69ad9920f693 278 count = t.read_ms();
tsumagari 33:69ad9920f693 279 sum = 0;
tsumagari 33:69ad9920f693 280 sumCount = 0;
tsumagari 33:69ad9920f693 281 }
tsumagari 40:f15c11485e95 282 Thread::wait(1);
tsumagari 33:69ad9920f693 283 }//while(1)
tsumagari 26:50272431cd1e 284 }
tsumagari 26:50272431cd1e 285
YusukeWakuta 46:c649987c4d84 286 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 287 {
tsumagari 34:c46f2f687c7b 288 // while(1){
YusukeWakuta 46:c649987c4d84 289 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 290 led2 = !led2;
tsumagari 34:c46f2f687c7b 291 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 292 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 293 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 294 }
YusukeWakuta 46:c649987c4d84 295 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 296 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 297 }
YusukeWakuta 46:c649987c4d84 298 }//if
tsumagari 34:c46f2f687c7b 299 // }//while(1)
taurin 3:8dc516be2e7e 300 }
tsumagari 56:6823d2324704 301
YusukeWakuta 61:7f980cb3a7a8 302 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 303 {
tsumagari 56:6823d2324704 304 mkdir("/sd/mydir", 0777);
YusukeWakuta 66:1ffafa1c4a87 305 fp = fopen("/sd/mydir/TestFlight.csv", "w");
tsumagari 56:6823d2324704 306 if(fp == NULL) {
tsumagari 56:6823d2324704 307 error("Could not open file for write\n");
tsumagari 56:6823d2324704 308 }
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 62:98294011f568 347 writeDatas[write_datas_index][i++] = cadenceResult;//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 67:9d2eb6793464 361
tsumagari 64:2de7ea84d39a 362 char sbuf[128];
tsumagari 64:2de7ea84d39a 363 int p=0;
tsumagari 64:2de7ea84d39a 364 // twe.printf("con,");
tsumagari 65:075118165355 365 p += sprintf(sbuf,"con,");
YusukeWakuta 46:c649987c4d84 366 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
YusukeWakuta 67:9d2eb6793464 367
tsumagari 63:f7f4edd463b1 368 // pc.printf("%i ",soudaDatas[i]);
tsumagari 64:2de7ea84d39a 369 // twe.printf("%i,",soudaDatas[i]);
tsumagari 65:075118165355 370 p += sprintf(sbuf+p,"%i,",soudaDatas[i]);
YusukeWakuta 50:2160c28d02f8 371
YusukeWakuta 48:0c9f3a057f79 372 if(i == YOKUTAN_DATAS_NUM - 1)
tsumagari 64:2de7ea84d39a 373 // twe.printf("%i\n",soudaDatas[i]);
tsumagari 65:075118165355 374 p += sprintf(sbuf+p,"%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 375 }
YusukeWakuta 66:1ffafa1c4a87 376 // twe.printf("%s",sbuf);
YusukeWakuta 66:1ffafa1c4a87 377 //twe.printf("con,%s\n",soudaDatas);
YusukeWakuta 46:c649987c4d84 378 /*
YusukeWakuta 46:c649987c4d84 379 送信文字列
YusukeWakuta 46:c649987c4d84 380 0-13翼端データ
YusukeWakuta 46:c649987c4d84 381 14-17 R erebon
YusukeWakuta 46:c649987c4d84 382 18 R DRUG
YusukeWakuta 46:c649987c4d84 383 19-22 L erebon
YusukeWakuta 46:c649987c4d84 384 23 LDRUG
YusukeWakuta 46:c649987c4d84 385 */
YusukeWakuta 66:1ffafa1c4a87 386 twe.printf("inp,%d,%i,%d,%i\nmpu,%f,%f,%f\nkei,%f,%f,%f\n",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2]
YusukeWakuta 66:1ffafa1c4a87 387 ,(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1]
YusukeWakuta 66:1ffafa1c4a87 388 ,pitch,roll,yaw,airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
YusukeWakuta 66:1ffafa1c4a87 389 pc.printf("cadence:%5.2f\n\r",cadenceResult);
YusukeWakuta 66:1ffafa1c4a87 390 // pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(int) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(int) - 3],soudaDatas[SOUDA_DATAS_NUM-1],pitch,roll,yaw,airSpeed,sonarDist,cadenceResult);
YusukeWakuta 46:c649987c4d84 391 if(android.writeable()) {
tsumagari 62:98294011f568 392 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
tsumagari 27:d2955f29a3aa 393 }
tsumagari 40:f15c11485e95 394 // SDprintf();
taurin 9:95eb0bbdc2a9 395 }
taurin 9:95eb0bbdc2a9 396
YusukeWakuta 46:c649987c4d84 397 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 398 {
YusukeWakuta 50:2160c28d02f8 399 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 400 }
tsumagari 27:d2955f29a3aa 401
YusukeWakuta 46:c649987c4d84 402 void RollAlarm()
YusukeWakuta 46:c649987c4d84 403 {
YusukeWakuta 46:c649987c4d84 404 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 405 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 406 } else {
taurin 0:085b2c5e3254 407 RollAlarmL = 0;
taurin 0:085b2c5e3254 408 }
YusukeWakuta 46:c649987c4d84 409
YusukeWakuta 46:c649987c4d84 410 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 411 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 412 } else {
taurin 0:085b2c5e3254 413 RollAlarmR = 0;
taurin 0:085b2c5e3254 414 }
taurin 0:085b2c5e3254 415 }
taurin 0:085b2c5e3254 416
YusukeWakuta 66:1ffafa1c4a87 417 //void updateCadenceFunc(void const *arg)
YusukeWakuta 66:1ffafa1c4a87 418 //{
YusukeWakuta 66:1ffafa1c4a87 419 // while(1) {
YusukeWakuta 66:1ffafa1c4a87 420 //// VCmonitor.getVoltage(&V) == 0;
YusukeWakuta 66:1ffafa1c4a87 421 // updateCadence(V,mgPin.read()*3300.0, mgPin2.read()*3300.0);
YusukeWakuta 66:1ffafa1c4a87 422 // Thread::wait(330);
YusukeWakuta 66:1ffafa1c4a87 423 // }
YusukeWakuta 66:1ffafa1c4a87 424 //}
YusukeWakuta 46:c649987c4d84 425 int main()
YusukeWakuta 46:c649987c4d84 426 {
tsumagari 58:b4f3ed763cb4 427 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 66:1ffafa1c4a87 428 // Thread SD_thread(&SDprintf);
YusukeWakuta 66:1ffafa1c4a87 429 //Thread cadenceThread(&updateCadenceFunc);
YusukeWakuta 66:1ffafa1c4a87 430 cadenceInter.rise(&updateCadence);
YusukeWakuta 66:1ffafa1c4a87 431 cadenceInter.fall(&updateCadence);
tsumagari 34:c46f2f687c7b 432 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 433 init();
YusukeWakuta 66:1ffafa1c4a87 434 int counter = 0;
YusukeWakuta 46:c649987c4d84 435 while(1) {
YusukeWakuta 66:1ffafa1c4a87 436 if(counter%50== 0) {
YusukeWakuta 66:1ffafa1c4a87 437 VCmonitor.getVoltage(&V);
YusukeWakuta 61:7f980cb3a7a8 438 printf("e:%f\n",V);
YusukeWakuta 61:7f980cb3a7a8 439 }
YusukeWakuta 66:1ffafa1c4a87 440 counter++;
YusukeWakuta 66:1ffafa1c4a87 441 // updateCadence(V,mgPin.read() * 3.3 * 1000.0,mgPin2.read() * 3.3* 1000.0);
tsumagari 27:d2955f29a3aa 442 sonarCalc();
taurin 8:31e07f6ed0f7 443 RollAlarm();
tsumagari 27:d2955f29a3aa 444 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 445 WriteDatas();
YusukeWakuta 66:1ffafa1c4a87 446 // wait_ms(20);
taurin 0:085b2c5e3254 447 }
taurin 0:085b2c5e3254 448 }