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@71:c06da87572f1, 2017-06-16 (annotated)

Committer:
tsumagari
Date:
Fri Jun 16 08:06:21 2017 +0000
Branch:
SDandCadenceThread
Revision:
71:c06da87572f1
Parent:
70:763d62c486ca
Child:
72:bb664e4378a0
SD?????LocalFileSystem???????????

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 71:c06da87572f1 37 //SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 71:c06da87572f1 38 LocalFileSystem local("local");
tsumagari 56:6823d2324704 39 FILE* fp;
tsumagari 39:7623678de4e2 40
tsumagari 42:73c3862e4c12 41 //RawSerial pc(USBTX,USBRX);
tsumagari 62:98294011f568 42 //Serial android(p9,p10);
tsumagari 27:d2955f29a3aa 43 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 44 BufferedSoftSerial twe(p11,p12);
tsumagari 62:98294011f568 45 //Cadence cadence_twe(p13,p14);
tsumagari 63:f7f4edd463b1 46 RawSerial android(p13,p14);
tsumagari 62:98294011f568 47
tsumagari 41:1bd730c4840d 48 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 49 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 50 //Timer writeTimer;
taurin 0:085b2c5e3254 51
tsumagari 38:32f483b0a77f 52 InterruptIn FusokukeiPin(p24);
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 34:c46f2f687c7b 57 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 58 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 59 double sonarDist;
tsumagari 27:d2955f29a3aa 60 float sonarV;
tsumagari 27:d2955f29a3aa 61
tsumagari 27:d2955f29a3aa 62
tsumagari 26:50272431cd1e 63 float sum = 0;
tsumagari 26:50272431cd1e 64 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 65 MPU6050 mpu6050;
taurin 0:085b2c5e3254 66 Timer t;
YusukeWakuta 61:7f980cb3a7a8 67 Timer cadenceTimer;
YusukeWakuta 61:7f980cb3a7a8 68
tsumagari 34:c46f2f687c7b 69 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 70
tsumagari 38:32f483b0a77f 71 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 72 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 73 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 74 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 75 DigitalOut led4(LED4);
tsumagari 62:98294011f568 76 I2C InaI2c(p9,p10);
tsumagari 71:c06da87572f1 77 //INA226 VCmonitor(InaI2c,0x9C);
YusukeWakuta 61:7f980cb3a7a8 78 AnalogIn mgPin(p20);
tsumagari 62:98294011f568 79 AnalogIn mgPin2(p16);
taurin 4:a863a092141c 80
taurin 0:085b2c5e3254 81 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 82 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 83 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 84
taurin 0:085b2c5e3254 85 void air_countUp();
taurin 0:085b2c5e3254 86 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 87 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 88 void sonarInterruptStop();
YusukeWakuta 61:7f980cb3a7a8 89 void updateCadence(double source, double input,double input2,bool isFFlag);
taurin 0:085b2c5e3254 90 void init();
taurin 0:085b2c5e3254 91 void FusokukeiInit();
tsumagari 26:50272431cd1e 92 void MpuInit();
tsumagari 34:c46f2f687c7b 93 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 94 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 95 void SdInit();
tsumagari 56:6823d2324704 96 void SDprintf();
taurin 0:085b2c5e3254 97 void WriteDatas();
tsumagari 27:d2955f29a3aa 98 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 99 float calcKXdeg(float x);
YusukeWakuta 61:7f980cb3a7a8 100 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 101 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 102 double cadenceResult = 0.0; //最終的なケイデンスの値です。
YusukeWakuta 61:7f980cb3a7a8 103 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 104 double V;
tsumagari 15:6966299bea4c 105
YusukeWakuta 46:c649987c4d84 106 void air_countUp()
YusukeWakuta 46:c649987c4d84 107 {
taurin 0:085b2c5e3254 108 air_kaitensu++;
tsumagari 69:1f892421d694 109 // led3 = !led3;
taurin 0:085b2c5e3254 110 }
taurin 0:085b2c5e3254 111
YusukeWakuta 46:c649987c4d84 112 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 113 {
taurin 0:085b2c5e3254 114 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 115 air_kaitensu = 0;
taurin 0:085b2c5e3254 116 }
taurin 0:085b2c5e3254 117
YusukeWakuta 46:c649987c4d84 118 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 119 {
tsumagari 34:c46f2f687c7b 120 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 121 }
tsumagari 27:d2955f29a3aa 122
YusukeWakuta 46:c649987c4d84 123 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 124 {
tsumagari 26:50272431cd1e 125 // sonarTimer.stop();
tsumagari 26:50272431cd1e 126 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 127 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 128 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 129 }
YusukeWakuta 46:c649987c4d84 130 void sonarCalc()
YusukeWakuta 46:c649987c4d84 131 {
tsumagari 27:d2955f29a3aa 132 sonarV = 0;
YusukeWakuta 46:c649987c4d84 133 for(int i = 0; i<20; i++) {
tsumagari 27:d2955f29a3aa 134 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 135 wait(0.01);
tsumagari 27:d2955f29a3aa 136 }
tsumagari 27:d2955f29a3aa 137 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 138 }
tsumagari 27:d2955f29a3aa 139
jaity 59:7cb8eaf553ef 140
jaity 59:7cb8eaf553ef 141 // 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 142 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 143 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 144 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 145 {
jaity 59:7cb8eaf553ef 146 double a, b;
jaity 59:7cb8eaf553ef 147 if(source < 3200)
jaity 59:7cb8eaf553ef 148 return -1;
jaity 59:7cb8eaf553ef 149
jaity 59:7cb8eaf553ef 150 if(source < 5500)
jaity 59:7cb8eaf553ef 151 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 152 else if(source < 7000)
jaity 59:7cb8eaf553ef 153 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 154 else
jaity 59:7cb8eaf553ef 155 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 156
jaity 59:7cb8eaf553ef 157 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 158 }
jaity 59:7cb8eaf553ef 159
YusukeWakuta 61:7f980cb3a7a8 160 //ケイデンスの値を取得します。
YusukeWakuta 61:7f980cb3a7a8 161 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
YusukeWakuta 70:763d62c486ca 162 void updateCadence(double source, double input,double input2)
YusukeWakuta 46:c649987c4d84 163 {
YusukeWakuta 70:763d62c486ca 164
YusukeWakuta 70:763d62c486ca 165 static bool isFFlag = true;
YusukeWakuta 61:7f980cb3a7a8 166 if(isFFlag) {
YusukeWakuta 61:7f980cb3a7a8 167 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 61:7f980cb3a7a8 168 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 169 cadenceTimer.start();
YusukeWakuta 70:763d62c486ca 170 isFFlag = false;
YusukeWakuta 61:7f980cb3a7a8 171 return;
YusukeWakuta 61:7f980cb3a7a8 172 }
YusukeWakuta 70:763d62c486ca 173 if((isOh182eOverThreshold(source,input) != lastCadenceInput) ||(isOh182eOverThreshold(source,input2) != lastCadenceInput2)) {
tsumagari 69:1f892421d694 174 if(cadenceCounter < 3) {
YusukeWakuta 61:7f980cb3a7a8 175 cadenceCounter++;
YusukeWakuta 70:763d62c486ca 176 led3 = !led3;
YusukeWakuta 70:763d62c486ca 177 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 70:763d62c486ca 178 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 179 return;
YusukeWakuta 61:7f980cb3a7a8 180 }
YusukeWakuta 61:7f980cb3a7a8 181 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 182 cadenceTimer.reset();
YusukeWakuta 61:7f980cb3a7a8 183 cadenceCounter = 0;
YusukeWakuta 61:7f980cb3a7a8 184 }
YusukeWakuta 70:763d62c486ca 185 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 70:763d62c486ca 186 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
tsumagari 27:d2955f29a3aa 187 }
tsumagari 26:50272431cd1e 188
YusukeWakuta 46:c649987c4d84 189 void init()
YusukeWakuta 46:c649987c4d84 190 {
tsumagari 58:b4f3ed763cb4 191 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 26:50272431cd1e 192 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 193 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 194 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 195 //-----------------------------------------------------------
YusukeWakuta 50:2160c28d02f8 196 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 50:2160c28d02f8 197 android.baud(9600);
tsumagari 27:d2955f29a3aa 198 //writeTimer.start();
taurin 0:085b2c5e3254 199 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 200 // SdInit();
YusukeWakuta 46:c649987c4d84 201 // MpuInit();
tsumagari 27:d2955f29a3aa 202 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 203
tsumagari 27:d2955f29a3aa 204 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 205 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 206 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 207 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 208 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 209 val = 0;
tsumagari 71:c06da87572f1 210 // if(VCmonitor.rawRead(0x00,&val) != 0) {
tsumagari 71:c06da87572f1 211 // printf("VCmonitor READ ERROR\n");
tsumagari 71:c06da87572f1 212 // while(1) {}
tsumagari 71:c06da87572f1 213 // }
tsumagari 71:c06da87572f1 214 // VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 215 }
taurin 0:085b2c5e3254 216
YusukeWakuta 46:c649987c4d84 217 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 218 {
taurin 0:085b2c5e3254 219 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 220 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 221 }
taurin 0:085b2c5e3254 222
YusukeWakuta 46:c649987c4d84 223 void MpuInit()
YusukeWakuta 46:c649987c4d84 224 {
tsumagari 26:50272431cd1e 225 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 226 t.start();
tsumagari 26:50272431cd1e 227 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 228 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 229 Thread::wait(100);
tsumagari 26:50272431cd1e 230 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 231 Thread::wait(100);
tsumagari 26:50272431cd1e 232 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 233 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 234 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 50:2160c28d02f8 235 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 236 Thread::wait(200);
tsumagari 26:50272431cd1e 237 } else {
tsumagari 26:50272431cd1e 238 }
tsumagari 26:50272431cd1e 239 } else {
YusukeWakuta 50:2160c28d02f8 240 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 241 }
tsumagari 26:50272431cd1e 242 }
taurin 0:085b2c5e3254 243
YusukeWakuta 46:c649987c4d84 244 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 245 {
tsumagari 27:d2955f29a3aa 246 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 247 }
tsumagari 27:d2955f29a3aa 248
YusukeWakuta 46:c649987c4d84 249 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 250 {
tsumagari 33:69ad9920f693 251 MpuInit();
YusukeWakuta 46:c649987c4d84 252 while(1) {
tsumagari 33:69ad9920f693 253 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 254 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 255 mpu6050.getAres();
tsumagari 33:69ad9920f693 256 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 257 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 258 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 259 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 260 mpu6050.getGres();
tsumagari 33:69ad9920f693 261 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 262 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 263 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 264 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 265 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 266 }
tsumagari 33:69ad9920f693 267 Now = t.read_us();
tsumagari 33:69ad9920f693 268 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 269 lastUpdate = Now;
tsumagari 33:69ad9920f693 270 sum += deltat;
tsumagari 33:69ad9920f693 271 sumCount++;
tsumagari 33:69ad9920f693 272 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 273 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 274 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 275 }
tsumagari 33:69ad9920f693 276 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 277 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 278 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 279 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 280 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 281 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 282 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 283 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 284 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 285 myled= !myled;
tsumagari 33:69ad9920f693 286 count = t.read_ms();
tsumagari 33:69ad9920f693 287 sum = 0;
tsumagari 33:69ad9920f693 288 sumCount = 0;
tsumagari 33:69ad9920f693 289 }
tsumagari 40:f15c11485e95 290 Thread::wait(1);
tsumagari 33:69ad9920f693 291 }//while(1)
tsumagari 26:50272431cd1e 292 }
tsumagari 26:50272431cd1e 293
YusukeWakuta 46:c649987c4d84 294 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 295 {
tsumagari 34:c46f2f687c7b 296 // while(1){
YusukeWakuta 46:c649987c4d84 297 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 298 led2 = !led2;
tsumagari 34:c46f2f687c7b 299 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 300 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 301 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 302 }
YusukeWakuta 46:c649987c4d84 303 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 304 soudaDatas[i] = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 305 }
YusukeWakuta 46:c649987c4d84 306 }//if
tsumagari 34:c46f2f687c7b 307 // }//while(1)
taurin 3:8dc516be2e7e 308 }
tsumagari 56:6823d2324704 309
YusukeWakuta 61:7f980cb3a7a8 310 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 311 {
tsumagari 71:c06da87572f1 312 // mkdir("/local/mydir", 0777);
tsumagari 71:c06da87572f1 313 fp = fopen("/local/filetest.csv", "w");
tsumagari 56:6823d2324704 314 if(fp == NULL) {
tsumagari 69:1f892421d694 315 printf("Could not open file for write\n");
tsumagari 69:1f892421d694 316 return;
tsumagari 56:6823d2324704 317 }
tsumagari 56:6823d2324704 318 fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
tsumagari 56:6823d2324704 319 fclose(fp);
tsumagari 56:6823d2324704 320 }
tsumagari 56:6823d2324704 321
YusukeWakuta 61:7f980cb3a7a8 322 void SDprintf(const void* arg)
YusukeWakuta 61:7f980cb3a7a8 323 {
tsumagari 71:c06da87572f1 324 SdInit();
YusukeWakuta 61:7f980cb3a7a8 325 while(1) {
YusukeWakuta 70:763d62c486ca 326 updateCadence(V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
YusukeWakuta 70:763d62c486ca 327 // pc.printf("V:%5.5f mgPin:%5.5f mgPin2:%5.5f",V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
tsumagari 71:c06da87572f1 328 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 71:c06da87572f1 329 fp = fopen("/local/data.csv", "a");
tsumagari 71:c06da87572f1 330 if(fp == NULL) {
tsumagari 71:c06da87572f1 331 error("Could not open file for write!!\n");
tsumagari 71:c06da87572f1 332 }
tsumagari 71:c06da87572f1 333 for(int i = 0; i < SD_WRITE_NUM; i++) {
tsumagari 71:c06da87572f1 334 for(int j = 0; j < WRITE_DATAS_NUM; j++) {
tsumagari 71:c06da87572f1 335 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 71:c06da87572f1 336 }
tsumagari 71:c06da87572f1 337 fprintf(fp,"\n");
tsumagari 71:c06da87572f1 338 }
tsumagari 71:c06da87572f1 339
tsumagari 71:c06da87572f1 340 fclose(fp);
tsumagari 71:c06da87572f1 341
tsumagari 71:c06da87572f1 342 write_datas_index=0;
tsumagari 71:c06da87572f1 343 }
tsumagari 69:1f892421d694 344 Thread::wait(100);
tsumagari 56:6823d2324704 345 }
tsumagari 56:6823d2324704 346 }
tsumagari 39:7623678de4e2 347
YusukeWakuta 46:c649987c4d84 348 void WriteDatas()
YusukeWakuta 46:c649987c4d84 349 {
taurin 8:31e07f6ed0f7 350 int i;
YusukeWakuta 46:c649987c4d84 351 for(i = 0; i < SOUDA_DATAS_NUM; i++) {
YusukeWakuta 46:c649987c4d84 352 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 353 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 354 }
taurin 8:31e07f6ed0f7 355 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 356 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 357 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 358 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 359 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 62:98294011f568 360 writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence;
taurin 8:31e07f6ed0f7 361 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 362 //for(i = 0; i < WRITE_DATAS_NUM; i++){
YusukeWakuta 50:2160c28d02f8 363 // ////pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 364 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 365 // }
YusukeWakuta 50:2160c28d02f8 366 // //pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 367 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 368 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 369 // SDprintf();
tsumagari 39:7623678de4e2 370 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 371 } else {
tsumagari 39:7623678de4e2 372 write_datas_index++;
YusukeWakuta 46:c649987c4d84 373 }
tsumagari 64:2de7ea84d39a 374 char sbuf[128];
tsumagari 64:2de7ea84d39a 375 int p=0;
tsumagari 64:2de7ea84d39a 376 // twe.printf("con,");
tsumagari 65:075118165355 377 p += sprintf(sbuf,"con,");
YusukeWakuta 46:c649987c4d84 378 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 63:f7f4edd463b1 379 // pc.printf("%i ",soudaDatas[i]);
tsumagari 64:2de7ea84d39a 380 // twe.printf("%i,",soudaDatas[i]);
tsumagari 65:075118165355 381 p += sprintf(sbuf+p,"%i,",soudaDatas[i]);
YusukeWakuta 50:2160c28d02f8 382
YusukeWakuta 48:0c9f3a057f79 383 if(i == YOKUTAN_DATAS_NUM - 1)
tsumagari 64:2de7ea84d39a 384 // twe.printf("%i\n",soudaDatas[i]);
tsumagari 65:075118165355 385 p += sprintf(sbuf+p,"%i\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 386 }
tsumagari 64:2de7ea84d39a 387 twe.printf("%s",sbuf);
YusukeWakuta 48:0c9f3a057f79 388 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]);
YusukeWakuta 70:763d62c486ca 389
YusukeWakuta 46:c649987c4d84 390 /*
YusukeWakuta 46:c649987c4d84 391 送信文字列
YusukeWakuta 46:c649987c4d84 392 0-13翼端データ
YusukeWakuta 46:c649987c4d84 393 14-17 R erebon
YusukeWakuta 46:c649987c4d84 394 18 R DRUG
YusukeWakuta 46:c649987c4d84 395 19-22 L erebon
YusukeWakuta 46:c649987c4d84 396 23 LDRUG
YusukeWakuta 46:c649987c4d84 397 */
YusukeWakuta 50:2160c28d02f8 398 ////pc.printf("\n\r");
YusukeWakuta 48:0c9f3a057f79 399 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
tsumagari 62:98294011f568 400 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 401
YusukeWakuta 50:2160c28d02f8 402 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 63:f7f4edd463b1 403 // pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 404 // 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]);
tsumagari 63:f7f4edd463b1 405 // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
tsumagari 64:2de7ea84d39a 406 // printf("mgPin V:%f\n\r",mgPin.read()*3.3);
YusukeWakuta 70:763d62c486ca 407 // pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",
YusukeWakuta 70:763d62c486ca 408 // 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 70:763d62c486ca 409 // pitch,roll,yaw,
YusukeWakuta 70:763d62c486ca 410 // airSpeed,sonarDist,cadenceResult);
YusukeWakuta 70:763d62c486ca 411 pc.printf("cadence:%5.5f\n\r",cadenceResult);
YusukeWakuta 70:763d62c486ca 412
tsumagari 42:73c3862e4c12 413 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 50:2160c28d02f8 414 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 415 // }
tsumagari 51:f391d3a02397 416 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 417 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 418 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 419 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 62:98294011f568 420 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);//cadence_twe.cadence);
YusukeWakuta 70:763d62c486ca 421 // led2 = !led2;
tsumagari 27:d2955f29a3aa 422 }
tsumagari 40:f15c11485e95 423 // SDprintf();
taurin 9:95eb0bbdc2a9 424 }
taurin 9:95eb0bbdc2a9 425
YusukeWakuta 46:c649987c4d84 426 void WriteDatasF()
YusukeWakuta 46:c649987c4d84 427 {
YusukeWakuta 50:2160c28d02f8 428 //pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 429 }
tsumagari 27:d2955f29a3aa 430
tsumagari 26:50272431cd1e 431 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 432 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 433 //}
taurin 0:085b2c5e3254 434
YusukeWakuta 46:c649987c4d84 435 void RollAlarm()
YusukeWakuta 46:c649987c4d84 436 {
YusukeWakuta 46:c649987c4d84 437 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 438 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 439 } else {
taurin 0:085b2c5e3254 440 RollAlarmL = 0;
taurin 0:085b2c5e3254 441 }
YusukeWakuta 46:c649987c4d84 442
YusukeWakuta 46:c649987c4d84 443 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 444 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 445 } else {
taurin 0:085b2c5e3254 446 RollAlarmR = 0;
taurin 0:085b2c5e3254 447 }
taurin 0:085b2c5e3254 448 }
taurin 0:085b2c5e3254 449
YusukeWakuta 46:c649987c4d84 450 int main()
YusukeWakuta 46:c649987c4d84 451 {
tsumagari 58:b4f3ed763cb4 452 Thread mpu_thread(&mpuProcessing);
tsumagari 58:b4f3ed763cb4 453 Thread SD_thread(&SDprintf);
tsumagari 34:c46f2f687c7b 454 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 455 init();
tsumagari 69:1f892421d694 456 int VCcounter = 0;
YusukeWakuta 46:c649987c4d84 457 while(1) {
YusukeWakuta 70:763d62c486ca 458 if(VCcounter%20 == 0 ) {
tsumagari 71:c06da87572f1 459 // if( VCmonitor.getVoltage(&V) == 0) {
tsumagari 71:c06da87572f1 460 // pc.printf("e:%f\n",V);
tsumagari 71:c06da87572f1 461 // }
YusukeWakuta 70:763d62c486ca 462 }
YusukeWakuta 70:763d62c486ca 463 VCcounter++;
YusukeWakuta 70:763d62c486ca 464
tsumagari 69:1f892421d694 465 // updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
YusukeWakuta 50:2160c28d02f8 466 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 467 // mpuProcessing();
tsumagari 27:d2955f29a3aa 468 sonarCalc();
tsumagari 69:1f892421d694 469 Thread::wait(30);
taurin 8:31e07f6ed0f7 470 RollAlarm();
tsumagari 27:d2955f29a3aa 471 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 472 WriteDatas();
tsumagari 40:f15c11485e95 473 led4 = !led4;
taurin 0:085b2c5e3254 474 }
taurin 0:085b2c5e3254 475 }