Revision 44:c51b60c74fef, committed 2017-03-12

Comitter:

YusukeWakuta

Date:

Sun Mar 12 16:39:58 2017 +0000

Branch:

Thread-gyogetsuMPU

Parent:

38:32f483b0a77f

Child:

45:73ac4054ea23

Commit message:

????????????

Changed in this revision

--- a/main.cpp	Thu Mar 09 13:36:24 2017 +0000
+++ b/main.cpp	Sun Mar 12 16:39:58 2017 +0000
@@ -21,8 +21,9 @@
 extern "C" void mbed_reset();
 InterruptIn resetPin(p25);
 Timer resetTimeCount;
-void resetInterrupt(){
-    while(resetPin){
+void resetInterrupt()
+{
+    while(resetPin) {
         resetTimeCount.start();
         if(resetTimeCount.read()>3) mbed_reset();
     }
@@ -81,42 +82,49 @@
 float calcAttackAngle();
 float calcKXdeg(float x);
 
-void air_countUp(){
+void air_countUp()
+{
     air_kaitensu++;
 }
 
-void call_calcAirSpeed(){
+void call_calcAirSpeed()
+{
     air.calcAirSpeed(air_kaitensu);
     air_kaitensu = 0;
 }
 
-void sonarInterruptStart(){
+void sonarInterruptStart()
+{
 //    sonarTimer.start();
 }
 
-void sonarInterruptStop(){
+void sonarInterruptStop()
+{
 //    sonarTimer.stop();
 //    sonarDistTime = sonarTimer.read_us();
 //    sonarTimer.reset();
 //    sonarDist = sonarDistTime*0.018624 - 13.511;
 }
-void sonarCalc(){
+void sonarCalc()
+{
     sonarV = 0;
-    for(int i = 0; i<20; i++){
+    for(int i = 0; i<20; i++) {
         sonarV += sonarPin.read();
         wait(0.01);
     }
     sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
 }
 
-void updateCadence(/*void const *arg*/){
+void updateCadence(/*void const *arg*/)
+{
 //    while(1){
-        cadence_twe.readData();
+    cadence_twe.readData();
 //        Thread::wait(5);
 //    }
 }
 
-void init(){
+void init()
+{
 //--------------------------------------(resetInterrupt init)
     resetPin.rise(resetInterrupt);
     resetPin.mode(PullDown);
@@ -124,22 +132,24 @@
     twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
     //writeTimer.start();
     FusokukeiInit();
-//    MpuInit(); 
+//    MpuInit();
     //writeDatasTicker.attach(&WriteDatas,1);
 //    cadenceUpdateTicker.attach(&updateCadence, 1);
-    
+
 //-----for InterruptMode of sonar----------------------------
 //    sonarPin.rise(&sonarInterruptStart);
 //    sonarPin.fall(&sonarInterruptStop);
 //-----------------------------------------------------------
 }
 
-void FusokukeiInit(){
+void FusokukeiInit()
+{
     FusokukeiPin.rise(air_countUp);
     FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
 }
 
-void MpuInit(){
+void MpuInit()
+{
     i2c.frequency(400000);  // use fast (400 kHz) I2C
     t.start();
     uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
@@ -156,17 +166,13 @@
         }
     } else {
         //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
-    }   
+    }
 }
 
-double calcPulse(int deg){
-    return (0.0006+(deg/180.0)*(0.00235-0.00045));
-
-}
-
-void mpuProcessing(void const *arg){
+void mpuProcessing(void const *arg)
+{
     MpuInit();
-    while(1){
+    while(1) {
         if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
             mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
             mpu6050.getAres();
@@ -208,25 +214,27 @@
     }//while(1)
 }
 
-void DataReceiveFromSouda(/*void const *arg*/){
+void DataReceiveFromSouda(/*void const *arg*/)
+{
 //    while(1){
-      if(soudaSerial.readable()){
+    if(soudaSerial.readable()) {
         led2 = !led2;
         char c = soudaSerial.getc();
-        while( c != ';' ){
+        while( c != ';' ) {
             c = soudaSerial.getc();
         }
-        for(int i = 0; i < SOUDA_DATAS_NUM; i++){
+        for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
             soudaDatas[i] = soudaSerial.getc();
         }
-      }//if
+    }//if
 //    }//while(1)
 }
 
-void WriteDatas(){
+void WriteDatas()
+{
     int i;
-    for(i = 0; i < SOUDA_DATAS_NUM; i++){
-        //writeDatas[write_datas_index][i] = 0.0;    
+    for(i = 0; i < SOUDA_DATAS_NUM; i++) {
+        //writeDatas[write_datas_index][i] = 0.0;
         writeDatas[write_datas_index][i] = (float)soudaDatas[i];
     }
     writeDatas[write_datas_index][i++] = pitch;
@@ -247,80 +255,57 @@
 //    }
 //    else{
 //        write_datas_index++;
-//    } 
-    for(int i = 0; i < SOUDA_DATAS_NUM; i++){
+//    }
+    for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
         pc.printf("%i   ",soudaDatas[i]);
         twe.printf("%i,",soudaDatas[i]);
 //        android.printf("%i,",soudaDatas[i]);
     }
     //pc.printf("\n\r");
-    twe.printf("%f,%f,%f,",pitch,roll,yaw);
-    twe.printf("%f,%f,%f\r\n",airSpeed,sonarDist,cadence_twe.cadence); 
+    twe.printf("%f,%f,%f,%f,%f,%f\r\n",pitch,roll,yaw,airSpeed,sonarDist,cadence_twe.cadence);
     pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
-    //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));   
+    //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
     pc.printf("%f,%f,%s\n\r",airSpeed,sonarDist,cadence_twe.myBuff);
     pc.printf(cadence_twe.strData.c_str());
     pc.putc(cadence_twe.strV[0]);
-    if(android.writeable()){
+    if(android.writeable()) {
 //        for(int i = 0; i<SOUDA_DATAS_NUM; i++){
 //            android.printf("%i,",soudaDatas[i]);
 //        }
 //        android.printf("%f,%f,%f,",pitch,roll,yaw);
-//        android.printf("%f,%f,\r\n",airSpeed,sonarDist); 
+//        android.printf("%f,%f,\r\n",airSpeed,sonarDist);
         android.printf("%f,%f,test\n\r",roll,airSpeed);
     }
     //SDprintf();
 }
 
-void WriteDatasF(){
+void WriteDatasF()
+{
     pc.printf("airSpeed:%f\n\r",airSpeed);
 }
 
-//float calcKXdeg(float x){
-//    return -310.54*x+156.65;
-//}
-
-//float calcAttackAngle(){
-//    return pitch-calcKXdeg(kx_Z.read());
-//}
-
-void RollAlarm(){ 
-    if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)){
+void RollAlarm()
+{
+    if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
         RollAlarmL = 1;
-    }
-    else{
+    } else {
         RollAlarmL = 0;
     }
-    
-    if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)){
+
+    if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
         RollAlarmR = 1;
-    }
-    else{
+    } else {
         RollAlarmR = 0;
     }
 }
 
-void WriteServo(){
-    //kisokuServo.pulsewidth(calcPulse(airSpeed*10));
-//    kisokuServo.pulsewidth(calcPulse(9*airSpeed));
-    if(pitch<0){
-//        geikakuServo.pulsewidth(calcPulse(0));
-    }
-    else{
-//        geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0)));
-    }
-    //pc.printf("a:%f",airSpeed);
-    //pc.printf("p:%f\r\n",pitch);
-    //kisokuServo.pulsewidth(calcPulse(0));
-    //geikakuServo.pulsewidth(calcPulse(0));
-}
-
-int main(){
+int main()
+{
 //    Thread cadence_thread(&updateCadence);
     Thread mpu_thread(&mpuProcessing);
 //    Thread soudaSerial_thread(&DataReceiveFromSouda);
     init();
-    while(1){
+    while(1) {
         pc.printf("test\n\r");
 //        mpuProcessing();
         sonarCalc();