匡尚 青柳
あの装置用
Dependencies: ADXL345_I2C QEI SDFileSystem mbed
Revision 0:86efb6256f31, committed 2017-01-30
- Comitter:
- ojityan
- Date:
- Mon Jan 30 01:03:32 2017 +0000
- Child:
- 1:a20656b5bfe1
- Commit message:
- can't save
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL345_I2C.lib Mon Jan 30 01:03:32 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/nimbusgb/code/ADXL345_I2C/#92fa975dab32
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Jan 30 01:03:32 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Mon Jan 30 01:03:32 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/neilt6/code/SDFileSystem/#e4d2567200db
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jan 30 01:03:32 2017 +0000
@@ -0,0 +1,301 @@
+#include "mbed.h"
+#include "SDFileSystem.h"
+#include "ADXL345_I2C.h"
+#include "QEI.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+
+void savedata(void);
+void flipB(void);
+
+DigitalOut dir(p25);
+PwmOut duty(p24);
+I2C i2c(p28, p27);
+
+SDFileSystem sd(p11, p12, p13, p14, "sd");
+ADXL345_I2C accelerometer(p9, p10);
+Serial debug(USBTX,USBRX);
+//QEI wheel (p21, p22, p23, 1000);
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+DigitalIn sensorA(p17);
+DigitalIn sensorB(p18);
+DigitalIn sensorC(p19);
+DigitalIn sensorD(p20);
+InterruptIn sensorB_(p18);
+
+int flag = 0;
+int flipB_ = 0;
+Ticker save;
+FILE *fp;
+Timer t;
+
+
+static char i2c_addr = 0x80;
+
+
+
+int main()
+{
+
+
+
+// int i;
+
+ char filename[80];
+ char a[200][250];
+ char rotate[80];
+ int i,j;
+ int num;
+ double C;
+ unsigned short read_item;
+ char p_addr = 0x00;
+ char p_addr_i = 0x04;
+ char I[2];
+ float duty_output;
+ int loop_break;
+
+ double F = 0;
+ double F_1 = 0;
+ double F_2 = 0;
+ double F_3 = 0;
+
+ double a_device;
+ double a_output;
+
+
+ double ka = 100;
+ double kv = 100;
+
+ int readings[3] = {0, 0, 0};
+// int16_t a[3] = {0,0,0};
+ double a_;
+ double v;
+
+ myled1 = 1;
+
+//---ADXL345setting---
+// debug.printf("Starting ADXL345 test...\n");
+// debug.printf("Device ID is: 0x%02x\n", accelerometer.getDevId());
+
+ //Go into standby mode to configure the device.
+ accelerometer.setPowerControl(0x00);
+
+ //Full resolution, +/-16g, 4mg/LSB.
+ accelerometer.setDataFormatControl(0x0B);
+
+ //3.2kHz data rate.
+ accelerometer.setDataRate(ADXL345_3200HZ);
+
+ //Measurement mode.
+ accelerometer.setPowerControl(0x08);
+
+ accelerometer.setOffset (0, 0);
+
+ myled2 = 1;
+
+// printf("Hello World!\n");
+
+//---SDsetting--
+ mkdir("/sd/mydir", 0777);
+ for(num=1; num<=256; num=num+1) {
+ sprintf(filename,"/sd/mydir/data%d.csv",num);
+ fp = fopen(filename, "r");
+ if(fp == NULL) {
+ fp = fopen(filename,"w");
+ break;
+ }
+ fclose(fp);
+ }
+// fprintf(fp, "Hello fun SD Card World!\n");
+ myled3 = 1;
+//---ammeter setting---
+ i2c.start();
+ if(i2c.write(i2c_addr | 0,&p_addr,sizeof(p_addr)) == 0) {
+ debug.printf("DA-ME-DA-YO!\n");
+ }
+ debug.printf("OK!\n");
+
+ //rawWrite(0x05,0x0A00);
+
+
+ char write_item[3];
+ short Config_set = 0x444F;//0x4A4F;//0x4E97;//0x4C97;
+ write_item[0] = 0x00;
+ write_item[1] = static_cast<char>((Config_set >> 8) & 0x00ff);
+ write_item[2] = static_cast<char>(Config_set & 0x00ff);
+ if(i2c.write(i2c_addr | 0,write_item,3) == 0) {
+ debug.printf("OK!!\n");
+ } else {
+ debug.printf("OH!!\n");
+ }
+
+
+ short Calibration_set = 0x0A00;
+ write_item[0] = 0x05;
+ write_item[1] = static_cast<char>((Calibration_set >> 8) & 0x00ff);
+ write_item[2] = static_cast<char>(Calibration_set & 0x00ff);
+ if(i2c.write(i2c_addr | 0,write_item,3) == 0) {
+ debug.printf("OK!!\n");
+ } else {
+ debug.printf("OH!!\n");
+ }
+
+ myled4 = 1;
+ wait(3.0);
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 0;
+
+
+//---ammeter setting end---
+ duty_output = 0.0;
+ duty.period(0.00005);
+// NVIC_SetPriority(0, 1);
+
+
+/////////////////////
+//---main routen---
+/////////////////////
+ while(1) {
+ //debug.printf("enter the loop\n");
+ t.reset();
+ i = 0;
+ loop_break = 0;
+ debug.printf("writing OK!\n");
+//---position reset---
+ dir = 0;
+ duty = 0.50f;
+ while(!sensorD) {
+// debug.printf("loop sensorD\n");
+ }
+// debug.printf("loop end\n");
+ duty = 0.0f;
+ wait(2.0);
+
+//---sensing start---
+
+// wheel.reset();
+ flipB_ = 0;
+// __enable_irq();
+ dir = 1;
+// duty.write(duty_);
+// debug.printf("motor start\n");
+
+// debug.printf("interrupt start!\n");
+// sensorB_.rise(&flipB);
+ while (1) {
+ accelerometer.getOutput(readings);
+// debug.printf("%i\n", abs((int16_t)readings[0]));
+
+ if( abs((int16_t)readings[0]) > 30) {
+ myled3 = 1;
+ break;
+ }
+ }
+ save.attach(&savedata, 0.01 );
+ t.start();
+
+
+ while(t.read() <= 0.50) {
+// debug.printf("loop sensorB\n");
+ if(flag) {
+ flag = 0;
+
+//---reading acceleration and control---
+ accelerometer.getOutput(readings);
+ //a[0] = (int16_t)readings[0];
+ a_device = (int16_t)readings[0] * 0.0383;
+ v = v + a_device * 0.01;
+ if( a_device < 0) {
+ if(abs(v) > 0) {
+ F_1 = -1 * ( ka * a_device) + (kv * v);
+ F = 0.35 * F_1 + 0.4 * F_2 + 0.25 * F_3;
+ a_output = F / 5.0;
+ duty_output = a_output / 118 + duty_output;
+ if(duty_output > 0.65) {
+ duty_output = 0.65;
+ myled4 = 1;
+ }
+ duty.write(duty_output);
+ F_3 = F_2;
+ F_2 = F;
+ debug.printf("%i,%f,%f\n", (int16_t)readings[0],v,duty_output);
+ }
+ }
+
+//---reading current---
+ while(i2c.write(i2c_addr | 0,&p_addr_i,sizeof(p_addr_i)) != 0);
+ while(i2c.read(i2c_addr | 0x01,I,sizeof(I)) != 0);
+ read_item = static_cast<unsigned short>(I[0]);
+ read_item = (read_item << 8) | static_cast<unsigned short>(I[1]);
+
+ char *s_p = reinterpret_cast<char *>(&read_item);
+ short d_s;
+ char *d_p = reinterpret_cast<char *>(&d_s);
+ *(d_p + 0) = *(s_p + 0);
+ *(d_p + 1) = *(s_p + 1);
+ C = static_cast<double>(d_s) /* * 1.25 */;
+/* if(1) {
+ sprintf(a[i],"%f10.3,%f10.2,%d,%f10.3,%f10.3,%f10.3,%f10.3\n",t.read(),C,wheel.getPulses(),a_device,v,F,duty_output);
+ if( i > 299) {
+ loop_break = 1;
+ break;
+ }
+ i = i + 1;
+ }*/
+
+ }
+ if(loop_break) {
+ break;
+ }
+
+ }
+ myled2 = 1;
+ t.stop();
+
+
+ duty = 0.0f;
+
+ for( j = 0; j < i; j++) {
+ fprintf(fp,a[j]);
+ }
+
+// sprintf(rotate,"%f,%d\n",t.read(),wheel.getPulses());
+ fprintf(fp,rotate);
+
+
+ wait(3.0);
+
+ save.detach();
+ while(1) {
+ myled2 = 1;
+ wait(0.2);
+ myled2 = 0;
+ wait(0.2);
+ }
+ }
+
+}
+
+
+
+
+void savedata(void)
+{
+ flag = 1;
+// debug.printf("interrupt!\n");
+}
+
+void flipB(void)
+{
+ flipB_ = 1;
+ duty = 0.0f;
+ debug.printf("flip sensorB!");
+ __disable_irq();
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jan 30 01:03:32 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/99b5ccf27215 \ No newline at end of file