Revision 5:182f6356bce1, committed 2015-06-11

Comitter:

ojan

Date:

Thu Jun 11 17:40:39 2015 +0000

Parent:

4:45dc5590abc0

Child:

6:2b68f85a984a

Commit message:

add Battery meter

Changed in this revision

--- a/main.cpp	Thu Jun 11 15:43:07 2015 +0000
+++ b/main.cpp	Thu Jun 11 17:40:39 2015 +0000
@@ -28,7 +28,11 @@
 GMS6_CR6    gms(&gps, &pc);             // GPS
 Ticker      INT_timer;                      // 割り込みタイマー
 Log         logger(PA_9, PA_10, PC_1, PB_5, PB_4, PB_3, PB_10);    // ロガー（microSD、XBee）
-DigitalIn   cts(PC_1);
+PwmOut      servoL(PC_7), servoR(PB_6);
+AnalogIn    rf(PC_0);
+AnalogIn    servoVcc(PA_0);
+AnalogIn    logicVcc(PA_1);
+
 
 const float dt = 0.1f;           // 割り込み周期（s）
 
@@ -103,17 +107,25 @@
         
         INT_flag = FALSE;           // 割り込みによる変数書き換えを阻止
         
-        sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", 
-                acc.GetComp(1), acc.GetComp(2), acc.GetComp(3), 
-                gyro.GetComp(1), gyro.GetComp(2), gyro.GetComp(3), 
+        float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f;
+        float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f;
+        
+        sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n", 
+                g.GetComp(1), g.GetComp(2), g.GetComp(3), 
                 geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3), 
-                press, gms.longitude, gms.latitude);
+                press, gms.longitude, gms.latitude, 
+                sv, lv, gms.Ns);
         logger.puts(data);
         
         INT_flag = TRUE;            // 割り込み許可
         
         pc.printf("time: %.3f[s]\r\n", (float)timer.read_ms()/1000.0f);
         
+        // 制御ルーチン
+        {
+        }
+        
+        
         // ループはきっかり1秒ごと
         while(timer.read_ms() < 1000);
         
@@ -209,9 +221,6 @@
     }
     //pc.printf("%d(us)\r\n", timer.read_us());
     
-    //pc.printf("PC_1 = %d\r\n", (int)cts);
-    //pc.printf("test\r\n");
-    
     if(INT_flag != FALSE) {
         g = raw_g;
         for(int i=0; i<3; i++) {

--- a/myConstants.h	Thu Jun 11 15:43:07 2015 +0000
+++ b/myConstants.h	Thu Jun 11 17:40:39 2015 +0000
@@ -1,16 +1,27 @@
 #pragma once
 
+/* Math Constants */
 #define NEARLY_ZERO         0.000000001f
 #define ZERO_TOLERANCE      0.000001f
 #define RAD_TO_DEG          57.2957795f             // 180 / π
 #define DEG_TO_RAD          0.0174532925f           // π / 180
+
+/* Accelerometer */
 #define ACC_LSB_TO_G        0.0000610351562f        // g/LSB (1/2^14
 #define G_TO_MPSS           9.8f                    // (m/s^2)/g
-//#define GYRO_LSB_TO_DEG     0.0304878048f          // deg/LSB (1/32.8
-#define GYRO_LSB_TO_DEG     0.0152671755f          // deg/LSB (1/65.5
+
+/* Gyro Sensor */
+//#define GYRO_LSB_TO_DEG     0.0304878048f           // deg/LSB (1/32.8
+#define GYRO_LSB_TO_DEG     0.0152671755f           // deg/LSB (1/65.5
 //#define GYRO_LSB_TO_DEG     0.00763358778f          // deg/LSB (1/131
+
+/* Pressure Sensor */
 #define PRES_LSB_TO_HPA     0.000244140625f         // hPa/LSB (1/4096
 
+/* Geomagnetic Sensor */
 #define MAG_LSB_TO_GAUSS    0.00092f                // Gauss/LSB
 #define MAG_MAGNITUDE       0.46f                   // Magnitude of GeoMagnetism (Gauss)
-#define MAG_SIN             -0.754709580f            // Sin-Value of Inclination
\ No newline at end of file
+#define MAG_SIN             -0.754709580f           // Sin-Value of Inclination
+
+/* ADC */
+#define ADC_LSB_TO_V        0.000050354f            // 3.3(V)/65535(LSB)
\ No newline at end of file