hiroya taura / Mbed 2 deprecated LAURUS_program

MPU6050のサンプルプログラム２

Dependencies:   ConfigFile SDFileSystem mbed

Fork of LAURUS_program by LAURUS

Files at this revision

API Documentation at this revision

Revision 26:6e09df57ee91, committed 2015-06-28

Comitter:
ojan
Date:
Sun Jun 28 05:48:46 2015 +0000
Parent:
25:4c72d7420d8a
Child:
27:a26ff85bba23
Commit message:
LAURUS_Program_v2.5.1

Changed in this revision

LAURUS_program.lib Show annotated file Show diff for this revision Revisions of this file
SDFileSystem.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LAURUS_program.lib	Sun Jun 28 05:48:46 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/LAURUS/code/LAURUS_program/#4c72d7420d8a

--- a/SDFileSystem.lib	Fri Jun 26 15:09:01 2015 +0000
+++ b/SDFileSystem.lib	Sun Jun 28 05:48:46 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/mbed/code/SDFileSystem/#7b35d1709458
+http://mbed.org/users/neilt6/code/SDFileSystem/#c2c1f0b16380

--- a/main.cpp	Fri Jun 26 15:09:01 2015 +0000
+++ b/main.cpp	Sun Jun 28 05:48:46 2015 +0000
@@ -18,7 +18,6 @@
 //#define SERVO_DEBUG
 //#define DIRECTION_DEBUG
 
-
 #ifdef DIRECTION_DEBUG
 const float TargetDirection = 90.0f;        // 真西に飛ぶ
 #endif
@@ -190,24 +189,32 @@
     i2c.frequency(400000);                  // I2Cの通信速度を400kHzに設定
     
     //Config読み取り
+    xbee.printf("load...");
     while(!LoadConfig()) {
         wait(0.1f);
+        xbee.printf(".");
     }
+    xbee.printf("complete\r\n");
     xbee.printf("target(%.5f, %.5f)\r\n", target_x, target_y);
     
     // SDカード初期化
+    xbee.printf("SD Init...");
     while(!SD_Init()) {
         wait(0.1f);
+        xbee.printf(".");
     }
+    xbee.printf("complete\r\n");
     
     // センサー関連の初期化
+    xbee.printf("Sensors Init...");
     SensorsInit();
+    xbee.printf("complete\r\n");
 
     //カルマンフィルタ初期化
     KalmanInit();
 
+    NVIC_SetPriority(TIM5_IRQn, 5);
     ticker.attach(&DataUpdate, dt);         // 割り込み有効化（Freq = 0.01fなので、10msおきの割り込み）
-    NVIC_SetPriority(TIM5_IRQn, 5);
     
     servoL.period(0.020f);                  // サーボの信号の周期は20ms
     servoR.period(0.020f);
@@ -255,7 +262,7 @@
         servoR.pulsewidth((ServoMax - ServoMin) * pull_R / (float)PullMax + ServoMin);
         
         // データをmicroSDに保存し、XBeeでPCへ送信する
-        sprintf(data, "%d, %.1f,%.1f,%.1f, %.3f,%.5f,%.5f, %.3f,%.3f,%.1f, %d, %d,%d\r\n",
+        sprintf(data, "%d, %.1f,%.1f,%.1f, %.3f,%.6f,%.6f, %.3f,%.3f,%.1f, %d, %d,%d\r\n",
                 UTC_t, yaw, pitch, roll,
                 press, gms.longitude, gms.latitude,
                 vrt_acc, height, Distance(target_p, p), 
@@ -506,6 +513,8 @@
         wait(0.1f);
     }
     p0 /= 10.0f;
+    
+    xbee.printf(".");
 }
 
 /** マイクロSDカードの初期化を行う関数