albatross / Mbed 2 deprecated keiki2017

2017年度の製作を開始します。

Dependencies:   BufferedSoftSerial2 SDFileSystem-RTOS mbed mbed-rtos INA226_ver1

Fork of keiki2016ver5 by albatross

main.cpp@76:2ac3d145942f, 2017-06-24 (annotated)

Committer:
tsumagari
Date:
Sat Jun 24 14:11:19 2017 +0000
Branch:
SDandCadenceThread
Revision:
76:2ac3d145942f
Parent:
73:2122c87cac9b 
ho;

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 76:2ac3d145942f 13 #define WRITE_DATAS_NUM 25 // time + yokutan_datas_num+ 4(input) + 6( rpy, airspeed, height, cadence)
tsumagari 76:2ac3d145942f 14 #define SD_WRITE_NUM 40
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 76:2ac3d145942f 23 #define DEBUG(...) { pc.printf(__VA_ARGS__); }
tsumagari 76:2ac3d145942f 24
tsumagari 26:50272431cd1e 25 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 26 extern "C" void mbed_reset();
tsumagari 38:32f483b0a77f 27 InterruptIn resetPin(p25);
tsumagari 76:2ac3d145942f 28 //Timer resetTimeCount;
tsumagari 76:2ac3d145942f 29 Timer mainTimer;
YusukeWakuta 46:c649987c4d84 30 void resetInterrupt()
YusukeWakuta 46:c649987c4d84 31 {
tsumagari 76:2ac3d145942f 32 int start = mainTimer.read();
YusukeWakuta 46:c649987c4d84 33 while(resetPin) {
tsumagari 76:2ac3d145942f 34 // resetTimeCount.start();
tsumagari 76:2ac3d145942f 35 // if(resetTimeCount.read()>3) mbed_reset();
tsumagari 76:2ac3d145942f 36 if(mainTimer.read()-start > 3) mbed_reset();
tsumagari 26:50272431cd1e 37 }
tsumagari 76:2ac3d145942f 38 // led3 = 0;
tsumagari 76:2ac3d145942f 39 // resetTimeCount.reset();
tsumagari 26:50272431cd1e 40 }
tsumagari 26:50272431cd1e 41 //-------------------------------------------------------
tsumagari 26:50272431cd1e 42
tsumagari 71:c06da87572f1 43 //SDFileSystem sd(p5, p6, p7, p8, "sd");
tsumagari 71:c06da87572f1 44 LocalFileSystem local("local");
tsumagari 56:6823d2324704 45 FILE* fp;
tsumagari 39:7623678de4e2 46
tsumagari 42:73c3862e4c12 47 //RawSerial pc(USBTX,USBRX);
tsumagari 62:98294011f568 48 //Serial android(p9,p10);
tsumagari 27:d2955f29a3aa 49 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 50 BufferedSoftSerial twe(p11,p12);
tsumagari 62:98294011f568 51 //Cadence cadence_twe(p13,p14);
tsumagari 63:f7f4edd463b1 52 RawSerial android(p13,p14);
tsumagari 62:98294011f568 53
tsumagari 41:1bd730c4840d 54 Ticker cadenceUpdateTicker;
tsumagari 34:c46f2f687c7b 55 //Ticker writeDatasTicker;
tsumagari 34:c46f2f687c7b 56 //Timer writeTimer;
taurin 0:085b2c5e3254 57
tsumagari 38:32f483b0a77f 58 InterruptIn FusokukeiPin(p24);
taurin 0:085b2c5e3254 59 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 60 Fusokukei air;
taurin 0:085b2c5e3254 61 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 62
tsumagari 34:c46f2f687c7b 63 //Timer sonarTimer;
tsumagari 27:d2955f29a3aa 64 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 65 double sonarDist;
tsumagari 27:d2955f29a3aa 66 float sonarV;
tsumagari 27:d2955f29a3aa 67
tsumagari 27:d2955f29a3aa 68
tsumagari 26:50272431cd1e 69 float sum = 0;
tsumagari 26:50272431cd1e 70 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 71 MPU6050 mpu6050;
taurin 0:085b2c5e3254 72 Timer t;
YusukeWakuta 61:7f980cb3a7a8 73 Timer cadenceTimer;
YusukeWakuta 61:7f980cb3a7a8 74
tsumagari 34:c46f2f687c7b 75 //Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 76
tsumagari 38:32f483b0a77f 77 DigitalOut RollAlarmR(p23);
tsumagari 38:32f483b0a77f 78 DigitalOut RollAlarmL(p22);
taurin 1:5ec2409854da 79 DigitalOut led2(LED2);
tsumagari 51:f391d3a02397 80 //DigitalOut led3(LED3);
tsumagari 40:f15c11485e95 81 DigitalOut led4(LED4);
tsumagari 62:98294011f568 82 I2C InaI2c(p9,p10);
YusukeWakuta 72:bb664e4378a0 83 INA226 VCmonitor(InaI2c,0x9C);
YusukeWakuta 61:7f980cb3a7a8 84 AnalogIn mgPin(p20);
tsumagari 62:98294011f568 85 AnalogIn mgPin2(p16);
taurin 4:a863a092141c 86
taurin 0:085b2c5e3254 87 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 88 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 89 volatile int write_datas_index = 0;
YusukeWakuta 72:bb664e4378a0 90 float inputR,inputL;
YusukeWakuta 72:bb664e4378a0 91 int drugR,drugL;
taurin 0:085b2c5e3254 92
taurin 0:085b2c5e3254 93 void air_countUp();
taurin 0:085b2c5e3254 94 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 95 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 96 void sonarInterruptStop();
YusukeWakuta 61:7f980cb3a7a8 97 void updateCadence(double source, double input,double input2,bool isFFlag);
taurin 0:085b2c5e3254 98 void init();
taurin 0:085b2c5e3254 99 void FusokukeiInit();
tsumagari 26:50272431cd1e 100 void MpuInit();
tsumagari 34:c46f2f687c7b 101 void mpuProcessing(void const *arg);
tsumagari 34:c46f2f687c7b 102 void DataReceiveFromSouda(void const *arg);
tsumagari 39:7623678de4e2 103 void SdInit();
tsumagari 56:6823d2324704 104 void SDprintf();
taurin 0:085b2c5e3254 105 void WriteDatas();
tsumagari 27:d2955f29a3aa 106 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 107 float calcKXdeg(float x);
YusukeWakuta 61:7f980cb3a7a8 108 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 109 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 110 double cadenceResult = 0.0; //最終的なケイデンスの値です。
YusukeWakuta 61:7f980cb3a7a8 111 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 112 double V;
tsumagari 15:6966299bea4c 113
YusukeWakuta 46:c649987c4d84 114 void air_countUp()
YusukeWakuta 46:c649987c4d84 115 {
taurin 0:085b2c5e3254 116 air_kaitensu++;
tsumagari 69:1f892421d694 117 // led3 = !led3;
taurin 0:085b2c5e3254 118 }
tsumagari 76:2ac3d145942f 119 int cnt = 0;
YusukeWakuta 46:c649987c4d84 120 void call_calcAirSpeed()
YusukeWakuta 46:c649987c4d84 121 {
taurin 0:085b2c5e3254 122 air.calcAirSpeed(air_kaitensu);
tsumagari 76:2ac3d145942f 123 // if(!(cnt%10))pc.printf("airspeed:%f\tair_kaitensu:%d\n",airSpeed,air_kaitensu);
tsumagari 76:2ac3d145942f 124 // cnt++;
taurin 0:085b2c5e3254 125 air_kaitensu = 0;
taurin 0:085b2c5e3254 126 }
taurin 0:085b2c5e3254 127
YusukeWakuta 46:c649987c4d84 128 void sonarInterruptStart()
YusukeWakuta 46:c649987c4d84 129 {
tsumagari 34:c46f2f687c7b 130 // sonarTimer.start();
tsumagari 27:d2955f29a3aa 131 }
tsumagari 27:d2955f29a3aa 132
YusukeWakuta 46:c649987c4d84 133 void sonarInterruptStop()
YusukeWakuta 46:c649987c4d84 134 {
tsumagari 26:50272431cd1e 135 // sonarTimer.stop();
tsumagari 26:50272431cd1e 136 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 137 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 138 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 139 }
YusukeWakuta 46:c649987c4d84 140 void sonarCalc()
YusukeWakuta 46:c649987c4d84 141 {
tsumagari 27:d2955f29a3aa 142 sonarV = 0;
tsumagari 76:2ac3d145942f 143 for(int i = 0; i<10; i++) {
tsumagari 27:d2955f29a3aa 144 sonarV += sonarPin.read();
tsumagari 76:2ac3d145942f 145 Thread::wait(5);
tsumagari 27:d2955f29a3aa 146 }
tsumagari 27:d2955f29a3aa 147 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 148 }
tsumagari 27:d2955f29a3aa 149
jaity 59:7cb8eaf553ef 150
jaity 59:7cb8eaf553ef 151 // 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 152 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
jaity 59:7cb8eaf553ef 153 // return => 1:超えている, 0:超えていない, -1:エラー
jaity 59:7cb8eaf553ef 154 int isOh182eOverThreshold(double source, double input)
jaity 59:7cb8eaf553ef 155 {
jaity 59:7cb8eaf553ef 156 double a, b;
jaity 59:7cb8eaf553ef 157 if(source < 3200)
jaity 59:7cb8eaf553ef 158 return -1;
jaity 59:7cb8eaf553ef 159
jaity 59:7cb8eaf553ef 160 if(source < 5500)
jaity 59:7cb8eaf553ef 161 a = 0.233333333, b = -308.3333333;
jaity 59:7cb8eaf553ef 162 else if(source < 7000)
jaity 59:7cb8eaf553ef 163 a = 0.173333333, b = 21.66666667;
jaity 59:7cb8eaf553ef 164 else
jaity 59:7cb8eaf553ef 165 a = 0, b = 1235;
jaity 59:7cb8eaf553ef 166
jaity 59:7cb8eaf553ef 167 return (a * source + b < input) ? 1 : 0;
jaity 59:7cb8eaf553ef 168 }
jaity 59:7cb8eaf553ef 169
YusukeWakuta 61:7f980cb3a7a8 170 //ケイデンスの値を取得します。
YusukeWakuta 61:7f980cb3a7a8 171 // source: 定格12V電源の電圧値[mV], input: センサ値[mV]
YusukeWakuta 70:763d62c486ca 172 void updateCadence(double source, double input,double input2)
YusukeWakuta 46:c649987c4d84 173 {
YusukeWakuta 70:763d62c486ca 174
YusukeWakuta 70:763d62c486ca 175 static bool isFFlag = true;
YusukeWakuta 61:7f980cb3a7a8 176 if(isFFlag) {
YusukeWakuta 61:7f980cb3a7a8 177 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 61:7f980cb3a7a8 178 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 179 cadenceTimer.start();
YusukeWakuta 70:763d62c486ca 180 isFFlag = false;
YusukeWakuta 61:7f980cb3a7a8 181 return;
YusukeWakuta 61:7f980cb3a7a8 182 }
YusukeWakuta 70:763d62c486ca 183 if((isOh182eOverThreshold(source,input) != lastCadenceInput) ||(isOh182eOverThreshold(source,input2) != lastCadenceInput2)) {
tsumagari 69:1f892421d694 184 if(cadenceCounter < 3) {
YusukeWakuta 61:7f980cb3a7a8 185 cadenceCounter++;
YusukeWakuta 70:763d62c486ca 186 led3 = !led3;
YusukeWakuta 70:763d62c486ca 187 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 70:763d62c486ca 188 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
YusukeWakuta 61:7f980cb3a7a8 189 return;
YusukeWakuta 61:7f980cb3a7a8 190 }
YusukeWakuta 61:7f980cb3a7a8 191 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 192 cadenceTimer.reset();
YusukeWakuta 61:7f980cb3a7a8 193 cadenceCounter = 0;
YusukeWakuta 61:7f980cb3a7a8 194 }
YusukeWakuta 70:763d62c486ca 195 lastCadenceInput = isOh182eOverThreshold(source,input);
YusukeWakuta 70:763d62c486ca 196 lastCadenceInput2 = isOh182eOverThreshold(source,input2);
tsumagari 27:d2955f29a3aa 197 }
tsumagari 26:50272431cd1e 198
YusukeWakuta 46:c649987c4d84 199 void init()
YusukeWakuta 46:c649987c4d84 200 {
tsumagari 58:b4f3ed763cb4 201 pc.printf("(BUILD:[" __DATE__ "/" __TIME__ "])\n\r");
tsumagari 76:2ac3d145942f 202 mainTimer.start();
tsumagari 26:50272431cd1e 203 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 204 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 205 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 206 //-----------------------------------------------------------
YusukeWakuta 48:2160c28d02f8 207 twe.baud(14400);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
YusukeWakuta 48:2160c28d02f8 208 android.baud(9600);
tsumagari 27:d2955f29a3aa 209 //writeTimer.start();
taurin 0:085b2c5e3254 210 FusokukeiInit();
tsumagari 58:b4f3ed763cb4 211 // SdInit();
YusukeWakuta 46:c649987c4d84 212 // MpuInit();
tsumagari 27:d2955f29a3aa 213 //writeDatasTicker.attach(&WriteDatas,1);
YusukeWakuta 46:c649987c4d84 214
tsumagari 27:d2955f29a3aa 215 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 216 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 217 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 218 //-----------------------------------------------------------
YusukeWakuta 61:7f980cb3a7a8 219 unsigned short val;
YusukeWakuta 61:7f980cb3a7a8 220 val = 0;
YusukeWakuta 72:bb664e4378a0 221 if(VCmonitor.rawRead(0x00,&val) != 0) {
YusukeWakuta 72:bb664e4378a0 222 printf("VCmonitor READ ERROR\n");
YusukeWakuta 72:bb664e4378a0 223 while(1) {}
YusukeWakuta 72:bb664e4378a0 224 }
YusukeWakuta 72:bb664e4378a0 225 VCmonitor.setCurrentCalibration();
taurin 0:085b2c5e3254 226 }
taurin 0:085b2c5e3254 227
YusukeWakuta 46:c649987c4d84 228 void FusokukeiInit()
YusukeWakuta 46:c649987c4d84 229 {
taurin 0:085b2c5e3254 230 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 231 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 232 }
taurin 0:085b2c5e3254 233
YusukeWakuta 46:c649987c4d84 234 void MpuInit()
YusukeWakuta 46:c649987c4d84 235 {
tsumagari 26:50272431cd1e 236 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 237 t.start();
tsumagari 26:50272431cd1e 238 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 239 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 34:c46f2f687c7b 240 Thread::wait(100);
tsumagari 26:50272431cd1e 241 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 34:c46f2f687c7b 242 Thread::wait(100);
tsumagari 26:50272431cd1e 243 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 244 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 245 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 48:2160c28d02f8 246 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 247 Thread::wait(200);
tsumagari 26:50272431cd1e 248 } else {
tsumagari 26:50272431cd1e 249 }
tsumagari 26:50272431cd1e 250 } else {
YusukeWakuta 48:2160c28d02f8 251 //////pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 46:c649987c4d84 252 }
tsumagari 26:50272431cd1e 253 }
taurin 0:085b2c5e3254 254
YusukeWakuta 46:c649987c4d84 255 double calcPulse(int deg)
YusukeWakuta 46:c649987c4d84 256 {
tsumagari 27:d2955f29a3aa 257 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 258 }
tsumagari 27:d2955f29a3aa 259
YusukeWakuta 46:c649987c4d84 260 void mpuProcessing(void const *arg)
YusukeWakuta 46:c649987c4d84 261 {
tsumagari 33:69ad9920f693 262 MpuInit();
YusukeWakuta 46:c649987c4d84 263 while(1) {
tsumagari 33:69ad9920f693 264 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 33:69ad9920f693 265 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 266 mpu6050.getAres();
tsumagari 33:69ad9920f693 267 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 33:69ad9920f693 268 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 33:69ad9920f693 269 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 33:69ad9920f693 270 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 271 mpu6050.getGres();
tsumagari 33:69ad9920f693 272 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 33:69ad9920f693 273 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 33:69ad9920f693 274 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 33:69ad9920f693 275 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 33:69ad9920f693 276 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 33:69ad9920f693 277 }
tsumagari 33:69ad9920f693 278 Now = t.read_us();
tsumagari 33:69ad9920f693 279 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 33:69ad9920f693 280 lastUpdate = Now;
tsumagari 33:69ad9920f693 281 sum += deltat;
tsumagari 33:69ad9920f693 282 sumCount++;
tsumagari 33:69ad9920f693 283 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 33:69ad9920f693 284 beta = 0.04; // decrease filter gain after stabilized
tsumagari 33:69ad9920f693 285 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 33:69ad9920f693 286 }
tsumagari 33:69ad9920f693 287 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 33:69ad9920f693 288 delt_t = t.read_ms() - count;
tsumagari 33:69ad9920f693 289 if (delt_t > MPU_DELT_MIN) {
tsumagari 33:69ad9920f693 290 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 291 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 33:69ad9920f693 292 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 293 pitch *= 180.0f / PI;
tsumagari 33:69ad9920f693 294 yaw *= 180.0f / PI;
tsumagari 33:69ad9920f693 295 roll *= 180.0f / PI;
tsumagari 33:69ad9920f693 296 myled= !myled;
tsumagari 33:69ad9920f693 297 count = t.read_ms();
tsumagari 33:69ad9920f693 298 sum = 0;
tsumagari 33:69ad9920f693 299 sumCount = 0;
tsumagari 33:69ad9920f693 300 }
tsumagari 40:f15c11485e95 301 Thread::wait(1);
tsumagari 33:69ad9920f693 302 }//while(1)
tsumagari 26:50272431cd1e 303 }
tsumagari 26:50272431cd1e 304
YusukeWakuta 46:c649987c4d84 305 void DataReceiveFromSouda(/*void const *arg*/)
YusukeWakuta 46:c649987c4d84 306 {
jaity 73:2122c87cac9b 307 char cErebonR[6] = {};
jaity 73:2122c87cac9b 308 char cErebonL[6] = {};
tsumagari 34:c46f2f687c7b 309 // while(1){
YusukeWakuta 46:c649987c4d84 310 if(soudaSerial.readable()) {
tsumagari 34:c46f2f687c7b 311 led2 = !led2;
tsumagari 34:c46f2f687c7b 312 char c = soudaSerial.getc();
YusukeWakuta 46:c649987c4d84 313 while( c != ';' ) {
tsumagari 34:c46f2f687c7b 314 c = soudaSerial.getc();
tsumagari 34:c46f2f687c7b 315 }
YusukeWakuta 46:c649987c4d84 316 for(int i = 0; i < SOUDA_DATAS_NUM; i++) {
tsumagari 34:c46f2f687c7b 317 soudaDatas[i] = soudaSerial.getc();
jaity 73:2122c87cac9b 318 // pc.printf("%d,",(int)(soudaDatas[i] - '0'));
tsumagari 34:c46f2f687c7b 319 }
YusukeWakuta 72:bb664e4378a0 320 // pc.printf("\n\r");
YusukeWakuta 72:bb664e4378a0 321 // sscanf(soudaDatas+YOKUTAN_DATAS_NUM,"%5.2f,%d,%5.2,%d",&inputR,&drugR,&inputL,&drugL);
YusukeWakuta 72:bb664e4378a0 322 for(int i = 14; i < 19; i++) {
jaity 73:2122c87cac9b 323 cErebonR[i-14] = soudaDatas[i];
YusukeWakuta 72:bb664e4378a0 324 }
YusukeWakuta 72:bb664e4378a0 325 drugR = soudaDatas[19]- '0';
YusukeWakuta 72:bb664e4378a0 326 inputR = atof(cErebonR);
YusukeWakuta 72:bb664e4378a0 327 for(int i = 21; i < 26; i++) {
jaity 73:2122c87cac9b 328 cErebonL[i-21] = soudaDatas[i];
YusukeWakuta 72:bb664e4378a0 329 }
YusukeWakuta 72:bb664e4378a0 330 drugL = soudaDatas[26]- '0';
YusukeWakuta 72:bb664e4378a0 331 inputL = atof(cErebonL);
YusukeWakuta 72:bb664e4378a0 332
tsumagari 76:2ac3d145942f 333 // pc.printf("erebonR:%5.5f, drugR:%d erebonL:%5.5f drugL:%d",inputR,drugR,inputL,drugL);
jaity 73:2122c87cac9b 334 // pc.printf("erebonR:%s, drugR:%d erebonL:%s drugL:%d",cErebonR,drugR,cErebonL,drugL);
YusukeWakuta 46:c649987c4d84 335 }//if
tsumagari 34:c46f2f687c7b 336 // }//while(1)
taurin 3:8dc516be2e7e 337 }
tsumagari 56:6823d2324704 338
YusukeWakuta 61:7f980cb3a7a8 339 void SdInit()
YusukeWakuta 61:7f980cb3a7a8 340 {
tsumagari 71:c06da87572f1 341 // mkdir("/local/mydir", 0777);
tsumagari 71:c06da87572f1 342 fp = fopen("/local/filetest.csv", "w");
tsumagari 56:6823d2324704 343 if(fp == NULL) {
tsumagari 69:1f892421d694 344 printf("Could not open file for write\n");
tsumagari 69:1f892421d694 345 return;
tsumagari 56:6823d2324704 346 }
tsumagari 56:6823d2324704 347 fprintf(fp, "Hello fun SD Card World!\n\r%f",0.1f);
tsumagari 56:6823d2324704 348 fclose(fp);
tsumagari 56:6823d2324704 349 }
tsumagari 56:6823d2324704 350
YusukeWakuta 61:7f980cb3a7a8 351 void SDprintf(const void* arg)
YusukeWakuta 61:7f980cb3a7a8 352 {
tsumagari 71:c06da87572f1 353 SdInit();
YusukeWakuta 61:7f980cb3a7a8 354 while(1) {
YusukeWakuta 70:763d62c486ca 355 updateCadence(V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
YusukeWakuta 70:763d62c486ca 356 // pc.printf("V:%5.5f mgPin:%5.5f mgPin2:%5.5f",V,mgPin.read() * 3300.0,mgPin2.read() * 3300.0);
tsumagari 71:c06da87572f1 357 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 71:c06da87572f1 358 fp = fopen("/local/data.csv", "a");
tsumagari 71:c06da87572f1 359 if(fp == NULL) {
tsumagari 71:c06da87572f1 360 error("Could not open file for write!!\n");
tsumagari 71:c06da87572f1 361 }
tsumagari 71:c06da87572f1 362 for(int i = 0; i < SD_WRITE_NUM; i++) {
tsumagari 71:c06da87572f1 363 for(int j = 0; j < WRITE_DATAS_NUM; j++) {
tsumagari 71:c06da87572f1 364 fprintf(fp,"%f,", writeDatas[i][j]);
tsumagari 71:c06da87572f1 365 }
tsumagari 71:c06da87572f1 366 fprintf(fp,"\n");
tsumagari 71:c06da87572f1 367 }
tsumagari 71:c06da87572f1 368
tsumagari 71:c06da87572f1 369 fclose(fp);
tsumagari 71:c06da87572f1 370
tsumagari 71:c06da87572f1 371 write_datas_index=0;
tsumagari 71:c06da87572f1 372 }
tsumagari 69:1f892421d694 373 Thread::wait(100);
tsumagari 56:6823d2324704 374 }
tsumagari 56:6823d2324704 375 }
tsumagari 39:7623678de4e2 376
YusukeWakuta 46:c649987c4d84 377 void WriteDatas()
YusukeWakuta 46:c649987c4d84 378 {
tsumagari 76:2ac3d145942f 379 int i=0;
tsumagari 76:2ac3d145942f 380 writeDatas[write_datas_index][i++] = mainTimer.read();
tsumagari 76:2ac3d145942f 381 for(int j = 0; j < YOKUTAN_DATAS_NUM; i++,j++) {
YusukeWakuta 46:c649987c4d84 382 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 76:2ac3d145942f 383 writeDatas[write_datas_index][i] = (float)soudaDatas[j];
taurin 8:31e07f6ed0f7 384 }
tsumagari 76:2ac3d145942f 385 writeDatas[write_datas_index][i++] = inputR;
tsumagari 76:2ac3d145942f 386 writeDatas[write_datas_index][i++] = drugR;
tsumagari 76:2ac3d145942f 387 writeDatas[write_datas_index][i++] = inputL;
tsumagari 76:2ac3d145942f 388 writeDatas[write_datas_index][i++] = drugL;
taurin 8:31e07f6ed0f7 389 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 390 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 391 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 392 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 393 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 62:98294011f568 394 writeDatas[write_datas_index][i++] = cadenceResult;//cadence_twe.cadence;
taurin 8:31e07f6ed0f7 395 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 76:2ac3d145942f 396 for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 76:2ac3d145942f 397 DEBUG("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 398 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 76:2ac3d145942f 399 }
tsumagari 76:2ac3d145942f 400 DEBUG("\n\r");
taurin 9:95eb0bbdc2a9 401 // twe.printf("\n\r");
YusukeWakuta 46:c649987c4d84 402 if(write_datas_index == SD_WRITE_NUM-1) {
tsumagari 58:b4f3ed763cb4 403 // SDprintf();
tsumagari 39:7623678de4e2 404 write_datas_index=0;
YusukeWakuta 46:c649987c4d84 405 } else {
tsumagari 39:7623678de4e2 406 write_datas_index++;
YusukeWakuta 46:c649987c4d84 407 }
tsumagari 76:2ac3d145942f 408 char sbuf[YOKUTAN_DATAS_NUM*2 + 5];
tsumagari 64:2de7ea84d39a 409 int p=0;
tsumagari 64:2de7ea84d39a 410 // twe.printf("con,");
tsumagari 65:075118165355 411 p += sprintf(sbuf,"con,");
YusukeWakuta 46:c649987c4d84 412 for(int i = 0; i <YOKUTAN_DATAS_NUM ; i++) {
tsumagari 63:f7f4edd463b1 413 // pc.printf("%i ",soudaDatas[i]);
tsumagari 64:2de7ea84d39a 414 // twe.printf("%i,",soudaDatas[i]);
YusukeWakuta 72:bb664e4378a0 415 p += sprintf(sbuf+p,"%d,",soudaDatas[i]);
YusukeWakuta 48:2160c28d02f8 416
YusukeWakuta 47:0c9f3a057f79 417 if(i == YOKUTAN_DATAS_NUM - 1)
tsumagari 64:2de7ea84d39a 418 // twe.printf("%i\n",soudaDatas[i]);
YusukeWakuta 72:bb664e4378a0 419 p += sprintf(sbuf+p,"%d\n",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 420 }
tsumagari 64:2de7ea84d39a 421 twe.printf("%s",sbuf);
YusukeWakuta 72:bb664e4378a0 422 // twe.printf("inp,%f,%i,%f,%i\n",soudaDatas[YOKUTAN_DATAS_NUM],soudaDatas[sizeof(float) + YOKUTAN_DATAS_NUM + 2],(int)soudaDatas[SOUDA_DATAS_NUM - sizeof(float) - 3],soudaDatas[SOUDA_DATAS_NUM-1]);
YusukeWakuta 72:bb664e4378a0 423 twe.printf("inp,%f,%i,%f,%i\n",inputR,drugR,inputL,drugL);
YusukeWakuta 70:763d62c486ca 424
YusukeWakuta 46:c649987c4d84 425 /*
YusukeWakuta 46:c649987c4d84 426 送信文字列
YusukeWakuta 46:c649987c4d84 427 0-13翼端データ
YusukeWakuta 46:c649987c4d84 428 14-17 R erebon
YusukeWakuta 46:c649987c4d84 429 18 R DRUG
YusukeWakuta 46:c649987c4d84 430 19-22 L erebon
YusukeWakuta 46:c649987c4d84 431 23 LDRUG
YusukeWakuta 46:c649987c4d84 432 */
YusukeWakuta 48:2160c28d02f8 433 ////pc.printf("\n\r");
YusukeWakuta 47:0c9f3a057f79 434 twe.printf("mpu,%f,%f,%f\n",pitch,roll,yaw);
tsumagari 62:98294011f568 435 twe.printf("kei,%f,%f,%f\n",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 436
YusukeWakuta 48:2160c28d02f8 437 ////pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 63:f7f4edd463b1 438 // pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadenceResult);//cadence_twe.cadence);
tsumagari 63:f7f4edd463b1 439 // 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 440 // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
tsumagari 64:2de7ea84d39a 441 // printf("mgPin V:%f\n\r",mgPin.read()*3.3);
YusukeWakuta 70:763d62c486ca 442 // pc.printf("%d,%i,%d,%i\n%f,%f,%f\n%f,%f,%f\n\r",
YusukeWakuta 70:763d62c486ca 443 // 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 444 // pitch,roll,yaw,
YusukeWakuta 70:763d62c486ca 445 // airSpeed,sonarDist,cadenceResult);
tsumagari 76:2ac3d145942f 446 // pc.printf("cadence:%5.5f\n\r",cadenceResult);
YusukeWakuta 70:763d62c486ca 447
tsumagari 42:73c3862e4c12 448 // for(int i = 0; i < strlen(cadence_twe.myBuff); i++){
YusukeWakuta 48:2160c28d02f8 449 // ////pc.printf("%c",*(cadence_twe.myBuff+i));
tsumagari 42:73c3862e4c12 450 // }
tsumagari 51:f391d3a02397 451 // pc.printf("%f\t%f\t%f\t%f\n\r",airSpeed,air_sum[0],air_sum[1],air_sum[2]);
YusukeWakuta 46:c649987c4d84 452 if(android.writeable()) {
tsumagari 27:d2955f29a3aa 453 // android.printf("%f,%f,%f,",pitch,roll,yaw);
YusukeWakuta 46:c649987c4d84 454 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 76:2ac3d145942f 455 android.printf("%4.2f,%4.2f,%4.2f,\n,",roll,airSpeed,cadenceResult);
tsumagari 27:d2955f29a3aa 456 }
tsumagari 40:f15c11485e95 457 // SDprintf();
taurin 9:95eb0bbdc2a9 458 }
taurin 9:95eb0bbdc2a9 459
YusukeWakuta 46:c649987c4d84 460 void RollAlarm()
YusukeWakuta 46:c649987c4d84 461 {
YusukeWakuta 46:c649987c4d84 462 if((roll < -ROLL_L_MAX_DEG ) && (roll > ROLL_L_MAX_DEG-180)) {
taurin 0:085b2c5e3254 463 RollAlarmL = 1;
YusukeWakuta 46:c649987c4d84 464 } else {
taurin 0:085b2c5e3254 465 RollAlarmL = 0;
taurin 0:085b2c5e3254 466 }
YusukeWakuta 46:c649987c4d84 467
YusukeWakuta 46:c649987c4d84 468 if((roll > ROLL_R_MAX_DEG) && (roll < 180-ROLL_R_MAX_DEG)) {
taurin 0:085b2c5e3254 469 RollAlarmR = 1;
YusukeWakuta 46:c649987c4d84 470 } else {
taurin 0:085b2c5e3254 471 RollAlarmR = 0;
taurin 0:085b2c5e3254 472 }
taurin 0:085b2c5e3254 473 }
taurin 0:085b2c5e3254 474
YusukeWakuta 46:c649987c4d84 475 int main()
YusukeWakuta 46:c649987c4d84 476 {
tsumagari 58:b4f3ed763cb4 477 Thread mpu_thread(&mpuProcessing);
tsumagari 58:b4f3ed763cb4 478 Thread SD_thread(&SDprintf);
tsumagari 34:c46f2f687c7b 479 // Thread soudaSerial_thread(&DataReceiveFromSouda);
taurin 0:085b2c5e3254 480 init();
tsumagari 76:2ac3d145942f 481 // int VCcounter = 0;
YusukeWakuta 46:c649987c4d84 482 while(1) {
tsumagari 76:2ac3d145942f 483 // if(VCcounter%20 == 0 ) {
tsumagari 76:2ac3d145942f 484 // if( VCmonitor.getVoltage(&V) == 0) {
tsumagari 76:2ac3d145942f 485 // pc.printf("e:%f\n",V);
tsumagari 76:2ac3d145942f 486 // }
tsumagari 76:2ac3d145942f 487 // }
tsumagari 76:2ac3d145942f 488 // VCcounter++;
YusukeWakuta 70:763d62c486ca 489
tsumagari 69:1f892421d694 490 // updateCadence(V,mgPin.read() * 3.3,mgPin2.read() * 3.3,isFirstCadenceFlag);
YusukeWakuta 48:2160c28d02f8 491 //pc.printf("test\n\r");
tsumagari 33:69ad9920f693 492 // mpuProcessing();
tsumagari 27:d2955f29a3aa 493 sonarCalc();
tsumagari 69:1f892421d694 494 Thread::wait(30);
taurin 8:31e07f6ed0f7 495 RollAlarm();
tsumagari 27:d2955f29a3aa 496 DataReceiveFromSouda();
taurin 3:8dc516be2e7e 497 WriteDatas();
tsumagari 40:f15c11485e95 498 led4 = !led4;
taurin 0:085b2c5e3254 499 }
taurin 0:085b2c5e3254 500 }