always GPS 0
Dependencies: mbed BMX055_rev2 SDFileSystem
Diff: main.cpp
- Revision:
- 2:28ccb8bdac86
- Parent:
- 1:4c7bace668f6
- Child:
- 3:aad6f83b618e
diff -r 4c7bace668f6 -r 28ccb8bdac86 main.cpp --- a/main.cpp Mon Aug 24 04:02:38 2020 +0000 +++ b/main.cpp Mon Aug 24 05:30:23 2020 +0000 @@ -7,6 +7,9 @@ Serial gps(PA_9, PA_10); // tx, rx DigitalIn FlightPin(PB_0); +Serial pc(USBTX, USBRX, 19200);//パソコン側からもマイコン⇒IM920のデータはみれる +Serial uart(PA_2, PA_3, 19200);//TX(IM920_RX), RX(IM920_TX) + DigitalOut fet1(PA_8); //MOSFET PIN:GATE DigitalOut fet2(PA_11); BMX055 bmx(PB_7,PB_6);//SDA,SCL @@ -16,7 +19,7 @@ Timeout t; //double a[3],b[3],c[3]; -int i,rlock,mode; +int i,j=0,rlock,mode; char ns,ew; float w_time;//,hokui,tokei; float hokui,tokei; @@ -50,10 +53,13 @@ while(1) { - getGPS(hokui_n,tokei_n); - bmx.getAcc(); - bmx.getGyro(); - bmx.getMag(); + //getGPS(hokui_n,tokei_n); + bmx.getAcc();//加速度の取得 + bmx.getGyro();//角力加速度の取得 + bmx.getMag();//地磁気の取得 + int a=bmx.accel[0]; + int b=bmx.accel[0]; + int c=bmx.accel[0]; /* for(int i=0;i<=3;i++){ a[i]=(bmx.accel[i]/512)*9.8; b[i]=(bmx.gyroscope[i]*125)/2048; @@ -61,7 +67,22 @@ }*/ fprintf(fp,"北緯:%f,東経:%f,加速度:%f,%f,%f,ジャイロ:%2.4f,%2.4f,%2.4f,地磁気:%2.4f,%2.4f,%2.4f\n\r",hokui_n,tokei_n,(bmx.accel[0]/512)*9.8,(bmx.accel[1]/512)*9.8,(bmx.accel[2]/512)*9.8,(bmx.gyroscope[0]*125)/2048,(bmx.gyroscope[1]*125)/2048,(bmx.gyroscope[2]*125)/2048,bmx.magnet[0],bmx.magnet[1],bmx.magnet[2]); - wait(0.2); + + //以下IM920について + //ノード番号(00~FF)を設定.データを送るごとに1増やす. + uart.printf("STNN %02x\r\n",j); + j++; + if(j==256){j=0;} + + uart.printf("TXDA "); + + uart.printf("%03x",a); + uart.printf("%03x",b); + uart.printf("%03x",c); + + uart.printf("\r\n"); + + wait(0.34);//IM920長距離モードの場合,3パケット/sが理論上最大速度. }