2020_CEES_Model_Rocket / Mbed 2 deprecated STM32_MR_include_IM_rev2

2020/08/31 bmx055のライブラリ及びプログラム内容を一部変更． 変換レートを更新する必要あり？

Dependencies:   mbed BMX055_rev2 SDFileSystem GPS_Interface

main.cpp@11:2fc33706edd4, 2020-08-31 (annotated)

Committer:
falconsyunya
Date:
Mon Aug 31 11:21:27 2020 +0000
Revision:
11:2fc33706edd4
Parent:
10:c60fec9b4e1b
Child:
12:ed1e3282e053
Child:
13:7947a88c4e39
2020/08/31;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MatsumotoKouki 0:34d043558630 1 #include "mbed.h"
MatsumotoKouki 0:34d043558630 2 #include "BMX055.h"
MatsumotoKouki 0:34d043558630 3 #include "SDFileSystem.h"
MatsumotoKouki 10:c60fec9b4e1b 4 #include "GPS.h"
MatsumotoKouki 1:4c7bace668f6 5
falconsyunya 11:2fc33706edd4 6 GPS gps(PA_9, PA_10); //TX(GPS_RX),RX(GPS_TX)
MatsumotoKouki 0:34d043558630 7 DigitalIn FlightPin(PB_0);
MatsumotoKouki 1:4c7bace668f6 8
MatsumotoKouki 10:c60fec9b4e1b 9 Serial pc(USBTX, USBRX, 9600);//パソコン側からもマイコン⇒IM920のデータはみれる
falconsyunya 2:28ccb8bdac86 10 Serial uart(PA_2, PA_3, 19200);//TX(IM920_RX), RX(IM920_TX)
falconsyunya 2:28ccb8bdac86 11
MatsumotoKouki 0:34d043558630 12 DigitalOut fet1(PA_8); //MOSFET PIN:GATE
MatsumotoKouki 0:34d043558630 13 DigitalOut fet2(PA_11);
MatsumotoKouki 0:34d043558630 14 BMX055 bmx(PB_7,PB_6);//SDA,SCL
MatsumotoKouki 0:34d043558630 15 SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd"); // the pinout on the mbed Cool Components workshop board
MatsumotoKouki 1:4c7bace668f6 16
MatsumotoKouki 0:34d043558630 17 Ticker warikomi;
MatsumotoKouki 0:34d043558630 18 Timeout t;
MatsumotoKouki 0:34d043558630 19 //double a[3],b[3],c[3];
MatsumotoKouki 9:fc0559c27628 20 int i,j=0,rlock,mode;
MatsumotoKouki 0:34d043558630 21 char ns,ew;
MatsumotoKouki 0:34d043558630 22 float w_time;//,hokui,tokei;
MatsumotoKouki 0:34d043558630 23 float hokui,tokei;
MatsumotoKouki 0:34d043558630 24 float g_hokui,g_tokei;
MatsumotoKouki 0:34d043558630 25 float d_hokui,m_hokui,d_tokei,m_tokei;
MatsumotoKouki 0:34d043558630 26 char gps_data[256];
MatsumotoKouki 0:34d043558630 27 char str[256];
MatsumotoKouki 1:4c7bace668f6 28
MatsumotoKouki 0:34d043558630 29
MatsumotoKouki 10:c60fec9b4e1b 30 //void getGPS(float *hokui_n,float *tokei_n);
MatsumotoKouki 0:34d043558630 31 //void callback ();
MatsumotoKouki 0:34d043558630 32 void FlightPinDriver();
MatsumotoKouki 0:34d043558630 33 void nichrome_ON();
MatsumotoKouki 0:34d043558630 34 void buzzer();
MatsumotoKouki 0:34d043558630 35
MatsumotoKouki 0:34d043558630 36
MatsumotoKouki 0:34d043558630 37 int main() {
MatsumotoKouki 10:c60fec9b4e1b 38 // float *hokui_n,*tokei_n;
MatsumotoKouki 0:34d043558630 39
MatsumotoKouki 0:34d043558630 40 mkdir("/sd/mydir00", 0777);
MatsumotoKouki 7:e68ead6d3c1a 41 FILE *fp = fopen("/sd/mydir00/sddata.csv", "w");
MatsumotoKouki 0:34d043558630 42 if(fp == NULL) {
MatsumotoKouki 0:34d043558630 43 error("Could not open file for write\n");
MatsumotoKouki 0:34d043558630 44 }
MatsumotoKouki 0:34d043558630 45
MatsumotoKouki 10:c60fec9b4e1b 46 //gps.baud(9600);
MatsumotoKouki 0:34d043558630 47 //pc.baud(9600);
MatsumotoKouki 0:34d043558630 48 //gps.attach(getGPS(&hokui_n,&tokei_n),Serial::RxIrq);
MatsumotoKouki 10:c60fec9b4e1b 49 fprintf(fp,"N,E,acc:x,acc:y,acc:z,gyr:x,gyr:y,gyr:z,mag:x,mag:y,mag:z\r\n");
MatsumotoKouki 0:34d043558630 50 warikomi.attach(&FlightPinDriver,0.5);
MatsumotoKouki 0:34d043558630 51
MatsumotoKouki 0:34d043558630 52
falconsyunya 3:aad6f83b618e 53 while(1) {
falconsyunya 3:aad6f83b618e 54 //BMX055部分
falconsyunya 2:28ccb8bdac86 55 bmx.getAcc();//加速度の取得
falconsyunya 2:28ccb8bdac86 56 bmx.getGyro();//角力加速度の取得
MatsumotoKouki 7:e68ead6d3c1a 57 bmx.getMag();//地磁気の取得
MatsumotoKouki 7:e68ead6d3c1a 58 int a[3],b[3],c[3];
falconsyunya 3:aad6f83b618e 59 for(int i=0;i<3;i++){
falconsyunya 3:aad6f83b618e 60 a[i]=bmx.accel[i];
falconsyunya 3:aad6f83b618e 61 b[i]=bmx.gyroscope[i];
MatsumotoKouki 7:e68ead6d3c1a 62 c[i]=bmx.magnet[i];
falconsyunya 11:2fc33706edd4 63 }
falconsyunya 11:2fc33706edd4 64
falconsyunya 3:aad6f83b618e 65 //GPS部分
falconsyunya 11:2fc33706edd4 66 //gps.getgps();
falconsyunya 11:2fc33706edd4 67 int x = (gps.longtitude-135.0f)*1000000;
falconsyunya 11:2fc33706edd4 68 int y = (gps.latitude-34.0f)*1000000;
falconsyunya 11:2fc33706edd4 69 if(x==NULL)x=0;
falconsyunya 11:2fc33706edd4 70 if(y==NULL)y=0;
falconsyunya 11:2fc33706edd4 71 int north=x * 1000000;
falconsyunya 11:2fc33706edd4 72 int east=y * 1000000;
MatsumotoKouki 8:c2812fae50df 73
falconsyunya 11:2fc33706edd4 74 //SDカードへの書き込み
falconsyunya 11:2fc33706edd4 75 fprintf(fp,"%f,%f,%f,%f,%f,%2.4f,%2.4f,%2.4f,%2.4f,%2.4f,%2.4f\n\r",gps.longtitude,gps.latitude,(a[0]/512)*9.8,
falconsyunya 11:2fc33706edd4 76 (a[1]/512)*9.8f,(a[2]/512)*9.8f,(b[0]*125)/2048.0f,
falconsyunya 11:2fc33706edd4 77 (b[1]*125)/2048.0f,(b[2]*125)/2048.0f,c[0]/3.0f,c[1]/3.0f,c[2]/3.0f);
falconsyunya 11:2fc33706edd4 78
falconsyunya 3:aad6f83b618e 79 //IM920部分
falconsyunya 2:28ccb8bdac86 80 //ノード番号(00~FF)を設定.データを送るごとに1増やす．
falconsyunya 2:28ccb8bdac86 81 uart.printf("STNN %02x\r\n",j);
falconsyunya 2:28ccb8bdac86 82 j++;
falconsyunya 2:28ccb8bdac86 83 if(j==256){j=0;}
falconsyunya 2:28ccb8bdac86 84
falconsyunya 3:aad6f83b618e 85 uart.printf("TXDA ");//可変長データ送信コマンド
falconsyunya 2:28ccb8bdac86 86
falconsyunya 11:2fc33706edd4 87 uart.printf("%04hX%04hX%04hX",a[0],a[1],a[2]);//加速度の書き出し
falconsyunya 11:2fc33706edd4 88 uart.printf("%04hX%04hX%04hX",b[0],b[1],b[2]);//角加速度の書き出し
MatsumotoKouki 8:c2812fae50df 89
MatsumotoKouki 8:c2812fae50df 90 uart.printf("%08x%08x",east,north);//GPS書き出し
falconsyunya 2:28ccb8bdac86 91
falconsyunya 2:28ccb8bdac86 92 uart.printf("\r\n");
MatsumotoKouki 10:c60fec9b4e1b 93 //printf("%d%d\n\r",north,east);
falconsyunya 2:28ccb8bdac86 94
falconsyunya 2:28ccb8bdac86 95 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．
MatsumotoKouki 0:34d043558630 96 }
MatsumotoKouki 0:34d043558630 97 }
MatsumotoKouki 0:34d043558630 98
MatsumotoKouki 0:34d043558630 99 void FlightPinDriver(){
MatsumotoKouki 0:34d043558630 100
MatsumotoKouki 0:34d043558630 101 if(FlightPin==1){
MatsumotoKouki 8:c2812fae50df 102 printf("Flight Pin Worked!!\n\r");
MatsumotoKouki 0:34d043558630 103 warikomi.detach();
MatsumotoKouki 0:34d043558630 104 t.attach(nichrome_ON,3);//ニクロムを作動させるまでの時間
MatsumotoKouki 0:34d043558630 105 }
MatsumotoKouki 0:34d043558630 106
MatsumotoKouki 0:34d043558630 107 }
MatsumotoKouki 0:34d043558630 108
MatsumotoKouki 0:34d043558630 109 void nichrome_ON(){
falconsyunya 11:2fc33706edd4 110 printf("cut!\n\r");
MatsumotoKouki 0:34d043558630 111 fet1=1;
MatsumotoKouki 0:34d043558630 112 wait(2.0);//テグスを切るまでにかかる時間
MatsumotoKouki 0:34d043558630 113 fet1=0;
MatsumotoKouki 0:34d043558630 114 t.detach();
MatsumotoKouki 0:34d043558630 115 t.attach(buzzer,6);//ブザー作動までの時間
MatsumotoKouki 0:34d043558630 116 }
MatsumotoKouki 0:34d043558630 117
MatsumotoKouki 0:34d043558630 118 void buzzer(){
falconsyunya 11:2fc33706edd4 119 printf("buzzer\n\r");
MatsumotoKouki 0:34d043558630 120 fet2=1;
MatsumotoKouki 0:34d043558630 121 }