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@10:c60fec9b4e1b, 2020-08-30 (annotated)

Committer:
MatsumotoKouki
Date:
Sun Aug 30 07:01:19 2020 +0000
Revision:
10:c60fec9b4e1b
Parent:
9:fc0559c27628
Child:
11:2fc33706edd4
2020/08/30; latest

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
MatsumotoKouki 0:34d043558630 6
MatsumotoKouki 0:34d043558630 7
MatsumotoKouki 10:c60fec9b4e1b 8 GPS gps(PA_9, PA_10); // tx, rx
MatsumotoKouki 0:34d043558630 9 DigitalIn FlightPin(PB_0);
MatsumotoKouki 1:4c7bace668f6 10
MatsumotoKouki 10:c60fec9b4e1b 11 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 12 Serial uart(PA_2, PA_3, 19200);//TX(IM920_RX), RX(IM920_TX)
falconsyunya 2:28ccb8bdac86 13
MatsumotoKouki 0:34d043558630 14 DigitalOut fet1(PA_8); //MOSFET PIN:GATE
MatsumotoKouki 0:34d043558630 15 DigitalOut fet2(PA_11);
MatsumotoKouki 0:34d043558630 16 BMX055 bmx(PB_7,PB_6);//SDA,SCL
MatsumotoKouki 0:34d043558630 17 SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd"); // the pinout on the mbed Cool Components workshop board
MatsumotoKouki 1:4c7bace668f6 18
MatsumotoKouki 0:34d043558630 19 Ticker warikomi;
MatsumotoKouki 0:34d043558630 20 Timeout t;
MatsumotoKouki 0:34d043558630 21 //double a[3],b[3],c[3];
MatsumotoKouki 9:fc0559c27628 22 int i,j=0,rlock,mode;
MatsumotoKouki 0:34d043558630 23 char ns,ew;
MatsumotoKouki 0:34d043558630 24 float w_time;//,hokui,tokei;
MatsumotoKouki 0:34d043558630 25 float hokui,tokei;
MatsumotoKouki 0:34d043558630 26 float g_hokui,g_tokei;
MatsumotoKouki 0:34d043558630 27 float d_hokui,m_hokui,d_tokei,m_tokei;
MatsumotoKouki 0:34d043558630 28 char gps_data[256];
MatsumotoKouki 0:34d043558630 29 char str[256];
MatsumotoKouki 1:4c7bace668f6 30
MatsumotoKouki 0:34d043558630 31
MatsumotoKouki 10:c60fec9b4e1b 32 //void getGPS(float *hokui_n,float *tokei_n);
MatsumotoKouki 0:34d043558630 33 //void callback ();
MatsumotoKouki 0:34d043558630 34 void FlightPinDriver();
MatsumotoKouki 0:34d043558630 35 void nichrome_ON();
MatsumotoKouki 0:34d043558630 36 void buzzer();
MatsumotoKouki 0:34d043558630 37
MatsumotoKouki 0:34d043558630 38
MatsumotoKouki 0:34d043558630 39 int main() {
MatsumotoKouki 10:c60fec9b4e1b 40 // float *hokui_n,*tokei_n;
MatsumotoKouki 0:34d043558630 41
MatsumotoKouki 0:34d043558630 42 mkdir("/sd/mydir00", 0777);
MatsumotoKouki 7:e68ead6d3c1a 43 FILE *fp = fopen("/sd/mydir00/sddata.csv", "w");
MatsumotoKouki 0:34d043558630 44 if(fp == NULL) {
MatsumotoKouki 0:34d043558630 45 error("Could not open file for write\n");
MatsumotoKouki 0:34d043558630 46 }
MatsumotoKouki 0:34d043558630 47
MatsumotoKouki 10:c60fec9b4e1b 48 //gps.baud(9600);
MatsumotoKouki 0:34d043558630 49 //pc.baud(9600);
MatsumotoKouki 0:34d043558630 50 //gps.attach(getGPS(&hokui_n,&tokei_n),Serial::RxIrq);
MatsumotoKouki 10:c60fec9b4e1b 51 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 52 warikomi.attach(&FlightPinDriver,0.5);
MatsumotoKouki 0:34d043558630 53
MatsumotoKouki 0:34d043558630 54
falconsyunya 3:aad6f83b618e 55 while(1) {
falconsyunya 3:aad6f83b618e 56 //BMX055部分
falconsyunya 2:28ccb8bdac86 57 bmx.getAcc();//加速度の取得
falconsyunya 2:28ccb8bdac86 58 bmx.getGyro();//角力加速度の取得
MatsumotoKouki 7:e68ead6d3c1a 59 bmx.getMag();//地磁気の取得
MatsumotoKouki 10:c60fec9b4e1b 60
MatsumotoKouki 10:c60fec9b4e1b 61 gps.getgps();
MatsumotoKouki 10:c60fec9b4e1b 62 int x = (float)(gps.longtitude-135.0)*1000000;
MatsumotoKouki 10:c60fec9b4e1b 63 int y = (float)(gps.latitude-34.0)*1000000;
MatsumotoKouki 10:c60fec9b4e1b 64 if(x==NULL)x=0;
MatsumotoKouki 10:c60fec9b4e1b 65 if(y==NULL)y=0;
MatsumotoKouki 10:c60fec9b4e1b 66
MatsumotoKouki 9:fc0559c27628 67
MatsumotoKouki 10:c60fec9b4e1b 68 //float hokui_n=0;
MatsumotoKouki 10:c60fec9b4e1b 69 //float tokei_n=0;
MatsumotoKouki 10:c60fec9b4e1b 70
MatsumotoKouki 10:c60fec9b4e1b 71 //getGPS(hokui_n,tokei_n);//GPS取得
MatsumotoKouki 10:c60fec9b4e1b 72
MatsumotoKouki 10:c60fec9b4e1b 73 // printf("%f,%f\n\r",*hokui_n,*tokei_n);
MatsumotoKouki 10:c60fec9b4e1b 74
MatsumotoKouki 10:c60fec9b4e1b 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,(bmx.accel[0]/512)*9.8,
MatsumotoKouki 10:c60fec9b4e1b 76 (bmx.accel[1]/512)*9.8,(bmx.accel[2]/512)*9.8,(bmx.gyroscope[0]*125)/2048,
MatsumotoKouki 10:c60fec9b4e1b 77 (bmx.gyroscope[1]*125)/2048,(bmx.gyroscope[2]*125)/2048,bmx.magnet[0],bmx.magnet[1],bmx.magnet[2]);
MatsumotoKouki 7:e68ead6d3c1a 78 int a[3],b[3],c[3];
falconsyunya 3:aad6f83b618e 79 for(int i=0;i<3;i++){
falconsyunya 3:aad6f83b618e 80 a[i]=bmx.accel[i];
falconsyunya 3:aad6f83b618e 81 if(a[i]<0)a[i] += 4096;//負値の場合+4096
falconsyunya 3:aad6f83b618e 82 b[i]=bmx.gyroscope[i];
MatsumotoKouki 7:e68ead6d3c1a 83 if(b[i]<0)b[i] += 4096;//負値の場合+4096
MatsumotoKouki 7:e68ead6d3c1a 84 c[i]=bmx.magnet[i];
MatsumotoKouki 7:e68ead6d3c1a 85 if(c[i]<0)c[i] += 4096;//負値の場合+4096
MatsumotoKouki 7:e68ead6d3c1a 86
falconsyunya 3:aad6f83b618e 87 }
falconsyunya 3:aad6f83b618e 88 //GPS部分
MatsumotoKouki 8:c2812fae50df 89
falconsyunya 3:aad6f83b618e 90 //fprintf(fp,"北緯:%f,東経:%f,加速度:%f,%f,%f,ジャイロ:%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);
MatsumotoKouki 1:4c7bace668f6 91
falconsyunya 3:aad6f83b618e 92 //IM920部分
falconsyunya 2:28ccb8bdac86 93 //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 94 uart.printf("STNN %02x\r\n",j);
falconsyunya 2:28ccb8bdac86 95 j++;
falconsyunya 2:28ccb8bdac86 96 if(j==256){j=0;}
falconsyunya 2:28ccb8bdac86 97
falconsyunya 3:aad6f83b618e 98 uart.printf("TXDA ");//可変長データ送信コマンド
falconsyunya 2:28ccb8bdac86 99
falconsyunya 3:aad6f83b618e 100 uart.printf("%04x%04x%04x",a[0],a[1],a[2]);//加速度の書き出し
falconsyunya 3:aad6f83b618e 101 uart.printf("%04x%04x%04x",b[0],b[1],b[2]);//角加速度の書き出し
MatsumotoKouki 8:c2812fae50df 102
MatsumotoKouki 8:c2812fae50df 103
MatsumotoKouki 10:c60fec9b4e1b 104 int north=x * 1000000;
MatsumotoKouki 10:c60fec9b4e1b 105 int east=y * 1000000;
MatsumotoKouki 8:c2812fae50df 106
MatsumotoKouki 8:c2812fae50df 107 uart.printf("%08x%08x",east,north);//GPS書き出し
falconsyunya 2:28ccb8bdac86 108
falconsyunya 2:28ccb8bdac86 109 uart.printf("\r\n");
MatsumotoKouki 10:c60fec9b4e1b 110 //printf("%d%d\n\r",north,east);
falconsyunya 2:28ccb8bdac86 111
falconsyunya 2:28ccb8bdac86 112 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 113 }
MatsumotoKouki 0:34d043558630 114
MatsumotoKouki 0:34d043558630 115
falconsyunya 3:aad6f83b618e 116 //fclose(fp);
MatsumotoKouki 0:34d043558630 117
MatsumotoKouki 0:34d043558630 118 return 0;
MatsumotoKouki 0:34d043558630 119
MatsumotoKouki 0:34d043558630 120 }
MatsumotoKouki 0:34d043558630 121
MatsumotoKouki 0:34d043558630 122
MatsumotoKouki 10:c60fec9b4e1b 123 /*void getGPS(float *hokui_n,float *tokei_n) { //関数getGPS定義
MatsumotoKouki 0:34d043558630 124 unsigned char c = gps.getc();
MatsumotoKouki 0:34d043558630 125 if( c=='$' || i == 256){
MatsumotoKouki 0:34d043558630 126 mode = 0;
MatsumotoKouki 0:34d043558630 127 i = 0;
MatsumotoKouki 0:34d043558630 128 }
MatsumotoKouki 0:34d043558630 129 if(mode==0){
MatsumotoKouki 0:34d043558630 130 if((gps_data[i]=c) != '\r'){
MatsumotoKouki 0:34d043558630 131 i++;
MatsumotoKouki 0:34d043558630 132 }else{
MatsumotoKouki 0:34d043558630 133 gps_data[i]='\0';
MatsumotoKouki 0:34d043558630 134 // pc.printf("%s\r\n",gps_data);
MatsumotoKouki 0:34d043558630 135 if( sscanf(gps_data, "$GPGGA,%f,%f,%c,%f,%c,%d",&w_time,&hokui,&ns,&tokei,&ew,&rlock) >= 1){
MatsumotoKouki 0:34d043558630 136 if(rlock==1){
MatsumotoKouki 0:34d043558630 137 // pc.printf("Status:Lock(%d)\n\r",rlock);
MatsumotoKouki 0:34d043558630 138 //logitude
MatsumotoKouki 0:34d043558630 139 d_tokei= int(tokei/100);
MatsumotoKouki 0:34d043558630 140 m_tokei= (tokei-d_tokei*100)/60;
MatsumotoKouki 0:34d043558630 141 g_tokei= d_tokei+m_tokei;
MatsumotoKouki 0:34d043558630 142 //pc.printf("Log:%4.5f,",g_tokei); //Latitude
MatsumotoKouki 0:34d043558630 143 d_hokui=int(hokui/100);
MatsumotoKouki 0:34d043558630 144 m_hokui=(hokui-d_hokui*100)/60;
MatsumotoKouki 0:34d043558630 145 g_hokui=d_hokui+m_hokui;
MatsumotoKouki 0:34d043558630 146 // pc.printf("Lat:%4.5f\n\r",g_hokui);
MatsumotoKouki 0:34d043558630 147
MatsumotoKouki 0:34d043558630 148 *hokui_n=g_hokui;
MatsumotoKouki 0:34d043558630 149 *tokei_n=g_tokei;
MatsumotoKouki 0:34d043558630 150 }
MatsumotoKouki 10:c60fec9b4e1b 151 /*if(rlock==0){
MatsumotoKouki 0:34d043558630 152 //pc.printf("\n\rStatus:unLock(%d)\n\r",rlock);
MatsumotoKouki 0:34d043558630 153 //pc.printf("%s",gps_data);
MatsumotoKouki 10:c60fec9b4e1b 154 *hokui_n=0;
MatsumotoKouki 10:c60fec9b4e1b 155 *tokei_n=0;
MatsumotoKouki 10:c60fec9b4e1b 156 }
MatsumotoKouki 0:34d043558630 157 }//if
MatsumotoKouki 0:34d043558630 158 *hokui_n=hokui;
MatsumotoKouki 0:34d043558630 159 *tokei_n=tokei;
MatsumotoKouki 0:34d043558630 160 } //else
MatsumotoKouki 10:c60fec9b4e1b 161 } //L.123 if
MatsumotoKouki 10:c60fec9b4e1b 162 }*/
MatsumotoKouki 0:34d043558630 163
MatsumotoKouki 1:4c7bace668f6 164 /*void callback () {
MatsumotoKouki 0:34d043558630 165 int i;
MatsumotoKouki 0:34d043558630 166 char buf[65];
MatsumotoKouki 0:34d043558630 167
MatsumotoKouki 0:34d043558630 168 //i = im920.recv(buf, 64);
MatsumotoKouki 0:34d043558630 169 buf[i] = 0;
MatsumotoKouki 0:34d043558630 170 printf("recv: '%s' (%d)\r\n", buf, i);
MatsumotoKouki 1:4c7bace668f6 171 }*/
MatsumotoKouki 0:34d043558630 172
MatsumotoKouki 0:34d043558630 173 void FlightPinDriver(){
MatsumotoKouki 0:34d043558630 174
MatsumotoKouki 0:34d043558630 175 if(FlightPin==1){
MatsumotoKouki 8:c2812fae50df 176 printf("Flight Pin Worked!!\n\r");
MatsumotoKouki 0:34d043558630 177 warikomi.detach();
MatsumotoKouki 0:34d043558630 178 t.attach(nichrome_ON,3);//ニクロムを作動させるまでの時間
MatsumotoKouki 0:34d043558630 179 }
MatsumotoKouki 0:34d043558630 180
MatsumotoKouki 0:34d043558630 181 }
MatsumotoKouki 0:34d043558630 182
MatsumotoKouki 0:34d043558630 183 void nichrome_ON(){
MatsumotoKouki 0:34d043558630 184 printf("テグスカット!\n\r");
MatsumotoKouki 0:34d043558630 185 fet1=1;
MatsumotoKouki 0:34d043558630 186 wait(2.0);//テグスを切るまでにかかる時間
MatsumotoKouki 0:34d043558630 187 fet1=0;
MatsumotoKouki 0:34d043558630 188 t.detach();
MatsumotoKouki 0:34d043558630 189 t.attach(buzzer,6);//ブザー作動までの時間
MatsumotoKouki 0:34d043558630 190 }
MatsumotoKouki 0:34d043558630 191
MatsumotoKouki 0:34d043558630 192 void buzzer(){
MatsumotoKouki 0:34d043558630 193 printf("ブザー作動\n\r");
MatsumotoKouki 0:34d043558630 194 fet2=1;
MatsumotoKouki 0:34d043558630 195 }