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@12:ed1e3282e053, 2020-09-08 (annotated)

Committer:
falconsyunya
Date:
Tue Sep 08 06:59:06 2020 +0000
Revision:
12:ed1e3282e053
Parent:
11:2fc33706edd4 
2020/09/08;

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;
falconsyunya 12:ed1e3282e053 19 Timer timer;
falconsyunya 12:ed1e3282e053 20
MatsumotoKouki 9:fc0559c27628 21 int i,j=0,rlock,mode;
MatsumotoKouki 0:34d043558630 22 char ns,ew;
MatsumotoKouki 0:34d043558630 23 float w_time;//,hokui,tokei;
MatsumotoKouki 0:34d043558630 24 float hokui,tokei;
MatsumotoKouki 0:34d043558630 25 float g_hokui,g_tokei;
MatsumotoKouki 0:34d043558630 26 float d_hokui,m_hokui,d_tokei,m_tokei;
MatsumotoKouki 0:34d043558630 27 char gps_data[256];
MatsumotoKouki 0:34d043558630 28 char str[256];
MatsumotoKouki 1:4c7bace668f6 29
MatsumotoKouki 0:34d043558630 30
MatsumotoKouki 10:c60fec9b4e1b 31 //void getGPS(float *hokui_n,float *tokei_n);
MatsumotoKouki 0:34d043558630 32 //void callback ();
MatsumotoKouki 0:34d043558630 33 void FlightPinDriver();
MatsumotoKouki 0:34d043558630 34 void nichrome_ON();
MatsumotoKouki 0:34d043558630 35 void buzzer();
MatsumotoKouki 0:34d043558630 36
MatsumotoKouki 0:34d043558630 37
MatsumotoKouki 0:34d043558630 38 int main() {
MatsumotoKouki 10:c60fec9b4e1b 39 // float *hokui_n,*tokei_n;
MatsumotoKouki 0:34d043558630 40
MatsumotoKouki 0:34d043558630 41 mkdir("/sd/mydir00", 0777);
MatsumotoKouki 7:e68ead6d3c1a 42 FILE *fp = fopen("/sd/mydir00/sddata.csv", "w");
MatsumotoKouki 0:34d043558630 43 if(fp == NULL) {
MatsumotoKouki 0:34d043558630 44 error("Could not open file for write\n");
MatsumotoKouki 0:34d043558630 45 }
MatsumotoKouki 0:34d043558630 46
MatsumotoKouki 10:c60fec9b4e1b 47 //gps.baud(9600);
MatsumotoKouki 0:34d043558630 48 //pc.baud(9600);
MatsumotoKouki 0:34d043558630 49 //gps.attach(getGPS(&hokui_n,&tokei_n),Serial::RxIrq);
MatsumotoKouki 10:c60fec9b4e1b 50 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 51 warikomi.attach(&FlightPinDriver,0.5);
MatsumotoKouki 0:34d043558630 52
MatsumotoKouki 0:34d043558630 53
falconsyunya 3:aad6f83b618e 54 while(1) {
falconsyunya 3:aad6f83b618e 55 //BMX055部分
falconsyunya 2:28ccb8bdac86 56 bmx.getAcc();//加速度の取得
falconsyunya 2:28ccb8bdac86 57 bmx.getGyro();//角力加速度の取得
MatsumotoKouki 7:e68ead6d3c1a 58 bmx.getMag();//地磁気の取得
MatsumotoKouki 7:e68ead6d3c1a 59 int a[3],b[3],c[3];
falconsyunya 12:ed1e3282e053 60 for(int i=0; i<3; i++){
falconsyunya 3:aad6f83b618e 61 a[i]=bmx.accel[i];
falconsyunya 3:aad6f83b618e 62 b[i]=bmx.gyroscope[i];
MatsumotoKouki 7:e68ead6d3c1a 63 c[i]=bmx.magnet[i];
falconsyunya 11:2fc33706edd4 64 }
falconsyunya 11:2fc33706edd4 65
falconsyunya 3:aad6f83b618e 66 //GPS部分
falconsyunya 12:ed1e3282e053 67 int x=0,y=0;
falconsyunya 12:ed1e3282e053 68 if(gps.longtitude!=0){x = (gps.longtitude-135.0f)*1000000;}
falconsyunya 12:ed1e3282e053 69 if(gps.latitude!=0){y = (gps.latitude-34.0f)*1000000;}
MatsumotoKouki 8:c2812fae50df 70
falconsyunya 11:2fc33706edd4 71 //SDカードへの書き込み
falconsyunya 11:2fc33706edd4 72 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 73 (a[1]/512)*9.8f,(a[2]/512)*9.8f,(b[0]*125)/2048.0f,
falconsyunya 11:2fc33706edd4 74 (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 75
falconsyunya 3:aad6f83b618e 76 //IM920部分
falconsyunya 2:28ccb8bdac86 77 //ノード番号(00~FF)を設定.データを送るごとに1増やす．
falconsyunya 12:ed1e3282e053 78 uart.printf("STNN %02X\r\n",j);
falconsyunya 2:28ccb8bdac86 79 j++;
falconsyunya 2:28ccb8bdac86 80 if(j==256){j=0;}
falconsyunya 2:28ccb8bdac86 81
falconsyunya 3:aad6f83b618e 82 uart.printf("TXDA ");//可変長データ送信コマンド
falconsyunya 2:28ccb8bdac86 83
falconsyunya 11:2fc33706edd4 84 uart.printf("%04hX%04hX%04hX",a[0],a[1],a[2]);//加速度の書き出し
falconsyunya 11:2fc33706edd4 85 uart.printf("%04hX%04hX%04hX",b[0],b[1],b[2]);//角加速度の書き出し
MatsumotoKouki 8:c2812fae50df 86
falconsyunya 12:ed1e3282e053 87 uart.printf(" %08X%08X",x,y);//GPS書き出し
falconsyunya 2:28ccb8bdac86 88
falconsyunya 2:28ccb8bdac86 89 uart.printf("\r\n");
falconsyunya 2:28ccb8bdac86 90
falconsyunya 2:28ccb8bdac86 91 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 92 }
MatsumotoKouki 0:34d043558630 93 }
MatsumotoKouki 0:34d043558630 94
MatsumotoKouki 0:34d043558630 95 void FlightPinDriver(){
MatsumotoKouki 0:34d043558630 96
MatsumotoKouki 0:34d043558630 97 if(FlightPin==1){
MatsumotoKouki 8:c2812fae50df 98 printf("Flight Pin Worked!!\n\r");
MatsumotoKouki 0:34d043558630 99 warikomi.detach();
MatsumotoKouki 0:34d043558630 100 t.attach(nichrome_ON,3);//ニクロムを作動させるまでの時間
MatsumotoKouki 0:34d043558630 101 }
MatsumotoKouki 0:34d043558630 102
MatsumotoKouki 0:34d043558630 103 }
MatsumotoKouki 0:34d043558630 104
MatsumotoKouki 0:34d043558630 105 void nichrome_ON(){
falconsyunya 11:2fc33706edd4 106 printf("cut!\n\r");
MatsumotoKouki 0:34d043558630 107 fet1=1;
MatsumotoKouki 0:34d043558630 108 wait(2.0);//テグスを切るまでにかかる時間
MatsumotoKouki 0:34d043558630 109 fet1=0;
MatsumotoKouki 0:34d043558630 110 t.detach();
MatsumotoKouki 0:34d043558630 111 t.attach(buzzer,6);//ブザー作動までの時間
MatsumotoKouki 0:34d043558630 112 }
MatsumotoKouki 0:34d043558630 113
MatsumotoKouki 0:34d043558630 114 void buzzer(){
falconsyunya 11:2fc33706edd4 115 printf("buzzer\n\r");
MatsumotoKouki 0:34d043558630 116 fet2=1;
MatsumotoKouki 0:34d043558630 117 }