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@8:c2812fae50df, 2020-08-29 (annotated)

Committer:
MatsumotoKouki
Date:
Sat Aug 29 08:30:57 2020 +0000
Revision:
8:c2812fae50df
Parent:
7:e68ead6d3c1a
Child:
9:fc0559c27628
included GPS

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 1:4c7bace668f6 4
MatsumotoKouki 0:34d043558630 5
MatsumotoKouki 0:34d043558630 6
MatsumotoKouki 0:34d043558630 7 Serial gps(PA_9, PA_10); // tx, rx
MatsumotoKouki 0:34d043558630 8 DigitalIn FlightPin(PB_0);
MatsumotoKouki 1:4c7bace668f6 9
falconsyunya 2:28ccb8bdac86 10 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
falconsyunya 2:28ccb8bdac86 11 Serial uart(PA_2, PA_3, 19200);//TX(IM920_RX), RX(IM920_TX)
falconsyunya 2:28ccb8bdac86 12
MatsumotoKouki 0:34d043558630 13 DigitalOut fet1(PA_8); //MOSFET PIN:GATE
MatsumotoKouki 0:34d043558630 14 DigitalOut fet2(PA_11);
MatsumotoKouki 0:34d043558630 15 BMX055 bmx(PB_7,PB_6);//SDA,SCL
MatsumotoKouki 0:34d043558630 16 SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd"); // the pinout on the mbed Cool Components workshop board
MatsumotoKouki 1:4c7bace668f6 17
MatsumotoKouki 0:34d043558630 18 Ticker warikomi;
MatsumotoKouki 0:34d043558630 19 Timeout t;
MatsumotoKouki 0:34d043558630 20 //double a[3],b[3],c[3];
MatsumotoKouki 0:34d043558630 21
MatsumotoKouki 8:c2812fae50df 22 int i,j=0,rlock,mode,north,east;
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 0:34d043558630 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 0:34d043558630 40
MatsumotoKouki 0:34d043558630 41 float *hokui_n,*tokei_n;
MatsumotoKouki 0:34d043558630 42
MatsumotoKouki 0:34d043558630 43 mkdir("/sd/mydir00", 0777);
MatsumotoKouki 7:e68ead6d3c1a 44 FILE *fp = fopen("/sd/mydir00/sddata.csv", "w");
MatsumotoKouki 0:34d043558630 45 if(fp == NULL) {
MatsumotoKouki 0:34d043558630 46 error("Could not open file for write\n");
MatsumotoKouki 0:34d043558630 47 }
MatsumotoKouki 0:34d043558630 48
MatsumotoKouki 0:34d043558630 49 gps.baud(9600);
MatsumotoKouki 0:34d043558630 50 //pc.baud(9600);
MatsumotoKouki 0:34d043558630 51 //gps.attach(getGPS(&hokui_n,&tokei_n),Serial::RxIrq);
MatsumotoKouki 8:c2812fae50df 52 //fprintf(fp,"N,E,acc:x,acc:y,acc:z,gyr:x,gyr:y,gyr:z,mag:x,mag:y,mag:z");
MatsumotoKouki 0:34d043558630 53 warikomi.attach(&FlightPinDriver,0.5);
MatsumotoKouki 0:34d043558630 54
MatsumotoKouki 0:34d043558630 55
falconsyunya 3:aad6f83b618e 56 while(1) {
falconsyunya 3:aad6f83b618e 57 //BMX055部分
falconsyunya 2:28ccb8bdac86 58 bmx.getAcc();//加速度の取得
falconsyunya 2:28ccb8bdac86 59 bmx.getGyro();//角力加速度の取得
MatsumotoKouki 7:e68ead6d3c1a 60 bmx.getMag();//地磁気の取得
MatsumotoKouki 7:e68ead6d3c1a 61 getGPS(hokui_n,tokei_n);//GPS取得
MatsumotoKouki 8:c2812fae50df 62 if(hokui_n==NULL){
MatsumotoKouki 8:c2812fae50df 63 *hokui_n=0;}
MatsumotoKouki 8:c2812fae50df 64 if(tokei_n==NULL){
MatsumotoKouki 8:c2812fae50df 65 *tokei_n=0;}
MatsumotoKouki 8:c2812fae50df 66 //(fp,"%f,%f,%f,%f,%f,%2.4f,%2.4f,%2.4f,%2.4f,%2.4f,%2.4f\n\r",hokui_n,tokei_n,(bmx.accel[0]/512)*9.8,
MatsumotoKouki 8:c2812fae50df 67 //(bmx.accel[1]/512)*9.8,(bmx.accel[2]/512)*9.8,(bmx.gyroscope[0]*125)/2048,
MatsumotoKouki 8:c2812fae50df 68 //(bmx.gyroscope[1]*125)/2048,(bmx.gyroscope[2]*125)/2048,bmx.magnet[0],bmx.magnet[1],bmx.magnet[2]);
MatsumotoKouki 7:e68ead6d3c1a 69 int a[3],b[3],c[3];
falconsyunya 3:aad6f83b618e 70 for(int i=0;i<3;i++){
falconsyunya 3:aad6f83b618e 71 a[i]=bmx.accel[i];
falconsyunya 3:aad6f83b618e 72 if(a[i]<0)a[i] += 4096;//負値の場合+4096
falconsyunya 3:aad6f83b618e 73 b[i]=bmx.gyroscope[i];
MatsumotoKouki 7:e68ead6d3c1a 74 if(b[i]<0)b[i] += 4096;//負値の場合+4096
MatsumotoKouki 7:e68ead6d3c1a 75 c[i]=bmx.magnet[i];
MatsumotoKouki 7:e68ead6d3c1a 76 if(c[i]<0)c[i] += 4096;//負値の場合+4096
MatsumotoKouki 7:e68ead6d3c1a 77
falconsyunya 3:aad6f83b618e 78 }
falconsyunya 3:aad6f83b618e 79 //GPS部分
MatsumotoKouki 8:c2812fae50df 80
falconsyunya 3:aad6f83b618e 81 //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 82
falconsyunya 3:aad6f83b618e 83 //IM920部分
falconsyunya 2:28ccb8bdac86 84 //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 85 uart.printf("STNN %02x\r\n",j);
falconsyunya 2:28ccb8bdac86 86 j++;
falconsyunya 2:28ccb8bdac86 87 if(j==256){j=0;}
falconsyunya 2:28ccb8bdac86 88
falconsyunya 3:aad6f83b618e 89 uart.printf("TXDA ");//可変長データ送信コマンド
falconsyunya 2:28ccb8bdac86 90
falconsyunya 3:aad6f83b618e 91 uart.printf("%04x%04x%04x",a[0],a[1],a[2]);//加速度の書き出し
falconsyunya 3:aad6f83b618e 92 uart.printf("%04x%04x%04x",b[0],b[1],b[2]);//角加速度の書き出し
MatsumotoKouki 8:c2812fae50df 93
MatsumotoKouki 8:c2812fae50df 94 north=*(hokui_n) * 1000000;
MatsumotoKouki 8:c2812fae50df 95 east=*(tokei_n) * 1000000;
MatsumotoKouki 8:c2812fae50df 96
MatsumotoKouki 8:c2812fae50df 97
MatsumotoKouki 8:c2812fae50df 98 uart.printf("%08x%08x",east,north);//GPS書き出し
falconsyunya 2:28ccb8bdac86 99
falconsyunya 2:28ccb8bdac86 100 uart.printf("\r\n");
falconsyunya 2:28ccb8bdac86 101
falconsyunya 2:28ccb8bdac86 102 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 103 }
MatsumotoKouki 0:34d043558630 104
MatsumotoKouki 0:34d043558630 105
falconsyunya 3:aad6f83b618e 106 //fclose(fp);
MatsumotoKouki 0:34d043558630 107
MatsumotoKouki 0:34d043558630 108 return 0;
MatsumotoKouki 0:34d043558630 109
MatsumotoKouki 0:34d043558630 110 }
MatsumotoKouki 0:34d043558630 111
MatsumotoKouki 0:34d043558630 112
MatsumotoKouki 0:34d043558630 113 void getGPS(float *hokui_n,float *tokei_n) { //関数getGPS定義
MatsumotoKouki 0:34d043558630 114 unsigned char c = gps.getc();
MatsumotoKouki 0:34d043558630 115 if( c=='$' || i == 256){
MatsumotoKouki 0:34d043558630 116 mode = 0;
MatsumotoKouki 0:34d043558630 117 i = 0;
MatsumotoKouki 0:34d043558630 118 }
MatsumotoKouki 0:34d043558630 119 if(mode==0){
MatsumotoKouki 0:34d043558630 120 if((gps_data[i]=c) != '\r'){
MatsumotoKouki 0:34d043558630 121 i++;
MatsumotoKouki 0:34d043558630 122 }else{
MatsumotoKouki 0:34d043558630 123 gps_data[i]='\0';
MatsumotoKouki 0:34d043558630 124 // pc.printf("%s\r\n",gps_data);
MatsumotoKouki 0:34d043558630 125 if( sscanf(gps_data, "$GPGGA,%f,%f,%c,%f,%c,%d",&w_time,&hokui,&ns,&tokei,&ew,&rlock) >= 1){
MatsumotoKouki 0:34d043558630 126 if(rlock==1){
MatsumotoKouki 0:34d043558630 127 // pc.printf("Status:Lock(%d)\n\r",rlock);
MatsumotoKouki 0:34d043558630 128 //logitude
MatsumotoKouki 0:34d043558630 129 d_tokei= int(tokei/100);
MatsumotoKouki 0:34d043558630 130 m_tokei= (tokei-d_tokei*100)/60;
MatsumotoKouki 0:34d043558630 131 g_tokei= d_tokei+m_tokei;
MatsumotoKouki 0:34d043558630 132 //pc.printf("Log:%4.5f,",g_tokei); //Latitude
MatsumotoKouki 0:34d043558630 133 d_hokui=int(hokui/100);
MatsumotoKouki 0:34d043558630 134 m_hokui=(hokui-d_hokui*100)/60;
MatsumotoKouki 0:34d043558630 135 g_hokui=d_hokui+m_hokui;
MatsumotoKouki 0:34d043558630 136 // pc.printf("Lat:%4.5f\n\r",g_hokui);
MatsumotoKouki 0:34d043558630 137
MatsumotoKouki 0:34d043558630 138 *hokui_n=g_hokui;
MatsumotoKouki 0:34d043558630 139 *tokei_n=g_tokei;
MatsumotoKouki 0:34d043558630 140 }
MatsumotoKouki 0:34d043558630 141 //else{
MatsumotoKouki 0:34d043558630 142 //pc.printf("\n\rStatus:unLock(%d)\n\r",rlock);
MatsumotoKouki 0:34d043558630 143 //pc.printf("%s",gps_data);
MatsumotoKouki 0:34d043558630 144 //}
MatsumotoKouki 0:34d043558630 145 }//if
MatsumotoKouki 0:34d043558630 146 *hokui_n=hokui;
MatsumotoKouki 0:34d043558630 147 *tokei_n=tokei;
MatsumotoKouki 0:34d043558630 148 } //else
MatsumotoKouki 0:34d043558630 149 } //L.16 if
MatsumotoKouki 0:34d043558630 150 }
MatsumotoKouki 0:34d043558630 151
MatsumotoKouki 1:4c7bace668f6 152 /*void callback () {
MatsumotoKouki 0:34d043558630 153 int i;
MatsumotoKouki 0:34d043558630 154 char buf[65];
MatsumotoKouki 0:34d043558630 155
MatsumotoKouki 0:34d043558630 156 //i = im920.recv(buf, 64);
MatsumotoKouki 0:34d043558630 157 buf[i] = 0;
MatsumotoKouki 0:34d043558630 158 printf("recv: '%s' (%d)\r\n", buf, i);
MatsumotoKouki 1:4c7bace668f6 159 }*/
MatsumotoKouki 0:34d043558630 160
MatsumotoKouki 0:34d043558630 161 void FlightPinDriver(){
MatsumotoKouki 0:34d043558630 162
MatsumotoKouki 0:34d043558630 163 if(FlightPin==1){
MatsumotoKouki 8:c2812fae50df 164 printf("Flight Pin Worked!!\n\r");
MatsumotoKouki 0:34d043558630 165 warikomi.detach();
MatsumotoKouki 0:34d043558630 166 t.attach(nichrome_ON,3);//ニクロムを作動させるまでの時間
MatsumotoKouki 0:34d043558630 167 }
MatsumotoKouki 0:34d043558630 168
MatsumotoKouki 0:34d043558630 169 }
MatsumotoKouki 0:34d043558630 170
MatsumotoKouki 0:34d043558630 171 void nichrome_ON(){
MatsumotoKouki 0:34d043558630 172 printf("テグスカット!\n\r");
MatsumotoKouki 0:34d043558630 173 fet1=1;
MatsumotoKouki 0:34d043558630 174 wait(2.0);//テグスを切るまでにかかる時間
MatsumotoKouki 0:34d043558630 175 fet1=0;
MatsumotoKouki 0:34d043558630 176 t.detach();
MatsumotoKouki 0:34d043558630 177 t.attach(buzzer,6);//ブザー作動までの時間
MatsumotoKouki 0:34d043558630 178 }
MatsumotoKouki 0:34d043558630 179
MatsumotoKouki 0:34d043558630 180 void buzzer(){
MatsumotoKouki 0:34d043558630 181 printf("ブザー作動\n\r");
MatsumotoKouki 0:34d043558630 182 fet2=1;
MatsumotoKouki 0:34d043558630 183 }