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@9:fc0559c27628, 2020-08-29 (annotated)

Committer:
MatsumotoKouki
Date:
Sat Aug 29 13:27:41 2020 +0000
Revision:
9:fc0559c27628
Parent:
8:c2812fae50df
Child:
10:c60fec9b4e1b
when GPS NULL, return 0.

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 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 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 9:fc0559c27628 62
MatsumotoKouki 9:fc0559c27628 63 if(*hokui_n==NULL){
MatsumotoKouki 9:fc0559c27628 64 hokui_n=0;}
MatsumotoKouki 9:fc0559c27628 65 if(*tokei_n==NULL){
MatsumotoKouki 9:fc0559c27628 66 tokei_n=0;}
MatsumotoKouki 8:c2812fae50df 67 //(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 68 //(bmx.accel[1]/512)*9.8,(bmx.accel[2]/512)*9.8,(bmx.gyroscope[0]*125)/2048,
MatsumotoKouki 8:c2812fae50df 69 //(bmx.gyroscope[1]*125)/2048,(bmx.gyroscope[2]*125)/2048,bmx.magnet[0],bmx.magnet[1],bmx.magnet[2]);
MatsumotoKouki 7:e68ead6d3c1a 70 int a[3],b[3],c[3];
falconsyunya 3:aad6f83b618e 71 for(int i=0;i<3;i++){
falconsyunya 3:aad6f83b618e 72 a[i]=bmx.accel[i];
falconsyunya 3:aad6f83b618e 73 if(a[i]<0)a[i] += 4096;//負値の場合+4096
falconsyunya 3:aad6f83b618e 74 b[i]=bmx.gyroscope[i];
MatsumotoKouki 7:e68ead6d3c1a 75 if(b[i]<0)b[i] += 4096;//負値の場合+4096
MatsumotoKouki 7:e68ead6d3c1a 76 c[i]=bmx.magnet[i];
MatsumotoKouki 7:e68ead6d3c1a 77 if(c[i]<0)c[i] += 4096;//負値の場合+4096
MatsumotoKouki 7:e68ead6d3c1a 78
falconsyunya 3:aad6f83b618e 79 }
falconsyunya 3:aad6f83b618e 80 //GPS部分
MatsumotoKouki 8:c2812fae50df 81
falconsyunya 3:aad6f83b618e 82 //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 83
falconsyunya 3:aad6f83b618e 84 //IM920部分
falconsyunya 2:28ccb8bdac86 85 //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 86 uart.printf("STNN %02x\r\n",j);
falconsyunya 2:28ccb8bdac86 87 j++;
falconsyunya 2:28ccb8bdac86 88 if(j==256){j=0;}
falconsyunya 2:28ccb8bdac86 89
falconsyunya 3:aad6f83b618e 90 uart.printf("TXDA ");//可変長データ送信コマンド
falconsyunya 2:28ccb8bdac86 91
falconsyunya 3:aad6f83b618e 92 uart.printf("%04x%04x%04x",a[0],a[1],a[2]);//加速度の書き出し
falconsyunya 3:aad6f83b618e 93 uart.printf("%04x%04x%04x",b[0],b[1],b[2]);//角加速度の書き出し
MatsumotoKouki 8:c2812fae50df 94
MatsumotoKouki 8:c2812fae50df 95
MatsumotoKouki 9:fc0559c27628 96 int north=*hokui_n * 1000000;
MatsumotoKouki 9:fc0559c27628 97 int east=*tokei_n * 1000000;
MatsumotoKouki 9:fc0559c27628 98
MatsumotoKouki 9:fc0559c27628 99 printf("%f",*hokui_n);
MatsumotoKouki 8:c2812fae50df 100
MatsumotoKouki 8:c2812fae50df 101 uart.printf("%08x%08x",east,north);//GPS書き出し
falconsyunya 2:28ccb8bdac86 102
falconsyunya 2:28ccb8bdac86 103 uart.printf("\r\n");
MatsumotoKouki 9:fc0559c27628 104 printf("%d%d\n\r",north,east);
falconsyunya 2:28ccb8bdac86 105
falconsyunya 2:28ccb8bdac86 106 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 107 }
MatsumotoKouki 0:34d043558630 108
MatsumotoKouki 0:34d043558630 109
falconsyunya 3:aad6f83b618e 110 //fclose(fp);
MatsumotoKouki 0:34d043558630 111
MatsumotoKouki 0:34d043558630 112 return 0;
MatsumotoKouki 0:34d043558630 113
MatsumotoKouki 0:34d043558630 114 }
MatsumotoKouki 0:34d043558630 115
MatsumotoKouki 0:34d043558630 116
MatsumotoKouki 0:34d043558630 117 void getGPS(float *hokui_n,float *tokei_n) { //関数getGPS定義
MatsumotoKouki 0:34d043558630 118 unsigned char c = gps.getc();
MatsumotoKouki 0:34d043558630 119 if( c=='$' || i == 256){
MatsumotoKouki 0:34d043558630 120 mode = 0;
MatsumotoKouki 0:34d043558630 121 i = 0;
MatsumotoKouki 0:34d043558630 122 }
MatsumotoKouki 0:34d043558630 123 if(mode==0){
MatsumotoKouki 0:34d043558630 124 if((gps_data[i]=c) != '\r'){
MatsumotoKouki 0:34d043558630 125 i++;
MatsumotoKouki 0:34d043558630 126 }else{
MatsumotoKouki 0:34d043558630 127 gps_data[i]='\0';
MatsumotoKouki 0:34d043558630 128 // pc.printf("%s\r\n",gps_data);
MatsumotoKouki 0:34d043558630 129 if( sscanf(gps_data, "$GPGGA,%f,%f,%c,%f,%c,%d",&w_time,&hokui,&ns,&tokei,&ew,&rlock) >= 1){
MatsumotoKouki 0:34d043558630 130 if(rlock==1){
MatsumotoKouki 0:34d043558630 131 // pc.printf("Status:Lock(%d)\n\r",rlock);
MatsumotoKouki 0:34d043558630 132 //logitude
MatsumotoKouki 0:34d043558630 133 d_tokei= int(tokei/100);
MatsumotoKouki 0:34d043558630 134 m_tokei= (tokei-d_tokei*100)/60;
MatsumotoKouki 0:34d043558630 135 g_tokei= d_tokei+m_tokei;
MatsumotoKouki 0:34d043558630 136 //pc.printf("Log:%4.5f,",g_tokei); //Latitude
MatsumotoKouki 0:34d043558630 137 d_hokui=int(hokui/100);
MatsumotoKouki 0:34d043558630 138 m_hokui=(hokui-d_hokui*100)/60;
MatsumotoKouki 0:34d043558630 139 g_hokui=d_hokui+m_hokui;
MatsumotoKouki 0:34d043558630 140 // pc.printf("Lat:%4.5f\n\r",g_hokui);
MatsumotoKouki 0:34d043558630 141
MatsumotoKouki 0:34d043558630 142 *hokui_n=g_hokui;
MatsumotoKouki 0:34d043558630 143 *tokei_n=g_tokei;
MatsumotoKouki 0:34d043558630 144 }
MatsumotoKouki 0:34d043558630 145 //else{
MatsumotoKouki 0:34d043558630 146 //pc.printf("\n\rStatus:unLock(%d)\n\r",rlock);
MatsumotoKouki 0:34d043558630 147 //pc.printf("%s",gps_data);
MatsumotoKouki 0:34d043558630 148 //}
MatsumotoKouki 0:34d043558630 149 }//if
MatsumotoKouki 0:34d043558630 150 *hokui_n=hokui;
MatsumotoKouki 0:34d043558630 151 *tokei_n=tokei;
MatsumotoKouki 0:34d043558630 152 } //else
MatsumotoKouki 0:34d043558630 153 } //L.16 if
MatsumotoKouki 0:34d043558630 154 }
MatsumotoKouki 0:34d043558630 155
MatsumotoKouki 1:4c7bace668f6 156 /*void callback () {
MatsumotoKouki 0:34d043558630 157 int i;
MatsumotoKouki 0:34d043558630 158 char buf[65];
MatsumotoKouki 0:34d043558630 159
MatsumotoKouki 0:34d043558630 160 //i = im920.recv(buf, 64);
MatsumotoKouki 0:34d043558630 161 buf[i] = 0;
MatsumotoKouki 0:34d043558630 162 printf("recv: '%s' (%d)\r\n", buf, i);
MatsumotoKouki 1:4c7bace668f6 163 }*/
MatsumotoKouki 0:34d043558630 164
MatsumotoKouki 0:34d043558630 165 void FlightPinDriver(){
MatsumotoKouki 0:34d043558630 166
MatsumotoKouki 0:34d043558630 167 if(FlightPin==1){
MatsumotoKouki 8:c2812fae50df 168 printf("Flight Pin Worked!!\n\r");
MatsumotoKouki 0:34d043558630 169 warikomi.detach();
MatsumotoKouki 0:34d043558630 170 t.attach(nichrome_ON,3);//ニクロムを作動させるまでの時間
MatsumotoKouki 0:34d043558630 171 }
MatsumotoKouki 0:34d043558630 172
MatsumotoKouki 0:34d043558630 173 }
MatsumotoKouki 0:34d043558630 174
MatsumotoKouki 0:34d043558630 175 void nichrome_ON(){
MatsumotoKouki 0:34d043558630 176 printf("テグスカット!\n\r");
MatsumotoKouki 0:34d043558630 177 fet1=1;
MatsumotoKouki 0:34d043558630 178 wait(2.0);//テグスを切るまでにかかる時間
MatsumotoKouki 0:34d043558630 179 fet1=0;
MatsumotoKouki 0:34d043558630 180 t.detach();
MatsumotoKouki 0:34d043558630 181 t.attach(buzzer,6);//ブザー作動までの時間
MatsumotoKouki 0:34d043558630 182 }
MatsumotoKouki 0:34d043558630 183
MatsumotoKouki 0:34d043558630 184 void buzzer(){
MatsumotoKouki 0:34d043558630 185 printf("ブザー作動\n\r");
MatsumotoKouki 0:34d043558630 186 fet2=1;
MatsumotoKouki 0:34d043558630 187 }