2021_Colours_ModelRocket / Mbed 2 deprecated Chigusa_L432_beta

千草L432用のプログラムベータ版。フロー自体はおそらく正常だが、センサーデータ取得ができるかは未確認

Dependencies:   BufferedSerial SDFileSystem mbed

main.cpp@0:a485504ce221, 23 months ago (annotated)

Committer:
MatsumotoKouki
Date:
Tue Sep 13 07:12:43 2022 +0000
Revision:
0:a485504ce221
beta_ver don't know whether sensor works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MatsumotoKouki 0:a485504ce221 1 /* mbed Microcontroller Library
MatsumotoKouki 0:a485504ce221 2 * Copyright (c) 2019 ARM Limited
MatsumotoKouki 0:a485504ce221 3 * SPDX-License-Identifier: Apache-2.0
MatsumotoKouki 0:a485504ce221 4 */
MatsumotoKouki 0:a485504ce221 5
MatsumotoKouki 0:a485504ce221 6 /*センサーにコマンドを送信するのはとりあえず後回し
MatsumotoKouki 0:a485504ce221 7 GPSのデータを受信するのも後回し*/
MatsumotoKouki 0:a485504ce221 8
MatsumotoKouki 0:a485504ce221 9 #include "mbed.h"
MatsumotoKouki 0:a485504ce221 10 #include "SDFileSystem.h"
MatsumotoKouki 0:a485504ce221 11 #include "BufferedSerial.h"
MatsumotoKouki 0:a485504ce221 12
MatsumotoKouki 0:a485504ce221 13 BufferedSerial jy901(PA_9,PA_10);
MatsumotoKouki 0:a485504ce221 14 //BufferedSerial jy901(PA_9,PA_10);
MatsumotoKouki 0:a485504ce221 15 SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd"); //mosi, miso, sck, cs
MatsumotoKouki 0:a485504ce221 16 //BufferedSerial f303(PA_2,PA_3,38400);
MatsumotoKouki 0:a485504ce221 17 //Serial f303(PA_2,PA_3,38400);
MatsumotoKouki 0:a485504ce221 18 DigitalIn F2L_1(PA_3);
MatsumotoKouki 0:a485504ce221 19 DigitalIn F2L_2(PA_2);
MatsumotoKouki 0:a485504ce221 20
MatsumotoKouki 0:a485504ce221 21 DigitalOut led1(LED1);
MatsumotoKouki 0:a485504ce221 22 DigitalOut led2(LED2);
MatsumotoKouki 0:a485504ce221 23 //Serial pc(USBTX, USBRX,38400);//ボーレートを落とすと，USB側からのデータが正確に出力されない.
MatsumotoKouki 0:a485504ce221 24
MatsumotoKouki 0:a485504ce221 25 int sig=0;
MatsumotoKouki 0:a485504ce221 26 FILE *fp;
MatsumotoKouki 0:a485504ce221 27 Ticker comm_1;
MatsumotoKouki 0:a485504ce221 28 Ticker comm_2;
MatsumotoKouki 0:a485504ce221 29 Ticker comm_3;
MatsumotoKouki 0:a485504ce221 30
MatsumotoKouki 0:a485504ce221 31 char str[10];
MatsumotoKouki 0:a485504ce221 32 char NichromeCom[11]={0x55,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
MatsumotoKouki 0:a485504ce221 33 //Timeout FlightPin;
MatsumotoKouki 0:a485504ce221 34 Timeout fileClose;
MatsumotoKouki 0:a485504ce221 35
MatsumotoKouki 0:a485504ce221 36 int getSignal(); //f303からのコマンドを受け取る関数
MatsumotoKouki 0:a485504ce221 37 //void JY901(); //JY901が取得した生データをSDに書き込む関数
MatsumotoKouki 0:a485504ce221 38 void getGPS(); //GPSデータを取得し、f303に送信する関数
MatsumotoKouki 0:a485504ce221 39
MatsumotoKouki 0:a485504ce221 40 void StandbyPin();
MatsumotoKouki 0:a485504ce221 41 void StandbyCommand();
MatsumotoKouki 0:a485504ce221 42 void StandbyNichrome();
MatsumotoKouki 0:a485504ce221 43 void StandbyBuzzer();
MatsumotoKouki 0:a485504ce221 44 void MakeFile();
MatsumotoKouki 0:a485504ce221 45 void writeNichrome();
MatsumotoKouki 0:a485504ce221 46 void close();
MatsumotoKouki 0:a485504ce221 47
MatsumotoKouki 0:a485504ce221 48 int main()
MatsumotoKouki 0:a485504ce221 49 {
MatsumotoKouki 0:a485504ce221 50 unsigned char CalibGyroAcc[5]={0xFF,0xAA,0x01,0x01,0x00};
MatsumotoKouki 0:a485504ce221 51 unsigned char CalibMag[5]={0xFF,0xAA,0x01,0x02,0x00};
MatsumotoKouki 0:a485504ce221 52 unsigned char SetHeight[5]={0xFF,0xAA,0x01,0x03,0x00};
MatsumotoKouki 0:a485504ce221 53 unsigned char ExitCalib[5]={0xFF,0xAA,0x01,0x00,0x00};
MatsumotoKouki 0:a485504ce221 54 comm_1.attach(StandbyPin,0.1); //割り込みで1秒ごとにf303からのコマンドを取得
MatsumotoKouki 0:a485504ce221 55
MatsumotoKouki 0:a485504ce221 56 /**********************
MatsumotoKouki 0:a485504ce221 57 //センサーのsleepモードを終わらせて、キャリブレーションを開始する関数
MatsumotoKouki 0:a485504ce221 58 *****************/
MatsumotoKouki 0:a485504ce221 59
MatsumotoKouki 0:a485504ce221 60 jy901.write(CalibGyroAcc,5);
MatsumotoKouki 0:a485504ce221 61 wait(45);
MatsumotoKouki 0:a485504ce221 62 jy901.write(CalibMag,5);
MatsumotoKouki 0:a485504ce221 63 wait(30);
MatsumotoKouki 0:a485504ce221 64 jy901.write(SetHeight,5);
MatsumotoKouki 0:a485504ce221 65 wait(30);
MatsumotoKouki 0:a485504ce221 66 jy901.write(ExitCalib,5); //キャリブレーションモード終了
MatsumotoKouki 0:a485504ce221 67
MatsumotoKouki 0:a485504ce221 68 while(sig==4) {
MatsumotoKouki 0:a485504ce221 69 fputc(jy901.getc(),fp);
MatsumotoKouki 0:a485504ce221 70 }
MatsumotoKouki 0:a485504ce221 71 }
MatsumotoKouki 0:a485504ce221 72
MatsumotoKouki 0:a485504ce221 73 void StandbyPin()
MatsumotoKouki 0:a485504ce221 74 {
MatsumotoKouki 0:a485504ce221 75 //printf("StandbyCommand start\r\n");
MatsumotoKouki 0:a485504ce221 76 if(F2L_1 == 1 && F2L_2 == 0){
MatsumotoKouki 0:a485504ce221 77 sig=4;
MatsumotoKouki 0:a485504ce221 78 comm_1.detach();
MatsumotoKouki 0:a485504ce221 79
MatsumotoKouki 0:a485504ce221 80 led2=1; //2回点滅
MatsumotoKouki 0:a485504ce221 81 wait(0.1);
MatsumotoKouki 0:a485504ce221 82 led2=0;
MatsumotoKouki 0:a485504ce221 83 wait(0.1);
MatsumotoKouki 0:a485504ce221 84 led2=1;
MatsumotoKouki 0:a485504ce221 85 wait(0.1);
MatsumotoKouki 0:a485504ce221 86 led2=0;
MatsumotoKouki 0:a485504ce221 87
MatsumotoKouki 0:a485504ce221 88 MakeFile();
MatsumotoKouki 0:a485504ce221 89 printf("FlightPin\r\n");
MatsumotoKouki 0:a485504ce221 90 comm_2.attach(StandbyNichrome,0.4);
MatsumotoKouki 0:a485504ce221 91 }
MatsumotoKouki 0:a485504ce221 92 }
MatsumotoKouki 0:a485504ce221 93
MatsumotoKouki 0:a485504ce221 94 void StandbyNichrome(){
MatsumotoKouki 0:a485504ce221 95 if(F2L_1 == 1 && F2L_2 == 1){
MatsumotoKouki 0:a485504ce221 96 comm_2.detach();
MatsumotoKouki 0:a485504ce221 97 fwrite(&NichromeCom,sizeof(NichromeCom[0]),sizeof(NichromeCom),fp);
MatsumotoKouki 0:a485504ce221 98
MatsumotoKouki 0:a485504ce221 99 led2=1; //1回点滅
MatsumotoKouki 0:a485504ce221 100 wait(0.1);
MatsumotoKouki 0:a485504ce221 101 led2=0;
MatsumotoKouki 0:a485504ce221 102
MatsumotoKouki 0:a485504ce221 103 printf("1\r\n");
MatsumotoKouki 0:a485504ce221 104 fileClose.attach(close,70);
MatsumotoKouki 0:a485504ce221 105 printf("Nichrome start\r\n");
MatsumotoKouki 0:a485504ce221 106 comm_3.attach(StandbyBuzzer,1);
MatsumotoKouki 0:a485504ce221 107 }
MatsumotoKouki 0:a485504ce221 108 }
MatsumotoKouki 0:a485504ce221 109
MatsumotoKouki 0:a485504ce221 110 void StandbyBuzzer(){
MatsumotoKouki 0:a485504ce221 111 if(F2L_1 == 0 && F2L_2 == 1){
MatsumotoKouki 0:a485504ce221 112 comm_3.detach();
MatsumotoKouki 0:a485504ce221 113
MatsumotoKouki 0:a485504ce221 114 led2=1; //3回点滅
MatsumotoKouki 0:a485504ce221 115 wait(0.1);
MatsumotoKouki 0:a485504ce221 116 led2=0;
MatsumotoKouki 0:a485504ce221 117 wait(0.1);
MatsumotoKouki 0:a485504ce221 118 led2=1;
MatsumotoKouki 0:a485504ce221 119 wait(0.1);
MatsumotoKouki 0:a485504ce221 120 led2=0;
MatsumotoKouki 0:a485504ce221 121 wait(0.1);
MatsumotoKouki 0:a485504ce221 122 led2=1;
MatsumotoKouki 0:a485504ce221 123 wait(0.1);
MatsumotoKouki 0:a485504ce221 124 led2=0;
MatsumotoKouki 0:a485504ce221 125 printf("3\r\n");
MatsumotoKouki 0:a485504ce221 126
MatsumotoKouki 0:a485504ce221 127 close();
MatsumotoKouki 0:a485504ce221 128
MatsumotoKouki 0:a485504ce221 129 while(1) {
MatsumotoKouki 0:a485504ce221 130 getGPS();
MatsumotoKouki 0:a485504ce221 131 }
MatsumotoKouki 0:a485504ce221 132 }
MatsumotoKouki 0:a485504ce221 133 }
MatsumotoKouki 0:a485504ce221 134
MatsumotoKouki 0:a485504ce221 135 void MakeFile(){
MatsumotoKouki 0:a485504ce221 136 mkdir("/sd/2021MR", 0777);
MatsumotoKouki 0:a485504ce221 137 FILE *fp = fopen("/sd/2021MR/chigusa.bin", "wb");
MatsumotoKouki 0:a485504ce221 138 if(fp == NULL) {
MatsumotoKouki 0:a485504ce221 139 error("Could not open file for write\n");
MatsumotoKouki 0:a485504ce221 140 }
MatsumotoKouki 0:a485504ce221 141 }
MatsumotoKouki 0:a485504ce221 142
MatsumotoKouki 0:a485504ce221 143 void getGPS(){
MatsumotoKouki 0:a485504ce221 144 char buf[10000],data[10000];
MatsumotoKouki 0:a485504ce221 145 int ucRxCnt,j=0;
MatsumotoKouki 0:a485504ce221 146 //string GPSStatus="";
MatsumotoKouki 0:a485504ce221 147 /*FILE *fp = fopen("/sd/2021MR/ground.bin", "w");
MatsumotoKouki 0:a485504ce221 148 if(fp == NULL) {
MatsumotoKouki 0:a485504ce221 149 error("Could not open file for write\n");
MatsumotoKouki 0:a485504ce221 150 }*/
MatsumotoKouki 0:a485504ce221 151
MatsumotoKouki 0:a485504ce221 152 for(int i=0; i<10000; i++) {
MatsumotoKouki 0:a485504ce221 153 buf[i]=jy901.getc();
MatsumotoKouki 0:a485504ce221 154 }
MatsumotoKouki 0:a485504ce221 155
MatsumotoKouki 0:a485504ce221 156 while(j<=int(sizeof(buf)/sizeof(buf[0]))) {
MatsumotoKouki 0:a485504ce221 157 data[ucRxCnt++]=buf[j]; //Store the received data in the buffer
MatsumotoKouki 0:a485504ce221 158 if (data[0]!=0x55) { //The data header is not correct, then restart to find the 0x55 data header
MatsumotoKouki 0:a485504ce221 159 ucRxCnt=0;
MatsumotoKouki 0:a485504ce221 160 // printf("not start sig\n");
MatsumotoKouki 0:a485504ce221 161 } else if(ucRxCnt<11) {
MatsumotoKouki 0:a485504ce221 162 //printf("data is less than 11\n\r");
MatsumotoKouki 0:a485504ce221 163 }//If the data is less than 11, alert.
MatsumotoKouki 0:a485504ce221 164 else {
MatsumotoKouki 0:a485504ce221 165 //printf("switch\n\r");
MatsumotoKouki 0:a485504ce221 166 switch(data[1]) { //Determine what kind of data the data is, and then copy it to the corresponding structure. Some data packets need to open the corresponding output through the upper computer before receiving the data of this data packet.
MatsumotoKouki 0:a485504ce221 167 /* case 0x50: memcpy(&stcTime,&ucRxBuffer[2],8);break;//memcpy is a memory copy function that comes with the compiler. You need to reference "string.h" to copy the characters of the receive buffer into the data structure to achieve data parsing.
MatsumotoKouki 0:a485504ce221 168 case 0x51:
MatsumotoKouki 0:a485504ce221 169 printf("case 0x51 worked!");
MatsumotoKouki 0:a485504ce221 170 memcpy(&stcAcc,&data[2],8);
MatsumotoKouki 0:a485504ce221 171 fprintf(facc,"Acc,%.3f,%.3f,%.3f\r\n",(float)stcAcc.a[0]/32768*16,(float)stcAcc.a[1]/32768*16,(float)stcAcc.a[2]/32768*16);
MatsumotoKouki 0:a485504ce221 172 break;
MatsumotoKouki 0:a485504ce221 173 case 0x52: memcpy(&stcGyro,&ucRxBuffer[2],8);break;
MatsumotoKouki 0:a485504ce221 174 case 0x53: memcpy(&stcAngle,&ucRxBuffer[2],8);break;
MatsumotoKouki 0:a485504ce221 175 case 0x54: memcpy(&stcMag,&ucRxBuffer[2],8);break;
MatsumotoKouki 0:a485504ce221 176 case 0x55: memcpy(&stcDStatus,&ucRxBuffer[2],8);break;
MatsumotoKouki 0:a485504ce221 177 case 0x56: memcpy(&stcPress,&ucRxBuffer[2],8);break;
MatsumotoKouki 0:a485504ce221 178 case 0x57: memcpy(&stcLonLat,&ucRxBuffer[2],8);break;*/
MatsumotoKouki 0:a485504ce221 179 case 0x58:
MatsumotoKouki 0:a485504ce221 180 //memcpy(&stcGPSV,&data[2],8);
MatsumotoKouki 0:a485504ce221 181 //sprintf(GPSStatus,"GPSHeight:%.1fm GPSYaw:%.1fDeg GPSV:%.3fkm/h\r\n",(float)stcGPSV.sGPSHeight/10,(float)stcGPSV.sGPSYaw/10,(float)stcGPSV.lGPSVelocity/1000);
MatsumotoKouki 0:a485504ce221 182 //f303.printf("%s",GPSStatus);
MatsumotoKouki 0:a485504ce221 183 //printf("come a GPS data!!");
MatsumotoKouki 0:a485504ce221 184 break;
MatsumotoKouki 0:a485504ce221 185 //case 0x59: memcpy(&stcQ,&ucRxBuffer[2],8);break;
MatsumotoKouki 0:a485504ce221 186 }
MatsumotoKouki 0:a485504ce221 187 ucRxCnt=0;//Clear the cache area
MatsumotoKouki 0:a485504ce221 188 }
MatsumotoKouki 0:a485504ce221 189 j++;
MatsumotoKouki 0:a485504ce221 190 }
MatsumotoKouki 0:a485504ce221 191 }
MatsumotoKouki 0:a485504ce221 192
MatsumotoKouki 0:a485504ce221 193 void close(){
MatsumotoKouki 0:a485504ce221 194 printf("finished\r\n");
MatsumotoKouki 0:a485504ce221 195 fclose(fp);
MatsumotoKouki 0:a485504ce221 196 }