File content as of revision 0:b021d725d528:

/*
2017年3月　伊豆大島共同打上実験
団体名：CORE
チーム名：ムササビ
該当電装：ロケット搭載用

使用部品
・LPC1768(マイコン)
・MPU6050(加速度・ジャイロセンサ)
・MS5607(気圧・気温センサ)
・MicroSDスロット
・MG995(サーボモータ)×4

使用ライブラリ
・MPU6050.h
   https://developer.mbed.org/teams/mbed/code/SDFileSystem/
・MS5607.h
   https://developer.mbed.org/users/yamaguch/code/MS5607/
・SDFileSystem.h
   https://developer.mbed.org/teams/mbed/code/SDFileSystem/
*/
#include "mbed.h"
#include "math.h"
#include "MS5607I2C.h"
#include "MPU6050.h"
#include "SDFileSystem.h"

#define ACC_LAUNCH      4.0f//FIXME:本番は4g
#define TOP_DROP_AMOUNT 1.5f
#define TIME_REACH_TOP  12.5f

#define RATE_LOG  1
#define RATE_OPEN 10
/*サーボ動作*/
#define LOCK      0
#define UNLOCK    1
/*モード定義*/
#define STANDBY   0
#define TEST      1
#define FLIGHT    2
/*開放フェーズ定義*/
#define SETUP     0
#define LAUNCH    1
#define RISE      2
#define DROP      3
/**/
/*DCモータ動作*/
#define FORW      0
#define STOP      1
#define BACK      2
#define P0        1013.25f//海面気圧[hPa]
#define ACC       4096.0f//加速度オフセット値

/*目標地点の座標*/
#define L_HOKUI  34.73416 //ムササビチーム目標地点
#define L_TOUKEI 139.4227
#define ECC2     0.00669437999019758
#define A_RADIUS 6378137.000          //長半径(赤道半径)[m]
#define B_RADIUS 6356752.314245     //短半径(極半径)(WGS84)->http://yamadarake.jp/trdi/report000001.html
#define M_PI     3.1415926535897932384626433832795
#define M_PI_2   1.57079632679489661923
#define epsilon 1.0E-6

/*ピン指定*/
MS5607I2C     ms5607(p9, p10, false);
MPU6050       mpu(p9,p10);
BusOut        myled(LED1,LED2,LED3,LED4);
SDFileSystem  sd(p5, p6, p7, p8, "sd");
Serial        device(USBTX, USBRX);
DigitalIn     flightpin(p19);
DigitalOut    RED(p30);
Serial        twe(p13,p14);
Serial        gps(p28,p27);       // tx, rx
PwmOut        Door_UP(p21);
PwmOut        Door_BOTTOM(p22);
PwmOut        DC(p23);


/*タイマー類*/
Timer  timer;
Ticker loop_log;
Ticker loop_open;
/*ログカウンタ*/
bool   row = 0;
int8_t col = 0;
/*ログ格納用*/
float alt_drop;
FILE *fp;
/*フェーズ変数*/
int8_t Phase = SETUP;
int8_t Mode  = STANDBY;
char flight[5] = {};
int i_f =0;
/*判定用*/
float  alt_buff[RATE_OPEN];
static float  alt_max,alt_launch;
float  t_drop,t_top,t_launch;
int8_t cnt_judge = 0;
int8_t col_open  = 0;
/*入力用*/
int8_t input_buff[2] = {};
int8_t input_cnt = 0;
int u;

/*GPS変数*/
const float dt =0.06;
int i,mode,Step;
int j = 0;
char gps_data[256];
char st,ns,ew;
float w_time,hokui,tokei;
float vel_norm,vel_head;

float g_hokui,g_tokei;
float d_hokui,m_hokui,d_tokei,m_tokei;
float def;
unsigned char c;
float dy, dx;
float yAve,n,m,ecc,w;
float xDist, yDist, dist;
float x_tgt[3]= {166.7,-199.7,0.0};

/*関数*/
void  _Open();
//void  _Log();
void  _GPS();
void  _Motor(int8_t door_num, int8_t motion);
void  _Input();
float _Measure_Alt(float press, float temp);
float _Median(float data[], int num);
int set_input(bool gps_good, float x_s[], float vg_knot, float hdg_gps, float alt_s, float alt_max);
int control(float r_rel[], float vw[], float v[], float hdg, float omg, float dist_tgt);
void filter_x(float dt, float C, float x_est[], float x_gps[], float vg_gps[]);
void periodize(float &x, float max, float min);
float hdg_conv(float hdgN0deg);
void windstar(float Vw[], float Vg0[], float Vg1[], float Vg2[]);
void segmentBisector(float a[], float v1[], float v2[]);
int intersection(float r[], float l[], float m[]);
float dot2(float a[], float b[]);
float norm2(float v[]);

/*---------------------------------------------------------------------*/
int main() {
   device.baud(115200);
   gps.baud(115200);
   twe.baud(115200);
   mpu.setAcceleroRange(2);
   mpu.setGyroRange(2);
   timer.start();
   Door_UP.period_ms(20);
   Door_BOTTOM.period_ms(20);
   DC.period_ms(20);
       ms5607.printCoefficients();

   // _Motor(1,UNLOCK);//todo:当日は状態記憶に仕様変更予定？
   // _Motor(2,UNLOCK);//
   fp = fopen("/sd/log.txt", "a");
   device.attach(&_Input,Serial::RxIrq);
   loop_open.attach(&_Open,1.0/RATE_OPEN);
   while(1);
}
/*開放用関数　RATE_OPEN[Hz]で判定を行う*/
void _Open(){
   myled = 1 << (Phase-1);
   switch (Phase) {
      case SETUP://セットアップモード（発射判定不可）
                  break;
      case LAUNCH://点火モード（発射判定可）
            device.printf("Phase:LAUNCH\r\n");
            
            float acc_buffx2 = (float)mpu.getAcceleroRawX()/(ACC*0.981);
            float acc_buffy2 = (float)mpu.getAcceleroRawY()/(ACC*0.981);
            float acc_buffz2 = (float)mpu.getAcceleroRawZ()/(ACC*0.981);
            
            float x_acc=acc_buffx2*acc_buffx2;
            float y_acc=acc_buffy2*acc_buffy2;
            float z_acc=acc_buffz2*acc_buffz2;

            float acc_sum = (x_acc+y_acc+z_acc)*1.0;
                  alt_buff[col_open] = ms5607.getAltitude();
                  if(acc_sum>ACC_LAUNCH||flightpin==1){
                     if(cnt_judge++==3){
                        Phase = RISE;
                        alt_launch = _Median(alt_buff, RATE_OPEN);
                        cnt_judge = 0;
                     }
                     device.printf("launch:%f",alt_launch);
                     t_launch = timer.read();
                     alt_max = alt_launch;
                  }else{
                     if(timer.read()>t_launch+1.0) cnt_judge = 0;
                  }
                  break;
      case RISE://上昇中（パラシュート開放判定）
                  device.printf("Phase:RISE\r\n");
                  float alt_rising = ms5607.getAltitude();
                  if( alt_rising>alt_max && alt_rising-alt_max < 10.0 ) alt_max = alt_rising;
                  if(alt_rising<alt_max-TOP_DROP_AMOUNT){
                     if(cnt_judge++==3){
                        twe.printf("Phase:RISE.ALT Open.\r\n");
                           gps.attach(&_GPS,Serial::RxIrq);

                        _Motor(1,UNLOCK);
                        Phase = DROP;
                        cnt_judge = 0;
                     }
                     t_top = timer.read();
                  }else{
                     if(timer.read()>t_top+1.0) cnt_judge = 0;
                  }
                  if(timer.read()-t_launch>TIME_REACH_TOP){
                     _Motor(1,UNLOCK);
   gps.attach(&_GPS,Serial::RxIrq);

                     Phase = DROP;
                     cnt_judge = 0;
                  }
                  break;
      case DROP://降下中（缶サット開放判定)

            //device.printf("%d %c %f %f %f %f \n\r",u,st,vel_norm, vel_head, alt_drop, alt_max);
            //device.printf("Phase:DROP. Input:%d /r/n",u);
            
            //_Measure alt 現在の高度 + dt->60ms

                  break;
   }
   if(col_open++==RATE_OPEN) col_open = 0;
}
/*
void _Log(){
   if(t[row][col] = timer.read()>=30.0*60.0){
      timer.reset();
      t[row][col] = timer.read();
   }
   pressure[row][col]    = ms5607.getPressure()/100;
   temperature[row][col] = ms5607.getTemperature();
   fprintf(fp,"%d,%f,%f\r\n",t[row][col],pressure[row][col],temperature[row][col]);
   if(col++==RATE_LOG){
      col = 0;
      row =! row;
      fclose(fp);
      fp  =  fopen("/sd/log.txt", "a");
   }
}
*/
    void _Motor(int8_t num, int8_t motion) {
        if(num==1) { //扉
            if(motion==UNLOCK) {
                Door_UP.pulsewidth(0.0015);
                Door_BOTTOM.pulsewidth(0.0023);
                wait(1.0);
                Door_UP.pulsewidth(0);
                Door_BOTTOM.pulsewidth(0);
            } else if(motion==LOCK) {
                Door_UP.pulsewidth(0.0023);
                Door_BOTTOM.pulsewidth(0.0015);
                wait(1.0);
                Door_UP.pulsewidth(0);
                Door_BOTTOM.pulsewidth(0);
            } else {
                device.printf("error%f\r\n",motion);
            }
        } else if(num==2) { //DC
            if(motion==FORW) {
                DC.pulsewidth(0.001);
                wait(0.2);
            } else if(motion==STOP) {
                DC.pulsewidth(0.0015);
                wait(0.2);
            } else if(motion==BACK) {
                DC.pulsewidth(0.002);
                wait(0.2);
            } else {
                device.printf("error%f\r\n",motion);
            }
        } else {
            device.printf("Motor error:%d\r\n",num);
        }
    }
void _GPS() {
  static int cnt=0;
  cnt++;
  RED =1;
  c = gps.getc();
  if( c=='$' || i == 256){
    mode = 0;
    i = 0;
    for(int j=0; j<256; j++){
        gps_data[j]=NULL;
    }
  }
  if(mode==0){
    if((gps_data[i]=c) != '\r'){
      i++;
    }else{
      gps_data[i]='\0';
      
      if( sscanf(gps_data, "$GNRMC,%f,%c,%f,%c,%f,%c,%f,%f",&w_time,&st,&hokui,&ns,&tokei,&ew,&vel_norm,&vel_head) >= 1){
          //logitude

          d_tokei= int(tokei/100);
          m_tokei= (tokei-d_tokei*100)/60;
          g_tokei= d_tokei+m_tokei;
          //Latitude
          d_hokui=int(hokui/100);
          m_hokui=(hokui-d_hokui*100)/60;
          g_hokui=d_hokui+m_hokui;
          
          dy = (L_HOKUI-g_hokui)/180*M_PI;
          dx = (L_TOUKEI-g_tokei)/180*M_PI;
          yAve = (g_hokui+L_HOKUI)/2/180*M_PI;
          w = sqrt(1-ECC2*sin(yAve)*sin(yAve));
          m = A_RADIUS*(1-ECC2)/(w*w*w);
          n = A_RADIUS/w;
          dist = sqrt((dy*m)*(dy*m)+(dx*n*cos(yAve))*(dx*n*cos(yAve))/1);
          xDist = dx*n*cos(yAve);
          yDist = dy*m;
          
                float alt = ms5607.getAltitude();
                //device.printf("Lon:%.6f, Lat:%.6f,vel_norm:%f,vel_head:%f\r\n",g_tokei, g_hokui,vel_norm,vel_head);
                device.printf("Radio \r\n");

/*
          static int k=0;
          if (k++ % 6 == 0){
                float alt = ms5607.getAltitude();
                //device.printf("Lon:%.6f, Lat:%.6f,vel_norm:%f,vel_head:%f\r\n",g_tokei, g_hokui,vel_norm,vel_head);
                device.printf("Radio \r\n");

                twe.printf("%c,%f %f %f %f %f %d \r\n",Phase,hokui,tokei,vel_norm,vel_head,alt,alt_launch,u);
                fprintf(fp,"%c,%f %f %f %f %f %d \r\n" ,Phase,hokui,tokei,vel_norm,vel_head,alt,alt_launch,u);
                
                if(k % 30 == 0){
                    k = 0;
                    row =! row;
                    fclose(fp);
                    fp  =  fopen("/sd/log.txt", "a");
                }
          }                  
*/          static float alt_drop2=ms5607.getAltitude();
            alt_drop2=ms5607.getAltitude();
          alt_drop=alt_drop2-alt_launch;
            
           float x_s[] = { xDist, yDist };
           device.printf("x_s %f %f drp:%f max:%f \r\n",x_s[0],x_s[1],alt_drop,alt_max - alt_launch);
        u = set_input(st == 'A', x_s, vel_norm, vel_head, alt_drop, alt_max - alt_launch);
            device.printf("%d",u);
            twe.printf("%d,%f %f %f %f %f %d \r\n",cnt,hokui,tokei,vel_norm,vel_head,alt_drop,alt_max - alt_launch,u);

            static int ui = 0;
            const int ui_max = 30, ui_min = 10;   // ui_min = 0 ?
            if (ui < ui_min) u = 1;
            else if (ui > ui_max) u = -1;
            ui += u;

            if(u == -1) _Motor(2,FORW);//右旋回
            else if(u == 0) _Motor(2,STOP);
            else if(u == 1) _Motor(2,BACK);//左旋回
           
   
          sprintf(gps_data, "");
      }//if
    }
  }
}

void _Input(){
   input_buff[input_cnt] = device.getc();
   device.printf("\r\n");
   switch (Mode) {
      case STANDBY:
                  if(input_cnt==0){
                     if(input_buff[0]=='S'){
                        device.printf("U >> UNLOCK\r\n");
                        device.printf("L >> LOCK\r\n");
                     }else if(input_buff[0]=='M'){
                        device.printf("S >> STANDBY\r\n");
                        device.printf("F >> FLIGHT\r\n");
                     }else{
                        device.printf("This command is not found >> %c\r\n",input_buff[0]);
                        device.printf(">>MAINMENU<<\r\n");
                        device.printf("S >> Servo Operation\r\n");
                        device.printf("M >> Mode Change\r\n");
                        device.printf("-->>");
                        return;
                     }
                  }else if(input_cnt==1){
                     if(input_buff[0]=='S'){
                          if(input_buff[1]=='U')_Motor(1,UNLOCK);
                          else if(input_buff[1]=='L')_Motor(1,LOCK);
                          else{
                            device.printf("This command is not found >> %c\r\n",input_buff[1]);
                            device.printf("U >> UNLOCK\r\n");
                            device.printf("L >> LOCK\r\n");
                            device.printf("-->>");
                            return;
                          }
                     }else if(input_buff[0]=='M'){
                        if(input_buff[1]=='S'){
                           Mode = STANDBY;
                        }else if(input_buff[1]=='F'){
                           Mode = FLIGHT;
                           Phase = LAUNCH;

                           device.printf("FLIGHT-Mode ON!\r\n");
                           device.printf("***alert***\r\n");
                           device.printf("You will be able to reset only!\r\n");
                           return;
                        }else{
                           device.printf("This command is not found >> %c\r\n",input_buff[1]);
                           device.printf("S >> STANDBY\r\n");
                           device.printf("F >> FLIGHT\r\n");
                           device.printf("-->>");
                           return;
                        }
                     }
                     input_cnt = 0;
                     device.printf(">>MAINMENU<<\r\n");
                     device.printf("S >> Servo Operation\r\n");
                     device.printf("M >> Mode Change\r\n");
                     device.printf("-->>");
                     return;
                  }
                  device.printf("-->>");
                  input_cnt++;
                  break;
      case FLIGHT://reset only
                  break;
   }
}

/*その他雑関数*/
float _Measure_Alt(float press/*[hPa]*/, float temp/*[℃]*/){
   return (pow((P0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
}
float _Median(float data[], int num){
   float median;
   float *sort = (float *)malloc(sizeof(float)*num);
   for(int i=0; i<num; i++) sort[i] = data[i];
   for(int i=0; i<num; i++){
      for(int j=0; j<num-i-1; j++){
         if(sort[j]>sort[j+1]){
            float buff = sort[j+1];
            sort[j+1] = sort[j];
            sort[j] = buff;
         }
      }
   }
   if(num%2!=0)median = sort[num/2];
   else median = (sort[num/2-1]+sort[num/2])/2.0;
   free(sort);
   return median;
}

int set_input(bool gps_good, float x_s[], float vg_knot, float hdg_gps, float alt_s, float alt_max)
{
    // グローバルにするかも？
    const int dn = 40;                          // windstarのベクトルを取得するステップ間隔
    const float vz_est = 4.62;                  // パラフォイルのsinkrate[m/s]
    const float dist_tgt = 30.0;                // 目標旋回半径[m]
    const float alt_unctrl = 50.0;              // 無制御で降下する高度[m]
    
    static int gps_step = 1;
    float u = 0.0;
    if (gps_good)
    {
        enum Phase
        {
            WIND_EST,
            CTRL
        };
        static Phase phase = WIND_EST;

        // sensor data
        float dt_ = dt*gps_step;
        gps_step = 1;

        // state variable estimation
        float hdg_s = hdg_conv(hdg_gps);
        static float hdg0 = hdg_s;
        float omg_calc = hdg_s - hdg0;
        if (omg_calc >= M_PI) omg_calc -= 2 * M_PI;
        else if (omg_calc <= -M_PI) omg_calc += 2 * M_PI;
        omg_calc /= dt_;
        hdg0 = hdg_s;

        // static float alt0 = alt_s;
        // float vz_calc = (alt_s - alt0) / dt_;
        // alt0 = alt_s;

        float vg_s[] = { vg_knot*0.514444444*cos(hdg_s), vg_knot*0.514444444*sin(hdg_s) };
        // if want to use estimated position, uncomment below
        // float x_est[2] = {};
        // filter_x(dt_, 0.1, x_est, x_s, vg_s);
        
        // wind estimation sequence
        static float vw_est[2] = {};
        switch (phase)
        {
            case WIND_EST:
            {
                         const int dn2 = 2 * dn;
                         static int n = 0;
                         float vw_t[2] = {};
                         static int cnt = 0;
                         if (n >= dn2)
                         {
                             static int j = 0;
                             static float vg_buf[dn2][2] = {};
                             windstar(vw_t, vg_buf[n % dn2], vg_buf[(n + dn) % dn2], vg_s);
                             vw_est[0] = (vw_est[0] * j + vw_t[0]) / (j + 1);
                             vw_est[1] = (vw_est[1] * j + vw_t[1]) / (j + 1);
                             j++;
                             vg_buf[n % dn2][0] = vg_s[0];
                             vg_buf[n % dn2][1] = vg_s[1];
                         }
                         n++;

                         if (alt_s < alt_max - alt_unctrl) // 
                            if (cnt++ >= 3) phase = CTRL;
            }
            break;
            case CTRL:
            {
                     float t_flt_est = (alt_s - x_tgt[2]) / vz_est;
                     if (abs(vz_est) <= epsilon) t_flt_est = 0.0;
                     float windoffset[2] = { -vw_est[0] * t_flt_est, -vw_est[1] * t_flt_est };
                     if (windoffset[1] > 200.0) windoffset[1] = 200.0;
                     float x_virt[2] = { x_s[0] + windoffset[0], x_s[1] + windoffset[1] };
                     // if want to use estimated position, comment out above and uncomment below
                     // float x_virt[2] = { x_est[0] + windoffset[0], x_est[1] + windoffset[1] }; 
                     float x_virt_rel[2] = { x_virt[0] - x_tgt[0], x_virt[1] - x_tgt[1] };
                     u = control(x_virt_rel, vw_est, vg_s, hdg_s, omg_calc, dist_tgt);
            }
            break;
        }

    }
    else
        gps_step++;

    return u;
}

int control(float r_rel[], float vw[], float v[], float hdg, float omg, float dist_tgt)
{
    const float threshold = 0.20;

    float theta = atan2(r_rel[1], r_rel[0]);

    float dist = norm2(r_rel);
    float Vr = dot2(r_rel, v) / dist;
    float Vtheta = (r_rel[0] * v[1] - r_rel[1] * v[0]) / dist;

    float hdg_tgt = 0.0;
    float alpha = atan(0.5*(dist - dist_tgt));
    float limitalpha = M_PI_2 - asin(dist_tgt / dist);
    if (alpha > limitalpha) alpha = limitalpha;
    if (Vtheta > 0)
        hdg_tgt = theta + M_PI_2 + alpha;
    else
        hdg_tgt = theta - M_PI_2 - alpha;
    periodize(hdg_tgt, M_PI, -M_PI);

    float dhdg = hdg - hdg_tgt;
    periodize(dhdg, M_PI, -M_PI);

    float domg = omg - Vtheta / dist;
    float Kp = 0.5, Kd = 3.0;
    float u = -Kp*dhdg - Kd*domg;

    if (dist < 200.0)
    {
        if (Vtheta > 0) u += 0.05*Vr;
        else u -= 0.05*Vr;
    }
    
    if (u > threshold) return 1;
    else if (u < -threshold) return -1;
    else return 0;
}

void filter_x(float dt, float C, float x_est[], float x_gps[], float vg_gps[])
{
    static float x0[] = { x_gps[0], x_gps[1], x_gps[2] };
    static int called = 0;
    if (!called)
    {
        for (int i = 0; i < 2; i++)
            x_est[i] = x0[i];
        called++;
        return;
    }
    float xt[2];
    for (int i = 0; i < 2; i++)
    {
        xt[i] = x0[i] + vg_gps[i] * dt;
        x_est[i] = C*x_gps[i] + (1 - C)*xt[i];
        x0[i] = x_est[i];
    }
}

float hdg_conv(float hdgN0deg)
{
    hdgN0deg *= -M_PI / 180.0;
    hdgN0deg += M_PI_2;
    periodize(hdgN0deg, M_PI, -M_PI);
    return hdgN0deg;
}
void periodize(float &x, float max, float min)
{
    float range = max - min;
    while (x > max) x -= range;
    while (x < min) x += range;
}

void windstar(float Vw[], float Vg0[], float Vg1[], float Vg2[])
{
    float l[3][3] = {};  // line coeffs l[0]*x + l[1]*y + l[2] = 0
    segmentBisector(l[0], Vg0, Vg1);
    segmentBisector(l[1], Vg1, Vg2);
    segmentBisector(l[2], Vg2, Vg0);
    float r[3][3] = {};  // intersection point
    intersection(r[0], l[0], l[1]);
    intersection(r[1], l[1], l[2]);
    intersection(r[2], l[2], l[0]);
    Vw[0] = (r[0][0] + r[1][0] + r[2][0]) / 3;
    Vw[1] = (r[0][1] + r[1][1] + r[2][1]) / 3;
}
void segmentBisector(float a[], float v1[], float v2[])
{
    a[0] = v2[0] - v1[0];
    a[1] = v2[1] - v1[1];
    a[2] = -0.5*(a[0] * (v1[0] + v2[0]) + a[1] * (v1[1] + v2[1]));
}
int intersection(float r[], float l[], float m[])
{
    float det = l[0] * m[1] - l[1] * m[0];
    if (abs(det) < epsilon) return -1;
    r[0] = (-m[1] * l[2] + l[1] * m[2]) / det;
    r[1] = (m[0] * l[2] - l[0] * m[2]) / det;
    return 0;
}

float dot2(float a[], float b[])
{
    return a[0] * b[0] + a[1] * b[1];
}
float norm2(float v[])
{
    return sqrt(dot2(v, v));
}