CORE / Mbed 2 deprecated 2017_03_Kaiho

2017年3月，伊豆大島共同打上実験 CORE＿缶ロケチーム電装

Dependencies:   MPU6050 MS5607 mbed SDFileSystem

main.cpp@18:5fb8ce45ce51, 2017-03-14 (annotated)

Committer:
mikawataru
Date:
Tue Mar 14 12:19:07 2017 +0000
Revision:
18:5fb8ce45ce51
Parent:
17:5f7808444d96 
fixed comment

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mikawataru 5:bcf55d8fe7a7 1 /*
mikawataru 5:bcf55d8fe7a7 2 2017年3月　伊豆大島共同打上実験
mikawataru 5:bcf55d8fe7a7 3 団体名：CORE
mikawataru 5:bcf55d8fe7a7 4 チーム名：ヌペリオル
mikawataru 5:bcf55d8fe7a7 5 該当電装：ロケット搭載用
mikawataru 5:bcf55d8fe7a7 6
mikawataru 5:bcf55d8fe7a7 7 使用部品
mikawataru 5:bcf55d8fe7a7 8 ・LPC1768(マイコン)
mikawataru 5:bcf55d8fe7a7 9 ・MPU6050(加速度・ジャイロセンサ)
mikawataru 5:bcf55d8fe7a7 10 ・MS5607(気圧・気温センサ)
mikawataru 5:bcf55d8fe7a7 11 ・MicroSDスロット
mikawataru 5:bcf55d8fe7a7 12 ・MG995(サーボモータ)×4
mikawataru 5:bcf55d8fe7a7 13
mikawataru 7:5f693667d0e9 14 使用ライブラリ
mikawataru 7:5f693667d0e9 15 ・MPU6050.h
mikawataru 7:5f693667d0e9 16 https://developer.mbed.org/teams/mbed/code/SDFileSystem/
mikawataru 7:5f693667d0e9 17 ・MS5607.h
mikawataru 7:5f693667d0e9 18 https://developer.mbed.org/users/yamaguch/code/MS5607/
mikawataru 7:5f693667d0e9 19 ・SDFileSystem.h
mikawataru 7:5f693667d0e9 20 https://developer.mbed.org/teams/mbed/code/SDFileSystem/
mikawataru 7:5f693667d0e9 21
mikawataru 5:bcf55d8fe7a7 22 ピン配置
mikawataru 5:bcf55d8fe7a7 23 LPC1768 MPU6050 MS5607 MicroSD　MG995_1 MG995_2 MG995_3 MG995_4
mikawataru 5:bcf55d8fe7a7 24 VIN--------------------------------------------------------------------4.5~9.0V
mikawataru 5:bcf55d8fe7a7 25 -----------------------------------VIN------VIN------VIN------VIN------5V
mikawataru 5:bcf55d8fe7a7 26 Vout-----VCC------VIN-----VDD------------------------------------------3.3V
mikawataru 6:15204813ef87 27 \-ADO \-PS
mikawataru 5:bcf55d8fe7a7 28 GND------GND------GND-----VSS------GND------GND------GND------GND------0V
mikawataru 6:15204813ef87 29 \-CS
mikawataru 5:bcf55d8fe7a7 30 p9-------SDA------SDA----------------------------------------------------
mikawataru 5:bcf55d8fe7a7 31 p10------SCL------SCL----------------------------------------------------
mikawataru 5:bcf55d8fe7a7 32 p11-----------------------CLK--------------------------------------------
mikawataru 5:bcf55d8fe7a7 33 p12-----------------------DAT0-------------------------------------------
mikawataru 5:bcf55d8fe7a7 34 p13-----------------------CMD--------------------------------------------
mikawataru 5:bcf55d8fe7a7 35 p14-----------------------CD/DAT0----------------------------------------
mikawataru 5:bcf55d8fe7a7 36 p23--------------------------------CTRL----------------------------------
mikawataru 5:bcf55d8fe7a7 37 p24-----------------------------------------CTRL-------------------------
mikawataru 5:bcf55d8fe7a7 38 p25--------------------------------------------------CTRL----------------
mikawataru 5:bcf55d8fe7a7 39 p26-----------------------------------------------------------CTRL-------
mikawataru 5:bcf55d8fe7a7 40 */
mikawataru 0:10a9c9c5ce83 41 #include "mbed.h"
mikawataru 7:5f693667d0e9 42 #include "math.h"
mikawataru 0:10a9c9c5ce83 43 #include "MS5607I2C.h"
mikawataru 0:10a9c9c5ce83 44 #include "MPU6050.h"
mikawataru 1:ec75f428c6b3 45 #include "SDFileSystem.h"
mikawataru 14:cbee1bfdfca7 46
mikawataru 17:5f7808444d96 47 #define ACC_LAUNCH 4.0f//FIXME:本番は4g
mikawataru 17:5f7808444d96 48 #define TOP_DROP_AMOUNT 1.5f
mikawataru 17:5f7808444d96 49 #define ALT_UAV_DROP 150.0f//FIXME:本番は150m
mikawataru 18:5fb8ce45ce51 50 #define TIME_REACH_TOP 15.0f//FIXME:本番は15sec
mikawataru 14:cbee1bfdfca7 51
mikawataru 14:cbee1bfdfca7 52 #define RATE_LOG 10
mikawataru 14:cbee1bfdfca7 53 #define RATE_OPEN 10
mikawataru 3:9cd74af355cc 54 /*サーボ動作*/
mikawataru 16:0a239047eb29 55 #define LOCK 0
mikawataru 16:0a239047eb29 56 #define UNLOCK 1
mikawataru 14:cbee1bfdfca7 57 /*モード定義*/
mikawataru 14:cbee1bfdfca7 58 #define STANDBY 0
mikawataru 14:cbee1bfdfca7 59 #define TEST 1
mikawataru 14:cbee1bfdfca7 60 #define FLIGHT 2
mikawataru 14:cbee1bfdfca7 61 /*開放フェーズ定義*/
mikawataru 14:cbee1bfdfca7 62 #define SETUP 0
mikawataru 14:cbee1bfdfca7 63 #define LAUNCH 1
mikawataru 14:cbee1bfdfca7 64 #define RISE 2
mikawataru 14:cbee1bfdfca7 65 #define DROP 3
mikawataru 12:211d2c6d2afc 66 /**/
mikawataru 14:cbee1bfdfca7 67 #define P0 1013.25f//海面気圧[hPa]
mikawataru 14:cbee1bfdfca7 68 #define ACC 4096.0f//加速度オフセット値
mikawataru 7:5f693667d0e9 69 /*ピン指定*/
mikawataru 14:cbee1bfdfca7 70 MS5607I2C ms5607(p9, p10, false);
mikawataru 14:cbee1bfdfca7 71 MPU6050 mpu(p9,p10);
mikawataru 14:cbee1bfdfca7 72 BusOut myled(LED1,LED2,LED3,LED4);
mikawataru 14:cbee1bfdfca7 73 SDFileSystem sd(p11, p12, p13, p14, "sd");
mikawataru 14:cbee1bfdfca7 74 Serial device(USBTX, USBRX);
mikawataru 14:cbee1bfdfca7 75 PwmOut Door_1_1(p23);
mikawataru 14:cbee1bfdfca7 76 PwmOut Door_1_2(p24);
mikawataru 14:cbee1bfdfca7 77 PwmOut Door_2_1(p25);
mikawataru 14:cbee1bfdfca7 78 PwmOut Door_2_2(p26);
mikawataru 7:5f693667d0e9 79 /*タイマー類*/
mikawataru 14:cbee1bfdfca7 80 Timer timer;
mikawataru 3:9cd74af355cc 81 Ticker loop_log;
mikawataru 3:9cd74af355cc 82 Ticker loop_open;
mikawataru 5:bcf55d8fe7a7 83 /*ログカウンタ*/
mikawataru 14:cbee1bfdfca7 84 bool row = 0;
mikawataru 3:9cd74af355cc 85 int8_t col = 0;
mikawataru 5:bcf55d8fe7a7 86 /*ログ格納用*/
mikawataru 17:5f7808444d96 87 float pressure[2][RATE_LOG],temperature[2][RATE_LOG];
mikawataru 3:9cd74af355cc 88 float acc[2][RATE_LOG][3],gyro[2][RATE_LOG][3];
mikawataru 3:9cd74af355cc 89 float t[2][RATE_LOG];
mikawataru 18:5fb8ce45ce51 90 FILE *fp;
mikawataru 11:b61d0fcc2ed3 91 /*フェーズ変数*/
mikawataru 14:cbee1bfdfca7 92 int8_t Phase = SETUP;
mikawataru 14:cbee1bfdfca7 93 int8_t Mode = STANDBY;
mikawataru 7:5f693667d0e9 94 /*判定用*/
mikawataru 14:cbee1bfdfca7 95 float alt_buff[RATE_OPEN];
mikawataru 14:cbee1bfdfca7 96 float alt_max,alt_launch;
mikawataru 14:cbee1bfdfca7 97 float t_drop,t_top,t_launch;
mikawataru 11:b61d0fcc2ed3 98 int8_t cnt_judge = 0;
mikawataru 14:cbee1bfdfca7 99 int8_t col_open = 0;
mikawataru 12:211d2c6d2afc 100 /*入力用*/
mikawataru 12:211d2c6d2afc 101 int8_t input_buff[3] = {};
mikawataru 14:cbee1bfdfca7 102 int8_t input_cnt = 0;
mikawataru 7:5f693667d0e9 103 /*関数*/
mikawataru 14:cbee1bfdfca7 104 void _Open();
mikawataru 17:5f7808444d96 105 void _Log();
mikawataru 16:0a239047eb29 106 void _Servo(int8_t door_num, int8_t motion);
mikawataru 14:cbee1bfdfca7 107 void _Input();
mikawataru 14:cbee1bfdfca7 108 float _Measure_Alt(float press, float temp);
mikawataru 11:b61d0fcc2ed3 109 float _Median(float data[], int num);
mikawataru 11:b61d0fcc2ed3 110
mikawataru 7:5f693667d0e9 111 /*---------------------------------------------------------------------*/
mikawataru 0:10a9c9c5ce83 112 int main() {
mikawataru 11:b61d0fcc2ed3 113 mpu.setAcceleroRange(2);
mikawataru 11:b61d0fcc2ed3 114 mpu.setGyroRange(2);
mikawataru 1:ec75f428c6b3 115 timer.start();
mikawataru 5:bcf55d8fe7a7 116 Door_1_1.period_ms(20);
mikawataru 5:bcf55d8fe7a7 117 Door_1_2.period_ms(20);
mikawataru 5:bcf55d8fe7a7 118 Door_2_1.period_ms(20);
mikawataru 5:bcf55d8fe7a7 119 Door_2_2.period_ms(20);
mikawataru 16:0a239047eb29 120 // _Servo(1,UNLOCK);//todo:当日は状態記憶に仕様変更予定？
mikawataru 16:0a239047eb29 121 // _Servo(2,UNLOCK);//
mikawataru 17:5f7808444d96 122 fp = fopen("/sd/log.txt", "a");
mikawataru 17:5f7808444d96 123 fprintf(fp, "Phase,time,pressure,temperature,ax,ay,az,gx,gy,gz\r\n");
mikawataru 12:211d2c6d2afc 124 device.attach(&_Input,Serial::RxIrq);
mikawataru 15:01d3969b89d0 125 loop_open.attach(&_Open,1.0/RATE_OPEN);
mikawataru 3:9cd74af355cc 126 while(1);
mikawataru 3:9cd74af355cc 127 }
mikawataru 6:15204813ef87 128 /*開放用関数　RATE_OPEN[Hz]で判定を行う*/
mikawataru 3:9cd74af355cc 129 void _Open(){
mikawataru 3:9cd74af355cc 130 myled = 1 << (Phase-1);
mikawataru 3:9cd74af355cc 131 switch (Phase) {
mikawataru 14:cbee1bfdfca7 132 case SETUP://セットアップモード（発射判定不可）
mikawataru 3:9cd74af355cc 133 break;
mikawataru 7:5f693667d0e9 134 case LAUNCH://点火モード（発射判定可）
mikawataru 14:cbee1bfdfca7 135 float acc_buff = (float)mpu.getAcceleroRawZ()/(ACC*0.981);
mikawataru 17:5f7808444d96 136 alt_buff[col_open] = ms5607.getAltitude();
mikawataru 17:5f7808444d96 137 if(acc_buff>ACC_LAUNCH){
mikawataru 11:b61d0fcc2ed3 138 if(cnt_judge++==3){
mikawataru 17:5f7808444d96 139 Phase = RISE;
mikawataru 17:5f7808444d96 140 alt_launch = _Median(alt_buff, RATE_OPEN);
mikawataru 17:5f7808444d96 141 cnt_judge = 0;
mikawataru 11:b61d0fcc2ed3 142 }
mikawataru 7:5f693667d0e9 143 t_launch = timer.read();
mikawataru 11:b61d0fcc2ed3 144 alt_max = alt_launch;
mikawataru 7:5f693667d0e9 145 }else{
mikawataru 11:b61d0fcc2ed3 146 if(timer.read()>t_launch+1.0) cnt_judge = 0;
mikawataru 3:9cd74af355cc 147 }
mikawataru 4:cc266df87f3e 148 break;
mikawataru 14:cbee1bfdfca7 149 case RISE://上昇中（パラシュート開放判定）
mikawataru 17:5f7808444d96 150 float alt_rising = ms5607.getAltitude();
mikawataru 17:5f7808444d96 151 if( alt_rising>alt_max && alt_rising-alt_max < 10.0 ) alt_max = alt_rising;
mikawataru 17:5f7808444d96 152 if(alt_rising<alt_max-TOP_DROP_AMOUNT){
mikawataru 11:b61d0fcc2ed3 153 if(cnt_judge++==3){
mikawataru 16:0a239047eb29 154 _Servo(2,UNLOCK);
mikawataru 7:5f693667d0e9 155 Phase = DROP;
mikawataru 11:b61d0fcc2ed3 156 cnt_judge = 0;
mikawataru 7:5f693667d0e9 157 }
mikawataru 7:5f693667d0e9 158 t_top = timer.read();
mikawataru 7:5f693667d0e9 159 }else{
mikawataru 11:b61d0fcc2ed3 160 if(timer.read()>t_top+1.0) cnt_judge = 0;
mikawataru 7:5f693667d0e9 161 }
mikawataru 14:cbee1bfdfca7 162 if(timer.read()-t_launch>TIME_REACH_TOP){
mikawataru 16:0a239047eb29 163 _Servo(2,UNLOCK);
mikawataru 7:5f693667d0e9 164 Phase = DROP;
mikawataru 11:b61d0fcc2ed3 165 cnt_judge = 0;
mikawataru 7:5f693667d0e9 166 }
mikawataru 7:5f693667d0e9 167 break;
mikawataru 7:5f693667d0e9 168 case DROP://降下中（缶サット開放判定)
mikawataru 17:5f7808444d96 169 float alt_droping = ms5607.getAltitude();
mikawataru 17:5f7808444d96 170 if(alt_droping < alt_launch+ALT_UAV_DROP){
mikawataru 11:b61d0fcc2ed3 171 if(cnt_judge++==3){
mikawataru 16:0a239047eb29 172 Phase++;
mikawataru 16:0a239047eb29 173 _Servo(1,UNLOCK);
mikawataru 11:b61d0fcc2ed3 174 cnt_judge = 0;
mikawataru 11:b61d0fcc2ed3 175 }
mikawataru 7:5f693667d0e9 176 t_drop = timer.read();
mikawataru 7:5f693667d0e9 177 }else{
mikawataru 11:b61d0fcc2ed3 178 if(timer.read()>t_drop+1.0)cnt_judge = 0;
mikawataru 7:5f693667d0e9 179 }
mikawataru 3:9cd74af355cc 180 break;
mikawataru 0:10a9c9c5ce83 181 }
mikawataru 11:b61d0fcc2ed3 182 if(col_open++==RATE_OPEN) col_open = 0;
mikawataru 0:10a9c9c5ce83 183 }
mikawataru 6:15204813ef87 184 /*記録用関数　RATE_LOG[Hz]で記録を行う*/
mikawataru 3:9cd74af355cc 185 void _Log(){
mikawataru 17:5f7808444d96 186 if(t[row][col] = timer.read()>=30.0*60.0){
mikawataru 17:5f7808444d96 187 timer.reset();
mikawataru 17:5f7808444d96 188 t[row][col] = timer.read();
mikawataru 17:5f7808444d96 189 }
mikawataru 14:cbee1bfdfca7 190 pressure[row][col] = ms5607.getPressure()/100;
mikawataru 3:9cd74af355cc 191 temperature[row][col] = ms5607.getTemperature();
mikawataru 3:9cd74af355cc 192 mpu.getAccelero(&acc[row][col][0]);
mikawataru 3:9cd74af355cc 193 mpu.getGyro(&gyro[row][col][0]);
mikawataru 17:5f7808444d96 194 fprintf(fp,"%d,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",
mikawataru 17:5f7808444d96 195 Phase,t[row][col],pressure[row][col],temperature[row][col],acc[row][col][0]/10.0,
mikawataru 11:b61d0fcc2ed3 196 acc[row][col][1]/10.0,acc[row][col][2]/10.0,gyro[row][col][0],gyro[row][col][1],gyro[row][col][2]
mikawataru 3:9cd74af355cc 197 );
mikawataru 3:9cd74af355cc 198 if(col++==RATE_LOG){
mikawataru 17:5f7808444d96 199 col = 0;
mikawataru 17:5f7808444d96 200 row =! row;
mikawataru 3:9cd74af355cc 201 fclose(fp);
mikawataru 14:cbee1bfdfca7 202 fp = fopen("/sd/log.txt", "a");
mikawataru 17:5f7808444d96 203 }
mikawataru 3:9cd74af355cc 204 }
mikawataru 16:0a239047eb29 205 /*サーボ動作用関数 _Servo(int8_t 扉番号,int8_t 動作)*/
mikawataru 16:0a239047eb29 206 void _Servo(int8_t door_num, int8_t motion){
mikawataru 18:5fb8ce45ce51 207 if(door_num==1){//缶サット
mikawataru 16:0a239047eb29 208 if(motion==UNLOCK){
mikawataru 16:0a239047eb29 209 Door_1_1.pulsewidth(0.0015);
mikawataru 16:0a239047eb29 210 wait(0.2);
mikawataru 16:0a239047eb29 211 Door_1_2.pulsewidth(0.0015);
mikawataru 16:0a239047eb29 212 }else if(motion==LOCK){
mikawataru 16:0a239047eb29 213 Door_1_1.pulsewidth(0.0024);
mikawataru 16:0a239047eb29 214 wait(0.2);
mikawataru 16:0a239047eb29 215 Door_1_2.pulsewidth(0.0005);
mikawataru 16:0a239047eb29 216 }else{
mikawataru 16:0a239047eb29 217 device.printf("error%f\r\n",motion);
mikawataru 16:0a239047eb29 218 }
mikawataru 18:5fb8ce45ce51 219 }else if(door_num==2){//パラシュート
mikawataru 16:0a239047eb29 220 if(motion==UNLOCK){
mikawataru 16:0a239047eb29 221 Door_2_1.pulsewidth(0.0015);
mikawataru 16:0a239047eb29 222 wait(0.2);
mikawataru 16:0a239047eb29 223 Door_2_2.pulsewidth(0.0015);
mikawataru 16:0a239047eb29 224 }else if(motion==LOCK){
mikawataru 16:0a239047eb29 225 Door_2_1.pulsewidth(0.0024);
mikawataru 16:0a239047eb29 226 wait(0.2);
mikawataru 16:0a239047eb29 227 Door_2_2.pulsewidth(0.0005);
mikawataru 16:0a239047eb29 228 }else{
mikawataru 16:0a239047eb29 229 device.printf("error%f\r\n",motion);
mikawataru 16:0a239047eb29 230 }
mikawataru 6:15204813ef87 231 }else{
mikawataru 12:211d2c6d2afc 232 device.printf("servo error:%d\r\n",door_num);
mikawataru 6:15204813ef87 233 }
mikawataru 3:9cd74af355cc 234 }
mikawataru 7:5f693667d0e9 235
mikawataru 12:211d2c6d2afc 236 /*入力用*/
mikawataru 15:01d3969b89d0 237 // FIXME:android端末だと入力崩れが起こる
mikawataru 12:211d2c6d2afc 238 void _Input(){
mikawataru 14:cbee1bfdfca7 239 input_buff[input_cnt] = device.getc();
mikawataru 14:cbee1bfdfca7 240 device.printf("\r\n");
mikawataru 14:cbee1bfdfca7 241 switch (Mode) {
mikawataru 14:cbee1bfdfca7 242 case STANDBY:
mikawataru 14:cbee1bfdfca7 243 if(input_cnt==0){
mikawataru 14:cbee1bfdfca7 244 if(input_buff[0]=='S'){
mikawataru 17:5f7808444d96 245 device.printf("P : Parachute\r\n");
mikawataru 17:5f7808444d96 246 device.printf("C : CanSat\r\n");
mikawataru 14:cbee1bfdfca7 247 }else if(input_buff[0]=='M'){
mikawataru 17:5f7808444d96 248 device.printf("S : STANDBY\r\n");
mikawataru 17:5f7808444d96 249 device.printf("F : FLIGHT\r\n");
mikawataru 14:cbee1bfdfca7 250 }else{
mikawataru 14:cbee1bfdfca7 251 device.printf("This command is not found >> %c\r\n",input_buff[0]);
mikawataru 14:cbee1bfdfca7 252 device.printf(">>MAINMENU<<\r\n");
mikawataru 17:5f7808444d96 253 device.printf("S : Servo Operation\r\n");
mikawataru 17:5f7808444d96 254 device.printf("M : Mode Change\r\n");
mikawataru 14:cbee1bfdfca7 255 device.printf("-->>");
mikawataru 14:cbee1bfdfca7 256 return;
mikawataru 14:cbee1bfdfca7 257 }
mikawataru 14:cbee1bfdfca7 258 }else if(input_cnt==1){
mikawataru 14:cbee1bfdfca7 259 if(input_buff[0]=='S'){
mikawataru 14:cbee1bfdfca7 260 if(input_buff[1]=='P'||input_buff[1]=='C'){
mikawataru 17:5f7808444d96 261 device.printf("U : UNLOCK\r\n");
mikawataru 17:5f7808444d96 262 device.printf("L : LOCK\r\n");
mikawataru 14:cbee1bfdfca7 263 }else{
mikawataru 14:cbee1bfdfca7 264 device.printf("This command is not found >> %c\r\n",input_buff[1]);
mikawataru 17:5f7808444d96 265 device.printf("P : Parachute\r\n");
mikawataru 17:5f7808444d96 266 device.printf("C : CanSat\r\n");
mikawataru 14:cbee1bfdfca7 267 device.printf("-->>");
mikawataru 14:cbee1bfdfca7 268 return;
mikawataru 14:cbee1bfdfca7 269 }
mikawataru 14:cbee1bfdfca7 270 }else if(input_buff[0]=='M'){
mikawataru 14:cbee1bfdfca7 271 if(input_buff[1]=='S'){
mikawataru 14:cbee1bfdfca7 272 Mode = STANDBY;
mikawataru 14:cbee1bfdfca7 273 device.printf(">>MAINMENU<<\r\n");
mikawataru 17:5f7808444d96 274 device.printf("S : Servo Operation\r\n");
mikawataru 17:5f7808444d96 275 device.printf("M : Mode Change\r\n");
mikawataru 14:cbee1bfdfca7 276 }else if(input_buff[1]=='F'){
mikawataru 14:cbee1bfdfca7 277 Mode = FLIGHT;
mikawataru 15:01d3969b89d0 278 Phase = LAUNCH;
mikawataru 15:01d3969b89d0 279 loop_log.attach(&_Log,1.0/RATE_LOG);
mikawataru 14:cbee1bfdfca7 280 device.printf("FLIGHT-Mode ON!\r\n");
mikawataru 14:cbee1bfdfca7 281 device.printf("***alert***\r\n");
mikawataru 14:cbee1bfdfca7 282 device.printf("You will be able to reset only!\r\n");
mikawataru 14:cbee1bfdfca7 283 }else{
mikawataru 14:cbee1bfdfca7 284 device.printf("This command is not found >> %c\r\n",input_buff[1]);
mikawataru 17:5f7808444d96 285 device.printf("S : STANDBY\r\n");
mikawataru 17:5f7808444d96 286 device.printf("F : FLIGHT\r\n");
mikawataru 14:cbee1bfdfca7 287 device.printf("-->>");
mikawataru 14:cbee1bfdfca7 288 return;
mikawataru 14:cbee1bfdfca7 289 }
mikawataru 14:cbee1bfdfca7 290 input_cnt = 0;
mikawataru 14:cbee1bfdfca7 291 }
mikawataru 14:cbee1bfdfca7 292 }else if(input_cnt==2){
mikawataru 14:cbee1bfdfca7 293 if(input_buff[2]=='U'){
mikawataru 16:0a239047eb29 294 if(input_buff[1]=='P') _Servo(2,UNLOCK);
mikawataru 16:0a239047eb29 295 if(input_buff[1]=='C') _Servo(1,UNLOCK);
mikawataru 14:cbee1bfdfca7 296 }else if(input_buff[2]=='L'){
mikawataru 16:0a239047eb29 297 if(input_buff[1]=='P') _Servo(2,LOCK);
mikawataru 16:0a239047eb29 298 if(input_buff[1]=='C') _Servo(1,LOCK);
mikawataru 14:cbee1bfdfca7 299 }else{
mikawataru 14:cbee1bfdfca7 300 device.printf("This command is not found >> %c\r\n",input_buff[2]);
mikawataru 17:5f7808444d96 301 device.printf("U : UNLOCK\r\n");
mikawataru 17:5f7808444d96 302 device.printf("L : LOCK\r\n");
mikawataru 14:cbee1bfdfca7 303 device.printf("-->>");
mikawataru 14:cbee1bfdfca7 304 return;
mikawataru 14:cbee1bfdfca7 305 }
mikawataru 14:cbee1bfdfca7 306 input_cnt = 0;
mikawataru 14:cbee1bfdfca7 307 device.printf(">>MAINMENU<<\r\n");
mikawataru 17:5f7808444d96 308 device.printf("S : Servo Operation\r\n");
mikawataru 17:5f7808444d96 309 device.printf("M : Mode Change\r\n");
mikawataru 14:cbee1bfdfca7 310 device.printf("-->>");
mikawataru 14:cbee1bfdfca7 311 return;
mikawataru 12:211d2c6d2afc 312 }
mikawataru 14:cbee1bfdfca7 313 device.printf("-->>");
mikawataru 14:cbee1bfdfca7 314 input_cnt++;
mikawataru 12:211d2c6d2afc 315 break;
mikawataru 14:cbee1bfdfca7 316 case FLIGHT://reset only
mikawataru 12:211d2c6d2afc 317 break;
mikawataru 12:211d2c6d2afc 318 }
mikawataru 12:211d2c6d2afc 319 }
mikawataru 12:211d2c6d2afc 320
mikawataru 12:211d2c6d2afc 321 /*その他雑関数*/
mikawataru 14:cbee1bfdfca7 322 float _Measure_Alt(float press/*[hPa]*/, float temp/*[℃]*/){
mikawataru 14:cbee1bfdfca7 323 return (pow((P0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
mikawataru 7:5f693667d0e9 324 }
mikawataru 14:cbee1bfdfca7 325 float _Median(float data[], int num){
mikawataru 11:b61d0fcc2ed3 326 float median;
mikawataru 11:b61d0fcc2ed3 327 float *sort = (float *)malloc(sizeof(float)*num);
mikawataru 11:b61d0fcc2ed3 328 for(int i=0; i<num; i++) sort[i] = data[i];
mikawataru 11:b61d0fcc2ed3 329 for(int i=0; i<num; i++){
mikawataru 11:b61d0fcc2ed3 330 for(int j=0; j<num-i-1; j++){
mikawataru 11:b61d0fcc2ed3 331 if(sort[j]>sort[j+1]){
mikawataru 11:b61d0fcc2ed3 332 float buff = sort[j+1];
mikawataru 11:b61d0fcc2ed3 333 sort[j+1] = sort[j];
mikawataru 11:b61d0fcc2ed3 334 sort[j] = buff;
mikawataru 11:b61d0fcc2ed3 335 }
mikawataru 11:b61d0fcc2ed3 336 }
mikawataru 11:b61d0fcc2ed3 337 }
mikawataru 11:b61d0fcc2ed3 338 if(num%2!=0)median = sort[num/2];
mikawataru 11:b61d0fcc2ed3 339 else median = (sort[num/2-1]+sort[num/2])/2.0;
mikawataru 11:b61d0fcc2ed3 340 free(sort);
mikawataru 11:b61d0fcc2ed3 341 return median;
mikawataru 11:b61d0fcc2ed3 342 }