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@12:211d2c6d2afc, 2017-03-03 (annotated)

Committer:
mikawataru
Date:
Fri Mar 03 01:26:07 2017 +0000
Revision:
12:211d2c6d2afc
Parent:
11:b61d0fcc2ed3
Child:
13:f73b4beded57
add servo control by serial device

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 7:5f693667d0e9 46 /*判定パラメータ*/
mikawataru 8:a9e115560ba3 47 #define ACC_LAUNCH 4//発射判定加速度[g]
mikawataru 7:5f693667d0e9 48 #define DROP_TOP 1.5//頂点判定最低降下量[m]
mikawataru 12:211d2c6d2afc 49 #define ALT_CAN 150//缶サット開放高度[m]
mikawataru 8:a9e115560ba3 50 #define TIME_TOP 15//タイマー開放時間[s]
mikawataru 3:9cd74af355cc 51 /*動作レート*/
mikawataru 3:9cd74af355cc 52 #define RATE_LOG 10//ログ用
mikawataru 3:9cd74af355cc 53 #define RATE_OPEN 10//開放用
mikawataru 3:9cd74af355cc 54 /*サーボ動作*/
mikawataru 6:15204813ef87 55 #define LOCK 0.0005
mikawataru 6:15204813ef87 56 #define UNLOCK 0.0015
mikawataru 12:211d2c6d2afc 57 /*フェーズ定義*/
mikawataru 3:9cd74af355cc 58 #define STANDBY 0
mikawataru 3:9cd74af355cc 59 #define LAUNCH 1
mikawataru 3:9cd74af355cc 60 #define FLIGHT 2
mikawataru 7:5f693667d0e9 61 #define DROP 3
mikawataru 12:211d2c6d2afc 62 /*入力モード定義*/
mikawataru 12:211d2c6d2afc 63 #define BAN 0
mikawataru 12:211d2c6d2afc 64 #define NORMAL 1
mikawataru 12:211d2c6d2afc 65 #define SERVO_1 2
mikawataru 12:211d2c6d2afc 66 #define SERVO_2 3
mikawataru 12:211d2c6d2afc 67 #define MODE 4
mikawataru 12:211d2c6d2afc 68 /**/
mikawataru 8:a9e115560ba3 69 #define P0 1013.25f//海面気圧[hPa]
mikawataru 11:b61d0fcc2ed3 70 #define ACC 4096.0f//加速度オフセット値
mikawataru 7:5f693667d0e9 71 /*ピン指定*/
mikawataru 0:10a9c9c5ce83 72 MS5607I2C ms5607(p9, p10, false);
mikawataru 0:10a9c9c5ce83 73 MPU6050 mpu(p9,p10);
mikawataru 3:9cd74af355cc 74 BusOut myled(LED1,LED2,LED3,LED4);
mikawataru 7:5f693667d0e9 75 SDFileSystem sd(p11, p12, p13, p14, "sd");
mikawataru 10:c1d1ff35a6a1 76 Serial device(USBTX, USBRX);
mikawataru 5:bcf55d8fe7a7 77 PwmOut Door_1_1(p23);
mikawataru 5:bcf55d8fe7a7 78 PwmOut Door_1_2(p24);
mikawataru 5:bcf55d8fe7a7 79 PwmOut Door_2_1(p25);
mikawataru 5:bcf55d8fe7a7 80 PwmOut Door_2_2(p26);
mikawataru 7:5f693667d0e9 81 /*タイマー類*/
mikawataru 1:ec75f428c6b3 82 Timer timer;
mikawataru 3:9cd74af355cc 83 Ticker loop_log;
mikawataru 3:9cd74af355cc 84 Ticker loop_open;
mikawataru 5:bcf55d8fe7a7 85 /*ログカウンタ*/
mikawataru 5:bcf55d8fe7a7 86 bool row = 0;
mikawataru 3:9cd74af355cc 87 int8_t col = 0;
mikawataru 5:bcf55d8fe7a7 88 /*ログ格納用*/
mikawataru 11:b61d0fcc2ed3 89 float altitude[2][RATE_LOG],pressure[2][RATE_LOG],temperature[2][RATE_LOG];
mikawataru 3:9cd74af355cc 90 float acc[2][RATE_LOG][3],gyro[2][RATE_LOG][3];
mikawataru 3:9cd74af355cc 91 float t[2][RATE_LOG];
mikawataru 7:5f693667d0e9 92 FILE *fp;
mikawataru 11:b61d0fcc2ed3 93 /*フェーズ変数*/
mikawataru 5:bcf55d8fe7a7 94 int8_t Phase = STANDBY;
mikawataru 7:5f693667d0e9 95 /*判定用*/
mikawataru 11:b61d0fcc2ed3 96 float alt4open[RATE_OPEN],acc4open;
mikawataru 11:b61d0fcc2ed3 97 float alt_max,alt_launch;
mikawataru 7:5f693667d0e9 98 float t_drop,t_top,t_launch;
mikawataru 11:b61d0fcc2ed3 99 int8_t cnt_judge = 0;
mikawataru 11:b61d0fcc2ed3 100 int8_t col_open = 0;
mikawataru 12:211d2c6d2afc 101 /*入力用*/
mikawataru 12:211d2c6d2afc 102 int8_t Input_mode = NORMAL;
mikawataru 12:211d2c6d2afc 103 int8_t input_buff[3] = {};
mikawataru 7:5f693667d0e9 104 /*関数*/
mikawataru 3:9cd74af355cc 105 void _Open();
mikawataru 6:15204813ef87 106 void _Servo(int8_t door_num, float motion);
mikawataru 3:9cd74af355cc 107 void _Log();
mikawataru 12:211d2c6d2afc 108 void _Input();
mikawataru 11:b61d0fcc2ed3 109 float _GetAlt(float press, float temp);
mikawataru 11:b61d0fcc2ed3 110 float _Median(float data[], int num);
mikawataru 11:b61d0fcc2ed3 111
mikawataru 7:5f693667d0e9 112 /*---------------------------------------------------------------------*/
mikawataru 0:10a9c9c5ce83 113 int main() {
mikawataru 11:b61d0fcc2ed3 114 mpu.setAcceleroRange(2);
mikawataru 11:b61d0fcc2ed3 115 mpu.setGyroRange(2);
mikawataru 1:ec75f428c6b3 116 timer.start();
mikawataru 5:bcf55d8fe7a7 117 Door_1_1.period_ms(20);
mikawataru 5:bcf55d8fe7a7 118 Door_1_2.period_ms(20);
mikawataru 5:bcf55d8fe7a7 119 Door_2_1.period_ms(20);
mikawataru 5:bcf55d8fe7a7 120 Door_2_2.period_ms(20);
mikawataru 6:15204813ef87 121 _Servo(0,LOCK);
mikawataru 2:b6eb08d059cc 122 fp = fopen("/sd/log.txt", "w");
mikawataru 1:ec75f428c6b3 123 fprintf(fp, "pressure,temperature,ax,ay,az,gx,gy,gz\r\n");
mikawataru 12:211d2c6d2afc 124 device.attach(&_Input,Serial::RxIrq);
mikawataru 3:9cd74af355cc 125 loop_log.attach(&_Log,1.0/RATE_LOG);
mikawataru 3:9cd74af355cc 126 loop_open.attach(&_Open,1.0/RATE_OPEN);
mikawataru 3:9cd74af355cc 127 while(1);
mikawataru 3:9cd74af355cc 128 }
mikawataru 6:15204813ef87 129 /*開放用関数　RATE_OPEN[Hz]で判定を行う*/
mikawataru 3:9cd74af355cc 130 void _Open(){
mikawataru 3:9cd74af355cc 131 myled = 1 << (Phase-1);
mikawataru 3:9cd74af355cc 132 switch (Phase) {
mikawataru 3:9cd74af355cc 133 case STANDBY://スタンバイモード（発射判定不可）
mikawataru 12:211d2c6d2afc 134 // Phase = LAUNCH;
mikawataru 3:9cd74af355cc 135 break;
mikawataru 7:5f693667d0e9 136 case LAUNCH://点火モード（発射判定可）
mikawataru 11:b61d0fcc2ed3 137 acc4open = (float)mpu.getAcceleroRawZ()/(ACC*0.981);
mikawataru 11:b61d0fcc2ed3 138 alt4open[col_open] = _GetAlt(ms5607.getPressure()/100,ms5607.getTemperature());
mikawataru 11:b61d0fcc2ed3 139 if(acc4open>ACC_LAUNCH){
mikawataru 11:b61d0fcc2ed3 140 if(cnt_judge++==3){
mikawataru 11:b61d0fcc2ed3 141 Phase = FLIGHT;
mikawataru 11:b61d0fcc2ed3 142 alt_launch = _Median(alt4open, RATE_OPEN);
mikawataru 11:b61d0fcc2ed3 143 cnt_judge = 0;
mikawataru 11:b61d0fcc2ed3 144 }
mikawataru 7:5f693667d0e9 145 t_launch = timer.read();
mikawataru 11:b61d0fcc2ed3 146 alt_max = alt_launch;
mikawataru 7:5f693667d0e9 147 }else{
mikawataru 11:b61d0fcc2ed3 148 if(timer.read()>t_launch+1.0) cnt_judge = 0;
mikawataru 3:9cd74af355cc 149 }
mikawataru 11:b61d0fcc2ed3 150 device.printf("%f\r\n",acc4open);
mikawataru 4:cc266df87f3e 151 break;
mikawataru 7:5f693667d0e9 152 case FLIGHT://飛翔中（パラシュート開放判定）
mikawataru 11:b61d0fcc2ed3 153 alt4open[col_open] = _GetAlt(ms5607.getPressure()/100,ms5607.getTemperature());
mikawataru 11:b61d0fcc2ed3 154 if(alt4open[col_open]>alt_max) alt_max = alt4open[col_open];
mikawataru 11:b61d0fcc2ed3 155 if(alt4open[col_open]<alt_max-DROP_TOP){
mikawataru 11:b61d0fcc2ed3 156 if(cnt_judge++==3){
mikawataru 7:5f693667d0e9 157 _Servo(1,UNLOCK);
mikawataru 7:5f693667d0e9 158 Phase = DROP;
mikawataru 11:b61d0fcc2ed3 159 cnt_judge = 0;
mikawataru 7:5f693667d0e9 160 }
mikawataru 7:5f693667d0e9 161 t_top = timer.read();
mikawataru 7:5f693667d0e9 162 }else{
mikawataru 11:b61d0fcc2ed3 163 if(timer.read()>t_top+1.0) cnt_judge = 0;
mikawataru 7:5f693667d0e9 164 }
mikawataru 7:5f693667d0e9 165 if(timer.read()-t_launch>TIME_TOP){
mikawataru 7:5f693667d0e9 166 _Servo(1,UNLOCK);
mikawataru 7:5f693667d0e9 167 Phase = DROP;
mikawataru 11:b61d0fcc2ed3 168 cnt_judge = 0;
mikawataru 7:5f693667d0e9 169 }
mikawataru 7:5f693667d0e9 170 break;
mikawataru 7:5f693667d0e9 171 case DROP://降下中（缶サット開放判定)
mikawataru 11:b61d0fcc2ed3 172 if(alt4open[col_open] < alt_launch+ALT_CAN){
mikawataru 11:b61d0fcc2ed3 173 if(cnt_judge++==3){
mikawataru 11:b61d0fcc2ed3 174 _Servo(2,UNLOCK);
mikawataru 11:b61d0fcc2ed3 175 cnt_judge = 0;
mikawataru 11:b61d0fcc2ed3 176 }
mikawataru 7:5f693667d0e9 177 t_drop = timer.read();
mikawataru 7:5f693667d0e9 178 }else{
mikawataru 11:b61d0fcc2ed3 179 if(timer.read()>t_drop+1.0)cnt_judge = 0;
mikawataru 7:5f693667d0e9 180 }
mikawataru 3:9cd74af355cc 181 break;
mikawataru 0:10a9c9c5ce83 182 }
mikawataru 11:b61d0fcc2ed3 183 if(col_open++==RATE_OPEN) col_open = 0;
mikawataru 0:10a9c9c5ce83 184 }
mikawataru 6:15204813ef87 185 /*記録用関数　RATE_LOG[Hz]で記録を行う*/
mikawataru 3:9cd74af355cc 186 void _Log(){
mikawataru 3:9cd74af355cc 187 t[row][col] = timer.read();
mikawataru 7:5f693667d0e9 188 pressure[row][col] = ms5607.getPressure()/100;
mikawataru 3:9cd74af355cc 189 temperature[row][col] = ms5607.getTemperature();
mikawataru 3:9cd74af355cc 190 mpu.getAccelero(&acc[row][col][0]);
mikawataru 3:9cd74af355cc 191 mpu.getGyro(&gyro[row][col][0]);
mikawataru 3:9cd74af355cc 192 fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",
mikawataru 11:b61d0fcc2ed3 193 t[row][col],pressure[row][col],temperature[row][col],acc[row][col][0]/10.0,
mikawataru 11:b61d0fcc2ed3 194 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 195 );
mikawataru 3:9cd74af355cc 196 if(col++==RATE_LOG){
mikawataru 3:9cd74af355cc 197 fclose(fp);
mikawataru 3:9cd74af355cc 198 fp = fopen("/sd/log.txt", "a");
mikawataru 3:9cd74af355cc 199 row =! row;
mikawataru 3:9cd74af355cc 200 col = 0;
mikawataru 3:9cd74af355cc 201 }
mikawataru 3:9cd74af355cc 202 }
mikawataru 6:15204813ef87 203 /*サーボ動作用関数 _Servo(int8_t 扉番号,float pwm波長)*/
mikawataru 6:15204813ef87 204 void _Servo(int8_t door_num, float motion){
mikawataru 6:15204813ef87 205 if(door_num==0){//全扉
mikawataru 6:15204813ef87 206 Door_1_1.pulsewidth(motion);
mikawataru 6:15204813ef87 207 Door_1_2.pulsewidth(motion);
mikawataru 6:15204813ef87 208 Door_2_1.pulsewidth(motion);
mikawataru 6:15204813ef87 209 Door_2_2.pulsewidth(motion);
mikawataru 6:15204813ef87 210 }else if(door_num==1){//扉１
mikawataru 6:15204813ef87 211 Door_1_1.pulsewidth(motion);
mikawataru 6:15204813ef87 212 Door_1_2.pulsewidth(motion);
mikawataru 6:15204813ef87 213 }else if(door_num==2){//扉２
mikawataru 6:15204813ef87 214 Door_2_1.pulsewidth(motion);
mikawataru 6:15204813ef87 215 Door_2_2.pulsewidth(motion);
mikawataru 6:15204813ef87 216 }else{
mikawataru 12:211d2c6d2afc 217 device.printf("servo error:%d\r\n",door_num);
mikawataru 6:15204813ef87 218 }
mikawataru 3:9cd74af355cc 219 }
mikawataru 7:5f693667d0e9 220
mikawataru 12:211d2c6d2afc 221 /*入力用*/
mikawataru 12:211d2c6d2afc 222 void _Input(){
mikawataru 12:211d2c6d2afc 223 char c = device.getc();
mikawataru 12:211d2c6d2afc 224 switch (Input_mode) {
mikawataru 12:211d2c6d2afc 225 case NORMAL:
mikawataru 12:211d2c6d2afc 226 if(c=='s'){
mikawataru 12:211d2c6d2afc 227 Input_mode = SERVO_1;
mikawataru 12:211d2c6d2afc 228 device.printf("\r\nInput_mode:SERVO\r\n");
mikawataru 12:211d2c6d2afc 229 device.printf("\r\n0:All\r\n1:Parachute\r\n2:Cansat\r\n>>");
mikawataru 12:211d2c6d2afc 230 }else{
mikawataru 12:211d2c6d2afc 231 device.printf("\r\nthis command is not found:%c\r\n",c);
mikawataru 12:211d2c6d2afc 232 device.printf("\r\nInput_mode:NORMAL\r\ns:SERVO\r\n");
mikawataru 12:211d2c6d2afc 233 }
mikawataru 12:211d2c6d2afc 234 break;
mikawataru 12:211d2c6d2afc 235 case SERVO_1:
mikawataru 12:211d2c6d2afc 236 input_buff[0] = (int)(c-'0');
mikawataru 12:211d2c6d2afc 237 if(c=='0'||c=='1'||c=='2'){
mikawataru 12:211d2c6d2afc 238 Input_mode = SERVO_2;
mikawataru 12:211d2c6d2afc 239 device.printf("\r\n0:OPEN\r\n1:CLOSE\r\n>>");
mikawataru 12:211d2c6d2afc 240 }else{
mikawataru 12:211d2c6d2afc 241 device.printf("\r\nthis servo_num is not found:%d\r\n",input_buff[0]);
mikawataru 12:211d2c6d2afc 242 device.printf("\r\nInput_mode:NORMAL\r\ns:SERVO\r\n>>");
mikawataru 12:211d2c6d2afc 243 Input_mode = NORMAL;
mikawataru 12:211d2c6d2afc 244 }
mikawataru 12:211d2c6d2afc 245 break;
mikawataru 12:211d2c6d2afc 246 case SERVO_2:
mikawataru 12:211d2c6d2afc 247 if(c=='0')_Servo(input_buff[0],UNLOCK);
mikawataru 12:211d2c6d2afc 248 else if(c=='1')_Servo(input_buff[0],LOCK);
mikawataru 12:211d2c6d2afc 249 else{
mikawataru 12:211d2c6d2afc 250 device.printf("\r\nthis motion_num is not found:%c\r\n",c);
mikawataru 12:211d2c6d2afc 251 }
mikawataru 12:211d2c6d2afc 252 device.printf("Input_mode:NORMAL\r\ns:SERVO\r\n");
mikawataru 12:211d2c6d2afc 253 Input_mode = NORMAL;
mikawataru 12:211d2c6d2afc 254 break;
mikawataru 12:211d2c6d2afc 255 case MODE:
mikawataru 12:211d2c6d2afc 256 break;
mikawataru 12:211d2c6d2afc 257 case BAN://reset only
mikawataru 12:211d2c6d2afc 258 break;
mikawataru 12:211d2c6d2afc 259 default:
mikawataru 12:211d2c6d2afc 260 break;
mikawataru 12:211d2c6d2afc 261 }
mikawataru 12:211d2c6d2afc 262 }
mikawataru 12:211d2c6d2afc 263
mikawataru 12:211d2c6d2afc 264 /*その他雑関数*/
mikawataru 11:b61d0fcc2ed3 265 float _GetAlt(float press, float temp){
mikawataru 7:5f693667d0e9 266 return (pow((P0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
mikawataru 7:5f693667d0e9 267 }
mikawataru 11:b61d0fcc2ed3 268 float _Median(float data[], int num){
mikawataru 11:b61d0fcc2ed3 269 float median;
mikawataru 11:b61d0fcc2ed3 270 float *sort = (float *)malloc(sizeof(float)*num);
mikawataru 11:b61d0fcc2ed3 271 for(int i=0; i<num; i++) sort[i] = data[i];
mikawataru 11:b61d0fcc2ed3 272 for(int i=0; i<num; i++){
mikawataru 11:b61d0fcc2ed3 273 for(int j=0; j<num-i-1; j++){
mikawataru 11:b61d0fcc2ed3 274 if(sort[j]>sort[j+1]){
mikawataru 11:b61d0fcc2ed3 275 float buff = sort[j+1];
mikawataru 11:b61d0fcc2ed3 276 sort[j+1] = sort[j];
mikawataru 11:b61d0fcc2ed3 277 sort[j] = buff;
mikawataru 11:b61d0fcc2ed3 278 }
mikawataru 11:b61d0fcc2ed3 279 }
mikawataru 11:b61d0fcc2ed3 280 }
mikawataru 11:b61d0fcc2ed3 281 if(num%2!=0)median = sort[num/2];
mikawataru 11:b61d0fcc2ed3 282 else median = (sort[num/2-1]+sort[num/2])/2.0;
mikawataru 11:b61d0fcc2ed3 283 free(sort);
mikawataru 11:b61d0fcc2ed3 284 return median;
mikawataru 11:b61d0fcc2ed3 285 }