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@5:bcf55d8fe7a7, 2017-02-20 (annotated)
- Committer:
- mikawataru
- Date:
- Mon Feb 20 12:25:06 2017 +0000
- Revision:
- 5:bcf55d8fe7a7
- Parent:
- 4:cc266df87f3e
- Child:
- 6:15204813ef87
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Who changed what in which revision?
User | Revision | Line number | New 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 | 5:bcf55d8fe7a7 | 14 | ピン配置 |
mikawataru | 5:bcf55d8fe7a7 | 15 | LPC1768 MPU6050 MS5607 MicroSD MG995_1 MG995_2 MG995_3 MG995_4 |
mikawataru | 5:bcf55d8fe7a7 | 16 | VIN--------------------------------------------------------------------4.5~9.0V |
mikawataru | 5:bcf55d8fe7a7 | 17 | -----------------------------------VIN------VIN------VIN------VIN------5V |
mikawataru | 5:bcf55d8fe7a7 | 18 | Vout-----VCC------VIN-----VDD------------------------------------------3.3V |
mikawataru | 5:bcf55d8fe7a7 | 19 | -ADO -PS |
mikawataru | 5:bcf55d8fe7a7 | 20 | GND------GND------GND-----VSS------GND------GND------GND------GND------0V |
mikawataru | 5:bcf55d8fe7a7 | 21 | -CS |
mikawataru | 5:bcf55d8fe7a7 | 22 | p9-------SDA------SDA---------------------------------------------------- |
mikawataru | 5:bcf55d8fe7a7 | 23 | p10------SCL------SCL---------------------------------------------------- |
mikawataru | 5:bcf55d8fe7a7 | 24 | p11-----------------------CLK-------------------------------------------- |
mikawataru | 5:bcf55d8fe7a7 | 25 | p12-----------------------DAT0------------------------------------------- |
mikawataru | 5:bcf55d8fe7a7 | 26 | p13-----------------------CMD-------------------------------------------- |
mikawataru | 5:bcf55d8fe7a7 | 27 | p14-----------------------CD/DAT0---------------------------------------- |
mikawataru | 5:bcf55d8fe7a7 | 28 | p23--------------------------------CTRL---------------------------------- |
mikawataru | 5:bcf55d8fe7a7 | 29 | p24-----------------------------------------CTRL------------------------- |
mikawataru | 5:bcf55d8fe7a7 | 30 | p25--------------------------------------------------CTRL---------------- |
mikawataru | 5:bcf55d8fe7a7 | 31 | p26-----------------------------------------------------------CTRL------- |
mikawataru | 5:bcf55d8fe7a7 | 32 | */ |
mikawataru | 5:bcf55d8fe7a7 | 33 | |
mikawataru | 0:10a9c9c5ce83 | 34 | #include "mbed.h" |
mikawataru | 0:10a9c9c5ce83 | 35 | #include "MS5607I2C.h" |
mikawataru | 0:10a9c9c5ce83 | 36 | #include "MPU6050.h" |
mikawataru | 1:ec75f428c6b3 | 37 | #include "SDFileSystem.h" |
mikawataru | 0:10a9c9c5ce83 | 38 | |
mikawataru | 3:9cd74af355cc | 39 | /*動作レート*/ |
mikawataru | 3:9cd74af355cc | 40 | #define RATE_LOG 10//ログ用 |
mikawataru | 3:9cd74af355cc | 41 | #define RATE_OPEN 10//開放用 |
mikawataru | 3:9cd74af355cc | 42 | /*サーボ動作*/ |
mikawataru | 3:9cd74af355cc | 43 | #define LOCK true |
mikawataru | 3:9cd74af355cc | 44 | #define UNLOCK false |
mikawataru | 3:9cd74af355cc | 45 | /*フェイズ定義*/ |
mikawataru | 3:9cd74af355cc | 46 | #define STANDBY 0 |
mikawataru | 3:9cd74af355cc | 47 | #define LAUNCH 1 |
mikawataru | 3:9cd74af355cc | 48 | #define FLIGHT 2 |
mikawataru | 3:9cd74af355cc | 49 | #define OPEN_1 3 |
mikawataru | 3:9cd74af355cc | 50 | #define OPEN_2 4 |
mikawataru | 0:10a9c9c5ce83 | 51 | |
mikawataru | 0:10a9c9c5ce83 | 52 | MS5607I2C ms5607(p9, p10, false); |
mikawataru | 0:10a9c9c5ce83 | 53 | MPU6050 mpu(p9,p10); |
mikawataru | 0:10a9c9c5ce83 | 54 | DigitalIn sw(p21); |
mikawataru | 3:9cd74af355cc | 55 | BusOut myled(LED1,LED2,LED3,LED4); |
mikawataru | 0:10a9c9c5ce83 | 56 | Serial pc(USBTX, USBRX); |
mikawataru | 1:ec75f428c6b3 | 57 | SDFileSystem sd(p11, p12, p13, p14, "sd"); |
mikawataru | 0:10a9c9c5ce83 | 58 | |
mikawataru | 5:bcf55d8fe7a7 | 59 | PwmOut Door_1_1(p23); |
mikawataru | 5:bcf55d8fe7a7 | 60 | PwmOut Door_1_2(p24); |
mikawataru | 5:bcf55d8fe7a7 | 61 | PwmOut Door_2_1(p25); |
mikawataru | 5:bcf55d8fe7a7 | 62 | PwmOut Door_2_2(p26); |
mikawataru | 5:bcf55d8fe7a7 | 63 | |
mikawataru | 1:ec75f428c6b3 | 64 | Timer timer; |
mikawataru | 3:9cd74af355cc | 65 | Ticker loop_log; |
mikawataru | 3:9cd74af355cc | 66 | Ticker loop_open; |
mikawataru | 0:10a9c9c5ce83 | 67 | |
mikawataru | 5:bcf55d8fe7a7 | 68 | /*ログカウンタ*/ |
mikawataru | 5:bcf55d8fe7a7 | 69 | bool row = 0; |
mikawataru | 3:9cd74af355cc | 70 | int8_t col = 0; |
mikawataru | 5:bcf55d8fe7a7 | 71 | /*ログ格納用*/ |
mikawataru | 3:9cd74af355cc | 72 | float pressure[2][RATE_LOG],temperature[2][RATE_LOG]; |
mikawataru | 3:9cd74af355cc | 73 | float acc[2][RATE_LOG][3],gyro[2][RATE_LOG][3]; |
mikawataru | 3:9cd74af355cc | 74 | float t[2][RATE_LOG]; |
mikawataru | 3:9cd74af355cc | 75 | float t_top,alt,alt_max,alt_launch; |
mikawataru | 5:bcf55d8fe7a7 | 76 | /*フェイズ変数*/ |
mikawataru | 5:bcf55d8fe7a7 | 77 | int8_t Phase = STANDBY; |
mikawataru | 5:bcf55d8fe7a7 | 78 | /*降下判定用*/ |
mikawataru | 3:9cd74af355cc | 79 | int8_t cnt_drop = 0; |
mikawataru | 1:ec75f428c6b3 | 80 | FILE *fp; |
mikawataru | 1:ec75f428c6b3 | 81 | |
mikawataru | 3:9cd74af355cc | 82 | void _Open(); |
mikawataru | 3:9cd74af355cc | 83 | void _Servo(int8_t door_num, bool door_motion); |
mikawataru | 3:9cd74af355cc | 84 | void _Log(); |
mikawataru | 0:10a9c9c5ce83 | 85 | |
mikawataru | 0:10a9c9c5ce83 | 86 | int main() { |
mikawataru | 1:ec75f428c6b3 | 87 | timer.start(); |
mikawataru | 5:bcf55d8fe7a7 | 88 | Door_1_1.period_ms(20); |
mikawataru | 5:bcf55d8fe7a7 | 89 | Door_1_2.period_ms(20); |
mikawataru | 5:bcf55d8fe7a7 | 90 | Door_2_1.period_ms(20); |
mikawataru | 5:bcf55d8fe7a7 | 91 | Door_2_2.period_ms(20); |
mikawataru | 2:b6eb08d059cc | 92 | fp = fopen("/sd/log.txt", "w"); |
mikawataru | 1:ec75f428c6b3 | 93 | fprintf(fp, "pressure,temperature,ax,ay,az,gx,gy,gz\r\n"); |
mikawataru | 3:9cd74af355cc | 94 | loop_log.attach(&_Log,1.0/RATE_LOG); |
mikawataru | 3:9cd74af355cc | 95 | loop_open.attach(&_Open,1.0/RATE_OPEN); |
mikawataru | 3:9cd74af355cc | 96 | while(1); |
mikawataru | 3:9cd74af355cc | 97 | } |
mikawataru | 3:9cd74af355cc | 98 | |
mikawataru | 3:9cd74af355cc | 99 | void _Open(){ |
mikawataru | 3:9cd74af355cc | 100 | myled = 1 << (Phase-1); |
mikawataru | 3:9cd74af355cc | 101 | switch (Phase) { |
mikawataru | 3:9cd74af355cc | 102 | case STANDBY://スタンバイモード(発射判定不可) |
mikawataru | 3:9cd74af355cc | 103 | Phase = LAUNCH; |
mikawataru | 3:9cd74af355cc | 104 | break; |
mikawataru | 3:9cd74af355cc | 105 | case LAUNCH://フライトモード(発射判定可) |
mikawataru | 5:bcf55d8fe7a7 | 106 | alt_launch = ms5607.getAltitude(); |
mikawataru | 3:9cd74af355cc | 107 | if(sw==0)Phase = FLIGHT; |
mikawataru | 3:9cd74af355cc | 108 | break; |
mikawataru | 3:9cd74af355cc | 109 | case FLIGHT://飛翔中(頂点判定可) |
mikawataru | 3:9cd74af355cc | 110 | alt=ms5607.getAltitude(); |
mikawataru | 3:9cd74af355cc | 111 | if(alt > alt_max) alt_max = alt; |
mikawataru | 3:9cd74af355cc | 112 | else if(alt_max - alt > 1.5) Phase = OPEN_1; |
mikawataru | 3:9cd74af355cc | 113 | t_top = timer.read(); |
mikawataru | 3:9cd74af355cc | 114 | break; |
mikawataru | 3:9cd74af355cc | 115 | case OPEN_1://パラシュート開放モード |
mikawataru | 3:9cd74af355cc | 116 | if(alt_max>1.5) cnt_drop++; |
mikawataru | 3:9cd74af355cc | 117 | if(cnt_drop==5){ |
mikawataru | 3:9cd74af355cc | 118 | _Servo(1,UNLOCK); |
mikawataru | 3:9cd74af355cc | 119 | Phase = OPEN_2; |
mikawataru | 3:9cd74af355cc | 120 | cnt_drop = 0; |
mikawataru | 3:9cd74af355cc | 121 | } |
mikawataru | 4:cc266df87f3e | 122 | break; |
mikawataru | 3:9cd74af355cc | 123 | case OPEN_2://缶サット開放モード |
mikawataru | 3:9cd74af355cc | 124 | if(ms5607.getAltitude()-alt_launch < 350) cnt_drop++; |
mikawataru | 3:9cd74af355cc | 125 | if (cnt_drop==5) _Servo(2,UNLOCK); |
mikawataru | 3:9cd74af355cc | 126 | break; |
mikawataru | 0:10a9c9c5ce83 | 127 | } |
mikawataru | 0:10a9c9c5ce83 | 128 | } |
mikawataru | 3:9cd74af355cc | 129 | |
mikawataru | 3:9cd74af355cc | 130 | void _Log(){ |
mikawataru | 3:9cd74af355cc | 131 | t[row][col] = timer.read(); |
mikawataru | 3:9cd74af355cc | 132 | pressure[row][col] = ms5607.getPressure(); |
mikawataru | 3:9cd74af355cc | 133 | temperature[row][col] = ms5607.getTemperature(); |
mikawataru | 3:9cd74af355cc | 134 | mpu.getAccelero(&acc[row][col][0]); |
mikawataru | 3:9cd74af355cc | 135 | mpu.getGyro(&gyro[row][col][0]); |
mikawataru | 3:9cd74af355cc | 136 | fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n", |
mikawataru | 3:9cd74af355cc | 137 | t[row][col],pressure[row][col],temperature[row][col],acc[row][col][0], |
mikawataru | 3:9cd74af355cc | 138 | acc[row][col][1],acc[row][col][2],gyro[row][col][0],gyro[row][col][1],gyro[row][col][2] |
mikawataru | 3:9cd74af355cc | 139 | ); |
mikawataru | 3:9cd74af355cc | 140 | if(col++==RATE_LOG){ |
mikawataru | 3:9cd74af355cc | 141 | fclose(fp); |
mikawataru | 3:9cd74af355cc | 142 | fp = fopen("/sd/log.txt", "a"); |
mikawataru | 3:9cd74af355cc | 143 | row =! row; |
mikawataru | 3:9cd74af355cc | 144 | col = 0; |
mikawataru | 3:9cd74af355cc | 145 | } |
mikawataru | 3:9cd74af355cc | 146 | } |
mikawataru | 3:9cd74af355cc | 147 | |
mikawataru | 3:9cd74af355cc | 148 | void _Servo(int8_t door_num, bool door_motion){ |
mikawataru | 3:9cd74af355cc | 149 | |
mikawataru | 3:9cd74af355cc | 150 | } |