CORE / Mbed 2 deprecated 2017_11_1114

2017.11伊豆大島共同打ち上げ実験の開放用プログラム

Dependencies:   BMP180 MPU6050 mbed

Fork of 2017_11_1114 by kohei oikawa

main.cpp@9:5eda5aad3916, 2017-11-14 (annotated)

Committer:
oichan
Date:
Tue Nov 14 03:40:58 2017 +0000
Revision:
9:5eda5aad3916
Parent:
8:b10169df8f5f 
flight model

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mikawataru 0:0ff20d8e9090 1 #include "mbed.h"
mikawataru 0:0ff20d8e9090 2 #include "math.h"
oichan 2:6238109d564d 3 #include "MPU6050.h"
mikawataru 0:0ff20d8e9090 4 #include "BMP180.h"
oichan 2:6238109d564d 5
oichan 4:ae20e73f4924 6 #define LAUNCH_JUDGE_ACC_g 3.0
oichan 8:b10169df8f5f 7 #define PARA_OPEN_TIME_s 20.0
oichan 6:e0c25c3976ae 8 #define PARA_OPEN_CNT 7
oichan 8:b10169df8f5f 9 #define PARA_OPEN_FILTER_s 8.0
oichan 8:b10169df8f5f 10 #define LEAF_UNLOCK_TIME_s 85.0
oichan 2:6238109d564d 11 #define LEAF_UNLOCK_ALT_m 300.0
oichan 2:6238109d564d 12 #define p0 1013.25f
oichan 2:6238109d564d 13
oichan 4:ae20e73f4924 14 BMP180 bmp(dp5,dp27);
oichan 4:ae20e73f4924 15 MPU6050 mpu(dp5,dp27);
oichan 4:ae20e73f4924 16 Timer para_timer;
oichan 4:ae20e73f4924 17 Timer leaf_timer;
oichan 4:ae20e73f4924 18 Ticker readtimer;
oichan 6:e0c25c3976ae 19 PwmOut mg996(dp1);
oichan 6:e0c25c3976ae 20 PwmOut sg92(dp18);
oichan 4:ae20e73f4924 21 DigitalIn oshirase1(dp11);
oichan 4:ae20e73f4924 22 DigitalInOut oshirase2(dp10);
oichan 8:b10169df8f5f 23 //DigitalOut myled(LED1);
oichan 8:b10169df8f5f 24 //Serial pc(USBTX,USBRX);
mikawataru 0:0ff20d8e9090 25
oichan 2:6238109d564d 26 /* 自作関数 */
oichan 2:6238109d564d 27 void _flight();
oichan 2:6238109d564d 28 void _open();
oichan 2:6238109d564d 29 void _close();
oichan 2:6238109d564d 30 void _leaf_lock();
oichan 2:6238109d564d 31 void _leaf_unlock();
oichan 2:6238109d564d 32 float _getAlt();
oichan 2:6238109d564d 33 float _getAcc();
oichan 2:6238109d564d 34 float _median(float data[], int num);
mikawataru 0:0ff20d8e9090 35
oichan 7:4efaca1e9acd 36
oichan 2:6238109d564d 37 /* グローバル変数 */
oichan 4:ae20e73f4924 38 int Alt_cnt;
oichan 4:ae20e73f4924 39 float a[3],Acc;
oichan 4:ae20e73f4924 40 float Pressure,Temperature,Altitude;
oichan 6:e0c25c3976ae 41 float Alt_buff[10],Alt_median_buff[10],Acc_buff[10];
oichan 4:ae20e73f4924 42 float Land_Alt;
oichan 4:ae20e73f4924 43 bool Mg996Open = true;
oichan 4:ae20e73f4924 44 bool Sg92Open = true;
oichan 2:6238109d564d 45
mikawataru 0:0ff20d8e9090 46
mikawataru 0:0ff20d8e9090 47 int main() {
oichan 8:b10169df8f5f 48 // pc.printf("Hello!\r\n");
oichan 3:217b56515009 49 mg996.period_ms(20);
oichan 2:6238109d564d 50 sg92.period_ms(20);
oichan 2:6238109d564d 51 mpu.setAcceleroRange(0);
mikawataru 0:0ff20d8e9090 52 bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER);
oichan 4:ae20e73f4924 53 oshirase2.input();
oichan 5:a5cf6914e7c4 54 wait(0.5);
oichan 4:ae20e73f4924 55 while(1){
oichan 4:ae20e73f4924 56 if(oshirase1==0 && oshirase2==1){
oichan 4:ae20e73f4924 57 _flight();
oichan 4:ae20e73f4924 58 break;
oichan 4:ae20e73f4924 59 }else if(oshirase1==1 && oshirase2==0){
oichan 4:ae20e73f4924 60 while(1){
oichan 4:ae20e73f4924 61 if(oshirase1==1 && oshirase2==1){
oichan 4:ae20e73f4924 62 if(Mg996Open){
oichan 4:ae20e73f4924 63 _close();
oichan 4:ae20e73f4924 64 Mg996Open = false;
oichan 4:ae20e73f4924 65 }else{
oichan 4:ae20e73f4924 66 _open();
oichan 4:ae20e73f4924 67 Mg996Open = true;
oichan 4:ae20e73f4924 68 }
oichan 4:ae20e73f4924 69 break;
oichan 4:ae20e73f4924 70 }else if(oshirase1==0 && oshirase2==0){
oichan 4:ae20e73f4924 71 if(Sg92Open){
oichan 4:ae20e73f4924 72 _leaf_lock();
oichan 4:ae20e73f4924 73 Sg92Open = false;
oichan 4:ae20e73f4924 74 }else{
oichan 4:ae20e73f4924 75 _leaf_unlock();
oichan 4:ae20e73f4924 76 Sg92Open = true;
oichan 4:ae20e73f4924 77 }
oichan 4:ae20e73f4924 78 break;
oichan 4:ae20e73f4924 79 }
oichan 4:ae20e73f4924 80 }
oichan 4:ae20e73f4924 81 }
oichan 4:ae20e73f4924 82 }
oichan 2:6238109d564d 83 while(1);
oichan 2:6238109d564d 84 }
oichan 2:6238109d564d 85
oichan 2:6238109d564d 86
oichan 3:217b56515009 87 /* フライトモード用関数 */
oichan 2:6238109d564d 88 void _flight(){
oichan 8:b10169df8f5f 89 // pc.printf("flight mode on\r\n");
oichan 4:ae20e73f4924 90 oshirase2.output();
oichan 4:ae20e73f4924 91 oshirase2 = 0;
oichan 6:e0c25c3976ae 92 _close();
oichan 6:e0c25c3976ae 93 _leaf_lock();
oichan 4:ae20e73f4924 94
oichan 2:6238109d564d 95 /* 地上高度取得 */
oichan 2:6238109d564d 96 for(int i=0;i<10;i++){
oichan 2:6238109d564d 97 Alt_buff[i] = _getAlt();
oichan 2:6238109d564d 98 }
oichan 4:ae20e73f4924 99 Land_Alt = _median(Alt_buff,10);
oichan 2:6238109d564d 100
oichan 2:6238109d564d 101 /* 発射判定 */
oichan 2:6238109d564d 102 while(1){
oichan 8:b10169df8f5f 103 // myled = !myled;
oichan 2:6238109d564d 104 for(int i=0;i<10;i++){
oichan 8:b10169df8f5f 105 Acc_buff[i] = _getAcc();
oichan 2:6238109d564d 106 }
oichan 4:ae20e73f4924 107 Acc = _median(Acc_buff,10);
oichan 4:ae20e73f4924 108 if(Acc >= LAUNCH_JUDGE_ACC_g){
oichan 2:6238109d564d 109 para_timer.start();
oichan 4:ae20e73f4924 110 oshirase2 = 1;
oichan 3:217b56515009 111 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Acc_buff[i]);
oichan 2:6238109d564d 112 break;
oichan 2:6238109d564d 113 }
oichan 2:6238109d564d 114 }
oichan 2:6238109d564d 115
oichan 2:6238109d564d 116 /* 開放判定 */
oichan 2:6238109d564d 117 while(1){
oichan 2:6238109d564d 118 Alt_cnt = 0;
oichan 6:e0c25c3976ae 119 for(int i=0;i<10;i++){
oichan 6:e0c25c3976ae 120 Alt_buff[i] = _getAlt();
oichan 6:e0c25c3976ae 121 }
oichan 6:e0c25c3976ae 122 Alt_median_buff[0] = _median(Alt_buff,10);
oichan 2:6238109d564d 123 for(int i=1;i<10;i++){
oichan 6:e0c25c3976ae 124 for(int j=0;j<10;j++){
oichan 6:e0c25c3976ae 125 Alt_buff[j] = _getAlt();
oichan 6:e0c25c3976ae 126 }
oichan 6:e0c25c3976ae 127 Alt_median_buff[i] = _median(Alt_buff,10);
oichan 7:4efaca1e9acd 128 if(Alt_median_buff[i] < Alt_median_buff[i-1]-0.1) Alt_cnt++;
oichan 2:6238109d564d 129 }
oichan 7:4efaca1e9acd 130 // pc.printf("%d\r\n",Alt_cnt);
oichan 5:a5cf6914e7c4 131 if(para_timer.read() >= PARA_OPEN_FILTER_s){
oichan 7:4efaca1e9acd 132 if(Alt_cnt >= PARA_OPEN_CNT || para_timer.read() >= PARA_OPEN_TIME_s){
oichan 5:a5cf6914e7c4 133 _open();
oichan 5:a5cf6914e7c4 134 leaf_timer.start();
oichan 5:a5cf6914e7c4 135 oshirase2 = 0;
oichan 5:a5cf6914e7c4 136 para_timer.stop();
oichan 8:b10169df8f5f 137 // pc.printf("para open\r\n");
oichan 5:a5cf6914e7c4 138 break;
oichan 5:a5cf6914e7c4 139 }
oichan 2:6238109d564d 140 }
oichan 2:6238109d564d 141 }
oichan 2:6238109d564d 142
oichan 2:6238109d564d 143 /* リーフィング解除判定 */
oichan 2:6238109d564d 144 while(1){
oichan 2:6238109d564d 145 for(int i=0;i<10;i++){
oichan 2:6238109d564d 146 Alt_buff[i] = _getAlt();
oichan 2:6238109d564d 147 }
oichan 4:ae20e73f4924 148 Altitude = _median(Alt_buff,10);
oichan 7:4efaca1e9acd 149 if(Altitude - Land_Alt <= LEAF_UNLOCK_ALT_m || leaf_timer.read() >= LEAF_UNLOCK_TIME_s){
oichan 2:6238109d564d 150 _leaf_unlock();
oichan 6:e0c25c3976ae 151 oshirase2 = 1;
oichan 2:6238109d564d 152 leaf_timer.stop();
oichan 8:b10169df8f5f 153 // pc.printf("leafing unlock\r\n");
oichan 2:6238109d564d 154 break;
oichan 2:6238109d564d 155 }
mikawataru 0:0ff20d8e9090 156 }
mikawataru 0:0ff20d8e9090 157 }
mikawataru 0:0ff20d8e9090 158
oichan 2:6238109d564d 159
oichan 2:6238109d564d 160 /* サーボ用関数 */
oichan 8:b10169df8f5f 161 void _close() {mg996.pulsewidth(0.0005);}
oichan 8:b10169df8f5f 162 void _open() {mg996.pulsewidth(0.0024);}
oichan 8:b10169df8f5f 163 void _leaf_lock() {sg92.pulsewidth(0.0024);}
oichan 8:b10169df8f5f 164 void _leaf_unlock() {sg92.pulsewidth(0.0005);}
oichan 2:6238109d564d 165
oichan 2:6238109d564d 166
oichan 2:6238109d564d 167 /* 高度取得関数 */
oichan 2:6238109d564d 168 float _getAlt(){
oichan 7:4efaca1e9acd 169 float altitude;
oichan 4:ae20e73f4924 170 bmp.ReadData(&Temperature,&Pressure);
oichan 7:4efaca1e9acd 171 altitude = (pow((p0/Pressure), (1.0f/5.257f))-1.0f)*(Temperature+273.15f)/0.0065f;
oichan 7:4efaca1e9acd 172 // pc.printf("%f, %f, %f\r\n",Pressure,Temperature,altitude);
oichan 7:4efaca1e9acd 173 return altitude;
oichan 2:6238109d564d 174 }
oichan 2:6238109d564d 175
oichan 2:6238109d564d 176
oichan 6:e0c25c3976ae 177 /* 合成加速度取得関数 */
oichan 2:6238109d564d 178 float _getAcc(){
oichan 2:6238109d564d 179 mpu.getAccelero(a);
oichan 2:6238109d564d 180 return sqrt(pow(a[0]/9.81,2)+pow(a[1]/9.81,2)+pow(a[2]/9.81,2));
oichan 2:6238109d564d 181 }
oichan 2:6238109d564d 182
oichan 2:6238109d564d 183
oichan 2:6238109d564d 184 /* 中央値計算関数 */
oichan 2:6238109d564d 185 float _median(float data[], int num){//todo:処理時間計測
oichan 2:6238109d564d 186 float *data_cpy, ans;
oichan 2:6238109d564d 187 data_cpy = new float[num];
oichan 2:6238109d564d 188 memcpy(data_cpy,data,sizeof(float)*num);
oichan 2:6238109d564d 189
oichan 2:6238109d564d 190 for(int i=0; i<num; i++){
oichan 2:6238109d564d 191 for(int j=0; j<num-i-1; j++){
oichan 2:6238109d564d 192 if(data_cpy[j]>data_cpy[j+1]){
oichan 2:6238109d564d 193 float buff = data_cpy[j+1];
oichan 2:6238109d564d 194 data_cpy[j+1] = data_cpy[j];
oichan 2:6238109d564d 195 data_cpy[j] = buff;
oichan 2:6238109d564d 196 }
oichan 2:6238109d564d 197 }
oichan 2:6238109d564d 198 }
oichan 2:6238109d564d 199
oichan 2:6238109d564d 200 if(num%2!=0) ans = data_cpy[num/2];
oichan 2:6238109d564d 201 else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
oichan 2:6238109d564d 202 delete[] data_cpy;
oichan 2:6238109d564d 203 return ans;
oichan 2:6238109d564d 204 }