FTE-denshi / Mbed 2 deprecated Izu_2019

2019伊豆のコード

Dependencies:   mbed LSM9DS1 IM920 SDFileSystem LPS331 ADXL345_I2C GPS_Interface millis

main.cpp@0:cebf1f73ffd5, 2019-03-02 (annotated)

Committer:
zeutel
Date:
Sat Mar 02 15:15:47 2019 +0000
Revision:
0:cebf1f73ffd5
Child:
2:cad76b5be4ba
Child:
4:ad2faabb7995
2019_izu

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zeutel 0:cebf1f73ffd5 1 #include "mbed.h"
zeutel 0:cebf1f73ffd5 2 #include <string.h>
zeutel 0:cebf1f73ffd5 3 #include "LPS331_I2C.h"
zeutel 0:cebf1f73ffd5 4 #include "LSM9DS1.h"
zeutel 0:cebf1f73ffd5 5 #include "SDFileSystem.h"
zeutel 0:cebf1f73ffd5 6 #include "IM920.h"
zeutel 0:cebf1f73ffd5 7 #include "GPS.h"
zeutel 0:cebf1f73ffd5 8 #include "LPS22HB.h"
zeutel 0:cebf1f73ffd5 9
zeutel 0:cebf1f73ffd5 10 //ピン
zeutel 0:cebf1f73ffd5 11 DigitalInOut flightpin(p12);
zeutel 0:cebf1f73ffd5 12 Serial pc(USBTX, USBRX);
zeutel 0:cebf1f73ffd5 13 LPS331_I2C lps331(p9, p10, LPS331_I2C_SA0_HIGH);
zeutel 0:cebf1f73ffd5 14 LSM9DS1 lsm(p9,p10);
zeutel 0:cebf1f73ffd5 15 SDFileSystem sd(p5, p6, p7, p8, "sd");
zeutel 0:cebf1f73ffd5 16 IM920 im920(p28, p27, p29, p30);
zeutel 0:cebf1f73ffd5 17 GPS gps(p13, p14);
zeutel 0:cebf1f73ffd5 18 LPS22HB lps33hw(p9,p10,LPS22HB_G_CHIP_ADDR);
zeutel 0:cebf1f73ffd5 19 //I2C i2c(p9,p10);
zeutel 0:cebf1f73ffd5 20 //LPS22HB lps33hw(i2c, LPS22HB_G_CHIP_ADDR);
zeutel 0:cebf1f73ffd5 21 PwmOut servo_1(p22), servo_2(p25);
zeutel 0:cebf1f73ffd5 22
zeutel 0:cebf1f73ffd5 23 //関数
zeutel 0:cebf1f73ffd5 24 void init(FILE **file);//諸々の初期化
zeutel 0:cebf1f73ffd5 25 void checkingSensors();
zeutel 0:cebf1f73ffd5 26 void readValues(int sequence);//センサの読み取り
zeutel 0:cebf1f73ffd5 27 char *valueToChar(float value);//数値を文字列に
zeutel 0:cebf1f73ffd5 28 float calcAltitude(float pres, float temp);//高度計算
zeutel 0:cebf1f73ffd5 29
zeutel 0:cebf1f73ffd5 30 int main() {
zeutel 0:cebf1f73ffd5 31 int sequence=0;//機体の状態の推移
zeutel 0:cebf1f73ffd5 32 int timer=0;//ms単位
zeutel 0:cebf1f73ffd5 33 const int timeInterval=50;//ms単位
zeutel 0:cebf1f73ffd5 34 float altitude,maxAltitude=0.0;//m単位
zeutel 0:cebf1f73ffd5 35 float launchTime,reducerExpantionedTime;//発射・減速機構展開時間の保持
zeutel 0:cebf1f73ffd5 36 char receive[9]={};//受信した文字列
zeutel 0:cebf1f73ffd5 37 bool flightpinAttached=false;//フライトピンが付いているかどうか
zeutel 0:cebf1f73ffd5 38 FILE *fp;
zeutel 0:cebf1f73ffd5 39
zeutel 0:cebf1f73ffd5 40 init(&fp);//初期化
zeutel 0:cebf1f73ffd5 41
zeutel 0:cebf1f73ffd5 42 //サーボclose
zeutel 0:cebf1f73ffd5 43 //servo_1.pulsewidth(0.76/1000);//ms/1000
zeutel 0:cebf1f73ffd5 44 //servo_2.pulsewidth(1.94/1000);
zeutel 0:cebf1f73ffd5 45
zeutel 0:cebf1f73ffd5 46 while(strncmp(receive,"start",sizeof(receive))!=0){//無線での開始指令待ち txda tartと受信したら計測開始
zeutel 0:cebf1f73ffd5 47 im920.poll();
zeutel 0:cebf1f73ffd5 48 memset(receive,'\0',sizeof(receive));
zeutel 0:cebf1f73ffd5 49 im920.recv(receive,8);
zeutel 0:cebf1f73ffd5 50 //加速度・フライトピン読み取り
zeutel 0:cebf1f73ffd5 51 lsm.readAccel();
zeutel 0:cebf1f73ffd5 52 flightpinAttached=flightpin;
zeutel 0:cebf1f73ffd5 53 if(strncmp(receive,"check",sizeof(receive))==0){//checkと受信したらセンサーの状態確認 主にGPS
zeutel 0:cebf1f73ffd5 54 im920.send("Check",6);
zeutel 0:cebf1f73ffd5 55 checkingSensors();
zeutel 0:cebf1f73ffd5 56 }
zeutel 0:cebf1f73ffd5 57 if(strncmp(receive,"retry",sizeof(receive))==0){//retryと受信したら再度初期化
zeutel 0:cebf1f73ffd5 58 im920.send("Retry initializing",19);
zeutel 0:cebf1f73ffd5 59 init(&fp);
zeutel 0:cebf1f73ffd5 60 }
zeutel 0:cebf1f73ffd5 61 if(strncmp(receive,"reset",sizeof(receive))==0){//resetと受信したらMbedリセット
zeutel 0:cebf1f73ffd5 62 im920.send("Mbed reset",11);
zeutel 0:cebf1f73ffd5 63 NVIC_SystemReset();
zeutel 0:cebf1f73ffd5 64 }
zeutel 0:cebf1f73ffd5 65 if(lsm.ax*lsm.ax+lsm.ay*lsm.ay+lsm.az*lsm.az>=4.0/*&&flightpinAttached==false*/){//加速度2.0G以上かつフライトピンがぬけていたらコマンドがなくても開始
zeutel 0:cebf1f73ffd5 66 im920.send("Forced start",13);
zeutel 0:cebf1f73ffd5 67 break;
zeutel 0:cebf1f73ffd5 68 }
zeutel 0:cebf1f73ffd5 69 }
zeutel 0:cebf1f73ffd5 70 im920.send("START",6);
zeutel 0:cebf1f73ffd5 71
zeutel 0:cebf1f73ffd5 72 while(strncmp(receive,"end",sizeof(receive))!=0&&sequence!=3) {//endと受信するまたは着地したら終了
zeutel 0:cebf1f73ffd5 73 //受信内容の初期化
zeutel 0:cebf1f73ffd5 74 im920.poll();
zeutel 0:cebf1f73ffd5 75 memset(receive,'\0',sizeof(receive));
zeutel 0:cebf1f73ffd5 76 im920.recv(receive,8);
zeutel 0:cebf1f73ffd5 77
zeutel 0:cebf1f73ffd5 78 if(strncmp(receive,"reset",sizeof(receive))==0){//resetと受信したらMbedリセット
zeutel 0:cebf1f73ffd5 79 im920.send("Mbed reset",11);
zeutel 0:cebf1f73ffd5 80 NVIC_SystemReset();
zeutel 0:cebf1f73ffd5 81 }
zeutel 0:cebf1f73ffd5 82
zeutel 0:cebf1f73ffd5 83 //センサ・フライトピン読み取り 高度計測
zeutel 0:cebf1f73ffd5 84 readValues(sequence);
zeutel 0:cebf1f73ffd5 85 flightpinAttached=flightpin;
zeutel 0:cebf1f73ffd5 86 altitude=calcAltitude(lps331.pressure,lps331.temperature);
zeutel 0:cebf1f73ffd5 87
zeutel 0:cebf1f73ffd5 88 pc.printf("%.2f\r\n",(float)timer/1000);
zeutel 0:cebf1f73ffd5 89 /*pc.printf("%f,%f\r\n", lps331.pressure, lps331.temperature);
zeutel 0:cebf1f73ffd5 90 pc.printf("accX=%.3f / accY=%.3f / accZ=%.3f\r\n",lsm.ax,lsm.ay,lsm.az);
zeutel 0:cebf1f73ffd5 91 pc.printf("gyroX=%.3f / gyroY=%.3f / gyroZ=%.3f\r\n",lsm.gx,lsm.gy,lsm.gz);
zeutel 0:cebf1f73ffd5 92 pc.printf("magnX=%.3f / magnY=%.3f / magnZ=%.3f\r\n",lsm.mx,lsm.my,lsm.mz);
zeutel 0:cebf1f73ffd5 93 pc.printf("\r\n");*/
zeutel 0:cebf1f73ffd5 94
zeutel 0:cebf1f73ffd5 95 //地上局への送信
zeutel 0:cebf1f73ffd5 96 if(timer%1000==0){//1秒おきに経過時間送信
zeutel 0:cebf1f73ffd5 97 im920.send(valueToChar((float)timer/1000),7);
zeutel 0:cebf1f73ffd5 98 }
zeutel 0:cebf1f73ffd5 99
zeutel 0:cebf1f73ffd5 100 if(maxAltitude<altitude){//最高高度更新
zeutel 0:cebf1f73ffd5 101 maxAltitude=altitude;
zeutel 0:cebf1f73ffd5 102 }
zeutel 0:cebf1f73ffd5 103
zeutel 0:cebf1f73ffd5 104 switch(sequence){
zeutel 0:cebf1f73ffd5 105 case 0://発射待機中
zeutel 0:cebf1f73ffd5 106 //離床検知
zeutel 0:cebf1f73ffd5 107 if(lsm.ax*lsm.ax+lsm.ay*lsm.ay+lsm.az*lsm.az>=4.0/*&&flightpinAttached==false*/){//加速度2.0G以上かつフライトピンがぬけている
zeutel 0:cebf1f73ffd5 108 im920.send("LAUNCH ACC>2.0G",16);
zeutel 0:cebf1f73ffd5 109 launchTime=timer;
zeutel 0:cebf1f73ffd5 110 sequence=1;
zeutel 0:cebf1f73ffd5 111 }
zeutel 0:cebf1f73ffd5 112 break;
zeutel 0:cebf1f73ffd5 113
zeutel 0:cebf1f73ffd5 114 case 1://発射～減速機構展開
zeutel 0:cebf1f73ffd5 115 //減速機構展開
zeutel 0:cebf1f73ffd5 116 if(timer-launchTime>=18*1000||maxAltitude-altitude>=10){//離床検知から18秒経過 or 最高高度から10m落下
zeutel 0:cebf1f73ffd5 117 im920.send("Start speed reducing",21);
zeutel 0:cebf1f73ffd5 118 reducerExpantionedTime=timer;
zeutel 0:cebf1f73ffd5 119 //サーボopen
zeutel 0:cebf1f73ffd5 120 //servo_1.pulsewidth(1.28/1000);//ms/1000
zeutel 0:cebf1f73ffd5 121 //servo_2.pulsewidth(1.32/1000);
zeutel 0:cebf1f73ffd5 122 sequence=2;
zeutel 0:cebf1f73ffd5 123 }
zeutel 0:cebf1f73ffd5 124 break;
zeutel 0:cebf1f73ffd5 125
zeutel 0:cebf1f73ffd5 126 case 2://減速機構展開～着地
zeutel 0:cebf1f73ffd5 127 if(timer-reducerExpantionedTime>=80*1000){//減速機構展開から80秒経過
zeutel 0:cebf1f73ffd5 128 im920.send("LANDING",8);
zeutel 0:cebf1f73ffd5 129 sequence=3;
zeutel 0:cebf1f73ffd5 130 }
zeutel 0:cebf1f73ffd5 131 break;
zeutel 0:cebf1f73ffd5 132 }
zeutel 0:cebf1f73ffd5 133
zeutel 0:cebf1f73ffd5 134 //SD書き込み time,temp,pres,temp_hw,pres_hw,accXYZ,gyroXYZ,magnXYZ,longitude,latitude
zeutel 0:cebf1f73ffd5 135 if(sequence==1){//飛行中
zeutel 0:cebf1f73ffd5 136 fprintf(fp,"%.2f,%f,%f,%f,%f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n",
zeutel 0:cebf1f73ffd5 137 (float)timer/1000,lps331.temperature,lps331.pressure,lps33hw.temperature(),lps33hw.pressure(),lsm.ax,lsm.ay,lsm.az,lsm.gx,lsm.gy,lsm.gz,lsm.mx,lsm.my,lsm.mz);
zeutel 0:cebf1f73ffd5 138 }else{//飛行中以外はGPS情報も保存
zeutel 0:cebf1f73ffd5 139 fprintf(fp,"%.2f,%f,%f,%f,%f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%f,%f\r\n",
zeutel 0:cebf1f73ffd5 140 (float)timer/1000,lps331.temperature,lps331.pressure,lps33hw.temperature(),lps33hw.pressure(),lsm.ax,lsm.ay,lsm.az,lsm.gx,lsm.gy,lsm.gz,lsm.mx,lsm.my,lsm.mz,gps.longitude,gps.latitude);
zeutel 0:cebf1f73ffd5 141 }
zeutel 0:cebf1f73ffd5 142
zeutel 0:cebf1f73ffd5 143 timer+=timeInterval;
zeutel 0:cebf1f73ffd5 144 wait((float)timeInterval/1000);
zeutel 0:cebf1f73ffd5 145 }
zeutel 0:cebf1f73ffd5 146 wait(0.5);
zeutel 0:cebf1f73ffd5 147 fclose(fp);
zeutel 0:cebf1f73ffd5 148 wait(0.5);
zeutel 0:cebf1f73ffd5 149 im920.send("File closed",12);
zeutel 0:cebf1f73ffd5 150 im920.send("MaxAltitude=",13);
zeutel 0:cebf1f73ffd5 151 im920.send(valueToChar(maxAltitude),7);
zeutel 0:cebf1f73ffd5 152
zeutel 0:cebf1f73ffd5 153 //地上局へのGPS情報送信
zeutel 0:cebf1f73ffd5 154 im920.send("Waiting for GPS response",25);
zeutel 0:cebf1f73ffd5 155 while(gps.result==false){//GPSが利用可能になるまでまつ
zeutel 0:cebf1f73ffd5 156 gps.getgps();
zeutel 0:cebf1f73ffd5 157 }
zeutel 0:cebf1f73ffd5 158 im920.send(valueToChar(gps.longitude),7);
zeutel 0:cebf1f73ffd5 159 im920.send(valueToChar(gps.latitude),7);
zeutel 0:cebf1f73ffd5 160 }
zeutel 0:cebf1f73ffd5 161
zeutel 0:cebf1f73ffd5 162 void init(FILE **file){
zeutel 0:cebf1f73ffd5 163 //im920
zeutel 0:cebf1f73ffd5 164 im920.init();
zeutel 0:cebf1f73ffd5 165 wait(1);
zeutel 0:cebf1f73ffd5 166
zeutel 0:cebf1f73ffd5 167 //MMTXS03
zeutel 0:cebf1f73ffd5 168 if(lps331.isAvailable()) {
zeutel 0:cebf1f73ffd5 169 pc.printf("LPS331 is available\r\n");
zeutel 0:cebf1f73ffd5 170 im920.send("MM-TXS03...OK",14);
zeutel 0:cebf1f73ffd5 171 } else {
zeutel 0:cebf1f73ffd5 172 pc.printf("LPS331 is unavailable\r\n");
zeutel 0:cebf1f73ffd5 173 im920.send("MM-TXS03...NG",14);
zeutel 0:cebf1f73ffd5 174 }
zeutel 0:cebf1f73ffd5 175
zeutel 0:cebf1f73ffd5 176 //MM9DS1
zeutel 0:cebf1f73ffd5 177 lsm.begin();
zeutel 0:cebf1f73ffd5 178 if(lsm.whoAmI()){
zeutel 0:cebf1f73ffd5 179 pc.printf("LSM9DS1 is available\r\n");
zeutel 0:cebf1f73ffd5 180 im920.send("MM-9DS1...OK",13);
zeutel 0:cebf1f73ffd5 181 }else {
zeutel 0:cebf1f73ffd5 182 pc.printf("LSM9DS1 is unavailable\r\n");
zeutel 0:cebf1f73ffd5 183 im920.send("MM-9DS1...NG",13);
zeutel 0:cebf1f73ffd5 184 }
zeutel 0:cebf1f73ffd5 185
zeutel 0:cebf1f73ffd5 186 //LPS33HW
zeutel 0:cebf1f73ffd5 187 if(lps33hw.whoAmI()){
zeutel 0:cebf1f73ffd5 188 pc.printf("LPS33HW is available\r\n");
zeutel 0:cebf1f73ffd5 189 im920.send("LPS33HW...OK",13);
zeutel 0:cebf1f73ffd5 190 }else {
zeutel 0:cebf1f73ffd5 191 pc.printf("LPS33HW is unavailable\r\n");
zeutel 0:cebf1f73ffd5 192 im920.send("LPS33HW...NG",13);
zeutel 0:cebf1f73ffd5 193 }
zeutel 0:cebf1f73ffd5 194
zeutel 0:cebf1f73ffd5 195 //SD
zeutel 0:cebf1f73ffd5 196 if(*file!=NULL){
zeutel 0:cebf1f73ffd5 197 fclose(*file);
zeutel 0:cebf1f73ffd5 198 }
zeutel 0:cebf1f73ffd5 199 *file = fopen("/sd/data.csv", "w");
zeutel 0:cebf1f73ffd5 200 if(*file == NULL) {
zeutel 0:cebf1f73ffd5 201 pc.printf("Could not open file for write\r\n");
zeutel 0:cebf1f73ffd5 202 im920.send("SD...NG",8);
zeutel 0:cebf1f73ffd5 203 }else{
zeutel 0:cebf1f73ffd5 204 pc.printf("file opend\r\n");
zeutel 0:cebf1f73ffd5 205 im920.send("SD...OK",8);
zeutel 0:cebf1f73ffd5 206 fprintf(*file,"time,temperature,pressure,accX,accY,accZ,gyroX,gyroY,gyroZ,magnX,magnY,magnZ,longitude,latitude\r\n");
zeutel 0:cebf1f73ffd5 207 }
zeutel 0:cebf1f73ffd5 208
zeutel 0:cebf1f73ffd5 209 //GPS優先度
zeutel 0:cebf1f73ffd5 210 NVIC_SetPriority(UART3_IRQn,0);
zeutel 0:cebf1f73ffd5 211 gps.getgps();
zeutel 0:cebf1f73ffd5 212 if(gps.result){
zeutel 0:cebf1f73ffd5 213 pc.printf("GPS is available\r\n");
zeutel 0:cebf1f73ffd5 214 im920.send("GPS...OK",9);
zeutel 0:cebf1f73ffd5 215 im920.send(valueToChar(gps.longitude),7);
zeutel 0:cebf1f73ffd5 216 im920.send(valueToChar(gps.latitude),7);
zeutel 0:cebf1f73ffd5 217 }else{
zeutel 0:cebf1f73ffd5 218 pc.printf("GPS is unavailable\r\n");
zeutel 0:cebf1f73ffd5 219 im920.send("GPS...NG",9);
zeutel 0:cebf1f73ffd5 220 }
zeutel 0:cebf1f73ffd5 221
zeutel 0:cebf1f73ffd5 222 //フライトピン
zeutel 0:cebf1f73ffd5 223 flightpin.output();
zeutel 0:cebf1f73ffd5 224
zeutel 0:cebf1f73ffd5 225 //各種設定
zeutel 0:cebf1f73ffd5 226 lps331.setResolution(LPS331_I2C_PRESSURE_AVG_512, LPS331_I2C_TEMP_AVG_128);
zeutel 0:cebf1f73ffd5 227 lps331.setDataRate(LPS331_I2C_DATARATE_25HZ_T);
zeutel 0:cebf1f73ffd5 228 lps331.setActive(true);
zeutel 0:cebf1f73ffd5 229 lsm.setAccelODR(lsm.A_ODR_952);
zeutel 0:cebf1f73ffd5 230 lsm.setGyroODR(lsm.G_ODR_952_BW_100);
zeutel 0:cebf1f73ffd5 231 lsm.setMagODR(lsm.M_ODR_80);
zeutel 0:cebf1f73ffd5 232 }
zeutel 0:cebf1f73ffd5 233
zeutel 0:cebf1f73ffd5 234 void checkingSensors(){
zeutel 0:cebf1f73ffd5 235 //MMTXS03
zeutel 0:cebf1f73ffd5 236 if(lps331.isAvailable()) {
zeutel 0:cebf1f73ffd5 237 pc.printf("LPS331 is available\r\n");
zeutel 0:cebf1f73ffd5 238 im920.send("MM-TXS03...OK",14);
zeutel 0:cebf1f73ffd5 239 } else {
zeutel 0:cebf1f73ffd5 240 pc.printf("LPS331 is unavailable\r\n");
zeutel 0:cebf1f73ffd5 241 im920.send("MM-TXS03...NG",14);
zeutel 0:cebf1f73ffd5 242 }
zeutel 0:cebf1f73ffd5 243
zeutel 0:cebf1f73ffd5 244 //MM9DS1
zeutel 0:cebf1f73ffd5 245 if(lsm.whoAmI()){
zeutel 0:cebf1f73ffd5 246 pc.printf("LSM9DS1 is available\r\n");
zeutel 0:cebf1f73ffd5 247 im920.send("MM-9DS1...OK",13);
zeutel 0:cebf1f73ffd5 248 }else {
zeutel 0:cebf1f73ffd5 249 pc.printf("LSM9DS1 is unavailable\r\n");
zeutel 0:cebf1f73ffd5 250 im920.send("MM-9DS1...NG",13);
zeutel 0:cebf1f73ffd5 251 }
zeutel 0:cebf1f73ffd5 252
zeutel 0:cebf1f73ffd5 253 //LPS33HW
zeutel 0:cebf1f73ffd5 254 if(lps33hw.whoAmI()){
zeutel 0:cebf1f73ffd5 255 pc.printf("LPS33HW is available\r\n");
zeutel 0:cebf1f73ffd5 256 im920.send("LPS33HW...OK",13);
zeutel 0:cebf1f73ffd5 257 }else {
zeutel 0:cebf1f73ffd5 258 pc.printf("LPS33HW is unavailable\r\n");
zeutel 0:cebf1f73ffd5 259 im920.send("LPS33HW...NG",13);
zeutel 0:cebf1f73ffd5 260 }
zeutel 0:cebf1f73ffd5 261
zeutel 0:cebf1f73ffd5 262 //GPS
zeutel 0:cebf1f73ffd5 263 gps.getgps();
zeutel 0:cebf1f73ffd5 264 if(gps.result){
zeutel 0:cebf1f73ffd5 265 pc.printf("GPS is available\r\n");
zeutel 0:cebf1f73ffd5 266 im920.send("GPS...OK",9);
zeutel 0:cebf1f73ffd5 267 im920.send(valueToChar(gps.longitude),7);
zeutel 0:cebf1f73ffd5 268 im920.send(valueToChar(gps.latitude),7);
zeutel 0:cebf1f73ffd5 269 }else{
zeutel 0:cebf1f73ffd5 270 pc.printf("GPS is unavailable\r\n");
zeutel 0:cebf1f73ffd5 271 im920.send("GPS...NG",9);
zeutel 0:cebf1f73ffd5 272 }
zeutel 0:cebf1f73ffd5 273 }
zeutel 0:cebf1f73ffd5 274
zeutel 0:cebf1f73ffd5 275 void readValues(int sequence){
zeutel 0:cebf1f73ffd5 276 lsm.readAccel();
zeutel 0:cebf1f73ffd5 277 lsm.readGyro();
zeutel 0:cebf1f73ffd5 278 lsm.readMag();
zeutel 0:cebf1f73ffd5 279 lps331.getPressure();
zeutel 0:cebf1f73ffd5 280 lps331.getTemperature();
zeutel 0:cebf1f73ffd5 281 lps33hw.get();
zeutel 0:cebf1f73ffd5 282 if(sequence!=1){
zeutel 0:cebf1f73ffd5 283 gps.getgps();
zeutel 0:cebf1f73ffd5 284 }
zeutel 0:cebf1f73ffd5 285 }
zeutel 0:cebf1f73ffd5 286
zeutel 0:cebf1f73ffd5 287 char *valueToChar(float value){
zeutel 0:cebf1f73ffd5 288 char buf[6];
zeutel 0:cebf1f73ffd5 289
zeutel 0:cebf1f73ffd5 290 sprintf(buf,"%06.2f",value);
zeutel 0:cebf1f73ffd5 291
zeutel 0:cebf1f73ffd5 292 return buf;
zeutel 0:cebf1f73ffd5 293 }
zeutel 0:cebf1f73ffd5 294
zeutel 0:cebf1f73ffd5 295 float calcAltitude(float pres, float temp){
zeutel 0:cebf1f73ffd5 296 return (pow(1013.25/pres,1/5.257)-1)*(temp+273.15)/0.0065;
zeutel 0:cebf1f73ffd5 297 }