Hybrid_OB2021 / Mbed 2 deprecated Hybrid_OB2021_GROUND

v1

Dependencies:   mbed IM920

main.cpp@2:41238982b498, 2021-08-08 (annotated)

Committer:
imadaemi
Date:
Sun Aug 08 11:26:29 2021 +0000
Revision:
2:41238982b498
Parent:
1:69472741bd36
Child:
3:8e2d7ebdafb7
v3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
imadaemi 0:f4fb5a0f6981 1 #include "mbed.h"
imadaemi 0:f4fb5a0f6981 2 #include "IM920.h"
imadaemi 0:f4fb5a0f6981 3
imadaemi 2:41238982b498 4 #define RESET_TIME 1800
imadaemi 2:41238982b498 5
imadaemi 2:41238982b498 6 #define TEMP_MULTIPLIER 100
imadaemi 2:41238982b498 7 #define LPF_ALT_MULTIPLIER 100
imadaemi 2:41238982b498 8 #define LPF_VEL_MULTIPLIER 100
imadaemi 2:41238982b498 9
imadaemi 0:f4fb5a0f6981 10 // ***************************************************
imadaemi 0:f4fb5a0f6981 11 // コンストラクタ
imadaemi 0:f4fb5a0f6981 12 // ***************************************************
imadaemi 0:f4fb5a0f6981 13 Serial pc(USBTX, USBRX, 115200);
imadaemi 0:f4fb5a0f6981 14 Serial im920_serial(D1, D0, 115200);
imadaemi 0:f4fb5a0f6981 15
imadaemi 0:f4fb5a0f6981 16 IM920 im920(im920_serial, pc, 115200);
imadaemi 0:f4fb5a0f6981 17
imadaemi 0:f4fb5a0f6981 18 // ***************************************************
imadaemi 0:f4fb5a0f6981 19 // 関数の宣言
imadaemi 0:f4fb5a0f6981 20 // ***************************************************
imadaemi 0:f4fb5a0f6981 21 void ReadPC();
imadaemi 0:f4fb5a0f6981 22 void ReadSensorSetup();
imadaemi 0:f4fb5a0f6981 23 void ReadData();
imadaemi 2:41238982b498 24 void ReadLaunchTime();
imadaemi 0:f4fb5a0f6981 25 void Read0xA5();
imadaemi 0:f4fb5a0f6981 26 void Help();
imadaemi 0:f4fb5a0f6981 27
imadaemi 0:f4fb5a0f6981 28 // ***************************************************
imadaemi 0:f4fb5a0f6981 29 // 変数の宣言
imadaemi 0:f4fb5a0f6981 30 // ***************************************************
imadaemi 2:41238982b498 31 int minute;
imadaemi 2:41238982b498 32 int second;
imadaemi 2:41238982b498 33 int launch_minute;
imadaemi 2:41238982b498 34 int launch_second;
imadaemi 2:41238982b498 35 int flight_minute = 0;
imadaemi 2:41238982b498 36 int flight_second = 0;
imadaemi 2:41238982b498 37 float flight_time = 0;
imadaemi 2:41238982b498 38 float duration_flight_time = 0;
imadaemi 2:41238982b498 39 float main_time;
imadaemi 2:41238982b498 40 float duration_main_time = 0;
imadaemi 2:41238982b498 41 float launch_time = 0;
imadaemi 2:41238982b498 42 int time_reset_counter = 0;
imadaemi 2:41238982b498 43 int time_reset_counter_launch = 0;
imadaemi 2:41238982b498 44
imadaemi 2:41238982b498 45 char mode;
imadaemi 2:41238982b498 46
imadaemi 2:41238982b498 47 bool top_detect;
imadaemi 2:41238982b498 48 bool flightpin_status;
imadaemi 2:41238982b498 49 bool nich_status;
imadaemi 2:41238982b498 50 bool save_data_status;
imadaemi 2:41238982b498 51 char bitshift_sum;
imadaemi 1:69472741bd36 52
imadaemi 0:f4fb5a0f6981 53 bool header_set = false;
imadaemi 0:f4fb5a0f6981 54 char im_buf[16];//16なのって意味ある？
imadaemi 0:f4fb5a0f6981 55 int im_buf_n = 0;
imadaemi 0:f4fb5a0f6981 56
imadaemi 2:41238982b498 57 char eeprom_number;
imadaemi 2:41238982b498 58
imadaemi 0:f4fb5a0f6981 59 float lat, lon, height;
imadaemi 2:41238982b498 60 float press, temp, lpf_altitude;
imadaemi 2:41238982b498 61 float lpf_velocity;
imadaemi 0:f4fb5a0f6981 62
imadaemi 0:f4fb5a0f6981 63 float imu[6], mag[3];
imadaemi 0:f4fb5a0f6981 64 float mag_geo[3];
imadaemi 0:f4fb5a0f6981 65
imadaemi 0:f4fb5a0f6981 66 float voltage_main, voltage_sep;
imadaemi 0:f4fb5a0f6981 67 float current_main, current_sep;
imadaemi 0:f4fb5a0f6981 68
imadaemi 0:f4fb5a0f6981 69 // ***************************************************
imadaemi 0:f4fb5a0f6981 70 // 無線のヘッダまとめ
imadaemi 0:f4fb5a0f6981 71 // ***************************************************
imadaemi 0:f4fb5a0f6981 72 const char HEADER_SETUP = 0x01;
imadaemi 2:41238982b498 73 // 0x01, GPS, LPS22HB, MPU9250, MPU9250_MAG, INA226_MAIN, INA226_SEP
imadaemi 2:41238982b498 74 // 1 1 1 1 1 1 1
imadaemi 0:f4fb5a0f6981 75
imadaemi 2:41238982b498 76 const char HEADER_DATA = 0x02;
imadaemi 2:41238982b498 77 // 0xA2, duration_main_time, duration_flight_time, mode, nich_status, flightpin_status, lat, lon, height, press, temp, altitude, voltage_main, voltage_sep, current_main, current_sep
imadaemi 2:41238982b498 78 // 1 4 4 1 0.125 0.125 4 4 4 4 4 4 4 4 4 4
imadaemi 0:f4fb5a0f6981 79
imadaemi 2:41238982b498 80 const char HEADER_LAUNCH_TIME = 0x03;
imadaemi 2:41238982b498 81
imadaemi 2:41238982b498 82 const char HEADER_ECHO = 0x05;
imadaemi 0:f4fb5a0f6981 83 // 0xA5,コマンド
imadaemi 0:f4fb5a0f6981 84 // 1 1
imadaemi 0:f4fb5a0f6981 85
imadaemi 0:f4fb5a0f6981 86 // ***************************************************
imadaemi 0:f4fb5a0f6981 87 // メイン関数
imadaemi 0:f4fb5a0f6981 88 // ***************************************************
imadaemi 0:f4fb5a0f6981 89 int main() {
imadaemi 2:41238982b498 90 //wait(0.5f);
imadaemi 0:f4fb5a0f6981 91 pc.printf("Hello Ground!\r\n");
imadaemi 0:f4fb5a0f6981 92 pc.attach(&ReadPC, Serial::RxIrq);
imadaemi 2:41238982b498 93 im920.attach(&ReadLaunchTime, HEADER_LAUNCH_TIME);
imadaemi 0:f4fb5a0f6981 94 im920.attach(&Read0xA5, HEADER_ECHO);
imadaemi 0:f4fb5a0f6981 95 im920.attach(&ReadSensorSetup, HEADER_SETUP);
imadaemi 0:f4fb5a0f6981 96 im920.attach(&ReadData, HEADER_DATA);
imadaemi 0:f4fb5a0f6981 97 }
imadaemi 0:f4fb5a0f6981 98
imadaemi 0:f4fb5a0f6981 99 void ReadPC(){
imadaemi 0:f4fb5a0f6981 100 char c = pc.getc();
imadaemi 0:f4fb5a0f6981 101 if(!header_set){
imadaemi 0:f4fb5a0f6981 102 im920.header((char)0xF0);
imadaemi 0:f4fb5a0f6981 103 header_set = true;
imadaemi 0:f4fb5a0f6981 104 }
imadaemi 0:f4fb5a0f6981 105
imadaemi 0:f4fb5a0f6981 106 switch(c){
imadaemi 2:41238982b498 107 case 'U':
imadaemi 2:41238982b498 108 im920.write((char)c);
imadaemi 2:41238982b498 109 im_buf[im_buf_n] = 'U';
imadaemi 2:41238982b498 110 im_buf_n ++;
imadaemi 2:41238982b498 111 pc.printf("INPUT : U\r\n");
imadaemi 2:41238982b498 112 if(header_set){
imadaemi 2:41238982b498 113 im920.send();
imadaemi 2:41238982b498 114 pc.printf("Send : %s\r\n", im_buf);
imadaemi 2:41238982b498 115 header_set = false;
imadaemi 2:41238982b498 116 for(int i = 0; i < im_buf_n; i ++){
imadaemi 2:41238982b498 117 im_buf[i] = '\0';
imadaemi 2:41238982b498 118 }
imadaemi 2:41238982b498 119 im_buf_n = 0;
imadaemi 2:41238982b498 120 }
imadaemi 2:41238982b498 121 break;
imadaemi 2:41238982b498 122
imadaemi 2:41238982b498 123 case 'O':
imadaemi 2:41238982b498 124 im920.write((char)c);
imadaemi 2:41238982b498 125 im_buf[im_buf_n] = 'O';
imadaemi 2:41238982b498 126 im_buf_n ++;
imadaemi 2:41238982b498 127 pc.printf("INPUT : O\r\n");
imadaemi 2:41238982b498 128 break;
imadaemi 2:41238982b498 129
imadaemi 2:41238982b498 130 case 'F':
imadaemi 2:41238982b498 131 im920.write((char)c);
imadaemi 2:41238982b498 132 im_buf[im_buf_n] = 'F';
imadaemi 2:41238982b498 133 im_buf_n ++;
imadaemi 2:41238982b498 134 pc.printf("INPUT : F\r\n");
imadaemi 2:41238982b498 135
imadaemi 2:41238982b498 136 if(header_set){
imadaemi 2:41238982b498 137 im920.send();
imadaemi 2:41238982b498 138 pc.printf("Send : %s\r\n", im_buf);
imadaemi 2:41238982b498 139 header_set = false;
imadaemi 2:41238982b498 140 for(int i = 0; i < im_buf_n; i ++){
imadaemi 2:41238982b498 141 im_buf[i] = '\0';
imadaemi 2:41238982b498 142 }
imadaemi 2:41238982b498 143 im_buf_n = 0;
imadaemi 2:41238982b498 144 }
imadaemi 2:41238982b498 145 break;
imadaemi 2:41238982b498 146
imadaemi 2:41238982b498 147 case 'S':
imadaemi 2:41238982b498 148 im920.write((char)c);
imadaemi 2:41238982b498 149 im_buf[im_buf_n] = 'S';
imadaemi 2:41238982b498 150 im_buf_n ++;
imadaemi 2:41238982b498 151 pc.printf("INPUT : S\r\n");
imadaemi 2:41238982b498 152
imadaemi 2:41238982b498 153 if(header_set){
imadaemi 2:41238982b498 154 im920.send();
imadaemi 2:41238982b498 155 pc.printf("Send : %s\r\n", im_buf);
imadaemi 2:41238982b498 156 header_set = false;
imadaemi 2:41238982b498 157 for(int i = 0; i < im_buf_n; i ++){
imadaemi 2:41238982b498 158 im_buf[i] = '\0';
imadaemi 2:41238982b498 159 }
imadaemi 2:41238982b498 160 im_buf_n = 0;
imadaemi 2:41238982b498 161 }
imadaemi 2:41238982b498 162 break;
imadaemi 2:41238982b498 163
imadaemi 0:f4fb5a0f6981 164 case '0':
imadaemi 0:f4fb5a0f6981 165 im920.write((char)0x00);
imadaemi 0:f4fb5a0f6981 166 im_buf[im_buf_n] = '0';
imadaemi 0:f4fb5a0f6981 167 im_buf_n ++;
imadaemi 0:f4fb5a0f6981 168 pc.printf("INPUT : 0\r\n");
imadaemi 0:f4fb5a0f6981 169 break;
imadaemi 0:f4fb5a0f6981 170
imadaemi 0:f4fb5a0f6981 171 case '1':
imadaemi 0:f4fb5a0f6981 172 im920.write((char)0x01);
imadaemi 0:f4fb5a0f6981 173 im_buf[im_buf_n] = '1';
imadaemi 0:f4fb5a0f6981 174 im_buf_n ++;
imadaemi 0:f4fb5a0f6981 175 pc.printf("INPUT : 1\r\n");
imadaemi 0:f4fb5a0f6981 176 break;
imadaemi 0:f4fb5a0f6981 177
imadaemi 0:f4fb5a0f6981 178 case '?':
imadaemi 0:f4fb5a0f6981 179 Help();
imadaemi 0:f4fb5a0f6981 180 break;
imadaemi 0:f4fb5a0f6981 181
imadaemi 0:f4fb5a0f6981 182 case '\n':
imadaemi 0:f4fb5a0f6981 183 if(header_set){
imadaemi 0:f4fb5a0f6981 184 im920.send();
imadaemi 0:f4fb5a0f6981 185 pc.printf("Send : %s\r\n", im_buf);
imadaemi 0:f4fb5a0f6981 186 header_set = false;
imadaemi 0:f4fb5a0f6981 187 for(int i = 0; i < im_buf_n; i ++){
imadaemi 0:f4fb5a0f6981 188 im_buf[i] = '\0';
imadaemi 0:f4fb5a0f6981 189 }
imadaemi 0:f4fb5a0f6981 190 im_buf_n = 0;
imadaemi 0:f4fb5a0f6981 191 }
imadaemi 0:f4fb5a0f6981 192 break;
imadaemi 0:f4fb5a0f6981 193 }
imadaemi 0:f4fb5a0f6981 194 }
imadaemi 0:f4fb5a0f6981 195
imadaemi 0:f4fb5a0f6981 196 void ReadSensorSetup(){
imadaemi 0:f4fb5a0f6981 197 pc.printf("\r\n");
imadaemi 0:f4fb5a0f6981 198 pc.printf("****Sensor Setup****\r\n");
imadaemi 0:f4fb5a0f6981 199
imadaemi 0:f4fb5a0f6981 200 if(im920.data[1] == 1){
imadaemi 0:f4fb5a0f6981 201 pc.printf("GPS : OK\r\n");
imadaemi 0:f4fb5a0f6981 202 }else{
imadaemi 0:f4fb5a0f6981 203 pc.printf("GPS : NG\r\n");
imadaemi 0:f4fb5a0f6981 204 }
imadaemi 0:f4fb5a0f6981 205 if(im920.data[2] == 1){
imadaemi 0:f4fb5a0f6981 206 pc.printf("LPS22HB : OK\r\n");
imadaemi 0:f4fb5a0f6981 207 }else{
imadaemi 0:f4fb5a0f6981 208 pc.printf("LPS22HB : NG\r\n");
imadaemi 0:f4fb5a0f6981 209 }
imadaemi 0:f4fb5a0f6981 210 if(im920.data[3] == 1){
imadaemi 0:f4fb5a0f6981 211 pc.printf("MPU9250 : OK\r\n");
imadaemi 0:f4fb5a0f6981 212 }else{
imadaemi 0:f4fb5a0f6981 213 pc.printf("MPU9250 : NG\r\n");
imadaemi 0:f4fb5a0f6981 214 }
imadaemi 0:f4fb5a0f6981 215 if(im920.data[4] == 1){
imadaemi 0:f4fb5a0f6981 216 pc.printf("MPU9250_MAG : OK\r\n");
imadaemi 0:f4fb5a0f6981 217 }else{
imadaemi 0:f4fb5a0f6981 218 pc.printf("MPU9250_MAG : NG\r\n");
imadaemi 0:f4fb5a0f6981 219 }
imadaemi 0:f4fb5a0f6981 220 if(im920.data[5] == 1){
imadaemi 0:f4fb5a0f6981 221 pc.printf("INA226_MAIN : OK\r\n");
imadaemi 0:f4fb5a0f6981 222 }else{
imadaemi 0:f4fb5a0f6981 223 pc.printf("INA226_MAIN : NG\r\n");
imadaemi 0:f4fb5a0f6981 224 }
imadaemi 0:f4fb5a0f6981 225 if(im920.data[6] == 1){
imadaemi 0:f4fb5a0f6981 226 pc.printf("INA226_SEP : OK\r\n");
imadaemi 0:f4fb5a0f6981 227 }else{
imadaemi 0:f4fb5a0f6981 228 pc.printf("INA226_SEP : NG\r\n");
imadaemi 0:f4fb5a0f6981 229 }
imadaemi 0:f4fb5a0f6981 230
imadaemi 0:f4fb5a0f6981 231 for(int i = 0; i < 20; i++){
imadaemi 0:f4fb5a0f6981 232 pc.printf("*");
imadaemi 0:f4fb5a0f6981 233 }
imadaemi 0:f4fb5a0f6981 234 pc.printf("\r\n");
imadaemi 0:f4fb5a0f6981 235 }
imadaemi 0:f4fb5a0f6981 236
imadaemi 0:f4fb5a0f6981 237 void ReadData(){
imadaemi 1:69472741bd36 238 //pc.printf("***Acquired Data****\r\n");
imadaemi 1:69472741bd36 239 pc.printf("***Recieved Data****\r\n");
imadaemi 2:41238982b498 240
imadaemi 0:f4fb5a0f6981 241 int bit = 1;
imadaemi 2:41238982b498 242
imadaemi 2:41238982b498 243 time_reset_counter = (short)im920.toShort(bit);
imadaemi 2:41238982b498 244 bit += 2;
imadaemi 2:41238982b498 245
imadaemi 2:41238982b498 246 main_time = (float)im920.toFloat(bit);
imadaemi 2:41238982b498 247 main_time /= 1000;
imadaemi 2:41238982b498 248 bit += 4;
imadaemi 2:41238982b498 249
imadaemi 2:41238982b498 250 minute = main_time / 60 + time_reset_counter*30;
imadaemi 2:41238982b498 251 //pc.printf("%d\t%f\r\n",minute,minute);
imadaemi 2:41238982b498 252 second = (int)main_time % 60;
imadaemi 2:41238982b498 253
imadaemi 2:41238982b498 254 //duration_main_time = main_time + RESET_TIME*time_reset_counter;
imadaemi 2:41238982b498 255 pc.printf("Main Time : %d : %02d\r\n",minute,second);
imadaemi 2:41238982b498 256 //pc.printf("Main Time : %f\r\n",duration_main_time);
imadaemi 2:41238982b498 257
imadaemi 2:41238982b498 258 pc.printf("Launch Time : %d : %02d\r\n",launch_minute,launch_second);
imadaemi 2:41238982b498 259
imadaemi 2:41238982b498 260 if(mode >= 0x04){
imadaemi 2:41238982b498 261 if(second >= launch_second){
imadaemi 2:41238982b498 262 flight_minute = minute - launch_minute;
imadaemi 2:41238982b498 263 flight_second = second - launch_second;
imadaemi 2:41238982b498 264 }else{
imadaemi 2:41238982b498 265 flight_minute = minute - launch_minute - 1;
imadaemi 2:41238982b498 266 flight_second = 60 + second - launch_second;
imadaemi 2:41238982b498 267 }
imadaemi 2:41238982b498 268 pc.printf("Flight Time : %d : %02d\r\n",flight_minute,flight_second);
imadaemi 2:41238982b498 269 }else{
imadaemi 2:41238982b498 270 pc.printf("Flight Time : %d : %02d\r\n",flight_minute,flight_second);
imadaemi 2:41238982b498 271 }
imadaemi 2:41238982b498 272
imadaemi 2:41238982b498 273 mode = im920.data[bit];
imadaemi 2:41238982b498 274 bit += 1;
imadaemi 2:41238982b498 275 switch(mode){
imadaemi 2:41238982b498 276 case 0x00:
imadaemi 2:41238982b498 277 pc.printf("Mode : SETUP\r\n");
imadaemi 2:41238982b498 278 break;
imadaemi 2:41238982b498 279
imadaemi 2:41238982b498 280 case 0x01:
imadaemi 2:41238982b498 281 pc.printf("Mode : SAFETY\r\n");
imadaemi 2:41238982b498 282 break;
imadaemi 2:41238982b498 283
imadaemi 2:41238982b498 284 case 0x02:
imadaemi 2:41238982b498 285 pc.printf("Mode : TO_ONCALL\r\n");
imadaemi 2:41238982b498 286 break;
imadaemi 2:41238982b498 287
imadaemi 2:41238982b498 288 case 0x03:
imadaemi 2:41238982b498 289 pc.printf("Mode : ONCALL\r\n");
imadaemi 2:41238982b498 290 break;
imadaemi 2:41238982b498 291
imadaemi 2:41238982b498 292 case 0x04:
imadaemi 2:41238982b498 293 pc.printf("Mode : TO_FLIGHT\r\n");
imadaemi 2:41238982b498 294 break;
imadaemi 2:41238982b498 295
imadaemi 2:41238982b498 296 case 0x05:
imadaemi 2:41238982b498 297 pc.printf("Mode : FLIGHT\r\n");
imadaemi 2:41238982b498 298 break;
imadaemi 2:41238982b498 299
imadaemi 2:41238982b498 300 case 0x06:
imadaemi 2:41238982b498 301 pc.printf("Mode : TO_SEPARATE\r\n");
imadaemi 2:41238982b498 302 break;
imadaemi 2:41238982b498 303
imadaemi 2:41238982b498 304 case 0x07:
imadaemi 2:41238982b498 305 pc.printf("Mode : SEPARATE\r\n");
imadaemi 2:41238982b498 306 break;
imadaemi 2:41238982b498 307
imadaemi 2:41238982b498 308 case 0x08:
imadaemi 2:41238982b498 309 pc.printf("Mode : TO_DESCEND\r\n");
imadaemi 2:41238982b498 310 break;
imadaemi 2:41238982b498 311
imadaemi 2:41238982b498 312 case 0x09:
imadaemi 2:41238982b498 313 pc.printf("Mode : DESCEND\r\n");
imadaemi 2:41238982b498 314 break;
imadaemi 2:41238982b498 315
imadaemi 2:41238982b498 316 case 0x0a:
imadaemi 2:41238982b498 317 pc.printf("Mode : TO_COLLECTION\r\n");
imadaemi 2:41238982b498 318 break;
imadaemi 2:41238982b498 319
imadaemi 2:41238982b498 320 case 0x0b:
imadaemi 2:41238982b498 321 pc.printf("Mode : COLLECTION\r\n");
imadaemi 2:41238982b498 322 break;
imadaemi 2:41238982b498 323 }
imadaemi 2:41238982b498 324
imadaemi 2:41238982b498 325 /*bool1個を1バイトで送る
imadaemi 2:41238982b498 326 flightpin_status = im920.data[bit];
imadaemi 2:41238982b498 327 bit += 1;
imadaemi 2:41238982b498 328 pc.printf("FlightPin Status: %d\r\n",flightpin_status);
imadaemi 2:41238982b498 329
imadaemi 1:69472741bd36 330 nich_status = im920.data[bit];
imadaemi 1:69472741bd36 331 bit += 1;
imadaemi 2:41238982b498 332 pc.printf("Nichrome Status : %d\r\n",nich_status);
imadaemi 2:41238982b498 333 */
imadaemi 2:41238982b498 334
imadaemi 2:41238982b498 335 //bool8個を1バイトで送る
imadaemi 2:41238982b498 336 bitshift_sum = im920.data[bit];
imadaemi 2:41238982b498 337 bit += 1;
imadaemi 2:41238982b498 338 //pc.printf("Bitshift Sum : %d\r\n",bitshift_sum);
imadaemi 2:41238982b498 339
imadaemi 2:41238982b498 340 flightpin_status = 0x01 & (bitshift_sum);
imadaemi 2:41238982b498 341 pc.printf("FlightPin Status: %d\r\n",flightpin_status);
imadaemi 2:41238982b498 342
imadaemi 2:41238982b498 343 //nich_status = bitshift_sum >> 1;
imadaemi 2:41238982b498 344 nich_status = 0x02 & (bitshift_sum);
imadaemi 2:41238982b498 345 pc.printf("Nichrome Status : %d\r\n",nich_status);
imadaemi 2:41238982b498 346
imadaemi 2:41238982b498 347 top_detect = 0x04 & (bitshift_sum);
imadaemi 2:41238982b498 348 pc.printf("Top Detect : %d\r\n",top_detect);
imadaemi 2:41238982b498 349
imadaemi 2:41238982b498 350 save_data_status = 0x08 & (bitshift_sum);
imadaemi 2:41238982b498 351 pc.printf("Save Data Status: %d\r\n",save_data_status);
imadaemi 2:41238982b498 352
imadaemi 2:41238982b498 353 eeprom_number = im920.data[bit];
imadaemi 2:41238982b498 354 bit += 1;
imadaemi 2:41238982b498 355 pc.printf("eeprom_number : %d\r\n",eeprom_number);
imadaemi 2:41238982b498 356
imadaemi 0:f4fb5a0f6981 357 lat = (float)im920.toFloat(bit);
imadaemi 0:f4fb5a0f6981 358 bit += 4;
imadaemi 1:69472741bd36 359 pc.printf("Latitude : %.7f\r\n",lat);
imadaemi 0:f4fb5a0f6981 360 lon = (float)im920.toFloat(bit);
imadaemi 0:f4fb5a0f6981 361 bit += 4;
imadaemi 1:69472741bd36 362 pc.printf("Longitude : %.7f\r\n",lon);
imadaemi 2:41238982b498 363 /*
imadaemi 1:69472741bd36 364 height = (float)im920.toFloat(bit);
imadaemi 0:f4fb5a0f6981 365 bit += 4;
imadaemi 1:69472741bd36 366 pc.printf("Height : %.7f\r\n",height);
imadaemi 2:41238982b498 367 */
imadaemi 0:f4fb5a0f6981 368 press = (float)im920.toFloat(bit);
imadaemi 0:f4fb5a0f6981 369 bit += 4;
imadaemi 2:41238982b498 370 pc.printf("Pressure : %.2f [hPa]\r\n", press);
imadaemi 2:41238982b498 371 temp = (short)im920.toShort(bit);
imadaemi 2:41238982b498 372 temp /= TEMP_MULTIPLIER;
imadaemi 2:41238982b498 373 bit += 2;
imadaemi 2:41238982b498 374 pc.printf("Temperarure : %.2f [degC]\r\n", temp);
imadaemi 2:41238982b498 375 lpf_altitude = (short)im920.toShort(bit);
imadaemi 2:41238982b498 376 lpf_altitude /= LPF_ALT_MULTIPLIER;
imadaemi 2:41238982b498 377 bit += 2;
imadaemi 2:41238982b498 378 pc.printf("LPF Altitude : %.2f [m]\r\n", lpf_altitude);
imadaemi 2:41238982b498 379
imadaemi 2:41238982b498 380 lpf_velocity = (short)im920.toShort(bit);
imadaemi 2:41238982b498 381 lpf_velocity /= LPF_VEL_MULTIPLIER;
imadaemi 2:41238982b498 382 bit += 2;
imadaemi 2:41238982b498 383 pc.printf("Lpf Velocity : %f [m/s]\r\n", lpf_velocity);
imadaemi 0:f4fb5a0f6981 384
imadaemi 2:41238982b498 385 voltage_main = (short)im920.toShort(bit);
imadaemi 2:41238982b498 386 voltage_main /= 1000;
imadaemi 2:41238982b498 387 bit += 2;
imadaemi 2:41238982b498 388 pc.printf("Voltage Main : %.2f [V]\r\n",voltage_main);
imadaemi 2:41238982b498 389 current_main = (short)im920.toShort(bit);
imadaemi 2:41238982b498 390 current_main /= 1000;
imadaemi 2:41238982b498 391 bit += 2;
imadaemi 2:41238982b498 392 pc.printf("Crrent Main : %.2f [A]\r\n",current_main);
imadaemi 2:41238982b498 393 voltage_sep = (short)im920.toShort(bit);
imadaemi 2:41238982b498 394 voltage_sep /= 1000;
imadaemi 2:41238982b498 395 bit += 2;
imadaemi 2:41238982b498 396 pc.printf("Voltage Sep : %.2f [V]\r\n",voltage_sep);
imadaemi 2:41238982b498 397 current_sep = (short)im920.toShort(bit);
imadaemi 2:41238982b498 398 current_sep /= 1000;
imadaemi 0:f4fb5a0f6981 399 bit += 4;
imadaemi 2:41238982b498 400 pc.printf("Current Sep : %.2f [A]\r\n",current_sep);
imadaemi 0:f4fb5a0f6981 401
imadaemi 0:f4fb5a0f6981 402 for(int i = 0; i < 20; i++){
imadaemi 0:f4fb5a0f6981 403 pc.printf("*");
imadaemi 0:f4fb5a0f6981 404 }
imadaemi 0:f4fb5a0f6981 405 pc.printf("\r\n\r\n");
imadaemi 0:f4fb5a0f6981 406 }
imadaemi 0:f4fb5a0f6981 407
imadaemi 2:41238982b498 408 void ReadLaunchTime(){
imadaemi 2:41238982b498 409 int bit = 1;
imadaemi 2:41238982b498 410 launch_time = (float)im920.toFloat(bit);
imadaemi 2:41238982b498 411 bit += 4;
imadaemi 2:41238982b498 412 launch_time /= 1000;
imadaemi 2:41238982b498 413 time_reset_counter_launch = (short)im920.toShort(bit);
imadaemi 2:41238982b498 414 bit += 2;
imadaemi 2:41238982b498 415 launch_minute = launch_time / 60;
imadaemi 2:41238982b498 416 launch_second = (int)launch_time % 60;
imadaemi 2:41238982b498 417 pc.printf("Get launch time\r\n");
imadaemi 2:41238982b498 418 pc.printf("launch time : %f\r\n",launch_time);
imadaemi 2:41238982b498 419 }
imadaemi 2:41238982b498 420
imadaemi 0:f4fb5a0f6981 421 void Read0xA5(){
imadaemi 0:f4fb5a0f6981 422 for(int i = 0; i < 20; i++){
imadaemi 0:f4fb5a0f6981 423 pc.printf("*");
imadaemi 0:f4fb5a0f6981 424 }
imadaemi 0:f4fb5a0f6981 425 pc.printf("\r\nIM920 ECHO : ");
imadaemi 0:f4fb5a0f6981 426
imadaemi 0:f4fb5a0f6981 427 switch(im920.data[1]){
imadaemi 2:41238982b498 428 case 'U':
imadaemi 2:41238982b498 429 pc.printf("MODE SETUP\r\n");
imadaemi 2:41238982b498 430 break;
imadaemi 2:41238982b498 431
imadaemi 2:41238982b498 432 case 'O':
imadaemi 2:41238982b498 433 pc.printf("MODE ONCALL\r\n");
imadaemi 2:41238982b498 434 break;
imadaemi 2:41238982b498 435
imadaemi 2:41238982b498 436 case 'F':
imadaemi 2:41238982b498 437 pc.printf("MODE FLIGHT\r\n");
imadaemi 2:41238982b498 438 break;
imadaemi 2:41238982b498 439
imadaemi 2:41238982b498 440 case 'S':
imadaemi 2:41238982b498 441 pc.printf("MODE SEPARATE\r\n");
imadaemi 2:41238982b498 442 break;
imadaemi 2:41238982b498 443
imadaemi 2:41238982b498 444 case 'D':
imadaemi 2:41238982b498 445 pc.printf("MODE DESCEND\r\n");
imadaemi 2:41238982b498 446 break;
imadaemi 2:41238982b498 447
imadaemi 2:41238982b498 448 case 'C':
imadaemi 2:41238982b498 449 pc.printf("MODE COLLECTION\r\n");
imadaemi 2:41238982b498 450 break;
imadaemi 2:41238982b498 451
imadaemi 0:f4fb5a0f6981 452 case 0x01:
imadaemi 0:f4fb5a0f6981 453 pc.printf("SEPARATE\r\n");
imadaemi 0:f4fb5a0f6981 454 break;
imadaemi 0:f4fb5a0f6981 455
imadaemi 0:f4fb5a0f6981 456 case 0x00:
imadaemi 0:f4fb5a0f6981 457 pc.printf("STOP SEPARATE\r\n");
imadaemi 0:f4fb5a0f6981 458 break;
imadaemi 0:f4fb5a0f6981 459 }
imadaemi 0:f4fb5a0f6981 460
imadaemi 0:f4fb5a0f6981 461 for(int i = 0; i < 20; i++){
imadaemi 0:f4fb5a0f6981 462 pc.printf("*");
imadaemi 0:f4fb5a0f6981 463 }
imadaemi 0:f4fb5a0f6981 464 pc.printf("\r\n");
imadaemi 0:f4fb5a0f6981 465 }
imadaemi 0:f4fb5a0f6981 466
imadaemi 0:f4fb5a0f6981 467 void Help(){
imadaemi 0:f4fb5a0f6981 468 pc.printf("\r\n");
imadaemi 0:f4fb5a0f6981 469 pc.printf("**I can help you!***\r\n");
imadaemi 2:41238982b498 470 pc.printf("U : Mode Setup\r\n");
imadaemi 2:41238982b498 471 pc.printf("O : Mode Oncall\r\n");
imadaemi 2:41238982b498 472 pc.printf("F : Mode Flight\r\n");
imadaemi 2:41238982b498 473 pc.printf("S : Mode Separate\r\n");
imadaemi 2:41238982b498 474 pc.printf("D : Mode Descend\r\n");
imadaemi 2:41238982b498 475 pc.printf("C : Mode Collection\r\n");
imadaemi 0:f4fb5a0f6981 476 pc.printf("0 : Stop Separate\r\n");
imadaemi 0:f4fb5a0f6981 477 pc.printf("1 : Separate\r\n");
imadaemi 0:f4fb5a0f6981 478 pc.printf("? : Help\r\n");
imadaemi 0:f4fb5a0f6981 479 pc.printf("********************\r\n\r\n");
imadaemi 0:f4fb5a0f6981 480 }