Hybrid_OB2021 / Mbed 2 deprecated Hybrid_OB2021_MAIN

v1

Dependencies:   Nichrome_lib mbed mpu9250_i2c IM920 INA226_lib PQLPS22HB EEPROM_lib GPS_interrupt

main.cpp@1:3151936d9c55, 2021-07-29 (annotated)

Committer:
imadaemi
Date:
Thu Jul 29 18:37:34 2021 +0000
Revision:
1:3151936d9c55
Parent:
0:4e38f8b1c183
Child:
2:980edad0eea2
v2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
imadaemi 0:4e38f8b1c183 1 #include "mbed.h"
imadaemi 0:4e38f8b1c183 2 #include "IM920.h"
imadaemi 0:4e38f8b1c183 3 #include "GPS_interrupt.h"
imadaemi 0:4e38f8b1c183 4 #include "PQLPS22HB.h"
imadaemi 0:4e38f8b1c183 5 #include "mpu9250_i2c.h"
imadaemi 0:4e38f8b1c183 6 #include "INA226.h"
imadaemi 0:4e38f8b1c183 7 #include "Nichrome_lib.h"
imadaemi 0:4e38f8b1c183 8 #include "EEPROM_lib.h"
imadaemi 0:4e38f8b1c183 9
imadaemi 1:3151936d9c55 10 #define FIRE_TIME 3.0
imadaemi 0:4e38f8b1c183 11 #define CURRENT_LOCATION_PRESS 1022.624268//投下前に設定
imadaemi 0:4e38f8b1c183 12 #define CURRENT_LOCATION_TEMP 10.650000//投下前に設定
imadaemi 0:4e38f8b1c183 13 #define ACC_RANGE _16G
imadaemi 0:4e38f8b1c183 14 #define GYRO_RANGE _2000DPS
imadaemi 0:4e38f8b1c183 15
imadaemi 0:4e38f8b1c183 16 // ***************************************************
imadaemi 0:4e38f8b1c183 17 // コンストラクタ
imadaemi 0:4e38f8b1c183 18 // ***************************************************
imadaemi 0:4e38f8b1c183 19 Serial pc(USBTX, USBRX, 115200);
imadaemi 0:4e38f8b1c183 20 Serial gps_serial(p9, p10, 115200);
imadaemi 0:4e38f8b1c183 21 Serial im920_serial(p13, p14, 115200);
imadaemi 0:4e38f8b1c183 22
imadaemi 0:4e38f8b1c183 23 I2C i2c(p28, p27);
imadaemi 0:4e38f8b1c183 24
imadaemi 0:4e38f8b1c183 25 IM920 im920(im920_serial, pc, 115200);
imadaemi 0:4e38f8b1c183 26 GPS_interrupt gps(&gps_serial);
imadaemi 0:4e38f8b1c183 27 LPS22HB lps22hb(i2c, LPS22HB::SA0_LOW);
imadaemi 0:4e38f8b1c183 28 mpu9250 mpu9250(i2c,AD0_HIGH);
imadaemi 0:4e38f8b1c183 29 myINA226 ina226_main(i2c, myINA226::A1_GND, myINA226::A0_GND);
imadaemi 0:4e38f8b1c183 30 myINA226 ina226_sep(i2c, myINA226::A1_VDD, myINA226::A0_VDD);
imadaemi 0:4e38f8b1c183 31 Nichrome_lib nich(p20);
imadaemi 0:4e38f8b1c183 32 EEPROM_lib EEPROM(i2c, 1);
imadaemi 0:4e38f8b1c183 33
imadaemi 0:4e38f8b1c183 34 DigitalOut pinA(p21);
imadaemi 0:4e38f8b1c183 35 DigitalOut pinB(p22);
imadaemi 0:4e38f8b1c183 36 DigitalOut pinC(p23);
imadaemi 0:4e38f8b1c183 37
imadaemi 1:3151936d9c55 38 Ticker send_data;
imadaemi 1:3151936d9c55 39 Timeout fire_time;
imadaemi 0:4e38f8b1c183 40 // ***************************************************
imadaemi 0:4e38f8b1c183 41 // 関数の宣言
imadaemi 0:4e38f8b1c183 42 // ***************************************************
imadaemi 0:4e38f8b1c183 43 void uplink();
imadaemi 0:4e38f8b1c183 44 void echoIM();
imadaemi 0:4e38f8b1c183 45 void Separate();
imadaemi 0:4e38f8b1c183 46 void StopSeparate();
imadaemi 0:4e38f8b1c183 47 void SetSensor();
imadaemi 0:4e38f8b1c183 48 void GetData();
imadaemi 0:4e38f8b1c183 49 void WriteEEPROM();
imadaemi 0:4e38f8b1c183 50 void setEEPROMGroup(int group_num);
imadaemi 0:4e38f8b1c183 51
imadaemi 0:4e38f8b1c183 52 // ***************************************************
imadaemi 0:4e38f8b1c183 53 // 無線のヘッダまとめ
imadaemi 0:4e38f8b1c183 54 // ***************************************************
imadaemi 0:4e38f8b1c183 55 const char HEADER_SETUP = 0x01;
imadaemi 0:4e38f8b1c183 56 // 0xA1
imadaemi 0:4e38f8b1c183 57
imadaemi 0:4e38f8b1c183 58 const char HEADER_DATA = 0xA2;
imadaemi 0:4e38f8b1c183 59 // 0xA2
imadaemi 0:4e38f8b1c183 60 //
imadaemi 0:4e38f8b1c183 61
imadaemi 0:4e38f8b1c183 62 const char HEADER_ECHO = 0xA5;
imadaemi 0:4e38f8b1c183 63 // 0xA5,コマンド
imadaemi 0:4e38f8b1c183 64 // 1 1
imadaemi 0:4e38f8b1c183 65
imadaemi 0:4e38f8b1c183 66 // ***************************************************
imadaemi 0:4e38f8b1c183 67 // 変数の宣言
imadaemi 0:4e38f8b1c183 68 // ***************************************************
imadaemi 1:3151936d9c55 69 char nich_status;
imadaemi 1:3151936d9c55 70
imadaemi 0:4e38f8b1c183 71 bool header_set = false;
imadaemi 0:4e38f8b1c183 72 char im_buf[55];//16なのって意味ある？
imadaemi 0:4e38f8b1c183 73 int im_buf_n = 0;
imadaemi 0:4e38f8b1c183 74
imadaemi 0:4e38f8b1c183 75 float lat, lon, height;
imadaemi 0:4e38f8b1c183 76 float press, temp, altitude;
imadaemi 0:4e38f8b1c183 77
imadaemi 0:4e38f8b1c183 78 float imu[6], mag[3];
imadaemi 0:4e38f8b1c183 79 float mag_geo[3];
imadaemi 0:4e38f8b1c183 80
imadaemi 0:4e38f8b1c183 81 float voltage_main, voltage_sep;
imadaemi 0:4e38f8b1c183 82 float current_main, current_sep;
imadaemi 0:4e38f8b1c183 83
imadaemi 0:4e38f8b1c183 84 // ***************************************************
imadaemi 0:4e38f8b1c183 85 // メイン関数
imadaemi 0:4e38f8b1c183 86 // ***************************************************
imadaemi 0:4e38f8b1c183 87 int main() {
imadaemi 0:4e38f8b1c183 88 pc.printf("Hello Main!\r\n");
imadaemi 0:4e38f8b1c183 89 SetSensor();
imadaemi 0:4e38f8b1c183 90 im920.attach(&uplink, 0xF0);
imadaemi 1:3151936d9c55 91 send_data.attach(&GetData, 1.0);
imadaemi 0:4e38f8b1c183 92
imadaemi 0:4e38f8b1c183 93 while(1){
imadaemi 0:4e38f8b1c183 94 }
imadaemi 0:4e38f8b1c183 95 }
imadaemi 0:4e38f8b1c183 96 // ***************************************************
imadaemi 0:4e38f8b1c183 97 // アップリンク（地上局から）
imadaemi 0:4e38f8b1c183 98 // ***************************************************
imadaemi 0:4e38f8b1c183 99 void uplink(){
imadaemi 0:4e38f8b1c183 100 echoIM();
imadaemi 0:4e38f8b1c183 101 switch(im920.data[1]){
imadaemi 0:4e38f8b1c183 102 case 0x01:
imadaemi 0:4e38f8b1c183 103 pc.printf("********************\r\n");
imadaemi 0:4e38f8b1c183 104 pc.printf("SEPARATE\r\n");
imadaemi 0:4e38f8b1c183 105 pc.printf("********************\r\n\r\n");
imadaemi 0:4e38f8b1c183 106 Separate();
imadaemi 0:4e38f8b1c183 107 break;
imadaemi 0:4e38f8b1c183 108
imadaemi 0:4e38f8b1c183 109 case 0x00:
imadaemi 0:4e38f8b1c183 110 pc.printf("********************\r\n");
imadaemi 0:4e38f8b1c183 111 pc.printf("STOP SEPARATE\r\n");
imadaemi 0:4e38f8b1c183 112 pc.printf("********************\r\n\r\n");
imadaemi 0:4e38f8b1c183 113 StopSeparate();
imadaemi 0:4e38f8b1c183 114 break;
imadaemi 0:4e38f8b1c183 115 }
imadaemi 0:4e38f8b1c183 116 }
imadaemi 0:4e38f8b1c183 117
imadaemi 0:4e38f8b1c183 118 // ***************************************************
imadaemi 0:4e38f8b1c183 119 // 無線信号の送り返し
imadaemi 0:4e38f8b1c183 120 // ***************************************************
imadaemi 0:4e38f8b1c183 121 void echoIM(){
imadaemi 0:4e38f8b1c183 122 im920.header(HEADER_ECHO);
imadaemi 0:4e38f8b1c183 123 im920.write(im920.data[1]);
imadaemi 0:4e38f8b1c183 124 im920.send();
imadaemi 0:4e38f8b1c183 125 }
imadaemi 0:4e38f8b1c183 126
imadaemi 0:4e38f8b1c183 127 // ***************************************************
imadaemi 0:4e38f8b1c183 128 // 分離実行
imadaemi 0:4e38f8b1c183 129 // ***************************************************
imadaemi 0:4e38f8b1c183 130 void Separate(){
imadaemi 1:3151936d9c55 131 nich.fire_on();
imadaemi 1:3151936d9c55 132 fire_time.attach(&StopSeparate,FIRE_TIME);
imadaemi 0:4e38f8b1c183 133 }
imadaemi 0:4e38f8b1c183 134
imadaemi 0:4e38f8b1c183 135 void StopSeparate(){
imadaemi 0:4e38f8b1c183 136 nich.fire_off();
imadaemi 0:4e38f8b1c183 137 }
imadaemi 0:4e38f8b1c183 138
imadaemi 0:4e38f8b1c183 139 // ***************************************************
imadaemi 0:4e38f8b1c183 140 // センサーのセットアップ
imadaemi 0:4e38f8b1c183 141 // ***************************************************
imadaemi 0:4e38f8b1c183 142 void SetSensor(){
imadaemi 0:4e38f8b1c183 143 pc.printf("\r\n");
imadaemi 0:4e38f8b1c183 144 for(int i = 0; i < 20; i++){
imadaemi 0:4e38f8b1c183 145 pc.printf("*");
imadaemi 0:4e38f8b1c183 146 }
imadaemi 0:4e38f8b1c183 147 pc.printf("\r\n");
imadaemi 0:4e38f8b1c183 148 pc.printf("Start Setting\r\n");
imadaemi 0:4e38f8b1c183 149
imadaemi 0:4e38f8b1c183 150 if(!header_set){
imadaemi 0:4e38f8b1c183 151 im920.header((char)HEADER_SETUP);
imadaemi 0:4e38f8b1c183 152 header_set = true;
imadaemi 0:4e38f8b1c183 153 }
imadaemi 0:4e38f8b1c183 154
imadaemi 0:4e38f8b1c183 155 //GPS
imadaemi 0:4e38f8b1c183 156 if(gps.gps_readable == true){
imadaemi 0:4e38f8b1c183 157 pc.printf("GPS : OK!\r\n");
imadaemi 0:4e38f8b1c183 158 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 159 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 160 im_buf_n ++;
imadaemi 0:4e38f8b1c183 161 }else{
imadaemi 0:4e38f8b1c183 162 pc.printf("GPS : NG...\r\n");
imadaemi 0:4e38f8b1c183 163 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 164 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 165 im_buf_n ++;
imadaemi 0:4e38f8b1c183 166 }
imadaemi 0:4e38f8b1c183 167
imadaemi 0:4e38f8b1c183 168 //LPS22HB
imadaemi 0:4e38f8b1c183 169 lps22hb.begin();
imadaemi 0:4e38f8b1c183 170 if(lps22hb.test() == true){
imadaemi 0:4e38f8b1c183 171 pc.printf("LPS22HB : OK!\r\n");
imadaemi 0:4e38f8b1c183 172 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 173 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 174 im_buf_n ++;
imadaemi 0:4e38f8b1c183 175 }else{
imadaemi 0:4e38f8b1c183 176 pc.printf("LPS22HB : NG...\r\n");
imadaemi 0:4e38f8b1c183 177 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 178 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 179 im_buf_n ++;
imadaemi 0:4e38f8b1c183 180 }
imadaemi 0:4e38f8b1c183 181
imadaemi 0:4e38f8b1c183 182 //MPU9250
imadaemi 0:4e38f8b1c183 183 if(mpu9250.sensorTest() == true){
imadaemi 0:4e38f8b1c183 184 pc.printf("MPU9250 : OK!\r\n");
imadaemi 0:4e38f8b1c183 185 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 186 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 187 im_buf_n ++;
imadaemi 0:4e38f8b1c183 188 }else{
imadaemi 0:4e38f8b1c183 189 pc.printf("MPU9250 : NG...\r\n");
imadaemi 0:4e38f8b1c183 190 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 191 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 192 im_buf_n ++;
imadaemi 0:4e38f8b1c183 193 }
imadaemi 0:4e38f8b1c183 194 if(mpu9250.mag_sensorTest() == true){
imadaemi 0:4e38f8b1c183 195 pc.printf("MPU9250 MAG : OK!\r\n");
imadaemi 0:4e38f8b1c183 196 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 197 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 198 im_buf_n ++;
imadaemi 0:4e38f8b1c183 199 }else{
imadaemi 0:4e38f8b1c183 200 pc.printf("MPU9250 MAG : NG...\r\n");
imadaemi 0:4e38f8b1c183 201 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 202 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 203 im_buf_n ++;
imadaemi 0:4e38f8b1c183 204 }
imadaemi 0:4e38f8b1c183 205 mpu9250.setAcc(ACC_RANGE);
imadaemi 0:4e38f8b1c183 206 mpu9250.setGyro(GYRO_RANGE);
imadaemi 0:4e38f8b1c183 207 mpu9250.setOffset(0.528892327, -0.660206211, 0.757105891, -0.011691362, 0.025688783, 1.087885322, -159.750004, 121.425005, -392.700012);
imadaemi 0:4e38f8b1c183 208
imadaemi 0:4e38f8b1c183 209 //INA226
imadaemi 0:4e38f8b1c183 210 ina226_main.set_callibretion();
imadaemi 0:4e38f8b1c183 211 ina226_sep.set_callibretion();
imadaemi 1:3151936d9c55 212 //ina226_main.setup(1);
imadaemi 1:3151936d9c55 213 //ina226_sep.setup(1);
imadaemi 0:4e38f8b1c183 214
imadaemi 0:4e38f8b1c183 215 if(ina226_main.Connection_check()==0){
imadaemi 0:4e38f8b1c183 216 pc.printf("INA226 Main : OK!\r\n");
imadaemi 0:4e38f8b1c183 217 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 218 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 219 im_buf_n ++;
imadaemi 0:4e38f8b1c183 220 }else{
imadaemi 0:4e38f8b1c183 221 pc.printf("INA226 Main : NG...\r\n");
imadaemi 0:4e38f8b1c183 222 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 223 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 224 im_buf_n ++;
imadaemi 0:4e38f8b1c183 225 }
imadaemi 0:4e38f8b1c183 226 if(ina226_sep.Connection_check()==0){
imadaemi 0:4e38f8b1c183 227 pc.printf("INA226 Sep : OK!\r\n");
imadaemi 0:4e38f8b1c183 228 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 229 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 230 im_buf_n ++;
imadaemi 0:4e38f8b1c183 231 }else{
imadaemi 0:4e38f8b1c183 232 pc.printf("INA226 Sep : NG...\r\n");
imadaemi 0:4e38f8b1c183 233 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 234 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 235 im_buf_n ++;
imadaemi 0:4e38f8b1c183 236 }
imadaemi 0:4e38f8b1c183 237
imadaemi 0:4e38f8b1c183 238 if(header_set){
imadaemi 0:4e38f8b1c183 239 im920.send();
imadaemi 0:4e38f8b1c183 240 pc.printf("Send : %s\r\n", im_buf);
imadaemi 0:4e38f8b1c183 241 header_set = false;
imadaemi 0:4e38f8b1c183 242 for(int i = 0; i < im_buf_n; i ++){
imadaemi 0:4e38f8b1c183 243 im_buf[i] = '\0';
imadaemi 0:4e38f8b1c183 244 }
imadaemi 0:4e38f8b1c183 245 im_buf_n = 0;
imadaemi 0:4e38f8b1c183 246 }
imadaemi 0:4e38f8b1c183 247
imadaemi 0:4e38f8b1c183 248 pc.printf("\r\n");
imadaemi 0:4e38f8b1c183 249 for(int i = 0; i < 20; i++){
imadaemi 0:4e38f8b1c183 250 pc.printf("*");
imadaemi 0:4e38f8b1c183 251 }
imadaemi 0:4e38f8b1c183 252 pc.printf("\r\n");
imadaemi 0:4e38f8b1c183 253 }
imadaemi 0:4e38f8b1c183 254
imadaemi 0:4e38f8b1c183 255 // ***************************************************
imadaemi 0:4e38f8b1c183 256 // センサーのデータ取得
imadaemi 0:4e38f8b1c183 257 // ***************************************************
imadaemi 0:4e38f8b1c183 258 void GetData(){
imadaemi 0:4e38f8b1c183 259 if(!header_set){
imadaemi 0:4e38f8b1c183 260 im920.header((char)HEADER_DATA);
imadaemi 0:4e38f8b1c183 261 header_set = true;
imadaemi 0:4e38f8b1c183 262 }
imadaemi 0:4e38f8b1c183 263
imadaemi 1:3151936d9c55 264 pc.printf("********************\r\n\r\n");
imadaemi 1:3151936d9c55 265 //Nichrome
imadaemi 1:3151936d9c55 266 if(nich.status){
imadaemi 1:3151936d9c55 267 nich_status = '1';
imadaemi 1:3151936d9c55 268 }else{
imadaemi 1:3151936d9c55 269 nich_status = '0';
imadaemi 1:3151936d9c55 270 }
imadaemi 1:3151936d9c55 271 pc.printf("Nichrome_status : %c\r\n",nich_status);
imadaemi 1:3151936d9c55 272 im920.write((char)nich_status);
imadaemi 1:3151936d9c55 273 im_buf_n ++;
imadaemi 1:3151936d9c55 274
imadaemi 0:4e38f8b1c183 275 //GPS
imadaemi 0:4e38f8b1c183 276 lat = gps.Latitude();
imadaemi 0:4e38f8b1c183 277 lon = gps.Longitude();
imadaemi 0:4e38f8b1c183 278 height = gps.Height();
imadaemi 1:3151936d9c55 279 pc.printf("Latitude : %f\r\n",lat);
imadaemi 1:3151936d9c55 280 pc.printf("Longitude : %f\r\n",lon);
imadaemi 1:3151936d9c55 281 pc.printf("Height : %f\r\n",height);
imadaemi 1:3151936d9c55 282 //pc.printf("%f\t%f\t%f\t\r\n", lat, lon, height);
imadaemi 0:4e38f8b1c183 283 im920.write((float)lat);
imadaemi 0:4e38f8b1c183 284 im_buf_n ++;
imadaemi 0:4e38f8b1c183 285 im920.write((float)lon);
imadaemi 0:4e38f8b1c183 286 im_buf_n ++;
imadaemi 0:4e38f8b1c183 287 im920.write((float)height);
imadaemi 0:4e38f8b1c183 288 im_buf_n ++;
imadaemi 0:4e38f8b1c183 289
imadaemi 0:4e38f8b1c183 290 //LPS22HB
imadaemi 0:4e38f8b1c183 291 lps22hb.read_press(&press);
imadaemi 0:4e38f8b1c183 292 lps22hb.read_temp(&temp);
imadaemi 0:4e38f8b1c183 293 altitude = (CURRENT_LOCATION_TEMP + 273.15)/0.0065*(1 - powf(press/CURRENT_LOCATION_PRESS, 287 * 0.0065/9.80665));
imadaemi 1:3151936d9c55 294 pc.printf("Pressure : %f\r\n",press);
imadaemi 1:3151936d9c55 295 pc.printf("Temperarure : %f\r\n",temp);
imadaemi 1:3151936d9c55 296 pc.printf("Altitude : %f\r\n",altitude);
imadaemi 1:3151936d9c55 297 //pc.printf("%f\t%f\t%f\r\n",press, temp, altitude);
imadaemi 0:4e38f8b1c183 298 im920.write((float)press);
imadaemi 0:4e38f8b1c183 299 im_buf_n ++;
imadaemi 0:4e38f8b1c183 300 im920.write((float)temp);
imadaemi 0:4e38f8b1c183 301 im_buf_n ++;
imadaemi 0:4e38f8b1c183 302 im920.write((float)altitude);
imadaemi 0:4e38f8b1c183 303 im_buf_n ++;
imadaemi 0:4e38f8b1c183 304
imadaemi 0:4e38f8b1c183 305 //MPU9250
imadaemi 0:4e38f8b1c183 306 /*
imadaemi 0:4e38f8b1c183 307 mpu9250.getAll(imu, mag);
imadaemi 0:4e38f8b1c183 308 pc.printf("%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t\r\n",imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], mag[0], mag[1], mag[2]);
imadaemi 0:4e38f8b1c183 309
imadaemi 0:4e38f8b1c183 310 im920.write((float)imu[0]);
imadaemi 0:4e38f8b1c183 311 im_buf_n ++;
imadaemi 0:4e38f8b1c183 312 im920.write((float)imu[1]);
imadaemi 0:4e38f8b1c183 313 im_buf_n ++;
imadaemi 0:4e38f8b1c183 314 im920.write((float)imu[2]);
imadaemi 0:4e38f8b1c183 315 im_buf_n ++;
imadaemi 0:4e38f8b1c183 316 im920.write((float)imu[3]);
imadaemi 0:4e38f8b1c183 317 im_buf_n ++;
imadaemi 0:4e38f8b1c183 318 im920.write((float)imu[4]);
imadaemi 0:4e38f8b1c183 319 im_buf_n ++;
imadaemi 0:4e38f8b1c183 320 im920.write((float)imu[5]);
imadaemi 0:4e38f8b1c183 321 im_buf_n ++;
imadaemi 0:4e38f8b1c183 322 im920.write((float)mag[0]);
imadaemi 0:4e38f8b1c183 323 im_buf_n ++;
imadaemi 0:4e38f8b1c183 324 im920.write((float)mag[1]);
imadaemi 0:4e38f8b1c183 325 im_buf_n ++;
imadaemi 0:4e38f8b1c183 326 im920.write((float)mag[2]);
imadaemi 0:4e38f8b1c183 327 im_buf_n ++;
imadaemi 0:4e38f8b1c183 328 */
imadaemi 0:4e38f8b1c183 329 //INA226
imadaemi 0:4e38f8b1c183 330 ina226_main.get_Voltage_current(&voltage_main, &current_main);
imadaemi 0:4e38f8b1c183 331 ina226_sep.get_Voltage_current(&voltage_sep, &current_sep);
imadaemi 1:3151936d9c55 332 voltage_main /= 1000;
imadaemi 1:3151936d9c55 333 current_main /= 1000;
imadaemi 1:3151936d9c55 334 voltage_sep /= 1000;
imadaemi 1:3151936d9c55 335 current_sep /= 1000;
imadaemi 1:3151936d9c55 336 pc.printf("Vlotage Mian : %.2f\r\n",voltage_main);
imadaemi 1:3151936d9c55 337 pc.printf("Current Main : %.2f\r\n",current_main);
imadaemi 1:3151936d9c55 338 pc.printf("Voltage Sep : %.2f\r\n",voltage_sep);
imadaemi 1:3151936d9c55 339 pc.printf("Current Sep : %.2f\r\n",current_sep);
imadaemi 1:3151936d9c55 340 //pc.printf("MainVol : %.2f, SepVol : %.2f, MainCur : %.2f, SepCur : %.2f\r\n", voltage_main, voltage_sep, current_main, current_sep);
imadaemi 0:4e38f8b1c183 341 //pc.printf("MainVol : %f, SepVol : %f, MainCur : %f, SepCur : %f\r\n", voltage_main*(1/1000), voltage_sep, current_main, current_sep);
imadaemi 0:4e38f8b1c183 342 im920.write((float)voltage_main);
imadaemi 0:4e38f8b1c183 343 im_buf_n ++;
imadaemi 0:4e38f8b1c183 344 im920.write((float)current_main);
imadaemi 0:4e38f8b1c183 345 im_buf_n ++;
imadaemi 0:4e38f8b1c183 346 im920.write((float)voltage_sep);
imadaemi 0:4e38f8b1c183 347 im_buf_n ++;
imadaemi 0:4e38f8b1c183 348 im920.write((float)current_sep);
imadaemi 0:4e38f8b1c183 349 im_buf_n ++;
imadaemi 1:3151936d9c55 350
imadaemi 1:3151936d9c55 351 pc.printf("********************\r\n\r\n");
imadaemi 1:3151936d9c55 352
imadaemi 0:4e38f8b1c183 353
imadaemi 0:4e38f8b1c183 354 if(header_set){
imadaemi 0:4e38f8b1c183 355 im920.send();
imadaemi 0:4e38f8b1c183 356 pc.printf("Send : %s\r\n", im_buf);
imadaemi 0:4e38f8b1c183 357 header_set = false;
imadaemi 0:4e38f8b1c183 358 for(int i = 0; i < im_buf_n; i ++){
imadaemi 0:4e38f8b1c183 359 im_buf[i] = '\0';
imadaemi 0:4e38f8b1c183 360 }
imadaemi 0:4e38f8b1c183 361 im_buf_n = 0;
imadaemi 0:4e38f8b1c183 362 }
imadaemi 0:4e38f8b1c183 363 }
imadaemi 0:4e38f8b1c183 364
imadaemi 0:4e38f8b1c183 365 // ***************************************************
imadaemi 0:4e38f8b1c183 366 // EEPROMにデータを書き込むプログラム
imadaemi 0:4e38f8b1c183 367 // ***************************************************
imadaemi 0:4e38f8b1c183 368 void WriteEEPROM(){
imadaemi 0:4e38f8b1c183 369 int ptr, n = 0;
imadaemi 0:4e38f8b1c183 370 int eeprom_ptr = 0;
imadaemi 0:4e38f8b1c183 371
imadaemi 0:4e38f8b1c183 372 for(int i = 0; i < 4; i++){
imadaemi 0:4e38f8b1c183 373 pc.printf("Start to write %d EEPROM\r\n", i);
imadaemi 0:4e38f8b1c183 374 setEEPROMGroup(i);
imadaemi 0:4e38f8b1c183 375 EEPROM.setWriteAddr(1, 0, 0x00, 0x00);
imadaemi 0:4e38f8b1c183 376
imadaemi 0:4e38f8b1c183 377 while(1){
imadaemi 0:4e38f8b1c183 378 ptr = EEPROM.chargeBuff((int)n++);
imadaemi 0:4e38f8b1c183 379 //ptr = EEPROM.chargeBuff((char)0xff);
imadaemi 0:4e38f8b1c183 380 //ptr = EEPROM.chargeBuff((int)0);
imadaemi 0:4e38f8b1c183 381 if(ptr == 128){
imadaemi 0:4e38f8b1c183 382 EEPROM.writeBuff();
imadaemi 0:4e38f8b1c183 383 //ptr = EEPROM.setNextPage();
imadaemi 0:4e38f8b1c183 384 eeprom_ptr = EEPROM.setNextPage();
imadaemi 0:4e38f8b1c183 385 //pc.printf("eeprom_ptr: %08x\r\n", eeprom_ptr);
imadaemi 0:4e38f8b1c183 386 }
imadaemi 0:4e38f8b1c183 387
imadaemi 0:4e38f8b1c183 388 if(eeprom_ptr == 0x01000000){
imadaemi 0:4e38f8b1c183 389 ptr = 0;
imadaemi 0:4e38f8b1c183 390 eeprom_ptr = 0;
imadaemi 0:4e38f8b1c183 391 break;
imadaemi 0:4e38f8b1c183 392 }
imadaemi 0:4e38f8b1c183 393 }
imadaemi 0:4e38f8b1c183 394 }
imadaemi 0:4e38f8b1c183 395 }
imadaemi 0:4e38f8b1c183 396
imadaemi 0:4e38f8b1c183 397 // ***************************************************
imadaemi 0:4e38f8b1c183 398 // マルチプレクサで使うEEPROMを変更する
imadaemi 0:4e38f8b1c183 399 // ***************************************************
imadaemi 0:4e38f8b1c183 400 void setEEPROMGroup(int group_num){
imadaemi 0:4e38f8b1c183 401 switch(group_num){
imadaemi 0:4e38f8b1c183 402 case 0:
imadaemi 0:4e38f8b1c183 403 pinA = 0;
imadaemi 0:4e38f8b1c183 404 pinB = 0;
imadaemi 0:4e38f8b1c183 405 pinC = 0;
imadaemi 0:4e38f8b1c183 406 break;
imadaemi 0:4e38f8b1c183 407
imadaemi 0:4e38f8b1c183 408 case 1:
imadaemi 0:4e38f8b1c183 409 pinA = 1;
imadaemi 0:4e38f8b1c183 410 pinB = 0;
imadaemi 0:4e38f8b1c183 411 pinC = 0;
imadaemi 0:4e38f8b1c183 412 break;
imadaemi 0:4e38f8b1c183 413
imadaemi 0:4e38f8b1c183 414 case 2:
imadaemi 0:4e38f8b1c183 415 pinA = 0;
imadaemi 0:4e38f8b1c183 416 pinB = 1;
imadaemi 0:4e38f8b1c183 417 pinC = 0;
imadaemi 0:4e38f8b1c183 418 break;
imadaemi 0:4e38f8b1c183 419
imadaemi 0:4e38f8b1c183 420 case 3:
imadaemi 0:4e38f8b1c183 421 pinA = 1;
imadaemi 0:4e38f8b1c183 422 pinB = 1;
imadaemi 0:4e38f8b1c183 423 pinC = 0;
imadaemi 0:4e38f8b1c183 424 break;
imadaemi 0:4e38f8b1c183 425 }
imadaemi 0:4e38f8b1c183 426 }