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@2:980edad0eea2, 2021-07-30 (annotated)

Committer:
imadaemi
Date:
Fri Jul 30 06:03:31 2021 +0000
Revision:
2:980edad0eea2
Parent:
1:3151936d9c55
Child:
3:eca103d94b60
v3; add void SendData()

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 2:980edad0eea2 49 void SendData();
imadaemi 0:4e38f8b1c183 50 void WriteEEPROM();
imadaemi 0:4e38f8b1c183 51 void setEEPROMGroup(int group_num);
imadaemi 0:4e38f8b1c183 52
imadaemi 0:4e38f8b1c183 53 // ***************************************************
imadaemi 0:4e38f8b1c183 54 // 無線のヘッダまとめ
imadaemi 0:4e38f8b1c183 55 // ***************************************************
imadaemi 0:4e38f8b1c183 56 const char HEADER_SETUP = 0x01;
imadaemi 2:980edad0eea2 57 // 0xA1, GPS, LPS22HB, MPU9250, MPU9250_MAG, INA226_MAIN, INA226_SEP
imadaemi 2:980edad0eea2 58 // 1 1 1 1 1 1 1
imadaemi 0:4e38f8b1c183 59
imadaemi 0:4e38f8b1c183 60 const char HEADER_DATA = 0xA2;
imadaemi 2:980edad0eea2 61 // 0xA2, nich_status, lat, lon, height, press, temp, altitude, voltage_main, voltage_sep, current_main, current_sep
imadaemi 2:980edad0eea2 62 // 1 1 4 4 4 4 4 4 4 4 4 4
imadaemi 0:4e38f8b1c183 63
imadaemi 0:4e38f8b1c183 64 const char HEADER_ECHO = 0xA5;
imadaemi 0:4e38f8b1c183 65 // 0xA5,コマンド
imadaemi 0:4e38f8b1c183 66 // 1 1
imadaemi 0:4e38f8b1c183 67
imadaemi 0:4e38f8b1c183 68 // ***************************************************
imadaemi 0:4e38f8b1c183 69 // 変数の宣言
imadaemi 0:4e38f8b1c183 70 // ***************************************************
imadaemi 1:3151936d9c55 71 char nich_status;
imadaemi 1:3151936d9c55 72
imadaemi 0:4e38f8b1c183 73 bool header_set = false;
imadaemi 0:4e38f8b1c183 74 char im_buf[55];//16なのって意味ある？
imadaemi 0:4e38f8b1c183 75 int im_buf_n = 0;
imadaemi 0:4e38f8b1c183 76
imadaemi 0:4e38f8b1c183 77 float lat, lon, height;
imadaemi 0:4e38f8b1c183 78 float press, temp, altitude;
imadaemi 0:4e38f8b1c183 79
imadaemi 0:4e38f8b1c183 80 float imu[6], mag[3];
imadaemi 0:4e38f8b1c183 81 float mag_geo[3];
imadaemi 0:4e38f8b1c183 82
imadaemi 0:4e38f8b1c183 83 float voltage_main, voltage_sep;
imadaemi 0:4e38f8b1c183 84 float current_main, current_sep;
imadaemi 0:4e38f8b1c183 85
imadaemi 0:4e38f8b1c183 86 // ***************************************************
imadaemi 0:4e38f8b1c183 87 // メイン関数
imadaemi 0:4e38f8b1c183 88 // ***************************************************
imadaemi 0:4e38f8b1c183 89 int main() {
imadaemi 0:4e38f8b1c183 90 pc.printf("Hello Main!\r\n");
imadaemi 0:4e38f8b1c183 91 SetSensor();
imadaemi 0:4e38f8b1c183 92 im920.attach(&uplink, 0xF0);
imadaemi 2:980edad0eea2 93 send_data.attach(&SendData, 1.0);
imadaemi 0:4e38f8b1c183 94
imadaemi 0:4e38f8b1c183 95 while(1){
imadaemi 2:980edad0eea2 96 GetData();
imadaemi 0:4e38f8b1c183 97 }
imadaemi 0:4e38f8b1c183 98 }
imadaemi 0:4e38f8b1c183 99 // ***************************************************
imadaemi 0:4e38f8b1c183 100 // アップリンク（地上局から）
imadaemi 0:4e38f8b1c183 101 // ***************************************************
imadaemi 0:4e38f8b1c183 102 void uplink(){
imadaemi 0:4e38f8b1c183 103 echoIM();
imadaemi 0:4e38f8b1c183 104 switch(im920.data[1]){
imadaemi 0:4e38f8b1c183 105 case 0x01:
imadaemi 0:4e38f8b1c183 106 pc.printf("********************\r\n");
imadaemi 0:4e38f8b1c183 107 pc.printf("SEPARATE\r\n");
imadaemi 0:4e38f8b1c183 108 pc.printf("********************\r\n\r\n");
imadaemi 0:4e38f8b1c183 109 Separate();
imadaemi 0:4e38f8b1c183 110 break;
imadaemi 0:4e38f8b1c183 111
imadaemi 0:4e38f8b1c183 112 case 0x00:
imadaemi 0:4e38f8b1c183 113 pc.printf("********************\r\n");
imadaemi 0:4e38f8b1c183 114 pc.printf("STOP SEPARATE\r\n");
imadaemi 0:4e38f8b1c183 115 pc.printf("********************\r\n\r\n");
imadaemi 0:4e38f8b1c183 116 StopSeparate();
imadaemi 0:4e38f8b1c183 117 break;
imadaemi 0:4e38f8b1c183 118 }
imadaemi 0:4e38f8b1c183 119 }
imadaemi 0:4e38f8b1c183 120
imadaemi 0:4e38f8b1c183 121 // ***************************************************
imadaemi 0:4e38f8b1c183 122 // 無線信号の送り返し
imadaemi 0:4e38f8b1c183 123 // ***************************************************
imadaemi 0:4e38f8b1c183 124 void echoIM(){
imadaemi 0:4e38f8b1c183 125 im920.header(HEADER_ECHO);
imadaemi 0:4e38f8b1c183 126 im920.write(im920.data[1]);
imadaemi 0:4e38f8b1c183 127 im920.send();
imadaemi 0:4e38f8b1c183 128 }
imadaemi 0:4e38f8b1c183 129
imadaemi 0:4e38f8b1c183 130 // ***************************************************
imadaemi 0:4e38f8b1c183 131 // 分離実行
imadaemi 0:4e38f8b1c183 132 // ***************************************************
imadaemi 0:4e38f8b1c183 133 void Separate(){
imadaemi 1:3151936d9c55 134 nich.fire_on();
imadaemi 1:3151936d9c55 135 fire_time.attach(&StopSeparate,FIRE_TIME);
imadaemi 0:4e38f8b1c183 136 }
imadaemi 0:4e38f8b1c183 137
imadaemi 0:4e38f8b1c183 138 void StopSeparate(){
imadaemi 0:4e38f8b1c183 139 nich.fire_off();
imadaemi 0:4e38f8b1c183 140 }
imadaemi 0:4e38f8b1c183 141
imadaemi 0:4e38f8b1c183 142 // ***************************************************
imadaemi 0:4e38f8b1c183 143 // センサーのセットアップ
imadaemi 0:4e38f8b1c183 144 // ***************************************************
imadaemi 0:4e38f8b1c183 145 void SetSensor(){
imadaemi 0:4e38f8b1c183 146 pc.printf("\r\n");
imadaemi 0:4e38f8b1c183 147 for(int i = 0; i < 20; i++){
imadaemi 0:4e38f8b1c183 148 pc.printf("*");
imadaemi 0:4e38f8b1c183 149 }
imadaemi 0:4e38f8b1c183 150 pc.printf("\r\n");
imadaemi 0:4e38f8b1c183 151 pc.printf("Start Setting\r\n");
imadaemi 0:4e38f8b1c183 152
imadaemi 0:4e38f8b1c183 153 if(!header_set){
imadaemi 0:4e38f8b1c183 154 im920.header((char)HEADER_SETUP);
imadaemi 0:4e38f8b1c183 155 header_set = true;
imadaemi 0:4e38f8b1c183 156 }
imadaemi 0:4e38f8b1c183 157
imadaemi 0:4e38f8b1c183 158 //GPS
imadaemi 0:4e38f8b1c183 159 if(gps.gps_readable == true){
imadaemi 0:4e38f8b1c183 160 pc.printf("GPS : OK!\r\n");
imadaemi 0:4e38f8b1c183 161 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 162 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 163 im_buf_n ++;
imadaemi 0:4e38f8b1c183 164 }else{
imadaemi 0:4e38f8b1c183 165 pc.printf("GPS : NG...\r\n");
imadaemi 0:4e38f8b1c183 166 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 167 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 168 im_buf_n ++;
imadaemi 0:4e38f8b1c183 169 }
imadaemi 0:4e38f8b1c183 170
imadaemi 0:4e38f8b1c183 171 //LPS22HB
imadaemi 0:4e38f8b1c183 172 lps22hb.begin();
imadaemi 0:4e38f8b1c183 173 if(lps22hb.test() == true){
imadaemi 0:4e38f8b1c183 174 pc.printf("LPS22HB : OK!\r\n");
imadaemi 0:4e38f8b1c183 175 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 176 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 177 im_buf_n ++;
imadaemi 0:4e38f8b1c183 178 }else{
imadaemi 0:4e38f8b1c183 179 pc.printf("LPS22HB : NG...\r\n");
imadaemi 0:4e38f8b1c183 180 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 181 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 182 im_buf_n ++;
imadaemi 0:4e38f8b1c183 183 }
imadaemi 0:4e38f8b1c183 184
imadaemi 0:4e38f8b1c183 185 //MPU9250
imadaemi 0:4e38f8b1c183 186 if(mpu9250.sensorTest() == true){
imadaemi 0:4e38f8b1c183 187 pc.printf("MPU9250 : OK!\r\n");
imadaemi 0:4e38f8b1c183 188 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 189 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 190 im_buf_n ++;
imadaemi 0:4e38f8b1c183 191 }else{
imadaemi 0:4e38f8b1c183 192 pc.printf("MPU9250 : NG...\r\n");
imadaemi 0:4e38f8b1c183 193 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 194 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 195 im_buf_n ++;
imadaemi 0:4e38f8b1c183 196 }
imadaemi 0:4e38f8b1c183 197 if(mpu9250.mag_sensorTest() == true){
imadaemi 0:4e38f8b1c183 198 pc.printf("MPU9250 MAG : OK!\r\n");
imadaemi 0:4e38f8b1c183 199 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 200 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 201 im_buf_n ++;
imadaemi 0:4e38f8b1c183 202 }else{
imadaemi 0:4e38f8b1c183 203 pc.printf("MPU9250 MAG : NG...\r\n");
imadaemi 0:4e38f8b1c183 204 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 205 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 206 im_buf_n ++;
imadaemi 0:4e38f8b1c183 207 }
imadaemi 0:4e38f8b1c183 208 mpu9250.setAcc(ACC_RANGE);
imadaemi 0:4e38f8b1c183 209 mpu9250.setGyro(GYRO_RANGE);
imadaemi 0:4e38f8b1c183 210 mpu9250.setOffset(0.528892327, -0.660206211, 0.757105891, -0.011691362, 0.025688783, 1.087885322, -159.750004, 121.425005, -392.700012);
imadaemi 0:4e38f8b1c183 211
imadaemi 0:4e38f8b1c183 212 //INA226
imadaemi 0:4e38f8b1c183 213 ina226_main.set_callibretion();
imadaemi 0:4e38f8b1c183 214 ina226_sep.set_callibretion();
imadaemi 1:3151936d9c55 215 //ina226_main.setup(1);
imadaemi 1:3151936d9c55 216 //ina226_sep.setup(1);
imadaemi 0:4e38f8b1c183 217
imadaemi 0:4e38f8b1c183 218 if(ina226_main.Connection_check()==0){
imadaemi 0:4e38f8b1c183 219 pc.printf("INA226 Main : OK!\r\n");
imadaemi 0:4e38f8b1c183 220 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 221 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 222 im_buf_n ++;
imadaemi 0:4e38f8b1c183 223 }else{
imadaemi 0:4e38f8b1c183 224 pc.printf("INA226 Main : NG...\r\n");
imadaemi 0:4e38f8b1c183 225 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 226 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 227 im_buf_n ++;
imadaemi 0:4e38f8b1c183 228 }
imadaemi 0:4e38f8b1c183 229 if(ina226_sep.Connection_check()==0){
imadaemi 0:4e38f8b1c183 230 pc.printf("INA226 Sep : OK!\r\n");
imadaemi 0:4e38f8b1c183 231 im920.write((char)0x01);
imadaemi 0:4e38f8b1c183 232 im_buf[im_buf_n] = '1';
imadaemi 0:4e38f8b1c183 233 im_buf_n ++;
imadaemi 0:4e38f8b1c183 234 }else{
imadaemi 0:4e38f8b1c183 235 pc.printf("INA226 Sep : NG...\r\n");
imadaemi 0:4e38f8b1c183 236 im920.write((char)0x00);
imadaemi 0:4e38f8b1c183 237 im_buf[im_buf_n] = '0';
imadaemi 0:4e38f8b1c183 238 im_buf_n ++;
imadaemi 0:4e38f8b1c183 239 }
imadaemi 0:4e38f8b1c183 240
imadaemi 0:4e38f8b1c183 241 if(header_set){
imadaemi 0:4e38f8b1c183 242 im920.send();
imadaemi 0:4e38f8b1c183 243 pc.printf("Send : %s\r\n", im_buf);
imadaemi 0:4e38f8b1c183 244 header_set = false;
imadaemi 0:4e38f8b1c183 245 for(int i = 0; i < im_buf_n; i ++){
imadaemi 0:4e38f8b1c183 246 im_buf[i] = '\0';
imadaemi 0:4e38f8b1c183 247 }
imadaemi 0:4e38f8b1c183 248 im_buf_n = 0;
imadaemi 0:4e38f8b1c183 249 }
imadaemi 0:4e38f8b1c183 250
imadaemi 0:4e38f8b1c183 251 pc.printf("\r\n");
imadaemi 0:4e38f8b1c183 252 for(int i = 0; i < 20; i++){
imadaemi 0:4e38f8b1c183 253 pc.printf("*");
imadaemi 0:4e38f8b1c183 254 }
imadaemi 0:4e38f8b1c183 255 pc.printf("\r\n");
imadaemi 0:4e38f8b1c183 256 }
imadaemi 0:4e38f8b1c183 257
imadaemi 0:4e38f8b1c183 258 // ***************************************************
imadaemi 0:4e38f8b1c183 259 // センサーのデータ取得
imadaemi 0:4e38f8b1c183 260 // ***************************************************
imadaemi 0:4e38f8b1c183 261 void GetData(){
imadaemi 1:3151936d9c55 262 //Nichrome
imadaemi 1:3151936d9c55 263 if(nich.status){
imadaemi 1:3151936d9c55 264 nich_status = '1';
imadaemi 1:3151936d9c55 265 }else{
imadaemi 1:3151936d9c55 266 nich_status = '0';
imadaemi 1:3151936d9c55 267 }
imadaemi 2:980edad0eea2 268
imadaemi 2:980edad0eea2 269 //GPS
imadaemi 2:980edad0eea2 270 lat = gps.Latitude();
imadaemi 2:980edad0eea2 271 lon = gps.Longitude();
imadaemi 2:980edad0eea2 272 height = gps.Height();
imadaemi 2:980edad0eea2 273 //pc.printf("%f\t%f\t%f\t\r\n", lat, lon, height);
imadaemi 2:980edad0eea2 274
imadaemi 2:980edad0eea2 275 //LPS22HB
imadaemi 2:980edad0eea2 276 lps22hb.read_press(&press);
imadaemi 2:980edad0eea2 277 lps22hb.read_temp(&temp);
imadaemi 2:980edad0eea2 278 altitude = (CURRENT_LOCATION_TEMP + 273.15)/0.0065*(1 - powf(press/CURRENT_LOCATION_PRESS, 287 * 0.0065/9.80665));
imadaemi 2:980edad0eea2 279 //pc.printf("%f\t%f\t%f\r\n",press, temp, altitude);
imadaemi 2:980edad0eea2 280
imadaemi 2:980edad0eea2 281 //MPU9250
imadaemi 2:980edad0eea2 282 /*
imadaemi 2:980edad0eea2 283 mpu9250.getAll(imu, mag);
imadaemi 2:980edad0eea2 284 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 2:980edad0eea2 285 */
imadaemi 2:980edad0eea2 286
imadaemi 2:980edad0eea2 287 //INA226
imadaemi 2:980edad0eea2 288 ina226_main.get_Voltage_current(&voltage_main, &current_main);
imadaemi 2:980edad0eea2 289 ina226_sep.get_Voltage_current(&voltage_sep, &current_sep);
imadaemi 2:980edad0eea2 290 voltage_main /= 1000;
imadaemi 2:980edad0eea2 291 current_main /= 1000;
imadaemi 2:980edad0eea2 292 voltage_sep /= 1000;
imadaemi 2:980edad0eea2 293 current_sep /= 1000;
imadaemi 2:980edad0eea2 294 //pc.printf("MainVol : %.2f, SepVol : %.2f, MainCur : %.2f, SepCur : %.2f\r\n", voltage_main, voltage_sep, current_main, current_sep);
imadaemi 2:980edad0eea2 295 //pc.printf("MainVol : %f, SepVol : %f, MainCur : %f, SepCur : %f\r\n", voltage_main*(1/1000), voltage_sep, current_main, current_sep);
imadaemi 2:980edad0eea2 296 }
imadaemi 2:980edad0eea2 297
imadaemi 2:980edad0eea2 298 // ***************************************************
imadaemi 2:980edad0eea2 299 // 取得データを地上に送信
imadaemi 2:980edad0eea2 300 // ***************************************************
imadaemi 2:980edad0eea2 301 void SendData(){
imadaemi 2:980edad0eea2 302 if(!header_set){
imadaemi 2:980edad0eea2 303 im920.header((char)HEADER_DATA);
imadaemi 2:980edad0eea2 304 header_set = true;
imadaemi 2:980edad0eea2 305 }
imadaemi 2:980edad0eea2 306
imadaemi 2:980edad0eea2 307 pc.printf("********************\r\n\r\n");
imadaemi 2:980edad0eea2 308
imadaemi 2:980edad0eea2 309 //Nichrome
imadaemi 1:3151936d9c55 310 pc.printf("Nichrome_status : %c\r\n",nich_status);
imadaemi 1:3151936d9c55 311 im920.write((char)nich_status);
imadaemi 1:3151936d9c55 312 im_buf_n ++;
imadaemi 1:3151936d9c55 313
imadaemi 0:4e38f8b1c183 314 //GPS
imadaemi 1:3151936d9c55 315 pc.printf("Latitude : %f\r\n",lat);
imadaemi 1:3151936d9c55 316 pc.printf("Longitude : %f\r\n",lon);
imadaemi 1:3151936d9c55 317 pc.printf("Height : %f\r\n",height);
imadaemi 0:4e38f8b1c183 318 im920.write((float)lat);
imadaemi 0:4e38f8b1c183 319 im_buf_n ++;
imadaemi 0:4e38f8b1c183 320 im920.write((float)lon);
imadaemi 0:4e38f8b1c183 321 im_buf_n ++;
imadaemi 0:4e38f8b1c183 322 im920.write((float)height);
imadaemi 0:4e38f8b1c183 323 im_buf_n ++;
imadaemi 0:4e38f8b1c183 324
imadaemi 0:4e38f8b1c183 325 //LPS22HB
imadaemi 1:3151936d9c55 326 pc.printf("Pressure : %f\r\n",press);
imadaemi 1:3151936d9c55 327 pc.printf("Temperarure : %f\r\n",temp);
imadaemi 1:3151936d9c55 328 pc.printf("Altitude : %f\r\n",altitude);
imadaemi 0:4e38f8b1c183 329 im920.write((float)press);
imadaemi 0:4e38f8b1c183 330 im_buf_n ++;
imadaemi 0:4e38f8b1c183 331 im920.write((float)temp);
imadaemi 0:4e38f8b1c183 332 im_buf_n ++;
imadaemi 0:4e38f8b1c183 333 im920.write((float)altitude);
imadaemi 0:4e38f8b1c183 334 im_buf_n ++;
imadaemi 0:4e38f8b1c183 335
imadaemi 0:4e38f8b1c183 336 //MPU9250
imadaemi 0:4e38f8b1c183 337 /*
imadaemi 0:4e38f8b1c183 338 im920.write((float)imu[0]);
imadaemi 0:4e38f8b1c183 339 im_buf_n ++;
imadaemi 0:4e38f8b1c183 340 im920.write((float)imu[1]);
imadaemi 0:4e38f8b1c183 341 im_buf_n ++;
imadaemi 0:4e38f8b1c183 342 im920.write((float)imu[2]);
imadaemi 0:4e38f8b1c183 343 im_buf_n ++;
imadaemi 0:4e38f8b1c183 344 im920.write((float)imu[3]);
imadaemi 0:4e38f8b1c183 345 im_buf_n ++;
imadaemi 0:4e38f8b1c183 346 im920.write((float)imu[4]);
imadaemi 0:4e38f8b1c183 347 im_buf_n ++;
imadaemi 0:4e38f8b1c183 348 im920.write((float)imu[5]);
imadaemi 0:4e38f8b1c183 349 im_buf_n ++;
imadaemi 0:4e38f8b1c183 350 im920.write((float)mag[0]);
imadaemi 0:4e38f8b1c183 351 im_buf_n ++;
imadaemi 0:4e38f8b1c183 352 im920.write((float)mag[1]);
imadaemi 0:4e38f8b1c183 353 im_buf_n ++;
imadaemi 0:4e38f8b1c183 354 im920.write((float)mag[2]);
imadaemi 0:4e38f8b1c183 355 im_buf_n ++;
imadaemi 0:4e38f8b1c183 356 */
imadaemi 2:980edad0eea2 357
imadaemi 0:4e38f8b1c183 358 //INA226
imadaemi 1:3151936d9c55 359 pc.printf("Vlotage Mian : %.2f\r\n",voltage_main);
imadaemi 1:3151936d9c55 360 pc.printf("Current Main : %.2f\r\n",current_main);
imadaemi 1:3151936d9c55 361 pc.printf("Voltage Sep : %.2f\r\n",voltage_sep);
imadaemi 1:3151936d9c55 362 pc.printf("Current Sep : %.2f\r\n",current_sep);
imadaemi 0:4e38f8b1c183 363 im920.write((float)voltage_main);
imadaemi 0:4e38f8b1c183 364 im_buf_n ++;
imadaemi 0:4e38f8b1c183 365 im920.write((float)current_main);
imadaemi 0:4e38f8b1c183 366 im_buf_n ++;
imadaemi 0:4e38f8b1c183 367 im920.write((float)voltage_sep);
imadaemi 0:4e38f8b1c183 368 im_buf_n ++;
imadaemi 0:4e38f8b1c183 369 im920.write((float)current_sep);
imadaemi 0:4e38f8b1c183 370 im_buf_n ++;
imadaemi 1:3151936d9c55 371
imadaemi 2:980edad0eea2 372 pc.printf("********************\r\n\r\n");
imadaemi 1:3151936d9c55 373
imadaemi 0:4e38f8b1c183 374 if(header_set){
imadaemi 0:4e38f8b1c183 375 im920.send();
imadaemi 2:980edad0eea2 376 //pc.printf("Send : %s\r\n", im_buf);
imadaemi 0:4e38f8b1c183 377 header_set = false;
imadaemi 0:4e38f8b1c183 378 for(int i = 0; i < im_buf_n; i ++){
imadaemi 0:4e38f8b1c183 379 im_buf[i] = '\0';
imadaemi 0:4e38f8b1c183 380 }
imadaemi 0:4e38f8b1c183 381 im_buf_n = 0;
imadaemi 0:4e38f8b1c183 382 }
imadaemi 0:4e38f8b1c183 383 }
imadaemi 0:4e38f8b1c183 384
imadaemi 2:980edad0eea2 385
imadaemi 0:4e38f8b1c183 386 // ***************************************************
imadaemi 0:4e38f8b1c183 387 // EEPROMにデータを書き込むプログラム
imadaemi 0:4e38f8b1c183 388 // ***************************************************
imadaemi 0:4e38f8b1c183 389 void WriteEEPROM(){
imadaemi 0:4e38f8b1c183 390 int ptr, n = 0;
imadaemi 0:4e38f8b1c183 391 int eeprom_ptr = 0;
imadaemi 0:4e38f8b1c183 392
imadaemi 0:4e38f8b1c183 393 for(int i = 0; i < 4; i++){
imadaemi 0:4e38f8b1c183 394 pc.printf("Start to write %d EEPROM\r\n", i);
imadaemi 0:4e38f8b1c183 395 setEEPROMGroup(i);
imadaemi 0:4e38f8b1c183 396 EEPROM.setWriteAddr(1, 0, 0x00, 0x00);
imadaemi 0:4e38f8b1c183 397
imadaemi 0:4e38f8b1c183 398 while(1){
imadaemi 0:4e38f8b1c183 399 ptr = EEPROM.chargeBuff((int)n++);
imadaemi 0:4e38f8b1c183 400 //ptr = EEPROM.chargeBuff((char)0xff);
imadaemi 0:4e38f8b1c183 401 //ptr = EEPROM.chargeBuff((int)0);
imadaemi 0:4e38f8b1c183 402 if(ptr == 128){
imadaemi 0:4e38f8b1c183 403 EEPROM.writeBuff();
imadaemi 0:4e38f8b1c183 404 //ptr = EEPROM.setNextPage();
imadaemi 0:4e38f8b1c183 405 eeprom_ptr = EEPROM.setNextPage();
imadaemi 0:4e38f8b1c183 406 //pc.printf("eeprom_ptr: %08x\r\n", eeprom_ptr);
imadaemi 0:4e38f8b1c183 407 }
imadaemi 0:4e38f8b1c183 408
imadaemi 0:4e38f8b1c183 409 if(eeprom_ptr == 0x01000000){
imadaemi 0:4e38f8b1c183 410 ptr = 0;
imadaemi 0:4e38f8b1c183 411 eeprom_ptr = 0;
imadaemi 0:4e38f8b1c183 412 break;
imadaemi 0:4e38f8b1c183 413 }
imadaemi 0:4e38f8b1c183 414 }
imadaemi 0:4e38f8b1c183 415 }
imadaemi 0:4e38f8b1c183 416 }
imadaemi 0:4e38f8b1c183 417
imadaemi 0:4e38f8b1c183 418 // ***************************************************
imadaemi 0:4e38f8b1c183 419 // マルチプレクサで使うEEPROMを変更する
imadaemi 0:4e38f8b1c183 420 // ***************************************************
imadaemi 0:4e38f8b1c183 421 void setEEPROMGroup(int group_num){
imadaemi 0:4e38f8b1c183 422 switch(group_num){
imadaemi 0:4e38f8b1c183 423 case 0:
imadaemi 0:4e38f8b1c183 424 pinA = 0;
imadaemi 0:4e38f8b1c183 425 pinB = 0;
imadaemi 0:4e38f8b1c183 426 pinC = 0;
imadaemi 0:4e38f8b1c183 427 break;
imadaemi 0:4e38f8b1c183 428
imadaemi 0:4e38f8b1c183 429 case 1:
imadaemi 0:4e38f8b1c183 430 pinA = 1;
imadaemi 0:4e38f8b1c183 431 pinB = 0;
imadaemi 0:4e38f8b1c183 432 pinC = 0;
imadaemi 0:4e38f8b1c183 433 break;
imadaemi 0:4e38f8b1c183 434
imadaemi 0:4e38f8b1c183 435 case 2:
imadaemi 0:4e38f8b1c183 436 pinA = 0;
imadaemi 0:4e38f8b1c183 437 pinB = 1;
imadaemi 0:4e38f8b1c183 438 pinC = 0;
imadaemi 0:4e38f8b1c183 439 break;
imadaemi 0:4e38f8b1c183 440
imadaemi 0:4e38f8b1c183 441 case 3:
imadaemi 0:4e38f8b1c183 442 pinA = 1;
imadaemi 0:4e38f8b1c183 443 pinB = 1;
imadaemi 0:4e38f8b1c183 444 pinC = 0;
imadaemi 0:4e38f8b1c183 445 break;
imadaemi 0:4e38f8b1c183 446 }
imadaemi 0:4e38f8b1c183 447 }