all ok yesMU2
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@17:993f2fcc43df, 2019-09-03 (annotated)
- Committer:
- Nerosho
- Date:
- Tue Sep 03 11:46:42 2019 +0000
- Revision:
- 17:993f2fcc43df
- Parent:
- 16:917a2c03bd7c
- Child:
- 18:05d5de29511d
0903
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nerosho | 0:d0f3991839ec | 1 | #include "mbed.h" |
Nerosho | 0:d0f3991839ec | 2 | #include "MU2.h" |
Nerosho | 16:917a2c03bd7c | 3 | #include "GPS.h" |
Nerosho | 0:d0f3991839ec | 4 | #include "SDFileSystem.h" |
takepiyo | 3:4f1bac105598 | 5 | #include "inletclose.h" |
Nerosho | 15:bc013c313ef5 | 6 | #include "mbedTimer.h" |
Nerosho | 15:bc013c313ef5 | 7 | |
Nerosho | 17:993f2fcc43df | 8 | #define WAITTIME 5 //フライトピン抜けてからの待機時間 |
Nerosho | 17:993f2fcc43df | 9 | #define FIRETIME 0 //溶断時間を設定 |
Nerosho | 17:993f2fcc43df | 10 | #define FALLTIME 5 //シェンロン展開してインレットを閉鎖するまでの時間を設定 |
Nerosho | 17:993f2fcc43df | 11 | #define CLOSETIME 60 //しきい値超えてからのインレット閉鎖機構の稼働時間を設定 |
Nerosho | 17:993f2fcc43df | 12 | #define THRESHOLID 0.45 //感圧のしきい値 |
Nerosho | 16:917a2c03bd7c | 13 | #define INTERVALTIME 300 //インターバルモードの時間 |
Nerosho | 17:993f2fcc43df | 14 | #define INTERVAL_HIGH 5 //インターバルモードでモーター回す時間 |
Nerosho | 17:993f2fcc43df | 15 | #define INTERVAL_LOW 20 //インターバルモードでモーター止める時間 |
takepiyo | 8:6b835a82b1eb | 16 | |
Nerosho | 16:917a2c03bd7c | 17 | char fname[]="/sd/CanSat/log0902test3.csv";//ファイル名をここで設定 |
Nerosho | 16:917a2c03bd7c | 18 | char fname2[]="/sd/CanSat/sensor0902test3.csv";//感圧センサーのログファイル |
Nerosho | 15:bc013c313ef5 | 19 | |
takepiyo | 8:6b835a82b1eb | 20 | ////////////////フライトピンが抜ける→シェンロン展開→インレット閉鎖→待機 |
takepiyo | 8:6b835a82b1eb | 21 | //シーケンス番号//1//////////////////2///////////3///////////4/// |
Nerosho | 14:a07d2a958617 | 22 | //mbedのLEDが各シーケンス番号を2進数で示す:ex 0011 インレット閉鎖中 |
Nerosho | 15:bc013c313ef5 | 23 | //ただし今回はシーケンス4つなのでそれぞれのシーケンスでそれぞれのLEDが光る |
takepiyo | 8:6b835a82b1eb | 24 | |
takepiyo | 4:0d087e3f731d | 25 | MU2 MuPort(p28,p27); |
Nerosho | 16:917a2c03bd7c | 26 | SDFileSystem sd(p5, p6, p7, p8, "sd");//3号機11,12,13,14 4号機5,6,7,8 |
Nerosho | 16:917a2c03bd7c | 27 | GPS mygps(p13,p14);//3号機9,10 4号機13,14 |
takepiyo | 3:4f1bac105598 | 28 | |
Nerosho | 15:bc013c313ef5 | 29 | Inlet inlet(p26,p15,p16);//モーター出力,感圧センサー1入力,感圧センサー2入力 |
Nerosho | 0:d0f3991839ec | 30 | |
Nerosho | 16:917a2c03bd7c | 31 | DigitalOut FIRE(p25); //3号機24 4号機25 |
Nerosho | 1:a8772ca26d1b | 32 | |
Nerosho | 1:a8772ca26d1b | 33 | DigitalOut myled(LED1); |
takepiyo | 4:0d087e3f731d | 34 | DigitalOut myled2(LED2); |
Nerosho | 1:a8772ca26d1b | 35 | DigitalOut myled3(LED3); |
Nerosho | 1:a8772ca26d1b | 36 | DigitalOut myled4(LED4); |
Nerosho | 0:d0f3991839ec | 37 | |
Nerosho | 15:bc013c313ef5 | 38 | mbedTimer myTimer; |
Nerosho | 15:bc013c313ef5 | 39 | Timer timer_rec;//時間計測 |
Nerosho | 15:bc013c313ef5 | 40 | |
Nerosho | 15:bc013c313ef5 | 41 | int val; |
Nerosho | 16:917a2c03bd7c | 42 | int val2; |
Nerosho | 15:bc013c313ef5 | 43 | char sendMessage[128]; |
Nerosho | 17:993f2fcc43df | 44 | char sensorMessage[128]; |
Nerosho | 16:917a2c03bd7c | 45 | float ave_sensor; |
Nerosho | 16:917a2c03bd7c | 46 | int timer; |
Nerosho | 16:917a2c03bd7c | 47 | int timer2; |
Nerosho | 16:917a2c03bd7c | 48 | int timer3; |
Nerosho | 16:917a2c03bd7c | 49 | int timer4; |
Nerosho | 14:a07d2a958617 | 50 | |
Nerosho | 14:a07d2a958617 | 51 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 52 | メイン関数 |
Nerosho | 14:a07d2a958617 | 53 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 54 | |
Nerosho | 0:d0f3991839ec | 55 | int main() |
Nerosho | 0:d0f3991839ec | 56 | { |
Nerosho | 15:bc013c313ef5 | 57 | |
Nerosho | 15:bc013c313ef5 | 58 | timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 59 | wait(WAITTIME);//起動してからちょっと待つ |
takepiyo | 8:6b835a82b1eb | 60 | inlet.Stop(); |
Nerosho | 15:bc013c313ef5 | 61 | FILE* fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 62 | if(fp == NULL) { |
Nerosho | 15:bc013c313ef5 | 63 | |
Nerosho | 14:a07d2a958617 | 64 | myled=1; |
Nerosho | 14:a07d2a958617 | 65 | myled2=1; |
Nerosho | 14:a07d2a958617 | 66 | myled3=1; |
Nerosho | 14:a07d2a958617 | 67 | myled4=1; |
Nerosho | 14:a07d2a958617 | 68 | |
Nerosho | 15:bc013c313ef5 | 69 | fp = fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 70 | if(fp != NULL) { |
Nerosho | 15:bc013c313ef5 | 71 | myled=0; |
Nerosho | 15:bc013c313ef5 | 72 | myled2=0; |
Nerosho | 15:bc013c313ef5 | 73 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 74 | myled4=0; |
Nerosho | 15:bc013c313ef5 | 75 | } |
Nerosho | 15:bc013c313ef5 | 76 | |
Nerosho | 14:a07d2a958617 | 77 | } |
Nerosho | 14:a07d2a958617 | 78 | |
Nerosho | 15:bc013c313ef5 | 79 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 80 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 81 | fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 82 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 83 | MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 84 | |
Nerosho | 2:d6dc5c2224cc | 85 | |
takepiyo | 3:4f1bac105598 | 86 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 87 | |
Nerosho | 14:a07d2a958617 | 88 | fprintf(fp, "FireStart!\r\n"); |
Nerosho | 14:a07d2a958617 | 89 | MuPort.send("Fire Start!\r\n"); |
Nerosho | 14:a07d2a958617 | 90 | |
takepiyo | 8:6b835a82b1eb | 91 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 92 | myled=1; |
takepiyo | 8:6b835a82b1eb | 93 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 94 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 95 | myled=0; |
Nerosho | 15:bc013c313ef5 | 96 | |
Nerosho | 16:917a2c03bd7c | 97 | /*wait(3); |
Nerosho | 15:bc013c313ef5 | 98 | |
Nerosho | 14:a07d2a958617 | 99 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 100 | myled=1; |
Nerosho | 14:a07d2a958617 | 101 | wait(3);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 102 | FIRE=0; |
Nerosho | 16:917a2c03bd7c | 103 | myled=0;*/ |
Nerosho | 14:a07d2a958617 | 104 | |
Nerosho | 14:a07d2a958617 | 105 | fprintf(fp, "FireFinish!\r\n"); |
Nerosho | 14:a07d2a958617 | 106 | MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 107 | |
takepiyo | 3:4f1bac105598 | 108 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 109 | |
takepiyo | 3:4f1bac105598 | 110 | |
Nerosho | 14:a07d2a958617 | 111 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 112 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 113 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 114 | timer=0; |
Nerosho | 2:d6dc5c2224cc | 115 | |
Nerosho | 15:bc013c313ef5 | 116 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 117 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 118 | fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 119 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 120 | MuPort.send("GPS start!\r\n"); |
Nerosho | 14:a07d2a958617 | 121 | |
Nerosho | 14:a07d2a958617 | 122 | while(1) { |
takepiyo | 8:6b835a82b1eb | 123 | myled=0; |
takepiyo | 8:6b835a82b1eb | 124 | myled2=1; |
Nerosho | 14:a07d2a958617 | 125 | |
Nerosho | 16:917a2c03bd7c | 126 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 127 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 128 | myled=1; |
Nerosho | 16:917a2c03bd7c | 129 | val=timer_rec.read(); |
Nerosho | 16:917a2c03bd7c | 130 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 131 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 132 | MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 133 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 134 | timer++; |
Nerosho | 16:917a2c03bd7c | 135 | } |
takepiyo | 3:4f1bac105598 | 136 | |
Nerosho | 15:bc013c313ef5 | 137 | if(timer>FALLTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 15:bc013c313ef5 | 138 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 139 | break; |
Nerosho | 15:bc013c313ef5 | 140 | } |
Nerosho | 2:d6dc5c2224cc | 141 | |
Nerosho | 0:d0f3991839ec | 142 | } |
Nerosho | 14:a07d2a958617 | 143 | |
Nerosho | 14:a07d2a958617 | 144 | |
Nerosho | 14:a07d2a958617 | 145 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 146 | インレット連続閉鎖 |
Nerosho | 14:a07d2a958617 | 147 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 148 | |
Nerosho | 15:bc013c313ef5 | 149 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 150 | FILE* fp2= fopen(fname2, "a"); |
Nerosho | 15:bc013c313ef5 | 151 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 152 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 153 | fprintf(fp, "%s ClosingModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 154 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 155 | MuPort.send("Closing Mode start!\r\n"); |
Nerosho | 14:a07d2a958617 | 156 | |
Nerosho | 14:a07d2a958617 | 157 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 158 | timer2=0; |
Nerosho | 14:a07d2a958617 | 159 | |
Nerosho | 14:a07d2a958617 | 160 | while(1) { |
Nerosho | 15:bc013c313ef5 | 161 | myled=0; |
takepiyo | 8:6b835a82b1eb | 162 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 163 | myled3=1; |
takepiyo | 3:4f1bac105598 | 164 | |
Nerosho | 16:917a2c03bd7c | 165 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 166 | |
Nerosho | 17:993f2fcc43df | 167 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 168 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 169 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 17:993f2fcc43df | 170 | fprintf(fp2, "%d,sensor1,%f,sensor2,%f,average,%f\n",timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 17:993f2fcc43df | 171 | timer2++; |
Nerosho | 17:993f2fcc43df | 172 | |
Nerosho | 16:917a2c03bd7c | 173 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 174 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 175 | val=timer_rec.read(); |
Nerosho | 16:917a2c03bd7c | 176 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 177 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 178 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 179 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 17:993f2fcc43df | 180 | MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 181 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 182 | } |
Nerosho | 16:917a2c03bd7c | 183 | |
Nerosho | 16:917a2c03bd7c | 184 | |
takepiyo | 3:4f1bac105598 | 185 | |
Nerosho | 16:917a2c03bd7c | 186 | if(ave_sensor>THRESHOLID) { |
Nerosho | 16:917a2c03bd7c | 187 | val=timer_rec.read(); |
Nerosho | 16:917a2c03bd7c | 188 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 189 | fprintf(fp, "%s Get the rigidity!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 190 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 191 | MuPort.send("Get the rigidity!\r\n"); |
Nerosho | 16:917a2c03bd7c | 192 | |
Nerosho | 16:917a2c03bd7c | 193 | timer=0;//モーター時間で止める用 |
takepiyo | 3:4f1bac105598 | 194 | |
Nerosho | 16:917a2c03bd7c | 195 | while(1) { |
Nerosho | 16:917a2c03bd7c | 196 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 197 | |
Nerosho | 17:993f2fcc43df | 198 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 199 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 200 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 17:993f2fcc43df | 201 | fprintf(fp2, "%d,sensor1,%f,sensor2,%f,average,%f\n",timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 17:993f2fcc43df | 202 | timer2++; |
Nerosho | 17:993f2fcc43df | 203 | |
Nerosho | 16:917a2c03bd7c | 204 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 205 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 206 | val=timer_rec.read(); |
Nerosho | 16:917a2c03bd7c | 207 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 208 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 209 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 210 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 17:993f2fcc43df | 211 | MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 212 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 213 | timer++; |
Nerosho | 16:917a2c03bd7c | 214 | } |
Nerosho | 16:917a2c03bd7c | 215 | |
Nerosho | 16:917a2c03bd7c | 216 | |
Nerosho | 16:917a2c03bd7c | 217 | if(timer>CLOSETIME) { |
Nerosho | 16:917a2c03bd7c | 218 | break; |
Nerosho | 16:917a2c03bd7c | 219 | } |
Nerosho | 16:917a2c03bd7c | 220 | |
takepiyo | 3:4f1bac105598 | 221 | } |
Nerosho | 15:bc013c313ef5 | 222 | |
Nerosho | 16:917a2c03bd7c | 223 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 224 | val=timer_rec.read(); |
Nerosho | 16:917a2c03bd7c | 225 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 226 | fprintf(fp, "%s ClosingModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 227 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 228 | MuPort.send("Closing Mode Finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 229 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 230 | fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 231 | break; |
Nerosho | 16:917a2c03bd7c | 232 | |
takepiyo | 3:4f1bac105598 | 233 | } |
Nerosho | 16:917a2c03bd7c | 234 | |
Nerosho | 16:917a2c03bd7c | 235 | inlet.Close(1.1);//1より大きい引数にしておけばモーターはずっと回ってる. |
Nerosho | 16:917a2c03bd7c | 236 | |
Nerosho | 16:917a2c03bd7c | 237 | } |
Nerosho | 16:917a2c03bd7c | 238 | |
Nerosho | 16:917a2c03bd7c | 239 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 240 | インレットインターバル閉鎖 |
Nerosho | 16:917a2c03bd7c | 241 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 242 | |
Nerosho | 17:993f2fcc43df | 243 | |
Nerosho | 17:993f2fcc43df | 244 | //fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 245 | //fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 246 | val=timer_rec.read(); |
Nerosho | 16:917a2c03bd7c | 247 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 248 | fprintf(fp, "%s IntervalModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 249 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 250 | MuPort.send("Interval Mode start!\r\n"); |
Nerosho | 17:993f2fcc43df | 251 | //fclose(fp); |
Nerosho | 16:917a2c03bd7c | 252 | |
Nerosho | 16:917a2c03bd7c | 253 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 254 | timer3=0; |
Nerosho | 16:917a2c03bd7c | 255 | val2=0; |
Nerosho | 16:917a2c03bd7c | 256 | |
Nerosho | 16:917a2c03bd7c | 257 | while(1) { |
Nerosho | 16:917a2c03bd7c | 258 | |
Nerosho | 16:917a2c03bd7c | 259 | myled=0; |
Nerosho | 16:917a2c03bd7c | 260 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 261 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 262 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 263 | |
Nerosho | 16:917a2c03bd7c | 264 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 265 | |
Nerosho | 16:917a2c03bd7c | 266 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 267 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 268 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 269 | //fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 270 | fprintf(fp2, "%d,sensor1,%f,sensor2,%f,average,%f\n",timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 271 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 272 | timer2++; |
Nerosho | 16:917a2c03bd7c | 273 | |
Nerosho | 17:993f2fcc43df | 274 | if(mygps.GPSread) { |
Nerosho | 17:993f2fcc43df | 275 | myled3=1; |
Nerosho | 17:993f2fcc43df | 276 | val=timer_rec.read(); |
Nerosho | 17:993f2fcc43df | 277 | myTimer.sendMessage(val); |
Nerosho | 17:993f2fcc43df | 278 | MuPort.send(myTimer.timeMessage); |
Nerosho | 17:993f2fcc43df | 279 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 280 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 17:993f2fcc43df | 281 | MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 282 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 283 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 284 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 285 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 286 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 287 | timer++; |
Nerosho | 17:993f2fcc43df | 288 | timer3++; |
Nerosho | 17:993f2fcc43df | 289 | } |
Nerosho | 17:993f2fcc43df | 290 | |
Nerosho | 17:993f2fcc43df | 291 | |
Nerosho | 17:993f2fcc43df | 292 | |
Nerosho | 16:917a2c03bd7c | 293 | if(timer3>INTERVAL_HIGH) { |
Nerosho | 16:917a2c03bd7c | 294 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 295 | myled=0; |
Nerosho | 16:917a2c03bd7c | 296 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 297 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 298 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 299 | |
Nerosho | 16:917a2c03bd7c | 300 | timer3=0; |
Nerosho | 16:917a2c03bd7c | 301 | timer4=0; |
Nerosho | 16:917a2c03bd7c | 302 | |
Nerosho | 16:917a2c03bd7c | 303 | while(1) { |
Nerosho | 16:917a2c03bd7c | 304 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 305 | |
Nerosho | 16:917a2c03bd7c | 306 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 307 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 308 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 309 | //fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 310 | fprintf(fp2, "%d,sensor1,%f,sensor2,%f,average,%f\n",timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 311 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 312 | timer2++; |
Nerosho | 16:917a2c03bd7c | 313 | |
Nerosho | 17:993f2fcc43df | 314 | if(mygps.GPSread) { |
Nerosho | 17:993f2fcc43df | 315 | myled3=1; |
Nerosho | 17:993f2fcc43df | 316 | val=val2+timer_rec.read(); |
Nerosho | 17:993f2fcc43df | 317 | myTimer.sendMessage(val); |
Nerosho | 17:993f2fcc43df | 318 | MuPort.send(myTimer.timeMessage); |
Nerosho | 17:993f2fcc43df | 319 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 320 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 17:993f2fcc43df | 321 | MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 322 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 323 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 324 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 325 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 326 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 327 | timer++; |
Nerosho | 17:993f2fcc43df | 328 | timer4++; |
Nerosho | 17:993f2fcc43df | 329 | } |
Nerosho | 17:993f2fcc43df | 330 | |
Nerosho | 17:993f2fcc43df | 331 | |
Nerosho | 16:917a2c03bd7c | 332 | if(timer4>INTERVAL_LOW) { |
Nerosho | 16:917a2c03bd7c | 333 | break; |
Nerosho | 16:917a2c03bd7c | 334 | } |
Nerosho | 16:917a2c03bd7c | 335 | |
Nerosho | 16:917a2c03bd7c | 336 | } |
Nerosho | 16:917a2c03bd7c | 337 | |
Nerosho | 16:917a2c03bd7c | 338 | } |
Nerosho | 16:917a2c03bd7c | 339 | |
Nerosho | 16:917a2c03bd7c | 340 | if(val>1800) { |
Nerosho | 17:993f2fcc43df | 341 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 342 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 343 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 344 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 345 | val=0; |
Nerosho | 17:993f2fcc43df | 346 | //fclose(fp); |
Nerosho | 17:993f2fcc43df | 347 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 348 | //fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 349 | //fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 350 | } |
Nerosho | 16:917a2c03bd7c | 351 | |
Nerosho | 16:917a2c03bd7c | 352 | |
Nerosho | 16:917a2c03bd7c | 353 | if(timer>INTERVALTIME) { |
Nerosho | 16:917a2c03bd7c | 354 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 355 | val=timer_rec.read(); |
Nerosho | 16:917a2c03bd7c | 356 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 357 | fprintf(fp, "%s IntervalModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 358 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 359 | MuPort.send("Interval Mode finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 360 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 361 | fclose(fp2); |
Nerosho | 15:bc013c313ef5 | 362 | break; |
Nerosho | 15:bc013c313ef5 | 363 | } |
takepiyo | 3:4f1bac105598 | 364 | |
Nerosho | 16:917a2c03bd7c | 365 | inlet.Close(1.1);//1より大きい引数にしておけばモーターはずっと回ってる. |
Nerosho | 16:917a2c03bd7c | 366 | |
takepiyo | 3:4f1bac105598 | 367 | } |
Nerosho | 14:a07d2a958617 | 368 | |
Nerosho | 14:a07d2a958617 | 369 | |
Nerosho | 14:a07d2a958617 | 370 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 371 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 372 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 373 | |
Nerosho | 15:bc013c313ef5 | 374 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 375 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 376 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 377 | fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 378 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 379 | MuPort.send("Standby mode start!\r\n"); |
Nerosho | 15:bc013c313ef5 | 380 | fclose(fp); |
Nerosho | 14:a07d2a958617 | 381 | |
Nerosho | 14:a07d2a958617 | 382 | |
Nerosho | 14:a07d2a958617 | 383 | while(1) { |
Nerosho | 15:bc013c313ef5 | 384 | myled=0; |
Nerosho | 15:bc013c313ef5 | 385 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 386 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 387 | myled4=1; |
takepiyo | 6:b7bf39bc3487 | 388 | |
Nerosho | 16:917a2c03bd7c | 389 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 390 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 391 | myled3=1; |
Nerosho | 16:917a2c03bd7c | 392 | val=val2+timer_rec.read(); |
Nerosho | 16:917a2c03bd7c | 393 | myTimer.sendMessage(val); |
Nerosho | 16:917a2c03bd7c | 394 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 395 | MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 396 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 397 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 398 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 399 | //wait(1.0); |
Nerosho | 16:917a2c03bd7c | 400 | } |
Nerosho | 17:993f2fcc43df | 401 | |
Nerosho | 16:917a2c03bd7c | 402 | if(val>1800) { |
Nerosho | 17:993f2fcc43df | 403 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 404 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 405 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 406 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 407 | val=0; |
Nerosho | 16:917a2c03bd7c | 408 | } |
takepiyo | 6:b7bf39bc3487 | 409 | |
takepiyo | 6:b7bf39bc3487 | 410 | } |
Nerosho | 14:a07d2a958617 | 411 | |
Nerosho | 2:d6dc5c2224cc | 412 | } |
Nerosho | 2:d6dc5c2224cc | 413 | |
Nerosho | 2:d6dc5c2224cc | 414 |