all ok yesMU2
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@14:a07d2a958617, 2019-08-20 (annotated)
- Committer:
- Nerosho
- Date:
- Tue Aug 20 22:11:17 2019 +0000
- Revision:
- 14:a07d2a958617
- Parent:
- 11:a273a8decf90
- Child:
- 15:bc013c313ef5
0821
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 | 0:d0f3991839ec | 3 | #include "SDFileSystem.h" |
takepiyo | 3:4f1bac105598 | 4 | #include "inletclose.h" |
Nerosho | 2:d6dc5c2224cc | 5 | //#include "GPS.h" |
Nerosho | 1:a8772ca26d1b | 6 | |
takepiyo | 8:6b835a82b1eb | 7 | #define FIRETIME 5 //溶断時間を設定 |
Nerosho | 14:a07d2a958617 | 8 | #define FALLTIME 90 //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 |
takepiyo | 8:6b835a82b1eb | 9 | #define CLOSETIME 10 //インレット閉鎖機構の稼働時間を設定 |
takepiyo | 8:6b835a82b1eb | 10 | |
takepiyo | 8:6b835a82b1eb | 11 | ////////////////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 | 12 | //シーケンス番号//1//////////////////2///////////3///////////4/// |
Nerosho | 14:a07d2a958617 | 13 | //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 |
takepiyo | 8:6b835a82b1eb | 14 | |
takepiyo | 4:0d087e3f731d | 15 | MU2 MuPort(p28,p27); |
takepiyo | 3:4f1bac105598 | 16 | SDFileSystem sd(p11, p12, p13, p14, "sd"); |
Nerosho | 2:d6dc5c2224cc | 17 | //GPS gps(p13,p14); |
takepiyo | 3:4f1bac105598 | 18 | Serial gps(p9,p10); //tx, rx |
takepiyo | 3:4f1bac105598 | 19 | |
takepiyo | 8:6b835a82b1eb | 20 | Inlet inlet(p26,p17,p15);//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 | 21 | |
Nerosho | 14:a07d2a958617 | 22 | DigitalOut FIRE(p24); //溶断 |
Nerosho | 1:a8772ca26d1b | 23 | |
Nerosho | 1:a8772ca26d1b | 24 | DigitalOut myled(LED1); |
takepiyo | 4:0d087e3f731d | 25 | DigitalOut myled2(LED2); |
Nerosho | 1:a8772ca26d1b | 26 | DigitalOut myled3(LED3); |
Nerosho | 1:a8772ca26d1b | 27 | DigitalOut myled4(LED4); |
Nerosho | 0:d0f3991839ec | 28 | |
Nerosho | 14:a07d2a958617 | 29 | |
Nerosho | 14:a07d2a958617 | 30 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 31 | メイン関数 |
Nerosho | 14:a07d2a958617 | 32 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 33 | |
Nerosho | 0:d0f3991839ec | 34 | int main() |
Nerosho | 0:d0f3991839ec | 35 | { |
Nerosho | 14:a07d2a958617 | 36 | wait(10);//起動してからちょっと待つ |
takepiyo | 8:6b835a82b1eb | 37 | inlet.Stop(); |
Nerosho | 2:d6dc5c2224cc | 38 | //FILE* fp1= fopen("/sd/cansat/log3.txt", "w"); |
Nerosho | 14:a07d2a958617 | 39 | FILE* fp= fopen("/sd/cansat/log0820_1.csv", "w"); |
Nerosho | 14:a07d2a958617 | 40 | if(fp == NULL) { |
Nerosho | 14:a07d2a958617 | 41 | |
Nerosho | 14:a07d2a958617 | 42 | myled=1; |
Nerosho | 14:a07d2a958617 | 43 | myled2=1; |
Nerosho | 14:a07d2a958617 | 44 | myled3=1; |
Nerosho | 14:a07d2a958617 | 45 | myled4=1; |
Nerosho | 14:a07d2a958617 | 46 | |
Nerosho | 14:a07d2a958617 | 47 | fp = fopen("/sd/cansat/log0820_1.csv", "w"); |
Nerosho | 14:a07d2a958617 | 48 | wait(0.5); |
Nerosho | 14:a07d2a958617 | 49 | myled=0; |
Nerosho | 14:a07d2a958617 | 50 | myled2=0; |
Nerosho | 14:a07d2a958617 | 51 | myled3=0; |
Nerosho | 14:a07d2a958617 | 52 | myled4=0; |
Nerosho | 14:a07d2a958617 | 53 | |
Nerosho | 14:a07d2a958617 | 54 | } |
Nerosho | 14:a07d2a958617 | 55 | |
Nerosho | 14:a07d2a958617 | 56 | |
Nerosho | 14:a07d2a958617 | 57 | fprintf(fp, "CanSatStart!\r\n"); |
Nerosho | 14:a07d2a958617 | 58 | MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 59 | |
Nerosho | 2:d6dc5c2224cc | 60 | /*if(fp1 == NULL || fp2 == NULL) |
takepiyo | 3:4f1bac105598 | 61 | { |
Nerosho | 2:d6dc5c2224cc | 62 | (fp1 == NULL) ? fprintf(stderr, "fname1 open error.\n") : fclose(fp1); |
Nerosho | 2:d6dc5c2224cc | 63 | (fp2 == NULL) ? fprintf(stderr, "fname2 open error.\n") : fclose(fp2); |
Nerosho | 2:d6dc5c2224cc | 64 | return -1; |
takepiyo | 3:4f1bac105598 | 65 | }*/ |
Nerosho | 2:d6dc5c2224cc | 66 | |
takepiyo | 3:4f1bac105598 | 67 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 68 | |
Nerosho | 14:a07d2a958617 | 69 | fprintf(fp, "FireStart!\r\n"); |
Nerosho | 14:a07d2a958617 | 70 | MuPort.send("Fire Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 71 | myled=1;//テストようにLED光らせてる |
Nerosho | 14:a07d2a958617 | 72 | |
takepiyo | 8:6b835a82b1eb | 73 | FIRE=1; |
takepiyo | 8:6b835a82b1eb | 74 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 75 | FIRE=0; |
Nerosho | 14:a07d2a958617 | 76 | wait(10); |
Nerosho | 14:a07d2a958617 | 77 | FIRE=1; |
Nerosho | 14:a07d2a958617 | 78 | wait(3);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 79 | FIRE=0; |
Nerosho | 14:a07d2a958617 | 80 | |
Nerosho | 14:a07d2a958617 | 81 | fprintf(fp, "FireFinish!\r\n"); |
Nerosho | 14:a07d2a958617 | 82 | MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 83 | |
takepiyo | 3:4f1bac105598 | 84 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 85 | |
Nerosho | 2:d6dc5c2224cc | 86 | gps.baud(9600); |
Nerosho | 2:d6dc5c2224cc | 87 | char recvGPS=0; |
Nerosho | 2:d6dc5c2224cc | 88 | char getGPS[128]; |
Nerosho | 2:d6dc5c2224cc | 89 | int i=0; |
takepiyo | 3:4f1bac105598 | 90 | int timer=0; |
takepiyo | 3:4f1bac105598 | 91 | |
Nerosho | 14:a07d2a958617 | 92 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 93 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 94 | *******************************************************************************/ |
Nerosho | 2:d6dc5c2224cc | 95 | |
Nerosho | 14:a07d2a958617 | 96 | fprintf(fp, "GPSstart!\r\n"); |
Nerosho | 14:a07d2a958617 | 97 | MuPort.send("GPS start!\r\n"); |
Nerosho | 14:a07d2a958617 | 98 | |
Nerosho | 14:a07d2a958617 | 99 | while(1) { |
takepiyo | 8:6b835a82b1eb | 100 | myled=0; |
takepiyo | 8:6b835a82b1eb | 101 | myled2=1; |
Nerosho | 14:a07d2a958617 | 102 | if(gps.readable()) { |
Nerosho | 2:d6dc5c2224cc | 103 | recvGPS=gps.getc(); |
Nerosho | 2:d6dc5c2224cc | 104 | getGPS[i]=recvGPS; |
Nerosho | 2:d6dc5c2224cc | 105 | |
Nerosho | 14:a07d2a958617 | 106 | if(getGPS[i]=='\n') { |
Nerosho | 2:d6dc5c2224cc | 107 | |
Nerosho | 14:a07d2a958617 | 108 | if((getGPS[5]=='G')&&(getGPS[6]=='A')) { |
Nerosho | 14:a07d2a958617 | 109 | |
takepiyo | 6:b7bf39bc3487 | 110 | MuPort.send(getGPS); |
takepiyo | 8:6b835a82b1eb | 111 | myled=1; |
Nerosho | 2:d6dc5c2224cc | 112 | /*if(fp == NULL) { |
Nerosho | 2:d6dc5c2224cc | 113 | error("Could not open file for write\n"); |
Nerosho | 2:d6dc5c2224cc | 114 | }*/ |
takepiyo | 3:4f1bac105598 | 115 | |
Nerosho | 14:a07d2a958617 | 116 | fprintf(fp, "%s\n",getGPS); |
Nerosho | 2:d6dc5c2224cc | 117 | //fclose(fp); |
Nerosho | 14:a07d2a958617 | 118 | |
takepiyo | 6:b7bf39bc3487 | 119 | wait(1.0); |
takepiyo | 4:0d087e3f731d | 120 | timer++; |
Nerosho | 2:d6dc5c2224cc | 121 | } |
Nerosho | 2:d6dc5c2224cc | 122 | |
Nerosho | 2:d6dc5c2224cc | 123 | i=0; |
Nerosho | 2:d6dc5c2224cc | 124 | } |
Nerosho | 2:d6dc5c2224cc | 125 | i++; |
Nerosho | 14:a07d2a958617 | 126 | if(timer>FALLTIME) { //落下開始してからTBD秒後whileを抜ける. |
takepiyo | 3:4f1bac105598 | 127 | break; |
takepiyo | 3:4f1bac105598 | 128 | } |
Nerosho | 2:d6dc5c2224cc | 129 | } |
Nerosho | 2:d6dc5c2224cc | 130 | |
Nerosho | 2:d6dc5c2224cc | 131 | // wait(1); |
Nerosho | 2:d6dc5c2224cc | 132 | //fclose(fp); |
Nerosho | 0:d0f3991839ec | 133 | } |
Nerosho | 14:a07d2a958617 | 134 | |
Nerosho | 14:a07d2a958617 | 135 | |
Nerosho | 14:a07d2a958617 | 136 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 137 | インレット閉鎖 |
Nerosho | 14:a07d2a958617 | 138 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 139 | |
Nerosho | 14:a07d2a958617 | 140 | fprintf(fp, "InletStart!\r\n"); |
Nerosho | 14:a07d2a958617 | 141 | MuPort.send("Inlet start!\r\n"); |
Nerosho | 14:a07d2a958617 | 142 | |
Nerosho | 14:a07d2a958617 | 143 | timer=0;//モーター時間で止める用 |
Nerosho | 14:a07d2a958617 | 144 | |
Nerosho | 14:a07d2a958617 | 145 | while(1) { |
takepiyo | 8:6b835a82b1eb | 146 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 147 | myled3=1; |
Nerosho | 14:a07d2a958617 | 148 | if(gps.readable()) { |
takepiyo | 3:4f1bac105598 | 149 | recvGPS=gps.getc(); |
takepiyo | 3:4f1bac105598 | 150 | getGPS[i]=recvGPS; |
takepiyo | 3:4f1bac105598 | 151 | |
Nerosho | 14:a07d2a958617 | 152 | if(getGPS[i]=='\n') { |
takepiyo | 3:4f1bac105598 | 153 | |
Nerosho | 14:a07d2a958617 | 154 | if((getGPS[5]=='G')&&(getGPS[6]=='A')) { |
takepiyo | 4:0d087e3f731d | 155 | MuPort.send(getGPS); |
takepiyo | 8:6b835a82b1eb | 156 | myled2=1; |
takepiyo | 3:4f1bac105598 | 157 | /*if(fp == NULL) { |
takepiyo | 3:4f1bac105598 | 158 | error("Could not open file for write\n"); |
takepiyo | 3:4f1bac105598 | 159 | }*/ |
takepiyo | 3:4f1bac105598 | 160 | |
Nerosho | 14:a07d2a958617 | 161 | fprintf(fp, "%s\n",getGPS); |
takepiyo | 3:4f1bac105598 | 162 | //fclose(fp); |
takepiyo | 8:6b835a82b1eb | 163 | wait(1.0); |
takepiyo | 6:b7bf39bc3487 | 164 | timer++; |
takepiyo | 3:4f1bac105598 | 165 | } |
takepiyo | 3:4f1bac105598 | 166 | |
takepiyo | 3:4f1bac105598 | 167 | i=0; |
takepiyo | 3:4f1bac105598 | 168 | } |
takepiyo | 3:4f1bac105598 | 169 | i++; |
Nerosho | 14:a07d2a958617 | 170 | if(timer>CLOSETIME) { |
Nerosho | 14:a07d2a958617 | 171 | inlet.Stop();// |
Nerosho | 14:a07d2a958617 | 172 | break; |
takepiyo | 6:b7bf39bc3487 | 173 | } |
takepiyo | 6:b7bf39bc3487 | 174 | 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. |
takepiyo | 3:4f1bac105598 | 175 | } |
takepiyo | 3:4f1bac105598 | 176 | |
takepiyo | 3:4f1bac105598 | 177 | // wait(1); |
takepiyo | 3:4f1bac105598 | 178 | //fclose(fp); |
takepiyo | 3:4f1bac105598 | 179 | } |
Nerosho | 14:a07d2a958617 | 180 | |
Nerosho | 14:a07d2a958617 | 181 | |
Nerosho | 14:a07d2a958617 | 182 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 183 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 184 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 185 | |
Nerosho | 14:a07d2a958617 | 186 | fprintf(fp, "StandbyModeStart!\r\n"); |
Nerosho | 14:a07d2a958617 | 187 | MuPort.send("Standby mode start!\r\n"); |
Nerosho | 14:a07d2a958617 | 188 | |
Nerosho | 14:a07d2a958617 | 189 | |
Nerosho | 14:a07d2a958617 | 190 | while(1) { |
takepiyo | 8:6b835a82b1eb | 191 | myled4=1; |
takepiyo | 8:6b835a82b1eb | 192 | myled3=0; |
Nerosho | 14:a07d2a958617 | 193 | if(gps.readable()) { |
takepiyo | 6:b7bf39bc3487 | 194 | recvGPS=gps.getc(); |
takepiyo | 6:b7bf39bc3487 | 195 | getGPS[i]=recvGPS; |
takepiyo | 6:b7bf39bc3487 | 196 | |
Nerosho | 14:a07d2a958617 | 197 | if(getGPS[i]=='\n') { |
takepiyo | 6:b7bf39bc3487 | 198 | |
Nerosho | 14:a07d2a958617 | 199 | if((getGPS[5]=='G')&&(getGPS[6]=='A')) { |
takepiyo | 6:b7bf39bc3487 | 200 | MuPort.send(getGPS); |
takepiyo | 8:6b835a82b1eb | 201 | myled3=1; |
takepiyo | 6:b7bf39bc3487 | 202 | /*if(fp == NULL) { |
takepiyo | 6:b7bf39bc3487 | 203 | error("Could not open file for write\n"); |
takepiyo | 6:b7bf39bc3487 | 204 | }*/ |
takepiyo | 6:b7bf39bc3487 | 205 | |
Nerosho | 14:a07d2a958617 | 206 | fprintf(fp, "%s\n",getGPS); |
takepiyo | 6:b7bf39bc3487 | 207 | //fclose(fp); |
takepiyo | 6:b7bf39bc3487 | 208 | wait(0.1); |
takepiyo | 6:b7bf39bc3487 | 209 | timer++; |
takepiyo | 6:b7bf39bc3487 | 210 | } |
takepiyo | 6:b7bf39bc3487 | 211 | |
takepiyo | 6:b7bf39bc3487 | 212 | i=0; |
takepiyo | 6:b7bf39bc3487 | 213 | } |
takepiyo | 6:b7bf39bc3487 | 214 | i++; |
takepiyo | 6:b7bf39bc3487 | 215 | } |
takepiyo | 6:b7bf39bc3487 | 216 | |
takepiyo | 6:b7bf39bc3487 | 217 | // wait(1); |
takepiyo | 6:b7bf39bc3487 | 218 | //fclose(fp); |
takepiyo | 6:b7bf39bc3487 | 219 | } |
Nerosho | 14:a07d2a958617 | 220 | |
takepiyo | 6:b7bf39bc3487 | 221 | |
Nerosho | 2:d6dc5c2224cc | 222 | //fclose(fp1); |
Nerosho | 14:a07d2a958617 | 223 | fclose(fp); |
Nerosho | 2:d6dc5c2224cc | 224 | |
Nerosho | 2:d6dc5c2224cc | 225 | } |
Nerosho | 2:d6dc5c2224cc | 226 | |
Nerosho | 2:d6dc5c2224cc | 227 | |
Nerosho | 2:d6dc5c2224cc | 228 |