all ok yesMU2
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@15:bc013c313ef5, 2019-08-25 (annotated)
- Committer:
- Nerosho
- Date:
- Sun Aug 25 11:10:27 2019 +0000
- Revision:
- 15:bc013c313ef5
- Parent:
- 14:a07d2a958617
- Child:
- 16:917a2c03bd7c
0825
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 | 15:bc013c313ef5 | 5 | #include "mbedTimer.h" |
Nerosho | 2:d6dc5c2224cc | 6 | //#include "GPS.h" |
Nerosho | 1:a8772ca26d1b | 7 | |
Nerosho | 15:bc013c313ef5 | 8 | |
takepiyo | 8:6b835a82b1eb | 9 | #define FIRETIME 5 //溶断時間を設定 |
Nerosho | 15:bc013c313ef5 | 10 | #define FALLTIME 10 //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 | 11 | #define CLOSETIME 10 //インレット閉鎖機構の稼働時間を設定 |
takepiyo | 8:6b835a82b1eb | 12 | |
Nerosho | 15:bc013c313ef5 | 13 | char fname[]="/sd/CanSat/log0826_test10.csv";//ファイル名をここで設定 |
Nerosho | 15:bc013c313ef5 | 14 | |
takepiyo | 8:6b835a82b1eb | 15 | ////////////////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 | 16 | //シーケンス番号//1//////////////////2///////////3///////////4/// |
Nerosho | 14:a07d2a958617 | 17 | //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 | 18 | //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 | 19 | |
takepiyo | 4:0d087e3f731d | 20 | MU2 MuPort(p28,p27); |
Nerosho | 15:bc013c313ef5 | 21 | SDFileSystem sd(p5, p6, p7, p8, "sd");//3号機11,12,13,14 |
Nerosho | 2:d6dc5c2224cc | 22 | //GPS gps(p13,p14); |
Nerosho | 15:bc013c313ef5 | 23 | Serial gps(p13,p14); //3号機9,10 |
takepiyo | 3:4f1bac105598 | 24 | |
Nerosho | 15:bc013c313ef5 | 25 | 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 | 26 | |
Nerosho | 15:bc013c313ef5 | 27 | DigitalOut FIRE(p25); //溶断 |
Nerosho | 1:a8772ca26d1b | 28 | |
Nerosho | 1:a8772ca26d1b | 29 | DigitalOut myled(LED1); |
takepiyo | 4:0d087e3f731d | 30 | DigitalOut myled2(LED2); |
Nerosho | 1:a8772ca26d1b | 31 | DigitalOut myled3(LED3); |
Nerosho | 1:a8772ca26d1b | 32 | DigitalOut myled4(LED4); |
Nerosho | 0:d0f3991839ec | 33 | |
Nerosho | 15:bc013c313ef5 | 34 | mbedTimer myTimer; |
Nerosho | 15:bc013c313ef5 | 35 | Timer timer_rec;//時間計測 |
Nerosho | 15:bc013c313ef5 | 36 | |
Nerosho | 15:bc013c313ef5 | 37 | int val; |
Nerosho | 15:bc013c313ef5 | 38 | char sendMessage[128]; |
Nerosho | 15:bc013c313ef5 | 39 | |
Nerosho | 15:bc013c313ef5 | 40 | |
Nerosho | 15:bc013c313ef5 | 41 | |
Nerosho | 14:a07d2a958617 | 42 | |
Nerosho | 14:a07d2a958617 | 43 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 44 | メイン関数 |
Nerosho | 14:a07d2a958617 | 45 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 46 | |
Nerosho | 0:d0f3991839ec | 47 | int main() |
Nerosho | 0:d0f3991839ec | 48 | { |
Nerosho | 15:bc013c313ef5 | 49 | |
Nerosho | 15:bc013c313ef5 | 50 | timer_rec.start(); |
Nerosho | 15:bc013c313ef5 | 51 | wait(0.1);//起動してからちょっと待つ |
takepiyo | 8:6b835a82b1eb | 52 | inlet.Stop(); |
Nerosho | 15:bc013c313ef5 | 53 | FILE* fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 54 | if(fp == NULL) { |
Nerosho | 15:bc013c313ef5 | 55 | |
Nerosho | 14:a07d2a958617 | 56 | myled=1; |
Nerosho | 14:a07d2a958617 | 57 | myled2=1; |
Nerosho | 14:a07d2a958617 | 58 | myled3=1; |
Nerosho | 14:a07d2a958617 | 59 | myled4=1; |
Nerosho | 14:a07d2a958617 | 60 | |
Nerosho | 15:bc013c313ef5 | 61 | fp = fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 62 | if(fp != NULL) { |
Nerosho | 15:bc013c313ef5 | 63 | myled=0; |
Nerosho | 15:bc013c313ef5 | 64 | myled2=0; |
Nerosho | 15:bc013c313ef5 | 65 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 66 | myled4=0; |
Nerosho | 15:bc013c313ef5 | 67 | } |
Nerosho | 15:bc013c313ef5 | 68 | |
Nerosho | 14:a07d2a958617 | 69 | } |
Nerosho | 14:a07d2a958617 | 70 | |
Nerosho | 15:bc013c313ef5 | 71 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 72 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 73 | fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 74 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 75 | MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 76 | |
Nerosho | 2:d6dc5c2224cc | 77 | |
takepiyo | 3:4f1bac105598 | 78 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 79 | |
Nerosho | 14:a07d2a958617 | 80 | fprintf(fp, "FireStart!\r\n"); |
Nerosho | 14:a07d2a958617 | 81 | MuPort.send("Fire Start!\r\n"); |
Nerosho | 14:a07d2a958617 | 82 | |
takepiyo | 8:6b835a82b1eb | 83 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 84 | myled=1; |
takepiyo | 8:6b835a82b1eb | 85 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 86 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 87 | myled=0; |
Nerosho | 15:bc013c313ef5 | 88 | |
Nerosho | 15:bc013c313ef5 | 89 | wait(3); |
Nerosho | 15:bc013c313ef5 | 90 | |
Nerosho | 14:a07d2a958617 | 91 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 92 | myled=1; |
Nerosho | 14:a07d2a958617 | 93 | wait(3);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 94 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 95 | myled=0; |
Nerosho | 14:a07d2a958617 | 96 | |
Nerosho | 14:a07d2a958617 | 97 | fprintf(fp, "FireFinish!\r\n"); |
Nerosho | 14:a07d2a958617 | 98 | MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 99 | |
takepiyo | 3:4f1bac105598 | 100 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 101 | |
Nerosho | 15:bc013c313ef5 | 102 | gps.baud(9600);//9600 |
Nerosho | 2:d6dc5c2224cc | 103 | char recvGPS=0; |
Nerosho | 2:d6dc5c2224cc | 104 | char getGPS[128]; |
Nerosho | 2:d6dc5c2224cc | 105 | int i=0; |
takepiyo | 3:4f1bac105598 | 106 | int timer=0; |
takepiyo | 3:4f1bac105598 | 107 | |
Nerosho | 14:a07d2a958617 | 108 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 109 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 110 | *******************************************************************************/ |
Nerosho | 2:d6dc5c2224cc | 111 | |
Nerosho | 15:bc013c313ef5 | 112 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 113 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 114 | fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 115 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 116 | MuPort.send("GPS start!\r\n"); |
Nerosho | 14:a07d2a958617 | 117 | |
Nerosho | 14:a07d2a958617 | 118 | while(1) { |
takepiyo | 8:6b835a82b1eb | 119 | myled=0; |
takepiyo | 8:6b835a82b1eb | 120 | myled2=1; |
Nerosho | 15:bc013c313ef5 | 121 | //if(gps.readable()) { |
Nerosho | 15:bc013c313ef5 | 122 | recvGPS=gps.getc(); |
Nerosho | 15:bc013c313ef5 | 123 | getGPS[i]=recvGPS; |
Nerosho | 2:d6dc5c2224cc | 124 | |
Nerosho | 15:bc013c313ef5 | 125 | if(getGPS[i]=='\n') { |
Nerosho | 2:d6dc5c2224cc | 126 | |
Nerosho | 15:bc013c313ef5 | 127 | if((getGPS[5]=='G')&&(getGPS[6]=='A')) { |
Nerosho | 14:a07d2a958617 | 128 | |
Nerosho | 15:bc013c313ef5 | 129 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 130 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 131 | MuPort.send(myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 132 | MuPort.send(getGPS); |
Nerosho | 15:bc013c313ef5 | 133 | |
Nerosho | 15:bc013c313ef5 | 134 | myled=1; |
takepiyo | 3:4f1bac105598 | 135 | |
Nerosho | 15:bc013c313ef5 | 136 | fprintf(fp, "%s %s\n",myTimer.timeMessage,getGPS); |
Nerosho | 14:a07d2a958617 | 137 | |
Nerosho | 15:bc013c313ef5 | 138 | //wait(1.0); |
Nerosho | 15:bc013c313ef5 | 139 | timer++; |
Nerosho | 15:bc013c313ef5 | 140 | } |
Nerosho | 2:d6dc5c2224cc | 141 | |
Nerosho | 15:bc013c313ef5 | 142 | i=0; |
Nerosho | 2:d6dc5c2224cc | 143 | } |
Nerosho | 15:bc013c313ef5 | 144 | i++; |
Nerosho | 15:bc013c313ef5 | 145 | if(timer>FALLTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 15:bc013c313ef5 | 146 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 147 | break; |
Nerosho | 15:bc013c313ef5 | 148 | } |
Nerosho | 15:bc013c313ef5 | 149 | //} |
Nerosho | 2:d6dc5c2224cc | 150 | |
Nerosho | 2:d6dc5c2224cc | 151 | //fclose(fp); |
Nerosho | 0:d0f3991839ec | 152 | } |
Nerosho | 14:a07d2a958617 | 153 | |
Nerosho | 14:a07d2a958617 | 154 | |
Nerosho | 14:a07d2a958617 | 155 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 156 | インレット閉鎖 |
Nerosho | 14:a07d2a958617 | 157 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 158 | |
Nerosho | 15:bc013c313ef5 | 159 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 160 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 161 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 162 | fprintf(fp, "%s InletStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 163 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 164 | MuPort.send("Inlet start!\r\n"); |
Nerosho | 14:a07d2a958617 | 165 | |
Nerosho | 14:a07d2a958617 | 166 | timer=0;//モーター時間で止める用 |
Nerosho | 14:a07d2a958617 | 167 | |
Nerosho | 14:a07d2a958617 | 168 | while(1) { |
Nerosho | 15:bc013c313ef5 | 169 | myled=0; |
takepiyo | 8:6b835a82b1eb | 170 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 171 | myled3=1; |
Nerosho | 15:bc013c313ef5 | 172 | //if(gps.readable()) { |
Nerosho | 15:bc013c313ef5 | 173 | recvGPS=gps.getc(); |
Nerosho | 15:bc013c313ef5 | 174 | getGPS[i]=recvGPS; |
takepiyo | 3:4f1bac105598 | 175 | |
Nerosho | 15:bc013c313ef5 | 176 | if(getGPS[i]=='\n') { |
takepiyo | 3:4f1bac105598 | 177 | |
Nerosho | 15:bc013c313ef5 | 178 | if((getGPS[5]=='G')&&(getGPS[6]=='A')) { |
Nerosho | 15:bc013c313ef5 | 179 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 180 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 181 | MuPort.send(myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 182 | MuPort.send(getGPS); |
Nerosho | 15:bc013c313ef5 | 183 | myled2=1; |
Nerosho | 15:bc013c313ef5 | 184 | fprintf(fp, "%s %s\n",myTimer.timeMessage,getGPS); |
takepiyo | 3:4f1bac105598 | 185 | |
Nerosho | 15:bc013c313ef5 | 186 | //wait(1.0); |
Nerosho | 15:bc013c313ef5 | 187 | timer++; |
takepiyo | 3:4f1bac105598 | 188 | } |
Nerosho | 15:bc013c313ef5 | 189 | |
Nerosho | 15:bc013c313ef5 | 190 | i=0; |
takepiyo | 3:4f1bac105598 | 191 | } |
Nerosho | 15:bc013c313ef5 | 192 | i++; |
Nerosho | 15:bc013c313ef5 | 193 | if(timer>CLOSETIME) { |
Nerosho | 15:bc013c313ef5 | 194 | inlet.Stop();// |
Nerosho | 15:bc013c313ef5 | 195 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 196 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 197 | fprintf(fp, "%s InletFinish!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 198 | MuPort.send(myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 199 | MuPort.send("Inlet finish!\r\n"); |
Nerosho | 15:bc013c313ef5 | 200 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 201 | break; |
Nerosho | 15:bc013c313ef5 | 202 | } |
Nerosho | 15:bc013c313ef5 | 203 | //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 | 15:bc013c313ef5 | 204 | //} |
takepiyo | 3:4f1bac105598 | 205 | |
takepiyo | 3:4f1bac105598 | 206 | //fclose(fp); |
takepiyo | 3:4f1bac105598 | 207 | } |
Nerosho | 14:a07d2a958617 | 208 | |
Nerosho | 14:a07d2a958617 | 209 | |
Nerosho | 14:a07d2a958617 | 210 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 211 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 212 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 213 | |
Nerosho | 15:bc013c313ef5 | 214 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 215 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 216 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 217 | fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 218 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 219 | MuPort.send("Standby mode start!\r\n"); |
Nerosho | 15:bc013c313ef5 | 220 | fclose(fp); |
Nerosho | 14:a07d2a958617 | 221 | |
Nerosho | 14:a07d2a958617 | 222 | |
Nerosho | 14:a07d2a958617 | 223 | while(1) { |
Nerosho | 15:bc013c313ef5 | 224 | myled=0; |
Nerosho | 15:bc013c313ef5 | 225 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 226 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 227 | myled4=1; |
takepiyo | 6:b7bf39bc3487 | 228 | |
Nerosho | 15:bc013c313ef5 | 229 | //if(gps.readable()) { |
Nerosho | 15:bc013c313ef5 | 230 | recvGPS=gps.getc(); |
Nerosho | 15:bc013c313ef5 | 231 | getGPS[i]=recvGPS; |
Nerosho | 15:bc013c313ef5 | 232 | |
Nerosho | 15:bc013c313ef5 | 233 | if(getGPS[i]=='\n') { |
takepiyo | 6:b7bf39bc3487 | 234 | |
Nerosho | 15:bc013c313ef5 | 235 | if((getGPS[5]=='G')&&(getGPS[6]=='A')) { |
Nerosho | 15:bc013c313ef5 | 236 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 237 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 238 | MuPort.send(myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 239 | MuPort.send(getGPS); |
Nerosho | 15:bc013c313ef5 | 240 | myled3=1; |
Nerosho | 15:bc013c313ef5 | 241 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 242 | fprintf(fp, "%s %s\n",myTimer.timeMessage,getGPS); |
Nerosho | 15:bc013c313ef5 | 243 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 244 | timer++; |
Nerosho | 15:bc013c313ef5 | 245 | } |
takepiyo | 6:b7bf39bc3487 | 246 | |
Nerosho | 15:bc013c313ef5 | 247 | i=0; |
Nerosho | 15:bc013c313ef5 | 248 | } |
Nerosho | 15:bc013c313ef5 | 249 | i++; |
Nerosho | 15:bc013c313ef5 | 250 | //} |
takepiyo | 6:b7bf39bc3487 | 251 | |
takepiyo | 6:b7bf39bc3487 | 252 | //fclose(fp); |
takepiyo | 6:b7bf39bc3487 | 253 | } |
Nerosho | 14:a07d2a958617 | 254 | |
takepiyo | 6:b7bf39bc3487 | 255 | |
Nerosho | 2:d6dc5c2224cc | 256 | } |
Nerosho | 2:d6dc5c2224cc | 257 | |
Nerosho | 2:d6dc5c2224cc | 258 | |
Nerosho | 2:d6dc5c2224cc | 259 |