Titech Cansat / Mbed 2 deprecated FM_ver4_for_test

change2shinsu

Dependencies:   mbed mbedTimer SDFileSystem MU2 GPS

main.cpp@13:33939d451801, 2019-08-18 (annotated)

Committer:
takepiyo
Date:
Sun Aug 18 06:27:29 2019 +0000
Revision:
13:33939d451801
Parent:
11:a273a8decf90 
0818test

Who changed what in which revision?

UserRevisionLine numberNew 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
takepiyo 8:6b835a82b1eb 8 #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 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///
takepiyo 8:6b835a82b1eb 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
takepiyo 8:6b835a82b1eb 22 DigitalOut FIRE(p16); //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 0:d0f3991839ec 29 int main()
Nerosho 0:d0f3991839ec 30 {
takepiyo 6:b7bf39bc3487 31 wait(0.1);//起動してからちょっと待つ
takepiyo 8:6b835a82b1eb 32 inlet.Stop();
Nerosho 2:d6dc5c2224cc 33 //FILE* fp1= fopen("/sd/cansat/log3.txt", "w");
takepiyo 13:33939d451801 34 FILE* fp2= fopen("/sd/cansat/gpsdata0808_3.csv", "w");
takepiyo 3:4f1bac105598 35
Nerosho 2:d6dc5c2224cc 36 /*if(fp1 == NULL || fp2 == NULL)
takepiyo 3:4f1bac105598 37 {
Nerosho 2:d6dc5c2224cc 38 (fp1 == NULL) ? fprintf(stderr, "fname1 open error.\n") : fclose(fp1);
Nerosho 2:d6dc5c2224cc 39 (fp2 == NULL) ? fprintf(stderr, "fname2 open error.\n") : fclose(fp2);
Nerosho 2:d6dc5c2224cc 40 return -1;
takepiyo 3:4f1bac105598 41 }*/
Nerosho 2:d6dc5c2224cc 42
takepiyo 3:4f1bac105598 43 //溶断機構部分
Nerosho 2:d6dc5c2224cc 44
Nerosho 2:d6dc5c2224cc 45 //fprintf(fp1, "CanSat start!\r\n");
takepiyo 3:4f1bac105598 46 //fprintf(fp1, "Fire!!\r\n");
takepiyo 3:4f1bac105598 47 myled=1;//テストようにLED光らせてる
takepiyo 8:6b835a82b1eb 48
takepiyo 8:6b835a82b1eb 49 FIRE=1;
takepiyo 8:6b835a82b1eb 50 wait(FIRETIME);//溶断にかかる時間TBD秒
takepiyo 8:6b835a82b1eb 51 FIRE=0;
takepiyo 3:4f1bac105598 52
takepiyo 3:4f1bac105598 53 //溶断機構終わり
Nerosho 0:d0f3991839ec 54
Nerosho 2:d6dc5c2224cc 55 gps.baud(9600);
Nerosho 2:d6dc5c2224cc 56 char recvGPS=0;
Nerosho 2:d6dc5c2224cc 57 char getGPS[128];
Nerosho 2:d6dc5c2224cc 58 int i=0;
takepiyo 3:4f1bac105598 59 int timer=0;
takepiyo 3:4f1bac105598 60
Nerosho 2:d6dc5c2224cc 61 //fprintf(fp1, "GPS start!\r\n");
Nerosho 2:d6dc5c2224cc 62
takepiyo 3:4f1bac105598 63 while(1)
takepiyo 3:4f1bac105598 64 {
takepiyo 8:6b835a82b1eb 65 myled=0;
takepiyo 8:6b835a82b1eb 66 myled2=1;
takepiyo 3:4f1bac105598 67 if(gps.readable())
takepiyo 3:4f1bac105598 68 {
takepiyo 13:33939d451801 69 myled4=1;
Nerosho 2:d6dc5c2224cc 70 recvGPS=gps.getc();
Nerosho 2:d6dc5c2224cc 71 getGPS[i]=recvGPS;
takepiyo 13:33939d451801 72 wait(1.0);
takepiyo 3:4f1bac105598 73 if(getGPS[i]=='\n')
takepiyo 3:4f1bac105598 74 {
takepiyo 13:33939d451801 75 myled4=0;
Nerosho 2:d6dc5c2224cc 76
takepiyo 3:4f1bac105598 77 if((getGPS[5]=='G')&&(getGPS[6]=='A'))
takepiyo 3:4f1bac105598 78 {
takepiyo 6:b7bf39bc3487 79 MuPort.send(getGPS);
takepiyo 8:6b835a82b1eb 80 myled=1;
Nerosho 2:d6dc5c2224cc 81 /*if(fp == NULL) {
Nerosho 2:d6dc5c2224cc 82 error("Could not open file for write\n");
Nerosho 2:d6dc5c2224cc 83 }*/
Nerosho 2:d6dc5c2224cc 84 fprintf(fp2, "%s\n",getGPS);
Nerosho 2:d6dc5c2224cc 85 //fclose(fp);
takepiyo 6:b7bf39bc3487 86 wait(1.0);
takepiyo 4:0d087e3f731d 87 timer++;
Nerosho 2:d6dc5c2224cc 88 }
Nerosho 2:d6dc5c2224cc 89 i=0;
Nerosho 2:d6dc5c2224cc 90 }
Nerosho 2:d6dc5c2224cc 91 i++;
takepiyo 8:6b835a82b1eb 92 if(timer>FALLTIME)//落下開始してからTBD秒後whileを抜ける．
takepiyo 3:4f1bac105598 93 {
takepiyo 3:4f1bac105598 94 break;
takepiyo 3:4f1bac105598 95 }
Nerosho 2:d6dc5c2224cc 96 }
Nerosho 0:d0f3991839ec 97 }
takepiyo 3:4f1bac105598 98
takepiyo 6:b7bf39bc3487 99 timer=0;//モーター時間で止めるよう
takepiyo 6:b7bf39bc3487 100
takepiyo 3:4f1bac105598 101 while(1)
takepiyo 3:4f1bac105598 102 {
takepiyo 8:6b835a82b1eb 103 myled2=0;
takepiyo 8:6b835a82b1eb 104 myled3=1;
takepiyo 3:4f1bac105598 105 if(gps.readable())
takepiyo 3:4f1bac105598 106 {
takepiyo 3:4f1bac105598 107 recvGPS=gps.getc();
takepiyo 3:4f1bac105598 108 getGPS[i]=recvGPS;
takepiyo 3:4f1bac105598 109
takepiyo 3:4f1bac105598 110 if(getGPS[i]=='\n')
takepiyo 3:4f1bac105598 111 {
takepiyo 3:4f1bac105598 112
takepiyo 3:4f1bac105598 113 if((getGPS[5]=='G')&&(getGPS[6]=='A'))
takepiyo 3:4f1bac105598 114 {
takepiyo 4:0d087e3f731d 115 MuPort.send(getGPS);
takepiyo 8:6b835a82b1eb 116 myled2=1;
takepiyo 3:4f1bac105598 117 /*if(fp == NULL) {
takepiyo 3:4f1bac105598 118 error("Could not open file for write\n");
takepiyo 3:4f1bac105598 119 }*/
takepiyo 3:4f1bac105598 120
takepiyo 3:4f1bac105598 121 fprintf(fp2, "%s\n",getGPS);
takepiyo 3:4f1bac105598 122 //fclose(fp);
takepiyo 8:6b835a82b1eb 123 wait(1.0);
takepiyo 6:b7bf39bc3487 124 timer++;
takepiyo 3:4f1bac105598 125 }
takepiyo 3:4f1bac105598 126
takepiyo 3:4f1bac105598 127 i=0;
takepiyo 3:4f1bac105598 128 }
takepiyo 3:4f1bac105598 129 i++;
takepiyo 8:6b835a82b1eb 130 if(timer>CLOSETIME)
takepiyo 6:b7bf39bc3487 131 {
takepiyo 8:6b835a82b1eb 132 inlet.Stop();//
takepiyo 6:b7bf39bc3487 133 break;
takepiyo 6:b7bf39bc3487 134 }
takepiyo 6:b7bf39bc3487 135 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 136 }
takepiyo 3:4f1bac105598 137
takepiyo 3:4f1bac105598 138 // wait(1);
takepiyo 3:4f1bac105598 139 //fclose(fp);
takepiyo 3:4f1bac105598 140 }
takepiyo 3:4f1bac105598 141
takepiyo 6:b7bf39bc3487 142 //何もせずGPS信号を発する
takepiyo 3:4f1bac105598 143
takepiyo 6:b7bf39bc3487 144 while(1)
takepiyo 6:b7bf39bc3487 145 {
takepiyo 8:6b835a82b1eb 146 myled4=1;
takepiyo 8:6b835a82b1eb 147 myled3=0;
takepiyo 6:b7bf39bc3487 148 if(gps.readable())
takepiyo 6:b7bf39bc3487 149 {
takepiyo 6:b7bf39bc3487 150 recvGPS=gps.getc();
takepiyo 6:b7bf39bc3487 151 getGPS[i]=recvGPS;
takepiyo 6:b7bf39bc3487 152
takepiyo 6:b7bf39bc3487 153 if(getGPS[i]=='\n')
takepiyo 6:b7bf39bc3487 154 {
takepiyo 6:b7bf39bc3487 155
takepiyo 6:b7bf39bc3487 156 if((getGPS[5]=='G')&&(getGPS[6]=='A'))
takepiyo 6:b7bf39bc3487 157 {
takepiyo 6:b7bf39bc3487 158 MuPort.send(getGPS);
takepiyo 8:6b835a82b1eb 159 myled3=1;
takepiyo 6:b7bf39bc3487 160 /*if(fp == NULL) {
takepiyo 6:b7bf39bc3487 161 error("Could not open file for write\n");
takepiyo 6:b7bf39bc3487 162 }*/
takepiyo 6:b7bf39bc3487 163
takepiyo 6:b7bf39bc3487 164 fprintf(fp2, "%s\n",getGPS);
takepiyo 6:b7bf39bc3487 165 //fclose(fp);
takepiyo 6:b7bf39bc3487 166 wait(0.1);
takepiyo 6:b7bf39bc3487 167 timer++;
takepiyo 6:b7bf39bc3487 168 }
takepiyo 6:b7bf39bc3487 169
takepiyo 6:b7bf39bc3487 170 i=0;
takepiyo 6:b7bf39bc3487 171 }
takepiyo 6:b7bf39bc3487 172 i++;
takepiyo 6:b7bf39bc3487 173 }
takepiyo 6:b7bf39bc3487 174
takepiyo 6:b7bf39bc3487 175 // wait(1);
takepiyo 6:b7bf39bc3487 176 //fclose(fp);
takepiyo 6:b7bf39bc3487 177 }
takepiyo 6:b7bf39bc3487 178
takepiyo 6:b7bf39bc3487 179
Nerosho 2:d6dc5c2224cc 180 //fclose(fp1);
Nerosho 2:d6dc5c2224cc 181 fclose(fp2);
Nerosho 2:d6dc5c2224cc 182
Nerosho 2:d6dc5c2224cc 183 }
Nerosho 2:d6dc5c2224cc 184
Nerosho 2:d6dc5c2224cc 185
Nerosho 2:d6dc5c2224cc 186