PQ_Hybrid_Electrical_Equipment_Team / Mbed 2 deprecated HYBRYD2018_IZU_GROUND_STATION

2018 IZU GRUND STATION Program

Dependencies:   ES920LR mbed

HYBRYD2018_IZU_GROUND_STATION.cpp@1:73890382d872, 2018-03-22 (annotated)

Committer:
zebrin1422
Date:
Thu Mar 22 05:54:16 2018 +0000
Revision:
1:73890382d872
Parent:
HYBRYD2018_IZU_GRAUND_STATION.cpp@0:dfa2ad4bec3a 
2018 IZU GRUND STATION

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zebrin1422 0:dfa2ad4bec3a 1 #include "mbed.h"
zebrin1422 0:dfa2ad4bec3a 2 #include "ES920LR.hpp"
zebrin1422 0:dfa2ad4bec3a 3
zebrin1422 0:dfa2ad4bec3a 4 #define TX D1
zebrin1422 0:dfa2ad4bec3a 5 #define RX D0
zebrin1422 0:dfa2ad4bec3a 6
zebrin1422 0:dfa2ad4bec3a 7 RawSerial pc(USBTX,USBRX,115200);
zebrin1422 0:dfa2ad4bec3a 8 RawSerial bus(TX, RX, 115200);
zebrin1422 0:dfa2ad4bec3a 9 ES920LR es(bus, pc, 115200);
zebrin1422 0:dfa2ad4bec3a 10
zebrin1422 0:dfa2ad4bec3a 11 bool safety_flag = false;
zebrin1422 0:dfa2ad4bec3a 12
zebrin1422 0:dfa2ad4bec3a 13 Timeout send;
zebrin1422 0:dfa2ad4bec3a 14
zebrin1422 0:dfa2ad4bec3a 15 //safety device release command
zebrin1422 0:dfa2ad4bec3a 16 //forced transition fllight mode
zebrin1422 0:dfa2ad4bec3a 17 //forced nicrom fire
zebrin1422 0:dfa2ad4bec3a 18
zebrin1422 0:dfa2ad4bec3a 19 void header0x10()
zebrin1422 0:dfa2ad4bec3a 20 {
zebrin1422 0:dfa2ad4bec3a 21 char buff = pc.getc();
zebrin1422 0:dfa2ad4bec3a 22
zebrin1422 0:dfa2ad4bec3a 23 if(buff == 'R')es << (char)0x10 << 'r' << es.endl; //release's "r"
zebrin1422 0:dfa2ad4bec3a 24 else if(buff == 'F') es << (char)0x10 << 'f' << es.endl; //flight's "f"
zebrin1422 0:dfa2ad4bec3a 25 else if(buff == 'N') es << (char)0x10 << 'n' << es.endl; //nicrom's "n"
zebrin1422 0:dfa2ad4bec3a 26 else if(buff == 'S') es << (char)0x10 << 's' << es.endl; //solenoid's "s"
zebrin1422 0:dfa2ad4bec3a 27 else if(buff == 'C') es << (char)0x10 << 'c' << es.endl; //collect's "c"
zebrin1422 0:dfa2ad4bec3a 28 else if(buff == 'D') es << (char)0x10 << 'd' << es.endl; //debug's "d"
zebrin1422 0:dfa2ad4bec3a 29 else if(buff == 'I') es << (char)0x10 << 'i' << es.endl; //inner's "i"
zebrin1422 0:dfa2ad4bec3a 30 else if(buff == 'B') es << (char)0x10 << 'b' << es.endl; //beck's "b"
zebrin1422 0:dfa2ad4bec3a 31 else pc.printf("NG command\r\n");
zebrin1422 0:dfa2ad4bec3a 32 }
zebrin1422 0:dfa2ad4bec3a 33
zebrin1422 0:dfa2ad4bec3a 34
zebrin1422 0:dfa2ad4bec3a 35
zebrin1422 0:dfa2ad4bec3a 36
zebrin1422 0:dfa2ad4bec3a 37 bool bit_check(short data, short mask)
zebrin1422 0:dfa2ad4bec3a 38 {
zebrin1422 0:dfa2ad4bec3a 39 if((data & mask) == mask)return true;
zebrin1422 0:dfa2ad4bec3a 40 else return false;
zebrin1422 0:dfa2ad4bec3a 41 }
zebrin1422 0:dfa2ad4bec3a 42 /*
zebrin1422 0:dfa2ad4bec3a 43 if(safety_flag) state |= 0x01; //0bit
zebrin1422 0:dfa2ad4bec3a 44 if(flight_detect_mode) state |= 0x02; //1bit
zebrin1422 0:dfa2ad4bec3a 45 if(hr.flight_pin_state) state |= 0x04; //2bit
zebrin1422 0:dfa2ad4bec3a 46 if(flight_mode) state |= 0x08; //3bit
zebrin1422 0:dfa2ad4bec3a 47 if(sepa_accept) state |= 0x10; //4bit
zebrin1422 0:dfa2ad4bec3a 48 if(extrusion_accept) state |= 0x20; //5bit
zebrin1422 0:dfa2ad4bec3a 49 if(collect_mode) state |= 0x40; //6bit
zebrin1422 0:dfa2ad4bec3a 50 if(vertex_arrival) state |= 0x80; //7bit
zebrin1422 0:dfa2ad4bec3a 51 */
zebrin1422 0:dfa2ad4bec3a 52 void flag_display(char data)
zebrin1422 0:dfa2ad4bec3a 53 {
zebrin1422 0:dfa2ad4bec3a 54
zebrin1422 0:dfa2ad4bec3a 55 if(data & 0x80)pc.printf("1");
zebrin1422 0:dfa2ad4bec3a 56 else pc.printf("0");
zebrin1422 0:dfa2ad4bec3a 57
zebrin1422 0:dfa2ad4bec3a 58 if(data & 0x40)pc.printf("1");
zebrin1422 0:dfa2ad4bec3a 59 else pc.printf("0");
zebrin1422 0:dfa2ad4bec3a 60
zebrin1422 0:dfa2ad4bec3a 61 if(data & 0x20)pc.printf("1");
zebrin1422 0:dfa2ad4bec3a 62 else pc.printf("0");
zebrin1422 0:dfa2ad4bec3a 63
zebrin1422 0:dfa2ad4bec3a 64 if(data & 0x10)pc.printf("1|");
zebrin1422 0:dfa2ad4bec3a 65 else pc.printf("0|");
zebrin1422 0:dfa2ad4bec3a 66
zebrin1422 0:dfa2ad4bec3a 67 if(data & 0x08)pc.printf("1");
zebrin1422 0:dfa2ad4bec3a 68 else pc.printf("0");
zebrin1422 0:dfa2ad4bec3a 69
zebrin1422 0:dfa2ad4bec3a 70 if(data & 0x04)pc.printf("1");
zebrin1422 0:dfa2ad4bec3a 71 else pc.printf("0");
zebrin1422 0:dfa2ad4bec3a 72
zebrin1422 0:dfa2ad4bec3a 73 if(data & 0x02)pc.printf("1");
zebrin1422 0:dfa2ad4bec3a 74 else pc.printf("0");
zebrin1422 0:dfa2ad4bec3a 75
zebrin1422 0:dfa2ad4bec3a 76
zebrin1422 0:dfa2ad4bec3a 77 if(data & 0x01)pc.printf("1\r\n");
zebrin1422 0:dfa2ad4bec3a 78 else pc.printf("0\r\n");
zebrin1422 0:dfa2ad4bec3a 79
zebrin1422 0:dfa2ad4bec3a 80 if(data==0x00)pc.printf("安全装置：ロック\r\n");
zebrin1422 0:dfa2ad4bec3a 81 if(data==0x01)pc.printf("安全装置：解除\r\n");
zebrin1422 0:dfa2ad4bec3a 82 if(data==0x03)pc.printf("フライトピン待機状態\r\n");
zebrin1422 0:dfa2ad4bec3a 83 if(data==0x07)pc.printf("フライトピンが抜けた\r\n");
zebrin1422 0:dfa2ad4bec3a 84 if(data==0x0F)pc.printf("飛行中\r\n");
zebrin1422 0:dfa2ad4bec3a 85 if(data==0x1F || data==0x9F)pc.printf("ニクロムファイア\r\n");
zebrin1422 0:dfa2ad4bec3a 86 if(data==0x3F || data==0xBF)pc.printf("ソレノイドプッシュ\r\n");
zebrin1422 0:dfa2ad4bec3a 87 if(data==0x7F || data==0xFF)pc.printf("回収モード\r\n");
zebrin1422 0:dfa2ad4bec3a 88
zebrin1422 0:dfa2ad4bec3a 89 }
zebrin1422 0:dfa2ad4bec3a 90
zebrin1422 0:dfa2ad4bec3a 91 void second_to_time(int data)
zebrin1422 0:dfa2ad4bec3a 92 {
zebrin1422 0:dfa2ad4bec3a 93 char hour,min,second;
zebrin1422 0:dfa2ad4bec3a 94 float dummy;
zebrin1422 0:dfa2ad4bec3a 95
zebrin1422 0:dfa2ad4bec3a 96 dummy = (float)(data/3600);
zebrin1422 0:dfa2ad4bec3a 97 hour = (char)dummy;
zebrin1422 0:dfa2ad4bec3a 98 data -= 3600*(int)hour;
zebrin1422 0:dfa2ad4bec3a 99
zebrin1422 0:dfa2ad4bec3a 100 dummy = (float)(data/60);
zebrin1422 0:dfa2ad4bec3a 101 min = (char)dummy;
zebrin1422 0:dfa2ad4bec3a 102 data -= 60*(int)min;
zebrin1422 0:dfa2ad4bec3a 103
zebrin1422 0:dfa2ad4bec3a 104 second = (char)data;
zebrin1422 0:dfa2ad4bec3a 105
zebrin1422 0:dfa2ad4bec3a 106 pc.printf("Inner Time = %d hour %d min %d sec\r\n", hour, min, second);
zebrin1422 0:dfa2ad4bec3a 107 }
zebrin1422 0:dfa2ad4bec3a 108
zebrin1422 0:dfa2ad4bec3a 109
zebrin1422 0:dfa2ad4bec3a 110 void header0x01()
zebrin1422 0:dfa2ad4bec3a 111 {
zebrin1422 0:dfa2ad4bec3a 112 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 113 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 114
zebrin1422 0:dfa2ad4bec3a 115 if(es.data[0] == (char)9) //PQの9
zebrin1422 0:dfa2ad4bec3a 116 {
zebrin1422 0:dfa2ad4bec3a 117 pc.printf("safety device release complete\r\n");
zebrin1422 0:dfa2ad4bec3a 118 safety_flag = true;
zebrin1422 0:dfa2ad4bec3a 119 }
zebrin1422 0:dfa2ad4bec3a 120 else
zebrin1422 0:dfa2ad4bec3a 121 {
zebrin1422 0:dfa2ad4bec3a 122 pc.printf("couldn't communicate\r\n");
zebrin1422 0:dfa2ad4bec3a 123 safety_flag = false;
zebrin1422 0:dfa2ad4bec3a 124 }
zebrin1422 0:dfa2ad4bec3a 125
zebrin1422 0:dfa2ad4bec3a 126 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 127 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 128 }
zebrin1422 0:dfa2ad4bec3a 129
zebrin1422 0:dfa2ad4bec3a 130 // センサ external_INA inner_INA mpu_acc mpu_mag LPS22HB SHT35 TSL2561 three SD
zebrin1422 0:dfa2ad4bec3a 131 // ビット 8 7 6 5 4 3 2 1 0
zebrin1422 0:dfa2ad4bec3a 132 // 対応するビットがHIGHになっておれば接続確認できている
zebrin1422 0:dfa2ad4bec3a 133 void header0x02()
zebrin1422 0:dfa2ad4bec3a 134 {
zebrin1422 0:dfa2ad4bec3a 135 short state = es.toShort(0);
zebrin1422 0:dfa2ad4bec3a 136 if(state & 0x001)pc.printf("external ina OK\r\n");
zebrin1422 0:dfa2ad4bec3a 137 else pc.printf("external ina NG\r\n");
zebrin1422 0:dfa2ad4bec3a 138
zebrin1422 0:dfa2ad4bec3a 139 if(state & 0x002)pc.printf("inner ina OK\r\n");
zebrin1422 0:dfa2ad4bec3a 140 else pc.printf("inner ina NG\r\n");
zebrin1422 0:dfa2ad4bec3a 141
zebrin1422 0:dfa2ad4bec3a 142 if(state & 0x004)pc.printf("mpu acc OK\r\n");
zebrin1422 0:dfa2ad4bec3a 143 else pc.printf("mpu acc OK\r\n");
zebrin1422 0:dfa2ad4bec3a 144
zebrin1422 0:dfa2ad4bec3a 145 if(state & 0x008)pc.printf("mpu mag OK\r\n");
zebrin1422 0:dfa2ad4bec3a 146 else pc.printf("mpu mag OK\r\n");
zebrin1422 0:dfa2ad4bec3a 147
zebrin1422 0:dfa2ad4bec3a 148 if(state & 0x010)pc.printf("LPS22HB OK\r\n");
zebrin1422 0:dfa2ad4bec3a 149 else pc.printf("LPS22HB NG\r\n");
zebrin1422 0:dfa2ad4bec3a 150
zebrin1422 0:dfa2ad4bec3a 151 if(state & 0x020)pc.printf("SHT35 OK\r\n");
zebrin1422 0:dfa2ad4bec3a 152 else pc.printf("SHT35 NG\r\n");
zebrin1422 0:dfa2ad4bec3a 153
zebrin1422 0:dfa2ad4bec3a 154 if(state & 0x040)pc.printf("TSL2561 OK\r\n");
zebrin1422 0:dfa2ad4bec3a 155 else pc.printf("TSL2561 NG\r\n");
zebrin1422 0:dfa2ad4bec3a 156
zebrin1422 0:dfa2ad4bec3a 157 if(state & 0x080)pc.printf("ADXL OK\r\n");
zebrin1422 0:dfa2ad4bec3a 158 else pc.printf("ADXL NG\r\n");
zebrin1422 0:dfa2ad4bec3a 159
zebrin1422 0:dfa2ad4bec3a 160 if(state & 0x100)pc.printf("SD OK\r\n");
zebrin1422 0:dfa2ad4bec3a 161 else pc.printf("SD NG\r\n");
zebrin1422 0:dfa2ad4bec3a 162
zebrin1422 0:dfa2ad4bec3a 163 if(state & 0x200)pc.printf("GPS OK\r\n");
zebrin1422 0:dfa2ad4bec3a 164 else pc.printf("GPS NO\r\n");
zebrin1422 0:dfa2ad4bec3a 165 }
zebrin1422 0:dfa2ad4bec3a 166
zebrin1422 0:dfa2ad4bec3a 167 #define COMPRES_Inner_Time 36.40833333 //32768/1800
zebrin1422 0:dfa2ad4bec3a 168 #define COMPRES_Q 305200 // ? pakuru
zebrin1422 0:dfa2ad4bec3a 169 #define COMPRES_VOLTAGE 0.9102222 // 65535/36 =
zebrin1422 0:dfa2ad4bec3a 170 #define COMPRES_CURRENT 0.8192 // 65535/40 =
zebrin1422 0:dfa2ad4bec3a 171 #define COMPRES_PRESSURE 26.0063 // 65535/1260 =
zebrin1422 0:dfa2ad4bec3a 172 #define COMPRES_ALTITUDE 65.536 // 65535/500 = //range = 0~500
zebrin1422 0:dfa2ad4bec3a 173 #define COMPRES_VELOCITY 327.68 // 65535/100 = //pakuru
zebrin1422 0:dfa2ad4bec3a 174 #define COMPRES_LUMINOSITY 3.2768 // 65535/10000 =
zebrin1422 0:dfa2ad4bec3a 175 #define COMPRES_TEMPERATURE 546.133 // 63353/60 = //range = -20 ~ 40
zebrin1422 0:dfa2ad4bec3a 176 #define COMPRES_HUMIDITY 327.68 // 65535/100 =
zebrin1422 0:dfa2ad4bec3a 177 #define COMPRES_ACC 81.92 // 65535/400 =
zebrin1422 0:dfa2ad4bec3a 178 #define COMPRES_PITOT 32768 // 65535/1 =
zebrin1422 0:dfa2ad4bec3a 179
zebrin1422 0:dfa2ad4bec3a 180 void header0x03()
zebrin1422 0:dfa2ad4bec3a 181 {
zebrin1422 0:dfa2ad4bec3a 182 int i=0;
zebrin1422 0:dfa2ad4bec3a 183
zebrin1422 0:dfa2ad4bec3a 184 pc.printf("header:0x03\r\n");
zebrin1422 0:dfa2ad4bec3a 185
zebrin1422 0:dfa2ad4bec3a 186 if(es.data[i]==1 || es.data[i]==2 || es.data[i]==3)
zebrin1422 0:dfa2ad4bec3a 187 {
zebrin1422 0:dfa2ad4bec3a 188
zebrin1422 0:dfa2ad4bec3a 189 pc.printf("rocket phase : %d\r\n",es.data[i]);
zebrin1422 0:dfa2ad4bec3a 190 i++;
zebrin1422 0:dfa2ad4bec3a 191
zebrin1422 0:dfa2ad4bec3a 192 flag_display(es.data[i]);
zebrin1422 0:dfa2ad4bec3a 193 i++;
zebrin1422 0:dfa2ad4bec3a 194
zebrin1422 0:dfa2ad4bec3a 195 second_to_time(es.toInt(i));
zebrin1422 0:dfa2ad4bec3a 196 i+=4;
zebrin1422 0:dfa2ad4bec3a 197
zebrin1422 0:dfa2ad4bec3a 198 //i+=8;
zebrin1422 0:dfa2ad4bec3a 199
zebrin1422 0:dfa2ad4bec3a 200 pc.printf("latitude = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 201 i+=4;
zebrin1422 0:dfa2ad4bec3a 202
zebrin1422 0:dfa2ad4bec3a 203 pc.printf("longitude = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 204 i+=4;
zebrin1422 0:dfa2ad4bec3a 205
zebrin1422 0:dfa2ad4bec3a 206 /*
zebrin1422 0:dfa2ad4bec3a 207 pc.printf("ex_vol = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 208 i+=4;
zebrin1422 0:dfa2ad4bec3a 209
zebrin1422 0:dfa2ad4bec3a 210 pc.printf("ex_current = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 211 i+=4;
zebrin1422 0:dfa2ad4bec3a 212
zebrin1422 0:dfa2ad4bec3a 213 pc.printf("in_vol = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 214 i+=4;
zebrin1422 0:dfa2ad4bec3a 215
zebrin1422 0:dfa2ad4bec3a 216 pc.printf("in_current = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 217 i+=4;
zebrin1422 0:dfa2ad4bec3a 218
zebrin1422 0:dfa2ad4bec3a 219 //pc.printf("pressure = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 220 //i+=4;
zebrin1422 0:dfa2ad4bec3a 221
zebrin1422 0:dfa2ad4bec3a 222 //pc.printf("lux = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 223 //i+=4;
zebrin1422 0:dfa2ad4bec3a 224
zebrin1422 0:dfa2ad4bec3a 225
zebrin1422 0:dfa2ad4bec3a 226 pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
zebrin1422 0:dfa2ad4bec3a 227 i+=2;
zebrin1422 0:dfa2ad4bec3a 228
zebrin1422 0:dfa2ad4bec3a 229 pc.printf("lux %f\r\n", (float)(es.toShort(i) / COMPRES_LUMINOSITY));
zebrin1422 0:dfa2ad4bec3a 230 i+=2;
zebrin1422 0:dfa2ad4bec3a 231
zebrin1422 0:dfa2ad4bec3a 232 pc.printf("temp = %f\r\n",(float)(es.toShort(i) / COMPRES_TEMPERATURE));
zebrin1422 0:dfa2ad4bec3a 233 i+=2;
zebrin1422 0:dfa2ad4bec3a 234
zebrin1422 0:dfa2ad4bec3a 235 pc.printf("hum = %f\r\n",(float)(es.toShort(i) / COMPRES_HUMIDITY));
zebrin1422 0:dfa2ad4bec3a 236 i+=2;
zebrin1422 0:dfa2ad4bec3a 237 */
zebrin1422 0:dfa2ad4bec3a 238 pc.printf("ex_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
zebrin1422 0:dfa2ad4bec3a 239 i+=2;
zebrin1422 0:dfa2ad4bec3a 240
zebrin1422 0:dfa2ad4bec3a 241 pc.printf("ex_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
zebrin1422 0:dfa2ad4bec3a 242 i+=2;
zebrin1422 0:dfa2ad4bec3a 243
zebrin1422 0:dfa2ad4bec3a 244 //pc.printf("i = %d\r\n",i);
zebrin1422 0:dfa2ad4bec3a 245 pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
zebrin1422 0:dfa2ad4bec3a 246 i+=2;
zebrin1422 0:dfa2ad4bec3a 247
zebrin1422 0:dfa2ad4bec3a 248 pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
zebrin1422 0:dfa2ad4bec3a 249 i+=2;
zebrin1422 0:dfa2ad4bec3a 250
zebrin1422 0:dfa2ad4bec3a 251 pc.printf("pressure = %f\r\n",(float)(es.toShort(i)/COMPRES_PRESSURE));
zebrin1422 0:dfa2ad4bec3a 252 i+=2;
zebrin1422 0:dfa2ad4bec3a 253
zebrin1422 0:dfa2ad4bec3a 254 pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
zebrin1422 0:dfa2ad4bec3a 255 i+=2;
zebrin1422 0:dfa2ad4bec3a 256
zebrin1422 0:dfa2ad4bec3a 257 pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
zebrin1422 0:dfa2ad4bec3a 258 i+=2;
zebrin1422 0:dfa2ad4bec3a 259
zebrin1422 0:dfa2ad4bec3a 260 pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
zebrin1422 0:dfa2ad4bec3a 261 i+=2;
zebrin1422 0:dfa2ad4bec3a 262
zebrin1422 0:dfa2ad4bec3a 263
zebrin1422 0:dfa2ad4bec3a 264 }
zebrin1422 0:dfa2ad4bec3a 265 if(es.data[i]==4)
zebrin1422 0:dfa2ad4bec3a 266 {
zebrin1422 0:dfa2ad4bec3a 267 pc.printf("rocket phase : %d\r\n",es.data[i]);
zebrin1422 0:dfa2ad4bec3a 268 i++;
zebrin1422 0:dfa2ad4bec3a 269
zebrin1422 0:dfa2ad4bec3a 270 flag_display(es.data[i]);
zebrin1422 0:dfa2ad4bec3a 271 i++;
zebrin1422 0:dfa2ad4bec3a 272
zebrin1422 0:dfa2ad4bec3a 273 second_to_time(es.toInt(i));
zebrin1422 0:dfa2ad4bec3a 274 i+=4;
zebrin1422 0:dfa2ad4bec3a 275
zebrin1422 0:dfa2ad4bec3a 276 pc.printf("latitude = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 277 i+=4;
zebrin1422 0:dfa2ad4bec3a 278
zebrin1422 0:dfa2ad4bec3a 279 pc.printf("longitude = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 280 i+=4;
zebrin1422 0:dfa2ad4bec3a 281
zebrin1422 0:dfa2ad4bec3a 282 /*
zebrin1422 0:dfa2ad4bec3a 283 pc.printf("i = %d\t",i);
zebrin1422 0:dfa2ad4bec3a 284 pc.printf("Q.w = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
zebrin1422 0:dfa2ad4bec3a 285 i+=2;
zebrin1422 0:dfa2ad4bec3a 286
zebrin1422 0:dfa2ad4bec3a 287 pc.printf("i = %d\t",i);
zebrin1422 0:dfa2ad4bec3a 288 pc.printf("Q.x = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
zebrin1422 0:dfa2ad4bec3a 289 i+=2;
zebrin1422 0:dfa2ad4bec3a 290
zebrin1422 0:dfa2ad4bec3a 291 pc.printf("i = %d\t",i);
zebrin1422 0:dfa2ad4bec3a 292 pc.printf("Q.y = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
zebrin1422 0:dfa2ad4bec3a 293 i+=2;
zebrin1422 0:dfa2ad4bec3a 294
zebrin1422 0:dfa2ad4bec3a 295 pc.printf("i = %d\t",i);
zebrin1422 0:dfa2ad4bec3a 296 pc.printf("Q.z = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
zebrin1422 0:dfa2ad4bec3a 297 i+=2;
zebrin1422 0:dfa2ad4bec3a 298 */
zebrin1422 0:dfa2ad4bec3a 299 //i+=8;
zebrin1422 0:dfa2ad4bec3a 300
zebrin1422 0:dfa2ad4bec3a 301 pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
zebrin1422 0:dfa2ad4bec3a 302 i+=2;
zebrin1422 0:dfa2ad4bec3a 303
zebrin1422 0:dfa2ad4bec3a 304 pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
zebrin1422 0:dfa2ad4bec3a 305 i+=2;
zebrin1422 0:dfa2ad4bec3a 306
zebrin1422 0:dfa2ad4bec3a 307 pc.printf("altitude = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 308 i+=4;
zebrin1422 0:dfa2ad4bec3a 309
zebrin1422 0:dfa2ad4bec3a 310 pc.printf("velocity = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 311 i+=4;
zebrin1422 0:dfa2ad4bec3a 312
zebrin1422 0:dfa2ad4bec3a 313 pc.printf("luminosity = %f\r\n",(float)(es.toShort(i))/COMPRES_LUMINOSITY);
zebrin1422 0:dfa2ad4bec3a 314 i+=2;
zebrin1422 0:dfa2ad4bec3a 315
zebrin1422 0:dfa2ad4bec3a 316 pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
zebrin1422 0:dfa2ad4bec3a 317 i+=2;
zebrin1422 0:dfa2ad4bec3a 318
zebrin1422 0:dfa2ad4bec3a 319 pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
zebrin1422 0:dfa2ad4bec3a 320 i+=2;
zebrin1422 0:dfa2ad4bec3a 321
zebrin1422 0:dfa2ad4bec3a 322 pc.printf("press_pitot = %f\r\n",(float)(es.toShort(i))/COMPRES_PITOT);
zebrin1422 0:dfa2ad4bec3a 323 i+=2;
zebrin1422 0:dfa2ad4bec3a 324
zebrin1422 0:dfa2ad4bec3a 325 pc.printf("gps_altitude = %f\r\n",(float)(es.toShort(i)/COMPRES_ALTITUDE));
zebrin1422 0:dfa2ad4bec3a 326 i+=2;
zebrin1422 0:dfa2ad4bec3a 327 }
zebrin1422 0:dfa2ad4bec3a 328 if(es.data[i]==5)
zebrin1422 0:dfa2ad4bec3a 329 {
zebrin1422 0:dfa2ad4bec3a 330 pc.printf("rocket phase : %d\r\n",es.data[i]);
zebrin1422 0:dfa2ad4bec3a 331 i++;
zebrin1422 0:dfa2ad4bec3a 332
zebrin1422 0:dfa2ad4bec3a 333 flag_display(es.data[i]);
zebrin1422 0:dfa2ad4bec3a 334 /*
zebrin1422 0:dfa2ad4bec3a 335 pc.printf("i = %d\t",i);
zebrin1422 0:dfa2ad4bec3a 336 pc.printf("rocket state : 0x%x\r\n",es.data[i]);
zebrin1422 0:dfa2ad4bec3a 337 */
zebrin1422 0:dfa2ad4bec3a 338 i++;
zebrin1422 0:dfa2ad4bec3a 339
zebrin1422 0:dfa2ad4bec3a 340 second_to_time(es.toInt(i));
zebrin1422 0:dfa2ad4bec3a 341 i+=4;
zebrin1422 0:dfa2ad4bec3a 342 /*
zebrin1422 0:dfa2ad4bec3a 343 pc.printf("i = %d\t",i);
zebrin1422 0:dfa2ad4bec3a 344 pc.printf("Inner time = %d\r\n",es.toInt(i));
zebrin1422 0:dfa2ad4bec3a 345 i+=4;
zebrin1422 0:dfa2ad4bec3a 346 */
zebrin1422 0:dfa2ad4bec3a 347
zebrin1422 0:dfa2ad4bec3a 348 //pc.printf("i = %d\t",i);
zebrin1422 0:dfa2ad4bec3a 349 pc.printf("longitude = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 350 i+=4;
zebrin1422 0:dfa2ad4bec3a 351
zebrin1422 0:dfa2ad4bec3a 352 //pc.printf("i = %d\t",i);
zebrin1422 0:dfa2ad4bec3a 353 pc.printf("latitude = %f\r\n",es.toFloat(i));
zebrin1422 0:dfa2ad4bec3a 354 i+=4;
zebrin1422 0:dfa2ad4bec3a 355
zebrin1422 0:dfa2ad4bec3a 356 //i+=8;
zebrin1422 0:dfa2ad4bec3a 357
zebrin1422 0:dfa2ad4bec3a 358 pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
zebrin1422 0:dfa2ad4bec3a 359 i+=2;
zebrin1422 0:dfa2ad4bec3a 360
zebrin1422 0:dfa2ad4bec3a 361 pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
zebrin1422 0:dfa2ad4bec3a 362 i+=2;
zebrin1422 0:dfa2ad4bec3a 363
zebrin1422 0:dfa2ad4bec3a 364 pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
zebrin1422 0:dfa2ad4bec3a 365 i+=2;
zebrin1422 0:dfa2ad4bec3a 366
zebrin1422 0:dfa2ad4bec3a 367 pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
zebrin1422 0:dfa2ad4bec3a 368 i+=2;
zebrin1422 0:dfa2ad4bec3a 369
zebrin1422 0:dfa2ad4bec3a 370 pc.printf("temperature = %f\r\n",(float)(es.toShort(i)/COMPRES_TEMPERATURE));
zebrin1422 0:dfa2ad4bec3a 371 i+=2;
zebrin1422 0:dfa2ad4bec3a 372
zebrin1422 0:dfa2ad4bec3a 373 pc.printf("humidity = %f\r\n",(float)(es.toShort(i)/COMPRES_HUMIDITY));
zebrin1422 0:dfa2ad4bec3a 374 i+=2;
zebrin1422 0:dfa2ad4bec3a 375 }
zebrin1422 0:dfa2ad4bec3a 376 }
zebrin1422 0:dfa2ad4bec3a 377
zebrin1422 0:dfa2ad4bec3a 378 void header0x05()
zebrin1422 0:dfa2ad4bec3a 379 {
zebrin1422 0:dfa2ad4bec3a 380 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 381 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 382 pc.printf("header:0x05\r\n");
zebrin1422 0:dfa2ad4bec3a 383
zebrin1422 0:dfa2ad4bec3a 384 if(es.data[0] == 'd')pc.printf("flight pin detect\r\n");
zebrin1422 0:dfa2ad4bec3a 385 //else pc.printf("NG data\r\n");
zebrin1422 0:dfa2ad4bec3a 386
zebrin1422 0:dfa2ad4bec3a 387 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 388 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 389
zebrin1422 0:dfa2ad4bec3a 390 }
zebrin1422 0:dfa2ad4bec3a 391
zebrin1422 0:dfa2ad4bec3a 392 void header0x06()
zebrin1422 0:dfa2ad4bec3a 393 {
zebrin1422 0:dfa2ad4bec3a 394 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 395 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 396 pc.printf("header:0x06\r\n");
zebrin1422 0:dfa2ad4bec3a 397
zebrin1422 0:dfa2ad4bec3a 398 if(es.data[0] == 'n')pc.printf("nicrom fire finish\r\n");
zebrin1422 0:dfa2ad4bec3a 399 //else pc.printf("NG data\r\n");
zebrin1422 0:dfa2ad4bec3a 400
zebrin1422 0:dfa2ad4bec3a 401 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 402 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 403 }
zebrin1422 0:dfa2ad4bec3a 404
zebrin1422 0:dfa2ad4bec3a 405 void header0x07()
zebrin1422 0:dfa2ad4bec3a 406 {
zebrin1422 0:dfa2ad4bec3a 407 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 408 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 409 pc.printf("header:0x07\r\n");
zebrin1422 0:dfa2ad4bec3a 410
zebrin1422 0:dfa2ad4bec3a 411 if(es.data[0] == 's')pc.printf("solenoid push complete\r\n");
zebrin1422 0:dfa2ad4bec3a 412 //else pc.printf("NG data\r\n");
zebrin1422 0:dfa2ad4bec3a 413
zebrin1422 0:dfa2ad4bec3a 414 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 415 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 416 }
zebrin1422 0:dfa2ad4bec3a 417
zebrin1422 0:dfa2ad4bec3a 418 void header0x08()
zebrin1422 0:dfa2ad4bec3a 419 {
zebrin1422 0:dfa2ad4bec3a 420 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 421 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 422 //pc.printf("header:0x08\r\n");
zebrin1422 0:dfa2ad4bec3a 423
zebrin1422 0:dfa2ad4bec3a 424 if(es.data[0] == 'c')pc.printf("collect mode transimit complete\r\n");
zebrin1422 0:dfa2ad4bec3a 425 else pc.printf("NG data\r\n");
zebrin1422 0:dfa2ad4bec3a 426
zebrin1422 0:dfa2ad4bec3a 427 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 428 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 429 }
zebrin1422 0:dfa2ad4bec3a 430
zebrin1422 0:dfa2ad4bec3a 431 void header0x09()
zebrin1422 0:dfa2ad4bec3a 432 {
zebrin1422 0:dfa2ad4bec3a 433 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 434 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 435 pc.printf("header:0x09\r\n");
zebrin1422 0:dfa2ad4bec3a 436
zebrin1422 0:dfa2ad4bec3a 437 if(es.data[0] == 1)pc.printf("ROCKET PHASE 1 START\r\n");
zebrin1422 0:dfa2ad4bec3a 438 if(es.data[0] == 2)pc.printf("ROCKET PHASE 2 START\r\n");
zebrin1422 0:dfa2ad4bec3a 439 if(es.data[0] == 3)pc.printf("ROCKET PHASE 3 START\r\n");
zebrin1422 0:dfa2ad4bec3a 440 if(es.data[0] == 4)pc.printf("ROCKET PHASE 4 START\r\n");
zebrin1422 0:dfa2ad4bec3a 441 if(es.data[0] == 5)pc.printf("ROCKET PHASE 5 START\r\n");
zebrin1422 0:dfa2ad4bec3a 442 //else pc.printf("NG data\r\n");
zebrin1422 0:dfa2ad4bec3a 443
zebrin1422 0:dfa2ad4bec3a 444 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 445 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 446 }
zebrin1422 0:dfa2ad4bec3a 447
zebrin1422 0:dfa2ad4bec3a 448 void header0x1A()
zebrin1422 0:dfa2ad4bec3a 449 {
zebrin1422 0:dfa2ad4bec3a 450
zebrin1422 0:dfa2ad4bec3a 451 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 452 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 453 pc.printf("header : 0x1A\r\n");
zebrin1422 0:dfa2ad4bec3a 454
zebrin1422 0:dfa2ad4bec3a 455 if(es.data[0] == 'd'){pc.printf("Rocket's transceiver normal\r\n");}
zebrin1422 0:dfa2ad4bec3a 456 if(es.data[0] == 'i'){pc.printf("Inner time reset complete\r\n");}
zebrin1422 0:dfa2ad4bec3a 457 if(es.data[0] == 'b'){pc.printf("safety device reboot complete\r\n");}
zebrin1422 0:dfa2ad4bec3a 458 //else pc.printf("NG command\r\n");
zebrin1422 0:dfa2ad4bec3a 459
zebrin1422 0:dfa2ad4bec3a 460 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 461 pc.printf("--------------------------------------------------------\r\n");
zebrin1422 0:dfa2ad4bec3a 462 }
zebrin1422 0:dfa2ad4bec3a 463
zebrin1422 0:dfa2ad4bec3a 464
zebrin1422 0:dfa2ad4bec3a 465 int main() {
zebrin1422 0:dfa2ad4bec3a 466
zebrin1422 0:dfa2ad4bec3a 467 pc.attach(&header0x10, Serial::RxIrq);
zebrin1422 0:dfa2ad4bec3a 468
zebrin1422 0:dfa2ad4bec3a 469 es.attach(&header0x01, (char)0x01);
zebrin1422 0:dfa2ad4bec3a 470 es.attach(&header0x02, (char)0x02);
zebrin1422 0:dfa2ad4bec3a 471 es.attach(&header0x03, (char)0x03);
zebrin1422 0:dfa2ad4bec3a 472 //es.attach(&header0x04, (char)0x04);
zebrin1422 0:dfa2ad4bec3a 473 es.attach(&header0x05, (char)0x05);
zebrin1422 0:dfa2ad4bec3a 474 es.attach(&header0x06, (char)0x06);
zebrin1422 0:dfa2ad4bec3a 475 es.attach(&header0x07, (char)0x07);
zebrin1422 0:dfa2ad4bec3a 476 es.attach(&header0x08, (char)0x08);
zebrin1422 0:dfa2ad4bec3a 477 es.attach(&header0x09, (char)0x09);
zebrin1422 0:dfa2ad4bec3a 478
zebrin1422 0:dfa2ad4bec3a 479 es.attach(&header0x1A, (char)0x1A);
zebrin1422 0:dfa2ad4bec3a 480
zebrin1422 0:dfa2ad4bec3a 481
zebrin1422 0:dfa2ad4bec3a 482
zebrin1422 0:dfa2ad4bec3a 483 while(1)
zebrin1422 0:dfa2ad4bec3a 484 {
zebrin1422 0:dfa2ad4bec3a 485 pc.printf("couldn't receive cmd\r\n");
zebrin1422 0:dfa2ad4bec3a 486
zebrin1422 0:dfa2ad4bec3a 487 wait(30);
zebrin1422 0:dfa2ad4bec3a 488 }
zebrin1422 0:dfa2ad4bec3a 489
zebrin1422 0:dfa2ad4bec3a 490
zebrin1422 0:dfa2ad4bec3a 491 }