PQ_Hybrid_Electrical_Equipment_Team
2018 IZU GRUND STATION Program
Revision 1:73890382d872, committed 2018-03-22
- Comitter:
- zebrin1422
- Date:
- Thu Mar 22 05:54:16 2018 +0000
- Parent:
- 0:dfa2ad4bec3a
- Commit message:
- 2018 IZU GRUND STATION
Changed in this revision
| HYBRYD2018_IZU_GRAUND_STATION.cpp | Show diff for this revision Revisions of this file |
| HYBRYD2018_IZU_GROUND_STATION.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/HYBRYD2018_IZU_GRAUND_STATION.cpp Thu Mar 22 05:53:05 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,491 +0,0 @@
-#include "mbed.h"
-#include "ES920LR.hpp"
-
-#define TX D1
-#define RX D0
-
-RawSerial pc(USBTX,USBRX,115200);
-RawSerial bus(TX, RX, 115200);
-ES920LR es(bus, pc, 115200);
-
-bool safety_flag = false;
-
-Timeout send;
-
-//safety device release command
-//forced transition fllight mode
-//forced nicrom fire
-
-void header0x10()
-{
- char buff = pc.getc();
-
- if(buff == 'R')es << (char)0x10 << 'r' << es.endl; //release's "r"
- else if(buff == 'F') es << (char)0x10 << 'f' << es.endl; //flight's "f"
- else if(buff == 'N') es << (char)0x10 << 'n' << es.endl; //nicrom's "n"
- else if(buff == 'S') es << (char)0x10 << 's' << es.endl; //solenoid's "s"
- else if(buff == 'C') es << (char)0x10 << 'c' << es.endl; //collect's "c"
- else if(buff == 'D') es << (char)0x10 << 'd' << es.endl; //debug's "d"
- else if(buff == 'I') es << (char)0x10 << 'i' << es.endl; //inner's "i"
- else if(buff == 'B') es << (char)0x10 << 'b' << es.endl; //beck's "b"
- else pc.printf("NG command\r\n");
-}
-
-
-
-
-bool bit_check(short data, short mask)
-{
- if((data & mask) == mask)return true;
- else return false;
-}
-/*
-if(safety_flag) state |= 0x01; //0bit
-if(flight_detect_mode) state |= 0x02; //1bit
-if(hr.flight_pin_state) state |= 0x04; //2bit
-if(flight_mode) state |= 0x08; //3bit
-if(sepa_accept) state |= 0x10; //4bit
-if(extrusion_accept) state |= 0x20; //5bit
-if(collect_mode) state |= 0x40; //6bit
-if(vertex_arrival) state |= 0x80; //7bit
-*/
-void flag_display(char data)
-{
-
- if(data & 0x80)pc.printf("1");
- else pc.printf("0");
-
- if(data & 0x40)pc.printf("1");
- else pc.printf("0");
-
- if(data & 0x20)pc.printf("1");
- else pc.printf("0");
-
- if(data & 0x10)pc.printf("1|");
- else pc.printf("0|");
-
- if(data & 0x08)pc.printf("1");
- else pc.printf("0");
-
- if(data & 0x04)pc.printf("1");
- else pc.printf("0");
-
- if(data & 0x02)pc.printf("1");
- else pc.printf("0");
-
-
- if(data & 0x01)pc.printf("1\r\n");
- else pc.printf("0\r\n");
-
- if(data==0x00)pc.printf("安全装置：ロック\r\n");
- if(data==0x01)pc.printf("安全装置：解除\r\n");
- if(data==0x03)pc.printf("フライトピン待機状態\r\n");
- if(data==0x07)pc.printf("フライトピンが抜けた\r\n");
- if(data==0x0F)pc.printf("飛行中\r\n");
- if(data==0x1F || data==0x9F)pc.printf("ニクロムファイア\r\n");
- if(data==0x3F || data==0xBF)pc.printf("ソレノイドプッシュ\r\n");
- if(data==0x7F || data==0xFF)pc.printf("回収モード\r\n");
-
-}
-
-void second_to_time(int data)
-{
- char hour,min,second;
- float dummy;
-
- dummy = (float)(data/3600);
- hour = (char)dummy;
- data -= 3600*(int)hour;
-
- dummy = (float)(data/60);
- min = (char)dummy;
- data -= 60*(int)min;
-
- second = (char)data;
-
- pc.printf("Inner Time = %d hour %d min %d sec\r\n", hour, min, second);
-}
-
-
-void header0x01()
-{
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
-
- if(es.data[0] == (char)9) //PQの9
- {
- pc.printf("safety device release complete\r\n");
- safety_flag = true;
- }
- else
- {
- pc.printf("couldn't communicate\r\n");
- safety_flag = false;
- }
-
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
-}
-
-// センサ external_INA inner_INA mpu_acc mpu_mag LPS22HB SHT35 TSL2561 three SD
-// ビット 8 7 6 5 4 3 2 1 0
-// 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
-void header0x02()
-{
- short state = es.toShort(0);
- if(state & 0x001)pc.printf("external ina OK\r\n");
- else pc.printf("external ina NG\r\n");
-
- if(state & 0x002)pc.printf("inner ina OK\r\n");
- else pc.printf("inner ina NG\r\n");
-
- if(state & 0x004)pc.printf("mpu acc OK\r\n");
- else pc.printf("mpu acc OK\r\n");
-
- if(state & 0x008)pc.printf("mpu mag OK\r\n");
- else pc.printf("mpu mag OK\r\n");
-
- if(state & 0x010)pc.printf("LPS22HB OK\r\n");
- else pc.printf("LPS22HB NG\r\n");
-
- if(state & 0x020)pc.printf("SHT35 OK\r\n");
- else pc.printf("SHT35 NG\r\n");
-
- if(state & 0x040)pc.printf("TSL2561 OK\r\n");
- else pc.printf("TSL2561 NG\r\n");
-
- if(state & 0x080)pc.printf("ADXL OK\r\n");
- else pc.printf("ADXL NG\r\n");
-
- if(state & 0x100)pc.printf("SD OK\r\n");
- else pc.printf("SD NG\r\n");
-
- if(state & 0x200)pc.printf("GPS OK\r\n");
- else pc.printf("GPS NO\r\n");
-}
-
-#define COMPRES_Inner_Time 36.40833333 //32768/1800
-#define COMPRES_Q 305200 // ? pakuru
-#define COMPRES_VOLTAGE 0.9102222 // 65535/36 =
-#define COMPRES_CURRENT 0.8192 // 65535/40 =
-#define COMPRES_PRESSURE 26.0063 // 65535/1260 =
-#define COMPRES_ALTITUDE 65.536 // 65535/500 = //range = 0~500
-#define COMPRES_VELOCITY 327.68 // 65535/100 = //pakuru
-#define COMPRES_LUMINOSITY 3.2768 // 65535/10000 =
-#define COMPRES_TEMPERATURE 546.133 // 63353/60 = //range = -20 ~ 40
-#define COMPRES_HUMIDITY 327.68 // 65535/100 =
-#define COMPRES_ACC 81.92 // 65535/400 =
-#define COMPRES_PITOT 32768 // 65535/1 =
-
-void header0x03()
-{
- int i=0;
-
- pc.printf("header:0x03\r\n");
-
- if(es.data[i]==1 || es.data[i]==2 || es.data[i]==3)
- {
-
- pc.printf("rocket phase : %d\r\n",es.data[i]);
- i++;
-
- flag_display(es.data[i]);
- i++;
-
- second_to_time(es.toInt(i));
- i+=4;
-
- //i+=8;
-
- pc.printf("latitude = %f\r\n",es.toFloat(i));
- i+=4;
-
- pc.printf("longitude = %f\r\n",es.toFloat(i));
- i+=4;
-
- /*
- pc.printf("ex_vol = %f\r\n",es.toFloat(i));
- i+=4;
-
- pc.printf("ex_current = %f\r\n",es.toFloat(i));
- i+=4;
-
- pc.printf("in_vol = %f\r\n",es.toFloat(i));
- i+=4;
-
- pc.printf("in_current = %f\r\n",es.toFloat(i));
- i+=4;
-
- //pc.printf("pressure = %f\r\n",es.toFloat(i));
- //i+=4;
-
- //pc.printf("lux = %f\r\n",es.toFloat(i));
- //i+=4;
-
-
- pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
- i+=2;
-
- pc.printf("lux %f\r\n", (float)(es.toShort(i) / COMPRES_LUMINOSITY));
- i+=2;
-
- pc.printf("temp = %f\r\n",(float)(es.toShort(i) / COMPRES_TEMPERATURE));
- i+=2;
-
- pc.printf("hum = %f\r\n",(float)(es.toShort(i) / COMPRES_HUMIDITY));
- i+=2;
- */
- pc.printf("ex_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
- i+=2;
-
- pc.printf("ex_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
- i+=2;
-
- //pc.printf("i = %d\r\n",i);
- pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
- i+=2;
-
- pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
- i+=2;
-
- pc.printf("pressure = %f\r\n",(float)(es.toShort(i)/COMPRES_PRESSURE));
- i+=2;
-
- pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
- i+=2;
-
- pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
- i+=2;
-
- pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
- i+=2;
-
-
- }
- if(es.data[i]==4)
- {
- pc.printf("rocket phase : %d\r\n",es.data[i]);
- i++;
-
- flag_display(es.data[i]);
- i++;
-
- second_to_time(es.toInt(i));
- i+=4;
-
- pc.printf("latitude = %f\r\n",es.toFloat(i));
- i+=4;
-
- pc.printf("longitude = %f\r\n",es.toFloat(i));
- i+=4;
-
- /*
- pc.printf("i = %d\t",i);
- pc.printf("Q.w = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
- i+=2;
-
- pc.printf("i = %d\t",i);
- pc.printf("Q.x = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
- i+=2;
-
- pc.printf("i = %d\t",i);
- pc.printf("Q.y = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
- i+=2;
-
- pc.printf("i = %d\t",i);
- pc.printf("Q.z = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
- i+=2;
- */
- //i+=8;
-
- pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
- i+=2;
-
- pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
- i+=2;
-
- pc.printf("altitude = %f\r\n",es.toFloat(i));
- i+=4;
-
- pc.printf("velocity = %f\r\n",es.toFloat(i));
- i+=4;
-
- pc.printf("luminosity = %f\r\n",(float)(es.toShort(i))/COMPRES_LUMINOSITY);
- i+=2;
-
- pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
- i+=2;
-
- pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
- i+=2;
-
- pc.printf("press_pitot = %f\r\n",(float)(es.toShort(i))/COMPRES_PITOT);
- i+=2;
-
- pc.printf("gps_altitude = %f\r\n",(float)(es.toShort(i)/COMPRES_ALTITUDE));
- i+=2;
- }
- if(es.data[i]==5)
- {
- pc.printf("rocket phase : %d\r\n",es.data[i]);
- i++;
-
- flag_display(es.data[i]);
- /*
- pc.printf("i = %d\t",i);
- pc.printf("rocket state : 0x%x\r\n",es.data[i]);
- */
- i++;
-
- second_to_time(es.toInt(i));
- i+=4;
- /*
- pc.printf("i = %d\t",i);
- pc.printf("Inner time = %d\r\n",es.toInt(i));
- i+=4;
- */
-
- //pc.printf("i = %d\t",i);
- pc.printf("longitude = %f\r\n",es.toFloat(i));
- i+=4;
-
- //pc.printf("i = %d\t",i);
- pc.printf("latitude = %f\r\n",es.toFloat(i));
- i+=4;
-
- //i+=8;
-
- pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
- i+=2;
-
- pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
- i+=2;
-
- pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
- i+=2;
-
- pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
- i+=2;
-
- pc.printf("temperature = %f\r\n",(float)(es.toShort(i)/COMPRES_TEMPERATURE));
- i+=2;
-
- pc.printf("humidity = %f\r\n",(float)(es.toShort(i)/COMPRES_HUMIDITY));
- i+=2;
- }
-}
-
-void header0x05()
-{
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("header:0x05\r\n");
-
- if(es.data[0] == 'd')pc.printf("flight pin detect\r\n");
- //else pc.printf("NG data\r\n");
-
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
-
-}
-
-void header0x06()
-{
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("header:0x06\r\n");
-
- if(es.data[0] == 'n')pc.printf("nicrom fire finish\r\n");
- //else pc.printf("NG data\r\n");
-
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
-}
-
-void header0x07()
-{
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("header:0x07\r\n");
-
- if(es.data[0] == 's')pc.printf("solenoid push complete\r\n");
- //else pc.printf("NG data\r\n");
-
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
-}
-
-void header0x08()
-{
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
- //pc.printf("header:0x08\r\n");
-
- if(es.data[0] == 'c')pc.printf("collect mode transimit complete\r\n");
- else pc.printf("NG data\r\n");
-
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
-}
-
-void header0x09()
-{
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("header:0x09\r\n");
-
- if(es.data[0] == 1)pc.printf("ROCKET PHASE 1 START\r\n");
- if(es.data[0] == 2)pc.printf("ROCKET PHASE 2 START\r\n");
- if(es.data[0] == 3)pc.printf("ROCKET PHASE 3 START\r\n");
- if(es.data[0] == 4)pc.printf("ROCKET PHASE 4 START\r\n");
- if(es.data[0] == 5)pc.printf("ROCKET PHASE 5 START\r\n");
- //else pc.printf("NG data\r\n");
-
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
-}
-
-void header0x1A()
-{
-
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("header : 0x1A\r\n");
-
- if(es.data[0] == 'd'){pc.printf("Rocket's transceiver normal\r\n");}
- if(es.data[0] == 'i'){pc.printf("Inner time reset complete\r\n");}
- if(es.data[0] == 'b'){pc.printf("safety device reboot complete\r\n");}
- //else pc.printf("NG command\r\n");
-
- pc.printf("--------------------------------------------------------\r\n");
- pc.printf("--------------------------------------------------------\r\n");
-}
-
-
-int main() {
-
- pc.attach(&header0x10, Serial::RxIrq);
-
- es.attach(&header0x01, (char)0x01);
- es.attach(&header0x02, (char)0x02);
- es.attach(&header0x03, (char)0x03);
- //es.attach(&header0x04, (char)0x04);
- es.attach(&header0x05, (char)0x05);
- es.attach(&header0x06, (char)0x06);
- es.attach(&header0x07, (char)0x07);
- es.attach(&header0x08, (char)0x08);
- es.attach(&header0x09, (char)0x09);
-
- es.attach(&header0x1A, (char)0x1A);
-
-
-
- while(1)
- {
- pc.printf("couldn't receive cmd\r\n");
-
- wait(30);
- }
-
-
-}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HYBRYD2018_IZU_GROUND_STATION.cpp Thu Mar 22 05:54:16 2018 +0000
@@ -0,0 +1,491 @@
+#include "mbed.h"
+#include "ES920LR.hpp"
+
+#define TX D1
+#define RX D0
+
+RawSerial pc(USBTX,USBRX,115200);
+RawSerial bus(TX, RX, 115200);
+ES920LR es(bus, pc, 115200);
+
+bool safety_flag = false;
+
+Timeout send;
+
+//safety device release command
+//forced transition fllight mode
+//forced nicrom fire
+
+void header0x10()
+{
+ char buff = pc.getc();
+
+ if(buff == 'R')es << (char)0x10 << 'r' << es.endl; //release's "r"
+ else if(buff == 'F') es << (char)0x10 << 'f' << es.endl; //flight's "f"
+ else if(buff == 'N') es << (char)0x10 << 'n' << es.endl; //nicrom's "n"
+ else if(buff == 'S') es << (char)0x10 << 's' << es.endl; //solenoid's "s"
+ else if(buff == 'C') es << (char)0x10 << 'c' << es.endl; //collect's "c"
+ else if(buff == 'D') es << (char)0x10 << 'd' << es.endl; //debug's "d"
+ else if(buff == 'I') es << (char)0x10 << 'i' << es.endl; //inner's "i"
+ else if(buff == 'B') es << (char)0x10 << 'b' << es.endl; //beck's "b"
+ else pc.printf("NG command\r\n");
+}
+
+
+
+
+bool bit_check(short data, short mask)
+{
+ if((data & mask) == mask)return true;
+ else return false;
+}
+/*
+if(safety_flag) state |= 0x01; //0bit
+if(flight_detect_mode) state |= 0x02; //1bit
+if(hr.flight_pin_state) state |= 0x04; //2bit
+if(flight_mode) state |= 0x08; //3bit
+if(sepa_accept) state |= 0x10; //4bit
+if(extrusion_accept) state |= 0x20; //5bit
+if(collect_mode) state |= 0x40; //6bit
+if(vertex_arrival) state |= 0x80; //7bit
+*/
+void flag_display(char data)
+{
+
+ if(data & 0x80)pc.printf("1");
+ else pc.printf("0");
+
+ if(data & 0x40)pc.printf("1");
+ else pc.printf("0");
+
+ if(data & 0x20)pc.printf("1");
+ else pc.printf("0");
+
+ if(data & 0x10)pc.printf("1|");
+ else pc.printf("0|");
+
+ if(data & 0x08)pc.printf("1");
+ else pc.printf("0");
+
+ if(data & 0x04)pc.printf("1");
+ else pc.printf("0");
+
+ if(data & 0x02)pc.printf("1");
+ else pc.printf("0");
+
+
+ if(data & 0x01)pc.printf("1\r\n");
+ else pc.printf("0\r\n");
+
+ if(data==0x00)pc.printf("安全装置：ロック\r\n");
+ if(data==0x01)pc.printf("安全装置：解除\r\n");
+ if(data==0x03)pc.printf("フライトピン待機状態\r\n");
+ if(data==0x07)pc.printf("フライトピンが抜けた\r\n");
+ if(data==0x0F)pc.printf("飛行中\r\n");
+ if(data==0x1F || data==0x9F)pc.printf("ニクロムファイア\r\n");
+ if(data==0x3F || data==0xBF)pc.printf("ソレノイドプッシュ\r\n");
+ if(data==0x7F || data==0xFF)pc.printf("回収モード\r\n");
+
+}
+
+void second_to_time(int data)
+{
+ char hour,min,second;
+ float dummy;
+
+ dummy = (float)(data/3600);
+ hour = (char)dummy;
+ data -= 3600*(int)hour;
+
+ dummy = (float)(data/60);
+ min = (char)dummy;
+ data -= 60*(int)min;
+
+ second = (char)data;
+
+ pc.printf("Inner Time = %d hour %d min %d sec\r\n", hour, min, second);
+}
+
+
+void header0x01()
+{
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+
+ if(es.data[0] == (char)9) //PQの9
+ {
+ pc.printf("safety device release complete\r\n");
+ safety_flag = true;
+ }
+ else
+ {
+ pc.printf("couldn't communicate\r\n");
+ safety_flag = false;
+ }
+
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+}
+
+// センサ external_INA inner_INA mpu_acc mpu_mag LPS22HB SHT35 TSL2561 three SD
+// ビット 8 7 6 5 4 3 2 1 0
+// 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
+void header0x02()
+{
+ short state = es.toShort(0);
+ if(state & 0x001)pc.printf("external ina OK\r\n");
+ else pc.printf("external ina NG\r\n");
+
+ if(state & 0x002)pc.printf("inner ina OK\r\n");
+ else pc.printf("inner ina NG\r\n");
+
+ if(state & 0x004)pc.printf("mpu acc OK\r\n");
+ else pc.printf("mpu acc OK\r\n");
+
+ if(state & 0x008)pc.printf("mpu mag OK\r\n");
+ else pc.printf("mpu mag OK\r\n");
+
+ if(state & 0x010)pc.printf("LPS22HB OK\r\n");
+ else pc.printf("LPS22HB NG\r\n");
+
+ if(state & 0x020)pc.printf("SHT35 OK\r\n");
+ else pc.printf("SHT35 NG\r\n");
+
+ if(state & 0x040)pc.printf("TSL2561 OK\r\n");
+ else pc.printf("TSL2561 NG\r\n");
+
+ if(state & 0x080)pc.printf("ADXL OK\r\n");
+ else pc.printf("ADXL NG\r\n");
+
+ if(state & 0x100)pc.printf("SD OK\r\n");
+ else pc.printf("SD NG\r\n");
+
+ if(state & 0x200)pc.printf("GPS OK\r\n");
+ else pc.printf("GPS NO\r\n");
+}
+
+#define COMPRES_Inner_Time 36.40833333 //32768/1800
+#define COMPRES_Q 305200 // ? pakuru
+#define COMPRES_VOLTAGE 0.9102222 // 65535/36 =
+#define COMPRES_CURRENT 0.8192 // 65535/40 =
+#define COMPRES_PRESSURE 26.0063 // 65535/1260 =
+#define COMPRES_ALTITUDE 65.536 // 65535/500 = //range = 0~500
+#define COMPRES_VELOCITY 327.68 // 65535/100 = //pakuru
+#define COMPRES_LUMINOSITY 3.2768 // 65535/10000 =
+#define COMPRES_TEMPERATURE 546.133 // 63353/60 = //range = -20 ~ 40
+#define COMPRES_HUMIDITY 327.68 // 65535/100 =
+#define COMPRES_ACC 81.92 // 65535/400 =
+#define COMPRES_PITOT 32768 // 65535/1 =
+
+void header0x03()
+{
+ int i=0;
+
+ pc.printf("header:0x03\r\n");
+
+ if(es.data[i]==1 || es.data[i]==2 || es.data[i]==3)
+ {
+
+ pc.printf("rocket phase : %d\r\n",es.data[i]);
+ i++;
+
+ flag_display(es.data[i]);
+ i++;
+
+ second_to_time(es.toInt(i));
+ i+=4;
+
+ //i+=8;
+
+ pc.printf("latitude = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ pc.printf("longitude = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ /*
+ pc.printf("ex_vol = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ pc.printf("ex_current = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ pc.printf("in_vol = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ pc.printf("in_current = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ //pc.printf("pressure = %f\r\n",es.toFloat(i));
+ //i+=4;
+
+ //pc.printf("lux = %f\r\n",es.toFloat(i));
+ //i+=4;
+
+
+ pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
+ i+=2;
+
+ pc.printf("lux %f\r\n", (float)(es.toShort(i) / COMPRES_LUMINOSITY));
+ i+=2;
+
+ pc.printf("temp = %f\r\n",(float)(es.toShort(i) / COMPRES_TEMPERATURE));
+ i+=2;
+
+ pc.printf("hum = %f\r\n",(float)(es.toShort(i) / COMPRES_HUMIDITY));
+ i+=2;
+ */
+ pc.printf("ex_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
+ i+=2;
+
+ pc.printf("ex_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
+ i+=2;
+
+ //pc.printf("i = %d\r\n",i);
+ pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
+ i+=2;
+
+ pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
+ i+=2;
+
+ pc.printf("pressure = %f\r\n",(float)(es.toShort(i)/COMPRES_PRESSURE));
+ i+=2;
+
+ pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
+ i+=2;
+
+ pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
+ i+=2;
+
+ pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
+ i+=2;
+
+
+ }
+ if(es.data[i]==4)
+ {
+ pc.printf("rocket phase : %d\r\n",es.data[i]);
+ i++;
+
+ flag_display(es.data[i]);
+ i++;
+
+ second_to_time(es.toInt(i));
+ i+=4;
+
+ pc.printf("latitude = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ pc.printf("longitude = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ /*
+ pc.printf("i = %d\t",i);
+ pc.printf("Q.w = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
+ i+=2;
+
+ pc.printf("i = %d\t",i);
+ pc.printf("Q.x = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
+ i+=2;
+
+ pc.printf("i = %d\t",i);
+ pc.printf("Q.y = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
+ i+=2;
+
+ pc.printf("i = %d\t",i);
+ pc.printf("Q.z = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);
+ i+=2;
+ */
+ //i+=8;
+
+ pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
+ i+=2;
+
+ pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
+ i+=2;
+
+ pc.printf("altitude = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ pc.printf("velocity = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ pc.printf("luminosity = %f\r\n",(float)(es.toShort(i))/COMPRES_LUMINOSITY);
+ i+=2;
+
+ pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
+ i+=2;
+
+ pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
+ i+=2;
+
+ pc.printf("press_pitot = %f\r\n",(float)(es.toShort(i))/COMPRES_PITOT);
+ i+=2;
+
+ pc.printf("gps_altitude = %f\r\n",(float)(es.toShort(i)/COMPRES_ALTITUDE));
+ i+=2;
+ }
+ if(es.data[i]==5)
+ {
+ pc.printf("rocket phase : %d\r\n",es.data[i]);
+ i++;
+
+ flag_display(es.data[i]);
+ /*
+ pc.printf("i = %d\t",i);
+ pc.printf("rocket state : 0x%x\r\n",es.data[i]);
+ */
+ i++;
+
+ second_to_time(es.toInt(i));
+ i+=4;
+ /*
+ pc.printf("i = %d\t",i);
+ pc.printf("Inner time = %d\r\n",es.toInt(i));
+ i+=4;
+ */
+
+ //pc.printf("i = %d\t",i);
+ pc.printf("longitude = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ //pc.printf("i = %d\t",i);
+ pc.printf("latitude = %f\r\n",es.toFloat(i));
+ i+=4;
+
+ //i+=8;
+
+ pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);
+ i+=2;
+
+ pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT);
+ i+=2;
+
+ pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
+ i+=2;
+
+ pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
+ i+=2;
+
+ pc.printf("temperature = %f\r\n",(float)(es.toShort(i)/COMPRES_TEMPERATURE));
+ i+=2;
+
+ pc.printf("humidity = %f\r\n",(float)(es.toShort(i)/COMPRES_HUMIDITY));
+ i+=2;
+ }
+}
+
+void header0x05()
+{
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("header:0x05\r\n");
+
+ if(es.data[0] == 'd')pc.printf("flight pin detect\r\n");
+ //else pc.printf("NG data\r\n");
+
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+
+}
+
+void header0x06()
+{
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("header:0x06\r\n");
+
+ if(es.data[0] == 'n')pc.printf("nicrom fire finish\r\n");
+ //else pc.printf("NG data\r\n");
+
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+}
+
+void header0x07()
+{
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("header:0x07\r\n");
+
+ if(es.data[0] == 's')pc.printf("solenoid push complete\r\n");
+ //else pc.printf("NG data\r\n");
+
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+}
+
+void header0x08()
+{
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+ //pc.printf("header:0x08\r\n");
+
+ if(es.data[0] == 'c')pc.printf("collect mode transimit complete\r\n");
+ else pc.printf("NG data\r\n");
+
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+}
+
+void header0x09()
+{
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("header:0x09\r\n");
+
+ if(es.data[0] == 1)pc.printf("ROCKET PHASE 1 START\r\n");
+ if(es.data[0] == 2)pc.printf("ROCKET PHASE 2 START\r\n");
+ if(es.data[0] == 3)pc.printf("ROCKET PHASE 3 START\r\n");
+ if(es.data[0] == 4)pc.printf("ROCKET PHASE 4 START\r\n");
+ if(es.data[0] == 5)pc.printf("ROCKET PHASE 5 START\r\n");
+ //else pc.printf("NG data\r\n");
+
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+}
+
+void header0x1A()
+{
+
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("header : 0x1A\r\n");
+
+ if(es.data[0] == 'd'){pc.printf("Rocket's transceiver normal\r\n");}
+ if(es.data[0] == 'i'){pc.printf("Inner time reset complete\r\n");}
+ if(es.data[0] == 'b'){pc.printf("safety device reboot complete\r\n");}
+ //else pc.printf("NG command\r\n");
+
+ pc.printf("--------------------------------------------------------\r\n");
+ pc.printf("--------------------------------------------------------\r\n");
+}
+
+
+int main() {
+
+ pc.attach(&header0x10, Serial::RxIrq);
+
+ es.attach(&header0x01, (char)0x01);
+ es.attach(&header0x02, (char)0x02);
+ es.attach(&header0x03, (char)0x03);
+ //es.attach(&header0x04, (char)0x04);
+ es.attach(&header0x05, (char)0x05);
+ es.attach(&header0x06, (char)0x06);
+ es.attach(&header0x07, (char)0x07);
+ es.attach(&header0x08, (char)0x08);
+ es.attach(&header0x09, (char)0x09);
+
+ es.attach(&header0x1A, (char)0x1A);
+
+
+
+ while(1)
+ {
+ pc.printf("couldn't receive cmd\r\n");
+
+ wait(30);
+ }
+
+
+}