PQ_Hybrid_Electrical_Equipment_Team / Mbed 2 deprecated SWAN_IZU2019_v1

高高度CanSat Space SWANの投下時に使用したプログラム．(IZU2019)

Dependencies:   Nichrome_lib mbed ads1115_test BNO055_lib ADXL375_i2c ES920LR CCS811_lib SDFileSystem BME280_lib INA226_lib EEPROM_lib GPS_interrupt

main.cpp@5:b71a554ab4c4, 2019-02-22 (annotated)

Committer:
Sigma884
Date:
Fri Feb 22 13:02:57 2019 +0000
Revision:
5:b71a554ab4c4
Parent:
4:b878dce9c247
Child:
6:f2016544b9e4
20190222 ver.0.6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sigma884 0:03be138291de 1 #include "mbed.h"
Sigma884 0:03be138291de 2 #include "math.h"
Sigma884 0:03be138291de 3
Sigma884 0:03be138291de 4 #include "Adafruit_ADS1015.h"
Sigma884 0:03be138291de 5 #include "ADXL375_i2c.h"
Sigma884 0:03be138291de 6 #include "BME280_lib.h"
Sigma884 0:03be138291de 7 #include "BNO055_lib.h"
Sigma884 0:03be138291de 8 #include "CCS811_lib.h"
Sigma884 0:03be138291de 9 #include "EEPROM_lib.h"
Sigma884 0:03be138291de 10 #include "ES920LR.hpp"
Sigma884 0:03be138291de 11 #include "GPS_interrupt.h"
Sigma884 0:03be138291de 12 #include "INA226.h"
Sigma884 0:03be138291de 13 #include "Nichrome_lib.h"
Sigma884 0:03be138291de 14 #include "SDFileSystem.h"
Sigma884 0:03be138291de 15
Sigma884 0:03be138291de 16
Sigma884 0:03be138291de 17 /*******************************************************************************
Sigma884 0:03be138291de 18 設定値
Sigma884 0:03be138291de 19 投下前に必ず確認！！
Sigma884 0:03be138291de 20 *******************************************************************************/
Sigma884 5:b71a554ab4c4 21 const float START_CONTROLL_TIME = 1.0f;
Sigma884 5:b71a554ab4c4 22 const float START_CONTROLL_ALT = -5.0f;
Sigma884 5:b71a554ab4c4 23
Sigma884 5:b71a554ab4c4 24 const float RECOVERY_TIME = 120.0f;
Sigma884 5:b71a554ab4c4 25 const float RECOVERY_SPEED = -2.0f;
Sigma884 5:b71a554ab4c4 26
Sigma884 1:6dea30c8b406 27 bool wait_GPS = true;
Sigma884 2:a443df6115bc 28 bool ok_PC = false;
Sigma884 0:03be138291de 29
Sigma884 0:03be138291de 30 /*******************************************************************************
Sigma884 0:03be138291de 31 コンストラクタ
Sigma884 0:03be138291de 32 *******************************************************************************/
Sigma884 0:03be138291de 33 RawSerial pc(USBTX, USBRX, 115200);
Sigma884 0:03be138291de 34
Sigma884 0:03be138291de 35 RawSerial serial_es920(p9, p10);
Sigma884 0:03be138291de 36 ES920LR es920(serial_es920, pc, 115200);
Sigma884 0:03be138291de 37
Sigma884 0:03be138291de 38 Serial GPS_serial(p13, p14, 38400);
Sigma884 0:03be138291de 39 GPS_interrupt GPS(&GPS_serial);
Sigma884 0:03be138291de 40 float GPS_freq = 4;
Sigma884 0:03be138291de 41
Sigma884 0:03be138291de 42 SDFileSystem sd(p5, p6, p7, p8, "sd");
Sigma884 0:03be138291de 43 const char file_name[64] = "/sd/Space_SWAN_LOG.txt";
Sigma884 0:03be138291de 44
Sigma884 0:03be138291de 45 I2C i2c_bus(p28, p27);
Sigma884 0:03be138291de 46 ADXL375_i2c ADXL375(i2c_bus, ADXL375_i2c::ALT_ADDRESS_HIGH);
Sigma884 0:03be138291de 47 myINA226 INA226(i2c_bus, myINA226::A1_VDD, myINA226::A0_VDD);
Sigma884 0:03be138291de 48 BME280_lib BME280(i2c_bus, BME280_lib::AD0_LOW);
Sigma884 0:03be138291de 49 BNO055_lib BNO055(i2c_bus, BNO055_lib::AD0_HIGH);
Sigma884 0:03be138291de 50 CCS811_lib CCS811(i2c_bus, CCS811_lib::AD0_LOW);
Sigma884 0:03be138291de 51 EEPROM_lib EEPROM(i2c_bus, 4);
Sigma884 0:03be138291de 52
Sigma884 0:03be138291de 53 Adafruit_ADS1115 ADS1115(&i2c_bus, ADS1015_ADDRESS);
Sigma884 0:03be138291de 54
Sigma884 3:4571111a5996 55 Nichrome_lib Valve1(p23);
Sigma884 3:4571111a5996 56 Nichrome_lib Valve2(p24);
Sigma884 3:4571111a5996 57 Nichrome_lib Valve3(p24);
Sigma884 3:4571111a5996 58 Nichrome_lib Valve4(p25);
Sigma884 3:4571111a5996 59 Nichrome_lib Buzzer(p22);
Sigma884 0:03be138291de 60
Sigma884 0:03be138291de 61 DigitalIn FlightPin(p15);
Sigma884 0:03be138291de 62
Sigma884 5:b71a554ab4c4 63 Timeout timeout_start_controll;
Sigma884 0:03be138291de 64 Timeout timeout_recovery;
Sigma884 0:03be138291de 65
Sigma884 0:03be138291de 66 Timer time_main;
Sigma884 0:03be138291de 67 Timer time_flight;
Sigma884 0:03be138291de 68
Sigma884 0:03be138291de 69 Ticker tick_gps;
Sigma884 0:03be138291de 70 Ticker tick_print;
Sigma884 3:4571111a5996 71 Ticker tick_save;
Sigma884 0:03be138291de 72 Ticker tick_header_data;
Sigma884 0:03be138291de 73
Sigma884 0:03be138291de 74
Sigma884 0:03be138291de 75 /*******************************************************************************
Sigma884 0:03be138291de 76 関数のプロトタイプ宣言
Sigma884 0:03be138291de 77 *******************************************************************************/
Sigma884 0:03be138291de 78 void setup(); //無線あり
Sigma884 0:03be138291de 79
Sigma884 0:03be138291de 80 void modeChange(); //無線あり
Sigma884 5:b71a554ab4c4 81 void changePhase_RECOVERY();
Sigma884 5:b71a554ab4c4 82 void startControllAttitude();
Sigma884 0:03be138291de 83
Sigma884 2:a443df6115bc 84 void controllAttitude();
Sigma884 2:a443df6115bc 85
Sigma884 0:03be138291de 86 void readSensor();
Sigma884 0:03be138291de 87 void readGPS();
Sigma884 0:03be138291de 88
Sigma884 0:03be138291de 89 void printData();
Sigma884 0:03be138291de 90 void readPC();
Sigma884 0:03be138291de 91 void printHelp();
Sigma884 0:03be138291de 92
Sigma884 0:03be138291de 93 void sendDownLink();//無線あり
Sigma884 0:03be138291de 94 void readUpLink(); //無線あり
Sigma884 0:03be138291de 95
Sigma884 0:03be138291de 96 void startRecSlow();
Sigma884 0:03be138291de 97 void startRecFast();
Sigma884 0:03be138291de 98 void stopRec();
Sigma884 0:03be138291de 99 void recData();
Sigma884 0:03be138291de 100
Sigma884 2:a443df6115bc 101 void buzzerChange();
Sigma884 2:a443df6115bc 102
Sigma884 0:03be138291de 103
Sigma884 0:03be138291de 104 /*******************************************************************************
Sigma884 0:03be138291de 105 変数の宣言
Sigma884 0:03be138291de 106 *******************************************************************************/
Sigma884 0:03be138291de 107 char CanSat_phase;
Sigma884 0:03be138291de 108 bool do_first = false;
Sigma884 2:a443df6115bc 109 bool controll_yn = false;
Sigma884 2:a443df6115bc 110
Sigma884 0:03be138291de 111 bool es920_using = false;
Sigma884 0:03be138291de 112 char es920_uplink_command = '-';
Sigma884 0:03be138291de 113
Sigma884 0:03be138291de 114 float adxl_acc[3];
Sigma884 0:03be138291de 115
Sigma884 0:03be138291de 116 float ina_v, ina_i;
Sigma884 0:03be138291de 117
Sigma884 0:03be138291de 118 double amg[9], quart[4], euler[3];
Sigma884 0:03be138291de 119
Sigma884 0:03be138291de 120 float pres, temp, hum, alt, pres_0, temp_0;
Sigma884 0:03be138291de 121 float pres_now;
Sigma884 0:03be138291de 122 int speed_time_old;
Sigma884 0:03be138291de 123 float alt_buf[10], alt_ave, alt_ave_old, speed, speed_buf[10], speed_ave;
Sigma884 0:03be138291de 124 int alt_count = 0, speed_count = 0;
Sigma884 5:b71a554ab4c4 125 float alt_flight_start;
Sigma884 0:03be138291de 126
Sigma884 1:6dea30c8b406 127 int CO2, TVOCs;
Sigma884 1:6dea30c8b406 128
Sigma884 1:6dea30c8b406 129 int16_t bottle_pres_bit;
Sigma884 1:6dea30c8b406 130 float bottle_pres;
Sigma884 1:6dea30c8b406 131
Sigma884 0:03be138291de 132 float gps_lat, gps_lon, gps_alt, gps_utc[6], gps_knot, gps_deg;
Sigma884 0:03be138291de 133 int gps_sat;
Sigma884 0:03be138291de 134 bool gps_yn;
Sigma884 0:03be138291de 135
Sigma884 0:03be138291de 136 bool flight_pin;
Sigma884 0:03be138291de 137
Sigma884 0:03be138291de 138 FILE *fp;
Sigma884 0:03be138291de 139 bool save_slow = false;
Sigma884 0:03be138291de 140 bool save_fast = false;
Sigma884 0:03be138291de 141 int save_c = 0;
Sigma884 0:03be138291de 142
Sigma884 4:b878dce9c247 143 int eeprom_ptr;
Sigma884 4:b878dce9c247 144
Sigma884 0:03be138291de 145 int time_read, time_reset = 0;
Sigma884 0:03be138291de 146 int time_min, time_sec, time_ms;
Sigma884 0:03be138291de 147
Sigma884 0:03be138291de 148 int flight_time_read, flight_time_read_old, flight_time_reset = 0;
Sigma884 0:03be138291de 149 int flight_time_min, flight_time_sec, flight_time_ms;
Sigma884 0:03be138291de 150
Sigma884 0:03be138291de 151
Sigma884 0:03be138291de 152 /*******************************************************************************
Sigma884 0:03be138291de 153 定数
Sigma884 0:03be138291de 154 *******************************************************************************/
Sigma884 2:a443df6115bc 155 const float ES920_MAX_2 = 0.0000305180;
Sigma884 2:a443df6115bc 156 const float ES920_MAX_5 = 0.0000762951;
Sigma884 2:a443df6115bc 157 const float ES920_MAX_20 = 0.0003051804;
Sigma884 2:a443df6115bc 158 const float ES920_MAX_50 = 0.0007629511;
Sigma884 2:a443df6115bc 159 const float ES920_MAX_100 = 0.0015259022;
Sigma884 2:a443df6115bc 160 const float ES920_MAX_200 = 0.0030518044;
Sigma884 2:a443df6115bc 161 const float ES920_MAX_500 = 0.0076295109;
Sigma884 2:a443df6115bc 162 const float ES920_MAX_1500 = 0.0228885328;
Sigma884 0:03be138291de 163
Sigma884 0:03be138291de 164
Sigma884 0:03be138291de 165 /*******************************************************************************
Sigma884 0:03be138291de 166 無線のヘッダまとめ(CANSAT -> GND)
Sigma884 0:03be138291de 167 *******************************************************************************/
Sigma884 0:03be138291de 168 const char HEADER_SENSOR_SETUP = 0x01;
Sigma884 0:03be138291de 169 // 0x01, ADXL, INA, BME, BNO, CCS, PRES, SD
Sigma884 0:03be138291de 170 // 0 1 1 1 1 1 1 1
Sigma884 0:03be138291de 171 // 0 1 2 3 4 5 6
Sigma884 0:03be138291de 172
Sigma884 0:03be138291de 173 const char HEADER_GPS_SETUP = 0x02;
Sigma884 0:03be138291de 174 // 0x02, readable, wait_count
Sigma884 0:03be138291de 175 // 0 1 4
Sigma884 0:03be138291de 176 // 0 1
Sigma884 0:03be138291de 177 // 0x00 : NG
Sigma884 0:03be138291de 178 // 0x01 : OK
Sigma884 0:03be138291de 179 // 0xAA : Finish
Sigma884 0:03be138291de 180 // 0xFF : Ignore
Sigma884 0:03be138291de 181
Sigma884 0:03be138291de 182 const char HEADER_DATA = 0x10;
Sigma884 0:03be138291de 183
Sigma884 0:03be138291de 184 const char HEADER_START = 0x11;
Sigma884 0:03be138291de 185
Sigma884 0:03be138291de 186
Sigma884 0:03be138291de 187 /*******************************************************************************
Sigma884 0:03be138291de 188 無線のヘッダまとめ(GND -> CANSAT)
Sigma884 0:03be138291de 189 *******************************************************************************/
Sigma884 1:6dea30c8b406 190 const char HEADER_COMMAND = 0xcd;
Sigma884 0:03be138291de 191 // 0xcd, command
Sigma884 0:03be138291de 192 // 0 1
Sigma884 0:03be138291de 193 // 0
Sigma884 0:03be138291de 194
Sigma884 0:03be138291de 195
Sigma884 0:03be138291de 196 /*******************************************************************************
Sigma884 0:03be138291de 197 CanSatのフェーズ
Sigma884 0:03be138291de 198 *******************************************************************************/
Sigma884 0:03be138291de 199 const char CANSAT_SETUP = 0x00; //セットアップ中
Sigma884 0:03be138291de 200 const char CANSAT_SAFETY = 0x01; //安全モード
Sigma884 0:03be138291de 201 const char CANSAT_WAIT = 0x02; //待機モード
Sigma884 0:03be138291de 202 const char CANSAT_FLIGHT = 0x03; //フライトモード
Sigma884 0:03be138291de 203 const char CANSAT_RECOVERY = 0x04; //回収モード
Sigma884 0:03be138291de 204
Sigma884 0:03be138291de 205
Sigma884 0:03be138291de 206 /*******************************************************************************
Sigma884 0:03be138291de 207 メイン関数
Sigma884 0:03be138291de 208 *******************************************************************************/
Sigma884 0:03be138291de 209 int main() {
Sigma884 0:03be138291de 210 CanSat_phase = CANSAT_SETUP;
Sigma884 0:03be138291de 211 setup();
Sigma884 0:03be138291de 212
Sigma884 0:03be138291de 213 pc.attach(&readPC, Serial::RxIrq);
Sigma884 0:03be138291de 214
Sigma884 0:03be138291de 215 tick_gps.attach(&readGPS, 1.0/GPS_freq);
Sigma884 0:03be138291de 216 tick_print.attach(&printData, 1.0f);
Sigma884 0:03be138291de 217 tick_header_data.attach(&sendDownLink, 1.0f);
Sigma884 0:03be138291de 218
Sigma884 0:03be138291de 219 es920.attach(&readUpLink, HEADER_COMMAND);
Sigma884 0:03be138291de 220
Sigma884 0:03be138291de 221 FlightPin.mode(PullUp);
Sigma884 0:03be138291de 222
Sigma884 0:03be138291de 223 time_main.reset();
Sigma884 0:03be138291de 224 time_main.start();
Sigma884 0:03be138291de 225 startRecSlow();
Sigma884 0:03be138291de 226
Sigma884 0:03be138291de 227 CanSat_phase = CANSAT_SAFETY;
Sigma884 0:03be138291de 228 while(1) {
Sigma884 0:03be138291de 229 readSensor();
Sigma884 0:03be138291de 230 modeChange(); //状態遷移の判断
Sigma884 2:a443df6115bc 231 controllAttitude();
Sigma884 3:4571111a5996 232 if(save_fast){
Sigma884 3:4571111a5996 233 recData();
Sigma884 3:4571111a5996 234 }
Sigma884 0:03be138291de 235 }
Sigma884 0:03be138291de 236 }
Sigma884 0:03be138291de 237
Sigma884 0:03be138291de 238
Sigma884 0:03be138291de 239 /*******************************************************************************
Sigma884 0:03be138291de 240 状態遷移の判断
Sigma884 0:03be138291de 241 無線あり：HEADER_START
Sigma884 0:03be138291de 242 *******************************************************************************/
Sigma884 1:6dea30c8b406 243 void modeChange(){
Sigma884 2:a443df6115bc 244 switch(CanSat_phase){
Sigma884 5:b71a554ab4c4 245 case CANSAT_SAFETY:////////////////////安全モード
Sigma884 2:a443df6115bc 246 if(!do_first){
Sigma884 5:b71a554ab4c4 247 es920_using = true;
Sigma884 5:b71a554ab4c4 248 es920 << HEADER_START;
Sigma884 5:b71a554ab4c4 249 es920 << 'S';
Sigma884 5:b71a554ab4c4 250 es920.send();
Sigma884 5:b71a554ab4c4 251 es920_using = false;
Sigma884 2:a443df6115bc 252
Sigma884 5:b71a554ab4c4 253 do_first = true;
Sigma884 5:b71a554ab4c4 254 }
Sigma884 5:b71a554ab4c4 255 break;
Sigma884 5:b71a554ab4c4 256
Sigma884 5:b71a554ab4c4 257 case CANSAT_WAIT:////////////////////待機モード
Sigma884 5:b71a554ab4c4 258 if(!do_first){
Sigma884 5:b71a554ab4c4 259 es920_using = true;
Sigma884 5:b71a554ab4c4 260 es920 << HEADER_START;
Sigma884 5:b71a554ab4c4 261 es920 << 'W';
Sigma884 5:b71a554ab4c4 262 es920.send();
Sigma884 5:b71a554ab4c4 263 es920_using = false;
Sigma884 5:b71a554ab4c4 264
Sigma884 5:b71a554ab4c4 265 do_first = true;
Sigma884 5:b71a554ab4c4 266 }
Sigma884 5:b71a554ab4c4 267 if(flight_pin){
Sigma884 5:b71a554ab4c4 268 CanSat_phase = CANSAT_FLIGHT;
Sigma884 5:b71a554ab4c4 269 do_first = false;
Sigma884 2:a443df6115bc 270 }
Sigma884 2:a443df6115bc 271 break;
Sigma884 2:a443df6115bc 272
Sigma884 5:b71a554ab4c4 273 case CANSAT_FLIGHT:////////////////////フライトモード
Sigma884 2:a443df6115bc 274 if(!do_first){
Sigma884 5:b71a554ab4c4 275 es920_using = true;
Sigma884 5:b71a554ab4c4 276 es920 << HEADER_START;
Sigma884 5:b71a554ab4c4 277 es920 << 'F';
Sigma884 5:b71a554ab4c4 278 es920.send();
Sigma884 5:b71a554ab4c4 279 es920_using = false;
Sigma884 2:a443df6115bc 280
Sigma884 5:b71a554ab4c4 281 if(save_slow && !save_fast){
Sigma884 5:b71a554ab4c4 282 stopRec();
Sigma884 5:b71a554ab4c4 283 startRecFast();
Sigma884 5:b71a554ab4c4 284 }
Sigma884 5:b71a554ab4c4 285 else if(!save_slow && !save_fast){
Sigma884 5:b71a554ab4c4 286 startRecFast();
Sigma884 5:b71a554ab4c4 287 }
Sigma884 5:b71a554ab4c4 288
Sigma884 5:b71a554ab4c4 289 time_flight.reset();
Sigma884 5:b71a554ab4c4 290 time_flight.start();
Sigma884 5:b71a554ab4c4 291
Sigma884 5:b71a554ab4c4 292 alt_flight_start = alt;
Sigma884 5:b71a554ab4c4 293 timeout_start_controll.attach(&startControllAttitude, START_CONTROLL_TIME);
Sigma884 5:b71a554ab4c4 294
Sigma884 5:b71a554ab4c4 295 timeout_recovery.attach(&changePhase_RECOVERY, RECOVERY_TIME);
Sigma884 5:b71a554ab4c4 296
Sigma884 5:b71a554ab4c4 297 do_first = true;
Sigma884 2:a443df6115bc 298 }
Sigma884 5:b71a554ab4c4 299 if(alt - alt_flight_start > START_CONTROLL_ALT){
Sigma884 5:b71a554ab4c4 300 startControllAttitude();
Sigma884 5:b71a554ab4c4 301 }
Sigma884 5:b71a554ab4c4 302 if(speed_ave > RECOVERY_SPEED){
Sigma884 5:b71a554ab4c4 303 changePhase_RECOVERY();
Sigma884 2:a443df6115bc 304 }
Sigma884 2:a443df6115bc 305 break;
Sigma884 2:a443df6115bc 306
Sigma884 2:a443df6115bc 307 case CANSAT_RECOVERY:
Sigma884 2:a443df6115bc 308 if(!do_first){
Sigma884 5:b71a554ab4c4 309 es920_using = true;
Sigma884 5:b71a554ab4c4 310 es920 << HEADER_START;
Sigma884 5:b71a554ab4c4 311 es920 << 'R';
Sigma884 5:b71a554ab4c4 312 es920.send();
Sigma884 5:b71a554ab4c4 313 es920_using = false;
Sigma884 2:a443df6115bc 314
Sigma884 5:b71a554ab4c4 315 stopRec();
Sigma884 5:b71a554ab4c4 316 startRecSlow();
Sigma884 5:b71a554ab4c4 317
Sigma884 5:b71a554ab4c4 318 controll_yn = false;
Sigma884 5:b71a554ab4c4 319
Sigma884 5:b71a554ab4c4 320 Buzzer.fire_on();
Sigma884 5:b71a554ab4c4 321
Sigma884 5:b71a554ab4c4 322 do_first = true;
Sigma884 2:a443df6115bc 323 }
Sigma884 2:a443df6115bc 324 break;
Sigma884 2:a443df6115bc 325 }
Sigma884 2:a443df6115bc 326 }
Sigma884 2:a443df6115bc 327
Sigma884 5:b71a554ab4c4 328 void changePhase_RECOVERY(){
Sigma884 5:b71a554ab4c4 329 CanSat_phase = CANSAT_RECOVERY;
Sigma884 5:b71a554ab4c4 330 do_first = false;
Sigma884 5:b71a554ab4c4 331 }
Sigma884 5:b71a554ab4c4 332
Sigma884 5:b71a554ab4c4 333 void startControllAttitude(){
Sigma884 5:b71a554ab4c4 334 controll_yn = true;
Sigma884 5:b71a554ab4c4 335 }
Sigma884 5:b71a554ab4c4 336
Sigma884 2:a443df6115bc 337 /*******************************************************************************
Sigma884 2:a443df6115bc 338 姿勢制御
Sigma884 2:a443df6115bc 339 *******************************************************************************/
Sigma884 2:a443df6115bc 340 void controllAttitude(){
Sigma884 1:6dea30c8b406 341
Sigma884 1:6dea30c8b406 342 }
Sigma884 0:03be138291de 343
Sigma884 0:03be138291de 344
Sigma884 0:03be138291de 345 /*******************************************************************************
Sigma884 0:03be138291de 346 センサー読み取り
Sigma884 0:03be138291de 347 *******************************************************************************/
Sigma884 1:6dea30c8b406 348 void readSensor(){
Sigma884 1:6dea30c8b406 349 time_read = time_main.read_ms();
Sigma884 1:6dea30c8b406 350 time_min = time_reset * 30 + floor((double)time_read / (60 * 1000));
Sigma884 1:6dea30c8b406 351 time_sec = time_read % (60 * 1000);
Sigma884 1:6dea30c8b406 352 time_sec = floor((double)time_sec / 1000);
Sigma884 1:6dea30c8b406 353 time_ms = time_read % 1000;
Sigma884 1:6dea30c8b406 354 if(time_read >= 30*60*1000){
Sigma884 1:6dea30c8b406 355 time_main.reset();
Sigma884 1:6dea30c8b406 356 time_reset ++;
Sigma884 1:6dea30c8b406 357 }
Sigma884 1:6dea30c8b406 358
Sigma884 1:6dea30c8b406 359 if(CanSat_phase >= CANSAT_FLIGHT){
Sigma884 1:6dea30c8b406 360 flight_time_read_old = flight_time_read;
Sigma884 1:6dea30c8b406 361 flight_time_read = time_flight.read_ms();
Sigma884 1:6dea30c8b406 362 }
Sigma884 1:6dea30c8b406 363 else{
Sigma884 1:6dea30c8b406 364 flight_time_read = 0;
Sigma884 1:6dea30c8b406 365 }
Sigma884 1:6dea30c8b406 366 flight_time_min = flight_time_reset * 30 + floor((double)flight_time_read / (60 * 1000));
Sigma884 1:6dea30c8b406 367 flight_time_sec = flight_time_read % (60 * 1000);
Sigma884 1:6dea30c8b406 368 flight_time_sec = floor((double)flight_time_sec / 1000);
Sigma884 1:6dea30c8b406 369 flight_time_ms = flight_time_read % 1000;
Sigma884 1:6dea30c8b406 370 if(time_read >= 30*60*1000){
Sigma884 1:6dea30c8b406 371 time_flight.reset();
Sigma884 1:6dea30c8b406 372 flight_time_reset ++;
Sigma884 1:6dea30c8b406 373 }
Sigma884 1:6dea30c8b406 374
Sigma884 1:6dea30c8b406 375 ADXL375.getOutput(adxl_acc);
Sigma884 1:6dea30c8b406 376
Sigma884 1:6dea30c8b406 377 INA226.get_Voltage_current(&ina_v, &ina_i);
Sigma884 1:6dea30c8b406 378 ina_v = ina_v / 1000;
Sigma884 1:6dea30c8b406 379 ina_i = ina_i / 1000;
Sigma884 1:6dea30c8b406 380 if(ina_i > 64){
Sigma884 1:6dea30c8b406 381 ina_i = 0.0f;
Sigma884 1:6dea30c8b406 382 }
Sigma884 1:6dea30c8b406 383
Sigma884 1:6dea30c8b406 384 BME280.getData(&temp, &pres_now, &hum);
Sigma884 1:6dea30c8b406 385 if(pres_now != pres){
Sigma884 1:6dea30c8b406 386 pres = pres_now;
Sigma884 1:6dea30c8b406 387 alt = BME280.getAlt2(pres_0, temp_0);
Sigma884 1:6dea30c8b406 388
Sigma884 1:6dea30c8b406 389 alt_buf[alt_count] = alt;
Sigma884 1:6dea30c8b406 390 alt_count ++;
Sigma884 1:6dea30c8b406 391 if(alt_count > 10){
Sigma884 1:6dea30c8b406 392 alt_count = 0;
Sigma884 1:6dea30c8b406 393 }
Sigma884 1:6dea30c8b406 394 float alt_sum = 0;
Sigma884 1:6dea30c8b406 395 for(int i = 0; i < 10; i ++){
Sigma884 1:6dea30c8b406 396 alt_sum += alt_buf[i];
Sigma884 1:6dea30c8b406 397 }
Sigma884 1:6dea30c8b406 398 alt_ave_old = alt_ave;
Sigma884 1:6dea30c8b406 399 alt_ave = alt_sum / 10;
Sigma884 1:6dea30c8b406 400
Sigma884 1:6dea30c8b406 401 if(fabs(alt_ave - alt_ave_old) > 0.01){
Sigma884 1:6dea30c8b406 402 speed = (alt_ave - alt_ave_old) / (((float)flight_time_read - (float)speed_time_old) / 1000);
Sigma884 1:6dea30c8b406 403 }
Sigma884 1:6dea30c8b406 404 if(CanSat_phase <= CANSAT_WAIT){
Sigma884 1:6dea30c8b406 405 speed = 0.0f;
Sigma884 1:6dea30c8b406 406 }
Sigma884 1:6dea30c8b406 407
Sigma884 1:6dea30c8b406 408 speed_buf[speed_count] = speed;
Sigma884 1:6dea30c8b406 409 speed_count ++;
Sigma884 1:6dea30c8b406 410 if(speed_count > 10){
Sigma884 1:6dea30c8b406 411 speed_count = 0;
Sigma884 1:6dea30c8b406 412 }
Sigma884 1:6dea30c8b406 413 float speed_sum = 0;
Sigma884 1:6dea30c8b406 414 for(int i = 0; i < 10; i ++){
Sigma884 1:6dea30c8b406 415 speed_sum = speed_buf[i];
Sigma884 1:6dea30c8b406 416 }
Sigma884 1:6dea30c8b406 417 speed_ave = speed_sum / 10;
Sigma884 1:6dea30c8b406 418
Sigma884 1:6dea30c8b406 419 speed_time_old = flight_time_read;
Sigma884 1:6dea30c8b406 420 }
Sigma884 1:6dea30c8b406 421
Sigma884 1:6dea30c8b406 422 if(CanSat_phase <= CANSAT_WAIT){
Sigma884 1:6dea30c8b406 423 pres_0 = pres;
Sigma884 1:6dea30c8b406 424 temp_0 = temp;
Sigma884 1:6dea30c8b406 425 }
Sigma884 1:6dea30c8b406 426
Sigma884 1:6dea30c8b406 427 BNO055.getAMG(amg);
Sigma884 1:6dea30c8b406 428 BNO055.getQuart(quart);
Sigma884 1:6dea30c8b406 429 BNO055.getEulerFromQ(euler);
Sigma884 1:6dea30c8b406 430
Sigma884 1:6dea30c8b406 431 CCS811.getData(&CO2, &TVOCs);
Sigma884 1:6dea30c8b406 432
Sigma884 1:6dea30c8b406 433 bottle_pres_bit = ADS1115.readADC_SingleEnded(0);
Sigma884 1:6dea30c8b406 434 bottle_pres_bit = (float)bottle_pres_bit * 0.125f * 3.0f / 2.0f;
Sigma884 1:6dea30c8b406 435 bottle_pres = (float)bottle_pres_bit/1000.0f / 4.0f - 0.25f;
Sigma884 2:a443df6115bc 436
Sigma884 2:a443df6115bc 437 flight_pin = FlightPin;
Sigma884 1:6dea30c8b406 438 }
Sigma884 0:03be138291de 439
Sigma884 0:03be138291de 440
Sigma884 0:03be138291de 441 /*******************************************************************************
Sigma884 0:03be138291de 442 GPS読み取り
Sigma884 0:03be138291de 443 *******************************************************************************/
Sigma884 1:6dea30c8b406 444 void readGPS(){
Sigma884 1:6dea30c8b406 445 gps_yn = GPS.gps_readable;
Sigma884 1:6dea30c8b406 446 if(gps_yn){
Sigma884 1:6dea30c8b406 447 gps_lat = GPS.Latitude();
Sigma884 1:6dea30c8b406 448 gps_lon = GPS.Longitude();
Sigma884 1:6dea30c8b406 449 gps_alt = GPS.Height();
Sigma884 1:6dea30c8b406 450 GPS.getUTC(gps_utc);
Sigma884 1:6dea30c8b406 451 gps_utc[3] += 9;
Sigma884 1:6dea30c8b406 452 if(gps_utc[3] >= 24){
Sigma884 1:6dea30c8b406 453 gps_utc[3] -= 24;
Sigma884 1:6dea30c8b406 454 gps_utc[2] += 1;
Sigma884 1:6dea30c8b406 455 }
Sigma884 1:6dea30c8b406 456 gps_knot = GPS.Knot();
Sigma884 1:6dea30c8b406 457 gps_deg = GPS.Degree();
Sigma884 1:6dea30c8b406 458 gps_sat = GPS.Number();
Sigma884 1:6dea30c8b406 459 }
Sigma884 1:6dea30c8b406 460 }
Sigma884 0:03be138291de 461
Sigma884 0:03be138291de 462
Sigma884 0:03be138291de 463 /*******************************************************************************
Sigma884 0:03be138291de 464 データ表示
Sigma884 0:03be138291de 465 *******************************************************************************/
Sigma884 1:6dea30c8b406 466 void printData(){
Sigma884 2:a443df6115bc 467 if(ok_PC){
Sigma884 2:a443df6115bc 468 pc.printf("Time : %d:%02d\r\n", time_min, time_sec);
Sigma884 2:a443df6115bc 469 pc.printf("FlightTime : %d:%02d\r\n", flight_time_min, flight_time_sec);
Sigma884 2:a443df6115bc 470
Sigma884 2:a443df6115bc 471 pc.printf("Phase : ");
Sigma884 2:a443df6115bc 472 switch(CanSat_phase){
Sigma884 2:a443df6115bc 473 case CANSAT_SETUP:
Sigma884 2:a443df6115bc 474 pc.printf("SETUP\r\n");
Sigma884 2:a443df6115bc 475 break;
Sigma884 2:a443df6115bc 476 case CANSAT_SAFETY:
Sigma884 2:a443df6115bc 477 pc.printf("SAFETY\r\n");
Sigma884 2:a443df6115bc 478 break;
Sigma884 2:a443df6115bc 479 case CANSAT_WAIT:
Sigma884 2:a443df6115bc 480 pc.printf("WAIT\r\n");
Sigma884 2:a443df6115bc 481 break;
Sigma884 2:a443df6115bc 482 case CANSAT_FLIGHT:
Sigma884 2:a443df6115bc 483 pc.printf("FLIGHT\r\n");
Sigma884 2:a443df6115bc 484 break;
Sigma884 2:a443df6115bc 485 case CANSAT_RECOVERY:
Sigma884 2:a443df6115bc 486 pc.printf("RECOVERY\r\n");
Sigma884 2:a443df6115bc 487 break;
Sigma884 2:a443df6115bc 488 }
Sigma884 2:a443df6115bc 489
Sigma884 2:a443df6115bc 490 pc.printf("SAVE : ");
Sigma884 2:a443df6115bc 491 if(save_slow){
Sigma884 2:a443df6115bc 492 pc.printf("SLOW\r\n");
Sigma884 2:a443df6115bc 493 }
Sigma884 2:a443df6115bc 494 else if(save_fast){
Sigma884 2:a443df6115bc 495 pc.printf("FAST\r\n");
Sigma884 2:a443df6115bc 496 }
Sigma884 2:a443df6115bc 497 else{
Sigma884 2:a443df6115bc 498 pc.printf("STOP\r\n");
Sigma884 2:a443df6115bc 499 }
Sigma884 2:a443df6115bc 500
Sigma884 2:a443df6115bc 501 pc.printf("Controll : %d\r\n", controll_yn);
Sigma884 2:a443df6115bc 502
Sigma884 2:a443df6115bc 503 pc.printf("Flight Pin : %d\r\n", flight_pin);
Sigma884 3:4571111a5996 504 pc.printf("Valve: %d, %d, %d, %d\r\n", Valve1.status, Valve2.status, Valve3.status, Valve4.status);
Sigma884 3:4571111a5996 505 pc.printf("Buzzer : %d\r\n", Buzzer.status);
Sigma884 2:a443df6115bc 506
Sigma884 2:a443df6115bc 507 pc.printf("GPS : %3.7f, %3.7f, %.2f\r\n", gps_lat, gps_lon, gps_alt);
Sigma884 2:a443df6115bc 508 pc.printf("Move : %.2f[knot], %.2f[deg]\r\n", gps_knot, gps_deg);
Sigma884 2:a443df6115bc 509 pc.printf("Sats : %d\r\n", gps_sat);
Sigma884 2:a443df6115bc 510
Sigma884 2:a443df6115bc 511 pc.printf("INA226 : %.2f[V], %.2f[A]\r\n", ina_v, ina_i);
Sigma884 2:a443df6115bc 512 pc.printf("BME280 : %.2f[hPa], %.2f[degC], %.2f[%%], %.2f[m], %.2f[m/s]\r\n", pres, temp, hum, alt_ave, speed_ave);
Sigma884 2:a443df6115bc 513 pc.printf("BNO055 : %f, %f, %f\r\n", euler[0], euler[1], euler[2]);
Sigma884 2:a443df6115bc 514 pc.printf("CCS811 : %d[ppm], %d[ppm]\r\n", CO2, TVOCs);
Sigma884 2:a443df6115bc 515 pc.printf("Bottle : %f[MPa]\r\n", bottle_pres);
Sigma884 2:a443df6115bc 516
Sigma884 2:a443df6115bc 517 pc.printf("\n\n\n");
Sigma884 2:a443df6115bc 518 }
Sigma884 1:6dea30c8b406 519 }
Sigma884 0:03be138291de 520
Sigma884 0:03be138291de 521
Sigma884 0:03be138291de 522 /*******************************************************************************
Sigma884 0:03be138291de 523 PC読み取り
Sigma884 0:03be138291de 524 *******************************************************************************/
Sigma884 1:6dea30c8b406 525 void readPC(){
Sigma884 2:a443df6115bc 526 if(ok_PC){
Sigma884 2:a443df6115bc 527 char command = pc.getc();
Sigma884 2:a443df6115bc 528 pc.printf("PC Command : %c\r\n", command);
Sigma884 2:a443df6115bc 529
Sigma884 2:a443df6115bc 530 switch(command){
Sigma884 2:a443df6115bc 531 case '?': //ヘルプ表示
Sigma884 2:a443df6115bc 532 printHelp();
Sigma884 2:a443df6115bc 533 break;
Sigma884 2:a443df6115bc 534
Sigma884 2:a443df6115bc 535 case 'W': //投下待機モードへ移行
Sigma884 2:a443df6115bc 536 if(CanSat_phase == CANSAT_SAFETY){
Sigma884 2:a443df6115bc 537 CanSat_phase = CANSAT_WAIT;
Sigma884 2:a443df6115bc 538 do_first = false;
Sigma884 2:a443df6115bc 539 }
Sigma884 2:a443df6115bc 540 break;
Sigma884 2:a443df6115bc 541
Sigma884 2:a443df6115bc 542 case 'S': //安全モードへ移行
Sigma884 2:a443df6115bc 543 if(CanSat_phase == CANSAT_WAIT || CanSat_phase == CANSAT_FLIGHT){
Sigma884 2:a443df6115bc 544 CanSat_phase = CANSAT_SAFETY;
Sigma884 2:a443df6115bc 545 do_first = false;
Sigma884 2:a443df6115bc 546 }
Sigma884 2:a443df6115bc 547 break;
Sigma884 2:a443df6115bc 548
Sigma884 2:a443df6115bc 549 case 'F': //フライトモードへ移行
Sigma884 2:a443df6115bc 550 if(CanSat_phase == CANSAT_WAIT){
Sigma884 2:a443df6115bc 551 CanSat_phase = CANSAT_FLIGHT;
Sigma884 2:a443df6115bc 552 do_first = false;
Sigma884 2:a443df6115bc 553 }
Sigma884 2:a443df6115bc 554 break;
Sigma884 2:a443df6115bc 555
Sigma884 2:a443df6115bc 556 case 'C': //記録停止
Sigma884 2:a443df6115bc 557 if((CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY) && (save_slow || save_fast)){
Sigma884 2:a443df6115bc 558 stopRec();
Sigma884 2:a443df6115bc 559 }
Sigma884 2:a443df6115bc 560 break;
Sigma884 2:a443df6115bc 561
Sigma884 2:a443df6115bc 562 case 'o': //低速記録開始
Sigma884 2:a443df6115bc 563 if(CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY && (!save_slow && !save_fast)){
Sigma884 2:a443df6115bc 564 startRecSlow();
Sigma884 2:a443df6115bc 565 }
Sigma884 2:a443df6115bc 566 break;
Sigma884 2:a443df6115bc 567
Sigma884 2:a443df6115bc 568 case 'O': //高速記録開始
Sigma884 2:a443df6115bc 569 if(CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY && (!save_slow && !save_fast)){
Sigma884 2:a443df6115bc 570 startRecFast();
Sigma884 2:a443df6115bc 571 }
Sigma884 2:a443df6115bc 572 break;
Sigma884 2:a443df6115bc 573
Sigma884 2:a443df6115bc 574 case 'B': //ブザー切り替え
Sigma884 2:a443df6115bc 575 buzzerChange();
Sigma884 2:a443df6115bc 576 break;
Sigma884 2:a443df6115bc 577
Sigma884 2:a443df6115bc 578 case '1': //姿勢制御再開
Sigma884 2:a443df6115bc 579 if(CanSat_phase == CANSAT_FLIGHT && !controll_yn){
Sigma884 2:a443df6115bc 580 controll_yn = true;
Sigma884 2:a443df6115bc 581 }
Sigma884 2:a443df6115bc 582 break;
Sigma884 2:a443df6115bc 583
Sigma884 2:a443df6115bc 584 case '0': //姿勢制御停止
Sigma884 2:a443df6115bc 585 if(CanSat_phase == CANSAT_FLIGHT && controll_yn){
Sigma884 2:a443df6115bc 586 controll_yn = false;
Sigma884 2:a443df6115bc 587 }
Sigma884 2:a443df6115bc 588 break;
Sigma884 2:a443df6115bc 589 }
Sigma884 2:a443df6115bc 590 }
Sigma884 1:6dea30c8b406 591 }
Sigma884 0:03be138291de 592
Sigma884 0:03be138291de 593
Sigma884 0:03be138291de 594 /*******************************************************************************
Sigma884 0:03be138291de 595 ヘルプ表示
Sigma884 0:03be138291de 596 *******************************************************************************/
Sigma884 1:6dea30c8b406 597 void printHelp(){
Sigma884 2:a443df6115bc 598 pc.printf("\r\n********************\r\n");
Sigma884 2:a443df6115bc 599 pc.printf("Commands\r\n");
Sigma884 1:6dea30c8b406 600
Sigma884 2:a443df6115bc 601 pc.printf("W : Safety -> Wait\r\n");
Sigma884 2:a443df6115bc 602 pc.printf("S : Wait -> Safety\r\n");
Sigma884 2:a443df6115bc 603 pc.printf("F : Wait -> Flight\r\n");
Sigma884 2:a443df6115bc 604 pc.printf("C : Stop Recording\r\n");
Sigma884 2:a443df6115bc 605 pc.printf("o(small o) : Start Recording (Slow)\r\n");
Sigma884 2:a443df6115bc 606 pc.printf("O(large o) : Start Recording (Fast)\r\n");
Sigma884 2:a443df6115bc 607 pc.printf("B : Buzzer Change\r\n");
Sigma884 2:a443df6115bc 608 pc.printf("1(one) : Restart Controll Attitude\r\n");
Sigma884 2:a443df6115bc 609 pc.printf("0(zero) : Stop Controll Attitude\r\n");
Sigma884 2:a443df6115bc 610
Sigma884 2:a443df6115bc 611 pc.printf("********************\r\n\n");
Sigma884 2:a443df6115bc 612 wait(1.0f);
Sigma884 1:6dea30c8b406 613 }
Sigma884 0:03be138291de 614
Sigma884 0:03be138291de 615
Sigma884 0:03be138291de 616 /*******************************************************************************
Sigma884 0:03be138291de 617 ダウンリンク送信
Sigma884 0:03be138291de 618 無線あり：HEADER_DATA
Sigma884 0:03be138291de 619 *******************************************************************************/
Sigma884 1:6dea30c8b406 620 void sendDownLink(){
Sigma884 2:a443df6115bc 621 if(!es920_using){
Sigma884 2:a443df6115bc 622 es920 << HEADER_DATA;
Sigma884 2:a443df6115bc 623
Sigma884 4:b878dce9c247 624 es920 << (unsigned short)time_reset;
Sigma884 4:b878dce9c247 625 es920 << (unsigned short)(time_read / 1000);
Sigma884 2:a443df6115bc 626
Sigma884 4:b878dce9c247 627 es920 << (unsigned short)flight_time_reset;
Sigma884 4:b878dce9c247 628 es920 << (unsigned short)(flight_time_read / 1000);
Sigma884 2:a443df6115bc 629
Sigma884 2:a443df6115bc 630 es920 << CanSat_phase;
Sigma884 2:a443df6115bc 631
Sigma884 2:a443df6115bc 632 char status = 0x00;
Sigma884 2:a443df6115bc 633 if(save_slow) status |= (char)0x01;
Sigma884 2:a443df6115bc 634 if(save_fast) status |= (char)0x02;
Sigma884 2:a443df6115bc 635 if(controll_yn) status |= (char)0x04;
Sigma884 2:a443df6115bc 636 if(flight_pin) status |= (char)0x08;
Sigma884 3:4571111a5996 637 if(Buzzer.status) status |= (char)0x10;
Sigma884 2:a443df6115bc 638 es920 << status;
Sigma884 2:a443df6115bc 639
Sigma884 3:4571111a5996 640 if(Valve1.status) status |= (char)0x01;
Sigma884 3:4571111a5996 641 if(Valve2.status) status |= (char)0x02;
Sigma884 3:4571111a5996 642 if(Valve3.status) status |= (char)0x04;
Sigma884 3:4571111a5996 643 if(Valve4.status) status |= (char)0x08;
Sigma884 2:a443df6115bc 644 es920 << status;
Sigma884 2:a443df6115bc 645
Sigma884 2:a443df6115bc 646 es920 << (float)gps_lat;
Sigma884 2:a443df6115bc 647 es920 << (float)gps_lon;
Sigma884 2:a443df6115bc 648 es920 << (unsigned short)(gps_alt / ES920_MAX_1500);
Sigma884 2:a443df6115bc 649 es920 << (unsigned short)(gps_knot / ES920_MAX_200);
Sigma884 2:a443df6115bc 650 es920 << (unsigned short)(gps_deg / ES920_MAX_500);
Sigma884 4:b878dce9c247 651 es920 << (unsigned short)gps_sat;
Sigma884 2:a443df6115bc 652
Sigma884 2:a443df6115bc 653 es920 << (unsigned short)(ina_v / ES920_MAX_20);
Sigma884 2:a443df6115bc 654 es920 << (unsigned short)(ina_i / ES920_MAX_20);
Sigma884 2:a443df6115bc 655
Sigma884 2:a443df6115bc 656 es920 << (unsigned short)(pres / ES920_MAX_1500);
Sigma884 2:a443df6115bc 657 es920 << (unsigned short)(temp / ES920_MAX_100);
Sigma884 4:b878dce9c247 658 es920 << (short)(alt / ES920_MAX_500);
Sigma884 4:b878dce9c247 659 es920 << (short)(speed / ES920_MAX_50);
Sigma884 2:a443df6115bc 660
Sigma884 2:a443df6115bc 661 es920 << (short)(euler[0] / ES920_MAX_5);
Sigma884 2:a443df6115bc 662 es920 << (short)(euler[1] / ES920_MAX_5);
Sigma884 2:a443df6115bc 663 es920 << (short)(euler[2] / ES920_MAX_5);
Sigma884 2:a443df6115bc 664
Sigma884 2:a443df6115bc 665 es920 << (unsigned short)CO2;
Sigma884 2:a443df6115bc 666 es920 << (unsigned short)TVOCs;
Sigma884 2:a443df6115bc 667
Sigma884 2:a443df6115bc 668 es920 << (unsigned short)(bottle_pres / ES920_MAX_2);
Sigma884 2:a443df6115bc 669
Sigma884 2:a443df6115bc 670 es920.send();
Sigma884 2:a443df6115bc 671 }
Sigma884 1:6dea30c8b406 672 }
Sigma884 0:03be138291de 673
Sigma884 0:03be138291de 674
Sigma884 0:03be138291de 675 /*******************************************************************************
Sigma884 3:4571111a5996 676 アップリンク解析
Sigma884 3:4571111a5996 677 無線あり：HEADER_COMMAND（受信）
Sigma884 0:03be138291de 678 *******************************************************************************/
Sigma884 1:6dea30c8b406 679 void readUpLink(){
Sigma884 3:4571111a5996 680 es920_uplink_command = es920.data[0];
Sigma884 3:4571111a5996 681 pc.printf("GND Command = %c\r\n", es920_uplink_command);
Sigma884 1:6dea30c8b406 682
Sigma884 3:4571111a5996 683 switch(es920_uplink_command){
Sigma884 3:4571111a5996 684 case 'W': //投下待機モードへ移行
Sigma884 3:4571111a5996 685 if(CanSat_phase == CANSAT_SAFETY){
Sigma884 3:4571111a5996 686 CanSat_phase = CANSAT_WAIT;
Sigma884 3:4571111a5996 687 do_first = false;
Sigma884 3:4571111a5996 688 }
Sigma884 3:4571111a5996 689 break;
Sigma884 3:4571111a5996 690
Sigma884 3:4571111a5996 691 case 'S': //安全モードへ移行
Sigma884 3:4571111a5996 692 if(CanSat_phase == CANSAT_WAIT || CanSat_phase == CANSAT_FLIGHT){
Sigma884 3:4571111a5996 693 CanSat_phase = CANSAT_SAFETY;
Sigma884 3:4571111a5996 694 do_first = false;
Sigma884 3:4571111a5996 695 }
Sigma884 3:4571111a5996 696 break;
Sigma884 3:4571111a5996 697
Sigma884 3:4571111a5996 698 case 'F': //フライトモードへ移行
Sigma884 3:4571111a5996 699 if(CanSat_phase == CANSAT_WAIT){
Sigma884 3:4571111a5996 700 CanSat_phase = CANSAT_FLIGHT;
Sigma884 3:4571111a5996 701 do_first = false;
Sigma884 3:4571111a5996 702 }
Sigma884 3:4571111a5996 703 break;
Sigma884 3:4571111a5996 704
Sigma884 3:4571111a5996 705 case 'C': //記録停止
Sigma884 3:4571111a5996 706 if((CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY) && (save_slow || save_fast)){
Sigma884 3:4571111a5996 707 stopRec();
Sigma884 3:4571111a5996 708 }
Sigma884 3:4571111a5996 709 break;
Sigma884 3:4571111a5996 710
Sigma884 3:4571111a5996 711 case 'o': //低速記録開始
Sigma884 3:4571111a5996 712 if(CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY && (!save_slow && !save_fast)){
Sigma884 3:4571111a5996 713 startRecSlow();
Sigma884 3:4571111a5996 714 }
Sigma884 3:4571111a5996 715 break;
Sigma884 3:4571111a5996 716
Sigma884 3:4571111a5996 717 case 'O': //高速記録開始
Sigma884 3:4571111a5996 718 if(CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY && (!save_slow && !save_fast)){
Sigma884 3:4571111a5996 719 startRecFast();
Sigma884 3:4571111a5996 720 }
Sigma884 3:4571111a5996 721 break;
Sigma884 3:4571111a5996 722
Sigma884 3:4571111a5996 723 case 'B': //ブザー切り替え
Sigma884 3:4571111a5996 724 buzzerChange();
Sigma884 3:4571111a5996 725 break;
Sigma884 3:4571111a5996 726
Sigma884 3:4571111a5996 727 case '1': //姿勢制御再開
Sigma884 3:4571111a5996 728 if(CanSat_phase == CANSAT_FLIGHT && !controll_yn){
Sigma884 3:4571111a5996 729 controll_yn = true;
Sigma884 3:4571111a5996 730 }
Sigma884 3:4571111a5996 731 break;
Sigma884 3:4571111a5996 732
Sigma884 3:4571111a5996 733 case '0': //姿勢制御停止
Sigma884 3:4571111a5996 734 if(CanSat_phase == CANSAT_FLIGHT && controll_yn){
Sigma884 3:4571111a5996 735 controll_yn = false;
Sigma884 3:4571111a5996 736 }
Sigma884 3:4571111a5996 737 break;
Sigma884 3:4571111a5996 738 }
Sigma884 1:6dea30c8b406 739 }
Sigma884 0:03be138291de 740
Sigma884 0:03be138291de 741
Sigma884 0:03be138291de 742 /*******************************************************************************
Sigma884 0:03be138291de 743 データを1秒ごとに書き込み開始
Sigma884 0:03be138291de 744 *******************************************************************************/
Sigma884 1:6dea30c8b406 745 void startRecSlow(){
Sigma884 3:4571111a5996 746 if(!save_slow && !save_fast){
Sigma884 3:4571111a5996 747 fp = fopen(file_name, "a");
Sigma884 3:4571111a5996 748 fprintf(fp, "Time,Flight Time,Phase,Controll,Flight Pin,");
Sigma884 3:4571111a5996 749 fprintf(fp, "Valve1,Valve2,Valve3,Valve4,Buzzer,");
Sigma884 3:4571111a5996 750 fprintf(fp, "GPS Y/N,GPS Time,Latitude,Longitude,GPS Alt,Knot,Deg,Sattelite,");
Sigma884 3:4571111a5996 751 fprintf(fp, "ADXL_x[G],ADXL_y[G],ADXL_z[G],Battery_V[V],Battery_I[A],");
Sigma884 3:4571111a5996 752 fprintf(fp, "Pres[hPa],Temp[degC],Hum[%%],Alt[m],Alt_ave[m],Speed[m/s],Speed_ave[m/s],");
Sigma884 3:4571111a5996 753 fprintf(fp, "Acc_x[m/s^2],Acc_y[m/s^2],Acc_z[m/s^2],Mag_x[uT],Mag_y[uT],Mag_z[uT],Gyro_x[deg/s],Gyro_y[deg/s],Gyro_z[deg/s],");
Sigma884 3:4571111a5996 754 fprintf(fp, "Q_w,Q_x,Q_y,Q_z,Yaw[deg],Roll[deg],Pitch[deg],");
Sigma884 3:4571111a5996 755 fprintf(fp, "CO2[ppm],TVOCs[ppm],");
Sigma884 3:4571111a5996 756 fprintf(fp, "Bottle Pres[MPa]\r\n");
Sigma884 3:4571111a5996 757 tick_save.detach();
Sigma884 3:4571111a5996 758 tick_save.attach(&recData, 1.0f);
Sigma884 3:4571111a5996 759 save_slow = true;
Sigma884 3:4571111a5996 760 }
Sigma884 1:6dea30c8b406 761 }
Sigma884 0:03be138291de 762
Sigma884 0:03be138291de 763
Sigma884 0:03be138291de 764 /*******************************************************************************
Sigma884 0:03be138291de 765 データを最速で書き込み開始
Sigma884 0:03be138291de 766 *******************************************************************************/
Sigma884 1:6dea30c8b406 767 void startRecFast(){
Sigma884 3:4571111a5996 768 if(!save_slow && !save_fast){
Sigma884 3:4571111a5996 769 fp = fopen(file_name, "a");
Sigma884 3:4571111a5996 770 fprintf(fp, "Time,Flight Time,Phase,Controll,Flight Pin,");
Sigma884 3:4571111a5996 771 fprintf(fp, "Valve1,Valve2,Valve3,Valve4,Buzzer,");
Sigma884 3:4571111a5996 772 fprintf(fp, "GPS Y/N,GPS Time,Latitude,Longitude,GPS Alt,Knot,Deg,Sattelite,");
Sigma884 3:4571111a5996 773 fprintf(fp, "ADXL_x[G],ADXL_y[G],ADXL_z[G],Battery_V[V],Battery_I[A],");
Sigma884 3:4571111a5996 774 fprintf(fp, "Pres[hPa],Temp[degC],Hum[%%],Alt[m],Alt_ave[m],Speed[m/s],Speed_ave[m/s],");
Sigma884 3:4571111a5996 775 fprintf(fp, "Acc_x[m/s^2],Acc_y[m/s^2],Acc_z[m/s^2],Mag_x[uT],Mag_y[uT],Mag_z[uT],Gyro_x[deg/s],Gyro_y[deg/s],Gyro_z[deg/s],");
Sigma884 3:4571111a5996 776 fprintf(fp, "Q_w,Q_x,Q_y,Q_z,Yaw[deg],Roll[deg],Pitch[deg],");
Sigma884 3:4571111a5996 777 fprintf(fp, "CO2[ppm],TVOCs[ppm],");
Sigma884 3:4571111a5996 778 fprintf(fp, "Bottle Pres[MPa]\r\n");
Sigma884 3:4571111a5996 779 tick_save.detach();
Sigma884 3:4571111a5996 780 save_fast = true;
Sigma884 3:4571111a5996 781 }
Sigma884 1:6dea30c8b406 782 }
Sigma884 0:03be138291de 783
Sigma884 0:03be138291de 784
Sigma884 0:03be138291de 785 /*******************************************************************************
Sigma884 0:03be138291de 786 データ記録停止
Sigma884 0:03be138291de 787 *******************************************************************************/
Sigma884 1:6dea30c8b406 788 void stopRec(){
Sigma884 3:4571111a5996 789 if(save_slow){
Sigma884 3:4571111a5996 790 save_slow = false;
Sigma884 3:4571111a5996 791 tick_save.detach();
Sigma884 3:4571111a5996 792 fprintf(fp, "\r\n\n");
Sigma884 3:4571111a5996 793 fclose(fp);
Sigma884 3:4571111a5996 794 }
Sigma884 3:4571111a5996 795 else if(save_fast){
Sigma884 3:4571111a5996 796 save_fast = false;
Sigma884 3:4571111a5996 797 fprintf(fp, "\r\n\n");
Sigma884 3:4571111a5996 798 fclose(fp);
Sigma884 3:4571111a5996 799 }
Sigma884 1:6dea30c8b406 800 }
Sigma884 0:03be138291de 801
Sigma884 0:03be138291de 802
Sigma884 0:03be138291de 803 /*******************************************************************************
Sigma884 3:4571111a5996 804 データの書き込み
Sigma884 0:03be138291de 805 *******************************************************************************/
Sigma884 1:6dea30c8b406 806 void recData(){
Sigma884 3:4571111a5996 807 fprintf(fp, "%d:%02d.%03d,", time_min, time_sec, time_ms);
Sigma884 3:4571111a5996 808 fprintf(fp, "%d:%02d.%03d,", flight_time_min, flight_time_sec, flight_time_ms);
Sigma884 1:6dea30c8b406 809
Sigma884 3:4571111a5996 810 switch(CanSat_phase){
Sigma884 3:4571111a5996 811 case CANSAT_SETUP:
Sigma884 3:4571111a5996 812 fprintf(fp, "SETUP,");
Sigma884 3:4571111a5996 813 break;
Sigma884 3:4571111a5996 814
Sigma884 3:4571111a5996 815 case CANSAT_SAFETY:
Sigma884 3:4571111a5996 816 fprintf(fp, "SAFETY,");
Sigma884 3:4571111a5996 817 break;
Sigma884 3:4571111a5996 818
Sigma884 3:4571111a5996 819 case CANSAT_WAIT:
Sigma884 3:4571111a5996 820 fprintf(fp, "WAIT,");
Sigma884 3:4571111a5996 821 break;
Sigma884 3:4571111a5996 822
Sigma884 3:4571111a5996 823 case CANSAT_FLIGHT:
Sigma884 3:4571111a5996 824 fprintf(fp, "FLIGHT,");
Sigma884 3:4571111a5996 825 break;
Sigma884 3:4571111a5996 826
Sigma884 3:4571111a5996 827 case CANSAT_RECOVERY:
Sigma884 3:4571111a5996 828 fprintf(fp, "RECOVERY,");
Sigma884 3:4571111a5996 829 break;
Sigma884 3:4571111a5996 830 }
Sigma884 3:4571111a5996 831
Sigma884 3:4571111a5996 832 fprintf(fp, "%d,", controll_yn);
Sigma884 3:4571111a5996 833 fprintf(fp, "%d,", flight_pin);
Sigma884 3:4571111a5996 834 fprintf(fp, "%d,%d,%d,%d,%d,", Valve1.status, Valve2.status, Valve3.status, Valve4.status, Buzzer.status);
Sigma884 3:4571111a5996 835 fprintf(fp, "%c,", es920_uplink_command);
Sigma884 3:4571111a5996 836 es920_uplink_command = '-';
Sigma884 3:4571111a5996 837
Sigma884 3:4571111a5996 838 fprintf(fp, "%d,", gps_yn);
Sigma884 3:4571111a5996 839 fprintf(fp, "%d/%d/%d ", (int)gps_utc[0], (int)gps_utc[1], (int)gps_utc[2]); //日付
Sigma884 3:4571111a5996 840 fprintf(fp, "%d:%02d:%02.2f,", (int)gps_utc[3], (int)gps_utc[4], gps_utc[5]); //時間
Sigma884 3:4571111a5996 841 fprintf(fp, "%3.7f,%3.7f,%.2f,", gps_lat, gps_lon, gps_alt); //GPS座標
Sigma884 3:4571111a5996 842 fprintf(fp, "%.2f,%.2f,", gps_knot, gps_deg); //GPS速度
Sigma884 3:4571111a5996 843 fprintf(fp, "%d,", gps_sat); //GPS衛星数
Sigma884 3:4571111a5996 844
Sigma884 3:4571111a5996 845 fprintf(fp, "%.2f,%.2f,%.2f,%f,%f,", adxl_acc[0], adxl_acc[1], adxl_acc[2], ina_v, ina_i);
Sigma884 3:4571111a5996 846 fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,", pres, temp, hum, alt, alt_ave, speed, speed_ave);
Sigma884 3:4571111a5996 847 fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,%f,%f,", amg[0], amg[1], amg[2], amg[3], amg[4], amg[5], amg[6], amg[7], amg[8]);
Sigma884 3:4571111a5996 848 fprintf(fp, "%f,%f,%f,%f,", quart[0], quart[1], quart[2], quart[3]);
Sigma884 3:4571111a5996 849 fprintf(fp, "%.2f,%.2f,%.2f,", euler[0], euler[1], euler[2]);
Sigma884 3:4571111a5996 850 fprintf(fp, "%d,%d,", CO2, TVOCs);
Sigma884 3:4571111a5996 851 fprintf(fp, "%f\r\n", bottle_pres);
Sigma884 3:4571111a5996 852
Sigma884 4:b878dce9c247 853 /////////////////////////////////////////////////////////////////////EEPROM
Sigma884 4:b878dce9c247 854 EEPROM.chargeBuff((unsigned short)time_reset);
Sigma884 4:b878dce9c247 855 EEPROM.chargeBuff((int)time_read);
Sigma884 4:b878dce9c247 856 EEPROM.chargeBuff((unsigned short)flight_time_reset);
Sigma884 4:b878dce9c247 857 EEPROM.chargeBuff((int)flight_time_read);
Sigma884 4:b878dce9c247 858 EEPROM.chargeBuff((char)CanSat_phase);
Sigma884 4:b878dce9c247 859 char status = 0x00;
Sigma884 4:b878dce9c247 860 if(controll_yn) status |= 0x01;
Sigma884 4:b878dce9c247 861 if(flight_pin) status |= 0x02;
Sigma884 4:b878dce9c247 862 if(Valve1.status) status |= 0x04;
Sigma884 4:b878dce9c247 863 if(Valve2.status) status |= 0x08;
Sigma884 4:b878dce9c247 864 if(Valve3.status) status |= 0x10;
Sigma884 4:b878dce9c247 865 if(Valve4.status) status |= 0x20;
Sigma884 4:b878dce9c247 866 if(Buzzer.status) status |= 0x40;
Sigma884 4:b878dce9c247 867 EEPROM.chargeBuff((char)status);
Sigma884 4:b878dce9c247 868 EEPROM.chargeBuff((char)es920_uplink_command);
Sigma884 4:b878dce9c247 869 EEPROM.chargeBuff((char)gps_yn);
Sigma884 4:b878dce9c247 870 EEPROM.chargeBuff((float)gps_lat);
Sigma884 4:b878dce9c247 871 EEPROM.chargeBuff((float)gps_lon);
Sigma884 4:b878dce9c247 872 EEPROM.chargeBuff((float)gps_alt);
Sigma884 4:b878dce9c247 873 EEPROM.chargeBuff((float)gps_knot);
Sigma884 4:b878dce9c247 874 EEPROM.chargeBuff((float)gps_deg);
Sigma884 4:b878dce9c247 875 EEPROM.chargeBuff((unsigned short)gps_sat);
Sigma884 4:b878dce9c247 876 EEPROM.chargeBuff((float)adxl_acc[0]);
Sigma884 4:b878dce9c247 877 EEPROM.chargeBuff((float)adxl_acc[1]);
Sigma884 4:b878dce9c247 878 EEPROM.chargeBuff((float)adxl_acc[2]);
Sigma884 4:b878dce9c247 879 EEPROM.chargeBuff((float)ina_v);
Sigma884 4:b878dce9c247 880 EEPROM.chargeBuff((float)ina_i);
Sigma884 4:b878dce9c247 881 EEPROM.chargeBuff((float)pres);
Sigma884 4:b878dce9c247 882 EEPROM.chargeBuff((float)temp);
Sigma884 4:b878dce9c247 883 EEPROM.chargeBuff((float)hum);
Sigma884 4:b878dce9c247 884 EEPROM.chargeBuff((float)alt);
Sigma884 4:b878dce9c247 885 EEPROM.chargeBuff((float)speed);
Sigma884 4:b878dce9c247 886 EEPROM.chargeBuff((short)(amg[0] / ES920_MAX_50));
Sigma884 4:b878dce9c247 887 EEPROM.chargeBuff((short)(amg[1] / ES920_MAX_50));
Sigma884 4:b878dce9c247 888 EEPROM.chargeBuff((short)(amg[2] / ES920_MAX_50));
Sigma884 4:b878dce9c247 889 EEPROM.chargeBuff((short)(amg[3] / ES920_MAX_50));
Sigma884 4:b878dce9c247 890 EEPROM.chargeBuff((short)(amg[4] / ES920_MAX_50));
Sigma884 4:b878dce9c247 891 EEPROM.chargeBuff((short)(amg[5] / ES920_MAX_50));
Sigma884 4:b878dce9c247 892 EEPROM.chargeBuff((short)(amg[6] / ES920_MAX_50));
Sigma884 4:b878dce9c247 893 EEPROM.chargeBuff((short)(amg[7] / ES920_MAX_50));
Sigma884 4:b878dce9c247 894 EEPROM.chargeBuff((short)(amg[8] / ES920_MAX_50));
Sigma884 4:b878dce9c247 895 EEPROM.chargeBuff((float)quart[0]);
Sigma884 4:b878dce9c247 896 EEPROM.chargeBuff((float)quart[1]);
Sigma884 4:b878dce9c247 897 EEPROM.chargeBuff((float)quart[2]);
Sigma884 4:b878dce9c247 898 EEPROM.chargeBuff((float)quart[3]);
Sigma884 4:b878dce9c247 899 EEPROM.chargeBuff((short)(euler[0] / ES920_MAX_500));
Sigma884 4:b878dce9c247 900 EEPROM.chargeBuff((short)(euler[1] / ES920_MAX_500));
Sigma884 4:b878dce9c247 901 EEPROM.chargeBuff((short)(euler[2] / ES920_MAX_500));
Sigma884 4:b878dce9c247 902 EEPROM.chargeBuff((unsigned short)CO2);
Sigma884 4:b878dce9c247 903 EEPROM.chargeBuff((unsigned short)TVOCs);
Sigma884 4:b878dce9c247 904 EEPROM.chargeBuff((float)bottle_pres);
Sigma884 4:b878dce9c247 905 EEPROM.writeBuff();
Sigma884 4:b878dce9c247 906 eeprom_ptr = EEPROM.setNextPage();
Sigma884 1:6dea30c8b406 907 }
Sigma884 0:03be138291de 908
Sigma884 0:03be138291de 909
Sigma884 0:03be138291de 910 /*******************************************************************************
Sigma884 2:a443df6115bc 911 ブザーのオンオフ切り替え
Sigma884 2:a443df6115bc 912 *******************************************************************************/
Sigma884 2:a443df6115bc 913 void buzzerChange(){
Sigma884 3:4571111a5996 914 if(Buzzer.status){
Sigma884 3:4571111a5996 915 Buzzer.fire_off();
Sigma884 3:4571111a5996 916 }
Sigma884 3:4571111a5996 917 else{
Sigma884 3:4571111a5996 918 Buzzer.fire_off();
Sigma884 3:4571111a5996 919 }
Sigma884 2:a443df6115bc 920 }
Sigma884 2:a443df6115bc 921
Sigma884 2:a443df6115bc 922
Sigma884 2:a443df6115bc 923 /*******************************************************************************
Sigma884 0:03be138291de 924 セットアップ（最初に1回実行）
Sigma884 0:03be138291de 925 無線あり：HEADER_SETUP_SENSOR
Sigma884 0:03be138291de 926 無線あり：HEADER_GPS_SETUP
Sigma884 0:03be138291de 927 *******************************************************************************/
Sigma884 0:03be138291de 928 void setup(){
Sigma884 0:03be138291de 929 wait(1.0f);
Sigma884 0:03be138291de 930 char setup_string[1024];
Sigma884 0:03be138291de 931
Sigma884 0:03be138291de 932 pc.printf("\r\n******************************\r\n");
Sigma884 0:03be138291de 933 pc.printf("Sensor Setting Start!!\r\n");
Sigma884 0:03be138291de 934 strcat(setup_string, "Sensor Setting Start!!\r\n");
Sigma884 0:03be138291de 935 es920 << HEADER_SENSOR_SETUP;
Sigma884 0:03be138291de 936
Sigma884 0:03be138291de 937 //////////////////////////////////////////////////ADXL375
Sigma884 0:03be138291de 938 ADXL375.setDataRate(ADXL375_100HZ);
Sigma884 0:03be138291de 939 if(ADXL375.whoAmI() == 1){
Sigma884 0:03be138291de 940 pc.printf("ADXL375 : OK\r\n");
Sigma884 0:03be138291de 941 strcat(setup_string, "ADXL375 : OK\r\n");
Sigma884 0:03be138291de 942 es920 << (char)0x01;
Sigma884 0:03be138291de 943 }
Sigma884 0:03be138291de 944 else{
Sigma884 0:03be138291de 945 pc.printf("ADXL375 : NG\r\n");
Sigma884 0:03be138291de 946 strcat(setup_string, "ADXL375 : NG\r\n");
Sigma884 0:03be138291de 947 es920 << (char)0x00;
Sigma884 0:03be138291de 948 }
Sigma884 0:03be138291de 949 ADXL375.offset(0.0f, 0.0f, 0.0f);
Sigma884 0:03be138291de 950
Sigma884 0:03be138291de 951 //////////////////////////////////////////////////INA226
Sigma884 0:03be138291de 952 INA226.set_callibretion();
Sigma884 0:03be138291de 953 if(INA226.Connection_check() == 0){
Sigma884 0:03be138291de 954 pc.printf("INA226 : OK\r\n");
Sigma884 0:03be138291de 955 strcat(setup_string, "INA226 : OK!!\r\n");
Sigma884 0:03be138291de 956 es920 << (char)0x01;
Sigma884 0:03be138291de 957 }
Sigma884 0:03be138291de 958 else{
Sigma884 0:03be138291de 959 pc.printf("INA226 : NG\r\n");
Sigma884 0:03be138291de 960 strcat(setup_string, "INA226 : NG\r\n");
Sigma884 0:03be138291de 961 es920 << (char)0x00;
Sigma884 0:03be138291de 962 }
Sigma884 0:03be138291de 963
Sigma884 0:03be138291de 964 //////////////////////////////////////////////////BME280
Sigma884 0:03be138291de 965 BME280.configMeasure(BME280_lib::NORMAL, 1, 2, 1);
Sigma884 0:03be138291de 966 BME280.configFilter(4);
Sigma884 0:03be138291de 967 if(BME280.connectCheck() == 1){
Sigma884 0:03be138291de 968 pc.printf("BME280 OK!!\r\n");
Sigma884 0:03be138291de 969 strcat(setup_string, "BME280 : OK!!\r\n");
Sigma884 0:03be138291de 970 es920 << (char)0x01;
Sigma884 0:03be138291de 971 }
Sigma884 0:03be138291de 972 else{
Sigma884 0:03be138291de 973 pc.printf("BME280 NG\r\n");
Sigma884 0:03be138291de 974 strcat(setup_string, "BME280 : NG\r\n");
Sigma884 0:03be138291de 975 es920 << (char)0x00;
Sigma884 0:03be138291de 976 }
Sigma884 0:03be138291de 977
Sigma884 0:03be138291de 978 //////////////////////////////////////////////////BNO055
Sigma884 0:03be138291de 979 BNO055.setOperationMode(BNO055_lib::CONFIG);
Sigma884 0:03be138291de 980 BNO055.setAccRange(BNO055_lib::_16G);
Sigma884 0:03be138291de 981 BNO055.setAxis(BNO055_lib::Z, BNO055_lib::Y, BNO055_lib::X);
Sigma884 0:03be138291de 982 BNO055.setAxisPM(1, 1, -1);
Sigma884 0:03be138291de 983 if(BNO055.connectCheck() == 1){
Sigma884 0:03be138291de 984 pc.printf("BNO055 OK!!\r\n");
Sigma884 0:03be138291de 985 strcat(setup_string, "BNO055 : OK!!\r\n");
Sigma884 0:03be138291de 986 es920 << (char)0x01;
Sigma884 0:03be138291de 987 }
Sigma884 0:03be138291de 988 else{
Sigma884 0:03be138291de 989 pc.printf("BNO055 NG\r\n");
Sigma884 0:03be138291de 990 strcat(setup_string, "BNO055 : NG\r\n");
Sigma884 0:03be138291de 991 es920 << (char)0x00;
Sigma884 0:03be138291de 992 }
Sigma884 1:6dea30c8b406 993 BNO055.setOperationMode(BNO055_lib::NDOF);
Sigma884 0:03be138291de 994
Sigma884 0:03be138291de 995 //////////////////////////////////////////////////CCS811
Sigma884 0:03be138291de 996 if(CCS811.connectCheck() == 1){
Sigma884 0:03be138291de 997 pc.printf("CCS811 OK!!\r\n");
Sigma884 0:03be138291de 998 strcat(setup_string, "CCS811 : OK!!\r\n");
Sigma884 0:03be138291de 999 es920 << (char)0x01;
Sigma884 0:03be138291de 1000 }
Sigma884 0:03be138291de 1001 else{
Sigma884 0:03be138291de 1002 pc.printf("CCS811 NG\r\n");
Sigma884 0:03be138291de 1003 strcat(setup_string, "CCS811 : NG\r\n");
Sigma884 0:03be138291de 1004 es920 << (char)0x00;
Sigma884 0:03be138291de 1005 }
Sigma884 0:03be138291de 1006
Sigma884 0:03be138291de 1007 //////////////////////////////////////////////////圧力センサ
Sigma884 0:03be138291de 1008 pc.printf("PRES : ");
Sigma884 0:03be138291de 1009 ADS1115.setGain(GAIN_TWOTHIRDS);
Sigma884 0:03be138291de 1010 pc.printf("OK!!\r\n");
Sigma884 0:03be138291de 1011 strcat(setup_string, "PRES : OK!!\r\n");
Sigma884 0:03be138291de 1012 es920 << (char)0x01;
Sigma884 0:03be138291de 1013
Sigma884 0:03be138291de 1014 //////////////////////////////////////////////////SD
Sigma884 0:03be138291de 1015 fp = fopen("/sd/Space_SWAN_setup.txt", "r");
Sigma884 0:03be138291de 1016 if(fp != NULL){
Sigma884 0:03be138291de 1017 pc.printf("SD : OK!!\r\n");
Sigma884 0:03be138291de 1018 strcat(setup_string, "SD : OK!!\r\n");
Sigma884 0:03be138291de 1019 es920 << (char)0x01;
Sigma884 0:03be138291de 1020 fclose(fp);
Sigma884 0:03be138291de 1021 }
Sigma884 0:03be138291de 1022 else{
Sigma884 0:03be138291de 1023 pc.printf("SD : NG...\r\n");
Sigma884 0:03be138291de 1024 strcat(setup_string, "SD : NG...\r\n");
Sigma884 0:03be138291de 1025 es920 << (char)0x00;
Sigma884 0:03be138291de 1026 }
Sigma884 0:03be138291de 1027
Sigma884 0:03be138291de 1028 pc.printf("Sensor Setting Finished!!\r\n");
Sigma884 0:03be138291de 1029 pc.printf("******************************\r\n");
Sigma884 0:03be138291de 1030 strcat(setup_string, "Sensor Setting Finished!!\r\n");
Sigma884 0:03be138291de 1031 es920.send();
Sigma884 0:03be138291de 1032 wait(1.0f);
Sigma884 0:03be138291de 1033
Sigma884 0:03be138291de 1034 pc.printf("\r\n******************************\r\n");
Sigma884 0:03be138291de 1035 if(wait_GPS){
Sigma884 0:03be138291de 1036 pc.printf("GPS Setting Start!!\r\n");
Sigma884 0:03be138291de 1037 strcat(setup_string, "GPS Setting Start!!\r\n");
Sigma884 0:03be138291de 1038
Sigma884 0:03be138291de 1039 pc.printf("Waiting : 0");
Sigma884 0:03be138291de 1040 strcat(setup_string, "Wait : ");
Sigma884 0:03be138291de 1041 int gps_wait_count = 0;
Sigma884 0:03be138291de 1042 while(!GPS.gps_readable){
Sigma884 0:03be138291de 1043 pc.printf("\rWaiting : %d", gps_wait_count);//
Sigma884 0:03be138291de 1044 es920 << HEADER_GPS_SETUP;
Sigma884 0:03be138291de 1045 es920 << (char)GPS.gps_readable;
Sigma884 0:03be138291de 1046 es920 << (int)gps_wait_count;
Sigma884 0:03be138291de 1047 es920.send();
Sigma884 0:03be138291de 1048 wait(1.0f);
Sigma884 0:03be138291de 1049 gps_wait_count ++;
Sigma884 0:03be138291de 1050 }
Sigma884 0:03be138291de 1051 char ss[8];
Sigma884 0:03be138291de 1052 sprintf(ss, "%d", gps_wait_count);
Sigma884 0:03be138291de 1053 strcat(setup_string, ss);
Sigma884 0:03be138291de 1054 pc.printf(" OK!!\r\n");
Sigma884 0:03be138291de 1055 strcat(setup_string, " OK!!\r\n");
Sigma884 0:03be138291de 1056 pc.printf("GPS Setting Finished!!\r\n");
Sigma884 0:03be138291de 1057 strcat(setup_string, "GPS Setting Finished!!\r\n");
Sigma884 0:03be138291de 1058 es920 << HEADER_GPS_SETUP;
Sigma884 0:03be138291de 1059 es920 << (char)0xAA;
Sigma884 0:03be138291de 1060 es920 << (int)0;
Sigma884 0:03be138291de 1061 es920.send();
Sigma884 0:03be138291de 1062 }
Sigma884 0:03be138291de 1063 else{
Sigma884 0:03be138291de 1064 pc.printf("GPS Setting Ignore...\r\n");
Sigma884 0:03be138291de 1065 strcat(setup_string, "GPS Setting Ignore...\r\n");
Sigma884 0:03be138291de 1066 es920 << HEADER_GPS_SETUP;
Sigma884 0:03be138291de 1067 es920 << (char)0xFF;
Sigma884 0:03be138291de 1068 es920 << (int)0;
Sigma884 0:03be138291de 1069 es920.send();
Sigma884 0:03be138291de 1070 }
Sigma884 0:03be138291de 1071 pc.printf("******************************\r\n");
Sigma884 0:03be138291de 1072 fp = fopen(file_name, "a");
Sigma884 0:03be138291de 1073 fprintf(fp, setup_string);
Sigma884 0:03be138291de 1074 fclose(fp);
Sigma884 0:03be138291de 1075 setup_string[0] = NULL;
Sigma884 0:03be138291de 1076
Sigma884 3:4571111a5996 1077 EEPROM.setWriteAddr(1, 0, 0x00, 0x00);
Sigma884 3:4571111a5996 1078
Sigma884 0:03be138291de 1079 printHelp();
Sigma884 0:03be138291de 1080 wait(1.0f);
Sigma884 0:03be138291de 1081 }