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@6:f2016544b9e4, 2019-02-23 (annotated)

Committer:
Sigma884
Date:
Sat Feb 23 11:50:05 2019 +0000
Revision:
6:f2016544b9e4
Parent:
5:b71a554ab4c4
Child:
7:3a2d0474f1ca
20190223 ver.0.7

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 6:f2016544b9e4 183 // 0x10, 起動時間, フライト時間, フェーズ, status, valve, lat, lon, alt, knot, deg, sat,
Sigma884 6:f2016544b9e4 184 // 0 4(2,2) 4(2,2) 1 1 1 4 4 2 2 2 2
Sigma884 6:f2016544b9e4 185 // 0 2 4 6 8 9 10 11 15 19 21 23 25
Sigma884 6:f2016544b9e4 186 // 0x01 : save_slow
Sigma884 6:f2016544b9e4 187 // 0x02 : save_fast
Sigma884 6:f2016544b9e4 188 // 0x04 : controll_yn
Sigma884 6:f2016544b9e4 189 // 0x08 : flight_pin
Sigma884 6:f2016544b9e4 190 // 0x10 : buzzer
Sigma884 6:f2016544b9e4 191
Sigma884 6:f2016544b9e4 192 // V, I, pres, temp, alt, speed, eulerX3, CO2, TVOCs, bottle
Sigma884 6:f2016544b9e4 193 // 2 2 2 2 2 2 6(2,2,2) 2 2 2
Sigma884 6:f2016544b9e4 194 // 27 29 31 33 35 37 394143 45 47 49
Sigma884 0:03be138291de 195
Sigma884 0:03be138291de 196 const char HEADER_START = 0x11;
Sigma884 6:f2016544b9e4 197 // 0x11, What
Sigma884 6:f2016544b9e4 198 // 0 1
Sigma884 6:f2016544b9e4 199 // 'W' : 投下検知モード
Sigma884 6:f2016544b9e4 200 // 'S' : 安全モード
Sigma884 6:f2016544b9e4 201 // 'F' : フライトモード
Sigma884 6:f2016544b9e4 202 // 'R' : 回収モード
Sigma884 0:03be138291de 203
Sigma884 0:03be138291de 204
Sigma884 0:03be138291de 205 /*******************************************************************************
Sigma884 0:03be138291de 206 無線のヘッダまとめ(GND -> CANSAT)
Sigma884 0:03be138291de 207 *******************************************************************************/
Sigma884 1:6dea30c8b406 208 const char HEADER_COMMAND = 0xcd;
Sigma884 0:03be138291de 209 // 0xcd, command
Sigma884 0:03be138291de 210 // 0 1
Sigma884 0:03be138291de 211 // 0
Sigma884 0:03be138291de 212
Sigma884 0:03be138291de 213
Sigma884 0:03be138291de 214 /*******************************************************************************
Sigma884 0:03be138291de 215 CanSatのフェーズ
Sigma884 0:03be138291de 216 *******************************************************************************/
Sigma884 0:03be138291de 217 const char CANSAT_SETUP = 0x00; //セットアップ中
Sigma884 0:03be138291de 218 const char CANSAT_SAFETY = 0x01; //安全モード
Sigma884 0:03be138291de 219 const char CANSAT_WAIT = 0x02; //待機モード
Sigma884 0:03be138291de 220 const char CANSAT_FLIGHT = 0x03; //フライトモード
Sigma884 0:03be138291de 221 const char CANSAT_RECOVERY = 0x04; //回収モード
Sigma884 0:03be138291de 222
Sigma884 0:03be138291de 223
Sigma884 0:03be138291de 224 /*******************************************************************************
Sigma884 0:03be138291de 225 メイン関数
Sigma884 0:03be138291de 226 *******************************************************************************/
Sigma884 0:03be138291de 227 int main() {
Sigma884 0:03be138291de 228 CanSat_phase = CANSAT_SETUP;
Sigma884 0:03be138291de 229 setup();
Sigma884 0:03be138291de 230
Sigma884 0:03be138291de 231 pc.attach(&readPC, Serial::RxIrq);
Sigma884 0:03be138291de 232
Sigma884 0:03be138291de 233 tick_gps.attach(&readGPS, 1.0/GPS_freq);
Sigma884 0:03be138291de 234 tick_print.attach(&printData, 1.0f);
Sigma884 0:03be138291de 235 tick_header_data.attach(&sendDownLink, 1.0f);
Sigma884 0:03be138291de 236
Sigma884 0:03be138291de 237 es920.attach(&readUpLink, HEADER_COMMAND);
Sigma884 0:03be138291de 238
Sigma884 0:03be138291de 239 FlightPin.mode(PullUp);
Sigma884 0:03be138291de 240
Sigma884 0:03be138291de 241 time_main.reset();
Sigma884 0:03be138291de 242 time_main.start();
Sigma884 0:03be138291de 243 startRecSlow();
Sigma884 0:03be138291de 244
Sigma884 0:03be138291de 245 CanSat_phase = CANSAT_SAFETY;
Sigma884 0:03be138291de 246 while(1) {
Sigma884 0:03be138291de 247 readSensor();
Sigma884 0:03be138291de 248 modeChange(); //状態遷移の判断
Sigma884 2:a443df6115bc 249 controllAttitude();
Sigma884 3:4571111a5996 250 if(save_fast){
Sigma884 3:4571111a5996 251 recData();
Sigma884 3:4571111a5996 252 }
Sigma884 0:03be138291de 253 }
Sigma884 0:03be138291de 254 }
Sigma884 0:03be138291de 255
Sigma884 0:03be138291de 256
Sigma884 0:03be138291de 257 /*******************************************************************************
Sigma884 0:03be138291de 258 状態遷移の判断
Sigma884 0:03be138291de 259 無線あり：HEADER_START
Sigma884 0:03be138291de 260 *******************************************************************************/
Sigma884 1:6dea30c8b406 261 void modeChange(){
Sigma884 2:a443df6115bc 262 switch(CanSat_phase){
Sigma884 5:b71a554ab4c4 263 case CANSAT_SAFETY:////////////////////安全モード
Sigma884 2:a443df6115bc 264 if(!do_first){
Sigma884 5:b71a554ab4c4 265 es920_using = true;
Sigma884 5:b71a554ab4c4 266 es920 << HEADER_START;
Sigma884 5:b71a554ab4c4 267 es920 << 'S';
Sigma884 5:b71a554ab4c4 268 es920.send();
Sigma884 5:b71a554ab4c4 269 es920_using = false;
Sigma884 2:a443df6115bc 270
Sigma884 5:b71a554ab4c4 271 do_first = true;
Sigma884 5:b71a554ab4c4 272 }
Sigma884 5:b71a554ab4c4 273 break;
Sigma884 5:b71a554ab4c4 274
Sigma884 5:b71a554ab4c4 275 case CANSAT_WAIT:////////////////////待機モード
Sigma884 5:b71a554ab4c4 276 if(!do_first){
Sigma884 5:b71a554ab4c4 277 es920_using = true;
Sigma884 5:b71a554ab4c4 278 es920 << HEADER_START;
Sigma884 5:b71a554ab4c4 279 es920 << 'W';
Sigma884 5:b71a554ab4c4 280 es920.send();
Sigma884 5:b71a554ab4c4 281 es920_using = false;
Sigma884 5:b71a554ab4c4 282
Sigma884 5:b71a554ab4c4 283 do_first = true;
Sigma884 5:b71a554ab4c4 284 }
Sigma884 5:b71a554ab4c4 285 if(flight_pin){
Sigma884 5:b71a554ab4c4 286 CanSat_phase = CANSAT_FLIGHT;
Sigma884 5:b71a554ab4c4 287 do_first = false;
Sigma884 2:a443df6115bc 288 }
Sigma884 2:a443df6115bc 289 break;
Sigma884 2:a443df6115bc 290
Sigma884 5:b71a554ab4c4 291 case CANSAT_FLIGHT:////////////////////フライトモード
Sigma884 2:a443df6115bc 292 if(!do_first){
Sigma884 5:b71a554ab4c4 293 es920_using = true;
Sigma884 5:b71a554ab4c4 294 es920 << HEADER_START;
Sigma884 5:b71a554ab4c4 295 es920 << 'F';
Sigma884 5:b71a554ab4c4 296 es920.send();
Sigma884 5:b71a554ab4c4 297 es920_using = false;
Sigma884 2:a443df6115bc 298
Sigma884 5:b71a554ab4c4 299 if(save_slow && !save_fast){
Sigma884 5:b71a554ab4c4 300 stopRec();
Sigma884 5:b71a554ab4c4 301 startRecFast();
Sigma884 5:b71a554ab4c4 302 }
Sigma884 5:b71a554ab4c4 303 else if(!save_slow && !save_fast){
Sigma884 5:b71a554ab4c4 304 startRecFast();
Sigma884 5:b71a554ab4c4 305 }
Sigma884 5:b71a554ab4c4 306
Sigma884 5:b71a554ab4c4 307 time_flight.reset();
Sigma884 5:b71a554ab4c4 308 time_flight.start();
Sigma884 5:b71a554ab4c4 309
Sigma884 5:b71a554ab4c4 310 alt_flight_start = alt;
Sigma884 5:b71a554ab4c4 311 timeout_start_controll.attach(&startControllAttitude, START_CONTROLL_TIME);
Sigma884 5:b71a554ab4c4 312
Sigma884 5:b71a554ab4c4 313 timeout_recovery.attach(&changePhase_RECOVERY, RECOVERY_TIME);
Sigma884 5:b71a554ab4c4 314
Sigma884 5:b71a554ab4c4 315 do_first = true;
Sigma884 2:a443df6115bc 316 }
Sigma884 5:b71a554ab4c4 317 if(alt - alt_flight_start > START_CONTROLL_ALT){
Sigma884 6:f2016544b9e4 318 timeout_start_controll.detach();
Sigma884 5:b71a554ab4c4 319 startControllAttitude();
Sigma884 5:b71a554ab4c4 320 }
Sigma884 5:b71a554ab4c4 321 if(speed_ave > RECOVERY_SPEED){
Sigma884 6:f2016544b9e4 322 timeout_recovery.detach();
Sigma884 5:b71a554ab4c4 323 changePhase_RECOVERY();
Sigma884 2:a443df6115bc 324 }
Sigma884 2:a443df6115bc 325 break;
Sigma884 2:a443df6115bc 326
Sigma884 2:a443df6115bc 327 case CANSAT_RECOVERY:
Sigma884 2:a443df6115bc 328 if(!do_first){
Sigma884 5:b71a554ab4c4 329 es920_using = true;
Sigma884 5:b71a554ab4c4 330 es920 << HEADER_START;
Sigma884 5:b71a554ab4c4 331 es920 << 'R';
Sigma884 5:b71a554ab4c4 332 es920.send();
Sigma884 5:b71a554ab4c4 333 es920_using = false;
Sigma884 2:a443df6115bc 334
Sigma884 5:b71a554ab4c4 335 stopRec();
Sigma884 5:b71a554ab4c4 336 startRecSlow();
Sigma884 5:b71a554ab4c4 337
Sigma884 5:b71a554ab4c4 338 controll_yn = false;
Sigma884 5:b71a554ab4c4 339
Sigma884 5:b71a554ab4c4 340 Buzzer.fire_on();
Sigma884 5:b71a554ab4c4 341
Sigma884 5:b71a554ab4c4 342 do_first = true;
Sigma884 2:a443df6115bc 343 }
Sigma884 2:a443df6115bc 344 break;
Sigma884 2:a443df6115bc 345 }
Sigma884 2:a443df6115bc 346 }
Sigma884 2:a443df6115bc 347
Sigma884 5:b71a554ab4c4 348 void changePhase_RECOVERY(){
Sigma884 5:b71a554ab4c4 349 CanSat_phase = CANSAT_RECOVERY;
Sigma884 5:b71a554ab4c4 350 do_first = false;
Sigma884 5:b71a554ab4c4 351 }
Sigma884 5:b71a554ab4c4 352
Sigma884 5:b71a554ab4c4 353 void startControllAttitude(){
Sigma884 5:b71a554ab4c4 354 controll_yn = true;
Sigma884 5:b71a554ab4c4 355 }
Sigma884 5:b71a554ab4c4 356
Sigma884 6:f2016544b9e4 357
Sigma884 2:a443df6115bc 358 /*******************************************************************************
Sigma884 2:a443df6115bc 359 姿勢制御
Sigma884 2:a443df6115bc 360 *******************************************************************************/
Sigma884 2:a443df6115bc 361 void controllAttitude(){
Sigma884 6:f2016544b9e4 362 if(controll_yn){
Sigma884 6:f2016544b9e4 363
Sigma884 6:f2016544b9e4 364 }
Sigma884 1:6dea30c8b406 365 }
Sigma884 0:03be138291de 366
Sigma884 0:03be138291de 367
Sigma884 0:03be138291de 368 /*******************************************************************************
Sigma884 0:03be138291de 369 センサー読み取り
Sigma884 0:03be138291de 370 *******************************************************************************/
Sigma884 1:6dea30c8b406 371 void readSensor(){
Sigma884 1:6dea30c8b406 372 time_read = time_main.read_ms();
Sigma884 1:6dea30c8b406 373 time_min = time_reset * 30 + floor((double)time_read / (60 * 1000));
Sigma884 1:6dea30c8b406 374 time_sec = time_read % (60 * 1000);
Sigma884 1:6dea30c8b406 375 time_sec = floor((double)time_sec / 1000);
Sigma884 1:6dea30c8b406 376 time_ms = time_read % 1000;
Sigma884 1:6dea30c8b406 377 if(time_read >= 30*60*1000){
Sigma884 1:6dea30c8b406 378 time_main.reset();
Sigma884 1:6dea30c8b406 379 time_reset ++;
Sigma884 1:6dea30c8b406 380 }
Sigma884 1:6dea30c8b406 381
Sigma884 1:6dea30c8b406 382 if(CanSat_phase >= CANSAT_FLIGHT){
Sigma884 1:6dea30c8b406 383 flight_time_read_old = flight_time_read;
Sigma884 1:6dea30c8b406 384 flight_time_read = time_flight.read_ms();
Sigma884 1:6dea30c8b406 385 }
Sigma884 1:6dea30c8b406 386 else{
Sigma884 1:6dea30c8b406 387 flight_time_read = 0;
Sigma884 1:6dea30c8b406 388 }
Sigma884 1:6dea30c8b406 389 flight_time_min = flight_time_reset * 30 + floor((double)flight_time_read / (60 * 1000));
Sigma884 1:6dea30c8b406 390 flight_time_sec = flight_time_read % (60 * 1000);
Sigma884 1:6dea30c8b406 391 flight_time_sec = floor((double)flight_time_sec / 1000);
Sigma884 1:6dea30c8b406 392 flight_time_ms = flight_time_read % 1000;
Sigma884 1:6dea30c8b406 393 if(time_read >= 30*60*1000){
Sigma884 1:6dea30c8b406 394 time_flight.reset();
Sigma884 1:6dea30c8b406 395 flight_time_reset ++;
Sigma884 1:6dea30c8b406 396 }
Sigma884 1:6dea30c8b406 397
Sigma884 1:6dea30c8b406 398 ADXL375.getOutput(adxl_acc);
Sigma884 1:6dea30c8b406 399
Sigma884 1:6dea30c8b406 400 INA226.get_Voltage_current(&ina_v, &ina_i);
Sigma884 1:6dea30c8b406 401 ina_v = ina_v / 1000;
Sigma884 1:6dea30c8b406 402 ina_i = ina_i / 1000;
Sigma884 1:6dea30c8b406 403 if(ina_i > 64){
Sigma884 1:6dea30c8b406 404 ina_i = 0.0f;
Sigma884 1:6dea30c8b406 405 }
Sigma884 1:6dea30c8b406 406
Sigma884 1:6dea30c8b406 407 BME280.getData(&temp, &pres_now, &hum);
Sigma884 1:6dea30c8b406 408 if(pres_now != pres){
Sigma884 1:6dea30c8b406 409 pres = pres_now;
Sigma884 1:6dea30c8b406 410 alt = BME280.getAlt2(pres_0, temp_0);
Sigma884 1:6dea30c8b406 411
Sigma884 1:6dea30c8b406 412 alt_buf[alt_count] = alt;
Sigma884 1:6dea30c8b406 413 alt_count ++;
Sigma884 1:6dea30c8b406 414 if(alt_count > 10){
Sigma884 1:6dea30c8b406 415 alt_count = 0;
Sigma884 1:6dea30c8b406 416 }
Sigma884 1:6dea30c8b406 417 float alt_sum = 0;
Sigma884 1:6dea30c8b406 418 for(int i = 0; i < 10; i ++){
Sigma884 1:6dea30c8b406 419 alt_sum += alt_buf[i];
Sigma884 1:6dea30c8b406 420 }
Sigma884 1:6dea30c8b406 421 alt_ave_old = alt_ave;
Sigma884 1:6dea30c8b406 422 alt_ave = alt_sum / 10;
Sigma884 1:6dea30c8b406 423
Sigma884 1:6dea30c8b406 424 if(fabs(alt_ave - alt_ave_old) > 0.01){
Sigma884 1:6dea30c8b406 425 speed = (alt_ave - alt_ave_old) / (((float)flight_time_read - (float)speed_time_old) / 1000);
Sigma884 1:6dea30c8b406 426 }
Sigma884 1:6dea30c8b406 427 if(CanSat_phase <= CANSAT_WAIT){
Sigma884 1:6dea30c8b406 428 speed = 0.0f;
Sigma884 1:6dea30c8b406 429 }
Sigma884 1:6dea30c8b406 430
Sigma884 1:6dea30c8b406 431 speed_buf[speed_count] = speed;
Sigma884 1:6dea30c8b406 432 speed_count ++;
Sigma884 1:6dea30c8b406 433 if(speed_count > 10){
Sigma884 1:6dea30c8b406 434 speed_count = 0;
Sigma884 1:6dea30c8b406 435 }
Sigma884 1:6dea30c8b406 436 float speed_sum = 0;
Sigma884 1:6dea30c8b406 437 for(int i = 0; i < 10; i ++){
Sigma884 1:6dea30c8b406 438 speed_sum = speed_buf[i];
Sigma884 1:6dea30c8b406 439 }
Sigma884 1:6dea30c8b406 440 speed_ave = speed_sum / 10;
Sigma884 1:6dea30c8b406 441
Sigma884 1:6dea30c8b406 442 speed_time_old = flight_time_read;
Sigma884 1:6dea30c8b406 443 }
Sigma884 1:6dea30c8b406 444
Sigma884 1:6dea30c8b406 445 if(CanSat_phase <= CANSAT_WAIT){
Sigma884 1:6dea30c8b406 446 pres_0 = pres;
Sigma884 1:6dea30c8b406 447 temp_0 = temp;
Sigma884 1:6dea30c8b406 448 }
Sigma884 1:6dea30c8b406 449
Sigma884 1:6dea30c8b406 450 BNO055.getAMG(amg);
Sigma884 1:6dea30c8b406 451 BNO055.getQuart(quart);
Sigma884 1:6dea30c8b406 452 BNO055.getEulerFromQ(euler);
Sigma884 1:6dea30c8b406 453
Sigma884 1:6dea30c8b406 454 CCS811.getData(&CO2, &TVOCs);
Sigma884 1:6dea30c8b406 455
Sigma884 1:6dea30c8b406 456 bottle_pres_bit = ADS1115.readADC_SingleEnded(0);
Sigma884 1:6dea30c8b406 457 bottle_pres_bit = (float)bottle_pres_bit * 0.125f * 3.0f / 2.0f;
Sigma884 1:6dea30c8b406 458 bottle_pres = (float)bottle_pres_bit/1000.0f / 4.0f - 0.25f;
Sigma884 2:a443df6115bc 459
Sigma884 2:a443df6115bc 460 flight_pin = FlightPin;
Sigma884 1:6dea30c8b406 461 }
Sigma884 0:03be138291de 462
Sigma884 0:03be138291de 463
Sigma884 0:03be138291de 464 /*******************************************************************************
Sigma884 0:03be138291de 465 GPS読み取り
Sigma884 0:03be138291de 466 *******************************************************************************/
Sigma884 1:6dea30c8b406 467 void readGPS(){
Sigma884 1:6dea30c8b406 468 gps_yn = GPS.gps_readable;
Sigma884 1:6dea30c8b406 469 if(gps_yn){
Sigma884 1:6dea30c8b406 470 gps_lat = GPS.Latitude();
Sigma884 1:6dea30c8b406 471 gps_lon = GPS.Longitude();
Sigma884 1:6dea30c8b406 472 gps_alt = GPS.Height();
Sigma884 1:6dea30c8b406 473 GPS.getUTC(gps_utc);
Sigma884 1:6dea30c8b406 474 gps_utc[3] += 9;
Sigma884 1:6dea30c8b406 475 if(gps_utc[3] >= 24){
Sigma884 1:6dea30c8b406 476 gps_utc[3] -= 24;
Sigma884 1:6dea30c8b406 477 gps_utc[2] += 1;
Sigma884 1:6dea30c8b406 478 }
Sigma884 1:6dea30c8b406 479 gps_knot = GPS.Knot();
Sigma884 1:6dea30c8b406 480 gps_deg = GPS.Degree();
Sigma884 1:6dea30c8b406 481 gps_sat = GPS.Number();
Sigma884 1:6dea30c8b406 482 }
Sigma884 1:6dea30c8b406 483 }
Sigma884 0:03be138291de 484
Sigma884 0:03be138291de 485
Sigma884 0:03be138291de 486 /*******************************************************************************
Sigma884 0:03be138291de 487 データ表示
Sigma884 0:03be138291de 488 *******************************************************************************/
Sigma884 1:6dea30c8b406 489 void printData(){
Sigma884 2:a443df6115bc 490 if(ok_PC){
Sigma884 2:a443df6115bc 491 pc.printf("Time : %d:%02d\r\n", time_min, time_sec);
Sigma884 2:a443df6115bc 492 pc.printf("FlightTime : %d:%02d\r\n", flight_time_min, flight_time_sec);
Sigma884 2:a443df6115bc 493
Sigma884 2:a443df6115bc 494 pc.printf("Phase : ");
Sigma884 2:a443df6115bc 495 switch(CanSat_phase){
Sigma884 2:a443df6115bc 496 case CANSAT_SETUP:
Sigma884 2:a443df6115bc 497 pc.printf("SETUP\r\n");
Sigma884 2:a443df6115bc 498 break;
Sigma884 2:a443df6115bc 499 case CANSAT_SAFETY:
Sigma884 2:a443df6115bc 500 pc.printf("SAFETY\r\n");
Sigma884 2:a443df6115bc 501 break;
Sigma884 2:a443df6115bc 502 case CANSAT_WAIT:
Sigma884 2:a443df6115bc 503 pc.printf("WAIT\r\n");
Sigma884 2:a443df6115bc 504 break;
Sigma884 2:a443df6115bc 505 case CANSAT_FLIGHT:
Sigma884 2:a443df6115bc 506 pc.printf("FLIGHT\r\n");
Sigma884 2:a443df6115bc 507 break;
Sigma884 2:a443df6115bc 508 case CANSAT_RECOVERY:
Sigma884 2:a443df6115bc 509 pc.printf("RECOVERY\r\n");
Sigma884 2:a443df6115bc 510 break;
Sigma884 2:a443df6115bc 511 }
Sigma884 2:a443df6115bc 512
Sigma884 2:a443df6115bc 513 pc.printf("SAVE : ");
Sigma884 2:a443df6115bc 514 if(save_slow){
Sigma884 2:a443df6115bc 515 pc.printf("SLOW\r\n");
Sigma884 2:a443df6115bc 516 }
Sigma884 2:a443df6115bc 517 else if(save_fast){
Sigma884 2:a443df6115bc 518 pc.printf("FAST\r\n");
Sigma884 2:a443df6115bc 519 }
Sigma884 2:a443df6115bc 520 else{
Sigma884 2:a443df6115bc 521 pc.printf("STOP\r\n");
Sigma884 2:a443df6115bc 522 }
Sigma884 2:a443df6115bc 523
Sigma884 2:a443df6115bc 524 pc.printf("Controll : %d\r\n", controll_yn);
Sigma884 2:a443df6115bc 525
Sigma884 2:a443df6115bc 526 pc.printf("Flight Pin : %d\r\n", flight_pin);
Sigma884 3:4571111a5996 527 pc.printf("Valve: %d, %d, %d, %d\r\n", Valve1.status, Valve2.status, Valve3.status, Valve4.status);
Sigma884 3:4571111a5996 528 pc.printf("Buzzer : %d\r\n", Buzzer.status);
Sigma884 2:a443df6115bc 529
Sigma884 2:a443df6115bc 530 pc.printf("GPS : %3.7f, %3.7f, %.2f\r\n", gps_lat, gps_lon, gps_alt);
Sigma884 2:a443df6115bc 531 pc.printf("Move : %.2f[knot], %.2f[deg]\r\n", gps_knot, gps_deg);
Sigma884 2:a443df6115bc 532 pc.printf("Sats : %d\r\n", gps_sat);
Sigma884 2:a443df6115bc 533
Sigma884 2:a443df6115bc 534 pc.printf("INA226 : %.2f[V], %.2f[A]\r\n", ina_v, ina_i);
Sigma884 2:a443df6115bc 535 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 536 pc.printf("BNO055 : %f, %f, %f\r\n", euler[0], euler[1], euler[2]);
Sigma884 2:a443df6115bc 537 pc.printf("CCS811 : %d[ppm], %d[ppm]\r\n", CO2, TVOCs);
Sigma884 2:a443df6115bc 538 pc.printf("Bottle : %f[MPa]\r\n", bottle_pres);
Sigma884 2:a443df6115bc 539
Sigma884 2:a443df6115bc 540 pc.printf("\n\n\n");
Sigma884 2:a443df6115bc 541 }
Sigma884 1:6dea30c8b406 542 }
Sigma884 0:03be138291de 543
Sigma884 0:03be138291de 544
Sigma884 0:03be138291de 545 /*******************************************************************************
Sigma884 0:03be138291de 546 PC読み取り
Sigma884 0:03be138291de 547 *******************************************************************************/
Sigma884 1:6dea30c8b406 548 void readPC(){
Sigma884 2:a443df6115bc 549 if(ok_PC){
Sigma884 2:a443df6115bc 550 char command = pc.getc();
Sigma884 2:a443df6115bc 551 pc.printf("PC Command : %c\r\n", command);
Sigma884 2:a443df6115bc 552
Sigma884 2:a443df6115bc 553 switch(command){
Sigma884 2:a443df6115bc 554 case '?': //ヘルプ表示
Sigma884 2:a443df6115bc 555 printHelp();
Sigma884 2:a443df6115bc 556 break;
Sigma884 2:a443df6115bc 557
Sigma884 2:a443df6115bc 558 case 'W': //投下待機モードへ移行
Sigma884 2:a443df6115bc 559 if(CanSat_phase == CANSAT_SAFETY){
Sigma884 2:a443df6115bc 560 CanSat_phase = CANSAT_WAIT;
Sigma884 2:a443df6115bc 561 do_first = false;
Sigma884 2:a443df6115bc 562 }
Sigma884 2:a443df6115bc 563 break;
Sigma884 2:a443df6115bc 564
Sigma884 2:a443df6115bc 565 case 'S': //安全モードへ移行
Sigma884 2:a443df6115bc 566 if(CanSat_phase == CANSAT_WAIT || CanSat_phase == CANSAT_FLIGHT){
Sigma884 2:a443df6115bc 567 CanSat_phase = CANSAT_SAFETY;
Sigma884 2:a443df6115bc 568 do_first = false;
Sigma884 2:a443df6115bc 569 }
Sigma884 2:a443df6115bc 570 break;
Sigma884 2:a443df6115bc 571
Sigma884 2:a443df6115bc 572 case 'F': //フライトモードへ移行
Sigma884 2:a443df6115bc 573 if(CanSat_phase == CANSAT_WAIT){
Sigma884 2:a443df6115bc 574 CanSat_phase = CANSAT_FLIGHT;
Sigma884 2:a443df6115bc 575 do_first = false;
Sigma884 2:a443df6115bc 576 }
Sigma884 2:a443df6115bc 577 break;
Sigma884 2:a443df6115bc 578
Sigma884 2:a443df6115bc 579 case 'C': //記録停止
Sigma884 2:a443df6115bc 580 if((CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY) && (save_slow || save_fast)){
Sigma884 2:a443df6115bc 581 stopRec();
Sigma884 2:a443df6115bc 582 }
Sigma884 2:a443df6115bc 583 break;
Sigma884 2:a443df6115bc 584
Sigma884 2:a443df6115bc 585 case 'o': //低速記録開始
Sigma884 2:a443df6115bc 586 if(CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY && (!save_slow && !save_fast)){
Sigma884 2:a443df6115bc 587 startRecSlow();
Sigma884 2:a443df6115bc 588 }
Sigma884 2:a443df6115bc 589 break;
Sigma884 2:a443df6115bc 590
Sigma884 2:a443df6115bc 591 case 'O': //高速記録開始
Sigma884 2:a443df6115bc 592 if(CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY && (!save_slow && !save_fast)){
Sigma884 2:a443df6115bc 593 startRecFast();
Sigma884 2:a443df6115bc 594 }
Sigma884 2:a443df6115bc 595 break;
Sigma884 2:a443df6115bc 596
Sigma884 2:a443df6115bc 597 case 'B': //ブザー切り替え
Sigma884 2:a443df6115bc 598 buzzerChange();
Sigma884 2:a443df6115bc 599 break;
Sigma884 2:a443df6115bc 600
Sigma884 2:a443df6115bc 601 case '1': //姿勢制御再開
Sigma884 2:a443df6115bc 602 if(CanSat_phase == CANSAT_FLIGHT && !controll_yn){
Sigma884 2:a443df6115bc 603 controll_yn = true;
Sigma884 2:a443df6115bc 604 }
Sigma884 2:a443df6115bc 605 break;
Sigma884 2:a443df6115bc 606
Sigma884 2:a443df6115bc 607 case '0': //姿勢制御停止
Sigma884 2:a443df6115bc 608 if(CanSat_phase == CANSAT_FLIGHT && controll_yn){
Sigma884 2:a443df6115bc 609 controll_yn = false;
Sigma884 2:a443df6115bc 610 }
Sigma884 2:a443df6115bc 611 break;
Sigma884 2:a443df6115bc 612 }
Sigma884 2:a443df6115bc 613 }
Sigma884 1:6dea30c8b406 614 }
Sigma884 0:03be138291de 615
Sigma884 0:03be138291de 616
Sigma884 0:03be138291de 617 /*******************************************************************************
Sigma884 0:03be138291de 618 ヘルプ表示
Sigma884 0:03be138291de 619 *******************************************************************************/
Sigma884 1:6dea30c8b406 620 void printHelp(){
Sigma884 2:a443df6115bc 621 pc.printf("\r\n********************\r\n");
Sigma884 2:a443df6115bc 622 pc.printf("Commands\r\n");
Sigma884 1:6dea30c8b406 623
Sigma884 2:a443df6115bc 624 pc.printf("W : Safety -> Wait\r\n");
Sigma884 2:a443df6115bc 625 pc.printf("S : Wait -> Safety\r\n");
Sigma884 2:a443df6115bc 626 pc.printf("F : Wait -> Flight\r\n");
Sigma884 2:a443df6115bc 627 pc.printf("C : Stop Recording\r\n");
Sigma884 2:a443df6115bc 628 pc.printf("o(small o) : Start Recording (Slow)\r\n");
Sigma884 2:a443df6115bc 629 pc.printf("O(large o) : Start Recording (Fast)\r\n");
Sigma884 2:a443df6115bc 630 pc.printf("B : Buzzer Change\r\n");
Sigma884 2:a443df6115bc 631 pc.printf("1(one) : Restart Controll Attitude\r\n");
Sigma884 2:a443df6115bc 632 pc.printf("0(zero) : Stop Controll Attitude\r\n");
Sigma884 2:a443df6115bc 633
Sigma884 2:a443df6115bc 634 pc.printf("********************\r\n\n");
Sigma884 2:a443df6115bc 635 wait(1.0f);
Sigma884 1:6dea30c8b406 636 }
Sigma884 0:03be138291de 637
Sigma884 0:03be138291de 638
Sigma884 0:03be138291de 639 /*******************************************************************************
Sigma884 0:03be138291de 640 ダウンリンク送信
Sigma884 0:03be138291de 641 無線あり：HEADER_DATA
Sigma884 0:03be138291de 642 *******************************************************************************/
Sigma884 1:6dea30c8b406 643 void sendDownLink(){
Sigma884 2:a443df6115bc 644 if(!es920_using){
Sigma884 2:a443df6115bc 645 es920 << HEADER_DATA;
Sigma884 2:a443df6115bc 646
Sigma884 4:b878dce9c247 647 es920 << (unsigned short)time_reset;
Sigma884 4:b878dce9c247 648 es920 << (unsigned short)(time_read / 1000);
Sigma884 2:a443df6115bc 649
Sigma884 4:b878dce9c247 650 es920 << (unsigned short)flight_time_reset;
Sigma884 4:b878dce9c247 651 es920 << (unsigned short)(flight_time_read / 1000);
Sigma884 2:a443df6115bc 652
Sigma884 2:a443df6115bc 653 es920 << CanSat_phase;
Sigma884 2:a443df6115bc 654
Sigma884 2:a443df6115bc 655 char status = 0x00;
Sigma884 2:a443df6115bc 656 if(save_slow) status |= (char)0x01;
Sigma884 2:a443df6115bc 657 if(save_fast) status |= (char)0x02;
Sigma884 2:a443df6115bc 658 if(controll_yn) status |= (char)0x04;
Sigma884 2:a443df6115bc 659 if(flight_pin) status |= (char)0x08;
Sigma884 3:4571111a5996 660 if(Buzzer.status) status |= (char)0x10;
Sigma884 2:a443df6115bc 661 es920 << status;
Sigma884 2:a443df6115bc 662
Sigma884 3:4571111a5996 663 if(Valve1.status) status |= (char)0x01;
Sigma884 3:4571111a5996 664 if(Valve2.status) status |= (char)0x02;
Sigma884 3:4571111a5996 665 if(Valve3.status) status |= (char)0x04;
Sigma884 3:4571111a5996 666 if(Valve4.status) status |= (char)0x08;
Sigma884 2:a443df6115bc 667 es920 << status;
Sigma884 2:a443df6115bc 668
Sigma884 2:a443df6115bc 669 es920 << (float)gps_lat;
Sigma884 2:a443df6115bc 670 es920 << (float)gps_lon;
Sigma884 2:a443df6115bc 671 es920 << (unsigned short)(gps_alt / ES920_MAX_1500);
Sigma884 2:a443df6115bc 672 es920 << (unsigned short)(gps_knot / ES920_MAX_200);
Sigma884 2:a443df6115bc 673 es920 << (unsigned short)(gps_deg / ES920_MAX_500);
Sigma884 4:b878dce9c247 674 es920 << (unsigned short)gps_sat;
Sigma884 2:a443df6115bc 675
Sigma884 2:a443df6115bc 676 es920 << (unsigned short)(ina_v / ES920_MAX_20);
Sigma884 2:a443df6115bc 677 es920 << (unsigned short)(ina_i / ES920_MAX_20);
Sigma884 2:a443df6115bc 678
Sigma884 2:a443df6115bc 679 es920 << (unsigned short)(pres / ES920_MAX_1500);
Sigma884 2:a443df6115bc 680 es920 << (unsigned short)(temp / ES920_MAX_100);
Sigma884 4:b878dce9c247 681 es920 << (short)(alt / ES920_MAX_500);
Sigma884 4:b878dce9c247 682 es920 << (short)(speed / ES920_MAX_50);
Sigma884 2:a443df6115bc 683
Sigma884 2:a443df6115bc 684 es920 << (short)(euler[0] / ES920_MAX_5);
Sigma884 2:a443df6115bc 685 es920 << (short)(euler[1] / ES920_MAX_5);
Sigma884 2:a443df6115bc 686 es920 << (short)(euler[2] / ES920_MAX_5);
Sigma884 2:a443df6115bc 687
Sigma884 2:a443df6115bc 688 es920 << (unsigned short)CO2;
Sigma884 2:a443df6115bc 689 es920 << (unsigned short)TVOCs;
Sigma884 2:a443df6115bc 690
Sigma884 2:a443df6115bc 691 es920 << (unsigned short)(bottle_pres / ES920_MAX_2);
Sigma884 2:a443df6115bc 692
Sigma884 2:a443df6115bc 693 es920.send();
Sigma884 2:a443df6115bc 694 }
Sigma884 1:6dea30c8b406 695 }
Sigma884 0:03be138291de 696
Sigma884 0:03be138291de 697
Sigma884 0:03be138291de 698 /*******************************************************************************
Sigma884 3:4571111a5996 699 アップリンク解析
Sigma884 3:4571111a5996 700 無線あり：HEADER_COMMAND（受信）
Sigma884 0:03be138291de 701 *******************************************************************************/
Sigma884 1:6dea30c8b406 702 void readUpLink(){
Sigma884 3:4571111a5996 703 es920_uplink_command = es920.data[0];
Sigma884 3:4571111a5996 704 pc.printf("GND Command = %c\r\n", es920_uplink_command);
Sigma884 1:6dea30c8b406 705
Sigma884 3:4571111a5996 706 switch(es920_uplink_command){
Sigma884 3:4571111a5996 707 case 'W': //投下待機モードへ移行
Sigma884 3:4571111a5996 708 if(CanSat_phase == CANSAT_SAFETY){
Sigma884 3:4571111a5996 709 CanSat_phase = CANSAT_WAIT;
Sigma884 3:4571111a5996 710 do_first = false;
Sigma884 3:4571111a5996 711 }
Sigma884 3:4571111a5996 712 break;
Sigma884 3:4571111a5996 713
Sigma884 3:4571111a5996 714 case 'S': //安全モードへ移行
Sigma884 3:4571111a5996 715 if(CanSat_phase == CANSAT_WAIT || CanSat_phase == CANSAT_FLIGHT){
Sigma884 3:4571111a5996 716 CanSat_phase = CANSAT_SAFETY;
Sigma884 3:4571111a5996 717 do_first = false;
Sigma884 3:4571111a5996 718 }
Sigma884 3:4571111a5996 719 break;
Sigma884 3:4571111a5996 720
Sigma884 3:4571111a5996 721 case 'F': //フライトモードへ移行
Sigma884 3:4571111a5996 722 if(CanSat_phase == CANSAT_WAIT){
Sigma884 3:4571111a5996 723 CanSat_phase = CANSAT_FLIGHT;
Sigma884 3:4571111a5996 724 do_first = false;
Sigma884 3:4571111a5996 725 }
Sigma884 3:4571111a5996 726 break;
Sigma884 3:4571111a5996 727
Sigma884 3:4571111a5996 728 case 'C': //記録停止
Sigma884 3:4571111a5996 729 if((CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY) && (save_slow || save_fast)){
Sigma884 3:4571111a5996 730 stopRec();
Sigma884 3:4571111a5996 731 }
Sigma884 3:4571111a5996 732 break;
Sigma884 3:4571111a5996 733
Sigma884 3:4571111a5996 734 case 'o': //低速記録開始
Sigma884 3:4571111a5996 735 if(CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY && (!save_slow && !save_fast)){
Sigma884 3:4571111a5996 736 startRecSlow();
Sigma884 3:4571111a5996 737 }
Sigma884 3:4571111a5996 738 break;
Sigma884 3:4571111a5996 739
Sigma884 3:4571111a5996 740 case 'O': //高速記録開始
Sigma884 3:4571111a5996 741 if(CanSat_phase == CANSAT_RECOVERY || CanSat_phase == CANSAT_SAFETY && (!save_slow && !save_fast)){
Sigma884 3:4571111a5996 742 startRecFast();
Sigma884 3:4571111a5996 743 }
Sigma884 3:4571111a5996 744 break;
Sigma884 3:4571111a5996 745
Sigma884 3:4571111a5996 746 case 'B': //ブザー切り替え
Sigma884 3:4571111a5996 747 buzzerChange();
Sigma884 3:4571111a5996 748 break;
Sigma884 3:4571111a5996 749
Sigma884 3:4571111a5996 750 case '1': //姿勢制御再開
Sigma884 3:4571111a5996 751 if(CanSat_phase == CANSAT_FLIGHT && !controll_yn){
Sigma884 3:4571111a5996 752 controll_yn = true;
Sigma884 3:4571111a5996 753 }
Sigma884 3:4571111a5996 754 break;
Sigma884 3:4571111a5996 755
Sigma884 3:4571111a5996 756 case '0': //姿勢制御停止
Sigma884 3:4571111a5996 757 if(CanSat_phase == CANSAT_FLIGHT && controll_yn){
Sigma884 3:4571111a5996 758 controll_yn = false;
Sigma884 3:4571111a5996 759 }
Sigma884 3:4571111a5996 760 break;
Sigma884 3:4571111a5996 761 }
Sigma884 1:6dea30c8b406 762 }
Sigma884 0:03be138291de 763
Sigma884 0:03be138291de 764
Sigma884 0:03be138291de 765 /*******************************************************************************
Sigma884 0:03be138291de 766 データを1秒ごとに書き込み開始
Sigma884 0:03be138291de 767 *******************************************************************************/
Sigma884 1:6dea30c8b406 768 void startRecSlow(){
Sigma884 3:4571111a5996 769 if(!save_slow && !save_fast){
Sigma884 3:4571111a5996 770 fp = fopen(file_name, "a");
Sigma884 3:4571111a5996 771 fprintf(fp, "Time,Flight Time,Phase,Controll,Flight Pin,");
Sigma884 3:4571111a5996 772 fprintf(fp, "Valve1,Valve2,Valve3,Valve4,Buzzer,");
Sigma884 3:4571111a5996 773 fprintf(fp, "GPS Y/N,GPS Time,Latitude,Longitude,GPS Alt,Knot,Deg,Sattelite,");
Sigma884 3:4571111a5996 774 fprintf(fp, "ADXL_x[G],ADXL_y[G],ADXL_z[G],Battery_V[V],Battery_I[A],");
Sigma884 3:4571111a5996 775 fprintf(fp, "Pres[hPa],Temp[degC],Hum[%%],Alt[m],Alt_ave[m],Speed[m/s],Speed_ave[m/s],");
Sigma884 3:4571111a5996 776 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 777 fprintf(fp, "Q_w,Q_x,Q_y,Q_z,Yaw[deg],Roll[deg],Pitch[deg],");
Sigma884 3:4571111a5996 778 fprintf(fp, "CO2[ppm],TVOCs[ppm],");
Sigma884 3:4571111a5996 779 fprintf(fp, "Bottle Pres[MPa]\r\n");
Sigma884 3:4571111a5996 780 tick_save.detach();
Sigma884 3:4571111a5996 781 tick_save.attach(&recData, 1.0f);
Sigma884 3:4571111a5996 782 save_slow = true;
Sigma884 3:4571111a5996 783 }
Sigma884 1:6dea30c8b406 784 }
Sigma884 0:03be138291de 785
Sigma884 0:03be138291de 786
Sigma884 0:03be138291de 787 /*******************************************************************************
Sigma884 0:03be138291de 788 データを最速で書き込み開始
Sigma884 0:03be138291de 789 *******************************************************************************/
Sigma884 1:6dea30c8b406 790 void startRecFast(){
Sigma884 3:4571111a5996 791 if(!save_slow && !save_fast){
Sigma884 3:4571111a5996 792 fp = fopen(file_name, "a");
Sigma884 3:4571111a5996 793 fprintf(fp, "Time,Flight Time,Phase,Controll,Flight Pin,");
Sigma884 3:4571111a5996 794 fprintf(fp, "Valve1,Valve2,Valve3,Valve4,Buzzer,");
Sigma884 3:4571111a5996 795 fprintf(fp, "GPS Y/N,GPS Time,Latitude,Longitude,GPS Alt,Knot,Deg,Sattelite,");
Sigma884 3:4571111a5996 796 fprintf(fp, "ADXL_x[G],ADXL_y[G],ADXL_z[G],Battery_V[V],Battery_I[A],");
Sigma884 3:4571111a5996 797 fprintf(fp, "Pres[hPa],Temp[degC],Hum[%%],Alt[m],Alt_ave[m],Speed[m/s],Speed_ave[m/s],");
Sigma884 3:4571111a5996 798 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 799 fprintf(fp, "Q_w,Q_x,Q_y,Q_z,Yaw[deg],Roll[deg],Pitch[deg],");
Sigma884 3:4571111a5996 800 fprintf(fp, "CO2[ppm],TVOCs[ppm],");
Sigma884 3:4571111a5996 801 fprintf(fp, "Bottle Pres[MPa]\r\n");
Sigma884 3:4571111a5996 802 tick_save.detach();
Sigma884 3:4571111a5996 803 save_fast = true;
Sigma884 3:4571111a5996 804 }
Sigma884 1:6dea30c8b406 805 }
Sigma884 0:03be138291de 806
Sigma884 0:03be138291de 807
Sigma884 0:03be138291de 808 /*******************************************************************************
Sigma884 0:03be138291de 809 データ記録停止
Sigma884 0:03be138291de 810 *******************************************************************************/
Sigma884 1:6dea30c8b406 811 void stopRec(){
Sigma884 3:4571111a5996 812 if(save_slow){
Sigma884 3:4571111a5996 813 save_slow = false;
Sigma884 3:4571111a5996 814 tick_save.detach();
Sigma884 3:4571111a5996 815 fprintf(fp, "\r\n\n");
Sigma884 3:4571111a5996 816 fclose(fp);
Sigma884 3:4571111a5996 817 }
Sigma884 3:4571111a5996 818 else if(save_fast){
Sigma884 3:4571111a5996 819 save_fast = false;
Sigma884 3:4571111a5996 820 fprintf(fp, "\r\n\n");
Sigma884 3:4571111a5996 821 fclose(fp);
Sigma884 3:4571111a5996 822 }
Sigma884 1:6dea30c8b406 823 }
Sigma884 0:03be138291de 824
Sigma884 0:03be138291de 825
Sigma884 0:03be138291de 826 /*******************************************************************************
Sigma884 3:4571111a5996 827 データの書き込み
Sigma884 0:03be138291de 828 *******************************************************************************/
Sigma884 1:6dea30c8b406 829 void recData(){
Sigma884 3:4571111a5996 830 fprintf(fp, "%d:%02d.%03d,", time_min, time_sec, time_ms);
Sigma884 3:4571111a5996 831 fprintf(fp, "%d:%02d.%03d,", flight_time_min, flight_time_sec, flight_time_ms);
Sigma884 1:6dea30c8b406 832
Sigma884 3:4571111a5996 833 switch(CanSat_phase){
Sigma884 3:4571111a5996 834 case CANSAT_SETUP:
Sigma884 3:4571111a5996 835 fprintf(fp, "SETUP,");
Sigma884 3:4571111a5996 836 break;
Sigma884 3:4571111a5996 837
Sigma884 3:4571111a5996 838 case CANSAT_SAFETY:
Sigma884 3:4571111a5996 839 fprintf(fp, "SAFETY,");
Sigma884 3:4571111a5996 840 break;
Sigma884 3:4571111a5996 841
Sigma884 3:4571111a5996 842 case CANSAT_WAIT:
Sigma884 3:4571111a5996 843 fprintf(fp, "WAIT,");
Sigma884 3:4571111a5996 844 break;
Sigma884 3:4571111a5996 845
Sigma884 3:4571111a5996 846 case CANSAT_FLIGHT:
Sigma884 3:4571111a5996 847 fprintf(fp, "FLIGHT,");
Sigma884 3:4571111a5996 848 break;
Sigma884 3:4571111a5996 849
Sigma884 3:4571111a5996 850 case CANSAT_RECOVERY:
Sigma884 3:4571111a5996 851 fprintf(fp, "RECOVERY,");
Sigma884 3:4571111a5996 852 break;
Sigma884 3:4571111a5996 853 }
Sigma884 3:4571111a5996 854
Sigma884 3:4571111a5996 855 fprintf(fp, "%d,", controll_yn);
Sigma884 3:4571111a5996 856 fprintf(fp, "%d,", flight_pin);
Sigma884 3:4571111a5996 857 fprintf(fp, "%d,%d,%d,%d,%d,", Valve1.status, Valve2.status, Valve3.status, Valve4.status, Buzzer.status);
Sigma884 3:4571111a5996 858 fprintf(fp, "%c,", es920_uplink_command);
Sigma884 3:4571111a5996 859 es920_uplink_command = '-';
Sigma884 3:4571111a5996 860
Sigma884 3:4571111a5996 861 fprintf(fp, "%d,", gps_yn);
Sigma884 3:4571111a5996 862 fprintf(fp, "%d/%d/%d ", (int)gps_utc[0], (int)gps_utc[1], (int)gps_utc[2]); //日付
Sigma884 3:4571111a5996 863 fprintf(fp, "%d:%02d:%02.2f,", (int)gps_utc[3], (int)gps_utc[4], gps_utc[5]); //時間
Sigma884 3:4571111a5996 864 fprintf(fp, "%3.7f,%3.7f,%.2f,", gps_lat, gps_lon, gps_alt); //GPS座標
Sigma884 3:4571111a5996 865 fprintf(fp, "%.2f,%.2f,", gps_knot, gps_deg); //GPS速度
Sigma884 3:4571111a5996 866 fprintf(fp, "%d,", gps_sat); //GPS衛星数
Sigma884 3:4571111a5996 867
Sigma884 3:4571111a5996 868 fprintf(fp, "%.2f,%.2f,%.2f,%f,%f,", adxl_acc[0], adxl_acc[1], adxl_acc[2], ina_v, ina_i);
Sigma884 3:4571111a5996 869 fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,", pres, temp, hum, alt, alt_ave, speed, speed_ave);
Sigma884 3:4571111a5996 870 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 871 fprintf(fp, "%f,%f,%f,%f,", quart[0], quart[1], quart[2], quart[3]);
Sigma884 3:4571111a5996 872 fprintf(fp, "%.2f,%.2f,%.2f,", euler[0], euler[1], euler[2]);
Sigma884 3:4571111a5996 873 fprintf(fp, "%d,%d,", CO2, TVOCs);
Sigma884 3:4571111a5996 874 fprintf(fp, "%f\r\n", bottle_pres);
Sigma884 3:4571111a5996 875
Sigma884 4:b878dce9c247 876 /////////////////////////////////////////////////////////////////////EEPROM
Sigma884 4:b878dce9c247 877 EEPROM.chargeBuff((unsigned short)time_reset);
Sigma884 4:b878dce9c247 878 EEPROM.chargeBuff((int)time_read);
Sigma884 4:b878dce9c247 879 EEPROM.chargeBuff((unsigned short)flight_time_reset);
Sigma884 4:b878dce9c247 880 EEPROM.chargeBuff((int)flight_time_read);
Sigma884 4:b878dce9c247 881 EEPROM.chargeBuff((char)CanSat_phase);
Sigma884 4:b878dce9c247 882 char status = 0x00;
Sigma884 4:b878dce9c247 883 if(controll_yn) status |= 0x01;
Sigma884 4:b878dce9c247 884 if(flight_pin) status |= 0x02;
Sigma884 4:b878dce9c247 885 if(Valve1.status) status |= 0x04;
Sigma884 4:b878dce9c247 886 if(Valve2.status) status |= 0x08;
Sigma884 4:b878dce9c247 887 if(Valve3.status) status |= 0x10;
Sigma884 4:b878dce9c247 888 if(Valve4.status) status |= 0x20;
Sigma884 4:b878dce9c247 889 if(Buzzer.status) status |= 0x40;
Sigma884 4:b878dce9c247 890 EEPROM.chargeBuff((char)status);
Sigma884 4:b878dce9c247 891 EEPROM.chargeBuff((char)es920_uplink_command);
Sigma884 4:b878dce9c247 892 EEPROM.chargeBuff((char)gps_yn);
Sigma884 4:b878dce9c247 893 EEPROM.chargeBuff((float)gps_lat);
Sigma884 4:b878dce9c247 894 EEPROM.chargeBuff((float)gps_lon);
Sigma884 4:b878dce9c247 895 EEPROM.chargeBuff((float)gps_alt);
Sigma884 4:b878dce9c247 896 EEPROM.chargeBuff((float)gps_knot);
Sigma884 4:b878dce9c247 897 EEPROM.chargeBuff((float)gps_deg);
Sigma884 4:b878dce9c247 898 EEPROM.chargeBuff((unsigned short)gps_sat);
Sigma884 4:b878dce9c247 899 EEPROM.chargeBuff((float)adxl_acc[0]);
Sigma884 4:b878dce9c247 900 EEPROM.chargeBuff((float)adxl_acc[1]);
Sigma884 4:b878dce9c247 901 EEPROM.chargeBuff((float)adxl_acc[2]);
Sigma884 4:b878dce9c247 902 EEPROM.chargeBuff((float)ina_v);
Sigma884 4:b878dce9c247 903 EEPROM.chargeBuff((float)ina_i);
Sigma884 4:b878dce9c247 904 EEPROM.chargeBuff((float)pres);
Sigma884 4:b878dce9c247 905 EEPROM.chargeBuff((float)temp);
Sigma884 4:b878dce9c247 906 EEPROM.chargeBuff((float)hum);
Sigma884 4:b878dce9c247 907 EEPROM.chargeBuff((float)alt);
Sigma884 4:b878dce9c247 908 EEPROM.chargeBuff((float)speed);
Sigma884 4:b878dce9c247 909 EEPROM.chargeBuff((short)(amg[0] / ES920_MAX_50));
Sigma884 4:b878dce9c247 910 EEPROM.chargeBuff((short)(amg[1] / ES920_MAX_50));
Sigma884 4:b878dce9c247 911 EEPROM.chargeBuff((short)(amg[2] / ES920_MAX_50));
Sigma884 4:b878dce9c247 912 EEPROM.chargeBuff((short)(amg[3] / ES920_MAX_50));
Sigma884 4:b878dce9c247 913 EEPROM.chargeBuff((short)(amg[4] / ES920_MAX_50));
Sigma884 4:b878dce9c247 914 EEPROM.chargeBuff((short)(amg[5] / ES920_MAX_50));
Sigma884 4:b878dce9c247 915 EEPROM.chargeBuff((short)(amg[6] / ES920_MAX_50));
Sigma884 4:b878dce9c247 916 EEPROM.chargeBuff((short)(amg[7] / ES920_MAX_50));
Sigma884 4:b878dce9c247 917 EEPROM.chargeBuff((short)(amg[8] / ES920_MAX_50));
Sigma884 4:b878dce9c247 918 EEPROM.chargeBuff((float)quart[0]);
Sigma884 4:b878dce9c247 919 EEPROM.chargeBuff((float)quart[1]);
Sigma884 4:b878dce9c247 920 EEPROM.chargeBuff((float)quart[2]);
Sigma884 4:b878dce9c247 921 EEPROM.chargeBuff((float)quart[3]);
Sigma884 4:b878dce9c247 922 EEPROM.chargeBuff((short)(euler[0] / ES920_MAX_500));
Sigma884 4:b878dce9c247 923 EEPROM.chargeBuff((short)(euler[1] / ES920_MAX_500));
Sigma884 4:b878dce9c247 924 EEPROM.chargeBuff((short)(euler[2] / ES920_MAX_500));
Sigma884 4:b878dce9c247 925 EEPROM.chargeBuff((unsigned short)CO2);
Sigma884 4:b878dce9c247 926 EEPROM.chargeBuff((unsigned short)TVOCs);
Sigma884 4:b878dce9c247 927 EEPROM.chargeBuff((float)bottle_pres);
Sigma884 4:b878dce9c247 928 EEPROM.writeBuff();
Sigma884 4:b878dce9c247 929 eeprom_ptr = EEPROM.setNextPage();
Sigma884 1:6dea30c8b406 930 }
Sigma884 0:03be138291de 931
Sigma884 0:03be138291de 932
Sigma884 0:03be138291de 933 /*******************************************************************************
Sigma884 2:a443df6115bc 934 ブザーのオンオフ切り替え
Sigma884 2:a443df6115bc 935 *******************************************************************************/
Sigma884 2:a443df6115bc 936 void buzzerChange(){
Sigma884 3:4571111a5996 937 if(Buzzer.status){
Sigma884 3:4571111a5996 938 Buzzer.fire_off();
Sigma884 3:4571111a5996 939 }
Sigma884 3:4571111a5996 940 else{
Sigma884 3:4571111a5996 941 Buzzer.fire_off();
Sigma884 3:4571111a5996 942 }
Sigma884 2:a443df6115bc 943 }
Sigma884 2:a443df6115bc 944
Sigma884 2:a443df6115bc 945
Sigma884 2:a443df6115bc 946 /*******************************************************************************
Sigma884 0:03be138291de 947 セットアップ（最初に1回実行）
Sigma884 0:03be138291de 948 無線あり：HEADER_SETUP_SENSOR
Sigma884 0:03be138291de 949 無線あり：HEADER_GPS_SETUP
Sigma884 0:03be138291de 950 *******************************************************************************/
Sigma884 0:03be138291de 951 void setup(){
Sigma884 0:03be138291de 952 wait(1.0f);
Sigma884 0:03be138291de 953 char setup_string[1024];
Sigma884 0:03be138291de 954
Sigma884 0:03be138291de 955 pc.printf("\r\n******************************\r\n");
Sigma884 0:03be138291de 956 pc.printf("Sensor Setting Start!!\r\n");
Sigma884 0:03be138291de 957 strcat(setup_string, "Sensor Setting Start!!\r\n");
Sigma884 0:03be138291de 958 es920 << HEADER_SENSOR_SETUP;
Sigma884 0:03be138291de 959
Sigma884 0:03be138291de 960 //////////////////////////////////////////////////ADXL375
Sigma884 0:03be138291de 961 ADXL375.setDataRate(ADXL375_100HZ);
Sigma884 0:03be138291de 962 if(ADXL375.whoAmI() == 1){
Sigma884 0:03be138291de 963 pc.printf("ADXL375 : OK\r\n");
Sigma884 0:03be138291de 964 strcat(setup_string, "ADXL375 : OK\r\n");
Sigma884 0:03be138291de 965 es920 << (char)0x01;
Sigma884 0:03be138291de 966 }
Sigma884 0:03be138291de 967 else{
Sigma884 0:03be138291de 968 pc.printf("ADXL375 : NG\r\n");
Sigma884 0:03be138291de 969 strcat(setup_string, "ADXL375 : NG\r\n");
Sigma884 0:03be138291de 970 es920 << (char)0x00;
Sigma884 0:03be138291de 971 }
Sigma884 0:03be138291de 972 ADXL375.offset(0.0f, 0.0f, 0.0f);
Sigma884 0:03be138291de 973
Sigma884 0:03be138291de 974 //////////////////////////////////////////////////INA226
Sigma884 0:03be138291de 975 INA226.set_callibretion();
Sigma884 0:03be138291de 976 if(INA226.Connection_check() == 0){
Sigma884 0:03be138291de 977 pc.printf("INA226 : OK\r\n");
Sigma884 0:03be138291de 978 strcat(setup_string, "INA226 : OK!!\r\n");
Sigma884 0:03be138291de 979 es920 << (char)0x01;
Sigma884 0:03be138291de 980 }
Sigma884 0:03be138291de 981 else{
Sigma884 0:03be138291de 982 pc.printf("INA226 : NG\r\n");
Sigma884 0:03be138291de 983 strcat(setup_string, "INA226 : NG\r\n");
Sigma884 0:03be138291de 984 es920 << (char)0x00;
Sigma884 0:03be138291de 985 }
Sigma884 0:03be138291de 986
Sigma884 0:03be138291de 987 //////////////////////////////////////////////////BME280
Sigma884 0:03be138291de 988 BME280.configMeasure(BME280_lib::NORMAL, 1, 2, 1);
Sigma884 0:03be138291de 989 BME280.configFilter(4);
Sigma884 0:03be138291de 990 if(BME280.connectCheck() == 1){
Sigma884 0:03be138291de 991 pc.printf("BME280 OK!!\r\n");
Sigma884 0:03be138291de 992 strcat(setup_string, "BME280 : OK!!\r\n");
Sigma884 0:03be138291de 993 es920 << (char)0x01;
Sigma884 0:03be138291de 994 }
Sigma884 0:03be138291de 995 else{
Sigma884 0:03be138291de 996 pc.printf("BME280 NG\r\n");
Sigma884 0:03be138291de 997 strcat(setup_string, "BME280 : NG\r\n");
Sigma884 0:03be138291de 998 es920 << (char)0x00;
Sigma884 0:03be138291de 999 }
Sigma884 0:03be138291de 1000
Sigma884 0:03be138291de 1001 //////////////////////////////////////////////////BNO055
Sigma884 0:03be138291de 1002 BNO055.setOperationMode(BNO055_lib::CONFIG);
Sigma884 0:03be138291de 1003 BNO055.setAccRange(BNO055_lib::_16G);
Sigma884 0:03be138291de 1004 BNO055.setAxis(BNO055_lib::Z, BNO055_lib::Y, BNO055_lib::X);
Sigma884 0:03be138291de 1005 BNO055.setAxisPM(1, 1, -1);
Sigma884 0:03be138291de 1006 if(BNO055.connectCheck() == 1){
Sigma884 0:03be138291de 1007 pc.printf("BNO055 OK!!\r\n");
Sigma884 0:03be138291de 1008 strcat(setup_string, "BNO055 : OK!!\r\n");
Sigma884 0:03be138291de 1009 es920 << (char)0x01;
Sigma884 0:03be138291de 1010 }
Sigma884 0:03be138291de 1011 else{
Sigma884 0:03be138291de 1012 pc.printf("BNO055 NG\r\n");
Sigma884 0:03be138291de 1013 strcat(setup_string, "BNO055 : NG\r\n");
Sigma884 0:03be138291de 1014 es920 << (char)0x00;
Sigma884 0:03be138291de 1015 }
Sigma884 1:6dea30c8b406 1016 BNO055.setOperationMode(BNO055_lib::NDOF);
Sigma884 0:03be138291de 1017
Sigma884 0:03be138291de 1018 //////////////////////////////////////////////////CCS811
Sigma884 0:03be138291de 1019 if(CCS811.connectCheck() == 1){
Sigma884 0:03be138291de 1020 pc.printf("CCS811 OK!!\r\n");
Sigma884 0:03be138291de 1021 strcat(setup_string, "CCS811 : OK!!\r\n");
Sigma884 0:03be138291de 1022 es920 << (char)0x01;
Sigma884 0:03be138291de 1023 }
Sigma884 0:03be138291de 1024 else{
Sigma884 0:03be138291de 1025 pc.printf("CCS811 NG\r\n");
Sigma884 0:03be138291de 1026 strcat(setup_string, "CCS811 : NG\r\n");
Sigma884 0:03be138291de 1027 es920 << (char)0x00;
Sigma884 0:03be138291de 1028 }
Sigma884 0:03be138291de 1029
Sigma884 0:03be138291de 1030 //////////////////////////////////////////////////圧力センサ
Sigma884 0:03be138291de 1031 pc.printf("PRES : ");
Sigma884 0:03be138291de 1032 ADS1115.setGain(GAIN_TWOTHIRDS);
Sigma884 0:03be138291de 1033 pc.printf("OK!!\r\n");
Sigma884 0:03be138291de 1034 strcat(setup_string, "PRES : OK!!\r\n");
Sigma884 0:03be138291de 1035 es920 << (char)0x01;
Sigma884 0:03be138291de 1036
Sigma884 0:03be138291de 1037 //////////////////////////////////////////////////SD
Sigma884 0:03be138291de 1038 fp = fopen("/sd/Space_SWAN_setup.txt", "r");
Sigma884 0:03be138291de 1039 if(fp != NULL){
Sigma884 0:03be138291de 1040 pc.printf("SD : OK!!\r\n");
Sigma884 0:03be138291de 1041 strcat(setup_string, "SD : OK!!\r\n");
Sigma884 0:03be138291de 1042 es920 << (char)0x01;
Sigma884 0:03be138291de 1043 fclose(fp);
Sigma884 0:03be138291de 1044 }
Sigma884 0:03be138291de 1045 else{
Sigma884 0:03be138291de 1046 pc.printf("SD : NG...\r\n");
Sigma884 0:03be138291de 1047 strcat(setup_string, "SD : NG...\r\n");
Sigma884 0:03be138291de 1048 es920 << (char)0x00;
Sigma884 0:03be138291de 1049 }
Sigma884 0:03be138291de 1050
Sigma884 0:03be138291de 1051 pc.printf("Sensor Setting Finished!!\r\n");
Sigma884 0:03be138291de 1052 pc.printf("******************************\r\n");
Sigma884 0:03be138291de 1053 strcat(setup_string, "Sensor Setting Finished!!\r\n");
Sigma884 0:03be138291de 1054 es920.send();
Sigma884 0:03be138291de 1055 wait(1.0f);
Sigma884 0:03be138291de 1056
Sigma884 0:03be138291de 1057 pc.printf("\r\n******************************\r\n");
Sigma884 0:03be138291de 1058 if(wait_GPS){
Sigma884 0:03be138291de 1059 pc.printf("GPS Setting Start!!\r\n");
Sigma884 0:03be138291de 1060 strcat(setup_string, "GPS Setting Start!!\r\n");
Sigma884 0:03be138291de 1061
Sigma884 0:03be138291de 1062 pc.printf("Waiting : 0");
Sigma884 0:03be138291de 1063 strcat(setup_string, "Wait : ");
Sigma884 0:03be138291de 1064 int gps_wait_count = 0;
Sigma884 0:03be138291de 1065 while(!GPS.gps_readable){
Sigma884 0:03be138291de 1066 pc.printf("\rWaiting : %d", gps_wait_count);//
Sigma884 0:03be138291de 1067 es920 << HEADER_GPS_SETUP;
Sigma884 0:03be138291de 1068 es920 << (char)GPS.gps_readable;
Sigma884 0:03be138291de 1069 es920 << (int)gps_wait_count;
Sigma884 0:03be138291de 1070 es920.send();
Sigma884 0:03be138291de 1071 wait(1.0f);
Sigma884 0:03be138291de 1072 gps_wait_count ++;
Sigma884 0:03be138291de 1073 }
Sigma884 0:03be138291de 1074 char ss[8];
Sigma884 0:03be138291de 1075 sprintf(ss, "%d", gps_wait_count);
Sigma884 0:03be138291de 1076 strcat(setup_string, ss);
Sigma884 0:03be138291de 1077 pc.printf(" OK!!\r\n");
Sigma884 0:03be138291de 1078 strcat(setup_string, " OK!!\r\n");
Sigma884 0:03be138291de 1079 pc.printf("GPS Setting Finished!!\r\n");
Sigma884 0:03be138291de 1080 strcat(setup_string, "GPS Setting Finished!!\r\n");
Sigma884 0:03be138291de 1081 es920 << HEADER_GPS_SETUP;
Sigma884 0:03be138291de 1082 es920 << (char)0xAA;
Sigma884 0:03be138291de 1083 es920 << (int)0;
Sigma884 0:03be138291de 1084 es920.send();
Sigma884 0:03be138291de 1085 }
Sigma884 0:03be138291de 1086 else{
Sigma884 0:03be138291de 1087 pc.printf("GPS Setting Ignore...\r\n");
Sigma884 0:03be138291de 1088 strcat(setup_string, "GPS Setting Ignore...\r\n");
Sigma884 0:03be138291de 1089 es920 << HEADER_GPS_SETUP;
Sigma884 0:03be138291de 1090 es920 << (char)0xFF;
Sigma884 0:03be138291de 1091 es920 << (int)0;
Sigma884 0:03be138291de 1092 es920.send();
Sigma884 0:03be138291de 1093 }
Sigma884 0:03be138291de 1094 pc.printf("******************************\r\n");
Sigma884 0:03be138291de 1095 fp = fopen(file_name, "a");
Sigma884 0:03be138291de 1096 fprintf(fp, setup_string);
Sigma884 0:03be138291de 1097 fclose(fp);
Sigma884 0:03be138291de 1098 setup_string[0] = NULL;
Sigma884 0:03be138291de 1099
Sigma884 3:4571111a5996 1100 EEPROM.setWriteAddr(1, 0, 0x00, 0x00);
Sigma884 3:4571111a5996 1101
Sigma884 0:03be138291de 1102 printHelp();
Sigma884 0:03be138291de 1103 wait(1.0f);
Sigma884 0:03be138291de 1104 }