Diff: main.cpp

Revision:

0:03be138291de

Child:

1:6dea30c8b406

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 19 15:00:39 2019 +0000
@@ -0,0 +1,436 @@
+#include "mbed.h"
+#include "math.h"
+
+#include "Adafruit_ADS1015.h"
+#include "ADXL375_i2c.h"
+#include "BME280_lib.h"
+#include "BNO055_lib.h"
+#include "CCS811_lib.h"
+#include "EEPROM_lib.h"
+#include "ES920LR.hpp"
+#include "GPS_interrupt.h"
+#include "INA226.h"
+#include "Nichrome_lib.h"
+#include "SDFileSystem.h"
+
+
+/*******************************************************************************
+設定値
+投下前に必ず確認！！
+*******************************************************************************/
+
+
+/*******************************************************************************
+コンストラクタ
+*******************************************************************************/
+RawSerial pc(USBTX, USBRX, 115200);
+
+RawSerial serial_es920(p9, p10);
+ES920LR es920(serial_es920, pc, 115200);
+
+Serial GPS_serial(p13, p14, 38400);
+GPS_interrupt GPS(&GPS_serial);
+float GPS_freq = 4;
+
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+const char file_name[64] = "/sd/Space_SWAN_LOG.txt";
+
+I2C i2c_bus(p28, p27);
+ADXL375_i2c ADXL375(i2c_bus, ADXL375_i2c::ALT_ADDRESS_HIGH);
+myINA226 INA226(i2c_bus, myINA226::A1_VDD, myINA226::A0_VDD);
+BME280_lib BME280(i2c_bus, BME280_lib::AD0_LOW);
+BNO055_lib BNO055(i2c_bus, BNO055_lib::AD0_HIGH);
+CCS811_lib CCS811(i2c_bus, CCS811_lib::AD0_LOW);
+EEPROM_lib EEPROM(i2c_bus, 4);
+
+Adafruit_ADS1115 ADS1115(&i2c_bus, ADS1015_ADDRESS);
+
+DigitalOut valve1(p23);
+DigitalOut valve2(p24);
+DigitalOut valve3(p24);
+DigitalOut valve4(p25);
+DigitalOut Buzzer(p22);
+
+DigitalIn FlightPin(p15);
+
+Timeout timeout_stop;
+Timeout timeout_sep;
+Timeout timeout_recovery;
+
+Timer time_main;
+Timer time_flight;
+
+Ticker tick_gps;
+Ticker tick_print;
+Ticker tick_header_data;
+
+
+/*******************************************************************************
+関数のプロトタイプ宣言
+*******************************************************************************/
+void setup();   //無線あり
+
+void modeChange();  //無線あり
+
+void readSensor();
+void readGPS();
+
+void printData();
+void readPC();
+void printHelp();
+
+void sendDownLink();//無線あり
+void readUpLink();  //無線あり
+
+void startRecSlow();
+void startRecFast();
+void stopRec();
+void recData();
+
+
+/*******************************************************************************
+変数の宣言
+*******************************************************************************/
+char CanSat_phase;
+bool do_first = false;
+
+bool es920_using = false;
+char es920_uplink_command = '-';
+
+float adxl_acc[3];
+
+float ina_v, ina_i;
+
+double amg[9], quart[4], euler[3];
+
+float pres, temp, hum, alt, pres_0, temp_0;
+float pres_now;
+int speed_time_old;
+float alt_buf[10], alt_ave, alt_ave_old, speed, speed_buf[10], speed_ave;
+int alt_count = 0, speed_count = 0;
+
+float gps_lat, gps_lon, gps_alt, gps_utc[6], gps_knot, gps_deg;
+int gps_sat;
+bool gps_yn;
+
+bool flight_pin;
+
+FILE *fp;
+bool save_slow = false;
+bool save_fast = false;
+int save_c = 0;
+
+int time_read, time_reset = 0;
+int time_min, time_sec, time_ms;
+
+int flight_time_read, flight_time_read_old, flight_time_reset = 0;
+int flight_time_min, flight_time_sec, flight_time_ms;
+
+
+/*******************************************************************************
+定数
+*******************************************************************************/
+
+
+/*******************************************************************************
+無線のヘッダまとめ(CANSAT -> GND)
+*******************************************************************************/
+const char HEADER_SENSOR_SETUP = 0x01;
+// 0x01, ADXL, INA, BME, BNO, CCS, PRES, SD
+// 0     1     1    1    1    1    1     1
+//       0     1    2    3    4    5     6
+
+const char HEADER_GPS_SETUP = 0x02;
+// 0x02, readable, wait_count
+// 0     1         4
+//       0         1
+//       0x00 : NG
+//       0x01 : OK
+//       0xAA : Finish
+//       0xFF : Ignore
+
+const char HEADER_DATA = 0x10;
+
+const char HEADER_START = 0x11;
+
+
+/*******************************************************************************
+無線のヘッダまとめ(GND -> CANSAT)
+*******************************************************************************/
+const char HEADER_COMMAND = 0xcd:
+// 0xcd, command
+// 0     1
+//       0
+
+
+/*******************************************************************************
+CanSatのフェーズ
+*******************************************************************************/
+const char CANSAT_SETUP = 0x00;     //セットアップ中
+const char CANSAT_SAFETY = 0x01;    //安全モード
+const char CANSAT_WAIT = 0x02;      //待機モード
+const char CANSAT_FLIGHT = 0x03;    //フライトモード
+const char CANSAT_RECOVERY = 0x04;  //回収モード
+
+
+/*******************************************************************************
+メイン関数
+*******************************************************************************/
+int main() {
+    CanSat_phase = CANSAT_SETUP;
+    setup();
+    
+    pc.attach(&readPC, Serial::RxIrq);
+    
+    tick_gps.attach(&readGPS, 1.0/GPS_freq);
+    tick_print.attach(&printData, 1.0f);
+    tick_header_data.attach(&sendDownLink, 1.0f);
+    
+    es920.attach(&readUpLink, HEADER_COMMAND);
+    
+    FlightPin.mode(PullUp);
+    
+    time_main.reset();
+    time_main.start();
+    startRecSlow();
+    
+    CanSat_phase = CANSAT_SAFETY;
+    while(1) {
+        readSensor();
+        recData();
+        modeChange();   //状態遷移の判断
+    }
+}
+
+
+/*******************************************************************************
+状態遷移の判断
+無線あり：HEADER_START
+*******************************************************************************/
+void modeChange();
+
+
+/*******************************************************************************
+センサー読み取り
+*******************************************************************************/
+void readSensor();
+
+
+/*******************************************************************************
+GPS読み取り
+*******************************************************************************/
+void readGPS();
+
+
+/*******************************************************************************
+データ表示
+*******************************************************************************/
+void printData();
+
+
+/*******************************************************************************
+PC読み取り
+*******************************************************************************/
+void readPC();
+
+
+/*******************************************************************************
+ヘルプ表示
+*******************************************************************************/
+void printHelp();
+
+
+/*******************************************************************************
+ダウンリンク送信
+無線あり：HEADER_DATA
+*******************************************************************************/
+void sendDownLink();
+
+
+/*******************************************************************************
+アップリンク受信
+無線あり：HEADER＿COMMAND
+*******************************************************************************/
+void readUpLink();
+
+
+/*******************************************************************************
+データを1秒ごとに書き込み開始
+*******************************************************************************/
+void startRecSlow();
+
+
+/*******************************************************************************
+データを最速で書き込み開始
+*******************************************************************************/
+void startRecFast();
+
+
+/*******************************************************************************
+データ記録停止
+*******************************************************************************/
+void stopRec();
+
+
+/*******************************************************************************
+データの記録
+*******************************************************************************/
+void recData();
+
+
+/*******************************************************************************
+セットアップ（最初に1回実行）
+無線あり：HEADER_SETUP_SENSOR
+無線あり：HEADER_GPS_SETUP
+*******************************************************************************/
+void setup(){
+    wait(1.0f);
+    char setup_string[1024];
+    
+    pc.printf("\r\n******************************\r\n");
+    pc.printf("Sensor Setting Start!!\r\n");
+    strcat(setup_string, "Sensor Setting Start!!\r\n");
+    es920 << HEADER_SENSOR_SETUP;
+    
+    //////////////////////////////////////////////////ADXL375
+    ADXL375.setDataRate(ADXL375_100HZ);
+    if(ADXL375.whoAmI() == 1){
+        pc.printf("ADXL375 : OK\r\n");
+        strcat(setup_string, "ADXL375 : OK\r\n");
+        es920 << (char)0x01;
+    }
+    else{
+        pc.printf("ADXL375 : NG\r\n");
+        strcat(setup_string, "ADXL375 : NG\r\n");
+        es920 << (char)0x00;
+    }
+    ADXL375.offset(0.0f, 0.0f, 0.0f);
+    
+    //////////////////////////////////////////////////INA226
+    INA226.set_callibretion();
+    if(INA226.Connection_check() == 0){
+        pc.printf("INA226 : OK\r\n");
+        strcat(setup_string, "INA226 : OK!!\r\n");
+        es920 << (char)0x01;
+    }
+    else{
+        pc.printf("INA226 : NG\r\n");
+        strcat(setup_string, "INA226 : NG\r\n");
+        es920 << (char)0x00;
+    }
+    
+    //////////////////////////////////////////////////BME280
+    BME280.configMeasure(BME280_lib::NORMAL, 1, 2, 1);
+    BME280.configFilter(4);
+    if(BME280.connectCheck() == 1){
+        pc.printf("BME280 OK!!\r\n");
+        strcat(setup_string, "BME280 : OK!!\r\n");
+        es920 << (char)0x01;
+    }
+    else{
+        pc.printf("BME280 NG\r\n");
+        strcat(setup_string, "BME280 : NG\r\n");
+        es920 << (char)0x00;
+    }
+    
+    //////////////////////////////////////////////////BNO055
+    BNO055.setOperationMode(BNO055_lib::CONFIG);
+    BNO055.setAccRange(BNO055_lib::_16G);
+    BNO055.setAxis(BNO055_lib::Z, BNO055_lib::Y, BNO055_lib::X);
+    BNO055.setAxisPM(1, 1, -1);
+    if(BNO055.connectCheck() == 1){
+        pc.printf("BNO055 OK!!\r\n");
+        strcat(setup_string, "BNO055 : OK!!\r\n");
+        es920 << (char)0x01;
+    }
+    else{
+        pc.printf("BNO055 NG\r\n");
+        strcat(setup_string, "BNO055 : NG\r\n");
+        es920 << (char)0x00;
+    }
+    
+    //////////////////////////////////////////////////CCS811
+    if(CCS811.connectCheck() == 1){
+        pc.printf("CCS811 OK!!\r\n");
+        strcat(setup_string, "CCS811 : OK!!\r\n");
+        es920 << (char)0x01;
+    }
+    else{
+        pc.printf("CCS811 NG\r\n");
+        strcat(setup_string, "CCS811 : NG\r\n");
+        es920 << (char)0x00;
+    }
+    
+    //////////////////////////////////////////////////圧力センサ
+    pc.printf("PRES : ");
+    ADS1115.setGain(GAIN_TWOTHIRDS);
+    pc.printf("OK!!\r\n");
+    strcat(setup_string, "PRES : OK!!\r\n");
+    es920 << (char)0x01;
+    
+    //////////////////////////////////////////////////SD
+    fp = fopen("/sd/Space_SWAN_setup.txt", "r");
+    if(fp != NULL){
+        pc.printf("SD : OK!!\r\n");
+        strcat(setup_string, "SD : OK!!\r\n");
+        es920 << (char)0x01;
+        fclose(fp);
+    }
+    else{
+        pc.printf("SD : NG...\r\n");
+        strcat(setup_string, "SD : NG...\r\n");
+        es920 << (char)0x00;
+    }
+    
+    pc.printf("Sensor Setting Finished!!\r\n");
+    pc.printf("******************************\r\n");
+    strcat(setup_string, "Sensor Setting Finished!!\r\n");
+    es920.send();
+    wait(1.0f);
+    
+    pc.printf("\r\n******************************\r\n");
+    if(wait_GPS){
+        pc.printf("GPS Setting Start!!\r\n");
+        strcat(setup_string, "GPS Setting Start!!\r\n");
+        
+        pc.printf("Waiting : 0");
+        strcat(setup_string, "Wait : ");
+        int gps_wait_count = 0;
+        while(!GPS.gps_readable){
+            pc.printf("\rWaiting : %d", gps_wait_count);//
+            es920 << HEADER_GPS_SETUP;
+            es920 << (char)GPS.gps_readable;
+            es920 << (int)gps_wait_count;
+            es920.send();
+            wait(1.0f);
+            gps_wait_count ++;
+        }
+        char ss[8];
+        sprintf(ss, "%d", gps_wait_count);
+        strcat(setup_string, ss);
+        pc.printf("  OK!!\r\n");
+        strcat(setup_string, " OK!!\r\n");
+        pc.printf("GPS Setting Finished!!\r\n");
+        strcat(setup_string, "GPS Setting Finished!!\r\n");
+        es920 << HEADER_GPS_SETUP;
+        es920 << (char)0xAA;
+        es920 << (int)0;
+        es920.send();
+    }
+    else{
+        pc.printf("GPS Setting Ignore...\r\n");
+        strcat(setup_string, "GPS Setting Ignore...\r\n");
+        es920 << HEADER_GPS_SETUP;
+        es920 << (char)0xFF;
+        es920 << (int)0;
+        es920.send();
+    }
+    pc.printf("******************************\r\n");
+    fp = fopen(file_name, "a");
+    fprintf(fp, setup_string);
+    fclose(fp);
+    setup_string[0] = NULL;
+    
+    printHelp();
+    wait(1.0f);
+}