Diff: main.cpp

Revision:

1:6dea30c8b406

Parent:

0:03be138291de

Child:

2:a443df6115bc

--- a/main.cpp	Tue Feb 19 15:00:39 2019 +0000
+++ b/main.cpp	Tue Feb 19 15:56:55 2019 +0000
@@ -18,7 +18,7 @@
 設定値
 投下前に必ず確認！！
 *******************************************************************************/
-
+bool wait_GPS = true;
 
 /*******************************************************************************
 コンストラクタ
@@ -109,6 +109,11 @@
 float alt_buf[10], alt_ave, alt_ave_old, speed, speed_buf[10], speed_ave;
 int alt_count = 0, speed_count = 0;
 
+int CO2, TVOCs;
+
+int16_t bottle_pres_bit;
+float bottle_pres;
+
 float gps_lat, gps_lon, gps_alt, gps_utc[6], gps_knot, gps_deg;
 int gps_sat;
 bool gps_yn;
@@ -157,7 +162,7 @@
 /*******************************************************************************
 無線のヘッダまとめ(GND -> CANSAT)
 *******************************************************************************/
-const char HEADER_COMMAND = 0xcd:
+const char HEADER_COMMAND = 0xcd;
 // 0xcd, command
 // 0     1
 //       0
@@ -207,75 +212,199 @@
 状態遷移の判断
 無線あり：HEADER_START
 *******************************************************************************/
-void modeChange();
+void modeChange(){
+    
+}
 
 
 /*******************************************************************************
 センサー読み取り
 *******************************************************************************/
-void readSensor();
+void readSensor(){
+    time_read = time_main.read_ms();
+    time_min = time_reset * 30 + floor((double)time_read / (60 * 1000));
+    time_sec = time_read % (60 * 1000);
+    time_sec = floor((double)time_sec / 1000);
+    time_ms = time_read % 1000;
+    if(time_read >= 30*60*1000){
+        time_main.reset();
+        time_reset ++;
+    }
+    
+    if(CanSat_phase >= CANSAT_FLIGHT){
+        flight_time_read_old = flight_time_read;
+        flight_time_read = time_flight.read_ms();
+    }
+    else{
+        flight_time_read = 0;
+    }
+    flight_time_min = flight_time_reset * 30 + floor((double)flight_time_read / (60 * 1000));
+    flight_time_sec = flight_time_read % (60 * 1000);
+    flight_time_sec = floor((double)flight_time_sec / 1000);
+    flight_time_ms = flight_time_read % 1000;
+    if(time_read >= 30*60*1000){
+        time_flight.reset();
+        flight_time_reset ++;
+    }
+    
+    ADXL375.getOutput(adxl_acc);
+    
+    INA226.get_Voltage_current(&ina_v, &ina_i);
+    ina_v = ina_v / 1000;
+    ina_i = ina_i / 1000;
+    if(ina_i > 64){
+        ina_i = 0.0f;
+    }
+    
+    BME280.getData(&temp, &pres_now, &hum);
+    if(pres_now != pres){
+        pres = pres_now;
+        alt = BME280.getAlt2(pres_0, temp_0);
+        
+        alt_buf[alt_count] = alt;
+        alt_count ++;
+        if(alt_count > 10){
+            alt_count = 0;
+        }
+        float alt_sum = 0;
+        for(int i = 0; i < 10; i ++){
+            alt_sum += alt_buf[i];
+        }
+        alt_ave_old = alt_ave;
+        alt_ave = alt_sum / 10;
+        
+        if(fabs(alt_ave - alt_ave_old) > 0.01){
+            speed = (alt_ave - alt_ave_old) / (((float)flight_time_read - (float)speed_time_old) / 1000);
+        }
+        if(CanSat_phase <= CANSAT_WAIT){
+            speed = 0.0f;
+        }
+        
+        speed_buf[speed_count] = speed;
+        speed_count ++;
+        if(speed_count > 10){
+            speed_count = 0;
+        }
+        float speed_sum = 0;
+        for(int i = 0; i < 10; i ++){
+            speed_sum = speed_buf[i];
+        }
+        speed_ave = speed_sum / 10;
+        
+        speed_time_old = flight_time_read;
+    }
+    
+    if(CanSat_phase <= CANSAT_WAIT){
+        pres_0 = pres;
+        temp_0 = temp;
+    }
+    
+    BNO055.getAMG(amg);
+    BNO055.getQuart(quart);
+    BNO055.getEulerFromQ(euler);
+    
+    CCS811.getData(&CO2, &TVOCs);
+    
+    bottle_pres_bit = ADS1115.readADC_SingleEnded(0);
+    bottle_pres_bit = (float)bottle_pres_bit * 0.125f * 3.0f / 2.0f;
+    bottle_pres = (float)bottle_pres_bit/1000.0f / 4.0f - 0.25f;
+}
 
 
 /*******************************************************************************
 GPS読み取り
 *******************************************************************************/
-void readGPS();
+void readGPS(){
+    gps_yn = GPS.gps_readable;
+    if(gps_yn){
+        gps_lat = GPS.Latitude();
+        gps_lon = GPS.Longitude();
+        gps_alt = GPS.Height();
+        GPS.getUTC(gps_utc);
+        gps_utc[3] += 9;
+        if(gps_utc[3] >= 24){
+            gps_utc[3] -= 24;
+            gps_utc[2] += 1;
+        }
+        gps_knot = GPS.Knot();
+        gps_deg = GPS.Degree();
+        gps_sat = GPS.Number();
+    }
+}
 
 
 /*******************************************************************************
 データ表示
 *******************************************************************************/
-void printData();
+void printData(){
+    
+}
 
 
 /*******************************************************************************
 PC読み取り
 *******************************************************************************/
-void readPC();
+void readPC(){
+    
+}
 
 
 /*******************************************************************************
 ヘルプ表示
 *******************************************************************************/
-void printHelp();
+void printHelp(){
+    
+}
 
 
 /*******************************************************************************
 ダウンリンク送信
 無線あり：HEADER_DATA
 *******************************************************************************/
-void sendDownLink();
+void sendDownLink(){
+    
+}
 
 
 /*******************************************************************************
 アップリンク受信
 無線あり：HEADER＿COMMAND
 *******************************************************************************/
-void readUpLink();
+void readUpLink(){
+    
+}
 
 
 /*******************************************************************************
 データを1秒ごとに書き込み開始
 *******************************************************************************/
-void startRecSlow();
+void startRecSlow(){
+    
+}
 
 
 /*******************************************************************************
 データを最速で書き込み開始
 *******************************************************************************/
-void startRecFast();
+void startRecFast(){
+    
+}
 
 
 /*******************************************************************************
 データ記録停止
 *******************************************************************************/
-void stopRec();
+void stopRec(){
+    
+}
 
 
 /*******************************************************************************
 データの記録
 *******************************************************************************/
-void recData();
+void recData(){
+    
+}
 
 
 /*******************************************************************************
@@ -348,6 +477,7 @@
         strcat(setup_string, "BNO055 : NG\r\n");
         es920 << (char)0x00;
     }
+    BNO055.setOperationMode(BNO055_lib::NDOF);
     
     //////////////////////////////////////////////////CCS811
     if(CCS811.connectCheck() == 1){