File content as of revision 0:03be138291de:

#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);
}