Diff: main.cpp

Revision:

0:842b08cc6af5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jul 13 11:51:24 2020 +0000
@@ -0,0 +1,152 @@
+#include "mbed.h"
+#include "EEPROM.h"
+#include "LPS33HW.h"
+#include "P7100.h"
+#include "MPU9250.h"
+#include "GMS6_CR6.h"
+
+
+Timer t;                                        //時間計測
+Serial pc(USBTX, USBRX);
+LPS33HW lps(p9, p10);
+EEPROM rom(p9, p10);
+MPU9250 mpu(p9, p10);
+P7100 p7100(p5, p6, p7, p8);
+Serial twe(p13, p14);
+GMS6_CR6 gps(p28, p27);   
+    
+DigitalIn Flight_Pin(p30);
+
+void get_save_low();                            //自作関数プロトタイプ宣言
+void get_save_high();                           //自作関数プロトタイプ宣言
+
+int pointer_high = 0;                          //EEPROM保存アドレス(high)
+int pointer_low = 0;                          //EEPROM保存アドレス(low)
+
+
+//main
+int main()
+{
+    pc.baud(460800);                           //ボーレート変更
+    twe.baud(230400);                          //tweボーレート変更
+    
+    float lat_north;                            //GPS緯度
+    float lon_east;                             //GPS経度
+    float GPS[2];                                 //GPSデータ格納配列
+    
+    t.start();                                //timer Start
+
+    //sensor Setup
+    lps.start(1);                           //気圧センサスタート
+    lps.start(1);                           //気圧センサスタート
+    wait(0.1);
+    mpu.start();                            //MPU9250 start&setup
+    mpu.accelsetup(3);
+    mpu.gyrosetup(3);
+    mpu.AKsetup(1);
+    wait(0.2);
+    
+    
+    //Wait mode
+    pc.printf("waitmode Start!\r\n");
+    while(Flight_Pin == 0)
+    {
+        get_save_low();                         //data get&save
+        wait_ms(1000);
+    }
+    pc.printf("waitmode Finish!\r\n");
+    
+    
+    //Flight mode
+    pc.printf("Flightmode Start!\r\n");
+    while(1) 
+    {
+        for(int k = 0; k < 200; k++)                        //2回に一回送信
+        {
+            for(int n = 0; n < 2;n++)
+            {
+                get_save_high();                            //data get&save
+            }
+            twe.printf("^");                                //送信トリガー
+        }
+        
+        gps.read(GPS);                                                                    //測位データ取得
+        lat_north = GPS[0];
+        lon_east = GPS[1];
+        
+        if(lat_north > 20 && lat_north < 90 && lon_east > 90 && lon_east < 180)           //緯度が正常な値のときのみ送信
+        {
+             twe.printf("%f,%f\r\n^", lat_north, lon_east);                                 //送信トリガー
+             pc.printf("%f,%f\r\n", lat_north, lon_east);                                   //check用
+        }
+        memset(GPS,'\0', 2);                                                                    //送信トリガー
+    }
+    pc.printf("Flightmode Finish!\r\n");
+    
+}
+
+
+void get_save_low()
+{
+    char s[64];                                 //データ取得配列
+
+    float accel[3], gyro[3];                    //MPU9250data
+    float AX, AY, AZ, GX, GY, GZ;               //MPU9250data
+
+    float T = t.read();                         //時刻データ取得
+    float P = lps.data_read();                  //気圧データ取得
+    float V = p7100.v_read();                   //電圧取得
+    float TP = 0.25 * V - 0.125;                //タンク圧力換算
+
+    mpu.accel_read(3, accel);
+    mpu.gyro_read(3, gyro);
+    AX = accel[0];
+    AY = accel[1];
+    AZ = accel[2];
+    GX = gyro[0];
+    GY = gyro[1];
+    GZ = gyro[2];
+
+    sprintf(s, "%8.3f %8.3f %6.3f %5.3f %5.2f %5.2f %5.2f %5.2f %5.2f\r\n", T, P, TP, AX, AY, AZ, GX, GY, GZ);    //floatからchar*へ変換
+
+    rom.write_low(pointer_low, s, 64);        // write tha data
+    pointer_low = pointer_low + 64;          //アドレスずらし
+
+    pc.printf("%s\r\n", s);         //check用
+
+    memset(s, '\0', 64 );                          //初期化
+}
+
+void get_save_high()
+{
+    char s[64];                                 //データ取得配列
+
+    float accel[3], gyro[3];                    //MPU9250data
+    float AX, AY, AZ, GX, GY, GZ;               //MPU9250data
+
+    float T = t.read();                         //時刻データ取得
+    float P = lps.data_read();                  //気圧データ取得
+    float V = p7100.v_read();                   //電圧取得
+    float TP = 0.25 * V - 0.125;                //タンク圧力換算
+
+    mpu.accel_read(3, accel);
+    mpu.gyro_read(3, gyro);
+    AX = accel[0];
+    AY = accel[1];
+    AZ = accel[2];
+    GX = gyro[0];
+    GY = gyro[1];
+    GZ = gyro[2];
+
+    sprintf(s, "%8.3f %8.3f %6.3f %5.3f %5.2f %5.2f %5.2f %5.2f %5.2f\r\n", T, P, TP, AX, AY, AZ, GX, GY, GZ);    //floatからchar*へ変換
+
+    rom.write_high(pointer_high, s, 64);        // write tha data
+    
+    twe.printf("%s", s);                        //無線機送信
+    
+    pointer_high = pointer_high + 64;          //アドレスずらし
+
+    pc.printf("%s\r\n", s);         //check用
+
+    memset(s, '\0', 64 );                          //初期化
+}