kyunsat / Mbed 2 deprecated kk2

kk

Dependencies:   SDFileSystem mbed

Fork of cansat_kk by monoCanSat

main.cpp@3:efaa785283a6, 2016-02-29 (annotated)

Committer:
mosukro
Date:
Mon Feb 29 18:36:45 2016 +0000
Revision:
3:efaa785283a6
Parent:
2:be9046fb5859
Child:
4:cfaf33b2c97a
sample plogram 160301

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nike3221 0:649fc30be6ec 1 #include "mbed.h"
Nike3221 0:649fc30be6ec 2 #include "SDFileSystem.h"
Nike3221 0:649fc30be6ec 3
Nike3221 0:649fc30be6ec 4 Ticker timer;
Nike3221 0:649fc30be6ec 5 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
mosukro 1:fa44a6246bcc 6 Serial gps(p28, p27); // tx, rx
Nike3221 0:649fc30be6ec 7 Serial pc(USBTX, USBRX); // tx, rx
Nike3221 0:649fc30be6ec 8 PwmOut moterl(p21);//左モーター
Nike3221 0:649fc30be6ec 9 PwmOut moterr(p22);//右モーター
Nike3221 0:649fc30be6ec 10 DigitalOut led1(LED1);
Nike3221 0:649fc30be6ec 11 DigitalOut fet3(p23);//ニクロム線
Nike3221 0:649fc30be6ec 12 DigitalOut led2(LED2);
Nike3221 0:649fc30be6ec 13 DigitalOut led3(LED3);
Nike3221 0:649fc30be6ec 14 DigitalOut led4(LED4);
Nike3221 0:649fc30be6ec 15 DigitalOut janpa1(p19);//パラシュートの開きを検知
Nike3221 0:649fc30be6ec 16 DigitalIn janpa2(p20);//パラシュートの開きを検知
Nike3221 0:649fc30be6ec 17
mosukro 1:fa44a6246bcc 18 char gps_data[256];
mosukro 1:fa44a6246bcc 19 float longitude,latitude,gpstime,knot,angle;
Nike3221 0:649fc30be6ec 20 int i=0;
mosukro 2:be9046fb5859 21 char *gps_target = "$GPRMC,174813.000,A,3606.9349,N,13927.4196,E,0.42,221.65,280216,,,A*6D";
mosukro 2:be9046fb5859 22 float longitude_target,latitude_target,gpstime_target,knot_target,angle_target;
mosukro 3:efaa785283a6 23 int count=0;
Nike3221 0:649fc30be6ec 24
mosukro 1:fa44a6246bcc 25 void gps_rx()//GPSデータ受信割り込み
Nike3221 0:649fc30be6ec 26 {
mosukro 1:fa44a6246bcc 27 gps_data[i] = gps.getc();
mosukro 1:fa44a6246bcc 28 if( gps_data[i] == '$' )
mosukro 2:be9046fb5859 29 {
mosukro 1:fa44a6246bcc 30 //$から受信データを保持する
mosukro 1:fa44a6246bcc 31 gps_data[0] = '$';
mosukro 1:fa44a6246bcc 32 i = 1;
mosukro 1:fa44a6246bcc 33 }
mosukro 1:fa44a6246bcc 34 else if( gps_data[i-1] == '\r' && gps_data[i] == '\n' )
mosukro 1:fa44a6246bcc 35 {
mosukro 1:fa44a6246bcc 36 // 改行コードまでのデータを解析する
mosukro 1:fa44a6246bcc 37 gps_data[i+1] = '\0';
mosukro 1:fa44a6246bcc 38 if(memcmp(gps_data, "$GPRMC",6) == 0)
mosukro 1:fa44a6246bcc 39 {
mosukro 1:fa44a6246bcc 40 // $GPRMCで始ってればデータを分けて格納
mosukro 1:fa44a6246bcc 41 sscanf(gps_data,"$GPRMC,%f,A,%f,N,%f,E,%f,%f",&gpstime,&longitude,&latitude,&knot,&angle);
mosukro 1:fa44a6246bcc 42 }
mosukro 1:fa44a6246bcc 43 //データをSDに書き込み
mosukro 1:fa44a6246bcc 44 mkdir("/sd/mydir", 0777);
mosukro 1:fa44a6246bcc 45 FILE *fp = fopen("/sd/mydir/gpsdata.txt", "a");
mosukro 1:fa44a6246bcc 46 if(fp == NULL)
mosukro 1:fa44a6246bcc 47 {
mosukro 1:fa44a6246bcc 48 error("Could not open file for write\n");
mosukro 1:fa44a6246bcc 49 }
mosukro 1:fa44a6246bcc 50 fprintf(fp,"%s \n",gps_data);
mosukro 1:fa44a6246bcc 51 fclose(fp);
Nike3221 0:649fc30be6ec 52
mosukro 1:fa44a6246bcc 53 //PCにデータ送信
mosukro 1:fa44a6246bcc 54 pc.printf("%s \n",gps_data);
mosukro 1:fa44a6246bcc 55 i = 0;
mosukro 1:fa44a6246bcc 56 }
mosukro 1:fa44a6246bcc 57 else
mosukro 1:fa44a6246bcc 58 {
mosukro 1:fa44a6246bcc 59 //改行コードが来るまでカウントを続ける
mosukro 1:fa44a6246bcc 60 i++;
mosukro 2:be9046fb5859 61 if(i==255)
mosukro 2:be9046fb5859 62 {
mosukro 1:fa44a6246bcc 63 pc.printf("*** Error! ***\n");
mosukro 1:fa44a6246bcc 64 }
mosukro 1:fa44a6246bcc 65 }
Nike3221 0:649fc30be6ec 66
Nike3221 0:649fc30be6ec 67 }
Nike3221 0:649fc30be6ec 68
mosukro 1:fa44a6246bcc 69 void move()
Nike3221 0:649fc30be6ec 70 {
mosukro 1:fa44a6246bcc 71 //動作
mosukro 2:be9046fb5859 72 switch (count)
mosukro 2:be9046fb5859 73 {
mosukro 2:be9046fb5859 74 case 0:
mosukro 3:efaa785283a6 75 //パラシュートを焼き切るまで待つ
mosukro 3:efaa785283a6 76 //焼き切ったらcount+1
mosukro 2:be9046fb5859 77 break;
mosukro 2:be9046fb5859 78 case 1:
mosukro 3:efaa785283a6 79 //落ちてパラシュートを焼き切った後
mosukro 3:efaa785283a6 80 if( (angle_target+3)>=angle || (angle_target-3)<=angle )//3は適当な数字。誤差範囲
mosukro 3:efaa785283a6 81 {
mosukro 3:efaa785283a6 82 //角度が合ったらcount+1
mosukro 3:efaa785283a6 83 }
mosukro 3:efaa785283a6 84 else
mosukro 3:efaa785283a6 85 {
mosukro 3:efaa785283a6 86 //角度が合うまで回転
mosukro 3:efaa785283a6 87 if(angle_target>=angle)
mosukro 3:efaa785283a6 88 {
mosukro 3:efaa785283a6 89 //differ_angle=angle_target-angle;
mosukro 3:efaa785283a6 90 //moterlを動かす
mosukro 3:efaa785283a6 91 }
mosukro 3:efaa785283a6 92 else if(angle>=angle_target)
mosukro 3:efaa785283a6 93 {
mosukro 3:efaa785283a6 94 //differ_angle=angle-angle_target;
mosukro 3:efaa785283a6 95 //moterrを動かす
mosukro 3:efaa785283a6 96 }
mosukro 3:efaa785283a6 97 }
mosukro 2:be9046fb5859 98 break;
mosukro 2:be9046fb5859 99 case 2:
mosukro 3:efaa785283a6 100 //目標地点の近くまで走行
mosukro 3:efaa785283a6 101 //目標地点に近づいたらcount+1
mosukro 3:efaa785283a6 102 break;
mosukro 3:efaa785283a6 103 case 3:
mosukro 3:efaa785283a6 104 //動作を停止。割り込みも停止させ、回収待ち
mosukro 3:efaa785283a6 105 //moterl=moterr=0;
mosukro 3:efaa785283a6 106 //ngps.detach();
mosukro 2:be9046fb5859 107 break;
mosukro 2:be9046fb5859 108 default:
mosukro 2:be9046fb5859 109 break;
mosukro 3:efaa785283a6 110 }
Nike3221 0:649fc30be6ec 111 }
mosukro 1:fa44a6246bcc 112
mosukro 1:fa44a6246bcc 113 int main()
mosukro 1:fa44a6246bcc 114 {
mosukro 1:fa44a6246bcc 115 gps.baud(9600);
mosukro 1:fa44a6246bcc 116 gps.attach(gps_rx, Serial::RxIrq);//ＧＰＳ割り込み
mosukro 2:be9046fb5859 117 sscanf(gps_target,"$GPRMC,%f,A,%f,N,%f,E,%f,%f",&gpstime_target,&longitude_target,&latitude_target,&knot_target,&angle_target);
mosukro 1:fa44a6246bcc 118
Nike3221 0:649fc30be6ec 119 while(1)
Nike3221 0:649fc30be6ec 120 {
mosukro 1:fa44a6246bcc 121 move();
Nike3221 0:649fc30be6ec 122 }
mosukro 1:fa44a6246bcc 123
Nike3221 0:649fc30be6ec 124 }