kyunsat / Mbed 2 deprecated kk2

kk

Dependencies:   SDFileSystem mbed

Fork of cansat_kk by monoCanSat

main.cpp@1:fa44a6246bcc, 2016-02-29 (annotated)

Committer:
mosukro
Date:
Mon Feb 29 17:05:54 2016 +0000
Revision:
1:fa44a6246bcc
Parent:
0:649fc30be6ec
Child:
2:be9046fb5859
test

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;
Nike3221 0:649fc30be6ec 21
mosukro 1:fa44a6246bcc 22 void gps_rx()//GPSデータ受信割り込み
Nike3221 0:649fc30be6ec 23 {
mosukro 1:fa44a6246bcc 24 gps_data[i] = gps.getc();
mosukro 1:fa44a6246bcc 25 if( gps_data[i] == '$' )
mosukro 1:fa44a6246bcc 26 {　
mosukro 1:fa44a6246bcc 27 //$から受信データを保持する
mosukro 1:fa44a6246bcc 28 gps_data[0] = '$';
mosukro 1:fa44a6246bcc 29 i = 1;
mosukro 1:fa44a6246bcc 30 }
mosukro 1:fa44a6246bcc 31 else if( gps_data[i-1] == '\r' && gps_data[i] == '\n' )
mosukro 1:fa44a6246bcc 32 {
mosukro 1:fa44a6246bcc 33 // 改行コードまでのデータを解析する
mosukro 1:fa44a6246bcc 34 gps_data[i+1] = '\0';
mosukro 1:fa44a6246bcc 35 if(memcmp(gps_data, "$GPRMC",6) == 0)
mosukro 1:fa44a6246bcc 36 {
mosukro 1:fa44a6246bcc 37 // $GPRMCで始ってればデータを分けて格納
mosukro 1:fa44a6246bcc 38 sscanf(gps_data,"$GPRMC,%f,A,%f,N,%f,E,%f,%f",&gpstime,&longitude,&latitude,&knot,&angle);
mosukro 1:fa44a6246bcc 39 }
mosukro 1:fa44a6246bcc 40 //データをSDに書き込み
mosukro 1:fa44a6246bcc 41 mkdir("/sd/mydir", 0777);
mosukro 1:fa44a6246bcc 42 FILE *fp = fopen("/sd/mydir/gpsdata.txt", "a");
mosukro 1:fa44a6246bcc 43 if(fp == NULL)
mosukro 1:fa44a6246bcc 44 {
mosukro 1:fa44a6246bcc 45 error("Could not open file for write\n");
mosukro 1:fa44a6246bcc 46 }
mosukro 1:fa44a6246bcc 47 fprintf(fp,"%s \n",gps_data);
mosukro 1:fa44a6246bcc 48 fclose(fp);
Nike3221 0:649fc30be6ec 49
mosukro 1:fa44a6246bcc 50 //PCにデータ送信
mosukro 1:fa44a6246bcc 51 pc.printf("%s \n",gps_data);
mosukro 1:fa44a6246bcc 52 i = 0;
mosukro 1:fa44a6246bcc 53 }
mosukro 1:fa44a6246bcc 54 else
mosukro 1:fa44a6246bcc 55 {
mosukro 1:fa44a6246bcc 56 //改行コードが来るまでカウントを続ける
mosukro 1:fa44a6246bcc 57 i++;
mosukro 1:fa44a6246bcc 58 if(i==255){
mosukro 1:fa44a6246bcc 59 pc.printf("*** Error! ***\n");
mosukro 1:fa44a6246bcc 60 }
mosukro 1:fa44a6246bcc 61 }
Nike3221 0:649fc30be6ec 62
Nike3221 0:649fc30be6ec 63 }
Nike3221 0:649fc30be6ec 64
mosukro 1:fa44a6246bcc 65 void move()
Nike3221 0:649fc30be6ec 66 {
mosukro 1:fa44a6246bcc 67 //動作
Nike3221 0:649fc30be6ec 68 }
mosukro 1:fa44a6246bcc 69
mosukro 1:fa44a6246bcc 70 int main()
mosukro 1:fa44a6246bcc 71 {
mosukro 1:fa44a6246bcc 72 gps.baud(9600);
mosukro 1:fa44a6246bcc 73 gps.attach(gps_rx, Serial::RxIrq);//ＧＰＳ割り込み
mosukro 1:fa44a6246bcc 74
Nike3221 0:649fc30be6ec 75 while(1)
Nike3221 0:649fc30be6ec 76 {
mosukro 1:fa44a6246bcc 77 move();
Nike3221 0:649fc30be6ec 78 }
mosukro 1:fa44a6246bcc 79
Nike3221 0:649fc30be6ec 80 }