隼也 山本 / Mbed 2 deprecated STM32_MR_NOT_IM_REV2

2020/08/26 地磁気センサは今回のミッションでは不要と判断したので廃した．加速度と角加速度を16進数で送信することに成功．各軸ごとに２バイト(１６進数４桁)を割り当てて，合計１２バイトで送信

Dependencies:   mbed BMX055_rev2 SDFileSystem

main.cpp@3:aad6f83b618e, 2020-08-25 (annotated)

Committer:
falconsyunya
Date:
Tue Aug 25 17:28:16 2020 +0000
Revision:
3:aad6f83b618e
Parent:
2:28ccb8bdac86 
2020/08/26

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MatsumotoKouki 0:34d043558630 1 #include "mbed.h"
MatsumotoKouki 0:34d043558630 2 #include "BMX055.h"
MatsumotoKouki 0:34d043558630 3 #include "SDFileSystem.h"
MatsumotoKouki 1:4c7bace668f6 4
MatsumotoKouki 0:34d043558630 5
MatsumotoKouki 0:34d043558630 6
MatsumotoKouki 0:34d043558630 7 Serial gps(PA_9, PA_10); // tx, rx
MatsumotoKouki 0:34d043558630 8 DigitalIn FlightPin(PB_0);
MatsumotoKouki 1:4c7bace668f6 9
falconsyunya 2:28ccb8bdac86 10 Serial pc(USBTX, USBRX, 19200);//パソコン側からもマイコン⇒IM920のデータはみれる
falconsyunya 2:28ccb8bdac86 11 Serial uart(PA_2, PA_3, 19200);//TX(IM920_RX), RX(IM920_TX)
falconsyunya 2:28ccb8bdac86 12
MatsumotoKouki 0:34d043558630 13 DigitalOut fet1(PA_8); //MOSFET PIN:GATE
MatsumotoKouki 0:34d043558630 14 DigitalOut fet2(PA_11);
MatsumotoKouki 0:34d043558630 15 BMX055 bmx(PB_7,PB_6);//SDA,SCL
MatsumotoKouki 0:34d043558630 16 SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd"); // the pinout on the mbed Cool Components workshop board
MatsumotoKouki 1:4c7bace668f6 17
MatsumotoKouki 0:34d043558630 18 Ticker warikomi;
MatsumotoKouki 0:34d043558630 19 Timeout t;
MatsumotoKouki 0:34d043558630 20 //double a[3],b[3],c[3];
MatsumotoKouki 0:34d043558630 21
falconsyunya 2:28ccb8bdac86 22 int i,j=0,rlock,mode;
MatsumotoKouki 0:34d043558630 23 char ns,ew;
MatsumotoKouki 0:34d043558630 24 float w_time;//,hokui,tokei;
MatsumotoKouki 0:34d043558630 25 float hokui,tokei;
MatsumotoKouki 0:34d043558630 26 float g_hokui,g_tokei;
MatsumotoKouki 0:34d043558630 27 float d_hokui,m_hokui,d_tokei,m_tokei;
MatsumotoKouki 0:34d043558630 28 char gps_data[256];
MatsumotoKouki 0:34d043558630 29 char str[256];
MatsumotoKouki 1:4c7bace668f6 30
MatsumotoKouki 0:34d043558630 31
MatsumotoKouki 0:34d043558630 32 void getGPS(float *hokui_n,float *tokei_n);
MatsumotoKouki 0:34d043558630 33 //void callback ();
MatsumotoKouki 0:34d043558630 34 void FlightPinDriver();
MatsumotoKouki 0:34d043558630 35 void nichrome_ON();
MatsumotoKouki 0:34d043558630 36 void buzzer();
MatsumotoKouki 0:34d043558630 37
MatsumotoKouki 0:34d043558630 38
MatsumotoKouki 0:34d043558630 39 int main() {
MatsumotoKouki 0:34d043558630 40
MatsumotoKouki 0:34d043558630 41 float *hokui_n,*tokei_n;
MatsumotoKouki 0:34d043558630 42
MatsumotoKouki 0:34d043558630 43 mkdir("/sd/mydir00", 0777);
MatsumotoKouki 0:34d043558630 44 FILE *fp = fopen("/sd/mydir00/sdtest.txt", "w");
MatsumotoKouki 0:34d043558630 45 if(fp == NULL) {
MatsumotoKouki 0:34d043558630 46 error("Could not open file for write\n");
MatsumotoKouki 0:34d043558630 47 }
MatsumotoKouki 0:34d043558630 48
MatsumotoKouki 0:34d043558630 49 gps.baud(9600);
MatsumotoKouki 0:34d043558630 50 //pc.baud(9600);
MatsumotoKouki 0:34d043558630 51 //gps.attach(getGPS(&hokui_n,&tokei_n),Serial::RxIrq);
MatsumotoKouki 0:34d043558630 52 warikomi.attach(&FlightPinDriver,0.5);
MatsumotoKouki 0:34d043558630 53
MatsumotoKouki 0:34d043558630 54
falconsyunya 3:aad6f83b618e 55 while(1) {
falconsyunya 3:aad6f83b618e 56 //BMX055部分
falconsyunya 2:28ccb8bdac86 57 bmx.getAcc();//加速度の取得
falconsyunya 2:28ccb8bdac86 58 bmx.getGyro();//角力加速度の取得
falconsyunya 3:aad6f83b618e 59 int a[3],b[3];
falconsyunya 3:aad6f83b618e 60 for(int i=0;i<3;i++){
falconsyunya 3:aad6f83b618e 61 a[i]=bmx.accel[i];
falconsyunya 3:aad6f83b618e 62 if(a[i]<0)a[i] += 4096;//負値の場合+4096
falconsyunya 3:aad6f83b618e 63 b[i]=bmx.gyroscope[i];
falconsyunya 3:aad6f83b618e 64 if(b[i]<0)b[i] += 4096;//負値の場合+4096
falconsyunya 3:aad6f83b618e 65 }
falconsyunya 3:aad6f83b618e 66 //GPS部分
falconsyunya 3:aad6f83b618e 67 //getGPS(hokui_n,tokei_n);
falconsyunya 3:aad6f83b618e 68 //fprintf(fp,"北緯:%f,東経:%f,加速度:%f,%f,%f,ジャイロ:%2.4f,%2.4f,%2.4f\n\r",hokui_n,tokei_n,(bmx.accel[0]/512)*9.8,(bmx.accel[1]/512)*9.8,(bmx.accel[2]/512)*9.8,(bmx.gyroscope[0]*125)/2048,(bmx.gyroscope[1]*125)/2048,(bmx.gyroscope[2]*125)/2048);
MatsumotoKouki 1:4c7bace668f6 69
falconsyunya 3:aad6f83b618e 70 //IM920部分
falconsyunya 2:28ccb8bdac86 71 //ノード番号(00~FF)を設定.データを送るごとに1増やす．
falconsyunya 2:28ccb8bdac86 72 uart.printf("STNN %02x\r\n",j);
falconsyunya 2:28ccb8bdac86 73 j++;
falconsyunya 2:28ccb8bdac86 74 if(j==256){j=0;}
falconsyunya 2:28ccb8bdac86 75
falconsyunya 3:aad6f83b618e 76 uart.printf("TXDA ");//可変長データ送信コマンド
falconsyunya 2:28ccb8bdac86 77
falconsyunya 3:aad6f83b618e 78 uart.printf("%04x%04x%04x",a[0],a[1],a[2]);//加速度の書き出し
falconsyunya 3:aad6f83b618e 79 uart.printf("%04x%04x%04x",b[0],b[1],b[2]);//角加速度の書き出し
falconsyunya 2:28ccb8bdac86 80
falconsyunya 2:28ccb8bdac86 81 uart.printf("\r\n");
falconsyunya 2:28ccb8bdac86 82
falconsyunya 2:28ccb8bdac86 83 wait(0.34);//IM920長距離モードの場合，3パケット/sが理論上最大速度．
MatsumotoKouki 0:34d043558630 84 }
MatsumotoKouki 0:34d043558630 85
MatsumotoKouki 0:34d043558630 86
falconsyunya 3:aad6f83b618e 87 //fclose(fp);
MatsumotoKouki 0:34d043558630 88
MatsumotoKouki 0:34d043558630 89 return 0;
MatsumotoKouki 0:34d043558630 90
MatsumotoKouki 0:34d043558630 91 }
MatsumotoKouki 0:34d043558630 92
MatsumotoKouki 0:34d043558630 93
MatsumotoKouki 0:34d043558630 94 void getGPS(float *hokui_n,float *tokei_n) { //関数getGPS定義
MatsumotoKouki 0:34d043558630 95 unsigned char c = gps.getc();
MatsumotoKouki 0:34d043558630 96 if( c=='$' || i == 256){
MatsumotoKouki 0:34d043558630 97 mode = 0;
MatsumotoKouki 0:34d043558630 98 i = 0;
MatsumotoKouki 0:34d043558630 99 }
MatsumotoKouki 0:34d043558630 100 if(mode==0){
MatsumotoKouki 0:34d043558630 101 if((gps_data[i]=c) != '\r'){
MatsumotoKouki 0:34d043558630 102 i++;
MatsumotoKouki 0:34d043558630 103 }else{
MatsumotoKouki 0:34d043558630 104 gps_data[i]='\0';
MatsumotoKouki 0:34d043558630 105 // pc.printf("%s\r\n",gps_data);
MatsumotoKouki 0:34d043558630 106 if( sscanf(gps_data, "$GPGGA,%f,%f,%c,%f,%c,%d",&w_time,&hokui,&ns,&tokei,&ew,&rlock) >= 1){
MatsumotoKouki 0:34d043558630 107 if(rlock==1){
MatsumotoKouki 0:34d043558630 108 // pc.printf("Status:Lock(%d)\n\r",rlock);
MatsumotoKouki 0:34d043558630 109 //logitude
MatsumotoKouki 0:34d043558630 110 d_tokei= int(tokei/100);
MatsumotoKouki 0:34d043558630 111 m_tokei= (tokei-d_tokei*100)/60;
MatsumotoKouki 0:34d043558630 112 g_tokei= d_tokei+m_tokei;
MatsumotoKouki 0:34d043558630 113 //pc.printf("Log:%4.5f,",g_tokei); //Latitude
MatsumotoKouki 0:34d043558630 114 d_hokui=int(hokui/100);
MatsumotoKouki 0:34d043558630 115 m_hokui=(hokui-d_hokui*100)/60;
MatsumotoKouki 0:34d043558630 116 g_hokui=d_hokui+m_hokui;
MatsumotoKouki 0:34d043558630 117 // pc.printf("Lat:%4.5f\n\r",g_hokui);
MatsumotoKouki 0:34d043558630 118
MatsumotoKouki 0:34d043558630 119 *hokui_n=g_hokui;
MatsumotoKouki 0:34d043558630 120 *tokei_n=g_tokei;
MatsumotoKouki 0:34d043558630 121 }
MatsumotoKouki 0:34d043558630 122 //else{
MatsumotoKouki 0:34d043558630 123 //pc.printf("\n\rStatus:unLock(%d)\n\r",rlock);
MatsumotoKouki 0:34d043558630 124 //pc.printf("%s",gps_data);
MatsumotoKouki 0:34d043558630 125 //}
MatsumotoKouki 0:34d043558630 126 }//if
MatsumotoKouki 0:34d043558630 127 *hokui_n=hokui;
MatsumotoKouki 0:34d043558630 128 *tokei_n=tokei;
MatsumotoKouki 0:34d043558630 129 } //else
MatsumotoKouki 0:34d043558630 130 } //L.16 if
MatsumotoKouki 0:34d043558630 131 }
MatsumotoKouki 0:34d043558630 132
MatsumotoKouki 1:4c7bace668f6 133 /*void callback () {
MatsumotoKouki 0:34d043558630 134 int i;
MatsumotoKouki 0:34d043558630 135 char buf[65];
MatsumotoKouki 0:34d043558630 136
MatsumotoKouki 0:34d043558630 137 //i = im920.recv(buf, 64);
MatsumotoKouki 0:34d043558630 138 buf[i] = 0;
MatsumotoKouki 0:34d043558630 139 printf("recv: '%s' (%d)\r\n", buf, i);
MatsumotoKouki 1:4c7bace668f6 140 }*/
MatsumotoKouki 0:34d043558630 141
MatsumotoKouki 0:34d043558630 142 void FlightPinDriver(){
MatsumotoKouki 0:34d043558630 143
MatsumotoKouki 0:34d043558630 144 if(FlightPin==1){
MatsumotoKouki 0:34d043558630 145 printf("Flight Pin Worked!!");
MatsumotoKouki 0:34d043558630 146 warikomi.detach();
MatsumotoKouki 0:34d043558630 147 t.attach(nichrome_ON,3);//ニクロムを作動させるまでの時間
MatsumotoKouki 0:34d043558630 148 }
MatsumotoKouki 0:34d043558630 149
MatsumotoKouki 0:34d043558630 150 }
MatsumotoKouki 0:34d043558630 151
MatsumotoKouki 0:34d043558630 152 void nichrome_ON(){
MatsumotoKouki 0:34d043558630 153 printf("テグスカット!\n\r");
MatsumotoKouki 0:34d043558630 154 fet1=1;
MatsumotoKouki 0:34d043558630 155 wait(2.0);//テグスを切るまでにかかる時間
MatsumotoKouki 0:34d043558630 156 fet1=0;
MatsumotoKouki 0:34d043558630 157 t.detach();
MatsumotoKouki 0:34d043558630 158 t.attach(buzzer,6);//ブザー作動までの時間
MatsumotoKouki 0:34d043558630 159 }
MatsumotoKouki 0:34d043558630 160
MatsumotoKouki 0:34d043558630 161 void buzzer(){
MatsumotoKouki 0:34d043558630 162 printf("ブザー作動\n\r");
MatsumotoKouki 0:34d043558630 163 fet2=1;
MatsumotoKouki 0:34d043558630 164 }