kato shunsuke
code for IZU2022
Revision 0:010a686dbe95, committed 2021-12-16
- Comitter:
- katoshunsuke
- Date:
- Thu Dec 16 16:17:13 2021 +0000
- Commit message:
- change for use;
Changed in this revision
diff -r 000000000000 -r 010a686dbe95 library.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/library.lib Thu Dec 16 16:17:13 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/katoshunsuke/code/library/#97aaf594d810
diff -r 000000000000 -r 010a686dbe95 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 16 16:17:13 2021 +0000
@@ -0,0 +1,173 @@
+#include "mbed.h"
+#include "mpu9250_i2c.h"
+#include "BMP180.h"
+#include "millis.h"
+#include "IM920.h"
+#include "GPS.h"
+#include "math.h"
+#define mpu_SDA PB_7
+#define mpu_SCL PB_6
+I2C i2c(PB_7, PB_6);
+BMP180 bmp180(&i2c);
+I2C i2cBus(mpu_SDA, mpu_SCL);
+mpu9250 mpu(i2cBus, AD0_HIGH);
+DigitalIn enable(PA_8);
+PwmOut PWM1(PB_0);
+PwmOut PWM2(PB_1);
+//SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd");
+IM920 im920(PA_2, PA_3, PF_0, PB_3);
+GPS gps(PA_9, PA_10);
+Serial pc(USBTX, USBRX);
+bool flightpin();
+void getmpu(float &ax,float &ay,float &az,float &gx,float &gy,float &gz,float &mx,float &my,float &mz);
+void getbmp(int &pressure,float &temp,float &altitude,float &l);
+void imSend(char *send);
+void sendDatas(float latitude, float longtitude, float altitude, float time);
+void getGPS();
+//void getgps(float &longtitude,float &latitude);
+char sendData[256]; //送るデータのchar型配列(im920はchar型でしか送れない。)
+int main(){
+ int sequence=0;
+ int maxaltitude=0;
+ int pressure;
+ bool flightpinattached=false;
+ bool launched=false;
+ float ax,ay,az,gx,gy,gz,mx,my,mz;
+ float altitude,temp,l;
+ float longtitude,latitude;
+
+ PWM1.period_us(20000);
+ PWM1.pulsewidth_us(500);
+ PWM2.period_us(20000);
+ PWM2.pulsewidth_us(500);
+
+ //sd.mount();
+ //FATFS fs;
+ //f_mount(&fs,"",0);
+ //FIL fp;
+ //f_open(&fp,"TEST.TXT",FA_CREATE_ALWAYS | FA_WRITE);
+
+ while(launched==false){
+ getmpu(ax,ay,az,gx,gy,gz,mx,my,mz);
+ enable.mode(PullUp);
+ while(1) {
+ if(enable) {
+ flightpinattached=true;
+ }
+
+ if(flightpinattached==true||(ax*ax+ay*ay+az*az)>=2.0*2.0){
+ launched=true;
+ }
+ }
+ }
+
+
+ while(sequence!=3){
+ getmpu(ax,ay,az,gx,gy,gz,mx,my,mz);
+ getbmp(pressure,temp,altitude,l);
+ //getgps(longtitude,latitude);
+
+ if(maxaltitude<altitude){
+ maxaltitude=altitude;
+ }
+
+ switch(sequence){
+ case 0:if(launched==true){
+ millisStart();
+ sequence=1;
+ //f_printf(&fp,"%f,%f,%f,%f,%f",ax,ay,az,longtitude,latitude);
+ }
+ break;
+ case 1:if((millis()>15||maxaltitude-altitude>10)&&launched==true){
+ PWM1.pulsewidth_us(1200);
+ PWM2.pulsewidth_us(1200);
+ sequence=2;
+ //fprintf(fp,"%f,%f,%f",ax,ay,az);
+ //f_printf(&fp,"%f,%f,%f",ax,ay,az);
+ }
+ break;
+ case 2:if(millis()>60){
+ sequence=3;
+ //sd.unmount();
+ //f_close(&fp);
+ }
+ break;
+ }
+ }
+}
+void getmpu(float &ax,float &ay,float &az,float &gx,float &gy,float &gz,float &mx,float &my,float &mz){
+ float acc[3]={};
+ float gyro[3]={};
+ float mag[3]={};
+
+ pc.baud(115200);
+ mpu.setAccLPF(NO_USE);
+ mpu.setAcc(_16G);
+
+ mpu.getAcc(acc);
+ mpu.getGyro(gyro);
+ mpu.getMag(mag);
+
+ ax=acc[0];
+ ay=acc[1];
+ az=acc[2];
+ gx=gyro[0];
+ gy=gyro[1];
+ gz=gyro[2];
+ mx=mag[0];
+ my=mag[1];
+ mz=mag[2];
+}
+//void getbmp(double &altitude,double &pressure){
+ // double temp,altitudebig;
+ //bmp180.startTemperature();
+ //bmp180.startPressure(BMP180::ULTRA_LOW_POWER);
+ //double l = (1012.25 / (pressure/100) );
+ //double i = temp + 273.15;
+ //altitudebig = pow(double(l), double((1 / 5.257) - 1)) * (i)*(1 / 0.0065);
+ //altitude=altitudebig/10000;
+//}
+void getbmp(int &pressure,float &temp,float &altitude,float &l){
+
+ if (bmp180.init() != 0) {
+ printf("");
+ } else {
+ printf("");
+ }
+ bmp180.startTemperature();
+ wait_ms(5);
+ if(bmp180.getTemperature(&temp) != 0) {
+ printf("");
+ }
+ bmp180.startPressure(BMP180::ULTRA_LOW_POWER);
+ wait_ms(10);
+
+ if(bmp180.getPressure(&pressure) != 0) {
+ printf("");
+ }
+ float t_press = float(pressure)/100;
+ l = (1012.25 / t_press );
+ float i = temp + 273.15;
+ altitude = (pow(double(l), double(1 / 5.257)) - 1) * i / 0.0065;
+}
+//void getgps(float &longtitude,float &latitude){
+ // gps.GetData();
+ //longtitude=gps.longtitude;
+ //latitude=gps.latitude;
+//}
+void imSend(char *send){//無線で送信する関数
+ im920.send(send,strlen(send)+1);
+ pc.printf(send);
+ pc.printf("\r\n");
+}
+void sendDatas(float latitude, float longtitude, float altitude, float time){//データを文字列に変換してimSendを呼び出して送信する関数
+ sprintf(sendData,"data1,%.3f,%.3f,%.3f,%.3f", latitude, longtitude, altitude, time);
+ imSend(sendData);
+}
+void getGPS(){//GPSの値を取得してsendDatesに値を入れる関数
+ //NVIC_SetPriority(UART2_IRQn,0); //割り込み優先順位(必要に応じて)
+ gps.GetData();
+ if(gps.readable == true){
+ sendDatas(gps.latitude, gps.longtitude, gps.altitude, gps.time);
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 010a686dbe95 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Dec 16 16:17:13 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file