yuki kimura / SensorManager

ロケットロガーのセンサ関連を管理するプログラム

Dependencies:   BMP280 BMX055 ublox_UBX

Fork of SensorManager by yuki kimura

SensorManager.cpp@1:b34aebca7e55, 2018-02-13 (annotated)

Committer:
kim1212
Date:
Tue Feb 13 05:44:41 2018 +0000
Revision:
1:b34aebca7e55
Parent:
0:b6301e4d05a5 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
kim1212 0:b6301e4d05a5 1 #include "SensorManager.h"
kim1212 0:b6301e4d05a5 2
kim1212 0:b6301e4d05a5 3 SensorMgr::SensorMgr(PinName mosi,PinName miso,PinName sck,PinName acc_cs,PinName gyr_cs,PinName mag_cs,PinName bmp_cs,PinName gmosi,PinName gmiso,PinName gsck,PinName gcs):bmx(mosi,miso,sck,acc_cs,gyr_cs,mag_cs),bmp(mosi,miso,sck,bmp_cs),gps(gmosi,gmiso,gsck,gcs)
kim1212 0:b6301e4d05a5 4 {
kim1212 0:b6301e4d05a5 5 //センサー類初期化
kim1212 0:b6301e4d05a5 6
kim1212 0:b6301e4d05a5 7 bmp.init(OSR_1,OSR_4,IIR_0);
kim1212 0:b6301e4d05a5 8
kim1212 0:b6301e4d05a5 9
kim1212 0:b6301e4d05a5 10 }
kim1212 0:b6301e4d05a5 11
kim1212 0:b6301e4d05a5 12
kim1212 0:b6301e4d05a5 13 void SensorMgr::UpdateObsvd(obsvdData* obs){
kim1212 0:b6301e4d05a5 14
kim1212 0:b6301e4d05a5 15 //センサ観測値更新
kim1212 0:b6301e4d05a5 16 if(bmp.update()==1){
kim1212 0:b6301e4d05a5 17 obs->PHeight=bmp.getpress();
kim1212 0:b6301e4d05a5 18 }else{
kim1212 0:b6301e4d05a5 19 obs->PHeight=0;
kim1212 0:b6301e4d05a5 20 }
kim1212 0:b6301e4d05a5 21
kim1212 0:b6301e4d05a5 22
kim1212 0:b6301e4d05a5 23 if(bmx.read_gyr(gyr)){
kim1212 0:b6301e4d05a5 24 obs->Gyr[0]=(int)gyr[0];
kim1212 0:b6301e4d05a5 25 obs->Gyr[1]=(int)gyr[1];
kim1212 0:b6301e4d05a5 26 obs->Gyr[2]=(int)gyr[2];
kim1212 0:b6301e4d05a5 27 }else{
kim1212 0:b6301e4d05a5 28 obs->Gyr[0]=0;
kim1212 0:b6301e4d05a5 29 obs->Gyr[1]=0;
kim1212 0:b6301e4d05a5 30 obs->Gyr[2]=0;
kim1212 0:b6301e4d05a5 31 }
kim1212 0:b6301e4d05a5 32
kim1212 0:b6301e4d05a5 33 if(bmx.read_acc(acc)){
kim1212 0:b6301e4d05a5 34 obs->Acc[0]=(int)acc[0];
kim1212 0:b6301e4d05a5 35 obs->Acc[1]=(int)acc[1];
kim1212 0:b6301e4d05a5 36 obs->Acc[2]=(int)acc[2];
kim1212 0:b6301e4d05a5 37 }else{
kim1212 0:b6301e4d05a5 38 obs->Acc[0]=0;
kim1212 0:b6301e4d05a5 39 obs->Acc[1]=0;
kim1212 0:b6301e4d05a5 40 obs->Acc[2]=0;
kim1212 0:b6301e4d05a5 41 }
kim1212 0:b6301e4d05a5 42
kim1212 0:b6301e4d05a5 43 if(bmx.read_mag(mag)){
kim1212 0:b6301e4d05a5 44 obs->Mag[0]=(int)mag[0];
kim1212 0:b6301e4d05a5 45 obs->Mag[1]=(int)mag[1];
kim1212 0:b6301e4d05a5 46 obs->Mag[2]=(int)mag[2];
kim1212 0:b6301e4d05a5 47 }else{
kim1212 0:b6301e4d05a5 48 obs->Mag[0]=0;
kim1212 0:b6301e4d05a5 49 obs->Mag[1]=0;
kim1212 0:b6301e4d05a5 50 obs->Mag[2]=0;
kim1212 0:b6301e4d05a5 51 }
kim1212 0:b6301e4d05a5 52
kim1212 0:b6301e4d05a5 53
kim1212 0:b6301e4d05a5 54
kim1212 0:b6301e4d05a5 55 if(gps.updateData()){
kim1212 0:b6301e4d05a5 56 gps.chkData(obs);
kim1212 0:b6301e4d05a5 57 }else{
kim1212 0:b6301e4d05a5 58 obs->Lon=0;
kim1212 0:b6301e4d05a5 59 obs->Lat=0;
kim1212 0:b6301e4d05a5 60 obs->GHeight=0;
kim1212 0:b6301e4d05a5 61 obs->VelN=0;
kim1212 0:b6301e4d05a5 62 obs->VelE=0;
kim1212 0:b6301e4d05a5 63 obs->VelD=0;
kim1212 0:b6301e4d05a5 64 }
kim1212 0:b6301e4d05a5 65
kim1212 0:b6301e4d05a5 66 }
kim1212 0:b6301e4d05a5 67
kim1212 0:b6301e4d05a5 68 void SensorMgr::UpdateTim(tim* t){
kim1212 0:b6301e4d05a5 69 gps.updateData();
kim1212 0:b6301e4d05a5 70 gps.chkTime(t);
kim1212 0:b6301e4d05a5 71 }