kohei oikawa / Mbed 2 deprecated 2017_11_1114

2017.11伊豆大島共同打ち上げ実験の開放用プログラム

Dependencies:   BMP180 MPU6050 mbed

Fork of Sample_BMP180 by CORE

main.cpp@7:4efaca1e9acd, 2017-11-04 (annotated)

Committer:
oichan
Date:
Sat Nov 04 01:08:35 2017 +0000
Revision:
7:4efaca1e9acd
Parent:
6:e0c25c3976ae
Child:
8:b10169df8f5f
for FM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mikawataru 0:0ff20d8e9090 1 #include "mbed.h"
mikawataru 0:0ff20d8e9090 2 #include "math.h"
oichan 2:6238109d564d 3 #include "MPU6050.h"
mikawataru 0:0ff20d8e9090 4 #include "BMP180.h"
oichan 2:6238109d564d 5
oichan 4:ae20e73f4924 6 #define LAUNCH_JUDGE_ACC_g 3.0
oichan 5:a5cf6914e7c4 7 #define PARA_OPEN_TIME_s 10.0
oichan 6:e0c25c3976ae 8 #define PARA_OPEN_CNT 7
oichan 5:a5cf6914e7c4 9 #define PARA_OPEN_FILTER_s 6.0
oichan 5:a5cf6914e7c4 10 #define LEAF_UNLOCK_TIME_s 10.0
oichan 2:6238109d564d 11 #define LEAF_UNLOCK_ALT_m 300.0
oichan 2:6238109d564d 12 #define p0 1013.25f
oichan 2:6238109d564d 13
oichan 4:ae20e73f4924 14 BMP180 bmp(dp5,dp27);
oichan 4:ae20e73f4924 15 MPU6050 mpu(dp5,dp27);
oichan 4:ae20e73f4924 16 Timer para_timer;
oichan 4:ae20e73f4924 17 Timer leaf_timer;
oichan 4:ae20e73f4924 18 Ticker readtimer;
oichan 6:e0c25c3976ae 19 PwmOut mg996(dp1);
oichan 6:e0c25c3976ae 20 PwmOut sg92(dp18);
oichan 4:ae20e73f4924 21 DigitalIn oshirase1(dp11);
oichan 4:ae20e73f4924 22 DigitalInOut oshirase2(dp10);
oichan 4:ae20e73f4924 23 DigitalOut myled(LED1);
oichan 4:ae20e73f4924 24 //Serial pc(USBTX,USBRX);
mikawataru 0:0ff20d8e9090 25
oichan 2:6238109d564d 26 /* 自作関数 */
oichan 2:6238109d564d 27 void _flight();
oichan 2:6238109d564d 28 void _open();
oichan 2:6238109d564d 29 void _close();
oichan 2:6238109d564d 30 void _leaf_lock();
oichan 2:6238109d564d 31 void _leaf_unlock();
oichan 2:6238109d564d 32 float _getAlt();
oichan 2:6238109d564d 33 float _getAcc();
oichan 2:6238109d564d 34 float _median(float data[], int num);
mikawataru 0:0ff20d8e9090 35
oichan 7:4efaca1e9acd 36
oichan 2:6238109d564d 37 /* グローバル変数 */
oichan 4:ae20e73f4924 38 int Alt_cnt;
oichan 4:ae20e73f4924 39 float a[3],Acc;
oichan 4:ae20e73f4924 40 float Pressure,Temperature,Altitude;
oichan 6:e0c25c3976ae 41 float Alt_buff[10],Alt_median_buff[10],Acc_buff[10];
oichan 4:ae20e73f4924 42 float Land_Alt;
oichan 4:ae20e73f4924 43 bool Mg996Open = true;
oichan 4:ae20e73f4924 44 bool Sg92Open = true;
oichan 2:6238109d564d 45
mikawataru 0:0ff20d8e9090 46
mikawataru 0:0ff20d8e9090 47 int main() {
oichan 3:217b56515009 48 // pc.printf("Hello!");
oichan 3:217b56515009 49 mg996.period_ms(20);
oichan 2:6238109d564d 50 sg92.period_ms(20);
oichan 2:6238109d564d 51 mpu.setAcceleroRange(0);
mikawataru 0:0ff20d8e9090 52 bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER);
oichan 4:ae20e73f4924 53 oshirase2.input();
oichan 5:a5cf6914e7c4 54 wait(0.5);
oichan 4:ae20e73f4924 55 while(1){
oichan 4:ae20e73f4924 56 if(oshirase1==0 && oshirase2==1){
oichan 4:ae20e73f4924 57 _flight();
oichan 4:ae20e73f4924 58 break;
oichan 4:ae20e73f4924 59 }else if(oshirase1==1 && oshirase2==0){
oichan 4:ae20e73f4924 60 while(1){
oichan 4:ae20e73f4924 61 if(oshirase1==1 && oshirase2==1){
oichan 4:ae20e73f4924 62 if(Mg996Open){
oichan 4:ae20e73f4924 63 _close();
oichan 4:ae20e73f4924 64 Mg996Open = false;
oichan 4:ae20e73f4924 65 }else{
oichan 4:ae20e73f4924 66 _open();
oichan 4:ae20e73f4924 67 Mg996Open = true;
oichan 4:ae20e73f4924 68 }
oichan 4:ae20e73f4924 69 break;
oichan 4:ae20e73f4924 70 }else if(oshirase1==0 && oshirase2==0){
oichan 4:ae20e73f4924 71 if(Sg92Open){
oichan 4:ae20e73f4924 72 _leaf_lock();
oichan 4:ae20e73f4924 73 Sg92Open = false;
oichan 4:ae20e73f4924 74 }else{
oichan 4:ae20e73f4924 75 _leaf_unlock();
oichan 4:ae20e73f4924 76 Sg92Open = true;
oichan 4:ae20e73f4924 77 }
oichan 4:ae20e73f4924 78 break;
oichan 4:ae20e73f4924 79 }
oichan 4:ae20e73f4924 80 }
oichan 4:ae20e73f4924 81 }
oichan 4:ae20e73f4924 82 }
oichan 2:6238109d564d 83 while(1);
oichan 2:6238109d564d 84 }
oichan 2:6238109d564d 85
oichan 2:6238109d564d 86
oichan 3:217b56515009 87 /* フライトモード用関数 */
oichan 2:6238109d564d 88 void _flight(){
oichan 4:ae20e73f4924 89 oshirase2.output();
oichan 4:ae20e73f4924 90 oshirase2 = 0;
oichan 6:e0c25c3976ae 91 _close();
oichan 6:e0c25c3976ae 92 _leaf_lock();
oichan 4:ae20e73f4924 93
oichan 2:6238109d564d 94 /* 地上高度取得 */
oichan 2:6238109d564d 95 for(int i=0;i<10;i++){
oichan 2:6238109d564d 96 Alt_buff[i] = _getAlt();
oichan 2:6238109d564d 97 }
oichan 4:ae20e73f4924 98 Land_Alt = _median(Alt_buff,10);
oichan 3:217b56515009 99 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
oichan 2:6238109d564d 100
oichan 2:6238109d564d 101 /* 発射判定 */
oichan 2:6238109d564d 102 while(1){
oichan 3:217b56515009 103 myled = !myled;
oichan 2:6238109d564d 104 for(int i=0;i<10;i++){
oichan 4:ae20e73f4924 105 Acc = _getAcc();
oichan 4:ae20e73f4924 106 Acc_buff[i] = Acc;
oichan 2:6238109d564d 107 }
oichan 4:ae20e73f4924 108 Acc = _median(Acc_buff,10);
oichan 4:ae20e73f4924 109 if(Acc >= LAUNCH_JUDGE_ACC_g){
oichan 2:6238109d564d 110 para_timer.start();
oichan 4:ae20e73f4924 111 oshirase2 = 1;
oichan 3:217b56515009 112 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Acc_buff[i]);
oichan 2:6238109d564d 113 break;
oichan 2:6238109d564d 114 }
oichan 2:6238109d564d 115 }
oichan 2:6238109d564d 116
oichan 2:6238109d564d 117 /* 開放判定 */
oichan 2:6238109d564d 118 while(1){
oichan 2:6238109d564d 119 Alt_cnt = 0;
oichan 6:e0c25c3976ae 120 for(int i=0;i<10;i++){
oichan 6:e0c25c3976ae 121 Alt_buff[i] = _getAlt();
oichan 6:e0c25c3976ae 122 }
oichan 6:e0c25c3976ae 123 Alt_median_buff[0] = _median(Alt_buff,10);
oichan 2:6238109d564d 124 for(int i=1;i<10;i++){
oichan 6:e0c25c3976ae 125 for(int j=0;j<10;j++){
oichan 6:e0c25c3976ae 126 Alt_buff[j] = _getAlt();
oichan 6:e0c25c3976ae 127 }
oichan 6:e0c25c3976ae 128 Alt_median_buff[i] = _median(Alt_buff,10);
oichan 7:4efaca1e9acd 129 // pc.printf("%f\r\n",Alt_median_buff[i]);
oichan 7:4efaca1e9acd 130 if(Alt_median_buff[i] < Alt_median_buff[i-1]-0.1) Alt_cnt++;
oichan 2:6238109d564d 131 }
oichan 7:4efaca1e9acd 132 // pc.printf("%d\r\n",Alt_cnt);
oichan 5:a5cf6914e7c4 133 if(para_timer.read() >= PARA_OPEN_FILTER_s){
oichan 7:4efaca1e9acd 134 if(Alt_cnt >= PARA_OPEN_CNT || para_timer.read() >= PARA_OPEN_TIME_s){
oichan 5:a5cf6914e7c4 135 _open();
oichan 5:a5cf6914e7c4 136 leaf_timer.start();
oichan 5:a5cf6914e7c4 137 oshirase2 = 0;
oichan 5:a5cf6914e7c4 138 para_timer.stop();
oichan 7:4efaca1e9acd 139 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
oichan 5:a5cf6914e7c4 140 break;
oichan 5:a5cf6914e7c4 141 }
oichan 2:6238109d564d 142 }
oichan 2:6238109d564d 143 }
oichan 2:6238109d564d 144
oichan 2:6238109d564d 145 /* リーフィング解除判定 */
oichan 2:6238109d564d 146 while(1){
oichan 2:6238109d564d 147 for(int i=0;i<10;i++){
oichan 2:6238109d564d 148 Alt_buff[i] = _getAlt();
oichan 2:6238109d564d 149 }
oichan 4:ae20e73f4924 150 Altitude = _median(Alt_buff,10);
oichan 7:4efaca1e9acd 151 if(Altitude - Land_Alt <= LEAF_UNLOCK_ALT_m || leaf_timer.read() >= LEAF_UNLOCK_TIME_s){
oichan 2:6238109d564d 152 _leaf_unlock();
oichan 6:e0c25c3976ae 153 oshirase2 = 1;
oichan 2:6238109d564d 154 leaf_timer.stop();
oichan 3:217b56515009 155 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
oichan 2:6238109d564d 156 break;
oichan 2:6238109d564d 157 }
mikawataru 0:0ff20d8e9090 158 }
mikawataru 0:0ff20d8e9090 159 }
mikawataru 0:0ff20d8e9090 160
oichan 2:6238109d564d 161
oichan 2:6238109d564d 162 /* サーボ用関数 */
oichan 6:e0c25c3976ae 163 void _close() {mg996.pulsewidth(0.0010);}
oichan 6:e0c25c3976ae 164 void _open() {mg996.pulsewidth(0.0020);}
oichan 6:e0c25c3976ae 165 void _leaf_lock() {sg92.pulsewidth(0.0010);}
oichan 6:e0c25c3976ae 166 void _leaf_unlock() {sg92.pulsewidth(0.0020);}
oichan 2:6238109d564d 167
oichan 2:6238109d564d 168
oichan 2:6238109d564d 169 /* 高度取得関数 */
oichan 2:6238109d564d 170 float _getAlt(){
oichan 7:4efaca1e9acd 171 float altitude;
oichan 4:ae20e73f4924 172 bmp.ReadData(&Temperature,&Pressure);
oichan 7:4efaca1e9acd 173 altitude = (pow((p0/Pressure), (1.0f/5.257f))-1.0f)*(Temperature+273.15f)/0.0065f;
oichan 7:4efaca1e9acd 174 // pc.printf("%f, %f, %f\r\n",Pressure,Temperature,altitude);
oichan 7:4efaca1e9acd 175 return altitude;
oichan 2:6238109d564d 176 }
oichan 2:6238109d564d 177
oichan 2:6238109d564d 178
oichan 6:e0c25c3976ae 179 /* 合成加速度取得関数 */
oichan 2:6238109d564d 180 float _getAcc(){
oichan 2:6238109d564d 181 mpu.getAccelero(a);
oichan 2:6238109d564d 182 return sqrt(pow(a[0]/9.81,2)+pow(a[1]/9.81,2)+pow(a[2]/9.81,2));
oichan 2:6238109d564d 183 }
oichan 2:6238109d564d 184
oichan 2:6238109d564d 185
oichan 2:6238109d564d 186 /* 中央値計算関数 */
oichan 2:6238109d564d 187 float _median(float data[], int num){//todo:処理時間計測
oichan 2:6238109d564d 188 float *data_cpy, ans;
oichan 2:6238109d564d 189 data_cpy = new float[num];
oichan 2:6238109d564d 190 memcpy(data_cpy,data,sizeof(float)*num);
oichan 2:6238109d564d 191
oichan 2:6238109d564d 192 for(int i=0; i<num; i++){
oichan 2:6238109d564d 193 for(int j=0; j<num-i-1; j++){
oichan 2:6238109d564d 194 if(data_cpy[j]>data_cpy[j+1]){
oichan 2:6238109d564d 195 float buff = data_cpy[j+1];
oichan 2:6238109d564d 196 data_cpy[j+1] = data_cpy[j];
oichan 2:6238109d564d 197 data_cpy[j] = buff;
oichan 2:6238109d564d 198 }
oichan 2:6238109d564d 199 }
oichan 2:6238109d564d 200 }
oichan 2:6238109d564d 201
oichan 2:6238109d564d 202 if(num%2!=0) ans = data_cpy[num/2];
oichan 2:6238109d564d 203 else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
oichan 2:6238109d564d 204 delete[] data_cpy;
oichan 2:6238109d564d 205 return ans;
oichan 2:6238109d564d 206 }