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@5:a5cf6914e7c4, 2017-10-22 (annotated)

Committer:
oichan
Date:
Sun Oct 22 15:07:19 2017 +0000
Revision:
5:a5cf6914e7c4
Parent:
4:ae20e73f4924
Child:
6:e0c25c3976ae
a little change

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 5:a5cf6914e7c4 8 #define PARA_OPEN_FILTER_s 6.0
oichan 5:a5cf6914e7c4 9 #define LEAF_UNLOCK_TIME_s 10.0
oichan 2:6238109d564d 10 #define LEAF_UNLOCK_ALT_m 300.0
oichan 2:6238109d564d 11 #define p0 1013.25f
oichan 2:6238109d564d 12
oichan 4:ae20e73f4924 13 BMP180 bmp(dp5,dp27);
oichan 4:ae20e73f4924 14 MPU6050 mpu(dp5,dp27);
oichan 4:ae20e73f4924 15 Timer para_timer;
oichan 4:ae20e73f4924 16 Timer leaf_timer;
oichan 4:ae20e73f4924 17 Ticker readtimer;
oichan 5:a5cf6914e7c4 18 PwmOut mg996(dp18);
oichan 5:a5cf6914e7c4 19 PwmOut sg92(dp1);
oichan 4:ae20e73f4924 20 DigitalIn oshirase1(dp11);
oichan 4:ae20e73f4924 21 DigitalInOut oshirase2(dp10);
oichan 4:ae20e73f4924 22 DigitalOut myled(LED1);
oichan 4:ae20e73f4924 23 //Serial pc(USBTX,USBRX);
mikawataru 0:0ff20d8e9090 24
oichan 2:6238109d564d 25 /* 自作関数 */
oichan 2:6238109d564d 26 void _flight();
oichan 2:6238109d564d 27 void _open();
oichan 2:6238109d564d 28 void _close();
oichan 2:6238109d564d 29 void _leaf_lock();
oichan 2:6238109d564d 30 void _leaf_unlock();
oichan 2:6238109d564d 31 float _getAlt();
oichan 2:6238109d564d 32 float _getAcc();
oichan 2:6238109d564d 33 float _median(float data[], int num);
mikawataru 0:0ff20d8e9090 34
oichan 2:6238109d564d 35 /* グローバル変数 */
oichan 4:ae20e73f4924 36 int Alt_cnt;
oichan 4:ae20e73f4924 37 float a[3],Acc;
oichan 4:ae20e73f4924 38 float Pressure,Temperature,Altitude;
oichan 4:ae20e73f4924 39 float Alt_buff[10],Acc_buff[10];
oichan 4:ae20e73f4924 40 float Land_Alt;
oichan 4:ae20e73f4924 41 bool Mg996Open = true;
oichan 4:ae20e73f4924 42 bool Sg92Open = true;
oichan 2:6238109d564d 43
mikawataru 0:0ff20d8e9090 44
mikawataru 0:0ff20d8e9090 45 int main() {
oichan 3:217b56515009 46 // pc.printf("Hello!");
oichan 3:217b56515009 47 mg996.period_ms(20);
oichan 2:6238109d564d 48 sg92.period_ms(20);
oichan 2:6238109d564d 49 _close();
oichan 2:6238109d564d 50 _leaf_lock();
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 4:ae20e73f4924 91
oichan 2:6238109d564d 92 /* 地上高度取得 */
oichan 2:6238109d564d 93 for(int i=0;i<10;i++){
oichan 2:6238109d564d 94 Alt_buff[i] = _getAlt();
oichan 2:6238109d564d 95 }
oichan 4:ae20e73f4924 96 Land_Alt = _median(Alt_buff,10);
oichan 3:217b56515009 97 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
oichan 2:6238109d564d 98
oichan 2:6238109d564d 99 /* 発射判定 */
oichan 2:6238109d564d 100 while(1){
oichan 3:217b56515009 101 myled = !myled;
oichan 2:6238109d564d 102 for(int i=0;i<10;i++){
oichan 4:ae20e73f4924 103 Acc = _getAcc();
oichan 4:ae20e73f4924 104 Acc_buff[i] = Acc;
oichan 2:6238109d564d 105 }
oichan 4:ae20e73f4924 106 Acc = _median(Acc_buff,10);
oichan 4:ae20e73f4924 107 if(Acc >= LAUNCH_JUDGE_ACC_g){
oichan 2:6238109d564d 108 para_timer.start();
oichan 4:ae20e73f4924 109 oshirase2 = 1;
oichan 3:217b56515009 110 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Acc_buff[i]);
oichan 2:6238109d564d 111 break;
oichan 2:6238109d564d 112 }
oichan 2:6238109d564d 113 }
oichan 2:6238109d564d 114
oichan 2:6238109d564d 115 /* 開放判定 */
oichan 2:6238109d564d 116 while(1){
oichan 2:6238109d564d 117 Alt_cnt = 0;
oichan 2:6238109d564d 118 Alt_buff[0] = _getAlt();
oichan 2:6238109d564d 119 for(int i=1;i<10;i++){
oichan 2:6238109d564d 120 Alt_buff[i] = _getAlt();
oichan 2:6238109d564d 121 if(Alt_buff[i] < Alt_buff[i-1]) Alt_cnt++;
oichan 2:6238109d564d 122 }
oichan 5:a5cf6914e7c4 123 if(para_timer.read() >= PARA_OPEN_FILTER_s){
oichan 5:a5cf6914e7c4 124 if(Alt_cnt > 6 || para_timer.read() >= PARA_OPEN_TIME_s){
oichan 5:a5cf6914e7c4 125 _open();
oichan 5:a5cf6914e7c4 126 leaf_timer.start();
oichan 5:a5cf6914e7c4 127 oshirase2 = 0;
oichan 5:a5cf6914e7c4 128 para_timer.stop();
oichan 5:a5cf6914e7c4 129 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
oichan 5:a5cf6914e7c4 130 break;
oichan 5:a5cf6914e7c4 131 }
oichan 2:6238109d564d 132 }
oichan 2:6238109d564d 133 }
oichan 2:6238109d564d 134
oichan 2:6238109d564d 135 /* リーフィング解除判定 */
oichan 2:6238109d564d 136 while(1){
oichan 2:6238109d564d 137 for(int i=0;i<10;i++){
oichan 2:6238109d564d 138 Alt_buff[i] = _getAlt();
oichan 2:6238109d564d 139 }
oichan 4:ae20e73f4924 140 Altitude = _median(Alt_buff,10);
oichan 4:ae20e73f4924 141 if(Altitude <= LEAF_UNLOCK_ALT_m || leaf_timer.read() >= LEAF_UNLOCK_TIME_s){//TODO:現在の高度から地上高度を引く
oichan 2:6238109d564d 142 _leaf_unlock();
oichan 2:6238109d564d 143 leaf_timer.stop();
oichan 3:217b56515009 144 // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
oichan 2:6238109d564d 145 break;
oichan 2:6238109d564d 146 }
mikawataru 0:0ff20d8e9090 147 }
mikawataru 0:0ff20d8e9090 148 }
mikawataru 0:0ff20d8e9090 149
oichan 2:6238109d564d 150
oichan 2:6238109d564d 151 /* サーボ用関数 */
oichan 3:217b56515009 152 void _close() {mg996.pulsewidth(0.0006);}
oichan 3:217b56515009 153 void _open() {mg996.pulsewidth(0.0023);}
oichan 2:6238109d564d 154 void _leaf_lock() {sg92.pulsewidth(0.0005);}
oichan 2:6238109d564d 155 void _leaf_unlock() {sg92.pulsewidth(0.0023);}
oichan 2:6238109d564d 156
oichan 2:6238109d564d 157
oichan 2:6238109d564d 158 /* 高度取得関数 */
oichan 2:6238109d564d 159 float _getAlt(){
oichan 4:ae20e73f4924 160 bmp.ReadData(&Temperature,&Pressure);
oichan 4:ae20e73f4924 161 return (pow((p0/Pressure), (1.0f/5.257f))-1.0f)*(Temperature+273.15f)/0.0065f;
oichan 2:6238109d564d 162 }
oichan 2:6238109d564d 163
oichan 2:6238109d564d 164
oichan 2:6238109d564d 165 /* 加速度取得関数 */
oichan 2:6238109d564d 166 float _getAcc(){
oichan 2:6238109d564d 167 mpu.getAccelero(a);
oichan 2:6238109d564d 168 return sqrt(pow(a[0]/9.81,2)+pow(a[1]/9.81,2)+pow(a[2]/9.81,2));
oichan 2:6238109d564d 169 }
oichan 2:6238109d564d 170
oichan 2:6238109d564d 171
oichan 2:6238109d564d 172 /* 中央値計算関数 */
oichan 2:6238109d564d 173 float _median(float data[], int num){//todo:処理時間計測
oichan 2:6238109d564d 174 float *data_cpy, ans;
oichan 2:6238109d564d 175 data_cpy = new float[num];
oichan 2:6238109d564d 176 memcpy(data_cpy,data,sizeof(float)*num);
oichan 2:6238109d564d 177
oichan 2:6238109d564d 178 for(int i=0; i<num; i++){
oichan 2:6238109d564d 179 for(int j=0; j<num-i-1; j++){
oichan 2:6238109d564d 180 if(data_cpy[j]>data_cpy[j+1]){
oichan 2:6238109d564d 181 float buff = data_cpy[j+1];
oichan 2:6238109d564d 182 data_cpy[j+1] = data_cpy[j];
oichan 2:6238109d564d 183 data_cpy[j] = buff;
oichan 2:6238109d564d 184 }
oichan 2:6238109d564d 185 }
oichan 2:6238109d564d 186 }
oichan 2:6238109d564d 187
oichan 2:6238109d564d 188 if(num%2!=0) ans = data_cpy[num/2];
oichan 2:6238109d564d 189 else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
oichan 2:6238109d564d 190 delete[] data_cpy;
oichan 2:6238109d564d 191 return ans;
oichan 2:6238109d564d 192 }