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@6:e0c25c3976ae, 2017-10-29 (annotated)

Committer:
oichan
Date:
Sun Oct 29 13:38:47 2017 +0000
Revision:
6:e0c25c3976ae
Parent:
5:a5cf6914e7c4
Child:
7:4efaca1e9acd
10/29 fm test program

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