Haruki Sashida / Mbed 2 deprecated 201803_oshima_gedan

201803_oshima Team.F.C.

Dependencies:   BMP180 MPU6050 SDFileSystem mbed

Fork of 201803_oshima_jodan by Haruki Sashida

main.cpp@15:0f267807ce7c, 2018-03-18 (annotated)

Committer:
sashida_h
Date:
Sun Mar 18 10:18:47 2018 +0000
Revision:
15:0f267807ce7c
Parent:
13:4c1633775de7
Child:
16:4ba85a0e8767
3/18,19:18

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:bdbd3d6fc5d5 1 #include "mbed.h"
sashida_h 5:bb9c685fc1fe 2 #include "SDFileSystem.h"
sashida_h 5:bb9c685fc1fe 3 #include "MPU6050.h"
sashida_h 5:bb9c685fc1fe 4 #include "math.h"
sashida_h 2:0deade364b73 5 #include "BMP180.h"
sashida_h 2:0deade364b73 6
sashida_h 2:0deade364b73 7 #define UNLOCK 1
sashida_h 2:0deade364b73 8 #define LOCK 0
sashida_h 3:a7b39e55d100 9 #define TIMER 30 //開放タイマー
sashida_h 12:c32b14ca0196 10 #define RATE 50//判定周期 謎の不具合により、145行目のkaihou.attach(_open,1/RATE);はコメントアウトしてるので、直接数字をいじってください
sashida_h 10:273500c77873 11 #define ALT 1 //落下判断高度
mbed_official 0:bdbd3d6fc5d5 12
sashida_h 2:0deade364b73 13 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
sashida_h 2:0deade364b73 14 BMP180 bmp(p28,p27);
sashida_h 2:0deade364b73 15 MPU6050 mpu(p28,p27);
sashida_h 5:bb9c685fc1fe 16 DigitalIn fly(p12);
sashida_h 5:bb9c685fc1fe 17 DigitalOut myled(p20);
sashida_h 5:bb9c685fc1fe 18 DigitalOut myled2(p19);
sashida_h 5:bb9c685fc1fe 19 DigitalOut myled3(p18);
sashida_h 2:0deade364b73 20 Serial twe(p9,p10);
sashida_h 2:0deade364b73 21 Serial gps(p13,p14);
sashida_h 2:0deade364b73 22 Serial pc(USBTX,USBRX);
sashida_h 9:b10aaf72d100 23 PwmOut servo_para(p22);
sashida_h 15:0f267807ce7c 24 PwmOut servo_para2(p21);
sashida_h 2:0deade364b73 25
sashida_h 2:0deade364b73 26 LocalFileSystem local("local");
sashida_h 2:0deade364b73 27 FILE *fp;
sashida_h 2:0deade364b73 28 FILE *lfp;
sashida_h 2:0deade364b73 29
sashida_h 2:0deade364b73 30 Ticker kaihou;
sashida_h 5:bb9c685fc1fe 31 Ticker ochiru;
sashida_h 2:0deade364b73 32 Timer timer1;
sashida_h 5:bb9c685fc1fe 33
sashida_h 3:a7b39e55d100 34 /*とりあえず全てグローバル変数化してます。*/
sashida_h 2:0deade364b73 35 //カウント変数
sashida_h 2:0deade364b73 36 int Cnt_buff = 0;
sashida_h 2:0deade364b73 37 int Cnt_para = 0;
sashida_h 2:0deade364b73 38 int Cnt_open = 0;
sashida_h 8:eb1ebae5f051 39 int i, j, t;
sashida_h 2:0deade364b73 40 //高度取得
sashida_h 5:bb9c685fc1fe 41 float Alt_buff[256],Alt_buff2[10],Alt_gnd,Alt_now, Max_Alt;
sashida_h 2:0deade364b73 42 float p0 = 1013.25; //海面気圧
sashida_h 2:0deade364b73 43 float pressure,temperature, Alt;
sashida_h 2:0deade364b73 44 //位置情報取得
sashida_h 2:0deade364b73 45 char gps_data[256];
sashida_h 2:0deade364b73 46 int cnt_gps =0;
sashida_h 8:eb1ebae5f051 47 //加速度,ジャイロ取得
sashida_h 2:0deade364b73 48 float a_abs;
sashida_h 2:0deade364b73 49 float a[3];
sashida_h 2:0deade364b73 50 float d[3];
sashida_h 15:0f267807ce7c 51 float c[10];
sashida_h 15:0f267807ce7c 52 float Acc_now;
sashida_h 15:0f267807ce7c 53 bool tf_launch = true;
sashida_h 2:0deade364b73 54
sashida_h 2:0deade364b73 55 bool tf_para = true;
sashida_h 5:bb9c685fc1fe 56
sashida_h 2:0deade364b73 57 float median(float data[], int num); //中央値求める
sashida_h 2:0deade364b73 58 float get_Alt(float press, float temp);
sashida_h 2:0deade364b73 59 void _open(void); //kaihou
sashida_h 2:0deade364b73 60 float _DMS2DEG(float raw_data); //GPSデータ60進数→10進数
sashida_h 2:0deade364b73 61 void _para(int motion);
sashida_h 5:bb9c685fc1fe 62 void _recovery();
sashida_h 10:273500c77873 63 int _input(char c);
sashida_h 5:bb9c685fc1fe 64
sashida_h 2:0deade364b73 65 int main() {
sashida_h 5:bb9c685fc1fe 66 twe.baud(115200);
sashida_h 5:bb9c685fc1fe 67 twe.printf("Hello World!\r\n");
sashida_h 2:0deade364b73 68
sashida_h 15:0f267807ce7c 69 /* int ret;
sashida_h 11:0f8d26600248 70 lfp = fopen("/local/Alt.txt","r");
sashida_h 11:0f8d26600248 71 if(lfp == NULL){
sashida_h 11:0f8d26600248 72 goto normal;
sashida_h 11:0f8d26600248 73 }
sashida_h 11:0f8d26600248 74 ret = fscanf(lfp,"GND:%f",&Alt_gnd);
sashida_h 11:0f8d26600248 75 fclose(lfp);
sashida_h 11:0f8d26600248 76 if(ret == -1){
sashida_h 11:0f8d26600248 77 goto normal;
sashida_h 11:0f8d26600248 78 }else{
sashida_h 12:c32b14ca0196 79 twe.printf("reboot now\r\n");
sashida_h 11:0f8d26600248 80 goto yabai;
sashida_h 11:0f8d26600248 81 }
sashida_h 11:0f8d26600248 82
sashida_h 11:0f8d26600248 83 normal:
sashida_h 15:0f267807ce7c 84 */
sashida_h 10:273500c77873 85 while(1){
sashida_h 10:273500c77873 86 char c = twe.getc();
sashida_h 10:273500c77873 87 if(_input(c) == 1){
sashida_h 10:273500c77873 88 _para(UNLOCK);
sashida_h 10:273500c77873 89 twe.printf("servo_open\r\n");
sashida_h 10:273500c77873 90 }
sashida_h 10:273500c77873 91 else if(_input(c) == 2){
sashida_h 10:273500c77873 92 _para(LOCK);
sashida_h 10:273500c77873 93 twe.printf("servo_lock\r\n");
sashida_h 10:273500c77873 94 }
sashida_h 10:273500c77873 95 else if(_input(c) == 3){
sashida_h 10:273500c77873 96 break;
sashida_h 10:273500c77873 97 }
sashida_h 10:273500c77873 98
sashida_h 10:273500c77873 99 }
sashida_h 2:0deade364b73 100
sashida_h 2:0deade364b73 101 mpu.setAcceleroRange(0);
sashida_h 2:0deade364b73 102 mpu.setGyroRange(0);
sashida_h 5:bb9c685fc1fe 103 bmp.Initialize(60,BMP180_OSS_ULTRA_LOW_POWER);
sashida_h 2:0deade364b73 104 twe.printf("I2C_initialize_ok\r\n");
sashida_h 5:bb9c685fc1fe 105
sashida_h 3:a7b39e55d100 106
sashida_h 5:bb9c685fc1fe 107 //地上高度取得
sashida_h 5:bb9c685fc1fe 108 Cnt_buff = 0;
sashida_h 2:0deade364b73 109 for(i=0; i<10; i++){
sashida_h 2:0deade364b73 110 bmp.ReadData(&temperature,&pressure);
sashida_h 2:0deade364b73 111 Alt_buff[i]=get_Alt(pressure, temperature);
sashida_h 2:0deade364b73 112 }
sashida_h 2:0deade364b73 113 Alt_gnd = median(Alt_buff, 10);
sashida_h 2:0deade364b73 114
sashida_h 5:bb9c685fc1fe 115 twe.printf("Alt_gnd:%f\r\n", Alt_gnd);
sashida_h 5:bb9c685fc1fe 116
sashida_h 5:bb9c685fc1fe 117 lfp = fopen("/local/Alt.txt","a");
sashida_h 5:bb9c685fc1fe 118 fprintf(lfp, "GND:%f\r\n",Alt_gnd);
sashida_h 5:bb9c685fc1fe 119 fclose(lfp);
sashida_h 5:bb9c685fc1fe 120 twe.printf("lacal_ok\r\n");
sashida_h 5:bb9c685fc1fe 121
sashida_h 15:0f267807ce7c 122 mkdir("/sd/mydir", 0777);
sashida_h 5:bb9c685fc1fe 123 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 2:0deade364b73 124 if(fp == NULL) {
sashida_h 2:0deade364b73 125 error("Could not open file for write\n");
sashida_h 2:0deade364b73 126 }
sashida_h 2:0deade364b73 127 for(i=0; i<10; i++){
sashida_h 2:0deade364b73 128 fprintf(fp, "%d:%f\r\n",i+1,Alt_buff[i]);
sashida_h 2:0deade364b73 129 }
sashida_h 2:0deade364b73 130
sashida_h 2:0deade364b73 131 fprintf(fp, "Alt_gnd:%f\r\n",Alt_gnd);
sashida_h 5:bb9c685fc1fe 132 fclose(fp);
sashida_h 2:0deade364b73 133
sashida_h 5:bb9c685fc1fe 134 twe.printf("SD_write_OK!!\r\n");
sashida_h 5:bb9c685fc1fe 135
sashida_h 5:bb9c685fc1fe 136 twe.printf("ALL_READY\r\n");
sashida_h 2:0deade364b73 137
sashida_h 2:0deade364b73 138 while(fly == 1); //フライトピン抜けるまで待機
sashida_h 2:0deade364b73 139
sashida_h 15:0f267807ce7c 140 twe.printf("L\r\n");
sashida_h 5:bb9c685fc1fe 141 i = 0;
sashida_h 5:bb9c685fc1fe 142 Alt_buff[0] = 0;
sashida_h 5:bb9c685fc1fe 143 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 5:bb9c685fc1fe 144 if(fp == NULL)twe.printf("ERROR\r\n");
sashida_h 15:0f267807ce7c 145 yabai:
sashida_h 2:0deade364b73 146 timer1.start();
sashida_h 10:273500c77873 147 // kaihou.attach(_open,1/RATE);
sashida_h 8:eb1ebae5f051 148 kaihou.attach(_open,0.02);
sashida_h 15:0f267807ce7c 149 twe.printf("start!!\r\n");
sashida_h 5:bb9c685fc1fe 150
sashida_h 2:0deade364b73 151
sashida_h 2:0deade364b73 152 while(1){
sashida_h 2:0deade364b73 153
sashida_h 5:bb9c685fc1fe 154 /* twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt, Cnt_para);
sashida_h 5:bb9c685fc1fe 155 wait(1.0);
sashida_h 5:bb9c685fc1fe 156 */
sashida_h 2:0deade364b73 157 /* GPS取得&送信 */
sashida_h 5:bb9c685fc1fe 158 gps_data[cnt_gps] = gps.getc();
sashida_h 2:0deade364b73 159 if(gps_data[cnt_gps] == '$' || cnt_gps ==256){
sashida_h 2:0deade364b73 160 cnt_gps = 0;
sashida_h 2:0deade364b73 161 memset(gps_data,'\0',256);
sashida_h 2:0deade364b73 162 }else if(gps_data[cnt_gps] == '\r'){
sashida_h 2:0deade364b73 163 float world_time, lon_east, lat_north;
sashida_h 2:0deade364b73 164 int rlock, sat_num;
sashida_h 2:0deade364b73 165 char lat,lon;
sashida_h 2:0deade364b73 166 if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){
sashida_h 2:0deade364b73 167 if(rlock==1){
sashida_h 2:0deade364b73 168 lat_north = _DMS2DEG(lat_north);
sashida_h 2:0deade364b73 169 lon_east = _DMS2DEG(lon_east);
sashida_h 2:0deade364b73 170 // pc.printf("phase:%d,max altitude:%f\r\n",Phase,Max_Alt);
sashida_h 2:0deade364b73 171 // twe.printf("%s\r\n",gps_data);
sashida_h 2:0deade364b73 172 twe.printf("Lat,Lon:%f,%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num);
sashida_h 2:0deade364b73 173 }else{
sashida_h 2:0deade364b73 174 // pc.printf("max altitude:%f\r\n",Max_Alt);
sashida_h 2:0deade364b73 175 twe.printf("%s\r\n",gps_data);
sashida_h 2:0deade364b73 176 }
sashida_h 5:bb9c685fc1fe 177 twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt,Cnt_para);
sashida_h 2:0deade364b73 178 }
sashida_h 2:0deade364b73 179 }else{
sashida_h 2:0deade364b73 180 cnt_gps++;
sashida_h 2:0deade364b73 181 }
sashida_h 2:0deade364b73 182
sashida_h 5:bb9c685fc1fe 183 }//while_gps
sashida_h 5:bb9c685fc1fe 184 }//main
sashida_h 5:bb9c685fc1fe 185
sashida_h 5:bb9c685fc1fe 186 void _open(){
sashida_h 5:bb9c685fc1fe 187 bmp.ReadData(&temperature,&pressure);
sashida_h 5:bb9c685fc1fe 188 mpu.getAccelero(a);
sashida_h 5:bb9c685fc1fe 189 mpu.getGyro(d);
sashida_h 5:bb9c685fc1fe 190 Alt_buff2[i] = get_Alt(pressure, temperature);
sashida_h 15:0f267807ce7c 191 c[i] = a[2];
sashida_h 5:bb9c685fc1fe 192 i++;
sashida_h 6:e9004c78b394 193 if(i == 10){ //10回ごとに中央値計算
sashida_h 15:0f267807ce7c 194 if(tf_launch == true){
sashida_h 15:0f267807ce7c 195 Acc_now = median(c, 10);
sashida_h 15:0f267807ce7c 196 i = 0;
sashida_h 15:0f267807ce7c 197 if(Acc_now < 0.5) tf_launch = false;
sashida_h 15:0f267807ce7c 198
sashida_h 15:0f267807ce7c 199 }else{
sashida_h 15:0f267807ce7c 200
sashida_h 15:0f267807ce7c 201 Alt_now = median(Alt_buff2, 10);
sashida_h 15:0f267807ce7c 202 Alt_now = Alt_now - Alt_gnd;
sashida_h 15:0f267807ce7c 203 t = timer1.read();
sashida_h 15:0f267807ce7c 204 fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,%d,%d\r\n",Alt_now,a[0],a[1],a[2],d[0],d[1],d[2],t,Cnt_para);
sashida_h 15:0f267807ce7c 205 if(Alt_now > Max_Alt) Max_Alt = Alt_now;
sashida_h 15:0f267807ce7c 206 i = 0;
sashida_h 15:0f267807ce7c 207 if(tf_para == true){ //パラ開くまでは頂点判定
sashida_h 15:0f267807ce7c 208 Alt_buff[Cnt_buff+1] = Alt_now;
sashida_h 15:0f267807ce7c 209 if(Alt_buff[Cnt_buff]-Alt_buff[Cnt_buff+1] > ALT) Cnt_para++; //直前の値(0.2秒前より1ALTm降下)より小さければカウント+1
sashida_h 15:0f267807ce7c 210 // twe.printf("Cnt_para:%d\r\n", Cnt_para);
sashida_h 15:0f267807ce7c 211 Cnt_buff++;
sashida_h 15:0f267807ce7c 212 if(Cnt_para == 10 || t > TIMER){ //頂点！！！
sashida_h 15:0f267807ce7c 213 kaihou.detach(); //SD閉じる前にサーボ動かす前にTicker止める
sashida_h 15:0f267807ce7c 214 fprintf(fp,"OPEN!\r\n");
sashida_h 15:0f267807ce7c 215 fclose(fp);
sashida_h 15:0f267807ce7c 216 lfp = fopen("/local/Alt.txt","a");
sashida_h 15:0f267807ce7c 217 fprintf(lfp, "MAX:%f\r\n",Max_Alt);
sashida_h 15:0f267807ce7c 218 fclose(lfp);
sashida_h 15:0f267807ce7c 219 _para(UNLOCK);
sashida_h 15:0f267807ce7c 220 tf_para = false;
sashida_h 15:0f267807ce7c 221 timer1.stop();
sashida_h 15:0f267807ce7c 222 twe.printf("PARA_OPEN\r\n");
sashida_h 15:0f267807ce7c 223 twe.printf("GPS_MODE_ON!!!!\r\n");
sashida_h 9:b10aaf72d100 224
sashida_h 15:0f267807ce7c 225 ochiru.attach(_recovery,0.2); //パラメータ保存のためのやつ
sashida_h 5:bb9c685fc1fe 226
sashida_h 15:0f267807ce7c 227 }
sashida_h 5:bb9c685fc1fe 228 }
sashida_h 5:bb9c685fc1fe 229 }
sashida_h 2:0deade364b73 230 }
sashida_h 7:852922a4058a 231
sashida_h 7:852922a4058a 232 if(Cnt_buff == 250) Cnt_buff = 0;
sashida_h 5:bb9c685fc1fe 233
mbed_official 0:bdbd3d6fc5d5 234 }
sashida_h 2:0deade364b73 235
sashida_h 5:bb9c685fc1fe 236 void _recovery(){
sashida_h 2:0deade364b73 237
sashida_h 7:852922a4058a 238 if(i == 0){
sashida_h 2:0deade364b73 239 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 2:0deade364b73 240 if(fp == NULL)twe.printf("ERROR\r\n");
sashida_h 2:0deade364b73 241 }
sashida_h 2:0deade364b73 242
sashida_h 5:bb9c685fc1fe 243 bmp.ReadData(&temperature,&pressure);
sashida_h 5:bb9c685fc1fe 244 mpu.getAccelero(a);
sashida_h 5:bb9c685fc1fe 245 mpu.getGyro(d);
sashida_h 5:bb9c685fc1fe 246 Alt_now = get_Alt(pressure, temperature);
sashida_h 5:bb9c685fc1fe 247 Alt_now = Alt_now - Alt_gnd;
sashida_h 5:bb9c685fc1fe 248 fprintf(fp, "%f,%f,%f,%f,%f,%f,%f\r\n",Alt_now,a[0],a[1],a[2],d[0],d[1],d[2]);
sashida_h 9:b10aaf72d100 249 i++;
sashida_h 2:0deade364b73 250
sashida_h 7:852922a4058a 251 if(i == 50){
sashida_h 5:bb9c685fc1fe 252 fclose(fp);
sashida_h 9:b10aaf72d100 253 i = 0;
sashida_h 2:0deade364b73 254 }
sashida_h 2:0deade364b73 255 }
sashida_h 2:0deade364b73 256 float get_Alt(float press, float temp){
sashida_h 2:0deade364b73 257 return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
sashida_h 2:0deade364b73 258 }
sashida_h 2:0deade364b73 259
sashida_h 2:0deade364b73 260 float median(float data[], int num){//todo:処理時間計測
sashida_h 2:0deade364b73 261 float *data_cpy, ans;
sashida_h 2:0deade364b73 262 data_cpy = new float[num];
sashida_h 2:0deade364b73 263 memcpy(data_cpy,data,sizeof(float)*num);
sashida_h 2:0deade364b73 264
sashida_h 2:0deade364b73 265 for(int i=0; i<num; i++){
sashida_h 2:0deade364b73 266 for(int j=0; j<num-i-1; j++){
sashida_h 2:0deade364b73 267 if(data_cpy[j]>data_cpy[j+1]){
sashida_h 2:0deade364b73 268 float buff = data_cpy[j+1];
sashida_h 2:0deade364b73 269 data_cpy[j+1] = data_cpy[j];
sashida_h 2:0deade364b73 270 data_cpy[j] = buff;
sashida_h 2:0deade364b73 271 }
sashida_h 2:0deade364b73 272 }
sashida_h 2:0deade364b73 273 }
sashida_h 2:0deade364b73 274
sashida_h 2:0deade364b73 275 if(num%2!=0) ans = data_cpy[num/2];
sashida_h 2:0deade364b73 276 else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
sashida_h 2:0deade364b73 277 delete[] data_cpy;
sashida_h 2:0deade364b73 278 return ans;
sashida_h 2:0deade364b73 279 }
sashida_h 2:0deade364b73 280
sashida_h 2:0deade364b73 281
sashida_h 2:0deade364b73 282 float _DMS2DEG(float raw_data){
sashida_h 2:0deade364b73 283 int d = (int)(raw_data/100);
sashida_h 2:0deade364b73 284 float m = (raw_data - (float)d*100);
sashida_h 2:0deade364b73 285 return (float)d + m/60;
sashida_h 2:0deade364b73 286 }
sashida_h 2:0deade364b73 287
sashida_h 2:0deade364b73 288 void _para(int motion){
sashida_h 2:0deade364b73 289 if(motion==UNLOCK){
sashida_h 15:0f267807ce7c 290 servo_para.pulsewidth(0.0005); // pulse servo out sita
sashida_h 15:0f267807ce7c 291 servo_para2.pulsewidth(0.0005);
sashida_h 2:0deade364b73 292 }else if(motion==LOCK){
sashida_h 15:0f267807ce7c 293 servo_para.pulsewidth(0.0024); // pulse servo outu sita
sashida_h 15:0f267807ce7c 294 servo_para2.pulsewidth(0.0024);
sashida_h 2:0deade364b73 295 }
sashida_h 10:273500c77873 296 }
sashida_h 10:273500c77873 297
sashida_h 10:273500c77873 298 int _input(char c){
sashida_h 10:273500c77873 299
sashida_h 10:273500c77873 300 if(c=='f'){
sashida_h 10:273500c77873 301 return 3;
sashida_h 10:273500c77873 302 }else if(c=='l'){
sashida_h 10:273500c77873 303 return 2;
sashida_h 10:273500c77873 304 }else if(c=='u'){
sashida_h 10:273500c77873 305 return 1;
sashida_h 10:273500c77873 306 }
sashida_h 10:273500c77873 307 return 0;
sashida_h 2:0deade364b73 308 }