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@11:0f8d26600248, 2018-03-12 (annotated)

Committer:
sashida_h
Date:
Mon Mar 12 09:15:12 2018 +0000
Revision:
11:0f8d26600248
Parent:
10:273500c77873
Child:
12:c32b14ca0196
add yabai mode

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 5:bb9c685fc1fe 10 #define RATE 50//判定周期
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 5:bb9c685fc1fe 20 DigitalOut myled4(LED1);
sashida_h 5:bb9c685fc1fe 21 DigitalOut myled5(LED2);
sashida_h 5:bb9c685fc1fe 22 DigitalOut myled6(LED3);
sashida_h 5:bb9c685fc1fe 23 DigitalOut myled7(LED4);
sashida_h 2:0deade364b73 24 Serial twe(p9,p10);
sashida_h 2:0deade364b73 25 Serial gps(p13,p14);
sashida_h 2:0deade364b73 26 Serial pc(USBTX,USBRX);
sashida_h 9:b10aaf72d100 27 PwmOut servo_para(p22);
sashida_h 2:0deade364b73 28
sashida_h 2:0deade364b73 29 LocalFileSystem local("local");
sashida_h 2:0deade364b73 30 FILE *fp;
sashida_h 2:0deade364b73 31 FILE *lfp;
sashida_h 2:0deade364b73 32
sashida_h 2:0deade364b73 33 Ticker kaihou;
sashida_h 5:bb9c685fc1fe 34 Ticker ochiru;
sashida_h 2:0deade364b73 35 Timer timer1;
sashida_h 5:bb9c685fc1fe 36
sashida_h 3:a7b39e55d100 37 /*とりあえず全てグローバル変数化してます。*/
sashida_h 2:0deade364b73 38 //カウント変数
sashida_h 2:0deade364b73 39 int Cnt_buff = 0;
sashida_h 2:0deade364b73 40 int Cnt_para = 0;
sashida_h 2:0deade364b73 41 int Cnt_open = 0;
sashida_h 8:eb1ebae5f051 42 int i, j, t;
sashida_h 2:0deade364b73 43 //高度取得
sashida_h 5:bb9c685fc1fe 44 float Alt_buff[256],Alt_buff2[10],Alt_gnd,Alt_now, Max_Alt;
sashida_h 2:0deade364b73 45 float p0 = 1013.25; //海面気圧
sashida_h 2:0deade364b73 46 float pressure,temperature, Alt;
sashida_h 2:0deade364b73 47 //位置情報取得
sashida_h 2:0deade364b73 48 char gps_data[256];
sashida_h 2:0deade364b73 49 int cnt_gps =0;
sashida_h 8:eb1ebae5f051 50 //加速度,ジャイロ取得
sashida_h 2:0deade364b73 51 float a_abs;
sashida_h 2:0deade364b73 52 float a[3];
sashida_h 2:0deade364b73 53 float d[3];
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 11:0f8d26600248 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 11:0f8d26600248 79 goto yabai;
sashida_h 11:0f8d26600248 80 }
sashida_h 11:0f8d26600248 81
sashida_h 11:0f8d26600248 82 normal:
sashida_h 11:0f8d26600248 83
sashida_h 10:273500c77873 84 while(1){
sashida_h 10:273500c77873 85 char c = twe.getc();
sashida_h 10:273500c77873 86 if(_input(c) == 1){
sashida_h 10:273500c77873 87 _para(UNLOCK);
sashida_h 10:273500c77873 88 twe.printf("servo_open\r\n");
sashida_h 10:273500c77873 89 }
sashida_h 10:273500c77873 90 else if(_input(c) == 2){
sashida_h 10:273500c77873 91 _para(LOCK);
sashida_h 10:273500c77873 92 twe.printf("servo_lock\r\n");
sashida_h 10:273500c77873 93 }
sashida_h 10:273500c77873 94 else if(_input(c) == 3){
sashida_h 10:273500c77873 95 break;
sashida_h 10:273500c77873 96 }
sashida_h 10:273500c77873 97
sashida_h 10:273500c77873 98 }
sashida_h 2:0deade364b73 99
sashida_h 2:0deade364b73 100 mpu.setAcceleroRange(0);
sashida_h 2:0deade364b73 101 mpu.setGyroRange(0);
sashida_h 5:bb9c685fc1fe 102 bmp.Initialize(60,BMP180_OSS_ULTRA_LOW_POWER);
sashida_h 2:0deade364b73 103 twe.printf("I2C_initialize_ok\r\n");
sashida_h 5:bb9c685fc1fe 104
sashida_h 3:a7b39e55d100 105
sashida_h 5:bb9c685fc1fe 106 //地上高度取得
sashida_h 5:bb9c685fc1fe 107 Cnt_buff = 0;
sashida_h 2:0deade364b73 108 for(i=0; i<10; i++){
sashida_h 2:0deade364b73 109 bmp.ReadData(&temperature,&pressure);
sashida_h 2:0deade364b73 110 Alt_buff[i]=get_Alt(pressure, temperature);
sashida_h 2:0deade364b73 111 }
sashida_h 2:0deade364b73 112 Alt_gnd = median(Alt_buff, 10);
sashida_h 2:0deade364b73 113
sashida_h 5:bb9c685fc1fe 114 twe.printf("Alt_gnd:%f\r\n", Alt_gnd);
sashida_h 5:bb9c685fc1fe 115
sashida_h 5:bb9c685fc1fe 116 lfp = fopen("/local/Alt.txt","a");
sashida_h 5:bb9c685fc1fe 117 fprintf(lfp, "GND:%f\r\n",Alt_gnd);
sashida_h 5:bb9c685fc1fe 118 fclose(lfp);
sashida_h 5:bb9c685fc1fe 119 twe.printf("lacal_ok\r\n");
sashida_h 5:bb9c685fc1fe 120
sashida_h 5:bb9c685fc1fe 121 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 2:0deade364b73 122 if(fp == NULL) {
sashida_h 2:0deade364b73 123 error("Could not open file for write\n");
sashida_h 2:0deade364b73 124 }
sashida_h 2:0deade364b73 125 for(i=0; i<10; i++){
sashida_h 2:0deade364b73 126 fprintf(fp, "%d:%f\r\n",i+1,Alt_buff[i]);
sashida_h 2:0deade364b73 127 }
sashida_h 2:0deade364b73 128
sashida_h 2:0deade364b73 129 fprintf(fp, "Alt_gnd:%f\r\n",Alt_gnd);
sashida_h 5:bb9c685fc1fe 130 fclose(fp);
sashida_h 2:0deade364b73 131
sashida_h 5:bb9c685fc1fe 132 twe.printf("SD_write_OK!!\r\n");
sashida_h 5:bb9c685fc1fe 133
sashida_h 5:bb9c685fc1fe 134 twe.printf("ALL_READY\r\n");
sashida_h 2:0deade364b73 135
sashida_h 2:0deade364b73 136 while(fly == 1); //フライトピン抜けるまで待機
sashida_h 2:0deade364b73 137
sashida_h 11:0f8d26600248 138 yabai:
sashida_h 9:b10aaf72d100 139 twe.printf("SEPARATE!!!!!!!\r\n");
sashida_h 5:bb9c685fc1fe 140 i = 0;
sashida_h 5:bb9c685fc1fe 141 Alt_buff[0] = 0;
sashida_h 5:bb9c685fc1fe 142 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 5:bb9c685fc1fe 143 if(fp == NULL)twe.printf("ERROR\r\n");
sashida_h 2:0deade364b73 144 timer1.start();
sashida_h 10:273500c77873 145 // kaihou.attach(_open,1/RATE);
sashida_h 8:eb1ebae5f051 146 kaihou.attach(_open,0.02);
sashida_h 5:bb9c685fc1fe 147
sashida_h 2:0deade364b73 148
sashida_h 2:0deade364b73 149 while(1){
sashida_h 2:0deade364b73 150
sashida_h 5:bb9c685fc1fe 151 /* twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt, Cnt_para);
sashida_h 5:bb9c685fc1fe 152 wait(1.0);
sashida_h 5:bb9c685fc1fe 153 */
sashida_h 2:0deade364b73 154 /* GPS取得&送信 */
sashida_h 5:bb9c685fc1fe 155 gps_data[cnt_gps] = gps.getc();
sashida_h 2:0deade364b73 156 if(gps_data[cnt_gps] == '$' || cnt_gps ==256){
sashida_h 2:0deade364b73 157 cnt_gps = 0;
sashida_h 2:0deade364b73 158 memset(gps_data,'\0',256);
sashida_h 2:0deade364b73 159 }else if(gps_data[cnt_gps] == '\r'){
sashida_h 2:0deade364b73 160 float world_time, lon_east, lat_north;
sashida_h 2:0deade364b73 161 int rlock, sat_num;
sashida_h 2:0deade364b73 162 char lat,lon;
sashida_h 2:0deade364b73 163 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 164 if(rlock==1){
sashida_h 2:0deade364b73 165 lat_north = _DMS2DEG(lat_north);
sashida_h 2:0deade364b73 166 lon_east = _DMS2DEG(lon_east);
sashida_h 2:0deade364b73 167 // pc.printf("phase:%d,max altitude:%f\r\n",Phase,Max_Alt);
sashida_h 2:0deade364b73 168 // twe.printf("%s\r\n",gps_data);
sashida_h 2:0deade364b73 169 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 170 }else{
sashida_h 2:0deade364b73 171 // pc.printf("max altitude:%f\r\n",Max_Alt);
sashida_h 2:0deade364b73 172 twe.printf("%s\r\n",gps_data);
sashida_h 2:0deade364b73 173 }
sashida_h 5:bb9c685fc1fe 174 twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt,Cnt_para);
sashida_h 2:0deade364b73 175 }
sashida_h 2:0deade364b73 176 }else{
sashida_h 2:0deade364b73 177 cnt_gps++;
sashida_h 2:0deade364b73 178 }
sashida_h 2:0deade364b73 179
sashida_h 5:bb9c685fc1fe 180 }//while_gps
sashida_h 5:bb9c685fc1fe 181 }//main
sashida_h 5:bb9c685fc1fe 182
sashida_h 5:bb9c685fc1fe 183 void _open(){
sashida_h 5:bb9c685fc1fe 184 bmp.ReadData(&temperature,&pressure);
sashida_h 5:bb9c685fc1fe 185 mpu.getAccelero(a);
sashida_h 5:bb9c685fc1fe 186 mpu.getGyro(d);
sashida_h 5:bb9c685fc1fe 187 Alt_buff2[i] = get_Alt(pressure, temperature);
sashida_h 5:bb9c685fc1fe 188 i++;
sashida_h 6:e9004c78b394 189 if(i == 10){ //10回ごとに中央値計算
sashida_h 5:bb9c685fc1fe 190 Alt_now = median(Alt_buff2, 10);
sashida_h 5:bb9c685fc1fe 191 Alt_now = Alt_now - Alt_gnd;
sashida_h 5:bb9c685fc1fe 192 t = timer1.read();
sashida_h 5:bb9c685fc1fe 193 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 5:bb9c685fc1fe 194 if(Alt_now > Max_Alt) Max_Alt = Alt_now;
sashida_h 5:bb9c685fc1fe 195 i = 0;
sashida_h 6:e9004c78b394 196 if(tf_para == true){ //パラ開くまでは頂点判定
sashida_h 5:bb9c685fc1fe 197 Alt_buff[Cnt_buff+1] = Alt_now;
sashida_h 10:273500c77873 198 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 5:bb9c685fc1fe 199 // twe.printf("Cnt_para:%d\r\n", Cnt_para);
sashida_h 5:bb9c685fc1fe 200 Cnt_buff++;
sashida_h 6:e9004c78b394 201 if(Cnt_para == 10 || t > TIMER){ //頂点！！！
sashida_h 6:e9004c78b394 202 kaihou.detach(); //SD閉じる前にサーボ動かす前にTicker止める
sashida_h 6:e9004c78b394 203 fprintf(fp,"OPEN!\r\n");
sashida_h 10:273500c77873 204 fclose(fp);
sashida_h 10:273500c77873 205 lfp = fopen("/local/Alt.txt","a");
sashida_h 10:273500c77873 206 fprintf(lfp, "MAX:%f\r\n",Max_Alt);
sashida_h 10:273500c77873 207 fclose(lfp);
sashida_h 5:bb9c685fc1fe 208 _para(UNLOCK);
sashida_h 5:bb9c685fc1fe 209 tf_para = false;
sashida_h 5:bb9c685fc1fe 210 timer1.stop();
sashida_h 7:852922a4058a 211 twe.printf("PARA_OPEN\r\n");
sashida_h 9:b10aaf72d100 212 twe.printf("GPS_MODE_ON!!!!\r\n");
sashida_h 9:b10aaf72d100 213
sashida_h 9:b10aaf72d100 214 ochiru.attach(_recovery,0.2); //パラメータ保存のためのやつ
sashida_h 5:bb9c685fc1fe 215
sashida_h 5:bb9c685fc1fe 216 }
sashida_h 5:bb9c685fc1fe 217 }
sashida_h 2:0deade364b73 218 }
sashida_h 7:852922a4058a 219
sashida_h 7:852922a4058a 220 if(Cnt_buff == 250) Cnt_buff = 0;
sashida_h 5:bb9c685fc1fe 221
mbed_official 0:bdbd3d6fc5d5 222 }
sashida_h 2:0deade364b73 223
sashida_h 5:bb9c685fc1fe 224 void _recovery(){
sashida_h 2:0deade364b73 225
sashida_h 7:852922a4058a 226 if(i == 0){
sashida_h 2:0deade364b73 227 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 2:0deade364b73 228 if(fp == NULL)twe.printf("ERROR\r\n");
sashida_h 2:0deade364b73 229 }
sashida_h 2:0deade364b73 230
sashida_h 5:bb9c685fc1fe 231 bmp.ReadData(&temperature,&pressure);
sashida_h 5:bb9c685fc1fe 232 mpu.getAccelero(a);
sashida_h 5:bb9c685fc1fe 233 mpu.getGyro(d);
sashida_h 5:bb9c685fc1fe 234 Alt_now = get_Alt(pressure, temperature);
sashida_h 5:bb9c685fc1fe 235 Alt_now = Alt_now - Alt_gnd;
sashida_h 5:bb9c685fc1fe 236 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 237 i++;
sashida_h 2:0deade364b73 238
sashida_h 7:852922a4058a 239 if(i == 50){
sashida_h 5:bb9c685fc1fe 240 fclose(fp);
sashida_h 9:b10aaf72d100 241 i = 0;
sashida_h 2:0deade364b73 242 }
sashida_h 2:0deade364b73 243 }
sashida_h 2:0deade364b73 244 float get_Alt(float press, float temp){
sashida_h 2:0deade364b73 245 return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
sashida_h 2:0deade364b73 246 }
sashida_h 2:0deade364b73 247
sashida_h 2:0deade364b73 248 float median(float data[], int num){//todo:処理時間計測
sashida_h 2:0deade364b73 249 float *data_cpy, ans;
sashida_h 2:0deade364b73 250 data_cpy = new float[num];
sashida_h 2:0deade364b73 251 memcpy(data_cpy,data,sizeof(float)*num);
sashida_h 2:0deade364b73 252
sashida_h 2:0deade364b73 253 for(int i=0; i<num; i++){
sashida_h 2:0deade364b73 254 for(int j=0; j<num-i-1; j++){
sashida_h 2:0deade364b73 255 if(data_cpy[j]>data_cpy[j+1]){
sashida_h 2:0deade364b73 256 float buff = data_cpy[j+1];
sashida_h 2:0deade364b73 257 data_cpy[j+1] = data_cpy[j];
sashida_h 2:0deade364b73 258 data_cpy[j] = buff;
sashida_h 2:0deade364b73 259 }
sashida_h 2:0deade364b73 260 }
sashida_h 2:0deade364b73 261 }
sashida_h 2:0deade364b73 262
sashida_h 2:0deade364b73 263 if(num%2!=0) ans = data_cpy[num/2];
sashida_h 2:0deade364b73 264 else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
sashida_h 2:0deade364b73 265 delete[] data_cpy;
sashida_h 2:0deade364b73 266 return ans;
sashida_h 2:0deade364b73 267 }
sashida_h 2:0deade364b73 268
sashida_h 2:0deade364b73 269
sashida_h 2:0deade364b73 270 float _DMS2DEG(float raw_data){
sashida_h 2:0deade364b73 271 int d = (int)(raw_data/100);
sashida_h 2:0deade364b73 272 float m = (raw_data - (float)d*100);
sashida_h 2:0deade364b73 273 return (float)d + m/60;
sashida_h 2:0deade364b73 274 }
sashida_h 2:0deade364b73 275
sashida_h 2:0deade364b73 276 void _para(int motion){
sashida_h 2:0deade364b73 277 if(motion==UNLOCK){
sashida_h 9:b10aaf72d100 278 servo_para.pulsewidth(0.001); // pulse servo out sita
sashida_h 2:0deade364b73 279 }else if(motion==LOCK){
sashida_h 9:b10aaf72d100 280 servo_para.pulsewidth(0.002); // pulse servo outu sita
sashida_h 2:0deade364b73 281 }
sashida_h 10:273500c77873 282 }
sashida_h 10:273500c77873 283
sashida_h 10:273500c77873 284 int _input(char c){
sashida_h 10:273500c77873 285
sashida_h 10:273500c77873 286 if(c=='f'){
sashida_h 10:273500c77873 287 return 3;
sashida_h 10:273500c77873 288 }else if(c=='l'){
sashida_h 10:273500c77873 289 return 2;
sashida_h 10:273500c77873 290 }else if(c=='u'){
sashida_h 10:273500c77873 291 return 1;
sashida_h 10:273500c77873 292 }
sashida_h 10:273500c77873 293 return 0;
sashida_h 2:0deade364b73 294 }