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@13:4c1633775de7, 2018-03-18 (annotated)

Committer:
sashida_h
Date:
Sun Mar 18 01:20:54 2018 +0000
Revision:
13:4c1633775de7
Parent:
12:c32b14ca0196
Child:
14:16a16047aed2
Child:
15:0f267807ce7c
?

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 2:0deade364b73 24
sashida_h 2:0deade364b73 25 LocalFileSystem local("local");
sashida_h 2:0deade364b73 26 FILE *fp;
sashida_h 2:0deade364b73 27 FILE *lfp;
sashida_h 2:0deade364b73 28
sashida_h 2:0deade364b73 29 Ticker kaihou;
sashida_h 5:bb9c685fc1fe 30 Ticker ochiru;
sashida_h 2:0deade364b73 31 Timer timer1;
sashida_h 5:bb9c685fc1fe 32
sashida_h 3:a7b39e55d100 33 /*とりあえず全てグローバル変数化してます。*/
sashida_h 2:0deade364b73 34 //カウント変数
sashida_h 2:0deade364b73 35 int Cnt_buff = 0;
sashida_h 2:0deade364b73 36 int Cnt_para = 0;
sashida_h 2:0deade364b73 37 int Cnt_open = 0;
sashida_h 8:eb1ebae5f051 38 int i, j, t;
sashida_h 2:0deade364b73 39 //高度取得
sashida_h 5:bb9c685fc1fe 40 float Alt_buff[256],Alt_buff2[10],Alt_gnd,Alt_now, Max_Alt;
sashida_h 2:0deade364b73 41 float p0 = 1013.25; //海面気圧
sashida_h 2:0deade364b73 42 float pressure,temperature, Alt;
sashida_h 2:0deade364b73 43 //位置情報取得
sashida_h 2:0deade364b73 44 char gps_data[256];
sashida_h 2:0deade364b73 45 int cnt_gps =0;
sashida_h 8:eb1ebae5f051 46 //加速度,ジャイロ取得
sashida_h 2:0deade364b73 47 float a_abs;
sashida_h 2:0deade364b73 48 float a[3];
sashida_h 2:0deade364b73 49 float d[3];
sashida_h 2:0deade364b73 50
sashida_h 2:0deade364b73 51 bool tf_para = true;
sashida_h 5:bb9c685fc1fe 52
sashida_h 2:0deade364b73 53 float median(float data[], int num); //中央値求める
sashida_h 2:0deade364b73 54 float get_Alt(float press, float temp);
sashida_h 2:0deade364b73 55 void _open(void); //kaihou
sashida_h 2:0deade364b73 56 float _DMS2DEG(float raw_data); //GPSデータ60進数→10進数
sashida_h 2:0deade364b73 57 void _para(int motion);
sashida_h 5:bb9c685fc1fe 58 void _recovery();
sashida_h 10:273500c77873 59 int _input(char c);
sashida_h 5:bb9c685fc1fe 60
sashida_h 2:0deade364b73 61 int main() {
sashida_h 5:bb9c685fc1fe 62 twe.baud(115200);
sashida_h 5:bb9c685fc1fe 63 twe.printf("Hello World!\r\n");
sashida_h 2:0deade364b73 64
sashida_h 11:0f8d26600248 65 int ret;
sashida_h 11:0f8d26600248 66 lfp = fopen("/local/Alt.txt","r");
sashida_h 11:0f8d26600248 67 if(lfp == NULL){
sashida_h 11:0f8d26600248 68 goto normal;
sashida_h 11:0f8d26600248 69 }
sashida_h 11:0f8d26600248 70 ret = fscanf(lfp,"GND:%f",&Alt_gnd);
sashida_h 11:0f8d26600248 71 fclose(lfp);
sashida_h 11:0f8d26600248 72 if(ret == -1){
sashida_h 11:0f8d26600248 73 goto normal;
sashida_h 11:0f8d26600248 74 }else{
sashida_h 12:c32b14ca0196 75 twe.printf("reboot now\r\n");
sashida_h 11:0f8d26600248 76 goto yabai;
sashida_h 11:0f8d26600248 77 }
sashida_h 11:0f8d26600248 78
sashida_h 11:0f8d26600248 79 normal:
sashida_h 11:0f8d26600248 80
sashida_h 10:273500c77873 81 while(1){
sashida_h 10:273500c77873 82 char c = twe.getc();
sashida_h 10:273500c77873 83 if(_input(c) == 1){
sashida_h 10:273500c77873 84 _para(UNLOCK);
sashida_h 10:273500c77873 85 twe.printf("servo_open\r\n");
sashida_h 10:273500c77873 86 }
sashida_h 10:273500c77873 87 else if(_input(c) == 2){
sashida_h 10:273500c77873 88 _para(LOCK);
sashida_h 10:273500c77873 89 twe.printf("servo_lock\r\n");
sashida_h 10:273500c77873 90 }
sashida_h 10:273500c77873 91 else if(_input(c) == 3){
sashida_h 10:273500c77873 92 break;
sashida_h 10:273500c77873 93 }
sashida_h 10:273500c77873 94
sashida_h 10:273500c77873 95 }
sashida_h 2:0deade364b73 96
sashida_h 2:0deade364b73 97 mpu.setAcceleroRange(0);
sashida_h 2:0deade364b73 98 mpu.setGyroRange(0);
sashida_h 5:bb9c685fc1fe 99 bmp.Initialize(60,BMP180_OSS_ULTRA_LOW_POWER);
sashida_h 2:0deade364b73 100 twe.printf("I2C_initialize_ok\r\n");
sashida_h 5:bb9c685fc1fe 101
sashida_h 3:a7b39e55d100 102
sashida_h 5:bb9c685fc1fe 103 //地上高度取得
sashida_h 5:bb9c685fc1fe 104 Cnt_buff = 0;
sashida_h 2:0deade364b73 105 for(i=0; i<10; i++){
sashida_h 2:0deade364b73 106 bmp.ReadData(&temperature,&pressure);
sashida_h 2:0deade364b73 107 Alt_buff[i]=get_Alt(pressure, temperature);
sashida_h 2:0deade364b73 108 }
sashida_h 2:0deade364b73 109 Alt_gnd = median(Alt_buff, 10);
sashida_h 2:0deade364b73 110
sashida_h 5:bb9c685fc1fe 111 twe.printf("Alt_gnd:%f\r\n", Alt_gnd);
sashida_h 5:bb9c685fc1fe 112
sashida_h 5:bb9c685fc1fe 113 lfp = fopen("/local/Alt.txt","a");
sashida_h 5:bb9c685fc1fe 114 fprintf(lfp, "GND:%f\r\n",Alt_gnd);
sashida_h 5:bb9c685fc1fe 115 fclose(lfp);
sashida_h 5:bb9c685fc1fe 116 twe.printf("lacal_ok\r\n");
sashida_h 5:bb9c685fc1fe 117
sashida_h 5:bb9c685fc1fe 118 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 2:0deade364b73 119 if(fp == NULL) {
sashida_h 2:0deade364b73 120 error("Could not open file for write\n");
sashida_h 2:0deade364b73 121 }
sashida_h 2:0deade364b73 122 for(i=0; i<10; i++){
sashida_h 2:0deade364b73 123 fprintf(fp, "%d:%f\r\n",i+1,Alt_buff[i]);
sashida_h 2:0deade364b73 124 }
sashida_h 2:0deade364b73 125
sashida_h 2:0deade364b73 126 fprintf(fp, "Alt_gnd:%f\r\n",Alt_gnd);
sashida_h 5:bb9c685fc1fe 127 fclose(fp);
sashida_h 2:0deade364b73 128
sashida_h 5:bb9c685fc1fe 129 twe.printf("SD_write_OK!!\r\n");
sashida_h 5:bb9c685fc1fe 130
sashida_h 5:bb9c685fc1fe 131 twe.printf("ALL_READY\r\n");
sashida_h 2:0deade364b73 132
sashida_h 2:0deade364b73 133 while(fly == 1); //フライトピン抜けるまで待機
sashida_h 2:0deade364b73 134
sashida_h 11:0f8d26600248 135 yabai:
sashida_h 9:b10aaf72d100 136 twe.printf("SEPARATE!!!!!!!\r\n");
sashida_h 5:bb9c685fc1fe 137 i = 0;
sashida_h 5:bb9c685fc1fe 138 Alt_buff[0] = 0;
sashida_h 5:bb9c685fc1fe 139 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 5:bb9c685fc1fe 140 if(fp == NULL)twe.printf("ERROR\r\n");
sashida_h 2:0deade364b73 141 timer1.start();
sashida_h 10:273500c77873 142 // kaihou.attach(_open,1/RATE);
sashida_h 8:eb1ebae5f051 143 kaihou.attach(_open,0.02);
sashida_h 5:bb9c685fc1fe 144
sashida_h 2:0deade364b73 145
sashida_h 2:0deade364b73 146 while(1){
sashida_h 2:0deade364b73 147
sashida_h 5:bb9c685fc1fe 148 /* twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt, Cnt_para);
sashida_h 5:bb9c685fc1fe 149 wait(1.0);
sashida_h 5:bb9c685fc1fe 150 */
sashida_h 2:0deade364b73 151 /* GPS取得&送信 */
sashida_h 5:bb9c685fc1fe 152 gps_data[cnt_gps] = gps.getc();
sashida_h 2:0deade364b73 153 if(gps_data[cnt_gps] == '$' || cnt_gps ==256){
sashida_h 2:0deade364b73 154 cnt_gps = 0;
sashida_h 2:0deade364b73 155 memset(gps_data,'\0',256);
sashida_h 2:0deade364b73 156 }else if(gps_data[cnt_gps] == '\r'){
sashida_h 2:0deade364b73 157 float world_time, lon_east, lat_north;
sashida_h 2:0deade364b73 158 int rlock, sat_num;
sashida_h 2:0deade364b73 159 char lat,lon;
sashida_h 2:0deade364b73 160 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 161 if(rlock==1){
sashida_h 2:0deade364b73 162 lat_north = _DMS2DEG(lat_north);
sashida_h 2:0deade364b73 163 lon_east = _DMS2DEG(lon_east);
sashida_h 2:0deade364b73 164 // pc.printf("phase:%d,max altitude:%f\r\n",Phase,Max_Alt);
sashida_h 2:0deade364b73 165 // twe.printf("%s\r\n",gps_data);
sashida_h 2:0deade364b73 166 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 167 }else{
sashida_h 2:0deade364b73 168 // pc.printf("max altitude:%f\r\n",Max_Alt);
sashida_h 2:0deade364b73 169 twe.printf("%s\r\n",gps_data);
sashida_h 2:0deade364b73 170 }
sashida_h 5:bb9c685fc1fe 171 twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt,Cnt_para);
sashida_h 2:0deade364b73 172 }
sashida_h 2:0deade364b73 173 }else{
sashida_h 2:0deade364b73 174 cnt_gps++;
sashida_h 2:0deade364b73 175 }
sashida_h 2:0deade364b73 176
sashida_h 5:bb9c685fc1fe 177 }//while_gps
sashida_h 5:bb9c685fc1fe 178 }//main
sashida_h 5:bb9c685fc1fe 179
sashida_h 5:bb9c685fc1fe 180 void _open(){
sashida_h 5:bb9c685fc1fe 181 bmp.ReadData(&temperature,&pressure);
sashida_h 5:bb9c685fc1fe 182 mpu.getAccelero(a);
sashida_h 5:bb9c685fc1fe 183 mpu.getGyro(d);
sashida_h 5:bb9c685fc1fe 184 Alt_buff2[i] = get_Alt(pressure, temperature);
sashida_h 5:bb9c685fc1fe 185 i++;
sashida_h 6:e9004c78b394 186 if(i == 10){ //10回ごとに中央値計算
sashida_h 5:bb9c685fc1fe 187 Alt_now = median(Alt_buff2, 10);
sashida_h 5:bb9c685fc1fe 188 Alt_now = Alt_now - Alt_gnd;
sashida_h 5:bb9c685fc1fe 189 t = timer1.read();
sashida_h 5:bb9c685fc1fe 190 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 191 if(Alt_now > Max_Alt) Max_Alt = Alt_now;
sashida_h 5:bb9c685fc1fe 192 i = 0;
sashida_h 6:e9004c78b394 193 if(tf_para == true){ //パラ開くまでは頂点判定
sashida_h 5:bb9c685fc1fe 194 Alt_buff[Cnt_buff+1] = Alt_now;
sashida_h 10:273500c77873 195 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 196 // twe.printf("Cnt_para:%d\r\n", Cnt_para);
sashida_h 5:bb9c685fc1fe 197 Cnt_buff++;
sashida_h 6:e9004c78b394 198 if(Cnt_para == 10 || t > TIMER){ //頂点！！！
sashida_h 6:e9004c78b394 199 kaihou.detach(); //SD閉じる前にサーボ動かす前にTicker止める
sashida_h 6:e9004c78b394 200 fprintf(fp,"OPEN!\r\n");
sashida_h 10:273500c77873 201 fclose(fp);
sashida_h 10:273500c77873 202 lfp = fopen("/local/Alt.txt","a");
sashida_h 10:273500c77873 203 fprintf(lfp, "MAX:%f\r\n",Max_Alt);
sashida_h 10:273500c77873 204 fclose(lfp);
sashida_h 5:bb9c685fc1fe 205 _para(UNLOCK);
sashida_h 5:bb9c685fc1fe 206 tf_para = false;
sashida_h 5:bb9c685fc1fe 207 timer1.stop();
sashida_h 7:852922a4058a 208 twe.printf("PARA_OPEN\r\n");
sashida_h 9:b10aaf72d100 209 twe.printf("GPS_MODE_ON!!!!\r\n");
sashida_h 9:b10aaf72d100 210
sashida_h 9:b10aaf72d100 211 ochiru.attach(_recovery,0.2); //パラメータ保存のためのやつ
sashida_h 5:bb9c685fc1fe 212
sashida_h 5:bb9c685fc1fe 213 }
sashida_h 5:bb9c685fc1fe 214 }
sashida_h 2:0deade364b73 215 }
sashida_h 7:852922a4058a 216
sashida_h 7:852922a4058a 217 if(Cnt_buff == 250) Cnt_buff = 0;
sashida_h 5:bb9c685fc1fe 218
mbed_official 0:bdbd3d6fc5d5 219 }
sashida_h 2:0deade364b73 220
sashida_h 5:bb9c685fc1fe 221 void _recovery(){
sashida_h 2:0deade364b73 222
sashida_h 7:852922a4058a 223 if(i == 0){
sashida_h 2:0deade364b73 224 fp = fopen("/sd/mydir/sdtest.txt", "a");
sashida_h 2:0deade364b73 225 if(fp == NULL)twe.printf("ERROR\r\n");
sashida_h 2:0deade364b73 226 }
sashida_h 2:0deade364b73 227
sashida_h 5:bb9c685fc1fe 228 bmp.ReadData(&temperature,&pressure);
sashida_h 5:bb9c685fc1fe 229 mpu.getAccelero(a);
sashida_h 5:bb9c685fc1fe 230 mpu.getGyro(d);
sashida_h 5:bb9c685fc1fe 231 Alt_now = get_Alt(pressure, temperature);
sashida_h 5:bb9c685fc1fe 232 Alt_now = Alt_now - Alt_gnd;
sashida_h 5:bb9c685fc1fe 233 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 234 i++;
sashida_h 2:0deade364b73 235
sashida_h 7:852922a4058a 236 if(i == 50){
sashida_h 5:bb9c685fc1fe 237 fclose(fp);
sashida_h 9:b10aaf72d100 238 i = 0;
sashida_h 2:0deade364b73 239 }
sashida_h 2:0deade364b73 240 }
sashida_h 2:0deade364b73 241 float get_Alt(float press, float temp){
sashida_h 2:0deade364b73 242 return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
sashida_h 2:0deade364b73 243 }
sashida_h 2:0deade364b73 244
sashida_h 2:0deade364b73 245 float median(float data[], int num){//todo:処理時間計測
sashida_h 2:0deade364b73 246 float *data_cpy, ans;
sashida_h 2:0deade364b73 247 data_cpy = new float[num];
sashida_h 2:0deade364b73 248 memcpy(data_cpy,data,sizeof(float)*num);
sashida_h 2:0deade364b73 249
sashida_h 2:0deade364b73 250 for(int i=0; i<num; i++){
sashida_h 2:0deade364b73 251 for(int j=0; j<num-i-1; j++){
sashida_h 2:0deade364b73 252 if(data_cpy[j]>data_cpy[j+1]){
sashida_h 2:0deade364b73 253 float buff = data_cpy[j+1];
sashida_h 2:0deade364b73 254 data_cpy[j+1] = data_cpy[j];
sashida_h 2:0deade364b73 255 data_cpy[j] = buff;
sashida_h 2:0deade364b73 256 }
sashida_h 2:0deade364b73 257 }
sashida_h 2:0deade364b73 258 }
sashida_h 2:0deade364b73 259
sashida_h 2:0deade364b73 260 if(num%2!=0) ans = data_cpy[num/2];
sashida_h 2:0deade364b73 261 else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
sashida_h 2:0deade364b73 262 delete[] data_cpy;
sashida_h 2:0deade364b73 263 return ans;
sashida_h 2:0deade364b73 264 }
sashida_h 2:0deade364b73 265
sashida_h 2:0deade364b73 266
sashida_h 2:0deade364b73 267 float _DMS2DEG(float raw_data){
sashida_h 2:0deade364b73 268 int d = (int)(raw_data/100);
sashida_h 2:0deade364b73 269 float m = (raw_data - (float)d*100);
sashida_h 2:0deade364b73 270 return (float)d + m/60;
sashida_h 2:0deade364b73 271 }
sashida_h 2:0deade364b73 272
sashida_h 2:0deade364b73 273 void _para(int motion){
sashida_h 2:0deade364b73 274 if(motion==UNLOCK){
sashida_h 9:b10aaf72d100 275 servo_para.pulsewidth(0.001); // pulse servo out sita
sashida_h 2:0deade364b73 276 }else if(motion==LOCK){
sashida_h 9:b10aaf72d100 277 servo_para.pulsewidth(0.002); // pulse servo outu sita
sashida_h 2:0deade364b73 278 }
sashida_h 10:273500c77873 279 }
sashida_h 10:273500c77873 280
sashida_h 10:273500c77873 281 int _input(char c){
sashida_h 10:273500c77873 282
sashida_h 10:273500c77873 283 if(c=='f'){
sashida_h 10:273500c77873 284 return 3;
sashida_h 10:273500c77873 285 }else if(c=='l'){
sashida_h 10:273500c77873 286 return 2;
sashida_h 10:273500c77873 287 }else if(c=='u'){
sashida_h 10:273500c77873 288 return 1;
sashida_h 10:273500c77873 289 }
sashida_h 10:273500c77873 290 return 0;
sashida_h 2:0deade364b73 291 }