201803_oshima_jodam_test
Dependencies: BMP180 MPU6050 SDFileSystem mbed
Fork of SDFileSystem_HelloWorld by
main.cpp@2:0deade364b73, 2018-02-20 (annotated)
- Committer:
- sashida_h
- Date:
- Tue Feb 20 03:02:02 2018 +0000
- Revision:
- 2:0deade364b73
- Parent:
- 0:bdbd3d6fc5d5
- Child:
- 3:a7b39e55d100
201803_oshima_jodan_test;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbed_official | 0:bdbd3d6fc5d5 | 1 | #include "mbed.h" |
sashida_h | 2:0deade364b73 | 2 | #include "BMP180.h" |
sashida_h | 2:0deade364b73 | 3 | #include "MPU6050.h" |
mbed_official | 0:bdbd3d6fc5d5 | 4 | #include "SDFileSystem.h" |
sashida_h | 2:0deade364b73 | 5 | |
sashida_h | 2:0deade364b73 | 6 | #define UNLOCK 1 |
sashida_h | 2:0deade364b73 | 7 | #define LOCK 0 |
sashida_h | 2:0deade364b73 | 8 | #define TIMER 30 |
mbed_official | 0:bdbd3d6fc5d5 | 9 | |
sashida_h | 2:0deade364b73 | 10 | SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board |
sashida_h | 2:0deade364b73 | 11 | BMP180 bmp(p28,p27); |
sashida_h | 2:0deade364b73 | 12 | MPU6050 mpu(p28,p27); |
sashida_h | 2:0deade364b73 | 13 | DigitalIn fly(p20); |
sashida_h | 2:0deade364b73 | 14 | Serial twe(p9,p10); |
sashida_h | 2:0deade364b73 | 15 | Serial gps(p13,p14); |
sashida_h | 2:0deade364b73 | 16 | Serial pc(USBTX,USBRX); |
sashida_h | 2:0deade364b73 | 17 | PwmOut servo_para(p21); |
sashida_h | 2:0deade364b73 | 18 | |
sashida_h | 2:0deade364b73 | 19 | LocalFileSystem local("local"); |
sashida_h | 2:0deade364b73 | 20 | FILE *fp; |
sashida_h | 2:0deade364b73 | 21 | FILE *lfp; |
sashida_h | 2:0deade364b73 | 22 | |
sashida_h | 2:0deade364b73 | 23 | Ticker kaihou; |
sashida_h | 2:0deade364b73 | 24 | Timer timer1; |
sashida_h | 2:0deade364b73 | 25 | |
sashida_h | 2:0deade364b73 | 26 | //カウント変数 |
sashida_h | 2:0deade364b73 | 27 | int Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 28 | int Cnt_para = 0; |
sashida_h | 2:0deade364b73 | 29 | int Cnt_open = 0; |
sashida_h | 2:0deade364b73 | 30 | int i, j, t; |
sashida_h | 2:0deade364b73 | 31 | //高度取得 |
sashida_h | 2:0deade364b73 | 32 | float Alt_buff[10],Alt_gnd,Alt_now, Max_Alt; |
sashida_h | 2:0deade364b73 | 33 | float p0 = 1013.25; //海面気圧 |
sashida_h | 2:0deade364b73 | 34 | float pressure,temperature, Alt; |
sashida_h | 2:0deade364b73 | 35 | //位置情報取得 |
sashida_h | 2:0deade364b73 | 36 | char gps_data[256]; |
sashida_h | 2:0deade364b73 | 37 | int cnt_gps =0; |
sashida_h | 2:0deade364b73 | 38 | //加速度取得 |
sashida_h | 2:0deade364b73 | 39 | float a_abs; |
sashida_h | 2:0deade364b73 | 40 | float a[3]; |
sashida_h | 2:0deade364b73 | 41 | float d[3]; |
sashida_h | 2:0deade364b73 | 42 | |
sashida_h | 2:0deade364b73 | 43 | bool tf_para = true; |
mbed_official | 0:bdbd3d6fc5d5 | 44 | |
sashida_h | 2:0deade364b73 | 45 | float median(float data[], int num); //中央値求める |
sashida_h | 2:0deade364b73 | 46 | float get_Alt(float press, float temp); |
sashida_h | 2:0deade364b73 | 47 | void _open(void); //kaihou |
sashida_h | 2:0deade364b73 | 48 | float _DMS2DEG(float raw_data); //GPSデータ60進数→10進数 |
sashida_h | 2:0deade364b73 | 49 | void _para(int motion); |
sashida_h | 2:0deade364b73 | 50 | |
sashida_h | 2:0deade364b73 | 51 | int main() { |
sashida_h | 2:0deade364b73 | 52 | |
sashida_h | 2:0deade364b73 | 53 | twe.printf("Hello World!\n"); |
sashida_h | 2:0deade364b73 | 54 | /*SDカード動作確認*/ |
mbed_official | 0:bdbd3d6fc5d5 | 55 | mkdir("/sd/mydir", 0777); |
mbed_official | 0:bdbd3d6fc5d5 | 56 | FILE *fp = fopen("/sd/mydir/sdtest.txt", "w"); |
mbed_official | 0:bdbd3d6fc5d5 | 57 | if(fp == NULL) { |
mbed_official | 0:bdbd3d6fc5d5 | 58 | error("Could not open file for write\n"); |
mbed_official | 0:bdbd3d6fc5d5 | 59 | } |
mbed_official | 0:bdbd3d6fc5d5 | 60 | fprintf(fp, "Hello fun SD Card World!"); |
sashida_h | 2:0deade364b73 | 61 | fclose(fp); |
sashida_h | 2:0deade364b73 | 62 | |
sashida_h | 2:0deade364b73 | 63 | bmp.Initialize(60,BMP180_OSS_ULTRA_LOW_POWER); |
sashida_h | 2:0deade364b73 | 64 | mpu.setAcceleroRange(0); |
sashida_h | 2:0deade364b73 | 65 | mpu.setGyroRange(0); |
sashida_h | 2:0deade364b73 | 66 | twe.printf("I2C_initialize_ok\r\n"); |
sashida_h | 2:0deade364b73 | 67 | |
sashida_h | 2:0deade364b73 | 68 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 69 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 2:0deade364b73 | 70 | Alt_buff[i]=get_Alt(pressure, temperature); |
sashida_h | 2:0deade364b73 | 71 | } |
sashida_h | 2:0deade364b73 | 72 | |
sashida_h | 2:0deade364b73 | 73 | Alt_gnd = median(Alt_buff, 10); |
sashida_h | 2:0deade364b73 | 74 | |
sashida_h | 2:0deade364b73 | 75 | fp = fopen("/sd/mydir/sdtest.txt", "w"); |
sashida_h | 2:0deade364b73 | 76 | if(fp == NULL) { |
sashida_h | 2:0deade364b73 | 77 | error("Could not open file for write\n"); |
sashida_h | 2:0deade364b73 | 78 | } |
sashida_h | 2:0deade364b73 | 79 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 80 | fprintf(fp, "%d:%f\r\n",i+1,Alt_buff[i]); |
sashida_h | 2:0deade364b73 | 81 | } |
sashida_h | 2:0deade364b73 | 82 | |
sashida_h | 2:0deade364b73 | 83 | fprintf(fp, "Alt_gnd:%f\r\n",Alt_gnd); |
sashida_h | 2:0deade364b73 | 84 | fclose(fp); |
sashida_h | 2:0deade364b73 | 85 | |
sashida_h | 2:0deade364b73 | 86 | twe.printf("Alt_gnd:%f\r\n",Alt_gnd); |
sashida_h | 2:0deade364b73 | 87 | twe.printf("Standby ok!\r\n"); |
sashida_h | 2:0deade364b73 | 88 | |
sashida_h | 2:0deade364b73 | 89 | while(fly == 1); //フライトピン抜けるまで待機 |
sashida_h | 2:0deade364b73 | 90 | |
sashida_h | 2:0deade364b73 | 91 | timer1.start(); |
sashida_h | 2:0deade364b73 | 92 | kaihou.attach(_open, 0.05); |
sashida_h | 2:0deade364b73 | 93 | |
sashida_h | 2:0deade364b73 | 94 | while(1){ |
sashida_h | 2:0deade364b73 | 95 | |
mbed_official | 0:bdbd3d6fc5d5 | 96 | |
sashida_h | 2:0deade364b73 | 97 | /* GPS取得&送信 */ |
sashida_h | 2:0deade364b73 | 98 | gps_data[cnt_gps] = gps.getc(); |
sashida_h | 2:0deade364b73 | 99 | if(gps_data[cnt_gps] == '$' || cnt_gps ==256){ |
sashida_h | 2:0deade364b73 | 100 | cnt_gps = 0; |
sashida_h | 2:0deade364b73 | 101 | memset(gps_data,'\0',256); |
sashida_h | 2:0deade364b73 | 102 | }else if(gps_data[cnt_gps] == '\r'){ |
sashida_h | 2:0deade364b73 | 103 | float world_time, lon_east, lat_north; |
sashida_h | 2:0deade364b73 | 104 | int rlock, sat_num; |
sashida_h | 2:0deade364b73 | 105 | char lat,lon; |
sashida_h | 2:0deade364b73 | 106 | 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 | 107 | if(rlock==1){ |
sashida_h | 2:0deade364b73 | 108 | lat_north = _DMS2DEG(lat_north); |
sashida_h | 2:0deade364b73 | 109 | lon_east = _DMS2DEG(lon_east); |
sashida_h | 2:0deade364b73 | 110 | // pc.printf("phase:%d,max altitude:%f\r\n",Phase,Max_Alt); |
sashida_h | 2:0deade364b73 | 111 | // twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 112 | 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 | 113 | }else{ |
sashida_h | 2:0deade364b73 | 114 | // pc.printf("max altitude:%f\r\n",Max_Alt); |
sashida_h | 2:0deade364b73 | 115 | twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 116 | } |
sashida_h | 2:0deade364b73 | 117 | twe.printf("MAX:%f,%d\r\n",Max_Alt); |
sashida_h | 2:0deade364b73 | 118 | } |
sashida_h | 2:0deade364b73 | 119 | }else{ |
sashida_h | 2:0deade364b73 | 120 | cnt_gps++; |
sashida_h | 2:0deade364b73 | 121 | } |
sashida_h | 2:0deade364b73 | 122 | |
sashida_h | 2:0deade364b73 | 123 | } |
sashida_h | 2:0deade364b73 | 124 | |
sashida_h | 2:0deade364b73 | 125 | |
mbed_official | 0:bdbd3d6fc5d5 | 126 | } |
sashida_h | 2:0deade364b73 | 127 | |
sashida_h | 2:0deade364b73 | 128 | void _open(){ |
sashida_h | 2:0deade364b73 | 129 | |
sashida_h | 2:0deade364b73 | 130 | if(Cnt_open == 0){ |
sashida_h | 2:0deade364b73 | 131 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 132 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 2:0deade364b73 | 133 | } |
sashida_h | 2:0deade364b73 | 134 | |
sashida_h | 2:0deade364b73 | 135 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 2:0deade364b73 | 136 | mpu.getAccelero(a); |
sashida_h | 2:0deade364b73 | 137 | mpu.getGyro(d); |
sashida_h | 2:0deade364b73 | 138 | |
sashida_h | 2:0deade364b73 | 139 | Alt_now = get_Alt(pressure, temperature); |
sashida_h | 2:0deade364b73 | 140 | |
sashida_h | 2:0deade364b73 | 141 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 2:0deade364b73 | 142 | |
sashida_h | 2:0deade364b73 | 143 | if(Alt_now > Max_Alt){ |
sashida_h | 2:0deade364b73 | 144 | Max_Alt = Alt_now ; |
sashida_h | 2:0deade364b73 | 145 | } |
sashida_h | 2:0deade364b73 | 146 | |
sashida_h | 2:0deade364b73 | 147 | if(tf_para == true){ //パラ開く前は頂点判定する |
sashida_h | 2:0deade364b73 | 148 | Alt_buff[Cnt_buff+1] = Alt_now; |
sashida_h | 2:0deade364b73 | 149 | if(Alt_buff[Cnt_buff]>Alt_buff[Cnt_buff+1]) Cnt_para++; //直前の値より小さければカウント+1 |
sashida_h | 2:0deade364b73 | 150 | twe.printf("Cnt_para:%d\r\n", Cnt_para); |
sashida_h | 2:0deade364b73 | 151 | } |
sashida_h | 2:0deade364b73 | 152 | |
sashida_h | 2:0deade364b73 | 153 | if(Cnt_buff == 10 && tf_para == true){ |
sashida_h | 2:0deade364b73 | 154 | t = timer1.read(); |
sashida_h | 2:0deade364b73 | 155 | if(Cnt_para>=7 || t > TIMER){ //10回中6回小さけれ落下と判断(最初はぜってぇ大きいから実質6/9) |
sashida_h | 2:0deade364b73 | 156 | _para(UNLOCK); |
sashida_h | 2:0deade364b73 | 157 | tf_para = false; |
sashida_h | 2:0deade364b73 | 158 | timer1.stop(); |
sashida_h | 2:0deade364b73 | 159 | twe.printf("PARA_OPEN\r\n"); |
sashida_h | 2:0deade364b73 | 160 | } |
sashida_h | 2:0deade364b73 | 161 | Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 162 | Cnt_para = 0; |
sashida_h | 2:0deade364b73 | 163 | } |
sashida_h | 2:0deade364b73 | 164 | |
sashida_h | 2:0deade364b73 | 165 | |
sashida_h | 2:0deade364b73 | 166 | 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 | 2:0deade364b73 | 167 | twe.printf("%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 | 2:0deade364b73 | 168 | Cnt_buff++; |
sashida_h | 2:0deade364b73 | 169 | Cnt_open++; |
sashida_h | 2:0deade364b73 | 170 | |
sashida_h | 2:0deade364b73 | 171 | if(Cnt_open == 20){ |
sashida_h | 2:0deade364b73 | 172 | fclose(fp); |
sashida_h | 2:0deade364b73 | 173 | |
sashida_h | 2:0deade364b73 | 174 | Cnt_open = 0; |
sashida_h | 2:0deade364b73 | 175 | } |
sashida_h | 2:0deade364b73 | 176 | |
sashida_h | 2:0deade364b73 | 177 | } |
sashida_h | 2:0deade364b73 | 178 | |
sashida_h | 2:0deade364b73 | 179 | float get_Alt(float press, float temp){ |
sashida_h | 2:0deade364b73 | 180 | return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f; |
sashida_h | 2:0deade364b73 | 181 | } |
sashida_h | 2:0deade364b73 | 182 | |
sashida_h | 2:0deade364b73 | 183 | float median(float data[], int num){//todo:処理時間計測 |
sashida_h | 2:0deade364b73 | 184 | float *data_cpy, ans; |
sashida_h | 2:0deade364b73 | 185 | data_cpy = new float[num]; |
sashida_h | 2:0deade364b73 | 186 | memcpy(data_cpy,data,sizeof(float)*num); |
sashida_h | 2:0deade364b73 | 187 | |
sashida_h | 2:0deade364b73 | 188 | for(int i=0; i<num; i++){ |
sashida_h | 2:0deade364b73 | 189 | for(int j=0; j<num-i-1; j++){ |
sashida_h | 2:0deade364b73 | 190 | if(data_cpy[j]>data_cpy[j+1]){ |
sashida_h | 2:0deade364b73 | 191 | float buff = data_cpy[j+1]; |
sashida_h | 2:0deade364b73 | 192 | data_cpy[j+1] = data_cpy[j]; |
sashida_h | 2:0deade364b73 | 193 | data_cpy[j] = buff; |
sashida_h | 2:0deade364b73 | 194 | } |
sashida_h | 2:0deade364b73 | 195 | } |
sashida_h | 2:0deade364b73 | 196 | } |
sashida_h | 2:0deade364b73 | 197 | |
sashida_h | 2:0deade364b73 | 198 | if(num%2!=0) ans = data_cpy[num/2]; |
sashida_h | 2:0deade364b73 | 199 | else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; |
sashida_h | 2:0deade364b73 | 200 | delete[] data_cpy; |
sashida_h | 2:0deade364b73 | 201 | return ans; |
sashida_h | 2:0deade364b73 | 202 | } |
sashida_h | 2:0deade364b73 | 203 | |
sashida_h | 2:0deade364b73 | 204 | |
sashida_h | 2:0deade364b73 | 205 | float _DMS2DEG(float raw_data){ |
sashida_h | 2:0deade364b73 | 206 | int d = (int)(raw_data/100); |
sashida_h | 2:0deade364b73 | 207 | float m = (raw_data - (float)d*100); |
sashida_h | 2:0deade364b73 | 208 | return (float)d + m/60; |
sashida_h | 2:0deade364b73 | 209 | } |
sashida_h | 2:0deade364b73 | 210 | |
sashida_h | 2:0deade364b73 | 211 | void _para(int motion){ |
sashida_h | 2:0deade364b73 | 212 | if(motion==UNLOCK){ |
sashida_h | 2:0deade364b73 | 213 | servo_para.pulsewidth(0.0005); // pulse servo out sita |
sashida_h | 2:0deade364b73 | 214 | }else if(motion==LOCK){ |
sashida_h | 2:0deade364b73 | 215 | servo_para.pulsewidth(0.0025); // pulse servo outu sita |
sashida_h | 2:0deade364b73 | 216 | } |
sashida_h | 2:0deade364b73 | 217 | } |