201803_oshima_jodam_test
Dependencies: BMP180 MPU6050 SDFileSystem mbed
Fork of SDFileSystem_HelloWorld by
main.cpp@6:e9004c78b394, 2018-03-06 (annotated)
- Committer:
- sashida_h
- Date:
- Tue Mar 06 07:05:23 2018 +0000
- Revision:
- 6:e9004c78b394
- Parent:
- 5:bb9c685fc1fe
- Child:
- 7:852922a4058a
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Who changed what in which revision?
User | Revision | Line number | New 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 |
mbed_official | 0:bdbd3d6fc5d5 | 11 | |
sashida_h | 2:0deade364b73 | 12 | SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board |
sashida_h | 2:0deade364b73 | 13 | BMP180 bmp(p28,p27); |
sashida_h | 2:0deade364b73 | 14 | MPU6050 mpu(p28,p27); |
sashida_h | 5:bb9c685fc1fe | 15 | DigitalIn fly(p12); |
sashida_h | 5:bb9c685fc1fe | 16 | DigitalOut myled(p20); |
sashida_h | 5:bb9c685fc1fe | 17 | DigitalOut myled2(p19); |
sashida_h | 5:bb9c685fc1fe | 18 | DigitalOut myled3(p18); |
sashida_h | 5:bb9c685fc1fe | 19 | DigitalOut myled4(LED1); |
sashida_h | 5:bb9c685fc1fe | 20 | DigitalOut myled5(LED2); |
sashida_h | 5:bb9c685fc1fe | 21 | DigitalOut myled6(LED3); |
sashida_h | 5:bb9c685fc1fe | 22 | DigitalOut myled7(LED4); |
sashida_h | 2:0deade364b73 | 23 | Serial twe(p9,p10); |
sashida_h | 2:0deade364b73 | 24 | Serial gps(p13,p14); |
sashida_h | 2:0deade364b73 | 25 | Serial pc(USBTX,USBRX); |
sashida_h | 5:bb9c685fc1fe | 26 | PwmOut servo_para(p23); |
sashida_h | 2:0deade364b73 | 27 | |
sashida_h | 2:0deade364b73 | 28 | LocalFileSystem local("local"); |
sashida_h | 2:0deade364b73 | 29 | FILE *fp; |
sashida_h | 2:0deade364b73 | 30 | FILE *lfp; |
sashida_h | 2:0deade364b73 | 31 | |
sashida_h | 2:0deade364b73 | 32 | Ticker kaihou; |
sashida_h | 5:bb9c685fc1fe | 33 | Ticker ochiru; |
sashida_h | 2:0deade364b73 | 34 | Timer timer1; |
sashida_h | 5:bb9c685fc1fe | 35 | |
sashida_h | 3:a7b39e55d100 | 36 | /*とりあえず全てグローバル変数化してます。*/ |
sashida_h | 2:0deade364b73 | 37 | //カウント変数 |
sashida_h | 2:0deade364b73 | 38 | int Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 39 | int Cnt_para = 0; |
sashida_h | 2:0deade364b73 | 40 | int Cnt_open = 0; |
sashida_h | 5:bb9c685fc1fe | 41 | int i, j, t, t1; |
sashida_h | 2:0deade364b73 | 42 | //高度取得 |
sashida_h | 5:bb9c685fc1fe | 43 | float Alt_buff[256],Alt_buff2[10],Alt_gnd,Alt_now, Max_Alt; |
sashida_h | 2:0deade364b73 | 44 | float p0 = 1013.25; //海面気圧 |
sashida_h | 2:0deade364b73 | 45 | float pressure,temperature, Alt; |
sashida_h | 2:0deade364b73 | 46 | //位置情報取得 |
sashida_h | 2:0deade364b73 | 47 | char gps_data[256]; |
sashida_h | 2:0deade364b73 | 48 | int cnt_gps =0; |
sashida_h | 2:0deade364b73 | 49 | //加速度取得 |
sashida_h | 2:0deade364b73 | 50 | float a_abs; |
sashida_h | 2:0deade364b73 | 51 | float a[3]; |
sashida_h | 2:0deade364b73 | 52 | float d[3]; |
sashida_h | 2:0deade364b73 | 53 | |
sashida_h | 2:0deade364b73 | 54 | bool tf_para = true; |
sashida_h | 5:bb9c685fc1fe | 55 | |
sashida_h | 2:0deade364b73 | 56 | float median(float data[], int num); //中央値求める |
sashida_h | 2:0deade364b73 | 57 | float get_Alt(float press, float temp); |
sashida_h | 2:0deade364b73 | 58 | void _open(void); //kaihou |
sashida_h | 2:0deade364b73 | 59 | float _DMS2DEG(float raw_data); //GPSデータ60進数→10進数 |
sashida_h | 2:0deade364b73 | 60 | void _para(int motion); |
sashida_h | 5:bb9c685fc1fe | 61 | void _recovery(); |
sashida_h | 5:bb9c685fc1fe | 62 | |
sashida_h | 2:0deade364b73 | 63 | int main() { |
sashida_h | 5:bb9c685fc1fe | 64 | twe.baud(115200); |
sashida_h | 5:bb9c685fc1fe | 65 | twe.printf("Hello World!\r\n"); |
sashida_h | 2:0deade364b73 | 66 | |
sashida_h | 5:bb9c685fc1fe | 67 | _para(LOCK); |
sashida_h | 2:0deade364b73 | 68 | |
sashida_h | 2:0deade364b73 | 69 | mpu.setAcceleroRange(0); |
sashida_h | 2:0deade364b73 | 70 | mpu.setGyroRange(0); |
sashida_h | 5:bb9c685fc1fe | 71 | bmp.Initialize(60,BMP180_OSS_ULTRA_LOW_POWER); |
sashida_h | 2:0deade364b73 | 72 | twe.printf("I2C_initialize_ok\r\n"); |
sashida_h | 5:bb9c685fc1fe | 73 | |
sashida_h | 3:a7b39e55d100 | 74 | |
sashida_h | 5:bb9c685fc1fe | 75 | //地上高度取得 |
sashida_h | 5:bb9c685fc1fe | 76 | Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 77 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 78 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 2:0deade364b73 | 79 | Alt_buff[i]=get_Alt(pressure, temperature); |
sashida_h | 2:0deade364b73 | 80 | } |
sashida_h | 2:0deade364b73 | 81 | Alt_gnd = median(Alt_buff, 10); |
sashida_h | 2:0deade364b73 | 82 | |
sashida_h | 5:bb9c685fc1fe | 83 | twe.printf("Alt_gnd:%f\r\n", Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 84 | |
sashida_h | 5:bb9c685fc1fe | 85 | lfp = fopen("/local/Alt.txt","a"); |
sashida_h | 5:bb9c685fc1fe | 86 | fprintf(lfp, "GND:%f\r\n",Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 87 | fclose(lfp); |
sashida_h | 5:bb9c685fc1fe | 88 | twe.printf("lacal_ok\r\n"); |
sashida_h | 5:bb9c685fc1fe | 89 | |
sashida_h | 5:bb9c685fc1fe | 90 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 91 | if(fp == NULL) { |
sashida_h | 2:0deade364b73 | 92 | error("Could not open file for write\n"); |
sashida_h | 2:0deade364b73 | 93 | } |
sashida_h | 2:0deade364b73 | 94 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 95 | fprintf(fp, "%d:%f\r\n",i+1,Alt_buff[i]); |
sashida_h | 2:0deade364b73 | 96 | } |
sashida_h | 2:0deade364b73 | 97 | |
sashida_h | 2:0deade364b73 | 98 | fprintf(fp, "Alt_gnd:%f\r\n",Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 99 | fclose(fp); |
sashida_h | 2:0deade364b73 | 100 | |
sashida_h | 5:bb9c685fc1fe | 101 | twe.printf("SD_write_OK!!\r\n"); |
sashida_h | 5:bb9c685fc1fe | 102 | |
sashida_h | 5:bb9c685fc1fe | 103 | twe.printf("ALL_READY\r\n"); |
sashida_h | 2:0deade364b73 | 104 | |
sashida_h | 2:0deade364b73 | 105 | while(fly == 1); //フライトピン抜けるまで待機 |
sashida_h | 2:0deade364b73 | 106 | |
sashida_h | 5:bb9c685fc1fe | 107 | i = 0; |
sashida_h | 5:bb9c685fc1fe | 108 | Alt_buff[0] = 0; |
sashida_h | 5:bb9c685fc1fe | 109 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 5:bb9c685fc1fe | 110 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 2:0deade364b73 | 111 | timer1.start(); |
sashida_h | 5:bb9c685fc1fe | 112 | kaihou.attach(_open,1/RATE); |
sashida_h | 5:bb9c685fc1fe | 113 | |
sashida_h | 2:0deade364b73 | 114 | |
sashida_h | 2:0deade364b73 | 115 | while(1){ |
sashida_h | 2:0deade364b73 | 116 | |
sashida_h | 5:bb9c685fc1fe | 117 | /* twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt, Cnt_para); |
sashida_h | 5:bb9c685fc1fe | 118 | wait(1.0); |
sashida_h | 5:bb9c685fc1fe | 119 | */ |
sashida_h | 2:0deade364b73 | 120 | /* GPS取得&送信 */ |
sashida_h | 5:bb9c685fc1fe | 121 | gps_data[cnt_gps] = gps.getc(); |
sashida_h | 2:0deade364b73 | 122 | if(gps_data[cnt_gps] == '$' || cnt_gps ==256){ |
sashida_h | 2:0deade364b73 | 123 | cnt_gps = 0; |
sashida_h | 2:0deade364b73 | 124 | memset(gps_data,'\0',256); |
sashida_h | 2:0deade364b73 | 125 | }else if(gps_data[cnt_gps] == '\r'){ |
sashida_h | 2:0deade364b73 | 126 | float world_time, lon_east, lat_north; |
sashida_h | 2:0deade364b73 | 127 | int rlock, sat_num; |
sashida_h | 2:0deade364b73 | 128 | char lat,lon; |
sashida_h | 2:0deade364b73 | 129 | 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 | 130 | if(rlock==1){ |
sashida_h | 2:0deade364b73 | 131 | lat_north = _DMS2DEG(lat_north); |
sashida_h | 2:0deade364b73 | 132 | lon_east = _DMS2DEG(lon_east); |
sashida_h | 2:0deade364b73 | 133 | // pc.printf("phase:%d,max altitude:%f\r\n",Phase,Max_Alt); |
sashida_h | 2:0deade364b73 | 134 | // twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 135 | 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 | 136 | }else{ |
sashida_h | 2:0deade364b73 | 137 | // pc.printf("max altitude:%f\r\n",Max_Alt); |
sashida_h | 2:0deade364b73 | 138 | twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 139 | } |
sashida_h | 5:bb9c685fc1fe | 140 | twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt,Cnt_para); |
sashida_h | 2:0deade364b73 | 141 | } |
sashida_h | 2:0deade364b73 | 142 | }else{ |
sashida_h | 2:0deade364b73 | 143 | cnt_gps++; |
sashida_h | 2:0deade364b73 | 144 | } |
sashida_h | 2:0deade364b73 | 145 | |
sashida_h | 5:bb9c685fc1fe | 146 | }//while_gps |
sashida_h | 5:bb9c685fc1fe | 147 | }//main |
sashida_h | 5:bb9c685fc1fe | 148 | |
sashida_h | 5:bb9c685fc1fe | 149 | void _open(){ |
sashida_h | 5:bb9c685fc1fe | 150 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 5:bb9c685fc1fe | 151 | mpu.getAccelero(a); |
sashida_h | 5:bb9c685fc1fe | 152 | mpu.getGyro(d); |
sashida_h | 5:bb9c685fc1fe | 153 | Alt_buff2[i] = get_Alt(pressure, temperature); |
sashida_h | 5:bb9c685fc1fe | 154 | i++; |
sashida_h | 6:e9004c78b394 | 155 | if(i == 10){ //10回ごとに中央値計算 |
sashida_h | 5:bb9c685fc1fe | 156 | Alt_now = median(Alt_buff2, 10); |
sashida_h | 5:bb9c685fc1fe | 157 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 5:bb9c685fc1fe | 158 | t = timer1.read(); |
sashida_h | 5:bb9c685fc1fe | 159 | 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 | 160 | if(Alt_now > Max_Alt) Max_Alt = Alt_now; |
sashida_h | 5:bb9c685fc1fe | 161 | i = 0; |
sashida_h | 6:e9004c78b394 | 162 | if(tf_para == true){ //パラ開くまでは頂点判定 |
sashida_h | 5:bb9c685fc1fe | 163 | Alt_buff[Cnt_buff+1] = Alt_now; |
sashida_h | 5:bb9c685fc1fe | 164 | 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 | 5:bb9c685fc1fe | 165 | // twe.printf("Cnt_para:%d\r\n", Cnt_para); |
sashida_h | 5:bb9c685fc1fe | 166 | Cnt_buff++; |
sashida_h | 6:e9004c78b394 | 167 | if(Cnt_para == 10 || t > TIMER){ //頂点!!! |
sashida_h | 6:e9004c78b394 | 168 | kaihou.detach(); //SD閉じる前にサーボ動かす前にTicker止める |
sashida_h | 6:e9004c78b394 | 169 | fprintf(fp,"OPEN!\r\n"); |
sashida_h | 5:bb9c685fc1fe | 170 | fclose(fp); |
sashida_h | 5:bb9c685fc1fe | 171 | _para(UNLOCK); |
sashida_h | 5:bb9c685fc1fe | 172 | tf_para = false; |
sashida_h | 5:bb9c685fc1fe | 173 | timer1.stop(); |
sashida_h | 6:e9004c78b394 | 174 | twe.printf("PARA_OPEN\r\n"); |
sashida_h | 6:e9004c78b394 | 175 | ochiru.attach(_recovery,0.1); //パラメータ保存のためのやつ |
sashida_h | 5:bb9c685fc1fe | 176 | |
sashida_h | 5:bb9c685fc1fe | 177 | } |
sashida_h | 5:bb9c685fc1fe | 178 | } |
sashida_h | 2:0deade364b73 | 179 | } |
sashida_h | 5:bb9c685fc1fe | 180 | |
mbed_official | 0:bdbd3d6fc5d5 | 181 | } |
sashida_h | 2:0deade364b73 | 182 | |
sashida_h | 5:bb9c685fc1fe | 183 | void _recovery(){ |
sashida_h | 2:0deade364b73 | 184 | |
sashida_h | 5:bb9c685fc1fe | 185 | if(Cnt_buff == 0){ |
sashida_h | 2:0deade364b73 | 186 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 187 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 2:0deade364b73 | 188 | } |
sashida_h | 2:0deade364b73 | 189 | |
sashida_h | 5:bb9c685fc1fe | 190 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 5:bb9c685fc1fe | 191 | mpu.getAccelero(a); |
sashida_h | 5:bb9c685fc1fe | 192 | mpu.getGyro(d); |
sashida_h | 5:bb9c685fc1fe | 193 | Alt_now = get_Alt(pressure, temperature); |
sashida_h | 5:bb9c685fc1fe | 194 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 5:bb9c685fc1fe | 195 | 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 | 5:bb9c685fc1fe | 196 | Cnt_buff++; |
sashida_h | 2:0deade364b73 | 197 | |
sashida_h | 5:bb9c685fc1fe | 198 | if(Cnt_buff == 50){ |
sashida_h | 5:bb9c685fc1fe | 199 | fclose(fp); |
sashida_h | 2:0deade364b73 | 200 | Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 201 | } |
sashida_h | 2:0deade364b73 | 202 | } |
sashida_h | 2:0deade364b73 | 203 | float get_Alt(float press, float temp){ |
sashida_h | 2:0deade364b73 | 204 | return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f; |
sashida_h | 2:0deade364b73 | 205 | } |
sashida_h | 2:0deade364b73 | 206 | |
sashida_h | 2:0deade364b73 | 207 | float median(float data[], int num){//todo:処理時間計測 |
sashida_h | 2:0deade364b73 | 208 | float *data_cpy, ans; |
sashida_h | 2:0deade364b73 | 209 | data_cpy = new float[num]; |
sashida_h | 2:0deade364b73 | 210 | memcpy(data_cpy,data,sizeof(float)*num); |
sashida_h | 2:0deade364b73 | 211 | |
sashida_h | 2:0deade364b73 | 212 | for(int i=0; i<num; i++){ |
sashida_h | 2:0deade364b73 | 213 | for(int j=0; j<num-i-1; j++){ |
sashida_h | 2:0deade364b73 | 214 | if(data_cpy[j]>data_cpy[j+1]){ |
sashida_h | 2:0deade364b73 | 215 | float buff = data_cpy[j+1]; |
sashida_h | 2:0deade364b73 | 216 | data_cpy[j+1] = data_cpy[j]; |
sashida_h | 2:0deade364b73 | 217 | data_cpy[j] = buff; |
sashida_h | 2:0deade364b73 | 218 | } |
sashida_h | 2:0deade364b73 | 219 | } |
sashida_h | 2:0deade364b73 | 220 | } |
sashida_h | 2:0deade364b73 | 221 | |
sashida_h | 2:0deade364b73 | 222 | if(num%2!=0) ans = data_cpy[num/2]; |
sashida_h | 2:0deade364b73 | 223 | else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; |
sashida_h | 2:0deade364b73 | 224 | delete[] data_cpy; |
sashida_h | 2:0deade364b73 | 225 | return ans; |
sashida_h | 2:0deade364b73 | 226 | } |
sashida_h | 2:0deade364b73 | 227 | |
sashida_h | 2:0deade364b73 | 228 | |
sashida_h | 2:0deade364b73 | 229 | float _DMS2DEG(float raw_data){ |
sashida_h | 2:0deade364b73 | 230 | int d = (int)(raw_data/100); |
sashida_h | 2:0deade364b73 | 231 | float m = (raw_data - (float)d*100); |
sashida_h | 2:0deade364b73 | 232 | return (float)d + m/60; |
sashida_h | 2:0deade364b73 | 233 | } |
sashida_h | 2:0deade364b73 | 234 | |
sashida_h | 2:0deade364b73 | 235 | void _para(int motion){ |
sashida_h | 2:0deade364b73 | 236 | if(motion==UNLOCK){ |
sashida_h | 2:0deade364b73 | 237 | servo_para.pulsewidth(0.0005); // pulse servo out sita |
sashida_h | 2:0deade364b73 | 238 | }else if(motion==LOCK){ |
sashida_h | 2:0deade364b73 | 239 | servo_para.pulsewidth(0.0025); // pulse servo outu sita |
sashida_h | 2:0deade364b73 | 240 | } |
sashida_h | 2:0deade364b73 | 241 | } |