Haruki Sashida / Mbed 2 deprecated ARLISS_2018_ver2

ARLISS 2018 parachute board

Dependencies:   mbed BMP180

main.cpp@4:565b7641b0dc, 2022-07-21 (annotated)

Committer:
sashida_h
Date:
Thu Jul 21 07:17:01 2022 +0000
Revision:
4:565b7641b0dc
Parent:
3:24a8901befb6 
Nichrome ON after 20seconds

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mikawataru 1:b9ea35d93329 1 /*
mikawataru 1:b9ea35d93329 2 説明
mikawataru 1:b9ea35d93329 3 Nucleo-F303K8とBMP180を使った気温・気圧・高度計算のサンプルプログラム
mikawataru 1:b9ea35d93329 4
mikawataru 1:b9ea35d93329 5 ライブラリ
mikawataru 1:b9ea35d93329 6 https://developer.mbed.org/users/spiridion/code/BMP180/
mikawataru 1:b9ea35d93329 7
mikawataru 1:b9ea35d93329 8 以下ピン配置
mikawataru 1:b9ea35d93329 9 Nucleo BMP180
mikawataru 1:b9ea35d93329 10 GND-----GND-------0V
mikawataru 1:b9ea35d93329 11 +3V3----VIN
mikawataru 1:b9ea35d93329 12 D4------SDA
mikawataru 1:b9ea35d93329 13 D5------SCL
mikawataru 1:b9ea35d93329 14
mikawataru 1:b9ea35d93329 15 */
mikawataru 0:0ff20d8e9090 16 #include "mbed.h"
mikawataru 0:0ff20d8e9090 17 #include "math.h"
mikawataru 0:0ff20d8e9090 18 #include "BMP180.h"
mikawataru 0:0ff20d8e9090 19 #define p0 1013.25f//海面気圧
mikawataru 0:0ff20d8e9090 20
sashida_h 4:565b7641b0dc 21 DigitalOut led(dp28);
sashida_h 4:565b7641b0dc 22 DigitalOut led2(LED2);
sashida_h 4:565b7641b0dc 23 DigitalIn flyp(dp1);
sashida_h 4:565b7641b0dc 24 DigitalOut cutp1(dp10);
sashida_h 4:565b7641b0dc 25 DigitalOut cutp2(dp6);
sashida_h 4:565b7641b0dc 26 BMP180 bmp(dp5, dp27);
sashida_h 4:565b7641b0dc 27 Serial dbg(dp16,dp15);
mikawataru 0:0ff20d8e9090 28 Timer timer;
mikawataru 0:0ff20d8e9090 29
mikawataru 0:0ff20d8e9090 30 float getAlt(float press, float temp);
mikawataru 0:0ff20d8e9090 31
mikawataru 0:0ff20d8e9090 32 int main() {
sashida_h 4:565b7641b0dc 33 dbg.printf("Hello\r\n");
sashida_h 4:565b7641b0dc 34 cutp1 = 0;
sashida_h 4:565b7641b0dc 35 cutp2 = 0;
sashida_h 4:565b7641b0dc 36 float pressure,temperature,alt_gnd,alt_now;
sashida_h 4:565b7641b0dc 37 float alt[30];
sashida_h 4:565b7641b0dc 38 float time;
sashida_h 4:565b7641b0dc 39 int i = 0;
sashida_h 4:565b7641b0dc 40 bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER); //BMP180初期化
sashida_h 4:565b7641b0dc 41 alt_gnd = 0.0;
sashida_h 4:565b7641b0dc 42 int time_cnt = 0;
sashida_h 4:565b7641b0dc 43 //地上高度取得（10回の平均値）
sashida_h 4:565b7641b0dc 44 for(i =0; i < 10; i++){
sashida_h 4:565b7641b0dc 45 bmp.ReadData(&temperature,&pressure);
sashida_h 4:565b7641b0dc 46 alt_gnd = alt_gnd + getAlt(pressure,temperature);
sashida_h 4:565b7641b0dc 47 }
sashida_h 4:565b7641b0dc 48 alt_gnd = alt_gnd/10.0;
sashida_h 4:565b7641b0dc 49 dbg.printf("GND:%f\r\n",alt_gnd);
sashida_h 4:565b7641b0dc 50 led = 1;
sashida_h 4:565b7641b0dc 51
sashida_h 4:565b7641b0dc 52 //フライトピン抜けてたらエラー
sashida_h 4:565b7641b0dc 53 if(flyp == 0){
sashida_h 4:565b7641b0dc 54 while(1){
sashida_h 4:565b7641b0dc 55 led = !led;
sashida_h 4:565b7641b0dc 56 led2 = !led2;
sashida_h 4:565b7641b0dc 57 wait(0.2);
sashida_h 4:565b7641b0dc 58 }
sashida_h 4:565b7641b0dc 59 }
sashida_h 4:565b7641b0dc 60 dbg.printf("standby\r\n");
sashida_h 4:565b7641b0dc 61 while(flyp == 1); //フライトピン抜けるまで待つ
sashida_h 4:565b7641b0dc 62 dbg.printf("rerease\r\n");
mikawataru 0:0ff20d8e9090 63 timer.start();
sashida_h 4:565b7641b0dc 64 wait(5.0); //落ち着くまで待つ
sashida_h 4:565b7641b0dc 65 led2 = 1;
sashida_h 4:565b7641b0dc 66 led = 0;
sashida_h 4:565b7641b0dc 67 i = 0;
mikawataru 0:0ff20d8e9090 68
sashida_h 4:565b7641b0dc 69 //高度が50m以下または10分たつ，になるまで着地判定はしない．
sashida_h 4:565b7641b0dc 70 while(1){
sashida_h 4:565b7641b0dc 71 bmp.ReadData(&temperature,&pressure);
sashida_h 4:565b7641b0dc 72 alt_now = getAlt(pressure,temperature);
sashida_h 4:565b7641b0dc 73 dbg.printf("NOW:%f[m]\r\n",alt_now - alt_gnd);
sashida_h 4:565b7641b0dc 74 time = timer.read();
sashida_h 4:565b7641b0dc 75 if(time > 10){
sashida_h 4:565b7641b0dc 76 time_cnt ++;
sashida_h 4:565b7641b0dc 77 timer.reset();
sashida_h 4:565b7641b0dc 78 wait(0.1);
sashida_h 4:565b7641b0dc 79 timer.start();
sashida_h 4:565b7641b0dc 80 }
sashida_h 4:565b7641b0dc 81 if(time_cnt == 1) break;
sashida_h 4:565b7641b0dc 82 }
sashida_h 4:565b7641b0dc 83 dbg.printf("under50m\r\n");
sashida_h 4:565b7641b0dc 84 float land = 0.0;
sashida_h 4:565b7641b0dc 85 int cnt = 0;
sashida_h 4:565b7641b0dc 86 led = 1;
sashida_h 4:565b7641b0dc 87 //30分たつ又は高度変化が1mいない，で着地判定
mikawataru 0:0ff20d8e9090 88 while(1) {
mikawataru 0:0ff20d8e9090 89 bmp.ReadData(&temperature,&pressure);
mikawataru 0:0ff20d8e9090 90 time = timer.read();
sashida_h 4:565b7641b0dc 91 if(time > 10){
sashida_h 4:565b7641b0dc 92 time_cnt ++;
sashida_h 4:565b7641b0dc 93 timer.reset();
sashida_h 4:565b7641b0dc 94 wait(0.1);
sashida_h 4:565b7641b0dc 95 timer.start();
sashida_h 4:565b7641b0dc 96 }
sashida_h 4:565b7641b0dc 97 alt[i] = getAlt(pressure,temperature);
sashida_h 4:565b7641b0dc 98 dbg.printf("alt[%d]:%f",i,alt[i]);
sashida_h 4:565b7641b0dc 99 if(i > 0){
sashida_h 4:565b7641b0dc 100 land = alt[i-1] - alt[i];
sashida_h 4:565b7641b0dc 101 if(land < 0) land = land * (-1); //-を＋に
sashida_h 4:565b7641b0dc 102 if(land < 1.0) cnt++; //約1秒前との高度差が1m未満の場合，カウント
sashida_h 4:565b7641b0dc 103 }
sashida_h 4:565b7641b0dc 104 if(i == 30){ //30カウント（約30秒）でカウントリセット
sashida_h 4:565b7641b0dc 105 i = 0;
sashida_h 4:565b7641b0dc 106 cnt = 0;
sashida_h 4:565b7641b0dc 107 }
sashida_h 4:565b7641b0dc 108 dbg.printf("cnt:%d\r\n",cnt);
sashida_h 4:565b7641b0dc 109 if(time_cnt == 2) break; //30カウントのうち10カウント又は30分経過で着地判定
sashida_h 4:565b7641b0dc 110 wait(1.0);
sashida_h 4:565b7641b0dc 111 i ++;
sashida_h 4:565b7641b0dc 112 }
sashida_h 4:565b7641b0dc 113 timer.stop();
sashida_h 4:565b7641b0dc 114 //ニクロム線に10秒ずつ電流流すを繰り返す
sashida_h 4:565b7641b0dc 115 while(1){
sashida_h 4:565b7641b0dc 116 cutp1 = 1;
sashida_h 4:565b7641b0dc 117 led = 0;
sashida_h 4:565b7641b0dc 118 wait(60);
sashida_h 4:565b7641b0dc 119 cutp1 = 0;
mikawataru 0:0ff20d8e9090 120 wait(1);
sashida_h 4:565b7641b0dc 121 cutp2 = 1;
sashida_h 4:565b7641b0dc 122 led = 1;
sashida_h 4:565b7641b0dc 123 wait(60);
sashida_h 4:565b7641b0dc 124 led2 = !led2;
sashida_h 4:565b7641b0dc 125 cutp2 = 0;
sashida_h 4:565b7641b0dc 126 wait(1);
sashida_h 4:565b7641b0dc 127 while(flyp == 1){
sashida_h 4:565b7641b0dc 128 dbg.printf("stop\r\n");
sashida_h 4:565b7641b0dc 129 wait(1);
sashida_h 4:565b7641b0dc 130 }
mikawataru 0:0ff20d8e9090 131 }
mikawataru 0:0ff20d8e9090 132 }
mikawataru 0:0ff20d8e9090 133
mikawataru 0:0ff20d8e9090 134 float getAlt(float press, float temp){
mikawataru 0:0ff20d8e9090 135 return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
mikawataru 0:0ff20d8e9090 136 }