Diff: main.cpp

Revision:

0:46c26a53f6e3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Sep 08 16:45:14 2022 +0000
@@ -0,0 +1,152 @@
+/*
+説明
+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
+
+ライブラリ
+https://developer.mbed.org/users/spiridion/code/BMP180/
+
+以下ピン配置
+Nucleo  BMP180
+GND-----GND-------0V
++3V3----VIN
+D4------SDA
+D5------SCL
+
+*/
+#include "mbed.h"
+#include "BMP180.h"
+#define p0 1013.25f//海面気圧
+
+DigitalOut led(PA_8);
+DigitalIn flyp(PF_0);
+DigitalOut cutp1(PB_0);
+DigitalOut cutp2(PB_1);
+BMP180  bmp(PB_7, PB_6);
+Serial  dbg(PA_9, PA_10);
+Timer timer;
+
+float getAlt(float press, float temp);
+
+#define GUDGE_WAIT_TIME     600 //[sec] 60*10
+#define GUDGE_LIMIT_TIME    1800
+#define CUT_ON_TIME         50 //ニクロム線の電源ON時間 [sec]
+#define GUDGE_HIGHT         2 //[m]
+
+int main() {
+    led = 1;
+    dbg.printf("Hello\r\n");
+    cutp1 = 0;
+    cutp2 = 0;
+    float pressure,temperature,alt_gnd,alt_now;
+    float alt[30];
+    float time;
+    int i = 0;   
+    bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER);  //BMP180初期化
+    alt_gnd = 0.0;
+    int time_cnt = 0;
+    //地上高度取得（10回の平均値）
+    for(i =0; i < 10; i++){
+        bmp.ReadData(&temperature,&pressure);
+        alt_gnd = alt_gnd + getAlt(pressure,temperature);
+    }
+    alt_gnd = alt_gnd/10.0;
+    dbg.printf("GND:%f",alt_gnd);
+    dbg.printf("standby\r\n");
+    led = 0;
+    
+    i=0;
+    
+    while(i < 10){   //フライトピン抜けるまで待つ
+        if(flyp == 0){
+            i++;
+        }else{
+            i = 0;
+        }
+        wait(0.5);
+        dbg.printf("%d",i);
+        led = !led;
+    }
+    
+    dbg.printf("rerease\r\n");
+    timer.start();
+    wait(5.0);  //落ち着くまで待つ
+    led = 0;
+    i = 1;
+    int cnt = 0;
+    
+    //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．
+    while(1){
+         wait(0.1);
+         bmp.ReadData(&temperature,&pressure);
+         alt_now = getAlt(pressure,temperature) - alt_gnd;
+         dbg.printf("NOW:%f\r\n",alt_now);
+         time = timer.read();
+         
+         if(alt_now < GUDGE_HIGHT){
+             cnt++;
+        }
+        
+         if(time > GUDGE_WAIT_TIME && cnt > 10){
+             time_cnt ++;
+             timer.reset();
+             wait(0.1);
+             timer.start();
+        }
+         if(time_cnt == 1) break;
+    }
+    dbg.printf("under10m\r\n");
+    led = 0;
+    wait(2.0);
+    float land = 0.0;
+    cnt = 0;
+    led = 1;
+    //30分たつ又は高度変化が1mいない，で着地判定
+    while(1) {
+        bmp.ReadData(&temperature,&pressure);
+        time = timer.read();
+        if(time > GUDGE_LIMIT_TIME){
+             time_cnt ++;
+             timer.reset();
+             wait(0.1);
+             timer.start();
+        }
+        alt[i] = getAlt(pressure,temperature);
+        dbg.printf("alt[%d]:%f",i,alt[i]);
+        if(i > 0){
+            land = alt[i-1] - alt[i];
+            if(land < 0.0f) land = land * (-1.0f);    //-を＋に
+            if(land < 1.0f) cnt++;   //約1秒前との高度差が1m未満の場合，カウント
+        }
+        if(i == 30){    //30カウント（約30秒）でカウントリセット
+            i = 0;
+            cnt = 0;
+        }
+        dbg.printf("cnt:%d\r\n",cnt);
+        if(time_cnt == 2 || cnt == 10) 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
+        wait(1.0);
+        i ++;
+    }
+    timer.stop();
+    //ニクロム線に10秒ずつ電流流すを繰り返す
+    while(1){
+        cutp1 = 1;
+        //for(i = 0;i)
+        led = 0;
+        wait(CUT_ON_TIME);
+        cutp1 = 0;
+        wait(1);
+        cutp2 = 1;
+        led = 1;
+        wait(CUT_ON_TIME);
+        cutp2 = 0;
+        wait(1);
+        while(flyp == 1){
+            dbg.printf("stop\r\n");
+            wait(1);
+        }
+    }
+}
+
+float getAlt(float press, float temp){
+    return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
+}
\ No newline at end of file