Revision 0:a24fb5835b0f, committed 2020-07-25

Comitter:

Joeatsumi

Date:

Sat Jul 25 11:06:13 2020 +0000

Commit message:

This program is for the prototype measurement circuit of UAV.; The circuit consisted of mbed LPC1768 ,BMX055,BME280 and microSD slot.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Sat Jul 25 11:06:13 2020 +0000
@@ -0,0 +1,4 @@
+.build
+.mbed
+projectfiles
+*.py*

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTRIBUTING.md	Sat Jul 25 11:06:13 2020 +0000
@@ -0,0 +1,5 @@
+# Contributing to Mbed OS
+
+Mbed OS is an open-source, device software platform for the Internet of Things. Contributions are an important part of the platform, and our goal is to make it as simple as possible to become a contributor.
+
+To encourage productive collaboration, as well as robust, consistent and maintainable code, we have a set of guidelines for [contributing to Mbed OS](https://os.mbed.com/docs/mbed-os/latest/contributing/index.html).

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.md	Sat Jul 25 11:06:13 2020 +0000
@@ -0,0 +1,64 @@
+![](./resources/official_armmbed_example_badge.png)
+# Blinky Mbed OS example
+
+The example project is part of the [Arm Mbed OS Official Examples](https://os.mbed.com/code/) and is the [getting started example for Mbed OS](https://os.mbed.com/docs/mbed-os/v5.14/quick-start/index.html). It contains an application that repeatedly blinks an LED on supported [Mbed boards](https://os.mbed.com/platforms/).
+
+You can build the project with all supported [Mbed OS build tools](https://os.mbed.com/docs/mbed-os/latest/tools/index.html). However, this example project specifically refers to the command-line interface tool [Arm Mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli).
+(Note: To see a rendered example you can import into the Arm Online Compiler, please see our [import quick start](https://os.mbed.com/docs/mbed-os/latest/quick-start/online-with-the-online-compiler.html#importing-the-code).)
+
+1. [Install Mbed CLI](https://os.mbed.com/docs/mbed-os/latest/quick-start/offline-with-mbed-cli.html).
+
+1. Clone this repository on your system, and change the current directory to where the project was cloned:
+
+    ```bash
+    $ git clone git@github.com:armmbed/mbed-os-example-blinky && cd mbed-os-example-blinky
+    ```
+
+    Alternatively, you can download the example project with Arm Mbed CLI using the `import` subcommand:
+
+    ```bash
+    $ mbed import mbed-os-example-blinky && cd mbed-os-example-blinky
+    ```
+
+
+## Application functionality
+
+The `main()` function is the single thread in the application. It toggles the state of a digital output connected to an LED on the board.
+
+## Building and running
+
+1. Connect a USB cable between the USB port on the board and the host computer.
+2. <a name="build_cmd"></a> Run the following command to build the example project and program the microcontroller flash memory:
+    ```bash
+    $ mbed compile -m <TARGET> -t <TOOLCHAIN> --flash
+    ```
+The binary is located at `./BUILD/<TARGET>/<TOOLCHAIN>/mbed-os-example-blinky.bin`.
+
+Alternatively, you can manually copy the binary to the board, which you mount on the host computer over USB.
+
+Depending on the target, you can build the example project with the `GCC_ARM`, `ARM` or `IAR` toolchain. After installing Arm Mbed CLI, run the command below to determine which toolchain supports your target:
+
+```bash
+$ mbed compile -S
+```
+
+## Expected output
+The LED on your target turns on and off every 500 milliseconds.
+
+
+## Troubleshooting
+If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
+
+## Related Links
+
+* [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html).
+* [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html).
+* [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html).
+* [Mbed OS bare metal](https://os.mbed.com/docs/mbed-os/latest/reference/mbed-os-bare-metal.html).
+* [Mbed boards](https://os.mbed.com/platforms/).
+
+### License and contributions
+
+The software is provided under Apache-2.0 license. Contributions to this project are accepted under the same license. Please see contributing.md for more info.
+
+This project contains code from other projects. The original license text is included in those source files. They must comply with our license guide.

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jul 25 11:06:13 2020 +0000
@@ -0,0 +1,723 @@
+//==================================================
+//Auto pilot(prototype3)
+//
+//MPU board: mbed LPC1768
+//Multiplexer TC74HC157AP
+//Accelerometer +Gyro sensor : BMX055
+//Pressure sensor BME280
+//GPS module AE-GPS
+//
+//2020/7/24 A.Toda
+//mbed os5を使用して、9軸センサとGPS,
+//気圧センサのログを取得する。
+//姿勢計算や機体制御は行わない
+//==================================================
+
+#include "mbed.h"
+
+#include "stdio.h"
+#include "math.h"
+#include "errno.h"
+#include "ctype.h"
+
+// Entry point for the example
+#include "SDBlockDevice.h"
+#include "FATFileSystem.h"
+
+//Header file for pressure sensor
+#include "BME280.h"
+
+//Header file for inertial sensor
+#include "test_BMX055.h"
+
+Mutex stdio_mutex;
+EventQueue queue1(32 * EVENTS_EVENT_SIZE);
+
+EventQueue queue2(32 * EVENTS_EVENT_SIZE);
+
+EventQueue queue3(32 * EVENTS_EVENT_SIZE);
+//==================================================
+
+#define INITIAL_ALTITUDE 0.0
+#define DIGIT_TO_VAL(_x)        (_x - '0')
+#define RAD_TO_DEG 57.3
+
+#define MAG_OFFSET_X 0.0
+#define MAG_OFFSET_Y 0.0
+#define MAG_OFFSET_Z 0.0
+
+#define GRAVITY 9.80665
+//==================================================
+//Port Setting
+DigitalOut myled(LED1);
+
+I2C         i2c( p9, p10 );
+
+test_BMX055 inertial_sensor(i2c,(0x76 << 1));//(sda, scl);
+
+Serial pc(USBTX, USBRX); // tx, rx
+Serial gps(p13,p14);//tx,rx
+
+SDBlockDevice   blockDevice(p5, p6, p7, p8);  // mosi, miso, sck, cs
+
+DigitalIn gps_sw(p11);
+
+DigitalIn sd_switch(p12);
+
+//=========================================================
+//Ticker
+Ticker timer1; //for gps notification
+Ticker timer2; //for attitude calculation
+
+//Timer
+Timer passed_time;
+int dummy_counter;
+//==================================================
+//Timer variables
+//==================================================
+float time_new,time_old,time_gps_nof;
+float feedback_rate = 10000; //usec
+
+//==================================================
+//Vetor variables
+float quaternion[4][1],pre_quaternion[4][1],damp_1[4][1];//クォータニオン
+
+//==================================================
+//GPS variables
+//==================================================
+int fp_count=0;
+int h_time=0,m_time=0,s_time=0;
+
+int notification_from_sub;
+
+float g_hokui,g_tokei;
+float gps_azi;
+float speed_m;
+
+//==================================================
+//Pressure variables
+//==================================================
+float pressure_1,temperature_1;
+float altitude_1,altitude_offset;
+
+//==================================================
+//Inertial sonsor  variables
+//==================================================
+float gx,gy,gz;
+float ax,ay,az;
+
+float gx_mean,gy_mean,gz_mean;
+int mean_counter=2000;
+
+float limit_acc;
+
+float euler_roll_pitch[2];
+
+//==================================================
+//Geomagnetrometer  variables
+//==================================================
+float mx,my,mz;
+float yaw;
+
+//==================================================
+//Predeclaration for functions
+//==================================================
+
+void gps_receiver();
+void gps_receiver_2();
+void gps_receiver_3();
+
+void gps_notification();
+void inertial_sensor_function();
+
+float get_altitude(float offset);
+
+int gyro_float2int(float gyro_data);
+int acc_float2int(float acc_data);
+//=========================================================
+//SD file 
+//=========================================================
+// File system declaration
+FATFileSystem   fileSystem("fs");
+int err;
+int sd_flag;
+
+
+int TimeIndex[1] = {0};
+char Six_axis_Index[1] = {'A'};
+char GPSIndex[1] = {'G'};
+
+char mag_ir_Index[1] = {'M'};
+
+//ジャイロデータ
+int gx_int[1] = {0};
+int gy_int[1] = {0};
+int gz_int[1] = {0};
+
+//加速度
+int ax_int[1] = {0};
+int ay_int[1] = {0};
+int az_int[1] = {0};
+
+//緯度
+int lat_int[1] = {0};
+//経度
+int longi_int[1] = {0};
+//移動方位
+int m_azi_int[1] = {0};
+//対地速度
+int gspeed_int[1] = {0};
+//大気圧高度
+int altitude_int[1] = {0};
+
+//x軸地磁気
+int mx_int[1] = {0};
+//y軸地磁気
+int my_int[1] = {0};
+//z軸地磁気
+int mz_int[1] = {0};
+
+//ダミーデータ
+char Dump_Index[1] = {'D'};
+
+FILE*   f;
+
+void sd_open_first(){
+    
+    printf("--- Mbed OS filesystem example ---\n");
+
+    // Try to mount the filesystem
+    printf("Mounting the filesystem... ");
+    fflush(stdout);
+
+    err = fileSystem.mount(&blockDevice);
+    printf("%s\n", (err ? "Fail :(" : "OK"));
+    
+    if (err) {
+        // Reformat if we can't mount the filesystem
+        // this should only happen on the first boot
+        printf("No filesystem found, formatting... ");
+        fflush(stdout);
+        err = fileSystem.reformat(&blockDevice);
+        printf("%s\n", (err ? "Fail :(" : "OK"));
+        if (err) {
+            error("error: %s (%d)\n", strerror(-err), err);
+        }
+    }
+
+    // Open the numbers file
+    printf("Opening \"/fs/numbers.dat\"... ");
+    fflush(stdout);
+
+    //====================
+    //センサ用のファイル
+    //====================
+    //f = fopen("/fs/numbers.txt", "a+");//テキスト形式の書き込み
+    f = fopen("/fs/numbers.dat", "ab+");//バイナリ形式の書き込み
+    
+    printf("%s\n", (!f ? "Fail :(" : "OK"));
+    if (!f) {
+        // Create the numbers file if it doesn't exist
+        printf("No file found, creating a new file... ");
+        fflush(stdout);
+        //f = fopen("/fs/numbers.txt", "a+");//テキスト形式の書き込み
+        f = fopen("/fs/numbers.dat", "ab+");//バイナリ形式の書き込み
+        
+        printf("%s\n", (!f ? "Fail :(" : "OK"));
+        if (!f) {
+            error("error: %s (%d)\n", strerror(errno), -errno);
+        }
+        
+        fflush(stdout);
+    }
+    
+}//sd open first
+
+
+void sd_close(){
+    
+    // Close the file which also flushes any cached writes
+    printf("Closing \"/fs/numbers.dat\"... ");
+    fflush(stdout);
+    err = fclose(f);
+    printf("%s\n", (err < 0 ? "Fail :(" : "OK"));
+    if (err < 0) {
+        error("error: %s (%d)\n", strerror(errno), -errno);
+    }
+    
+    printf("Mbed OS filesystem example done!\n");
+    
+}
+
+void sd_open(){
+    
+    //====================
+    //センサ用のファイル
+    //====================
+    //f = fopen("/fs/numbers.txt", "a+");//テキスト形式の書き込み
+    f = fopen("/fs/numbers.dat", "ab+");//バイナリ形式の書き込み
+    
+    printf("%s\n", (!f ? "Fail :(" : "OK"));
+    if (!f) {
+        // Create the numbers file if it doesn't exist
+        printf("No file found, creating a new file... ");
+        fflush(stdout);
+        //f = fopen("/fs/numbers.txt", "a+");//テキスト形式の書き込み
+        f = fopen("/fs/numbers.dat", "ab+");//バイナリ形式の書き込み
+        printf("%s\n", (!f ? "Fail :(" : "OK"));
+        if (!f) {
+            error("error: %s (%d)\n", strerror(errno), -errno);
+        }
+        
+        fflush(stdout);
+    }
+    
+}//sd open first
+//=========================================================
+//Gps receiver function
+//=========================================================
+void gps_receiver()
+{
+
+    //variables
+    int numbers_of_nmea;
+    char gps_data[256];
+
+
+
+    numbers_of_nmea=0;
+    while(gps.getc()!='$') {
+    }
+
+    while( (gps_data[numbers_of_nmea]=gps.getc()) != '\r') {
+
+        numbers_of_nmea++;
+        if(numbers_of_nmea==256) {
+            numbers_of_nmea=255;
+            break;
+        }
+    }
+
+    gps_data[numbers_of_nmea]='\0';
+
+    //char gps_datae[256]="$GNRMC,222219.000,A,3605.4010,N,14006.8240,E,0.11,109.92,191016,,,A";
+    if( sscanf(gps_data, "GNRMC,%f,%f,%f,%f\r",&g_hokui,&g_tokei,&gps_azi,&speed_m) >= 1) {
+        //pc.printf("変換前データ %f,%f,%f\r\n",g_hokui,g_tokei,azi);
+    } else {
+    }//if ends
+}
+
+
+//=========================================================
+//gps notification function
+//=========================================================
+void gps_notification()
+{
+    //pc.printf("processing\r\n");
+    if(gps_sw==1) {
+        notification_from_sub=1;
+         time_gps_nof=passed_time.read_ms();
+    } else {
+        notification_from_sub=0;
+    }
+    
+}
+
+void observation_update()
+{
+    if((sd_switch==1)&&(sd_flag==0)){
+        sd_open();
+        sd_flag=1;
+        pc.printf("Logging was started.\r\n");
+    }else if((sd_switch==1)&&(sd_flag==1)){
+        //何もしない
+    }else if((sd_switch==0)&&(sd_flag==1)){
+        sd_close();
+        sd_flag=0;
+        pc.printf("Logging was closed.\r\n");
+    }else if((sd_switch==0)&&(sd_flag==0)){
+        //何もしない
+    }
+    
+    if(notification_from_sub==1) {
+        
+        //最新の時間の取得
+        time_new=passed_time.read_ms();
+        //離散時間の更新
+        time_old=time_new;
+        
+        if((time_new-time_gps_nof)<=10.0){
+            
+            myled=1;
+            
+            //gpsプロセッサからのシリアル信号を受信
+            gps_receiver();
+            notification_from_sub=0;
+            //高度情報の取得
+            altitude_1=get_altitude(altitude_offset);
+            
+            //処理時間の計算
+            //最新の時間の取得
+            time_new=passed_time.read_ms();
+            //pc.printf("%f\r\n",time_new-time_old);
+            //
+            //デバッグの為の表示
+            //pc.printf("%f,%f,%f,%f,%f\r\n",g_hokui,g_tokei,altitude_1,speed_m,gps_azi);
+        
+            //地磁気センサの計測
+            mx = inertial_sensor.get_mag_x_data();
+            my = inertial_sensor.get_mag_y_data();
+            mz = inertial_sensor.get_mag_z_data();
+            //デバッグの為の表示
+            //pc.printf("%f,%f,%f\r\n",mx,my,mz);
+            
+            myled=0;
+            
+            if(sd_flag==1){                    
+                
+                //緯度
+                lat_int[0] = int(g_hokui*1000000.0);
+                //経度
+                longi_int[0] = int(g_tokei*1000000.0);
+                //移動方位
+                m_azi_int[0] = int(gps_azi*1000000.0);
+                //対地速度
+                gspeed_int[0] = int(speed_m*100.0);
+                //大気圧高度
+                altitude_int[0] = int((altitude_1+50000.0)*100.0);
+                
+                //地磁気センサ x,y軸
+                //8192
+                //x軸地磁気
+                mx_int[0] = int(mx+8192.0);
+                //y軸地磁気
+                my_int[0] = int(my+8192.0);
+                //地磁気センサ z軸
+                mz_int[0] = int(mz+32768.0);
+                
+                //GPSデータ列
+                err =fwrite(GPSIndex, 1, 1, f);
+                err =fwrite(TimeIndex, 1, 4, f);
+    
+                err =fwrite(lat_int, 1, 4, f);
+                err =fwrite(longi_int, 1, 4, f);
+                err =fwrite(m_azi_int, 1, 4, f);
+                err =fwrite(gspeed_int, 1, 4, f);
+                err =fwrite(altitude_int, 1, 4, f);
+                
+                //Dump_Index パケットを32byteにするための埋め合わせ
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                
+                //地磁気と赤外線センサ
+                err =fwrite(mag_ir_Index, 1, 1, f);
+                err =fwrite(TimeIndex, 1, 4, f);
+    
+                err =fwrite(mx_int, 1, 4, f);
+                err =fwrite(my_int, 1, 4, f);
+                err =fwrite(mz_int, 1, 4, f);
+
+                //Dump_Index パケットを32byteにするための埋め合わせ
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                err =fwrite(Dump_Index, 1, 1, f);
+                
+            }else{}
+        }else{notification_from_sub=0;}
+        
+    }else{
+
+        }
+}
+
+void inertial_sensor_function()
+{     
+        int counter;
+
+        gx=inertial_sensor.get_gyro_x_data();
+        gy=inertial_sensor.get_gyro_y_data();
+        gz=inertial_sensor.get_gyro_z_data();
+        
+        ax = inertial_sensor.get_acc_x_data();
+        ay = inertial_sensor.get_acc_y_data();
+        az = inertial_sensor.get_acc_z_data();
+            
+        gx -=gx_mean; 
+        gy -=gy_mean;
+        gz -=gz_mean;
+            
+        //最新の時間の取得
+        time_new=passed_time.read_ms();
+        
+        //離散時間の更新
+        time_old=time_new;
+    
+        if(sd_flag==1){
+
+            //バイナリ形式でsdカードに書き込む
+            TimeIndex[0] = int(time_new);
+            
+            //ジャイロのレンジは+-250deg/s
+            //ジャイロセンサ計測値をintにする
+            
+            int gx_pre,gy_pre,gz_pre;
+            /*
+            gx_pre = gyro_float2int(gx);
+            gy_pre = gyro_float2int(gy);
+            gz_pre = gyro_float2int(gz);
+            */
+            gx_pre = int((gx+500.0)*10000.0);//0.1 m deg/sの分解能とする。このレンジでの分解能は7.6m deg/s
+            gy_pre = int((gy+500.0)*10000.0);
+            gz_pre = int((gz+500.0)*10000.0);
+            
+            gx_int[0] = gx_pre;
+            gy_int[0] = gy_pre;
+            gz_int[0] = gz_pre;
+            
+            //加速度センサ計測値をintにする
+                        
+            int ax_pre,ay_pre,az_pre;
+            /*
+            ax_pre = acc_float2int(ax);
+            ay_pre = acc_float2int(ay);
+            az_pre = acc_float2int(az);
+            */
+            ax_pre = int((ax+GRAVITY*16.0)*100000.0);//±8g3.91mg/LSB 0.01mg
+            ay_pre = int((ay+GRAVITY*16.0)*100000.0);
+            az_pre = int((az+GRAVITY*16.0)*100000.0);
+            
+            ax_int[0] = ax_pre;
+            ay_int[0] = ay_pre;
+            az_int[0] = az_pre;
+            
+            //sdカードへの書き込み
+            //慣性センサのヘッダ
+            //Six_axis_Index[1] = {'A'};
+            
+            err =fwrite(Six_axis_Index, 1, 1, f);
+            err =fwrite(TimeIndex, 1, 4, f);
+
+            err =fwrite(gx_int, 1, 4, f);
+            err =fwrite(gy_int, 1, 4, f);
+            err =fwrite(gz_int, 1, 4, f);
+            
+            err =fwrite(ax_int, 1, 4, f);
+            err =fwrite(ay_int, 1, 4, f);
+            err =fwrite(az_int, 1, 4, f);
+            
+            //Dump_Index パケットを32byteにするための埋め合わせ
+            err =fwrite(Dump_Index, 1, 1, f);
+            err =fwrite(Dump_Index, 1, 1, f);
+            err =fwrite(Dump_Index, 1, 1, f);
+            
+            
+        }else{}
+    
+    
+}
+
+//gps_notification
+void sensor_function(){
+    
+    inertial_sensor_function();
+    gps_notification();
+    
+    }
+//=========================================================
+//altitude function
+//=========================================================
+float get_altitude(float offset)
+{
+
+    pressure_1=inertial_sensor.getPressure();
+    //pressure_1=pressure_sensor.getPressure();
+    
+    temperature_1=inertial_sensor.getTemperature();
+    //temperature_1=pressure_sensor.getTemperature();
+    //pressure_sensor
+    
+    float altitude=pow((1013.25/pressure_1),0.190);
+    altitude-=1.0;
+    altitude*=(temperature_1+273.15);
+    altitude/=0.0065;
+    altitude-=offset;
+    altitude+=INITIAL_ALTITUDE;
+
+    //デバッグ用の表示
+    pc.printf("pressure=%f,tempreture=%f,altitude=%f\r\n",pressure_1,temperature_1,altitude);
+    
+    return altitude;
+
+}
+
+//=========================================================
+//Timer function
+//=========================================================
+void timer_reset()
+{
+    passed_time.reset();//reset timer counter
+}
+
+void timer_read()
+{
+    time_new=passed_time.read_ms();
+    //pc.printf("経過時間=%f\r\n",time_new);
+}
+
+//float型のgyroデータをintに変換する
+int gyro_float2int(float gyro_data){
+    
+    int gyro_int_data;
+    
+    if(gyro_data>=0.0){
+        //gyro_scale_factor=0.0305f;
+        //gyro_scale_factor)/RAD_TO_DEG
+        gyro_int_data = int(gyro_data*RAD_TO_DEG/0.0305f);
+    }else if(gyro_data<0.0){
+        /*
+        x_data = -1 * (65536 - x_data);
+        */
+        gyro_int_data = int((gyro_data*RAD_TO_DEG)/0.0305f);
+        gyro_int_data=gyro_int_data+65536;
+        
+        }
+    
+    return gyro_int_data;
+}
+
+//float型のaccデータをintに変換する
+int acc_float2int(float acc_data){
+    
+    int acc_int_data;
+    
+    if(acc_data>=0.0){
+        //acc_scale_factor=256;
+        //x_acc=float(x_data)*GRAVITY/acc_scale_factor;//m/s^2
+        acc_int_data = int(acc_data*256/GRAVITY);
+        
+    }else if(acc_data<0.0){
+        //x_data = -1 * (4096 - x_data);  
+        
+        acc_int_data = int(acc_data*256/GRAVITY);
+        acc_int_data=acc_int_data+4096;
+        
+        }
+    
+    return acc_int_data;
+}
+
+
+//=========================================================
+// main
+//=========================================================
+int main()
+{
+    
+    //UART initialization
+    pc.baud(115200); //115.2 kbps
+    gps.baud(115200); //115.2 kbps
+    
+    blockDevice.frequency(25000000);
+    
+    /*sdカードにファイルを構成する そのファイルを書き込み状態にする*/
+    //Mount the filesystem
+    sd_flag=0;
+    sd_open_first();
+    
+    //Range setting for inertial sensor
+    //慣性センサのレンジ設定
+    inertial_sensor.set_gyro_range(3);//±250°/s131.2 LSB/°/s 7.6 m°/s / LSB
+    inertial_sensor.set_acc_range(2);//±8g3.91mg/LSB
+
+    //地磁気センサの初期化
+    inertial_sensor.initiate_mag();
+    
+    //Initialization for pressure sensor
+    //気圧センサの初期化
+    //pressure_sensor.initialize();
+    inertial_sensor.initialize();
+               
+    notification_from_sub=0;//サブマイコンからの通知を初期化
+    dummy_counter=0;
+
+    //-------------------------------------------
+    //altitude initialization
+    /*
+    2回目からの計測でまともな高度が得られるので、オフセット計測を2回する
+    */
+    //-------------------------------------------
+    altitude_offset=get_altitude(0.0);//初期高度を取得（オフセットの取得)
+    wait_us (100000);//wait 0.1 s
+    altitude_offset=get_altitude(0.0);//初期高度を取得（オフセットの取得）
+
+    //------------------------------------------
+    //ジャイロオフセットの計算
+    gx_mean=gy_mean=gz_mean=0.0;
+    
+    pc.printf("offset calculation.\r\n");
+    
+    for(int counter=0;counter<mean_counter;counter++){
+        
+        gx=inertial_sensor.get_gyro_x_data();
+        gy=inertial_sensor.get_gyro_y_data();
+        gz=inertial_sensor.get_gyro_z_data();
+    
+        gx_mean+=gx;
+        gy_mean+=gy;
+        gz_mean+=gz;
+        wait_us(10000);
+        }
+    
+    gx_mean/=mean_counter;
+    gy_mean/=mean_counter;
+    gz_mean/=mean_counter;
+    
+    pc.printf("offset calculation has been done.\r\n");
+    //-------------------------------------------
+    //Thread
+    //-------------------------------------------
+    //set priority of sensor threads
+    Thread thread1(osPriorityAboveNormal);
+    Thread thread2(osPriorityNormal);
+    
+    //set prioority of main
+    osThreadSetPriority(osThreadGetId(), osPriorityIdle);
+    
+    //start threads
+    thread1.start(callback(&queue1, &EventQueue::dispatch_forever));
+    thread2.start(callback(&queue2, &EventQueue::dispatch_forever));
+    
+    pc.printf("Ticker setup has been done.\r\n");
+    
+    //-------------------------------------------
+    //Timer starts
+    //-------------------------------------------
+    passed_time.start();
+    
+    pc.printf("Activated.\r\n");
+    
+    //thread are called every 1 or 5ms
+    queue1.call_every(10,&observation_update);//observation_update
+    queue2.call_every(10,&sensor_function);//sensor_function
+    
+    while(1) {
+        
+    }// while(1)ends
+}//int main ends

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Sat Jul 25 11:06:13 2020 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_app.json	Sat Jul 25 11:06:13 2020 +0000
@@ -0,0 +1,7 @@
+{
+    "target_overrides": {
+        "*": {
+            "target.components_add": ["SD"]
+        }
+    }
+}
\ No newline at end of file

Binary file resources/official_armmbed_example_badge.png has changed

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test_BMX055.lib	Sat Jul 25 11:06:13 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/Joeatsumi/code/test_BMX055/#b387585de3b5