kohei oikawa
2017.11伊豆大島共同打ち上げ実験のデータ取得＆保存用プログラム
Dependencies: BMP180 MPU6050 SDFileSystem mbed
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SDFileSystem_HelloWorld
by 
mbed official
Revision 2:0cf17bba70ec, committed 2017-10-20
- Comitter:
- oichan
- Date:
- Fri Oct 20 03:53:03 2017 +0000
- Parent:
- 1:e4d7342be507
- Child:
- 3:71a45bae8a37
- Commit message:
- 2017.11???????????????????????????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BMP180.lib Fri Oct 20 03:53:03 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/CORE/code/BMP180/#5230f93e755b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Fri Oct 20 03:53:03 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MPU6050/#5c63e20c50f3
--- a/main.cpp Tue May 16 05:18:55 2017 +0000
+++ b/main.cpp Fri Oct 20 03:53:03 2017 +0000
@@ -1,19 +1,164 @@
#include "mbed.h"
+#include "math.h"
+#include "MPU6050.h"
+#include "BMP180.h"
#include "SDFileSystem.h"
-
-SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
-
+
+#define RATE 20
+#define MAX_JUDGE_TIME_s 3.0
+#define p0 1013.25f
+
+BMP180 bmp(p28,p27);
+MPU6050 mpu(p28,p27);
+Timer timer;
+Timer alt_timer;
+Ticker logtimer;
+Serial pc(USBTX,USBRX);
+Serial gps(p13,p14);
+Serial twe(p9,p10);
+SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
+LocalFileSystem local("local");
+FILE *fp;
+
+/* 自作関数 */
+void _flight();
+void _log();
+float _getAlt(float press, float temp);
+float _DMS2DEG(float raw_data);
+float _median(float data[], int num);
+
+/* グローバル変数 */
+float a[3];
+float Land_Alt;
+float Max_Alt=0;
+float Alt_buff[10];
+float Pressure,Temperature,Altitude;
+float Time;
+char gps_data[256];
+int cnt_gps;
+int Log_cnt=0;
+
+
int main() {
- printf("Hello World!\n");
-
+ printf("Hello World!\n");
+ twe.baud(115200);
+ mpu.setAcceleroRange(0);
+ bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER);
mkdir("/sd/mydir", 0777);
+
+ _flight();
+}
+
+
+/* フライトモード用関数 */
+void _flight(){
+
+ /* 地上高度取得 */
+ for(int i=0;i<10;i++){
+ bmp.ReadData(&Temperature,&Pressure);
+ Alt_buff[i] = _getAlt(Pressure,Temperature);
+ }
+ Land_Alt = _median(Alt_buff,10);
+ FILE *lfp = fopen("/local/alt.txt","a");
+ fprintf(lfp,"地上高度：%f\r\n",Land_Alt);
+ fclose(lfp);
+ for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
- FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
- if(fp == NULL) {
- error("Could not open file for write\n");
+ /* データ取得開始 */
+ timer.start();
+ logtimer.attach(_log,1.0/RATE);
+ alt_timer.start();
+
+ /* GPS取得&送信 */
+ while(1){
+ gps_data[cnt_gps] = gps.getc();
+ if(gps_data[cnt_gps] == '$' || cnt_gps ==256){
+ cnt_gps = 0;
+ memset(gps_data,'\0',256);
+ }else if(gps_data[cnt_gps] == '\r'){
+ float world_time, lon_east, lat_north;
+ int rlock, sat_num;
+ char lat,lon;
+ if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){
+ if(rlock==1){
+ lat_north = _DMS2DEG(lat_north);
+ lon_east = _DMS2DEG(lon_east);
+ twe.printf("max altitude:%f\r\n",Max_Alt);
+ twe.printf("%s\r\n",gps_data);
+ twe.printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num);
+ }else{
+ twe.printf("max altitude:%f\r\n",Max_Alt);
+ twe.printf("%s\r\n",gps_data);
+ }
+ }
+ }else{
+ cnt_gps++;
+ }
+ }
+}
+
+
+/* データ取得&保存関数 */
+void _log(){
+ Time = timer.read();
+ mpu.getAccelero(a);
+ bmp.ReadData(&Temperature,&Pressure);
+ Altitude = _getAlt(Pressure,Temperature);
+ if(Altitude > Max_Alt){
+ Max_Alt = Altitude;
+ alt_timer.reset();
}
- fprintf(fp, "Hello fun SD Card World!");
- fclose(fp);
-
- printf("Goodbye World!\n");
+ if(alt_timer.read() > MAX_JUDGE_TIME_s){
+ alt_timer.reset();
+ alt_timer.stop();
+ FILE *lfp = fopen("/local/alt.txt","a");
+ fprintf(lfp,"最高高度：%f\r\n",Max_Alt);
+ fclose(lfp);
+ }
+ if(Log_cnt==0) {
+ fp = fopen("/sd/mydir/sdtest.txt", "a");
+ }
+ fprintf(fp, "%f, %f, %f, %f, %f, %f, %f \r\n",Time, Temperature, Pressure, Altitude, a[0],a[1],a[2]);
+ Log_cnt++;
+ if(Log_cnt==RATE){
+ fclose(fp);
+ Log_cnt = 0;
+ }
+ pc.printf("%f, %f, %f, %f, %f, %f, %f \r\n",Time, Temperature, Pressure, Altitude, a[0],a[1],a[2]);
+}
+
+
+/* 高度計算関数 */
+float _getAlt(float press, float temp){
+ return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
}
+
+
+float _DMS2DEG(float raw_data){
+ int d = (int)(raw_data/100);
+ float m = (raw_data - (float)d*100);
+ return (float)d + m/60;
+}
+
+
+/* 中央値計算関数 */
+float _median(float data[], int num){//todo:処理時間計測
+ float *data_cpy, ans;
+ data_cpy = new float[num];
+ memcpy(data_cpy,data,sizeof(float)*num);
+
+ for(int i=0; i<num; i++){
+ for(int j=0; j<num-i-1; j++){
+ if(data_cpy[j]>data_cpy[j+1]){
+ float buff = data_cpy[j+1];
+ data_cpy[j+1] = data_cpy[j];
+ data_cpy[j] = buff;
+ }
+ }
+ }
+
+ if(num%2!=0) ans = data_cpy[num/2];
+ else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
+ delete[] data_cpy;
+ return ans;
+}
--- a/mbed.bld Tue May 16 05:18:55 2017 +0000 +++ b/mbed.bld Fri Oct 20 03:53:03 2017 +0000 @@ -1,1 +1,1 @@ -https://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file