Revision 4:565b7641b0dc, committed 23 months ago

Comitter:

sashida_h

Date:

Thu Jul 21 07:17:01 2022 +0000

Parent:

3:24a8901befb6

Commit message:

Nichrome ON after 20seconds

Changed in this revision

--- a/main.cpp	Thu Nov 02 17:22:14 2017 +0000
+++ b/main.cpp	Thu Jul 21 07:17:01 2022 +0000
@@ -18,27 +18,116 @@
 #include "BMP180.h"
 #define p0 1013.25f//海面気圧
 
-DigitalOut myled(LED1);
-Serial pc(USBTX,USBRX);
-BMP180 bmp(p28, p27);
+DigitalOut led(dp28);
+DigitalOut led2(LED2);
+DigitalIn flyp(dp1);
+DigitalOut cutp1(dp10);
+DigitalOut cutp2(dp6);
+BMP180  bmp(dp5, dp27);
+Serial  dbg(dp16,dp15);
 Timer timer;
 
 float getAlt(float press, float temp);
 
 int main() {
-    float pressure,temperature,altitude;
-    float time;   
-    bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER);
-    pc.printf("time, temperature ,pressure, altitude\r\n");
+    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\r\n",alt_gnd);
+    led = 1;
+    
+    //フライトピン抜けてたらエラー
+    if(flyp == 0){
+        while(1){
+            led = !led;
+            led2 = !led2;
+            wait(0.2);
+        }
+    }
+    dbg.printf("standby\r\n");
+    while(flyp == 1);   //フライトピン抜けるまで待つ
+    dbg.printf("rerease\r\n");
     timer.start();
+    wait(5.0);  //落ち着くまで待つ
+    led2 = 1;
+    led = 0;
+    i = 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){
+         bmp.ReadData(&temperature,&pressure);
+         alt_now = getAlt(pressure,temperature);
+         dbg.printf("NOW:%f[m]\r\n",alt_now - alt_gnd);
+         time = timer.read();
+         if(time > 10){
+             time_cnt ++;
+             timer.reset();
+             wait(0.1);
+             timer.start();
+        }
+         if(time_cnt == 1) break;
+    }
+    dbg.printf("under50m\r\n");
+    float land = 0.0;
+    int 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);
-        altitude = getAlt(pressure,temperature);
         time = timer.read();
-        pc.printf("%f, %f, %f, %f \r\n",time, temperature, pressure, altitude);
-        myled =! myled;
+        if(time > 10){
+             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) land = land * (-1);    //-を＋に
+            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
+        }
+        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) 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;
+        led = 0;
+        wait(60);
+        cutp1 = 0;
         wait(1);
+        cutp2 = 1;
+        led = 1;
+        wait(60);
+        led2 = !led2;
+        cutp2 = 0;
+        wait(1);
+        while(flyp == 1){
+            dbg.printf("stop\r\n");
+            wait(1);
+            }
     }
 }