Haruki Sashida
2022ARLISS_TMU
Revision 0:46c26a53f6e3, committed 21 months ago
- Comitter:
- sashida_h
- Date:
- Thu Sep 08 16:45:14 2022 +0000
- Commit message:
- initial commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BMP180.lib Thu Sep 08 16:45:14 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/spiridion/code/BMP180/#072073c79cfd
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Sep 08 16:45:14 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file