File content as of revision 1:3151936d9c55:

#include "mbed.h"
#include "IM920.h"
#include "GPS_interrupt.h"
#include "PQLPS22HB.h"
#include "mpu9250_i2c.h"
#include "INA226.h"
#include "Nichrome_lib.h"
#include "EEPROM_lib.h"

#define FIRE_TIME 3.0
#define CURRENT_LOCATION_PRESS 1022.624268//投下前に設定
#define CURRENT_LOCATION_TEMP 10.650000//投下前に設定
#define ACC_RANGE _16G
#define GYRO_RANGE _2000DPS

// ***************************************************
// コンストラクタ
// ***************************************************
Serial pc(USBTX, USBRX, 115200);
Serial gps_serial(p9, p10, 115200);
Serial im920_serial(p13, p14, 115200);

I2C i2c(p28, p27);

IM920 im920(im920_serial, pc, 115200);
GPS_interrupt gps(&gps_serial);
LPS22HB lps22hb(i2c, LPS22HB::SA0_LOW);
mpu9250 mpu9250(i2c,AD0_HIGH);
myINA226 ina226_main(i2c, myINA226::A1_GND, myINA226::A0_GND);
myINA226 ina226_sep(i2c, myINA226::A1_VDD, myINA226::A0_VDD);
Nichrome_lib nich(p20);
EEPROM_lib EEPROM(i2c, 1);

DigitalOut pinA(p21);
DigitalOut pinB(p22);
DigitalOut pinC(p23);

Ticker send_data;
Timeout fire_time;
// ***************************************************
// 関数の宣言
// ***************************************************
void uplink();
void echoIM();
void Separate();
void StopSeparate();
void SetSensor();
void GetData();
void WriteEEPROM();
void setEEPROMGroup(int group_num);

// ***************************************************
// 無線のヘッダまとめ
// ***************************************************
const char HEADER_SETUP = 0x01;
// 0xA1

const char HEADER_DATA = 0xA2;
// 0xA2
//

const char HEADER_ECHO = 0xA5;
// 0xA5,コマンド
//   1     1

// ***************************************************
// 変数の宣言
// ***************************************************
char nich_status;

bool header_set = false;
char im_buf[55];//16なのって意味ある？
int im_buf_n = 0;

float lat, lon, height;
float press, temp, altitude;

float imu[6], mag[3];
float mag_geo[3];

float voltage_main, voltage_sep;
float current_main, current_sep;

// ***************************************************
// メイン関数
// ***************************************************
int main() {
    pc.printf("Hello Main!\r\n");
    SetSensor();
    im920.attach(&uplink, 0xF0);
    send_data.attach(&GetData, 1.0);

    while(1){
    }
}
// ***************************************************
// アップリンク（地上局から）
// ***************************************************
void uplink(){
    echoIM();
    switch(im920.data[1]){
        case 0x01:
        pc.printf("********************\r\n");
        pc.printf("SEPARATE\r\n");
        pc.printf("********************\r\n\r\n");
        Separate();
        break;
        
        case 0x00:
        pc.printf("********************\r\n");
        pc.printf("STOP SEPARATE\r\n");
        pc.printf("********************\r\n\r\n");
        StopSeparate();
        break;
    }
}

// ***************************************************
// 無線信号の送り返し
// ***************************************************
void echoIM(){
    im920.header(HEADER_ECHO);
    im920.write(im920.data[1]);
    im920.send();
}

// ***************************************************
// 分離実行
// ***************************************************
void Separate(){
    nich.fire_on();
    fire_time.attach(&StopSeparate,FIRE_TIME);
}

void StopSeparate(){
     nich.fire_off();
}

// ***************************************************
// センサーのセットアップ
// ***************************************************
void SetSensor(){
    pc.printf("\r\n");
    for(int i = 0; i < 20; i++){
    pc.printf("*");
    }
    pc.printf("\r\n");
    pc.printf("Start Setting\r\n");
    
    if(!header_set){
        im920.header((char)HEADER_SETUP);
        header_set = true;
    }
    
    //GPS
    if(gps.gps_readable == true){
        pc.printf("GPS         : OK!\r\n");
        im920.write((char)0x01);
        im_buf[im_buf_n] = '1';
        im_buf_n ++;
    }else{
        pc.printf("GPS         : NG...\r\n");
        im920.write((char)0x00);
        im_buf[im_buf_n] = '0';
        im_buf_n ++;
    }
    
    //LPS22HB
    lps22hb.begin();
    if(lps22hb.test() == true){
        pc.printf("LPS22HB     : OK!\r\n");
        im920.write((char)0x01);
        im_buf[im_buf_n] = '1';
        im_buf_n ++;
    }else{
        pc.printf("LPS22HB     : NG...\r\n");
        im920.write((char)0x00);
        im_buf[im_buf_n] = '0';
        im_buf_n ++;
    }
    
    //MPU9250
    if(mpu9250.sensorTest() == true){
        pc.printf("MPU9250     : OK!\r\n");
        im920.write((char)0x01);
        im_buf[im_buf_n] = '1';
        im_buf_n ++;
    }else{
        pc.printf("MPU9250     : NG...\r\n");
        im920.write((char)0x00);
        im_buf[im_buf_n] = '0';
        im_buf_n ++;
    }
    if(mpu9250.mag_sensorTest() == true){
        pc.printf("MPU9250 MAG : OK!\r\n");
        im920.write((char)0x01);
        im_buf[im_buf_n] = '1';
        im_buf_n ++;
    }else{
        pc.printf("MPU9250 MAG : NG...\r\n");
        im920.write((char)0x00);
        im_buf[im_buf_n] = '0';
        im_buf_n ++;
    }
    mpu9250.setAcc(ACC_RANGE);
    mpu9250.setGyro(GYRO_RANGE);
    mpu9250.setOffset(0.528892327, -0.660206211, 0.757105891, -0.011691362, 0.025688783, 1.087885322, -159.750004, 121.425005, -392.700012);

    //INA226
    ina226_main.set_callibretion();
    ina226_sep.set_callibretion();
    //ina226_main.setup(1);
    //ina226_sep.setup(1);
    
    if(ina226_main.Connection_check()==0){
        pc.printf("INA226 Main : OK!\r\n");
        im920.write((char)0x01);
        im_buf[im_buf_n] = '1';
        im_buf_n ++;
    }else{
        pc.printf("INA226 Main : NG...\r\n");
        im920.write((char)0x00);
        im_buf[im_buf_n] = '0';
        im_buf_n ++;
        }
    if(ina226_sep.Connection_check()==0){
        pc.printf("INA226 Sep  : OK!\r\n");
        im920.write((char)0x01);
        im_buf[im_buf_n] = '1';
        im_buf_n ++;
    }else{
        pc.printf("INA226 Sep  : NG...\r\n");
        im920.write((char)0x00);
        im_buf[im_buf_n] = '0';
        im_buf_n ++;
    }
    
    if(header_set){
        im920.send();
        pc.printf("Send : %s\r\n", im_buf);
        header_set = false;
        for(int i = 0; i < im_buf_n; i ++){
            im_buf[i] = '\0';
        }
        im_buf_n = 0;
    }
    
    pc.printf("\r\n");
    for(int i = 0; i < 20; i++){
    pc.printf("*");
    }
    pc.printf("\r\n");
}

// ***************************************************
// センサーのデータ取得
// ***************************************************
void GetData(){
    if(!header_set){
        im920.header((char)HEADER_DATA);
        header_set = true;
    }
    
    pc.printf("********************\r\n\r\n");
    //Nichrome
    if(nich.status){
        nich_status = '1';
    }else{
        nich_status = '0';
    }
    pc.printf("Nichrome_status : %c\r\n",nich_status);
    im920.write((char)nich_status);
    im_buf_n ++;
    
    //GPS
    lat = gps.Latitude();
    lon = gps.Longitude();
    height = gps.Height();
    pc.printf("Latitude        : %f\r\n",lat);
    pc.printf("Longitude       : %f\r\n",lon);
    pc.printf("Height          : %f\r\n",height);
    //pc.printf("%f\t%f\t%f\t\r\n", lat, lon, height);
    im920.write((float)lat);
    im_buf_n ++;
    im920.write((float)lon);
    im_buf_n ++;
    im920.write((float)height);
    im_buf_n ++;
    
    //LPS22HB
    lps22hb.read_press(&press);
    lps22hb.read_temp(&temp);
    altitude =  (CURRENT_LOCATION_TEMP + 273.15)/0.0065*(1 - powf(press/CURRENT_LOCATION_PRESS, 287 * 0.0065/9.80665));
    pc.printf("Pressure        : %f\r\n",press);
    pc.printf("Temperarure     : %f\r\n",temp);
    pc.printf("Altitude        : %f\r\n",altitude);
    //pc.printf("%f\t%f\t%f\r\n",press, temp, altitude);
    im920.write((float)press);
    im_buf_n ++;
    im920.write((float)temp);
    im_buf_n ++;
    im920.write((float)altitude);
    im_buf_n ++;
    
    //MPU9250
    /*
    mpu9250.getAll(imu, mag);
    pc.printf("%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t\r\n",imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], mag[0], mag[1], mag[2]);
    
    im920.write((float)imu[0]);
    im_buf_n ++;
    im920.write((float)imu[1]);
    im_buf_n ++;
    im920.write((float)imu[2]);
    im_buf_n ++;
    im920.write((float)imu[3]);
    im_buf_n ++;
    im920.write((float)imu[4]);
    im_buf_n ++;
    im920.write((float)imu[5]);
    im_buf_n ++;
    im920.write((float)mag[0]);
    im_buf_n ++;
    im920.write((float)mag[1]);
    im_buf_n ++;
    im920.write((float)mag[2]);
    im_buf_n ++;  
    */
    //INA226
    ina226_main.get_Voltage_current(&voltage_main, &current_main);
    ina226_sep.get_Voltage_current(&voltage_sep, &current_sep);
    voltage_main /= 1000;
    current_main /= 1000;
    voltage_sep /= 1000;
    current_sep /= 1000;
    pc.printf("Vlotage Mian    : %.2f\r\n",voltage_main);
    pc.printf("Current Main    : %.2f\r\n",current_main);
    pc.printf("Voltage Sep     : %.2f\r\n",voltage_sep);
    pc.printf("Current Sep     : %.2f\r\n",current_sep);
    //pc.printf("MainVol : %.2f, SepVol : %.2f, MainCur : %.2f, SepCur : %.2f\r\n", voltage_main, voltage_sep, current_main, current_sep);
    //pc.printf("MainVol : %f, SepVol : %f, MainCur : %f, SepCur : %f\r\n", voltage_main*(1/1000), voltage_sep, current_main, current_sep);
    im920.write((float)voltage_main);
    im_buf_n ++;
    im920.write((float)current_main);
    im_buf_n ++;
    im920.write((float)voltage_sep);
    im_buf_n ++;
    im920.write((float)current_sep);
    im_buf_n ++;
    
    pc.printf("********************\r\n\r\n");
    

    if(header_set){
        im920.send();
        pc.printf("Send : %s\r\n", im_buf);
        header_set = false;
        for(int i = 0; i < im_buf_n; i ++){
            im_buf[i] = '\0';
        }
        im_buf_n = 0;
    }
}

// ***************************************************
// EEPROMにデータを書き込むプログラム
// ***************************************************
void WriteEEPROM(){
    int ptr, n = 0;
    int eeprom_ptr = 0;
    
    for(int i = 0; i < 4; i++){
        pc.printf("Start to write %d EEPROM\r\n", i);
        setEEPROMGroup(i);
        EEPROM.setWriteAddr(1, 0, 0x00, 0x00);
        
        while(1){
            ptr = EEPROM.chargeBuff((int)n++);
            //ptr = EEPROM.chargeBuff((char)0xff);
            //ptr = EEPROM.chargeBuff((int)0);
            if(ptr == 128){
                EEPROM.writeBuff();
                //ptr = EEPROM.setNextPage();
                eeprom_ptr = EEPROM.setNextPage();
                //pc.printf("eeprom_ptr: %08x\r\n", eeprom_ptr);
            }
            
            if(eeprom_ptr == 0x01000000){
                ptr = 0;
                eeprom_ptr = 0;
                break;
            }
        }
    }
}

// ***************************************************
// マルチプレクサで使うEEPROMを変更する
// ***************************************************
void setEEPROMGroup(int group_num){
    switch(group_num){
        case 0:
        pinA = 0;
        pinB = 0;
        pinC = 0;
        break;
        
        case 1:
        pinA = 1;
        pinB = 0;
        pinC = 0;
        break;
        
        case 2:
        pinA = 0;
        pinB = 1;
        pinC = 0;
        break;
        
        case 3:
        pinA = 1;
        pinB = 1;
        pinC = 0;
        break;
    }
}