HEPTA-Sat Training 2022
/
Lab4-08_detect_gps_rawdata
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Dependencies: HEPTA_SENSOR mbed HEPTA_EPS HEPTA_CDH
main.cpp
- Committer:
- umeume
- Date:
- 2017-08-23
- Revision:
- 2:1c5cdb2c3e0f
- Parent:
- 0:bdbd3d6fc5d5
- Child:
- 5:c5ccb1b07e8f
File content as of revision 2:1c5cdb2c3e0f:
#include "mbed.h"
#include "SDFileSystem.h"
#include "HeptaXbee.h"
#include "HeptaCamera_GPS.h"
#include "Hepta9axis.h"
#include "HeptaTemp.h"
#include "HeptaBattery.h"
Serial pc(USBTX,USBRX);
SDFileSystem sd(p5, p6, p7, p8, "fs");
HeptaXbee xbee(p9,p10);
HeptaCamera_GPS cam_gps(p13, p14,p25,p24);
Hepta9axis _9axis(p28,p27,0xD0,0x18);//sda,scl,acc&gyro_address,mag_gyro
HeptaTemp heptatemp(p17);
HeptaBattery bat(p16,p26);
int main()
{
char mode;
pc.baud(9600);
pc.printf("Hello world.\r\n");
while(1) {
pc.printf("\r\n");
pc.printf("*********************************\r\n");
pc.printf("Please select mode.\r\n");
pc.printf("a:SD test Mode\r\n");
pc.printf("b:Check Battery Level\r\n");
pc.printf("c:Gyro Sening Mode\r\n");
pc.printf("d:Accel Sensing Mode\r\n");
pc.printf("e:Magnet Sensig Mode\r\n");
pc.printf("f:GPS Test Sensing Mode\r\n");
pc.printf("g:GPS data_GPGGA Mode\r\n");
pc.printf("h:Camera Synchro Mode\r\n");
pc.printf("i:CAM SnapShot Mode\r\n");
pc.printf("j:Saving Camera Data Mode\r\n");
pc.printf("k:Camera Data Transmitting Mode\r\n");
pc.printf("l:Temperature Sensing Mode\r\n");
pc.printf("m:Xbee Mode\r\n");
pc.printf("n:All Transmitting Mode\r\n");;
pc.printf("*********************************");
pc.printf("\r\n");
mode = pc.getc();
pc.printf("Your select Mode = %c\r\n",mode);
switch(mode) {
case'a': {
pc.printf("SD test Mode\r\n");
FILE *fp = fopen("/fs/myfile.txt", "w");
if(fp == NULL) {
pc.printf("Could not open file for write\r\n");
} else {
fprintf(fp, "\n\rHello World!\n\r");
pc.printf("SD Check Complete!!\r\n");
fclose(fp);
}
break;
}//case'a'
case'b': {
pc.printf("Check Battery Level\r\n");
float bt;
for(int i = 0; i<30; i++) {
bat.vol(&bt);
pc.printf("V = %f\r\n",bt);
wait(0.5);
}
break;
}//case'b'
case'c': {
pc.printf("Gyro sensing Mode\r\n");
float gx,gy,gz;
for(int i = 0; i < 30; i++) {
_9axis.sen_gyro(&gx,&gy,&gz);
pc.printf("GX = %f,GY = %f,GZ = %f\r\n",gx,gy,gz);
wait(0.5);
}
break;
}//case'c'
case'd': {
pc.printf("Accel sensing Mode\r\n");
float ax,ay,az;
for(int i = 0; i < 30; i++) {
_9axis.sen_acc(&ax,&ay,&az);
pc.printf("AX = %f,AY = %f,AZ = %f\r\n",ax,ay,az);
wait(0.5);
}
break;
}//case'd'
case'e': {
float mx,my,mz;
pc.printf("Magnet sensing Mode\r\n");
for(int i = 0; i < 30; i++) {
_9axis.sen_mag(&mx,&my,&mz);
pc.printf("MX = %f,MY = %f,MZ = %f\r\n",mx,my,mz);
wait(0.5);
}
break;
}//case'e'
case'f': {
pc.printf("GPS sensing Mode\r\n");
cam_gps.gps_setting();
cam_gps.flushSerialBuffer();
while(1) pc.putc(cam_gps.getc());
break;
}//case'f'
case'g': {
cam_gps.gps_setting();
cam_gps.flushSerialBuffer();
pc.printf("GPS GPGGA Mode\r\n");
int quality=0,stnum=0,gps_check=0;
char ns='A',ew='B',aunit='m';
float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0;
for(int i=1; i<10; i++) {
cam_gps.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
if((gps_check==0)|(gps_check==1)) {
pc.printf("GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c\r\n",time,latitude,ns,longitude,ew,quality,stnum,hacu,altitude,aunit);
}
}
break;
}//case'g'
case'h': {
wait(0.5);
pc.printf("Camera Synchro\r\n");
cam_gps.Sync();
break;
}//case'h'
case'i': {
pc.printf("CAM snapshot Mode\r\n");
cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
cam_gps.test_jpeg_snapshot_picture(1);
break;
}//case'i'
case'j': {
pc.printf("Saving Camera Data Mode\r\n");
cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
cam_gps.test_jpeg_snapshot_data(1);
break;
}//case'j'
case'k': {
pc.printf("Camera Data Transmitting Mode\r\n");
cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
cam_gps.test_jpeg_snapshot_picture(1);
FILE *fp = fopen("/fs/test.txt", "r");
if(fp == NULL) {
pc.printf("Could not open file for write\r\n");
} else {
char str[1024];
while((fgets(str,256,fp))!=NULL) {
//pc.printf("%s",str);
pc.printf("%s",str);
wait(0.001);
}
fclose(fp);
}
break;
}//case'k'
case'l': {
pc.printf("Temp sensing Mode\r\n");
float temp;
for(int i = 0; i<100; i++) {
heptatemp.temp_sense(&temp);
pc.printf("temper = %f\r\n",temp);
//xbee.printf("%f\r\n",temp);
}
break;
}//case'l'
case'm': {
int i=0,rcmd=0,cmdflag=0;
xbee.printf("Count Up!\r");
while(1) {
xbee.printf("num = %d\r",i);
i++;
wait(1.0);
xbee.xbee_recieve(&rcmd,&cmdflag);
pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag);
if (cmdflag == 1) {
if (rcmd == 'a') {
xbee.printf("Command Get %d\r\n",rcmd);
xbee.printf("HEPTA Uplink OK\r");
}
xbee.initialize();
}
}
break;
}//case'm'
case'n': {
cam_gps.gps_setting();
cam_gps.flushSerialBuffer();
pc.printf("All Transmitting Mode\r\n");
//char iii = pc.getc();
char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],mx[4],my[4],mz[4],lad[8],log[8],height[4],bt[4],temp[4];
char ddata[64];
int dsize[7];
int Count = 0;
char fname[64];
while(1) {
snprintf(fname, sizeof(fname), "/fs/telemetry.txt");
FILE*fpx = fopen(fname, "a");
_9axis.sen_gyro_u16(gx,gy,gz,&dsize[0]);
_9axis.sen_acc_u16(ax,ay,az,&dsize[1]);
_9axis.sen_mag_u16(mx,my,mz,&dsize[2]);
bat.vol_u16(bt,&dsize[5]);
heptatemp.temp_sense_u16(temp,&dsize[6]);
cam_gps.lat_log_sensing_u16(lad,log,height,&dsize[3],&dsize[4]);
//xbee.printf("DN:%d",Count);
xbee.xbee_transmit(ddata,64,gx,gy,gz,ax,ay,az,mx,my,mz,lad,log,height,bt,temp,dsize[0],dsize[0],dsize[0],dsize[1],dsize[1],dsize[1],dsize[2],dsize[2],dsize[2],dsize[3],dsize[3],dsize[4],dsize[5],dsize[6],14);
fprintf(fpx,"DN%d:",Count);
for(int ii = 0; ii<64; ii++) {
fprintf(fpx,"%c",ddata[ii]);
}
fprintf(fpx,"\r\n");
fclose(fpx);
Count++;
}
break;
}//case'9'
default:
break;
}
}
}