main.cpp

00001 #include "mbed.h"
00002 #include "HEPTA_EPS.h"
00003 #include "HEPTA_CDH.h"
00004 #include "HEPTA_SENSOR.h"
00005 #include "HEPTA_COM.h"
00006 
00007 Serial pc(USBTX,USBRX);
00008 HEPTA_EPS eps(p16,p26);
00009 HEPTA_CDH cdh(p5,p6,p7,p8,"sd");
00010 HEPTA_SENSOR sensor(p17, 
00011                     p28,p27,0xD0,0x18,
00012                     p13,p14,p25,p24);
00013 HEPTA_COM com(p9,p10);
00014 
00015 int main()
00016 {
00017     pc.baud(9600);
00018     int rcmd=0,cmdflag=0;
00019     FILE *dummy = fopen("/sd/dummy.txt","w");
00020     if(dummy == NULL) {
00021         error("Could not open file for write\r\n");
00022     }
00023     fclose(dummy);
00024     
00025     while(1)
00026     {
00027         wait(0.2);
00028         com.xbee_receive(&rcmd,&cmdflag);
00029         pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag);
00030         if (cmdflag == 1) {
00031             pc.printf("Command Get %d\r\n",rcmd);
00032             if(rcmd == 'a'){
00033                 com.printf("CAMERA\r\n");
00034                 sensor.Sync();
00035                 sensor.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
00036                 sensor.test_jpeg_snapshot_data("/sd/test.txt");
00037                 FILE *fp = fopen("/sd/test.txt", "r");
00038                 if(fp == NULL) {
00039                     pc.printf("Could not open file for write\r\n");
00040                 } else {
00041                     
00042                     char str[1024];
00043                     com.printf("INICIO\r\n");
00044                     while((fgets(str,256,fp))!=NULL) {
00045                         com.printf("%s",str);
00046                         wait(0.001);
00047                     }
00048                     com.printf("FIN\r\n");
00049                     pc.printf("Data transmitting finished:)\r\n");
00050                     fclose(fp);
00051                 }
00052             }
00053             com.initialize();
00054         }
00055     }
00056 }