![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
test
Dependencies: Hepta9axis HeptaBattery HeptaCamera_GPS HeptaTemp HeptaXbee SDFileSystem mbed
Fork of Lab9-01_All_transmit by
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; } } }