inisat_dev / Mbed 2 deprecated inisat4nucleo

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Dependencies:   mbed Servo

main.cpp@3:cb420000788e, 2020-10-24 (annotated)

Committer:
Giamarchi
Date:
Sat Oct 24 14:15:22 2020 +0000
Revision:
3:cb420000788e
Parent:
2:065d789dbcbd
Child:
4:34a8e94c6fd5
Analog Sensors uptodate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eric11fr 0:b8bade04f24f 1 #include "mbed.h"
eric11fr 0:b8bade04f24f 2 #include "mpu9250.h"
eric11fr 0:b8bade04f24f 3 #include "SDFileSystem.h"
eric11fr 0:b8bade04f24f 4 #include "soft_uart.h"
eric11fr 0:b8bade04f24f 5 #include <string.h>
eric11fr 0:b8bade04f24f 6 #include "ArduCAM2640.h"
eric11fr 2:065d789dbcbd 7 #include "Servo/Servo.h"
eric11fr 0:b8bade04f24f 8 #define IMAGE_JPG_SIZE 16*1024
eric11fr 0:b8bade04f24f 9 #define MIN(x,y) x < y ? x : y
eric11fr 0:b8bade04f24f 10 float sum = 0;
eric11fr 0:b8bade04f24f 11 uint32_t sumCount = 0;
eric11fr 0:b8bade04f24f 12 char buffer[14];
eric11fr 0:b8bade04f24f 13 char buf[100];
eric11fr 0:b8bade04f24f 14 unsigned int framepos=0;
eric11fr 2:065d789dbcbd 15
eric11fr 2:065d789dbcbd 16 Servo servo_pan(PB_0);
eric11fr 2:065d789dbcbd 17 Servo servo_tilt(PB_1);
eric11fr 0:b8bade04f24f 18 ArduCAM2640 g_arducam;
eric11fr 0:b8bade04f24f 19 I2C camI2C(PB_7, PB_6);
eric11fr 0:b8bade04f24f 20 //I2C camI2C(PB_7,PB_6); //SDA/SCL
eric11fr 0:b8bade04f24f 21 SPI camSPI(PB_5,PB_4,PB_3);//MOSI/MISO/SCL
eric11fr 0:b8bade04f24f 22 DigitalOut cam_spi_cs(PA_8);// cs _camera PA_8
eric11fr 0:b8bade04f24f 23 DigitalOut sdcard_spi_cs(PA_11);// cs _sdcard PA_11
eric11fr 0:b8bade04f24f 24 MPU9250 mpu9250;
eric11fr 0:b8bade04f24f 25 Timer t;
eric11fr 0:b8bade04f24f 26 // serial port for USB, camera, GPS and XBEE
eric11fr 0:b8bade04f24f 27 Serial pc(USBTX, USBRX); // usb serial tx, rx
eric11fr 0:b8bade04f24f 28
eric11fr 0:b8bade04f24f 29 //Serial ser(pa3, pa4);//GPS softserial TX, RX
eric11fr 0:b8bade04f24f 30 Serial xbee(PA_9, PA_10); //xbee serial pin TX,RX
eric11fr 0:b8bade04f24f 31 //sdcard
eric11fr 0:b8bade04f24f 32 SDFileSystem sd(PB_5, PB_4, PB_3, PA_11, "sd"); //MOSI,MISO,SCK,CS the pinout on the mbed Cool Components workshop board
eric11fr 0:b8bade04f24f 33
eric11fr 0:b8bade04f24f 34 // activation 3.3V power supply on sensors board
eric11fr 2:065d789dbcbd 35 DigitalOut activ_sensors(PA_12); //
eric11fr 0:b8bade04f24f 36 // Analog pin sensors : battery and temperature
eric11fr 0:b8bade04f24f 37 AnalogIn batin(PA_0);//battery pin pA0
eric11fr 0:b8bade04f24f 38 AnalogIn tempin(PA_1);//temperature pin pa1
Giamarchi 3:cb420000788e 39 AnalogIn sp_1in(PA_6);//Solar Panel Current 1 pin PA6
Giamarchi 3:cb420000788e 40 AnalogIn sp_2in(PA_5);//Solar Panel Current 2 pin PA5
eric11fr 0:b8bade04f24f 41 uint8_t g_image_buffer[IMAGE_JPG_SIZE];
eric11fr 0:b8bade04f24f 42
eric11fr 0:b8bade04f24f 43 void telegram_bot();
eric11fr 0:b8bade04f24f 44 void init_serial(void)
eric11fr 0:b8bade04f24f 45 {
eric11fr 0:b8bade04f24f 46 pc.baud(9600);
eric11fr 0:b8bade04f24f 47 xbee.baud(38400);
eric11fr 0:b8bade04f24f 48 // came.baud(38400);
eric11fr 0:b8bade04f24f 49 }
eric11fr 0:b8bade04f24f 50
eric11fr 0:b8bade04f24f 51 void Init_Inisat(void)
eric11fr 0:b8bade04f24f 52 {
eric11fr 0:b8bade04f24f 53 activ_sensors = 0; // 3.3V power sensors board Off
eric11fr 0:b8bade04f24f 54
eric11fr 0:b8bade04f24f 55 }
eric11fr 0:b8bade04f24f 56
eric11fr 0:b8bade04f24f 57 void test_imu(void)
eric11fr 0:b8bade04f24f 58 {
eric11fr 0:b8bade04f24f 59 unsigned char stop;
eric11fr 0:b8bade04f24f 60 //cam_spi_cs=0;
eric11fr 0:b8bade04f24f 61 // sdcard_spi_cs=0;
eric11fr 0:b8bade04f24f 62 //test mpu9250-IMU
eric11fr 0:b8bade04f24f 63 pc.printf("\r\n/*----------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 64 pc.printf("\t IMU9250 test\r\n");
eric11fr 0:b8bade04f24f 65 pc.printf("send \"s\" to stop\r\n");
eric11fr 0:b8bade04f24f 66 pc.printf("/*----------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 67 activ_sensors = 1; // 3.3V power sensors board On
eric11fr 0:b8bade04f24f 68 wait(2);
eric11fr 0:b8bade04f24f 69
eric11fr 0:b8bade04f24f 70 //Set up I2C
eric11fr 0:b8bade04f24f 71 i2c.frequency(400000); // use fast (400 kHz) I2C
eric11fr 0:b8bade04f24f 72 t.start();
eric11fr 0:b8bade04f24f 73 // Read the WHO_AM_I register, this is a good test of communication
eric11fr 0:b8bade04f24f 74 uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
eric11fr 0:b8bade04f24f 75 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
eric11fr 0:b8bade04f24f 76 if (whoami == 0x71) // WHO_AM_I should always be 0x68
eric11fr 0:b8bade04f24f 77 {
eric11fr 0:b8bade04f24f 78 pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
eric11fr 0:b8bade04f24f 79 pc.printf("MPU9250 is online...\n\r");
eric11fr 0:b8bade04f24f 80 sprintf(buffer, "0x%x", whoami);
eric11fr 0:b8bade04f24f 81 wait(1);
eric11fr 0:b8bade04f24f 82 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
eric11fr 0:b8bade04f24f 83 // mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
eric11fr 0:b8bade04f24f 84 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
eric11fr 0:b8bade04f24f 85 wait(2);
eric11fr 0:b8bade04f24f 86 mpu9250.initMPU9250();
eric11fr 0:b8bade04f24f 87 pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
eric11fr 0:b8bade04f24f 88 mpu9250.initAK8963(magCalibration);
eric11fr 0:b8bade04f24f 89 pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
eric11fr 0:b8bade04f24f 90 pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
eric11fr 0:b8bade04f24f 91 pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
eric11fr 0:b8bade04f24f 92 if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
eric11fr 0:b8bade04f24f 93 if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
eric11fr 0:b8bade04f24f 94 if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
eric11fr 0:b8bade04f24f 95 if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
eric11fr 0:b8bade04f24f 96 wait(1);
eric11fr 0:b8bade04f24f 97 }
eric11fr 0:b8bade04f24f 98 else
eric11fr 0:b8bade04f24f 99 {
eric11fr 0:b8bade04f24f 100 pc.printf("Could not connect to MPU9250: \n\r");
eric11fr 0:b8bade04f24f 101 pc.printf("%#x \n", whoami);
eric11fr 0:b8bade04f24f 102 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
eric11fr 0:b8bade04f24f 103 }
eric11fr 0:b8bade04f24f 104 mpu9250.getAres(); // Get accelerometer sensitivity
eric11fr 0:b8bade04f24f 105 mpu9250.getGres(); // Get gyro sensitivity
eric11fr 0:b8bade04f24f 106 mpu9250.getMres(); // Get magnetometer sensitivity
eric11fr 0:b8bade04f24f 107 pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
eric11fr 0:b8bade04f24f 108 pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
eric11fr 0:b8bade04f24f 109 pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
eric11fr 0:b8bade04f24f 110 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
eric11fr 0:b8bade04f24f 111 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
eric11fr 0:b8bade04f24f 112 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
eric11fr 0:b8bade04f24f 113 do
eric11fr 0:b8bade04f24f 114 {
eric11fr 0:b8bade04f24f 115 // If intPin goes high, all data registers have new data
eric11fr 0:b8bade04f24f 116 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
eric11fr 0:b8bade04f24f 117 { // On interrupt, check if data ready interrupt
eric11fr 0:b8bade04f24f 118 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
eric11fr 0:b8bade04f24f 119 // Now we'll calculate the accleration value into actual g's
eric11fr 0:b8bade04f24f 120 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
eric11fr 0:b8bade04f24f 121 ay = (float)accelCount[1]*aRes - accelBias[1];
eric11fr 0:b8bade04f24f 122 az = (float)accelCount[2]*aRes - accelBias[2];
eric11fr 0:b8bade04f24f 123 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
eric11fr 0:b8bade04f24f 124 // Calculate the gyro value into actual degrees per second
eric11fr 0:b8bade04f24f 125 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
eric11fr 0:b8bade04f24f 126 gy = (float)gyroCount[1]*gRes - gyroBias[1];
eric11fr 0:b8bade04f24f 127 gz = (float)gyroCount[2]*gRes - gyroBias[2];
eric11fr 0:b8bade04f24f 128 mpu9250.readMagData(magCount); // Read the x/y/z adc values
eric11fr 0:b8bade04f24f 129 // Calculate the magnetometer values in milliGauss
eric11fr 0:b8bade04f24f 130 // Include factory calibration per data sheet and user environmental corrections
eric11fr 0:b8bade04f24f 131 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
eric11fr 0:b8bade04f24f 132 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
eric11fr 0:b8bade04f24f 133 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
eric11fr 0:b8bade04f24f 134 }
eric11fr 0:b8bade04f24f 135 Now = t.read_us();
eric11fr 0:b8bade04f24f 136 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
eric11fr 0:b8bade04f24f 137 lastUpdate = Now;
eric11fr 0:b8bade04f24f 138 sum += deltat;
eric11fr 0:b8bade04f24f 139 sumCount++;
eric11fr 0:b8bade04f24f 140 // Pass gyro rate as rad/s
eric11fr 0:b8bade04f24f 141 // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
eric11fr 0:b8bade04f24f 142 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
eric11fr 0:b8bade04f24f 143 // Serial print and/or display at 0.5 s rate independent of data rates
eric11fr 0:b8bade04f24f 144 delt_t = t.read_ms() - countA;
eric11fr 0:b8bade04f24f 145 if (delt_t > 500)
eric11fr 0:b8bade04f24f 146 { // update LCD once per half-second independent of read rate
eric11fr 0:b8bade04f24f 147 pc.printf("ax = %f", 1000*ax);
eric11fr 0:b8bade04f24f 148 pc.printf(" ay = %f", 1000*ay);
eric11fr 0:b8bade04f24f 149 pc.printf(" az = %f mg\n\r", 1000*az);
eric11fr 0:b8bade04f24f 150 pc.printf("gx = %f", gx);
eric11fr 0:b8bade04f24f 151 pc.printf(" gy = %f", gy);
eric11fr 0:b8bade04f24f 152 pc.printf(" gz = %f deg/s\n\r", gz);
eric11fr 0:b8bade04f24f 153 pc.printf("gx = %f", mx);
eric11fr 0:b8bade04f24f 154 pc.printf(" gy = %f", my);
eric11fr 0:b8bade04f24f 155 pc.printf(" gz = %f mG\n\r", mz);
eric11fr 0:b8bade04f24f 156 tempCount = mpu9250.readTempData(); // Read the adc values
eric11fr 0:b8bade04f24f 157 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
eric11fr 0:b8bade04f24f 158 pc.printf(" temperature = %f C\n\r", temperature);
eric11fr 0:b8bade04f24f 159 pc.printf("average rate = %f\n\r", (float) sumCount/sum);
eric11fr 0:b8bade04f24f 160 countA = t.read_ms();
eric11fr 0:b8bade04f24f 161 if(countA > 1<<21)
eric11fr 0:b8bade04f24f 162 {
eric11fr 0:b8bade04f24f 163 t.start(); // start the timer over again if ~30 minutes has passed
eric11fr 0:b8bade04f24f 164 countA = 0;
eric11fr 0:b8bade04f24f 165 deltat= 0;
eric11fr 0:b8bade04f24f 166 lastUpdate = t.read_us();
eric11fr 0:b8bade04f24f 167 }
eric11fr 0:b8bade04f24f 168 sum = 0;
eric11fr 0:b8bade04f24f 169 sumCount = 0;
eric11fr 0:b8bade04f24f 170 }
eric11fr 0:b8bade04f24f 171 if(pc.readable())
eric11fr 0:b8bade04f24f 172 stop=pc.getc();
eric11fr 0:b8bade04f24f 173 } while(stop!='s');
eric11fr 0:b8bade04f24f 174 //activ_sensors = 0; // 3.3V power sensors board Off
eric11fr 0:b8bade04f24f 175 }
eric11fr 0:b8bade04f24f 176
eric11fr 0:b8bade04f24f 177 void telegram_bot()
eric11fr 0:b8bade04f24f 178 {
eric11fr 0:b8bade04f24f 179
eric11fr 0:b8bade04f24f 180
eric11fr 0:b8bade04f24f 181
eric11fr 0:b8bade04f24f 182 /* main loop */
eric11fr 0:b8bade04f24f 183 // while (1)
eric11fr 0:b8bade04f24f 184 {sdcard_spi_cs=1;//deactivate sdcard cs
eric11fr 0:b8bade04f24f 185 cam_spi_cs=0;
eric11fr 0:b8bade04f24f 186
eric11fr 0:b8bade04f24f 187
eric11fr 0:b8bade04f24f 188 uint32_t image_size;
eric11fr 0:b8bade04f24f 189 uint32_t idx;
eric11fr 0:b8bade04f24f 190
eric11fr 0:b8bade04f24f 191
eric11fr 0:b8bade04f24f 192 for(int i=0; i<3; i++)
eric11fr 0:b8bade04f24f 193 {
eric11fr 0:b8bade04f24f 194 image_size = g_arducam.CaptureImage(g_image_buffer,IMAGE_JPG_SIZE,&idx);
eric11fr 0:b8bade04f24f 195 if( image_size == 0 )
eric11fr 0:b8bade04f24f 196 {
eric11fr 0:b8bade04f24f 197 printf("Photo failure %d\r\n",image_size);
eric11fr 0:b8bade04f24f 198 break;
eric11fr 0:b8bade04f24f 199 }
eric11fr 0:b8bade04f24f 200 else
eric11fr 0:b8bade04f24f 201 pc.printf("taille image%d",image_size);
eric11fr 0:b8bade04f24f 202 }
eric11fr 0:b8bade04f24f 203 sdcard_spi_cs=0;//activate sdcard cs, deactivate cam
eric11fr 0:b8bade04f24f 204 cam_spi_cs=1;
eric11fr 0:b8bade04f24f 205 FILE *fp = fopen("/sd/mydir/image.jpg", "w");
eric11fr 0:b8bade04f24f 206 if(fp == NULL) {
eric11fr 0:b8bade04f24f 207 error("Could not open file for write\n");
eric11fr 0:b8bade04f24f 208 }
eric11fr 0:b8bade04f24f 209
eric11fr 0:b8bade04f24f 210
eric11fr 0:b8bade04f24f 211 for (uint32_t l=1;l<image_size+1;l++)
eric11fr 0:b8bade04f24f 212 fprintf(fp, "%c",g_image_buffer[l]);
eric11fr 0:b8bade04f24f 213 //pc.printf("%c",g_image_buffer[l]);
eric11fr 0:b8bade04f24f 214 fclose(fp);
eric11fr 0:b8bade04f24f 215 }
eric11fr 0:b8bade04f24f 216 }
eric11fr 0:b8bade04f24f 217 void test_camera(void)
eric11fr 0:b8bade04f24f 218 {
eric11fr 0:b8bade04f24f 219 sdcard_spi_cs=1;//deactivate sdcard cs
eric11fr 0:b8bade04f24f 220 cam_spi_cs=0;
eric11fr 0:b8bade04f24f 221 // pc.baud(9600);
eric11fr 0:b8bade04f24f 222 if( g_arducam.Setup( OV_RESOLUTION_CIF/*OV_RESOLUTION_QQVGA*/,92, &cam_spi_cs, &camSPI, &camI2C) == false)
eric11fr 0:b8bade04f24f 223 {
eric11fr 0:b8bade04f24f 224 pc.printf("Arducam setup error \r\n");
eric11fr 0:b8bade04f24f 225 exit(0);
eric11fr 0:b8bade04f24f 226 }
eric11fr 0:b8bade04f24f 227 else
eric11fr 0:b8bade04f24f 228 pc.printf("init_ok");
eric11fr 0:b8bade04f24f 229 /* start chatbot */
eric11fr 0:b8bade04f24f 230 telegram_bot();
eric11fr 0:b8bade04f24f 231
eric11fr 0:b8bade04f24f 232 }
eric11fr 0:b8bade04f24f 233
eric11fr 0:b8bade04f24f 234 void test_gps(void)
eric11fr 0:b8bade04f24f 235 {unsigned char tmp;
eric11fr 0:b8bade04f24f 236 unsigned char stop=0;
eric11fr 0:b8bade04f24f 237 // ser.baud(9600);
eric11fr 0:b8bade04f24f 238 //GPS selection
eric11fr 0:b8bade04f24f 239 activ_sensors = 1; // 3.3V power sensors board On
eric11fr 0:b8bade04f24f 240
eric11fr 0:b8bade04f24f 241 init_uart();
eric11fr 0:b8bade04f24f 242 pc.printf("\r\n/*----------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 243 pc.printf("\tGPS module test\r\n");
eric11fr 0:b8bade04f24f 244 pc.printf("send \"s\" to stop\r\n");
eric11fr 0:b8bade04f24f 245 pc.printf("/*----------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 246 wait(2);
eric11fr 0:b8bade04f24f 247 do
eric11fr 0:b8bade04f24f 248 {
eric11fr 0:b8bade04f24f 249 do
eric11fr 0:b8bade04f24f 250 {
eric11fr 0:b8bade04f24f 251 tmp= _getchar();
eric11fr 0:b8bade04f24f 252 pc.printf("%c",tmp);
eric11fr 0:b8bade04f24f 253 }while(tmp!='\r');
eric11fr 0:b8bade04f24f 254 if(pc.readable())
eric11fr 0:b8bade04f24f 255 stop=pc.getc();
eric11fr 0:b8bade04f24f 256 } while(stop!='s');
eric11fr 0:b8bade04f24f 257 }
eric11fr 0:b8bade04f24f 258
eric11fr 0:b8bade04f24f 259 void test_sdcard(void)
eric11fr 0:b8bade04f24f 260 {
eric11fr 0:b8bade04f24f 261 char buf[50];
eric11fr 0:b8bade04f24f 262 cam_spi_cs=1; //deactivate CS camera
eric11fr 0:b8bade04f24f 263
eric11fr 0:b8bade04f24f 264 pc.printf("\r\n/*----------------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 265 pc.printf("\t SDCard module test\r\n");
eric11fr 0:b8bade04f24f 266 pc.printf("/*----------------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 267 pc.printf("Write some words in sdtest.txt on sd/mydir directory\r\n");
eric11fr 0:b8bade04f24f 268 mkdir("/sd/mydir", 0777);
eric11fr 0:b8bade04f24f 269 FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
eric11fr 0:b8bade04f24f 270 if(fp == NULL) {
eric11fr 0:b8bade04f24f 271 error("Could not open file for write\n");
eric11fr 0:b8bade04f24f 272 }
eric11fr 0:b8bade04f24f 273 fprintf(fp, "Hello World, greats from Inisat!");
eric11fr 0:b8bade04f24f 274 fclose(fp);
eric11fr 0:b8bade04f24f 275 FILE *fp1 = fopen("/sd/mydir/sdtest.txt", "r");
eric11fr 0:b8bade04f24f 276 if(fp1 == NULL) {
eric11fr 0:b8bade04f24f 277 error("Could not open file for write\n");
eric11fr 0:b8bade04f24f 278 }
eric11fr 0:b8bade04f24f 279 //fscanf(fp,"%s",buf);
eric11fr 0:b8bade04f24f 280 fgets(buf,50,fp1);
eric11fr 0:b8bade04f24f 281 wait(2);
eric11fr 0:b8bade04f24f 282 pc.printf("read from sd/mydir directory : %s\r\n",buf);
eric11fr 0:b8bade04f24f 283 fclose(fp1);
eric11fr 0:b8bade04f24f 284 }
eric11fr 0:b8bade04f24f 285
eric11fr 0:b8bade04f24f 286 void test_xbee_comm()
eric11fr 0:b8bade04f24f 287 {
eric11fr 0:b8bade04f24f 288 char buf[250];
eric11fr 0:b8bade04f24f 289 pc.printf("\r\n/*----------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 290 pc.printf("\t xbee module test\r\n");
eric11fr 0:b8bade04f24f 291 pc.printf("/*----------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 292
eric11fr 0:b8bade04f24f 293 xbee.printf("Hello from inisat\r\nTest receiving data from Ground Station : type a sentence and press enter to loopback\r\n");
eric11fr 0:b8bade04f24f 294 while(pc.getc()!='s')
eric11fr 0:b8bade04f24f 295 {
eric11fr 0:b8bade04f24f 296 xbee.printf("%s\r\n",pc.gets(buf,250)); // Echo
eric11fr 0:b8bade04f24f 297
eric11fr 0:b8bade04f24f 298 }
eric11fr 0:b8bade04f24f 299 while(xbee.getc()!='s')
eric11fr 0:b8bade04f24f 300 pc.printf("%c\r\n",xbee.getc());
eric11fr 0:b8bade04f24f 301 }
eric11fr 0:b8bade04f24f 302
eric11fr 0:b8bade04f24f 303 void test_analog_sensor(void)
eric11fr 0:b8bade04f24f 304 {
eric11fr 0:b8bade04f24f 305 unsigned char stop=0;
eric11fr 0:b8bade04f24f 306 activ_sensors = 1;
eric11fr 0:b8bade04f24f 307 pc.printf("\r\n/*----------------------------------------------*/\r\n");
Giamarchi 3:cb420000788e 308 pc.printf("\t Battery level, temperature sensor test\r\n");
Giamarchi 3:cb420000788e 309 pc.printf("\t Solar Panel 1 and 2 Currents test\r\n");
eric11fr 0:b8bade04f24f 310 pc.printf("send \"s\" to stop\r\n");
eric11fr 0:b8bade04f24f 311 pc.printf("/*----------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 312 wait(2);
eric11fr 0:b8bade04f24f 313 do
eric11fr 0:b8bade04f24f 314 {
eric11fr 0:b8bade04f24f 315 wait_ms(300);
eric11fr 0:b8bade04f24f 316 pc.printf("battery: %.2f V\t\t",batin.read()*4.59f); // 3.3 * 13.9/10
eric11fr 0:b8bade04f24f 317 pc.printf("temperature: %.1f degC\r\n",(tempin.read()*3.3f-0.5f)/0.01f);
Giamarchi 3:cb420000788e 318 pc.printf("solar panel 1: %.1f mA\t",(sp_1in.read()*3.3f*50));
Giamarchi 3:cb420000788e 319 pc.printf("and 2: %.1f mA\r\n",(sp_2in.read()*3.3f*50));
eric11fr 0:b8bade04f24f 320 if(pc.readable())
eric11fr 0:b8bade04f24f 321 stop=pc.getc();
eric11fr 0:b8bade04f24f 322 }while(stop!='s');
eric11fr 0:b8bade04f24f 323 }
eric11fr 0:b8bade04f24f 324 void quit(void)
eric11fr 0:b8bade04f24f 325 {
eric11fr 0:b8bade04f24f 326 //do nothing
eric11fr 0:b8bade04f24f 327 pc.printf("\r\nbye bye...");
eric11fr 0:b8bade04f24f 328 exit(0);
eric11fr 0:b8bade04f24f 329 }
eric11fr 2:065d789dbcbd 330
eric11fr 2:065d789dbcbd 331 void test_pan_tilt(void)
eric11fr 2:065d789dbcbd 332 {unsigned char stop=0;
eric11fr 2:065d789dbcbd 333 pc.printf("\r\n/*----------------------------------------------*/\r\n");
eric11fr 2:065d789dbcbd 334 pc.printf("\t Pan Tilt test\r\n");
eric11fr 2:065d789dbcbd 335 pc.printf("send \"s\" to stop\r\n");
eric11fr 2:065d789dbcbd 336 pc.printf("/*----------------------------------------------*/\r\n");
eric11fr 2:065d789dbcbd 337 wait(2);
eric11fr 2:065d789dbcbd 338 do
eric11fr 2:065d789dbcbd 339 {
eric11fr 2:065d789dbcbd 340 for(float p=0.2; p<0.7; p += 0.1)
eric11fr 2:065d789dbcbd 341 {
eric11fr 2:065d789dbcbd 342 servo_pan = p;
eric11fr 2:065d789dbcbd 343 servo_tilt=p;
eric11fr 2:065d789dbcbd 344 wait(0.4);
eric11fr 2:065d789dbcbd 345 }
eric11fr 2:065d789dbcbd 346 for(float p=0.7; p>0.2; p -= 0.1)
eric11fr 2:065d789dbcbd 347 {
eric11fr 2:065d789dbcbd 348 servo_pan = p;
eric11fr 2:065d789dbcbd 349 servo_tilt=p;
eric11fr 2:065d789dbcbd 350 wait(0.4);
eric11fr 2:065d789dbcbd 351 }
eric11fr 2:065d789dbcbd 352 if(pc.readable())
eric11fr 2:065d789dbcbd 353 stop=pc.getc();
eric11fr 2:065d789dbcbd 354 }while(stop!='s');
eric11fr 2:065d789dbcbd 355 servo_pan = 0.5;
eric11fr 2:065d789dbcbd 356 servo_tilt=0.5;
eric11fr 2:065d789dbcbd 357 }
eric11fr 2:065d789dbcbd 358
eric11fr 0:b8bade04f24f 359 int menu(void)
eric11fr 0:b8bade04f24f 360 {int choice=0;
eric11fr 0:b8bade04f24f 361 // menu tests
eric11fr 0:b8bade04f24f 362 //pc.putc(27);//to clear terminal screen
eric11fr 0:b8bade04f24f 363 //pc.printf("[2J");
eric11fr 0:b8bade04f24f 364 pc.printf("\r\n/*-------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 365 pc.printf("\t1. Test IMU\r\n");
eric11fr 0:b8bade04f24f 366 pc.printf("\t2. Test SDCARD\r\n");
eric11fr 0:b8bade04f24f 367 pc.printf("\t3. Test GPS\r\n");
eric11fr 0:b8bade04f24f 368 pc.printf("\t4. Test CAMERA\r\n");
Giamarchi 3:cb420000788e 369 pc.printf("\t5. Test Analog Sensors\r\n");
eric11fr 0:b8bade04f24f 370 pc.printf("\t6. Test XBEE communication\r\n");
eric11fr 2:065d789dbcbd 371 pc.printf("\t7. Test pan/tilt plates \r\n");
eric11fr 2:065d789dbcbd 372 pc.printf("\t8. Quit\r\n");
eric11fr 0:b8bade04f24f 373 pc.printf("/*-------------------------------------------*/\r\n");
eric11fr 0:b8bade04f24f 374 do
eric11fr 0:b8bade04f24f 375 {
eric11fr 2:065d789dbcbd 376 pc.printf("Please enter your choice (1 to 8):");
eric11fr 0:b8bade04f24f 377 choice=pc.getc();
eric11fr 2:065d789dbcbd 378 }while(choice<0x31||choice>0x38);
eric11fr 0:b8bade04f24f 379 return choice;
eric11fr 0:b8bade04f24f 380 }
eric11fr 0:b8bade04f24f 381
eric11fr 0:b8bade04f24f 382 int main()
eric11fr 0:b8bade04f24f 383 {
eric11fr 0:b8bade04f24f 384 float batest;
eric11fr 0:b8bade04f24f 385 unsigned char start;
eric11fr 0:b8bade04f24f 386
eric11fr 0:b8bade04f24f 387 int status=0;
eric11fr 0:b8bade04f24f 388 //initialise serial communication
eric11fr 0:b8bade04f24f 389 init_serial();
eric11fr 0:b8bade04f24f 390 //initialise inisat port
eric11fr 0:b8bade04f24f 391 Init_Inisat();
eric11fr 0:b8bade04f24f 392 batest=batin.read()*4.59f;
eric11fr 0:b8bade04f24f 393 pc.printf("battery: %.2f V\r\n",batest);
eric11fr 0:b8bade04f24f 394
eric11fr 0:b8bade04f24f 395 /* if (batest < 3.3f)
eric11fr 0:b8bade04f24f 396 {
eric11fr 0:b8bade04f24f 397 pc.printf("low battery, please recharge\r\n");
eric11fr 0:b8bade04f24f 398 exit(0);
eric11fr 0:b8bade04f24f 399 }*/
eric11fr 0:b8bade04f24f 400 pc.printf("Press \"S\" to Start\r\n");
eric11fr 0:b8bade04f24f 401 do
eric11fr 0:b8bade04f24f 402 {
eric11fr 0:b8bade04f24f 403 if(pc.readable())
eric11fr 0:b8bade04f24f 404 start=pc.getc();
eric11fr 0:b8bade04f24f 405 }while((start!='S') && (start != 's'));
eric11fr 0:b8bade04f24f 406
eric11fr 0:b8bade04f24f 407 while(1)
eric11fr 0:b8bade04f24f 408 {
eric11fr 0:b8bade04f24f 409 switch(status)
eric11fr 0:b8bade04f24f 410 {
eric11fr 0:b8bade04f24f 411 case 0 : status=menu();
eric11fr 0:b8bade04f24f 412 break;
eric11fr 0:b8bade04f24f 413 case '1' : test_imu();
eric11fr 0:b8bade04f24f 414 status=0;
eric11fr 0:b8bade04f24f 415 break;
eric11fr 0:b8bade04f24f 416 case '2' : test_sdcard();
eric11fr 0:b8bade04f24f 417 status=0;
eric11fr 0:b8bade04f24f 418 break;
eric11fr 0:b8bade04f24f 419 case '3' : test_gps();
eric11fr 0:b8bade04f24f 420 status=0;
eric11fr 0:b8bade04f24f 421 break;
eric11fr 0:b8bade04f24f 422 case '4' : test_camera();
eric11fr 0:b8bade04f24f 423 status=0;
eric11fr 0:b8bade04f24f 424 break;
eric11fr 0:b8bade04f24f 425 case '5' : test_analog_sensor();
eric11fr 0:b8bade04f24f 426 status=0;
eric11fr 0:b8bade04f24f 427 break;
eric11fr 0:b8bade04f24f 428 case '6' : test_xbee_comm();
eric11fr 0:b8bade04f24f 429 status=0;
eric11fr 2:065d789dbcbd 430 break;
eric11fr 2:065d789dbcbd 431 case '7' : test_pan_tilt();
eric11fr 2:065d789dbcbd 432 status=0;
eric11fr 2:065d789dbcbd 433 break;
eric11fr 0:b8bade04f24f 434 //case 7: all_test();
eric11fr 0:b8bade04f24f 435 // break;
eric11fr 2:065d789dbcbd 436 case '8' : quit();
eric11fr 0:b8bade04f24f 437 break;
eric11fr 0:b8bade04f24f 438 }
eric11fr 0:b8bade04f24f 439 }
eric11fr 0:b8bade04f24f 440 }