Revision 4:34a8e94c6fd5, committed 2020-10-27

Comitter:

eric11fr

Date:

Tue Oct 27 22:22:14 2020 +0000

Parent:

3:cb420000788e

Commit message:

test menu via xbee

Changed in this revision

diff -r cb420000788e -r 34a8e94c6fd5 main.cpp
--- a/main.cpp	Sat Oct 24 14:15:22 2020 +0000
+++ b/main.cpp	Tue Oct 27 22:22:14 2020 +0000
@@ -40,12 +40,12 @@
 AnalogIn   sp_2in(PA_5);//Solar Panel Current 2 pin PA5
 uint8_t g_image_buffer[IMAGE_JPG_SIZE];
 
-void telegram_bot();
+void get_image(void);
+
 void init_serial(void)
 {
     pc.baud(9600);
     xbee.baud(38400);
-   // came.baud(38400); 
 }
 
 void Init_Inisat(void)
@@ -57,13 +57,16 @@
 void test_imu(void)
 {
     unsigned char stop;
-    //cam_spi_cs=0;
-   // sdcard_spi_cs=0;
-        //test mpu9250-IMU
+    //test mpu9250-IMU
     pc.printf("\r\n/*----------------------------------------------*/\r\n");
     pc.printf("\t IMU9250 test\r\n");
     pc.printf("send \"s\" to stop\r\n");
     pc.printf("/*----------------------------------------------*/\r\n");
+    /*--------------------------------------------------------------*/
+    xbee.printf("\r\n/*----------------------------------------------*/\r\n");
+    xbee.printf("\t IMU9250 test\r\n");
+    xbee.printf("send \"s\" to stop\r\n");
+    xbee.printf("/*----------------------------------------------*/\r\n");
     activ_sensors = 1;        // 3.3V power sensors board On
     wait(2); 
 
@@ -72,11 +75,16 @@
     t.start();        
   // Read the WHO_AM_I register, this is a good test of communication
     uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);  // Read WHO_AM_I register for MPU-9250
-    pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+    pc.printf("I AM 0x%x\n\r", whoami); 
+    pc.printf("I SHOULD BE 0x71\n\r");
+    xbee.printf("I AM 0x%x\n\r", whoami); 
+    xbee.printf("I SHOULD BE 0x71\n\r");
     if (whoami == 0x71) // WHO_AM_I should always be 0x68
     {  
         pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
         pc.printf("MPU9250 is online...\n\r");
+        xbee.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
+        xbee.printf("MPU9250 is online...\n\r");
         sprintf(buffer, "0x%x", whoami);
         wait(1);
         mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
@@ -84,29 +92,32 @@
         mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers  
         wait(2);
         mpu9250.initMPU9250(); 
-        pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+       // pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
         mpu9250.initAK8963(magCalibration);
-        pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
-        pc.printf("Accelerometer full-scale range = %f  g\n\r", 2.0f*(float)(1<<Ascale));
-        pc.printf("Gyroscope full-scale range = %f  deg/s\n\r", 250.0f*(float)(1<<Gscale));
-        if(Mscale == 0) pc.printf("Magnetometer resolution = 14  bits\n\r");
-        if(Mscale == 1) pc.printf("Magnetometer resolution = 16  bits\n\r");
-        if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
-        if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
+       // pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
+       // pc.printf("Accelerometer full-scale range = %f  g\n\r", 2.0f*(float)(1<<Ascale));
+       // pc.printf("Gyroscope full-scale range = %f  deg/s\n\r", 250.0f*(float)(1<<Gscale));
+       // if(Mscale == 0) pc.printf("Magnetometer resolution = 14  bits\n\r");
+      //  if(Mscale == 1) pc.printf("Magnetometer resolution = 16  bits\n\r");
+      //  if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
+      //  if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
         wait(1);
     }
     else
     {
         pc.printf("Could not connect to MPU9250: \n\r");
         pc.printf("%#x \n",  whoami);
+        xbee.printf("Could not connect to MPU9250: \n\r");
+        xbee.printf("%#x \n",  whoami);
         sprintf(buffer, "WHO_AM_I 0x%x", whoami);
+        exit(0);
     }
     mpu9250.getAres(); // Get accelerometer sensitivity
     mpu9250.getGres(); // Get gyro sensitivity
     mpu9250.getMres(); // Get magnetometer sensitivity
-    pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
-    pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
-    pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
+ //   pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
+   // pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
+   // pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
     magbias[0] = +470.;  // User environmental x-axis correction in milliGauss, should be automatically calculated
     magbias[1] = +120.;  // User environmental x-axis correction in milliGauss
     magbias[2] = +125.;  // User environmental x-axis correction in milliGauss
@@ -142,7 +153,7 @@
         mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
     // Serial print and/or display at 0.5 s rate independent of data rates
         delt_t = t.read_ms() - countA;
-        if (delt_t > 500) 
+        if (delt_t > 1000) 
         { // update LCD once per half-second independent of read rate
             pc.printf("ax = %f", 1000*ax); 
             pc.printf(" ay = %f", 1000*ay); 
@@ -153,10 +164,22 @@
             pc.printf("gx = %f", mx); 
             pc.printf(" gy = %f", my); 
             pc.printf(" gz = %f  mG\n\r", mz); 
+            /*---------------------------------------------------*/
+            xbee.printf("ax = %f", 1000*ax); 
+            xbee.printf(" ay = %f", 1000*ay); 
+            xbee.printf(" az = %f  mg\n\r", 1000*az); 
+            xbee.printf("gx = %f", gx); 
+            xbee.printf(" gy = %f", gy); 
+            xbee.printf(" gz = %f  deg/s\n\r", gz); 
+            xbee.printf("gx = %f", mx); 
+            xbee.printf(" gy = %f", my); 
+            xbee.printf(" gz = %f  mG\n\r", mz); 
             tempCount = mpu9250.readTempData();  // Read the adc values
             temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
             pc.printf(" temperature = %f  C\n\r", temperature); 
             pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+            xbee.printf(" temperature = %f  C\n\r", temperature); 
+            xbee.printf("average rate = %f\n\r", (float) sumCount/sum);
             countA = t.read_ms(); 
             if(countA > 1<<21) 
             {
@@ -170,15 +193,14 @@
         } 
         if(pc.readable())
             stop=pc.getc();
-    } while(stop!='s');
+        if(xbee.readable())
+            stop=xbee.getc();
+    } while(stop!='s'&& (stop != 'S'));
     //activ_sensors = 0;        // 3.3V power sensors board Off
 }
 
-void telegram_bot()
-{
-   
-
-    
+void get_image(void)
+{ 
     /* main loop */
   //  while (1)
     {sdcard_spi_cs=1;//deactivate sdcard cs
@@ -194,11 +216,15 @@
                 image_size = g_arducam.CaptureImage(g_image_buffer,IMAGE_JPG_SIZE,&idx);
                 if( image_size == 0 )
                 {
-                    printf("Photo failure %d\r\n",image_size);
+                    pc.printf("Photo failure %d\r\n",image_size);
+                    xbee.printf("Photo failure %d\r\n",image_size);
                     break;
                 }
                 else
-                pc.printf("taille image%d",image_size);
+                {
+                    pc.printf("taille image%d",image_size);
+                    xbee.printf("taille image%d",image_size);
+                }
             }
             sdcard_spi_cs=0;//activate sdcard cs, deactivate cam
             cam_spi_cs=1;
@@ -218,23 +244,22 @@
 {
      sdcard_spi_cs=1;//deactivate sdcard cs
      cam_spi_cs=0;
-    // pc.baud(9600);
      if( g_arducam.Setup( OV_RESOLUTION_CIF/*OV_RESOLUTION_QQVGA*/,92, &cam_spi_cs, &camSPI, &camI2C) == false)
     {
         pc.printf("Arducam setup error \r\n");
+        xbee.printf("Arducam setup error \r\n");
         exit(0);
     }
     else
         pc.printf("init_ok"); 
-    /* start chatbot */
-    telegram_bot();
+        xbee.printf("init_ok");
+    get_image();
 
 }
 
 void test_gps(void)
 {unsigned char tmp;
     unsigned char stop=0;
-  //  ser.baud(9600);
     //GPS selection
     activ_sensors = 1;        // 3.3V power sensors board On
  
@@ -243,6 +268,11 @@
     pc.printf("\tGPS module test\r\n");
     pc.printf("send \"s\" to stop\r\n");
     pc.printf("/*----------------------------------------------*/\r\n");
+    /*----------------------------------------------------------------*/
+    xbee.printf("\r\n/*----------------------------------------------*/\r\n");
+    xbee.printf("\tGPS module test\r\n");
+    xbee.printf("send \"s\" to stop\r\n");
+    xbee.printf("/*----------------------------------------------*/\r\n");
     wait(2);
   do
   { 
@@ -250,10 +280,13 @@
     {
         tmp= _getchar();
         pc.printf("%c",tmp);
+        xbee.printf("%c",tmp);
     }while(tmp!='\r');
     if(pc.readable())
            stop=pc.getc();
-    } while(stop!='s');
+    if(xbee.readable())
+           stop=xbee.getc();
+    } while(stop!='s'&& (stop != 'S'));
  }
 
 void test_sdcard(void)
@@ -265,6 +298,11 @@
     pc.printf("\t SDCard module test\r\n");
     pc.printf("/*----------------------------------------------------*/\r\n");
     pc.printf("Write some words in sdtest.txt on sd/mydir directory\r\n"); 
+    /*----------------------------------------------------------------*/
+    xbee.printf("\r\n/*----------------------------------------------------*/\r\n");
+    xbee.printf("\t SDCard module test\r\n");
+    xbee.printf("/*----------------------------------------------------*/\r\n");
+    xbee.printf("Write some words in sdtest.txt on sd/mydir directory\r\n"); 
     mkdir("/sd/mydir", 0777);
     FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
     if(fp == NULL) {
@@ -280,25 +318,25 @@
     fgets(buf,50,fp1);
     wait(2);
     pc.printf("read from sd/mydir directory : %s\r\n",buf);
+    xbee.printf("read from sd/mydir directory : %s\r\n",buf);
     fclose(fp1); 
 }
 
-void test_xbee_comm()
-{
-    char buf[250];
-    pc.printf("\r\n/*----------------------------------------------*/\r\n");
-    pc.printf("\t xbee module test\r\n");
-    pc.printf("/*----------------------------------------------*/\r\n");
-    
-    xbee.printf("Hello from inisat\r\nTest receiving data from Ground Station : type a sentence and press enter to loopback\r\n");
-    while(pc.getc()!='s')
-    {
-        xbee.printf("%s\r\n",pc.gets(buf,250));   // Echo
+//void test_xbee_comm()
+//{
+//    char buf[250];
+//    pc.printf("\r\n/*----------------------------------------------*/\r\n");
+//    pc.printf("\t xbee module test\r\n");
+//    pc.printf("/*----------------------------------------------*/\r\n");    
+//    xbee.printf("Hello from inisat\r\nTest receiving data from Ground Station : type a sentence and press enter to loopback\r\n");
+//    while(pc.getc()!='s')
+//    {
+//        xbee.printf("%s\r\n",pc.gets(buf,250));   // Echo
         
-    }
-    while(xbee.getc()!='s')
-        pc.printf("%c\r\n",xbee.getc());
-}
+//    }
+//    while(xbee.getc()!='s')
+//        pc.printf("%c\r\n",xbee.getc());
+//}
    
 void test_analog_sensor(void)
 {
@@ -309,6 +347,12 @@
     pc.printf("\t Solar Panel 1 and 2 Currents test\r\n");
     pc.printf("send \"s\" to stop\r\n");
     pc.printf("/*----------------------------------------------*/\r\n");
+    /*-------------------------------------------------------------------*/
+    xbee.printf("\r\n/*----------------------------------------------*/\r\n");
+    xbee.printf("\t Battery level, temperature sensor test\r\n");
+    xbee.printf("\t Solar Panel 1 and 2 Currents test\r\n");
+    xbee.printf("send \"s\" to stop\r\n");
+    xbee.printf("/*----------------------------------------------*/\r\n");
     wait(2);    
     do
     {
@@ -317,91 +361,118 @@
         pc.printf("temperature: %.1f degC\r\n",(tempin.read()*3.3f-0.5f)/0.01f);
         pc.printf("solar panel 1: %.1f mA\t",(sp_1in.read()*3.3f*50));
         pc.printf("and 2: %.1f mA\r\n",(sp_2in.read()*3.3f*50));
+        /*--------------------------------------------------------------*/
+        xbee.printf("battery: %.2f V\t\t",batin.read()*4.59f);        // 3.3 * 13.9/10
+        xbee.printf("temperature: %.1f degC\r\n",(tempin.read()*3.3f-0.5f)/0.01f);
+        xbee.printf("solar panel 1: %.1f mA\t",(sp_1in.read()*3.3f*50));
+        xbee.printf("and 2: %.1f mA\r\n",(sp_2in.read()*3.3f*50));
         if(pc.readable())
             stop=pc.getc();
-     }while(stop!='s');   
+        if(xbee.readable())
+            stop=xbee.getc();
+     }while(stop!='s'&& (stop != 'S'));   
 } 
-void quit(void)
+/*void quit(void)
 {
     //do nothing
     pc.printf("\r\nbye bye...");
     exit(0);
-}
+}*/
 
 void test_pan_tilt(void)
-{unsigned char stop=0;
+{
+    unsigned char stop=0;
     pc.printf("\r\n/*----------------------------------------------*/\r\n");
-    pc.printf("\t Pan Tilt test\r\n");
+    pc.printf("\t Pan Tilt stage test\r\n");
     pc.printf("send \"s\" to stop\r\n");
     pc.printf("/*----------------------------------------------*/\r\n");
-    wait(2);    
+    xbee.printf("\r\n/*----------------------------------------------*/\r\n");
+    xbee.printf("\t Pan Tilt stage test\r\n");
+    xbee.printf("send \"s\" to stop\r\n");
+    xbee.printf("/*----------------------------------------------*/\r\n");
+    wait(1);    
     do
     {
         for(float p=0.2; p<0.7; p += 0.1) 
         {
             servo_pan = p;
-            servo_tilt=p;
+            servo_tilt= p;
             wait(0.4);
         }
         for(float p=0.7; p>0.2; p -= 0.1) 
         {
             servo_pan = p;
-            servo_tilt=p;
+            servo_tilt= p;
             wait(0.4);
         }
         if(pc.readable())
             stop=pc.getc();
-     }while(stop!='s');
-     servo_pan = 0.5;
+        if(xbee.readable())
+            stop=xbee.getc();
+    }while(stop!='s'&& (stop != 'S'));
+    servo_pan = 0.5;
     servo_tilt=0.5;
 }
 
 int menu(void)
 {int choice=0;
 // menu tests
-    //pc.putc(27);//to clear terminal screen 
-    //pc.printf("[2J");
     pc.printf("\r\n/*-------------------------------------------*/\r\n");
     pc.printf("\t1. Test IMU\r\n");
     pc.printf("\t2. Test SDCARD\r\n");
     pc.printf("\t3. Test GPS\r\n");
     pc.printf("\t4. Test CAMERA\r\n");
     pc.printf("\t5. Test Analog Sensors\r\n");
-    pc.printf("\t6. Test XBEE communication\r\n");
-    pc.printf("\t7. Test pan/tilt plates \r\n");
-    pc.printf("\t8. Quit\r\n");
+    pc.printf("\t6. Test pan/tilt plates \r\n");
     pc.printf("/*-------------------------------------------*/\r\n");
+    /*---------------------------------------------------------------------*/
+    xbee.printf("\r\n/*-------------------------------------------*/\r\n");
+    xbee.printf("\t1. Test IMU\r\n");
+    xbee.printf("\t2. Test SDCARD\r\n");
+    xbee.printf("\t3. Test GPS\r\n");
+    xbee.printf("\t4. Test CAMERA\r\n");
+    xbee.printf("\t5. Test Analog Sensors\r\n");
+    xbee.printf("\t6. Test pan/tilt plates \r\n");
+    xbee.printf("/*-------------------------------------------*/\r\n");
     do
     {
-        pc.printf("Please enter your choice (1 to 8):"); 
-        choice=pc.getc();
-    }while(choice<0x31||choice>0x38); 
+        pc.printf("Please enter your choice (1 to 6):"); 
+        xbee.printf("Please enter your choice (1 to 6):");
+        if (pc.readable())
+            choice=pc.getc();
+        if (xbee.readable())
+            choice=xbee.getc(); 
+    }while(choice<0x31||choice>0x36); 
     return choice;
 }
 
 int main()
 {   
-float batest;
-unsigned char start;
-
+    float batest;
+    unsigned char start;
     int status=0;
+  //  NVIC_SystemReset();
   //initialise serial communication
     init_serial();
     //initialise inisat port
     Init_Inisat();
     batest=batin.read()*4.59f;
     pc.printf("battery: %.2f V\r\n",batest);
-    
-  /*  if (batest < 3.3f)
+    xbee.printf("battery: %.2f V \r\n",batest);
+    if (batest < 3.3f)
     {
         pc.printf("low battery, please recharge\r\n");
+        xbee.printf("low battery, please recharge \r\n");
         exit(0);
-    }*/
+    }
     pc.printf("Press \"S\" to Start\r\n");
+    xbee.printf("Press \"S\" or \"s\" to Start\r\n");
     do
     {
         if(pc.readable())
             start=pc.getc();
+        if(xbee.readable())
+            start=xbee.getc();
     }while((start!='S') && (start != 's'));
     
     while(1)
@@ -425,16 +496,13 @@
             case '5' : test_analog_sensor();
                 status=0;
                 break;
-            case '6' : test_xbee_comm();
+            // case '6' : test_xbee_comm();
+            //   status=0;
+            //  break;
+            case '6' : test_pan_tilt();
                 status=0;
                 break;
-            case '7' : test_pan_tilt();
-                status=0;
-            break; 
-            //case 7: all_test();
-       //         break;
-            case '8' : quit();
-                break;
+            default : break;
         }
     }
 }
\ No newline at end of file