Akira Kashihara
ARLISS2012
Dependencies: mbed-rtos mbed MMA7361L MPL115A2
Fork of
rtos_basic
by 
mbed official
Diff: main.cpp
- Revision:
- 2:5e02179f4141
- Parent:
- 1:491820ee784d
- Child:
- 3:b740280416f6
--- a/main.cpp Thu Jul 12 10:23:40 2012 +0000
+++ b/main.cpp Wed Aug 22 03:02:00 2012 +0000
@@ -1,21 +1,174 @@
-#include "mbed.h"
-#include "rtos.h"
-
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-
-void led2_thread(void const *argument) {
- while (true) {
- led2 = !led2;
- Thread::wait(1000);
- }
-}
-
-int main() {
- Thread thread(led2_thread);
-
- while (true) {
- led1 = !led1;
- Thread::wait(500);
- }
-}
+#include "mbed.h" //use mbed basic library <include start
+#include "MPL115A2.h" // use MPL115A2 library
+#include "MMA7361L.h" //use MMA7361L library use
+#include "rtos.h" //use rtos library <include end
+
+LocalFileSystem local("local"); //use Local file system <file system define
+
+Timer timer; //use timer <which pin does system use?(start)
+MMA7361L accel(p17, p18, p19, p23, p24, p22); //decide pin number of accel
+AnalogIn lm60(p20); // decide pin number of tempareture
+DigitalIn endsw(p5); // decide pin number of end switch
+DigitalIn startsw(p6); //decide pin number of start switch
+BusOut leds(LED1, LED2, LED3, LED4); // decide led number of system check
+AnalogIn hu(p16); // decide pin number of humidity
+AnalogIn illu(p15);
+Serial xbee(p28,p27); //decide pin number of xbee and decide Serial using
+Serial gps(p13, p14); // decide pin number of gps <which pin does system use?(end)
+
+float begin, end;// timer define
+
+FILE *fp = fopen("/local/cansat.txt", "a"); //file system start, file open <about file system to open "cansat.txt"
+
+char gps1[1000];
+char GPS[1000];
+int timer_count = 0;
+int xbee_count = 0;
+bool xbee_flag = false;
+bool gps_flag = true; //about gps_flag define(true) <gps_define(true)
+bool gps_get = true; //which gps get or lost
+bool stateSW = false; //about switch flag define(false) <stateSW(false)
+int at = 20; // define avarage time <define avarage time
+
+void gps_thread(void const *argument) // <gps thread start
+{
+ while (gps_flag) { //if gps_flag is true, while can run <gps data scan start
+ gps.scanf("%s", gps1);
+ if (gps1[3] == 'R' && gps1[4] == 'M' && gps1[5] == 'C') { //if gps1 is $GPGGA, this program can write data <what data do I want get
+ gps.scanf("%s\r\n", GPS);
+ gps_get = true;
+ }
+ }
+}
+
+int main()
+{
+
+ float press_buff = 0; //press buffer is 0 <buff define start
+ float temp_buff = 0; //temparature buffer is 0
+ float humi_buff = 0; //humidity buffer is 0
+ float accelx_buff = 0; //accelx buffer is 0
+ float accely_buff = 0; //accely buffer is 0
+ float accelz_buff = 0; //accelz buffer is 0 <buff define end
+
+ accel.setScale(MMA7361L::SCALE_6G); //6g mode
+ accel.calibrate(MMA7361L::SCALE_6G, -0.96, 1.06, -0.78, 1.28, -1.14, 0.78); //calibration of accelation <calibration of accelation
+
+ MPL115A2 mpl115a2(p9, p10); //define pressure pin number <pressure pin number define
+
+//____define of main program(end)
+
+//____run main program(start)
+
+ while (true) {
+
+ leds = 1; // <led start(if mbed get A)
+ wait(1.0);
+ leds = 0;
+ wait(1.0);
+
+ if (startsw != stateSW) { //if start switch is pushed bu anyone run <get data start(if push start switch)
+ stateSW = !stateSW;
+ if (stateSW) {
+
+ timer.start(); //timer start <timer caunt system start
+ begin = timer.read_us(); //timer number read
+
+ Thread thread(gps_thread); //gps thread run
+
+ while (true) {
+
+ leds = 1;
+ press_buff = 0; //pressure buffer reset <buffer reset(start)
+ temp_buff = 0; //temparture buffer reset
+ humi_buff = 0; //humidity buffer reset
+ accelx_buff = 0; //accelx buffer reset
+ accely_buff = 0; //accely buffer reset
+ accelz_buff = 0; //accelz buffer reset <buffer reset(end)
+ leds = 0;
+ leds = 2;
+
+ for (int i = 0; i < at; i++) { //get data and + 20 times (loop) <get data loop(start)
+ temp_buff += (3.3 * lm60 - 0.424) / 0.00625; //temperture data calculation
+ press_buff += mpl115a2.readPressure(); //pressure get data(this calculation is run by library)
+ humi_buff += hu * 3.3 * 100; //humidity data culculation
+ accelx_buff += accel.getAccelX(); //accelx get
+ accely_buff += accel.getAccelY(); //accely get
+ accelz_buff += accel.getAccelZ(); //accelz get <get data loop(end)
+ wait(0.005);
+ }
+
+ leds = 0;
+
+ float tempv = temp_buff / at; // <avarage data(start)
+ float press = press_buff / at;
+ float humi = humi_buff / at;
+ float accelX = accelx_buff / at;
+ float accelY = accely_buff / at;
+ float accelZ = accelz_buff / at; // <avarage data(end)
+ float lx = illu * 3.3 / 3 * 1000;
+
+ end = timer.read_us();
+ double timers = (end - begin) / 1000000;
+
+ if(timers > 2000) {
+ timer_count ++;
+ begin = timer.read_us(); //timer number read
+ }
+
+ if(lx > 800) {
+ xbee_count ++;
+
+ if(xbee_count > 5) {
+ xbee_flag = true;
+ }
+ }
+
+ leds = 4;
+
+ if (gps_get == false) {
+ fprintf(fp, "$DATA,%4.1f,%4.1f,%2.2f,%2.2f,%2.2f,%4.1f,%4.1f,%5.2f,#end\r\n", timers + timer_count * 2000, tempv, accelX, accelY, accelZ, press, humi,lx);
+ if(xbee_flag == true) {
+ xbee.printf("$DATA,%4.1f,%4.1f,%2.2f,%2.2f,%2.2f,%4.1f,%4.1f,%5.2f,#end\r\n", timers + timer_count * 2000, tempv, accelX, accelY, accelZ, press, humi,lx);
+ }
+ }
+
+ if (gps_get == true) {
+ leds = 15;
+ if(xbee_flag == true) {
+ xbee.printf("%s,#end\r\n", GPS); //GPS data is dent by xbee <xbee send system(GPS)
+ }
+ fprintf(fp, "%s,#end\r\n", GPS); //GPS data is writen to mbed <write system(GPS)
+ gps_get = false;
+ leds = 0;
+ }
+
+ leds = 0;
+ leds = 8;
+
+ wait(0.1);
+
+ if (endsw != stateSW) {
+ stateSW = !stateSW;
+
+ if (stateSW) {
+ fclose(fp);
+ timer.stop();
+ gps_flag = 0;
+
+ while (true) {
+ leds = 8;
+ wait(1.0);
+ leds = 0;
+ wait(1.0);
+ }
+
+ }
+
+ }
+
+ }
+ }
+ }
+ }
+}
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