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ARLISS2012
Dependencies: mbed-rtos mbed MMA7361L MPL115A2
Fork of rtos_basic by
Diff: main.cpp
- Revision:
- 6:c97217c9191b
- Parent:
- 5:31bafc5b1bcd
diff -r 31bafc5b1bcd -r c97217c9191b main.cpp --- a/main.cpp Thu Aug 30 09:37:06 2012 +0000 +++ b/main.cpp Thu Apr 30 13:50:23 2015 +0000 @@ -1,3 +1,7 @@ +/* +@author Akira Kashihara <akira.kashihara@gmail.com> +@suthor Kenta Osaki +*/ #include "mbed.h" //use mbed basic library <include start #include "MPL115A2.h" // use MPL115A2 library #include "MMA7361L.h" //use MMA7361L library use @@ -12,12 +16,12 @@ 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); +//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 -float begin_1; +long int begin, end;// timer define +long int begin_1 = 0; FILE *fp = fopen("/local/cansat.txt", "a"); //file system start, file open <about file system to open "cansat.txt" @@ -25,10 +29,10 @@ char GPS[1000]; int timer_count = 0; int xbee_count = 0; -bool xbee_flag = false; +bool xbee_flag = true; 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) +bool stateSW = false; //about switch flag define(false) // <stateSW(false) int at = 20; // define avarage time void gps_thread(void const *argument) // <gps thread start @@ -107,24 +111,26 @@ 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; + // float lx = illu * 3.3 / 3 * 1000; end = timer.read_us() - timer_count*2000; - double timers = (end - begin ) / 1000000; + double timers = 1.0 * (end - begin ) / 1000000; if(timers > 2000) { timer_count ++; - begin = timer.read_us() - timer_count*2000;; //timer number read + begin = timer.read_us() - timer_count * 2000; //timer number read timers = (end - begin) / 1000000; } if(xbee_count > 6) { - double stop_timer = (end - begin_1) / 1000000; - if(stop_timer > 30) { + double stop_timer = 1.0 * (end - begin_1) / 1000000; + if(stop_timer > 60 * 30) { fclose(fp); timer.stop(); - gps_flag = 0; + gps_get = 1; + gps_flag = 1; + xbee.printf("CanSat was able to close the file\r\n"); while(true) { leds = 8; wait(1.0); @@ -133,32 +139,29 @@ } } } - - if(lx > 800) { - xbee_count ++; + /* if(lx > 800) { + xbee_count ++; - if(xbee_count > 5) { - xbee_flag = true; - if(xbee_count == 6) { - begin_1 = timer.read_us(); - break; - } - } - } - + if(xbee_count >= 5) { + xbee_flag = true; + if(xbee_count == 5) { + begin_1 = timer.read_us(); + } + } + }*/ leds = 4; if (gps_get == false) { - fprintf(fp, "$DATA,%4.1f,%4.1f,%2.2f,%2.2f,%2.2f,%4.1f,%4.1f,%5.2f,#end\r\n", timers + timer_count * 2000, tempv, accelX, accelY, accelZ, press, humi,lx); + fprintf(fp, "$DATA,%4.1f,%4.1f,%2.2f,%2.2f,%2.2f,%4.1f,%4.1f,#end\r\n", timers + timer_count * 2000, tempv, accelX, accelY, accelZ, press, humi); if(xbee_flag == true) { - xbee.printf("$DATA,%4.1f,%4.1f,%2.2f,%2.2f,%2.2f,%4.1f,%4.1f,%5.2f,#end\r\n", timers + timer_count * 2000, tempv, accelX, accelY, accelZ, press, humi,lx); + xbee.printf("$DATA,%4.1f,%4.1f,%2.2f,%2.2f,%2.2f,%4.1f,%4.1f,#end\r\n", timers + timer_count * 2000, tempv, accelX, accelY, accelZ, press, humi); } } 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) + xbee.printf("%s,#end\r\n", GPS); //GPS data is dent by xbee } fprintf(fp, "%s,#end\r\n", GPS); //GPS data is writen to mbed <write system(GPS) gps_get = false;