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Hepta communication
Fork of Lab7-01_template by
Diff: main.cpp
- Revision:
- 2:1c5cdb2c3e0f
- Parent:
- 0:bdbd3d6fc5d5
- Child:
- 5:c5ccb1b07e8f
diff -r e4d7342be507 -r 1c5cdb2c3e0f main.cpp --- a/main.cpp Tue May 16 05:18:55 2017 +0000 +++ b/main.cpp Wed Aug 23 06:19:35 2017 +0000 @@ -1,19 +1,245 @@ #include "mbed.h" #include "SDFileSystem.h" - -SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board - -int main() { - printf("Hello World!\n"); - - mkdir("/sd/mydir", 0777); - - FILE *fp = fopen("/sd/mydir/sdtest.txt", "w"); - if(fp == NULL) { - error("Could not open file for write\n"); +#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; + + + } } - fprintf(fp, "Hello fun SD Card World!"); - fclose(fp); - - printf("Goodbye World!\n"); -} +} \ No newline at end of file