HEPTA-Sat Training 2017~2018 / Mbed 2 deprecated Lab5-06_model_program_4

simulate satellite program structure

Dependencies:   mbed HeptaBattery SDFileSystem HeptaCamera_GPS Hepta9axis HeptaTemp HeptaXbee

Fork of Lab7-01_template by HEPTA-Sat Training 2017~2018

main.cpp@21:8df80d4e6003, 2019-08-20 (annotated)

Committer:
HEPTA
Date:
Tue Aug 20 10:09:40 2019 +0000
Revision:
21:8df80d4e6003
Parent:
20:8bc48b6ac23d
Child:
23:68758ba22c86
revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:bdbd3d6fc5d5 1 #include "mbed.h"
mbed_official 0:bdbd3d6fc5d5 2 #include "SDFileSystem.h"
umeume 2:1c5cdb2c3e0f 3 #include "HeptaXbee.h"
umeume 2:1c5cdb2c3e0f 4 #include "HeptaCamera_GPS.h"
umeume 2:1c5cdb2c3e0f 5 #include "Hepta9axis.h"
umeume 2:1c5cdb2c3e0f 6 #include "HeptaTemp.h"
umeume 2:1c5cdb2c3e0f 7 #include "HeptaBattery.h"
umeume 2:1c5cdb2c3e0f 8
umeume 2:1c5cdb2c3e0f 9 Serial pc(USBTX,USBRX);
HEPTA 9:942eb6e8c117 10 SDFileSystem sd(p5, p6, p7, p8, "sd");
umeume 2:1c5cdb2c3e0f 11 HeptaXbee xbee(p9,p10);
umeume 2:1c5cdb2c3e0f 12 HeptaCamera_GPS cam_gps(p13, p14,p25,p24);
HEPTA 10:4d6870d0caa0 13 Hepta9axis n_axis(p28,p27,0xD0,0x18);
HEPTA 7:fab080b8be64 14 HeptaTemp temp(p17);
HEPTA 13:a1fa75a002f6 15 HeptaBattery battery(p16,p26);
umeume 2:1c5cdb2c3e0f 16
HEPTA 17:e83f07212ed3 17 DigitalOut myleds[] = {LED1,LED2,LED3,LED4};;
umeume 5:c5ccb1b07e8f 18
umeume 2:1c5cdb2c3e0f 19 int main()
umeume 2:1c5cdb2c3e0f 20 {
HEPTA 17:e83f07212ed3 21 pc.baud(9600);
HEPTA 17:e83f07212ed3 22 float bt;
HEPTA 17:e83f07212ed3 23 float temper;
HEPTA 20:8bc48b6ac23d 24 const char* warning;
HEPTA 17:e83f07212ed3 25 char str[100];
HEPTA 20:8bc48b6ac23d 26 float gx,gy,gz,mx,my,mz;
HEPTA 20:8bc48b6ac23d 27
HEPTA 20:8bc48b6ac23d 28 int quality=0,stnum=0,gps_check=0;
HEPTA 20:8bc48b6ac23d 29 char ns='A',ew='B',aunit='m';
HEPTA 20:8bc48b6ac23d 30 float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0;
HEPTA 20:8bc48b6ac23d 31
HEPTA 17:e83f07212ed3 32 int flag = 0;
HEPTA 17:e83f07212ed3 33 int rcmd=0,cmdflag=0;
HEPTA 21:8df80d4e6003 34 xbee.xbee_receive(&rcmd,&cmdflag);
HEPTA 17:e83f07212ed3 35 while(1) {
HEPTA 17:e83f07212ed3 36 battery.power_saving_mode(&flag,&bt);
HEPTA 17:e83f07212ed3 37 temp.temp_sense(&temper);
HEPTA 17:e83f07212ed3 38 wait(0.5);
HEPTA 17:e83f07212ed3 39 xbee.printf("flag = %d, bt = %.2f [V], temp = %.1f [C]\r\n",flag,bt,temper);
HEPTA 20:8bc48b6ac23d 40
HEPTA 17:e83f07212ed3 41 if(flag == 1) {
HEPTA 20:8bc48b6ac23d 42 warning = "Low Battery\r\n";
HEPTA 20:8bc48b6ac23d 43 xbee.printf("%s",warning);
HEPTA 17:e83f07212ed3 44 } else if(temper > 35.0) {
HEPTA 20:8bc48b6ac23d 45 warning = "High Temperature\r\n";
HEPTA 20:8bc48b6ac23d 46 xbee.printf("%s",warning);
HEPTA 17:e83f07212ed3 47 } else if((flag == 1) & (temper > 35.0)) {
HEPTA 20:8bc48b6ac23d 48 warning = "Low Battery and High Temperature\r\n";
HEPTA 20:8bc48b6ac23d 49 xbee.printf("%s",warning);
HEPTA 20:8bc48b6ac23d 50 }else{}
HEPTA 20:8bc48b6ac23d 51
HEPTA 17:e83f07212ed3 52 if (cmdflag == 1) {
HEPTA 17:e83f07212ed3 53 xbee.printf("Command Get = %d\r\n",rcmd);
HEPTA 20:8bc48b6ac23d 54
HEPTA 17:e83f07212ed3 55 if (rcmd == 'a') {
HEPTA 20:8bc48b6ac23d 56 mkdir("/sd/MissionData", 0777);
HEPTA 20:8bc48b6ac23d 57 FILE *fp = fopen("/sd/MissionData/GyroMag.txt","w");
HEPTA 17:e83f07212ed3 58 if(fp == NULL) {
HEPTA 17:e83f07212ed3 59 error("Could not open file for write\r\n");
HEPTA 17:e83f07212ed3 60 } else {
HEPTA 17:e83f07212ed3 61 for(int i = 0; i < 10; i++) {
HEPTA 20:8bc48b6ac23d 62 n_axis.sen_gyro(&gx,&gy,&gz);
HEPTA 20:8bc48b6ac23d 63 n_axis.sen_mag(&mx,&my,&mz);
HEPTA 20:8bc48b6ac23d 64 fprintf(fp,"Wx = %f, Wy = %f, Wz = %f, mx = %f, my = %f, mz = %f\r\n",gx,gy,gz,mx,my,mz);
HEPTA 17:e83f07212ed3 65 wait(1.0);
HEPTA 17:e83f07212ed3 66 }
HEPTA 17:e83f07212ed3 67 fclose(fp);
HEPTA 17:e83f07212ed3 68 }
HEPTA 20:8bc48b6ac23d 69 FILE *fp1 = fopen("/sd/MissionData/GyroMag.txt","r");
HEPTA 17:e83f07212ed3 70 if(fp1 == NULL) {
HEPTA 17:e83f07212ed3 71 error("Could not open file for read\r\n");
HEPTA 17:e83f07212ed3 72 } else {
HEPTA 17:e83f07212ed3 73 for(int i = 0; i < 10; i++) {
HEPTA 17:e83f07212ed3 74 fgets(str,100,fp1);
HEPTA 17:e83f07212ed3 75 xbee.printf("%s",str);
HEPTA 17:e83f07212ed3 76 wait(1.0);
HEPTA 17:e83f07212ed3 77 }
HEPTA 17:e83f07212ed3 78 fclose(fp1);
HEPTA 17:e83f07212ed3 79 }
HEPTA 17:e83f07212ed3 80
HEPTA 17:e83f07212ed3 81 }
HEPTA 20:8bc48b6ac23d 82 if (rcmd == 'b') {
HEPTA 20:8bc48b6ac23d 83 mkdir("/sd/mydir", 0777);
HEPTA 20:8bc48b6ac23d 84 FILE *fp = fopen("/sd/MissionData/Position.txt","w");
HEPTA 20:8bc48b6ac23d 85 if(fp == NULL) {
HEPTA 20:8bc48b6ac23d 86 error("Could not open file for write\r\n");
HEPTA 20:8bc48b6ac23d 87 } else {
HEPTA 20:8bc48b6ac23d 88 cam_gps.gps_setting();
HEPTA 20:8bc48b6ac23d 89 for(int i = 0; i < 10; i++) {
HEPTA 20:8bc48b6ac23d 90 cam_gps.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
HEPTA 20:8bc48b6ac23d 91 fprintf(fp,"time: %f, lat: %f,%c, long: %f,%c, altitude:%f\r\n",time,latitude,ns,longitude,ew,altitude);
HEPTA 20:8bc48b6ac23d 92 wait(1.0);
HEPTA 20:8bc48b6ac23d 93 }
HEPTA 20:8bc48b6ac23d 94 fclose(fp);
HEPTA 20:8bc48b6ac23d 95 }
HEPTA 20:8bc48b6ac23d 96
HEPTA 20:8bc48b6ac23d 97 FILE *fp1 = fopen("/sd/MissionData/Position.txt","r");
HEPTA 20:8bc48b6ac23d 98 if(fp1 == NULL) {
HEPTA 20:8bc48b6ac23d 99 error("Could not open file for read\r\n");
HEPTA 20:8bc48b6ac23d 100 } else {
HEPTA 20:8bc48b6ac23d 101 for(int i = 0; i < 10; i++) {
HEPTA 20:8bc48b6ac23d 102 fgets(str,100,fp1);
HEPTA 20:8bc48b6ac23d 103 xbee.printf("%s",str);
HEPTA 20:8bc48b6ac23d 104 wait(1.0);
HEPTA 20:8bc48b6ac23d 105 }
HEPTA 20:8bc48b6ac23d 106 fclose(fp1);
HEPTA 20:8bc48b6ac23d 107 }
HEPTA 20:8bc48b6ac23d 108 }//b
HEPTA 20:8bc48b6ac23d 109
HEPTA 20:8bc48b6ac23d 110 if (rcmd == 'c') {
HEPTA 17:e83f07212ed3 111 cam_gps.Sync();
HEPTA 17:e83f07212ed3 112 cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
HEPTA 20:8bc48b6ac23d 113 cam_gps.test_jpeg_snapshot_data("/sd/MissionData/picture.jpg");
HEPTA 20:8bc48b6ac23d 114 }//c
HEPTA 17:e83f07212ed3 115 xbee.initialize();
HEPTA 17:e83f07212ed3 116 }
HEPTA 17:e83f07212ed3 117 }
HEPTA 17:e83f07212ed3 118 }