Diff: main.cpp

Revision:

20:8bc48b6ac23d

Parent:

17:e83f07212ed3

Child:

21:8df80d4e6003

--- a/main.cpp	Tue Aug 21 05:59:42 2018 +0000
+++ b/main.cpp	Fri Oct 19 11:08:33 2018 +0000
@@ -21,45 +21,53 @@
     pc.baud(9600);
     float bt;
     float temper;
+    const char* warning;
     char str[100];
-    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],bat[4],temperature[4];
+    float gx,gy,gz,mx,my,mz;
+    
+    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;
+    
     int flag = 0;
     int rcmd=0,cmdflag=0;
+    
     while(1) {
         battery.power_saving_mode(&flag,&bt);
         temp.temp_sense(&temper);
         wait(0.5);
         xbee.printf("flag = %d, bt = %.2f [V], temp = %.1f [C]\r\n",flag,bt,temper);
+        
         if(flag == 1) {
-            xbee.printf("Low Battery\r\n");
+            warning = "Low Battery\r\n";
+            xbee.printf("%s",warning);
         } else if(temper > 35.0) {
-            xbee.printf("High Temperaturer\n");
+            warning = "High Temperature\r\n";
+            xbee.printf("%s",warning);
         } else if((flag == 1) & (temper > 35.0)) {
-            xbee.printf("Low Battery and High Temperaturer\n");
-        }
+            warning = "Low Battery and High Temperature\r\n";
+            xbee.printf("%s",warning);
+        }else{}
+        
         xbee.xbee_receive(&rcmd,&cmdflag);
         if (cmdflag == 1) {
             xbee.printf("Command Get = %d\r\n",rcmd);
+            
             if (rcmd == 'a') {
-                for(int i = 0; i < 10; i++) {
-                    xbee.printf("Count = %d\r\n",i);
-                    wait(1.0);
-                }
-            }
-            if (rcmd == 'b') {
-                mkdir("/sd/mydir", 0777);
-                FILE *fp = fopen("/sd/mydir/battery.txt","w");
+                mkdir("/sd/MissionData", 0777);
+                FILE *fp = fopen("/sd/MissionData/GyroMag.txt","w");
                 if(fp == NULL) {
                     error("Could not open file for write\r\n");
                 } else {
                     for(int i = 0; i < 10; i++) {
-                        battery.vol(&bt);
-                        fprintf(fp,"%f\r\n",bt);
+                        n_axis.sen_gyro(&gx,&gy,&gz);
+                        n_axis.sen_mag(&mx,&my,&mz);
+                        fprintf(fp,"Wx = %f, Wy = %f, Wz = %f, mx = %f, my = %f, mz = %f\r\n",gx,gy,gz,mx,my,mz);
                         wait(1.0);
                     }
                     fclose(fp);
                 }
-                FILE *fp1 = fopen("/sd/mydir/battery.txt","r");
+                FILE *fp1 = fopen("/sd/MissionData/GyroMag.txt","r");
                 if(fp1 == NULL) {
                     error("Could not open file for read\r\n");
                 } else {
@@ -70,17 +78,41 @@
                     }
                     fclose(fp1);
                 }
-            }//
-            if (rcmd == 'c') {
-                
-                
                 
             }
-            if (rcmd == 'd') {
+            if (rcmd == 'b') {
+                mkdir("/sd/mydir", 0777);
+                FILE *fp = fopen("/sd/MissionData/Position.txt","w");
+                if(fp == NULL) {
+                    error("Could not open file for write\r\n");
+                } else {
+                    cam_gps.gps_setting();
+                    for(int i = 0; i < 10; i++) {
+                        cam_gps.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
+                        fprintf(fp,"time: %f, lat: %f,%c, long: %f,%c, altitude:%f\r\n",time,latitude,ns,longitude,ew,altitude);
+                        wait(1.0);
+                    }
+                    fclose(fp);
+                }
+                
+                FILE *fp1 = fopen("/sd/MissionData/Position.txt","r");
+                if(fp1 == NULL) {
+                    error("Could not open file for read\r\n");
+                } else {
+                    for(int i = 0; i < 10; i++) {
+                        fgets(str,100,fp1);
+                        xbee.printf("%s",str);
+                        wait(1.0);
+                    }
+                    fclose(fp1);
+                }
+            }//b
+            
+            if (rcmd == 'c') {
                 cam_gps.Sync();
                 cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
-                cam_gps.test_jpeg_snapshot_data("/sd/test.jpg");
-            }
+                cam_gps.test_jpeg_snapshot_data("/sd/MissionData/picture.jpg");
+            }//c
             xbee.initialize();
         }
     }