HEPTA-Sat Training 2019
Lab4
Dependencies: HEPTA_SENSOR mbed HEPTA_EPS
Diff: main.cpp
- Revision:
- 2:1c5cdb2c3e0f
- Parent:
- 0:bdbd3d6fc5d5
- Child:
- 5:c5ccb1b07e8f
--- 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