main.cpp

00001 #include "mbed.h"
00002 #include "SDFileSystem.h"
00003 #include "MPU9250.h"
00004 #include "BMP280_SPI.h"
00005 #include "GPS.h"
00006 
00007 //SDFileSystem sd(p11, p12, p13, p15, "sd");
00008 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
00009 DigitalOut led(PC_13);
00010 GPS gps(PA_9, PA_10); // tx, rx
00011 Serial xbee(PA_11,PA_12,38400);
00012 SPI spi(PA_7, PA_6, PA_5);
00013 mpu9250_spi imu(spi,PA_4);   //define the mpu9250 object
00014 BMP280_SPI sensor(PA_7, PA_6, PA_5, PB_0);
00015 Serial pc(PA_2,PA_3);
00016 
00017 FILE *fp;
00018 
00019 int main()
00020 {
00021     int i=0;
00022 
00023     mkdir("/sd/data", 0777);
00024 
00025     fp = fopen("/sd/data/sdtest.csv", "w");
00026     if(fp == NULL) {
00027         error("Could not open file for write\r\n");
00028     }
00029 
00030     if(imu.init(1,BITS_DLPF_CFG_188HZ)) { //INIT the mpu9250
00031         pc.printf("\nCouldn't initialize MPU9250 via SPI!\r");
00032     }
00033     pc.printf("\nWHOAMI=0x%2x\n\r",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
00034     wait(1);
00035     pc.printf("Gyro_scale=%u\n\r",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
00036     wait(1);
00037     pc.printf("Acc_scale=%u\n\r",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
00038     wait(1);
00039     pc.printf("AK8963 WHIAM=0x%2x\n\r",imu.AK8963_whoami());
00040     wait(0.1);
00041     imu.AK8963_calib_Magnetometer();
00042 
00043     fprintf(fp,"MPU9250_data, , , , , , , , , ,");
00044     fprintf(fp,"BMP280_data, ,");
00045     fprintf(fp,"GMT: ,N.Lat: ,E.Lng: ,stat: ,satnum: ,\r\n");
00046     fprintf(fp,"MPU9250_data, , , , , , , , , ,");
00047     fprintf(fp,"BMP280_data, ,");
00048     fprintf(fp,"GMT: ,N.Lat: ,E.Lng: ,stat: ,satnum: ,\r\n");
00049 
00050     while (i<30) {
00051         wait(0.1);
00052         /*
00053         imu.read_temp();
00054         imu.read_acc();
00055         imu.read_rot();
00056         imu.AK8963_read_Magnetometer();
00057         */
00058         imu.read_all();
00059         pc.printf("%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f\n\r",
00060                   imu.Temperature,
00061                   imu.gyroscope_data[0],
00062                   imu.gyroscope_data[1],
00063                   imu.gyroscope_data[2],
00064                   imu.accelerometer_data[0],
00065                   imu.accelerometer_data[1],
00066                   imu.accelerometer_data[2],
00067                   imu.Magnetometer[0],
00068                   imu.Magnetometer[1],
00069                   imu.Magnetometer[2]
00070                  );
00071         fprintf(fp,"%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,",
00072                 imu.Temperature,
00073                 imu.gyroscope_data[0],
00074                 imu.gyroscope_data[1],
00075                 imu.gyroscope_data[2],
00076                 imu.accelerometer_data[0],
00077                 imu.accelerometer_data[1],
00078                 imu.accelerometer_data[2],
00079                 imu.Magnetometer[0],
00080                 imu.Magnetometer[1],
00081                 imu.Magnetometer[2]
00082                );
00083 
00084         pc.printf("%2.2f degC, %04.2f hPa\n\r", sensor.getTemperature(), sensor.getPressure());
00085         fprintf(fp,"%2.2f , %04.2f ,", sensor.getTemperature(), sensor.getPressure());
00086 
00087         //accelerometer.read_mg_data(readings);
00088         //pc.printf("x=%f, y=%f, z=%f\r\n",readings[0],readings[1],readings[2]);
00089         //fprintf(fp,"%f, %f, %f,",readings[0],readings[1],readings[2]);
00090 
00091         pc.printf("世界標準時:%02dh%02dm%02ds 北緯:%.8f 東経:%.8f 状態:%d 使用衛星数:%d\r\n",
00092                   gps.g_hour, gps.g_min, gps.g_sec, gps.g_hokui, gps.g_tokei, gps.rlock, gps.stlgt);
00093         fprintf(fp,"%02dh%02dm%02ds ,%.8f ,%.8f ,%d ,%d\r\n",
00094                 gps.g_hour, gps.g_min, gps.g_sec, gps.g_hokui, gps.g_tokei, gps.rlock, gps.stlgt);
00095 
00096         led=!led;
00097         i++;
00098     }
00099     fclose(fp);
00100 }