HEPTA-Sat Hands－On
full
Diff: main.cpp
- Revision:
- 0:abaad4af646d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue May 02 07:11:34 2017 +0000
@@ -0,0 +1,319 @@
+#include "mbed.h"
+#include "Hepta.h"
+
+HeptaGPS gps(p13,p14);//tx,rx(Din,Data_Out)
+HeptaBattery battery(p16,p29,p26);//(battery voltage,power cotrol transister,3.3V regulater enable)
+SDFileSystem sd(p11, p12, p13, p15, "sd");//(cmd,dat0,clk,dat3)
+HeptaGyro gyro(p28,p27,0xD4);//(sda,scl,I2C address)
+HeptaAccel accel(p28,p27,0x38);//(sda,scl,I2C address)
+TextLCD_SB1602E lcd(p28,p27,0x7C);//(sda,scl,I2C address)
+ATP3011 talk(p28, p27,0x5C); //(sda,scl,I2C address)
+HeptaXbee xbee(p9, p10);//tx,rx(Din,Dout)
+
+HeptaCamera camera(
+ p28,p27, // SDA,SCL(I2C / SCCB)
+ p21,p22,p23, // VSYNC,HREF,WEN(FIFO)
+ p5,p6,p7,p8,p30,p17,p25,p18, // D7-D0
+ p20,p24,p19) ; // RRST,OE,RCK
+
+//----SERIAL----//
+
+//----LED----//
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+int main() {
+ char mode;
+ pc.baud(9600);
+ //pc.baud(921600);
+ while(1) {
+ pc.printf("Hello world. This is DEMO mode\r\n");
+ pc.printf("Please select mode.\r\n");
+ pc.printf("1:LED Mode\r\n");
+ pc.printf("2:LED Count Mode\r\n");
+ pc.printf("3:Electrical Vlotage Detection Mode\r\n");
+ pc.printf("4:Battery Charge Mode\n\r");
+ pc.printf("5:Battery Fast Charge Mode\r\n");
+ pc.printf("6:SD Card Check Mode\n\r");
+ pc.printf("7:Storing Battery Voltage to SD Card Mode\r\n");
+ pc.printf("8:Gyro Sensor Mode\r\n");
+ pc.printf("9:Accel Sensor Mode\r\n");
+ pc.printf("a:GPS Sensor Mode\r\n");
+ pc.printf("b:Camera Mode\r\n");
+ pc.printf("c:LCD Mode\r\n");
+ pc.printf("d:Voice Mode\r\n");
+ pc.printf("e:Xbee Mode\r\n");
+ pc.printf("f:All Data Downlink to Pc Mode\r\n");
+ pc.printf("g:All Data Downlink to Pc by Xbee Mode\r\n");
+ pc.printf("h:High speed sensing mode for gyro & accel Mode\r\n");
+ pc.printf("i:High speed sensing mode and caluclate to deg\r\n");
+ mode = pc.putc(pc.getc());
+ pc.printf("\n\r");
+ if(mode=='0'){
+ pc.printf("0:Under construction!!!\n\r");
+ }else if(mode=='1'){
+ pc.printf("1:LED Mode\n\r");
+ while(1) {
+ led1 = 1;
+ wait(0.2);
+ led2 = 0;
+ wait(0.2);
+ }
+ }else if(mode=='2'){
+ pc.printf("2:LED Count Mode\n\r");
+ int k=1; //初期化
+ while(1) {
+ if(k>0x10)k=1; //ｋが0b00010000になったら0b00000001にする
+ led1 = k & 0x01;
+ led2 = k & 0x02;
+ led3 = k & 0x04;
+ led4 = k & 0x08;
+ k=k<<1; //kの中を左に1つ移動
+ wait(0.1); //0.1秒待つ
+ }
+ }else if(mode=='3'){
+ pc.printf("3:Electrical Vlotage Detection Mode\n\r");
+ int i,dsize;
+ float bt;
+ char abt[4];
+ pc.printf("Hellow\r\n");
+ while(1){
+ battery.vol(&bt);
+ battery.vol_u16(abt,&dsize);
+ pc.printf("Vol = %f\r\n",bt);
+ pc.printf("Vol_u16 = ");
+ for(i=1;i<dsize;i++){
+ pc.putc(abt[i]);
+ }
+ pc.printf("\r\n");
+ wait(1.0);
+ }
+ }else if (mode=='4'){
+ pc.printf("4:Battery Charge Mode\n\r");
+ float bt;
+ int save_flag;
+ while(1) {
+ battery.charge(&save_flag);
+ battery.vol(&bt);
+ pc.printf("Vol = %f\r\n",bt);
+ pc.printf("save = %d\r\n",save_flag);
+ if(save_flag == 0){
+ pc.printf("Vol = %f\r\n",bt);
+ }
+ wait(1.0);
+ }
+ }else if (mode=='5'){
+ pc.printf("5:Fast Cherge Mode\n\r");
+ float bt;
+ battery.vol(&bt);
+ pc.printf("V = %f\r\n",bt);
+ wait(3.0);
+ while(1) {
+ battery.fast_charge();
+ }
+ }else if (mode=='6'){
+ pc.printf("6:SD Card Check Mode\n\r");
+ mkdir("/sd/mydir", 0777);
+ FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
+ if(fp == NULL) {
+ error("Could not open file for write\n");
+ }
+ fprintf(fp, "Hello My name is HEPTA!");
+ fclose(fp);
+ }else if (mode=='7'){
+ pc.printf("7:Storing Battery Voltage to SD Card Mode\n\r");
+ float bt;
+ int i;
+ mkdir("/sd/mydir", 0777);
+ FILE *fp = fopen("/sd/mydir/battery.txt", "w");
+ if(fp == NULL) {
+ error("Could not open file for write\n");
+ }
+ for(i=1;i<=10;i++){
+ battery.vol(&bt);
+ pc.printf("Vol = %f\r\n",bt);
+ fprintf(fp,"%f\r\n",bt);
+ wait(1.0);
+ }
+ fclose(fp);
+ pc.printf("End\n\r");
+ }else if (mode=='8'){
+ pc.printf("8:Gyro Sensor Mode\n\r");
+ float gx,gy,gz;
+ pc.printf("X Y Z\r\n");
+ while(1){
+ gyro.sensing(&gx,&gy,&gz);
+ pc.printf("%2.5f %2.5f %2.5f\r\n",gx,gy,gz);
+ wait(1.0);
+ }
+ }else if (mode=='9'){
+ pc.printf("9:Accel Sensor Mode\n\r");
+ float ax,ay,az;
+ pc.printf("X Y Z\r\n");
+ while(1){
+ accel.sensing(&ax,&ay,&az);
+ pc.printf("%2.5f %2.5f %2.5f\r\n",ax,ay,az);
+ wait(1.0);
+ }
+ }else if (mode=='a'){
+ pc.printf("a:GPS Sensor Mode\n\r");
+ float lad,log;
+ while(1) {
+ gps.sensing(&lad,&log);
+ pc.printf("Lad = %2.5f Log =%2.5f\r\n",lad,log);
+ }
+ }else if (mode=='b'){
+ pc.printf("b:Camera Mode\n\r");
+ //camera.shoot2();
+ camera.shoot();
+ wait(10);
+ pc.printf("Finish!!\n\r");
+ }else if (mode=='c'){
+ pc.printf("c:LCD Mode\n\r");
+ int i;
+ lcd.printf(0,"Hello\r");
+ lcd.printf(1,"World\r");
+ for(i=1;i<10;i++){
+ lcd.printf(0,"num = %d\r",i);
+ wait(1.0);
+ }
+ }else if (mode=='d'){
+ pc.printf("d:Voice Mode\r\n");
+ talk.Synthe("konnichiha\r");
+ break;
+ }else if (mode=='e'){
+ pc.printf("e:Xbee Mode\r\n");
+ int i=0,rcmd=0,cmdflag=0;
+ //xbee_serial.printf("Count Up!\r");
+ xbee.printf("Count Up!\r");
+ while(1){
+ //xbee_serial.printf("num = %d\r",i);
+ 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'){
+ pc.printf("Command Get %d\r\n",rcmd);
+ xbee.printf("HEPTA Uplink OK\r");
+ }
+ xbee.initialize();
+ }
+ }
+ }else if(mode=='f'){
+ pc.printf("f:All Data Downlink to Pc Mode\r\n");
+ char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],lad[8],log[8],bt[4];
+ char ddata[44];
+ int dsize[4];
+ while(1) {
+ gyro.sensing_u16(gx,gy,gz,&dsize[0]);
+ accel.sensing_u16(ax,ay,az,&dsize[1]);
+ gps.sensing_u16(lad,log,&dsize[2]);
+ battery.vol_u16(bt,&dsize[3]);
+ //gyro.x_u16(gx,4);
+ pc_transmit(ddata,44,gx,gy,gz,ax,ay,az,lad,log,bt,dsize[0],dsize[0],dsize[0],dsize[1],dsize[1],dsize[1],dsize[2],dsize[2],dsize[3],9);
+ }
+ }else if(mode=='g'){
+ pc.printf("g:All Data Downlink to Pc by Xbee Mode\r\n");
+ char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],lad[8],log[8],bt[4];
+ char ddata[44];
+ int dsize[4];
+ while(1) {
+ gyro.sensing_u16(gx,gy,gz,&dsize[0]);
+ accel.sensing_u16(ax,ay,az,&dsize[1]);
+ gps.sensing_u16(lad,log,&dsize[2]);
+ battery.vol_u16(bt,&dsize[3]);
+ //gyro.x_u16(gx,4);
+ xbee.xbee_transmit(ddata,44,gx,gy,gz,ax,ay,az,lad,log,bt,dsize[0],dsize[0],dsize[0],dsize[1],dsize[1],dsize[1],dsize[2],dsize[2],dsize[3],9);
+ }
+ }else if(mode=='h'){
+ pc.printf("h:High speed sensing mode for gyro & accel Mode\r\n");
+ char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],lad[8],log[8],bt[4];
+ char ddata[44];
+ int dsize[4];
+ lad[0] = '0';
+ lad[1] = '0';
+ lad[2] = '0';
+ lad[3] = '0';
+ lad[4] = '0';
+ lad[5] = '0';
+ lad[6] = '0';
+ lad[7] = '0';
+ log[0] = '0';
+ log[1] = '0';
+ log[2] = '0';
+ log[3] = '0';
+ log[4] = '0';
+ log[5] = '0';
+ log[6] = '0';
+ log[7] = '0';
+ dsize[2] = 8;
+ //pc.printf("test");
+ wait(5.0);
+ while(1) {
+ //pc.printf("test2");
+ gyro.sensing_u16(gx,gy,gz,&dsize[0]);
+ accel.sensing_u16(ax,ay,az,&dsize[1]);
+ //gps.sensing_u16(lad,log,&dsize[2]);
+ battery.vol_u16(bt,&dsize[3]);
+ //gyro.x_u16(gx,4);
+ //pc.printf("ffff");
+ wait(0.001);
+ pc_transmit(ddata,44,gx,gy,gz,ax,ay,az,lad,log,bt,dsize[0],dsize[0],dsize[0],dsize[1],dsize[1],dsize[1],dsize[2],dsize[2],dsize[3],9);
+ //pc.printf("cccc");
+ }
+ }else if(mode=='i'){
+ pc.printf("i:High speed sensing mode and caluclate to deg\r\n");
+ float gx_ang,gy_ang,gz_ang;
+ float dt;
+ float gx,gy,gz;
+ //char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],lad[8],log[8],bt[4];
+ char ddata[44];
+ int dsize[4];
+ /*lad[0] = '0';
+ lad[1] = '0';
+ lad[2] = '0';
+ lad[3] = '0';
+ lad[4] = '0';
+ lad[5] = '0';
+ lad[6] = '0';
+ lad[7] = '0';
+ log[0] = '0';
+ log[1] = '0';
+ log[2] = '0';
+ log[3] = '0';
+ log[4] = '0';
+ log[5] = '0';
+ log[6] = '0';
+ log[7] = '0';
+ dsize[2] = 8;*/
+ //pc.printf("test");
+ wait(5.0);
+ dt = 0.001;
+ while(1) {
+ //pc.printf("test2");
+ gyro.sensing(&gx,&gy,&gz);
+ //gyro.sensing_u16(gx,gy,gz,&dsize[0]);
+ //accel.sensing_u16(ax,ay,az,&dsize[1]);
+ //gps.sensing_u16(lad,log,&dsize[2]);
+ //attery.vol_u16(bt,&dsize[3]);
+ //gyro.x_u16(gx,4);
+ //pc.printf("ffff");
+ //gyro data to deg
+ gx_ang += (((gx+1.92556)))*dt;
+ gy_ang += (((gy+0.41286)))*dt;
+ gz_ang += (((gz-0.820308)))*dt;
+ pc.printf("%2.5f %2.5f %2.5f\r\n",gx_ang,gy_ang,gz_ang);
+ //pc.printf("%2.5f %2.5f %2.5f\r\n",gx+1.92556,gy+0.41286,gz-0.820308);
+ wait(0.001);
+ //pc_transmit(ddata,44,gx,gy,gz,ax,ay,az,lad,log,bt,dsize[0],dsize[0],dsize[0],dsize[1],dsize[1],dsize[1],dsize[2],dsize[2],dsize[3],9);
+ //pc.printf("cccc");
+ }
+ }else{
+ pc.printf("Under construction!!!\r\n");
+ }
+ }
+}