Diff: main.cpp

Revision:

0:57933831bc2d

Child:

1:36f42dcbdad1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Aug 05 08:19:32 2021 +0000
@@ -0,0 +1,189 @@
+#include "mbed.h"
+#include "SDFileSystem.h"
+Serial pc(USBTX,USBRX,9600);
+DigitalOut myled[]={LED1, LED2, LED3};
+DigitalOut myled_[] = {PB_1};//この文の"PA_5,PA_6"が入ると6軸センサが動かなくなる
+AnalogIn eps(PA_0);
+AnalogIn tem(PA_7);
+DigitalOut conv(PA_4);
+//I2C i2c(PB_7,PB_6);
+I2C i2c(PB_7,PB_6);
+SDFileSystem sd(PB_5, PB_4, PB_3, PA_8, "sd");//PB_3はLED3と接続されているため, PB_3の記述があるとLED3は機能しない.
+Serial xbee(PA_9,PA_10);
+
+const int addr_accel_gyro = 0xD0;
+char cmd[2];
+char data[1];
+char xh[1];
+char xl[1];
+
+int rcmd=0;
+int cmdflag=0;
+double bt;
+double temper;
+
+
+
+void commandget(){
+    rcmd    = pc.getc();
+    cmdflag = 1;
+}
+
+void initialize(){
+    rcmd = 0; 
+    cmdflag = 0;
+    conv = 0;
+    pc.printf("initialize!\r\n");
+}
+
+void flash(){
+    pc.printf("Start LED flashing!\r\n");
+    for (int i=0; i<10; i++) {
+        myled[2] = 1;
+        myled_[0] = 1;
+        //myled_[1] = 1;
+        wait(0.5);
+        myled[2] = 0;
+        myled_[0] = 0;
+        //myled_[1] = 0;
+        wait(0.5);
+    }
+}
+
+void voltageget(){
+    pc.printf("Get voltage!\r\n");
+    for (int i=0; i<10; i++) {
+        bt = (eps.read()*1.431*3.3);
+        pc.printf("Vol = %f\r\n",bt);
+        wait(0.5);
+    }
+}
+
+void tempget(){
+    wait(0.5);
+    for(int i = 0; i<10; i++) {
+        temper = (tem.read()*3.3-0.6)*100;
+        pc.printf("Tem=%f\r\n",temper);
+        wait(0.5);
+    }
+}
+
+void converter_high(){
+    conv = 1;
+}
+
+void zaxisget(){
+    conv = 1;
+    char cmdd;
+    wait(2);
+    i2c.frequency(100000);
+    data[0] = 0x75;
+    i2c.write(addr_accel_gyro,data,1);
+    i2c.read(addr_accel_gyro|0x01,xh,1);
+    pc.printf("xh = 0x%02X\r\n",xh[0]);
+    while(1){
+        cmdd = pc.getc();
+        if(cmdd == 'a'){
+            data[0] = 0x75;
+            i2c.write(addr_accel_gyro,data,1);
+            i2c.read(addr_accel_gyro|0x01,xh,1);
+            pc.printf("xh = 0x%02X\r\n",xh[0]);
+            
+            cmd[0]=0x6B;
+            cmd[1]=0x00;
+            i2c.write(addr_accel_gyro,cmd,2);
+            
+            cmd[0]=0x6C;
+            cmd[1]=0x00;
+            i2c.write(addr_accel_gyro,cmd,2);
+            
+            
+            cmd[0] = 0x37;
+            cmd[1] = 0x02;
+            i2c.write(addr_accel_gyro,cmd,2);
+            
+            
+            for(int i = 0; i<10; i++) {
+                data[0] = 0x3F;
+                i2c.write(addr_accel_gyro,data,1);
+                i2c.read(addr_accel_gyro|0x01,xh,1);
+                data[0] = 0x40;
+                i2c.write(addr_accel_gyro,data,1);
+                i2c.read(addr_accel_gyro|0x01,xl,1);
+                //pc.printf("xh = 0x%02X,xl = 0x%02X\r\n",xh[0],xl[0]);
+                double  acc_ax = short((xh[0]<<8) | (xl[0]));
+                double AX = (acc_ax)*4/32764*9.81;
+                pc.printf("AZ = %f\r\n",AX);
+                wait(0.5);
+            }
+        }
+        if(cmdd == 'b'){
+            break;
+        }
+    }
+}
+
+void savetosd(){
+    pc.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\r\n");
+    }
+    fprintf(fp, "Hello fun SD Card World!ryusuke!!!");
+    fclose(fp);
+
+    pc.printf("Goodbye World!\r\n");
+}
+
+void xbeecountup(){
+    xbee.baud(9600);
+    pc.printf("Xbee Count Up Mode\r\n");
+    for(int i = 0; i < 10; i++) {
+        xbee.printf("num = %d\r\n",i);
+        pc.printf("num = %d\r\n",i);
+        //pc.printf("%c\r\n",xbee.getc());
+        wait(1.0);
+    }
+}
+
+
+int main(){
+    pc.printf("hello world\r\n");
+    while(1){
+        commandget();
+        if(cmdflag == 1){
+            if(rcmd == 'a'){
+                flash();
+            }
+            if(rcmd == 'b'){
+                voltageget();
+            }
+            if(rcmd == 'c'){
+                converter_high();
+                tempget();
+            }
+            if(rcmd == 'd'){
+                zaxisget();
+            }
+            if(rcmd == 'e'){
+                savetosd();
+            }
+            if(rcmd == 'f'){
+                xbeecountup();
+            }
+            if(rcmd == 'g'){
+                pc.printf("conv on\r\n");
+                converter_high();
+                wait(10.0);
+            }
+            
+        }
+        wait(1.0);
+        initialize();
+    }
+    pc.printf("exit, goodbye\r\n");
+}
+