Diff: main.cpp

Revision:

27:b4689aa48bf5

Parent:

26:220e5f95168a

Child:

28:60f73cc07244

--- a/main.cpp	Wed Aug 21 18:35:31 2019 +0000
+++ b/main.cpp	Wed Jul 22 03:11:16 2020 +0000
@@ -1,71 +1,137 @@
 #include "mbed.h"
 #include "HEPTA_CDH.h"
 #include "HEPTA_EPS.h"
- 
-Serial pc(USBTX,USBRX);
+#include "HEPTA_SENSOR.h"
+#include "HEPTA_COM.h"
+DigitalOut cond[]={LED1,LED2,LED3,LED4};
+Serial gs(USBTX,USBRX); // for ground station
 HEPTA_CDH cdh(p5, p6, p7, p8, "sd");
 HEPTA_EPS eps(p16,p26);
- 
-DigitalOut myleds[] = {LED1,LED2,LED3,LED4};;
+HEPTA_SENSOR sensor(p17,
+                    p28,p27,0xD0,0x18,
+                    p13,p14,p25,p24);
+HEPTA_COM com(p9,p10);
+int rcmd = 0,cmdflag = 0; //command variable
  
-int rcmd = 0,cmdflag = 0;
- 
+//getting command and flag
 void commandget()
 {
-    rcmd=pc.getc();
+    rcmd=com.getc();
     cmdflag = 1;
 }
-void receive(int *xrcmd, int *xcmdflag)
+//interrupting 
+void receive(int rcmd, int cmdflag)
 {
-    pc.attach(commandget,Serial::RxIrq);
-    *xrcmd = rcmd;
-    *xcmdflag = cmdflag;
+    com.xbee.attach(commandget,Serial::RxIrq);
 }
- 
+//initialzing
 void initialize()
 {
     rcmd = 0;
     cmdflag = 0;
+    cond[0] = 0;
 }
- 
-int main()
-{
-    pc.baud(9600);
-    float bt;
-    int flag = 0;
-    char str[100];
-    receive(&rcmd,&cmdflag);
-    while(1) {
-        eps.vol(&bt);
-        if(bt <= 3.5) {
-            eps.shut_down_regulator();
-            flag = 1;
-        } else {
-            eps.turn_on_regulator();
-            flag = 0;
+int main() {
+    gs.baud(9600);
+    float sattime=0.0,btvol,temp;
+    float ax,ay,az;
+    float gx,gy,gz;
+    float 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;            // condition
+    receive(rcmd,cmdflag); //interupting by ground station command
+    
+    com.printf("From Sat : Operation Start...\r\n");   
+    for(int i = 0; i < 100; i++) {
+        //Sensing and Transmitting HK data , Power Saving Mode
+        eps.power_saving_mode(&flag,&btvol);
+        sensor.temp_sense(&temp);
+        com.printf("HEPTASAT::Condition = %d, Time = %f [s], BatVol = %.2f [V],Temp = %.2f [C]\r\n",flag,sattime,btvol,temp);
+        //Condition
+        cond[0] = 1;
+        //Warning the status of temperature and battery voltage
+        if(flag == 1) {
+            com.printf("Low Battery\r\n");
+        } else if(temp > 35.0) {
+            com.printf("High temperature\r\n");
+        } else if((flag == 1) & (temp > 35.0)) {
+            com.printf("Low Battery and High temperature\n");
         }
-        pc.printf("Vol = %.2f [V]\r\n",bt);
-        if(flag == 1) {
-            pc.printf("Power saving mode ON\r\n");
-        }
-        wait(0.5);
+        //Contents of command
         if (cmdflag == 1) {
-            pc.printf("Command Get = %d\r\n",rcmd);
             if (rcmd == 'a') {
-                for(int i = 0; i < 10; i++) {
-                    pc.printf("Count = %d\r\n",i);
-                    wait(1.0);
-                }
+               for(int j=0;j<5;j++){
+                com.printf("HEPTASAT::Hello World!\r\n");
+                cond[0] = 0;
+                wait(1);
+                cond[0] = 1;
+               }
             }
             if (rcmd == 'b') {
-                
-                
-                
+                char str[100];
+                mkdir("/sd/mydir", 0777);
+                FILE *fp = fopen("/sd/mydir/test.txt","w");
+                if(fp == NULL) {
+                    error("Could not open file for write\r\n");
+                }
+                else
+                {
+                    for(int i = 0; i < 10; i++) {
+                        eps.vol(&btvol);
+                        fprintf(fp,"%f\r\n",btvol);
+                        wait(1.0);
+                    }
+                    fclose(fp);
+                    fp = fopen("/sd/mydir/test.txt","r");
+                    for(int j = 0; j < 10; j++) {
+                        fgets(str,100,fp);
+                        com.printf("%s",str);
+                    }
+                    fclose(fp);
+                }
+                cond[0] = 0;
+                wait(1);
+                cond[0] = 1;                  
+            }
+            if (rcmd == 'c') {        
+                sensor.temp_sense(&temp);
+                sensor.sen_gyro(&gx,&gy,&gz);
+                sensor.sen_acc(&ax,&ay,&az);
+                sensor.sen_mag(&mx,&my,&mz);
+                sensor.gga_sensing(&time,&latitude,&ns,&longitude,&ew,&quality,&stnum,&hacu,&altitude,&aunit,&gps_check);
+                com.printf("temp=%f\r\n",temp);
+                com.printf("gx=%f,gy=%f,gz=%f\r\n",gx,gy,gz);
+                com.printf("ax=%f,ay=%f,az=%f\r\n",ax,ay,az);
+                com.printf("mx=%f,my=%f,mz=%f\r\n",mx,my,mz);
+                com.printf("latitude=%f, longtitude=%f, altitude%f\r\n",latitude,longitude,altitude);
+                cond[0] = 0;
+                wait(1);
+                cond[0] = 1;    
+            }
+            if (rcmd == 'd') {
+                com.printf("Start to take a picture\r\n");
+                sensor.Sync();
+                sensor.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
+                com.printf("[ OK ]:Picture taken\r\n");
+                sensor.test_jpeg_snapshot_picture("/sd/MissionData/picture.jpg");
+                com.printf("Finish saving in SD\r\n");
+                cond[0] = 0;
+                wait(1);
+                cond[0] = 1; 
+            }
+            if (rcmd == 'e') {
                 
                 
                 
             }
             initialize();
         }
+        
+        //Operation Interval
+        wait(1.0);
+        sattime = sattime+1.0;
     }
-}
\ No newline at end of file
+    com.printf("From Sat : Operation Stop...\r\n");
+}