Ryusuke Iwata
a
Dependencies: HEPTA_CDH HEPTA_EPS HEPTA_SENSOR mbed
Diff: main.cpp
- Revision:
- 33:c64ee36e2d50
- Parent:
- 32:c22cbcfb4635
- Child:
- 35:b26666d35b9d
--- a/main.cpp Fri Aug 19 04:35:30 2022 +0000
+++ b/main.cpp Mon Nov 14 01:54:03 2022 +0000
@@ -10,89 +10,117 @@
p13, p14,p25,p24);
HEPTA_COM com(p9,p10);
DigitalOut condition(LED1);
-Serial sat(USBTX,USBRX,9600);
+RawSerial sat(USBTX,USBRX,9600);
Timer sattime;
int rcmd = 0,cmdflag = 0; //command variable
+//getting command and flag
+void commandget()
+{
+ rcmd = sat.getc();
+ cmdflag = 1;
+}
+//interrupting
+void receive(int rcmd, int cmdflag)
+{
+ sat.attach(commandget,Serial::RxIrq);
+}
int main() {
- sat.printf("From Sat : Nominal Operation\r\n");
- com.printf("From Sat : Nominal Operation\r\n");
- com.baud(9600);
- int flag = 0; //condition flag
- float batvol, temp; //voltage, temperature
- int rcmd=0,cmdflag=0; //command variable
- sattime.start();
- eps.turn_on_regulator();//turn on 3.3V conveter
- for(int i = 0; i < 100; i++) {
- com.xbee_receive(&rcmd,&cmdflag);//interupting by ground station command
-
- //satellite condition led
- condition = !condition;
-
- //senssing HK data(dummy data)
- eps.vol(&batvol);
- sensor.temp_sense(&temp);
-
- //Transmitting HK data to Ground Station(GS)
- com.printf("HEPTASAT::Condition = %d, Time = %f [s], batVol = %.2f [V],Temp = %.2f [C]\r\n",flag,sattime.read(),batvol,temp);
- wait_ms(1000);
-
- //Power Saving Mode
- if((batvol <= 3.5) | (temp > 35.0)){
- eps.shut_down_regulator();
- com.printf("Power saving mode ON\r\n");
- flag = 1;
- } else if((flag == 1) & (batvol > 3.7) & (temp <= 25.0)) {
- eps.turn_on_regulator();
- com.printf("Power saving mode OFF\r\n");
- flag = 0;
- }
- //Contents of command
- if (cmdflag == 1) {
- if (rcmd == 'a') {
- sat.printf("rcmd=%c,cmdflag=%d\r\n",rcmd,cmdflag);
- com.printf("Hepta-Sat Lite Uplink Ok\r\n");
- for(int j=0;j<5;j++){
- com.printf("Hello World!\r\n");
- condition = 1;
- wait_ms(1000);
+ sat.printf("HEPTA-Sat Debug Program start\r\n");
+ while(1){
+ sat.printf("Please sellect a mode bellow\r\n");
+ sat.printf("========================================\r\n");
+ sat.printf("a: Check saving to SD card Mode\r\n");
+ sat.printf("b: Check the battery voltage Mode\r\n");
+ sat.printf("c: Check the temp sensor Mode\r\n");
+ sat.printf("d: Check the 9 axis Mode\r\n");
+ sat.printf("e: Check GPS rawdata Mode\r\n");
+ sat.printf("f: Chec Camera snapchat Mode\r\n");
+ sat.printf("g: \r\n");
+ sat.printf("========================================\r\n");
+ int rcmd=0,cmdflag=0; //command variable
+ sattime.start();
+ eps.turn_on_regulator();//turn on 3.3V conveter
+ for(int i = 0; i < 100; i++) {
+ receive(rcmd,cmdflag);
+
+ //satellite condition led
+ condition = !condition;
+ //Contents of command
+ if (cmdflag == 1) {
+ if (rcmd == 'a') {
+ //SD mode
+ 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");
+ }
+ for(int i=0; i<10; i++)fprintf(fp,"Hello my name is HEPTA!\r\n");
+ fclose(fp);
+ fp = fopen("/sd/mydir/test.txt","r");
+ for(int j = 0; j < 10; j++) {
+ fgets(str,100,fp);
+ sat.puts(str);
+ }
+ fclose(fp);
+ sat.printf("Goodbye!!\r\n");
+ }else if (rcmd == 'b') {
+ float bt;
+ for(int i = 0; i < 10; i++) {
+ eps.vol(&bt);
+ sat.printf("Vol = %f\r\n",bt);
+ wait(0.5);
+ }
+ }else if (rcmd == 'c') {
+ //Please insert your answer
+ float temp;
+ for (int i=0;i<10;i++) {
+ sensor.temp_sense(&temp);
+ sat.printf("temp = %f\r\n",temp);
+ wait(0.5);
+ }
+ }else if (rcmd == 'd') {
+ //Please insert your answer
+ float ax,ay,az;
+ float gx,gy,gz;
+ float mx,my,mz;
+ for(int i = 0; i<10; i++) {
+ sensor.sen_acc(&ax,&ay,&az);
+ sat.printf("acc : ax= %f, ay= %f, az= %f\r\n",ax,ay,az);
+ sensor.sen_gyro(&gx,&gy,&gz);
+ sat.printf("gyro: gx= %f, gy= %f, gz= %f\r\n",gx,gy,gz);
+ sensor.sen_mag(&mx,&my,&mz);
+ sat.printf("mag : mx= %f, my= %f, mz= %f\r\n",mx,my,mz);
+ wait(0.5);
+ }
+ }else if (rcmd == 'e') {
+ //Please insert your answer
+ sensor.gps_setting();
+ sat.printf("GPS Raw Data Mode\r\n");
+ while(1) sat.putc(sensor.getc());
+ }else if (rcmd == 'f') {
+ FILE *dummy = fopen("/sd/dummy.txt","w");
+ if(dummy == NULL) {
+ error("Could not open file for write\r\n");
+ }
+ fclose(dummy);
+
+ sat.printf("Camera Snapshot Mode\r\n");
+ sat.printf("Hit Any Key To Take Picture\r\n");
+ while(!sat.readable()) {}
+ sensor.Sync();
+ sensor.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
+ sensor.test_jpeg_snapshot_picture("/sd/test.jpg");
+ }else if (rcmd == 'g'){
+ sat.printf("Xbee Count Up Mode\r\n");
+ for(int i = 0; i < 10; i++) {
+ com.printf("num = %d\r\n",i);
+ wait(0.5);
+ }
}
- }else if (rcmd == 'b') {
- sat.printf("rcmd=%c,cmdflag=%d\r\n",rcmd,cmdflag);
- com.printf("Hepta-Sat Lite Uplink Ok\r\n");
- char str[100];
- mkdir("/sd/mydir", 0777);
- FILE *fp = fopen("/sd/mydir/satdata.txt","w");
- if(fp == NULL) {
- error("Could not open file for write\r\n");
- }
- for(int i = 0; i < 10; i++) {
- eps.vol(&batvol);
- fprintf(fp,"%f\r\n",batvol);
- condition = 1;
- wait_ms(1000);
- }
- fclose(fp);
- fp = fopen("/sd/mydir/satdata.txt","r");
- for(int i = 0; i < 10; i++) {
- fgets(str,100,fp);
- com.puts(str);
- }
- fclose(fp);
- }else if (rcmd == 'c') {
- //Please insert your answer
-
- }else if (rcmd == 'd') {
- //Please insert your answer
-
- }else if (rcmd == 'e') {
- //Please insert your answer
-
+ rcmd=0,cmdflag=0;
}
- com.initialize();
}
}
- sattime.stop();
- sat.printf("From Sat : End of operation\r\n");
- com.printf("From Sat : End of operation\r\n");
}