main.cpp

00001 #include "mbed.h"
00002 #include "HEPTA_CDH.h"
00003 #include "HEPTA_EPS.h"
00004 #include "HEPTA_SENSOR.h"
00005 #include "HEPTA_COM.h"
00006 HEPTA_CDH cdh(p5, p6, p7, p8, "sd");
00007 HEPTA_EPS eps(p16,p26);
00008 HEPTA_SENSOR sensor(p17,
00009                   p28,p27,0x19,0x69,0x13,
00010                   p13, p14,p25,p24);
00011 HEPTA_COM com(p9,p10);
00012 DigitalOut condition(LED1);
00013 Serial sat(USBTX,USBRX,9600);
00014 Timer sattime;
00015 int rcmd = 0,cmdflag = 0; //command variable
00016 //getting command and flag
00017 void commandget()
00018 {
00019     rcmd = sat.getc();
00020     cmdflag = 1;
00021 }
00022 //interrupting 
00023 void receive(int rcmd, int cmdflag)
00024 {
00025     sat.attach(commandget,Serial::RxIrq);
00026 }
00027 
00028 int main() {
00029     sat.printf("HEPTA-Sat Debug Program start\r\n");
00030     while(1){
00031         sat.printf("Please sellect a mode bellow\r\n");
00032         sat.printf("========================================\r\n");
00033         sat.printf("a: Check saving to SD card Mode\r\n");
00034         sat.printf("b: Check the battery voltage Mode\r\n");
00035         sat.printf("c: Check the temp sensor Mode\r\n");
00036         sat.printf("d: Check the 9 axis Mode\r\n");
00037         sat.printf("e: Check GPS rawdata Mode\r\n");
00038         sat.printf("f: Chec Camera snapchat Mode\r\n");
00039         sat.printf("g: \r\n");
00040         sat.printf("========================================\r\n");
00041         int rcmd=0,cmdflag=0;  //command variable
00042         sattime.start();
00043         eps.turn_on_regulator();//turn on 3.3V conveter
00044         //for(int i = 0; i < 100; i++) {
00045         rcmd = sat.getc();
00046         cmdflag = 1;
00047         //receive(rcmd,cmdflag);
00048         
00049         //satellite condition led
00050         condition = !condition;
00051         //Contents of command
00052         if (cmdflag == 1) {
00053             if (rcmd == 'a') {
00054                 //SD mode
00055                 char str[100];
00056                 mkdir("/sd/mydir", 0777);
00057                 FILE *fp = fopen("/sd/mydir/test.txt","w");
00058                 if(fp == NULL) {
00059                     error("Could not open file for write\r\n");
00060                 }
00061                 for(int i=0; i<10; i++)fprintf(fp,"Hello my name is HEPTA!\r\n");
00062                 fclose(fp);
00063                 fp = fopen("/sd/mydir/test.txt","r");
00064                 for(int j = 0; j < 10; j++) {
00065                     fgets(str,100,fp);
00066                     sat.puts(str);
00067                 }
00068                 fclose(fp);
00069                 sat.printf("Goodbye!!\r\n");
00070             }else if (rcmd == 'b') {
00071                 float bt;
00072                 for(int i = 0; i < 10; i++) {
00073                     eps.vol(&bt);
00074                     sat.printf("Vol = %f\r\n",bt);
00075                     wait(0.5);
00076                 }        
00077             }else if (rcmd == 'c') {        
00078                 //Please insert your answer
00079                 float temp;
00080                 for (int i=0;i<10;i++) {
00081                     sensor.temp_sense(&temp);
00082                     sat.printf("temp = %f\r\n",temp);
00083                     wait(0.5);
00084                 }
00085             }else if (rcmd == 'd') {
00086                 //Please insert your answer
00087                 float ax,ay,az;
00088                 float gx,gy,gz;
00089                 float mx,my,mz;
00090                 for(int i = 0; i<10; i++) {
00091                     sensor.sen_acc(&ax,&ay,&az);
00092                     sat.printf("acc : ax= %f, ay= %f, az= %f\r\n",ax,ay,az);
00093                     sensor.sen_gyro(&gx,&gy,&gz);
00094                     sat.printf("gyro: gx= %f, gy= %f, gz= %f\r\n",gx,gy,gz);
00095                     sensor.sen_mag(&mx,&my,&mz);
00096                     sat.printf("mag : mx= %f, my= %f, mz= %f\r\n",mx,my,mz);
00097                     wait(0.5);
00098                 }
00099             }else if (rcmd == 'e') {
00100                 //Please insert your answer
00101                 sensor.gps_setting();
00102                 sat.printf("GPS Raw Data Mode\r\n");
00103                 while(1) sat.putc(sensor.getc());
00104             }else if (rcmd == 'f') { 
00105                 FILE *dummy = fopen("/sd/dummy.txt","w");
00106                 if(dummy == NULL) {
00107                     error("Could not open file for write\r\n");
00108                 }
00109                 fclose(dummy);
00110                 
00111                 sat.printf("Camera Snapshot Mode\r\n");
00112                 sat.printf("Hit Any Key To Take Picture\r\n");
00113                 while(!sat.readable()) {}
00114                 sensor.Sync();
00115                 sensor.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
00116                 sensor.test_jpeg_snapshot_picture("/sd/test.jpg");
00117             }else if (rcmd == 'g'){
00118                 sat.printf("Xbee Count Up Mode\r\n");
00119                 for(int i = 0; i < 10; i++) {
00120                     com.printf("num = %d\r\n",i);
00121                     wait(0.5);
00122                 }
00123             }
00124             rcmd=0,cmdflag=0;
00125         }
00126     //}
00127     }
00128 }