Diff: main.cpp

Revision:

2:137282f468d0

Parent:

0:657047909e74

Child:

4:008160161171

--- a/main.cpp	Sat Jul 13 17:02:51 2013 +0000
+++ b/main.cpp	Sun Jul 21 07:03:02 2013 +0000
@@ -4,6 +4,8 @@
 #include "IMU_I2C.h"
 #include "nmea0813.h"
 #include "SCP1000.h"
+#include "myCAN.h"
+#include "IDDATA.h"
 
 //for debug
     DigitalOut myled(LED1);
@@ -11,6 +13,7 @@
     Ticker pc_msg;
 //for logging
     SDFileSystem sd(p5, p6, p7, p8, "sd");
+    DigitalIn SD(p17);
     IMUfilter imuFilter(FILTER_RATE, 0.3);
     IMU_I2C accelerometer(p9, p10);
     GPS gps(p28,p27);
@@ -20,24 +23,19 @@
     Ticker accelerometerTicker;
     Ticker gyroscopeTicker;
     Ticker filterTicker;
+    Ticker logging;
 //for communication with mission_mbed
-    CAN can(p30, p29);
-    Ticker can_msg;
+    myCAN can(p30, p29);
 
 //for pc_msg
     #define PC_BAUD 9600
     #define PC_RATE 0.3
     void pc_flg_on(void);
     char pc_flg = 0;
-    
-//for CAN
-    #define CAN_BAUD 4000000
-    #define CAN_RATE 0.05
-    void can_flg_on(void);
-    char can_flg,can_flg2;
-    int  id;
-    char dmsg[8];
-
+//for logging
+    #define LOG_RATE 0.3//0.04
+    char log_flg;
+    void log_flg_on(void);
 
 //Offsets for the gyroscope and the accelerometer.
     double w_xBias;
@@ -216,8 +214,8 @@
     pc_flg = 1;
 }
 
-void can_flg_on(void) {
-    can_flg = 1;
+void log_flg_on(void){
+    log_flg = 1;
 }
 
 int main() {
@@ -244,63 +242,46 @@
         pc.baud(PC_BAUD);
         pc_msg.attach(&pc_flg_on,PC_RATE);
     
-    //for CAN
-        can.frequency(CAN_BAUD);
-        can_msg.attach(&can_flg_on,CAN_RATE);
-        CANMessage msg;
+    //for logging
+        logging.attach(&log_flg_on,LOG_RATE);
+    
+    int a_zi;
+    a_zi=0;
     
     while(1){
-    
-        if(can.read(msg)) {
-            pc.printf("Message received: %d\n\r", msg.data[0]);
-            if(msg.data[0]==1){can_flg2=1;}
-        } 
-    
+        //for can send
+            if(a_z > 9.6){a_zi=1;}
+            else{a_zi=0;}         
+            can.make_logger_senddata(gps.get_time(),gps.get_satelite_number(),gps.get_str_latitude(),gps.get_str_longitude(),a_zi,(int)(scp1000.readTemperature()*20),scp1000.readPressure());
+            can.send(LOGGER);
         //for logging
-            
-            mkdir("/sd/mydir", 0777);
-            FILE *fp = fopen("/sd/mydir/kikyuu.txt", "a");
-            if(fp == NULL){error("Could not open file for write\n");}
-            fprintf(fp,"time:%s,latitude:%f,longitude:%f,status:%c,satelite:%c,speed:%f,",gps.get_time(),gps.get_latitude(),gps.get_longitude(),gps.get_status(),gps.get_satelite_number(),gps.get_speed());
-            //fprintf(fp,"roll:%f,pitch:%f,",toDegrees(imuFilter.getRoll()),toDegrees(imuFilter.getPitch()));
-            fprintf(fp,"pressure:%d,temperature:%f\r\n", scp1000.readPressure(), scp1000.readTemperature());
-            fprintf(fp,"%s,%f,%f,%f,%f,%f,%f\r\n",gps.get_time(),w_y, w_x, w_z, a_y, a_x, a_z);
-            fclose(fp);
-            
+            if(log_flg == 1){
+                if(SD == 1){
+                    mkdir("/sd/mydir", 0777);
+                    FILE *fp = fopen("/sd/mydir/ver2.txt", "a");
+                    if(fp == NULL){
+                        //error("Could not open file for write\n");
+                        pc.printf("SD_error");
+                    }else{
+                        fprintf(fp,"time:%s,latitude:%f,longitude:%f,status:%c,satelite:%c,speed:%f,",gps.get_time(),gps.get_latitude(),gps.get_longitude(),gps.get_status(),gps.get_satelite_number(),gps.get_speed());
+                        //fprintf(fp,"roll:%f,pitch:%f,",toDegrees(imuFilter.getRoll()),toDegrees(imuFilter.getPitch()));
+                        fprintf(fp,"pressure:%d,temperature:%f\r\n", scp1000.readPressure(), scp1000.readTemperature());
+                        fprintf(fp,"%s,%f,%f,%f,%f,%f,%f\r\n",gps.get_time(),w_y, w_x, w_z, a_y, a_x, a_z);
+                        fclose(fp);
+                    }
+                }
+            }
         
         //for pc debug
             if(pc_flg == 1){
                 pc.printf("%f,%f,%f,%f,%f,%f\r\n",w_y, w_x, w_z, a_y, a_x, a_z);
+                pc.printf("%d\r\n",a_zi);
                 //pc.printf("%f,%f,%f,%f,%f,%f\r\n",a_xBias, a_yBias, a_zBias, w_xBias, w_yBias, w_zBias);
-                pc.printf("pressure:%d,temperature:%f\r\n", scp1000.readPressure(), scp1000.readTemperature());
+                //pc.printf("pressure:%d,temperature:%f\r\n", scp1000.readPressure(), scp1000.readTemperature());
                 pc.printf("time:%s,latitude:%f,longitude:%f,status:%c,satelite:%c,speed:%f\r\n",gps.get_time(),gps.get_latitude(),gps.get_longitude(),gps.get_status(),gps.get_satelite_number(),gps.get_speed());
                 //pc.printf("%f,%f,%d,%f\r\n",toDegrees(imuFilter.getRoll()),toDegrees(imuFilter.getPitch()),scp1000.readPressure(), scp1000.readTemperature());
                 pc.printf("\n\r");
-                //pc.printf("%i,%i\n\r",dmsg[0],dmsg[2]);
-                //pc.printf("\n\r");
                 pc_flg =0;
             }
-        //for can send
-            if(can_flg == 1){
-                if(can_flg2==1){
-                    id = 1;
-                    if(a_z > 9.5){
-                        dmsg[0]=1;//roll}
-                        dmsg[2]=1;
-                    }
-                    else{dmsg[0]=0;}
-                    dmsg[1]=0;//pitch
-                    //msg[2]=0;
-                    /*
-                    dmsg[3]=0;
-                    dmsg[4]=0;
-                    dmsg[5]=0;
-                    dmsg[6]=0;
-                    dmsg[7]=0;
-                    */
-                    can.write(CANMessage(id,dmsg)); 
-                    can_flg=0;
-                }
-            }
     }
 }