Revision 3:4854731e663d, committed 2017-07-24

Comitter:

hepta2ume

Date:

Mon Jul 24 05:54:59 2017 +0000

Parent:

2:726072016da1

Commit message:

Hepta_All

Changed in this revision

diff -r 726072016da1 -r 4854731e663d FATFileSystem.lib
--- a/FATFileSystem.lib	Fri Jul 21 10:38:11 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_unsupported/code/fatfilesystem/#333d6e93e58f

diff -r 726072016da1 -r 4854731e663d HeptaBattery.lib
--- a/HeptaBattery.lib	Fri Jul 21 10:38:11 2017 +0000
+++ b/HeptaBattery.lib	Mon Jul 24 05:54:59 2017 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/hepta2ume/code/HeptaBattery/#1682fa22a51e
+http://developer.mbed.org/users/hepta2ume/code/HeptaBattery/#035ad1d97299

diff -r 726072016da1 -r 4854731e663d HeptaSerial.lib
--- a/HeptaSerial.lib	Fri Jul 21 10:38:11 2017 +0000
+++ b/HeptaSerial.lib	Mon Jul 24 05:54:59 2017 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/hepta2ume/code/HeptaSerial/#12659e671bad
+https://developer.mbed.org/users/hepta2ume/code/Hepta_Serial/#57c7f33a3621

diff -r 726072016da1 -r 4854731e663d PowerControl.lib
--- a/PowerControl.lib	Fri Jul 21 10:38:11 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://developer.mbed.org/users/hepta2ume/code/PowerControl/#5c2343149451

diff -r 726072016da1 -r 4854731e663d SDHCFileSystem.cpp
--- a/SDHCFileSystem.cpp	Fri Jul 21 10:38:11 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,495 +0,0 @@
-/* mbed SDFileSystem Library, for providing file access to SD cards
- * Copyright (c) 2008-2010, sford
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
- 
-/* Introduction
- * ------------
- * SD and MMC cards support a number of interfaces, but common to them all
- * is one based on SPI. This is the one I'm implmenting because it means
- * it is much more portable even though not so performant, and we already 
- * have the mbed SPI Interface!
- *
- * The main reference I'm using is Chapter 7, "SPI Mode" of: 
- *  http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
- *
- * SPI Startup
- * -----------
- * The SD card powers up in SD mode. The SPI interface mode is selected by
- * asserting CS low and sending the reset command (CMD0). The card will 
- * respond with a (R1) response.
- *
- * CMD8 is optionally sent to determine the voltage range supported, and 
- * indirectly determine whether it is a version 1.x SD/non-SD card or 
- * version 2.x. I'll just ignore this for now.
- *
- * ACMD41 is repeatedly issued to initialise the card, until "in idle"
- * (bit 0) of the R1 response goes to '0', indicating it is initialised.
- *
- * You should also indicate whether the host supports High Capicity cards,
- * and check whether the card is high capacity - i'll also ignore this
- *
- * SPI Protocol
- * ------------
- * The SD SPI protocol is based on transactions made up of 8-bit words, with
- * the host starting every bus transaction by asserting the CS signal low. The
- * card always responds to commands, data blocks and errors.
- * 
- * The protocol supports a CRC, but by default it is off (except for the 
- * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
- * I'll leave the CRC off I think! 
- * 
- * Standard capacity cards have variable data block sizes, whereas High 
- * Capacity cards fix the size of data block to 512 bytes. I'll therefore
- * just always use the Standard Capacity cards with a block size of 512 bytes.
- * This is set with CMD16.
- *
- * You can read and write single blocks (CMD17, CMD25) or multiple blocks 
- * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
- * the card gets a read command, it responds with a response token, and then 
- * a data token or an error.
- * 
- * SPI Command Format
- * ------------------
- * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
- *
- * +---------------+------------+------------+-----------+----------+--------------+
- * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
- * +---------------+------------+------------+-----------+----------+--------------+
- *
- * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
- *
- * All Application Specific commands shall be preceded with APP_CMD (CMD55).
- *
- * SPI Response Format
- * -------------------
- * The main response format (R1) is a status byte (normally zero). Key flags:
- *  idle - 1 if the card is in an idle state/initialising 
- *  cmd  - 1 if an illegal command code was detected
- *
- *    +-------------------------------------------------+
- * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
- *    +-------------------------------------------------+
- *
- * R1b is the same, except it is followed by a busy signal (zeros) until
- * the first non-zero byte when it is ready again.
- *
- * Data Response Token
- * -------------------
- * Every data block written to the card is acknowledged by a byte 
- * response token
- *
- * +----------------------+
- * | xxx | 0 | status | 1 |
- * +----------------------+
- *              010 - OK!
- *              101 - CRC Error
- *              110 - Write Error
- *
- * Single Block Read and Write
- * ---------------------------
- *
- * Block transfers have a byte header, followed by the data, followed
- * by a 16-bit CRC. In our case, the data will always be 512 bytes.
- *  
- * +------+---------+---------+- -  - -+---------+-----------+----------+
- * | 0xFE | data[0] | data[1] |        | data[n] | crc[15:8] | crc[7:0] | 
- * +------+---------+---------+- -  - -+---------+-----------+----------+
- */
- 
- /*
- * Comment: Changes for SDHC support till 32GB 
- * Name:    KB
- * Date:    07/24/2010
- * Release: 0.1
- */
- 
-#include "SDHCFileSystem.h"
- 
-#define DEBUG
-#define SD_COMMAND_TIMEOUT 5000
- 
- 
-SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
-  FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) {
-      _cs = 1; 
-}
- 
-#define R1_IDLE_STATE           (1 << 0)
-#define R1_ERASE_RESET          (1 << 1)
-#define R1_ILLEGAL_COMMAND      (1 << 2)
-#define R1_COM_CRC_ERROR        (1 << 3)
-#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
-#define R1_ADDRESS_ERROR        (1 << 5)
-#define R1_PARAMETER_ERROR      (1 << 6)
- 
-// Types
-//  - v1.x Standard Capacity
-//  - v2.x Standard Capacity
-//  - v2.x High Capacity
-//  - Not recognised as an SD Card
- 
-#define SDCARD_FAIL 0
-#define SDCARD_V1   1
-#define SDCARD_V2   2
-#define SDCARD_V2HC 3
- 
-int SDFileSystem::initialise_card() {
-    // Set to 100kHz for initialisation, and clock card with cs = 1
-    _spi.frequency(100000); 
-    _cs = 1;
-    for(int i=0; i<16; i++) {   
-        _spi.write(0xFF);
-    }
- 
-    // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
-    if(_cmd(0, 0) != R1_IDLE_STATE) { 
-        fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n");
-        return SDCARD_FAIL;
-    }
- 
-    // send CMD8 to determine whther it is ver 2.x
-    int r = _cmd8();
-    if(r == R1_IDLE_STATE) {
-        return initialise_card_v2();
-    } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
-        return initialise_card_v1();
-    } else {
-        fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n");
-        return SDCARD_FAIL;
-    }
-}
- 
-int SDFileSystem::initialise_card_v1() {
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        _cmd(55, 0); 
-        if(_cmd(41, 0) == 0) { 
-            cdv = 512;
-            #ifdef DEBUG 
-            printf("\n\rInit: SEDCARD_V1\n\r");
-            #endif
-            return SDCARD_V1;
-        }
-    }
- 
-    fprintf(stderr, "Timeout waiting for v1.x card\n");
-    return SDCARD_FAIL;
-}
- 
-int SDFileSystem::initialise_card_v2() {
-    
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        wait_ms(50);
-        _cmd58();
-        _cmd(55, 0); 
-        if(_cmd(41, 0x40000000) == 0) { 
-            _cmd58();
-            #ifdef DEBUG
-            printf("\n\rInit: SDCARD_V2\n\r");
-            #endif
-            cdv = 1;
-            return SDCARD_V2;
-        }
-    }
- 
-    fprintf(stderr, "Timeout waiting for v2.x card\n");
-    return SDCARD_FAIL;
-}
- 
-int SDFileSystem::disk_initialize() {
- 
-    int i = initialise_card();
-    #ifdef DEBUG 
-    printf("init card = %d\n", i);
-    #endif
-    _sectors = _sd_sectors();
- 
-    // Set block length to 512 (CMD16)
-    if(_cmd(16, 512) != 0) {
-        fprintf(stderr, "Set 512-byte block timed out\n");
-        return 1;
-    }
-        
-    _spi.frequency(1000000); // Set to 1MHz for data transfer
-    return 0;
-}
- 
-int SDFileSystem::disk_write(const char *buffer, int block_number) {
-    // set write address for single block (CMD24)
-    if(_cmd(24, block_number * cdv) != 0) {
-        return 1;
-    }
- 
-    // send the data block
-    _write(buffer, 512);    
-    return 0;    
-}
- 
-int SDFileSystem::disk_read(char *buffer, int block_number) {        
-    // set read address for single block (CMD17)
-    if(_cmd(17, block_number * cdv) != 0) {
-        return 1;
-    }
-    
-    // receive the data
-    _read(buffer, 512);
-    return 0;
-}
- 
-int SDFileSystem::disk_status() { return 0; }
-int SDFileSystem::disk_sync() { return 0; }
-int SDFileSystem::disk_sectors() { return _sectors; }
- 
-// PRIVATE FUNCTIONS
- 
-int SDFileSystem::_cmd(int cmd, int arg) {
-    _cs = 0; 
- 
-    // send a command
-    _spi.write(0x40 | cmd);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
- 
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            _cs = 1;
-            _spi.write(0xFF);
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-int SDFileSystem::_cmdx(int cmd, int arg) {
-    _cs = 0; 
- 
-    // send a command
-    _spi.write(0x40 | cmd);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
- 
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
- 
- 
-int SDFileSystem::_cmd58() {
-    _cs = 0; 
-    int arg = 0;
-    
-    // send a command
-    _spi.write(0x40 | 58);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
- 
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            int ocr = _spi.write(0xFF) << 24;
-            ocr |= _spi.write(0xFF) << 16;
-            ocr |= _spi.write(0xFF) << 8;
-            ocr |= _spi.write(0xFF) << 0;
-//            printf("OCR = 0x%08X\n", ocr);
-            _cs = 1;
-            _spi.write(0xFF);
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
- 
-int SDFileSystem::_cmd8() {
-    _cs = 0; 
-    
-    // send a command
-    _spi.write(0x40 | 8); // CMD8
-    _spi.write(0x00);     // reserved
-    _spi.write(0x00);     // reserved
-    _spi.write(0x01);     // 3.3v
-    _spi.write(0xAA);     // check pattern
-    _spi.write(0x87);     // crc
- 
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) {
-        char response[5];
-        response[0] = _spi.write(0xFF);
-        if(!(response[0] & 0x80)) {
-                for(int j=1; j<5; j++) {
-                    response[i] = _spi.write(0xFF);
-                }
-                _cs = 1;
-                _spi.write(0xFF);
-                return response[0];
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
- 
-int SDFileSystem::_read(char *buffer, int length) {
-    _cs = 0;
- 
-    // read until start byte (0xFF)
-    while(_spi.write(0xFF) != 0xFE);
- 
-    // read data
-    for(int i=0; i<length; i++) {
-        buffer[i] = _spi.write(0xFF);
-    }
-    _spi.write(0xFF); // checksum
-    _spi.write(0xFF);
- 
-    _cs = 1;    
-    _spi.write(0xFF);
-    return 0;
-}
- 
-int SDFileSystem::_write(const char *buffer, int length) {
-    _cs = 0;
-    
-    // indicate start of block
-    _spi.write(0xFE);
-    
-    // write the data
-    for(int i=0; i<length; i++) {
-        _spi.write(buffer[i]);
-    }
-    
-    // write the checksum
-    _spi.write(0xFF); 
-    _spi.write(0xFF);
- 
-    // check the repsonse token
-    if((_spi.write(0xFF) & 0x1F) != 0x05) {
-        _cs = 1;
-        _spi.write(0xFF);        
-        return 1;
-    }
- 
-    // wait for write to finish
-    while(_spi.write(0xFF) == 0);
- 
-    _cs = 1; 
-    _spi.write(0xFF);
-    return 0;
-}
- 
-static int ext_bits(char *data, int msb, int lsb) {
-    int bits = 0;
-    int size = 1 + msb - lsb; 
-    for(int i=0; i<size; i++) {
-        int position = lsb + i;
-        int byte = 15 - (position >> 3);
-        int bit = position & 0x7;
-        int value = (data[byte] >> bit) & 1;
-        bits |= value << i;
-    }
-    return bits;
-}
- 
-int SDFileSystem::_sd_sectors() {
- 
-    int c_size, c_size_mult, read_bl_len;
-    int block_len, mult, blocknr, capacity;       
-    int blocks, hc_c_size;
-    uint64_t hc_capacity;
-     
-    // CMD9, Response R2 (R1 byte + 16-byte block read)
-    if(_cmdx(9, 0) != 0) {
-        fprintf(stderr, "Didn't get a response from the disk\n");
-        return 0;
-    }
-    
-    char csd[16];    
-    if(_read(csd, 16) != 0) {
-        fprintf(stderr, "Couldn't read csd response from disk\n");
-        return 0;
-    }
- 
-    // csd_structure : csd[127:126]
-    // c_size        : csd[73:62]
-    // c_size_mult   : csd[49:47]
-    // read_bl_len   : csd[83:80] - the *maximum* read block length
-   
-    int csd_structure = ext_bits(csd, 127, 126);
-    
-    #ifdef DEBUG 
-    printf("\n\rCSD_STRUCT = %d\n", csd_structure);
-    #endif
-     
-    switch (csd_structure){
-     case 0:
-      cdv = 512;
-      c_size = ext_bits(csd, 73, 62);
-      c_size_mult = ext_bits(csd, 49, 47);
-      read_bl_len = ext_bits(csd, 83, 80);
-     
-      block_len = 1 << read_bl_len;
-      mult = 1 << (c_size_mult + 2);
-      blocknr = (c_size + 1) * mult;
-      capacity = blocknr * block_len;
-      blocks = capacity / 512;
-      #ifdef DEBUG 
-      printf("\n\rSDCard\n\rc_size: %.4X \n\rcapacity: %.ld \n\rsectors: %d\n\r", c_size, capacity, blocks);
-      #endif
-      break;
-    
-     case 1:
-      cdv = 1;
-      hc_c_size = ext_bits(csd, 63, 48);
-      int hc_read_bl_len = ext_bits(csd, 83, 80);
-      hc_capacity = hc_c_size+1;   
-      blocks = (hc_c_size+1)*1024;
-      #ifdef DEBUG 
-      printf("\n\rSDHC Card \n\rhc_c_size: %.4X \n\rcapacity: %.lld \n\rsectors: %d\n\r", hc_c_size, hc_capacity*512*1024, blocks);
-      #endif
-      break;
-   
-    default:    
-       fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n");
-     return 0;
-     break;
-    };
- return blocks;
-}
\ No newline at end of file

diff -r 726072016da1 -r 4854731e663d SDHCFileSystem.h
--- a/SDHCFileSystem.h	Fri Jul 21 10:38:11 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,86 +0,0 @@
-/* mbed SDFileSystem Library, for providing file access to SD cards
- * Copyright (c) 2008-2010, sford
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
- 
-#ifndef MBED_SDHCFILESYSTEM_H
-#define MBED_SDHCFILESYSTEM_H
- 
-#include "mbed.h"
-#include "FATFileSystem.h"
- 
-/* Double Words */
-typedef unsigned long long uint64_t;
-typedef long long sint64_t;
- 
-/** Access the filesystem on an SD Card using SPI
- *
- * @code
- * #include "mbed.h"
- * #include "SDFileSystem.h"
- *
- * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
- *  
- * int main() {
- *     FILE *fp = fopen("/sd/myfile.txt", "w");
- *     fprintf(fp, "Hello World!\n");
- *     fclose(fp);
- * }
- */
-class SDFileSystem : public FATFileSystem {
-public:
- 
-    /** Create the File System for accessing an SD Card using SPI
-     *
-     * @param mosi SPI mosi pin connected to SD Card
-     * @param miso SPI miso pin conencted to SD Card
-     * @param sclk SPI sclk pin connected to SD Card
-     * @param cs   DigitalOut pin used as SD Card chip select
-     * @param name The name used to access the virtual filesystem
-     */
-    SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
-    virtual int disk_initialize();
-    virtual int disk_write(const char *buffer, int block_number);
-    virtual int disk_read(char *buffer, int block_number);    
-    virtual int disk_status();
-    virtual int disk_sync();
-    virtual int disk_sectors();
- 
-protected:
- 
-    int _cmd(int cmd, int arg);
-    int _cmdx(int cmd, int arg);
-    int _cmd8();
-    int _cmd58();
-    int initialise_card();
-    int initialise_card_v1();
-    int initialise_card_v2();
-    
-    int _read(char *buffer, int length);
-    int _write(const char *buffer, int length);
-    int _sd_sectors();
-    int _sectors;
-    
-    SPI _spi;
-    DigitalOut _cs; 
-    int cdv;    
-};
- 
-#endif

diff -r 726072016da1 -r 4854731e663d SDHCFileSystem.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDHCFileSystem.lib	Mon Jul 24 05:54:59 2017 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/hepta2ume/code/SDHCFileSystem/#ee6c3a0bbbbb

diff -r 726072016da1 -r 4854731e663d main.cpp
--- a/main.cpp	Fri Jul 21 10:38:11 2017 +0000
+++ b/main.cpp	Mon Jul 24 05:54:59 2017 +0000
@@ -2,22 +2,22 @@
 *************************************************************
 H29/07_20/T.Umezawa
 1:SD.....OK!
-2:MPU9250(Accel) =
-3:MPU9250(Gyro) =
-4:MPU9250(Mag_compass) =
-5:GPS sensing Mode =
-6:CAM Mode = OK!
-7:Temperature sensing =
-8:Xbee mode =
+2:MPU9250(Accel) = OK
+3:MPU9250(Gyro) = OK
+4:MPU9250(Mag_compass) = 微妙
+5:GPS sensing Mode = (サンプリング時間の修正)
+6:CAM Mode = OK!(微妙だった)
+7:Temperature sensing = OK!
+8:Xbee mode = OK!
 *************************************************************
 */
-
 #include "mbed.h"
 #include "SDHCFileSystem.h"
 #include "HeptaXbee.h"
 #include "HeptaSerial.h"
 #include "Hepta9axis.h"
 #include "HeptaTemp.h"
+#include "HeptaBattery.h"
 #define USE_JPEG_HIGH_RESOLUTION  1
 
 Serial pc(USBTX,USBRX);
@@ -26,6 +26,7 @@
 HeptaSerial camera(p13, p14);
 HeptaMPU9250 MPU9250(p28,p27,0xD0,0x18);//sda,scl,acc&gyro_address,mag_gyro
 HeptaTemp heptatemp(p17);
+HeptaBattery bat(p16,p26);
 DigitalOut CAM_SW(p25);//CAM_control
 DigitalOut GPS_SW(p24);//GPS_control
 
@@ -46,24 +47,28 @@
         pc.printf("Hello world.\r\n");
         pc.printf("My name is HEPTA2\r\n");
         pc.printf("Please select mode.\r\n");
-        pc.printf("1:SD test Mode\r\n");
-        pc.printf("2:Gyro sening ModeE\r\n");
-        pc.printf("3:Accel sensing Mode\r\n");
-        pc.printf("4:Magnet sensig Mode\r\n");
-        pc.printf("5:GPS sensing Mode\r\n");
-        pc.printf("6:CAM mode\r\n");
-        pc.printf("7:Temperature sensing Mode\r\n");
-        pc.printf("8:Xbee Mode\r\n");
-        pc.printf("9:Xbee & Temperature Mode\r\n");//恒温槽用
-        pc.printf("10:All Transmitting Mode Mode\r\n");
+        pc.printf("a:SD test Mode\r\n");
+        pc.printf("b:Check Battery Level\r\n");
+        pc.printf("c:Gyro Sening Mode\r\n");
+        pc.printf("d:Accel Sensing Mode\r\n");
+        pc.printf("e:Magnet Sensig Mode\r\n");
+        pc.printf("f:GPS Test Sensing Mode\r\n");
+        pc.printf("g:CAM Mode\r\n");
+        pc.printf("h:Temperature Sensing Mode\r\n");
+        pc.printf("i:Xbee Mode\r\n");
+        pc.printf("j:Xbee & Temperature Mode\r\n");//恒温槽用
+        pc.printf("k:All Transmitting Mode\r\n");
+        pc.printf("l:Test Mode\r\n");
+        pc.printf("m:Test Mode\r\n");
         pc.printf("*********************************\r\n");
 
         mode = pc.getc();
         pc.printf("\r\n");
         pc.printf("Your select Mode = %c\r\n",mode);
         wait(0.5);
+
         switch(mode) {
-            case'1': {
+            case'a': {
 
                 printf("=============\r\n");
                 printf("SD test Mode\r\n");
@@ -82,12 +87,24 @@
             }//case'1'
 
             /*
+            ************************
+            Check Battery Level mode
+            ************************
+            */
+            case'b': {
+                float bt;
+                bat.vol(&bt);
+                pc.printf("V = %f\r\n",bt);
+                break;
+            }
+
+            /*
             ******************
             Gyro sensing mode
             ******************
             */
 
-            case'2': {
+            case'c': {
                 printf("===================\r\n");
                 printf("Gyro sensing Mode\r\n");
                 printf("===================\r\n");
@@ -106,7 +123,7 @@
             ******************
             */
 
-            case'3': {
+            case'd': {
                 printf("===================\r\n");
                 printf("Accel sensing Mode\r\n");
                 printf("===================\r\n");
@@ -125,7 +142,7 @@
             ******************
             */
 
-            case'4': {
+            case'e': {
                 float mx,my,mz;
                 printf("===================\r\n");
                 printf("Magnet sensing Mode\r\n");
@@ -140,11 +157,26 @@
 
             /*
             ******************
+            GPS sensing mode
+            ******************
+            */
+
+            case'f': {
+
+                printf("===================\r\n");
+                printf("GPS sensing Mode\r\n");
+                printf("===================\r\n");
+                while(1) pc.putc(camera.getc());
+                break;
+            }//case'4'
+
+            /*
+            ******************
             Cam Snapshot mode
             ******************
             */
 
-            case'6': {
+            case'g': {
                 GPS_SW = 0;
                 CAM_SW = 1;
                 printf("\r\n");
@@ -164,7 +196,7 @@
             ******************
             */
 
-            case'7': {
+            case'h': {
                 printf("==================\r\n");
                 printf("Temp sensing Mode\r\n");
                 printf("==================\r\n");
@@ -183,7 +215,7 @@
             ***********
             */
 
-            case'8': {
+            case'i': {
 
                 int i=0,rcmd=0,cmdflag=0;
                 xbee.printf("Count Up!\r");
@@ -211,29 +243,21 @@
             ******************
             */
 
-            case'9': {
+            case'j': {
 
                 printf("==================\r\n");
                 printf("Temp sensing Mode & Xbee\r\n");
                 printf("==================\r\n");
 
                 float temp;
-                //FILE *fp = fopen("/fs/myfile.csv", "a");
-//                if(fp == NULL) {
-//                    pc.printf("Could not open file for write\r\n");
-//                } else {
-                    while(1)
-                    {
-                    //for(int i = 0; i<100; i++) {
-                        FILE *fp = fopen("/fs/myfile.csv", "a");
-                        heptatemp.temp_sense(&temp);
-                        pc.printf("%f\r\n",temp);
-                        xbee.printf("%f\r\n",temp);
-                        fprintf(fp, "%f\n",temp);
-                        fclose(fp);
-                    }
-//                    fclose(fp);
-//                }
+                while(1) {
+                    FILE *fp = fopen("/fs/myfile.csv", "a");
+                    heptatemp.temp_sense(&temp);
+                    pc.printf("%f\r\n",temp);
+                    xbee.printf("%f\r\n",temp);
+                    fprintf(fp, "%f\n",temp);
+                    fclose(fp);
+                }
                 break;
             }//case'9'
 
@@ -243,7 +267,7 @@
             *********************
             */
 
-            case'a': {
+            case'k': {
 
                 printf("==================\r\n");
                 printf("All Transmitting Mode\r\n");
@@ -252,15 +276,13 @@
                 char ddata[60];
                 int dsize[6];
                 while(1) {
-                    /*
+                    
                      MPU9250.sen_gyro_u16(gx,gy,gz,&dsize[0]);
                      MPU9250.sen_acc_u16(ax,ay,az,&dsize[1]);
                      MPU9250.sen_mag_u16(mx,my,mz,&dsize[2]);
-                     gps.sensing_u16(lad,log,&dsize[3]);
-                     battery.vol_u16(bt,&dsize[4]);
+                     camera.lat_log_sensing_u16(lad,log,&dsize[3]);
+                     bat.vol_u16(bt,&dsize[4]);
                      heptatemp.temp_sense_u16(temp,&dsize[5]);
-                     */
-                    //gyro.x_u16(gx,4);
                     xbee.xbee_transmit(ddata,60,gx,gy,gz,ax,ay,az,mx,my,mz,lad,log,bt,temp,dsize[0],dsize[0],dsize[0],dsize[1],dsize[1],dsize[1],dsize[2],dsize[2],dsize[2],dsize[3],dsize[3],dsize[4],dsize[5],13);
                 }
                 break;
@@ -271,7 +293,7 @@
                        ******************
                        */
 
-            case'b': {
+            case'l': {
                 GPS_SW = 0;
                 CAM_SW = 1;
                 printf("\r\n");
@@ -285,6 +307,20 @@
                 break;
             }//case'6'
 
+            case'm': {
+                pc.printf("L:GPS GPGGA Mode\r\n");
+                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;
+                for(int i=1; i<10; i++) {
+                    camera.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
+                    if((gps_check==0)|(gps_check==1)) {
+                        pc.printf("GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c\r\n",time,latitude,ns,longitude,ew,quality,stnum,hacu,altitude,aunit);
+                    }
+                }
+                break;
+            }
+
             default:
                 break;