Funai Ryotaro / Mbed 2 deprecated Lab4-11_model_program_3

for baska

Dependencies:   Hepta9axis HeptaBattery HeptaCamera_GPS HeptaTemp SDFileSystem mbed

Fork of Lab4-11_model_program_3 by HEPTA-Sat Training 2017~2018

main.cpp@19:373bc6926349, 2018-08-22 (annotated)

Committer:
ponpoko1939
Date:
Wed Aug 22 02:15:07 2018 +0000
Revision:
19:373bc6926349
Parent:
17:2b3b88724c68 
Second & Third Question;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:bdbd3d6fc5d5 1 #include "mbed.h"
mbed_official 0:bdbd3d6fc5d5 2 #include "SDFileSystem.h"
HEPTA 17:2b3b88724c68 3 #include "HeptaBattery.h"
umeume 2:1c5cdb2c3e0f 4 #include "HeptaCamera_GPS.h"
umeume 2:1c5cdb2c3e0f 5 #include "Hepta9axis.h"
umeume 2:1c5cdb2c3e0f 6 #include "HeptaTemp.h"
umeume 2:1c5cdb2c3e0f 7
umeume 2:1c5cdb2c3e0f 8 Serial pc(USBTX,USBRX);
HEPTA 9:942eb6e8c117 9 SDFileSystem sd(p5, p6, p7, p8, "sd");
HEPTA 17:2b3b88724c68 10 HeptaBattery battery(p16,p26);
umeume 2:1c5cdb2c3e0f 11 HeptaCamera_GPS cam_gps(p13, p14,p25,p24);
HEPTA 10:4d6870d0caa0 12 Hepta9axis n_axis(p28,p27,0xD0,0x18);
ponpoko1939 19:373bc6926349 13 HeptaTemp temper(p17);
HEPTA 17:2b3b88724c68 14
HEPTA 17:2b3b88724c68 15 DigitalOut myleds[] = {LED1,LED2,LED3,LED4};;
HEPTA 17:2b3b88724c68 16
HEPTA 17:2b3b88724c68 17 int rcmd = 0,cmdflag = 0;
umeume 2:1c5cdb2c3e0f 18
HEPTA 17:2b3b88724c68 19 void commandget()
HEPTA 17:2b3b88724c68 20 {
HEPTA 17:2b3b88724c68 21 rcmd=pc.getc();
HEPTA 17:2b3b88724c68 22 cmdflag = 1;
HEPTA 17:2b3b88724c68 23 }
HEPTA 17:2b3b88724c68 24 void receive(int *xrcmd, int *xcmdflag)
HEPTA 17:2b3b88724c68 25 {
HEPTA 17:2b3b88724c68 26 pc.attach(commandget,Serial::RxIrq);
HEPTA 17:2b3b88724c68 27 *xrcmd = rcmd;
HEPTA 17:2b3b88724c68 28 *xcmdflag = cmdflag;
HEPTA 17:2b3b88724c68 29 }
HEPTA 17:2b3b88724c68 30
HEPTA 17:2b3b88724c68 31 void initialize()
HEPTA 17:2b3b88724c68 32 {
HEPTA 17:2b3b88724c68 33 rcmd = 0;
HEPTA 17:2b3b88724c68 34 cmdflag = 0;
HEPTA 17:2b3b88724c68 35 }
umeume 5:c5ccb1b07e8f 36
umeume 2:1c5cdb2c3e0f 37 int main()
umeume 2:1c5cdb2c3e0f 38 {
HEPTA 17:2b3b88724c68 39 pc.baud(9600);
HEPTA 17:2b3b88724c68 40 float bt;
ponpoko1939 19:373bc6926349 41 float temp;
HEPTA 17:2b3b88724c68 42 char str[100];
HEPTA 17:2b3b88724c68 43 float ax,ay,az;
HEPTA 17:2b3b88724c68 44 float gx,gy,gz;
HEPTA 17:2b3b88724c68 45 float mx,my,mz;
HEPTA 17:2b3b88724c68 46 int quality=0,stnum=0,gps_check=0;
HEPTA 17:2b3b88724c68 47 char ns='A',ew='B',aunit='m';
HEPTA 17:2b3b88724c68 48 float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0;
HEPTA 17:2b3b88724c68 49 int flag = 0;
HEPTA 17:2b3b88724c68 50 while(1) {
HEPTA 17:2b3b88724c68 51 battery.power_saving_mode(&flag,&bt);
ponpoko1939 19:373bc6926349 52 temper.temp_sense(&temp);
HEPTA 17:2b3b88724c68 53 wait(0.5);
ponpoko1939 19:373bc6926349 54 pc.printf("flag = %d, bt = %.2f [V]\r\n",flag,bt);
HEPTA 17:2b3b88724c68 55 if(flag == 1) {
HEPTA 17:2b3b88724c68 56 pc.printf("Low Battery\r\n");
ponpoko1939 19:373bc6926349 57 } else if(temp > 35.0) {
HEPTA 17:2b3b88724c68 58 pc.printf("High Temperaturer\n");
ponpoko1939 19:373bc6926349 59 } else if((flag == 1) & (temp > 35.0)) {
HEPTA 17:2b3b88724c68 60 pc.printf("Low Battery and High Temperaturer\n");
HEPTA 17:2b3b88724c68 61 }
HEPTA 17:2b3b88724c68 62 receive(&rcmd,&cmdflag);
HEPTA 17:2b3b88724c68 63 if (cmdflag == 1) {
HEPTA 17:2b3b88724c68 64 pc.printf("Command Get = %d\r\n",rcmd);
HEPTA 17:2b3b88724c68 65 if (rcmd == 'a') {
HEPTA 17:2b3b88724c68 66 for(int i = 0; i < 10; i++) {
HEPTA 17:2b3b88724c68 67 pc.printf("Count = %d\r\n",i);
HEPTA 17:2b3b88724c68 68 wait(1.0);
HEPTA 17:2b3b88724c68 69 }
HEPTA 17:2b3b88724c68 70 }
HEPTA 17:2b3b88724c68 71 if (rcmd == 'b') {
HEPTA 17:2b3b88724c68 72 mkdir("/sd/mydir", 0777);
HEPTA 17:2b3b88724c68 73 FILE *fp = fopen("/sd/mydir/battery.txt","w");
HEPTA 17:2b3b88724c68 74 if(fp == NULL) {
HEPTA 17:2b3b88724c68 75 error("Could not open file for write\r\n");
HEPTA 17:2b3b88724c68 76 } else {
HEPTA 17:2b3b88724c68 77 for(int i = 0; i < 10; i++) {
HEPTA 17:2b3b88724c68 78 battery.vol(&bt);
HEPTA 17:2b3b88724c68 79 fprintf(fp,"%f\r\n",bt);
HEPTA 17:2b3b88724c68 80 wait(1.0);
HEPTA 17:2b3b88724c68 81 }
HEPTA 17:2b3b88724c68 82 fclose(fp);
HEPTA 17:2b3b88724c68 83 }
HEPTA 17:2b3b88724c68 84 FILE *fp1 = fopen("/sd/mydir/battery.txt","r");
HEPTA 17:2b3b88724c68 85 if(fp1 == NULL) {
HEPTA 17:2b3b88724c68 86 error("Could not open file for read\r\n");
HEPTA 17:2b3b88724c68 87 } else {
HEPTA 17:2b3b88724c68 88 for(int i = 0; i < 10; i++) {
HEPTA 17:2b3b88724c68 89 fgets(str,100,fp1);
HEPTA 17:2b3b88724c68 90 puts(str);
HEPTA 17:2b3b88724c68 91 wait(1.0);
HEPTA 17:2b3b88724c68 92 }
HEPTA 17:2b3b88724c68 93 fclose(fp1);
HEPTA 17:2b3b88724c68 94 }
HEPTA 17:2b3b88724c68 95 }//
HEPTA 17:2b3b88724c68 96 if (rcmd == 'c') {
ponpoko1939 19:373bc6926349 97 //pc.printf("Command Get = %d", 'rcmd');
ponpoko1939 19:373bc6926349 98 //get temperture
ponpoko1939 19:373bc6926349 99 temper.temp_sense(&temp);
ponpoko1939 19:373bc6926349 100 //get 9-axis
ponpoko1939 19:373bc6926349 101 n_axis.sen_acc(&ax,&ay,&az);
ponpoko1939 19:373bc6926349 102 n_axis.sen_gyro(&gx,&gy,&gz);
ponpoko1939 19:373bc6926349 103 n_axis.sen_mag(&mx,&my,&mz);
ponpoko1939 19:373bc6926349 104 //get GPS Data
ponpoko1939 19:373bc6926349 105 cam_gps.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
HEPTA 17:2b3b88724c68 106
ponpoko1939 19:373bc6926349 107 //Display_All Data
ponpoko1939 19:373bc6926349 108 pc.printf("temp = %.2f[C]\r\n",temp);
ponpoko1939 19:373bc6926349 109 pc.printf("%f,%f,%f\r\n",ax,ay,az);
ponpoko1939 19:373bc6926349 110 pc.printf("%f,%f,%f\r\n",gx,gy,gz);
ponpoko1939 19:373bc6926349 111 pc.printf("%f,%f,%f\r\n",mx,my,mz);
ponpoko1939 19:373bc6926349 112 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);
ponpoko1939 19:373bc6926349 113 wait(0.3);
HEPTA 17:2b3b88724c68 114 }
HEPTA 17:2b3b88724c68 115 if (rcmd == 'd') {
ponpoko1939 19:373bc6926349 116 pc.printf("Camera Snapshot Mode\r\n");
ponpoko1939 19:373bc6926349 117 pc.printf("Hit Any Key To Take Picture\r\n");
ponpoko1939 19:373bc6926349 118 while(!pc.readable()) {}
ponpoko1939 19:373bc6926349 119 cam_gps.Sync();
ponpoko1939 19:373bc6926349 120 cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
ponpoko1939 19:373bc6926349 121 cam_gps.test_jpeg_snapshot_picture("/sd/test.jpg");
HEPTA 17:2b3b88724c68 122 }
HEPTA 17:2b3b88724c68 123 initialize();
HEPTA 17:2b3b88724c68 124 }
HEPTA 17:2b3b88724c68 125 }
ponpoko1939 19:373bc6926349 126 }