Lab4
Dependencies: mbed HeptaBattery SDFileSystem HeptaCamera_GPS
main.cpp@2:1c5cdb2c3e0f, 2017-08-23 (annotated)
- Committer:
- umeume
- Date:
- Wed Aug 23 06:19:35 2017 +0000
- Revision:
- 2:1c5cdb2c3e0f
- Parent:
- 0:bdbd3d6fc5d5
- Child:
- 5:c5ccb1b07e8f
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbed_official | 0:bdbd3d6fc5d5 | 1 | #include "mbed.h" |
mbed_official | 0:bdbd3d6fc5d5 | 2 | #include "SDFileSystem.h" |
umeume | 2:1c5cdb2c3e0f | 3 | #include "HeptaXbee.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 | #include "HeptaBattery.h" |
umeume | 2:1c5cdb2c3e0f | 8 | |
umeume | 2:1c5cdb2c3e0f | 9 | Serial pc(USBTX,USBRX); |
umeume | 2:1c5cdb2c3e0f | 10 | SDFileSystem sd(p5, p6, p7, p8, "fs"); |
umeume | 2:1c5cdb2c3e0f | 11 | HeptaXbee xbee(p9,p10); |
umeume | 2:1c5cdb2c3e0f | 12 | HeptaCamera_GPS cam_gps(p13, p14,p25,p24); |
umeume | 2:1c5cdb2c3e0f | 13 | Hepta9axis _9axis(p28,p27,0xD0,0x18);//sda,scl,acc&gyro_address,mag_gyro |
umeume | 2:1c5cdb2c3e0f | 14 | HeptaTemp heptatemp(p17); |
umeume | 2:1c5cdb2c3e0f | 15 | HeptaBattery bat(p16,p26); |
umeume | 2:1c5cdb2c3e0f | 16 | |
umeume | 2:1c5cdb2c3e0f | 17 | int main() |
umeume | 2:1c5cdb2c3e0f | 18 | { |
umeume | 2:1c5cdb2c3e0f | 19 | char mode; |
umeume | 2:1c5cdb2c3e0f | 20 | pc.baud(9600); |
umeume | 2:1c5cdb2c3e0f | 21 | pc.printf("Hello world.\r\n"); |
umeume | 2:1c5cdb2c3e0f | 22 | while(1) { |
umeume | 2:1c5cdb2c3e0f | 23 | pc.printf("\r\n"); |
umeume | 2:1c5cdb2c3e0f | 24 | pc.printf("*********************************\r\n"); |
umeume | 2:1c5cdb2c3e0f | 25 | pc.printf("Please select mode.\r\n"); |
umeume | 2:1c5cdb2c3e0f | 26 | pc.printf("a:SD test Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 27 | pc.printf("b:Check Battery Level\r\n"); |
umeume | 2:1c5cdb2c3e0f | 28 | pc.printf("c:Gyro Sening Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 29 | pc.printf("d:Accel Sensing Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 30 | pc.printf("e:Magnet Sensig Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 31 | pc.printf("f:GPS Test Sensing Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 32 | pc.printf("g:GPS data_GPGGA Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 33 | pc.printf("h:Camera Synchro Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 34 | pc.printf("i:CAM SnapShot Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 35 | pc.printf("j:Saving Camera Data Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 36 | pc.printf("k:Camera Data Transmitting Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 37 | pc.printf("l:Temperature Sensing Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 38 | pc.printf("m:Xbee Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 39 | pc.printf("n:All Transmitting Mode\r\n");; |
umeume | 2:1c5cdb2c3e0f | 40 | pc.printf("*********************************"); |
umeume | 2:1c5cdb2c3e0f | 41 | pc.printf("\r\n"); |
umeume | 2:1c5cdb2c3e0f | 42 | |
umeume | 2:1c5cdb2c3e0f | 43 | mode = pc.getc(); |
umeume | 2:1c5cdb2c3e0f | 44 | pc.printf("Your select Mode = %c\r\n",mode); |
umeume | 2:1c5cdb2c3e0f | 45 | |
umeume | 2:1c5cdb2c3e0f | 46 | switch(mode) { |
umeume | 2:1c5cdb2c3e0f | 47 | case'a': { |
umeume | 2:1c5cdb2c3e0f | 48 | pc.printf("SD test Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 49 | FILE *fp = fopen("/fs/myfile.txt", "w"); |
umeume | 2:1c5cdb2c3e0f | 50 | if(fp == NULL) { |
umeume | 2:1c5cdb2c3e0f | 51 | pc.printf("Could not open file for write\r\n"); |
umeume | 2:1c5cdb2c3e0f | 52 | } else { |
umeume | 2:1c5cdb2c3e0f | 53 | fprintf(fp, "\n\rHello World!\n\r"); |
umeume | 2:1c5cdb2c3e0f | 54 | pc.printf("SD Check Complete!!\r\n"); |
umeume | 2:1c5cdb2c3e0f | 55 | fclose(fp); |
umeume | 2:1c5cdb2c3e0f | 56 | } |
umeume | 2:1c5cdb2c3e0f | 57 | break; |
umeume | 2:1c5cdb2c3e0f | 58 | }//case'a' |
umeume | 2:1c5cdb2c3e0f | 59 | |
umeume | 2:1c5cdb2c3e0f | 60 | case'b': { |
umeume | 2:1c5cdb2c3e0f | 61 | pc.printf("Check Battery Level\r\n"); |
umeume | 2:1c5cdb2c3e0f | 62 | float bt; |
umeume | 2:1c5cdb2c3e0f | 63 | for(int i = 0; i<30; i++) { |
umeume | 2:1c5cdb2c3e0f | 64 | bat.vol(&bt); |
umeume | 2:1c5cdb2c3e0f | 65 | pc.printf("V = %f\r\n",bt); |
umeume | 2:1c5cdb2c3e0f | 66 | wait(0.5); |
umeume | 2:1c5cdb2c3e0f | 67 | } |
umeume | 2:1c5cdb2c3e0f | 68 | break; |
umeume | 2:1c5cdb2c3e0f | 69 | }//case'b' |
umeume | 2:1c5cdb2c3e0f | 70 | |
umeume | 2:1c5cdb2c3e0f | 71 | case'c': { |
umeume | 2:1c5cdb2c3e0f | 72 | pc.printf("Gyro sensing Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 73 | float gx,gy,gz; |
umeume | 2:1c5cdb2c3e0f | 74 | for(int i = 0; i < 30; i++) { |
umeume | 2:1c5cdb2c3e0f | 75 | _9axis.sen_gyro(&gx,&gy,&gz); |
umeume | 2:1c5cdb2c3e0f | 76 | pc.printf("GX = %f,GY = %f,GZ = %f\r\n",gx,gy,gz); |
umeume | 2:1c5cdb2c3e0f | 77 | wait(0.5); |
umeume | 2:1c5cdb2c3e0f | 78 | } |
umeume | 2:1c5cdb2c3e0f | 79 | break; |
umeume | 2:1c5cdb2c3e0f | 80 | }//case'c' |
umeume | 2:1c5cdb2c3e0f | 81 | |
umeume | 2:1c5cdb2c3e0f | 82 | case'd': { |
umeume | 2:1c5cdb2c3e0f | 83 | pc.printf("Accel sensing Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 84 | float ax,ay,az; |
umeume | 2:1c5cdb2c3e0f | 85 | for(int i = 0; i < 30; i++) { |
umeume | 2:1c5cdb2c3e0f | 86 | _9axis.sen_acc(&ax,&ay,&az); |
umeume | 2:1c5cdb2c3e0f | 87 | pc.printf("AX = %f,AY = %f,AZ = %f\r\n",ax,ay,az); |
umeume | 2:1c5cdb2c3e0f | 88 | wait(0.5); |
umeume | 2:1c5cdb2c3e0f | 89 | } |
umeume | 2:1c5cdb2c3e0f | 90 | break; |
umeume | 2:1c5cdb2c3e0f | 91 | }//case'd' |
umeume | 2:1c5cdb2c3e0f | 92 | |
umeume | 2:1c5cdb2c3e0f | 93 | case'e': { |
umeume | 2:1c5cdb2c3e0f | 94 | float mx,my,mz; |
umeume | 2:1c5cdb2c3e0f | 95 | pc.printf("Magnet sensing Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 96 | for(int i = 0; i < 30; i++) { |
umeume | 2:1c5cdb2c3e0f | 97 | _9axis.sen_mag(&mx,&my,&mz); |
umeume | 2:1c5cdb2c3e0f | 98 | pc.printf("MX = %f,MY = %f,MZ = %f\r\n",mx,my,mz); |
umeume | 2:1c5cdb2c3e0f | 99 | wait(0.5); |
umeume | 2:1c5cdb2c3e0f | 100 | } |
umeume | 2:1c5cdb2c3e0f | 101 | break; |
umeume | 2:1c5cdb2c3e0f | 102 | }//case'e' |
umeume | 2:1c5cdb2c3e0f | 103 | |
umeume | 2:1c5cdb2c3e0f | 104 | case'f': { |
umeume | 2:1c5cdb2c3e0f | 105 | pc.printf("GPS sensing Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 106 | cam_gps.gps_setting(); |
umeume | 2:1c5cdb2c3e0f | 107 | cam_gps.flushSerialBuffer(); |
umeume | 2:1c5cdb2c3e0f | 108 | while(1) pc.putc(cam_gps.getc()); |
umeume | 2:1c5cdb2c3e0f | 109 | break; |
umeume | 2:1c5cdb2c3e0f | 110 | }//case'f' |
umeume | 2:1c5cdb2c3e0f | 111 | |
umeume | 2:1c5cdb2c3e0f | 112 | |
umeume | 2:1c5cdb2c3e0f | 113 | case'g': { |
umeume | 2:1c5cdb2c3e0f | 114 | cam_gps.gps_setting(); |
umeume | 2:1c5cdb2c3e0f | 115 | cam_gps.flushSerialBuffer(); |
umeume | 2:1c5cdb2c3e0f | 116 | pc.printf("GPS GPGGA Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 117 | int quality=0,stnum=0,gps_check=0; |
umeume | 2:1c5cdb2c3e0f | 118 | char ns='A',ew='B',aunit='m'; |
umeume | 2:1c5cdb2c3e0f | 119 | float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0; |
umeume | 2:1c5cdb2c3e0f | 120 | for(int i=1; i<10; i++) { |
umeume | 2:1c5cdb2c3e0f | 121 | cam_gps.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check); |
umeume | 2:1c5cdb2c3e0f | 122 | if((gps_check==0)|(gps_check==1)) { |
umeume | 2:1c5cdb2c3e0f | 123 | 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); |
umeume | 2:1c5cdb2c3e0f | 124 | } |
umeume | 2:1c5cdb2c3e0f | 125 | } |
umeume | 2:1c5cdb2c3e0f | 126 | break; |
umeume | 2:1c5cdb2c3e0f | 127 | }//case'g' |
umeume | 2:1c5cdb2c3e0f | 128 | |
umeume | 2:1c5cdb2c3e0f | 129 | |
umeume | 2:1c5cdb2c3e0f | 130 | case'h': { |
umeume | 2:1c5cdb2c3e0f | 131 | wait(0.5); |
umeume | 2:1c5cdb2c3e0f | 132 | pc.printf("Camera Synchro\r\n"); |
umeume | 2:1c5cdb2c3e0f | 133 | cam_gps.Sync(); |
umeume | 2:1c5cdb2c3e0f | 134 | break; |
umeume | 2:1c5cdb2c3e0f | 135 | }//case'h' |
umeume | 2:1c5cdb2c3e0f | 136 | |
umeume | 2:1c5cdb2c3e0f | 137 | case'i': { |
umeume | 2:1c5cdb2c3e0f | 138 | pc.printf("CAM snapshot Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 139 | cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240); |
umeume | 2:1c5cdb2c3e0f | 140 | cam_gps.test_jpeg_snapshot_picture(1); |
umeume | 2:1c5cdb2c3e0f | 141 | |
umeume | 2:1c5cdb2c3e0f | 142 | break; |
umeume | 2:1c5cdb2c3e0f | 143 | }//case'i' |
umeume | 2:1c5cdb2c3e0f | 144 | |
umeume | 2:1c5cdb2c3e0f | 145 | case'j': { |
umeume | 2:1c5cdb2c3e0f | 146 | pc.printf("Saving Camera Data Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 147 | cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240); |
umeume | 2:1c5cdb2c3e0f | 148 | cam_gps.test_jpeg_snapshot_data(1); |
umeume | 2:1c5cdb2c3e0f | 149 | |
umeume | 2:1c5cdb2c3e0f | 150 | break; |
umeume | 2:1c5cdb2c3e0f | 151 | }//case'j' |
umeume | 2:1c5cdb2c3e0f | 152 | |
umeume | 2:1c5cdb2c3e0f | 153 | case'k': { |
umeume | 2:1c5cdb2c3e0f | 154 | pc.printf("Camera Data Transmitting Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 155 | cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240); |
umeume | 2:1c5cdb2c3e0f | 156 | cam_gps.test_jpeg_snapshot_picture(1); |
umeume | 2:1c5cdb2c3e0f | 157 | |
umeume | 2:1c5cdb2c3e0f | 158 | FILE *fp = fopen("/fs/test.txt", "r"); |
umeume | 2:1c5cdb2c3e0f | 159 | if(fp == NULL) { |
umeume | 2:1c5cdb2c3e0f | 160 | pc.printf("Could not open file for write\r\n"); |
umeume | 2:1c5cdb2c3e0f | 161 | } else { |
umeume | 2:1c5cdb2c3e0f | 162 | char str[1024]; |
umeume | 2:1c5cdb2c3e0f | 163 | while((fgets(str,256,fp))!=NULL) { |
umeume | 2:1c5cdb2c3e0f | 164 | //pc.printf("%s",str); |
umeume | 2:1c5cdb2c3e0f | 165 | pc.printf("%s",str); |
umeume | 2:1c5cdb2c3e0f | 166 | wait(0.001); |
umeume | 2:1c5cdb2c3e0f | 167 | } |
umeume | 2:1c5cdb2c3e0f | 168 | fclose(fp); |
umeume | 2:1c5cdb2c3e0f | 169 | } |
umeume | 2:1c5cdb2c3e0f | 170 | |
umeume | 2:1c5cdb2c3e0f | 171 | break; |
umeume | 2:1c5cdb2c3e0f | 172 | }//case'k' |
umeume | 2:1c5cdb2c3e0f | 173 | |
umeume | 2:1c5cdb2c3e0f | 174 | case'l': { |
umeume | 2:1c5cdb2c3e0f | 175 | pc.printf("Temp sensing Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 176 | float temp; |
umeume | 2:1c5cdb2c3e0f | 177 | for(int i = 0; i<100; i++) { |
umeume | 2:1c5cdb2c3e0f | 178 | heptatemp.temp_sense(&temp); |
umeume | 2:1c5cdb2c3e0f | 179 | pc.printf("temper = %f\r\n",temp); |
umeume | 2:1c5cdb2c3e0f | 180 | //xbee.printf("%f\r\n",temp); |
umeume | 2:1c5cdb2c3e0f | 181 | } |
umeume | 2:1c5cdb2c3e0f | 182 | break; |
umeume | 2:1c5cdb2c3e0f | 183 | }//case'l' |
umeume | 2:1c5cdb2c3e0f | 184 | |
umeume | 2:1c5cdb2c3e0f | 185 | case'm': { |
umeume | 2:1c5cdb2c3e0f | 186 | |
umeume | 2:1c5cdb2c3e0f | 187 | int i=0,rcmd=0,cmdflag=0; |
umeume | 2:1c5cdb2c3e0f | 188 | xbee.printf("Count Up!\r"); |
umeume | 2:1c5cdb2c3e0f | 189 | while(1) { |
umeume | 2:1c5cdb2c3e0f | 190 | xbee.printf("num = %d\r",i); |
umeume | 2:1c5cdb2c3e0f | 191 | i++; |
umeume | 2:1c5cdb2c3e0f | 192 | wait(1.0); |
umeume | 2:1c5cdb2c3e0f | 193 | xbee.xbee_recieve(&rcmd,&cmdflag); |
umeume | 2:1c5cdb2c3e0f | 194 | pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag); |
umeume | 2:1c5cdb2c3e0f | 195 | if (cmdflag == 1) { |
umeume | 2:1c5cdb2c3e0f | 196 | if (rcmd == 'a') { |
umeume | 2:1c5cdb2c3e0f | 197 | xbee.printf("Command Get %d\r\n",rcmd); |
umeume | 2:1c5cdb2c3e0f | 198 | xbee.printf("HEPTA Uplink OK\r"); |
umeume | 2:1c5cdb2c3e0f | 199 | } |
umeume | 2:1c5cdb2c3e0f | 200 | xbee.initialize(); |
umeume | 2:1c5cdb2c3e0f | 201 | } |
umeume | 2:1c5cdb2c3e0f | 202 | } |
umeume | 2:1c5cdb2c3e0f | 203 | |
umeume | 2:1c5cdb2c3e0f | 204 | break; |
umeume | 2:1c5cdb2c3e0f | 205 | }//case'm' |
umeume | 2:1c5cdb2c3e0f | 206 | |
umeume | 2:1c5cdb2c3e0f | 207 | case'n': { |
umeume | 2:1c5cdb2c3e0f | 208 | cam_gps.gps_setting(); |
umeume | 2:1c5cdb2c3e0f | 209 | cam_gps.flushSerialBuffer(); |
umeume | 2:1c5cdb2c3e0f | 210 | pc.printf("All Transmitting Mode\r\n"); |
umeume | 2:1c5cdb2c3e0f | 211 | //char iii = pc.getc(); |
umeume | 2:1c5cdb2c3e0f | 212 | char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],mx[4],my[4],mz[4],lad[8],log[8],height[4],bt[4],temp[4]; |
umeume | 2:1c5cdb2c3e0f | 213 | char ddata[64]; |
umeume | 2:1c5cdb2c3e0f | 214 | int dsize[7]; |
umeume | 2:1c5cdb2c3e0f | 215 | int Count = 0; |
umeume | 2:1c5cdb2c3e0f | 216 | char fname[64]; |
umeume | 2:1c5cdb2c3e0f | 217 | while(1) { |
umeume | 2:1c5cdb2c3e0f | 218 | snprintf(fname, sizeof(fname), "/fs/telemetry.txt"); |
umeume | 2:1c5cdb2c3e0f | 219 | FILE*fpx = fopen(fname, "a"); |
umeume | 2:1c5cdb2c3e0f | 220 | _9axis.sen_gyro_u16(gx,gy,gz,&dsize[0]); |
umeume | 2:1c5cdb2c3e0f | 221 | _9axis.sen_acc_u16(ax,ay,az,&dsize[1]); |
umeume | 2:1c5cdb2c3e0f | 222 | _9axis.sen_mag_u16(mx,my,mz,&dsize[2]); |
umeume | 2:1c5cdb2c3e0f | 223 | bat.vol_u16(bt,&dsize[5]); |
umeume | 2:1c5cdb2c3e0f | 224 | heptatemp.temp_sense_u16(temp,&dsize[6]); |
umeume | 2:1c5cdb2c3e0f | 225 | cam_gps.lat_log_sensing_u16(lad,log,height,&dsize[3],&dsize[4]); |
umeume | 2:1c5cdb2c3e0f | 226 | //xbee.printf("DN:%d",Count); |
umeume | 2:1c5cdb2c3e0f | 227 | xbee.xbee_transmit(ddata,64,gx,gy,gz,ax,ay,az,mx,my,mz,lad,log,height,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],dsize[6],14); |
umeume | 2:1c5cdb2c3e0f | 228 | fprintf(fpx,"DN%d:",Count); |
umeume | 2:1c5cdb2c3e0f | 229 | for(int ii = 0; ii<64; ii++) { |
umeume | 2:1c5cdb2c3e0f | 230 | fprintf(fpx,"%c",ddata[ii]); |
umeume | 2:1c5cdb2c3e0f | 231 | } |
umeume | 2:1c5cdb2c3e0f | 232 | fprintf(fpx,"\r\n"); |
umeume | 2:1c5cdb2c3e0f | 233 | fclose(fpx); |
umeume | 2:1c5cdb2c3e0f | 234 | Count++; |
umeume | 2:1c5cdb2c3e0f | 235 | } |
umeume | 2:1c5cdb2c3e0f | 236 | break; |
umeume | 2:1c5cdb2c3e0f | 237 | }//case'9' |
umeume | 2:1c5cdb2c3e0f | 238 | |
umeume | 2:1c5cdb2c3e0f | 239 | default: |
umeume | 2:1c5cdb2c3e0f | 240 | break; |
umeume | 2:1c5cdb2c3e0f | 241 | |
umeume | 2:1c5cdb2c3e0f | 242 | |
umeume | 2:1c5cdb2c3e0f | 243 | } |
mbed_official | 0:bdbd3d6fc5d5 | 244 | } |
umeume | 2:1c5cdb2c3e0f | 245 | } |