Hepta
Dependencies: Hepta2_9axis HeptaBattery HeptaTemp HeptaXbee SDHCFileSystem mbed
Fork of HEPTA2_ALL_ver0803_02 by
main.cpp
- Committer:
- hepta2ume
- Date:
- 2017-07-24
- Revision:
- 3:4854731e663d
- Parent:
- 2:726072016da1
- Child:
- 4:6565d9843337
File content as of revision 3:4854731e663d:
/* ************************************************************* H29/07_20/T.Umezawa 1:SD.....OK! 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); SDFileSystem sd(p5, p6, p7, p8, "fs"); HeptaXbee xbee(p9,p10); 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 int main() { char mode; pc.baud(9600); while(1) { /* ************ Mode select *********** */ pc.printf("\r\n"); pc.printf("*********************************\r\n"); pc.printf("Hello world.\r\n"); pc.printf("My name is HEPTA2\r\n"); pc.printf("Please select 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'a': { printf("=============\r\n"); printf("SD test Mode\r\n"); printf("=============\r\n"); FILE *fp = fopen("/fs/myfile.txt", "w"); if(fp == NULL) { pc.printf("Could not open file for write\r\n"); } else { fprintf(fp, "\n\rHello World!\n\r"); printf("SD Check Complete!!\r\n"); fclose(fp); } break; }//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'c': { printf("===================\r\n"); printf("Gyro sensing Mode\r\n"); printf("===================\r\n"); float gx,gy,gz; for(int i = 0; i < 10; i++) { MPU9250.sen_gyro(&gx,&gy,&gz); pc.printf("GX = %f,GY = %f,GZ = %f\r\n",gx,gy,gz); wait(0.5); } break; }//case'2' /* ****************** Accel sensing mode ****************** */ case'd': { printf("===================\r\n"); printf("Accel sensing Mode\r\n"); printf("===================\r\n"); float ax,ay,az; for(int i = 0; i < 10; i++) { MPU9250.sen_acc(&ax,&ay,&az); pc.printf("AX = %f,AY = %f,AZ = %f\r\n",ax,ay,az); wait(0.5); } break; }//case'3' /* ****************** Magnet sensing mode ****************** */ case'e': { float mx,my,mz; printf("===================\r\n"); printf("Magnet sensing Mode\r\n"); printf("===================\r\n"); for(int i = 0; i < 10; i++) { MPU9250.sen_mag(&mx,&my,&mz); pc.printf("MX = %f,MY = %f,MZ = %f\r\n",mx,my,mz); wait(0.5); } break; }//case'4' /* ****************** 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'g': { GPS_SW = 0; CAM_SW = 1; printf("\r\n"); printf("==========\r\n"); printf("CameraC1098\r\n"); printf("==========\r\n"); camera.Sync(); camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240); camera.test_jpeg_snapshot_picture(1); break; }//case'6' /* ****************** Temp sensing mode ****************** */ case'h': { printf("==================\r\n"); printf("Temp sensing Mode\r\n"); printf("==================\r\n"); float temp; for(int i = 0; i<100; i++) { heptatemp.temp_sense(&temp); pc.printf("%f\r\n",temp); //xbee.printf("%f\r\n",temp); } break; }//case'7' /* *********** Xbee mode *********** */ case'i': { int i=0,rcmd=0,cmdflag=0; xbee.printf("Count Up!\r"); while(1) { xbee.printf("num = %d\r",i); i++; wait(1.0); xbee.xbee_recieve(&rcmd,&cmdflag); pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag); if (cmdflag == 1) { if (rcmd == 'a') { pc.printf("Command Get %d\r\n",rcmd); xbee.printf("HEPTA Uplink OK\r"); } xbee.initialize(); } } break; }//case'8' /* ****************** Temp sensing mode by Xbbe ****************** */ case'j': { printf("==================\r\n"); printf("Temp sensing Mode & Xbee\r\n"); printf("==================\r\n"); float temp; 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' /* ********************* All Transmitting Mode ********************* */ case'k': { printf("==================\r\n"); printf("All Transmitting Mode\r\n"); printf("==================\r\n"); char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],mx[4],my[4],mz[4],lad[8],log[8],bt[4],temp[4]; 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]); camera.lat_log_sensing_u16(lad,log,&dsize[3]); bat.vol_u16(bt,&dsize[4]); heptatemp.temp_sense_u16(temp,&dsize[5]); 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; }//case'9' /* ****************** Cam Snapshot mode ****************** */ case'l': { GPS_SW = 0; CAM_SW = 1; printf("\r\n"); printf("==========\r\n"); printf("CameraC1098\r\n"); printf("==========\r\n"); camera.Sync(); camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240); camera.test_jpeg_snapshot_data(1); 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; } } }