CLTP 8 / Mbed 2 deprecated HEPTA

Hepta

Dependencies:   Hepta2_9axis HeptaBattery HeptaTemp HeptaXbee SDHCFileSystem mbed

Fork of HEPTA2_ALL_ver0803_02 by Hepta 2

main.cpp@2:726072016da1, 2017-07-21 (annotated)

Committer:
hepta2ume
Date:
Fri Jul 21 10:38:11 2017 +0000
Revision:
2:726072016da1
Parent:
1:890188e041da
Child:
3:4854731e663d
Hepta??.Ver1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hepta2ume 2:726072016da1 1 /*
hepta2ume 2:726072016da1 2 *************************************************************
hepta2ume 2:726072016da1 3 H29/07_20/T.Umezawa
hepta2ume 2:726072016da1 4 1:SD.....OK!
hepta2ume 2:726072016da1 5 2:MPU9250(Accel) =
hepta2ume 2:726072016da1 6 3:MPU9250(Gyro) =
hepta2ume 2:726072016da1 7 4:MPU9250(Mag_compass) =
hepta2ume 2:726072016da1 8 5:GPS sensing Mode =
hepta2ume 2:726072016da1 9 6:CAM Mode = OK!
hepta2ume 2:726072016da1 10 7:Temperature sensing =
hepta2ume 2:726072016da1 11 8:Xbee mode =
hepta2ume 2:726072016da1 12 *************************************************************
hepta2ume 2:726072016da1 13 */
sunifu 0:0482779cd78e 14
sunifu 0:0482779cd78e 15 #include "mbed.h"
hepta2ume 1:890188e041da 16 #include "SDHCFileSystem.h"
hepta2ume 2:726072016da1 17 #include "HeptaXbee.h"
hepta2ume 1:890188e041da 18 #include "HeptaSerial.h"
hepta2ume 2:726072016da1 19 #include "Hepta9axis.h"
hepta2ume 2:726072016da1 20 #include "HeptaTemp.h"
sunifu 0:0482779cd78e 21 #define USE_JPEG_HIGH_RESOLUTION 1
sunifu 0:0482779cd78e 22
hepta2ume 2:726072016da1 23 Serial pc(USBTX,USBRX);
hepta2ume 2:726072016da1 24 SDFileSystem sd(p5, p6, p7, p8, "fs");
hepta2ume 2:726072016da1 25 HeptaXbee xbee(p9,p10);
hepta2ume 2:726072016da1 26 HeptaSerial camera(p13, p14);
hepta2ume 2:726072016da1 27 HeptaMPU9250 MPU9250(p28,p27,0xD0,0x18);//sda,scl,acc&gyro_address,mag_gyro
hepta2ume 2:726072016da1 28 HeptaTemp heptatemp(p17);
hepta2ume 2:726072016da1 29 DigitalOut CAM_SW(p25);//CAM_control
hepta2ume 2:726072016da1 30 DigitalOut GPS_SW(p24);//GPS_control
hepta2ume 2:726072016da1 31
hepta2ume 2:726072016da1 32 int main()
hepta2ume 2:726072016da1 33 {
hepta2ume 2:726072016da1 34 char mode;
hepta2ume 2:726072016da1 35 pc.baud(9600);
hepta2ume 2:726072016da1 36
hepta2ume 2:726072016da1 37 while(1) {
hepta2ume 2:726072016da1 38
hepta2ume 2:726072016da1 39 /*
hepta2ume 2:726072016da1 40 ************
hepta2ume 2:726072016da1 41 Mode select
hepta2ume 2:726072016da1 42 ***********
hepta2ume 2:726072016da1 43 */
hepta2ume 2:726072016da1 44 pc.printf("\r\n");
hepta2ume 2:726072016da1 45 pc.printf("*********************************\r\n");
hepta2ume 2:726072016da1 46 pc.printf("Hello world.\r\n");
hepta2ume 2:726072016da1 47 pc.printf("My name is HEPTA2\r\n");
hepta2ume 2:726072016da1 48 pc.printf("Please select mode.\r\n");
hepta2ume 2:726072016da1 49 pc.printf("1:SD test Mode\r\n");
hepta2ume 2:726072016da1 50 pc.printf("2:Gyro sening ModeE\r\n");
hepta2ume 2:726072016da1 51 pc.printf("3:Accel sensing Mode\r\n");
hepta2ume 2:726072016da1 52 pc.printf("4:Magnet sensig Mode\r\n");
hepta2ume 2:726072016da1 53 pc.printf("5:GPS sensing Mode\r\n");
hepta2ume 2:726072016da1 54 pc.printf("6:CAM mode\r\n");
hepta2ume 2:726072016da1 55 pc.printf("7:Temperature sensing Mode\r\n");
hepta2ume 2:726072016da1 56 pc.printf("8:Xbee Mode\r\n");
hepta2ume 2:726072016da1 57 pc.printf("9:Xbee & Temperature Mode\r\n");//恒温槽用
hepta2ume 2:726072016da1 58 pc.printf("10:All Transmitting Mode Mode\r\n");
hepta2ume 2:726072016da1 59 pc.printf("*********************************\r\n");
hepta2ume 2:726072016da1 60
hepta2ume 2:726072016da1 61 mode = pc.getc();
hepta2ume 2:726072016da1 62 pc.printf("\r\n");
hepta2ume 2:726072016da1 63 pc.printf("Your select Mode = %c\r\n",mode);
hepta2ume 2:726072016da1 64 wait(0.5);
hepta2ume 2:726072016da1 65 switch(mode) {
hepta2ume 2:726072016da1 66 case'1': {
hepta2ume 2:726072016da1 67
hepta2ume 2:726072016da1 68 printf("=============\r\n");
hepta2ume 2:726072016da1 69 printf("SD test Mode\r\n");
hepta2ume 2:726072016da1 70 printf("=============\r\n");
hepta2ume 2:726072016da1 71 FILE *fp = fopen("/fs/myfile.txt", "w");
hepta2ume 2:726072016da1 72 if(fp == NULL) {
hepta2ume 2:726072016da1 73 pc.printf("Could not open file for write\r\n");
hepta2ume 2:726072016da1 74 } else {
hepta2ume 2:726072016da1 75 fprintf(fp, "\n\rHello World!\n\r");
hepta2ume 2:726072016da1 76 printf("SD Check Complete!!\r\n");
hepta2ume 2:726072016da1 77 fclose(fp);
hepta2ume 2:726072016da1 78 }
hepta2ume 2:726072016da1 79
hepta2ume 2:726072016da1 80
hepta2ume 2:726072016da1 81 break;
hepta2ume 2:726072016da1 82 }//case'1'
hepta2ume 2:726072016da1 83
hepta2ume 2:726072016da1 84 /*
hepta2ume 2:726072016da1 85 ******************
hepta2ume 2:726072016da1 86 Gyro sensing mode
hepta2ume 2:726072016da1 87 ******************
hepta2ume 2:726072016da1 88 */
sunifu 0:0482779cd78e 89
hepta2ume 2:726072016da1 90 case'2': {
hepta2ume 2:726072016da1 91 printf("===================\r\n");
hepta2ume 2:726072016da1 92 printf("Gyro sensing Mode\r\n");
hepta2ume 2:726072016da1 93 printf("===================\r\n");
hepta2ume 2:726072016da1 94 float gx,gy,gz;
hepta2ume 2:726072016da1 95 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 96 MPU9250.sen_gyro(&gx,&gy,&gz);
hepta2ume 2:726072016da1 97 pc.printf("GX = %f,GY = %f,GZ = %f\r\n",gx,gy,gz);
hepta2ume 2:726072016da1 98 wait(0.5);
hepta2ume 2:726072016da1 99 }
hepta2ume 2:726072016da1 100 break;
hepta2ume 2:726072016da1 101 }//case'2'
hepta2ume 2:726072016da1 102
hepta2ume 2:726072016da1 103 /*
hepta2ume 2:726072016da1 104 ******************
hepta2ume 2:726072016da1 105 Accel sensing mode
hepta2ume 2:726072016da1 106 ******************
hepta2ume 2:726072016da1 107 */
hepta2ume 2:726072016da1 108
hepta2ume 2:726072016da1 109 case'3': {
hepta2ume 2:726072016da1 110 printf("===================\r\n");
hepta2ume 2:726072016da1 111 printf("Accel sensing Mode\r\n");
hepta2ume 2:726072016da1 112 printf("===================\r\n");
hepta2ume 2:726072016da1 113 float ax,ay,az;
hepta2ume 2:726072016da1 114 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 115 MPU9250.sen_acc(&ax,&ay,&az);
hepta2ume 2:726072016da1 116 pc.printf("AX = %f,AY = %f,AZ = %f\r\n",ax,ay,az);
hepta2ume 2:726072016da1 117 wait(0.5);
hepta2ume 2:726072016da1 118 }
hepta2ume 2:726072016da1 119 break;
hepta2ume 2:726072016da1 120 }//case'3'
hepta2ume 2:726072016da1 121
hepta2ume 2:726072016da1 122 /*
hepta2ume 2:726072016da1 123 ******************
hepta2ume 2:726072016da1 124 Magnet sensing mode
hepta2ume 2:726072016da1 125 ******************
hepta2ume 2:726072016da1 126 */
hepta2ume 2:726072016da1 127
hepta2ume 2:726072016da1 128 case'4': {
hepta2ume 2:726072016da1 129 float mx,my,mz;
hepta2ume 2:726072016da1 130 printf("===================\r\n");
hepta2ume 2:726072016da1 131 printf("Magnet sensing Mode\r\n");
hepta2ume 2:726072016da1 132 printf("===================\r\n");
hepta2ume 2:726072016da1 133 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 134 MPU9250.sen_mag(&mx,&my,&mz);
hepta2ume 2:726072016da1 135 pc.printf("MX = %f,MY = %f,MZ = %f\r\n",mx,my,mz);
hepta2ume 2:726072016da1 136 wait(0.5);
hepta2ume 2:726072016da1 137 }
hepta2ume 2:726072016da1 138 break;
hepta2ume 2:726072016da1 139 }//case'4'
hepta2ume 2:726072016da1 140
hepta2ume 2:726072016da1 141 /*
hepta2ume 2:726072016da1 142 ******************
hepta2ume 2:726072016da1 143 Cam Snapshot mode
hepta2ume 2:726072016da1 144 ******************
hepta2ume 2:726072016da1 145 */
hepta2ume 2:726072016da1 146
hepta2ume 2:726072016da1 147 case'6': {
hepta2ume 2:726072016da1 148 GPS_SW = 0;
hepta2ume 2:726072016da1 149 CAM_SW = 1;
hepta2ume 2:726072016da1 150 printf("\r\n");
hepta2ume 2:726072016da1 151 printf("==========\r\n");
hepta2ume 2:726072016da1 152 printf("CameraC1098\r\n");
hepta2ume 2:726072016da1 153 printf("==========\r\n");
hepta2ume 2:726072016da1 154 camera.Sync();
hepta2ume 2:726072016da1 155 camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 2:726072016da1 156 camera.test_jpeg_snapshot_picture(1);
sunifu 0:0482779cd78e 157
hepta2ume 2:726072016da1 158 break;
hepta2ume 2:726072016da1 159 }//case'6'
hepta2ume 2:726072016da1 160
hepta2ume 2:726072016da1 161 /*
hepta2ume 2:726072016da1 162 ******************
hepta2ume 2:726072016da1 163 Temp sensing mode
hepta2ume 2:726072016da1 164 ******************
hepta2ume 2:726072016da1 165 */
hepta2ume 2:726072016da1 166
hepta2ume 2:726072016da1 167 case'7': {
hepta2ume 2:726072016da1 168 printf("==================\r\n");
hepta2ume 2:726072016da1 169 printf("Temp sensing Mode\r\n");
hepta2ume 2:726072016da1 170 printf("==================\r\n");
hepta2ume 2:726072016da1 171 float temp;
hepta2ume 2:726072016da1 172 for(int i = 0; i<100; i++) {
hepta2ume 2:726072016da1 173 heptatemp.temp_sense(&temp);
hepta2ume 2:726072016da1 174 pc.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 175 //xbee.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 176 }
hepta2ume 2:726072016da1 177 break;
hepta2ume 2:726072016da1 178 }//case'7'
hepta2ume 2:726072016da1 179
hepta2ume 2:726072016da1 180 /*
hepta2ume 2:726072016da1 181 ***********
hepta2ume 2:726072016da1 182 Xbee mode
hepta2ume 2:726072016da1 183 ***********
hepta2ume 2:726072016da1 184 */
hepta2ume 2:726072016da1 185
hepta2ume 2:726072016da1 186 case'8': {
hepta2ume 2:726072016da1 187
hepta2ume 2:726072016da1 188 int i=0,rcmd=0,cmdflag=0;
hepta2ume 2:726072016da1 189 xbee.printf("Count Up!\r");
hepta2ume 2:726072016da1 190 while(1) {
hepta2ume 2:726072016da1 191 xbee.printf("num = %d\r",i);
hepta2ume 2:726072016da1 192 i++;
hepta2ume 2:726072016da1 193 wait(1.0);
hepta2ume 2:726072016da1 194 xbee.xbee_recieve(&rcmd,&cmdflag);
hepta2ume 2:726072016da1 195 pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag);
hepta2ume 2:726072016da1 196 if (cmdflag == 1) {
hepta2ume 2:726072016da1 197 if (rcmd == 'a') {
hepta2ume 2:726072016da1 198 pc.printf("Command Get %d\r\n",rcmd);
hepta2ume 2:726072016da1 199 xbee.printf("HEPTA Uplink OK\r");
hepta2ume 2:726072016da1 200 }
hepta2ume 2:726072016da1 201 xbee.initialize();
hepta2ume 2:726072016da1 202 }
hepta2ume 2:726072016da1 203 }
hepta2ume 2:726072016da1 204
hepta2ume 2:726072016da1 205 break;
hepta2ume 2:726072016da1 206 }//case'8'
hepta2ume 2:726072016da1 207
hepta2ume 2:726072016da1 208 /*
hepta2ume 2:726072016da1 209 ******************
hepta2ume 2:726072016da1 210 Temp sensing mode by Xbbe
hepta2ume 2:726072016da1 211 ******************
hepta2ume 2:726072016da1 212 */
hepta2ume 2:726072016da1 213
hepta2ume 2:726072016da1 214 case'9': {
hepta2ume 2:726072016da1 215
hepta2ume 2:726072016da1 216 printf("==================\r\n");
hepta2ume 2:726072016da1 217 printf("Temp sensing Mode & Xbee\r\n");
hepta2ume 2:726072016da1 218 printf("==================\r\n");
hepta2ume 2:726072016da1 219
hepta2ume 2:726072016da1 220 float temp;
hepta2ume 2:726072016da1 221 //FILE *fp = fopen("/fs/myfile.csv", "a");
hepta2ume 2:726072016da1 222 // if(fp == NULL) {
hepta2ume 2:726072016da1 223 // pc.printf("Could not open file for write\r\n");
hepta2ume 2:726072016da1 224 // } else {
hepta2ume 2:726072016da1 225 while(1)
hepta2ume 2:726072016da1 226 {
hepta2ume 2:726072016da1 227 //for(int i = 0; i<100; i++) {
hepta2ume 2:726072016da1 228 FILE *fp = fopen("/fs/myfile.csv", "a");
hepta2ume 2:726072016da1 229 heptatemp.temp_sense(&temp);
hepta2ume 2:726072016da1 230 pc.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 231 xbee.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 232 fprintf(fp, "%f\n",temp);
hepta2ume 2:726072016da1 233 fclose(fp);
hepta2ume 2:726072016da1 234 }
hepta2ume 2:726072016da1 235 // fclose(fp);
hepta2ume 2:726072016da1 236 // }
hepta2ume 2:726072016da1 237 break;
hepta2ume 2:726072016da1 238 }//case'9'
hepta2ume 2:726072016da1 239
hepta2ume 2:726072016da1 240 /*
hepta2ume 2:726072016da1 241 *********************
hepta2ume 2:726072016da1 242 All Transmitting Mode
hepta2ume 2:726072016da1 243 *********************
hepta2ume 2:726072016da1 244 */
hepta2ume 2:726072016da1 245
hepta2ume 2:726072016da1 246 case'a': {
hepta2ume 2:726072016da1 247
hepta2ume 2:726072016da1 248 printf("==================\r\n");
hepta2ume 2:726072016da1 249 printf("All Transmitting Mode\r\n");
hepta2ume 2:726072016da1 250 printf("==================\r\n");
hepta2ume 2:726072016da1 251 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];
hepta2ume 2:726072016da1 252 char ddata[60];
hepta2ume 2:726072016da1 253 int dsize[6];
hepta2ume 2:726072016da1 254 while(1) {
hepta2ume 2:726072016da1 255 /*
hepta2ume 2:726072016da1 256 MPU9250.sen_gyro_u16(gx,gy,gz,&dsize[0]);
hepta2ume 2:726072016da1 257 MPU9250.sen_acc_u16(ax,ay,az,&dsize[1]);
hepta2ume 2:726072016da1 258 MPU9250.sen_mag_u16(mx,my,mz,&dsize[2]);
hepta2ume 2:726072016da1 259 gps.sensing_u16(lad,log,&dsize[3]);
hepta2ume 2:726072016da1 260 battery.vol_u16(bt,&dsize[4]);
hepta2ume 2:726072016da1 261 heptatemp.temp_sense_u16(temp,&dsize[5]);
hepta2ume 2:726072016da1 262 */
hepta2ume 2:726072016da1 263 //gyro.x_u16(gx,4);
hepta2ume 2:726072016da1 264 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);
hepta2ume 2:726072016da1 265 }
hepta2ume 2:726072016da1 266 break;
hepta2ume 2:726072016da1 267 }//case'9'
hepta2ume 2:726072016da1 268 /*
hepta2ume 2:726072016da1 269 ******************
hepta2ume 2:726072016da1 270 Cam Snapshot mode
hepta2ume 2:726072016da1 271 ******************
hepta2ume 2:726072016da1 272 */
hepta2ume 2:726072016da1 273
hepta2ume 2:726072016da1 274 case'b': {
hepta2ume 2:726072016da1 275 GPS_SW = 0;
hepta2ume 2:726072016da1 276 CAM_SW = 1;
hepta2ume 2:726072016da1 277 printf("\r\n");
hepta2ume 2:726072016da1 278 printf("==========\r\n");
hepta2ume 2:726072016da1 279 printf("CameraC1098\r\n");
hepta2ume 2:726072016da1 280 printf("==========\r\n");
hepta2ume 2:726072016da1 281 camera.Sync();
hepta2ume 2:726072016da1 282 camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 2:726072016da1 283 camera.test_jpeg_snapshot_data(1);
hepta2ume 2:726072016da1 284
hepta2ume 2:726072016da1 285 break;
hepta2ume 2:726072016da1 286 }//case'6'
hepta2ume 2:726072016da1 287
hepta2ume 2:726072016da1 288 default:
hepta2ume 2:726072016da1 289 break;
hepta2ume 2:726072016da1 290
hepta2ume 2:726072016da1 291
hepta2ume 2:726072016da1 292 }
hepta2ume 2:726072016da1 293 }
hepta2ume 2:726072016da1 294 }