Hepta 2 / Mbed 2 deprecated HEPTA2_ALL

HEPTAⅡ_ALL

Dependencies:   Hepta2_9axis HeptaBattery Hepta_Serial HeptaTemp HeptaXbee SDHCFileSystem mbed

Fork of HEPTA2_assembly_0720 by Hepta 2

main.cpp@4:6565d9843337, 2017-07-26 (annotated)

Committer:
hepta2ume
Date:
Wed Jul 26 06:24:09 2017 +0000
Revision:
4:6565d9843337
Parent:
3:4854731e663d 
HEPTA?_ALL

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 3:4854731e663d 5 2:MPU9250(Accel) = OK
hepta2ume 3:4854731e663d 6 3:MPU9250(Gyro) = OK
hepta2ume 3:4854731e663d 7 4:MPU9250(Mag_compass) = 微妙
hepta2ume 4:6565d9843337 8 5:GPS sensing Mode =
hepta2ume 3:4854731e663d 9 6:CAM Mode = OK!(微妙だった)
hepta2ume 3:4854731e663d 10 7:Temperature sensing = OK!
hepta2ume 3:4854731e663d 11 8:Xbee mode = OK!
hepta2ume 2:726072016da1 12 *************************************************************
hepta2ume 2:726072016da1 13 */
hepta2ume 4:6565d9843337 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"
hepta2ume 3:4854731e663d 21 #include "HeptaBattery.h"
sunifu 0:0482779cd78e 22 #define USE_JPEG_HIGH_RESOLUTION 1
sunifu 0:0482779cd78e 23
hepta2ume 2:726072016da1 24 Serial pc(USBTX,USBRX);
hepta2ume 2:726072016da1 25 SDFileSystem sd(p5, p6, p7, p8, "fs");
hepta2ume 2:726072016da1 26 HeptaXbee xbee(p9,p10);
hepta2ume 2:726072016da1 27 HeptaSerial camera(p13, p14);
hepta2ume 2:726072016da1 28 HeptaMPU9250 MPU9250(p28,p27,0xD0,0x18);//sda,scl,acc&gyro_address,mag_gyro
hepta2ume 2:726072016da1 29 HeptaTemp heptatemp(p17);
hepta2ume 3:4854731e663d 30 HeptaBattery bat(p16,p26);
hepta2ume 2:726072016da1 31 DigitalOut CAM_SW(p25);//CAM_control
hepta2ume 2:726072016da1 32 DigitalOut GPS_SW(p24);//GPS_control
hepta2ume 2:726072016da1 33
hepta2ume 2:726072016da1 34 int main()
hepta2ume 2:726072016da1 35 {
hepta2ume 2:726072016da1 36 char mode;
hepta2ume 4:6565d9843337 37 //pc.baud(9600);
hepta2ume 2:726072016da1 38
hepta2ume 2:726072016da1 39 while(1) {
hepta2ume 2:726072016da1 40
hepta2ume 2:726072016da1 41 /*
hepta2ume 2:726072016da1 42 ************
hepta2ume 2:726072016da1 43 Mode select
hepta2ume 2:726072016da1 44 ***********
hepta2ume 2:726072016da1 45 */
hepta2ume 2:726072016da1 46 pc.printf("\r\n");
hepta2ume 2:726072016da1 47 pc.printf("*********************************\r\n");
hepta2ume 2:726072016da1 48 pc.printf("Hello world.\r\n");
hepta2ume 2:726072016da1 49 pc.printf("My name is HEPTA2\r\n");
hepta2ume 2:726072016da1 50 pc.printf("Please select mode.\r\n");
hepta2ume 3:4854731e663d 51 pc.printf("a:SD test Mode\r\n");
hepta2ume 3:4854731e663d 52 pc.printf("b:Check Battery Level\r\n");
hepta2ume 3:4854731e663d 53 pc.printf("c:Gyro Sening Mode\r\n");
hepta2ume 3:4854731e663d 54 pc.printf("d:Accel Sensing Mode\r\n");
hepta2ume 3:4854731e663d 55 pc.printf("e:Magnet Sensig Mode\r\n");
hepta2ume 3:4854731e663d 56 pc.printf("f:GPS Test Sensing Mode\r\n");
hepta2ume 4:6565d9843337 57 pc.printf("g:GPS data_GPGGA Mode\r\n");
hepta2ume 4:6565d9843337 58 pc.printf("h:Camera Synchro Mode\r\n");
hepta2ume 4:6565d9843337 59 pc.printf("i:CAM SnapShot Mode\r\n");
hepta2ume 4:6565d9843337 60 pc.printf("j:Saving Camera Data Mode\r\n");
hepta2ume 4:6565d9843337 61 pc.printf("k:Camera Data Transmitting Mode\r\n");
hepta2ume 4:6565d9843337 62 pc.printf("l:Temperature Sensing Mode\r\n");
hepta2ume 4:6565d9843337 63 pc.printf("m:Xbee Mode\r\n");
hepta2ume 4:6565d9843337 64 pc.printf("n:Xbee & Temperature Mode\r\n");//恒温槽用
hepta2ume 4:6565d9843337 65 pc.printf("o:All Transmitting Mode\r\n");
hepta2ume 2:726072016da1 66 pc.printf("*********************************\r\n");
hepta2ume 2:726072016da1 67
hepta2ume 2:726072016da1 68 mode = pc.getc();
hepta2ume 2:726072016da1 69 pc.printf("\r\n");
hepta2ume 2:726072016da1 70 pc.printf("Your select Mode = %c\r\n",mode);
hepta2ume 2:726072016da1 71 wait(0.5);
hepta2ume 3:4854731e663d 72
hepta2ume 2:726072016da1 73 switch(mode) {
hepta2ume 3:4854731e663d 74 case'a': {
hepta2ume 2:726072016da1 75
hepta2ume 2:726072016da1 76 printf("=============\r\n");
hepta2ume 2:726072016da1 77 printf("SD test Mode\r\n");
hepta2ume 2:726072016da1 78 printf("=============\r\n");
hepta2ume 2:726072016da1 79 FILE *fp = fopen("/fs/myfile.txt", "w");
hepta2ume 2:726072016da1 80 if(fp == NULL) {
hepta2ume 2:726072016da1 81 pc.printf("Could not open file for write\r\n");
hepta2ume 2:726072016da1 82 } else {
hepta2ume 2:726072016da1 83 fprintf(fp, "\n\rHello World!\n\r");
hepta2ume 2:726072016da1 84 printf("SD Check Complete!!\r\n");
hepta2ume 2:726072016da1 85 fclose(fp);
hepta2ume 2:726072016da1 86 }
hepta2ume 2:726072016da1 87
hepta2ume 2:726072016da1 88
hepta2ume 2:726072016da1 89 break;
hepta2ume 2:726072016da1 90 }//case'1'
hepta2ume 2:726072016da1 91
hepta2ume 2:726072016da1 92 /*
hepta2ume 3:4854731e663d 93 ************************
hepta2ume 3:4854731e663d 94 Check Battery Level mode
hepta2ume 3:4854731e663d 95 ************************
hepta2ume 3:4854731e663d 96 */
hepta2ume 3:4854731e663d 97 case'b': {
hepta2ume 3:4854731e663d 98 float bt;
hepta2ume 4:6565d9843337 99 for(int i = 0;i<50;i++){
hepta2ume 3:4854731e663d 100 bat.vol(&bt);
hepta2ume 3:4854731e663d 101 pc.printf("V = %f\r\n",bt);
hepta2ume 4:6565d9843337 102 }
hepta2ume 3:4854731e663d 103 break;
hepta2ume 3:4854731e663d 104 }
hepta2ume 3:4854731e663d 105
hepta2ume 3:4854731e663d 106 /*
hepta2ume 2:726072016da1 107 ******************
hepta2ume 2:726072016da1 108 Gyro sensing mode
hepta2ume 2:726072016da1 109 ******************
hepta2ume 2:726072016da1 110 */
sunifu 0:0482779cd78e 111
hepta2ume 3:4854731e663d 112 case'c': {
hepta2ume 2:726072016da1 113 printf("===================\r\n");
hepta2ume 2:726072016da1 114 printf("Gyro sensing Mode\r\n");
hepta2ume 2:726072016da1 115 printf("===================\r\n");
hepta2ume 2:726072016da1 116 float gx,gy,gz;
hepta2ume 2:726072016da1 117 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 118 MPU9250.sen_gyro(&gx,&gy,&gz);
hepta2ume 2:726072016da1 119 pc.printf("GX = %f,GY = %f,GZ = %f\r\n",gx,gy,gz);
hepta2ume 2:726072016da1 120 wait(0.5);
hepta2ume 2:726072016da1 121 }
hepta2ume 2:726072016da1 122 break;
hepta2ume 2:726072016da1 123 }//case'2'
hepta2ume 2:726072016da1 124
hepta2ume 2:726072016da1 125 /*
hepta2ume 2:726072016da1 126 ******************
hepta2ume 2:726072016da1 127 Accel sensing mode
hepta2ume 2:726072016da1 128 ******************
hepta2ume 2:726072016da1 129 */
hepta2ume 2:726072016da1 130
hepta2ume 3:4854731e663d 131 case'd': {
hepta2ume 2:726072016da1 132 printf("===================\r\n");
hepta2ume 2:726072016da1 133 printf("Accel sensing Mode\r\n");
hepta2ume 2:726072016da1 134 printf("===================\r\n");
hepta2ume 2:726072016da1 135 float ax,ay,az;
hepta2ume 2:726072016da1 136 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 137 MPU9250.sen_acc(&ax,&ay,&az);
hepta2ume 2:726072016da1 138 pc.printf("AX = %f,AY = %f,AZ = %f\r\n",ax,ay,az);
hepta2ume 2:726072016da1 139 wait(0.5);
hepta2ume 2:726072016da1 140 }
hepta2ume 2:726072016da1 141 break;
hepta2ume 2:726072016da1 142 }//case'3'
hepta2ume 2:726072016da1 143
hepta2ume 2:726072016da1 144 /*
hepta2ume 2:726072016da1 145 ******************
hepta2ume 2:726072016da1 146 Magnet sensing mode
hepta2ume 2:726072016da1 147 ******************
hepta2ume 2:726072016da1 148 */
hepta2ume 2:726072016da1 149
hepta2ume 3:4854731e663d 150 case'e': {
hepta2ume 2:726072016da1 151 float mx,my,mz;
hepta2ume 2:726072016da1 152 printf("===================\r\n");
hepta2ume 2:726072016da1 153 printf("Magnet sensing Mode\r\n");
hepta2ume 2:726072016da1 154 printf("===================\r\n");
hepta2ume 2:726072016da1 155 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 156 MPU9250.sen_mag(&mx,&my,&mz);
hepta2ume 2:726072016da1 157 pc.printf("MX = %f,MY = %f,MZ = %f\r\n",mx,my,mz);
hepta2ume 2:726072016da1 158 wait(0.5);
hepta2ume 2:726072016da1 159 }
hepta2ume 2:726072016da1 160 break;
hepta2ume 2:726072016da1 161 }//case'4'
hepta2ume 2:726072016da1 162
hepta2ume 2:726072016da1 163 /*
hepta2ume 2:726072016da1 164 ******************
hepta2ume 3:4854731e663d 165 GPS sensing mode
hepta2ume 3:4854731e663d 166 ******************
hepta2ume 3:4854731e663d 167 */
hepta2ume 3:4854731e663d 168
hepta2ume 3:4854731e663d 169 case'f': {
hepta2ume 4:6565d9843337 170 GPS_SW = 1;
hepta2ume 4:6565d9843337 171 CAM_SW = 0;
hepta2ume 3:4854731e663d 172 printf("===================\r\n");
hepta2ume 3:4854731e663d 173 printf("GPS sensing Mode\r\n");
hepta2ume 3:4854731e663d 174 printf("===================\r\n");
hepta2ume 3:4854731e663d 175 while(1) pc.putc(camera.getc());
hepta2ume 3:4854731e663d 176 break;
hepta2ume 3:4854731e663d 177 }//case'4'
hepta2ume 3:4854731e663d 178
hepta2ume 4:6565d9843337 179
hepta2ume 4:6565d9843337 180 case'g': {
hepta2ume 4:6565d9843337 181 GPS_SW = 1;
hepta2ume 4:6565d9843337 182 CAM_SW = 0;
hepta2ume 4:6565d9843337 183 pc.printf("GPS GPGGA Mode\r\n");
hepta2ume 4:6565d9843337 184 int quality=0,stnum=0,gps_check=0;
hepta2ume 4:6565d9843337 185 char ns='A',ew='B',aunit='m';
hepta2ume 4:6565d9843337 186 float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0;
hepta2ume 4:6565d9843337 187 for(int i=1; i<10; i++) {
hepta2ume 4:6565d9843337 188 camera.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
hepta2ume 4:6565d9843337 189 if((gps_check==0)|(gps_check==1)) {
hepta2ume 4:6565d9843337 190 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);
hepta2ume 4:6565d9843337 191 }
hepta2ume 4:6565d9843337 192 }
hepta2ume 4:6565d9843337 193 break;
hepta2ume 4:6565d9843337 194 }
hepta2ume 4:6565d9843337 195
hepta2ume 4:6565d9843337 196 /*
hepta2ume 4:6565d9843337 197 ******************
hepta2ume 4:6565d9843337 198 Camera Synchro mode
hepta2ume 4:6565d9843337 199 ******************
hepta2ume 4:6565d9843337 200 */
hepta2ume 4:6565d9843337 201
hepta2ume 4:6565d9843337 202 case'h': {
hepta2ume 4:6565d9843337 203 GPS_SW = 0;
hepta2ume 4:6565d9843337 204 CAM_SW = 1;
hepta2ume 4:6565d9843337 205 wait(0.5);
hepta2ume 4:6565d9843337 206 printf("\r\n");
hepta2ume 4:6565d9843337 207 printf("==========\r\n");
hepta2ume 4:6565d9843337 208 printf("CameraC1098\r\n");
hepta2ume 4:6565d9843337 209 printf("==========\r\n");
hepta2ume 4:6565d9843337 210 camera.Sync();
hepta2ume 4:6565d9843337 211 break;
hepta2ume 4:6565d9843337 212 }//case'6'
hepta2ume 4:6565d9843337 213
hepta2ume 3:4854731e663d 214 /*
hepta2ume 3:4854731e663d 215 ******************
hepta2ume 2:726072016da1 216 Cam Snapshot mode
hepta2ume 2:726072016da1 217 ******************
hepta2ume 2:726072016da1 218 */
hepta2ume 2:726072016da1 219
hepta2ume 4:6565d9843337 220 case'i': {
hepta2ume 2:726072016da1 221 GPS_SW = 0;
hepta2ume 2:726072016da1 222 CAM_SW = 1;
hepta2ume 2:726072016da1 223 printf("\r\n");
hepta2ume 2:726072016da1 224 printf("==========\r\n");
hepta2ume 2:726072016da1 225 printf("CameraC1098\r\n");
hepta2ume 2:726072016da1 226 printf("==========\r\n");
hepta2ume 4:6565d9843337 227 //camera.Sync();
hepta2ume 2:726072016da1 228 camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 2:726072016da1 229 camera.test_jpeg_snapshot_picture(1);
sunifu 0:0482779cd78e 230
hepta2ume 2:726072016da1 231 break;
hepta2ume 2:726072016da1 232 }//case'6'
hepta2ume 2:726072016da1 233
hepta2ume 2:726072016da1 234 /*
hepta2ume 2:726072016da1 235 ******************
hepta2ume 4:6565d9843337 236 Cam Snapshot mode
hepta2ume 4:6565d9843337 237 ******************
hepta2ume 4:6565d9843337 238 */
hepta2ume 4:6565d9843337 239
hepta2ume 4:6565d9843337 240 case'j': {
hepta2ume 4:6565d9843337 241 GPS_SW = 0;
hepta2ume 4:6565d9843337 242 CAM_SW = 1;
hepta2ume 4:6565d9843337 243 printf("\r\n");
hepta2ume 4:6565d9843337 244 printf("==========\r\n");
hepta2ume 4:6565d9843337 245 printf("CameraC1098\r\n");
hepta2ume 4:6565d9843337 246 printf("==========\r\n");
hepta2ume 4:6565d9843337 247 //camera.Sync();
hepta2ume 4:6565d9843337 248 camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 4:6565d9843337 249 camera.test_jpeg_snapshot_data(1);
hepta2ume 4:6565d9843337 250
hepta2ume 4:6565d9843337 251 break;
hepta2ume 4:6565d9843337 252 }//case'6'
hepta2ume 4:6565d9843337 253
hepta2ume 4:6565d9843337 254
hepta2ume 4:6565d9843337 255
hepta2ume 4:6565d9843337 256 case'k': {
hepta2ume 4:6565d9843337 257 GPS_SW = 0;
hepta2ume 4:6565d9843337 258 CAM_SW = 1;
hepta2ume 4:6565d9843337 259 printf("\r\n");
hepta2ume 4:6565d9843337 260 printf("==========\r\n");
hepta2ume 4:6565d9843337 261 printf("CameraC1098\r\n");
hepta2ume 4:6565d9843337 262 printf("==========\r\n");
hepta2ume 4:6565d9843337 263 //camera.Sync();
hepta2ume 4:6565d9843337 264 camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 4:6565d9843337 265 camera.test_jpeg_snapshot_picture(1);
hepta2ume 4:6565d9843337 266
hepta2ume 4:6565d9843337 267 FILE *fp = fopen("/fs/test.txt", "r");
hepta2ume 4:6565d9843337 268 if(fp == NULL) {
hepta2ume 4:6565d9843337 269 pc.printf("Could not open file for write\r\n");
hepta2ume 4:6565d9843337 270 } else {
hepta2ume 4:6565d9843337 271 char str[1024];
hepta2ume 4:6565d9843337 272 while((fgets(str,256,fp))!=NULL) {
hepta2ume 4:6565d9843337 273 pc.printf("%s",str);
hepta2ume 4:6565d9843337 274 }
hepta2ume 4:6565d9843337 275 fclose(fp);
hepta2ume 4:6565d9843337 276 }
hepta2ume 4:6565d9843337 277
hepta2ume 4:6565d9843337 278 break;
hepta2ume 4:6565d9843337 279 }
hepta2ume 4:6565d9843337 280
hepta2ume 4:6565d9843337 281 /*
hepta2ume 4:6565d9843337 282 ******************
hepta2ume 2:726072016da1 283 Temp sensing mode
hepta2ume 2:726072016da1 284 ******************
hepta2ume 2:726072016da1 285 */
hepta2ume 2:726072016da1 286
hepta2ume 4:6565d9843337 287 case'l': {
hepta2ume 2:726072016da1 288 printf("==================\r\n");
hepta2ume 2:726072016da1 289 printf("Temp sensing Mode\r\n");
hepta2ume 2:726072016da1 290 printf("==================\r\n");
hepta2ume 2:726072016da1 291 float temp;
hepta2ume 2:726072016da1 292 for(int i = 0; i<100; i++) {
hepta2ume 2:726072016da1 293 heptatemp.temp_sense(&temp);
hepta2ume 2:726072016da1 294 pc.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 295 //xbee.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 296 }
hepta2ume 2:726072016da1 297 break;
hepta2ume 2:726072016da1 298 }//case'7'
hepta2ume 2:726072016da1 299
hepta2ume 2:726072016da1 300 /*
hepta2ume 2:726072016da1 301 ***********
hepta2ume 2:726072016da1 302 Xbee mode
hepta2ume 2:726072016da1 303 ***********
hepta2ume 2:726072016da1 304 */
hepta2ume 2:726072016da1 305
hepta2ume 4:6565d9843337 306 case'm': {
hepta2ume 2:726072016da1 307
hepta2ume 2:726072016da1 308 int i=0,rcmd=0,cmdflag=0;
hepta2ume 2:726072016da1 309 xbee.printf("Count Up!\r");
hepta2ume 2:726072016da1 310 while(1) {
hepta2ume 2:726072016da1 311 xbee.printf("num = %d\r",i);
hepta2ume 2:726072016da1 312 i++;
hepta2ume 2:726072016da1 313 wait(1.0);
hepta2ume 2:726072016da1 314 xbee.xbee_recieve(&rcmd,&cmdflag);
hepta2ume 2:726072016da1 315 pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag);
hepta2ume 2:726072016da1 316 if (cmdflag == 1) {
hepta2ume 2:726072016da1 317 if (rcmd == 'a') {
hepta2ume 2:726072016da1 318 pc.printf("Command Get %d\r\n",rcmd);
hepta2ume 2:726072016da1 319 xbee.printf("HEPTA Uplink OK\r");
hepta2ume 2:726072016da1 320 }
hepta2ume 2:726072016da1 321 xbee.initialize();
hepta2ume 2:726072016da1 322 }
hepta2ume 2:726072016da1 323 }
hepta2ume 2:726072016da1 324
hepta2ume 2:726072016da1 325 break;
hepta2ume 2:726072016da1 326 }//case'8'
hepta2ume 2:726072016da1 327
hepta2ume 2:726072016da1 328 /*
hepta2ume 2:726072016da1 329 ******************
hepta2ume 2:726072016da1 330 Temp sensing mode by Xbbe
hepta2ume 2:726072016da1 331 ******************
hepta2ume 2:726072016da1 332 */
hepta2ume 2:726072016da1 333
hepta2ume 4:6565d9843337 334 case'n': {
hepta2ume 2:726072016da1 335
hepta2ume 2:726072016da1 336 printf("==================\r\n");
hepta2ume 2:726072016da1 337 printf("Temp sensing Mode & Xbee\r\n");
hepta2ume 2:726072016da1 338 printf("==================\r\n");
hepta2ume 2:726072016da1 339
hepta2ume 2:726072016da1 340 float temp;
hepta2ume 3:4854731e663d 341 while(1) {
hepta2ume 3:4854731e663d 342 FILE *fp = fopen("/fs/myfile.csv", "a");
hepta2ume 3:4854731e663d 343 heptatemp.temp_sense(&temp);
hepta2ume 3:4854731e663d 344 pc.printf("%f\r\n",temp);
hepta2ume 3:4854731e663d 345 xbee.printf("%f\r\n",temp);
hepta2ume 3:4854731e663d 346 fprintf(fp, "%f\n",temp);
hepta2ume 3:4854731e663d 347 fclose(fp);
hepta2ume 3:4854731e663d 348 }
hepta2ume 2:726072016da1 349 break;
hepta2ume 2:726072016da1 350 }//case'9'
hepta2ume 2:726072016da1 351
hepta2ume 2:726072016da1 352 /*
hepta2ume 2:726072016da1 353 *********************
hepta2ume 2:726072016da1 354 All Transmitting Mode
hepta2ume 2:726072016da1 355 *********************
hepta2ume 2:726072016da1 356 */
hepta2ume 2:726072016da1 357
hepta2ume 4:6565d9843337 358 case'o': {
hepta2ume 4:6565d9843337 359 GPS_SW = 1;
hepta2ume 4:6565d9843337 360 CAM_SW = 0;
hepta2ume 2:726072016da1 361
hepta2ume 2:726072016da1 362 printf("==================\r\n");
hepta2ume 2:726072016da1 363 printf("All Transmitting Mode\r\n");
hepta2ume 2:726072016da1 364 printf("==================\r\n");
hepta2ume 2:726072016da1 365 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 366 char ddata[60];
hepta2ume 2:726072016da1 367 int dsize[6];
hepta2ume 2:726072016da1 368 while(1) {
hepta2ume 4:6565d9843337 369
hepta2ume 4:6565d9843337 370 MPU9250.sen_gyro_u16(gx,gy,gz,&dsize[0]);
hepta2ume 4:6565d9843337 371 MPU9250.sen_acc_u16(ax,ay,az,&dsize[1]);
hepta2ume 4:6565d9843337 372 MPU9250.sen_mag_u16(mx,my,mz,&dsize[2]);
hepta2ume 4:6565d9843337 373 camera.lat_log_sensing_u16(lad,log,&dsize[3]);
hepta2ume 4:6565d9843337 374 bat.vol_u16(bt,&dsize[4]);
hepta2ume 4:6565d9843337 375 heptatemp.temp_sense_u16(temp,&dsize[5]);
hepta2ume 2:726072016da1 376 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 377 }
hepta2ume 2:726072016da1 378 break;
hepta2ume 2:726072016da1 379 }//case'9'
hepta2ume 3:4854731e663d 380
hepta2ume 2:726072016da1 381 default:
hepta2ume 2:726072016da1 382 break;
hepta2ume 2:726072016da1 383
hepta2ume 2:726072016da1 384
hepta2ume 2:726072016da1 385 }
hepta2ume 2:726072016da1 386 }
hepta2ume 2:726072016da1 387 }