Hepta 2 / Mbed 2 deprecated HEPTA2_assembly_0720

Hepta2_Assembly_Ver.1

Dependencies:   HeptaBattery Hepta2_9axis Hepta_Serial SDHCFileSystem HeptaTemp HeptaXbee mbed

Fork of Hepta_Camera_test by Hepta 2

main.cpp@3:4854731e663d, 2017-07-24 (annotated)

Committer:
hepta2ume
Date:
Mon Jul 24 05:54:59 2017 +0000
Revision:
3:4854731e663d
Parent:
2:726072016da1 
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 3:4854731e663d 8 5:GPS sensing Mode = (サンプリング時間の修正)
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 */
sunifu 0:0482779cd78e 14 #include "mbed.h"
hepta2ume 1:890188e041da 15 #include "SDHCFileSystem.h"
hepta2ume 2:726072016da1 16 #include "HeptaXbee.h"
hepta2ume 1:890188e041da 17 #include "HeptaSerial.h"
hepta2ume 2:726072016da1 18 #include "Hepta9axis.h"
hepta2ume 2:726072016da1 19 #include "HeptaTemp.h"
hepta2ume 3:4854731e663d 20 #include "HeptaBattery.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 3:4854731e663d 29 HeptaBattery bat(p16,p26);
hepta2ume 2:726072016da1 30 DigitalOut CAM_SW(p25);//CAM_control
hepta2ume 2:726072016da1 31 DigitalOut GPS_SW(p24);//GPS_control
hepta2ume 2:726072016da1 32
hepta2ume 2:726072016da1 33 int main()
hepta2ume 2:726072016da1 34 {
hepta2ume 2:726072016da1 35 char mode;
hepta2ume 2:726072016da1 36 pc.baud(9600);
hepta2ume 2:726072016da1 37
hepta2ume 2:726072016da1 38 while(1) {
hepta2ume 2:726072016da1 39
hepta2ume 2:726072016da1 40 /*
hepta2ume 2:726072016da1 41 ************
hepta2ume 2:726072016da1 42 Mode select
hepta2ume 2:726072016da1 43 ***********
hepta2ume 2:726072016da1 44 */
hepta2ume 2:726072016da1 45 pc.printf("\r\n");
hepta2ume 2:726072016da1 46 pc.printf("*********************************\r\n");
hepta2ume 2:726072016da1 47 pc.printf("Hello world.\r\n");
hepta2ume 2:726072016da1 48 pc.printf("My name is HEPTA2\r\n");
hepta2ume 2:726072016da1 49 pc.printf("Please select mode.\r\n");
hepta2ume 3:4854731e663d 50 pc.printf("a:SD test Mode\r\n");
hepta2ume 3:4854731e663d 51 pc.printf("b:Check Battery Level\r\n");
hepta2ume 3:4854731e663d 52 pc.printf("c:Gyro Sening Mode\r\n");
hepta2ume 3:4854731e663d 53 pc.printf("d:Accel Sensing Mode\r\n");
hepta2ume 3:4854731e663d 54 pc.printf("e:Magnet Sensig Mode\r\n");
hepta2ume 3:4854731e663d 55 pc.printf("f:GPS Test Sensing Mode\r\n");
hepta2ume 3:4854731e663d 56 pc.printf("g:CAM Mode\r\n");
hepta2ume 3:4854731e663d 57 pc.printf("h:Temperature Sensing Mode\r\n");
hepta2ume 3:4854731e663d 58 pc.printf("i:Xbee Mode\r\n");
hepta2ume 3:4854731e663d 59 pc.printf("j:Xbee & Temperature Mode\r\n");//恒温槽用
hepta2ume 3:4854731e663d 60 pc.printf("k:All Transmitting Mode\r\n");
hepta2ume 3:4854731e663d 61 pc.printf("l:Test Mode\r\n");
hepta2ume 3:4854731e663d 62 pc.printf("m:Test Mode\r\n");
hepta2ume 2:726072016da1 63 pc.printf("*********************************\r\n");
hepta2ume 2:726072016da1 64
hepta2ume 2:726072016da1 65 mode = pc.getc();
hepta2ume 2:726072016da1 66 pc.printf("\r\n");
hepta2ume 2:726072016da1 67 pc.printf("Your select Mode = %c\r\n",mode);
hepta2ume 2:726072016da1 68 wait(0.5);
hepta2ume 3:4854731e663d 69
hepta2ume 2:726072016da1 70 switch(mode) {
hepta2ume 3:4854731e663d 71 case'a': {
hepta2ume 2:726072016da1 72
hepta2ume 2:726072016da1 73 printf("=============\r\n");
hepta2ume 2:726072016da1 74 printf("SD test Mode\r\n");
hepta2ume 2:726072016da1 75 printf("=============\r\n");
hepta2ume 2:726072016da1 76 FILE *fp = fopen("/fs/myfile.txt", "w");
hepta2ume 2:726072016da1 77 if(fp == NULL) {
hepta2ume 2:726072016da1 78 pc.printf("Could not open file for write\r\n");
hepta2ume 2:726072016da1 79 } else {
hepta2ume 2:726072016da1 80 fprintf(fp, "\n\rHello World!\n\r");
hepta2ume 2:726072016da1 81 printf("SD Check Complete!!\r\n");
hepta2ume 2:726072016da1 82 fclose(fp);
hepta2ume 2:726072016da1 83 }
hepta2ume 2:726072016da1 84
hepta2ume 2:726072016da1 85
hepta2ume 2:726072016da1 86 break;
hepta2ume 2:726072016da1 87 }//case'1'
hepta2ume 2:726072016da1 88
hepta2ume 2:726072016da1 89 /*
hepta2ume 3:4854731e663d 90 ************************
hepta2ume 3:4854731e663d 91 Check Battery Level mode
hepta2ume 3:4854731e663d 92 ************************
hepta2ume 3:4854731e663d 93 */
hepta2ume 3:4854731e663d 94 case'b': {
hepta2ume 3:4854731e663d 95 float bt;
hepta2ume 3:4854731e663d 96 bat.vol(&bt);
hepta2ume 3:4854731e663d 97 pc.printf("V = %f\r\n",bt);
hepta2ume 3:4854731e663d 98 break;
hepta2ume 3:4854731e663d 99 }
hepta2ume 3:4854731e663d 100
hepta2ume 3:4854731e663d 101 /*
hepta2ume 2:726072016da1 102 ******************
hepta2ume 2:726072016da1 103 Gyro sensing mode
hepta2ume 2:726072016da1 104 ******************
hepta2ume 2:726072016da1 105 */
sunifu 0:0482779cd78e 106
hepta2ume 3:4854731e663d 107 case'c': {
hepta2ume 2:726072016da1 108 printf("===================\r\n");
hepta2ume 2:726072016da1 109 printf("Gyro sensing Mode\r\n");
hepta2ume 2:726072016da1 110 printf("===================\r\n");
hepta2ume 2:726072016da1 111 float gx,gy,gz;
hepta2ume 2:726072016da1 112 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 113 MPU9250.sen_gyro(&gx,&gy,&gz);
hepta2ume 2:726072016da1 114 pc.printf("GX = %f,GY = %f,GZ = %f\r\n",gx,gy,gz);
hepta2ume 2:726072016da1 115 wait(0.5);
hepta2ume 2:726072016da1 116 }
hepta2ume 2:726072016da1 117 break;
hepta2ume 2:726072016da1 118 }//case'2'
hepta2ume 2:726072016da1 119
hepta2ume 2:726072016da1 120 /*
hepta2ume 2:726072016da1 121 ******************
hepta2ume 2:726072016da1 122 Accel sensing mode
hepta2ume 2:726072016da1 123 ******************
hepta2ume 2:726072016da1 124 */
hepta2ume 2:726072016da1 125
hepta2ume 3:4854731e663d 126 case'd': {
hepta2ume 2:726072016da1 127 printf("===================\r\n");
hepta2ume 2:726072016da1 128 printf("Accel sensing Mode\r\n");
hepta2ume 2:726072016da1 129 printf("===================\r\n");
hepta2ume 2:726072016da1 130 float ax,ay,az;
hepta2ume 2:726072016da1 131 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 132 MPU9250.sen_acc(&ax,&ay,&az);
hepta2ume 2:726072016da1 133 pc.printf("AX = %f,AY = %f,AZ = %f\r\n",ax,ay,az);
hepta2ume 2:726072016da1 134 wait(0.5);
hepta2ume 2:726072016da1 135 }
hepta2ume 2:726072016da1 136 break;
hepta2ume 2:726072016da1 137 }//case'3'
hepta2ume 2:726072016da1 138
hepta2ume 2:726072016da1 139 /*
hepta2ume 2:726072016da1 140 ******************
hepta2ume 2:726072016da1 141 Magnet sensing mode
hepta2ume 2:726072016da1 142 ******************
hepta2ume 2:726072016da1 143 */
hepta2ume 2:726072016da1 144
hepta2ume 3:4854731e663d 145 case'e': {
hepta2ume 2:726072016da1 146 float mx,my,mz;
hepta2ume 2:726072016da1 147 printf("===================\r\n");
hepta2ume 2:726072016da1 148 printf("Magnet sensing Mode\r\n");
hepta2ume 2:726072016da1 149 printf("===================\r\n");
hepta2ume 2:726072016da1 150 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 151 MPU9250.sen_mag(&mx,&my,&mz);
hepta2ume 2:726072016da1 152 pc.printf("MX = %f,MY = %f,MZ = %f\r\n",mx,my,mz);
hepta2ume 2:726072016da1 153 wait(0.5);
hepta2ume 2:726072016da1 154 }
hepta2ume 2:726072016da1 155 break;
hepta2ume 2:726072016da1 156 }//case'4'
hepta2ume 2:726072016da1 157
hepta2ume 2:726072016da1 158 /*
hepta2ume 2:726072016da1 159 ******************
hepta2ume 3:4854731e663d 160 GPS sensing mode
hepta2ume 3:4854731e663d 161 ******************
hepta2ume 3:4854731e663d 162 */
hepta2ume 3:4854731e663d 163
hepta2ume 3:4854731e663d 164 case'f': {
hepta2ume 3:4854731e663d 165
hepta2ume 3:4854731e663d 166 printf("===================\r\n");
hepta2ume 3:4854731e663d 167 printf("GPS sensing Mode\r\n");
hepta2ume 3:4854731e663d 168 printf("===================\r\n");
hepta2ume 3:4854731e663d 169 while(1) pc.putc(camera.getc());
hepta2ume 3:4854731e663d 170 break;
hepta2ume 3:4854731e663d 171 }//case'4'
hepta2ume 3:4854731e663d 172
hepta2ume 3:4854731e663d 173 /*
hepta2ume 3:4854731e663d 174 ******************
hepta2ume 2:726072016da1 175 Cam Snapshot mode
hepta2ume 2:726072016da1 176 ******************
hepta2ume 2:726072016da1 177 */
hepta2ume 2:726072016da1 178
hepta2ume 3:4854731e663d 179 case'g': {
hepta2ume 2:726072016da1 180 GPS_SW = 0;
hepta2ume 2:726072016da1 181 CAM_SW = 1;
hepta2ume 2:726072016da1 182 printf("\r\n");
hepta2ume 2:726072016da1 183 printf("==========\r\n");
hepta2ume 2:726072016da1 184 printf("CameraC1098\r\n");
hepta2ume 2:726072016da1 185 printf("==========\r\n");
hepta2ume 2:726072016da1 186 camera.Sync();
hepta2ume 2:726072016da1 187 camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 2:726072016da1 188 camera.test_jpeg_snapshot_picture(1);
sunifu 0:0482779cd78e 189
hepta2ume 2:726072016da1 190 break;
hepta2ume 2:726072016da1 191 }//case'6'
hepta2ume 2:726072016da1 192
hepta2ume 2:726072016da1 193 /*
hepta2ume 2:726072016da1 194 ******************
hepta2ume 2:726072016da1 195 Temp sensing mode
hepta2ume 2:726072016da1 196 ******************
hepta2ume 2:726072016da1 197 */
hepta2ume 2:726072016da1 198
hepta2ume 3:4854731e663d 199 case'h': {
hepta2ume 2:726072016da1 200 printf("==================\r\n");
hepta2ume 2:726072016da1 201 printf("Temp sensing Mode\r\n");
hepta2ume 2:726072016da1 202 printf("==================\r\n");
hepta2ume 2:726072016da1 203 float temp;
hepta2ume 2:726072016da1 204 for(int i = 0; i<100; i++) {
hepta2ume 2:726072016da1 205 heptatemp.temp_sense(&temp);
hepta2ume 2:726072016da1 206 pc.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 207 //xbee.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 208 }
hepta2ume 2:726072016da1 209 break;
hepta2ume 2:726072016da1 210 }//case'7'
hepta2ume 2:726072016da1 211
hepta2ume 2:726072016da1 212 /*
hepta2ume 2:726072016da1 213 ***********
hepta2ume 2:726072016da1 214 Xbee mode
hepta2ume 2:726072016da1 215 ***********
hepta2ume 2:726072016da1 216 */
hepta2ume 2:726072016da1 217
hepta2ume 3:4854731e663d 218 case'i': {
hepta2ume 2:726072016da1 219
hepta2ume 2:726072016da1 220 int i=0,rcmd=0,cmdflag=0;
hepta2ume 2:726072016da1 221 xbee.printf("Count Up!\r");
hepta2ume 2:726072016da1 222 while(1) {
hepta2ume 2:726072016da1 223 xbee.printf("num = %d\r",i);
hepta2ume 2:726072016da1 224 i++;
hepta2ume 2:726072016da1 225 wait(1.0);
hepta2ume 2:726072016da1 226 xbee.xbee_recieve(&rcmd,&cmdflag);
hepta2ume 2:726072016da1 227 pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag);
hepta2ume 2:726072016da1 228 if (cmdflag == 1) {
hepta2ume 2:726072016da1 229 if (rcmd == 'a') {
hepta2ume 2:726072016da1 230 pc.printf("Command Get %d\r\n",rcmd);
hepta2ume 2:726072016da1 231 xbee.printf("HEPTA Uplink OK\r");
hepta2ume 2:726072016da1 232 }
hepta2ume 2:726072016da1 233 xbee.initialize();
hepta2ume 2:726072016da1 234 }
hepta2ume 2:726072016da1 235 }
hepta2ume 2:726072016da1 236
hepta2ume 2:726072016da1 237 break;
hepta2ume 2:726072016da1 238 }//case'8'
hepta2ume 2:726072016da1 239
hepta2ume 2:726072016da1 240 /*
hepta2ume 2:726072016da1 241 ******************
hepta2ume 2:726072016da1 242 Temp sensing mode by Xbbe
hepta2ume 2:726072016da1 243 ******************
hepta2ume 2:726072016da1 244 */
hepta2ume 2:726072016da1 245
hepta2ume 3:4854731e663d 246 case'j': {
hepta2ume 2:726072016da1 247
hepta2ume 2:726072016da1 248 printf("==================\r\n");
hepta2ume 2:726072016da1 249 printf("Temp sensing Mode & Xbee\r\n");
hepta2ume 2:726072016da1 250 printf("==================\r\n");
hepta2ume 2:726072016da1 251
hepta2ume 2:726072016da1 252 float temp;
hepta2ume 3:4854731e663d 253 while(1) {
hepta2ume 3:4854731e663d 254 FILE *fp = fopen("/fs/myfile.csv", "a");
hepta2ume 3:4854731e663d 255 heptatemp.temp_sense(&temp);
hepta2ume 3:4854731e663d 256 pc.printf("%f\r\n",temp);
hepta2ume 3:4854731e663d 257 xbee.printf("%f\r\n",temp);
hepta2ume 3:4854731e663d 258 fprintf(fp, "%f\n",temp);
hepta2ume 3:4854731e663d 259 fclose(fp);
hepta2ume 3:4854731e663d 260 }
hepta2ume 2:726072016da1 261 break;
hepta2ume 2:726072016da1 262 }//case'9'
hepta2ume 2:726072016da1 263
hepta2ume 2:726072016da1 264 /*
hepta2ume 2:726072016da1 265 *********************
hepta2ume 2:726072016da1 266 All Transmitting Mode
hepta2ume 2:726072016da1 267 *********************
hepta2ume 2:726072016da1 268 */
hepta2ume 2:726072016da1 269
hepta2ume 3:4854731e663d 270 case'k': {
hepta2ume 2:726072016da1 271
hepta2ume 2:726072016da1 272 printf("==================\r\n");
hepta2ume 2:726072016da1 273 printf("All Transmitting Mode\r\n");
hepta2ume 2:726072016da1 274 printf("==================\r\n");
hepta2ume 2:726072016da1 275 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 276 char ddata[60];
hepta2ume 2:726072016da1 277 int dsize[6];
hepta2ume 2:726072016da1 278 while(1) {
hepta2ume 3:4854731e663d 279
hepta2ume 2:726072016da1 280 MPU9250.sen_gyro_u16(gx,gy,gz,&dsize[0]);
hepta2ume 2:726072016da1 281 MPU9250.sen_acc_u16(ax,ay,az,&dsize[1]);
hepta2ume 2:726072016da1 282 MPU9250.sen_mag_u16(mx,my,mz,&dsize[2]);
hepta2ume 3:4854731e663d 283 camera.lat_log_sensing_u16(lad,log,&dsize[3]);
hepta2ume 3:4854731e663d 284 bat.vol_u16(bt,&dsize[4]);
hepta2ume 2:726072016da1 285 heptatemp.temp_sense_u16(temp,&dsize[5]);
hepta2ume 2:726072016da1 286 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 287 }
hepta2ume 2:726072016da1 288 break;
hepta2ume 2:726072016da1 289 }//case'9'
hepta2ume 2:726072016da1 290 /*
hepta2ume 2:726072016da1 291 ******************
hepta2ume 2:726072016da1 292 Cam Snapshot mode
hepta2ume 2:726072016da1 293 ******************
hepta2ume 2:726072016da1 294 */
hepta2ume 2:726072016da1 295
hepta2ume 3:4854731e663d 296 case'l': {
hepta2ume 2:726072016da1 297 GPS_SW = 0;
hepta2ume 2:726072016da1 298 CAM_SW = 1;
hepta2ume 2:726072016da1 299 printf("\r\n");
hepta2ume 2:726072016da1 300 printf("==========\r\n");
hepta2ume 2:726072016da1 301 printf("CameraC1098\r\n");
hepta2ume 2:726072016da1 302 printf("==========\r\n");
hepta2ume 2:726072016da1 303 camera.Sync();
hepta2ume 2:726072016da1 304 camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 2:726072016da1 305 camera.test_jpeg_snapshot_data(1);
hepta2ume 2:726072016da1 306
hepta2ume 2:726072016da1 307 break;
hepta2ume 2:726072016da1 308 }//case'6'
hepta2ume 2:726072016da1 309
hepta2ume 3:4854731e663d 310 case'm': {
hepta2ume 3:4854731e663d 311 pc.printf("L:GPS GPGGA Mode\r\n");
hepta2ume 3:4854731e663d 312 int quality=0,stnum=0,gps_check=0;
hepta2ume 3:4854731e663d 313 char ns='A',ew='B',aunit='m';
hepta2ume 3:4854731e663d 314 float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0;
hepta2ume 3:4854731e663d 315 for(int i=1; i<10; i++) {
hepta2ume 3:4854731e663d 316 camera.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
hepta2ume 3:4854731e663d 317 if((gps_check==0)|(gps_check==1)) {
hepta2ume 3:4854731e663d 318 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 3:4854731e663d 319 }
hepta2ume 3:4854731e663d 320 }
hepta2ume 3:4854731e663d 321 break;
hepta2ume 3:4854731e663d 322 }
hepta2ume 3:4854731e663d 323
hepta2ume 2:726072016da1 324 default:
hepta2ume 2:726072016da1 325 break;
hepta2ume 2:726072016da1 326
hepta2ume 2:726072016da1 327
hepta2ume 2:726072016da1 328 }
hepta2ume 2:726072016da1 329 }
hepta2ume 2:726072016da1 330 }