Hepta 2
Hepta2_Assembly_Ver.1
Dependencies: HeptaBattery Hepta2_9axis Hepta_Serial SDHCFileSystem HeptaTemp HeptaXbee mbed
Fork of
Hepta_Camera_test
by 
Hepta 2
Diff: main.cpp
- Revision:
- 3:4854731e663d
- Parent:
- 2:726072016da1
--- a/main.cpp Fri Jul 21 10:38:11 2017 +0000
+++ b/main.cpp Mon Jul 24 05:54:59 2017 +0000
@@ -2,22 +2,22 @@
*************************************************************
H29/07_20/T.Umezawa
1:SD.....OK!
-2:MPU9250(Accel) =
-3:MPU9250(Gyro) =
-4:MPU9250(Mag_compass) =
-5:GPS sensing Mode =
-6:CAM Mode = OK!
-7:Temperature sensing =
-8:Xbee mode =
+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);
@@ -26,6 +26,7 @@
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
@@ -46,24 +47,28 @@
pc.printf("Hello world.\r\n");
pc.printf("My name is HEPTA2\r\n");
pc.printf("Please select mode.\r\n");
- pc.printf("1:SD test Mode\r\n");
- pc.printf("2:Gyro sening ModeE\r\n");
- pc.printf("3:Accel sensing Mode\r\n");
- pc.printf("4:Magnet sensig Mode\r\n");
- pc.printf("5:GPS sensing Mode\r\n");
- pc.printf("6:CAM mode\r\n");
- pc.printf("7:Temperature sensing Mode\r\n");
- pc.printf("8:Xbee Mode\r\n");
- pc.printf("9:Xbee & Temperature Mode\r\n");//恒温槽用
- pc.printf("10:All Transmitting Mode 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'1': {
+ case'a': {
printf("=============\r\n");
printf("SD test Mode\r\n");
@@ -82,12 +87,24 @@
}//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'2': {
+ case'c': {
printf("===================\r\n");
printf("Gyro sensing Mode\r\n");
printf("===================\r\n");
@@ -106,7 +123,7 @@
******************
*/
- case'3': {
+ case'd': {
printf("===================\r\n");
printf("Accel sensing Mode\r\n");
printf("===================\r\n");
@@ -125,7 +142,7 @@
******************
*/
- case'4': {
+ case'e': {
float mx,my,mz;
printf("===================\r\n");
printf("Magnet sensing Mode\r\n");
@@ -140,11 +157,26 @@
/*
******************
+ 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'6': {
+ case'g': {
GPS_SW = 0;
CAM_SW = 1;
printf("\r\n");
@@ -164,7 +196,7 @@
******************
*/
- case'7': {
+ case'h': {
printf("==================\r\n");
printf("Temp sensing Mode\r\n");
printf("==================\r\n");
@@ -183,7 +215,7 @@
***********
*/
- case'8': {
+ case'i': {
int i=0,rcmd=0,cmdflag=0;
xbee.printf("Count Up!\r");
@@ -211,29 +243,21 @@
******************
*/
- case'9': {
+ case'j': {
printf("==================\r\n");
printf("Temp sensing Mode & Xbee\r\n");
printf("==================\r\n");
float temp;
- //FILE *fp = fopen("/fs/myfile.csv", "a");
-// if(fp == NULL) {
-// pc.printf("Could not open file for write\r\n");
-// } else {
- while(1)
- {
- //for(int i = 0; i<100; i++) {
- 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);
- }
-// fclose(fp);
-// }
+ 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'
@@ -243,7 +267,7 @@
*********************
*/
- case'a': {
+ case'k': {
printf("==================\r\n");
printf("All Transmitting Mode\r\n");
@@ -252,15 +276,13 @@
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]);
- gps.sensing_u16(lad,log,&dsize[3]);
- battery.vol_u16(bt,&dsize[4]);
+ camera.lat_log_sensing_u16(lad,log,&dsize[3]);
+ bat.vol_u16(bt,&dsize[4]);
heptatemp.temp_sense_u16(temp,&dsize[5]);
- */
- //gyro.x_u16(gx,4);
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;
@@ -271,7 +293,7 @@
******************
*/
- case'b': {
+ case'l': {
GPS_SW = 0;
CAM_SW = 1;
printf("\r\n");
@@ -285,6 +307,20 @@
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;