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:
- 2:726072016da1
- Parent:
- 1:890188e041da
- Child:
- 3:4854731e663d
--- a/main.cpp Wed Jul 19 09:25:34 2017 +0000
+++ b/main.cpp Fri Jul 21 10:38:11 2017 +0000
@@ -1,28 +1,294 @@
+/*
+*************************************************************
+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 =
+*************************************************************
+*/
#include "mbed.h"
#include "SDHCFileSystem.h"
+#include "HeptaXbee.h"
#include "HeptaSerial.h"
+#include "Hepta9axis.h"
+#include "HeptaTemp.h"
#define USE_JPEG_HIGH_RESOLUTION 1
-//static const int CAPTURE_FRAMES = 3;
-//static char buf[256+1];
-//static FILE *fp_jpeg;
+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);
+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("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("*********************************\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': {
+
+ 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'
+
+ /*
+ ******************
+ Gyro sensing mode
+ ******************
+ */
-SDFileSystem sd(p5, p6, p7, p8, "fs");
-HeptaSerial camera(p13, p14);
-DigitalOut AS2(p25);//CAM_control
-DigitalOut AS1(p24);//GPS_control
+ case'2': {
+ 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'3': {
+ 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'4': {
+ 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'
+
+ /*
+ ******************
+ Cam Snapshot mode
+ ******************
+ */
+
+ case'6': {
+ 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);
-int main() {
- AS1 = 0;
- AS2=1;
- printf("\r\n");
- printf("==========\r\n");
- printf("CameraC1098\r\n");
- printf("==========\r\n");
- camera.Sync();//Synchronization
- camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);//initialize
- camera.test_jpeg_snapshot_data();
-
- return 0;
-}
+ break;
+ }//case'6'
+
+ /*
+ ******************
+ Temp sensing mode
+ ******************
+ */
+
+ case'7': {
+ 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'8': {
+
+ 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'9': {
+
+ 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);
+// }
+ break;
+ }//case'9'
+
+ /*
+ *********************
+ All Transmitting Mode
+ *********************
+ */
+
+ case'a': {
+
+ 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]);
+ gps.sensing_u16(lad,log,&dsize[3]);
+ battery.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;
+ }//case'9'
+ /*
+ ******************
+ Cam Snapshot mode
+ ******************
+ */
+
+ case'b': {
+ 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'
+
+ default:
+ break;
+
+
+ }
+ }
+}
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