Hepta 2
Hepta2_Assembly_Ver.1
Dependencies: HeptaBattery Hepta2_9axis Hepta_Serial SDHCFileSystem HeptaTemp HeptaXbee mbed
Fork of
Hepta_Camera_test
by 
Hepta 2
main.cpp
- Committer:
- hepta2ume
- Date:
- 2017-07-21
- Revision:
- 2:726072016da1
- Parent:
- 1:890188e041da
- Child:
- 3:4854731e663d
File content as of revision 2:726072016da1:
/*
*************************************************************
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
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
******************
*/
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);
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;
}
}
}