Revision 173:1198e6c31b4a, committed 2018-09-24

Comitter:

hakusan270

Date:

Mon Sep 24 15:11:03 2018 +0000

Parent:

172:3aa6f1366c5d

Commit message:

??????

Changed in this revision

--- a/main.cpp	Sat Sep 22 13:35:44 2018 +0000
+++ b/main.cpp	Mon Sep 24 15:11:03 2018 +0000
@@ -1,6 +1,8 @@
 #include "mbed.h"
 #include <string.h>
-
+#include <time.h>
+#include "rtc_api.h"
+#include "watchdog.h"
 
 #define ONE_G_ACCELERATION 9.8     //重力加速度
 #define EXP_BIAS           12  
@@ -25,13 +27,17 @@
 AnalogIn   batlev(PA_2);
 InterruptIn event(PA_7);
 
+Watchdog wd;
+
 char buffer[100];
 uint8_t rxbuffer[128];
 uint8_t cmdrxbuffer[80];
+uint8_t rxCmdStatus[128];
 int rxindex=0;
+int oldrxindex;
 int cmdrxindex=0;
 uint8_t rcvf;
-
+uint8_t dbgmsgf=1;
 uint8_t errorf;
 
 void intTimer( void );   
@@ -40,6 +46,7 @@
 unsigned short UDGS1_encodeFloat(float v);
 int int_sqrt(unsigned int x);
 int initLIS3DH();
+int readTemp(short *tmp);
 
 void rx_Irq(void)
 {
@@ -47,16 +54,20 @@
     uint8_t c;
     while(pclpwa.readable() ) {
        c = rxbuffer[rxindex] = pclpwa.getc();
-       if (rxindex>120) {
+       if (rxindex>127) {
                rxbuffer[rxindex+1]=0;
-               pc.write((const uint8_t *)rxbuffer,rxindex,NULL);
+               if (dbgmsgf) pc.write((const uint8_t *)rxbuffer,rxindex,NULL);
+               memcpy((char*)rxCmdStatus,(char*)rxbuffer , rxindex+1 );
+               oldrxindex = rxindex+1;
                rxindex=0;
                rcvf=1;
                rxbuffer[rxindex+1]=0;
-       } else rxindex++;
+       } else
        if (/*c==0x0d ||*/ c==0x0a) {
             rxbuffer[rxindex+1]=0;
-            pc.write((const uint8_t *)rxbuffer,rxindex+1,NULL);
+            if (dbgmsgf) pc.write((const uint8_t *)rxbuffer,rxindex+1,NULL);
+            strcpy((char*)rxCmdStatus,(char*)rxbuffer );
+            oldrxindex = rxindex+1;
             rxindex=0;
             rcvf=1;
             if (strstr((char*)rxbuffer,"Invalid")) errorf=1;
@@ -70,30 +81,34 @@
 
 int SendLPWAcmd(char *cmd)
 {
-    int timeout=10;
+    int timeout=30;
+    int i=0;
     rcvf=0;
     errorf=0;
     
     wait_ms(1);    
     while(rxindex && timeout--)wait_ms(10);
-    
-    
-    
+    if(timeout==0)pc.printf("timeout 1\n\r");
     memset(rxbuffer,0,sizeof(rxbuffer));
     rxindex=0;
     
+    wait_ms(10);
     pclpwa.printf(cmd);
     pclpwa.printf("\r\n");
-    timeout=1000;
+    timeout=500;
     while (rcvf==0 && timeout--) wait_ms(10);
+    if(timeout==0)pc.printf("timeout 2\n\r");
     if (errorf) {
+         timeout=500;
         //retry
         wait_ms(10);
         rcvf=0;
         errorf=0;
+        wait_ms(10);
         pclpwa.printf(cmd);
         pclpwa.printf("\r\n");
         while (rcvf==0 && timeout--) wait_ms(10);
+        if(timeout==0)pc.printf("timeout 3\n\r");
     }
     wait_ms(10);    
     return errorf;
@@ -125,35 +140,337 @@
  pc.printf("@@@@@@@@ INTout1 @@@\n\r");   
 }
 
+float convertLaloFomMin(float lalo)
+{
+    int integ;
+    float min;
+    integ = (int)lalo;
+    min = lalo - (float)integ;
+    min = min / 0.60 ;
+    return((float)integ + min);   
+}
+/*  緯度 24 - 46 */
+long convertLaInt(float la)
+{
+   return( (int)((convertLaloFomMin(la) - 24.0f ) / 0.00001049042 ) ); 
+}
+
+/*  経度 122 - 146*/
+
+long convertLoInt(float lo)
+{
+   return( (int)((convertLaloFomMin(lo) - 122.0f ) / 0.000011444095 ) ); 
+}    
+
+/*  緯度 24 - 46 */
+float convertLaFloat(int la)
+{
+   return( 24.0f + 0.00001049042 * (float)la ); 
+}
+
+/*  経度 122 - 146*/
+
+float convertLoFloat(int lo)
+{
+   return( 122.0f + 0.000011444095 * (float)lo  ); 
+}    
+
+
+int getNextTimeSet()
+{
+    int mode=0;
+    char *p;
+    dbgmsgf=0; 
+    memset((char*)rxCmdStatus,0,sizeof(rxCmdStatus)); 
+    SendLPWAcmd("< TIME DREM GET");
+//    pc.printf((char*)rxCmdStatus);
+    p = strstr((char*)rxCmdStatus,"TIME DREM GET");
+    if (p) {
+//        pc.printf(p+13);
+        sscanf(p + 14,"%d",&mode);            
+    }   
+    dbgmsgf=1;  
+    return(mode);
+}
+
+int getNextTimeSend()
+{
+    int mode=0;
+    char *p;
+    dbgmsgf=0; 
+    memset((char*)rxCmdStatus,0,sizeof(rxCmdStatus)); 
+    SendLPWAcmd("< TIME TREM GET");
+//    pc.printf((char*)rxCmdStatus);
+    p = strstr((char*)rxCmdStatus,"TIME TREM GET");
+    if (p) {
+//        pc.printf(p+13);
+        sscanf(p + 14,"%d",&mode);            
+    }   
+    dbgmsgf=1;  
+    return(mode);
+}
+
+int setPayload(char *payload) {
+   char buf[60]= {"< TX PLD SET "};
+   char dat[8];
+   int i;  
+   int ret; 
+   for(i=0;i<16;i++){
+        sprintf(dat,"%02x",payload[i] & 0xff);
+        strcat(buf,dat); 
+   } 
+ // pc.printf(buf);    
+   ret = SendLPWAcmd(buf);
+   if (ret==0) {
+       if (strstr((char*)rxbuffer,"> TX PLD SET")==NULL) ret= -1;
+  }
+  return(ret);
+}
+
+int getGNSSmode()
+{
+    int mode=0;
+    char *p;
+    dbgmsgf=0; 
+    memset((char*)rxCmdStatus,0,sizeof(rxCmdStatus)); 
+    SendLPWAcmd("< GNSS STT GET");
+//    pc.printf((char*)rxCmdStatus);
+    p = strstr((char*)rxCmdStatus,"GNSS STT GET");
+    if (p) {
+//        pc.printf(p+13);
+        sscanf(p + 13,"%x",&mode);            
+    }   
+    dbgmsgf=1;  
+    return(mode);
+}
+
+int getGPStime(time_t *gpst)
+{
+    int timeout=10;
+    dbgmsgf=0;  
+    int   ret=0;
+    char  *p;
+    memset((char*)rxCmdStatus,0,sizeof(rxCmdStatus));
+    SendLPWAcmd("< TIME CTIME GET");
+    while(timeout--) {
+       wait_ms(500);
+       p = strstr((char*)rxCmdStatus,"TIME CTIME");
+       if (p) break;
+    }
+    wait_ms(1);
+     p = strstr((char*)rxCmdStatus,"0x");
+    if (p) {
+        sscanf(p,"%x",(int*)gpst);
+        ret=1;
+    }
+    dbgmsgf=1;  
+    return(ret);
+}
+
+
+int getTimeFromGPS(char *buf, int rtcset){
+    time_t gpstime;
+    time_t tim;
+    int ret;
+    struct tm *now;
+    if ( getGPStime(&gpstime) ) {
+       int gpsw, gpstw;
+        gpsw = gpstime >> 20;
+        gpstw = gpstime & 0xfffff;
+        tim = (gpsw * 7 * 24 * 60 * 60) + gpstw;
+        tim += (10*365*24*60*60 + 24*60*60*7 + 9*60*60);//Tokyo time
+        now = localtime(&tim);
+        if (rtcset) rtc_write(tim);
+        
+         ret = strftime(buf, 23,"%Y %m/%d %T",now);
+        return(ret);
+    }
+    return -1;
+}
+
+
+
+int getGPSposGGA(float *pLo,float *pLa, float *pHDOP, long *pElev)
+{
+    int timeout=10;
+    int i,j;
+    dbgmsgf=0;  
+    int ret=0;
+    int sum=0;
+    memset((char*)rxCmdStatus,0,sizeof(rxCmdStatus));
+    SendLPWAcmd("< GNSS HOST_FW_SENT SET_EVT 0x0001");
+    while(timeout--) {
+       wait_ms(500);
+       if (strstr((char*)rxCmdStatus,"$GPGGA") ) break;
+    }
+    wait_ms(1);
+    if (timeout) {
+      for(i=0,j=0;i<128;i++) {
+        if (rxCmdStatus[i]== ',' ) {
+            j++;
+            if (j==2 && rxCmdStatus[i+2]!=',') sscanf((char*)rxCmdStatus+i+1, "%f",pLo );
+            else if (j==4 && rxCmdStatus[i+2]!=',') sscanf((char*)rxCmdStatus+i+1, "%f",pLa );
+            else if (j==8 && rxCmdStatus[i+2]!=',') sscanf((char*)rxCmdStatus+i+1, "%f",pHDOP );
+            else if (j==9 && rxCmdStatus[i+2]!=',') sscanf((char*)rxCmdStatus+i+1, "%d",pElev );
+            ret=1;
+        } else if (rxCmdStatus[i]== '*' ) {
+             sscanf((char*)rxCmdStatus+i+1, "%x",&sum );
+             int x;
+              uint8_t s = 0;
+             for(x=3;rxCmdStatus[x]!='*';x++) s ^= rxCmdStatus[x];
+             s &= 0xff;
+           //  pc.printf("%s %02x, %02x %d\r\n",rxCmdStatus,sum,s & 0xff,sum);
+           if (s != sum){
+                ret = -1;// check sum err
+                pc.printf("sum-err %s %02x, %02x \r\n",rxCmdStatus,sum,s & 0xff);
+           }
+         }
+    }
+    
+     SendLPWAcmd("< GNSS HOST_FW_SENT SET_EVT 0x0000");
+    }
+    dbgmsgf=1;  
+     return(ret);
+}
+
+
+int getGPSGSA(int *pmode,float *pPDOP)
+{
+    int timeout=10;
+    int i,j;
+    dbgmsgf=0;  
+    int ret=0;
+    int sum=0;
+    memset((char*)rxCmdStatus,0,sizeof(rxCmdStatus));
+    SendLPWAcmd("< GNSS HOST_FW_SENT SET_EVT 0x0004");
+    while(timeout--) {
+       wait_ms(500);
+       if (strstr((char*)rxCmdStatus,"GSA") ) break;
+    }
+    wait_ms(1);
+    if (timeout) {
+      for(i=0,j=0;i<128;i++) {
+        if (rxCmdStatus[i]== ',' ) {
+            j++;
+            if (j==2 && rxCmdStatus[i+2]!=',') sscanf((char*)rxCmdStatus+i+1, "%d",pmode );
+            else if (j==16 && rxCmdStatus[i+2]!=',') sscanf((char*)rxCmdStatus+i+1, "%f",pPDOP );
+            ret=1;
+        } else if (rxCmdStatus[i]== '*' ) {
+             sscanf((char*)rxCmdStatus+i+1, "%x",&sum );
+             int x;
+              uint8_t s = 0;
+             for(x=3;rxCmdStatus[x]!='*';x++) s ^= rxCmdStatus[x];
+             s &= 0xff;
+           //  pc.printf("%s %02x, %02x %d\r\n",rxCmdStatus,sum,s & 0xff,sum);
+           if (s != sum){
+                ret = -1;// check sum err
+                pc.printf("sum-err %s %02x, %02x \r\n",rxCmdStatus,sum,s & 0xff);
+           }
+         }
+    }
+    
+     SendLPWAcmd("< GNSS HOST_FW_SENT SET_EVT 0x0000");
+    }
+    dbgmsgf=1;  
+     return(ret);
+}
+
+
+
+int getGPSRMC(char *ptime,char *pdate,float *pLo,float *pLa)
+{
+    int timeout=10;
+    int i,j;
+    dbgmsgf=0;  
+    int ret=0;
+    int sum=0;
+    memset((char*)rxCmdStatus,0,sizeof(rxCmdStatus));
+    SendLPWAcmd("< GNSS HOST_FW_SENT SET_EVT 0x0020");
+    while(timeout--) {
+       wait_ms(500);
+       if (strstr((char*)rxCmdStatus,"RMC") ) break;
+    }
+    wait_ms(1);
+    if (timeout) {
+      for(i=0,j=0;i<128;i++) {
+        if (rxCmdStatus[i]== ',' ) {
+            j++;
+            if (j==1) memcpy(ptime,(char*)rxCmdStatus+i+1,9 );
+            else if (j==9) memcpy(pdate,(char*)rxCmdStatus+i+1,6 );
+            else if (j==3 && rxCmdStatus[i+2]!=',') sscanf((char*)rxCmdStatus+i+1, "%f",pLo );
+            else if (j==5 && rxCmdStatus[i+2]!=',') sscanf((char*)rxCmdStatus+i+1, "%f",pLa );
+            ret=1;
+        } else if (rxCmdStatus[i]== '*' ) {
+             sscanf((char*)rxCmdStatus+i+1, "%x",&sum );
+             int x;
+              uint8_t s = 0;
+             for(x=3;rxCmdStatus[x]!='*';x++) s ^= rxCmdStatus[x];
+             s &= 0xff;
+           //  pc.printf("%s %02x, %02x %d\r\n",rxCmdStatus,sum,s & 0xff,sum);
+           if (s != sum){
+                ret = -1;// check sum err
+                pc.printf("sum-err %s %02x, %02x \r\n",rxCmdStatus,sum,s & 0xff);
+           }
+         }
+    }
+    
+     SendLPWAcmd("< GNSS HOST_FW_SENT SET_EVT 0x0000");
+    }
+    dbgmsgf=1;  
+     return(ret);
+}
+
+
+
 int main()
 {
        int i=0;
        short  x,y,z;
-       
-       
+       char c;
+       int ret;
+       int rtcenb=0;
+        rtc_init();
+        printf("\r\n**** Hello UD-GS1 by mbed ******\r\n");
+        
+        long llo = convertLoInt(136.599999f);
+        float flo =  convertLoFloat(llo);
+        long lla = convertLaInt(36.599999f);
+        float fla = convertLaFloat(lla);
+        pc.printf("lo=%f %08x la=%f %08x\r\n", flo,llo,fla,lla);         
+        llo = convertLoInt(146.0f);
+        flo =  convertLoFloat(llo);
+        lla = convertLaInt(46.0f);
+        fla = convertLaFloat(lla);
+        pc.printf("lo=%f %08x la=%f %08x\r\n", flo,llo,fla,lla);         
+        
+        
+        if (wd.WatchdogCausedReset())
+            pc.printf("Watchdog caused reset.\r\n");
+        wd.Configure(30); 
+        wd.Service(); 
   //     enabl.mode(PullNone);
   //     wkup.mode(PullNone);
   //     v20v.mode(PullNone);
   // ext7.mode(PullNone);
-event.rise (&intpin1);
-event.enable_irq();
+       dbgmsgf=1;  
        enabl = 0;
-       wkup = 1;    // Normal mode
-       v20v = 1;   //2V off   
-      
-//       pc.attach(cmd_rx_Irq,Serial::RxIrq); 
+       wkup =  1;    // Normal mode
+       v20v =  1;   //2V off   
+       wait_ms(100);    
+       enabl = 1;  // enable
+       v20v =  0;   //2V ON   
+       while(pclpwa.readable()) c = pclpwa.getc();       
        pclpwa.attach(rx_Irq,Serial::RxIrq); 
-       pclpwa.set_flow_control(Serial::RTSCTS,PB_1,PB_13);
-       printf("\r\n**** Hello UD-GS1 by mbed ******\r\n");
-       wait_ms(100); 
+       pclpwa.set_flow_control(Serial::RTSCTS,PB_1,PB_13); 
+       wait_ms(500);  // 4sec 
+       printf("\r\n**** LPWA ON  ******\r\n");
+       
+       event.rise (&intpin1);
+       event.enable_irq();
        pc.printf("Adc=%d INT1=%d INT2=%d ",(int)(batlev.read()*100.0f) , intout1.read(),intout2.read());
        initLIS3DH();
        read3axes(&x,&y,&z);
-       printf("3D acc x=%d y=%d z=%d\r\n",x,y,z);
-       v20v = 0;   //2V on    
-       wait_ms(100);    
-       enabl = 1;  // enable
-       wait_ms(4000);  // 100 ms
+       printf("3D acc x=%d y=%d z=%d Temp=%d\r\n",x,y,z,readTemp(NULL));
 //        interrput.attach(&intTimer, 0.001);
 #if 0       
  SendLPWAcmd("< SYS MODE SET 05");
@@ -167,22 +484,85 @@
  SendLPWAcmd("< SYS EEPROM GET 0x0414");
  while(1);       
 #endif       
-       SendLPWAcmd("< SYS MODE SET 00");
+       dbgmsgf=0;  
+       ret = SendLPWAcmd("< SYS MODE SET 00");
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
 //       SendLPWAcmd("< SYS MODE SET_EVT ON");
-       SendLPWAcmd("< SYS VER GET");
-       wait_ms(100);    
-       SendLPWAcmd("< GNSS VER GET");
-       wait_ms(100);    
+       ret = SendLPWAcmd("< SYS VER GET");
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
+//       wait_ms(100);    
+       ret = SendLPWAcmd("< GNSS VER GET");
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
+//       wait_ms(100);    
+       ret = SendLPWAcmd("< SYS MODE SET 00");
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
 //       SendLPWAcmd("< SYS TO_WAIT_FETCHING SET ON");
-       SendLPWAcmd("< SYS TO_FETCHING SET ON");
-       SendLPWAcmd("< TX PLD SET 0123456789ABCDEF0123456789ABCDEF");
+       ret = SendLPWAcmd("< SYS TO_FETCHING SET ON");
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
+       ret = SendLPWAcmd("< TX PLD SET 0123456789ABCDEF0123456789ABCDEF");
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
 //       SendLPWAcmd("< GNSS HOST_FW_SENT SET_EVT 0x0001");
-       SendLPWAcmd("< TX PREV_STT SET_EVT ON");
-       SendLPWAcmd("< GNSS STT GET");
+       ret = SendLPWAcmd("< TX PREV_STT SET_EVT ON");
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
+       ret = SendLPWAcmd("< GNSS STT GET");
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
+        char pay[16]={0x00, 0x01, 0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x10,0x20,0x30,0x40,0x50,0x60,0x70};
+        setPayload(pay);
+       if (ret==0) pc.write((const uint8_t *)rxbuffer,oldrxindex+1,NULL);
+       else pc.printf("Set payload error\r\n");
+
+       dbgmsgf=1;  
+
+       wd.Configure(20.0f); 
+
        while (1) {
+          int mode;
+          float lo=0.0f,la=0.0f,HDOP;
+          long elev;
+          wd.Service(); 
+
+          
           // printf(" cnt=%d   stat= ",i++);
-           SendLPWAcmd("< GNSS STT GET");
-           pc.printf("Adc=%d INT1=%d INT2=%d ",(int)(batlev.read()*100.0f) , intout1.read(),intout2.read());
+           //SendLPWAcmd("< GNSS STT GET");
+           mode = getGNSSmode();
+           if (mode & 2  && rtcenb==0 ) {
+               char st[32];
+               if (getTimeFromGPS(st,1)>0) {
+                    pc.printf("%s ",st );
+            
+                   rtcenb=1;
+               }
+           }
+           pc.printf("Adc=%d INT1=%d INT2=%d mode=%02x  next time=%d\r\n",(int)(batlev.read()*100.0f) , intout1.read(),intout2.read(), mode ,getNextTimeSet());
+           if (mode & 4) {
+               char stime[10]={0};
+               char sdate[8]={0};
+               if (getGPSposGGA( &lo , &la, &HDOP,&elev) >= 0) {
+                   pc.printf("Lo=N %f La=E %f HDOP=%f  evevation=%d\r\n", lo/100.0f,la/100.0f,HDOP,elev); 
+               }
+               
+                if ( getGPSGSA(&mode,&HDOP) >= 0)
+                   pc.printf("GSA 2D/3D mode=%d PDOP=%f\r\n", mode,HDOP); 
+
+                if (getGPSRMC(stime,sdate,&lo , &la) >=0) 
+                   pc.printf("RMC Lo=N %f La=E %f time %s date=%s\r\n", lo/100.0f,la/100.0f,stime,sdate); 
+               
+           }
+           if (mode &0x80)    
+               pc.printf("next time=%d  send=%d ",getNextTimeSet(), getNextTimeSend());
+if (rtcenb)
+{
+           time_t tim = rtc_read();
+           struct tm *now;
+           char buf[24]={0};
+           now = localtime(&tim);
+           strftime(buf, 23,"%Y %m/%d %T",now);
+           pc.printf("RTC time=%s\n\r",buf);
+}
+           pc.printf("Temp =%d ",readTemp(NULL));
+
+
+           
            wait_ms(4000);
      //  pc.write((const uint8_t *)"ACBD\r\n",6,NULL);
      //  pc.puts("ASDFGREWA\r\n");
@@ -215,7 +595,7 @@
   Read multi regsters from SPI
 *************************************************/
 unsigned char spireadRegs(unsigned char ad,unsigned char *p,int bytes){
-#if 1
+#if 0
    while(bytes--) {
       *p = spireadReg( ad );
       p++;
@@ -249,6 +629,45 @@
 }
 
 
+/****************************************
+  half float 16bit浮動小数点からfloatに変換
+  SEEEEE TT TTTT TTTT  --> SEEEEEEEE E TTT TTTT TTTT TTTT TTTT
+  signed ext 
+  float 指数部 bias 127
+  half  指数部 bias 15
+*****************************************/
+float UDGS1_16decodeFloat(unsigned short v){
+    volatile float r;
+    int sign = 1;
+    if (v & 0x8000) { sign = -1; v&= 0x7fff;}
+
+    if(v==0) return(0.0f);
+    if((v & 0x7c00) == 0 ) 
+        *(unsigned long *)&r = ((v & 0x3ff) << (23-10));
+    else 
+        *(unsigned long *)&r = ((v & 0x3ff) << (23-10)) | (((v>>10) + (127-15)) << 23) ;  
+    return(r * sign);
+}
+
+/****************************************
+  float から half 16bit浮動小数点に変換
+  SEEEEE TT TTTT TTTT  <-- SEEEEEEEE E TTT TTTT TTTT TTTT TTTT
+  float 指数部 bias 127
+  half  指数部 bias 15
+*****************************************/
+unsigned short UDGS1_16encodeFloat(float v){
+    unsigned short sign = 0;
+    if (v < 0.0f) sign = 0x8000;
+  
+    register unsigned long tf;
+    register unsigned short exp;
+    if(v <= 0.000000059f)return(0);
+    if(v > 131008.0f)return(0x7fff);
+    tf = *(unsigned long *)&v;
+    exp = ((tf >> 23) & 0xff ) - (127-15);
+    return( ((tf >> 13) & 0x3ff) | (exp << 10) | sign );
+}
+
 
 /****************************************
   tyny 13bit浮動小数点からfloatに変換
@@ -322,8 +741,7 @@
 {
     int timeout=5;
     unsigned char regs[6];
-//    STSPI.frequency(1000);
-    
+   
     while((spireadReg(0x07)&7)==0 && timeout--){wait_us(5);};
     spireadRegs(0x28,regs,6);// 12bit signed   1G = 413 9.8m/s**2
 //    STSPI.frequency(); //1MHz
@@ -333,4 +751,18 @@
     return(0);
 }
 
+/*************************************************
+  read temparature from LIS3DH
+*************************************************/
+int readTemp(short *tmp)
+{
+    int t;
+    t = spireadReg(0x0d);
+    t |=  spireadReg(0x0e) << 8;
+    t >>= 4;
+//    pc.printf("tmp %d %04x\r\n", t, t);
+    if (tmp) *tmp = t;
+    return(t);
+}
+
  
\ No newline at end of file

--- a/targets/TARGET_STM/TARGET_STM32L0/device.h	Sat Sep 22 13:35:44 2018 +0000
+++ b/targets/TARGET_STM/TARGET_STM32L0/device.h	Mon Sep 24 15:11:03 2018 +0000
@@ -36,5 +36,5 @@
 #define DEVICE_ID_LENGTH       24
 
 #include "objects.h"
-
+#define RTC_LSI 1 
 #endif

--- a/targets/TARGET_STM/rtc_api.c	Sat Sep 22 13:35:44 2018 +0000
+++ b/targets/TARGET_STM/rtc_api.c	Mon Sep 24 15:11:03 2018 +0000
@@ -34,7 +34,7 @@
 #include "mbed_error.h"
 
 static RTC_HandleTypeDef RtcHandle;
-
+//#define DEVICE_RTC_LSI 1 
 #if RTC_LSI
 #define RTC_CLOCK LSI_VALUE
 #else

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/watchdog.cpp	Mon Sep 24 15:11:03 2018 +0000
@@ -0,0 +1,131 @@
+/// @file Watchdog.cpp provides the interface to the Watchdog module
+///
+/// This provides basic Watchdog service for the mbed. You can configure
+/// various timeout intervals that meet your system needs. Additionally,
+/// it is possible to identify if the Watchdog was the cause of any 
+/// system restart.
+/// 
+/// Adapted from Simon's Watchdog code from http://mbed.org/forum/mbed/topic/508/
+///
+/// @note Copyright © 2011 by Smartware Computing, all rights reserved.
+///     This software may be used to derive new software, as long as
+///     this copyright statement remains in the source file.
+/// @author David Smart
+///
+/// @note Copyright © 2015 by NBRemond, all rights reserved.
+///     This software may be used to derive new software, as long as
+///     this copyright statement remains in the source file.
+///
+///     Added support for STM32 Nucleo platforms
+///
+/// @author Bernaérd Remond
+///
+ 
+//#define LPC
+#define ST_NUCLEO
+ 
+ 
+#include "mbed.h"
+#include "watchdog.h"
+ 
+ 
+/// Watchdog gets instantiated at the module level
+Watchdog::Watchdog() {
+#ifdef LPC    
+    wdreset = (LPC_WDT->WDMOD >> 2) & 1;    // capture the cause of the previous reset
+#endif
+#ifdef ST_NUCLEO
+    // capture the cause of the previous reset
+    /* Check if the system has resumed from IWDG reset */
+/*
+    if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)) {
+        wdreset = true;
+    }
+    else {
+        wdreset = false; 
+    }
+*/        
+        wdreset = false; 
+#endif
+ 
+}
+ 
+/// Load timeout value in watchdog timer and enable
+void Watchdog::Configure(float timeout) {
+#ifdef LPC    
+    LPC_WDT->WDCLKSEL = 0x1;                // Set CLK src to PCLK
+    uint32_t clk = SystemCoreClock / 16;    // WD has a fixed /4 prescaler, PCLK default is /4
+    LPC_WDT->WDTC = (uint32_t)(timeout * (float)clk);
+    LPC_WDT->WDMOD = 0x3;                   // Enabled and Reset
+#endif   
+#ifdef ST_NUCLEO
+    // see http://embedded-lab.com/blog/?p=9662    
+    #define LsiFreq (45000)
+    
+    uint16_t PrescalerCode;
+    uint16_t Prescaler;
+    uint16_t ReloadValue;
+    float Calculated_timeout;
+    
+    if ((timeout * (LsiFreq/4)) < 0x7FF) {
+        PrescalerCode = IWDG_PRESCALER_4;
+        Prescaler = 4;
+    }
+    else if ((timeout * (LsiFreq/8)) < 0xFF0) {
+        PrescalerCode = IWDG_PRESCALER_8;
+        Prescaler = 8;
+    }
+    else if ((timeout * (LsiFreq/16)) < 0xFF0) {
+        PrescalerCode = IWDG_PRESCALER_16;
+        Prescaler = 16;
+    }
+    else if ((timeout * (LsiFreq/32)) < 0xFF0) {
+        PrescalerCode = IWDG_PRESCALER_32;
+        Prescaler = 32;
+    }
+    else if ((timeout * (LsiFreq/64)) < 0xFF0) {
+        PrescalerCode = IWDG_PRESCALER_64;
+        Prescaler = 64;
+    }
+    else if ((timeout * (LsiFreq/128)) < 0xFF0) {
+        PrescalerCode = IWDG_PRESCALER_128;
+        Prescaler = 128;
+    }
+    else {
+        PrescalerCode = IWDG_PRESCALER_256;
+        Prescaler = 256;
+    }
+    
+    // specifies the IWDG Reload value. This parameter must be a number between 0 and 0x0FFF.
+    ReloadValue = (uint32_t)(timeout * (LsiFreq/Prescaler));
+    
+    Calculated_timeout = ((float)(Prescaler * ReloadValue)) / LsiFreq;
+    printf("WATCHDOG set with prescaler:%d reload value: 0x%X - timeout:%f\n",Prescaler, ReloadValue, Calculated_timeout);
+    
+    IWDG->KR = 0x5555; //Disable write protection of IWDG registers      
+    IWDG->PR = PrescalerCode;      //Set PR value      
+    IWDG->RLR = ReloadValue;      //Set RLR value      
+    IWDG->KR = 0xAAAA;    //Reload IWDG      
+    IWDG->KR = 0xCCCC;    //Start IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf       
+#endif
+ 
+    Service();
+}
+ 
+/// "Service", "kick" or "feed" the dog - reset the watchdog timer
+/// by writing this required bit pattern
+void Watchdog::Service() {
+#ifdef LPC    
+    LPC_WDT->WDFEED = 0xAA;
+    LPC_WDT->WDFEED = 0x55;
+#endif    
+#ifdef ST_NUCLEO
+    IWDG->KR = 0xAAAA;         //Reload IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf
+#endif
+}
+ 
+/// get the flag to indicate if the watchdog causes the reset
+bool Watchdog::WatchdogCausedReset() {
+    return wdreset;
+}
+ 
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/watchdog.h	Mon Sep 24 15:11:03 2018 +0000
@@ -0,0 +1,101 @@
+/// @file Watchdog.h provides the interface to the Watchdog module
+///
+/// This provides basic Watchdog service for the mbed. You can configure
+/// various timeout intervals that meet your system needs. Additionally,
+/// it is possible to identify if the Watchdog was the cause of any 
+/// system restart, permitting the application code to take appropriate
+/// behavior.
+/// 
+/// Adapted from Simon's Watchdog code from http://mbed.org/forum/mbed/topic/508/
+///
+/// @note Copyright © 2011 by Smartware Computing, all rights reserved.
+///     This software may be used to derive new software, as long as
+///     this copyright statement remains in the source file.
+/// @author David Smart
+///
+/// History
+/// \li v1.00 - 20110616: initial release with some documentation improvements
+///
+#ifndef WATCHDOG_H
+#define WATCHDOG_H
+#include "mbed.h"
+ 
+/// The Watchdog class provides the interface to the Watchdog feature
+///
+/// Embedded programs, by their nature, are usually unattended. If things
+/// go wrong, it is usually important that the system attempts to recover.
+/// Aside from robust software, a hardware watchdog can monitor the
+/// system and initiate a system reset when appropriate.
+///
+/// This Watchdog is patterned after one found elsewhere on the mbed site,
+/// however this one also provides a method for the application software
+/// to determine the cause of the reset - watchdog or otherwise.
+///
+/// example:
+/// @code
+/// Watchdog wd;
+///
+/// ...
+/// main() {
+///    if (wd.WatchdogCausedReset())
+///        pc.printf("Watchdog caused reset.\r\n");
+///      
+///    wd.Configure(3.0);       // sets the timeout interval
+///    for (;;) {
+///         wd.Service();       // kick the dog before the timeout
+///         // do other work
+///    }
+/// }
+/// @endcode
+///
+class Watchdog {
+public:
+    /// Create a Watchdog object
+    ///
+    /// example:
+    /// @code
+    /// Watchdog wd;    // placed before main
+    /// @endcode
+    Watchdog();
+    
+    /// Configure the timeout for the Watchdog
+    ///
+    /// This configures the Watchdog service and starts it. It must
+    /// be serviced before the timeout, or the system will be restarted.
+    ///
+    /// example:
+    /// @code
+    ///     ...
+    ///     wd.Configure(1.4);  // configure for a 1.4 second timeout
+    ///     ...
+    /// @endcode
+    ///
+    /// @param[in] timeout in seconds, as a floating point number
+    /// @returns none
+    ///
+    void Configure(float timeout);
+    
+    /// Service the Watchdog so it does not cause a system reset
+    ///
+    /// example:
+    /// @code
+    ///    wd.Service();
+    /// @endcode
+    /// @returns none
+    void Service();
+    
+    /// WatchdogCausedReset identifies if the cause of the system
+    /// reset was the Watchdog
+    ///
+    /// example:
+    /// @code
+    ///    if (wd.WatchdogCausedReset())) {
+    /// @endcode
+    ///
+    /// @returns true if the Watchdog was the cause of the reset
+    bool WatchdogCausedReset();
+private:
+    bool wdreset;
+};
+ 
+#endif // WATCHDOG_H
\ No newline at end of file