File content as of revision 38:87b7b3de6e88:

#include "mbed.h"
#include "SDFileSystem.h"
#include <errno.h>
#include <stdio.h>
#include <FileHandle.h>
#include <mbed_poll.h>

/*
   This basic example just shows how to read the ADC internal channels raw values.
   Please look in the corresponding device reference manual for a complete
   description of how to make a temperature sensor, VBat or Vref measurement.
*/

AnalogIn adc_temp(ADC_TEMP);
AnalogIn adc_vref(ADC_VREF);
/* UD-GS2 H/W define
 PIO_SWin    PB_4
 PIO_wkup    PA_4
 PIO_enable  PB_0
 PIO_intout1 PB_2
 PIO_led     PB_5
 PIO_v20v    PC_13
 PIO_v18v    PH_0
 PIO_intout2 PH_1
 PIO_spics   PB_12
 PIO_battryMonEn   PA_5
 PB_7 SDA
 PB_6 SCL

*/
//DigitalOut hx_clk(PB_7);
//DigitalIn hx_dt(PB_6);
//I2C               i2cacc(p_sda, p_scl)

//#include "H3LIS331DL.h"

//#define TIMEINTERVAL

//キャリブレーション　仮値
//No.1
#define OFFSET_X   220
#define OFFSET_Y   220 
#define OFFSET_Z   -40 
//No.2
//#define OFFSET_X   375 
//#define OFFSET_Y   340 
//#define OFFSET_Z   -200
//#define OFFSET_X   0
//#define OFFSET_Y   0 
//#define OFFSET_Z   0

#define DATA_SIZE 512
//#define MBED_BUFF 512


HAL_StatusTypeDef writeEEPROMByte(uint32_t address, uint8_t data);
uint8_t readEEPROMByte(uint32_t address);


//H3LIS331DL  h3dacc(PB_7,PB_6);
I2C i2c(PB_7,PB_6);                          //NUCLEO pin assign

RawSerial         pc(PA_9, PA_10,115200); //console UART
//LowPowerTicker    interrupt;
//Ticker    interrupt;
SPI               STSPI(PB_15, PB_14, PB_13); //mosi,miso,clk
DigitalOut        STSPICS(PB_12);

SDFileSystem *sd = new SDFileSystem(PA_12, PA_11, PB_3, PA_15, "sd"); // mosi, miso, sclk, cs, name

DigitalOut        myled(PB_5);
DigitalIn         button(PB_4);
int               btn_flag = 0;

int initLIS3DH();
int read3axes(short *tx,short *ty,short *tz);
int initLIS331();
int read3axes331(short *tx,short *ty,short *tz);
int int_sqrt(unsigned int x);
//int readTemp(short *tmp);
FILE     *fp1,*fp2;//fp1:H3LIS331DL, fp2:LIS3DH
unsigned long timecount = 0;
short oldcount = 0;
short newcount = 0;
long max_g=0;
long tmp_max=0;
long tmp_max2=0;
short  update=0;
char buffer1[DATA_SIZE] = {};
char buffer2[DATA_SIZE] = {};
char stracc1[32] = {}, stracc2[32] = {};
 int lognum1 = 0, lognum2 = 0;
char filename1[16]= {};
char filename2[16]= {};
int ret = 0,init=1;
short end_flag = 0;

/*
void timer(){
}
*/

void sub(){
    static short tx=0,ty=0,tz=0;
    static short tx2=0,ty2=0,tz2=0;
    static long scr = 0;
    static long scr2 = 0;
    static long ax,ay,az,as;
    static long ax2,ay2,az2,as2;
    
    read3axes331(&tx,&ty,&tz);
    //キャリブレーションの補正
    tx += OFFSET_X;
    ty += OFFSET_Y;
    tz += OFFSET_Z;
    
    //スカラー値変換
    scr = int_sqrt( tx*tx  + ty*ty + tz*tz);// 195mg/digit
    //now_g = scr;
    
    ax+= tx;
    ay+= ty;
    az+= tz;
    as+= scr;
    //newcount++;
    //pc.printf("%d,%d,x:%2.2f y:%2.2f,z:%2.2f scaler = %2.2f \r\n",timecount,time(NULL),(float)tx*0.005,(float)ty*0.005,(float)tz*0.005,(float)scr*0.005);
    //pc.printf("new x:%d y:%d,z:%d scaler = %d \r\n",tx,ty,tz,scr);
    
    //Total Max G
    if ( max_g < scr) {
        max_g = scr;
        //update=1;
        //pc.printf("%max g=%d \r\n",max_g);
        //Save EEPROM
        for(int i = 0; i < 4; i++){
            //pc.printf("writerom 0x%x\r\n",(max_g >> 8*i) & 0xFF);
            writeEEPROMByte(i, (max_g >> 8*i) & 0xFF);
        }
    }
    
    //MAX G per cycle
    if(tmp_max < scr){
        tmp_max = scr;
    }
    
    //平均(/s)
    if (newcount == 500) {
        float asc = (float)as / 500.0f;
        pc.printf("avarage(new) x:%2.2f,y:%2.2f,z:%2.2f,scaler=%2.2f,max:%2.2f\r\n",
            (float)ax/500.0f*0.005,(float)ay/500.0f*0.005,(float)az/500.0f*0.005,(float)as/500.0f*0.005, (float)tmp_max*0.005);
        sprintf(stracc1,"%d,%d,%2.2f,%2.2f\r\n",timecount,time(NULL),asc*0.005,(float)tmp_max*0.005);
        
        if((strlen(buffer1)+strlen(stracc1)) > DATA_SIZE) {
            pc.printf("try write fp1:%d,%d\r\n",strlen(buffer1),strlen(stracc1));
            //ret = fprintf(fp1,"%s",buffer1);
            ret = fwrite(buffer1,sizeof(char),strlen(buffer1),fp1);
            if(ret < strlen(buffer1)){
                pc.printf("fp1 write failed:%d. errno:%d. Reboot!!!\r\n",ret,errno);
                NVIC_SystemReset();
            }  
            memset(buffer1,0,sizeof(buffer1));
            sprintf(buffer1,"%s",stracc1);
        } else {
            sprintf(buffer1,"%s%s",buffer1,stracc1);
        }
    
        as=ax=ay=az=0;
        newcount = 0;
        tmp_max = 0;
    }
    
    if( (oldcount % 10) == 0){
        //LIS3DH
        read3axes(&tx2,&ty2,&tz2);
        scr2 = int_sqrt( tx2*tx2  + ty2*ty2 + tz2*tz2);
        ax2+= tx2;
        ay2+= ty2;
        az2+= tz2;
        as2+= scr2;
        if(tmp_max2 < scr2){
            tmp_max2 = scr2;
        }
         //pc.printf("old %d,%d,x:%2.2f y:%2.2f,z:%2.2f scaler = %2.2f \r\n",timecount,time(NULL),(float)tx2*0.005,(float)ty2*0.005,(float)tz2*0.005,(float)scr2*0.005);
        //pc.printf("%d,%d,old x:%d,y:%d,z:%d scaler = %d\r\n",timecount,time(NULL),tx,ty,tz,scr);
        //sprintf(stracc2,"%d,%d,%d\r\n",timecount,time(NULL),scr);
        //pc.printf("lis3dh:%s",stracc2);
        if(oldcount == 5000){
            float asc2 = (float)as2 / 500.0f;
            //pc.printf("avarage(old) x:%2.2f,y:%2.2f,z:%2.2f,scaler=%2.2f,max:%2.2f\r\n",
            //(float)ax2/500.0f*0.005,(float)ay2/500.0f*0.005,(float)az2/500.0f*0.005,(float)as2/500.0f*0.005, (float)tmp_max2*0.005);
            sprintf(stracc2,"%d,%d,%2.2f,%2.2f\r\n",timecount,time(NULL),asc2*0.005,(float)tmp_max2*0.005);
            
            if( (strlen(buffer2)+ strlen(stracc2)) > DATA_SIZE) {
                pc.printf("try write fp2:%d,%d\r\n",strlen(buffer2),strlen(stracc2));
                ret = fwrite(buffer2,sizeof(char),strlen(buffer2),fp2);
                if(ret < strlen(buffer2)){
                    pc.printf("fp2 write failed:%d. errno:%d. Reboot!!!\r\n",ret,errno);
                    NVIC_SystemReset();
                }
               
                memset(buffer2,0,sizeof(buffer2));
                sprintf(buffer2,"%s",stracc2);
            } else {
                sprintf(buffer2,"%s%s",buffer2,stracc2);
            }
        
            oldcount = 0;
            as2=ax2=ay2=az2=0;
            tmp_max2 = 0;
        }
    }
    
    if((time(NULL) % 300) == 0){
        //5 minutes passed. Save File.
        if(fp1){
            fclose(fp1);
            fp1 = NULL;
        }
        if(fp2){
            fclose(fp2);
            fp2 = NULL;
        }
        fp1 = fopen(filename1,"ab");
        if(!fp1){
            pc.printf("fp1 create file failed:%d\r\n",errno);
            NVIC_SystemReset();
        }
        fp2 = fopen(filename2,"ab");
        if(!fp2){
            pc.printf("fp2 create file failed:%d\r\n",errno);
            NVIC_SystemReset();
        }
    }

    if(time(NULL) > 86400){
            //Create New File
            set_time(NULL);
            timecount = 0;
            if(fp1){
                fclose(fp1);
                //free(fp1);
                fp1 = NULL;
            }
            if(fp2){
                fclose(fp2);
                //free(fp2);
                fp2 = NULL;
            }
            lognum1++;
            lognum2++;
            sprintf(filename1,"/sd/new_%d",lognum1);
            sprintf(filename2,"/sd/old_%d",lognum2);
            fp1 = fopen(filename1,"ab");
            if(!fp1){
                pc.printf("fp1 create file failed:%d\r\n",errno);
                NVIC_SystemReset();
                }
            fp2 = fopen(filename2,"ab");
            if(!fp2){
                pc.printf("fp2 create file failed:%d\r\n",errno);
                NVIC_SystemReset();
            }
            pc.printf("Create New File:%d,%d",timecount,time(NULL));
        }
        
        //Button Check
        if(button.read() == 1){
            btn_flag++;
            //pc.printf("Button pressed:%d\r\n",btn_flag);
        }
        else{
            btn_flag = 0;
        }
        
        if(btn_flag > 200){
            //pc.printf("Button Pressed. Close fp\r\n");
            if(fp1){
                fclose(fp1);
                fp1 = NULL;
            }
            if(fp2){
                fclose(fp2);
                fp2 = NULL;
            }
            btn_flag = 0;
            myled = 0;
            end_flag = 1;
            wait(1);        
        }
}

int main()
{
    i2c.frequency(400000);
    short retry = 0;
    sprintf(filename1,"/sd/new_%d",lognum1);
    sprintf(filename2,"/sd/old_%d",lognum2);

    while(!fp1 && retry < 5){
        fp1 = fopen(filename1,"ab");
        if(!fp1) {
            pc.printf("fp1(%s) open failed errno:%d\r\n",filename1,errno);
            //NVIC_SystemReset();
        }
        retry++;
        wait_ms(100);
    }
    retry = 0;
    while(!fp2 && retry < 5){
        fp2 = fopen(filename2,"ab");
        if(!fp2) {
            pc.printf("fp2(%s) open failed errno:%d\r\n",filename2,errno);
            //NVIC_SystemReset();
        }
        retry++;
        wait_ms(100);
    }
    
    //Read Max G
    for(int i = 0; i < 4; i++){
            //pc.printf("readEEPROM:0x%x\r\n",readEEPROMByte(i));
            max_g |=  readEEPROMByte(i) << 8*i;
    }
    pc.printf("read max_g from eeprom:%d\r\n",max_g);

    while(init) {
        init = initLIS331();
        initLIS3DH();
        pc.printf(" init acc sensor %d\r\n",ret);
        wait_ms(100);
    }
    //interrupt.attach_us(&timer,20000);//20ms
    while(!end_flag)
    {
        timecount++;
        oldcount++;
        newcount++;
        sub();
        //wait_ms(20);
        //wait_ms(1);
    }
    pc.printf("Program End.\r\n");
    return 0;
}
/*********** porting **************/
void spiFormat(int b,int m)
{
    STSPI.format(b,m);  /* 8bit */
}
void spiFrequency(int f)
{
    STSPI.frequency(f); /* 1Mbps */
}
void spiWriteCS(int cs)
{
    STSPICS=cs;
}
int spiWrite(int wd)
{
    return ( STSPI.write(wd));
}

/*******************************************************
  EEPROM WRITE
********************************************************/  
HAL_StatusTypeDef writeEEPROMByte(uint32_t address, uint8_t data)
 {
    HAL_StatusTypeDef  status;
    address = address + 0x08080000;
    HAL_FLASHEx_DATAEEPROM_Unlock();  //Unprotect the EEPROM to allow writing
    status = HAL_FLASHEx_DATAEEPROM_Program(TYPEPROGRAMDATA_BYTE, address, data);
    HAL_FLASHEx_DATAEEPROM_Lock();  // Reprotect the EEPROM
    return status;
}

/*******************************************************
  EEPROM READ 
********************************************************/  
uint8_t readEEPROMByte(uint32_t address) {
    volatile uint8_t tmp ;
    address = address + 0x08080000;
    tmp = *(__IO uint8_t*)address;
    return tmp;
}

/***************************
  integer sqrt
    整数 sqrt √演算を整数で　ライブラリより速い
****************************/
int int_sqrt(unsigned int x)
{
  register int a = 0, c = 0, y = 0, i = 0, t = x;
  while(t >>= 1){
    ++i;
  }
  for(i += i & 1; i >= 0; i -= 2){
    c = (y << 1 | 1) <= x >> i;
    a = a << 1 | c;
    y = y << 1 | c;
    x -= c * y << i;
    y += c;
  }
  return a;
}