U of Calegary - Okeef
d
Dependencies: General C12832 FatFileSystemCpp mbed
Fork of
MPU9150AHRS
by 
Kris Winer
Revision 1:4523d7cda75e, committed 2016-06-17
- Comitter:
- Kekehoho
- Date:
- Fri Jun 17 20:35:28 2016 +0000
- Parent:
- 0:39935bb3c1a1
- Commit message:
- 2nd try
Changed in this revision
diff -r 39935bb3c1a1 -r 4523d7cda75e BMP180.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BMP180.lib Fri Jun 17 20:35:28 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/U-of-Calegary-Okeef/code/General/#ad676503c87a
diff -r 39935bb3c1a1 -r 4523d7cda75e C12832.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/C12832.lib Fri Jun 17 20:35:28 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/mpetovello/code/C12832/#878d97d7c263
diff -r 39935bb3c1a1 -r 4523d7cda75e DW1000/DW1000.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000/DW1000.cpp Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,295 @@
+#include "DW1000.h"
+
+DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) {
+ setCallbacks(NULL, NULL);
+
+ deselect(); // Chip must be deselected first
+ spi.format(8,0); // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000)
+ spi.frequency(5000000); // with a 1MHz clock rate (worked up to 49MHz in our Test)
+
+ resetAll(); // we do a soft reset of the DW1000 everytime the driver starts
+
+ // Configuration TODO: make method for that
+ // User Manual "2.5.5 Default Configurations that should be modified" p. 22
+ //Those values are for the standard mode (6.8Mbps, 5, 16Mhz, 32 Symbols) and are INCOMPLETE!
+// writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870);
+// writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907);
+// writeRegister32(DW1000_DRX_CONF, 0x08, 0x311A002D);
+// writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD);
+// writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607);
+// writeRegister32(DW1000_TX_POWER, 0, 0x0E082848);
+// writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0);
+// writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0);
+// writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6);
+
+
+ //Those values are for the 110kbps mode (5, 16MHz, 1024 Symbols) and are quite complete
+ writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870); //AGC_TUNE1 for 16MHz PRF
+ writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907); //AGC_TUNE2 (Universal)
+ writeRegister16(DW1000_AGC_CTRL, 0x12, 0x0055); //AGC_TUNE3 (Universal)
+
+ writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A); //DRX_TUNE0b for 110kbps
+ writeRegister16(DW1000_DRX_CONF, 0x04, 0x0087); //DRX_TUNE1a for 16MHz PRF
+ writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols
+ writeRegister32(DW1000_DRX_CONF, 0x08, 0x351A009A); //PAC size for 1024 symbols preamble & 16MHz PRF
+ //writeRegister32(DW1000_DRX_CONF, 0x08, 0x371A011D); //PAC size for 2048 symbols preamble
+
+ writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD); //LDE_CFG1
+ writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); //LDE_CFG2 for 16MHz PRF
+
+ writeRegister32(DW1000_TX_POWER, 0, 0x28282828); //Power for channel 5
+
+ writeRegister8(DW1000_RF_CONF, 0x0B, 0xD8); //RF_RXCTRLH for channel 5
+ writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0); //RF_TXCTRL for channel 5
+
+ writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0); //TC_PGDELAY for channel 5
+
+ writeRegister32 (DW1000_FS_CTRL, 0x07, 0x0800041D); //FS_PLLCFG for channel 5
+ writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6); //FS_PLLTUNE for channel 5
+
+ loadLDE(); // important everytime DW1000 initialises/awakes otherwise the LDE algorithm must be turned off or there's receiving malfunction see User Manual LDELOAD on p22 & p158
+
+ // 110kbps CAUTION: a lot of other registers have to be set for an optimized operation on 110kbps
+ writeRegister16(DW1000_TX_FCTRL, 1, 0x0800 | 0x0100 | 0x0080); // use 1024 symbols preamble (0x0800) (previously 2048 - 0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual
+ writeRegister8(DW1000_SYS_CFG, 2, 0x44); // enable special receiving option for 110kbps (disable smartTxPower)!! (0x44) see p.64 of DW1000 User Manual [DO NOT enable 1024 byte frames (0x03) becuase it generates disturbance of ranging don't know why...]
+
+ writeRegister16(DW1000_TX_ANTD, 0, 16384); // set TX and RX Antenna delay to neutral because we calibrate afterwards
+ writeRegister16(DW1000_LDE_CTRL, 0x1804, 16384); // = 2^14 a quarter of the range of the 16-Bit register which corresponds to zero calibration in a round trip (TX1+RX2+TX2+RX1)
+
+ writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
+
+ irq.rise(this, &DW1000::ISR); // attach interrupt handler to rising edge of interrupt pin from DW1000
+}
+
+void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) {
+ bool RX = false;
+ bool TX = false;
+ if (callbackRX) {
+ DW1000::callbackRX.attach(callbackRX);
+ RX = true;
+ }
+ if (callbackTX) {
+ DW1000::callbackTX.attach(callbackTX);
+ TX = true;
+ }
+ setInterrupt(RX,TX);
+}
+
+uint32_t DW1000::getDeviceID() {
+ uint32_t result;
+ readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
+ return result;
+}
+
+uint64_t DW1000::getEUI() {
+ uint64_t result;
+ readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
+ return result;
+}
+
+void DW1000::setEUI(uint64_t EUI) {
+ writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
+}
+
+uint64_t DW1000::getCIR_PWR() {
+ uint64_t result;
+ readRegister(DW1000_RX_FQUAL, 0,(uint8_t*)&result, 8);
+ return result;
+ }
+
+uint32_t DW1000::getRXPACC() {
+ uint32_t result;
+ readRegister(DW1000_RX_FINFO, 0, (uint8_t*)&result, 8);
+ return result;
+ }
+
+float DW1000::getVoltage() {
+ uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
+ writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
+ writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
+ writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
+ writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
+ readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
+ float Voltage = buffer[5] * 0.0057 + 2.3;
+ //float Temperature = buffer[6] * 1.13 - 113.0; // TODO: getTemperature was always ~35 degree with better formula/calibration
+ return Voltage;
+}
+
+uint64_t DW1000::getStatus() {
+ return readRegister40(DW1000_SYS_STATUS, 0);
+}
+
+uint64_t DW1000::getRXTimestamp() {
+ return readRegister40(DW1000_RX_TIME, 0);
+}
+
+uint64_t DW1000::getTXTimestamp() {
+ return readRegister40(DW1000_TX_TIME, 0);
+}
+
+void DW1000::sendString(char* message) {
+ sendFrame((uint8_t*)message, strlen(message)+1);
+}
+
+void DW1000::receiveString(char* message) {
+ readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength()); // get data from buffer
+}
+
+void DW1000::sendFrame(uint8_t* message, uint16_t length) {
+ //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
+ if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames
+ writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
+
+ uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
+ length += 2; // including 2 CRC Bytes
+ length = ((backup & 0xFC) << 8) | (length & 0x03FF);
+ writeRegister16(DW1000_TX_FCTRL, 0, length);
+
+ stopTRX(); // stop receiving
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
+ startRX(); // enable receiver again
+}
+
+void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp) {
+ //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
+ if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames
+ writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
+
+ uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
+ length += 2; // including 2 CRC Bytes
+ length = ((backup & 0xFC) << 8) | (length & 0x03FF);
+ writeRegister16(DW1000_TX_FCTRL, 0, length);
+
+ writeRegister40(DW1000_DX_TIME, 0, TxTimestamp); //write the timestamp on which to send the message
+
+ stopTRX(); // stop receiving
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x04); // trigger sending process by setting the TXSTRT and TXDLYS bit
+ startRX(); // enable receiver again
+}
+
+void DW1000::startRX() {
+ writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
+}
+
+void DW1000::stopTRX() {
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
+}
+
+// PRIVATE Methods ------------------------------------------------------------------------------------
+void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
+ writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
+ writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
+ wait_us(150);
+ writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
+}
+
+void DW1000::resetRX() {
+ writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
+ writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
+}
+
+void DW1000::resetAll() {
+ writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
+ writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
+ wait_us(10); // wait for PLL to lock
+ writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
+}
+
+
+void DW1000::setInterrupt(bool RX, bool TX) {
+ writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080
+}
+
+void DW1000::ISR() {
+ uint64_t status = getStatus();
+ if (status & 0x4000) { // a frame was received
+ callbackRX.call();
+ writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
+ }
+ if (status & 0x80) { // sending complete
+ callbackTX.call();
+ writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
+ }
+}
+
+uint16_t DW1000::getFramelength() {
+ uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
+ framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
+ return framelength;
+}
+
+// SPI Interface ------------------------------------------------------------------------------------
+uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
+ uint8_t result;
+ readRegister(reg, subaddress, &result, 1);
+ return result;
+}
+
+uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
+ uint16_t result;
+ readRegister(reg, subaddress, (uint8_t*)&result, 2);
+ return result;
+}
+
+uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
+ uint64_t result;
+ readRegister(reg, subaddress, (uint8_t*)&result, 5);
+ result &= 0xFFFFFFFFFF; // only 40-Bit
+ return result;
+}
+
+void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
+ writeRegister(reg, subaddress, &buffer, 1);
+}
+
+void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
+}
+
+void DW1000::writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer) {
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 4);
+}
+
+void DW1000::writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer) {
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 5);
+}
+
+void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
+ setupTransaction(reg, subaddress, false);
+ for(int i=0; i<length; i++) // get data
+ buffer[i] = spi.write(0x00);
+ deselect();
+}
+
+void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
+ setupTransaction(reg, subaddress, true);
+ for(int i=0; i<length; i++) // put data
+ spi.write(buffer[i]);
+ deselect();
+}
+
+void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
+ reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
+ select();
+ if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
+ spi.write(reg | DW1000_SUBADDRESS_FLAG);
+ if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
+ spi.write((uint8_t)(subaddress & 0x7F)
+ | DW1000_2_SUBADDRESS_FLAG); // and
+ spi.write((uint8_t)(subaddress >> 7));
+ } else {
+ spi.write((uint8_t)subaddress);
+ }
+ } else {
+ spi.write(reg); // say which register address we want to access
+ }
+}
+
+void DW1000::select() { // always called to start an SPI transmission
+ irq.disable_irq(); // disable interrupts from DW1000 during SPI becaus this leads to crashes! TODO: if you have other interrupt handlers attached on the micro controller, they could also interfere.
+ cs = 0; // set Cable Select pin low to start transmission
+}
+void DW1000::deselect() { // always called to end an SPI transmission
+ cs = 1; // set Cable Select pin high to stop transmission
+ irq.enable_irq(); // reenable the interrupt handler
+}
diff -r 39935bb3c1a1 -r 4523d7cda75e DW1000/DW1000.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000/DW1000.h Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,115 @@
+// by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
+
+#ifndef DW1000_H
+#define DW1000_H
+
+#include "mbed.h"
+
+// register addresses
+// Mnemonic Address Bytes Description
+#define DW1000_DEV_ID 0x00 // 4 Device Identifier – includes device type and revision information
+#define DW1000_EUI 0x01 // 8 Extended Unique Identifier
+#define DW1000_PANADR 0x03 // 4 PAN Identifier and Short Address
+#define DW1000_SYS_CFG 0x04 // 4 System Configuration bitmap
+#define DW1000_SYS_TIME 0x06 // 5 System Time Counter (40-bit)
+#define DW1000_TX_FCTRL 0x08 // 5 Transmit Frame Control
+#define DW1000_TX_BUFFER 0x09 // 1024 Transmit Data Buffer
+#define DW1000_DX_TIME 0x0A // 5 Delayed Send or Receive Time (40-bit)
+#define DW1000_RX_FWTO 0x0C // 2 Receive Frame Wait Timeout Period
+#define DW1000_SYS_CTRL 0x0D // 4 System Control Register
+#define DW1000_SYS_MASK 0x0E // 4 System Event Mask Register
+#define DW1000_SYS_STATUS 0x0F // 5 System Event Status Register
+#define DW1000_RX_FINFO 0x10 // 4 RX Frame Information (in double buffer set)
+#define DW1000_RX_BUFFER 0x11 // 1024 Receive Data Buffer (in double buffer set)
+#define DW1000_RX_FQUAL 0x12 // 8 Rx Frame Quality information (in double buffer set)
+#define DW1000_RX_TTCKI 0x13 // 4 Receiver Time Tracking Interval (in double buffer set)
+#define DW1000_RX_TTCKO 0x14 // 5 Receiver Time Tracking Offset (in double buffer set)
+#define DW1000_RX_TIME 0x15 // 14 Receive Message Time of Arrival (in double buffer set)
+#define DW1000_TX_TIME 0x17 // 10 Transmit Message Time of Sending (in double buffer set)
+#define DW1000_TX_ANTD 0x18 // 2 16-bit Delay from Transmit to Antenna
+#define DW1000_SYS_STATE 0x19 // 5 System State information
+#define DW1000_ACK_RESP_T 0x1A // 4 Acknowledgement Time and Response Time
+#define DW1000_RX_SNIFF 0x1D // 4 Pulsed Preamble Reception Configuration
+#define DW1000_TX_POWER 0x1E // 4 TX Power Control
+#define DW1000_CHAN_CTRL 0x1F // 4 Channel Control
+#define DW1000_USR_SFD 0x21 // 41 User-specified short/long TX/RX SFD sequences
+#define DW1000_AGC_CTRL 0x23 // 32 Automatic Gain Control configuration
+#define DW1000_EXT_SYNC 0x24 // 12 External synchronisation control.
+#define DW1000_ACC_MEM 0x25 // 4064 Read access to accumulator data
+#define DW1000_GPIO_CTRL 0x26 // 44 Peripheral register bus 1 access - GPIO control
+#define DW1000_DRX_CONF 0x27 // 44 Digital Receiver configuration
+#define DW1000_RF_CONF 0x28 // 58 Analog RF Configuration
+#define DW1000_TX_CAL 0x2A // 52 Transmitter calibration block
+#define DW1000_FS_CTRL 0x2B // 21 Frequency synthesiser control block
+#define DW1000_AON 0x2C // 12 Always-On register set
+#define DW1000_OTP_IF 0x2D // 18 One Time Programmable Memory Interface
+#define DW1000_LDE_CTRL 0x2E // - Leading edge detection control block
+#define DW1000_DIG_DIAG 0x2F // 41 Digital Diagnostics Interface
+#define DW1000_PMSC 0x36 // 48 Power Management System Control Block
+
+#define DW1000_WRITE_FLAG 0x80 // First Bit of the address has to be 1 to indicate we want to write
+#define DW1000_SUBADDRESS_FLAG 0x40 // if we have a sub address second Bit has to be 1
+#define DW1000_2_SUBADDRESS_FLAG 0x80 // if we have a long sub adress (more than 7 Bit) we set this Bit in the first part
+
+class DW1000 {
+ public:
+ DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
+ void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled
+ template<typename T>
+ void setCallbacks(T* tptr, void (T::*mptrRX)(void), void (T::*mptrTX)(void)) { // overloaded setter to treat member function pointers of objects
+ callbackRX.attach(tptr, mptrRX); // possible client code: dw.setCallbacks(this, &A::callbackRX, &A::callbackTX);
+ callbackTX.attach(tptr, mptrTX); // concept seen in line 100 of http://developer.mbed.org/users/mbed_official/code/mbed/docs/4fc01daae5a5/InterruptIn_8h_source.html
+ setInterrupt(true,true);
+ }
+
+ // Device API
+ uint32_t getDeviceID(); // gets the Device ID which should be 0xDECA0130 (good for testing SPI!)
+ uint64_t getEUI(); // gets 64 bit Extended Unique Identifier according to IEEE standard
+ void setEUI(uint64_t EUI);
+ uint64_t getCIR_PWR();
+ uint32_t getRXPACC(); // sets 64 bit Extended Unique Identifier according to IEEE standard
+ float getVoltage(); // gets the current chip voltage measurement form the A/D converter
+ uint64_t getStatus(); // get the 40 bit device status
+ uint64_t getRXTimestamp();
+ uint64_t getTXTimestamp();
+
+ void sendString(char* message); // to send String with arbitrary length
+ void receiveString(char* message); // to receive char string (length of the buffer must be 1021 to be safe)
+ void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes)
+ void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp);
+ void startRX(); // start listening for frames
+ void stopTRX(); // disable tranceiver go back to idle mode
+
+ //private:
+ void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may occur] see User Manual LDELOAD on p22 & p158
+ void resetRX(); // soft reset only the tranciever part of DW1000
+ void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual)
+
+ // Interrupt
+ InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler
+ FunctionPointer callbackRX; // function pointer to callback which is called when successfull RX took place
+ FunctionPointer callbackTX; // function pointer to callback which is called when successfull TX took place
+ void setInterrupt(bool RX, bool TX); // set Interrupt for received a good frame (CRC ok) or transmission done
+ void ISR(); // interrupt handling method (also calls according callback methods)
+ uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header
+
+ // SPI Inteface
+ SPI spi; // SPI Bus
+ DigitalOut cs; // Slave selector for SPI-Bus (here explicitly needed to start and end SPI transactions also usable to wake up DW1000)
+
+ uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive methods to read or write the number of bits written in the name
+ uint16_t readRegister16(uint8_t reg, uint16_t subaddress);
+ uint64_t readRegister40(uint8_t reg, uint16_t subaddress);
+ void writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer);
+ void writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer);
+ void writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer);
+ void writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer);
+
+ void readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // reads the selected part of a slave register into the buffer memory
+ void writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // writes the buffer memory to the selected slave register
+ void setupTransaction(uint8_t reg, uint16_t subaddress, bool write); // sets up an SPI read or write transaction with correct register address and offset
+ void select(); // selects the only slave for a transaction
+ void deselect(); // deselects the only slave after transaction
+};
+
+#endif
\ No newline at end of file
diff -r 39935bb3c1a1 -r 4523d7cda75e FatFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FatFileSystem.lib Fri Jun 17 20:35:28 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/igorsk/code/FatFileSystemCpp/#88f22c32a456
diff -r 39935bb3c1a1 -r 4523d7cda75e MM2WayRanging/MM2WayRanging.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MM2WayRanging/MM2WayRanging.cpp Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,191 @@
+#include "MM2WayRanging.h"
+#define LAST(k, n) ((k)&((1<<(n))-1))
+#define MID(k,m,n) LAST((k)>>(m),((n)-(m)))
+
+MM2WayRanging::MM2WayRanging(DW1000& DW) : dw(DW) {
+ isAnchor = true;
+ overflow = false;
+ address = 2;
+ rxTimestamp = 0;
+ timediffRec = 0;
+ timediffSend = 0;
+ for (int i = 0; i < 10; i++)
+ acknowledgement[i] = true;
+
+ dw.setCallbacks(this, &MM2WayRanging::callbackRX, &MM2WayRanging::callbackTX);
+
+ LocalTimer.start();
+
+ dw.startRX();
+}
+
+void MM2WayRanging::callbackRX() {
+ dw.readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)&receivedFrame, dw.getFramelength());
+
+ if (receivedFrame.destination == address)
+ switch (receivedFrame.type) {
+ case PING:
+ rxTimestamp = dw.getRXTimestamp();
+ receiverTimestamps[receivedFrame.source][0] = rxTimestamp; //Save the first timestamp on the receiving node/anchor (T_rp)
+ sendDelayedAnswer(receivedFrame.source, ANCHOR_RESPONSE, rxTimestamp);
+ break;
+ case ANCHOR_RESPONSE:
+ rxTimestamp = dw.getRXTimestamp();
+ senderTimestamps[receivedFrame.source][1] = rxTimestamp; //Save the second timestamp on the sending node/beacon (T_rr)
+ sendDelayedAnswer(receivedFrame.source, 3, rxTimestamp);
+ break;
+ case BEACON_RESPONSE:
+ rxTimestamp = dw.getRXTimestamp();
+ receiverTimestamps[receivedFrame.source][2] = rxTimestamp; //Save the third timestamp on the receiving node/anchor (T_rf)
+
+ correctReceiverTimestamps(receivedFrame.source); //Correct the timestamps for the case of a counter overflow
+ //calculation of the summand on the receiving node/anchor
+ timediffRec = - 2*receiverTimestamps[receivedFrame.source][1] + receiverTimestamps[receivedFrame.source][0] + receiverTimestamps[receivedFrame.source][2];
+ sendTransferFrame(receivedFrame.source, timediffRec );
+ break;
+ case TRANSFER_FRAME:
+ //calculation of the summand on the sending node/beacon
+ timediffSend = 2 * senderTimestamps[receivedFrame.source][1] - senderTimestamps[receivedFrame.source][0] - senderTimestamps[receivedFrame.source][2];
+ //calculation of the resulting sum of all four ToFs.
+ tofs[receivedFrame.source] = receivedFrame.signedTime + timediffSend;
+ acknowledgement[receivedFrame.source] = true;
+ break;
+ default : break;
+ }
+
+ dw.startRX();
+}
+
+char MM2WayRanging::getStrength() {
+ char C = MID(dw.getCIR_PWR(),48,64);
+ char N = MID(dw.getRXPACC(), 20,32);
+ return C, N;
+ }
+
+float MM2WayRanging::rangeAndDisplayAll(){
+ requestRangingAll(); // Request ranging to all anchors
+ return distances[2], distances[3], distances[4];
+}
+
+void MM2WayRanging::callbackTX() {
+ switch (rangingFrame.type) {
+ case PING:
+ senderTimestamps[rangingFrame.destination][0] = dw.getTXTimestamp(); //Save the first timestamp on the sending node/beacon (T_sp)
+ break;
+ case ANCHOR_RESPONSE:
+ receiverTimestamps[rangingFrame.destination][1] = dw.getTXTimestamp(); //Save the second timestamp on the receiving node/anchor (T_sr)
+ break;
+ case BEACON_RESPONSE:
+ senderTimestamps[rangingFrame.destination][2] = dw.getTXTimestamp(); //Save the third timestamp on the sending node/beacon (T_sr)
+ correctSenderTimestamps(rangingFrame.destination); //Correct the timestamps for the case of a counter overflow
+ break;
+ default:
+ break;
+ }
+
+}
+
+/**
+ * Get the distance to the Anchor with address @param destination.
+ *
+ * @param destination The address of the anchor
+ */
+void MM2WayRanging::requestRanging(uint8_t destination) {
+ acknowledgement[destination] = false;
+ float time_before = LocalTimer.read();
+
+ sendPingFrame(destination);
+
+ while(!acknowledgement[destination] && (LocalTimer.read() < time_before + 0.02f)); // wait for succeeding ranging or timeout
+
+ roundtriptimes[destination] = LocalTimer.read() - time_before;
+
+ if(acknowledgement[destination]){
+ distances[destination] = calibratedDistance(destination);
+ } else {
+ distances[destination] = -1;
+ }
+}
+
+inline float MM2WayRanging::calibratedDistance(uint8_t destination) {
+
+ float rawDistance = (tofs[destination] * 300 * TIMEUNITS_TO_US / 4);
+
+
+
+ // Calibration for Nucleo 0 (and 1)
+
+ // if (this->address == 1) rawDistance+= 10;
+// switch(destination){
+// case 2:
+// return rawDistance * 0.9754 - 0.5004;
+// case 3:
+// return rawDistance * 0.9759 - 0.4103;
+// case 4:
+// return rawDistance * 0.9798 - 0.5499;
+// case 5:
+// return rawDistance * 0.9765 - 0.5169;
+// }
+
+ return rawDistance;
+
+}
+
+void MM2WayRanging::requestRangingAll() {
+ for (int i = 2; i <= 4; i++) { // Request ranging to all anchors
+ requestRanging(i);
+ }
+}
+
+void MM2WayRanging::sendPingFrame(uint8_t destination) {
+ rangingFrame.source = address;
+ rangingFrame.destination = destination;
+ rangingFrame.type = PING;
+ dw.sendFrame((uint8_t*)&rangingFrame, sizeof(rangingFrame));
+}
+
+void MM2WayRanging::sendTransferFrame(uint8_t destination, int timeDiffsReceiver) {
+ transferFrame.source = address;
+ transferFrame.destination = destination;
+ transferFrame.type = TRANSFER_FRAME;
+ transferFrame.signedTime = timeDiffsReceiver; //cast the time difference
+ dw.sendFrame((uint8_t*)&transferFrame, sizeof(transferFrame));
+}
+
+void MM2WayRanging::sendDelayedAnswer(uint8_t destination, uint8_t type, uint64_t rxTimestamp) {
+
+ rangingFrame.source = address;
+ rangingFrame.destination = destination;
+ rangingFrame.type = type;
+
+ if(rxTimestamp + ANSWER_DELAY_TIMEUNITS > MMRANGING_2POWER40)
+ dw.sendDelayedFrame((uint8_t*)&rangingFrame, sizeof(rangingFrame), rxTimestamp + ANSWER_DELAY_TIMEUNITS - MMRANGING_2POWER40);
+ else
+ dw.sendDelayedFrame((uint8_t*)&rangingFrame, sizeof(rangingFrame), rxTimestamp + ANSWER_DELAY_TIMEUNITS);
+}
+
+void MM2WayRanging::correctReceiverTimestamps(uint8_t source){
+
+ if(receiverTimestamps[source][0] > receiverTimestamps[source][1]){
+ receiverTimestamps[source][1] += MMRANGING_2POWER40;
+ receiverTimestamps[source][2] += MMRANGING_2POWER40;
+ }
+
+ if(receiverTimestamps[source][1] > receiverTimestamps[source][2]){
+ receiverTimestamps[source][2] += MMRANGING_2POWER40;
+ }
+
+}
+
+void MM2WayRanging::correctSenderTimestamps(uint8_t source){
+
+ if (senderTimestamps[source][0] > senderTimestamps[source][1]) {
+ senderTimestamps[source][1] += MMRANGING_2POWER40;
+ senderTimestamps[source][2] += MMRANGING_2POWER40;
+ overflow = true;
+ } else if (senderTimestamps[source][1] > senderTimestamps[source][2]) {
+ senderTimestamps[source][2] += MMRANGING_2POWER40;
+ overflow = true;
+ }else overflow = false;
+
+}
diff -r 39935bb3c1a1 -r 4523d7cda75e MM2WayRanging/MM2WayRanging.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MM2WayRanging/MM2WayRanging.h Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,97 @@
+// by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
+
+#ifndef MM2WAYRANGING_H
+#define MM2WAYRANGING_H
+
+#include "mbed.h"
+#include "DW1000.h"
+
+#define TIMEUNITS_TO_US (1/(128*499.2)) // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
+#define US_TO_TIMEUNITS (128*499.2) // conversion between microseconds to the decawave timeunits (ca 15.65ps).
+#define MMRANGING_2POWER40 1099511627776 // decimal value of 2^40 to correct timeroverflow between timestamps
+
+
+
+//Predefined delay for the critical answers in the ranging algorithm
+//HAS TO BE BIGGER THAN THE PROCESSING TIME OF THE FRAME ON THE NODE
+#define ANSWER_DELAY_US 2500 //2500 works for 110kbps, 900 for 6.8Mbps
+#define ANSWER_DELAY_TIMEUNITS ANSWER_DELAY_US * (128*499.2)
+
+class MM2WayRanging {
+
+public:
+ MM2WayRanging(DW1000& DW);
+
+ void requestRanging(uint8_t destination);
+ void requestRangingAll();
+ float rangeAndDisplayAll();
+ char getStrength();
+
+
+
+ //TODO: Better capsulation on those?
+ bool isAnchor;
+ uint8_t address; // Identifies the nodes as source and destination in rangingframes
+
+ //TODO: Make those PRIVATE!
+ float roundtriptimes[10]; // Array containing the round trip times to the anchors or the timeout which occured
+ float distances[10]; // Array containing the finally calculated Distances to the anchors
+
+ bool overflow; // TRUE if counter overflows while ranging
+
+private:
+
+
+ DW1000& dw;
+ Timer LocalTimer;
+
+ void callbackRX();
+ void callbackTX();
+ void sendPingFrame(uint8_t destination);
+ void sendDelayedAnswer(uint8_t destination, uint8_t type, uint64_t rxTimestamp);
+ void sendTransferFrame(uint8_t destination, int timestamp);
+
+ inline float calibratedDistance(uint8_t destination);
+
+ /**
+ * These two functions correct the timestamps if the counter had an overflow between measurements
+ */
+ void correctReceiverTimestamps(uint8_t source);
+ void correctSenderTimestamps(uint8_t source);
+
+ int timediffRec;
+ int timediffSend;
+
+ enum FrameType{
+ PING=1,
+ ANCHOR_RESPONSE,
+ BEACON_RESPONSE,
+ TRANSFER_FRAME,
+ DISTANCES_FRAME
+ };
+
+ //the packed attribute makes sure the types only use their respective size in memory (8 bit for uint8_t), otherwise they would always use 32 bit
+ //IT IS A GCC SPECIFIC DIRECTIVE
+ struct __attribute__((packed, aligned(1))) RangingFrame {
+ uint8_t source;
+ uint8_t destination;
+ uint8_t type;
+ };
+
+ struct __attribute__((packed, aligned(1))) ExtendedRangingFrame : RangingFrame{
+ int signedTime;
+ };
+
+
+ RangingFrame rangingFrame; // buffer in class for sending a frame (not made locally because then we can recall in the interrupt what was sent)
+ ExtendedRangingFrame transferFrame;
+ ExtendedRangingFrame receivedFrame;
+ uint64_t rxTimestamp;
+ uint64_t senderTimestamps[10][3];
+ uint64_t receiverTimestamps[10][3];
+ bool acknowledgement[10]; // flag to indicate if ranging has succeeded
+ uint32_t tofs[10]; // Array containing time of flights for each node (index is address of node)
+
+};
+
+#endif
diff -r 39935bb3c1a1 -r 4523d7cda75e MPU9150.h
--- a/MPU9150.h Sun Jun 29 22:48:08 2014 +0000
+++ b/MPU9150.h Fri Jun 17 20:35:28 2016 +0000
@@ -172,7 +172,7 @@
float aRes, gRes, mRes; // scale resolutions per LSB for the sensors
//Set up I2C, (SDA,SCL)
-I2C i2c(I2C_SDA, I2C_SCL);
+I2C i2c(p9, p10);
DigitalOut myled(LED1);
diff -r 39935bb3c1a1 -r 4523d7cda75e MSCFileSystem.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MSCFileSystem.cpp Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,113 @@
+/* USB Mass Storage device file system
+ * Copyrigh (c) 2010, Igor Skochinsky
+ * based on SDFileStorage
+ * Copyright (c) 2008-2009, sford
+ */
+
+/* Introduction
+ * ------------
+ * TODO: write one
+ * we're basically using NXP's USBHotLite sample code, just plugging in our own FAT library
+ */
+
+#include "MSCFileSystem.h"
+#include "usbhost_inc.h"
+
+MSCFileSystem::MSCFileSystem(const char* name) :
+ FATFileSystem(name)
+{
+}
+
+void print_inquiry(USB_INT08U *inqReply)
+{
+ // see USB Mass Storage Class – UFI Command Specification,
+ // 4.2 INQUIRY Command
+ printf("Inquiry reply:\n");
+ uint8_t tmp = inqReply[0]&0x1F;
+ printf("Peripheral device type: %02Xh\n", tmp);
+ if ( tmp == 0 )
+ printf("\t- Direct access (floppy)\n");
+ else if ( tmp == 0x1F )
+ printf("\t- none (no FDD connected)\n");
+ else
+ printf("\t- unknown type\n");
+ tmp = inqReply[1] >> 7;
+ printf("Removable Media Bit: %d\n", tmp);
+ tmp = inqReply[2] & 3;
+ printf("ANSI Version: %02Xh\n", tmp);
+ if ( tmp != 0 )
+ printf("\t- warning! must be 0\n");
+ tmp = (inqReply[2]>>3) & 3;
+ printf("ECMA Version: %02Xh\n", tmp);
+ if ( tmp != 0 )
+ printf("\t- warning! should be 0\n");
+ tmp = inqReply[2]>>6;
+ printf("ISO Version: %02Xh\n", tmp);
+ if ( tmp != 0 )
+ printf("\t- warning! should be 0\n");
+ tmp = inqReply[3] & 0xF;
+ printf("Response Data Format: %02Xh\n", tmp);
+ if ( tmp != 1 )
+ printf("\t- warning! should be 1\n");
+ tmp = inqReply[4];
+ printf("Additional length: %02Xh\n", tmp);
+ if ( tmp != 0x1F )
+ printf("\t- warning! should be 1Fh\n");
+ printf("Vendor Information: '%.8s'\n", &inqReply[8]);
+ printf("Product Identification: '%.16s'\n", &inqReply[16]);
+ printf("Product Revision: '%.4s'\n", &inqReply[32]);
+}
+
+int MSCFileSystem::initialise_msc()
+{
+ USB_INT32S rc;
+ USB_INT08U inquiryResult[INQUIRY_LENGTH];
+
+ //print_clock();
+ Host_Init(); /* Initialize the host controller */
+ rc = Host_EnumDev(); /* Enumerate the device connected */
+ if (rc != OK)
+ {
+ fprintf(stderr, "Could not enumerate device: %d\n", rc);
+ return rc;
+ }
+
+
+ /* Initialize the mass storage and scsi interfaces */
+ rc = MS_Init( &_blkSize, &_numBlks, inquiryResult );
+ if (rc != OK)
+ {
+ fprintf(stderr, "Could not initialize mass storage interface: %d\n", rc);
+ return rc;
+ }
+ printf("Successfully initialized mass storage interface; %d blocks of size %d\n", _numBlks, _blkSize);
+ print_inquiry(inquiryResult);
+ // FATFileSystem supports only 512-byte blocks
+ return _blkSize == 512 ? OK : 1;
+}
+
+int MSCFileSystem::disk_initialize()
+{
+ if ( initialise_msc() != OK )
+ return 1;
+
+ return 0;
+}
+
+int MSCFileSystem::disk_write(const char *buffer, int block_number)
+{
+ if ( OK == MS_BulkSend(block_number, 1, (USB_INT08U *)buffer) )
+ return 0;
+ return 1;
+}
+
+int MSCFileSystem::disk_read(char *buffer, int block_number)
+{
+ if ( OK == MS_BulkRecv(block_number, 1, (USB_INT08U *)buffer) )
+ return 0;
+ return 1;
+}
+
+int MSCFileSystem::disk_status() { return 0; }
+int MSCFileSystem::disk_sync() { return 0; }
+int MSCFileSystem::disk_sectors() { return _numBlks; }
diff -r 39935bb3c1a1 -r 4523d7cda75e MSCFileSystem.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MSCFileSystem.h Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,49 @@
+/* USB Mass Storage device file system
+ * Copyrigh (c) 2010, Igor Skochinsky
+ * based on SDFileStorage
+ * Copyright (c) 2008-2009, sford
+ */
+
+#ifndef MSCFILESYSTEM_H
+#define MSCFILESYSTEM_H
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+
+/* Class: MSCFileSystem
+ * Access the filesystem on an attached USB mass storage device (e.g. a memory stick)
+ *
+ * Example:
+ * > MSCFileSystem msc("msc");
+ * >
+ * > int main() {
+ * > FILE *fp = fopen("/msc/myfile.txt", "w");
+ * > fprintf(fp, "Hello World!\n");
+ * > fclose(fp);
+ * > }
+ */
+class MSCFileSystem : public FATFileSystem {
+public:
+
+ /* Constructor: MSCFileSystem
+ * Create the File System for accessing a USB mass storage device
+ *
+ * Parameters:
+ * name - The name used to access the filesystem
+ */
+ MSCFileSystem(const char* name);
+ virtual int disk_initialize();
+ virtual int disk_write(const char *buffer, int block_number);
+ virtual int disk_read(char *buffer, int block_number);
+ virtual int disk_status();
+ virtual int disk_sync();
+ virtual int disk_sectors();
+
+protected:
+
+ int initialise_msc();
+ uint32_t _numBlks;
+ uint32_t _blkSize;
+};
+
+#endif
diff -r 39935bb3c1a1 -r 4523d7cda75e N5110.lib --- a/N5110.lib Sun Jun 29 22:48:08 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/onehorse/code/Adfs/#28c629d0b0d0
diff -r 39935bb3c1a1 -r 4523d7cda75e ST_401_84MHZ.lib --- a/ST_401_84MHZ.lib Sun Jun 29 22:48:08 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/dreschpe/code/ST_401_84MHZ/#b9343c8b85ec
diff -r 39935bb3c1a1 -r 4523d7cda75e USBHostLite/usbhost_cpu.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBHostLite/usbhost_cpu.h Fri Jun 17 20:35:28 2016 +0000 @@ -0,0 +1,35 @@ +/* +************************************************************************************************************** +* NXP USB Host Stack +* +* (c) Copyright 2008, NXP SemiConductors +* (c) Copyright 2008, OnChip Technologies LLC +* All Rights Reserved +* +* www.nxp.com +* www.onchiptech.com +* +* File : usbhost_cpu.h +* Programmer(s) : Ravikanth.P +* Version : +* +************************************************************************************************************** +*/ + +#ifndef USBHOST_CPU_H +#define USBHOST_CPU_H + +/* +************************************************************************************************************** +* TYPE DEFINITIONS OF DATA TYPES +************************************************************************************************************** +*/ + +typedef unsigned int USB_INT32U; +typedef signed int USB_INT32S; +typedef unsigned short USB_INT16U; +typedef signed short USB_INT16S; +typedef unsigned char USB_INT08U; +typedef signed char USB_INT08S; + +#endif
diff -r 39935bb3c1a1 -r 4523d7cda75e USBHostLite/usbhost_err.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBHostLite/usbhost_err.h Fri Jun 17 20:35:28 2016 +0000 @@ -0,0 +1,63 @@ +/* +************************************************************************************************************** +* NXP USB Host Stack +* +* (c) Copyright 2008, NXP SemiConductors +* (c) Copyright 2008, OnChip Technologies LLC +* All Rights Reserved +* +* www.nxp.com +* www.onchiptech.com +* +* File : usbhost_err.h +* Programmer(s) : Ravikanth.P +* Version : +* +************************************************************************************************************** +*/ + +#ifndef USBHOST_ERR_H +#define USBHOST_ERR_H + + +/* +************************************************************************************************************** +* GENERAL DEFINITIONS +************************************************************************************************************** +*/ + +#define OK 0 +#define MATCH_FOUND 0 + +/* +************************************************************************************************************** +* HOST CONTROLLER SPECIFIC ERROR CODES +************************************************************************************************************** +*/ + +#define ERR_TD_FAIL -1 + +/* +************************************************************************************************************** +* MASS STORAGE SPECIFIC ERROR CODES +************************************************************************************************************** +*/ + +#define ERR_MS_CMD_FAILED -10 +#define ERR_BAD_CONFIGURATION -11 +#define ERR_NO_MS_INTERFACE -12 + +/* +************************************************************************************************************** +* FAT SPECIFIC ERROR CODES +************************************************************************************************************** +*/ + +#define MATCH_NOT_FOUND -20 +#define ERR_FAT_NOT_SUPPORTED -21 +#define ERR_OPEN_LIMIT_REACHED -22 +#define ERR_INVALID_BOOT_SIG -23 +#define ERR_INVALID_BOOT_SEC -24 +#define ERR_ROOT_DIR_FULL -25 + +#endif
diff -r 39935bb3c1a1 -r 4523d7cda75e USBHostLite/usbhost_inc.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBHostLite/usbhost_inc.h Fri Jun 17 20:35:28 2016 +0000 @@ -0,0 +1,39 @@ +/* +************************************************************************************************************** +* NXP USB Host Stack +* +* (c) Copyright 2008, NXP SemiConductors +* (c) Copyright 2008, OnChip Technologies LLC +* All Rights Reserved +* +* www.nxp.com +* www.onchiptech.com +* +* File : usbhost_inc.h +* Programmer(s) : Ravikanth.P +* Version : +* +************************************************************************************************************** +*/ + +#ifndef USBHOST_INC_H +#define USBHOST_INC_H + +/* +************************************************************************************************************** +* INCLUDE HEADER FILES +************************************************************************************************************** +*/ + +#include "usbhost_cpu.h" +#include "usbhost_err.h" +#include "usbhost_lpc17xx.h" +#include "usbhost_ms.h" +#include "mbed.h" + + +#ifdef TARGET_LPC2368 +#error "There is no USB host on the LPC2368!" +#endif + +#endif
diff -r 39935bb3c1a1 -r 4523d7cda75e USBHostLite/usbhost_lpc17xx.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_lpc17xx.cpp Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,820 @@
+/*
+**************************************************************************************************************
+* NXP USB Host Stack
+*
+* (c) Copyright 2008, NXP SemiConductors
+* (c) Copyright 2008, OnChip Technologies LLC
+* All Rights Reserved
+*
+* www.nxp.com
+* www.onchiptech.com
+*
+* File : usbhost_lpc17xx.c
+* Programmer(s) : Ravikanth.P
+* Version :
+*
+**************************************************************************************************************
+*/
+
+/*
+**************************************************************************************************************
+* INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include "usbhost_lpc17xx.h"
+
+/*
+**************************************************************************************************************
+* GLOBAL VARIABLES
+**************************************************************************************************************
+*/
+int gUSBConnected;
+
+volatile USB_INT32U HOST_RhscIntr = 0; /* Root Hub Status Change interrupt */
+volatile USB_INT32U HOST_WdhIntr = 0; /* Semaphore to wait until the TD is submitted */
+volatile USB_INT08U HOST_TDControlStatus = 0;
+volatile HCED *EDCtrl; /* Control endpoint descriptor structure */
+volatile HCED *EDBulkIn; /* BulkIn endpoint descriptor structure */
+volatile HCED *EDBulkOut; /* BulkOut endpoint descriptor structure */
+volatile HCTD *TDHead; /* Head transfer descriptor structure */
+volatile HCTD *TDTail; /* Tail transfer descriptor structure */
+volatile HCCA *Hcca; /* Host Controller Communications Area structure */
+ USB_INT16U *TDBufNonVol; /* Identical to TDBuffer just to reduce compiler warnings */
+volatile USB_INT08U *TDBuffer; /* Current Buffer Pointer of transfer descriptor */
+
+// USB host structures
+// AHB SRAM block 1
+#define HOSTBASEADDR 0x2007C000
+// reserve memory for the linker
+static USB_INT08U HostBuf[0x200] __attribute__((at(HOSTBASEADDR)));
+/*
+**************************************************************************************************************
+* DELAY IN MILLI SECONDS
+*
+* Description: This function provides a delay in milli seconds
+*
+* Arguments : delay The delay required
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void Host_DelayMS (USB_INT32U delay)
+{
+ volatile USB_INT32U i;
+
+
+ for (i = 0; i < delay; i++) {
+ Host_DelayUS(1000);
+ }
+}
+
+/*
+**************************************************************************************************************
+* DELAY IN MICRO SECONDS
+*
+* Description: This function provides a delay in micro seconds
+*
+* Arguments : delay The delay required
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void Host_DelayUS (USB_INT32U delay)
+{
+ volatile USB_INT32U i;
+
+
+ for (i = 0; i < (4 * delay); i++) { /* This logic was tested. It gives app. 1 micro sec delay */
+ ;
+ }
+}
+
+// bits of the USB/OTG clock control register
+#define HOST_CLK_EN (1<<0)
+#define DEV_CLK_EN (1<<1)
+#define PORTSEL_CLK_EN (1<<3)
+#define AHB_CLK_EN (1<<4)
+
+// bits of the USB/OTG clock status register
+#define HOST_CLK_ON (1<<0)
+#define DEV_CLK_ON (1<<1)
+#define PORTSEL_CLK_ON (1<<3)
+#define AHB_CLK_ON (1<<4)
+
+// we need host clock, OTG/portsel clock and AHB clock
+#define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
+
+/*
+**************************************************************************************************************
+* INITIALIZE THE HOST CONTROLLER
+*
+* Description: This function initializes lpc17xx host controller
+*
+* Arguments : None
+*
+* Returns :
+*
+**************************************************************************************************************
+*/
+void Host_Init (void)
+{
+ PRINT_Log("In Host_Init\n");
+ NVIC_DisableIRQ(USB_IRQn); /* Disable the USB interrupt source */
+
+ // turn on power for USB
+ LPC_SC->PCONP |= (1UL<<31);
+ // Enable USB host clock, port selection and AHB clock
+ LPC_USB->USBClkCtrl |= CLOCK_MASK;
+ // Wait for clocks to become available
+ while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
+ ;
+
+ // it seems the bits[0:1] mean the following
+ // 0: U1=device, U2=host
+ // 1: U1=host, U2=host
+ // 2: reserved
+ // 3: U1=host, U2=device
+ // NB: this register is only available if OTG clock (aka "port select") is enabled!!
+ // since we don't care about port 2, set just bit 0 to 1 (U1=host)
+ LPC_USB->OTGStCtrl |= 1;
+
+ // now that we've configured the ports, we can turn off the portsel clock
+ LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN;
+
+ // power pins are not connected on mbed, so we can skip them
+ /* P1[18] = USB_UP_LED, 01 */
+ /* P1[19] = /USB_PPWR, 10 */
+ /* P1[22] = USB_PWRD, 10 */
+ /* P1[27] = /USB_OVRCR, 10 */
+ /*LPC_PINCON->PINSEL3 &= ~((3<<4) | (3<<6) | (3<<12) | (3<<22));
+ LPC_PINCON->PINSEL3 |= ((1<<4)|(2<<6) | (2<<12) | (2<<22)); // 0x00802080
+ */
+
+ // configure USB D+/D- pins
+ /* P0[29] = USB_D+, 01 */
+ /* P0[30] = USB_D-, 01 */
+ LPC_PINCON->PINSEL1 &= ~((3<<26) | (3<<28));
+ LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // 0x14000000
+
+ PRINT_Log("Initializing Host Stack\n");
+
+ Hcca = (volatile HCCA *)(HostBuf+0x000);
+ TDHead = (volatile HCTD *)(HostBuf+0x100);
+ TDTail = (volatile HCTD *)(HostBuf+0x110);
+ EDCtrl = (volatile HCED *)(HostBuf+0x120);
+ EDBulkIn = (volatile HCED *)(HostBuf+0x130);
+ EDBulkOut = (volatile HCED *)(HostBuf+0x140);
+ TDBuffer = (volatile USB_INT08U *)(HostBuf+0x150);
+
+ /* Initialize all the TDs, EDs and HCCA to 0 */
+ Host_EDInit(EDCtrl);
+ Host_EDInit(EDBulkIn);
+ Host_EDInit(EDBulkOut);
+ Host_TDInit(TDHead);
+ Host_TDInit(TDTail);
+ Host_HCCAInit(Hcca);
+
+ Host_DelayMS(50); /* Wait 50 ms before apply reset */
+ LPC_USB->HcControl = 0; /* HARDWARE RESET */
+ LPC_USB->HcControlHeadED = 0; /* Initialize Control list head to Zero */
+ LPC_USB->HcBulkHeadED = 0; /* Initialize Bulk list head to Zero */
+
+ /* SOFTWARE RESET */
+ LPC_USB->HcCommandStatus = OR_CMD_STATUS_HCR;
+ LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL; /* Write Fm Interval and Largest Data Packet Counter */
+
+ /* Put HC in operational state */
+ LPC_USB->HcControl = (LPC_USB->HcControl & (~OR_CONTROL_HCFS)) | OR_CONTROL_HC_OPER;
+ LPC_USB->HcRhStatus = OR_RH_STATUS_LPSC; /* Set Global Power */
+
+ LPC_USB->HcHCCA = (USB_INT32U)Hcca;
+ LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus; /* Clear Interrrupt Status */
+
+
+ LPC_USB->HcInterruptEnable = OR_INTR_ENABLE_MIE |
+ OR_INTR_ENABLE_WDH |
+ OR_INTR_ENABLE_RHSC;
+
+ NVIC_SetPriority(USB_IRQn, 0); /* highest priority */
+ /* Enable the USB Interrupt */
+ NVIC_EnableIRQ(USB_IRQn);
+ PRINT_Log("Host Initialized\n");
+}
+
+/*
+**************************************************************************************************************
+* INTERRUPT SERVICE ROUTINE
+*
+* Description: This function services the interrupt caused by host controller
+*
+* Arguments : None
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void USB_IRQHandler (void) __irq
+{
+ USB_INT32U int_status;
+ USB_INT32U ie_status;
+
+ int_status = LPC_USB->HcInterruptStatus; /* Read Interrupt Status */
+ ie_status = LPC_USB->HcInterruptEnable; /* Read Interrupt enable status */
+
+ if (!(int_status & ie_status)) {
+ return;
+ } else {
+
+ int_status = int_status & ie_status;
+ if (int_status & OR_INTR_STATUS_RHSC) { /* Root hub status change interrupt */
+ if (LPC_USB->HcRhPortStatus1 & OR_RH_PORT_CSC) {
+ if (LPC_USB->HcRhStatus & OR_RH_STATUS_DRWE) {
+ /*
+ * When DRWE is on, Connect Status Change
+ * means a remote wakeup event.
+ */
+ HOST_RhscIntr = 1;// JUST SOMETHING FOR A BREAKPOINT
+ }
+ else {
+ /*
+ * When DRWE is off, Connect Status Change
+ * is NOT a remote wakeup event
+ */
+ if (LPC_USB->HcRhPortStatus1 & OR_RH_PORT_CCS) {
+ if (!gUSBConnected) {
+ HOST_TDControlStatus = 0;
+ HOST_WdhIntr = 0;
+ HOST_RhscIntr = 1;
+ gUSBConnected = 1;
+ }
+ else
+ PRINT_Log("Spurious status change (connected)?\n");
+ } else {
+ if (gUSBConnected) {
+ LPC_USB->HcInterruptEnable = 0; // why do we get multiple disc. rupts???
+ HOST_RhscIntr = 0;
+ gUSBConnected = 0;
+ }
+ else
+ PRINT_Log("Spurious status change (disconnected)?\n");
+ }
+ }
+ LPC_USB->HcRhPortStatus1 = OR_RH_PORT_CSC;
+ }
+ if (LPC_USB->HcRhPortStatus1 & OR_RH_PORT_PRSC) {
+ LPC_USB->HcRhPortStatus1 = OR_RH_PORT_PRSC;
+ }
+ }
+ if (int_status & OR_INTR_STATUS_WDH) { /* Writeback Done Head interrupt */
+ HOST_WdhIntr = 1;
+ HOST_TDControlStatus = (TDHead->Control >> 28) & 0xf;
+ }
+ LPC_USB->HcInterruptStatus = int_status; /* Clear interrupt status register */
+ }
+ return;
+}
+
+/*
+**************************************************************************************************************
+* PROCESS TRANSFER DESCRIPTOR
+*
+* Description: This function processes the transfer descriptor
+*
+* Arguments : ed Endpoint descriptor that contains this transfer descriptor
+* token SETUP, IN, OUT
+* buffer Current Buffer Pointer of the transfer descriptor
+* buffer_len Length of the buffer
+*
+* Returns : OK if TD submission is successful
+* ERROR if TD submission fails
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S Host_ProcessTD (volatile HCED *ed,
+ volatile USB_INT32U token,
+ volatile USB_INT08U *buffer,
+ USB_INT32U buffer_len)
+{
+ volatile USB_INT32U td_toggle;
+
+
+ if (ed == EDCtrl) {
+ if (token == TD_SETUP) {
+ td_toggle = TD_TOGGLE_0;
+ } else {
+ td_toggle = TD_TOGGLE_1;
+ }
+ } else {
+ td_toggle = 0;
+ }
+ TDHead->Control = (TD_ROUNDING |
+ token |
+ TD_DELAY_INT(0) |
+ td_toggle |
+ TD_CC);
+ TDTail->Control = 0;
+ TDHead->CurrBufPtr = (USB_INT32U) buffer;
+ TDTail->CurrBufPtr = 0;
+ TDHead->Next = (USB_INT32U) TDTail;
+ TDTail->Next = 0;
+ TDHead->BufEnd = (USB_INT32U)(buffer + (buffer_len - 1));
+ TDTail->BufEnd = 0;
+
+ ed->HeadTd = (USB_INT32U)TDHead | ((ed->HeadTd) & 0x00000002);
+ ed->TailTd = (USB_INT32U)TDTail;
+ ed->Next = 0;
+
+ if (ed == EDCtrl) {
+ LPC_USB->HcControlHeadED = (USB_INT32U)ed;
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | OR_CMD_STATUS_CLF;
+ LPC_USB->HcControl = LPC_USB->HcControl | OR_CONTROL_CLE;
+ } else {
+ LPC_USB->HcBulkHeadED = (USB_INT32U)ed;
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | OR_CMD_STATUS_BLF;
+ LPC_USB->HcControl = LPC_USB->HcControl | OR_CONTROL_BLE;
+ }
+
+ Host_WDHWait();
+
+// if (!(TDHead->Control & 0xF0000000)) {
+ if (!HOST_TDControlStatus) {
+ return (OK);
+ } else {
+ return (ERR_TD_FAIL);
+ }
+}
+
+/*
+**************************************************************************************************************
+* ENUMERATE THE DEVICE
+*
+* Description: This function is used to enumerate the device connected
+*
+* Arguments : None
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S Host_EnumDev (void)
+{
+ USB_INT32S rc;
+
+ PRINT_Log("Connect a Mass Storage device\n");
+ while (!HOST_RhscIntr)
+ __WFI();
+ Host_DelayMS(100); /* USB 2.0 spec says atleast 50ms delay beore port reset */
+ LPC_USB->HcRhPortStatus1 = OR_RH_PORT_PRS; // Initiate port reset
+ while (LPC_USB->HcRhPortStatus1 & OR_RH_PORT_PRS)
+ __WFI(); // Wait for port reset to complete...
+ LPC_USB->HcRhPortStatus1 = OR_RH_PORT_PRSC; // ...and clear port reset signal
+ Host_DelayMS(200); /* Wait for 100 MS after port reset */
+
+ EDCtrl->Control = 8 << 16; /* Put max pkt size = 8 */
+ /* Read first 8 bytes of device desc */
+ rc = HOST_GET_DESCRIPTOR(USB_DESCRIPTOR_TYPE_DEVICE, 0, TDBuffer, 8);
+ if (rc != OK) {
+ PRINT_Err(rc);
+ return (rc);
+ }
+ EDCtrl->Control = TDBuffer[7] << 16; /* Get max pkt size of endpoint 0 */
+ rc = HOST_SET_ADDRESS(1); /* Set the device address to 1 */
+ if (rc != OK) {
+ PRINT_Err(rc);
+ return (rc);
+ }
+ Host_DelayMS(2);
+ EDCtrl->Control = (EDCtrl->Control) | 1; /* Modify control pipe with address 1 */
+ /* Get the configuration descriptor */
+ rc = HOST_GET_DESCRIPTOR(USB_DESCRIPTOR_TYPE_CONFIGURATION, 0, TDBuffer, 9);
+ if (rc != OK) {
+ PRINT_Err(rc);
+ return (rc);
+ }
+ /* Get the first configuration data */
+ rc = HOST_GET_DESCRIPTOR(USB_DESCRIPTOR_TYPE_CONFIGURATION, 0, TDBuffer, ReadLE16U(&TDBuffer[2]));
+ if (rc != OK) {
+ PRINT_Err(rc);
+ return (rc);
+ }
+ rc = MS_ParseConfiguration(); /* Parse the configuration */
+ if (rc != OK) {
+ PRINT_Err(rc);
+ return (rc);
+ }
+ rc = USBH_SET_CONFIGURATION(1); /* Select device configuration 1 */
+ if (rc != OK) {
+ PRINT_Err(rc);
+ }
+ Host_DelayMS(100); /* Some devices may require this delay */
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* RECEIVE THE CONTROL INFORMATION
+*
+* Description: This function is used to receive the control information
+*
+* Arguments : bm_request_type
+* b_request
+* w_value
+* w_index
+* w_length
+* buffer
+*
+* Returns : OK if Success
+* ERROR if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S Host_CtrlRecv ( USB_INT08U bm_request_type,
+ USB_INT08U b_request,
+ USB_INT16U w_value,
+ USB_INT16U w_index,
+ USB_INT16U w_length,
+ volatile USB_INT08U *buffer)
+{
+ USB_INT32S rc;
+
+
+ Host_FillSetup(bm_request_type, b_request, w_value, w_index, w_length);
+ rc = Host_ProcessTD(EDCtrl, TD_SETUP, TDBuffer, 8);
+ if (rc == OK) {
+ if (w_length) {
+ rc = Host_ProcessTD(EDCtrl, TD_IN, TDBuffer, w_length);
+ }
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDCtrl, TD_OUT, NULL, 0);
+ }
+ }
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* SEND THE CONTROL INFORMATION
+*
+* Description: This function is used to send the control information
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERR_INVALID_BOOTSIG if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S Host_CtrlSend ( USB_INT08U bm_request_type,
+ USB_INT08U b_request,
+ USB_INT16U w_value,
+ USB_INT16U w_index,
+ USB_INT16U w_length,
+ volatile USB_INT08U *buffer)
+{
+ USB_INT32S rc;
+
+
+ Host_FillSetup(bm_request_type, b_request, w_value, w_index, w_length);
+
+ rc = Host_ProcessTD(EDCtrl, TD_SETUP, TDBuffer, 8);
+ if (rc == OK) {
+ if (w_length) {
+ rc = Host_ProcessTD(EDCtrl, TD_OUT, TDBuffer, w_length);
+ }
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDCtrl, TD_IN, NULL, 0);
+ }
+ }
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* FILL SETUP PACKET
+*
+* Description: This function is used to fill the setup packet
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERR_INVALID_BOOTSIG if Failed
+*
+**************************************************************************************************************
+*/
+
+void Host_FillSetup (USB_INT08U bm_request_type,
+ USB_INT08U b_request,
+ USB_INT16U w_value,
+ USB_INT16U w_index,
+ USB_INT16U w_length)
+{
+ int i;
+ for (i=0;i<w_length;i++)
+ TDBuffer[i] = 0;
+
+ TDBuffer[0] = bm_request_type;
+ TDBuffer[1] = b_request;
+ WriteLE16U(&TDBuffer[2], w_value);
+ WriteLE16U(&TDBuffer[4], w_index);
+ WriteLE16U(&TDBuffer[6], w_length);
+}
+
+
+
+/*
+**************************************************************************************************************
+* INITIALIZE THE TRANSFER DESCRIPTOR
+*
+* Description: This function initializes transfer descriptor
+*
+* Arguments : Pointer to TD structure
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void Host_TDInit (volatile HCTD *td)
+{
+
+ td->Control = 0;
+ td->CurrBufPtr = 0;
+ td->Next = 0;
+ td->BufEnd = 0;
+}
+
+/*
+**************************************************************************************************************
+* INITIALIZE THE ENDPOINT DESCRIPTOR
+*
+* Description: This function initializes endpoint descriptor
+*
+* Arguments : Pointer to ED strcuture
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void Host_EDInit (volatile HCED *ed)
+{
+
+ ed->Control = 0;
+ ed->TailTd = 0;
+ ed->HeadTd = 0;
+ ed->Next = 0;
+}
+
+/*
+**************************************************************************************************************
+* INITIALIZE HOST CONTROLLER COMMUNICATIONS AREA
+*
+* Description: This function initializes host controller communications area
+*
+* Arguments : Pointer to HCCA
+*
+* Returns :
+*
+**************************************************************************************************************
+*/
+
+void Host_HCCAInit (volatile HCCA *hcca)
+{
+ USB_INT32U i;
+
+
+ for (i = 0; i < 32; i++) {
+
+ hcca->IntTable[i] = 0;
+ hcca->FrameNumber = 0;
+ hcca->DoneHead = 0;
+ }
+
+}
+
+/*
+**************************************************************************************************************
+* WAIT FOR WDH INTERRUPT
+*
+* Description: This function is infinite loop which breaks when ever a WDH interrupt rises
+*
+* Arguments : None
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void Host_WDHWait (void)
+{
+ while (!HOST_WdhIntr)
+ __WFI();
+
+ HOST_WdhIntr = 0;
+}
+
+/*
+**************************************************************************************************************
+* READ LE 32U
+*
+* Description: This function is used to read an unsigned integer from a character buffer in the platform
+* containing little endian processor
+*
+* Arguments : pmem Pointer to the character buffer
+*
+* Returns : val Unsigned integer
+*
+**************************************************************************************************************
+*/
+
+USB_INT32U ReadLE32U (volatile USB_INT08U *pmem)
+{
+ USB_INT32U val = *(USB_INT32U*)pmem;
+#ifdef __BIG_ENDIAN
+ return __REV(val);
+#else
+ return val;
+#endif
+}
+
+/*
+**************************************************************************************************************
+* WRITE LE 32U
+*
+* Description: This function is used to write an unsigned integer into a charecter buffer in the platform
+* containing little endian processor.
+*
+* Arguments : pmem Pointer to the charecter buffer
+* val Integer value to be placed in the charecter buffer
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void WriteLE32U (volatile USB_INT08U *pmem,
+ USB_INT32U val)
+{
+#ifdef __BIG_ENDIAN
+ *(USB_INT32U*)pmem = __REV(val);
+#else
+ *(USB_INT32U*)pmem = val;
+#endif
+}
+
+/*
+**************************************************************************************************************
+* READ LE 16U
+*
+* Description: This function is used to read an unsigned short integer from a charecter buffer in the platform
+* containing little endian processor
+*
+* Arguments : pmem Pointer to the charecter buffer
+*
+* Returns : val Unsigned short integer
+*
+**************************************************************************************************************
+*/
+
+USB_INT16U ReadLE16U (volatile USB_INT08U *pmem)
+{
+ USB_INT16U val = *(USB_INT16U*)pmem;
+#ifdef __BIG_ENDIAN
+ return __REV16(val);
+#else
+ return val;
+#endif
+}
+
+/*
+**************************************************************************************************************
+* WRITE LE 16U
+*
+* Description: This function is used to write an unsigned short integer into a charecter buffer in the
+* platform containing little endian processor
+*
+* Arguments : pmem Pointer to the charecter buffer
+* val Value to be placed in the charecter buffer
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void WriteLE16U (volatile USB_INT08U *pmem,
+ USB_INT16U val)
+{
+#ifdef __BIG_ENDIAN
+ *(USB_INT16U*)pmem = (__REV16(val) & 0xFFFF);
+#else
+ *(USB_INT16U*)pmem = val;
+#endif
+}
+
+/*
+**************************************************************************************************************
+* READ BE 32U
+*
+* Description: This function is used to read an unsigned integer from a charecter buffer in the platform
+* containing big endian processor
+*
+* Arguments : pmem Pointer to the charecter buffer
+*
+* Returns : val Unsigned integer
+*
+**************************************************************************************************************
+*/
+
+USB_INT32U ReadBE32U (volatile USB_INT08U *pmem)
+{
+ USB_INT32U val = *(USB_INT32U*)pmem;
+#ifdef __BIG_ENDIAN
+ return val;
+#else
+ return __REV(val);
+#endif
+}
+
+/*
+**************************************************************************************************************
+* WRITE BE 32U
+*
+* Description: This function is used to write an unsigned integer into a charecter buffer in the platform
+* containing big endian processor
+*
+* Arguments : pmem Pointer to the charecter buffer
+* val Value to be placed in the charecter buffer
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void WriteBE32U (volatile USB_INT08U *pmem,
+ USB_INT32U val)
+{
+#ifdef __BIG_ENDIAN
+ *(USB_INT32U*)pmem = val;
+#else
+ *(USB_INT32U*)pmem = __REV(val);
+#endif
+}
+
+/*
+**************************************************************************************************************
+* READ BE 16U
+*
+* Description: This function is used to read an unsigned short integer from a charecter buffer in the platform
+* containing big endian processor
+*
+* Arguments : pmem Pointer to the charecter buffer
+*
+* Returns : val Unsigned short integer
+*
+**************************************************************************************************************
+*/
+
+USB_INT16U ReadBE16U (volatile USB_INT08U *pmem)
+{
+ USB_INT16U val = *(USB_INT16U*)pmem;
+#ifdef __BIG_ENDIAN
+ return val;
+#else
+ return __REV16(val);
+#endif
+}
+
+/*
+**************************************************************************************************************
+* WRITE BE 16U
+*
+* Description: This function is used to write an unsigned short integer into the charecter buffer in the
+* platform containing big endian processor
+*
+* Arguments : pmem Pointer to the charecter buffer
+* val Value to be placed in the charecter buffer
+*
+* Returns : None
+*
+**************************************************************************************************************
+*/
+
+void WriteBE16U (volatile USB_INT08U *pmem,
+ USB_INT16U val)
+{
+#ifdef __BIG_ENDIAN
+ *(USB_INT16U*)pmem = val;
+#else
+ *(USB_INT16U*)pmem = (__REV16(val) & 0xFFFF);
+#endif
+}
diff -r 39935bb3c1a1 -r 4523d7cda75e USBHostLite/usbhost_lpc17xx.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_lpc17xx.h Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,254 @@
+/*
+**************************************************************************************************************
+* NXP USB Host Stack
+*
+* (c) Copyright 2008, NXP SemiConductors
+* (c) Copyright 2008, OnChip Technologies LLC
+* All Rights Reserved
+*
+* www.nxp.com
+* www.onchiptech.com
+*
+* File : usbhost_lpc17xx.h
+* Programmer(s) : Ravikanth.P
+* Version :
+*
+**************************************************************************************************************
+*/
+
+#ifndef USBHOST_LPC17xx_H
+#define USBHOST_LPC17xx_H
+
+/*
+**************************************************************************************************************
+* INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include "usbhost_inc.h"
+
+/*
+**************************************************************************************************************
+* PRINT CONFIGURATION
+**************************************************************************************************************
+*/
+
+#define PRINT_ENABLE 1
+
+#if PRINT_ENABLE
+#define PRINT_Log(...) printf(__VA_ARGS__)
+#define PRINT_Err(rc) printf("ERROR: In %s at Line %u - rc = %d\n", __FUNCTION__, __LINE__, rc)
+
+#else
+#define PRINT_Log(...) do {} while(0)
+#define PRINT_Err(rc) do {} while(0)
+
+#endif
+
+/*
+**************************************************************************************************************
+* GENERAL DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define DESC_LENGTH(x) x[0]
+#define DESC_TYPE(x) x[1]
+
+
+#define HOST_GET_DESCRIPTOR(descType, descIndex, data, length) \
+ Host_CtrlRecv(USB_DEVICE_TO_HOST | USB_RECIPIENT_DEVICE, GET_DESCRIPTOR, \
+ (descType << 8)|(descIndex), 0, length, data)
+
+#define HOST_SET_ADDRESS(new_addr) \
+ Host_CtrlSend(USB_HOST_TO_DEVICE | USB_RECIPIENT_DEVICE, SET_ADDRESS, \
+ new_addr, 0, 0, NULL)
+
+#define USBH_SET_CONFIGURATION(configNum) \
+ Host_CtrlSend(USB_HOST_TO_DEVICE | USB_RECIPIENT_DEVICE, SET_CONFIGURATION, \
+ configNum, 0, 0, NULL)
+
+#define USBH_SET_INTERFACE(ifNum, altNum) \
+ Host_CtrlSend(USB_HOST_TO_DEVICE | USB_RECIPIENT_INTERFACE, SET_INTERFACE, \
+ altNum, ifNum, 0, NULL)
+
+/*
+**************************************************************************************************************
+* OHCI OPERATIONAL REGISTER FIELD DEFINITIONS
+**************************************************************************************************************
+*/
+
+ /* ------------------ HcControl Register --------------------- */
+#define OR_CONTROL_CLE 0x00000010
+#define OR_CONTROL_BLE 0x00000020
+#define OR_CONTROL_HCFS 0x000000C0
+#define OR_CONTROL_HC_OPER 0x00000080
+ /* ----------------- HcCommandStatus Register ----------------- */
+#define OR_CMD_STATUS_HCR 0x00000001
+#define OR_CMD_STATUS_CLF 0x00000002
+#define OR_CMD_STATUS_BLF 0x00000004
+ /* --------------- HcInterruptStatus Register ----------------- */
+#define OR_INTR_STATUS_WDH 0x00000002
+#define OR_INTR_STATUS_RHSC 0x00000040
+ /* --------------- HcInterruptEnable Register ----------------- */
+#define OR_INTR_ENABLE_WDH 0x00000002
+#define OR_INTR_ENABLE_RHSC 0x00000040
+#define OR_INTR_ENABLE_MIE 0x80000000
+ /* ---------------- HcRhDescriptorA Register ------------------ */
+#define OR_RH_STATUS_LPSC 0x00010000
+#define OR_RH_STATUS_DRWE 0x00008000
+ /* -------------- HcRhPortStatus[1:NDP] Register -------------- */
+#define OR_RH_PORT_CCS 0x00000001
+#define OR_RH_PORT_PRS 0x00000010
+#define OR_RH_PORT_CSC 0x00010000
+#define OR_RH_PORT_PRSC 0x00100000
+
+
+/*
+**************************************************************************************************************
+* FRAME INTERVAL
+**************************************************************************************************************
+*/
+
+#define FI 0x2EDF /* 12000 bits per frame (-1) */
+#define DEFAULT_FMINTERVAL ((((6 * (FI - 210)) / 7) << 16) | FI)
+
+/*
+**************************************************************************************************************
+* TRANSFER DESCRIPTOR CONTROL FIELDS
+**************************************************************************************************************
+*/
+
+#define TD_ROUNDING (USB_INT32U) (0x00040000) /* Buffer Rounding */
+#define TD_SETUP (USB_INT32U)(0) /* Direction of Setup Packet */
+#define TD_IN (USB_INT32U)(0x00100000) /* Direction In */
+#define TD_OUT (USB_INT32U)(0x00080000) /* Direction Out */
+#define TD_DELAY_INT(x) (USB_INT32U)((x) << 21) /* Delay Interrupt */
+#define TD_TOGGLE_0 (USB_INT32U)(0x02000000) /* Toggle 0 */
+#define TD_TOGGLE_1 (USB_INT32U)(0x03000000) /* Toggle 1 */
+#define TD_CC (USB_INT32U)(0xF0000000) /* Completion Code */
+
+/*
+**************************************************************************************************************
+* USB STANDARD REQUEST DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define USB_DESCRIPTOR_TYPE_DEVICE 1
+#define USB_DESCRIPTOR_TYPE_CONFIGURATION 2
+#define USB_DESCRIPTOR_TYPE_INTERFACE 4
+#define USB_DESCRIPTOR_TYPE_ENDPOINT 5
+ /* ----------- Control RequestType Fields ----------- */
+#define USB_DEVICE_TO_HOST 0x80
+#define USB_HOST_TO_DEVICE 0x00
+#define USB_REQUEST_TYPE_CLASS 0x20
+#define USB_RECIPIENT_DEVICE 0x00
+#define USB_RECIPIENT_INTERFACE 0x01
+ /* -------------- USB Standard Requests -------------- */
+#define SET_ADDRESS 5
+#define GET_DESCRIPTOR 6
+#define SET_CONFIGURATION 9
+#define SET_INTERFACE 11
+
+/*
+**************************************************************************************************************
+* TYPE DEFINITIONS
+**************************************************************************************************************
+*/
+
+typedef struct hcEd { /* ----------- HostController EndPoint Descriptor ------------- */
+ volatile USB_INT32U Control; /* Endpoint descriptor control */
+ volatile USB_INT32U TailTd; /* Physical address of tail in Transfer descriptor list */
+ volatile USB_INT32U HeadTd; /* Physcial address of head in Transfer descriptor list */
+ volatile USB_INT32U Next; /* Physical address of next Endpoint descriptor */
+} HCED;
+
+typedef struct hcTd { /* ------------ HostController Transfer Descriptor ------------ */
+ volatile USB_INT32U Control; /* Transfer descriptor control */
+ volatile USB_INT32U CurrBufPtr; /* Physical address of current buffer pointer */
+ volatile USB_INT32U Next; /* Physical pointer to next Transfer Descriptor */
+ volatile USB_INT32U BufEnd; /* Physical address of end of buffer */
+} HCTD;
+
+typedef struct hcca { /* ----------- Host Controller Communication Area ------------ */
+ volatile USB_INT32U IntTable[32]; /* Interrupt Table */
+ volatile USB_INT32U FrameNumber; /* Frame Number */
+ volatile USB_INT32U DoneHead; /* Done Head */
+ volatile USB_INT08U Reserved[116]; /* Reserved for future use */
+ volatile USB_INT08U Unknown[4]; /* Unused */
+} HCCA;
+
+/*
+**************************************************************************************************************
+* EXTERN DECLARATIONS
+**************************************************************************************************************
+*/
+
+extern volatile HCED *EDBulkIn; /* BulkIn endpoint descriptor structure */
+extern volatile HCED *EDBulkOut; /* BulkOut endpoint descriptor structure */
+extern volatile HCTD *TDHead; /* Head transfer descriptor structure */
+extern volatile HCTD *TDTail; /* Tail transfer descriptor structure */
+extern volatile USB_INT08U *TDBuffer; /* Current Buffer Pointer of transfer descriptor */
+
+/*
+**************************************************************************************************************
+* FUNCTION PROTOTYPES
+**************************************************************************************************************
+*/
+
+void Host_Init (void);
+
+extern "C" void USB_IRQHandler(void) __irq;
+
+USB_INT32S Host_EnumDev (void);
+
+USB_INT32S Host_ProcessTD(volatile HCED *ed,
+ volatile USB_INT32U token,
+ volatile USB_INT08U *buffer,
+ USB_INT32U buffer_len);
+
+void Host_DelayUS ( USB_INT32U delay);
+void Host_DelayMS ( USB_INT32U delay);
+
+
+void Host_TDInit (volatile HCTD *td);
+void Host_EDInit (volatile HCED *ed);
+void Host_HCCAInit (volatile HCCA *hcca);
+
+USB_INT32S Host_CtrlRecv ( USB_INT08U bm_request_type,
+ USB_INT08U b_request,
+ USB_INT16U w_value,
+ USB_INT16U w_index,
+ USB_INT16U w_length,
+ volatile USB_INT08U *buffer);
+
+USB_INT32S Host_CtrlSend ( USB_INT08U bm_request_type,
+ USB_INT08U b_request,
+ USB_INT16U w_value,
+ USB_INT16U w_index,
+ USB_INT16U w_length,
+ volatile USB_INT08U *buffer);
+
+void Host_FillSetup( USB_INT08U bm_request_type,
+ USB_INT08U b_request,
+ USB_INT16U w_value,
+ USB_INT16U w_index,
+ USB_INT16U w_length);
+
+
+void Host_WDHWait (void);
+
+
+USB_INT32U ReadLE32U (volatile USB_INT08U *pmem);
+void WriteLE32U (volatile USB_INT08U *pmem,
+ USB_INT32U val);
+USB_INT16U ReadLE16U (volatile USB_INT08U *pmem);
+void WriteLE16U (volatile USB_INT08U *pmem,
+ USB_INT16U val);
+USB_INT32U ReadBE32U (volatile USB_INT08U *pmem);
+void WriteBE32U (volatile USB_INT08U *pmem,
+ USB_INT32U val);
+USB_INT16U ReadBE16U (volatile USB_INT08U *pmem);
+void WriteBE16U (volatile USB_INT08U *pmem,
+ USB_INT16U val);
+
+#endif
diff -r 39935bb3c1a1 -r 4523d7cda75e USBHostLite/usbhost_ms.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_ms.cpp Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,455 @@
+/*
+**************************************************************************************************************
+* NXP USB Host Stack
+*
+* (c) Copyright 2008, NXP SemiConductors
+* (c) Copyright 2008, OnChip Technologies LLC
+* All Rights Reserved
+*
+* www.nxp.com
+* www.onchiptech.com
+*
+* File : usbhost_ms.c
+* Programmer(s) : Ravikanth.P
+* Version :
+*
+**************************************************************************************************************
+*/
+
+/*
+**************************************************************************************************************
+* INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include "usbhost_ms.h"
+
+/*
+**************************************************************************************************************
+* GLOBAL VARIABLES
+**************************************************************************************************************
+*/
+
+USB_INT32U MS_BlkSize;
+
+/*
+**************************************************************************************************************
+* INITIALIZE MASS STORAGE INTERFACE
+*
+* Description: This function initializes the mass storage interface
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERR_INVALID_BOOTSIG if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_Init (USB_INT32U *blkSize, USB_INT32U *numBlks, USB_INT08U *inquiryResult)
+{
+ USB_INT08U retry;
+ USB_INT32S rc;
+
+ MS_GetMaxLUN(); /* Get maximum logical unit number */
+ retry = 80;
+ while(retry) {
+ rc = MS_TestUnitReady(); /* Test whether the unit is ready */
+ if (rc == OK) {
+ break;
+ }
+ MS_GetSenseInfo(); /* Get sense information */
+ retry--;
+ }
+ if (rc != OK) {
+ PRINT_Err(rc);
+ return (rc);
+ }
+ rc = MS_ReadCapacity(numBlks, blkSize); /* Read capacity of the disk */
+ MS_BlkSize = *blkSize; // Set global
+ rc = MS_Inquire (inquiryResult);
+ return (rc);
+}
+/*
+**************************************************************************************************************
+* PARSE THE CONFIGURATION
+*
+* Description: This function is used to parse the configuration
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERR_INVALID_BOOTSIG if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_ParseConfiguration (void)
+{
+ volatile USB_INT08U *desc_ptr;
+ USB_INT08U ms_int_found;
+
+
+ desc_ptr = TDBuffer;
+ ms_int_found = 0;
+
+ if (desc_ptr[1] != USB_DESCRIPTOR_TYPE_CONFIGURATION) {
+ return (ERR_BAD_CONFIGURATION);
+ }
+ desc_ptr += desc_ptr[0];
+
+ while (desc_ptr != TDBuffer + ReadLE16U(&TDBuffer[2])) {
+
+ switch (desc_ptr[1]) {
+
+ case USB_DESCRIPTOR_TYPE_INTERFACE: /* If it is an interface descriptor */
+ if (desc_ptr[5] == MASS_STORAGE_CLASS && /* check if the class is mass storage */
+ desc_ptr[6] == MASS_STORAGE_SUBCLASS_SCSI && /* check if the subclass is SCSI */
+ desc_ptr[7] == MASS_STORAGE_PROTOCOL_BO) { /* check if the protocol is Bulk only */
+ ms_int_found = 1;
+ desc_ptr += desc_ptr[0]; /* Move to next descriptor start */
+ }
+ break;
+
+ case USB_DESCRIPTOR_TYPE_ENDPOINT: /* If it is an endpoint descriptor */
+ if ((desc_ptr[3] & 0x03) == 0x02) { /* If it is Bulk endpoint */
+ if (desc_ptr[2] & 0x80) { /* If it is In endpoint */
+ EDBulkIn->Control = 1 | /* USB address */
+ ((desc_ptr[2] & 0x7F) << 7) | /* Endpoint address */
+ (2 << 11) | /* direction */
+ (ReadLE16U(&desc_ptr[4]) << 16); /* MaxPkt Size */
+ desc_ptr += desc_ptr[0]; /* Move to next descriptor start */
+ } else { /* If it is Out endpoint */
+ EDBulkOut->Control = 1 | /* USB address */
+ ((desc_ptr[2] & 0x7F) << 7) | /* Endpoint address */
+ (1 << 11) | /* direction */
+ (ReadLE16U(&desc_ptr[4]) << 16); /* MaxPkt Size */
+ desc_ptr += desc_ptr[0]; /* Move to next descriptor start */
+ }
+ } else { /* If it is not bulk end point */
+ desc_ptr += desc_ptr[0]; /* Move to next descriptor start */
+ }
+ break;
+
+ default: /* If the descriptor is neither interface nor endpoint */
+ desc_ptr += desc_ptr[0]; /* Move to next descriptor start */
+ break;
+ }
+ }
+ if (ms_int_found) {
+ PRINT_Log("Mass Storage device connected\n");
+ return (OK);
+ } else {
+ PRINT_Log("Not a Mass Storage device\n");
+ return (ERR_NO_MS_INTERFACE);
+ }
+}
+
+/*
+**************************************************************************************************************
+* GET MAXIMUM LOGICAL UNIT
+*
+* Description: This function returns the maximum logical unit from the device
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERR_INVALID_BOOTSIG if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_GetMaxLUN (void)
+{
+ USB_INT32S rc;
+
+
+ rc = Host_CtrlRecv(USB_DEVICE_TO_HOST | USB_REQUEST_TYPE_CLASS | USB_RECIPIENT_INTERFACE,
+ MS_GET_MAX_LUN_REQ,
+ 0,
+ 0,
+ 1,
+ TDBuffer);
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* GET SENSE INFORMATION
+*
+* Description: This function is used to get sense information from the device
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERROR if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_GetSenseInfo (void)
+{
+ USB_INT32S rc;
+
+
+ Fill_MSCommand(0, 0, 0, MS_DATA_DIR_IN, SCSI_CMD_REQUEST_SENSE, 6);
+ rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, 18);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+ if (rc == OK) {
+ if (TDBuffer[12] != 0) {
+ rc = ERR_MS_CMD_FAILED;
+ }
+ }
+ }
+ }
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* TEST UNIT READY
+*
+* Description: This function is used to test whether the unit is ready or not
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERROR if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_TestUnitReady (void)
+{
+ USB_INT32S rc;
+
+
+ Fill_MSCommand(0, 0, 0, MS_DATA_DIR_NONE, SCSI_CMD_TEST_UNIT_READY, 6);
+ rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+ if (rc == OK) {
+ if (TDBuffer[12] != 0) {
+ rc = ERR_MS_CMD_FAILED;
+ }
+ }
+ }
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* READ CAPACITY
+*
+* Description: This function is used to read the capacity of the mass storage device
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERROR if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_ReadCapacity (USB_INT32U *numBlks, USB_INT32U *blkSize)
+{
+ USB_INT32S rc;
+
+
+ Fill_MSCommand(0, 0, 0, MS_DATA_DIR_IN, SCSI_CMD_READ_CAPACITY, 10);
+ rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, 8);
+ if (rc == OK) {
+ if (numBlks)
+ *numBlks = ReadBE32U(&TDBuffer[0]);
+ if (blkSize)
+ *blkSize = ReadBE32U(&TDBuffer[4]);
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+ if (rc == OK) {
+ if (TDBuffer[12] != 0) {
+ rc = ERR_MS_CMD_FAILED;
+ }
+ }
+ }
+ }
+ return (rc);
+}
+
+
+
+USB_INT32S MS_Inquire (USB_INT08U *response)
+{
+ USB_INT32S rc;
+ USB_INT32U i;
+
+ Fill_MSCommand(0, 0, 0, MS_DATA_DIR_IN, SCSI_CMD_INQUIRY, 6);
+ rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, INQUIRY_LENGTH);
+ if (rc == OK) {
+ if (response) {
+ for ( i = 0; i < INQUIRY_LENGTH; i++ )
+ *response++ = *TDBuffer++;
+#if 0
+ MemCpy (response, TDBuffer, INQUIRY_LENGTH);
+ StrNullTrailingSpace (response->vendorID, SCSI_INQUIRY_VENDORCHARS);
+ StrNullTrailingSpace (response->productID, SCSI_INQUIRY_PRODUCTCHARS);
+ StrNullTrailingSpace (response->productRev, SCSI_INQUIRY_REVCHARS);
+#endif
+ }
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+ if (rc == OK) {
+ if (TDBuffer[12] != 0) { // bCSWStatus byte
+ rc = ERR_MS_CMD_FAILED;
+ }
+ }
+ }
+ }
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* RECEIVE THE BULK DATA
+*
+* Description: This function is used to receive the bulk data
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERR_INVALID_BOOTSIG if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_BulkRecv ( USB_INT32U block_number,
+ USB_INT16U num_blocks,
+ volatile USB_INT08U *user_buffer)
+{
+ USB_INT32S rc;
+ int i;
+ volatile USB_INT08U *c = user_buffer;
+ for (i=0;i<MS_BlkSize*num_blocks;i++)
+ *c++ = 0;
+
+
+ Fill_MSCommand(block_number, MS_BlkSize, num_blocks, MS_DATA_DIR_IN, SCSI_CMD_READ_10, 10);
+
+ rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, user_buffer, MS_BlkSize * num_blocks);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+ if (rc == OK) {
+ if (TDBuffer[12] != 0) {
+ rc = ERR_MS_CMD_FAILED;
+ }
+ }
+ }
+ }
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* SEND BULK DATA
+*
+* Description: This function is used to send the bulk data
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERR_INVALID_BOOTSIG if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_BulkSend ( USB_INT32U block_number,
+ USB_INT16U num_blocks,
+ volatile USB_INT08U *user_buffer)
+{
+ USB_INT32S rc;
+
+
+ Fill_MSCommand(block_number, MS_BlkSize, num_blocks, MS_DATA_DIR_OUT, SCSI_CMD_WRITE_10, 10);
+
+ rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkOut, TD_OUT, user_buffer, MS_BlkSize * num_blocks);
+ if (rc == OK) {
+ rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+ if (rc == OK) {
+ if (TDBuffer[12] != 0) {
+ rc = ERR_MS_CMD_FAILED;
+ }
+ }
+ }
+ }
+ return (rc);
+}
+
+/*
+**************************************************************************************************************
+* FILL MASS STORAGE COMMAND
+*
+* Description: This function is used to fill the mass storage command
+*
+* Arguments : None
+*
+* Returns : OK if Success
+* ERR_INVALID_BOOTSIG if Failed
+*
+**************************************************************************************************************
+*/
+
+void Fill_MSCommand (USB_INT32U block_number,
+ USB_INT32U block_size,
+ USB_INT16U num_blocks,
+ MS_DATA_DIR direction,
+ USB_INT08U scsi_cmd,
+ USB_INT08U scsi_cmd_len)
+{
+ USB_INT32U data_len;
+ static USB_INT32U tag_cnt = 0;
+ USB_INT32U cnt;
+
+
+ for (cnt = 0; cnt < CBW_SIZE; cnt++) {
+ TDBuffer[cnt] = 0;
+ }
+ switch(scsi_cmd) {
+
+ case SCSI_CMD_TEST_UNIT_READY:
+ data_len = 0;
+ break;
+ case SCSI_CMD_READ_CAPACITY:
+ data_len = 8;
+ break;
+ case SCSI_CMD_REQUEST_SENSE:
+ data_len = 18;
+ break;
+ case SCSI_CMD_INQUIRY:
+ data_len = 36;
+ break;
+ default:
+ data_len = block_size * num_blocks;
+ break;
+ }
+ WriteLE32U(TDBuffer, CBW_SIGNATURE);
+ WriteLE32U(&TDBuffer[4], tag_cnt);
+ WriteLE32U(&TDBuffer[8], data_len);
+ TDBuffer[12] = (direction == MS_DATA_DIR_NONE) ? 0 : direction;
+ TDBuffer[14] = scsi_cmd_len; /* Length of the CBW */
+ TDBuffer[15] = scsi_cmd;
+ if ((scsi_cmd == SCSI_CMD_REQUEST_SENSE)
+ || (scsi_cmd == SCSI_CMD_INQUIRY)) {
+ TDBuffer[19] = (USB_INT08U)data_len;
+ } else {
+ WriteBE32U(&TDBuffer[17], block_number);
+ }
+ WriteBE16U(&TDBuffer[22], num_blocks);
+}
diff -r 39935bb3c1a1 -r 4523d7cda75e USBHostLite/usbhost_ms.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_ms.h Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,101 @@
+/*
+**************************************************************************************************************
+* NXP USB Host Stack
+*
+* (c) Copyright 2008, NXP SemiConductors
+* (c) Copyright 2008, OnChip Technologies LLC
+* All Rights Reserved
+*
+* www.nxp.com
+* www.onchiptech.com
+*
+* File : usbhost_ms.h
+* Programmer(s) : Ravikanth.P
+* Version :
+*
+**************************************************************************************************************
+*/
+
+#ifndef USBHOST_MS_H
+#define USBHOST_MS_H
+
+/*
+**************************************************************************************************************
+* INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include "usbhost_inc.h"
+
+/*
+**************************************************************************************************************
+* MASS STORAGE SPECIFIC DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define MS_GET_MAX_LUN_REQ 0xFE
+#define MASS_STORAGE_CLASS 0x08
+#define MASS_STORAGE_SUBCLASS_SCSI 0x06
+#define MASS_STORAGE_PROTOCOL_BO 0x50
+
+#define INQUIRY_LENGTH 36
+/*
+**************************************************************************************************************
+* SCSI SPECIFIC DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define CBW_SIGNATURE 0x43425355
+#define CSW_SIGNATURE 0x53425355
+#define CBW_SIZE 31
+#define CSW_SIZE 13
+#define CSW_CMD_PASSED 0x00
+#define SCSI_CMD_REQUEST_SENSE 0x03
+#define SCSI_CMD_TEST_UNIT_READY 0x00
+#define SCSI_CMD_INQUIRY 0x12
+#define SCSI_CMD_READ_10 0x28
+#define SCSI_CMD_READ_CAPACITY 0x25
+#define SCSI_CMD_WRITE_10 0x2A
+
+/*
+**************************************************************************************************************
+* TYPE DEFINITIONS
+**************************************************************************************************************
+*/
+
+typedef enum ms_data_dir {
+
+ MS_DATA_DIR_IN = 0x80,
+ MS_DATA_DIR_OUT = 0x00,
+ MS_DATA_DIR_NONE = 0x01
+
+} MS_DATA_DIR;
+
+/*
+**************************************************************************************************************
+* FUNCTION PROTOTYPES
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_BulkRecv ( USB_INT32U block_number,
+ USB_INT16U num_blocks,
+ volatile USB_INT08U *user_buffer);
+
+USB_INT32S MS_BulkSend ( USB_INT32U block_number,
+ USB_INT16U num_blocks,
+ volatile USB_INT08U *user_buffer);
+USB_INT32S MS_ParseConfiguration(void);
+USB_INT32S MS_TestUnitReady (void);
+USB_INT32S MS_ReadCapacity (USB_INT32U *numBlks, USB_INT32U *blkSize);
+USB_INT32S MS_GetMaxLUN (void);
+USB_INT32S MS_GetSenseInfo (void);
+USB_INT32S MS_Init (USB_INT32U *blkSize, USB_INT32U *numBlks, USB_INT08U *inquiryResult);
+USB_INT32S MS_Inquire (USB_INT08U *response);
+
+void Fill_MSCommand ( USB_INT32U block_number,
+ USB_INT32U block_size,
+ USB_INT16U num_blocks,
+ MS_DATA_DIR direction,
+ USB_INT08U scsi_cmd,
+ USB_INT08U scsi_cmd_len);
+#endif
diff -r 39935bb3c1a1 -r 4523d7cda75e main.cpp
--- a/main.cpp Sun Jun 29 22:48:08 2014 +0000
+++ b/main.cpp Fri Jun 17 20:35:28 2016 +0000
@@ -25,35 +25,51 @@
We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
*/
-
-//#include "ST_F401_84MHZ.h"
-//F401_init84 myinit(0);
+
#include "mbed.h"
#include "MPU9150.h"
-#include "N5110.h"
+#include "C12832.h"
+#include "MSCFileSystem.h"
+#include "BMP180.h"
+#include "DW1000.h"
+#include "MM2WayRanging.h"
+#include "stdlib.h"
-// Using NOKIA 5110 monochrome 84 x 48 pixel display
-// pin 9 - Serial clock out (SCLK)
-// pin 8 - Serial data out (DIN)
-// pin 7 - Data/Command select (D/C)
-// pin 5 - LCD chip select (CS)
-// pin 6 - LCD reset (RST)
-//Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
+#define LAST(k, n) ((k)&((1<<(n))-1))
+#define MID(k,m,n) LAST((k)>>(m),((n)-(m)))
+#define myprintf pc.printf
float sum = 0;
uint32_t sumCount = 0, mcount = 0;
char buffer[14];
- MPU9150 MPU9150;
+ //IMU
+ MPU9150 MPU9150;
+
+ //BARO
+ BMP180 bmp180(p28, p27); // sda, scl
+
+ // DWM1000
+ DW1000 dw(p5, p6, p7, p11, p17); // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ)
+ MM2WayRanging node(dw); // Ranging algorithm
+
+ //USB
+ MSCFileSystem fs("fs");
+
+ //Timer
+ Timer t, timer;
- Timer t;
-
- Serial pc(USBTX, USBRX); // tx, rx
-
- // VCC, SCE, RST, D/C, MOSI,S CLK, LED
- N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7);
+ // Application System
+ Serial pc(USBTX, USBRX); // tx, rx
+
+ // joystick
+ BusIn joystick(p15,p12,p13,p16);
-
+ // LCD display
+ //C12832 lcd(p5, p7, p6, p8, p11);
+
+ // joystick
+ DigitalIn fire(p14);
int main()
{
@@ -62,86 +78,88 @@
//Set up I2C
i2c.frequency(400000); // use fast (400 kHz) I2C
- pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+ //lcd.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
t.start();
- lcd.init();
-// lcd.setBrightness(0.05);
-
+ // Connection Test of the DecaWave Ranging Measurement Unit
+
+ dw.setEUI(0xFAEDCD01FAEDCD01); // basic methods called to check if we have a working SPI connection
+ if (!(dw.getEUI() == 0xFAEDCD01FAEDCD01 && dw.getDeviceID() == 0xDECA0130))
+ { myprintf("DWM1000 Identification error:\n DeviceID = %d\n EUI = %d", dw.getDeviceID(), dw.getEUI());
+ while(1);}
+ else
+ {myprintf("DWM100 Connection established\n\r");}
+ // Anchor or Beacon?
+myprintf("Set the Chip as an Anchor: Up\n\r Set the Chip as a Beacon: Down\n\r");
+while (joystick.read() != 1 && joystick.read() != 2){wait(0.001);}
+
+if (joystick.read() == 1) {
+ node.isAnchor = true;
+ node.address = 2;
+ myprintf("This node is Anchor node %d \r\n", node.address);
+ while(1);
+ } else {
+ node.isAnchor = false;
+ node.address = 0;
+ myprintf("This node is a Beacon.\n\r ");
+ }
+
// Read the WHO_AM_I register, this is a good test of communication
uint8_t whoami = MPU9150.readByte(MPU9150_ADDRESS, WHO_AM_I_MPU9150); // Read WHO_AM_I register for MPU-9250
- pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
if (whoami == 0x68) // WHO_AM_I should be 0x68
- {
- pc.printf("MPU9150 WHO_AM_I is 0x%x\n\r", whoami);
- pc.printf("MPU9150 is online...\n\r");
- lcd.clear();
- lcd.printString("MPU9150 is", 0, 0);
- sprintf(buffer, "0x%x", whoami);
- lcd.printString(buffer, 0, 1);
- lcd.printString("shoud be 0x68", 0, 2);
- wait(1);
+ {
+ myprintf("IMU Connection established, Initialization...\n\r");
+ MPU9150.MPU9150SelfTest(SelfTest); // Accelerometer and gyroscope self test; check calibration wrt factory settings
+ //lcd.printf("x-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[0]);
- MPU9150.MPU9150SelfTest(SelfTest);
- pc.printf("x-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[0]);
- pc.printf("y-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[1]);
- pc.printf("z-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[2]);
- pc.printf("x-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[3]);
- pc.printf("y-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[4]);
- pc.printf("z-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[5]);
- wait(1);
MPU9150.resetMPU9150(); // Reset registers to default in preparation for device calibration
MPU9150.calibrateMPU9150(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
- pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
- pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
- pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
- pc.printf("x accel bias = %f\n\r", accelBias[0]);
- pc.printf("y accel bias = %f\n\r", accelBias[1]);
- pc.printf("z accel bias = %f\n\r", accelBias[2]);
- wait(1);
+ //pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
+
MPU9150.initMPU9150();
- pc.printf("MPU9150 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ myprintf("MPU9150 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
MPU9150.initAK8975A(magCalibration);
- pc.printf("AK8975 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
+ myprintf("AK8975 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
}
else
{
- pc.printf("Could not connect to MPU9150: \n\r");
- pc.printf("%#x \n", whoami);
-
- lcd.clear();
- lcd.printString("MPU9150", 0, 0);
- lcd.printString("no connection", 0, 1);
- sprintf(buffer, "WHO_AM_I 0x%x", whoami);
- lcd.printString(buffer, 0, 2);
-
+ myprintf("Could not connect to MPU9150: \n\r");
+ myprintf("%#x \n", whoami);
while(1) ; // Loop forever if communication doesn't happen
}
+ bmp180.Initialize(64, BMP180_OSS_ULTRA_LOW_POWER); // 64m altitude compensation and low power oversampling
+
uint8_t MagRate = 10; // set magnetometer read rate in Hz; 10 to 100 (max) Hz are reasonable values
MPU9150.getAres(); // Get accelerometer sensitivity
MPU9150.getGres(); // Get gyro sensitivity
- mRes = 10.*1229./4096.; // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale
+ mRes = 10.*1229./4096.; // Conversion from binary to microtesla and from 1229 microTesla full scale (4096) to 12.29 Gauss full scale
// So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically
// like the gyro and accelerometer biases
magbias[0] = -5.; // User environmental x-axis correction in milliGauss
magbias[1] = -95.; // User environmental y-axis correction in milliGauss
magbias[2] = -260.; // User environmental z-axis correction in milliGauss
-
-
- while(1) {
+FILE *fic= fopen("/fs/test.txt","w");
+int button = 0;
+float Start;
+float pressure, temperature;
+float Distance[3] = {7,8,9};
+int Points = 0;
+ while(joystick.read() != 4) {
+ // Get Ranging measurements
+ (Distance[0], Distance[1], Distance[2]) = node.rangeAndDisplayAll();
// If intPin goes high, all data registers have new data
if(MPU9150.readByte(MPU9150_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
MPU9150.readAccelData(accelCount); // Read the x/y/z adc values
// Now we'll calculate the accleration value into actual g's
- ax = (float)accelCount[0]*aRes; // - accelBias[0]; // get actual g value, this depends on scale being set
- ay = (float)accelCount[1]*aRes; // - accelBias[1];
- az = (float)accelCount[2]*aRes; // - accelBias[2];
+ ax = (float)accelCount[0]*aRes; - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)accelCount[1]*aRes; - accelBias[1];
+ az = (float)accelCount[2]*aRes; - accelBias[2];
MPU9150.readGyroData(gyroCount); // Read the x/y/z adc values
// Calculate the gyro value into actual degrees per second
@@ -160,13 +178,14 @@
mcount = 0;
}
}
+
- Now = t.read_us();
- deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
- lastUpdate = Now;
+ //Now = t.read_us();
+ //deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+ //lastUpdate = Now;
- sum += deltat;
- sumCount++;
+ //sum += deltat;
+ //sumCount++;
// if(lastUpdate - firstUpdate > 10000000.0f) {
// beta = 0.04; // decrease filter gain after stabilized
@@ -175,32 +194,72 @@
// Pass gyro rate as rad/s
// MPU9150.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
- MPU9150.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+ //MPU9150.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
// Serial print and/or display at 0.5 s rate independent of data rates
- delt_t = t.read_ms() - count;
- if (delt_t > 500) { // update LCD once per half-second independent of read rate
+
+ //myprintf("\r\n CIR= %u, %016llX", MID(dw.getCIR_PWR(),48,64), dw.getCIR_PWR());
+ //myprintf("\r\n RXPACC = %u, %X", MID(dw.getRXPACC(), 20,32), dw.getRXPACC());
- pc.printf("ax = %f", 1000*ax);
- pc.printf(" ay = %f", 1000*ay);
- pc.printf(" az = %f mg\n\r", 1000*az);
- pc.printf("gx = %f", gx);
- pc.printf(" gy = %f", gy);
- pc.printf(" gz = %f deg/s\n\r", gz);
+ //while(1);
- pc.printf("gx = %f", mx);
- pc.printf(" gy = %f", my);
- pc.printf(" gz = %f mG\n\r", mz);
+ delt_t = t.read_ms() - count;
+ timer.start();
+ while (fire)
+ { Start = timer.read();
+ myprintf("#");
+ fprintf(fic, "#\n");
+ wait(0.3);}
+
+ if (Start>0.1)
+ { button = !button;
+ Points = 0;}
+
+ if (fic != NULL && button && Points < 501)
+ {
+ //fprintf(fic, "%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f\n", t.read(),1000*ax, 1000*ay, 1000*az, gx, gy, gz, mx, my, mz, pressure, temperature, Distance);
+ myprintf("%d", Points);
+ fprintf(fic, "%.2f %.2f %.2f %u %u\n", Distance[0], Distance[1], Distance[2], MID(dw.getRXPACC(), 20,32), MID(dw.getCIR_PWR(),48,64));
+ myprintf(" Distance 2 = %.2f Distance 3 = %.2f Distance 4 = %.2f %u %u\n\r", node.distances[2], node.distances[3], node.distances[4], MID(dw.getRXPACC(), 20,32), MID(dw.getCIR_PWR(),48,64));
+ Start = 0;
+ wait(0.0005);
+ Points ++;}
+ else
+ //{if (fic != NULL && button)
+ //{fprintf(fic, "%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;No data;No data\n",t.read(),1000*ax, 1000*ay, 1000*az, gx, gy, gz, mx, my, mz);
+ // Start = 0;}
+ // else {
+ {
+ myprintf(".");
+ Start = 0;}
+
+ if (delt_t > 500) { // update LCD once per half-second independent of read rate
+
+
+
+ //lcd.locate(0,0);
+ //lcd.printf("ax = %.3f", 1000*ax);
+ //myprintf(" ay = %f", 1000*ay);
+ //pc.printf(" az = %f mg\n\r", 1000*az);
+ //lcd.locate(0,9);
+ //lcd.printf("gx = %f", gx);
+ // myprintf(" gy = %f", gy);
+ //pc.printf(" gz = %f deg/s\n\r", gz);
+ //lcd.locate(0,18);
+ //lcd.printf("gx = %f", mx);
+ //myprintf(" gy = %f", my);
+ //pc.printf(" gz = %f mG\n\r", mz);
tempCount = MPU9150.readTempData(); // Read the adc values
temperature = ((float) tempCount) / 340.0f + 36.53f; // Temperature in degrees Centigrade
- pc.printf(" temperature = %f C\n\r", temperature);
+ //myprintf(" temperature = %f C", temperature);
+ //myprintf("Ranging = %f\n\r ", Distance);
- pc.printf("q0 = %f\n\r", q[0]);
- pc.printf("q1 = %f\n\r", q[1]);
- pc.printf("q2 = %f\n\r", q[2]);
- pc.printf("q3 = %f\n\r", q[3]);
+ //pc.printf("q0 = %f\n\r", q[0]);
+ //pc.printf("q1 = %f\n\r", q[1]);
+ //pc.printf("q2 = %f\n\r", q[2]);
+ //pc.printf("q3 = %f\n\r", q[3]);
/* lcd.clear();
lcd.printString("MPU9150", 0, 0);
@@ -221,16 +280,16 @@
// Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
// applied in the correct order which for this configuration is yaw, pitch, and then roll.
// For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
- yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
- pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
- roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
- pitch *= 180.0f / PI;
- yaw *= 180.0f / PI;
- yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
- roll *= 180.0f / PI;
+ //yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+ //pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+ //roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+ //pitch *= 180.0f / PI;
+ //yaw *= 180.0f / PI;
+ //yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
+ //roll *= 180.0f / PI;
- pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
- pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+ //pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+ //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
// sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll);
// lcd.printString(buffer, 0, 4);
// sprintf(buffer, "rate = %f", (float) sumCount/sum);
@@ -244,10 +303,11 @@
count = 0;
deltat= 0;
lastUpdate = t.read_us();
- }
- sum = 0;
- sumCount = 0;
+ }
+ //sum = 0;
+ //sumCount = 0; *
}
}
+fclose(fic);
}
\ No newline at end of file
diff -r 39935bb3c1a1 -r 4523d7cda75e mbed.bld --- a/mbed.bld Sun Jun 29 22:48:08 2014 +0000 +++ b/mbed.bld Fri Jun 17 20:35:28 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/0b3ab51c8877 \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11 \ No newline at end of file