Revision 0:feaa05d35ccf, committed 2012-03-07

Comitter:

AlexAllen

Date:

Wed Mar 07 20:02:35 2012 +0000

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMP085/BMP085.cpp	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,152 @@
+/*
+ * mbed library to use a Bosch Sensortec BMP085 sensor
+ * Copyright (c) 2010 Hiroshi Suga
+ * Released under the MIT License: http://mbed.org/license/mit
+ */
+
+/** @file BMP085.cpp
+ * @brief mbed library to use a Bosch Sensortec BMP085 sensor
+ * barometric pressure sensor BMP085 (Bosch Sensortec)
+ * interface: I2C digital
+ */
+
+#include "mbed.h"
+#include "BMP085.h"
+
+#define WEATHER_BMP085 0xee
+#define xpow(x, y) ((long)1 << y)
+
+/**
+ * @brief Initializes interface (private I2C)
+ * @param p_sda port of I2C SDA
+ * @param p_scl port of I2C SCL
+ * @param p_oss parameter of OSS
+ */
+BMP085::BMP085 (PinName p_sda, PinName p_scl, BMP085_oss p_oss) : i2c(p_sda, p_scl) {
+    init(p_oss);
+}
+
+/**
+ * @brief Initializes interface (public I2C)
+ * @param p_i2c instance of I2C class
+ * @param p_oss parameter of OSS
+ */
+BMP085::BMP085 (I2C& p_i2c, BMP085_oss p_oss) : i2c(p_i2c) { 
+    init(p_oss);
+}
+
+/**
+ * @brief Get temperature
+ * @return temperature (`C)
+ */
+float BMP085::get_temperature() {
+    return temperature;
+}
+
+/**
+ * @brief Get pressure
+ * @return pressure (hPa)
+ */
+float BMP085::get_pressure() {
+    return pressure;
+}
+
+/**
+ * @brief Update results
+ */
+void BMP085::update () {
+    long t, p, ut, up, x1, x2, x3, b3, b5, b6;
+    unsigned long b4, b7;
+
+    twi_writechar(WEATHER_BMP085, 0xf4, 0x2e);
+    wait(0.01);
+    ut = twi_readshort(WEATHER_BMP085, 0xf6);
+
+    twi_writechar(WEATHER_BMP085, 0xf4, 0x34 | (oss << 6));
+    wait(0.05);
+    up = twi_readlong(WEATHER_BMP085, 0xf6) >> (8 - oss);
+
+    x1 = (ut - ac6) * ac5 / xpow(2, 15);
+    x2 = (long)mc * xpow(2, 11) / (x1 + md);
+    b5 = x1 + x2;
+    t = (b5 + 8) / xpow(2, 4);
+    temperature = (float)t / 10.0;
+
+    b6 = b5 - 4000;
+    x1 = (b2 * (b6 * b6 / xpow(2, 12))) / xpow(2, 11);
+    x2 = ac2 * b6 / xpow(2, 11);
+    x3 = x1 + x2;
+    b3 = ((((unsigned long)ac1 * 4 + x3) << oss) + 2) / 4;
+    x1 = ac3 * b6 / xpow(2, 13);
+    x2 = (b1 * (b6 * b6 / xpow(2, 12))) / xpow(2, 16);
+    x3 = ((x1 + x2) + 2) / xpow(2, 2);
+    b4 = ac4 * (unsigned long)(x3 + 32768) / xpow(2, 15);
+    b7 = ((unsigned long)up - b3) * (50000 >> oss);
+    if (b7 < (unsigned long)0x80000000) {
+        p = (b7 * 2) / b4;
+    } else {
+        p = (b7 / b4) * 2;
+    }
+    x1 = (p / xpow(2, 8)) * (p / xpow(2, 8));
+    x1 = (x1 * 3038) / xpow(2, 16);
+    x2 = (-7357 * p) / xpow(2, 16);
+    p = p + (x1 + x2 + 3791) / xpow(2, 4);
+    pressure = (float)p / 100.0;
+}
+
+void BMP085::init (BMP085_oss p_oss) {
+    ac1 = twi_readshort(WEATHER_BMP085, 0xaa);
+    ac2 = twi_readshort(WEATHER_BMP085, 0xac);
+    ac3 = twi_readshort(WEATHER_BMP085, 0xae);
+    ac4 = twi_readshort(WEATHER_BMP085, 0xb0);
+    ac5 = twi_readshort(WEATHER_BMP085, 0xb2);
+    ac6 = twi_readshort(WEATHER_BMP085, 0xb4);
+    b1 = twi_readshort(WEATHER_BMP085, 0xb6);
+    b2 = twi_readshort(WEATHER_BMP085, 0xb8);
+    mb = twi_readshort(WEATHER_BMP085, 0xba);
+    mc = twi_readshort(WEATHER_BMP085, 0xbc);
+    md = twi_readshort(WEATHER_BMP085, 0xbe);
+    oss = p_oss;
+}
+
+unsigned short BMP085::twi_readshort (int id, int addr) {
+    unsigned short i;
+
+    i2c.start();
+    i2c.write(id);
+    i2c.write(addr);
+
+    i2c.start();
+    i2c.write(id | 1);
+    i = i2c.read(1) << 8;
+    i |= i2c.read(0);
+    i2c.stop();
+
+    return i;
+}
+
+unsigned long BMP085::twi_readlong (int id, int addr) {
+    unsigned long i;
+
+    i2c.start();
+    i2c.write(id);
+    i2c.write(addr);
+
+    i2c.start();
+    i2c.write(id | 1);
+    i = i2c.read(1) << 16;
+    i |= i2c.read(1) << 8;
+    i |= i2c.read(0);
+    i2c.stop();
+
+    return i;
+}
+
+void BMP085::twi_writechar (int id, int addr, int dat) {
+
+    i2c.start();
+    i2c.write(id);
+    i2c.write(addr);
+    i2c.write(dat);
+    i2c.stop();
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMP085/BMP085.h	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,56 @@
+/*
+ * mbed library to use a Bosch Sensortec BMP085 sensor
+ * Copyright (c) 2010 Hiroshi Suga
+ * Released under the MIT License: http://mbed.org/license/mit
+ */
+ 
+/** @file BMP085.h
+ * @brief mbed library to use a Bosch Sensortec BMP085 sensor
+ * barometric pressure sensor BMP085 (Bosch Sensortec)
+ * interface: I2C digital
+ */
+ 
+#ifndef BMP085_H
+#define BMP085_H
+
+#include "mbed.h"
+
+/**
+ * @brief over sampling setting
+ */
+enum BMP085_oss {
+    BMP085_oss1 = 0, ///< ultra low power (1 time)
+    BMP085_oss2 = 1, ///< standard (2 times)
+    BMP085_oss4 = 2, ///< high resolution (4 times)
+    BMP085_oss8 = 3  ///< ultra high resolution (8 times)
+};
+
+/**
+ * @brief BMP085 class
+ */
+class BMP085 : public Base {
+public:
+    BMP085(PinName p_sda, PinName p_scl, BMP085_oss p_oss = BMP085_oss1);
+    BMP085(I2C& p_i2c, BMP085_oss p_oss = BMP085_oss1);
+
+    float get_temperature();
+    float get_pressure();
+    void update();
+
+protected:
+    void init(BMP085_oss);
+    unsigned short twi_readshort (int, int);
+    unsigned long twi_readlong (int, int);
+    void twi_writechar (int, int, int);
+
+    I2C i2c;
+    float temperature;
+    float pressure;
+
+private:
+
+    short ac1, ac2, ac3, b1, b2, mb, mc, md, oss;
+    unsigned short ac4, ac5, ac6;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FATFileSystem.lib	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_unsupported/code/fatfilesystem/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS/GPS.cpp	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,84 @@
+/* mbed EM-406 GPS Module Library
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+ 
+#include "GPS.h"
+
+GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
+    _gps.baud(4800);    
+    longitude = 0.0;
+    latitude = 0.0;        
+}
+
+int GPS::sample() 
+{
+
+    while(1) {        
+        getline();
+
+        // Check if it is a GPGGA msg (matches both locked and non-locked msg)
+        if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f", &time, &latitude, &ns, &longitude, &ew, &lock, &satillites, &HDOP, &altitude) >= 1) { 
+            if(!lock) 
+            {
+                longitude = 0.0;
+                latitude = 0.0;  
+                printf("case 1: rx [%s], lock %d, lat %f, long %f\n\r", msg, lock, latitude, longitude);      
+                return 0;
+            } 
+            else 
+            {
+                printf("case 2: rx [%s], time %f, lock %d, lat %f, long %f\n\r", msg, time, lock, latitude, longitude);
+                if(ns == 'S') {    latitude  *= -1.0; }
+                if(ew == 'W') {    longitude *= -1.0; }
+                float degrees = trunc(latitude / 100.0f);
+                float minutes = latitude - (degrees * 100.0f);
+                latitude = degrees + minutes / 60.0f;    
+                degrees = trunc(longitude / 100.0f * 0.01f);
+                minutes = longitude - (degrees * 100.0f);
+                longitude = degrees + minutes / 60.0f;
+                return 1;
+            }
+        }
+    }
+}
+
+float GPS::trunc(float v) {
+    if(v < 0.0) {
+        v*= -1.0;
+        v = floor(v);
+        v*=-1.0;
+    } else {
+        v = floor(v);
+    }
+    return v;
+}
+
+void GPS::getline() {
+    while(_gps.getc() != '$');    // wait for the start of a line
+    for(int i=0; i<256; i++) {
+        msg[i] = _gps.getc();
+        if(msg[i] == '\r') {
+            msg[i] = 0;
+            return;
+        }
+    }
+    error("Overflowed message limit");
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS/GPS.h	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,79 @@
+/* mbed EM-406 GPS Module Library
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "mbed.h"
+
+#ifndef MBED_GPS_H
+#define MBED_GPS_H
+
+/**  A GPS interface for reading from a Globalsat EM-406 GPS Module */
+class GPS {
+public:
+
+    /** Create the GPS interface, connected to the specified serial port
+     */    
+    GPS(PinName tx, PinName rx);
+    
+    /** Sample the incoming GPS data, returning whether there is a lock
+     * 
+     * @return 1 if there was a lock when the sample was taken (and therefore .longitude and .latitude are valid), else 0
+     */
+    int sample();
+    
+    /** The longitude (call sample() to set) */
+    float longitude;
+
+    /** The latitude (call sample() to set) */
+    float latitude;
+    
+    /** The altitude (call sample() to set) */
+    float altitude;
+    
+    /** The time (call sample() to set) */
+    float time;
+    
+    /** North/south east/west (call sample() to set) */
+    char ns, ew;
+    
+    /** The number of satillites (call sample() to set) */
+    int satillites;
+    
+    /** Horizontal dilution of precision (call sample() to set) */
+    float HDOP;
+    
+    /** Message that comes back from the GPS */
+    char msg[256];
+    
+    /** Does the gps have a lock */
+    int lock;
+    
+    
+    
+private:
+    float trunc(float v);
+    void getline();
+    
+    Serial _gps;
+
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HIH4030/HIH4030.cpp	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,14 @@
+#include "HIH4030.h"
+#include "mbed.h"
+ 
+float HIH4030::getH(float temp)
+{
+    float sensHum, trueHum;
+    float vout = 3.3 * 2.0 * read();
+    float vsupply = 5.0;
+    
+    sensHum = ( ( vout / vsupply ) + 0.16 ) / 0.0062;
+    trueHum = ( 1.0546 - 0.00216 * temp ) * sensHum;
+    
+    return trueHum;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HIH4030/HIH4030.h	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,14 @@
+#ifndef HUMIDITY
+
+    #include "mbed.h"
+
+    class HIH4030 : private AnalogIn
+    {
+        public:
+    
+        HIH4030(PinName pin) : AnalogIn(pin) {};
+        float getH(float temp);
+    };
+    
+    #define HUMIDITY 1
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem/SDFileSystem.cpp	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,457 @@
+/* mbed SDFileSystem Library, for providing file access to SD cards
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/* Introduction
+ * ------------
+ * SD and MMC cards support a number of interfaces, but common to them all
+ * is one based on SPI. This is the one I'm implmenting because it means
+ * it is much more portable even though not so performant, and we already 
+ * have the mbed SPI Interface!
+ *
+ * The main reference I'm using is Chapter 7, "SPI Mode" of: 
+ *  http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
+ *
+ * SPI Startup
+ * -----------
+ * The SD card powers up in SD mode. The SPI interface mode is selected by
+ * asserting CS low and sending the reset command (CMD0). The card will 
+ * respond with a (R1) response.
+ *
+ * CMD8 is optionally sent to determine the voltage range supported, and 
+ * indirectly determine whether it is a version 1.x SD/non-SD card or 
+ * version 2.x. I'll just ignore this for now.
+ *
+ * ACMD41 is repeatedly issued to initialise the card, until "in idle"
+ * (bit 0) of the R1 response goes to '0', indicating it is initialised.
+ *
+ * You should also indicate whether the host supports High Capicity cards,
+ * and check whether the card is high capacity - i'll also ignore this
+ *
+ * SPI Protocol
+ * ------------
+ * The SD SPI protocol is based on transactions made up of 8-bit words, with
+ * the host starting every bus transaction by asserting the CS signal low. The
+ * card always responds to commands, data blocks and errors.
+ * 
+ * The protocol supports a CRC, but by default it is off (except for the 
+ * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
+ * I'll leave the CRC off I think! 
+ * 
+ * Standard capacity cards have variable data block sizes, whereas High 
+ * Capacity cards fix the size of data block to 512 bytes. I'll therefore
+ * just always use the Standard Capacity cards with a block size of 512 bytes.
+ * This is set with CMD16.
+ *
+ * You can read and write single blocks (CMD17, CMD25) or multiple blocks 
+ * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
+ * the card gets a read command, it responds with a response token, and then 
+ * a data token or an error.
+ * 
+ * SPI Command Format
+ * ------------------
+ * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
+ *
+ * +---------------+------------+------------+-----------+----------+--------------+
+ * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
+ * +---------------+------------+------------+-----------+----------+--------------+
+ *
+ * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
+ *
+ * All Application Specific commands shall be preceded with APP_CMD (CMD55).
+ *
+ * SPI Response Format
+ * -------------------
+ * The main response format (R1) is a status byte (normally zero). Key flags:
+ *  idle - 1 if the card is in an idle state/initialising 
+ *  cmd  - 1 if an illegal command code was detected
+ *
+ *    +-------------------------------------------------+
+ * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
+ *    +-------------------------------------------------+
+ *
+ * R1b is the same, except it is followed by a busy signal (zeros) until
+ * the first non-zero byte when it is ready again.
+ *
+ * Data Response Token
+ * -------------------
+ * Every data block written to the card is acknowledged by a byte 
+ * response token
+ *
+ * +----------------------+
+ * | xxx | 0 | status | 1 |
+ * +----------------------+
+ *              010 - OK!
+ *              101 - CRC Error
+ *              110 - Write Error
+ *
+ * Single Block Read and Write
+ * ---------------------------
+ *
+ * Block transfers have a byte header, followed by the data, followed
+ * by a 16-bit CRC. In our case, the data will always be 512 bytes.
+ *  
+ * +------+---------+---------+- -  - -+---------+-----------+----------+
+ * | 0xFE | data[0] | data[1] |        | data[n] | crc[15:8] | crc[7:0] | 
+ * +------+---------+---------+- -  - -+---------+-----------+----------+
+ */
+ 
+#include "SDFileSystem.h"
+
+#define SD_COMMAND_TIMEOUT 5000
+
+SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
+  FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) {
+      _cs = 1; 
+}
+
+#define R1_IDLE_STATE           (1 << 0)
+#define R1_ERASE_RESET          (1 << 1)
+#define R1_ILLEGAL_COMMAND      (1 << 2)
+#define R1_COM_CRC_ERROR        (1 << 3)
+#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
+#define R1_ADDRESS_ERROR        (1 << 5)
+#define R1_PARAMETER_ERROR      (1 << 6)
+
+// Types
+//  - v1.x Standard Capacity
+//  - v2.x Standard Capacity
+//  - v2.x High Capacity
+//  - Not recognised as an SD Card
+
+#define SDCARD_FAIL 0
+#define SDCARD_V1   1
+#define SDCARD_V2   2
+#define SDCARD_V2HC 3
+
+int SDFileSystem::initialise_card() {
+    // Set to 100kHz for initialisation, and clock card with cs = 1
+    _spi.frequency(100000); 
+    _cs = 1;
+    for(int i=0; i<16; i++) {   
+        _spi.write(0xFF);
+    }
+
+    // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
+    if(_cmd(0, 0) != R1_IDLE_STATE) { 
+        fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n");
+        return SDCARD_FAIL;
+    }
+
+    // send CMD8 to determine whther it is ver 2.x
+    int r = _cmd8();
+    if(r == R1_IDLE_STATE) {
+        return initialise_card_v2();
+    } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
+        return initialise_card_v1();
+    } else {
+        fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n");
+        return SDCARD_FAIL;
+    }
+}
+
+int SDFileSystem::initialise_card_v1() {
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        _cmd(55, 0); 
+        if(_cmd(41, 0) == 0) { 
+            return SDCARD_V1;
+        }
+    }
+
+    fprintf(stderr, "Timeout waiting for v1.x card\n");
+    return SDCARD_FAIL;
+}
+
+int SDFileSystem::initialise_card_v2() {
+    
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        _cmd(55, 0); 
+        if(_cmd(41, 0) == 0) { 
+            _cmd58();
+            return SDCARD_V2;
+        }
+    }
+
+    fprintf(stderr, "Timeout waiting for v2.x card\n");
+    return SDCARD_FAIL;
+}
+
+int SDFileSystem::disk_initialize() {
+
+    int i = initialise_card();
+//    printf("init card = %d\n", i);
+//    printf("OK\n");
+
+    _sectors = _sd_sectors();
+
+    // Set block length to 512 (CMD16)
+    if(_cmd(16, 512) != 0) {
+        fprintf(stderr, "Set 512-byte block timed out\n");
+        return 1;
+    }
+        
+    _spi.frequency(1000000); // Set to 1MHz for data transfer
+    return 0;
+}
+
+int SDFileSystem::disk_write(const char *buffer, int block_number) {
+    // set write address for single block (CMD24)
+    if(_cmd(24, block_number * 512) != 0) {
+        return 1;
+    }
+
+    // send the data block
+    _write(buffer, 512);    
+    return 0;    
+}
+
+int SDFileSystem::disk_read(char *buffer, int block_number) {        
+    // set read address for single block (CMD17)
+    if(_cmd(17, block_number * 512) != 0) {
+        return 1;
+    }
+    
+    // receive the data
+    _read(buffer, 512);
+    return 0;
+}
+
+int SDFileSystem::disk_status() { return 0; }
+int SDFileSystem::disk_sync() { return 0; }
+int SDFileSystem::disk_sectors() { return _sectors; }
+
+// PRIVATE FUNCTIONS
+
+int SDFileSystem::_cmd(int cmd, int arg) {
+    _cs = 0; 
+
+    // send a command
+    _spi.write(0x40 | cmd);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            _cs = 1;
+            _spi.write(0xFF);
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+int SDFileSystem::_cmdx(int cmd, int arg) {
+    _cs = 0; 
+
+    // send a command
+    _spi.write(0x40 | cmd);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+
+int SDFileSystem::_cmd58() {
+    _cs = 0; 
+    int arg = 0;
+    
+    // send a command
+    _spi.write(0x40 | 58);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            int ocr = _spi.write(0xFF) << 24;
+            ocr |= _spi.write(0xFF) << 16;
+            ocr |= _spi.write(0xFF) << 8;
+            ocr |= _spi.write(0xFF) << 0;
+//            printf("OCR = 0x%08X\n", ocr);
+            _cs = 1;
+            _spi.write(0xFF);
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+int SDFileSystem::_cmd8() {
+    _cs = 0; 
+    
+    // send a command
+    _spi.write(0x40 | 8); // CMD8
+    _spi.write(0x00);     // reserved
+    _spi.write(0x00);     // reserved
+    _spi.write(0x01);     // 3.3v
+    _spi.write(0xAA);     // check pattern
+    _spi.write(0x87);     // crc
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) {
+        char response[5];
+        response[0] = _spi.write(0xFF);
+        if(!(response[0] & 0x80)) {
+                for(int j=1; j<5; j++) {
+                    response[i] = _spi.write(0xFF);
+                }
+                _cs = 1;
+                _spi.write(0xFF);
+                return response[0];
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+int SDFileSystem::_read(char *buffer, int length) {
+    _cs = 0;
+
+    // read until start byte (0xFF)
+    while(_spi.write(0xFF) != 0xFE);
+
+    // read data
+    for(int i=0; i<length; i++) {
+        buffer[i] = _spi.write(0xFF);
+    }
+    _spi.write(0xFF); // checksum
+    _spi.write(0xFF);
+
+    _cs = 1;    
+    _spi.write(0xFF);
+    return 0;
+}
+
+int SDFileSystem::_write(const char *buffer, int length) {
+    _cs = 0;
+    
+    // indicate start of block
+    _spi.write(0xFE);
+    
+    // write the data
+    for(int i=0; i<length; i++) {
+        _spi.write(buffer[i]);
+    }
+    
+    // write the checksum
+    _spi.write(0xFF); 
+    _spi.write(0xFF);
+
+    // check the repsonse token
+    if((_spi.write(0xFF) & 0x1F) != 0x05) {
+        _cs = 1;
+        _spi.write(0xFF);        
+        return 1;
+    }
+
+    // wait for write to finish
+    while(_spi.write(0xFF) == 0);
+
+    _cs = 1; 
+    _spi.write(0xFF);
+    return 0;
+}
+
+static int ext_bits(char *data, int msb, int lsb) {
+    int bits = 0;
+    int size = 1 + msb - lsb; 
+    for(int i=0; i<size; i++) {
+        int position = lsb + i;
+        int byte = 15 - (position >> 3);
+        int bit = position & 0x7;
+        int value = (data[byte] >> bit) & 1;
+        bits |= value << i;
+    }
+    return bits;
+}
+
+int SDFileSystem::_sd_sectors() {
+
+    // CMD9, Response R2 (R1 byte + 16-byte block read)
+    if(_cmdx(9, 0) != 0) {
+        fprintf(stderr, "Didn't get a response from the disk\n");
+        return 0;
+    }
+    
+    char csd[16];    
+    if(_read(csd, 16) != 0) {
+        fprintf(stderr, "Couldn't read csd response from disk\n");
+        return 0;
+    }
+
+    // csd_structure : csd[127:126]
+    // c_size        : csd[73:62]
+    // c_size_mult   : csd[49:47]
+    // read_bl_len   : csd[83:80] - the *maximum* read block length
+
+    int csd_structure = ext_bits(csd, 127, 126);
+    int c_size = ext_bits(csd, 73, 62);
+    int c_size_mult = ext_bits(csd, 49, 47);
+    int read_bl_len = ext_bits(csd, 83, 80);
+
+//    printf("CSD_STRUCT = %d\n", csd_structure);
+    
+    if(csd_structure != 0) {
+        fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n");
+        return 0;
+    }
+             
+    // memory capacity = BLOCKNR * BLOCK_LEN
+    // where
+    //  BLOCKNR = (C_SIZE+1) * MULT
+    //  MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8)
+    //  BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12)         
+                            
+    int block_len = 1 << read_bl_len;
+    int mult = 1 << (c_size_mult + 2);
+    int blocknr = (c_size + 1) * mult;
+    int capacity = blocknr * block_len;
+        
+    int blocks = capacity / 512;
+        
+    return blocks;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem/SDFileSystem.h	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,81 @@
+/* mbed SDFileSystem Library, for providing file access to SD cards
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_SDFILESYSTEM_H
+#define MBED_SDFILESYSTEM_H
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+
+/** Access the filesystem on an SD Card using SPI
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "SDFileSystem.h"
+ *
+ * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
+ *  
+ * int main() {
+ *     FILE *fp = fopen("/sd/myfile.txt", "w");
+ *     fprintf(fp, "Hello World!\n");
+ *     fclose(fp);
+ * }
+ */
+class SDFileSystem : public FATFileSystem {
+public:
+
+    /** Create the File System for accessing an SD Card using SPI
+     *
+     * @param mosi SPI mosi pin connected to SD Card
+     * @param miso SPI miso pin conencted to SD Card
+     * @param sclk SPI sclk pin connected to SD Card
+     * @param cs   DigitalOut pin used as SD Card chip select
+     * @param name The name used to access the virtual filesystem
+     */
+    SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, 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 _cmd(int cmd, int arg);
+    int _cmdx(int cmd, int arg);
+    int _cmd8();
+    int _cmd58();
+    int initialise_card();
+    int initialise_card_v1();
+    int initialise_card_v2();
+    
+    int _read(char *buffer, int length);
+    int _write(const char *buffer, int length);
+    int _sd_sectors();
+    int _sectors;
+    
+    SPI _spi;
+    DigitalOut _cs;     
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UM12.lib	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AlexAllen/code/UM12/#f2cf3a42e690

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/flash/flash.cpp	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,132 @@
+#include "flash.h"
+#include "mbed.h"
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+void lightup()
+{
+    led1 = 1;
+    wait(0.1);
+    led1 = 0;
+    
+    led2 = 1;
+    wait(0.1);
+    led2 = 0; 
+       
+    led3 = 1;
+    wait(0.1);
+    led3 = 0;
+    
+    led4 = 1;
+    wait(0.1);
+    led4 = 0;
+    
+    led3 = 1;
+    wait(0.1);
+    led3 = 0;
+    
+    led2 = 1;
+    wait(0.1);
+    led2 = 0;
+    
+    led1 = 1;
+    wait(0.1);
+    led1 = 0;
+    wait(0.1);    
+}
+
+void timer()
+{
+        led1 = 1;
+        led2 = 1;
+        led3 = 1;
+        led4 = 1;
+        
+        wait(1);
+        led4 = 0;
+        wait(1);
+        led3 = 0;       
+        wait(1);
+        led2 = 0;
+        wait(1);
+        led1 = 0;
+        wait(1);
+}
+
+void flash(int times, float gap)
+{
+    for(int i=0; i<times; i++)
+    {
+        led1 = 1;
+        led2 = 1;
+        led3 = 1;
+        led4 = 1;
+        
+        wait(gap);
+        
+        led1 = 0;
+        led2 = 0;
+        led3 = 0;
+        led4 = 0;
+        
+        wait(gap);
+    }
+}
+
+void flash1(float gap)
+{
+    led1 = 1;
+    wait(gap);
+    led1 = 0;
+    wait(gap);   
+}
+
+void flash2(float gap)
+{
+    led2 = 1;
+    wait(gap);
+    led2 = 0;
+    wait(gap);
+}
+
+void errormsg1(float gap)
+{
+    while(1)
+    {
+        led2 = led3 = 0;
+        led1 = led4 = 1;
+        wait(gap);
+        led1 = led4 = 0;
+        led2 = led3 = 1;
+        wait(gap);
+    }
+}
+
+void errormsg2(float gap)
+{
+    while(1)
+    {
+        led4 = led3 = 0;
+        led1 = led2 = 1;
+        wait(gap);
+        led1 = led2 = 0;
+        led4 = led3 = 1;
+        wait(gap);
+    }
+}
+
+void signal(float gap)
+{
+    led1 = 1;
+    wait(gap);
+    led2 = 1;
+    wait(gap);
+    led3 = 1;
+    wait(gap);
+    led4 = 1;
+    wait(2.0);
+    led1 = led2 = led3 = led4 = 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/flash/flash.h	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,32 @@
+#ifndef FLASHY
+
+    /* Lights up each LED in turn starting from the left going 
+       to the right and then back again */
+    void lightup();
+
+    // 5 second timer counting down on LEDs
+    void timer();
+
+    /* flashes all LEDs on and off at once "times" number of time
+       with a gap of "gap" seconds between flashes */
+    void flash(int times, float gap);
+    
+    // Single flash on led1 for "gap" seconds
+    void flash1(float gap);
+
+    // Single flash on led1 for "gap" seconds
+    void flash2(float gap);
+
+    /* inifite loop indicating something has failed terminally
+       and mbed needs reseting. Flashes outer then inner LEDs */
+    void errormsg1(float gap);
+    
+    /* inifite loop indicating something has failed terminally
+       and mbed needs reseting. Flashes outer then inner LEDs */
+    void errormsg2(float gap);
+    
+    // LEDs light up one at a time until all are lit
+    void signal(float gap);
+
+    #define FLASHY 1
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,166 @@
+#include <fstream>
+#include "mbed.h"
+#include "SDFileSystem.h"
+#include "GPS.h"
+#include "BMP085.h"
+#include "flash.h"
+#include "HIH4030.h"
+#include "UM12.h"
+
+const float expmin = 8000.0;
+const float expmax = 11000.0;
+
+Serial pc(USBTX, USBRX);
+
+Timer tmr;
+HIH4030 humSens(p15);
+BMP085 presSens(p28, p27);
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+GPS gps(p13, p14);
+UM12 radio(p9, p10);
+DigitalInOut cam(p21);
+DigitalOut jimShut(p19);
+DigitalOut jimOpen(p20);
+
+int main(void) 
+{
+    bool lock=false, open = false;
+    float lat = 9001.0, lng = 9001.0, alt=-999.0, maxalt=-999.0, temp, pres, hum;
+    int start, sat=0, loop=0;
+    unsigned int time;
+    char str[] = "Loading";
+
+    // Set timer going
+    tmr.start();
+    start = tmr.read_us();
+    
+    // Ensure camera pin is set high
+    cam.mode(OpenDrain);
+    cam.output();
+    cam=1;
+
+    // Give obvious sign that program has started
+    lightup();
+    flash(3, 0.25);
+    
+    // Ensure Jim's thing is closed
+    jimOpen = 0;
+    jimShut = 1;
+    wait(1.0);
+    jimShut = 0;
+    
+    // Set up text file for recording data on sd card
+    ofstream fout("/sd/data.txt");
+    ofstream ferr("/sd/errors.txt");
+    if(!fout)
+    {
+        errormsg1(0.25);
+    }
+    fout << "#Time Loop Lock Lat Long Altitude Pressure Temperature Humidity Sat" << endl;
+    fout.close();
+    ferr.close();
+    
+    // Wait for GPS lock 
+    while(gps.lock!=1)
+    {
+        gps.sample();
+        wait(0.1);
+        flash1(0.25);
+        radio.send('@');
+        radio.send((int)strlen(str));
+        for(int z=0; z<strlen(str); z++) radio.send(str[z]);
+    }
+    
+    // Give all clear signal
+    signal(0.25);
+    flash(5, 0.25);
+    
+    while(1) 
+    {      
+        // Get time
+        time = tmr.read_us() - start;
+        
+        // reopen file in append mode
+        ofstream out("/sd/data.txt", fstream::app );
+        
+        gps.sample();
+        
+        // Probe GPS
+        if(gps.lock==1)
+        {
+            lat = gps.latitude;
+            lng = gps.longitude;
+            alt = gps.altitude;
+            sat = gps.satillites;
+            lock = true;
+            if(alt>maxalt) maxalt = alt;
+        }
+        else 
+        {
+            // Set up text for for recording errors on sd card
+            ofstream err("/sd/errors.txt", fstream::app);
+            err << "No GPS lock at time " << time << endl;
+            err.close();
+            
+            lock = false;
+        }
+        
+        // Probe temperature/pressure sensor
+        presSens.update();
+        pres = presSens.get_pressure();
+        temp = presSens.get_temperature();
+        
+        // Probe humidity sensor 
+        hum = humSens.getH(temp);
+        
+        // Record data on SD card (endl to ensure flushing)
+        out << time << " " << loop << " " << lock << " " << lat << " " << lng << " ";
+        out << alt << " " << pres << " " << temp << " " << hum << " " << sat << endl;
+        out.close();
+        
+        // Decide whether or not to take a picture
+        if(!(loop%5))
+        {
+            cam = 0;
+        }
+        if(!((loop-2)%5))
+        {
+            cam = 1;
+        }
+        
+        // Decide if Jim's thing should be open or closed and make it so
+        if(alt > expmin && alt < expmax && ((alt+3000)>maxalt))
+        {
+            jimShut = 0;
+            jimOpen = 1;
+            if(open) wait(0.1);
+            else wait(1.0);
+            jimOpen = 0;
+            open = true;
+        }
+        else
+        {
+            jimOpen = 0;
+            jimShut = 1;
+            if(!open) wait(0.1);
+            else wait(1.0);
+            jimShut = 0;
+            open = false;
+        }
+        
+        // Send location over radio in the form "$<latitude>,<longitude>,<altitude>?"
+        radio.send('$');
+        radio.send(lat);
+        radio.send(',');
+        radio.send(lng);
+        radio.send(',');
+        radio.send(alt);
+        radio.send(',');
+        radio.send(lock);
+        radio.send('?');
+        
+        loop++;
+    }
+    
+    return 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912