Revision 4:aac38b016952, committed 2014-02-24

Comitter:

RufflesAllD

Date:

Mon Feb 24 19:06:11 2014 +0000

Parent:

3:350f07072089

Commit message:

l

Changed in this revision

--- a/coordinateur.hpp	Mon Feb 24 15:40:33 2014 +0000
+++ b/coordinateur.hpp	Mon Feb 24 19:06:11 2014 +0000
@@ -12,7 +12,7 @@
     // Constructeur
     Coordinateur(PinName _tx, PinName _rx);
     
-    void setPanId(string _pan) { pan = _pan); }
+    void setPanId(string _pan) { pan = _pan; }
     
 private:
     Trame trame;

--- a/main.cpp	Mon Feb 24 15:40:33 2014 +0000
+++ b/main.cpp	Mon Feb 24 19:06:11 2014 +0000
@@ -1,12 +1,16 @@
-#include "mbed.h"
 #include "readfile.hpp"
 
-DigitalOut reset(p8);
-Serial pc(USBTX, USBRX);
-Serial DATA(p13, p14);
 LocalFileSystem local("local");
 
 int main()
 {
-    while(true);
+    Routeur *accelRouter = new Routeur(p13, p14);
+    accelRouter->initAccel();
+    
+    while(true)
+    {
+        accelRouter->sendAccelValues();
+        accelRouter->sendSwitchValue();
+        wait(0.2);
+    }
 }

--- a/readfile.cpp	Mon Feb 24 15:40:33 2014 +0000
+++ b/readfile.cpp	Mon Feb 24 19:06:11 2014 +0000
@@ -11,10 +11,10 @@
     {
         while (getline(myfile,line))
         {
-            if (line[0] != "#")
+            if (line[0] != '#')
             {
                 if (line.find("PANID") != string::npos)
-                    ://coord->setPanID(line.substr(
+                    ;//coord->setPanID(line.substr(
             }
         }
         

--- a/readfile.hpp	Mon Feb 24 15:40:33 2014 +0000
+++ b/readfile.hpp	Mon Feb 24 19:06:11 2014 +0000
@@ -3,9 +3,7 @@
 
 #include <iostream>
 #include <fstream>
-#include <string>
 
-#include "mbed.h"
 #include "coordinateur.hpp"
 #include "routeur.hpp"
 

--- a/routeur.cpp	Mon Feb 24 15:40:33 2014 +0000
+++ b/routeur.cpp	Mon Feb 24 19:06:11 2014 +0000
@@ -1,6 +1,84 @@
 #include "routeur.hpp"
 
+const char COORD_ADRESS[8] = {0x00, 0x13, 0xA2, 0x00, 0x40, 0x0A, 0x2F, 0xB3};
+
 Routeur::Routeur(PinName _tx, PinName _rx) :
-    trame(_tx, _rx)
+    trame(_tx, _rx), accel(p9, p10), piton(p30)
+{
+    DigitalOut reset(p8);
+    
+    reset = 0;
+    wait(0.4);
+    reset = 1;
+    wait(4);
+}
+
+void Routeur::initAccel()
+{
+    // Mise de l'accéléromètre en standby
+    writeRegister(CTRL_REG1, 0x10);
+    
+    // Set offset de l'accéléromètre
+    writeRegister(0x31, 0xEE);
+    
+    // activate de l'accéléromètre
+    char c;
+    readRegister(CTRL_REG1, &c);
+    writeRegister(CTRL_REG1, c | 0x01);
+}
+
+void Routeur::sendSwitchValue()
+{
+    switchValue[0] = piton;
+    
+    trame.sendTransmitRequest(COORD_ADRESS, switchValue, 1);
+}
+
+void Routeur::sendAccelValues()
+{
+    int ack = readRegisters(OUT_X_MSB, 6, accelValues);
+    
+    trame.sendTransmitRequest(COORD_ADRESS, accelValues, 6);
+}
+
+int Routeur::readRegister(char reg, char* data)
 {
-}
\ No newline at end of file
+    int ack = 0;
+    accel.start();
+    ack = accel.write(DATA_REG_W);
+    ack = accel.write(reg);
+    accel.start();
+    ack = accel.write(DATA_REG_R);
+    data[0] = accel.read(0);
+    accel.stop();
+    
+    return ack;
+}
+
+int Routeur::readRegisters(char reg, int range, char* data)
+{
+    int ack = 0;
+    accel.start();
+    ack = accel.write(DATA_REG_W);
+    ack = accel.write(reg);
+    accel.start();
+    ack = accel.write(DATA_REG_R);
+    for (int i = 0; i < range - 1; i++)
+        data[i] = accel.read(1);
+    data[range - 1] = accel.read(0);
+    accel.stop();
+    
+    return ack;
+}
+
+int Routeur::writeRegister(char reg, char data)
+{
+    int ack = 0;
+    accel.start();
+    ack = accel.write(DATA_REG_W);
+    ack = accel.write(reg);
+    ack = accel.write(data);
+    accel.stop();
+    
+    return ack;
+}

--- a/routeur.hpp	Mon Feb 24 15:40:33 2014 +0000
+++ b/routeur.hpp	Mon Feb 24 19:06:11 2014 +0000
@@ -4,6 +4,12 @@
 #include <string>
 #include "trame.hpp"
 
+#define CTRL_REG1 0x2A
+#define DATA_REG_W 0x3A
+#define DATA_REG_R 0x3B
+
+#define OUT_X_MSB 0x01
+
 using namespace std;
 
 class Routeur
@@ -12,8 +18,23 @@
     // Constructeur
     Routeur(PinName _tx, PinName _rx);
     
+    void initAccel();
+    void sendAccelValues();
+    
+    void sendSwitchValue();
+    
 private:
+    int readRegister(char reg, char* data);
+    int readRegisters(char reg, int range, char* dest);
+    int writeRegister(char reg, char data);
+    
     Trame trame;
+    
+    I2C accel;
+    DigitalIn piton;
+    
+    char switchValue[1];
+    char accelValues[6];
 };
 
 #endif

--- a/trame.cpp	Mon Feb 24 15:40:33 2014 +0000
+++ b/trame.cpp	Mon Feb 24 19:06:11 2014 +0000
@@ -32,8 +32,8 @@
 
 void Trame::sendTransmitRequest(const char* destination, const char* data, int length)
 {
-    int tmp = length + 18;
-    char* trm = new char[tmp];
+    int tmp = length + 14;
+    char* trm = new char[tmp + 4];
     
     trm[0] = 0x7E;      // Delimiter
     trm[1] = static_cast<char>((tmp >> 8) & 0xFF);   // MSB de length
@@ -42,20 +42,20 @@
     trm[4] = 0x01;      // API
     for (int i = 0; i < 8; i++)
         trm[5 + i] = destination[i]; //Destination
-    trm[13] = 0x00;     // 16 bits address
-    trm[14] = 0x00;     // 16 bits address
+    trm[13] = 0xFF;     // 16 bits address
+    trm[14] = 0xFE;     // 16 bits address
     trm[15] = 0x00;     // Radius
     trm[16] = 0x00;     // Options
         
     for (int i = 0; i < length; i++)
         trm[17 + i] = data[i]; // Data
         
-    trm[17 + length] = crc8(trm, tmp - 1);
+    trm[17 + length] = crc8(trm, tmp+3);
     
     Serial xbee(tx, rx);
-    for (int i = 0; i < tmp; i++)
+    for (int i = 0; i < tmp+4; i++)
         xbee.putc(trm[i]);
-        
+    
     wait(0.01);
     delete trm;
 }
@@ -63,7 +63,7 @@
 unsigned char Trame::crc8(const char* data, int length)
 {
     unsigned char crc = 0;
-    for (int i = 1; i < length; i++)
+    for (int i = 3; i < length; i++)
         crc += data[i];
     
     return (0xFF - crc);