Diff: main.cpp

Revision:

0:d07617f8ede9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,218 @@
+#include "mbed.h"
+#include "chr.h"
+#include "SDFileSystem.h"
+#include "BMP085.h"
+#include "MSCFileSystem.h"
+
+SDFileSystem sd(p5, p6, p7, p8, "sd"); // mosi, miso, sclk, cs, name
+BMP085 bmp085(p28, p27);
+Serial imu(p13, p14);
+Serial pc(USBTX, USBRX);
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+InterruptIn event_EOC(p23);
+
+//DigitalIn BPM085_EOC (p23); 
+DigitalOut activate(p22);
+DigitalIn enable(p21);
+
+
+MSCFileSystem msc("msc");
+ 
+char data[MAX_BYTES];
+int _state = WAIT_s;
+char c;
+int d;
+unsigned char pt;
+unsigned int n;
+int yaw;
+int pitch;
+int roll;
+unsigned short int tag_imu;
+
+FILE *fp,*usbp;
+Timer tt,tmesure;
+Ticker periode1;
+void sendPacket(unsigned char pt, unsigned int n,char data[])
+{
+    //unsigned int checksum;    
+    int checksum = HEADER_CHECKSUM +pt+n; 
+    if (imu.writeable()) 
+        {
+            imu.printf("snp");
+            imu.putc(pt);
+            imu.putc(n);
+            
+            for (int i=0; i < n; i++) 
+                {
+                    imu.putc(data[i]);
+                    checksum += data[i];
+                }
+            imu.putc((char) (checksum >> 8));   // MSByte
+            imu.putc((char) (checksum & 0x0FF)); // LSByte
+        }
+      
+}
+
+
+void Int_DataLogger ()
+{
+    myled1 = 1;
+    myled2 = 1;
+    myled3 = 1;
+    myled4 = 1;
+    wait_ms(300);
+    pc.baud(115200);
+    myled1 = 0;
+    imu.baud(115200);
+    
+    myled2 = 0;
+    pc.printf("Hello!\n CHR-6dm Test Program \r/");
+    
+    //event_EOC.rise(&trigger);
+    //Enables "Broadcast Mode." the AHRS automatically transmits sensor data every Ts
+       
+    data[0]= 0xA4;   //= 100Hz
+    sendPacket(SET_BROADCAST_MODE, 1,data );
+    myled3 = 0; 
+    wait_ms(100);
+       
+    //Specifies which channel data should be transmitted over the UART.
+    data[0]= 0xFF; //{yaw, pitch, roll, yaw_rate, pitch_rate, roll_rate,mag_x, mag_y}
+    data[1]= 0xFF; //{mag_z, gyro_x, gyro_y,gyro_z, accel_x, accel_y,accel_z,0 }
+    sendPacket(SET_ACTIVE_CHANNELS,2,data );
+    myled3 = 1;
+    myled4 = 0;
+    wait_ms(100); 
+    
+       
+}
+
+void attimu()
+{
+    if (imu.readable()) 
+    {
+        c = imu.getc();
+        switch (_state)
+        {
+            case WAIT_s :
+                if (c == 's') _state = WAIT_n;
+                break;
+            case WAIT_n :
+                _state = (c == 'n') ? WAIT_p : WAIT_s;
+                break;
+            case WAIT_p :
+                _state = (c == 'p') ? PT : WAIT_p;
+                break;
+            case PT :
+                pt = c;
+                _state = N;
+                break;
+            case N :
+                n = ((unsigned int) c) - 2;
+                d = 0;
+                _state = (n < MAX_BYTES) ? RX_PACKET : WAIT_s;
+                break;
+            case RX_PACKET :
+                data[d++] = c;
+                if (d >= n || d >= MAX_BYTES) _state = PROCESS_PACKET;
+                break;
+            case  PROCESS_PACKET :
+                switch (pt)
+                {
+                    // SENSOR_DATA 
+                    case PT_SENSOR_DATA :
+                        tag_imu=1;
+                        break;
+                    case PT_COMMAND_COMPLETE :
+                        pc.printf("Command Complete\n");
+                        break;
+                    case PT_COMMAND_FAILED :
+                        pc.printf("Command Failed\n");
+                        break;
+                    case PT_BAD_CHECKSUM :
+                        pc.printf("Bad Checksum\n");
+                        break;
+                    case PT_BAD_DATA_LENGTH :
+                        pc.printf("Bad Data Length\n");
+                        break;
+                    case PT_UNRECOGNIZED_PACKET :
+                        pc.printf("Unrecognized Packet\n");
+                        break;
+                    case PT_BUFFER_OVERFLOW :
+                        pc.printf("Buffer Overflow\n");
+                        break;            
+                     default :
+                        break;
+                }
+                _state = WAIT_s;
+                    break;
+                default :
+                    _state = WAIT_s;
+                    break;
+        }         
+    }   
+}
+
+void tick1()
+{
+      bmp085.update();
+}
+
+int main() {
+   
+    imu.attach(attimu);
+    Int_DataLogger ();
+    activate=1;  
+    periode1.attach_us(tick1,10000); 
+    
+    //event_EOC.rise(&trigger);
+    
+    /*    FILE *fp = fopen("/sd/sdtest.txt", "w");
+    if (fp == NULL) 
+    {
+      error("Could not open file for write SD\n");
+    }*/
+   
+    
+    
+    FILE *usbp = fopen("/msc/sdtest.txt", "w");
+    if (usbp == NULL) 
+    {
+        error("Could not open file for write  MSC\n");
+    }
+    
+        
+    tmesure.start();
+    tt.start();
+    while (enable) 
+    {  
+         if(tt.read_us()>(unsigned long)50000)
+         {
+             tt.stop();
+             tt.reset();
+       
+             if(tag_imu==1)
+                {
+                    fprintf(usbp,"IMU %u %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n",tmesure.read_us(),(int16_t)data[0]<<8|data[1],(int16_t)data[2]<<8|data[3],(int16_t)data[4]<<8|data[5],(int16_t)data[6]<<8|data[7],(int16_t)data[8]<<8|data[9],(int16_t)data[10]<<8|data[11],(int16_t)data[12]<<8|data[13],(int16_t)data[14]<<8|data[15],(int16_t)data[16]<<8|data[17],(int16_t)data[18]<<8|data[19],(int16_t)data[20]<<8|data[21],(int16_t)data[22]<<8|data[23],(int16_t)data[24]<<8|data[25],(int16_t)data[26]<<8|data[27],(int16_t)data[28]<<8|data[29]);
+                    tag_imu=0;
+                    if(bmp085.ok==1)
+                        {
+                            fprintf(usbp,"PRT %u %6.2f %6.2f \r", tmesure.read_us(),bmp085.get_pressure(), bmp085.get_temperature());
+                            bmp085.ok=0;
+                        }
+                }
+            tt.start();
+         }  
+    }
+    
+    // fclose(fp);
+    fclose(usbp);
+    periode1.detach();
+    pc.printf("fin enregistrement");
+
+}
\ No newline at end of file