Clément BENOIT
This my big project for PYRN Board
Dependencies: CAN HTTPClient MODSERIAL MyThings Pyrn3GModem Socket TinyGPS MyUSBHost lwip-sys lwip mbed-rtos mbed-src
Revision 0:efe6085327fd, committed 2015-04-14
- Comitter:
- clemounet
- Date:
- Tue Apr 14 13:30:02 2015 +0000
- Commit message:
- All the projet PYRN 3G-CAN-ACC...
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/3G/WanModem.cpp Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,27 @@
+
+#include "WanModem.h"
+
+#define __DEBUG__ 5
+#ifndef __MODULE__
+#define __MODULE__ "WANModem.cpp"
+#endif
+#include "MyDebug.h"
+
+WanModem::WanModem(): initializer(USBHost::getHostInst()) {
+ DBG("Instanciate WanDongle");
+ dongle.addInitializer(&initializer);
+}
+
+void WanModem::Init(void) {
+ if(!dongle.tryConnect()) {
+ DBG("Wait 10s to modem restart properly");
+ Thread::wait(10000);
+ if(!dongle.tryConnect()) {
+ DBG("After retry the dongle Could not be connected");
+ } else {
+ DBG("After retry the dongle got connected");
+ }
+ } else {
+ DBG("Dongle got connected");
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/3G/WanModem.h Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,19 @@
+
+#ifndef WAN_MODEM_H
+#define WAN_MODEM_H
+
+#include "WANDongle.h"
+#include "MyThread.h"
+#include "HuaweiE372DongleInitializer.h"
+#include "USBSerialStream.h"
+#include "ATCommandsInterface.h"
+
+class WanModem {
+ HuaweiE372DongleInitializer initializer;
+ WANDongle dongle;
+public:
+ WanModem();
+ virtual void Init(void);
+};
+
+#endif // WAN_MODEM_H
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CAN.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/clemounet/code/CAN/#b9201bec01bf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPSSensor.cpp Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,237 @@
+
+
+#include "GPSSensor.h"
+
+#define __DEBUG__ 2
+#ifndef __MODULE__
+#define __MODULE__ "GPSSensor.cpp"
+#endif
+#include "MyDebug.h"
+
+#define GPS_THREAD_STACK_SIZE 768
+
+bool gpsNewlineDetected;
+
+void rxFullCallback(MODSERIAL_IRQ_INFO *q){
+ DBG("OVF");
+ MODSERIAL *serial = q->serial;
+ serial->rxBufferFlush();
+}
+
+void rxCallback(MODSERIAL_IRQ_INFO *q) {
+ MODSERIAL *serial = q->serial;
+ if ( serial->rxGetLastChar() == '\n') {
+ gpsNewlineDetected = true;
+ }
+}
+
+// Well there is an issue in the RX Serial data, sometime multiples frames collides between themselves...
+// To debug when we gonna have GSP Signal
+
+GPSSensor::GPSSensor(PinName tx, PinName rx, uint32_t trackingTime, uint32_t idle):
+ MySensor(SENSOR_NAME_GPS, SENSOR_TYPE_GPS, idle, GPS_THREAD_STACK_SIZE),
+ gps(tx,rx) {
+ fixed = false;
+ trackTime = trackingTime;
+ lastImpact = 0;
+ gpsNewlineDetected = false;
+ gps.baud(9600);
+ gps.rxBufferFlush();
+ gps.txBufferFlush();
+ WARN("Increase the baudrate to 57600");
+ gps.printf("$PUBX,41,1,0007,0003,57600,0*2B\r\n");
+ Thread::wait(1000);
+ gps.baud(57600);
+ WARN("Disabling all unused NMEA sentences");
+ gps.printf("$PUBX,40,GLL,0,0,0,0,0,0*5C\r\n");
+ gps.printf("$PUBX,40,ZDA,0,0,0,0,0,0*44\r\n");
+ gps.printf("$PUBX,40,VTG,0,0,0,0,0,0*5E\r\n");
+ gps.printf("$PUBX,40,GSV,0,0,0,0,0,0*59\r\n");
+ gps.printf("$PUBX,40,GSA,0,0,0,0,0,0*4E\r\n");
+ //gps.printf("$PUBX,40,RMC,0,0,0,0,0,0*47\r\n");
+ Thread::wait(500);
+ gps.rxBufferFlush();
+ gps.txBufferFlush();
+ WARN("Setup Callbacks");
+ gps.attach(&rxCallback, MODSERIAL::RxIrq);
+ gps.attach(&rxFullCallback, MODSERIAL::RxOvIrq);
+ InitResults(SENSOR_RESSZ_DEFAULT);
+ WARN("Finish Init");
+}
+
+// Could we have a way to put the InitResultStatic/StoreLastImpact into the base class?
+
+void GPSSensor::InitResultsStatic(void) {
+ DBG("InitResultStatic have been defined");
+ results.start = (uint8_t*)store;
+ results.current = (uint8_t*)store;
+ results.max = sizeof(store); //IMU_STORE_SIZE*sizeof(uint16_t);
+}
+
+void GPSSensor::Loop(void) {
+ // We read all the available data as fast as possible
+ // but giving opportunity to be preampted (wait 100ms)
+ // Doing this reading should avoid serial internal buffer to ovf
+ Sample();
+ StoreLastImpact();
+ Thread::wait(idleTime);
+}
+
+void GPSSensor::StoreLastImpact(void) {
+ if(fixed && NeedImpact()) {
+ if((results.max - results.num)>=sizeof(gpsImpact)){
+ DBG("===========> Storing New impact <===========");
+ if(resultsMutex.trylock()) {
+ memcpy((char*)results.current,(const char*)&impact,sizeof(gpsImpact));
+ results.current += sizeof(gpsImpact);
+ results.num += sizeof(gpsImpact);
+ DBG("%p %d %d",results.current,results.num,sizeof(gpsImpact));
+ resultsMutex.unlock();
+ }
+ } else
+ ERR("No Space to Store results... Data will be overwrited at next Loop");
+ } else {
+ DBG("Nope, (%s)", (!fixed)?"not fixed":"no impact needed");
+ }
+}
+
+bool GPSSensor::NeedImpact(void) {
+ time_t now = time(NULL);
+ DBG("%ld-%ld = %d > %d ",now,lastImpact,now-lastImpact,trackTime);
+ if((now-lastImpact)>trackTime){
+ DBG("NEED IMPACT");
+ lastImpact = now;
+ return true;
+ }
+ return false;
+}
+
+int GPSSensor::GetLine(void) {
+ int len = 0;
+ // Consume the chars until we found a '$'
+ while (gps.getc() != '$');
+ recvBuff[0] = '$';
+ // Fill the GPS_RECV_BUFF
+ for (int i=1; i<(GPS_RECV_BUFF-2); i++) {
+ recvBuff[i] = gps.getc();
+ len++;
+ if (recvBuff[i] == '\n') {
+ recvBuff[i+1] = '\0';
+ return len;
+ }
+ }
+ error("Overflow in getline");
+ return GPS_RECV_BUFF-2;
+}
+
+void GPSSensor::Sample(void) {
+ int len = 0;
+ bool newData = false;
+ if(gpsNewlineDetected) {
+ while(1) {
+ int nChars = gps.rxBufferGetCount();
+ if(nChars == 0)
+ break;
+ //else
+ // DBG("To read --> %d",nChars);
+ // We could consider passing the data directly to parser whithout buffering it
+ // but: That's annoying cause if so we could not printf them smoothly on console
+ len = GetLine();
+
+ //DBG("GotLine(%d) %s",len,recvBuff);
+ // DBG_MEMDUMP("GPSData",(const char*)recvBuff,len);
+
+ for(unsigned int i = 0; i < len; i++) {
+ // Insert all data to gpsParser
+ if(gpsParser.encode(recvBuff[i])) {
+ newData = true;
+ }
+ }
+
+ // Only take a sample when all the data for each epoch have been received
+ if(newData && gpsParser.rmc_ready() && gpsParser.gga_ready()){
+ long lat = 0, lon = 0, hdop = 0;
+ unsigned long date = 0, time = 0;
+ gpsParser.get_position(&lat,&lon);
+ gpsParser.get_datetime(&date,&time);
+ hdop = gpsParser.hdop();
+ if((lat != TinyGPS::GPS_INVALID_ANGLE) && (lon != TinyGPS::GPS_INVALID_ANGLE)){
+ fixed = true;
+ impact.date = date;
+ impact.time = time/100;
+ impact.lat = lat;
+ impact.lon = lon;
+ if(hdop>0xffff) {
+ impact.hdop = -1;
+ } else {
+ impact.hdop = hdop;
+ }
+ WARN("######[%ld-%ld][%09ld|%09ld|%04d]######",impact.date,impact.time,impact.lat,impact.lon,impact.hdop);
+ } else {
+ fixed = false;
+ DBG("All data have been received but lat/lon does not seems to be valid",date,time,lat,lon,hdop);
+ }
+ gpsParser.reset_ready();
+ } else {
+ fixed = false;
+ DBG("All frames did not came yet RMC(%c)GGA(%c)newData(%c)",gpsParser.rmc_ready()?'x':'o',gpsParser.gga_ready()?'x':'o',newData?'x':'o');
+ }
+ }
+ }
+}
+
+// OLD SAMPLING
+/*
+void GPSSensor::Sample(void) {
+ int lineParsed = 0;
+ DBG("Read GPS");
+ if(gpsNewlineDetected) {
+ gpsNewlineDetected = false;
+ while(1) {
+ int nChars = gps.rxBufferGetCount();
+ if(nChars == 0) {
+ DBG("No data to read anymore on gps line");
+ break;
+ } else {
+ DBG("--> %d",nChars);
+ }
+
+ DBG("Read Line GPS");
+ GetLine();
+ DBG("GotLine, %s",recvBuff);
+ DBG_MEMDUMP("GPSData",(const char*)recvBuff,strlen((const char*)recvBuff));
+
+ // Stuffs used in GPGGA
+
+ // The only NMEA sentence we gonna have (all other are disabled)
+ int nArgs = sscanf((const char*)recvBuff, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c",&hour,&lat,&ns,&lon,&ew,&q,&su,&hdop,&alt,&altU);
+ if(nArgs == 10) {
+ DBG("We got all the arguments");
+ DBG("%d [%f/%f/%c/%f/%c/%d/%d/%f/%f/%c]\n",nArgs,hour,lat,ns,lon,ew,q,su,hdop,alt,altU);
+ lineParsed = GGA;
+ }
+
+ // if lineParsed is different from zero meens that's we got new data
+ if(lineParsed) {
+ DBG("Impact Result %d", su);
+ // When 0 satelites usualy this we can't lock
+ if(su == 0)
+ q = 0;
+
+ if(q!=0){
+ DBG("Locked (q = %d)",q);
+ fixed = true;
+ impact.utc = (uint32_t) hour;
+ impact.lat = DegToDec(lat,ns);
+ impact.lon = DegToDec(lon,ew);
+ impact.alt = alt;
+ impact.su = su;
+ impact.hdop = hdop;
+ DBG("Impact Results %d, %f, %f, %f, %d, %d", impact.utc, impact.lat, impact.lon, impact.alt, impact.su, impact.hdop);
+ }
+ }
+ }
+ }
+}
+*/
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPSSensor.h Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,45 @@
+#ifndef GPS_SENSOR_H
+#define GPS_SENSOR_H
+
+#include "mbed.h"
+#include "MySensor.h"
+#include "MODSERIAL.h"
+#include "TinyGPS.h"
+
+#define GPS_STORE_SIZE 256
+#define GPS_RECV_BUFF 512
+
+class GPSSensor: public MySensor {
+protected:
+ TinyGPS gpsParser;
+ enum frameType{
+ GGA = 1,
+ RMC = 2
+ };
+ typedef struct _gpsImpact{
+ uint32_t date;
+ uint32_t time;
+ int32_t lon;
+ int32_t lat;
+ int32_t alt;
+ uint16_t hdop;
+ } __attribute__((packed)) gpsImpact;
+ uint8_t recvBuff[GPS_RECV_BUFF];
+ uint8_t store[GPS_STORE_SIZE];
+ gpsImpact impact;
+ MODSERIAL gps;
+ //Serial gps;
+ uint32_t trackTime;
+ uint32_t lastImpact;
+ bool fixed;
+public:
+ GPSSensor(PinName tx, PinName rx, uint32_t trackingTime = 10, uint32_t idle = 250);
+ virtual void InitResultsStatic(void);
+ virtual void Loop(void);
+ virtual void StoreLastImpact(void);
+ virtual bool NeedImpact(void);
+ virtual int GetLine(void);
+ virtual void Sample(void);
+};
+
+#endif //GPS_SENSOR_H
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HTTPClient.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/clemounet/code/HTTPClient/#50c849f8d2c1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HuaweiE372DongleInitializer.cpp Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,88 @@
+
+#include "HuaweiE372DongleInitializer.h"
+
+#define __DEBUG__ 5
+#ifndef __MODULE__
+#define __MODULE__ "MyThread.cpp"
+#endif
+#include "MyDebug.h"
+
+#define VENDSPEC_CLASS 0xFF
+
+//Huawei E372 (Vodafone)
+
+// switch string => "55 53 42 43 00 00 00 00 00 00 00 00 00 00 00 11 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00"
+static uint8_t huawei_E372_switch_packet[] = {
+ 0x55, 0x53, 0x42, 0x43, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x11, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00
+};
+
+HuaweiE372DongleInitializer::HuaweiE372DongleInitializer(USBHost *h): WANDongleInitializer(h) {
+
+}
+
+bool HuaweiE372DongleInitializer::switchMode(USBDeviceConnected* pDev) {
+ for (int i = 0; i < pDev->getNbIntf(); i++) {
+ if (pDev->getInterface(i)->intf_class == MSD_CLASS) {
+ USBEndpoint* pEp = pDev->getEndpoint(i, BULK_ENDPOINT, OUT);
+ if ( pEp != NULL ) {
+ USB_DBG("MSD descriptor found on device %p, intf %d, will now try to switch into serial mode", (void *)pDev, i);
+ m_pHost->bulkWrite(pDev, pEp, huawei_E372_switch_packet, 31);
+ return true;
+ }
+ }
+ }
+ return false;
+}
+
+USBEndpoint* HuaweiE372DongleInitializer::getEp(USBDeviceConnected* pDev, int serialPortNumber, bool tx) {
+ return pDev->getEndpoint(serialPortNumber, BULK_ENDPOINT, tx ? OUT : IN, 0);
+}
+
+void HuaweiE372DongleInitializer::setVidPid(uint16_t vid, uint16_t pid) {
+ if( (vid == getSerialVid()) && (pid == getSerialPid()) ) {
+ m_hasSwitched = true;
+ m_currentSerialIntf = 0;
+ m_endpointsToFetch = 4*2;
+ } else {
+ m_hasSwitched = false;
+ m_endpointsToFetch = 1;
+ }
+}
+
+bool HuaweiE372DongleInitializer::parseInterface(uint8_t intf_nb, uint8_t intf_class, uint8_t intf_subclass, uint8_t intf_protocol) {
+ if( m_hasSwitched ) {
+ USB_DBG("Interface #%d; Class:%02x; SubClass:%02x; Protocol:%02x", intf_nb, intf_class, intf_subclass, intf_protocol);
+ if( intf_class == VENDSPEC_CLASS ) {
+ // The first 4 Interfaces are parsable.
+ if( m_currentSerialIntf <4 ) {
+ m_currentSerialIntf++;
+ return true;
+ }
+ m_currentSerialIntf++;
+ }
+ } else {
+ // The first 2 Interface are parsable.
+ if( ((intf_nb == 0) || (intf_nb == 1)) && (intf_class == MSD_CLASS) ) {
+ return true;
+ }
+ }
+ return false;
+}
+
+bool HuaweiE372DongleInitializer::useEndpoint(uint8_t intf_nb, ENDPOINT_TYPE type, ENDPOINT_DIRECTION dir) {//Must return true if the endpoint will be used
+ if( m_hasSwitched ) {
+ USB_DBG("USBEndpoint on Inteface #%d; Type:%d; Direction:%d", intf_nb, type, dir);
+ if( (type == BULK_ENDPOINT) && m_endpointsToFetch ) {
+ m_endpointsToFetch--;
+ return true;
+ }
+ } else {
+ if( (type == BULK_ENDPOINT) && (dir == OUT) && m_endpointsToFetch ) {
+ m_endpointsToFetch--;
+ return true;
+ }
+ }
+ return false;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HuaweiE372DongleInitializer.h Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,31 @@
+
+#ifndef HUAWEI372_DONGLE_INITIALIZER_H
+#define HUAWEI372_DONGLE_INITIALIZER_H
+
+#include "WANDongleInitializer.h"
+
+#define WAN_DONGLE_TYPE_HUAWEI_E372 1
+
+// For the moment we have only one key
+class HuaweiE372DongleInitializer: public WANDongleInitializer {
+public:
+ HuaweiE372DongleInitializer(USBHost *h);
+ virtual uint16_t getMSDVid() { return 0x12D1; }
+ virtual uint16_t getMSDPid() { return 0x1505; }
+ virtual uint16_t getSerialVid() { return 0x12D1; }
+ virtual uint16_t getSerialPid() { return 0x14ac; }
+ virtual bool switchMode(USBDeviceConnected* pDev) ;
+ virtual USBEndpoint* getEp(USBDeviceConnected* pDev, int serialPortNumber, bool tx);
+ virtual int getSerialPortCount() { return 4; }
+ virtual void setVidPid(uint16_t vid, uint16_t pid) ;
+ virtual bool parseInterface(uint8_t intf_nb, uint8_t intf_class, uint8_t intf_subclass, uint8_t intf_protocol); //Must return true if the interface should be parsed
+ virtual bool useEndpoint(uint8_t intf_nb, ENDPOINT_TYPE type, ENDPOINT_DIRECTION dir) ; //Must return true if the endpoint will be used
+ virtual int getType() { return WAN_DONGLE_TYPE_HUAWEI_E372; }
+ virtual uint8_t getSerialIntf(int index) { return index; }
+private:
+ bool m_hasSwitched;
+ int m_currentSerialIntf;
+ int m_endpointsToFetch;
+};
+
+#endif // HUAWEI372_DONGLE_INITIALIZER_H
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IMUSensor.cpp Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,53 @@
+
+#define __DEBUG__ 0
+#ifndef __MODULE__
+#define __MODULE__ "IMUSensor.cpp"
+#endif
+#include "MyDebug.h"
+
+#include "IMUSensor.h"
+
+#define IMU_THREAD_STACK_SIZE 512
+
+IMUSensor::IMUSensor(PinName sda, PinName scl, uint32_t idle):
+ MySensor(SENSOR_NAME_IMU, SENSOR_TYPE_IMU, idle, IMU_THREAD_STACK_SIZE),
+ Accelerometer(sda,scl){
+ InitResults(SENSOR_RESSZ_DEFAULT);
+}
+
+void IMUSensor::InitResultsStatic(void) {
+ DBG("InitResultStatic have been defined");
+ results.start = (uint8_t*)store;
+ results.current = (uint8_t*)store;
+ results.max = sizeof(store); //IMU_STORE_SIZE*sizeof(uint16_t);
+}
+
+void IMUSensor::Loop(void) {
+ // Do the reading
+ float lax,lay,laz,lmx,lmy,lmz; // Locals
+ Accelerometer.readAcc(&lax,&lay,&laz);
+ Accelerometer.readMag(&lmx,&lmy,&lmz);
+ //DBG("[%+.4f,%+.4f,%+.4f] - [%+.4f,%+.4f,%+.4f]", lax,lay,laz,lmx,lmy,lmz);
+ // Do the conversion to the impact struct
+ impact.ax = (int16_t) (lax * 1000);
+ impact.ay = (int16_t) (lay * 1000);
+ impact.az = (int16_t) (laz * 1000);
+ impact.mx = (int16_t) (lmx * 1000);
+ impact.my = (int16_t) (lmy * 1000);
+ impact.mz = (int16_t) (lmz * 1000);
+ // Print result if debug is activated
+ INFO("[%+05d,%+05d,%+05d] - [%+05d,%+05d,%+05d]", impact.ax, impact.ay, impact.az, impact.mx, impact.my, impact.mz);
+}
+
+void IMUSensor::StoreLastImpact(void) {
+ if((results.max - results.num)>=sizeof(imuImpact)){
+ if(resultsMutex.trylock()) {
+ memcpy((char*)results.current,(const char*)&impact,sizeof(imuImpact));
+ results.current += sizeof(imuImpact);
+ results.num += sizeof(imuImpact);
+ //DBG("%p %d %d",results.current,results.num,sizeof(imuImpact));
+ resultsMutex.unlock();
+ }
+ } else
+ WARN("No Space to Store results... Data will be overwrited at next Loop");
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IMUSensor.h Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,30 @@
+#ifndef IMU_SENSOR_H
+#define IMU_SENSOR_H
+
+#include "mbed.h"
+#include "MySensor.h"
+#include "LSM303DLH.h"
+
+#define IMU_STORE_SIZE 128
+
+class IMUSensor: public MySensor {
+protected:
+ uint16_t store[IMU_STORE_SIZE];
+ typedef struct _imuImpact{
+ int16_t ax;
+ int16_t ay;
+ int16_t az;
+ int16_t mx;
+ int16_t my;
+ int16_t mz;
+ } __attribute__((packed)) imuImpact;
+ imuImpact impact;
+ LSM303DLH Accelerometer;
+public:
+ IMUSensor(PinName sda, PinName scl, uint32_t idle = 1000);
+ virtual void InitResultsStatic(void);
+ virtual void Loop(void);
+ virtual void StoreLastImpact(void);
+};
+
+#endif // IMU_SENSOR_H
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303DLH.cpp Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,122 @@
+
+#define __DEBUG__ 0
+#ifndef __MODULE__
+#define __MODULE__ "LSM303DLH.cpp"
+#endif
+#include "MyDebug.h"
+
+#include "LSM303DLH.h"
+
+LSM303DLH::LSM303DLH(PinName sda, PinName scl): dev(sda,scl) {
+ uint8_t d[16];
+ INFO("LSM303DLH Init (400kHz)");
+ dev.frequency(400000);
+ // Check accelerometer presence
+ this->devRead(WHO_AM_I,d,1);
+ if(d[0] == LSM303DH_ID) {
+ INFO("LSM303DH(0x%02X) well detected!!",d[0]);
+ // Config accelerometer
+ this->basicConfig();
+ } else
+ ERR("Unknow ID 0x%02X ...",d[0]);
+}
+
+uint8_t LSM303DLH::devRead(const uint8_t reg, uint8_t *data, uint8_t size) {
+ uint8_t *pReg = (uint8_t*)®
+ *pReg |= 0x80;
+ __disable_irq();
+ dev.write(LSM303D_ADDR_W,(char*)pReg,1);
+ dev.read(LSM303D_ADDR_R,(char*)data,size);
+ __enable_irq();
+ return size;
+}
+
+uint8_t LSM303DLH::devReadSingle(const uint8_t reg, uint8_t byte) {
+ return this->devRead(reg,&byte,1);
+}
+
+uint8_t LSM303DLH::devWrite(const uint8_t reg, uint8_t *data, uint8_t size) {
+ // Check size
+ if((size+1)>WRITE_BUFF_MAX) {
+ ERR("BAD SIZE WRITE");
+ return 0;
+ } else {
+ // Put the reg addr in first byte place
+ dataBuff[0] = reg | 0x80;
+ for(int i = 0; i< size; i++)
+ dataBuff[i+1] = data[i];
+ // Do the Writing
+ dev.write(LSM303D_ADDR_W,(char*)dataBuff,size+1);
+ return size;
+ }
+}
+
+uint8_t LSM303DLH::devWriteSingle(const uint8_t reg, uint8_t byte) {
+ return this->devWrite(reg,&byte,1);
+}
+
+// Hi Level API
+
+void LSM303DLH::basicConfig() {
+ // Accelerometer
+ // 0x00 = 0b00000000
+ // AFS = 0 (+/- 2 g full scale) - > 0.061 g/LSB
+ this->devWriteSingle(CTRL2, 0x00);
+ accLSB = 61.0;
+ // 0x57 = 0b01010111
+ // AODR = 0101 (50 Hz ODR); AZEN = AYEN = AXEN = 1 (all axes enabled)
+ this->devWriteSingle(CTRL1, 0x57);
+
+ // Magnetometer
+ // 0x64 = 0b01100100
+ // M_RES = 11 (high resolution mode); M_ODR = 001 (6.25 Hz ODR)
+ this->devWriteSingle(CTRL5, 0x64);
+ // 0x20 = 0b00100000
+ // MFS = 01 (+/- 4 gauss full scale)
+ this->devWriteSingle(CTRL6, 0x20);
+ magLSB = 80.0;
+ // 0x00 = 0b00000000
+ // MLP = 0 (low power mode off); MD = 00 (continuous-conversion mode)
+ this->devWriteSingle(CTRL7, 0x00);
+
+ DBG("LSM303DH configuration done\r\n");
+}
+
+void LSM303DLH::readRawAcc(int16_t *x, int16_t *y, int16_t *z) {
+ uint8_t rawData[6] = {0,0,0,0,0,0};
+ if(this->devRead(OUT_X_L_A,rawData,6)){
+ *x = (int16_t)(rawData[0] | (rawData[1] << 8));
+ *y = (int16_t)(rawData[2] | (rawData[3] << 8));
+ *z = (int16_t)(rawData[4] | (rawData[5] << 8));
+ }
+}
+
+void LSM303DLH::readAcc(float *x, float *y, float *z) {
+ int16_t rawX;
+ int16_t rawY;
+ int16_t rawZ;
+ this->readRawAcc(&rawX,&rawY,&rawZ);
+ *x = (((float) rawX) * accLSB) /1000000.0;
+ *y = (((float) rawY) * accLSB) /1000000.0;
+ *z = (((float) rawZ) * accLSB) /1000000.0;
+}
+
+
+void LSM303DLH::readRawMag(int16_t *x, int16_t *y, int16_t *z) {
+ uint8_t rawData[6] = {0,0,0,0,0,0};
+ if(this->devRead(OUT_X_L_M,rawData,6)){
+ *x = (int16_t)(rawData[0] | (rawData[1] << 8));
+ *y = (int16_t)(rawData[2] | (rawData[3] << 8));
+ *z = (int16_t)(rawData[4] | (rawData[5] << 8));
+ }
+}
+
+void LSM303DLH::readMag(float *x, float *y, float *z) {
+ int16_t rawX;
+ int16_t rawY;
+ int16_t rawZ;
+ this->readRawMag(&rawX,&rawY,&rawZ);
+ *x = (((float) rawX) * magLSB) / 1000000.0;
+ *y = (((float) rawY) * magLSB) / 1000000.0;
+ *z = (((float) rawZ) * magLSB) / 1000000.0;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303DLH.h Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,69 @@
+#ifndef __LSM303DLH_H
+#define __LSM303DLH_H
+
+#include "mbed.h"
+
+// CONSTS
+
+#define WRITE_BUFF_MAX 16
+#define LSM303DH_ID 0x49
+
+// I2C Addresses (SAO -> 1)
+
+#define LSM303D_ADDR_R 0x3B
+#define LSM303D_ADDR_W 0x3A
+
+// REGISTERS
+
+#define CTRL0 0x1F
+#define CTRL1 0x20
+#define CTRL2 0x21
+#define CTRL3 0x22
+#define CTRL4 0x23
+#define CTRL5 0x24
+#define CTRL6 0x25
+#define CTRL7 0x26
+
+#define WHO_AM_I 0x0F
+
+#define TEMP_OUT_L 0x05
+#define TEMP_OUT_H 0x06
+
+#define STATUS_M 0x07
+#define OUT_X_L_M 0x08
+#define OUT_X_H_M 0x09
+#define OUT_Y_L_M 0x0A
+#define OUT_Y_H_M 0x0B
+#define OUT_Z_L_M 0x0C
+#define OUT_Z_H_M 0x0D
+
+#define STATUS_A 0x27
+#define OUT_X_L_A 0x28
+#define OUT_X_H_A 0x29
+#define OUT_Y_L_A 0x2A
+#define OUT_Y_H_A 0x2B
+#define OUT_Z_L_A 0x2C
+#define OUT_Z_H_A 0x2D
+
+class LSM303DLH {
+private:
+ float accLSB;
+ float magLSB;
+
+ I2C dev;
+ uint8_t dataBuff[WRITE_BUFF_MAX]; // Who read more than WRITE_BUFF_MAX(16)?
+
+ uint8_t devRead(const uint8_t reg, uint8_t *data, uint8_t size);
+ uint8_t devReadSingle(const uint8_t reg, uint8_t byte);
+ uint8_t devWrite(const uint8_t reg, uint8_t *data, uint8_t size);
+ uint8_t devWriteSingle(const uint8_t reg, uint8_t byte);
+public:
+ LSM303DLH(PinName sda = p28, PinName scl = p27);
+ void basicConfig(void);
+ void readRawAcc(int16_t *x, int16_t *y, int16_t *z);
+ void readRawMag(int16_t *x, int16_t *y, int16_t *z);
+ void readAcc(float *x, float *y, float *z);
+ void readMag(float *x, float *y, float *z);
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/MODSERIAL/#ae0408ebdd68
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MainThread.cpp Tue Apr 14 13:30:02 2015 +0000
@@ -0,0 +1,277 @@
+
+#define __DEBUG__ 5
+#ifndef __MODULE__
+#define __MODULE__ "MainThread.cpp"
+#endif
+#include "MyDebug.h"
+
+#include "mbed.h"
+
+#include "MyOsHelpers.h"
+#include "MyThread.h"
+#include "MyBlinker.h"
+#include "IMUSensor.h"
+#include "GPSSensor.h"
+#include "CANInterface.h"
+#include "CANSniffer.h"
+#include "PyrnUSBModem.h"
+
+#include "HTTPClient.h"
+//#include "TCPSocketConnection.h"
+
+char dataResult[1024];
+
+#if 0
+void test(void const*) {
+
+ DBG("Start");
+
+ //HTTPClient http;
+ //TCPSocketConnection tcpSock;
+
+ IMUSensor imu(p28,p27);
+ GPSSensor gps(p13,p14,4,250);
+ CANInterface canItf;
+ CANSniffer canSnif(&canItf);
+ //PyrnUSBModem modem;
+
+ PrintActiveThreads();
+
+ //modem.connect("a2bouygtel.com","","");
+
+ PwmOut led_red(LED1);
+ PwmOut led_green(LED2);
+
+ MyBlinker br = MyBlinker(&led_red,1000);
+ MyBlinker bg = MyBlinker(&led_green,2000);
+
+ imu.Start();
+ gps.Start();
+ canItf.Start();
+ br.Start();
+ bg.Start();
+
+ imu.Run();
+ gps.Run();
+ canItf.Run();
+ br.Run();
+ bg.Run();
+
+ // ecrire dans 5 et 6
+ char cbuff[8] = {'C','A','N','1','[',' ',' ',']'};
+ uint16_t loop = 0;
+ uint16_t len = 0;
+
+ while(1) {
+ // Fill up the cbuff
+ cbuff[5] = 0xff & (loop>>8);
+ cbuff[6] = 0xff & loop;
+ // Print all threads
+ PrintActiveThreads();
+ Thread::wait(1000);
+ time_t seconds = time(NULL);
+ if((loop % 20) == 0) {
+ gps.Capture(dataResult,&len);
+ DBG("GPS[%04d] Got %03d chars",seconds,len);
+ }
+ if((loop % 30) == 0) {
+ imu.Capture(dataResult,&len);
+ DBG("IMU[%04d] Got %03d chars",seconds,len);
+ }
+ /*
+ if((loop%10) == 0) {
+ DBG("Trying to fetch page...\n");
+ int ret = http.get("http://developer.mbed.org/media/uploads/donatien/hello.txt", dataResult, 128);
+ if (!ret)
+ {
+ DBG("Page fetched successfully - read %d characters\n", strlen(dataResult));
+ DBG("Result: %s\n", dataResult);
+ } else {
+ DBG("Error - ret = %d - HTTP return code = %d\n", ret, http.getHTTPResponseCode());
+ }
+ }
+ */
+ /*
+ if((loop%10) == 0) {
+ char rcvBuf[16];
+ if(modem.pppConnected()) {
+ DBG("====> PPP is connected go for TCP Socket");
+ if(!tcpSock.is_connected()) {
+ if(tcpSock.connect("carbon14.clemounet.fr",8888) == 0){
+ //if(tcpSock.connect("195.154.85.42",8888) == 0){
+ DBG("TCP Socket got Connected");
+ } else {
+ DBG("TCP Socket could not Connected");
+ }
+ }
+ if(tcpSock.is_connected()) {
+ //if(tcpSock.connect("carbon14.clemounet.fr",8888) == 0){
+ DBG("TCP Socket is Connected");
+ if(tcpSock.send(cbuff,8)){
+ DBG("TCP Data Sent ... now receive");
+ int n = tcpSock.receive(rcvBuf, 16);
+ if(n) {
+ DBG("TCP Data Received");
+ DBG_MEMDUMP("TCP RCV",rcvBuf,n);
+ } else {
+ DBG("TCP Data Receive Failed");
+ }
+ } else {
+ DBG("TCP Failed to send data");
+
+ }
+ } else {
+ DBG("TCP Socket not connected");
+ }
+ }
+ }
+ */
+ canItf.Send(1,0x666,cbuff,8);
+ loop++;
+ }
+
+ imu.Stop();
+ gps.Stop();
+ canItf.Stop();
+ br.Stop();
+ bg.Stop();
+}
+#endif
+
+void ModemLuncher(void const*) {
+ DBG("Start");
+ HTTPClient http;
+ PyrnUSBModem modem;
+
+ PrintActiveThreads();
+
+ Thread::wait(500);
+ modem.connect("a2bouygtel.com","","");
+ int loop = 0;
+
+ while(1) {
+ DBG("LoopThread");
+ Thread::wait(1000);
+
+ if((loop%10) == 0) {
+ PrintActiveThreads();
+ DBG("Trying to fetch page...\n");
+ int ret = http.get("http://developer.mbed.org/media/uploads/donatien/hello.txt", dataResult, 128);
+ if (!ret)
+ {
+ DBG("Page fetched successfully - read %d characters\n", strlen(dataResult));
+ DBG("Result: %s\n", dataResult);
+ } else {
+ DBG("Error - ret = %d - HTTP return code = %d\n", ret, http.getHTTPResponseCode());
+ }
+ }
+
+ /*
+ if((loop%10) == 0) {
+ char rcvBuf[16];
+ if(modem.pppConnected()) {
+ DBG("====> PPP is connected go for TCP Socket");
+ if(!tcpSock.is_connected()) {
+ if(tcpSock.connect("carbon14.clemounet.fr",8888) == 0){
+ //if(tcpSock.connect("195.154.85.42",8888) == 0){
+ DBG("TCP Socket got Connected");
+ } else {
+ DBG("TCP Socket could not Connected");
+ }
+ }
+ if(tcpSock.is_connected()) {
+ //if(tcpSock.connect("carbon14.clemounet.fr",8888) == 0){
+ DBG("TCP Socket is Connected");
+ if(tcpSock.send(cbuff,8)){
+ DBG("TCP Data Sent ... now receive");
+ int n = tcpSock.receive(rcvBuf, 16);
+ if(n) {
+ DBG("TCP Data Received");
+ DBG_MEMDUMP("TCP RCV",rcvBuf,n);
+ } else {
+ DBG("TCP Data Receive Failed");
+ }
+ } else {
+ DBG("TCP Failed to send data");
+
+ }
+ } else {
+ DBG("TCP Socket not connected");
+ }
+ }
+ }
+ */
+ loop++;
+ }
+}
+
+
+int main(void) {
+
+ set_time(0);
+ debug_init();
+ debug_set_newline("\r\n");
+ debug_set_speed(115200);
+
+ // Simply lunch the modem stuffs in separate thread, (not using the MyThread Stuffs)
+ // >>>> It allows to do other stuffs during this dead time <<<<
+ Thread testTask(ModemLuncher, NULL, osPriorityNormal, 1024 * 5);
+
+ //IMUSensor imu(p28,p27);
+ //GPSSensor gps(p13,p14,4,250);
+ //CANInterface canItf;
+ //CANSniffer canSnif(&canItf);
+
+ //PwmOut led_red(LED1);
+ //PwmOut led_green(LED2);
+
+ //MyBlinker br = MyBlinker(&led_red,1000);
+ //MyBlinker bg = MyBlinker(&led_green,2000);
+
+ //imu.Start();
+ //gps.Start();
+ //canItf.Start();
+ //br.Start();
+ //bg.Start();
+
+ //imu.Run();
+ //gps.Run();
+ //canItf.Run();
+ //br.Run();
+ //bg.Run();
+
+ // ecrire dans 5 et 6
+ char cbuff[8] = {'C','A','N','1','[',' ',' ',']'};
+ uint16_t loop = 0;
+ uint16_t len = 0;
+
+ while(1){
+ // Fill up the cbuff
+ cbuff[5] = 0xff & (loop>>8);
+ cbuff[6] = 0xff & loop;
+ // Print all threads
+ PrintActiveThreads();
+ Thread::wait(1000);
+ time_t seconds = time(NULL);
+ /*if((loop % 20) == 0) {
+ gps.Capture(dataResult,&len);
+ DBG("GPS[%04d] Got %03d chars",seconds,len);
+ }
+ if((loop % 30) == 0) {
+ imu.Capture(dataResult,&len);
+ DBG("IMU[%04d] Got %03d chars",seconds,len);
+ }*/
+ DBG("LoopMain");
+ //canItf.Send(1,0x666,cbuff,8);
+ Thread::wait(1000);
+ loop++;
+ }
+
+ //imu.Stop();
+ //gps.Stop();
+ //canItf.Stop();
+ //br.Stop();
+ //bg.Stop();
+
+ return 0;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MyThings.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/clemounet/code/MyThings/#eef83534b19e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Pyrn3GModem.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/clemounet/code/Pyrn3GModem/#61ac95f0af72
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Socket.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/clemounet/code/Socket/#c35d004aaf72
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TinyGPS.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/clemounet/code/TinyGPS/#34b4815eb82f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBHost.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/clemounet/code/MyUSBHost/#79b6743d7dc5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lwip-sys.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/lwip-sys/#7d4b24b58e04
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lwip.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/lwip/#1046f8be4d44
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lwipopts_conf.h Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,26 @@ +/* lwipopts.h */ +/* Copyright (C) 2012 mbed.org, MIT License + * + * 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 LWIPOPTS_CONF_H_ +#define LWIPOPTS_CONF_H_ + +#define LWIP_TRANSPORT_ETHERNET 0 +#define LWIP_TRANSPORT_PPP 1 + +#endif /* LWIPOPTS_CONF_H_ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#83895f30f8f2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-src.lib Tue Apr 14 13:30:02 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-src/#6cc86c42d7e3