Revision 34:2d06e42fac2c, committed 2017-07-20

Comitter:

david8251

Date:

Thu Jul 20 09:02:49 2017 +0000

Parent:

33:e27f40fada64

Commit message:

final

Changed in this revision

diff -r e27f40fada64 -r 2d06e42fac2c C027_Support.lib
--- a/C027_Support.lib	Thu Aug 11 07:12:02 2016 +0000
+++ b/C027_Support.lib	Thu Jul 20 09:02:49 2017 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/ublox/code/C027_Support/#7b747676de86
\ No newline at end of file
+https://developer.mbed.org/users/david8251/code/C027_Support/#b2d68d47a2fb

diff -r e27f40fada64 -r 2d06e42fac2c MMA7455.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MMA7455.cpp	Thu Jul 20 09:02:49 2017 +0000
@@ -0,0 +1,295 @@
+/******************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include "mbed.h"
+#include "mbed_debug.h"
+
+#include "MMA7455.h"
+
+/******************************************************************************
+ * Defines and typedefs
+ *****************************************************************************/
+
+#define MMA7455_I2C_ADDR (0x1D << 1)
+
+#define MMA7455_ADDR_XOUTL  0x00
+#define MMA7455_ADDR_XOUTH  0x01
+#define MMA7455_ADDR_YOUTL  0x02
+#define MMA7455_ADDR_YOUTH  0x03
+#define MMA7455_ADDR_ZOUTL  0x04
+#define MMA7455_ADDR_ZOUTH  0x05
+#define MMA7455_ADDR_XOUT8  0x06
+#define MMA7455_ADDR_YOUT8  0x07
+#define MMA7455_ADDR_ZOUT8  0x08
+#define MMA7455_ADDR_STATUS 0x09
+#define MMA7455_ADDR_DETSRC 0x0A
+#define MMA7455_ADDR_TOUT   0x0B
+#define MMA7455_ADDR_I2CAD  0x0D
+#define MMA7455_ADDR_USRINF 0x0E
+#define MMA7455_ADDR_WHOAMI 0x0F
+#define MMA7455_ADDR_XOFFL  0x10
+#define MMA7455_ADDR_XOFFH  0x11
+#define MMA7455_ADDR_YOFFL  0x12
+#define MMA7455_ADDR_YOFFH  0x13
+#define MMA7455_ADDR_ZOFFL  0x14
+#define MMA7455_ADDR_ZOFFH  0x15
+#define MMA7455_ADDR_MCTL   0x16
+#define MMA7455_ADDR_INTRST 0x17
+#define MMA7455_ADDR_CTL1   0x18
+#define MMA7455_ADDR_CTL2   0x19
+#define MMA7455_ADDR_LDTH   0x1A
+#define MMA7455_ADDR_PDTH   0x1B
+#define MMA7455_ADDR_PW     0x1C
+#define MMA7455_ADDR_LT     0x1D
+#define MMA7455_ADDR_TW     0x1E
+
+#define MMA7455_MCTL_MODE(m) ((m) << 0)
+#define MMA7455_MCTL_GLVL(g) ((g) << 2)
+
+#define MMA7455_STATUS_DRDY (1 << 0)
+#define MMA7455_STATUS_DOVR (1 << 1)
+#define MMA7455_STATUS_PERR (1 << 2)
+
+
+MMA7455::MMA7455(PinName sda, PinName scl) : _i2c(sda, scl)
+{
+    _mode = ModeStandby;
+    _range = Range_8g;
+
+    _xOff = 0;
+    _yOff = 0;
+    _zOff = 0;
+}
+
+bool MMA7455::setMode(Mode mode) {
+    bool result = false;
+    int mCtrl = 0;
+
+    do {
+        mCtrl = getModeControl();
+        if (mCtrl < 0) break;
+
+        mCtrl &= ~(0x03 << 0);
+        mCtrl |= MMA7455_MCTL_MODE(mode);
+
+        if (setModeControl((uint8_t)mCtrl) < 0) {
+            break;
+        }
+
+        _mode = mode;
+        result = true;
+    } while(0);
+
+
+
+    return result;
+}
+
+bool MMA7455::setRange(Range range) {
+    bool result = false;
+    int mCtrl = 0;
+
+    do {
+        mCtrl = getModeControl();
+        if (mCtrl < 0) break;
+
+        mCtrl &= ~(0x03 << 2);
+        mCtrl |= MMA7455_MCTL_GLVL(range);
+
+        if (setModeControl((uint8_t)mCtrl) < 0) {
+            break;
+        }
+
+        _range = range;
+        result = true;
+    } while(0);
+
+
+
+    return result;
+
+}
+
+bool MMA7455::read(int32_t& x, int32_t& y, int32_t& z) {
+    bool result = false;
+
+
+    // nothing to read in standby mode
+    if (_mode == ModeStandby) return false;
+
+    // wait for ready flag
+    int status = 0;
+    do {
+      status = getStatus();
+    } while (status >= 0 && (status & MMA7455_STATUS_DRDY) == 0);
+
+
+    do {
+        if (status < 0) break;
+
+
+        char buf[6];
+        buf[0] = MMA7455_ADDR_XOUTL;
+        if (_i2c.write(MMA7455_I2C_ADDR, buf, 1) != 0) break;
+        if (_i2c.read(MMA7455_I2C_ADDR, buf, 6) != 0) break;
+
+        // check if second bit is set in high byte -> negative value
+        // expand negative value to full byte
+        if (buf[1] & 0x02) buf[1] |= 0xFC;
+        if (buf[3] & 0x02) buf[3] |= 0xFC;
+        if (buf[5] & 0x02) buf[5] |= 0xFC;
+
+        x = (int16_t)((buf[1] << 8) | buf[0]) + _xOff;
+        y = (int16_t)((buf[3] << 8) | buf[2]) + _yOff;
+        z = (int16_t)((buf[5] << 8) | buf[4]) + _zOff;
+
+
+        result = true;
+
+    } while(0);
+
+
+    return result;
+}
+
+bool MMA7455::calibrate() {
+    bool result = false;
+    bool failed = false;
+
+    int32_t x = 0;
+    int32_t y = 0;
+    int32_t z = 0;
+
+    int32_t xr = 0;
+    int32_t yr = 0;
+    int32_t zr = 0;
+
+    int xOff = 0;
+    int yOff = 0;
+    int zOff = 16;
+    if (_range == Range_2g) {
+        zOff = 64;
+    }
+    if (_range == Range_4g) {
+        zOff = 32;
+    }
+
+    do {
+
+        // get an average of 6 values
+        for (int i = 0; i < 6; i++) {
+            if (!read(xr, yr, zr)) {
+                failed = true;
+                break;
+            }
+            x += xr;
+            y += yr;
+            z += zr;
+
+            wait_ms(100);
+        }
+
+        if (failed) break;
+        x /= 6;
+        y /= 6;
+        z /= 6;
+
+        xOff -= x;
+        yOff -= y;
+        zOff -= z;
+
+        /*
+         * For some reason we have not got correct/reliable calibration
+         * by using the offset drift registers. Instead we are
+         * calculating the offsets and store them in member variables.
+         *
+         * These member variables are then used in the read() method
+         */
+
+        _xOff = xOff;
+        _yOff = yOff;
+        _zOff = zOff;
+
+
+        result = true;
+
+    } while (0);
+
+
+
+    return result;
+}
+
+bool MMA7455::setCalibrationOffsets(int32_t xOff, int32_t yOff, int32_t zOff) {
+    _xOff = xOff;
+    _yOff = yOff;
+    _zOff = zOff;
+
+    return true;
+}
+
+bool MMA7455::getCalibrationOffsets(int32_t& xOff, int32_t& yOff, int32_t& zOff) {
+    xOff = _xOff;
+    yOff = _yOff;
+    zOff = _zOff;
+
+    return true;
+}
+
+int MMA7455::getStatus() {
+    int result = -1;
+    char data[1];
+
+    do {
+        data[0] = MMA7455_ADDR_STATUS;
+        if (_i2c.write(MMA7455_I2C_ADDR, data, 1) != 0) break;
+
+        if (_i2c.read(MMA7455_I2C_ADDR, data, 1) != 0) break;
+
+        result = data[0];
+
+    } while (0);
+
+
+
+    return result;
+}
+
+int MMA7455::getModeControl() {
+
+    int result = -1;
+    char data[1];
+
+    do {
+        data[0] = MMA7455_ADDR_MCTL;
+        if (_i2c.write(MMA7455_I2C_ADDR, data, 1) != 0) break;
+
+        if (_i2c.read(MMA7455_I2C_ADDR, data, 1) != 0) break;
+
+        result = data[0];
+
+    } while (0);
+
+
+
+    return result;
+}
+
+int MMA7455::setModeControl(uint8_t mctl) {
+    int result = -1;
+    char data[2];
+
+    do {
+        data[0] = MMA7455_ADDR_MCTL;
+        data[1] = (char)mctl;
+        if (_i2c.write(MMA7455_I2C_ADDR, data, 2) != 0) break;
+
+        result = 0;
+
+    } while (0);
+
+
+
+    return result;
+}

diff -r e27f40fada64 -r 2d06e42fac2c MMA7455.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MMA7455.h	Thu Jul 20 09:02:49 2017 +0000
@@ -0,0 +1,93 @@
+#ifndef MMA7455_H
+#define MMA7455_H
+
+
+/**
+ * Freescale Accelerometer MMA7455.
+ */
+class MMA7455 {
+public:
+
+    enum Mode {
+        ModeStandby = 0,
+        ModeMeasurement = 1,
+    };
+
+    /** Acceleration range */
+    enum Range {
+        Range_8g = 0,
+        Range_2g = 1,
+        Range_4g = 2
+    };
+
+    /**
+     * Create an interface to the MMA7455 accelerometer
+     *
+     * @param sda I2C data line pin
+     * @param scl I2C clock line pin
+     */
+    MMA7455(PinName sda, PinName scl);
+
+    bool setMode(Mode mode);
+    bool setRange(Range range);
+
+    bool read(int32_t& x, int32_t& y, int32_t& z);
+
+    /**
+     * Calibrate for 0g, that is, calculate offset to achieve
+     * 0g values when accelerometer is placed on flat surface.
+     *
+     * Please make sure the accelerometer is placed on a flat surface before
+     * calling this function.
+     *
+     * @return true if request was successful; otherwise false
+     */
+    bool calibrate();
+
+    /**
+     * Get calculated offset values. Offsets will be calculated by the
+     * calibrate() method.
+     *
+     * Use these values and put them in persistent storage to avoid
+     * having to calibrate the accelerometer after a reset/power cycle.
+     *
+     * @param xOff x offset is written to this argument
+     * @param yOff y offset is written to this argument
+     * @param zOff z offset is written to this argument
+     *
+     * @return true if request was successful; otherwise false
+     */
+    bool getCalibrationOffsets(int32_t& xOff, int32_t& yOff, int32_t& zOff);
+
+    /**
+     * Set calibration offset values. These values should normally
+     * at one point in time have been retrieved by calling the
+     * getCalibrationOffsets method.
+     *
+     *
+     * @param xOff x offset
+     * @param yOff y offset
+     * @param zOff z offset
+     *
+     * @return true if request was successful; otherwise false
+     */
+    bool setCalibrationOffsets(int32_t xOff, int32_t yOff, int32_t zOff);
+
+
+
+private:
+
+    I2C _i2c;
+    Mode _mode;
+    Range _range;
+    int32_t _xOff;
+    int32_t _yOff;
+    int32_t _zOff;
+
+    int getStatus();
+    int getModeControl();
+    int setModeControl(uint8_t mctl);
+
+};
+
+#endif

diff -r e27f40fada64 -r 2d06e42fac2c main.cpp
--- a/main.cpp	Thu Aug 11 07:12:02 2016 +0000
+++ b/main.cpp	Thu Jul 20 09:02:49 2017 +0000
@@ -1,61 +1,51 @@
 #include "mbed.h"
+#include "MMA7455.h"
+#include "MDM.h"
 
-//------------------------------------------------------------------------------------
-/* This example was tested on C027-U20 and C027-G35 with the on board modem. 
-   
-   Additionally it was tested with a shield where the SARA-G350/U260/U270 RX/TX/PWRON 
-   is connected to D0/D1/D4 and the GPS SCL/SDA is connected D15/D15. In this 
-   configuration the following platforms were tested (it is likely that others 
-   will work as well)
-   - U-BLOX:    C027-G35, C027-U20, C027-C20 (for shield set define C027_FORCE_SHIELD)
-   - NXP:       LPC1549v2, LPC4088qsb
-   - Freescale: FRDM-KL05Z, FRDM-KL25Z, FRDM-KL46Z, FRDM-K64F
-   - STM:       NUCLEO-F401RE, NUCLEO-F030R8
-                mount resistors SB13/14 1k, SB62/63 0R
-*/
-#include "GPS.h"
-#include "MDM.h"
-//------------------------------------------------------------------------------------
-// You need to configure these cellular modem / SIM parameters.
-// These parameters are ignored for LISA-C200 variants and can be left NULL.
-//------------------------------------------------------------------------------------
-//! Set your secret SIM pin here (e.g. "1234"). Check your SIM manual.
+#define PI 3.1415926535897932384626433832795028841971693993751058209749445923078164062862089986280348253
+
 #define SIMPIN      "1922"
-/*! The APN of your network operator SIM, sometimes it is "internet" check your 
-    contract with the network operator. You can also try to look-up your settings in 
-    google: https://www.google.de/search?q=APN+list */
+
 #define APN         NULL
 //! Set the user name for your APN, or NULL if not needed
 #define USERNAME    NULL
 //! Set the password for your APN, or NULL if not needed
 #define PASSWORD    NULL 
-//------------------------------------------------------------------------------------
+
+MMA7455 acc(p32,p31);
+
+void task_MMA();
 
-//#define CELLOCATE
 
+double a,b,c;
+char str[90];
+char str1[90];
+char str2[90];
 int main(void)
 {
+    acc.setMode(MMA7455::ModeMeasurement);
+    acc.setRange(MMA7455::Range_2g);
+    acc.calibrate();
+    
     int ret;
 #ifdef LARGE_DATA
     char buf[2048] = "";
 #else
     char buf[512] = "";
 #endif
-
-    // Create the GPS object
-#if 1   // use GPSI2C class
-    GPSI2C gps;
-#else   // or GPSSerial class 
-    GPSSerial gps; 
-#endif
-    // Create the modem object
-    MDMSerial mdm; // use mdm(D1,D0) if you connect the cellular shield to a C027
-    //mdm.setDebug(4); // enable this for debugging issues 
-    // initialize the modem 
+    
+    MDMSerial mdm; 
     MDMParser::DevStatus devStatus = {};
     MDMParser::NetStatus netStatus = {};
     bool mdmOk = mdm.init(SIMPIN, &devStatus);
     mdm.dumpDevStatus(&devStatus);
+    
+    
+    
+    task_MMA();
+    
+    
+    
     if (mdmOk) {
 #if 0
         // file system API
@@ -71,8 +61,6 @@
             mdm.delFile(filename);
         }
 #endif
-
-        // wait until we are connected
         mdmOk = mdm.registerNet(&netStatus);
         mdm.dumpNetStatus(&netStatus);
     }
@@ -90,10 +78,9 @@
             if (socket >= 0)
             {
                 mdm.socketSetBlocking(socket, 10000);
-                if (mdm.socketConnect(socket, "mbed.org", 80))
+                if (mdm.socketConnect(socket, "140.118.206.213", 555))
                 {
-                    const char http[] = "GET /media/uploads/mbed_official/hello.txt HTTP/1.0\r\n\r\n";
-                    mdm.socketSend(socket, http, sizeof(http)-1);
+                    mdm.socketSend(socket, str, sizeof(str)-1);
                 
                     ret = mdm.socketRecv(socket, buf, sizeof(buf)-1);
                     if (ret > 0)
@@ -175,20 +162,12 @@
             mdm.disconnect();
         }
     
-        // http://www.geckobeach.com/cellular/secrets/gsmcodes.php
-        // http://de.wikipedia.org/wiki/USSD-Codes
         const char* ussd = "*130#"; // You may get answer "UNKNOWN APPLICATION"
         printf("Ussd Send Command %s\r\n", ussd);
         ret = mdm.ussdCommand(ussd, buf);
         if (ret > 0) 
             printf("Ussd Got Answer: \"%s\"\r\n", buf);
     }
- 
-    printf("SMS and GPS Loop\r\n");
-    char link[128] = "";
-    unsigned int i = 0xFFFFFFFF;
-    const int wait = 100;
-    bool abort = false;
 #ifdef CELLOCATE    
     const int sensorMask = 3;  // Hybrid: GNSS + CellLocate       
     const int timeoutMargin = 5; // seconds
@@ -198,106 +177,52 @@
     bool cellLocWait = false;
     MDMParser::CellLocData loc;
     
-    //Token can be released from u-blox site, when you got one replace "TOKEN" below 
     if (!mdm.cellLocSrvHttp("TOKEN"))
             mdm.cellLocSrvUdp();        
     mdm.cellLocConfigSensor(1);   // Deep scan mode
-    //mdm.cellUnsolIndication(1);
+   
 #endif
-    //DigitalOut led(LED1);
-    while (!abort) {
-    //    led = !led;
-#ifndef CELLOCATE
-        while ((ret = gps.getMessage(buf, sizeof(buf))) > 0)
-        {
-            int len = LENGTH(ret);
-            //printf("NMEA: %.*s\r\n", len-2, msg); 
-            if ((PROTOCOL(ret) == GPSParser::NMEA) && (len > 6))
-            {
-                // talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GPS
-                if ((buf[0] == '$') || buf[1] == 'G') {
-                    #define _CHECK_TALKER(s) ((buf[3] == s[0]) && (buf[4] == s[1]) && (buf[5] == s[2]))
-                    if (_CHECK_TALKER("GLL")) {
-                        double la = 0, lo = 0;
-                        char ch;
-                        if (gps.getNmeaAngle(1,buf,len,la) && 
-                            gps.getNmeaAngle(3,buf,len,lo) && 
-                            gps.getNmeaItem(6,buf,len,ch) && ch == 'A')
-                        {
-                            printf("GPS Location: %.5f %.5f\r\n", la, lo); 
-                            sprintf(link, "I am here!\n"
-                                          "https://maps.google.com/?q=%.5f,%.5f", la, lo); 
-                        }
-                    } else if (_CHECK_TALKER("GGA") || _CHECK_TALKER("GNS") ) {
-                        double a = 0; 
-                        if (gps.getNmeaItem(9,buf,len,a)) // altitude msl [m]
-                            printf("GPS Altitude: %.1f\r\n", a); 
-                    } else if (_CHECK_TALKER("VTG")) {
-                        double s = 0; 
-                        if (gps.getNmeaItem(7,buf,len,s)) // speed [km/h]
-                            printf("GPS Speed: %.1f\r\n", s); 
-                    }
-                }
-            }
-        }
-#endif        
-#ifdef CELLOCATE
-        if (mdmOk && (j++ == submitPeriod * 1000/wait)) {   
-            j=0;
-            printf("CellLocate Request\r\n");
-            mdm.cellLocRequest(sensorMask, submitPeriod-timeoutMargin, targetAccuracy);
-            cellLocWait = true;
-        }
-        if (cellLocWait && mdm.cellLocGet(&loc)){           
-            cellLocWait = false;     
-            printf("CellLocate position received, sensor_used: %d,  \r\n", loc.sensorUsed );           
-            printf("  latitude: %0.5f, longitude: %0.5f, altitute: %d\r\n", loc.latitue, loc.longitude, loc.altitutude);
-            if (loc.sensorUsed == 1)
-                printf("  uncertainty: %d, speed: %d, direction: %d, vertical_acc: %d, satellite used: %d \r\n", loc.uncertainty,loc.speed,loc.direction,loc.verticalAcc,loc.svUsed);        
-            if (loc.sensorUsed == 1 || loc.sensorUsed == 2)
-            sprintf(link, "I am here!\n"
-                        "https://maps.google.com/?q=%.5f,%.5f", loc.latitue, loc.longitude);       
-        }
-        if (cellLocWait && (j%100 == 0 ))
-            printf("Waiting for CellLocate...\r\n");                
-#endif        
-        if (mdmOk && (i++ == 5000/wait)) {
-            i = 0;
-            // check the network status
-            if (mdm.checkNetStatus(&netStatus)) {
-                mdm.dumpNetStatus(&netStatus, fprintf, stdout);
-            }
-                
-            // checking unread sms
-            int ix[8];
-            int n = mdm.smsList("REC UNREAD", ix, 8);
-            if (8 < n) n = 8;
-            while (0 < n--)
-            {
-                char num[32];
-                printf("Unread SMS at index %d\r\n", ix[n]);
-                if (mdm.smsRead(ix[n], num, buf, sizeof(buf))) {
-                    printf("Got SMS from \"%s\" with text \"%s\"\r\n", num, buf);
-                    printf("Delete SMS at index %d\r\n", ix[n]);
-                    mdm.smsDelete(ix[n]);
-                    // provide a reply
-                    const char* reply = "Hello my friend";
-                    if (strstr(buf, /*w*/"here are you"))
-                        reply = *link ? link : "I don't know"; // reply wil location link
-                    else if (strstr(buf, /*s*/"hutdown"))
-                        abort = true, reply = "bye bye";
-                    printf("Send SMS reply \"%s\" to \"%s\"\r\n", reply, num);
-                    mdm.smsSend(num, reply);
-                }
-            }
-        }
-#ifdef RTOS_H
-        Thread::wait(wait);
-#else
-        ::wait_ms(wait);
-#endif
-    }
-    gps.powerOff();
     mdm.powerOff();
     return 0;
 }
+void task_MMA(){
+
+    
+    char filename[64];
+    int32_t x,y,z;
+    double x1,y1,z1;
+    double xg,yg,zg;
+    double xd,yd,zd;
+        acc.read(x,y,z);
+
+        xg=x*0.016; //實際g值
+        yg=y*0.016; //實際g值
+        zg=z*0.016; //實際g值
+
+        x1=xg/(sqrt(pow(yg,2.0)+pow(zg,2.0)));
+        y1=yg/(sqrt(pow(xg,2.0)+pow(zg,2.0)));
+        z1=(sqrt(pow(yg,2.0)+pow(xg,2.0)))/zg;
+
+        xd=atan(x1); //徑度
+        yd=atan(y1); //徑度
+        zd=atan(z1); //徑度
+        
+        a=xd*180.0/PI;
+        b=yd*180.0/PI;
+        c=zd*180.0/PI;
+        
+        sprintf(str,"%.2f\t",a);
+        sprintf(str1,"%.2f\t",b);
+        sprintf(str2,"%.2f",c);
+        
+        strcat(str,str1);
+        strcat(str,str2);
+        
+        puts(str);
+  
+       
+            printf("xd: %.2f ",xd*180.0/PI);
+            printf("yd: %.2f ",yd*180.0/PI);
+            printf("zd: %.2f ",zd*180.0/PI);
+            printf("\r\n\n");
+}
\ No newline at end of file