sim808_gprs&lsy201&mpu9150 without gps change and BT
Dependencies: MPU9150 Nucleo_printf_gps mbed
main.cpp@0:1d7eec4b8813, 2017-06-21 (annotated)
- Committer:
- donghuoyinzi
- Date:
- Wed Jun 21 03:30:31 2017 +0000
- Revision:
- 0:1d7eec4b8813
401FUSION
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
donghuoyinzi | 0:1d7eec4b8813 | 1 | // I2Cdev and MPU9150 must be installed as libraries, or else the .cpp/.h files |
donghuoyinzi | 0:1d7eec4b8813 | 2 | // for both classes must be in the include path of your project |
donghuoyinzi | 0:1d7eec4b8813 | 3 | #include "I2Cdev.h" //MPU9150's I2C (I2C_SDA D14,I2C_SCL D15) |
donghuoyinzi | 0:1d7eec4b8813 | 4 | #include "MPU9150.h" |
donghuoyinzi | 0:1d7eec4b8813 | 5 | #include "helper_3dmath.h" |
donghuoyinzi | 0:1d7eec4b8813 | 6 | #include "mbed.h" |
donghuoyinzi | 0:1d7eec4b8813 | 7 | #include "JPEGCamera.h" |
donghuoyinzi | 0:1d7eec4b8813 | 8 | #include "MPU9150_raw.h" |
donghuoyinzi | 0:1d7eec4b8813 | 9 | #include <cstring> |
donghuoyinzi | 0:1d7eec4b8813 | 10 | #include "string.h" |
donghuoyinzi | 0:1d7eec4b8813 | 11 | #define buf_max 200 |
donghuoyinzi | 0:1d7eec4b8813 | 12 | |
donghuoyinzi | 0:1d7eec4b8813 | 13 | Serial control(SERIAL_TX, SERIAL_RX); |
donghuoyinzi | 0:1d7eec4b8813 | 14 | JPEGCamera camera(PA_9, PA_10);//D8,D2 |
donghuoyinzi | 0:1d7eec4b8813 | 15 | //Serial gps(PA_11, PA_12); |
donghuoyinzi | 0:1d7eec4b8813 | 16 | Serial sim808(PA_11, PA_12); // arduino pin right seven(PA_11) , six(PA_12) |
donghuoyinzi | 0:1d7eec4b8813 | 17 | |
donghuoyinzi | 0:1d7eec4b8813 | 18 | Timer timer; |
donghuoyinzi | 0:1d7eec4b8813 | 19 | int16_t ax, ay, az; |
donghuoyinzi | 0:1d7eec4b8813 | 20 | int16_t gx, gy, gz; |
donghuoyinzi | 0:1d7eec4b8813 | 21 | int16_t mx, my, mz; |
donghuoyinzi | 0:1d7eec4b8813 | 22 | int16_t buf9150[10]; |
donghuoyinzi | 0:1d7eec4b8813 | 23 | char buffer1[256]; |
donghuoyinzi | 0:1d7eec4b8813 | 24 | //volatile int sig=0; |
donghuoyinzi | 0:1d7eec4b8813 | 25 | //volatile int i=0; |
donghuoyinzi | 0:1d7eec4b8813 | 26 | int First_Int = 0; //receive count |
donghuoyinzi | 0:1d7eec4b8813 | 27 | char sim_buf[buf_max]; //receive buffer data |
donghuoyinzi | 0:1d7eec4b8813 | 28 | char *content="HELLO,This is a test"; //message content |
donghuoyinzi | 0:1d7eec4b8813 | 29 | char CtrlZ = 0x1a; //send direction |
donghuoyinzi | 0:1d7eec4b8813 | 30 | |
donghuoyinzi | 0:1d7eec4b8813 | 31 | void SIM808_IRQHandler(void); //interrupt |
donghuoyinzi | 0:1d7eec4b8813 | 32 | void CLR_Buf(void); //clear buffer |
donghuoyinzi | 0:1d7eec4b8813 | 33 | bool Judge_SIM808(); //judge AT |
donghuoyinzi | 0:1d7eec4b8813 | 34 | void Wait_CREG(void); |
donghuoyinzi | 0:1d7eec4b8813 | 35 | |
donghuoyinzi | 0:1d7eec4b8813 | 36 | //void getline(); |
donghuoyinzi | 0:1d7eec4b8813 | 37 | //void callback(){ |
donghuoyinzi | 0:1d7eec4b8813 | 38 | // getline(); |
donghuoyinzi | 0:1d7eec4b8813 | 39 | // } |
donghuoyinzi | 0:1d7eec4b8813 | 40 | int main() |
donghuoyinzi | 0:1d7eec4b8813 | 41 | { |
donghuoyinzi | 0:1d7eec4b8813 | 42 | int message = 0; |
donghuoyinzi | 0:1d7eec4b8813 | 43 | |
donghuoyinzi | 0:1d7eec4b8813 | 44 | control.baud(115200); |
donghuoyinzi | 0:1d7eec4b8813 | 45 | |
donghuoyinzi | 0:1d7eec4b8813 | 46 | //Camera Initialization and picture sizing |
donghuoyinzi | 0:1d7eec4b8813 | 47 | timer.start(); |
donghuoyinzi | 0:1d7eec4b8813 | 48 | camera.setPictureSize(JPEGCamera::SIZE160x120); |
donghuoyinzi | 0:1d7eec4b8813 | 49 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 50 | //Continuously wait for commands |
donghuoyinzi | 0:1d7eec4b8813 | 51 | while(1) |
donghuoyinzi | 0:1d7eec4b8813 | 52 | { |
donghuoyinzi | 0:1d7eec4b8813 | 53 | // if(control.readable()) |
donghuoyinzi | 0:1d7eec4b8813 | 54 | // { |
donghuoyinzi | 0:1d7eec4b8813 | 55 | control.readable(); |
donghuoyinzi | 0:1d7eec4b8813 | 56 | message=control.getc(); |
donghuoyinzi | 0:1d7eec4b8813 | 57 | //Take a picture (note that this takes a while to complete and will only only work for 999 pictures |
donghuoyinzi | 0:1d7eec4b8813 | 58 | if (message==210){ //send D2 for taking a picture |
donghuoyinzi | 0:1d7eec4b8813 | 59 | camera.isReady(); |
donghuoyinzi | 0:1d7eec4b8813 | 60 | camera.takePicture(); |
donghuoyinzi | 0:1d7eec4b8813 | 61 | int image_size = camera.getImageSize(); |
donghuoyinzi | 0:1d7eec4b8813 | 62 | while (camera.isProcessing()) |
donghuoyinzi | 0:1d7eec4b8813 | 63 | { |
donghuoyinzi | 0:1d7eec4b8813 | 64 | camera.processPicture(control); |
donghuoyinzi | 0:1d7eec4b8813 | 65 | } |
donghuoyinzi | 0:1d7eec4b8813 | 66 | } |
donghuoyinzi | 0:1d7eec4b8813 | 67 | else if (message==212){ //send D4 for getting datas of MPU9150 |
donghuoyinzi | 0:1d7eec4b8813 | 68 | MPU9150raw::setup(); |
donghuoyinzi | 0:1d7eec4b8813 | 69 | MPU9150raw::loop(); |
donghuoyinzi | 0:1d7eec4b8813 | 70 | control.printf("ax=%d\n",buf9150[0]); |
donghuoyinzi | 0:1d7eec4b8813 | 71 | control.printf("ay=%d\n",buf9150[1]); |
donghuoyinzi | 0:1d7eec4b8813 | 72 | control.printf("az=%d\n",buf9150[2]); |
donghuoyinzi | 0:1d7eec4b8813 | 73 | control.printf("gx=%d\n",buf9150[3]); |
donghuoyinzi | 0:1d7eec4b8813 | 74 | control.printf("gy=%d\n",buf9150[4]); |
donghuoyinzi | 0:1d7eec4b8813 | 75 | control.printf("gz=%d\n",buf9150[5]); |
donghuoyinzi | 0:1d7eec4b8813 | 76 | control.printf("mx=%d\n",buf9150[6]); |
donghuoyinzi | 0:1d7eec4b8813 | 77 | control.printf("my=%d\n",buf9150[7]); |
donghuoyinzi | 0:1d7eec4b8813 | 78 | control.printf("mz=%d\n",buf9150[8]); |
donghuoyinzi | 0:1d7eec4b8813 | 79 | } |
donghuoyinzi | 0:1d7eec4b8813 | 80 | else if (message==214){ //send D6 for GPRS |
donghuoyinzi | 0:1d7eec4b8813 | 81 | sim808.attach(&SIM808_IRQHandler,SerialBase::RxIrq); //serial interrupt attach |
donghuoyinzi | 0:1d7eec4b8813 | 82 | wait(5); |
donghuoyinzi | 0:1d7eec4b8813 | 83 | |
donghuoyinzi | 0:1d7eec4b8813 | 84 | sim808.printf("AT\r\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 85 | wait(3); //判断Serial sim808通信是否正常 |
donghuoyinzi | 0:1d7eec4b8813 | 86 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 87 | control.printf("sim808 uart success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 88 | } |
donghuoyinzi | 0:1d7eec4b8813 | 89 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 90 | control.printf("sim808 uart fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 91 | } |
donghuoyinzi | 0:1d7eec4b8813 | 92 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 93 | |
donghuoyinzi | 0:1d7eec4b8813 | 94 | sim808.printf("ATE0\r\n"); //关闭回显 |
donghuoyinzi | 0:1d7eec4b8813 | 95 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 96 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 97 | control.printf("sim808 ATEO turn off success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 98 | } |
donghuoyinzi | 0:1d7eec4b8813 | 99 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 100 | control.printf("sim808 ATEO turn off fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 101 | } |
donghuoyinzi | 0:1d7eec4b8813 | 102 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 103 | |
donghuoyinzi | 0:1d7eec4b8813 | 104 | sim808.printf("AT+CREG?\r\n"); //判断SIM卡是否注册成功 |
donghuoyinzi | 0:1d7eec4b8813 | 105 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 106 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 107 | control.printf("sim808 register success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 108 | } |
donghuoyinzi | 0:1d7eec4b8813 | 109 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 110 | control.printf("sim808 register fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 111 | } |
donghuoyinzi | 0:1d7eec4b8813 | 112 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 113 | |
donghuoyinzi | 0:1d7eec4b8813 | 114 | /************************************************ |
donghuoyinzi | 0:1d7eec4b8813 | 115 | sim808.printf("AT+CMGF=1\r\n"); //Text mode短信发送模式 |
donghuoyinzi | 0:1d7eec4b8813 | 116 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 117 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 118 | control.printf("sim808 TEXT set success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 119 | } |
donghuoyinzi | 0:1d7eec4b8813 | 120 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 121 | control.printf("sim808 TEXT set fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 122 | } |
donghuoyinzi | 0:1d7eec4b8813 | 123 | |
donghuoyinzi | 0:1d7eec4b8813 | 124 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 125 | |
donghuoyinzi | 0:1d7eec4b8813 | 126 | sim808.printf("AT+CSCS=\"GSM\"\r\n"); //设置GSM模式 |
donghuoyinzi | 0:1d7eec4b8813 | 127 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 128 | ret=Judge_SIM808(); |
donghuoyinzi | 0:1d7eec4b8813 | 129 | if(ret){ |
donghuoyinzi | 0:1d7eec4b8813 | 130 | control.printf("sim808 GSM set success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 131 | } |
donghuoyinzi | 0:1d7eec4b8813 | 132 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 133 | control.printf("sim808 GSM set fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 134 | } |
donghuoyinzi | 0:1d7eec4b8813 | 135 | |
donghuoyinzi | 0:1d7eec4b8813 | 136 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 137 | |
donghuoyinzi | 0:1d7eec4b8813 | 138 | sim808.printf("AT+CSMP=17,167,0,0\r\n"); //Text parameter set |
donghuoyinzi | 0:1d7eec4b8813 | 139 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 140 | ret=Judge_SIM808(); |
donghuoyinzi | 0:1d7eec4b8813 | 141 | if(ret){ |
donghuoyinzi | 0:1d7eec4b8813 | 142 | control.printf("sim808 Text parameter set success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 143 | } |
donghuoyinzi | 0:1d7eec4b8813 | 144 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 145 | control.printf("sim808 Text parameter set fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 146 | } |
donghuoyinzi | 0:1d7eec4b8813 | 147 | |
donghuoyinzi | 0:1d7eec4b8813 | 148 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 149 | |
donghuoyinzi | 0:1d7eec4b8813 | 150 | sim808.printf("AT+CMGS=\"+8618766569612\"\r\n"); //receiver's phone number |
donghuoyinzi | 0:1d7eec4b8813 | 151 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 152 | ret=Judge_SIM808(); |
donghuoyinzi | 0:1d7eec4b8813 | 153 | if(ret==true){ |
donghuoyinzi | 0:1d7eec4b8813 | 154 | control.printf("%s",sim_buf); |
donghuoyinzi | 0:1d7eec4b8813 | 155 | } |
donghuoyinzi | 0:1d7eec4b8813 | 156 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 157 | control.printf("sim808 receive number fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 158 | } |
donghuoyinzi | 0:1d7eec4b8813 | 159 | |
donghuoyinzi | 0:1d7eec4b8813 | 160 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 161 | |
donghuoyinzi | 0:1d7eec4b8813 | 162 | sim808.printf("%s",(char*)content); //短信内容 |
donghuoyinzi | 0:1d7eec4b8813 | 163 | sim808.printf("%c",CtrlZ); |
donghuoyinzi | 0:1d7eec4b8813 | 164 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 165 | control.printf("%s\n",sim_buf); |
donghuoyinzi | 0:1d7eec4b8813 | 166 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 167 | |
donghuoyinzi | 0:1d7eec4b8813 | 168 | ******************************************/ |
donghuoyinzi | 0:1d7eec4b8813 | 169 | sim808.printf("AT+CPIN?\r\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 170 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 171 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 172 | control.printf("sim808 SIM card success\n"); //SIM状态 |
donghuoyinzi | 0:1d7eec4b8813 | 173 | } |
donghuoyinzi | 0:1d7eec4b8813 | 174 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 175 | control.printf("sim808 SIM card set fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 176 | } |
donghuoyinzi | 0:1d7eec4b8813 | 177 | |
donghuoyinzi | 0:1d7eec4b8813 | 178 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 179 | |
donghuoyinzi | 0:1d7eec4b8813 | 180 | sim808.printf("AT+CGATT?\r\n"); //GPRS附着状态 |
donghuoyinzi | 0:1d7eec4b8813 | 181 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 182 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 183 | control.printf("sim808 GPRS success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 184 | } |
donghuoyinzi | 0:1d7eec4b8813 | 185 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 186 | control.printf("sim808 GPRS set fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 187 | } |
donghuoyinzi | 0:1d7eec4b8813 | 188 | |
donghuoyinzi | 0:1d7eec4b8813 | 189 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 190 | |
donghuoyinzi | 0:1d7eec4b8813 | 191 | sim808.printf("AT+CSTT=\"CMNET\"\r\n"); //set APN |
donghuoyinzi | 0:1d7eec4b8813 | 192 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 193 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 194 | control.printf("sim808 APN set success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 195 | } |
donghuoyinzi | 0:1d7eec4b8813 | 196 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 197 | control.printf("sim808 APN set fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 198 | } |
donghuoyinzi | 0:1d7eec4b8813 | 199 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 200 | |
donghuoyinzi | 0:1d7eec4b8813 | 201 | sim808.printf("AT+CIICR\r\n"); //wireless link |
donghuoyinzi | 0:1d7eec4b8813 | 202 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 203 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 204 | control.printf("sim808 wireless link success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 205 | } |
donghuoyinzi | 0:1d7eec4b8813 | 206 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 207 | control.printf("sim808 wireless link fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 208 | } |
donghuoyinzi | 0:1d7eec4b8813 | 209 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 210 | |
donghuoyinzi | 0:1d7eec4b8813 | 211 | sim808.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9970\"\r\n"); //TCP set |
donghuoyinzi | 0:1d7eec4b8813 | 212 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 213 | if(Judge_SIM808()){ |
donghuoyinzi | 0:1d7eec4b8813 | 214 | control.printf("sim808 TCP set success\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 215 | } |
donghuoyinzi | 0:1d7eec4b8813 | 216 | else{ |
donghuoyinzi | 0:1d7eec4b8813 | 217 | control.printf("sim808 TCP set fail\n"); |
donghuoyinzi | 0:1d7eec4b8813 | 218 | } |
donghuoyinzi | 0:1d7eec4b8813 | 219 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 220 | |
donghuoyinzi | 0:1d7eec4b8813 | 221 | sim808.printf("AT+CIPSEND\r\n"); //send direction |
donghuoyinzi | 0:1d7eec4b8813 | 222 | wait(3); |
donghuoyinzi | 0:1d7eec4b8813 | 223 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 224 | |
donghuoyinzi | 0:1d7eec4b8813 | 225 | sim808.printf("%s\n",(char*)content); //发送内容 |
donghuoyinzi | 0:1d7eec4b8813 | 226 | sim808.printf("%c",CtrlZ); |
donghuoyinzi | 0:1d7eec4b8813 | 227 | } |
donghuoyinzi | 0:1d7eec4b8813 | 228 | } |
donghuoyinzi | 0:1d7eec4b8813 | 229 | } |
donghuoyinzi | 0:1d7eec4b8813 | 230 | /******************************************* |
donghuoyinzi | 0:1d7eec4b8813 | 231 | control.printf("start test!\r\n"); //GPS without change |
donghuoyinzi | 0:1d7eec4b8813 | 232 | gps.attach(&callback); |
donghuoyinzi | 0:1d7eec4b8813 | 233 | hal_sleep(); |
donghuoyinzi | 0:1d7eec4b8813 | 234 | if(sig == 7) |
donghuoyinzi | 0:1d7eec4b8813 | 235 | { |
donghuoyinzi | 0:1d7eec4b8813 | 236 | sig=0; |
donghuoyinzi | 0:1d7eec4b8813 | 237 | i=0; |
donghuoyinzi | 0:1d7eec4b8813 | 238 | control.printf("%s",buffer1); |
donghuoyinzi | 0:1d7eec4b8813 | 239 | memset(buffer1,0,sizeof(buffer1)); |
donghuoyinzi | 0:1d7eec4b8813 | 240 | } |
donghuoyinzi | 0:1d7eec4b8813 | 241 | wait(5); |
donghuoyinzi | 0:1d7eec4b8813 | 242 | } |
donghuoyinzi | 0:1d7eec4b8813 | 243 | } |
donghuoyinzi | 0:1d7eec4b8813 | 244 | void getline() |
donghuoyinzi | 0:1d7eec4b8813 | 245 | { |
donghuoyinzi | 0:1d7eec4b8813 | 246 | buffer1[i] = gps.getc(); |
donghuoyinzi | 0:1d7eec4b8813 | 247 | if(buffer1[i] == 0x0a) |
donghuoyinzi | 0:1d7eec4b8813 | 248 | { |
donghuoyinzi | 0:1d7eec4b8813 | 249 | sig++; |
donghuoyinzi | 0:1d7eec4b8813 | 250 | } |
donghuoyinzi | 0:1d7eec4b8813 | 251 | i++; |
donghuoyinzi | 0:1d7eec4b8813 | 252 | } |
donghuoyinzi | 0:1d7eec4b8813 | 253 | *********************************/ |
donghuoyinzi | 0:1d7eec4b8813 | 254 | void SIM808_IRQHandler(void) |
donghuoyinzi | 0:1d7eec4b8813 | 255 | { |
donghuoyinzi | 0:1d7eec4b8813 | 256 | if(First_Int>=buf_max)First_Int=0; |
donghuoyinzi | 0:1d7eec4b8813 | 257 | sim_buf[First_Int] = sim808.getc(); |
donghuoyinzi | 0:1d7eec4b8813 | 258 | First_Int++; |
donghuoyinzi | 0:1d7eec4b8813 | 259 | } |
donghuoyinzi | 0:1d7eec4b8813 | 260 | void CLR_Buf(void) |
donghuoyinzi | 0:1d7eec4b8813 | 261 | { |
donghuoyinzi | 0:1d7eec4b8813 | 262 | uint16_t k; |
donghuoyinzi | 0:1d7eec4b8813 | 263 | for(k=0;k<buf_max;k++) |
donghuoyinzi | 0:1d7eec4b8813 | 264 | { |
donghuoyinzi | 0:1d7eec4b8813 | 265 | sim_buf[k] = 0x00; |
donghuoyinzi | 0:1d7eec4b8813 | 266 | } |
donghuoyinzi | 0:1d7eec4b8813 | 267 | First_Int = 0; |
donghuoyinzi | 0:1d7eec4b8813 | 268 | } |
donghuoyinzi | 0:1d7eec4b8813 | 269 | bool Judge_SIM808() |
donghuoyinzi | 0:1d7eec4b8813 | 270 | { |
donghuoyinzi | 0:1d7eec4b8813 | 271 | int j; |
donghuoyinzi | 0:1d7eec4b8813 | 272 | for(j=0;j<buf_max;j++) |
donghuoyinzi | 0:1d7eec4b8813 | 273 | { |
donghuoyinzi | 0:1d7eec4b8813 | 274 | if((sim_buf[j] == 'O')&&(sim_buf[j+1] == 'K')) |
donghuoyinzi | 0:1d7eec4b8813 | 275 | { |
donghuoyinzi | 0:1d7eec4b8813 | 276 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 277 | return true; |
donghuoyinzi | 0:1d7eec4b8813 | 278 | } |
donghuoyinzi | 0:1d7eec4b8813 | 279 | } |
donghuoyinzi | 0:1d7eec4b8813 | 280 | CLR_Buf(); |
donghuoyinzi | 0:1d7eec4b8813 | 281 | return false; |
donghuoyinzi | 0:1d7eec4b8813 | 282 | } |
donghuoyinzi | 0:1d7eec4b8813 | 283 | namespace MPU9150raw { |
donghuoyinzi | 0:1d7eec4b8813 | 284 | // class default I2C address is 0x68 |
donghuoyinzi | 0:1d7eec4b8813 | 285 | // specific I2C addresses may be passed as a parameter here |
donghuoyinzi | 0:1d7eec4b8813 | 286 | // AD0 low = 0x68 (default for InvenSense evaluation board) |
donghuoyinzi | 0:1d7eec4b8813 | 287 | // AD0 high = 0x69 |
donghuoyinzi | 0:1d7eec4b8813 | 288 | MPU9150 accelGyroMag; |
donghuoyinzi | 0:1d7eec4b8813 | 289 | void setup() { |
donghuoyinzi | 0:1d7eec4b8813 | 290 | //control.baud(115200); |
donghuoyinzi | 0:1d7eec4b8813 | 291 | accelGyroMag.initialize(); |
donghuoyinzi | 0:1d7eec4b8813 | 292 | } |
donghuoyinzi | 0:1d7eec4b8813 | 293 | |
donghuoyinzi | 0:1d7eec4b8813 | 294 | void loop() { |
donghuoyinzi | 0:1d7eec4b8813 | 295 | // read raw accel/gyro/mag measurements from device |
donghuoyinzi | 0:1d7eec4b8813 | 296 | accelGyroMag.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz); |
donghuoyinzi | 0:1d7eec4b8813 | 297 | buf9150[0]=ax;buf9150[1]=ay;buf9150[2]=az; |
donghuoyinzi | 0:1d7eec4b8813 | 298 | buf9150[3]=gx;buf9150[4]=gy;buf9150[5]=gz; |
donghuoyinzi | 0:1d7eec4b8813 | 299 | buf9150[6]=mx;buf9150[7]=my;buf9150[8]=mz; |
donghuoyinzi | 0:1d7eec4b8813 | 300 | wait_ms(50); |
donghuoyinzi | 0:1d7eec4b8813 | 301 | } |
donghuoyinzi | 0:1d7eec4b8813 | 302 | } |