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F742ZG
Dependencies: mbed X_NUCLEO_IKS01A2 mbed-rtos
Dependents: ros_button_2021 test test2
Diff: Teseo-LIV3F/Teseo-LIV3F.h
- Revision:
- 0:4e088cbb2dbf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Teseo-LIV3F/Teseo-LIV3F.h Mon Oct 23 07:11:35 2017 +0000 @@ -0,0 +1,130 @@ +/* + * ------------------------------------------------------------------------- + * Copyright (C) 2017 STMicroelectronics + * Author: Francesco M. Virlinzi <francesco.virlinzi@st.com> + * + * May be copied or modified under the terms of the GNU General Public + * License V.2 ONLY. See linux/COPYING for more information. + * + * ------------------------------------------------------------------------- + */ +#ifndef __TESEO_LIV3F_H__ +#define __TESEO_LIV3F_H__ + +#include "mbed.h" +#include "rtos/rtos.h" + +extern char _OK[]; +extern char _Failed[]; +extern char X_Nucleo_name[]; + +enum nmea_msg_id { + NMEA_GPGGA, + NMEA_GPGLL, + NMEA_GNGSA, + NMEA_GPTXT, + NMEA_GPVTG, + NMEA_GPRMC, + NMEA_PSTMCPU, + NMEA_PSTMVER, + NMEA_END__ +}; + +#define TESEO_RXBUF_LEN 128 + +struct teseo_msg { + unsigned char len; + char buf[TESEO_RXBUF_LEN]; +}; + + +class Teseo_LIV3F { +public: + enum cmd_enum { + GETSWVER, + FORCESTANDBY, + RFTESTON, + RFTESTOFF, + LOWPOWER, + FWUPDATE, + }; + +private: + DigitalOut _reset; + DigitalIn _pps; + DigitalOut _wakeup; + +#define SDT_UART_BAUD 9600 +#define FWU_UART_BAUD 115200 +#define TESEO_I2C_ADDRESS 0x3A +#if 1 +#define POWERON_STABLE_SIGNAL_DELAY_MS 150 +#else +#define POWERON_STABLE_SIGNAL_DELAY_MS 500 +#endif + + Serial _uart; + bool _uart_interleaded; + bool _uart_discard; +#if 1 + Mutex _uart_mutex; +#define _uart_mutex_lock() _uart_mutex.lock() +#define _uart_mutex_unlock() _uart_mutex.unlock() +#else +#define _uart_mutex_lock() +#define _uart_mutex_unlock() +#endif + Serial *_serial_debug; + I2C *_i2c; + + int FwWaitAck(); + + int CRC_(char *buf, int size); + + int SendString(char *buf, int len); + + int ReadMessage(char *buf, unsigned long len, Timer *t = NULL, float timout = 0.0); + + char *DetectSentence(const char *cmd, char *buf, unsigned long len); + + Thread serialStreamThread; + +public: + enum nmea_msg_id MsgDetect(char *buf, int buf_len, Serial *serial_debug); + + void UARTStreamProcess(Serial *serial_debug); + + Teseo_LIV3F(PinName reset_pin, PinName wakeup_pin, PinName pps_pin, PinName uart_tx_pin, PinName uart_rx_pin, Serial *serial_debug = NULL); + + Teseo_LIV3F(PinName reset_pin, PinName wakeup_pin, PinName pps_pin, PinName uart_tx_pin, PinName uart_rx_pin, I2C *i2c_bus, Serial *serial_debug = NULL); + + void SendCommand(enum Teseo_LIV3F::cmd_enum c); + + void Reset(Serial *serial_debug = NULL); + + bool CheckPPSWorking(); + + int CheckI2C(); + + void RFTest(bool enable); + + bool WaitBooting(Timer *t, float timout = 8.0); + + int WakeUp(); + + int EnableLowPower(); + + char *ReadSentence(const char *cmd, char *buf, unsigned long len); + + bool FirmwareUpdate(bool is_recovery, char *data, unsigned int data_len, unsigned long crc, Serial *serial_debug); + + void ReadLoop(Serial *serial_debug); + + void startListener(Serial *serial_debug); + void stopListener(Serial *serial_debug); + + MemoryPool<struct teseo_msg, 8> mpool; + Queue<struct teseo_msg, 8> queue; +}; + +#endif \ No newline at end of file