ahmed ahmed
/
Ahmed_Embarq_Prog
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Dependencies: C12832 LM75B mbed
Ah_main.cpp
- Committer:
- pfe
- Date:
- 2015-04-21
- Revision:
- 0:05a20e3e3179
File content as of revision 0:05a20e3e3179:
#include "mbed.h"
#include "C12832.h"
#include "MSCFileSystem.h"
//-----------------------
#include "Define.h"
#include "RecGPS.h"
//-----------------------
MSCFileSystem fsLog("USB"); // Enregsetement des doonées "Flash Disque USB"
FILE *Fs_Log;
I2C _I2C(p28,p27); // I2C SCL,SDA
Serial _ComGPS(p13, p14); // TX non connecté, pin14 RX.
Serial _ComXbee(p9,p10); // Serial tx(p9),rx(10)
#define pRST_Xbee p30 // pin RST Xbee
Ticker _Ticker5ms;
Timer _Timer1; // Timer pour mesurer le temps
DigitalIn boutonStart(p13); // Joystique Left : Boutton pour pouvoir controler le debut de l'enregistrement
DigitalIn boutonEnd(p16); // Joystique Right : Boutton pour pouvoir controler la fin de l'enregistrement
DigitalOut RSTXbee (p30);
DigitalOut LedGPS (LED1);
DigitalOut LedLog (LED2);
DigitalOut LedXbee (LED3);
DigitalOut LedError(LED4);
//-----------------------
StructGPS GPS;
unsigned long TimeBtpress=0,TIMER_10ms;
unsigned long FileIndex;
char Txt[16],Txt_Log[100],Txt_Tx2GSC[100],DataLogFileName[32];
unsigned long tk1; // des variables pour stocker les temps de mesure
//----------------------------------- Reception des données GPS 10Hz
void AutoMat_GPS(){
static unsigned char i=0,j=0,GPSDataType=0,ET_AutoMat_GPS=ET_01;
static char gps_mess;
while(_ComGPS.readable()){
gps_mess=_ComGPS.getc();
switch(ET_AutoMat_GPS){
case ET_01: if(gps_mess==prompt$GP[i]){
i++;
if(i==3){
i=0;
j=0;
ET_AutoMat_GPS=ET_02;
}
}else i=0;
break;
case ET_02: if(gps_mess==promptGGA[i]){
i++;
if(i==3){
i=0;
j=0;
ET_AutoMat_GPS = ET_03;
GPSDataType = GGA;
}
break;
}else i=0;
if(gps_mess==promptRMC[j]){
j++;
if(j==3){
j=0;
ET_AutoMat_GPS=ET_03;
GPSDataType=RMC;
}
break;
}else j=0;
ET_AutoMat_GPS=ET_01;
break;
case ET_03: _MsgGPSRx[i]=gps_mess;
i++;
if((i<NData_GPS_Max)&&(gps_mess!=0x0D))break;
switch(GPSDataType){
case GGA: DecodageGPGGA(i-1);// l'appel de la fonction de decodage du message GPGGA
LedGPS=!LedGPS;
if (GpsData.GGA_Valid==0x01){
GpsData.GGA_Valid=0x00;
GPS=GpsData;
}
break;
case RMC: //DecodageGPRMC(i-1);// l'appel de la fonction de decodage du message GPGGA //DecodageGPRMC(i-1);
break;
default: break;
}
ET_AutoMat_GPS=ET_01;
GPSDataType=0;
default : break;
}
}
}
//----------------------------------- Transmission données au sol 10 packet/s
void AutoMat_Xbee_Tx(){
switch (ET_AutoMat_Xbee_Tx) {
case ET_01:
LedXbee = !LedXbee;
sprintf(Txt_Tx2GSC,"$GPS;%lu;%lu;",OldTimer_10ms,GPS.Qual);
_ComXbee.printf("%s",Txt_Tx2GSC);
ET_AutoMat_Xbee_Tx = ET_02;
break;
case ET_02 :
sprintf(Txt_Tx2GSC,"%2u:%2u:%2u;",GPS.hh,GPS.mm,GPS.ss);
_ComXbee.printf("%s",Txt_Tx2GSC);
ET_AutoMat_Xbee_Tx = ET_03;
break;
case ET_03 :
sprintf(Txt_Tx2GSC,"%2u;%2u.%u;%c;",GPS.LatDeg,GPS.LatMin,GPS.Latmmmm,GPS.LatDir);
_ComXbee.printf("%s",Txt_Tx2GSC);
ET_AutoMat_Xbee_Tx = ET_04;
break;
case ET_04 :
sprintf(Txt_Tx2GSC,"%3u;%2u.%u;%c;",GPS.LongDeg,GPS.LongMin,GPS.Longmmmm,GPS.LongDir);
_ComXbee.printf("%s",Txt_Tx2GSC);
ET_AutoMat_Xbee_Tx = ET_05;
break;
case ET_05 :
sprintf(Txt_Tx2GSC,"%c%u\r\n",GPS.SignHMSL,GPS.HMSL);
_ComXbee.printf("%s",Txt_Tx2GSC);
ET_AutoMat_Xbee_Tx = ET_06;
break;
//------------
case ET_06 :
sprintf(Txt_Tx2GSC,"$PDV;%lu;%4u;%4u;%4u;%4d\r\n",OldTimer_10ms,OldCAP,OldALT,OldTAS,OldTEMPRE);
_ComXbee.printf("%s",Txt_Tx2GSC);
ET_AutoMat_Xbee_Tx = ET_00;
break;
default: ET_AutoMat_Xbee_Tx=ET_00; break;
}
}
//----------------------------------- LogData 100Hz, LogGPS 10Hz
void AutoMat_DataLog(){
switch (ET_AutoMat_DataLog){
case ET_01:
LedLog=!LedLog;
//--------------
OldTimer_10ms = TIMER_10ms;
// au max 100us (0.1ms)
sprintf(Txt_Log,"PDV;%lu;%5d;%5d;%5d;%5d\r\n",TIMER_10ms,CAP,ALT,TAS,TEMPRE);
// au max 5000 us (5ms)
fprintf(Fs_Log,Txt_Log);
// 100us
sprintf(Txt_Log,"GPS;%lu;%1u;%2u:%2u:%2u;%2u;%2u.%u;%c;%3u;%2u.%u;%c;%c%u\r\n",TIMER_10ms,GPS.Qual,GPS.hh,GPS.mm,GPS.ss,GPS.LatDeg,GPS.LatMin,GPS.Latmmmm,GPS.LatDir,GPS.LongDeg,GPS.LongMin,GPS.Longmmmm,GPS.LongDir,GPS.SignHMSL,GPS.HMSL);
// au max 5 ms
fprintf(Fs_Log,Txt_Log);
//------------------
ET_AutoMat_DataLog++;
break;
case ET_02:
case ET_03:
case ET_04:
case ET_05:
case ET_06:
case ET_07:
case ET_08:
case ET_09:
case ET_10:
// au max 100us (0.1ms)
sprintf(Txt_Log,"PDV;%lu;%5d;%5d;%5d;%5d\r\n",TIMER_10ms,CAP,ALT,TAS,TEMPRE);
// au max 5000 us (5ms)
fprintf(Fs_Log,Txt_Log);
break;
default: break ;
}
}
//------------------------------------------ Sansors
void AutoMat_ALT_EAGLE_V4(){
static char L_i2c_Data[2],error;
switch (ET_AutoMat_ALT) {
case ET_01 :
L_i2c_Data[0] = 0x07; // Send "register number" command to sensor
error = _I2C.write(Add_Sensor_ALT_EG4, L_i2c_Data, 1,true); // Send command string
if (error==0) ET_AutoMat_ALT = ET_02;
break;
case ET_02 :
error = _I2C.read(Add_Sensor_ALT_EG4, L_i2c_Data, 2, true);
if (error==0) {
ALT = *((unsigned short*)L_i2c_Data)&0xffff; //altitude en décimètre
ALT = ALT-3000;
}
ET_AutoMat_ALT = ET_01;
break;
default : break;
}
}
void AutoMat_TAS_EAGLE_V4(){
static char L_i2c_Data[2],error;
switch (ET_AutoMat_TAS) {
case ET_01 :
L_i2c_Data[0] = 0x07; // Send "register number" command to sensor
error = _I2C.write(Add_Sensor_TAS_EG4, L_i2c_Data, 1,true); // Send command string
if (error==0) ET_AutoMat_TAS = ET_02;
break;
case ET_02 :
error = _I2C.read(Add_Sensor_TAS_EG4, L_i2c_Data, 2, true);
if (error==0) {
TAS = *((unsigned short*)L_i2c_Data)&0xffff; //altitude en décimètre
TAS = sqrt((float)(TAS-offset_TAS)*5.87755102);
}
ET_AutoMat_TAS = ET_01;
break;
default : break;
}
}
void AutoMat_CAP_HMC(){
static char L_i2c_Data[2],error;
switch (ET_AutoMat_CAP) {
case ET_01 :
L_i2c_Data[0] = 0x07; // Send "register number" command to sensor
error = _I2C.write(Add_Sensor_CAP_HMC, L_i2c_Data, 1,true); // Send command string
if (error==0) ET_AutoMat_CAP = ET_02;
break;
case ET_02 :
error = _I2C.read(Add_Sensor_CAP_HMC , L_i2c_Data, 2, true);
if (error==0) {
CAP = *((unsigned short*)L_i2c_Data)&0xffff; //altitude en décimètre
}
ET_AutoMat_CAP = ET_01;
break;
default : break;
}
}
//-------------------
void Sansors_Init(){
char L_i2c_Data[3];
//------------ init Compass HMC //Continuous mode, periodic set/reset, 20Hz measurement rate.
L_i2c_Data[0] = HMC6352_CONTINUOUS;
L_i2c_Data[1] = 0x01;
L_i2c_Data[2] = 20;
_I2C.write(Add_Sensor_CAP_HMC,L_i2c_Data,3); // Send command
//----------------------------
wait_ms(1); //attendre 1mS
//------------- Get Offset TAS
L_i2c_Data[0] = 0x01; // Send "read data" command to sensor
_I2C.write(Add_Sensor_TAS_EG4,L_i2c_Data,1); // Send command string
wait_ms(1); //attendre 400µS avant de relancer
_I2C.read(Add_Sensor_TAS_EG4,L_i2c_Data, 2);
offset_TAS = *((unsigned short*)L_i2c_Data)&0xffff; // Altitude en décimètre
}
void Irq05ms(){
static unsigned char L_Flag_Timer=0, LTIMER005ms=0,LTIMER010ms=0;
LTIMER005ms++;
L_Flag_Timer = 1;
//-----------------------------
if(LTIMER005ms >= 2){
//-----------------
TIMER_10ms = TIMER_10ms+1;
LTIMER005ms = 0;
LTIMER010ms++;
L_Flag_Timer = 2;
//-----------------
if(LTIMER010ms >= 10){
LTIMER010ms = 0;
L_Flag_Timer = 3;
}
//-----------------
}
AutoMat_ALT_EAGLE_V4();
AutoMat_TAS_EAGLE_V4();
AutoMat_CAP_HMC();
if (Flag_Timer != 0xFF) Flag_Timer = L_Flag_Timer;
//-----------------------------
}
int main() {
CAP = 0;
TAS = 0;
ALT = 0;
LedError = 0;
//--------------------
_I2C.frequency(100000);
_ComGPS.baud(38400); //GPS V4 EAGLE
_ComGPS.attach(&AutoMat_GPS,Serial::RxIrq); // defini une interruption chaque foix que le recepteur GPS envoi un charactere
_ComXbee.baud(38400);
RSTXbee=0;
wait(0.5);
RSTXbee=1;
Sansors_Init();
//--------------------
//-------------- File Creat RGPSLogX.csv and DataLogX.csv X=FileIndex
FileIndex = 5;
//--------------------
sprintf(DataLogFileName,"/USB/DataLog%lu.csv",FileIndex);
Fs_Log = fopen(DataLogFileName, "w");//ajouter un nouveau fichier et écraser l'ancien
//-------------------- Verification de la creations des fichers
if(Fs_Log==NULL) goto LabError;
fprintf(Fs_Log,"LogData\r\n");
fprintf(Fs_Log,"GPS;TIMER1;Qual;Heur;LatD;LatMin;LatDir;LongD;LongMin;LongDir;HMSL\r\n");
fprintf(Fs_Log,"PDV;TIMER1;CAP;ALT;TAS;Tem\r\n");
//--------------------
// Active les Automat
ET_AutoMat_ALT = ET_01;
ET_AutoMat_TAS = ET_01;
ET_AutoMat_CAP = ET_01;
_Ticker5ms.attach_us(&Irq05ms,5000);
// la variable un nom de 1ms mais on fait ca sur 5ms ce n'est pas cohérent !!!!!!!
// Samir
//--------------------
CAP = 9991;
ALT = 9992;
TAS = 9993;
TEMPRE = 9994;
TimeBtpress=0;
while(TimeBtpress<100){
if(boutonStart == 1)TimeBtpress++;
if(boutonStart == 0)TimeBtpress=0;
wait(0.005);
}
//while(boutonStart==0); // Boutton pour pouvoir controler le debut de l'enregistrement
Flag_Timer = 0;
TimeBtpress=0;
while(boutonEnd==0){ // Boutton pour pouvoir controler la fin de l'enregistrement
switch (Flag_Timer) {
case 0x01:
Flag_Timer = 0;
break;
case 0x02:
Flag_Timer = 0xFF;
AutoMat_DataLog();
AutoMat_Xbee_Tx();
Flag_Timer = 0;
break;
case 0x03:
Flag_Timer = 0xFF;
GPS = GpsData;
OldALT = ALT;
OldTAS = TAS;
OldCAP = CAP;
OldTEMPRE = TEMPRE;
ET_AutoMat_Xbee_Tx = ET_01;
ET_AutoMat_DataLog = ET_01;
AutoMat_DataLog();
AutoMat_Xbee_Tx();
Flag_Timer = 0x00;
break;
default: break;
}// fin switch
}
_Ticker5ms.detach();
_ComGPS.attach(NULL,Serial::RxIrq);
LedXbee = 0;
LedGPS = 0;
LedLog = 1;
fclose(Fs_Log);
wait(1);
LedLog = 0;
while(1){
LedError=!LedError;
wait(0.5);
}
//----------------
LabError:
LedError=1;
//----------------
}