ahmed ahmed
Ahmed_PFE_Embarq_300415
Dependencies: C12832 LM75B mbed
Fork of
Ahmed_Embarq_Prog
by 
ahmed ahmed
Diff: Ah_main.cpp
- Revision:
- 0:05a20e3e3179
- Child:
- 1:197b9fed6092
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Ah_main.cpp Tue Apr 21 10:16:20 2015 +0000
@@ -0,0 +1,372 @@
+#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;
+//----------------
+
+}