pyonta cansat
a
Dependencies: HMC5883 MPL3115A MPU605 MU2Class SDFileSystem mbed
Revision 0:ac7a5495d95c, committed 2017-09-09
- Comitter:
- pyonta2017
- Date:
- Sat Sep 09 23:18:12 2017 +0000
- Commit message:
- a
Changed in this revision
diff -r 000000000000 -r ac7a5495d95c HMC5883L.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.lib Sat Sep 09 23:18:12 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/pyonta2017/code/HMC5883/#41931afb09f2
diff -r 000000000000 -r ac7a5495d95c MPL3115A2.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPL3115A2.lib Sat Sep 09 23:18:12 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/pyonta2017/code/MPL3115A/#79cff85db78c
diff -r 000000000000 -r ac7a5495d95c MPU6050.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Sat Sep 09 23:18:12 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/pyonta2017/code/MPU605/#b07d973e8c04
diff -r 000000000000 -r ac7a5495d95c MU2Class.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MU2Class.lib Sat Sep 09 23:18:12 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/ATKINZ117/code/MU2Class/#a7d413a2889d
diff -r 000000000000 -r ac7a5495d95c PowerControl/EthernetPowerControl.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PowerControl/EthernetPowerControl.cpp Sat Sep 09 23:18:12 2017 +0000
@@ -0,0 +1,138 @@
+#include "EthernetPowerControl.h"
+
+static void write_PHY (unsigned int PhyReg, unsigned short Value) {
+ /* Write a data 'Value' to PHY register 'PhyReg'. */
+ unsigned int tout;
+ /* Hardware MII Management for LPC176x devices. */
+ LPC_EMAC->MADR = DP83848C_DEF_ADR | PhyReg;
+ LPC_EMAC->MWTD = Value;
+
+ /* Wait utill operation completed */
+ for (tout = 0; tout < MII_WR_TOUT; tout++) {
+ if ((LPC_EMAC->MIND & MIND_BUSY) == 0) {
+ break;
+ }
+ }
+}
+
+static unsigned short read_PHY (unsigned int PhyReg) {
+ /* Read a PHY register 'PhyReg'. */
+ unsigned int tout, val;
+
+ LPC_EMAC->MADR = DP83848C_DEF_ADR | PhyReg;
+ LPC_EMAC->MCMD = MCMD_READ;
+
+ /* Wait until operation completed */
+ for (tout = 0; tout < MII_RD_TOUT; tout++) {
+ if ((LPC_EMAC->MIND & MIND_BUSY) == 0) {
+ break;
+ }
+ }
+ LPC_EMAC->MCMD = 0;
+ val = LPC_EMAC->MRDD;
+
+ return (val);
+}
+
+void EMAC_Init()
+{
+ unsigned int tout,regv;
+ /* Power Up the EMAC controller. */
+ Peripheral_PowerUp(LPC1768_PCONP_PCENET);
+
+ LPC_PINCON->PINSEL2 = 0x50150105;
+ LPC_PINCON->PINSEL3 &= ~0x0000000F;
+ LPC_PINCON->PINSEL3 |= 0x00000005;
+
+ /* Reset all EMAC internal modules. */
+ LPC_EMAC->MAC1 = MAC1_RES_TX | MAC1_RES_MCS_TX | MAC1_RES_RX | MAC1_RES_MCS_RX |
+ MAC1_SIM_RES | MAC1_SOFT_RES;
+ LPC_EMAC->Command = CR_REG_RES | CR_TX_RES | CR_RX_RES;
+
+ /* A short delay after reset. */
+ for (tout = 100; tout; tout--);
+
+ /* Initialize MAC control registers. */
+ LPC_EMAC->MAC1 = MAC1_PASS_ALL;
+ LPC_EMAC->MAC2 = MAC2_CRC_EN | MAC2_PAD_EN;
+ LPC_EMAC->MAXF = ETH_MAX_FLEN;
+ LPC_EMAC->CLRT = CLRT_DEF;
+ LPC_EMAC->IPGR = IPGR_DEF;
+
+ /* Enable Reduced MII interface. */
+ LPC_EMAC->Command = CR_RMII | CR_PASS_RUNT_FRM;
+
+ /* Reset Reduced MII Logic. */
+ LPC_EMAC->SUPP = SUPP_RES_RMII;
+ for (tout = 100; tout; tout--);
+ LPC_EMAC->SUPP = 0;
+
+ /* Put the DP83848C in reset mode */
+ write_PHY (PHY_REG_BMCR, 0x8000);
+
+ /* Wait for hardware reset to end. */
+ for (tout = 0; tout < 0x100000; tout++) {
+ regv = read_PHY (PHY_REG_BMCR);
+ if (!(regv & 0x8000)) {
+ /* Reset complete */
+ break;
+ }
+ }
+}
+
+
+void PHY_PowerDown()
+{
+ if (!Peripheral_GetStatus(LPC1768_PCONP_PCENET))
+ EMAC_Init(); //init EMAC if it is not already init'd
+
+ unsigned int regv;
+ regv = read_PHY(PHY_REG_BMCR);
+ write_PHY(PHY_REG_BMCR, regv | (1 << PHY_REG_BMCR_POWERDOWN));
+ regv = read_PHY(PHY_REG_BMCR);
+
+ //shouldn't need the EMAC now.
+ Peripheral_PowerDown(LPC1768_PCONP_PCENET);
+
+ //and turn off the PHY OSC
+ LPC_GPIO1->FIODIR |= 0x8000000;
+ LPC_GPIO1->FIOCLR = 0x8000000;
+}
+
+void PHY_PowerUp()
+{
+ if (!Peripheral_GetStatus(LPC1768_PCONP_PCENET))
+ EMAC_Init(); //init EMAC if it is not already init'd
+
+ LPC_GPIO1->FIODIR |= 0x8000000;
+ LPC_GPIO1->FIOSET = 0x8000000;
+
+ //wait for osc to be stable
+ wait_ms(200);
+
+ unsigned int regv;
+ regv = read_PHY(PHY_REG_BMCR);
+ write_PHY(PHY_REG_BMCR, regv & ~(1 << PHY_REG_BMCR_POWERDOWN));
+ regv = read_PHY(PHY_REG_BMCR);
+}
+
+void PHY_EnergyDetect_Enable()
+{
+ if (!Peripheral_GetStatus(LPC1768_PCONP_PCENET))
+ EMAC_Init(); //init EMAC if it is not already init'd
+
+ unsigned int regv;
+ regv = read_PHY(PHY_REG_EDCR);
+ write_PHY(PHY_REG_BMCR, regv | (1 << PHY_REG_EDCR_ENABLE));
+ regv = read_PHY(PHY_REG_EDCR);
+}
+
+void PHY_EnergyDetect_Disable()
+{
+ if (!Peripheral_GetStatus(LPC1768_PCONP_PCENET))
+ EMAC_Init(); //init EMAC if it is not already init'd
+ unsigned int regv;
+ regv = read_PHY(PHY_REG_EDCR);
+ write_PHY(PHY_REG_BMCR, regv & ~(1 << PHY_REG_EDCR_ENABLE));
+ regv = read_PHY(PHY_REG_EDCR);
+}
\ No newline at end of file
diff -r 000000000000 -r ac7a5495d95c PowerControl/EthernetPowerControl.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PowerControl/EthernetPowerControl.h Sat Sep 09 23:18:12 2017 +0000 @@ -0,0 +1,299 @@ +/* mbed PowerControl Library + * Copyright (c) 2010 Michael Wei + */ + +#ifndef MBED_POWERCONTROL_ETH_H +#define MBED_POWERCONTROL_ETH_H + +#include "mbed.h" +#include "PowerControl.h" + +#define PHY_REG_BMCR_POWERDOWN 0xB +#define PHY_REG_EDCR_ENABLE 0xF + + +void EMAC_Init(); +static unsigned short read_PHY (unsigned int PhyReg); +static void write_PHY (unsigned int PhyReg, unsigned short Value); + +void PHY_PowerDown(void); +void PHY_PowerUp(void); +void PHY_EnergyDetect_Enable(void); +void PHY_EnergyDetect_Disable(void); + +//From NXP Sample Code .... Probably from KEIL sample code +/* EMAC Memory Buffer configuration for 16K Ethernet RAM. */ +#define NUM_RX_FRAG 4 /* Num.of RX Fragments 4*1536= 6.0kB */ +#define NUM_TX_FRAG 3 /* Num.of TX Fragments 3*1536= 4.6kB */ +#define ETH_FRAG_SIZE 1536 /* Packet Fragment size 1536 Bytes */ + +#define ETH_MAX_FLEN 1536 /* Max. Ethernet Frame Size */ + +/* EMAC variables located in 16K Ethernet SRAM */ +#define RX_DESC_BASE 0x20080000 +#define RX_STAT_BASE (RX_DESC_BASE + NUM_RX_FRAG*8) +#define TX_DESC_BASE (RX_STAT_BASE + NUM_RX_FRAG*8) +#define TX_STAT_BASE (TX_DESC_BASE + NUM_TX_FRAG*8) +#define RX_BUF_BASE (TX_STAT_BASE + NUM_TX_FRAG*4) +#define TX_BUF_BASE (RX_BUF_BASE + NUM_RX_FRAG*ETH_FRAG_SIZE) + +/* RX and TX descriptor and status definitions. */ +#define RX_DESC_PACKET(i) (*(unsigned int *)(RX_DESC_BASE + 8*i)) +#define RX_DESC_CTRL(i) (*(unsigned int *)(RX_DESC_BASE+4 + 8*i)) +#define RX_STAT_INFO(i) (*(unsigned int *)(RX_STAT_BASE + 8*i)) +#define RX_STAT_HASHCRC(i) (*(unsigned int *)(RX_STAT_BASE+4 + 8*i)) +#define TX_DESC_PACKET(i) (*(unsigned int *)(TX_DESC_BASE + 8*i)) +#define TX_DESC_CTRL(i) (*(unsigned int *)(TX_DESC_BASE+4 + 8*i)) +#define TX_STAT_INFO(i) (*(unsigned int *)(TX_STAT_BASE + 4*i)) +#define RX_BUF(i) (RX_BUF_BASE + ETH_FRAG_SIZE*i) +#define TX_BUF(i) (TX_BUF_BASE + ETH_FRAG_SIZE*i) + +/* MAC Configuration Register 1 */ +#define MAC1_REC_EN 0x00000001 /* Receive Enable */ +#define MAC1_PASS_ALL 0x00000002 /* Pass All Receive Frames */ +#define MAC1_RX_FLOWC 0x00000004 /* RX Flow Control */ +#define MAC1_TX_FLOWC 0x00000008 /* TX Flow Control */ +#define MAC1_LOOPB 0x00000010 /* Loop Back Mode */ +#define MAC1_RES_TX 0x00000100 /* Reset TX Logic */ +#define MAC1_RES_MCS_TX 0x00000200 /* Reset MAC TX Control Sublayer */ +#define MAC1_RES_RX 0x00000400 /* Reset RX Logic */ +#define MAC1_RES_MCS_RX 0x00000800 /* Reset MAC RX Control Sublayer */ +#define MAC1_SIM_RES 0x00004000 /* Simulation Reset */ +#define MAC1_SOFT_RES 0x00008000 /* Soft Reset MAC */ + +/* MAC Configuration Register 2 */ +#define MAC2_FULL_DUP 0x00000001 /* Full Duplex Mode */ +#define MAC2_FRM_LEN_CHK 0x00000002 /* Frame Length Checking */ +#define MAC2_HUGE_FRM_EN 0x00000004 /* Huge Frame Enable */ +#define MAC2_DLY_CRC 0x00000008 /* Delayed CRC Mode */ +#define MAC2_CRC_EN 0x00000010 /* Append CRC to every Frame */ +#define MAC2_PAD_EN 0x00000020 /* Pad all Short Frames */ +#define MAC2_VLAN_PAD_EN 0x00000040 /* VLAN Pad Enable */ +#define MAC2_ADET_PAD_EN 0x00000080 /* Auto Detect Pad Enable */ +#define MAC2_PPREAM_ENF 0x00000100 /* Pure Preamble Enforcement */ +#define MAC2_LPREAM_ENF 0x00000200 /* Long Preamble Enforcement */ +#define MAC2_NO_BACKOFF 0x00001000 /* No Backoff Algorithm */ +#define MAC2_BACK_PRESSURE 0x00002000 /* Backoff Presurre / No Backoff */ +#define MAC2_EXCESS_DEF 0x00004000 /* Excess Defer */ + +/* Back-to-Back Inter-Packet-Gap Register */ +#define IPGT_FULL_DUP 0x00000015 /* Recommended value for Full Duplex */ +#define IPGT_HALF_DUP 0x00000012 /* Recommended value for Half Duplex */ + +/* Non Back-to-Back Inter-Packet-Gap Register */ +#define IPGR_DEF 0x00000012 /* Recommended value */ + +/* Collision Window/Retry Register */ +#define CLRT_DEF 0x0000370F /* Default value */ + +/* PHY Support Register */ +#define SUPP_SPEED 0x00000100 /* Reduced MII Logic Current Speed */ +#define SUPP_RES_RMII 0x00000800 /* Reset Reduced MII Logic */ + +/* Test Register */ +#define TEST_SHCUT_PQUANTA 0x00000001 /* Shortcut Pause Quanta */ +#define TEST_TST_PAUSE 0x00000002 /* Test Pause */ +#define TEST_TST_BACKP 0x00000004 /* Test Back Pressure */ + +/* MII Management Configuration Register */ +#define MCFG_SCAN_INC 0x00000001 /* Scan Increment PHY Address */ +#define MCFG_SUPP_PREAM 0x00000002 /* Suppress Preamble */ +#define MCFG_CLK_SEL 0x0000001C /* Clock Select Mask */ +#define MCFG_RES_MII 0x00008000 /* Reset MII Management Hardware */ + +/* MII Management Command Register */ +#define MCMD_READ 0x00000001 /* MII Read */ +#define MCMD_SCAN 0x00000002 /* MII Scan continuously */ + +#define MII_WR_TOUT 0x00050000 /* MII Write timeout count */ +#define MII_RD_TOUT 0x00050000 /* MII Read timeout count */ + +/* MII Management Address Register */ +#define MADR_REG_ADR 0x0000001F /* MII Register Address Mask */ +#define MADR_PHY_ADR 0x00001F00 /* PHY Address Mask */ + +/* MII Management Indicators Register */ +#define MIND_BUSY 0x00000001 /* MII is Busy */ +#define MIND_SCAN 0x00000002 /* MII Scanning in Progress */ +#define MIND_NOT_VAL 0x00000004 /* MII Read Data not valid */ +#define MIND_MII_LINK_FAIL 0x00000008 /* MII Link Failed */ + +/* Command Register */ +#define CR_RX_EN 0x00000001 /* Enable Receive */ +#define CR_TX_EN 0x00000002 /* Enable Transmit */ +#define CR_REG_RES 0x00000008 /* Reset Host Registers */ +#define CR_TX_RES 0x00000010 /* Reset Transmit Datapath */ +#define CR_RX_RES 0x00000020 /* Reset Receive Datapath */ +#define CR_PASS_RUNT_FRM 0x00000040 /* Pass Runt Frames */ +#define CR_PASS_RX_FILT 0x00000080 /* Pass RX Filter */ +#define CR_TX_FLOW_CTRL 0x00000100 /* TX Flow Control */ +#define CR_RMII 0x00000200 /* Reduced MII Interface */ +#define CR_FULL_DUP 0x00000400 /* Full Duplex */ + +/* Status Register */ +#define SR_RX_EN 0x00000001 /* Enable Receive */ +#define SR_TX_EN 0x00000002 /* Enable Transmit */ + +/* Transmit Status Vector 0 Register */ +#define TSV0_CRC_ERR 0x00000001 /* CRC error */ +#define TSV0_LEN_CHKERR 0x00000002 /* Length Check Error */ +#define TSV0_LEN_OUTRNG 0x00000004 /* Length Out of Range */ +#define TSV0_DONE 0x00000008 /* Tramsmission Completed */ +#define TSV0_MCAST 0x00000010 /* Multicast Destination */ +#define TSV0_BCAST 0x00000020 /* Broadcast Destination */ +#define TSV0_PKT_DEFER 0x00000040 /* Packet Deferred */ +#define TSV0_EXC_DEFER 0x00000080 /* Excessive Packet Deferral */ +#define TSV0_EXC_COLL 0x00000100 /* Excessive Collision */ +#define TSV0_LATE_COLL 0x00000200 /* Late Collision Occured */ +#define TSV0_GIANT 0x00000400 /* Giant Frame */ +#define TSV0_UNDERRUN 0x00000800 /* Buffer Underrun */ +#define TSV0_BYTES 0x0FFFF000 /* Total Bytes Transferred */ +#define TSV0_CTRL_FRAME 0x10000000 /* Control Frame */ +#define TSV0_PAUSE 0x20000000 /* Pause Frame */ +#define TSV0_BACK_PRESS 0x40000000 /* Backpressure Method Applied */ +#define TSV0_VLAN 0x80000000 /* VLAN Frame */ + +/* Transmit Status Vector 1 Register */ +#define TSV1_BYTE_CNT 0x0000FFFF /* Transmit Byte Count */ +#define TSV1_COLL_CNT 0x000F0000 /* Transmit Collision Count */ + +/* Receive Status Vector Register */ +#define RSV_BYTE_CNT 0x0000FFFF /* Receive Byte Count */ +#define RSV_PKT_IGNORED 0x00010000 /* Packet Previously Ignored */ +#define RSV_RXDV_SEEN 0x00020000 /* RXDV Event Previously Seen */ +#define RSV_CARR_SEEN 0x00040000 /* Carrier Event Previously Seen */ +#define RSV_REC_CODEV 0x00080000 /* Receive Code Violation */ +#define RSV_CRC_ERR 0x00100000 /* CRC Error */ +#define RSV_LEN_CHKERR 0x00200000 /* Length Check Error */ +#define RSV_LEN_OUTRNG 0x00400000 /* Length Out of Range */ +#define RSV_REC_OK 0x00800000 /* Frame Received OK */ +#define RSV_MCAST 0x01000000 /* Multicast Frame */ +#define RSV_BCAST 0x02000000 /* Broadcast Frame */ +#define RSV_DRIB_NIBB 0x04000000 /* Dribble Nibble */ +#define RSV_CTRL_FRAME 0x08000000 /* Control Frame */ +#define RSV_PAUSE 0x10000000 /* Pause Frame */ +#define RSV_UNSUPP_OPC 0x20000000 /* Unsupported Opcode */ +#define RSV_VLAN 0x40000000 /* VLAN Frame */ + +/* Flow Control Counter Register */ +#define FCC_MIRR_CNT 0x0000FFFF /* Mirror Counter */ +#define FCC_PAUSE_TIM 0xFFFF0000 /* Pause Timer */ + +/* Flow Control Status Register */ +#define FCS_MIRR_CNT 0x0000FFFF /* Mirror Counter Current */ + +/* Receive Filter Control Register */ +#define RFC_UCAST_EN 0x00000001 /* Accept Unicast Frames Enable */ +#define RFC_BCAST_EN 0x00000002 /* Accept Broadcast Frames Enable */ +#define RFC_MCAST_EN 0x00000004 /* Accept Multicast Frames Enable */ +#define RFC_UCAST_HASH_EN 0x00000008 /* Accept Unicast Hash Filter Frames */ +#define RFC_MCAST_HASH_EN 0x00000010 /* Accept Multicast Hash Filter Fram.*/ +#define RFC_PERFECT_EN 0x00000020 /* Accept Perfect Match Enable */ +#define RFC_MAGP_WOL_EN 0x00001000 /* Magic Packet Filter WoL Enable */ +#define RFC_PFILT_WOL_EN 0x00002000 /* Perfect Filter WoL Enable */ + +/* Receive Filter WoL Status/Clear Registers */ +#define WOL_UCAST 0x00000001 /* Unicast Frame caused WoL */ +#define WOL_BCAST 0x00000002 /* Broadcast Frame caused WoL */ +#define WOL_MCAST 0x00000004 /* Multicast Frame caused WoL */ +#define WOL_UCAST_HASH 0x00000008 /* Unicast Hash Filter Frame WoL */ +#define WOL_MCAST_HASH 0x00000010 /* Multicast Hash Filter Frame WoL */ +#define WOL_PERFECT 0x00000020 /* Perfect Filter WoL */ +#define WOL_RX_FILTER 0x00000080 /* RX Filter caused WoL */ +#define WOL_MAG_PACKET 0x00000100 /* Magic Packet Filter caused WoL */ + +/* Interrupt Status/Enable/Clear/Set Registers */ +#define INT_RX_OVERRUN 0x00000001 /* Overrun Error in RX Queue */ +#define INT_RX_ERR 0x00000002 /* Receive Error */ +#define INT_RX_FIN 0x00000004 /* RX Finished Process Descriptors */ +#define INT_RX_DONE 0x00000008 /* Receive Done */ +#define INT_TX_UNDERRUN 0x00000010 /* Transmit Underrun */ +#define INT_TX_ERR 0x00000020 /* Transmit Error */ +#define INT_TX_FIN 0x00000040 /* TX Finished Process Descriptors */ +#define INT_TX_DONE 0x00000080 /* Transmit Done */ +#define INT_SOFT_INT 0x00001000 /* Software Triggered Interrupt */ +#define INT_WAKEUP 0x00002000 /* Wakeup Event Interrupt */ + +/* Power Down Register */ +#define PD_POWER_DOWN 0x80000000 /* Power Down MAC */ + +/* RX Descriptor Control Word */ +#define RCTRL_SIZE 0x000007FF /* Buffer size mask */ +#define RCTRL_INT 0x80000000 /* Generate RxDone Interrupt */ + +/* RX Status Hash CRC Word */ +#define RHASH_SA 0x000001FF /* Hash CRC for Source Address */ +#define RHASH_DA 0x001FF000 /* Hash CRC for Destination Address */ + +/* RX Status Information Word */ +#define RINFO_SIZE 0x000007FF /* Data size in bytes */ +#define RINFO_CTRL_FRAME 0x00040000 /* Control Frame */ +#define RINFO_VLAN 0x00080000 /* VLAN Frame */ +#define RINFO_FAIL_FILT 0x00100000 /* RX Filter Failed */ +#define RINFO_MCAST 0x00200000 /* Multicast Frame */ +#define RINFO_BCAST 0x00400000 /* Broadcast Frame */ +#define RINFO_CRC_ERR 0x00800000 /* CRC Error in Frame */ +#define RINFO_SYM_ERR 0x01000000 /* Symbol Error from PHY */ +#define RINFO_LEN_ERR 0x02000000 /* Length Error */ +#define RINFO_RANGE_ERR 0x04000000 /* Range Error (exceeded max. size) */ +#define RINFO_ALIGN_ERR 0x08000000 /* Alignment Error */ +#define RINFO_OVERRUN 0x10000000 /* Receive overrun */ +#define RINFO_NO_DESCR 0x20000000 /* No new Descriptor available */ +#define RINFO_LAST_FLAG 0x40000000 /* Last Fragment in Frame */ +#define RINFO_ERR 0x80000000 /* Error Occured (OR of all errors) */ + +#define RINFO_ERR_MASK (RINFO_FAIL_FILT | RINFO_CRC_ERR | RINFO_SYM_ERR | \ + RINFO_LEN_ERR | RINFO_ALIGN_ERR | RINFO_OVERRUN) + +/* TX Descriptor Control Word */ +#define TCTRL_SIZE 0x000007FF /* Size of data buffer in bytes */ +#define TCTRL_OVERRIDE 0x04000000 /* Override Default MAC Registers */ +#define TCTRL_HUGE 0x08000000 /* Enable Huge Frame */ +#define TCTRL_PAD 0x10000000 /* Pad short Frames to 64 bytes */ +#define TCTRL_CRC 0x20000000 /* Append a hardware CRC to Frame */ +#define TCTRL_LAST 0x40000000 /* Last Descriptor for TX Frame */ +#define TCTRL_INT 0x80000000 /* Generate TxDone Interrupt */ + +/* TX Status Information Word */ +#define TINFO_COL_CNT 0x01E00000 /* Collision Count */ +#define TINFO_DEFER 0x02000000 /* Packet Deferred (not an error) */ +#define TINFO_EXCESS_DEF 0x04000000 /* Excessive Deferral */ +#define TINFO_EXCESS_COL 0x08000000 /* Excessive Collision */ +#define TINFO_LATE_COL 0x10000000 /* Late Collision Occured */ +#define TINFO_UNDERRUN 0x20000000 /* Transmit Underrun */ +#define TINFO_NO_DESCR 0x40000000 /* No new Descriptor available */ +#define TINFO_ERR 0x80000000 /* Error Occured (OR of all errors) */ + +/* DP83848C PHY Registers */ +#define PHY_REG_BMCR 0x00 /* Basic Mode Control Register */ +#define PHY_REG_BMSR 0x01 /* Basic Mode Status Register */ +#define PHY_REG_IDR1 0x02 /* PHY Identifier 1 */ +#define PHY_REG_IDR2 0x03 /* PHY Identifier 2 */ +#define PHY_REG_ANAR 0x04 /* Auto-Negotiation Advertisement */ +#define PHY_REG_ANLPAR 0x05 /* Auto-Neg. Link Partner Abitily */ +#define PHY_REG_ANER 0x06 /* Auto-Neg. Expansion Register */ +#define PHY_REG_ANNPTR 0x07 /* Auto-Neg. Next Page TX */ + +/* PHY Extended Registers */ +#define PHY_REG_STS 0x10 /* Status Register */ +#define PHY_REG_MICR 0x11 /* MII Interrupt Control Register */ +#define PHY_REG_MISR 0x12 /* MII Interrupt Status Register */ +#define PHY_REG_FCSCR 0x14 /* False Carrier Sense Counter */ +#define PHY_REG_RECR 0x15 /* Receive Error Counter */ +#define PHY_REG_PCSR 0x16 /* PCS Sublayer Config. and Status */ +#define PHY_REG_RBR 0x17 /* RMII and Bypass Register */ +#define PHY_REG_LEDCR 0x18 /* LED Direct Control Register */ +#define PHY_REG_PHYCR 0x19 /* PHY Control Register */ +#define PHY_REG_10BTSCR 0x1A /* 10Base-T Status/Control Register */ +#define PHY_REG_CDCTRL1 0x1B /* CD Test Control and BIST Extens. */ +#define PHY_REG_EDCR 0x1D /* Energy Detect Control Register */ + +#define PHY_FULLD_100M 0x2100 /* Full Duplex 100Mbit */ +#define PHY_HALFD_100M 0x2000 /* Half Duplex 100Mbit */ +#define PHY_FULLD_10M 0x0100 /* Full Duplex 10Mbit */ +#define PHY_HALFD_10M 0x0000 /* Half Duplex 10MBit */ +#define PHY_AUTO_NEG 0x3000 /* Select Auto Negotiation */ + +#define DP83848C_DEF_ADR 0x0100 /* Default PHY device address */ +#define DP83848C_ID 0x20005C90 /* PHY Identifier */ +#endif \ No newline at end of file
diff -r 000000000000 -r ac7a5495d95c PowerControl/PowerControl.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PowerControl/PowerControl.h Sat Sep 09 23:18:12 2017 +0000
@@ -0,0 +1,192 @@
+/* mbed PowerControl Library
+ * Copyright (c) 2010 Michael Wei
+ */
+
+#ifndef MBED_POWERCONTROL_H
+#define MBED_POWERCONTROL_H
+
+//shouldn't have to include, but fixes weird problems with defines
+//#include "LPC1768.h"
+
+//System Control Register
+// bit 0: Reserved
+// bit 1: Sleep on Exit
+#define LPC1768_SCR_SLEEPONEXIT 0x2
+// bit 2: Deep Sleep
+#define LPC1768_SCR_SLEEPDEEP 0x4
+// bit 3: Resereved
+// bit 4: Send on Pending
+#define LPC1768_SCR_SEVONPEND 0x10
+// bit 5-31: Reserved
+
+//Power Control Register
+// bit 0: Power mode control bit 0 (power-down mode)
+#define LPC1768_PCON_PM0 0x1
+// bit 1: Power mode control bit 1 (deep power-down mode)
+#define LPC1768_PCON_PM1 0x2
+// bit 2: Brown-out reduced power mode
+#define LPC1768_PCON_BODRPM 0x4
+// bit 3: Brown-out global disable
+#define LPC1768_PCON_BOGD 0x8
+// bit 4: Brown-out reset disable
+#define LPC1768_PCON_BORD 0x10
+// bit 5-7 : Reserved
+// bit 8: Sleep Mode Entry Flag
+#define LPC1768_PCON_SMFLAG 0x100
+// bit 9: Deep Sleep Entry Flag
+#define LPC1768_PCON_DSFLAG 0x200
+// bit 10: Power Down Entry Flag
+#define LPC1768_PCON_PDFLAG 0x400
+// bit 11: Deep Power Down Entry Flag
+#define LPC1768_PCON_DPDFLAG 0x800
+// bit 12-31: Reserved
+
+//"Sleep Mode" (WFI).
+inline void Sleep(void)
+{
+ __WFI();
+}
+
+//"Deep Sleep" Mode
+inline void DeepSleep(void)
+{
+ SCB->SCR |= LPC1768_SCR_SLEEPDEEP;
+ __WFI();
+}
+
+//"Power-Down" Mode
+inline void PowerDown(void)
+{
+ SCB->SCR |= LPC1768_SCR_SLEEPDEEP;
+ LPC_SC->PCON &= ~LPC1768_PCON_PM1;
+ LPC_SC->PCON |= LPC1768_PCON_PM0;
+ __WFI();
+ //reset back to normal
+ LPC_SC->PCON &= ~(LPC1768_PCON_PM1 | LPC1768_PCON_PM0);
+}
+
+//"Deep Power-Down" Mode
+inline void DeepPowerDown(void)
+{
+ SCB->SCR |= LPC1768_SCR_SLEEPDEEP;
+ LPC_SC->PCON |= LPC1768_PCON_PM1 | LPC1768_PCON_PM0;
+ __WFI();
+ //reset back to normal
+ LPC_SC->PCON &= ~(LPC1768_PCON_PM1 | LPC1768_PCON_PM0);
+}
+
+//shut down BOD during power-down/deep sleep
+inline void BrownOut_ReducedPowerMode_Enable(void)
+{
+ LPC_SC->PCON |= LPC1768_PCON_BODRPM;
+}
+
+//turn on BOD during power-down/deep sleep
+inline void BrownOut_ReducedPowerMode_Disable(void)
+{
+ LPC_SC->PCON &= ~LPC1768_PCON_BODRPM;
+}
+
+//turn off brown out circutry
+inline void BrownOut_Global_Disable(void)
+{
+ LPC_SC->PCON |= LPC1768_PCON_BOGD;
+}
+
+//turn on brown out circutry
+inline void BrownOut_Global_Enable(void)
+{
+ LPC_SC->PCON &= !LPC1768_PCON_BOGD;
+}
+
+//turn off brown out reset circutry
+inline void BrownOut_Reset_Disable(void)
+{
+ LPC_SC->PCON |= LPC1768_PCON_BORD;
+}
+
+//turn on brown outreset circutry
+inline void BrownOut_Reset_Enable(void)
+{
+ LPC_SC->PCON &= ~LPC1768_PCON_BORD;
+}
+//Peripheral Control Register
+// bit 0: Reserved
+// bit 1: PCTIM0: Timer/Counter 0 power/clock enable
+#define LPC1768_PCONP_PCTIM0 0x2
+// bit 2: PCTIM1: Timer/Counter 1 power/clock enable
+#define LPC1768_PCONP_PCTIM1 0x4
+// bit 3: PCUART0: UART 0 power/clock enable
+#define LPC1768_PCONP_PCUART0 0x8
+// bit 4: PCUART1: UART 1 power/clock enable
+#define LPC1768_PCONP_PCUART1 0x10
+// bit 5: Reserved
+// bit 6: PCPWM1: PWM 1 power/clock enable
+#define LPC1768_PCONP_PCPWM1 0x40
+// bit 7: PCI2C0: I2C interface 0 power/clock enable
+#define LPC1768_PCONP_PCI2C0 0x80
+// bit 8: PCSPI: SPI interface power/clock enable
+#define LPC1768_PCONP_PCSPI 0x100
+// bit 9: PCRTC: RTC power/clock enable
+#define LPC1768_PCONP_PCRTC 0x200
+// bit 10: PCSSP1: SSP interface 1 power/clock enable
+#define LPC1768_PCONP_PCSSP1 0x400
+// bit 11: Reserved
+// bit 12: PCADC: A/D converter power/clock enable
+#define LPC1768_PCONP_PCADC 0x1000
+// bit 13: PCCAN1: CAN controller 1 power/clock enable
+#define LPC1768_PCONP_PCCAN1 0x2000
+// bit 14: PCCAN2: CAN controller 2 power/clock enable
+#define LPC1768_PCONP_PCCAN2 0x4000
+// bit 15: PCGPIO: GPIOs power/clock enable
+#define LPC1768_PCONP_PCGPIO 0x8000
+// bit 16: PCRIT: Repetitive interrupt timer power/clock enable
+#define LPC1768_PCONP_PCRIT 0x10000
+// bit 17: PCMCPWM: Motor control PWM power/clock enable
+#define LPC1768_PCONP_PCMCPWM 0x20000
+// bit 18: PCQEI: Quadrature encoder interface power/clock enable
+#define LPC1768_PCONP_PCQEI 0x40000
+// bit 19: PCI2C1: I2C interface 1 power/clock enable
+#define LPC1768_PCONP_PCI2C1 0x80000
+// bit 20: Reserved
+// bit 21: PCSSP0: SSP interface 0 power/clock enable
+#define LPC1768_PCONP_PCSSP0 0x200000
+// bit 22: PCTIM2: Timer 2 power/clock enable
+#define LPC1768_PCONP_PCTIM2 0x400000
+// bit 23: PCTIM3: Timer 3 power/clock enable
+#define LPC1768_PCONP_PCQTIM3 0x800000
+// bit 24: PCUART2: UART 2 power/clock enable
+#define LPC1768_PCONP_PCUART2 0x1000000
+// bit 25: PCUART3: UART 3 power/clock enable
+#define LPC1768_PCONP_PCUART3 0x2000000
+// bit 26: PCI2C2: I2C interface 2 power/clock enable
+#define LPC1768_PCONP_PCI2C2 0x4000000
+// bit 27: PCI2S: I2S interface power/clock enable
+#define LPC1768_PCONP_PCI2S 0x8000000
+// bit 28: Reserved
+// bit 29: PCGPDMA: GP DMA function power/clock enable
+#define LPC1768_PCONP_PCGPDMA 0x20000000
+// bit 30: PCENET: Ethernet block power/clock enable
+#define LPC1768_PCONP_PCENET 0x40000000
+// bit 31: PCUSB: USB interface power/clock enable
+#define LPC1768_PCONP_PCUSB 0x80000000
+
+//Powers Up specified Peripheral(s)
+inline unsigned int Peripheral_PowerUp(unsigned int bitMask)
+{
+ return LPC_SC->PCONP |= bitMask;
+}
+
+//Powers Down specified Peripheral(s)
+inline unsigned int Peripheral_PowerDown(unsigned int bitMask)
+{
+ return LPC_SC->PCONP &= ~bitMask;
+}
+
+//returns if the peripheral is on or off
+inline bool Peripheral_GetStatus(unsigned int peripheral)
+{
+ return (LPC_SC->PCONP & peripheral) ? true : false;
+}
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r ac7a5495d95c SDFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Sat Sep 09 23:18:12 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#8db0d3b02cec
diff -r 000000000000 -r ac7a5495d95c main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Sep 09 23:18:12 2017 +0000
@@ -0,0 +1,799 @@
+#include "mbed.h"
+#include "xprintf.h"
+#include "MPL3115A2.h"
+#include "HMC5883L.h"
+#include "MPU6050.h"
+#include "SDFileSystem.h"
+#include "EthernetPowerControl.h"
+#define M_PI 3.141592
+
+//hmc calibration mode
+#define STOP 0 //initial
+#define CAL 1 //calibration
+#define RUN 2 //run
+
+//Sequence phase
+#define Preparing 1
+#define Rising 2
+#define Descending 3
+#define Landing_Fusing 4
+#define Moving 5
+
+//Moving step
+#define get_goaldirection 0
+#define attitude_determination 1
+#define calculate_direction 2
+#define direction_control 3
+#define jump 4
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+//ピンアサイン確認
+Serial gps(p13, p14);
+Serial Mu2(p28, p27);
+I2C i2c(p9, p10); // sda, scl
+Serial mp(USBTX, USBRX);
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+LocalFileSystem local("local");
+DigitalOut controlmotor1(p22),controlmotor2(p23);//方向制御モーター
+PwmOut pin21(p21);
+DigitalOut jumpmotor(p24);
+
+//溶断
+DigitalOut para(p18);
+DigitalOut marker(p19);
+DigitalOut jumparm(p20);
+//
+DigitalOut Flightpin(p26);
+
+Timer timer;
+int val;
+unsigned char phase;
+unsigned char step;
+
+//気圧///////
+MPL3115A2 APsensor(&i2c, &mp);
+int alt;
+int ini_alt;
+int min_alt;
+int min_alt5;
+int max_alt;
+int rela_max;
+int rela_ini;
+int flag1;
+int flag2;
+int flag3;
+unsigned char alttimes;
+void getAltitude(){
+ //wait_ms(300);
+ Altitude a;
+ Temperature t;
+ Pressure p;
+ APsensor.readAltitude(&a);
+ APsensor.readTemperature(&t);
+ APsensor.setModeStandby();
+ APsensor.setModeBarometer();
+ APsensor.setModeActive();
+ APsensor.readPressure(&p);
+ alt = a;
+ //気球試験用
+ if(phase == Preparing){
+ rela_ini = alt - ini_alt;
+ if(rela_ini > 7)flag1 = flag1+1;
+ }
+
+ if(phase == Rising){
+ if(max_alt < alt){
+ max_alt = alt;
+ }
+ else{
+ rela_max = max_alt -alt;
+ if(rela_max > 7)flag2 = flag2+1;
+ }
+ }
+ //着地判定
+ if(phase == Descending){
+ if (min_alt > alt){
+ min_alt = alt;
+ min_alt5 = min_alt + 5;
+ flag3 -= 1;
+ }
+ else {
+ if( alt < min_alt5){
+ flag3 +=2;
+ }
+ }
+ }
+ mp.printf("alt:%d,max:%d,ini:%d,phase:%d\r\n",alt,max_alt,ini_alt,phase);
+ mp.printf("rela_ini:%d,rela_max:%d\r\n",rela_ini,rela_max);
+ mp.printf("flag1:%d,flag2:%d,flag3:%d\r\n",flag1,flag2,flag3);
+ //mp.printf("OFF_H: 0x%X, OFF_T: 0x%X, OFF_P: 0x%X\r\n", APsensor.offsetAltitude(), APsensor.offsetTemperature(), APsensor.offsetPressure());
+ APsensor.setModeStandby();
+ APsensor.setModeAltimeter();
+ APsensor.setModeActive();
+}
+/////
+
+//GPS
+int i,rlock,mode;
+char gps_data[256];
+char ns,ew;
+float w_time,hokui,tokei;
+float g_hokui,g_tokei;
+float d_hokui,m_hokui,d_tokei,m_tokei;
+unsigned char c;
+//目標経度，緯度
+float goal_tokei,goal_hokui;
+float goal_direction;
+float direction_y;
+float direction_x;
+float angular_difference;
+
+void getGPS(){
+ //目的地 ブラックロック
+ goal_tokei = 118.9833;
+ goal_hokui = 40.92493;
+ c = gps.getc();
+ if( c=='$' || i == 256){
+ mode = 0;
+ i = 0;
+ for(int j=0; j<256; j++){
+ gps_data[j]=NULL;
+ }
+ }
+ if(mode==0){
+ if((gps_data[i]=c) != '\r'){
+ i++;
+ }else{
+ gps_data[i]='\0';
+
+ if( sscanf(gps_data, "$GPGGA,%f,%f,%c,%f,%c,%d",&w_time,&hokui,&ns,&tokei,&ew,&rlock) >= 1){
+ if(rlock==1){
+ //mp.printf("Status:Lock(%d)\n\r",rlock);
+ //logitude
+ d_tokei= int(tokei/100);
+ m_tokei= (tokei-d_tokei*100)/60;
+ g_tokei= d_tokei+m_tokei;
+ //Latitude
+ d_hokui=int(hokui/100);
+ m_hokui=(hokui-d_hokui*100)/60;
+ g_hokui=d_hokui+m_hokui;
+ mp.printf("Lon:%.6f, Lat:%.6f\n\r",g_tokei, g_hokui);
+ Mu2.printf("@DT14%f,%f\r\n",g_tokei, g_hokui);
+ float longitudinalDifference =-(goal_tokei - g_tokei);
+ float latitudinalDifference = goal_hokui - g_hokui;
+
+ //球面三角法
+ direction_y = cos(goal_hokui*M_PI/180)*sin(longitudinalDifference*M_PI/180);
+ direction_x = cos(g_hokui*M_PI/180)*sin(goal_hokui*M_PI/180) - sin(g_hokui*M_PI/180)*cos(goal_hokui*M_PI/180)*cos(longitudinalDifference*M_PI/180);
+ goal_direction = atan2f(direction_y,direction_x);
+ if(goal_direction < 0)goal_direction += 2*M_PI;
+
+ //磁北に対する角度に調節 ネバダ東に14度
+ goal_direction -= 0.244346;
+ if (goal_direction < 0) goal_direction += 2*M_PI;
+ mp.printf("goal:%f\n\r",goal_direction*180/M_PI);
+ //mp.printf("longitudinalDifference:%f",longitudinalDifference);
+ //mp.printf("latitudinalDifference:%f",latitudinalDifference);
+ if(phase == Descending)getAltitude();
+ if(phase == Moving)step = attitude_determination;
+ }
+ else{
+ mp.printf("\n\rStatus:unLock(%d)\n\r",rlock);
+ mp.printf("%s",gps_data);
+ Mu2.printf("@DT02No\r\n");
+ if(phase == Descending)getAltitude();
+ //if(phase == Moving)test_get_direction();
+ }
+ sprintf(gps_data, "");
+ }
+ }
+ }
+}
+
+void MU2initialize(){
+ Mu2.baud(19200);
+ Mu2.printf("@EI34\r\n");
+ wait(1);
+ Mu2.printf("@DI25\r\n");
+ wait(1);
+ Mu2.printf("@CH0F\r\n");
+ wait(1);
+ Mu2.printf("@GI34\r\n");
+ wait(1);
+ }
+
+/////////////////////
+//地磁気
+HMC5883L compass(p9, p10);
+Ticker interrupt;
+double heading0 = 0.0;
+double heading1 = 0.0;
+double heading2 = 0.0;
+double heading3 = 0.0;
+double headingLPF = 0.0;
+double initHeading;
+double tgtHeading;
+double preHeading = 0.0;
+unsigned char hmc_mode;
+
+int maxX, minX, maxY, minY;
+int ofsX = 0; //calibration x
+int ofsY = 0; //calibration y
+int counter = 0;
+int ofsXset = 1328;
+int ofsYset = -554;
+int ofsZset = -750;
+
+//地磁気キャリブレーション用
+void intrpt() {
+ int16_t raw[3];
+ compass.getXYZ(raw);
+ //double heading = atan2(static_cast<double>(raw[2]-ofsY), static_cast<double>(raw[0]-ofsX)); //y=raw[2]
+ double heading = atan2(static_cast<double>(raw[2]-ofsYset), static_cast<double>(raw[0]-ofsXset));
+ if(heading < 0)heading += 2*M_PI;
+ if(heading > 2*M_PI)heading -= 2*M_PI;
+ heading3 = heading2;
+ heading2 = heading1;
+ heading1 = heading0;
+ heading0 = heading;
+ headingLPF = (heading0 + heading1 + heading2 + heading3)/4;//low pass filter
+
+ switch(hmc_mode) {
+ case STOP:
+ if(counter == 100) {
+ initHeading = headingLPF;
+ hmc_mode = CAL;
+ maxX = raw[0];
+ minX = raw[0];
+ maxY = raw[2];
+ minY = raw[2];
+ counter = 0;
+ //mp.printf("STOP end\n\r");
+ }
+ break;
+ case CAL:
+ if(raw[0] > maxX)maxX = raw[0];
+ if(raw[0] < minX)minX = raw[0];
+ if(raw[2] > maxY)maxY = raw[2];
+ if(raw[2] < minY)minY = raw[2];
+ if((counter > 100)
+ && (headingLPF > (initHeading-0.01))
+ && (headingLPF < (initHeading+0.01))) {
+ ofsX = (maxX + minX)/2;
+ ofsY = (maxY + minY)/2;
+ //hmc_mode = RUN;
+ counter = 0;
+ //mp.printf("ofs=%d,%d\n\r",ofsX,ofsY);
+ }
+ break;
+ case RUN:
+ mp.printf("heading=%f,x=%d,y=%d\n\r",headingLPF*180/M_PI,raw[0]-ofsXset,raw[2]-ofsYset);
+ //mp.printf("%d,%d,%d\r\n",raw[0],raw[2],raw[1]);
+ //step = calculate_direction;
+ break;
+
+ }
+ counter++;
+}
+
+//加速度
+MPU6050 mpu;
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+int32_t axa, aya, aza;
+int32_t gxa, gya, gza;
+
+//オフセット値
+double axoffset = 586.711;
+double ayoffset = -174.847;
+double azoffset = -2195.34375;
+
+//センサの出力あたりの加速度[m/s^2]
+double axrate = 0.000601615;
+double ayrate = 0.000598334;
+double azrate = 0.0005845;
+
+//3軸キャリブレーション
+double phi;
+double theta;
+double heading3axis;
+
+double bfy;
+double bfx;
+
+//3軸からheading算出
+void getheading3axis() {
+ //加速度算出
+ mpu.getAcceleration(&ax, &ay, &az);
+ double axcal = -axrate * (static_cast<double>(ax) - axoffset);
+ double aycal = -ayrate * (static_cast<double>(ay) - ayoffset);
+ double azcal = -azrate * (static_cast<double>(az) - azoffset);
+
+ phi = atan2(aycal,azcal);
+ //phi += M_PI;
+ theta = atan2(-axcal,aycal*sin(phi)+azcal*cos(phi));
+ //theta += M_PI;
+
+ //地磁気算出
+ int16_t raw[3];
+ compass.getXYZ(raw);
+ bfy = -(static_cast<double>(raw[1]-ofsZset))*sin(phi) + (static_cast<double>(raw[2]-ofsYset))*cos(phi);
+ bfx = (static_cast<double>(raw[0]-ofsXset))*cos(theta)
+ + (static_cast<double>(raw[2]-ofsYset))*sin(theta)*sin(phi)
+ + (static_cast<double>(raw[1]-ofsZset))*sin(theta)*cos(phi);
+ double heading = atan2(-bfy, bfx);
+ if(heading < 0)heading += 2*M_PI;
+ if(heading > 2*M_PI)heading -= 2*M_PI;
+ heading3 = heading2;
+ heading2 = heading1;
+ heading1 = heading0;
+ heading0 = heading;
+ headingLPF = (heading0 + heading1 + heading2 + heading3)/4;//low pass filter
+ //headingLPF += 0.349066;
+ if(headingLPF > 2*M_PI) headingLPF -= 2*M_PI;
+ //mp.printf("ax:%f,ay:%f,az:%f\r\n",axcal,aycal,azcal);
+ mp.printf("heading:%f,phi:%f,theta:%f\r\n",headingLPF*180/M_PI,phi*180/M_PI,theta*180/M_PI);
+ }
+
+//ADXL375
+const int addr = 0xA6;
+char adxl[6];
+short int axout = 0;
+short int ayout = 0;
+short int azout = 0;
+
+void adxl_init(){
+ char fifo[2] = {0x38,0x80};
+ i2c.write(addr,fifo,2); //FIFO_Mode -> Stream
+ char power[2] = {0x2D,0x08};
+ i2c.write(addr,power,2); //measurebit -> 1
+}
+
+void adxl_get(){
+ adxl[0] = 0x32;
+ i2c.write(addr,adxl,1);
+ i2c.read(0xA7,adxl,6);
+ axout = (((int16_t )adxl[1]) << 8) | adxl[0];
+ ayout = (((int16_t )adxl[3]) << 8) | adxl[2];
+ azout = (((int16_t )adxl[5]) << 8) | adxl[4];
+}
+
+
+//モーター駆動方向制御
+void motor_drive(){
+ controlmotor1.write(1);
+ controlmotor2.write(0);
+ pin21.write(0.8);
+ //if(pin1)mp.printf("Yes!\r\n");
+}
+
+//溶断プログラム
+void burning(){
+ wait(5);
+ myled1 = 1;
+ //para = 1;
+ wait(1);
+ myled1 = 0;
+ //para = 0;
+ wait(5);
+ myled2 = 1;
+ //marker = 1;
+ wait(1);
+ myled2 = 0;
+ //marker = 0;
+ wait(5);
+ myled3 = 1;
+ //jumparm = 1;
+ wait(1);
+ myled3 = 0;
+ //jumparm = 0;
+}
+//跳躍モーター駆動まいまいかわいい
+void jumping(){
+ timer.start();
+ //モーター駆動時間調整
+ while(val < 4){
+ val = timer.read();
+ jumpmotor = 1;
+ myled4 != myled4;
+ }
+ timer.reset();
+ timer.stop();
+ jumpmotor = 0;
+ val = 0;
+}
+
+///test
+//GPSなし方向制御，跳躍テスト
+float test_tokei,test_hokui;
+void test_get_direction(){
+ //目的地 大岡山駅
+ goal_tokei = 139.686234;
+ goal_hokui = 35.614330;
+
+ //テスト場所石川台一号館
+ test_tokei = 139.681529;
+ test_hokui = 35.605263;
+
+ float longitudinalDifference = goal_tokei - test_tokei;
+ float latitudinalDifference = goal_hokui - test_hokui;
+ //球面三角法
+ direction_y = cos(goal_hokui*M_PI/180)*sin(longitudinalDifference*M_PI/180);
+ direction_x = cos(test_hokui*M_PI/180)*sin(goal_hokui*M_PI/180) - sin(test_hokui*M_PI/180)*cos(goal_hokui*M_PI/180)*cos(longitudinalDifference*M_PI/180);
+ goal_direction = atan2f(direction_y,direction_x);
+ if(goal_direction < 0)goal_direction += 2*M_PI;
+
+ //磁北に対する角度に調節 東京7度
+ goal_direction += 0.122173;
+ //goal_direction2 += 0.122173;
+ if (goal_direction < 0) goal_direction += 2*M_PI;
+}
+
+/////////////////////////main////////////////////////////////////
+int main(){
+ PHY_PowerDown();//省電力
+ wait(2);
+ //センサ初期化
+ Mu2.baud(19200);
+ Mu2.printf("@EI34\r\n");
+ wait(1);
+ Mu2.printf("@DI25\r\n");
+ wait(1);
+ Mu2.printf("@CH0F\r\n");
+ wait(1);
+ Mu2.printf("@GI34\r\n");
+ wait(1);
+ APsensor.init();
+ wait(0.2);
+ hmc_mode = RUN;
+ mpu.initialize();
+ wait(0.2);
+ compass.init();
+ wait(0.2);
+ adxl_init();
+ wait(0.2);
+ APsensor.setOffsetAltitude(100);
+ APsensor.setOffsetTemperature(10);
+ APsensor.setOffsetPressure(-32);
+ mkdir("/sd/mydir", 0777);
+ min_alt = 4000.0;
+ Flightpin = 1;
+ //高度初期値
+ for(int h = 0; h < 10; h++){
+ getAltitude();
+ ini_alt = ini_alt + alt;
+ wait(0.5);
+ }
+ ini_alt = ini_alt/10;
+ mp.printf("ini_alt:%d\r\n",ini_alt);
+ int jump_count;
+ phase = Preparing;
+ //phase = Moving;
+ /////////////////////////////単機能////////
+
+ //wait(5);
+
+ while(1){
+ myled1 = 1;
+ //Flightpin = 1;
+ //GPS_MU2
+ getGPS();
+ //方向制御用モーター
+ /*
+ controlmotor1.write(1);
+ controlmotor2.write(0);
+ pin21.write(0.8);
+ wait(3);
+ controlmotor1.write(0);
+ controlmotor2.write(0);
+ pin21.write(0.0);
+ */
+ //跳躍用モーター
+ //jumpmotor = 1;
+ //wait(5);
+ //jumpmotor = 0;
+ //溶断
+ //burning();
+ //気圧
+ //getAltitude();
+ //mpu
+ /*
+ mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+ double axcal = -axrate * (static_cast<double>(ax) - axoffset);
+ double aycal = -ayrate * (static_cast<double>(ay) - ayoffset);
+ double azcal = -azrate * (static_cast<double>(az) - azoffset);
+ mp.printf("x:%f,y:%f,z:%f",axcal,aycal,azcal);
+ */
+ //hmc
+ /*
+ hmc_mode = RUN;
+ intrpt();
+ wait(0.5);
+ */
+ //hmc_mpu
+ //getheading3axis() ;
+ //wait(0.3);
+ //adxl_SDカード 跳躍高さ測定
+ /*
+ mkdir("/sd/mydir", 0777);
+ wait(1);
+ FILE *fp = fopen("/sd/mydir/height1.txt", "a");
+ wait(1);
+ if(fp == NULL) {
+ error("Could not open file for write\n");
+ }
+ timer.reset();
+ timer.start();
+ val = 0;
+ while(val < 5000){
+ jumpmotor = 1;
+ val = timer.read_ms();
+ adxl[0] = 0x32;
+ i2c.write(addr,adxl,1);
+ i2c.read(0xA7,adxl,6);
+ axout = (((int16_t )adxl[1]) << 8) | adxl[0];
+ ayout = (((int16_t )adxl[3]) << 8) | adxl[2];
+ azout = (((int16_t )adxl[5]) << 8) | adxl[4];
+ fprintf(fp, "%d,%d,%d,%d\r\n",val,axout,ayout,azout);
+ wait_ms(2);
+ myled1 !=myled1;
+ }
+ myled1 = 0;
+ jumpmotor = 0;
+ wait(1);
+ fclose(fp);
+ */
+ //
+
+ }
+ /////////////////////////
+
+
+ /*
+ //////////////////////////安全試験用/////////
+ //振動試験
+ myled1 = 0;
+ //wait(5);//test
+ wait(900);//end to end
+ //静荷重
+ FILE *sl = fopen("/local/static2.txt", "a");
+ wait(10);
+ myled1 = 1;
+ wait(5);
+ timer.reset();
+ timer.start();
+ //while(val < 30000){ //test
+ while(val < 600000){ //end to end
+ val = timer.read_ms();
+ adxl[0] = 0x32;
+ i2c.write(addr,adxl,1);
+ i2c.read(0xA7,adxl,6);
+ axout = (((int16_t )adxl[1]) << 8) | adxl[0];
+ ayout = (((int16_t )adxl[3]) << 8) | adxl[2];
+ azout = (((int16_t )adxl[5]) << 8) | adxl[4];
+ //pc.printf("time:%d,X:%d,Y:%d,Z:%d\r\n",val,axout,ayout,azout);
+ fprintf(sl, "%d,%d,%d,%d\r\n",val,axout,ayout,azout);
+ wait_ms(200);
+ //wait必要、ＳＤがbusyの状態で送っちゃってるんじゃない？
+ }
+ fclose(sl);
+ timer.reset();
+ timer.stop();
+ val = 0;
+ myled1 = 0;
+ //wait(5); //test
+ wait(960); //end to end
+
+ //開傘衝撃
+ FILE *im = fopen("/local/impact2.txt", "a");
+ wait(10);
+ myled2 = 1;
+ timer.reset();
+ timer.start();
+ //while(val < 10000){ //test
+ while(val < 30000){ //end to end
+ val = timer.read_ms();
+ adxl[0] = 0x32;
+ i2c.write(addr,adxl,1);
+ i2c.read(0xA7,adxl,6);
+ axout = (((int16_t )adxl[1]) << 8) | adxl[0];
+ ayout = (((int16_t )adxl[3]) << 8) | adxl[2];
+ azout = (((int16_t )adxl[5]) << 8) | adxl[4];
+ fprintf(im, "%d,%d,%d,%d\r\n",val,axout,ayout,azout);
+ wait_ms(3);
+ //wait必要、ＳＤがbusyの状態で送っちゃってるんじゃない？
+ }
+ fclose(im);
+ timer.reset();
+ timer.stop();
+ val = 0;
+ myled2 = 0;
+ //wait(30); //test
+ wait(600); //end to end
+ ///////////////////////////
+ */
+ //着地検知用timer
+ timer.reset();
+ timer.start();
+ val = 0;
+ while(1){
+ switch(phase){
+ case Preparing:
+ myled1 = 1;
+ getAltitude();
+ wait(0.5);
+ val = timer.read();
+ if(flag1 > 10) phase = Rising;
+ if( val > 300) phase = Rising;
+ break;
+ case Rising:
+ myled1 = 0;
+ myled2 = 1;
+ getAltitude();
+ wait(0.5);
+ val = timer.read();
+ if(flag2 > 10) phase = Descending;
+ if(val > 600) phase = Descending;
+ break;
+ case Descending:
+ val = timer.read();
+ myled2 = 0;
+ myled3 = 1;
+ getGPS();
+ //wait(0.5);
+ if ( flag3 >= 100){
+ //mpuの条件もいれます
+ if( val > 180){
+ phase = Landing_Fusing;
+ }
+ }
+ if( val > 900) phase = Landing_Fusing;//タイマー検知15分
+ break;
+ case Landing_Fusing:
+ timer.reset();
+ timer.stop();
+ val = 0;
+ myled3 = 0;
+ myled4 = 1;
+ wait(30);
+ burning();
+ wait(5);
+ Mu2.printf("@DT04FIRE\r\n");
+ for ( int gp; gp <= 10; gp++){
+ getGPS();
+ }
+ wait(5);
+ jumpmotor = 1;
+ wait(15);
+ jumpmotor = 0;
+ phase = Moving;
+ break;
+ case Moving:
+ myled2 = 0;
+ myled1 = 0;
+ myled3 = 0;
+ myled4 = 0;
+ Mu2.printf("@DT04MOVE\r\n");
+ wait(1);
+ switch(step){
+ case get_goaldirection:
+ myled1 = 1;
+ //getGPS();
+ test_get_direction();
+ step = attitude_determination;
+ wait(1);
+ break;
+ case attitude_determination:
+ myled1 = 0;
+ myled2 = 1;
+ timer.reset();
+ timer.start();
+ val = 0;
+ while(val < 5){
+ val = timer.read();
+ getheading3axis();
+ wait(0.5);
+ }
+ getheading3axis();
+ step = calculate_direction;
+ wait(1);
+ break;
+ case calculate_direction:
+ myled2 = 0;
+ myled3 = 1;
+ if(headingLPF < M_PI){
+ if(goal_direction < headingLPF+M_PI){
+ angular_difference = headingLPF - goal_direction;
+ }
+ else{
+ angular_difference = 2*M_PI + (headingLPF - goal_direction);
+ }
+ }
+ else{
+ if(goal_direction < headingLPF - M_PI){
+ angular_difference = headingLPF - goal_direction - 2*M_PI;
+ }
+ else{
+ angular_difference = headingLPF - goal_direction;
+ }
+ }
+ mp.printf("heading:%f,goal_direction%f\n\r",headingLPF*180/M_PI,goal_direction*180/M_PI);
+ //mp.printf("rangular_difference = %f\n\r" , angular_difference*180/M_PI);
+ //40度以下でジャンプ
+ if ((angular_difference < 0.698132) && (angular_difference > -0.698132)){
+ step = jump;
+ }
+ else {
+ step = direction_control;
+ }
+ wait(1);
+ break;
+
+ case direction_control:
+ myled1 = 0;
+ myled3 = 0;
+ myled4 = 1;
+ //int drive_time;
+ timer.reset();
+ timer.stop();
+ timer.start();
+ val = 0;
+ while(val < 2){
+ val = timer.read();
+ motor_drive();
+ }
+ controlmotor1.write(0);
+ controlmotor2.write(0);
+ pin21.write(0.0);
+ timer.reset();
+ timer.stop();
+ val = 0;
+ //step = jump;
+ if(jump_count == 3){
+ step = jump;
+ }
+ else{
+ step = attitude_determination;
+ }
+ jump_count = jump_count+1;
+ break;
+
+ case jump:
+ //ログファイル
+ myled1 = 1;
+ myled2 = 1;
+ wait(2);
+ FILE *fp = fopen("/sd/mydir/height1.txt", "a");
+ wait(1);
+ timer.reset();
+ timer.start();
+ val = 0;
+ jumpmotor = 1;
+ while(val < 4000){
+ val = timer.read_ms();
+ adxl[0] = 0x32;
+ i2c.write(addr,adxl,1);
+ i2c.read(0xA7,adxl,6);
+ axout = (((int16_t )adxl[1]) << 8) | adxl[0];
+ ayout = (((int16_t )adxl[3]) << 8) | adxl[2];
+ azout = (((int16_t )adxl[5]) << 8) | adxl[4];
+ fprintf(fp, "%d,%d,%d,%d\r\n",val,axout,ayout,azout);
+ wait_ms(2);
+ }
+ jumpmotor = 0;
+ wait(1);
+ fclose(fp);
+ myled3 = 1;
+ jump_count = 0;
+ wait(3);
+ step = get_goaldirection;
+ //step = direction_control;
+ break;
+ }
+ }
+ }
+}
diff -r 000000000000 -r ac7a5495d95c mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Sep 09 23:18:12 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file
diff -r 000000000000 -r ac7a5495d95c xprintf.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xprintf.h Sat Sep 09 23:18:12 2017 +0000 @@ -0,0 +1,39 @@ +/*------------------------------------------------------------------------*/ +/* Universal string handler for user console interface (C)ChaN, 2011 */ +/*------------------------------------------------------------------------*/ + +#ifndef _STRFUNC +#define _STRFUNC + +#define _USE_XFUNC_OUT 1 /* 1: Use output functions */ +#define _CR_CRLF 1 /* 1: Convert \n ==> \r\n in the output char */ + +#define _USE_XFUNC_IN 1 /* 1: Use input function */ +#define _LINE_ECHO 1 /* 1: Echo back input chars in xgets function */ + + +#if _USE_XFUNC_OUT +#define xdev_out(func) xfunc_out = (void(*)(unsigned char))(func) +extern void (*xfunc_out)(unsigned char); +void xputc (char c); +void xputs (const char* str); +void xfputs (void (*func)(unsigned char), const char* str); +void xprintf (const char* fmt, ...); +void xsprintf (char* buff, const char* fmt, ...); +void xfprintf (void (*func)(unsigned char), const char* fmt, ...); +void put_dump (const void* buff, unsigned long addr, int len, int width); +#define DW_CHAR sizeof(char) +#define DW_SHORT sizeof(short) +#define DW_LONG sizeof(long) +#endif + +#if _USE_XFUNC_IN +#define xdev_in(func) xfunc_in = (unsigned char(*)(void))(func) +extern unsigned char (*xfunc_in)(void); +int xgets (char* buff, int len); +int xfgets (unsigned char (*func)(void), char* buff, int len); +int xatoi (char** str, long* res); +#endif + +#endif +