main.cpp

00001 #include "mbed.h"
00002 #include "FXOS8700Q.h"
00003 #include "eCompass_Lib.h"
00004 #include "rtos.h"
00005 //#include "MotionSensorDtypes.h"
00006 #include "EthernetInterface.h"
00007 
00008 
00009 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
00010 FXOS8700Q_mag mag( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
00011 Serial pc(USBTX, USBRX);
00012 eCompass compass;
00013 DigitalOut red(LED_RED);        //debug led
00014 DigitalOut green(LED_GREEN);    //debug ledeCompass compass;
00015 
00016 //void calibrate_thread(void const *argument);
00017 //void print_thread(void const *argument);
00018 //void compass_thread(void const *argument);
00019 
00020 extern axis6_t axis6;
00021 extern uint32_t seconds;
00022 extern uint32_t compass_type; // optional, NED compass is default
00023 extern int32_t tcount;
00024 extern uint8_t cdebug;
00025 int  l = 0;
00026 volatile int sflag = 0;
00027 
00028 char http_cmd[500];
00029 char devid[] = "1100227";
00030 char api_key[] ="Jl4VyAUUG6j4Qdms3ZyOjbAu6J8=";
00031 char host[] = "api.heclouds.com";
00032 
00033 EthernetInterface eth;          //create ethernet
00034 TCPSocketConnection sock;       
00035 
00036 MotionSensorDataCounts mag_raw;
00037 MotionSensorDataCounts acc_raw;
00038 
00039 
00040 void hal_map( MotionSensorDataCounts * acc_raw, MotionSensorDataCounts * mag_raw)
00041 {
00042 int16_t t;
00043 // swap and negate X & Y axis
00044 t = acc_raw->x;
00045 acc_raw->x = acc_raw->y * -1;
00046 acc_raw->y = t * -1;
00047 // swap mag X & Y axis
00048 t = mag_raw->x;
00049 mag_raw->x = mag_raw->y;
00050 mag_raw->y = t;
00051 // negate mag Z axis
00052 mag_raw->z *= -1;
00053 }
00054 
00055 void creat_cmd()
00056 {
00057     char tmp[30];
00058     char str[100];
00059 
00060     sprintf(str,",;roll,%d;pitch,%d;yaw,%d", axis6.roll, axis6.pitch, axis6.yaw);
00061     http_cmd[0] = 0;
00062     strcat(http_cmd,"POST /devices/");
00063     strcat(http_cmd,devid);
00064     strcat(http_cmd,"/datapoints?type=5 HTTP/1.1\r\n");
00065     strcat(http_cmd,"api-key:");
00066     strcat(http_cmd,api_key);
00067     strcat(http_cmd,"\r\n");
00068     strcat(http_cmd,"Host:");
00069     strcat(http_cmd,host);
00070     strcat(http_cmd,"\r\n");
00071     sprintf(tmp,"Content-Length:%d\r\n\r\n", strlen(str));
00072     strcat(http_cmd,tmp);
00073     strcat(http_cmd,str);
00074 }
00075 
00076 //
00077 // Print data values for debug
00078 //
00079 void debug_print(void)
00080 {
00081     // Some useful printf statements for debug
00082     printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
00083     printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f    ", axis6.fGax, axis6.fGay, axis6.fGaz);
00084     printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
00085     printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n\r\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3); 
00086 }
00087 
00088 
00089 void compass_thread(void const *argument) 
00090 {
00091     // get raw data from the sensors
00092     acc.getAxis( acc_raw);
00093     mag.getAxis( mag_raw);
00094     if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass
00095     if(l++ >= 50) 
00096     {
00097          // take car of business once a second
00098         seconds++;
00099         sflag = 1;
00100         compass.calibrate();
00101         debug_print();
00102         l = 0;
00103         
00104         if(sock.is_connected()) 
00105         {
00106             green = 0;
00107             red = 1;
00108             creat_cmd();
00109             sock.send(http_cmd, strlen(http_cmd));
00110             //printf("%s\r\n",http_cmd);
00111         }
00112         else
00113         {
00114             green = 1;
00115             red = 0;
00116             sock.close();
00117             
00118             wait(3);
00119             
00120             printf("IP Address is %s\r\n", eth.getIPAddress());
00121             sock.connect("api.heclouds.com", 80);   //connetct to OneNET
00122             
00123             printf("reconnect the server\r\n");
00124             while(!sock.is_connected());
00125         }
00126         
00127     }
00128     tcount++;
00129 }
00130 
00131 
00132 int main() 
00133 {
00134     RtosTimer compass_timer(compass_thread, osTimerPeriodic);
00135     
00136     /* ethernet init */
00137     eth.init(); //DHCP
00138     eth.connect();
00139     printf("IP Address is %s\r\n", eth.getIPAddress());
00140     sock.connect("api.heclouds.com", 80);   //connetct to OneNET
00141 
00142     printf("\r\n\n\n\n\n\n\n");
00143     printf("Who AM I= %X\r\n", acc.whoAmI());
00144     acc.enable();
00145     
00146     acc.getAxis( acc_raw);
00147     mag.getAxis( mag_raw);
00148     
00149     compass_timer.start(20); // Run the Compass every 20ms
00150     while(1) 
00151     {
00152         //Thread::wait(osWaitForever);
00153         /**********receive response data*******************/
00154         char buffer[300];
00155         int ret = 0;
00156         buffer[0] = '\0';
00157         if(sock.is_connected())
00158         {
00159             ret = sock.receive(buffer, sizeof(buffer)-1);
00160             if(ret >= 0) 
00161             {
00162                 buffer[ret] = '\0';
00163             }
00164             //printf("Received %d chars from server:\r\n%s\r\n", ret, buffer);
00165         }
00166         else
00167         {
00168             wait(3);
00169         }
00170     }  
00171 }