涂 桂旺
/
JPEGCamera_SIM808_MPU9150_STM32F401RE
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Dependencies: JPEGCamera MPU9150_DMP_Nucleo QuaternionMath mbed
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JPEGCamera_SIM808_STM32F401RE
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涂 桂旺
Diff: main.cpp
- Revision:
- 4:c4c42e7c2298
- Parent:
- 3:f307a059affe
- Child:
- 5:a4bb144ba3b7
--- a/main.cpp Wed Jun 21 08:30:26 2017 +0000
+++ b/main.cpp Fri Jun 23 03:23:38 2017 +0000
@@ -3,26 +3,39 @@
#include <string>
#include "JPEGCamera.h"
+#include "MPU9150.h"
+#include "Quaternion.h"
-#define buf_max 256
+#define buf_max 256
+
+#define sys_idle 0
+#define sys_gprs 1
+#define sys_camera 2
+#define sys_mpu9150 3
Serial pc(SERIAL_TX, SERIAL_RX); // SERIAL_TX(D1), SERIAL_RX(D0) read from bluetooth module VERIFIED
Serial sim808(PA_9, PA_10); // TX(D8), RX(D2) to camera
JPEGCamera camera(PA_11, PA_12); // TX6, RX6 to camera
+MPU9150 imu(D15, D14, D7); //scl sda int
//I2C_SCL--PB_8(D15)
//I2C_SDA--PB_9(D14)
DigitalIn mybutton(USER_BUTTON);//PC_13
-DigitalOut myled(LED1);//PA_5(D13)
+DigitalOut led(LED1);//PA_5(D13)
DigitalOut sim_power(D4);//PB_5 //复位SIM808
//Camera time
Timer timer;
+int sys_id=0;
int rec_cnt = 0; //receive count
char result[buf_max];
+//mpu9150
+Quaternion q1;
+char buffer[200];
+
void sim_callback()
{
char x;
@@ -31,23 +44,22 @@
pc.putc(x);
if(rec_cnt>=buf_max-1)rec_cnt=0;
}
-bool sim_wait(void)
+bool sim_wait(int x)
{
- char *p;
- int x=20;
- rec_cnt = 0;
+ char *p;
+ rec_cnt = 0;
memset(result,0,buf_max*sizeof(char));
while(x)
- {
- wait(1);
- p=strstr(result,"OK");
- if(p)
- {
- return true;
- }
- x--;
- }
- return false;
+ {
+ wait(1);
+ p=strstr(result,"OK");
+ if(p)
+ {
+ return true;
+ }
+ x--;
+ }
+ return false;
}
void sim_gprs_updata(string s)
@@ -57,12 +69,13 @@
sim808.printf("%s",s); //发送内容
sim808.putc(0x1a);
-
- if(sim_wait()) {
+
+ wait(1);
+// if(sim_wait(1)) {
pc.printf("TCP send OK\r\n");
- } else {
- pc.printf("TCP send Field\r\n");
- }
+// } else {
+// pc.printf("TCP send Field\r\n");
+// }
}
void sim_gprs_init(void)
@@ -71,7 +84,7 @@
pc.printf("AT\r\n");
sim808.printf("AT\r\n");
- if(sim_wait()) {
+ if(sim_wait(1)) {
pc.printf("SIM AT OK.\r\n");//
}
else{
@@ -88,7 +101,7 @@
pc.printf("AT+CPIN?\r\n");
sim808.printf("AT+CPIN?\r\n");//SIM卡状态
- if(sim_wait()) {
+ if(sim_wait(1)) {
pc.printf("SIM CARD CPIN OK\r\n");
} else {
pc.printf("SIM CARD CPIN Field\r\n");
@@ -96,7 +109,7 @@
pc.printf("AT+CSQ\r\n");
sim808.printf("AT+CSQ\r\n");//信号状态
- if(sim_wait()) {
+ if(sim_wait(1)) {
pc.printf("SIM CARD signal OK\r\n");
} else {
pc.printf("SIM CARD signal Field\r\n");
@@ -104,7 +117,7 @@
pc.printf("AT+CREG?\r\n"); //判断SIM卡网络是否注册成功
sim808.printf("AT+CREG?\r\n"); //判断SIM卡网络是否注册成功
- if(sim_wait()) {
+ if(sim_wait(1)) {
pc.printf("SIM CARD REG OK\r\n");
} else {
pc.printf("SIM CARD REG Field\r\n");
@@ -113,18 +126,19 @@
pc.printf("AT+CGATT?\r\n"); //GPRS附着状态
sim808.printf("AT+CGATT?\r\n"); //GPRS附着状态
- if(sim_wait()) {
+ if(sim_wait(1)) {
pc.printf("SIM CGATT OK\r\n");
} else {
pc.printf("SIM CGATT Field\r\n");
}
-
+ pc.printf("Waiting for sim808 start ......\r\n");
+ wait(15);//等待模块启动完成
//-----------------------组合命令------------------------------------------------------------
pc.printf("AT+CSTT=\"CMNET\"\r\n"); //set APN
sim808.printf("AT+CSTT=\"CMNET\"\r\n"); //set APN
- if(sim_wait()) {
+ if(sim_wait(5)) {
pc.printf("SIM set APN OK\r\n");
}
else
@@ -136,12 +150,13 @@
pc.printf("AT+CIICR\r\n"); //wireless link 建立无线链路
sim808.printf("AT+CIICR\r\n"); //wireless link 建立无线链路
- if(sim_wait()) {
+ if(sim_wait(5)) {
pc.printf("SIM wireless link OK\r\n");
} else {
pc.printf("SIM wireless link Field\r\n");
}
-
+
+ pc.printf("Waiting for sim808 wireless link finish ......\r\n");
wait(15);//等待建立无线链路
pc.printf("AT+CIFSR\r\n"); //获取本地IP
@@ -150,10 +165,11 @@
pc.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
sim808.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
- if(sim_wait())
+ if(sim_wait(5))
{
pc.printf("SIM TCP set OK\r\n");
+ pc.printf("Waiting for sim808 tcp link finish ......\r\n");
wait(10);//等待建立TCP链路
pc.printf("AT+CIPSEND\r\n"); //send direction
@@ -171,7 +187,7 @@
{
pc.printf("AT+CIPCLOSE\r\n");
sim808.printf("AT+CIPCLOSE\r\n");//关闭连接
- if(sim_wait())
+ if(sim_wait(5))
{
pc.printf("SIM TCP CLOSE OK\r\n");
} else
@@ -179,13 +195,14 @@
pc.printf("SIM TCP CLOSE Field\r\n");
}
pc.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
- sim808.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
+ sim808.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
- if(sim_wait())
- {
- pc.printf("SIM TCP set OK\r\n");
+ if(sim_wait(5))
+ {
+ pc.printf("SIM TCP set OK\r\n");
- wait(5);//等待建立TCP链路
+ pc.printf("Waiting for sim808 tcp link finish ......\r\n");
+ wait(10);//等待建立TCP链路
pc.printf("AT+CIPSEND\r\n"); //send direction
sim808.printf("AT+CIPSEND\r\n"); //send direction
@@ -204,38 +221,23 @@
}
}
-int main()
+void pro_gprs(void)
{
- int message = 0;
-
- pc.baud(115200);
- sim808.baud(115200);
- sim808.attach(&sim_callback,SerialBase::RxIrq); //serial interrupt attach
-
- sim_power.write(1);
- //Camera Initialization and picture sizing
- timer.start();
- wait(1);
- if(camera.setPictureSize(JPEGCamera::SIZE160x120))
+ if (!mybutton)
+ {
+// time_t seconds = time(NULL);
+// //pc.printf("%s", ctime(&seconds));
+// char msg[100];
+// sprintf(msg,"seconds:%d", ctime(&seconds));
+// sim_gprs_updata(msg);
+ sim_gprs_relink();
+ }
+}
+void pro_camera(void)
+{
+ wait(0.1);
+ if (!mybutton)
{
- pc.printf("camera setPictureSize ok!\r\n");
- }
- else
- {
- pc.printf("camera setPictureSize fail!\r\n");
- }
- wait(3);
- //Continuously wait for commands
- sim_gprs_init();
- while(1)
- {
- //Check for bytes over serial from bluetooth/xbee
- if(pc.readable())
- {
- message=pc.getc();
- //Take a picture (note that this takes a while to complete and will only only work for 999 pictures
- if (message==210)//0xd2
- {
if (camera.isReady())
{
if (camera.takePicture())
@@ -255,17 +257,138 @@
{
pc.printf("camera isReady fail!\r\n");
}
+ }
+}
+
+void pro_mpu9150(void)
+{
+ if(imu.getFifoCount() >= 48)
+ {
+ imu.getFifoBuffer(buffer, 48);
+ led = !led;
+ }
+
+ if(timer.read_ms() > 50)
+ {
+ timer.reset();
+
+ //This is the format of the data in the fifo,
+ /* ================================================================================================ *
+ | Default MotionApps v4.1 48-byte FIFO packet structure: |
+ | |
+ | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
+ | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
+ | |
+ | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
+ | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 |
+ * ================================================================================================ */
+
+
+ pc.printf("acc :%d, %d, %d\r\n", (int32_t)(((int32_t)buffer[34] << 24) + ((int32_t)buffer[35] << 16) + ((int32_t)buffer[36] << 8) + (int32_t)buffer[37]),
+ (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]),
+ (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
+
+ pc.printf("gyro:%d, %d, %d\r\n", (int32_t)(((int32_t)buffer[16] << 24) + ((int32_t)buffer[17] << 16) + ((int32_t)buffer[18] << 8) + (int32_t)buffer[19]),
+ (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
+ (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
+
+ pc.printf("mag :%d, %d, %d\r\n", (int16_t)(buffer[29] << 8) + buffer[28],
+ (int16_t)(buffer[31] << 8) + buffer[30],
+ (int16_t)(buffer[33] << 8) + buffer[32]);
+
+ pc.printf("quat:%f, %f, %f, %f\r\n",
+ (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),
+ (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)),
+ (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
+ (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
+
+
+ //q1.decode(buffer);
+ //pc.printf("%f, %f, %f, %f\r\n", q1.w, q1.v.x, q1.v.y, q1.v.z);
+
+
+ //TeaPot Demo Packet for MotionFit SDK
+ /*
+ pc.putc('$'); //packet start
+ pc.putc((char)2); //assume packet type constant
+ pc.putc((char)0); //count seems unused
+ for(int i = 0; i < 16; i++){ //16 bytes for 4 32bit floats
+ pc.putc((char)(buffer[i]));
+ }
+ for(int i = 0; i < 5; i++){ //no idea, padded with 0
+ pc.putc((char)0);
+ }
+ */
+ }
+}
+int main()
+{
+ int message = 0;
+
+ pc.baud(115200);
+ sim808.baud(115200);
+ sim808.attach(&sim_callback,SerialBase::RxIrq); //serial interrupt attach
+
+ timer.start();
+
+ //Sim808 Initialization
+ sim_power.write(1);
+ sim_gprs_init();
+
+ //Camera Initialization and picture sizing
+ if(camera.setPictureSize(JPEGCamera::SIZE160x120))pc.printf("camera setPictureSize ok!\r\n");
+ else pc.printf("camera setPictureSize fail!\r\n");
+ wait(3);
+
+ //MPU9150 Initialization and setting
+ if(imu.isReady())pc.printf("MPU9150 is ready\r\n");
+ else pc.printf("MPU9150 initialisation failure\r\n");
+
+ imu.initialiseDMP();
+
+ imu.setFifoReset(true);
+ imu.setDMPEnabled(true);
+
+ //Continuously wait for commands
+ while(1)
+ {
+ //-------------------------事件处理-----------------------------------------------
+ //Check for bytes over serial from bluetooth/xbee
+ if(pc.readable())
+ {
+ message=pc.getc();
+ //Take a picture (note that this takes a while to complete and will only only work for 999 pictures
+ if (message==0xd1)
+ {
+ sys_id=sys_gprs;
+ pc.printf("sys_id is gprs\r\n");
+ }
+ else if (message==0xd2)
+ {
+ sys_id=sys_camera;
+ pc.printf("sys_id is camera\r\n");
+ }
+ else if (message==0xd3)
+ {
+ sys_id=sys_mpu9150;
+ pc.printf("sys_id is MPU9150\r\n");
}
}
- if (!mybutton)
+ //-------------------------运行线程-----------------------------------------------
+ switch(sys_id)
{
-// time_t seconds = time(NULL);
-// //pc.printf("%s", ctime(&seconds));
-// char msg[100];
-// sprintf(msg,"seconds:%d", ctime(&seconds));
-// sim_gprs_updata(msg);
- sim_gprs_relink();
+ case sys_gprs:
+ pro_gprs();
+ break;
+ case sys_camera:
+ pro_camera();
+ break;
+ case sys_mpu9150:
+ pro_mpu9150();
+ break;
+ default:
+ break;
}
}
}