涂 桂旺
test program for SIM808 GPRS + JPEG Camera library for LinkSprite LS-Y201 camera +MPU9150
Dependencies: JPEGCamera MPU9150_DMP_Nucleo QuaternionMath mbed
Fork of
JPEGCamera_SIM808_STM32F401RE
by 
涂 桂旺
main.cpp
- Committer:
- tgw
- Date:
- 2017-07-01
- Revision:
- 5:a4bb144ba3b7
- Parent:
- 4:c4c42e7c2298
File content as of revision 5:a4bb144ba3b7:
#include "mbed.h"
#include <string>
#include "JPEGCamera.h"
#include "MPU9150.h"
#include "Quaternion.h"
#define buf_max 256
#define sys_idle 0
#define sys_gprs 1
#define sys_camera 2
#define sys_mpu9150 3
#define sys_gps 4
#define sys_ble 5
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 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;
x = sim808.getc();
result[rec_cnt++]= x;
pc.putc(x);
if(rec_cnt>=buf_max-1)rec_cnt=0;
}
bool sim_wait(int x)
{
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;
}
void sim_gprs_updata(string s)
{
pc.printf("%s",s); //发送内容
pc.putc(0x1a);//CtrlZ
sim808.printf("%s",s); //发送内容
sim808.putc(0x1a);
wait(1);
// if(sim_wait(1)) {
pc.printf("TCP send OK\r\n");
// } else {
// pc.printf("TCP send Field\r\n");
// }
}
void sim_gprs_init(void)
{
pc.printf("AT\r\n");
sim808.printf("AT\r\n");
if(sim_wait(1)) {
pc.printf("SIM AT OK.\r\n");//
}
else{
pc.printf("Reset SIM808.\r\n");//
sim_power.write(0);
wait(3);
sim_power.write(1);
wait(19);
}
pc.printf("ATE0\r\n");//关闭回显
sim808.printf("ATE0\r\n");//关闭回显
wait(1);
pc.printf("AT+CPIN?\r\n");
sim808.printf("AT+CPIN?\r\n");//SIM卡状态
if(sim_wait(1)) {
pc.printf("SIM CARD CPIN OK\r\n");
} else {
pc.printf("SIM CARD CPIN Field\r\n");
}
pc.printf("AT+CSQ\r\n");
sim808.printf("AT+CSQ\r\n");//信号状态
if(sim_wait(1)) {
pc.printf("SIM CARD signal OK\r\n");
} else {
pc.printf("SIM CARD signal Field\r\n");
}
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(1)) {
pc.printf("SIM CARD REG OK\r\n");
} else {
pc.printf("SIM CARD REG Field\r\n");
}
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(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(5)) {
pc.printf("SIM set APN OK\r\n");
}
else
{
pc.printf("SIM set APN Field\r\n");
return ;
}
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(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
sim808.printf("AT+CIFSR\r\n"); //获取本地IP
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(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
sim808.printf("AT+CIPSEND\r\n"); //send direction
wait(1);
sim_gprs_updata("TPC SEND:hello,sim808 tcp test ok!");
} else
{
pc.printf("SIM TCP set Field\r\n");
}
}
void sim_gprs_relink(void)
{
pc.printf("AT+CIPCLOSE\r\n");
sim808.printf("AT+CIPCLOSE\r\n");//关闭连接
if(sim_wait(5))
{
pc.printf("SIM TCP CLOSE OK\r\n");
} else
{
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
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
sim808.printf("AT+CIPSEND\r\n"); //send direction
wait(1);
sim_gprs_updata("TPC SEND:hello,sim808 tcp test ok!");
} else
{
pc.printf("SIM TCP set Field\r\n");
pc.printf("Reset SIM808.\r\n");//
sim_power.write(0);
wait(3);
sim_power.write(1);
wait(19);
sim_gprs_init();
}
}
void pro_gprs(void)
{
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)
{
if (camera.isReady())
{
if (camera.takePicture())
{
int image_size = camera.getImageSize();
while (camera.isProcessing())
{
camera.processPicture(pc);
}
}
else
{
pc.printf("camera takePicture fail!\r\n");
}
}
else
{
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)
{
//-------------------------E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");
}
}
//-------------------------I事件处理-----------------------------------------------
//-------------------------运行线程-----------------------------------------------
switch(sys_id)
{
case sys_gprs:
pro_gprs();
break;
case sys_camera:
pro_camera();
break;
case sys_mpu9150:
pro_mpu9150();
break;
case sys_gps:
break;
case sys_ble:
break;
default:
break;
}
}
}