涂 桂旺 / Mbed 2 deprecated JPEGCamera_SIM808_MPU9150_STM32F401RE

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@5:a4bb144ba3b7, 2017-07-01 (annotated)

Committer:
tgw
Date:
Sat Jul 01 06:33:25 2017 +0000
Revision:
5:a4bb144ba3b7
Parent:
4:c4c42e7c2298 
gps

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thesane 0:0c9cdf074ba1 1
thesane 0:0c9cdf074ba1 2 #include "mbed.h"
tgw 3:f307a059affe 3 #include <string>
tgw 3:f307a059affe 4
thesane 0:0c9cdf074ba1 5 #include "JPEGCamera.h"
tgw 4:c4c42e7c2298 6 #include "MPU9150.h"
tgw 4:c4c42e7c2298 7 #include "Quaternion.h"
thesane 0:0c9cdf074ba1 8
tgw 4:c4c42e7c2298 9 #define buf_max 256
tgw 4:c4c42e7c2298 10
tgw 4:c4c42e7c2298 11 #define sys_idle 0
tgw 4:c4c42e7c2298 12 #define sys_gprs 1
tgw 4:c4c42e7c2298 13 #define sys_camera 2
tgw 4:c4c42e7c2298 14 #define sys_mpu9150 3
tgw 5:a4bb144ba3b7 15 #define sys_gps 4
tgw 5:a4bb144ba3b7 16 #define sys_ble 5
tgw 3:f307a059affe 17
tgw 3:f307a059affe 18 Serial pc(SERIAL_TX, SERIAL_RX); // SERIAL_TX(D1), SERIAL_RX(D0) read from bluetooth module VERIFIED
tgw 3:f307a059affe 19 Serial sim808(PA_9, PA_10); // TX(D8), RX(D2) to camera
tgw 3:f307a059affe 20 JPEGCamera camera(PA_11, PA_12); // TX6, RX6 to camera
tgw 3:f307a059affe 21
tgw 4:c4c42e7c2298 22 MPU9150 imu(D15, D14, D7); //scl sda int
tgw 3:f307a059affe 23 //I2C_SCL--PB_8(D15)
tgw 3:f307a059affe 24 //I2C_SDA--PB_9(D14)
tgw 3:f307a059affe 25
tgw 3:f307a059affe 26 DigitalIn mybutton(USER_BUTTON);//PC_13
tgw 4:c4c42e7c2298 27 DigitalOut led(LED1);//PA_5(D13)
tgw 3:f307a059affe 28 DigitalOut sim_power(D4);//PB_5 //复位SIM808
thesane 0:0c9cdf074ba1 29
thesane 0:0c9cdf074ba1 30 //Camera time
thesane 0:0c9cdf074ba1 31 Timer timer;
thesane 0:0c9cdf074ba1 32
tgw 4:c4c42e7c2298 33 int sys_id=0;
tgw 3:f307a059affe 34 int rec_cnt = 0; //receive count
tgw 3:f307a059affe 35 char result[buf_max];
tgw 3:f307a059affe 36
tgw 4:c4c42e7c2298 37 //mpu9150
tgw 4:c4c42e7c2298 38 Quaternion q1;
tgw 4:c4c42e7c2298 39 char buffer[200];
tgw 4:c4c42e7c2298 40
tgw 3:f307a059affe 41 void sim_callback()
tgw 3:f307a059affe 42 {
tgw 3:f307a059affe 43 char x;
tgw 3:f307a059affe 44 x = sim808.getc();
tgw 3:f307a059affe 45 result[rec_cnt++]= x;
tgw 3:f307a059affe 46 pc.putc(x);
tgw 3:f307a059affe 47 if(rec_cnt>=buf_max-1)rec_cnt=0;
tgw 3:f307a059affe 48 }
tgw 4:c4c42e7c2298 49 bool sim_wait(int x)
tgw 3:f307a059affe 50 {
tgw 4:c4c42e7c2298 51 char *p;
tgw 4:c4c42e7c2298 52 rec_cnt = 0;
tgw 3:f307a059affe 53 memset(result,0,buf_max*sizeof(char));
tgw 3:f307a059affe 54 while(x)
tgw 4:c4c42e7c2298 55 {
tgw 4:c4c42e7c2298 56 wait(1);
tgw 4:c4c42e7c2298 57 p=strstr(result,"OK");
tgw 4:c4c42e7c2298 58 if(p)
tgw 4:c4c42e7c2298 59 {
tgw 4:c4c42e7c2298 60 return true;
tgw 4:c4c42e7c2298 61 }
tgw 4:c4c42e7c2298 62 x--;
tgw 4:c4c42e7c2298 63 }
tgw 4:c4c42e7c2298 64 return false;
tgw 3:f307a059affe 65 }
tgw 3:f307a059affe 66
tgw 3:f307a059affe 67 void sim_gprs_updata(string s)
tgw 3:f307a059affe 68 {
tgw 3:f307a059affe 69 pc.printf("%s",s); //发送内容
tgw 3:f307a059affe 70 pc.putc(0x1a);//CtrlZ
tgw 3:f307a059affe 71
tgw 3:f307a059affe 72 sim808.printf("%s",s); //发送内容
tgw 3:f307a059affe 73 sim808.putc(0x1a);
tgw 4:c4c42e7c2298 74
tgw 4:c4c42e7c2298 75 wait(1);
tgw 4:c4c42e7c2298 76 // if(sim_wait(1)) {
tgw 3:f307a059affe 77 pc.printf("TCP send OK\r\n");
tgw 4:c4c42e7c2298 78 // } else {
tgw 4:c4c42e7c2298 79 // pc.printf("TCP send Field\r\n");
tgw 4:c4c42e7c2298 80 // }
tgw 3:f307a059affe 81 }
tgw 3:f307a059affe 82
tgw 3:f307a059affe 83 void sim_gprs_init(void)
tgw 3:f307a059affe 84 {
tgw 3:f307a059affe 85
tgw 3:f307a059affe 86 pc.printf("AT\r\n");
tgw 3:f307a059affe 87 sim808.printf("AT\r\n");
tgw 3:f307a059affe 88
tgw 4:c4c42e7c2298 89 if(sim_wait(1)) {
tgw 3:f307a059affe 90 pc.printf("SIM AT OK.\r\n");//
tgw 3:f307a059affe 91 }
tgw 3:f307a059affe 92 else{
tgw 3:f307a059affe 93 pc.printf("Reset SIM808.\r\n");//
tgw 3:f307a059affe 94 sim_power.write(0);
tgw 3:f307a059affe 95 wait(3);
tgw 3:f307a059affe 96 sim_power.write(1);
tgw 3:f307a059affe 97 wait(19);
tgw 3:f307a059affe 98 }
tgw 3:f307a059affe 99
tgw 3:f307a059affe 100 pc.printf("ATE0\r\n");//关闭回显
tgw 3:f307a059affe 101 sim808.printf("ATE0\r\n");//关闭回显
tgw 3:f307a059affe 102 wait(1);
tgw 3:f307a059affe 103
tgw 3:f307a059affe 104 pc.printf("AT+CPIN?\r\n");
tgw 3:f307a059affe 105 sim808.printf("AT+CPIN?\r\n");//SIM卡状态
tgw 4:c4c42e7c2298 106 if(sim_wait(1)) {
tgw 3:f307a059affe 107 pc.printf("SIM CARD CPIN OK\r\n");
tgw 3:f307a059affe 108 } else {
tgw 3:f307a059affe 109 pc.printf("SIM CARD CPIN Field\r\n");
tgw 3:f307a059affe 110 }
tgw 3:f307a059affe 111
tgw 3:f307a059affe 112 pc.printf("AT+CSQ\r\n");
tgw 3:f307a059affe 113 sim808.printf("AT+CSQ\r\n");//信号状态
tgw 4:c4c42e7c2298 114 if(sim_wait(1)) {
tgw 3:f307a059affe 115 pc.printf("SIM CARD signal OK\r\n");
tgw 3:f307a059affe 116 } else {
tgw 3:f307a059affe 117 pc.printf("SIM CARD signal Field\r\n");
tgw 3:f307a059affe 118 }
tgw 3:f307a059affe 119
tgw 3:f307a059affe 120 pc.printf("AT+CREG?\r\n"); //判断SIM卡网络是否注册成功
tgw 3:f307a059affe 121 sim808.printf("AT+CREG?\r\n"); //判断SIM卡网络是否注册成功
tgw 4:c4c42e7c2298 122 if(sim_wait(1)) {
tgw 3:f307a059affe 123 pc.printf("SIM CARD REG OK\r\n");
tgw 3:f307a059affe 124 } else {
tgw 3:f307a059affe 125 pc.printf("SIM CARD REG Field\r\n");
tgw 3:f307a059affe 126 }
tgw 3:f307a059affe 127
tgw 3:f307a059affe 128 pc.printf("AT+CGATT?\r\n"); //GPRS附着状态
tgw 3:f307a059affe 129 sim808.printf("AT+CGATT?\r\n"); //GPRS附着状态
tgw 3:f307a059affe 130
tgw 4:c4c42e7c2298 131 if(sim_wait(1)) {
tgw 3:f307a059affe 132 pc.printf("SIM CGATT OK\r\n");
tgw 3:f307a059affe 133 } else {
tgw 3:f307a059affe 134 pc.printf("SIM CGATT Field\r\n");
tgw 3:f307a059affe 135 }
tgw 4:c4c42e7c2298 136 pc.printf("Waiting for sim808 start ......\r\n");
tgw 4:c4c42e7c2298 137 wait(15);//等待模块启动完成
tgw 3:f307a059affe 138 //-----------------------组合命令------------------------------------------------------------
tgw 3:f307a059affe 139
tgw 3:f307a059affe 140 pc.printf("AT+CSTT=\"CMNET\"\r\n"); //set APN
tgw 3:f307a059affe 141 sim808.printf("AT+CSTT=\"CMNET\"\r\n"); //set APN
tgw 3:f307a059affe 142
tgw 4:c4c42e7c2298 143 if(sim_wait(5)) {
tgw 3:f307a059affe 144 pc.printf("SIM set APN OK\r\n");
tgw 3:f307a059affe 145 }
tgw 3:f307a059affe 146 else
tgw 3:f307a059affe 147 {
tgw 3:f307a059affe 148 pc.printf("SIM set APN Field\r\n");
tgw 3:f307a059affe 149 return ;
tgw 3:f307a059affe 150 }
tgw 3:f307a059affe 151
tgw 3:f307a059affe 152 pc.printf("AT+CIICR\r\n"); //wireless link 建立无线链路
tgw 3:f307a059affe 153 sim808.printf("AT+CIICR\r\n"); //wireless link 建立无线链路
tgw 3:f307a059affe 154
tgw 4:c4c42e7c2298 155 if(sim_wait(5)) {
tgw 3:f307a059affe 156 pc.printf("SIM wireless link OK\r\n");
tgw 3:f307a059affe 157 } else {
tgw 3:f307a059affe 158 pc.printf("SIM wireless link Field\r\n");
tgw 3:f307a059affe 159 }
tgw 4:c4c42e7c2298 160
tgw 4:c4c42e7c2298 161 pc.printf("Waiting for sim808 wireless link finish ......\r\n");
tgw 3:f307a059affe 162 wait(15);//等待建立无线链路
tgw 3:f307a059affe 163
tgw 3:f307a059affe 164 pc.printf("AT+CIFSR\r\n"); //获取本地IP
tgw 3:f307a059affe 165 sim808.printf("AT+CIFSR\r\n"); //获取本地IP
tgw 3:f307a059affe 166
tgw 3:f307a059affe 167 pc.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
tgw 3:f307a059affe 168 sim808.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
tgw 3:f307a059affe 169
tgw 4:c4c42e7c2298 170 if(sim_wait(5))
tgw 3:f307a059affe 171 {
tgw 3:f307a059affe 172 pc.printf("SIM TCP set OK\r\n");
tgw 3:f307a059affe 173
tgw 4:c4c42e7c2298 174 pc.printf("Waiting for sim808 tcp link finish ......\r\n");
tgw 3:f307a059affe 175 wait(10);//等待建立TCP链路
tgw 3:f307a059affe 176
tgw 3:f307a059affe 177 pc.printf("AT+CIPSEND\r\n"); //send direction
tgw 3:f307a059affe 178 sim808.printf("AT+CIPSEND\r\n"); //send direction
tgw 3:f307a059affe 179
tgw 3:f307a059affe 180 wait(1);
tgw 3:f307a059affe 181 sim_gprs_updata("TPC SEND:hello,sim808 tcp test ok!");
tgw 3:f307a059affe 182 } else
tgw 3:f307a059affe 183 {
tgw 3:f307a059affe 184 pc.printf("SIM TCP set Field\r\n");
tgw 3:f307a059affe 185 }
tgw 3:f307a059affe 186
tgw 3:f307a059affe 187 }
tgw 3:f307a059affe 188 void sim_gprs_relink(void)
tgw 3:f307a059affe 189 {
tgw 3:f307a059affe 190 pc.printf("AT+CIPCLOSE\r\n");
tgw 3:f307a059affe 191 sim808.printf("AT+CIPCLOSE\r\n");//关闭连接
tgw 4:c4c42e7c2298 192 if(sim_wait(5))
tgw 3:f307a059affe 193 {
tgw 3:f307a059affe 194 pc.printf("SIM TCP CLOSE OK\r\n");
tgw 3:f307a059affe 195 } else
tgw 3:f307a059affe 196 {
tgw 3:f307a059affe 197 pc.printf("SIM TCP CLOSE Field\r\n");
tgw 3:f307a059affe 198 }
tgw 3:f307a059affe 199 pc.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
tgw 4:c4c42e7c2298 200 sim808.printf("AT+CIPSTART=\"TCP\",\"122.5.17.146\",\"9980\"\r\n"); //TCP set 建立TCP连接
tgw 3:f307a059affe 201
tgw 4:c4c42e7c2298 202 if(sim_wait(5))
tgw 4:c4c42e7c2298 203 {
tgw 4:c4c42e7c2298 204 pc.printf("SIM TCP set OK\r\n");
tgw 3:f307a059affe 205
tgw 4:c4c42e7c2298 206 pc.printf("Waiting for sim808 tcp link finish ......\r\n");
tgw 4:c4c42e7c2298 207 wait(10);//等待建立TCP链路
tgw 3:f307a059affe 208
tgw 3:f307a059affe 209 pc.printf("AT+CIPSEND\r\n"); //send direction
tgw 3:f307a059affe 210 sim808.printf("AT+CIPSEND\r\n"); //send direction
tgw 3:f307a059affe 211
tgw 3:f307a059affe 212 wait(1);
tgw 3:f307a059affe 213 sim_gprs_updata("TPC SEND:hello,sim808 tcp test ok!");
tgw 3:f307a059affe 214 } else
tgw 3:f307a059affe 215 {
tgw 3:f307a059affe 216 pc.printf("SIM TCP set Field\r\n");
tgw 3:f307a059affe 217 pc.printf("Reset SIM808.\r\n");//
tgw 3:f307a059affe 218 sim_power.write(0);
tgw 3:f307a059affe 219 wait(3);
tgw 3:f307a059affe 220 sim_power.write(1);
tgw 3:f307a059affe 221 wait(19);
tgw 3:f307a059affe 222 sim_gprs_init();
tgw 3:f307a059affe 223 }
tgw 3:f307a059affe 224 }
tgw 3:f307a059affe 225
tgw 4:c4c42e7c2298 226 void pro_gprs(void)
thesane 0:0c9cdf074ba1 227 {
tgw 4:c4c42e7c2298 228 if (!mybutton)
tgw 4:c4c42e7c2298 229 {
tgw 4:c4c42e7c2298 230 // time_t seconds = time(NULL);
tgw 4:c4c42e7c2298 231 // //pc.printf("%s", ctime(&seconds));
tgw 4:c4c42e7c2298 232 // char msg[100];
tgw 4:c4c42e7c2298 233 // sprintf(msg,"seconds:%d", ctime(&seconds));
tgw 4:c4c42e7c2298 234 // sim_gprs_updata(msg);
tgw 4:c4c42e7c2298 235 sim_gprs_relink();
tgw 4:c4c42e7c2298 236 }
tgw 4:c4c42e7c2298 237 }
tgw 4:c4c42e7c2298 238 void pro_camera(void)
tgw 4:c4c42e7c2298 239 {
tgw 4:c4c42e7c2298 240 wait(0.1);
tgw 4:c4c42e7c2298 241 if (!mybutton)
tgw 2:9ad661c031a4 242 {
thesane 0:0c9cdf074ba1 243 if (camera.isReady())
thesane 0:0c9cdf074ba1 244 {
thesane 0:0c9cdf074ba1 245 if (camera.takePicture())
thesane 0:0c9cdf074ba1 246 {
thesane 0:0c9cdf074ba1 247 int image_size = camera.getImageSize();
thesane 0:0c9cdf074ba1 248 while (camera.isProcessing())
thesane 0:0c9cdf074ba1 249 {
tgw 3:f307a059affe 250 camera.processPicture(pc);
thesane 0:0c9cdf074ba1 251 }
thesane 0:0c9cdf074ba1 252 }
thesane 0:0c9cdf074ba1 253 else
thesane 0:0c9cdf074ba1 254 {
tgw 3:f307a059affe 255 pc.printf("camera takePicture fail!\r\n");
thesane 0:0c9cdf074ba1 256 }
thesane 0:0c9cdf074ba1 257 }
thesane 0:0c9cdf074ba1 258 else
thesane 0:0c9cdf074ba1 259 {
tgw 3:f307a059affe 260 pc.printf("camera isReady fail!\r\n");
thesane 0:0c9cdf074ba1 261 }
tgw 4:c4c42e7c2298 262 }
tgw 4:c4c42e7c2298 263 }
tgw 4:c4c42e7c2298 264
tgw 4:c4c42e7c2298 265 void pro_mpu9150(void)
tgw 4:c4c42e7c2298 266 {
tgw 4:c4c42e7c2298 267 if(imu.getFifoCount() >= 48)
tgw 4:c4c42e7c2298 268 {
tgw 4:c4c42e7c2298 269 imu.getFifoBuffer(buffer, 48);
tgw 4:c4c42e7c2298 270 led = !led;
tgw 4:c4c42e7c2298 271 }
tgw 4:c4c42e7c2298 272
tgw 4:c4c42e7c2298 273 if(timer.read_ms() > 50)
tgw 4:c4c42e7c2298 274 {
tgw 4:c4c42e7c2298 275 timer.reset();
tgw 4:c4c42e7c2298 276
tgw 4:c4c42e7c2298 277 //This is the format of the data in the fifo,
tgw 4:c4c42e7c2298 278 /* ================================================================================================ *
tgw 4:c4c42e7c2298 279 | Default MotionApps v4.1 48-byte FIFO packet structure: |
tgw 4:c4c42e7c2298 280 | |
tgw 4:c4c42e7c2298 281 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
tgw 4:c4c42e7c2298 282 | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
tgw 4:c4c42e7c2298 283 | |
tgw 4:c4c42e7c2298 284 | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
tgw 4:c4c42e7c2298 285 | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 |
tgw 4:c4c42e7c2298 286 * ================================================================================================ */
tgw 4:c4c42e7c2298 287
tgw 4:c4c42e7c2298 288
tgw 4:c4c42e7c2298 289 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]),
tgw 4:c4c42e7c2298 290 (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]),
tgw 4:c4c42e7c2298 291 (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
tgw 4:c4c42e7c2298 292
tgw 4:c4c42e7c2298 293 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]),
tgw 4:c4c42e7c2298 294 (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
tgw 4:c4c42e7c2298 295 (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
tgw 4:c4c42e7c2298 296
tgw 4:c4c42e7c2298 297 pc.printf("mag :%d, %d, %d\r\n", (int16_t)(buffer[29] << 8) + buffer[28],
tgw 4:c4c42e7c2298 298 (int16_t)(buffer[31] << 8) + buffer[30],
tgw 4:c4c42e7c2298 299 (int16_t)(buffer[33] << 8) + buffer[32]);
tgw 4:c4c42e7c2298 300
tgw 4:c4c42e7c2298 301 pc.printf("quat:%f, %f, %f, %f\r\n",
tgw 4:c4c42e7c2298 302 (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),
tgw 4:c4c42e7c2298 303 (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)),
tgw 4:c4c42e7c2298 304 (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
tgw 4:c4c42e7c2298 305 (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
tgw 4:c4c42e7c2298 306
tgw 4:c4c42e7c2298 307
tgw 4:c4c42e7c2298 308 //q1.decode(buffer);
tgw 4:c4c42e7c2298 309 //pc.printf("%f, %f, %f, %f\r\n", q1.w, q1.v.x, q1.v.y, q1.v.z);
tgw 4:c4c42e7c2298 310
tgw 4:c4c42e7c2298 311
tgw 4:c4c42e7c2298 312 //TeaPot Demo Packet for MotionFit SDK
tgw 4:c4c42e7c2298 313 /*
tgw 4:c4c42e7c2298 314 pc.putc('$'); //packet start
tgw 4:c4c42e7c2298 315 pc.putc((char)2); //assume packet type constant
tgw 4:c4c42e7c2298 316 pc.putc((char)0); //count seems unused
tgw 4:c4c42e7c2298 317 for(int i = 0; i < 16; i++){ //16 bytes for 4 32bit floats
tgw 4:c4c42e7c2298 318 pc.putc((char)(buffer[i]));
tgw 4:c4c42e7c2298 319 }
tgw 4:c4c42e7c2298 320 for(int i = 0; i < 5; i++){ //no idea, padded with 0
tgw 4:c4c42e7c2298 321 pc.putc((char)0);
tgw 4:c4c42e7c2298 322 }
tgw 4:c4c42e7c2298 323 */
tgw 4:c4c42e7c2298 324 }
tgw 4:c4c42e7c2298 325 }
tgw 4:c4c42e7c2298 326 int main()
tgw 4:c4c42e7c2298 327 {
tgw 4:c4c42e7c2298 328 int message = 0;
tgw 4:c4c42e7c2298 329
tgw 4:c4c42e7c2298 330 pc.baud(115200);
tgw 4:c4c42e7c2298 331 sim808.baud(115200);
tgw 4:c4c42e7c2298 332 sim808.attach(&sim_callback,SerialBase::RxIrq); //serial interrupt attach
tgw 4:c4c42e7c2298 333
tgw 4:c4c42e7c2298 334 timer.start();
tgw 4:c4c42e7c2298 335
tgw 4:c4c42e7c2298 336 //Sim808 Initialization
tgw 4:c4c42e7c2298 337 sim_power.write(1);
tgw 4:c4c42e7c2298 338 sim_gprs_init();
tgw 4:c4c42e7c2298 339
tgw 4:c4c42e7c2298 340 //Camera Initialization and picture sizing
tgw 4:c4c42e7c2298 341 if(camera.setPictureSize(JPEGCamera::SIZE160x120))pc.printf("camera setPictureSize ok!\r\n");
tgw 4:c4c42e7c2298 342 else pc.printf("camera setPictureSize fail!\r\n");
tgw 4:c4c42e7c2298 343 wait(3);
tgw 4:c4c42e7c2298 344
tgw 4:c4c42e7c2298 345 //MPU9150 Initialization and setting
tgw 4:c4c42e7c2298 346 if(imu.isReady())pc.printf("MPU9150 is ready\r\n");
tgw 4:c4c42e7c2298 347 else pc.printf("MPU9150 initialisation failure\r\n");
tgw 4:c4c42e7c2298 348
tgw 4:c4c42e7c2298 349 imu.initialiseDMP();
tgw 4:c4c42e7c2298 350
tgw 4:c4c42e7c2298 351 imu.setFifoReset(true);
tgw 4:c4c42e7c2298 352 imu.setDMPEnabled(true);
tgw 4:c4c42e7c2298 353
tgw 4:c4c42e7c2298 354 //Continuously wait for commands
tgw 4:c4c42e7c2298 355 while(1)
tgw 4:c4c42e7c2298 356 {
tgw 5:a4bb144ba3b7 357 //-------------------------E事件处理-----------------------------------------------
tgw 4:c4c42e7c2298 358 //Check for bytes over serial from bluetooth/xbee
tgw 4:c4c42e7c2298 359 if(pc.readable())
tgw 4:c4c42e7c2298 360 {
tgw 4:c4c42e7c2298 361 message=pc.getc();
tgw 4:c4c42e7c2298 362 //Take a picture (note that this takes a while to complete and will only only work for 999 pictures
tgw 4:c4c42e7c2298 363 if (message==0xd1)
tgw 4:c4c42e7c2298 364 {
tgw 4:c4c42e7c2298 365 sys_id=sys_gprs;
tgw 4:c4c42e7c2298 366 pc.printf("sys_id is gprs\r\n");
tgw 4:c4c42e7c2298 367 }
tgw 4:c4c42e7c2298 368 else if (message==0xd2)
tgw 4:c4c42e7c2298 369 {
tgw 4:c4c42e7c2298 370 sys_id=sys_camera;
tgw 4:c4c42e7c2298 371 pc.printf("sys_id is camera\r\n");
tgw 4:c4c42e7c2298 372 }
tgw 4:c4c42e7c2298 373 else if (message==0xd3)
tgw 4:c4c42e7c2298 374 {
tgw 4:c4c42e7c2298 375 sys_id=sys_mpu9150;
tgw 4:c4c42e7c2298 376 pc.printf("sys_id is MPU9150\r\n");
thesane 0:0c9cdf074ba1 377 }
thesane 0:0c9cdf074ba1 378 }
tgw 5:a4bb144ba3b7 379 //-------------------------I事件处理-----------------------------------------------
tgw 3:f307a059affe 380
tgw 4:c4c42e7c2298 381 //-------------------------运行线程-----------------------------------------------
tgw 4:c4c42e7c2298 382 switch(sys_id)
tgw 3:f307a059affe 383 {
tgw 4:c4c42e7c2298 384 case sys_gprs:
tgw 4:c4c42e7c2298 385 pro_gprs();
tgw 4:c4c42e7c2298 386 break;
tgw 4:c4c42e7c2298 387 case sys_camera:
tgw 4:c4c42e7c2298 388 pro_camera();
tgw 4:c4c42e7c2298 389 break;
tgw 4:c4c42e7c2298 390 case sys_mpu9150:
tgw 4:c4c42e7c2298 391 pro_mpu9150();
tgw 4:c4c42e7c2298 392 break;
tgw 5:a4bb144ba3b7 393 case sys_gps:
tgw 5:a4bb144ba3b7 394 break;
tgw 5:a4bb144ba3b7 395 case sys_ble:
tgw 5:a4bb144ba3b7 396 break;
tgw 4:c4c42e7c2298 397 default:
tgw 4:c4c42e7c2298 398 break;
tgw 3:f307a059affe 399 }
thesane 0:0c9cdf074ba1 400 }
thesane 0:0c9cdf074ba1 401 }
tgw 3:f307a059affe 402