Diff: main.cpp

Revision:

15:2e0d977dbb31

Parent:

14:ab6eecd44b7a

--- a/main.cpp	Mon Apr 24 09:29:13 2017 +0000
+++ b/main.cpp	Thu May 17 20:37:41 2018 +0000
@@ -1,52 +1,20 @@
 #include "mbed.h"
 #include "main.h"
+#include "string.h"
 #include "sx1272-hal.h"
-#include "debug.h"
+#include "DS3231.h"
+#include "LSM303DLHC.h"
+#include "SDFileSystem.h"
+// #include "EncoderCounter.h"
+
+/*
+ * Technion - Formula Car Telemetry
+ * Part 1: Reading data signals from the car sensors and broadcasting them 
+ */
 
 /* Set this flag to '1' to display debug messages on the console */
 #define DEBUG_MESSAGE   1
 
-/* Set this flag to '1' to use the LoRa modulation or to '0' to use FSK modulation */
-#define USE_MODEM_LORA  1
-#define USE_MODEM_FSK   !USE_MODEM_LORA
-
-#define RF_FREQUENCY                                    868000000 // Hz
-#define TX_OUTPUT_POWER                                 14        // 14 dBm
-
-#if USE_MODEM_LORA == 1
-
-    #define LORA_BANDWIDTH                              2         // [0: 125 kHz,
-                                                                  //  1: 250 kHz,
-                                                                  //  2: 500 kHz,
-                                                                  //  3: Reserved]
-    #define LORA_SPREADING_FACTOR                       7         // [SF7..SF12]
-    #define LORA_CODINGRATE                             1         // [1: 4/5,
-                                                                  //  2: 4/6,
-                                                                  //  3: 4/7,
-                                                                  //  4: 4/8]
-    #define LORA_PREAMBLE_LENGTH                        8         // Same for Tx and Rx
-    #define LORA_SYMBOL_TIMEOUT                         5         // Symbols
-    #define LORA_FIX_LENGTH_PAYLOAD_ON                  false
-    #define LORA_FHSS_ENABLED                           false  
-    #define LORA_NB_SYMB_HOP                            4     
-    #define LORA_IQ_INVERSION_ON                        false
-    #define LORA_CRC_ENABLED                            true
-
-#elif USE_MODEM_FSK == 1
-
-    #define FSK_FDEV                                    25000     // Hz
-    #define FSK_DATARATE                                19200     // bps
-    #define FSK_BANDWIDTH                               50000     // Hz
-    #define FSK_AFC_BANDWIDTH                           83333     // Hz
-    #define FSK_PREAMBLE_LENGTH                         5         // Same for Tx and Rx
-    #define FSK_FIX_LENGTH_PAYLOAD_ON                   false
-    #define FSK_CRC_ENABLED                             true
-
-#else
-    #error "Please define a modem in the compiler options."
-#endif
-
-#define RX_TIMEOUT_VALUE                                3500      // in ms
 #define BUFFER_SIZE                                     32        // Define the payload size here
 
 #if( defined ( TARGET_KL25Z ) || defined ( TARGET_LPC11U6X ) )
@@ -55,292 +23,52 @@
 DigitalOut led( LED1 );
 #endif
 
-/*
- *  Global variables declarations
- */
-typedef enum
-{
-    LOWPOWER = 0,
-    IDLE,
-
-    RX,
-    RX_TIMEOUT,
-    RX_ERROR,
-
-    TX,
-    TX_TIMEOUT,
-
-    CAD,
-    CAD_DONE
-}AppStates_t;
-
-volatile AppStates_t State = LOWPOWER;
-
-/*!
- * Radio events function pointer
- */
-static RadioEvents_t RadioEvents;
-
-/*
- *  Global variables declarations
- */
-SX1272MB2xAS Radio( NULL );
-
-const uint8_t PingMsg[] = "PING";
-const uint8_t PongMsg[] = "PONG";
-
-uint16_t BufferSize = BUFFER_SIZE;
-uint8_t Buffer[BUFFER_SIZE];
-
-int16_t RssiValue = 0.0;
-int8_t SnrValue = 0.0;
-
 int main( void ) 
 {
-    uint8_t i;
-    bool isMaster = true;
-
-    debug( "\n\n\r     SX1272 Ping Pong Demo Application \n\n\r" );
-
-    // Initialize Radio driver
-    RadioEvents.TxDone = OnTxDone;
-    RadioEvents.RxDone = OnRxDone;
-    RadioEvents.RxError = OnRxError;
-    RadioEvents.TxTimeout = OnTxTimeout;
-    RadioEvents.RxTimeout = OnRxTimeout;
-    Radio.Init( &RadioEvents );
-
-    // verify the connection with the board
-    while( Radio.Read( REG_VERSION ) == 0x00  )
-    {
-        debug( "Radio could not be detected!\n\r", NULL );
-        wait( 1 );
+//    ENCODER enc(1);
+//    int x = enc.XAxisGetCount();
+    AnalogIn sus_rf(PA_0);
+    AnalogIn sus_rr(PA_1);
+    AnalogIn sus_lf(PA_4);    //       check if connected 
+    AnalogIn sus_lr(PB_0);
+    AnalogIn wheel_ang(PC_1);
+    AnalogIn front_brake(PC_0);
+    AnalogIn rear_brake(PC_3); //      check if connected 
+    DS3231 TC(PB_7,PB_6);
+    
+    //PinName mosi, PinName miso, PinName sclk, PinName cs
+    SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd"); 
+    sd.mount();
+    
+    FILE *fp = fopen("/sd/formola_run.csv", "w");
+    
+    LSM303DLHC lsm303(PB_11, PB_10);
+    
+    // Real Time Clock
+    int year = 0, month = 0, dayOfWeek = 0, date = 0, hours = 0, min = 0, sec = 0;
+    TC.readDateTime(&dayOfWeek, &date, &month, &year, &hours, &min, &sec);
+    
+    BufferedSerial* ser = new BufferedSerial(USBTX,USBRX);
+    ser->baud(115200*2);
+    ser->format(8);
+    
+    fprintf(fp, "dayOfWeek: %d,date %d,month: %d,year: %d,hours: %d,minutes: %d,sec: %d\r\n", dayOfWeek,date,month,year,hours,min,sec);
+    ser->printf("dayOfWeek: %d,date %d,month: %d,year: %d,hours: %d,minutes: %d,sec: %d\r\n", dayOfWeek,date,month,year,hours,min,sec);
+    
+    fprintf(fp, "sus_rf,sus_rr,sus_lf,sus_lr,wheel_ang,front_brake,accx,accy \r\n");
+    ser->printf("sus_rf,sus_rr,sus_lf,sus_lr,wheel_ang,front_brake,accx,accy \r\n");
+    
+    
+    
+    while(1){
+        float accelReading[3] = {0.0, 0.0, 0.0};
+        lsm303.GetAcc(accelReading);
+       
+        ser->printf("%f,%f,%f,%f,%f,%f,%f,%f\n", sus_rf.read(), sus_rr.read(),
+            sus_lf.read(), sus_lr.read(), wheel_ang.read(), front_brake.read(),
+            rear_brake.read(), accelReading[0], accelReading[1]);
+        
+        wait(1);  
     }
-
-    debug_if( ( DEBUG_MESSAGE & ( Radio.DetectBoardType( ) == SX1272MB2XAS ) ), "\n\r > Board Type: SX1272MB2xAS < \n\r" );
-
-    Radio.SetChannel( RF_FREQUENCY ); 
-
-#if USE_MODEM_LORA == 1
-
-    debug_if( LORA_FHSS_ENABLED, "\n\n\r             > LORA FHSS Mode < \n\n\r" );
-    debug_if( !LORA_FHSS_ENABLED, "\n\n\r             > LORA Mode < \n\n\r" );
-
-    Radio.SetTxConfig( MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH,
-                         LORA_SPREADING_FACTOR, LORA_CODINGRATE,
-                         LORA_PREAMBLE_LENGTH, LORA_FIX_LENGTH_PAYLOAD_ON,
-                         LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP,
-                         LORA_IQ_INVERSION_ON, 2000 );
-
-    Radio.SetRxConfig( MODEM_LORA, LORA_BANDWIDTH, LORA_SPREADING_FACTOR,
-                         LORA_CODINGRATE, 0, LORA_PREAMBLE_LENGTH,
-                         LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON, 0,
-                         LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP,
-                         LORA_IQ_INVERSION_ON, true );
-
-#elif USE_MODEM_FSK == 1
-
-    debug("\n\n\r              > FSK Mode < \n\n\r" );
-    Radio.SetTxConfig( MODEM_FSK, TX_OUTPUT_POWER, FSK_FDEV, 0,
-                         FSK_DATARATE, 0,
-                         FSK_PREAMBLE_LENGTH, FSK_FIX_LENGTH_PAYLOAD_ON,
-                         FSK_CRC_ENABLED, 0, 0, 0, 2000 );
-
-    Radio.SetRxConfig( MODEM_FSK, FSK_BANDWIDTH, FSK_DATARATE,
-                         0, FSK_AFC_BANDWIDTH, FSK_PREAMBLE_LENGTH,
-                         0, FSK_FIX_LENGTH_PAYLOAD_ON, 0, FSK_CRC_ENABLED,
-                         0, 0, false, true );
-
-#else
-
-#error "Please define a modem in the compiler options."
-
-#endif
-
-    debug_if( DEBUG_MESSAGE, "Starting Ping-Pong loop\r\n" );
-
-    led = 0;
-
-    Radio.Rx( RX_TIMEOUT_VALUE );
-
-    while( 1 )
-    {
-        switch( State )
-        {
-        case RX:
-            if( isMaster == true )
-            {
-                if( BufferSize > 0 )
-                {
-                    if( strncmp( ( const char* )Buffer, ( const char* )PongMsg, 4 ) == 0 )
-                    {
-                        led = !led;
-                        debug( "...Pong\r\n" );
-                        // Send the next PING frame
-                        strcpy( ( char* )Buffer, ( char* )PingMsg );
-                        // We fill the buffer with numbers for the payload
-                        for( i = 4; i < BufferSize; i++ )
-                        {
-                            Buffer[i] = i - 4;
-                        }
-                        wait_ms( 10 );
-                        Radio.Send( Buffer, BufferSize );
-                    }
-                    else if( strncmp( ( const char* )Buffer, ( const char* )PingMsg, 4 ) == 0 )
-                    { // A master already exists then become a slave
-                        debug( "...Ping\r\n" );
-                        led = !led;
-                        isMaster = false;
-                        // Send the next PONG frame
-                        strcpy( ( char* )Buffer, ( char* )PongMsg );
-                        // We fill the buffer with numbers for the payload
-                        for( i = 4; i < BufferSize; i++ )
-                        {
-                            Buffer[i] = i - 4;
-                        }
-                        wait_ms( 10 );
-                        Radio.Send( Buffer, BufferSize );
-                    }
-                    else // valid reception but neither a PING or a PONG message
-                    {    // Set device as master ans start again
-                        isMaster = true;
-                        Radio.Rx( RX_TIMEOUT_VALUE );
-                    }
-                }
-            }
-            else
-            {
-                if( BufferSize > 0 )
-                {
-                    if( strncmp( ( const char* )Buffer, ( const char* )PingMsg, 4 ) == 0 )
-                    {
-                        led = !led;
-                        debug( "...Ping\r\n" );
-                        // Send the reply to the PING string
-                        strcpy( ( char* )Buffer, ( char* )PongMsg );
-                        // We fill the buffer with numbers for the payload
-                        for( i = 4; i < BufferSize; i++ )
-                        {
-                            Buffer[i] = i - 4;
-                        }
-                        wait_ms( 10 );
-                        Radio.Send( Buffer, BufferSize );
-                    }
-                    else // valid reception but not a PING as expected
-                    {    // Set device as master and start again
-                        isMaster = true;
-                        Radio.Rx( RX_TIMEOUT_VALUE );
-                    }
-                }
-            }
-            State = LOWPOWER;
-            break;
-        case TX:
-            led = !led;
-            if( isMaster == true )  
-            {
-                debug( "Ping...\r\n" );
-            }
-            else
-            {
-                debug( "Pong...\r\n" );
-            }
-            Radio.Rx( RX_TIMEOUT_VALUE );
-            State = LOWPOWER;
-            break;
-        case RX_TIMEOUT:
-            if( isMaster == true )
-            {
-                // Send the next PING frame
-                strcpy( ( char* )Buffer, ( char* )PingMsg );
-                for( i = 4; i < BufferSize; i++ )
-                {
-                    Buffer[i] = i - 4;
-                }
-                wait_ms( 10 );
-                Radio.Send( Buffer, BufferSize );
-            }
-            else
-            {
-                Radio.Rx( RX_TIMEOUT_VALUE );
-            }
-            State = LOWPOWER;
-            break;
-        case RX_ERROR:
-            // We have received a Packet with a CRC error, send reply as if packet was correct
-            if( isMaster == true )
-            {
-                // Send the next PING frame
-                strcpy( ( char* )Buffer, ( char* )PingMsg );
-                for( i = 4; i < BufferSize; i++ )
-                {
-                    Buffer[i] = i - 4;
-                }
-                wait_ms( 10 );
-                Radio.Send( Buffer, BufferSize );
-            }
-            else
-            {
-                // Send the next PONG frame
-                strcpy( ( char* )Buffer, ( char* )PongMsg );
-                for( i = 4; i < BufferSize; i++ )
-                {
-                    Buffer[i] = i - 4;
-                }
-                wait_ms( 10 );
-                Radio.Send( Buffer, BufferSize );
-            }
-            State = LOWPOWER;
-            break;
-        case TX_TIMEOUT:
-            Radio.Rx( RX_TIMEOUT_VALUE );
-            State = LOWPOWER;
-            break;
-        case LOWPOWER:
-            break;
-        default:
-            State = LOWPOWER;
-            break;
-        }
-    }
+   
 }
-
-void OnTxDone( void )
-{
-    Radio.Sleep( );
-    State = TX;
-    debug_if( DEBUG_MESSAGE, "> OnTxDone\n\r" );
-}
-
-void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
-{
-    Radio.Sleep( );
-    BufferSize = size;
-    memcpy( Buffer, payload, BufferSize );
-    RssiValue = rssi;
-    SnrValue = snr;
-    State = RX;
-    debug_if( DEBUG_MESSAGE, "> OnRxDone\n\r" );
-}
-
-void OnTxTimeout( void )
-{
-    Radio.Sleep( );
-    State = TX_TIMEOUT;
-    debug_if( DEBUG_MESSAGE, "> OnTxTimeout\n\r" );
-}
-
-void OnRxTimeout( void )
-{
-    Radio.Sleep( );
-    Buffer[BufferSize] = 0;
-    State = RX_TIMEOUT;
-    debug_if( DEBUG_MESSAGE, "> OnRxTimeout\n\r" );
-}
-
-void OnRxError( void )
-{
-    Radio.Sleep( );
-    State = RX_ERROR;
-    debug_if( DEBUG_MESSAGE, "> OnRxError\n\r" );
-}