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Code for Technion Formula car sensors reader
Dependencies: mbed Buffer FATFileSystem
Fork of SX1272PingPong by
This is code is part of a Technion course project in advanced IoT, implementing a device to read and transmit sensors data from a Formula racing car built by students at Technion - Israel Institute of Technology.
How to install
- Create an account on Mbed: https://os.mbed.com/account/signup/
- Import project into Compiler
- In the Program Workspace select "Formula_Nucleo_Reader"
- Select a Platform like so:
- Click button at top-left
- Add Board
- Search "NUCLEO F103RB" and then "Add to your Mbed Compiler"
- Finally click "Compile", if the build was successful, the binary would download automatically
- To install it on device simply plug it in to a PC, open device drive and drag then drop binary file in it
Diff: main.cpp
- Revision:
- 15:2e0d977dbb31
- Parent:
- 14:ab6eecd44b7a
diff -r ab6eecd44b7a -r 2e0d977dbb31 main.cpp --- 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" ); -}