yoshinari kou
LAN(Wi-Fi) air controller through the Internet. Also you can use TANK. See:http://wizard.nestegg.jp/lanir.html
Dependencies: EthernetNetIf mbed HTTPServer
Revision 0:6f9648f5eaab, committed 2011-08-01
- Comitter:
- halfpitch
- Date:
- Mon Aug 01 19:21:55 2011 +0000
- Commit message:
- Rev.A
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EthernetNetIf.lib Mon Aug 01 19:21:55 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/donatien/code/EthernetNetIf/#bc7df6da7589
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FATFileSystem.lib Mon Aug 01 19:21:55 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_unsupported/code/fatfilesystem/ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HTTPServer.lib Mon Aug 01 19:21:55 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/donatien/code/HTTPServer/#d753966e4d97
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RPCInterface.lib Mon Aug 01 19:21:55 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/MichaelW/code/RPCInterface/#a9e2c45097c8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.cpp Mon Aug 01 19:21:55 2011 +0000
@@ -0,0 +1,441 @@
+/* mbed Microcontroller Library - SDFileSystem
+ * Copyright (c) 2008-2009, sford
+ */
+
+// VERY DRAFT CODE! Needs serious rework/refactoring
+
+/* Introduction
+ * ------------
+ * SD and MMC cards support a number of interfaces, but common to them all
+ * is one based on SPI. This is the one I'm implmenting because it means
+ * it is much more portable even though not so performant, and we already
+ * have the mbed SPI Interface!
+ *
+ * The main reference I'm using is Chapter 7, "SPI Mode" of:
+ * http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
+ *
+ * SPI Startup
+ * -----------
+ * The SD card powers up in SD mode. The SPI interface mode is selected by
+ * asserting CS low and sending the reset command (CMD0). The card will
+ * respond with a (R1) response.
+ *
+ * CMD8 is optionally sent to determine the voltage range supported, and
+ * indirectly determine whether it is a version 1.x SD/non-SD card or
+ * version 2.x. I'll just ignore this for now.
+ *
+ * ACMD41 is repeatedly issued to initialise the card, until "in idle"
+ * (bit 0) of the R1 response goes to '0', indicating it is initialised.
+ *
+ * You should also indicate whether the host supports High Capicity cards,
+ * and check whether the card is high capacity - i'll also ignore this
+ *
+ * SPI Protocol
+ * ------------
+ * The SD SPI protocol is based on transactions made up of 8-bit words, with
+ * the host starting every bus transaction by asserting the CS signal low. The
+ * card always responds to commands, data blocks and errors.
+ *
+ * The protocol supports a CRC, but by default it is off (except for the
+ * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
+ * I'll leave the CRC off I think!
+ *
+ * Standard capacity cards have variable data block sizes, whereas High
+ * Capacity cards fix the size of data block to 512 bytes. I'll therefore
+ * just always use the Standard Capacity cards with a block size of 512 bytes.
+ * This is set with CMD16.
+ *
+ * You can read and write single blocks (CMD17, CMD25) or multiple blocks
+ * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
+ * the card gets a read command, it responds with a response token, and then
+ * a data token or an error.
+ *
+ * SPI Command Format
+ * ------------------
+ * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
+ *
+ * +---------------+------------+------------+-----------+----------+--------------+
+ * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
+ * +---------------+------------+------------+-----------+----------+--------------+
+ *
+ * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
+ *
+ * All Application Specific commands shall be preceded with APP_CMD (CMD55).
+ *
+ * SPI Response Format
+ * -------------------
+ * The main response format (R1) is a status byte (normally zero). Key flags:
+ * idle - 1 if the card is in an idle state/initialising
+ * cmd - 1 if an illegal command code was detected
+ *
+ * +-------------------------------------------------+
+ * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
+ * +-------------------------------------------------+
+ *
+ * R1b is the same, except it is followed by a busy signal (zeros) until
+ * the first non-zero byte when it is ready again.
+ *
+ * Data Response Token
+ * -------------------
+ * Every data block written to the card is acknowledged by a byte
+ * response token
+ *
+ * +----------------------+
+ * | xxx | 0 | status | 1 |
+ * +----------------------+
+ * 010 - OK!
+ * 101 - CRC Error
+ * 110 - Write Error
+ *
+ * Single Block Read and Write
+ * ---------------------------
+ *
+ * Block transfers have a byte header, followed by the data, followed
+ * by a 16-bit CRC. In our case, the data will always be 512 bytes.
+ *
+ * +------+---------+---------+- - - -+---------+-----------+----------+
+ * | 0xFE | data[0] | data[1] | | data[n] | crc[15:8] | crc[7:0] |
+ * +------+---------+---------+- - - -+---------+-----------+----------+
+ */
+
+#include "SDFileSystem.h"
+
+#define SD_COMMAND_TIMEOUT 5000
+
+SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
+ FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) {
+ _cs = 1;
+}
+
+#define R1_IDLE_STATE (1 << 0)
+#define R1_ERASE_RESET (1 << 1)
+#define R1_ILLEGAL_COMMAND (1 << 2)
+#define R1_COM_CRC_ERROR (1 << 3)
+#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
+#define R1_ADDRESS_ERROR (1 << 5)
+#define R1_PARAMETER_ERROR (1 << 6)
+
+// Types
+// - v1.x Standard Capacity
+// - v2.x Standard Capacity
+// - v2.x High Capacity
+// - Not recognised as an SD Card
+
+#define SDCARD_FAIL 0
+#define SDCARD_V1 1
+#define SDCARD_V2 2
+#define SDCARD_V2HC 3
+
+int SDFileSystem::initialise_card() {
+ // Set to 100kHz for initialisation, and clock card with cs = 1
+ _spi.frequency(100000);
+ _cs = 1;
+ for(int i=0; i<16; i++) {
+ _spi.write(0xFF);
+ }
+
+ // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
+ if(_cmd(0, 0) != R1_IDLE_STATE) {
+ fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n");
+ return SDCARD_FAIL;
+ }
+
+ // send CMD8 to determine whther it is ver 2.x
+ int r = _cmd8();
+ if(r == R1_IDLE_STATE) {
+ return initialise_card_v2();
+ } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
+ return initialise_card_v1();
+ } else {
+ fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n");
+ return SDCARD_FAIL;
+ }
+}
+
+int SDFileSystem::initialise_card_v1() {
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ _cmd(55, 0);
+ if(_cmd(41, 0) == 0) {
+ return SDCARD_V1;
+ }
+ }
+
+ fprintf(stderr, "Timeout waiting for v1.x card\n");
+ return SDCARD_FAIL;
+}
+
+int SDFileSystem::initialise_card_v2() {
+
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ _cmd(55, 0);
+ if(_cmd(41, 0) == 0) {
+ _cmd58();
+ return SDCARD_V2;
+ }
+ }
+
+ fprintf(stderr, "Timeout waiting for v2.x card\n");
+ return SDCARD_FAIL;
+}
+
+int SDFileSystem::disk_initialize() {
+
+ int i = initialise_card();
+// printf("init card = %d\n", i);
+// printf("OK\n");
+
+ _sectors = _sd_sectors();
+
+ // Set block length to 512 (CMD16)
+ if(_cmd(16, 512) != 0) {
+ fprintf(stderr, "Set 512-byte block timed out\n");
+ return 1;
+ }
+
+ _spi.frequency(1000000); // Set to 1MHz for data transfer
+ return 0;
+}
+
+int SDFileSystem::disk_write(const char *buffer, int block_number) {
+ // set write address for single block (CMD24)
+ if(_cmd(24, block_number * 512) != 0) {
+ return 1;
+ }
+
+ // send the data block
+ _write(buffer, 512);
+ return 0;
+}
+
+int SDFileSystem::disk_read(char *buffer, int block_number) {
+ // set read address for single block (CMD17)
+ if(_cmd(17, block_number * 512) != 0) {
+ return 1;
+ }
+
+ // receive the data
+ _read(buffer, 512);
+ return 0;
+}
+
+int SDFileSystem::disk_status() { return 0; }
+int SDFileSystem::disk_sync() { return 0; }
+int SDFileSystem::disk_sectors() { return _sectors; }
+
+// PRIVATE FUNCTIONS
+
+int SDFileSystem::_cmd(int cmd, int arg) {
+ _cs = 0;
+
+ // send a command
+ _spi.write(0x40 | cmd);
+ _spi.write(arg >> 24);
+ _spi.write(arg >> 16);
+ _spi.write(arg >> 8);
+ _spi.write(arg >> 0);
+ _spi.write(0x95);
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ int response = _spi.write(0xFF);
+ if(!(response & 0x80)) {
+ _cs = 1;
+ _spi.write(0xFF);
+ return response;
+ }
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return -1; // timeout
+}
+int SDFileSystem::_cmdx(int cmd, int arg) {
+ _cs = 0;
+
+ // send a command
+ _spi.write(0x40 | cmd);
+ _spi.write(arg >> 24);
+ _spi.write(arg >> 16);
+ _spi.write(arg >> 8);
+ _spi.write(arg >> 0);
+ _spi.write(0x95);
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ int response = _spi.write(0xFF);
+ if(!(response & 0x80)) {
+ return response;
+ }
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return -1; // timeout
+}
+
+
+int SDFileSystem::_cmd58() {
+ _cs = 0;
+ int arg = 0;
+
+ // send a command
+ _spi.write(0x40 | 58);
+ _spi.write(arg >> 24);
+ _spi.write(arg >> 16);
+ _spi.write(arg >> 8);
+ _spi.write(arg >> 0);
+ _spi.write(0x95);
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ int response = _spi.write(0xFF);
+ if(!(response & 0x80)) {
+ int ocr = _spi.write(0xFF) << 24;
+ ocr |= _spi.write(0xFF) << 16;
+ ocr |= _spi.write(0xFF) << 8;
+ ocr |= _spi.write(0xFF) << 0;
+// printf("OCR = 0x%08X\n", ocr);
+ _cs = 1;
+ _spi.write(0xFF);
+ return response;
+ }
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return -1; // timeout
+}
+
+int SDFileSystem::_cmd8() {
+ _cs = 0;
+
+ // send a command
+ _spi.write(0x40 | 8); // CMD8
+ _spi.write(0x00); // reserved
+ _spi.write(0x00); // reserved
+ _spi.write(0x01); // 3.3v
+ _spi.write(0xAA); // check pattern
+ _spi.write(0x87); // crc
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) {
+ char response[5];
+ response[0] = _spi.write(0xFF);
+ if(!(response[0] & 0x80)) {
+ for(int j=1; j<5; j++) {
+ response[i] = _spi.write(0xFF);
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return response[0];
+ }
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return -1; // timeout
+}
+
+int SDFileSystem::_read(char *buffer, int length) {
+ _cs = 0;
+
+ // read until start byte (0xFF)
+ while(_spi.write(0xFF) != 0xFE);
+
+ // read data
+ for(int i=0; i<length; i++) {
+ buffer[i] = _spi.write(0xFF);
+ }
+ _spi.write(0xFF); // checksum
+ _spi.write(0xFF);
+
+ _cs = 1;
+ _spi.write(0xFF);
+ return 0;
+}
+
+int SDFileSystem::_write(const char *buffer, int length) {
+ _cs = 0;
+
+ // indicate start of block
+ _spi.write(0xFE);
+
+ // write the data
+ for(int i=0; i<length; i++) {
+ _spi.write(buffer[i]);
+ }
+
+ // write the checksum
+ _spi.write(0xFF);
+ _spi.write(0xFF);
+
+ // check the repsonse token
+ if((_spi.write(0xFF) & 0x1F) != 0x05) {
+ _cs = 1;
+ _spi.write(0xFF);
+ return 1;
+ }
+
+ // wait for write to finish
+ while(_spi.write(0xFF) == 0);
+
+ _cs = 1;
+ _spi.write(0xFF);
+ return 0;
+}
+
+static int ext_bits(char *data, int msb, int lsb) {
+ int bits = 0;
+ int size = 1 + msb - lsb;
+ for(int i=0; i<size; i++) {
+ int position = lsb + i;
+ int byte = 15 - (position >> 3);
+ int bit = position & 0x7;
+ int value = (data[byte] >> bit) & 1;
+ bits |= value << i;
+ }
+ return bits;
+}
+
+int SDFileSystem::_sd_sectors() {
+
+ // CMD9, Response R2 (R1 byte + 16-byte block read)
+ if(_cmdx(9, 0) != 0) {
+ fprintf(stderr, "Didn't get a response from the disk\n");
+ return 0;
+ }
+
+ char csd[16];
+ if(_read(csd, 16) != 0) {
+ fprintf(stderr, "Couldn't read csd response from disk\n");
+ return 0;
+ }
+
+ // csd_structure : csd[127:126]
+ // c_size : csd[73:62]
+ // c_size_mult : csd[49:47]
+ // read_bl_len : csd[83:80] - the *maximum* read block length
+
+ int csd_structure = ext_bits(csd, 127, 126);
+ int c_size = ext_bits(csd, 73, 62);
+ int c_size_mult = ext_bits(csd, 49, 47);
+ int read_bl_len = ext_bits(csd, 83, 80);
+
+// printf("CSD_STRUCT = %d\n", csd_structure);
+
+ if(csd_structure != 0) {
+ fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n");
+ return 0;
+ }
+
+ // memory capacity = BLOCKNR * BLOCK_LEN
+ // where
+ // BLOCKNR = (C_SIZE+1) * MULT
+ // MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8)
+ // BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12)
+
+ int block_len = 1 << read_bl_len;
+ int mult = 1 << (c_size_mult + 2);
+ int blocknr = (c_size + 1) * mult;
+ int capacity = blocknr * block_len;
+
+ int blocks = capacity / 512;
+
+ return blocks;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.h Mon Aug 01 19:21:55 2011 +0000
@@ -0,0 +1,66 @@
+/* mbed Microcontroller Library - SDFileSystem
+ * Copyright (c) 2008-2009, sford
+ */
+
+// VERY DRAFT CODE!!!
+
+#ifndef SDFILESYSTEM_H
+#define SDFILESYSTEM_H
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+
+/* Class: SDFileSystem
+ * Access the filesystem on an SD Card using SPI
+ *
+ * Example:
+ * > SDFileSystem sd(p5, p6, p7, p12, "sd");
+ * >
+ * > int main() {
+ * > FILE *fp = fopen("/sd/myfile.txt", "w");
+ * > fprintf(fp, "Hello World!\n");
+ * > fclose(fp);
+ * > }
+ */
+class SDFileSystem : public FATFileSystem {
+public:
+
+ /* Constructor: SDFileSystem
+ * Create the File System for accessing an SD Card using SPI
+ *
+ * Variables:
+ * mosi - SPI mosi pin connected to SD Card
+ * miso - SPI miso pin conencted to SD Card
+ * sclk - SPI sclk pin connected to SD Card
+ * cs - DigitalOut pin used as SD Card chip select
+ * name - The name used to access the filesystem
+ */
+ SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
+ virtual int disk_initialize();
+ virtual int disk_write(const char *buffer, int block_number);
+ virtual int disk_read(char *buffer, int block_number);
+ virtual int disk_status();
+ virtual int disk_sync();
+ virtual int disk_sectors();
+
+protected:
+
+ int _cmd(int cmd, int arg);
+ int _cmdx(int cmd, int arg);
+ int _cmd8();
+ int _cmd58();
+ int initialise_card();
+ int initialise_card_v1();
+ int initialise_card_v2();
+
+
+ int _read(char *buffer, int length);
+ int _write(const char *buffer, int length);
+ int _sd_sectors();
+ int _sectors;
+
+ SPI _spi;
+ DigitalOut _cs;
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Semaphore.h Mon Aug 01 19:21:55 2011 +0000
@@ -0,0 +1,34 @@
+// Copyright (C) 2010 Robert M. Bouwens
+
+#ifndef _SEMAPHORE_H_
+#define _SEMAPHORE_H_
+
+/*
+ * http://mbed.org/forum/mbed/topic/181/#comment-799
+ */
+
+class Semaphore {
+public:
+ Semaphore(): s(SemFree) {};
+
+ bool try_enter() {
+ int oldval = __ldrex(&s);
+ if (oldval == SemTaken) {
+ __clrex();
+ return false;
+ }
+ s = SemTaken;
+ __clrex();
+ return SemTaken == s;
+ };
+
+ void release() {
+ s = SemFree;
+ };
+
+private:
+ enum { SemFree = 1, SemTaken = 2 };
+ volatile int s;
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Aug 01 19:21:55 2011 +0000
@@ -0,0 +1,307 @@
+//////////////////////////////////////////////////////////
+//Nest Egg Inc. //
+//Wi-Fi TANK with Air conditioner //
+// //
+//SD card module must be Normal chip select mode. //
+//Do not use wwChipSelect.cpp & wwChipSelect.h //
+//White Wizard Chip Select setting must be //
+//invalidated. //
+//////////////////////////////////////////////////////////
+
+#include "mbed.h"
+#include "EthernetNetIf.h"
+#include "HTTPServer.h"
+#include "RPCFunction.h"
+
+#include "string.h"
+#include "stdio.h"
+
+//SD-----------------------
+#include "SDFileSystem.h"
+
+//semaphore----------------
+#include "Semaphore.h"
+
+#define SDch 0x05
+#define MAXdatanum 500
+#define TimeLimit 3000
+#define pul38khz 26
+#define pul38k_ON 13
+#define pul38k_OFF 26
+
+#define test 1
+
+//semaphore----------------
+Semaphore sem;
+volatile char shared_resource = 'a'; // This is a shared resource for example.
+#define LOCK() sem.try_enter()
+#define UNLOCK() sem.release()
+
+//prototype
+void send_pulse(int, int);
+
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+//-------------------------
+
+//IR-----------------------
+PwmOut Pulse_pin(p25);
+//-------------------------
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+DigitalOut motor1(p21);
+DigitalOut motor2(p22);
+DigitalOut motor3(p23);
+DigitalOut motor4(p24);
+
+AnalogIn ad19(p19);
+AnalogIn ad20(p20);
+
+#if 1
+/*
+ * Use DHCP
+ */
+ EthernetNetIf ethif;
+#else
+/*
+ * Use "static IP address" (Parameters:IP, Subnet mask, Gateway, DNS)
+ */
+ EthernetNetIf ethif(IpAddr(xxx,xxx,xxx,xxx), IpAddr(xxx,xxx,xxx,xxx), IpAddr(xxx,xxx,xxx,xxx), IpAddr(xxx,xxx,xxx,xxx));
+#endif
+
+ HTTPServer server;
+ LocalFileSystem local("local");
+ void MotorSig(char *input,char *output);
+ void ReadStatus(char *input,char *output);
+ RPCFunction rpcFunc(&MotorSig, "MotorSig");
+ RPCFunction readrpcFunc(&ReadStatus, "ReadStatus");
+
+int main(void) {
+ //Base::add_rpc_class<DigitalOut>();
+ //Base::add_rpc_class<AnalogIn>();
+
+ if (ethif.setup()) {
+ error("Ethernet setup failed.");
+ return 1;
+ }
+
+ IpAddr ethIp=ethif.getIp();
+
+ led1=1;
+ wait(1);
+ server.addHandler<SimpleHandler>("/hello");
+ server.addHandler<RPCHandler>("/rpc");
+ FSHandler::mount("/local", "/");
+ server.addHandler<FSHandler>("/");
+ server.bind(80);
+ while (1) {
+ Net::poll();
+ }
+
+}
+
+
+void MotorSig(char *input , char *output)
+{
+ //for data-----------------------
+ int IRdata[MAXdatanum];
+ int pulsetime[MAXdatanum];
+ int j = 0;
+ int datanum = 0;
+ int pHL = 0;
+ int t = 0;
+// FILE *fp1;
+
+ //text---------------------------
+ int length = 0;
+ char *str;
+ char *str1;
+ char str2[30] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+ char str3[30] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+
+ //get input data length
+ for (length = 0; input[length] != '\0'; length++);
+
+ //check data
+ printf("length = %d : input = %s\n", length, input);
+
+ //check period of extension
+ if((length > 4)&&(input[length-4] == '.')){
+ //data
+ //printf("data mode start\n");
+
+ //read file from micro SD card
+ str1 = "/sd/";
+ //printf("%s\n",str1);
+ for(j = 0; j < length; j++){
+ //printf("j=%d input[%d] = %c\n",j,j,input[j]);
+ str2[j] = input[j];
+ }
+
+ // printf("str1 = %s\n",str1);
+ //printf("str2 = %s\n",str2);
+
+ strcpy(str3, str1);
+ //printf("strcpy = %s\n",str3);
+
+ strcat(str3, str2);
+ //printf("strcat = %s\n",str3);
+
+ for (length = 0; (str3[length] != '\0'); length++);
+
+ FILE *fp1 = fopen(str3, "r");
+ //FILE *fp1 = fopen("/sd/off.csv", "r");
+
+ if(fp1 == NULL){
+ printf("can not open data file!\n");
+
+ }else{
+ printf("loading %s ...\n",str3);
+ datanum = 0;
+
+ fscanf(fp1, "%d\n",&datanum); //read from SD
+ printf("datanum, %d\n",datanum);
+
+ Pulse_pin.period_us(pul38khz);
+
+ j=0;
+ for(j=0;j<datanum;++j){
+ fscanf(fp1, "%d,%d,\n", &pHL, &t);
+ IRdata[j] = pHL;
+ pulsetime[j] = t;
+ }
+
+
+ fclose(fp1);
+ printf("close fp1\n");
+
+ j=0;
+ if (LOCK()) {
+ for(j=0;j<datanum;++j){
+ send_pulse(IRdata[j],pulsetime[j]);
+ }
+ UNLOCK();
+ printf("WW sent IR data!\n");
+ }
+
+ Pulse_pin.pulsewidth(pul38k_OFF);
+ }
+
+ }else{
+ //controller
+ printf("controller mode start\n");
+
+ str = "forward";
+ if (strcmp(input,str) == 0){
+ //printf("input OK!\n");
+ motor1 = 0;
+ motor2 = 1;
+ motor3 = 1;
+ motor4 = 0;
+
+ led1 = 0;
+ led2 = 1;
+ led3 = 1;
+ led4 = 0;
+ }
+
+ str = "stop";
+ if (strcmp(input,str) == 0){
+ //printf("input OK!\n");
+ motor1 = 0;
+ motor2 = 0;
+ motor3 = 0;
+ motor4 = 0;
+
+ led1 = 0;
+ led2 = 0;
+ led3 = 0;
+ led4 = 0;
+ }
+
+ str = "back";
+ if (strcmp(input,str) == 0){
+ //printf("input OK!\n");
+ motor1 = 1;
+ motor2 = 0;
+ motor3 = 0;
+ motor4 = 1;
+
+ led1 = 1;
+ led2 = 0;
+ led3 = 0;
+ led4 = 1;
+ }
+
+ str = "right";
+ if (strcmp(input,str) == 0){
+ //printf("input OK!\n");
+ motor1 = 0;
+ motor2 = 1;
+ motor3 = 0;
+ motor4 = 1;
+
+ led1 = 0;
+ led2 = 1;
+ led3 = 0;
+ led4 = 1;
+ }
+
+ str = "left";
+ if (strcmp(input,str) == 0){
+ //printf("input OK!\n");
+ motor1 = 1;
+ motor2 = 0;
+ motor3 = 1;
+ motor4 = 0;
+
+ led1 = 1;
+ led2 = 0;
+ led3 = 1;
+ led4 = 0;
+ }
+ }
+ //-------------------------------
+}
+
+void ReadStatus(char * input, char * output){
+
+ float ADdata19,ADdata20,temp,humid;
+ char str[30] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+
+ ADdata19 = ad19.read()*3.3;
+ ADdata20 = ad20.read()*3.3;
+
+ temp = 100*(ADdata20-0.5); //temp
+ humid = (80.0/1.3)*(ADdata19-0.6); //humid
+
+ sprintf( str, "T : %.1f <br> H : %.1f", temp, humid);
+ sprintf(output, str);
+}
+
+void send_pulse(int pHL, int t){
+
+ int k = 0;
+
+ if(pHL == 0){
+ //38kHz pulse on
+ Pulse_pin.pulsewidth_us(pul38k_ON);
+
+ }else if(pHL == 1){
+ //38kHz pulse off
+ Pulse_pin.pulsewidth(pul38k_OFF);
+
+ }else{
+ Pulse_pin.pulsewidth(pul38k_OFF);
+ printf("\n\n-----Data format is incorrect!!-----\n pHL = %d, t = %d \n", pHL, t);
+
+ }
+ for(k = 0; k < t; ++k){
+ wait_us(50);
+ }
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Aug 01 19:21:55 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912