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dj1711572002/USBHOST_Dual_Buf172_sdFAT_rev042.ino Secret

Created January 19, 2022 14:40
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Arduino Tennsyduino GNSS Ublox F9P-F9H MovingBase Logger for Teensy4.1
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USBHOST_Dual_Buf172_sdFAT_rev042.ino
// Simple test of USB Host Mouse/Keyboard
//
// This example is in the public domain
//-----SD log--------------------------
//#include <SD.h>
#include "SdFat.h"
#include <SPI.h>
// Setup for built in SD card.
#define SPI_CLOCK SD_SCK_MHZ(50)
#define SD_CONFIG SdioConfig(FIFO_SDIO)
// SdFat-beta usage
SdFs sd;
FsFile myFile;
int n;//counter
int i,j,k;
//const int chipSelect =BUILTIN_SDCARD;// 10;
//String dataString,dataString1;
int kaisu;
//-----USB HOST
#include "USBHost_t36.h"
#define USBBAUD 115200
uint32_t baud = USBBAUD;
uint32_t format = USBHOST_SERIAL_8N1;
USBHost myusb;
USBHub hub1(myusb);
USBHub hub2(myusb);
USBHIDParser hid1(myusb);
USBHIDParser hid2(myusb);
USBHIDParser hid3(myusb);
USBSerial_BigBuffer userial(myusb);
USBSerial_BigBuffer userialb(myusb);
USBSerial_BigBuffer userialb2(myusb);
uint8_t buf1[200],buf2[200],buf3[200];
uint8_t dummy;
char data0,datab,datab2;
USBDriver *drivers[] = {&hub1, &hub2, &hid1, &hid2, &hid3, &userial, &userialb, &userialb2};
#define CNT_DEVICES (sizeof(drivers)/sizeof(drivers[0]))
const char * driver_names[CNT_DEVICES] = {"Hub1", "Hub2", "HID1", "HID2", "HID3", "USERIAL1", "USERIALB", "USERIALB2" };
bool driver_active[CNT_DEVICES] = {false, false, false, false};
//Data
uint8_t Buf172[172];
uint8_t PVTdata[100];
long PVTval[33];
uint8_t RELPOSdata[72];
long RELPOSval[21];
uint8_t fdata[4];
int Num1;
char keyin;
int Startflag=0;
//timestamp
char fnameB[30];//UBX Binary File name
char fnameV[30];//UBX Value File name NAV-PVT+NAV-RELPOSNED
int Sflag=0;
//=================================================================
void setup()
{
Serial.begin(115200);
while (!Serial && (millis() < 5000)) ; // wait for Arduino Serial Monitor
Serial.println("\n\nUSB Host Testing - Serial");
myusb.begin();
Serial1.begin(115200); // We will echo stuff Through Serial1...
//-----------SD CARD Initialize------------------
if (!sd.begin(SD_CONFIG)) {
Serial.println("initialization failed!");
return;
}
Serial.println("initialization done.");
Sflag=0;
}//set up
//=======================================================================================
//==========LOOP ========================================================================
//=======================================================================================
void loop(){
digitalWrite(13, !digitalRead(13));
myusb.Task();
updateDeviceList();
//***********************************************************
//****************DATA ACQUSITION From USB HOST**************
//***********************************************************
//---USB HOST Ports read--------------------------
//2ポートのデータをBuf172[]にまとめて収納1周期トータル172byteなので順不同で配列に格納して後で、ばらす。
while(userial.available()){
Buf172[Num1]=userial.read();
Num1++;
}//---USERIAL read finished---------------------
//---USERIALB Port read-------------------
while(userialb.available()){
Buf172[Num1]=userialb.read();
Num1++;
}//useralb read finished
//:::::::::: Logging & Monitoring data process 172bytes::::::::::::::::::::::
//1周期分のデータ取得終了であと90msecあるのでその間に各種処理を行う
if(Num1>=172){ //a MB data read finished
Num1=0;
//----PVT RELPOS Deviding--- 172byteのデータの先頭がPVTかRELPSOか判別して、PVTdata[]RELPOSdata[]に仕分ける-----------------------------------------
if(Buf172[0] == 0xB5 && Buf172[1] == 0x62 && Buf172[2] == 0x01 && Buf172[3] == 0x07){//1st PVT Header
for (i=0;i<100;i++){
PVTdata[i]=Buf172[i];
}
for (i=100;i<172;i++){
RELPOSdata[i-100]=Buf172[i];
}
}//if end
else if(Buf172[0] == 0xB5 && Buf172[1] == 0x62 && Buf172[2] == 0x01 && Buf172[3] == 0x3C){//1st RELPOS Header
for(i=0;i<72;i++){
RELPOSdata[i]=Buf172[i];
}
for(i=72;i<172;i++){
PVTdata[i-72]=Buf172[i];
}
}//else end
//PVTdataとRELPOSdataをUBX実データに変換してPVTval[33]とRELPOSval[21]に格納
//==============PVTcnv,RELPOScnv バイナリを実数データ変換======
int result=PVTcnv(PVTdata,PVTval);
result=RELPOScnv(RELPOSdata,RELPOSval);
//=========================================================
//*********ファイル名をタイムスタンプで作ってファイルOPEN****************************************************
if (PVTval[11]==131 && Sflag==0){//start
Sflag=1;
//---PVTval[1]=Year/[2]=Month/[3]=Day/[4]=Hour/[5]=Min/[6]=sec---
int JST=(PVTval[4]+9)%24;//UTC hourをJSTに変換
String stime=String(PVTval[2],DEC)+"-"+String(PVTval[3],DEC)+"-"+String(JST,DEC)+"-"+String(PVTval[5],DEC);//MMDDHHMM
String stimeB="/"+stime+".ubx";//UBX Binary File
String stimeV="/"+stime+".txt";//UBX Value Text File
int slenB=stimeB.length()+1;
int slenV=stimeV.length()+1;
//ファイル名はchar配列なのでStringからchar配列変換　fname[]を得る
stimeB.toCharArray(fnameB,slenB);//stimeB to fnameB[] chara Array
stimeV.toCharArray(fnameV,slenV);//stimeV to fnameV[] chara Array
Serial.println();
Serial.print("fnameB=");
Serial.print(stimeB);
Serial.print("/fnameV=");
Serial.println(stimeV);
Serial.print("TimeStamp:Sflag=");
Serial.println(Sflag);
//myFile = sd.open(fnameB, FILE_WRITE);
//myFile.truncate(0);//Appned　
Sflag=1;
}//timeStamp making end
//*****************************SD Write**********************************
if (PVTval[11]==131 ){//start
n=0;
int stime;
stime=micros();
myFile = sd.open(fnameB, FILE_WRITE);
while(n<172){//PVT write to SD card
if(myFile){//myFileチェックは、書き込み直前で行う。
if(n<100){
myFile.write(PVTdata[n]);
}
if(n>=100 && n<172){
myFile.write(RELPOSdata[n-100]);
}
}else{
Serial.print("myFile Error");
}
n++;
}//while write finished
delay(10);//OPEN-CLOSE時間をあける
myFile.close(); //毎回クローズして万一のアクシデントに備える
//if(Serial.available() && Serial.read() >= 0) {
// Sflag=0;
// }
/*
if(kaisu>1000){//デバッグ用に千回でとめる
Serial.print("SD closed time=");
Serial.print(millis());
exit(0);//loop exit
}
//Serial.println("SD closed write Finished");
//kaisu++;
//Serial.print(kaisu);
//Serial.print(":SD write time=");
//Serial.print(micros()-stime);
*/
}//SD Write end
//========Ucenter OUTPUT=======================
for(i=0;i<172;i++){
if(i<100){
Serial.write(PVTdata[i]);
}
if(i>=100 && i<172){
Serial.write(RELPOSdata[i-100]);
}
}
/*
//======Serialprint Monitor PVTval RELPOSval==========
Serial.println();
Serial.print("PVTval:");
for(i=0;i<33;i++){
Serial.print(PVTval[i]);
Serial.print(",");
}
Serial.println();
Serial.println();
Serial.print("RELPOSval:");
for(i=0;i<21;i++){
Serial.print(RELPOSval[i]);
Serial.print(",");
}
Serial.println();
*/
}// if 172 end
}//loop finished
//======================================================================================
//==================LOOP END============================================================
//======================================================================================
void updateDeviceList() {
// Print out information about different devices.
for (uint8_t i = 0; i < CNT_DEVICES; i++) {
if (*drivers[i] != driver_active[i]) {
if (driver_active[i]) {
Serial.printf("*** Device %s - disconnected ***\n", driver_names[i]);
driver_active[i] = false;
} else {
Serial.printf("*** Device %s %x:%x - connected ***\n", driver_names[i], drivers[i]->idVendor(), drivers[i]->idProduct());
driver_active[i] = true;
const uint8_t *psz = drivers[i]->manufacturer();
if (psz && *psz) Serial.printf(" manufacturer: %s\n", psz);
psz = drivers[i]->product();
if (psz && *psz) Serial.printf(" product: %s\n", psz);
psz = drivers[i]->serialNumber();
if (psz && *psz) Serial.printf(" Serial: %s\n", psz);
// If this is a new Serial device.
if (drivers[i] == &userial) {
// Lets try first outputting something to our USerial to see if it will go out...
userial.begin(baud);
}
if (drivers[i] == &userialb) {
// Lets try first outputting something to our USerial to see if it will go out...
userialb.begin(baud);
}
if (drivers[i] == &userialb2) {
// Lets try first outputting something to our USerial to see if it will go out...
userialb2.begin(baud);
}
}
}
}
}
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
int PVTcnv(uint8_t d[100],long pvt[33]){
//PVT header[0-6]
//0:itow[6-9]
pvt[0]=B2L(d[9],d[8],d[7],d[6]);
//1:year[10-12]
pvt[1]=d[10]+d[11]*256;
//2:month[12]
pvt[2]=d[12];
//3:day[13]
pvt[3]=d[13];
//4:hour[14]
pvt[4]=d[14];
//5:min[15]
pvt[5]=d[15];
//6:sec[16]
pvt[6]=d[16];
//7:valid[17]
pvt[7]=d[17];
//8:tAcc[18-21]
pvt[8]=B2L(d[21],d[20],d[19],d[18]);
//9:nano[22-25]
pvt[9]=B2L(d[25],d[24],d[23],d[22]);
//10:fixType[26]
pvt[10]=d[26];
//11:flags[27] This is Fix status 131
pvt[11]=d[27];
//12:flags2[28]
pvt[12]=d[28];
//13:numSV[29]
pvt[13]=d[29];
//14:lon[30-33]
pvt[14]=B2L(d[33],d[32],d[31],d[30]);
//15:lat[34-37]
pvt[15]=B2L(d[37],d[36],d[35],d[34]);
//16:height[38-41]
pvt[16]=B2L(d[41],d[40],d[39],d[38]);
//17:hMSL[42-45]
pvt[17]=B2L(d[45],d[44],d[43],d[42]);
//18:hAcc[46-49]
pvt[18]=B2L(d[49],d[48],d[47],d[46]);
//19:vAcc[50-53]
pvt[19]=B2L(d[53],d[52],d[51],d[50]);
//20:velN[54-57]
pvt[20]=B2L(d[57],d[56],d[55],d[54]);
//21:velE[58-61]
pvt[21]=B2L(d[61],d[60],d[59],d[58]);
//22:velD[62-65]
pvt[22]=B2L(d[65],d[64],d[63],d[62]);
//23:gSpeed[66-69]
pvt[23]=B2L(d[69],d[68],d[67],d[66]);
//24:headMot[70-73]
pvt[24]=B2L(d[73],d[72],d[71],d[70]);
//25:sAcc[74-77]
pvt[25]=B2L(d[77],d[76],d[75],d[74]);
//26:headAcc[78-81]
pvt[26]=B2L(d[81],d[80],d[79],d[78]);
//27:pDOP[82-83]
pvt[27]=d[82]+d[83]*256;
//28:flags3[84]
pvt[28]=d[84];
//29:reserved1[85]
pvt[29]=d[85];
//30:headVeh[86-89]
pvt[30]=B2L(d[89],d[88],d[87],d[86]);
//31:magDec[90-91]
pvt[31]=d[90]+d[91]*256;
//32:magAcc[92-93]
pvt[32]=d[92]+d[93]*256;
}//PVTcnv() end
//--RELPOScnv---------------------------
int RELPOScnv(uint8_t d[72],long relpos[20]){
//RELPOS header[0-5]
int s=0;
//0:ver[6]
relpos[0]=d[s+6];
//1:reserved1[7]
relpos[1]=d[s+7];
//2:refStationId[8]
relpos[2]=d[s+8];
//3:itow[10-13]
relpos[3]=B2L(d[s+13],d[s+12],d[s+11],d[s+10]);
//4:relposN[14-17]
relpos[4]=B2L(d[s+17],d[s+16],d[s+15],d[s+14]);
//5:relposE[18-21]
relpos[5]=B2L(d[s+21],d[s+20],d[s+19],d[s+18]);
//6:relposD[22-25]
relpos[6]=B2L(d[s+25],d[s+24],d[s+23],d[s+22]);
//7:relposLength[26-29]
relpos[7]=B2L(d[s+29],d[s+28],d[s+27],d[s+26]);
//8:relposHeading[30-33]
relpos[8]=B2L(d[s+33],d[s+32],d[s+31],d[s+30]);
//9:reserved2[34]
relpos[9]=B2L(d[s+34],d[s+33],d[s+32],d[s+31]);
//10:relposHPN[35]
relpos[10]=127-int(d[s+35]);
//11:relposHPE[36]
relpos[11]=127-int(d[s+36]);
//12:relposHPD[37]
relpos[12]=127-int(d[s+37]);
//13:relposHPLength[38]
relpos[13]=127-int(d[s+38]);
//14:accN[38-41]
relpos[14]=B2L(d[s+41],d[s+40],d[s+39],d[s+38]);
//15:accE[42-45]
relpos[15]=B2L(d[s+45],d[s+44],d[s+43],d[s+42]);
//16:accD[46-49]
relpos[16]=B2L(d[s+49],d[s+48],d[s+47],d[s+46]);
//17:accLength[50-53]
relpos[17]=B2L(d[s+53],d[s+52],d[s+51],d[s+50]);
//18:accHeading[54-57]
relpos[18]=B2L(d[s+57],d[s+56],d[s+55],d[s+54]);
//19:reserved[57-60]
relpos[19]=B2L(d[s+60],d[s+59],d[s+58],d[s+57]);
//20:flags[60-63]
relpos[20]=B2L(d[s+63],d[s+62],d[s+61],d[s+60]);
}
//+++++++++++++4byte Binary to Long ++++++++++++++++++++++++++++++++++++++++++++++
long B2L(uint8_t b4 , uint8_t b3 ,uint8_t b2 , uint8_t b1 ) {
//pc.printf("B2L IN=%s,%x,%x,%x,%x,b4&0x80=%d\n\r",sen,b4,b3,b2,b1,b4 &0x80);
//pc.printf("B2L IN=b4&0x80=%d\n\r",b4 & 0x80);
long su;
if ((b4 & 0x80) && 0x80){//最上位ビットたっていればマイナス
su = -(256-(int)b1)+(255-(int)b2)*256+(255-(int)b3)*65536+(255-(int)b4)*256*256*256;
//pc.printf("B2L-:sen=%s,%d,%d,%d,%d,%d\n\r",sen,b4,b3,b2,b1,su);
}
else {
su=(int)b1+(int)b2*256+(int)b3* 65536+(int)b4*256*256*256;
//pc.printf("B2L+:sen=%s,%d,%d,%d,%d,%d,%d\n\r",sen,b4,b3,b2,b1,su);
}
return su;
}
//=================================================================================
//+++++++++++++++i_to_char++++++++++++++++++++++++++++++++++++
// i=IntegerValueData,*d=Array pointer, n=Array start No
void i_to_char(int i, uint8_t *d, int n)
{
d[n] = i & 0x000000ff;
d[n + 1] = (i & 0x0000ff00) >> 8;
d[n + 2] = (i & 0x00ff0000) >> 16;
d[n + 3] = (i & 0xff000000) >> 24;
}
//++++++++++++++++String to CharArray Trans++++++++++++++++++++
void str2char(char c[],String dataS)
{
//String dataS;
//dataS="HELLO dataS";
int dataS_len=dataS.length()+1;
char char_array[dataS_len];
dataS.toCharArray(c,dataS_len);
}
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