Revision 7:33a74adff0ff, committed 2014-05-17

Comitter:

ellingjp

Date:

Sat May 17 01:20:31 2014 +0000

Parent:

4:b962f5a783a1

Child:

8:8430a5c0914c

Commit message:

Refactor -- introduced bug that causes garbage to be received from mpu

Changed in this revision

--- a/RingBuffer.lib	Mon May 12 18:52:45 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/okini3939/code/RingBuffer/#bc363775c3eb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/debug.cpp	Sat May 17 01:20:31 2014 +0000
@@ -0,0 +1,7 @@
+#include "mbed.h"
+#include "USBSerial.h"
+
+#ifndef NDEBUG
+DigitalOut led(LED1);
+USBSerial pc;
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/debug.h	Sat May 17 01:20:31 2014 +0000
@@ -0,0 +1,35 @@
+#ifndef _DEBUG_H
+#define _DEBUG_H
+
+#include "mbed.h"
+#include "USBSerial.h"
+
+#define DMP_ERROR_RATE 1
+#define SD_ERROR_RATE 2
+
+//#define NDEBUG
+#ifndef NDEBUG
+    /************ On-board LED Access      ****************/
+    extern DigitalOut led;
+    #define DIE(x) while (1) {led = !led; wait(x);} // Halt program and flash led x times /s
+    
+    /************ PC Serial Print Commands ****************/
+    extern USBSerial pc;
+    #define PC_PRINT(x) pc.printf("%s", x);
+    #define PC_PRINTF(x,y) pc.printf(x, y);
+    #define PC_PRINTLN(x) pc.printf("%s\r\n", x);
+    #define PC_PRINTLNF(x,y) pc.printf(x,y); pc.printf("\r\n");
+    #define PC_PRINTR(x) pc.printf("%s\r",x);
+    #define PC_PRINTFR(x,y) pc.printf(x,y); pc.printf("\r");
+#else
+    #define DIE(x)
+
+    #define PC_PRINT(x)
+    #define PC_PRINTF(x,y)
+    #define PC_PRINTLN(x)
+    #define PC_PRINTLNF(x,y)
+    #define PC_PRINTR(x)
+    #define PC_PRINTFR(x,y)
+#endif
+
+#endif // _DEBUG_H
\ No newline at end of file

--- a/main.cpp	Mon May 12 18:52:45 2014 +0000
+++ b/main.cpp	Sat May 17 01:20:31 2014 +0000
@@ -2,13 +2,9 @@
 #include "mbed.h"
 #include "USBSerial.h"
 #include "Adafruit_SSD1306.h"
-#include "MPU6050_6Axis_MotionApps20.h"
 #include "SDFileSystem.h"
-
-//Virtual serial port over USB
-#ifdef PC_DEBUG
-USBSerial pc;
-#endif
+#include "receive_data.h"
+#include "debug.h"
 
 // Display
 #ifdef OLED_DEBUG
@@ -16,16 +12,9 @@
 Adafruit_SSD1306 oled(spi0, P0_11, P0_12, P0_13); // DC, RST, CS
 #endif
 
-// MPU
-MPU6050 mpu;
-InterruptIn dataReady(P0_15);
-
 // SD Card
 SDFileSystem sd(P0_21, P0_22, P1_15, P1_19, "sd"); // MOSI, MISO, SCLK, SSEL SPI1
 
-// LED for debug
-DigitalOut led(LED1);
-
 // Logging vars
 FILE *logFile;
 
@@ -41,47 +30,6 @@
 enum state {IDLE, CAPTURE};
 enum state State;
 
-// MPU control/status vars
-bool dmpReady = false;  // set true if DMP init was successful
-uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
-uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
-uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
-uint16_t fifoCount;     // count of all bytes currently in FIFO
-uint8_t fifoBuffer[64]; // FIFO storage buffer
-
-// orientation/motion vars
-Quaternion q;           // [w, x, y, z]         quaternion container
-VectorInt16 aa;         // [x, y, z]            accel sensor measurements
-VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
-VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
-VectorFloat gravity;    // [x, y, z]            gravity vector
-float euler[3];         // [psi, theta, phi]    Euler angle container
-float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
-
-// Forward declarations
-void die(int flash_rate_s);
-bool log_open();
-void log_data(VectorInt16 data, Quaternion q);
-void log_close();
-void mpu_init();
-void get_data();
-
-volatile bool mpuInterrupt = false;
-void dataReadyISR() {
-    mpuInterrupt = true;
-}
-
-//void captureSwitchISR() {
-//    // used for debouncing
-//    static int prev_time = 0;
-//
-//    if (totalTime.read_ms() - prev_time < 200)
-//        return;
-//        
-//    State = (State == IDLE) ? CAPTURE : IDLE;
-//    prev_time = totalTime.read_ms();
-//}
-
 void captureSwitchISR() {
     // used for debouncing
     static int prev_time = 0;
@@ -104,132 +52,36 @@
     captureSwitch.mode(PullUp);
     captureSwitch.rise(captureSwitchISR);   
     
-    OLED_PRINTP("Waiting to capture.     ",0,0);
     while (true) {
-        if (State == CAPTURE) {
-            PC_PRINTLN("Start capture button pressed!");
-            OLED_CLEAR();
-            OLED_PRINTPR("Starting capture.       ",0,0);
-            
-            // Start receiving data
-            PC_PRINTLN("Opening log file...");
-            if (!log_open()) {
-                OLED_CLEAR();
-                OLED_PRINTP("ERROR: SD (retry)", 0, 50);
-                State = IDLE;
-                continue;
+        if (State == IDLE){
+            PC_PRINT("Idling\r");
+        } else if (State == CAPTURE) {
+            receive_init();
+            while (State == CAPTURE) {
+                __disable_irq();
+                receive_data();
+                __enable_irq();
             }
-            
-            PC_PRINTLN("Initializing MPU...");
-            mpu_init();
-            
-            PC_PRINTLN("Starting capture...");
-            OLED_PRINTPR("Capturing data...       ",0,0);
-            captureTime.start();
-            while (State == CAPTURE)
-                get_data();
-            OLED_PRINTPR("Finished capture.",0,0);
-            
-            log_close();
-            captureTime.stop();
-            captureTime.reset();
-        }
-    
-        PC_PRINTLN("Idling...");
-    }
-}
-
-/* Halts program and flashes LED at specified rate */
-void die(int flash_rate_s) {
-    while (1) {
-        led = 1;
-        wait(flash_rate_s/2);
-        led = 0;
-        wait(flash_rate_s/2);
+            // data = receive_data();
+            // log_data(data);
+            // split = get_split(data);
+            // display_split;
+        } 
+        // else if (State == SYNC) {
+        // begin_sync();
+        // }
     }
 }
 
-/* Returns false on failure, true otherwise */
-bool log_open() {
-    logFile = fopen(LOG_FILE, "a");
-    if (logFile == NULL) {
-        PC_PRINTLNF("SD card initialization error: Failed to open %s", LOG_FILE);
-        return false;
-    }
-    fprintf(logFile, "---- BEGIN NEW DATASET ----\n");
-    return true;
-}
 
-void log_close() {
-    if (logFile != NULL)
-        fclose(logFile);
-}
-
-void mpu_init() {
-    PC_PRINTLN("Initializing MPU");
-    mpu.initialize();
-    devStatus = mpu.dmpInitialize();
-    
-    if (devStatus == 0) {
-        mpu.setDMPEnabled(true);
-        packetSize = mpu.dmpGetFIFOPacketSize();
-        
-        PC_PRINTLN("DMP Initialized successfully!");
-        dmpReady = true;
-        dataReady.rise(dataReadyISR);
-    } else { // ERROR
-        PC_PRINTLNF("Error initializing MPU (code %d)", devStatus);
-        die(DMP_ERROR_RATE);
-    }
-}
 
-/* Requires the log to be open and mpu to be initialized*/
-void get_data() {
-    static uint32_t n_overflows = 0;
-    //while (true) {
-        //if (!dmpReady) break;   // do nothing if dmp not ready
-        if (!dmpReady) return;
-        
-        while (!mpuInterrupt && fifoCount < packetSize);
-        
-        // Reset interrupt
-        mpuInterrupt = false;
-        mpuIntStatus = mpu.getIntStatus();
-
-        // get current FIFO count
-        fifoCount = mpu.getFIFOCount();
-    
-        // check for overflow (this should never happen unless our code is too inefficient)
-        if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
-            PC_PRINTLNF("**** FIFO OVERFLOW @ %d ms ****", captureTime.read_ms());
-            n_overflows++;
-            // reset so we can continue cleanly
-            mpu.resetFIFO();
-            // otherwise, check for DMP data ready interrupt (this should happen frequently)
-        } else if (mpuIntStatus & 0x02) {
-            // Wait for a full packet - should be very short wait
-            while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
-    
-            // read a packet from FIFO
-            mpu.getFIFOBytes(fifoBuffer, packetSize);
-            fifoCount -= packetSize;
-            
-            // Get acceleration data
-            mpu.dmpGetAccel(&aa, fifoBuffer);
-            mpu.dmpGetQuaternion(&q, fifoBuffer);
-//            mpu.dmpGetGravity(&gravity, &q);
-//            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
-//            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
-            
-            PC_PRINTF("%d, ", aaWorld.x); PC_PRINTF("%d, ", aaWorld.y); PC_PRINTLNF("%d", aaWorld.z);
-            
-//            OLED_SETCURS(0, 10); OLED_PRINTF("%d, ", aaWorld.x); OLED_PRINTF("%d, ", aaWorld.y); OLED_PRINTLNF("%d", aaWorld.z);
-            
-            fprintf(logFile, "%u,%d,%d,%d,%f,%f,%f,%f,%u\n", captureTime.read_ms(), aa.x, aa.y, aa.z, q.x, q.y, q.z, q.w, n_overflows);
-        //}
-    }
-}
-
-void log_data(VectorInt16 data, Quaternion q) {
-    fprintf(logFile, "%d,%d,%d,%d,%f,%f,%f,%f\n", captureTime.read_ms(), data.x, data.y, data.z, q.x, q.y, q.z, q.w);
-}
\ No newline at end of file
+/* Returns false on failure, true otherwise */
+//bool log_open() {
+//    logFile = fopen(LOG_FILE, "a");
+//    if (logFile == NULL) {
+//        PC_PRINTLNF("SD card initialization error: Failed to open %s", LOG_FILE);
+//        return false;
+//    }
+//    fprintf(logFile, "---- BEGIN NEW DATASET ----\n");
+//    return true;
+//}
\ No newline at end of file

--- a/main.h	Mon May 12 18:52:45 2014 +0000
+++ b/main.h	Sat May 17 01:20:31 2014 +0000
@@ -1,26 +1,6 @@
-#define DMP_ERROR_RATE 1
-#define SD_ERROR_RATE 2
-
 #define LOG_FILE "/sd/data.log"
 
-//#define PC_DEBUG
-#ifdef PC_DEBUG
-    #define PC_PRINT(x) pc.printf("%s", x);
-    #define PC_PRINTF(x,y) pc.printf(x, y);
-    #define PC_PRINTLN(x) pc.printf("%s\r\n", x);
-    #define PC_PRINTLNF(x,y) pc.printf(x,y); pc.printf("\r\n");
-    #define PC_PRINTR(x) pc.printf("%s\r",x);
-    #define PC_PRINTFR(x,y) pc.printf(x,y); pc.printf("\r");
-#else
-    #define PC_PRINT(x)
-    #define PC_PRINTF(x,y)
-    #define PC_PRINTLN(x)
-    #define PC_PRINTLNF(x,y)
-    #define PC_PRINTR(x)
-    #define PC_PRINTFR(x,y)
-#endif
-
-#define OLED_DEBUG
+// #define OLED_DEBUG
 #ifdef OLED_DEBUG
     #define OLED_SETCURS(xpos,ypos) oled.setCursor(xpos,ypos);
     #define OLED_CLEAR() oled.clearDisplay();

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/receive_data.cpp	Sat May 17 01:20:31 2014 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+#include "MPU6050_6Axis_MotionApps20.h"
+#include "debug.h"
+
+// MPU
+MPU6050 mpu;
+InterruptIn dataReady(P0_15);
+
+// MPU control/status vars
+bool dmpReady = false;  // set true if DMP init was successful
+uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
+uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
+uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
+uint16_t fifoCount;     // count of all bytes currently in FIFO
+uint8_t fifoBuffer[64]; // FIFO storage buffer
+
+// orientation/motion vars
+Quaternion q;           // [w, x, y, z]         quaternion container
+VectorInt16 aa;         // [x, y, z]            accel sensor measurements
+VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
+VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
+VectorFloat gravity;    // [x, y, z]            gravity vector
+float euler[3];         // [psi, theta, phi]    Euler angle container
+float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
+
+volatile bool mpuInterrupt = false;
+void dataReadyISR() {
+    mpuInterrupt = true;
+}
+
+/* Returns a pointer to an array containing the most recent data, otherwise NULL.  Requires the mpu to be initialized. */
+void receive_data()
+{
+    static uint32_t n_overflows = 0;
+//    while (true) {
+    //if (!dmpReady) break;   // do nothing if dmp not ready
+    if (!dmpReady) return;
+
+    while (!mpuInterrupt && fifoCount < packetSize);
+
+    // Reset interrupt
+    mpuInterrupt = false;
+    mpuIntStatus = mpu.getIntStatus();
+
+    // get current FIFO count
+    fifoCount = mpu.getFIFOCount();
+    
+//    PC_PRINTF("%d, ", fifoCount); PC_PRINTF("%x, ", mpuIntStatus);
+    // check for overflow (this should never happen unless our code is too inefficient)
+    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
+        PC_PRINTLN("**** FIFO OVERFLOW ****");
+        n_overflows++;
+        // reset so we can continue cleanly
+        mpu.resetFIFO();
+        // otherwise, check for DMP data ready interrupt (this should happen frequently)
+    } else if (mpuIntStatus & 0x02) {
+        // Wait for a full packet - should be very short wait
+        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
+
+        // read a packet from FIFO
+        mpu.getFIFOBytes(fifoBuffer, packetSize);
+        fifoCount -= packetSize;
+
+        // Get acceleration data
+        mpu.dmpGetAccel(&aa, fifoBuffer);
+//            mpu.dmpGetQuaternion(&q, fifoBuffer);
+//            mpu.dmpGetGravity(&gravity, &q);
+//            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+//            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
+
+        PC_PRINTF("%d, ", aa.x);
+        PC_PRINTF("%d, ", aa.y);
+        PC_PRINTLNF("%d", aa.z);
+//            OLED_SETCURS(0, 10); OLED_PRINTF("%d, ", aaWorld.x); OLED_PRINTF("%d, ", aaWorld.y); OLED_PRINTLNF("%d", aaWorld.z);
+
+//            fprintf(logFile, "%u,%d,%d,%d,%f,%f,%f,%f,%u\n", captureTime.read_ms(), aa.x, aa.y, aa.z, q.x, q.y, q.z, q.w, n_overflows);
+//        }
+    }
+}
+
+void receive_init() {
+    PC_PRINTLN("Initializing MPU");
+    mpu.initialize();
+    devStatus = mpu.dmpInitialize();
+    
+    if (devStatus == 0) {
+        mpu.setDMPEnabled(true);
+        packetSize = mpu.dmpGetFIFOPacketSize();
+        
+        PC_PRINTLN("DMP Initialized successfully!");
+        dmpReady = true;
+        dataReady.rise(dataReadyISR);
+    } else { // ERROR
+        PC_PRINTLNF("Error initializing MPU (code %d)", devStatus);
+        DIE(DMP_ERROR_RATE);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/receive_data.h	Sat May 17 01:20:31 2014 +0000
@@ -0,0 +1,9 @@
+#ifndef _RECEIVE_H
+#define _RECEIVE_H
+
+#include "helper_3dmath.h"
+
+void receive_init();
+void receive_data();
+
+#endif // _RECEIVE_H
\ No newline at end of file