CSE477
Swimate V2 without RTOS code
Dependencies: Adafruit_GFX_128x64 DS3231 PinDetect SDFileSystem USBDevice mbed RealtimeMath MODSERIAL
Revision 0:cd1fe4f0ed39, committed 2014-05-08
- Comitter:
- ellingjp
- Date:
- Thu May 08 20:01:10 2014 +0000
- Child:
- 1:93723df61425
- Child:
- 2:a28cc676a454
- Child:
- 4:b962f5a783a1
- Commit message:
- Initial commit. Ready for data gathering.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_GFX.lib Thu May 08 20:01:10 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/ellingjp/code/Adafruit_GFX_128x64/#27f1eda5cc57
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050-DMP.lib Thu May 08 20:01:10 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/paulbartell/code/MPU6050-DMP/#e61356440739
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Thu May 08 20:01:10 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#7b35d1709458
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice.lib Thu May 08 20:01:10 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/USBDevice/#5b7d31d9d3f3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu May 08 20:01:10 2014 +0000
@@ -0,0 +1,218 @@
+#include "main.h"
+#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
+
+// Display
+#ifdef OLED_DEBUG
+SPI spi0(P0_9, NC, P0_10); // mosi, miso, sclk
+Adafruit_SSD1306 oled(spi0, P0_11, P0_12, P0_13); // MOSI, MISO, SCLK SPI0
+#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;
+
+// Timer
+Timer totalTime;
+Timer captureTime;
+
+// Switch
+InterruptIn captureSwitch(P0_16);
+
+
+// State
+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_acceleration(VectorInt16 data);
+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();
+}
+
+int main(void)
+{
+ totalTime.start();
+
+ State = IDLE;
+ 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;
+ }
+
+ 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();
+ }
+
+ 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);
+ }
+}
+
+/* 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() {
+ //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());
+ // 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);
+
+ log_acceleration(aaWorld);
+ //}
+ }
+}
+
+void log_acceleration(VectorInt16 data) {
+ fprintf(logFile, "%d, %d,%d,%d\n", captureTime.read_ms(), data.x, data.y, data.z);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h Thu May 08 20:01:10 2014 +0000
@@ -0,0 +1,59 @@
+#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
+#ifdef OLED_DEBUG
+ #define OLED_SETCURS(xpos,ypos) oled.setCursor(xpos,ypos);
+ #define OLED_CLEAR() oled.clearDisplay();
+
+ #define OLED_PRINT(x) oled.printf("%s", x); oled.display();
+ #define OLED_PRINTF(x,y) oled.printf(x, y); oled.display();
+ #define OLED_PRINTLN(x) oled.printf("%s\r\n", x); oled.display();
+ #define OLED_PRINTLNF(x,y) oled.printf(x,y); oled.printf("\r\n"); oled.display();
+ #define OLED_PRINTR(x) oled.printf("%s\r",x); oled.display();
+ #define OLED_PRINTFR(x,y) oled.printf(x,y); oled.printf("\r"); oled.display();
+
+ // Specify position
+ #define OLED_PRINTP(x,xpos,ypos) oled.setCursor(xpos,ypos); oled.printf("%s", x); oled.display();
+ #define OLED_PRINTPF(x,y,xpos,ypos) oled.setCursor(xpos,ypos); oled.printf(x, y); oled.display();
+ #define OLED_PRINTPLN(x,xpos,ypos) oled.setCursor(xpos,ypos); oled.printf("%s\r\n", x); oled.display();
+ #define OLED_PRINTPLNF(x,y,xpos,ypos) oled.setCursor(xpos,ypos); oled.printf(x,y); oled.printf("\r\n"); oled.display();
+ #define OLED_PRINTPR(x,xpos,ypos) oled.setCursor(xpos,ypos); oled.printf("%s\r",x); oled.display();
+ #define OLED_PRINTPFR(x,y,xpos,ypos) oled.setCursor(xpos,ypos); oled.printf(x,y); oled.printf("\r"); oled.display();
+#else
+ #define OLED_SETCURS(xpos,ypos)
+
+ #define OLED_PRINT(x)
+ #define OLED_PRINTF(x,y)
+ #define OLED_PRINTLN(x)
+ #define OLED_PRINTLNF(x,y)
+ #define OLED_PRINTR(x)
+ #define OLED_PRINTFR(x,y)
+
+ // Specify position
+ #define OLED_PRINTP(x,xpos,ypos)
+ #define OLED_PRINTPF(x,y,xpos,ypos)
+ #define OLED_PRINTPLN(x,xpos,ypos)
+ #define OLED_PRINTPLNF(x,y,xpos,ypos)
+ #define OLED_PRINTPR(x,xpos,ypos)
+ #define OLED_PRINTPFR(x,y,xpos,ypos)
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu May 08 20:01:10 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/8a40adfe8776 \ No newline at end of file