Bender Robotics / Mbed 2 deprecated PLAUCI_full

posilani dat

Dependencies:   FatFileSystemCpp mbed PowerControl USBHostLite

main.cpp@15:baa2672a9b38, 2015-10-22 (annotated)

Committer:
legwinskij
Date:
Thu Oct 22 17:16:52 2015 +0000
Revision:
15:baa2672a9b38
Parent:
14:6bd7d1fff6af
Child:
17:ca53e6d36163
Completely refactored fw, changelog in main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
legwinskij 15:baa2672a9b38 1 /* BRIEF:
jkaderka 9:8839ecc02e0e 2 * Connects to wifi and listen on ip given by dhcp on port 2000
jkaderka 9:8839ecc02e0e 3 *
jkaderka 9:8839ecc02e0e 4 * Commands are send in for #X where X is from {S,E,T,R}, all commands are
jkaderka 9:8839ecc02e0e 5 * confirmed by mbed by sending #A
jkaderka 9:8839ecc02e0e 6 *
jkaderka 9:8839ecc02e0e 7 * Use #S to start saving data, #E to stop saving. This can be done repeatedly,
jkaderka 9:8839ecc02e0e 8 * mbed saves the data into separated files and generates new swimmer id
jkaderka 9:8839ecc02e0e 9 * At the end, use #T to start data transfer, the format of transmitted data is:
jkaderka 9:8839ecc02e0e 10 *
jkaderka 9:8839ecc02e0e 11 * Header for each swimmer:
jkaderka 9:8839ecc02e0e 12 * (int) -1 (int) -1 (int) swimmer_id
jkaderka 9:8839ecc02e0e 13 * Data itself
jkaderka 9:8839ecc02e0e 14 * (char) 0xAA (int) count 3*(short) acc 3*(float) gyro
jkaderka 9:8839ecc02e0e 15 * End of swimmer block
jkaderka 9:8839ecc02e0e 16 * (int) -1 (int) -1
jkaderka 9:8839ecc02e0e 17 *
jkaderka 9:8839ecc02e0e 18 * where count is number starting on 0, incremented on every packet
jkaderka 9:8839ecc02e0e 19 * 0xAA is a sync byte used to avoid confusion when some bytes are lost during
jkaderka 9:8839ecc02e0e 20 * transmission (UART on faster reates seems to be unstable)
legwinskij 15:baa2672a9b38 21 *
legwinskij 15:baa2672a9b38 22 * CHANGELOG 22/10/2015
legwinskij 15:baa2672a9b38 23 * - Refactored code
legwinskij 15:baa2672a9b38 24 * - Now using USB flash instead of SD card
legwinskij 15:baa2672a9b38 25 * - SIZE of packets to be saved at once changed to 32 (from 1000, saving took too much time, effectively loosing measurements)
legwinskij 15:baa2672a9b38 26 * - Using fwrite to write 32 packets at once (packet size = 16 bytes -> 32*16 = 512 bytes -> USB flash sector size is 512 bytes, thus maximizing fwrite effectivity
legwinskij 15:baa2672a9b38 27 * - Saving of 32 packets takes about 3,5 ms
legwinskij 15:baa2672a9b38 28 * KNOWN ISSUES:
legwinskij 15:baa2672a9b38 29 * - Opening USB disk takes some time, couple first measurements not valid (perhaps open next file right when saving stops ?)
jkaderka 9:8839ecc02e0e 30 */
legwinskij 15:baa2672a9b38 31
legwinskij 15:baa2672a9b38 32 // Includes ====================================================================
legwinskij 15:baa2672a9b38 33
jkaderka 0:16fd37cf4a7c 34 #include "mbed.h"
legwinskij 14:6bd7d1fff6af 35 #include "PowerControl.h"
legwinskij 14:6bd7d1fff6af 36 #include "EthernetPowerControl.h"
jkaderka 0:16fd37cf4a7c 37 #include "L3GD20_init.h"
jkaderka 0:16fd37cf4a7c 38 #include "math.h"
jkaderka 0:16fd37cf4a7c 39 #include "stdint.h"
jkaderka 0:16fd37cf4a7c 40 #include "DirHandle.h"
legwinskij 15:baa2672a9b38 41 #include "MSCFileSystem.h"
jkaderka 0:16fd37cf4a7c 42 #include "L3GD20.h"
jkaderka 0:16fd37cf4a7c 43 #include "adc.h"
jkaderka 2:f623d1815dc4 44 #include "utils.h"
jkaderka 4:030c7726c7dc 45 #include "wifi.h"
jkaderka 0:16fd37cf4a7c 46 #include <stdio.h>
jkaderka 0:16fd37cf4a7c 47
legwinskij 15:baa2672a9b38 48 // Defines =====================================================================
legwinskij 15:baa2672a9b38 49
jkaderka 9:8839ecc02e0e 50 /* credentials for wifi */
jkaderka 8:ae5319de2c33 51 #define SSID "BRNET"
jkaderka 8:ae5319de2c33 52 #define PASS "Fuhu27che9"
jkaderka 4:030c7726c7dc 53 #define SECURITY WPA
jkaderka 9:8839ecc02e0e 54
legwinskij 15:baa2672a9b38 55 /* ADC & data acquisition related stuff */
legwinskij 15:baa2672a9b38 56 #define SAMPLE_RATE 700000 // Sample rate for ADC conversion
legwinskij 15:baa2672a9b38 57 #define PERIOD 0.01 // Setting the period of measuring, 0.01 menas 100 times per second
legwinskij 15:baa2672a9b38 58 #define SIZE 32 // Setting number of instance in array - for saving to SD card
legwinskij 15:baa2672a9b38 59 #define BUFFER_SIZE (sizeof(int) + sizeof(short)*6) //size of one data block
jkaderka 2:f623d1815dc4 60
legwinskij 15:baa2672a9b38 61 /* mass storage disk name */
legwinskij 15:baa2672a9b38 62 #define FSNAME "usb"
jkaderka 1:3ec5f7df2410 63
legwinskij 15:baa2672a9b38 64 /* Commands mbed understands */
legwinskij 15:baa2672a9b38 65 #define SAVING_START 'S'
legwinskij 15:baa2672a9b38 66 #define SAVING_STOP 'E'
legwinskij 15:baa2672a9b38 67 #define TRANSFER_START 'T'
legwinskij 15:baa2672a9b38 68 #define CHECK_READY 'R'
legwinskij 15:baa2672a9b38 69
legwinskij 15:baa2672a9b38 70 /* Function like macros for leds (bleh) */
jkaderka 1:3ec5f7df2410 71 #define leds_off() { led_measuring = led_sending = led_working = led_saving = 0; }
jkaderka 1:3ec5f7df2410 72 #define leds_error() { led_measuring = led_sending = led_working = led_saving = 1; }
jkaderka 0:16fd37cf4a7c 73
legwinskij 15:baa2672a9b38 74 // Watchdog class ==============================================================
jkaderka 0:16fd37cf4a7c 75
jkaderka 0:16fd37cf4a7c 76 class Watchdog {
jkaderka 0:16fd37cf4a7c 77 public:
legwinskij 15:baa2672a9b38 78 /* Kick the watchdog with time period setting */
jkaderka 0:16fd37cf4a7c 79 void kick(float s) {
legwinskij 15:baa2672a9b38 80 LPC_WDT->WDCLKSEL = 0x1; // Set CLK src to PCLK
legwinskij 15:baa2672a9b38 81 uint32_t clk = SystemCoreClock / 16; // WD has a fixed /4 prescaler, PCLK default is /4
legwinskij 15:baa2672a9b38 82 LPC_WDT->WDTC = s * (float)clk;
legwinskij 15:baa2672a9b38 83 LPC_WDT->WDMOD = 0x3; // Enabled and Reset
jkaderka 0:16fd37cf4a7c 84 kick();
jkaderka 0:16fd37cf4a7c 85 }
legwinskij 15:baa2672a9b38 86
legwinskij 15:baa2672a9b38 87 /* Kick the watchdog */
jkaderka 0:16fd37cf4a7c 88 void kick() {
jkaderka 0:16fd37cf4a7c 89 LPC_WDT->WDFEED = 0xAA;
jkaderka 0:16fd37cf4a7c 90 LPC_WDT->WDFEED = 0x55;
jkaderka 0:16fd37cf4a7c 91 }
jkaderka 0:16fd37cf4a7c 92 };
jkaderka 0:16fd37cf4a7c 93
legwinskij 15:baa2672a9b38 94 // Objects & vars ==============================================================
legwinskij 15:baa2672a9b38 95
legwinskij 15:baa2672a9b38 96 Watchdog w; // Initialize watchdogs
legwinskij 15:baa2672a9b38 97 Ticker Saving_Ticker; // Tickers for interrupts on measuring
legwinskij 15:baa2672a9b38 98 ADC adc(SAMPLE_RATE, 1); // Initialize ADC to maximum SAMPLE_RATE and cclk divide set to 1 originally MMA7361L
legwinskij 15:baa2672a9b38 99 Wifi wifi(p13, p14, p11, p12, p23); // Wifly module
legwinskij 15:baa2672a9b38 100 I2C i2c(p28, p27); // NEW function GYRO connection originally L3G4200D
jkaderka 0:16fd37cf4a7c 101
legwinskij 15:baa2672a9b38 102 /* LED indicators */
legwinskij 15:baa2672a9b38 103 DigitalOut led_measuring(LED1);
legwinskij 15:baa2672a9b38 104 DigitalOut led_sending(LED2);
legwinskij 15:baa2672a9b38 105 DigitalOut led_working(LED3);
legwinskij 15:baa2672a9b38 106 DigitalOut led_saving(LED4);
jkaderka 0:16fd37cf4a7c 107
legwinskij 15:baa2672a9b38 108 // Added for test purposes
legwinskij 15:baa2672a9b38 109 DigitalOut flagSetNotify(p9);
legwinskij 15:baa2672a9b38 110 DigitalOut measureNotify(p10);
legwinskij 15:baa2672a9b38 111
legwinskij 15:baa2672a9b38 112 /* USB & saving related stuffs */
legwinskij 15:baa2672a9b38 113 FILE *gfp; // Global file pointer
legwinskij 15:baa2672a9b38 114 MSCFileSystem logger(FSNAME); // Initialize USB flash disk
legwinskij 15:baa2672a9b38 115 char fname[40]; // Variable for name of Text file saved on USB flash disk
legwinskij 15:baa2672a9b38 116 static volatile uint64_t absolute = 0; // Variable for numbering saved data
jkaderka 1:3ec5f7df2410 117 volatile int relative = 0;
jkaderka 1:3ec5f7df2410 118 volatile short swimmer_id = 0;
jkaderka 11:137108e3403e 119 volatile short last_send = 0;
legwinskij 15:baa2672a9b38 120 volatile bool measuringFlag = 0; // Flag that is set with interrupt
jkaderka 0:16fd37cf4a7c 121
legwinskij 15:baa2672a9b38 122 /* Accelerometer buffers */
jkaderka 5:83f69916e571 123 short int acc_x[SIZE];
jkaderka 5:83f69916e571 124 short int acc_y[SIZE];
jkaderka 5:83f69916e571 125 short int acc_z[SIZE];
jkaderka 0:16fd37cf4a7c 126
legwinskij 15:baa2672a9b38 127 /* Gyroscope buffers */
jkaderka 13:d00c8a6a2e8c 128 short int gyro_x[SIZE];
jkaderka 13:d00c8a6a2e8c 129 short int gyro_y[SIZE];
jkaderka 13:d00c8a6a2e8c 130 short int gyro_z[SIZE];
jkaderka 0:16fd37cf4a7c 131
legwinskij 15:baa2672a9b38 132 // Functions -> I2C ============================================================
legwinskij 15:baa2672a9b38 133
legwinskij 15:baa2672a9b38 134 /* Reads byte from given address */
jkaderka 0:16fd37cf4a7c 135 char readByte(char address, char reg)
jkaderka 0:16fd37cf4a7c 136 {
legwinskij 15:baa2672a9b38 137 char result; // Buffer for returning byte
legwinskij 15:baa2672a9b38 138 i2c.start(); // Start i2c transfer
legwinskij 15:baa2672a9b38 139 i2c.write(address); // Slave address with direction=write
legwinskij 15:baa2672a9b38 140 i2c.write(reg); // Register address
legwinskij 15:baa2672a9b38 141 i2c.start(); // Break transmission to change bus direction
legwinskij 15:baa2672a9b38 142 i2c.write(address + 1); // Slave address with direction=read [bit0=1]
legwinskij 15:baa2672a9b38 143 result = i2c.read(0); // Byte we want to read
legwinskij 15:baa2672a9b38 144 i2c.stop(); // Stop i2c operation
legwinskij 15:baa2672a9b38 145 return (result); // Return byte
legwinskij 15:baa2672a9b38 146 }
legwinskij 15:baa2672a9b38 147
legwinskij 15:baa2672a9b38 148 /* Sends 1 byte to an I2C address */
legwinskij 15:baa2672a9b38 149 void writeByte(char address, char reg,char value)
legwinskij 15:baa2672a9b38 150 {
legwinskij 15:baa2672a9b38 151 i2c.start(); // Start i2c transfer
legwinskij 15:baa2672a9b38 152 i2c.write(address); // Slave address
legwinskij 15:baa2672a9b38 153 i2c.write(reg); // Register address
legwinskij 15:baa2672a9b38 154 i2c.write(value); // Value to be written
legwinskij 15:baa2672a9b38 155 i2c.stop(); // Stop i2c operation
jkaderka 0:16fd37cf4a7c 156 }
legwinskij 15:baa2672a9b38 157
legwinskij 15:baa2672a9b38 158 // Functions -> Init ===========================================================
legwinskij 15:baa2672a9b38 159
legwinskij 15:baa2672a9b38 160 /* Prepares board for operation (adc's, gyroscope etc.) */
legwinskij 15:baa2672a9b38 161 void boardInit (void)
jkaderka 0:16fd37cf4a7c 162 {
legwinskij 15:baa2672a9b38 163 /* L3GD20 Gyroscope init */
legwinskij 15:baa2672a9b38 164 writeByte(L3GD20_ADDR,gCTRL_REG1,0x0F); // Set ODR to 95Hz, BW to 12.5Hz, enable axes and turn on device
legwinskij 15:baa2672a9b38 165 writeByte(L3GD20_ADDR,gCTRL_REG4,0x10); // Full scale selected at 500dps (degrees per second)
legwinskij 15:baa2672a9b38 166 wait(1); // Wait for settings to stabilize
jkaderka 0:16fd37cf4a7c 167
legwinskij 15:baa2672a9b38 168 /* Accelerometer init */
legwinskij 15:baa2672a9b38 169 adc.setup(p18,1); // Set up ADC on pin 18
legwinskij 15:baa2672a9b38 170 adc.setup(p19,1); // Set up ADC on pin 19
legwinskij 15:baa2672a9b38 171 adc.setup(p20,1); // Set up ADC on pin 20
jkaderka 0:16fd37cf4a7c 172
legwinskij 15:baa2672a9b38 173 /* Rest of the init */
legwinskij 15:baa2672a9b38 174 PHY_PowerDown(); // Disable ETH PHY to conserve power (about 40mA)
legwinskij 15:baa2672a9b38 175 leds_off(); // Turn off all leds
legwinskij 15:baa2672a9b38 176 }
legwinskij 15:baa2672a9b38 177
legwinskij 15:baa2672a9b38 178 // Functions -> Measuring ======================================================
legwinskij 15:baa2672a9b38 179
legwinskij 15:baa2672a9b38 180 /* Main measuring function */
jkaderka 1:3ec5f7df2410 181 void measuring(void)
jkaderka 0:16fd37cf4a7c 182 {
legwinskij 15:baa2672a9b38 183 /* Vars */
legwinskij 15:baa2672a9b38 184 char xL, xH, yL, yH, zL, zH; // Gyro high/low bytes
legwinskij 15:baa2672a9b38 185 char buffer[SIZE][BUFFER_SIZE]; // Buffer
legwinskij 15:baa2672a9b38 186 int pos = 0; // Position
legwinskij 15:baa2672a9b38 187
legwinskij 15:baa2672a9b38 188 /* Read ACC_X */
legwinskij 15:baa2672a9b38 189 adc.start(); // Starting ADC conversion
legwinskij 15:baa2672a9b38 190 adc.select(p18); // Measure pin 18
legwinskij 15:baa2672a9b38 191 while(!adc.done(p18)); // Wait for it to complete
legwinskij 15:baa2672a9b38 192 acc_x[relative] = (short) adc.read(p18); // Read ACC_X value
legwinskij 15:baa2672a9b38 193 /* Read ACC_Y */
legwinskij 15:baa2672a9b38 194 adc.start(); // Again
legwinskij 15:baa2672a9b38 195 adc.select(p19); // Measure pin 19
legwinskij 15:baa2672a9b38 196 while(!adc.done(p19)); // Wait for it to complete
legwinskij 15:baa2672a9b38 197 acc_y[relative] = (short) adc.read(p19); // Read ACC_Y value
legwinskij 15:baa2672a9b38 198 /* Read ACC_Z */
legwinskij 15:baa2672a9b38 199 adc.start(); // Again
legwinskij 15:baa2672a9b38 200 adc.select(p20); // Measure pin 20
legwinskij 15:baa2672a9b38 201 while(!adc.done(p20)); // Wait for it to complete
legwinskij 15:baa2672a9b38 202 acc_z[relative] = (short) adc.read(p20); // Read ACC_Z value
jkaderka 0:16fd37cf4a7c 203
legwinskij 15:baa2672a9b38 204 /* Read Gyro_X */
legwinskij 15:baa2672a9b38 205 xL=readByte(L3GD20_ADDR,gOUT_X_L); // Read GYRO_X Low byte
legwinskij 15:baa2672a9b38 206 xH=readByte(L3GD20_ADDR,gOUT_X_H); // Read GYRO_X High byte
legwinskij 15:baa2672a9b38 207 /* Read Gyro_X */
legwinskij 15:baa2672a9b38 208 yL=readByte(L3GD20_ADDR,gOUT_Y_L); // Read GYRO_Y Low byte
legwinskij 15:baa2672a9b38 209 yH=readByte(L3GD20_ADDR,gOUT_Y_H); // Read GYRO_Y High byte
legwinskij 15:baa2672a9b38 210 /* Read Gyro_X */
legwinskij 15:baa2672a9b38 211 zL=readByte(L3GD20_ADDR,gOUT_Z_L); // Read GYRO_Z Low byte
legwinskij 15:baa2672a9b38 212 zH=readByte(L3GD20_ADDR,gOUT_Z_H); // Read GYRO_Z High byte
legwinskij 15:baa2672a9b38 213 /* Add Gyroscope values to global buffer */
legwinskij 15:baa2672a9b38 214 gyro_x[relative] = (xH<<8) | (xL); // 16-bit 2's complement GYRO_X
legwinskij 15:baa2672a9b38 215 gyro_y[relative] = (yH<<8) | (yL); // 16-bit 2's complement GYRO_Y
legwinskij 15:baa2672a9b38 216 gyro_z[relative] = (zH<<8) | (zL); // 16-bit 2's complement GYRO_Z
jkaderka 0:16fd37cf4a7c 217
legwinskij 15:baa2672a9b38 218 /* Increment counters */
legwinskij 15:baa2672a9b38 219 absolute++; // Increment absolute counter
legwinskij 15:baa2672a9b38 220 relative++; // Increment relative counter
legwinskij 15:baa2672a9b38 221
legwinskij 15:baa2672a9b38 222 /* After our buffers are full save the data */
legwinskij 15:baa2672a9b38 223 if ( absolute % SIZE == 0 )
legwinskij 15:baa2672a9b38 224 {
legwinskij 15:baa2672a9b38 225 /* Flip led_saving state */
jkaderka 1:3ec5f7df2410 226 led_saving = !led_saving;
legwinskij 15:baa2672a9b38 227
legwinskij 15:baa2672a9b38 228 /* Handle file error */
legwinskij 15:baa2672a9b38 229 if (gfp == NULL) {
legwinskij 15:baa2672a9b38 230 printf("\r\nUnable to append data to file %s", fname); // Notify user
legwinskij 15:baa2672a9b38 231 return; // Return
jkaderka 1:3ec5f7df2410 232 }
jkaderka 1:3ec5f7df2410 233
legwinskij 15:baa2672a9b38 234 /* Iterate all buffer elements */
legwinskij 15:baa2672a9b38 235 for (int k = 0; k < SIZE; k++)
legwinskij 15:baa2672a9b38 236 {
legwinskij 15:baa2672a9b38 237 pos = absolute-SIZE+k; // Increment position
legwinskij 15:baa2672a9b38 238 toBytes(buffer[k], &pos, sizeof(int)); // Append data to buffer in byte form
legwinskij 15:baa2672a9b38 239 toBytes(buffer[k]+sizeof(int), &acc_x[k], sizeof(short));
legwinskij 15:baa2672a9b38 240 toBytes(buffer[k]+sizeof(int) + sizeof(short), &acc_y[k], sizeof(short));
legwinskij 15:baa2672a9b38 241 toBytes(buffer[k]+sizeof(int) + sizeof(short)*2, &acc_z[k], sizeof(short));
legwinskij 15:baa2672a9b38 242 toBytes(buffer[k]+sizeof(int) + sizeof(short)*3, &gyro_x[k], sizeof(short));
legwinskij 15:baa2672a9b38 243 toBytes(buffer[k]+sizeof(int) + sizeof(short)*4, &gyro_y[k], sizeof(short));
legwinskij 15:baa2672a9b38 244 toBytes(buffer[k]+sizeof(int) + sizeof(short)*5, &gyro_z[k], sizeof(short));
jkaderka 0:16fd37cf4a7c 245 }
legwinskij 15:baa2672a9b38 246
legwinskij 15:baa2672a9b38 247 //measureNotify = 1; // Used for saving debug
legwinskij 15:baa2672a9b38 248 /* Write 32 buffer lines (16 bytes) to file (512 bytes total -> one block) */
legwinskij 15:baa2672a9b38 249 fwrite(buffer, SIZE, BUFFER_SIZE, gfp);
legwinskij 15:baa2672a9b38 250 //measureNotify = 0; // Used for saving debug
legwinskij 15:baa2672a9b38 251
legwinskij 15:baa2672a9b38 252 /* Reset relative counter */
legwinskij 15:baa2672a9b38 253 relative = 0;
jkaderka 0:16fd37cf4a7c 254 }
legwinskij 15:baa2672a9b38 255 }
legwinskij 15:baa2672a9b38 256
legwinskij 15:baa2672a9b38 257 /* Sets the measuring flag */
legwinskij 15:baa2672a9b38 258 void setMeasuringFlag(void)
legwinskij 15:baa2672a9b38 259 {
legwinskij 15:baa2672a9b38 260 //flagSetNotify = 1; // Used for saving debug
legwinskij 15:baa2672a9b38 261 measuringFlag = 1; // Set measuring flag
legwinskij 15:baa2672a9b38 262 //flagSetNotify = 0; // Used for saving debug
legwinskij 15:baa2672a9b38 263 }
legwinskij 15:baa2672a9b38 264
legwinskij 15:baa2672a9b38 265 /* Starts to acquire data from sensors */
legwinskij 15:baa2672a9b38 266 void startSaving(void)
legwinskij 15:baa2672a9b38 267 {
legwinskij 15:baa2672a9b38 268 /* Open global file with current swimmer ID */
legwinskij 15:baa2672a9b38 269 gfp = fopen(fname, "wb"); // Try to open that file
legwinskij 15:baa2672a9b38 270 if(gfp == NULL) {
legwinskij 15:baa2672a9b38 271 leds_error(); // Turn on all leds
legwinskij 15:baa2672a9b38 272 printf("\r\nUnable to open file %s for writing", fname); // Notify user
legwinskij 15:baa2672a9b38 273 return; // Exit function
legwinskij 15:baa2672a9b38 274 }
legwinskij 15:baa2672a9b38 275
legwinskij 15:baa2672a9b38 276 /* Prepare file & vars for data acquisition */
legwinskij 15:baa2672a9b38 277 fprintf(gfp, "%c%c%c", -1, -1, swimmer_id); // Append header to current swimmer output file
legwinskij 15:baa2672a9b38 278
legwinskij 15:baa2672a9b38 279 /* Reset counters */
legwinskij 15:baa2672a9b38 280 absolute = 0; // Reset absolute counter
legwinskij 15:baa2672a9b38 281 relative = 0; // Reset relative counter
legwinskij 15:baa2672a9b38 282
legwinskij 15:baa2672a9b38 283 /* Set timer */
legwinskij 15:baa2672a9b38 284 Saving_Ticker.attach(&setMeasuringFlag, PERIOD); // Attach function that periodically sets the flag
legwinskij 15:baa2672a9b38 285 }
legwinskij 15:baa2672a9b38 286
legwinskij 15:baa2672a9b38 287 /* Sends acquired data to USB flash */
legwinskij 15:baa2672a9b38 288 void stopSaving(void)
legwinskij 15:baa2672a9b38 289 {
legwinskij 15:baa2672a9b38 290 /* Stop saving */
legwinskij 15:baa2672a9b38 291 Saving_Ticker.detach(); // Stop setting measuring flag
jkaderka 1:3ec5f7df2410 292
legwinskij 15:baa2672a9b38 293 /* Try to append data left in buffers */
legwinskij 15:baa2672a9b38 294 if(gfp == NULL) {
legwinskij 15:baa2672a9b38 295 leds_error(); // Turn on all leds
legwinskij 15:baa2672a9b38 296 printf("\r\nUnable to open file %s before sending data", fname); // Notify user
legwinskij 15:baa2672a9b38 297 return; // Exit function
legwinskij 15:baa2672a9b38 298 }
legwinskij 15:baa2672a9b38 299
legwinskij 15:baa2672a9b38 300 /* Append data left to buffer */
legwinskij 15:baa2672a9b38 301 int base = ((absolute - (absolute%SIZE)) < 0) ? 0 : absolute - (absolute%SIZE);
legwinskij 15:baa2672a9b38 302 char buffer[relative][BUFFER_SIZE]; // packet array
legwinskij 15:baa2672a9b38 303
legwinskij 15:baa2672a9b38 304 /* Iterate all array elements */
legwinskij 15:baa2672a9b38 305 for (int k = 0; k < relative; k++) {
legwinskij 15:baa2672a9b38 306 int pos = base+k;
legwinskij 15:baa2672a9b38 307 toBytes(buffer[k], &pos, sizeof(int));
legwinskij 15:baa2672a9b38 308 toBytes(buffer[k]+sizeof(int), &acc_x[k], sizeof(short));
legwinskij 15:baa2672a9b38 309 toBytes(buffer[k]+sizeof(int) + sizeof(short), &acc_y[k], sizeof(short));
legwinskij 15:baa2672a9b38 310 toBytes(buffer[k]+sizeof(int) + sizeof(short)*2, &acc_z[k], sizeof(short));
legwinskij 15:baa2672a9b38 311 toBytes(buffer[k]+sizeof(int) + sizeof(short)*3, &gyro_x[k], sizeof(short));
legwinskij 15:baa2672a9b38 312 toBytes(buffer[k]+sizeof(int) + sizeof(short)*4, &gyro_y[k], sizeof(short));
legwinskij 15:baa2672a9b38 313 toBytes(buffer[k]+sizeof(int) + sizeof(short)*5, &gyro_z[k], sizeof(short));
legwinskij 15:baa2672a9b38 314 }
legwinskij 15:baa2672a9b38 315
legwinskij 15:baa2672a9b38 316 /* Write what's left */
legwinskij 15:baa2672a9b38 317 fwrite(buffer, relative, BUFFER_SIZE, gfp); // Write all data at once
legwinskij 15:baa2672a9b38 318
legwinskij 15:baa2672a9b38 319 /* Append EOF and close file */
legwinskij 15:baa2672a9b38 320 fprintf(gfp, "%c%c", -1,-1); // Write EOF characters
legwinskij 15:baa2672a9b38 321 fclose(gfp); // Close file
jkaderka 1:3ec5f7df2410 322
legwinskij 15:baa2672a9b38 323 /* Prepare for next swimmer */
legwinskij 15:baa2672a9b38 324 swimmer_id++; // Increment swimmer ID
legwinskij 15:baa2672a9b38 325 sprintf(fname, "/usb/swimmer%d.txt", swimmer_id); // Update current file name
legwinskij 15:baa2672a9b38 326 remove(fname); // If file with such ID exists remove it to avoid reading old data
legwinskij 15:baa2672a9b38 327 }
legwinskij 15:baa2672a9b38 328
legwinskij 15:baa2672a9b38 329 /* Sends acquired data via Wi-Fi */
legwinskij 15:baa2672a9b38 330 void transfer(void)
legwinskij 15:baa2672a9b38 331 {
legwinskij 15:baa2672a9b38 332 /* Timeout (to make sure C# app gets ready) */
legwinskij 15:baa2672a9b38 333 wait_ms(100);
legwinskij 15:baa2672a9b38 334
legwinskij 15:baa2672a9b38 335 /* Vars */
legwinskij 15:baa2672a9b38 336 int i; // Iterator
legwinskij 15:baa2672a9b38 337 char name[30]; // File name buffer
legwinskij 15:baa2672a9b38 338
legwinskij 15:baa2672a9b38 339 /* Iterate all captured swimmers */
legwinskij 15:baa2672a9b38 340 for (i = 0; i < swimmer_id; i++) // Iterate all available swimmer files
legwinskij 15:baa2672a9b38 341 {
legwinskij 15:baa2672a9b38 342 sprintf(name, "/usb/swimmer%d.txt", i); // Create file name based on current swimmer ID
legwinskij 15:baa2672a9b38 343 fclose(gfp);
legwinskij 15:baa2672a9b38 344 printf("\r\nSending %s", name); // Notify user which user is being sent
legwinskij 15:baa2672a9b38 345 if (wifi.sendFile(gfp ,name, i)) // Send !
legwinskij 15:baa2672a9b38 346 {
legwinskij 15:baa2672a9b38 347 leds_error(); // Handle error
legwinskij 15:baa2672a9b38 348 printf("\r\nUnable to send data"); // Notify user via text also
legwinskij 15:baa2672a9b38 349 }
legwinskij 15:baa2672a9b38 350 else
legwinskij 15:baa2672a9b38 351 {
legwinskij 15:baa2672a9b38 352 printf("\r\nSwimmer %d finished", i); // Otherwise all is AOK
jkaderka 10:fdf9ca254549 353 }
jkaderka 0:16fd37cf4a7c 354 }
jkaderka 0:16fd37cf4a7c 355 }
jkaderka 0:16fd37cf4a7c 356
legwinskij 15:baa2672a9b38 357 // Main ========================================================================
legwinskij 15:baa2672a9b38 358
jkaderka 0:16fd37cf4a7c 359 int main()
jkaderka 0:16fd37cf4a7c 360 {
legwinskij 15:baa2672a9b38 361 /* Begin by initialization */
legwinskij 15:baa2672a9b38 362 printf("\r\nBoot..."); // Notify user that board is booting
legwinskij 15:baa2672a9b38 363 boardInit(); // Initialize board
legwinskij 15:baa2672a9b38 364 printf("\r\nReady..."); // Notify user that board is ready
jkaderka 0:16fd37cf4a7c 365
legwinskij 15:baa2672a9b38 366 /* Set zeroth swimmer name */
legwinskij 15:baa2672a9b38 367 sprintf(fname, "/usb/swimmer%d.txt", swimmer_id); // Prepare zeroth swimmer filename
jkaderka 10:fdf9ca254549 368
legwinskij 15:baa2672a9b38 369 /* Main while */
legwinskij 15:baa2672a9b38 370 while (1)
legwinskij 15:baa2672a9b38 371 {
legwinskij 15:baa2672a9b38 372 /* Read command from wifly */
jkaderka 4:030c7726c7dc 373 char cmd = wifi.getCmd();
jkaderka 1:3ec5f7df2410 374
legwinskij 15:baa2672a9b38 375 /* Master switch */
jkaderka 1:3ec5f7df2410 376 switch (cmd) {
legwinskij 15:baa2672a9b38 377 /* start measuring data periodically and save them info file */
legwinskij 15:baa2672a9b38 378 case SAVING_START:
legwinskij 15:baa2672a9b38 379 {
legwinskij 15:baa2672a9b38 380 leds_off(); // Turn off all leds
legwinskij 15:baa2672a9b38 381 startSaving(); // Actually start saving
legwinskij 15:baa2672a9b38 382 printf("\r\nSaving swimmer %d...", swimmer_id); // Notify user
legwinskij 15:baa2672a9b38 383 led_measuring = 1; // Turn on led_measuring
legwinskij 15:baa2672a9b38 384 break; // Break from switch
jkaderka 1:3ec5f7df2410 385 }
jkaderka 1:3ec5f7df2410 386
legwinskij 15:baa2672a9b38 387 /* stop saving data */
legwinskij 15:baa2672a9b38 388 case SAVING_STOP:
legwinskij 15:baa2672a9b38 389 {
legwinskij 15:baa2672a9b38 390 leds_off(); // Turn off all leds
legwinskij 15:baa2672a9b38 391 stopSaving(); // Actually stop saving
legwinskij 15:baa2672a9b38 392 printf("\r\nStopped..."); // Notify user
legwinskij 15:baa2672a9b38 393 break; // Break from switch
jkaderka 1:3ec5f7df2410 394 }
legwinskij 15:baa2672a9b38 395
legwinskij 15:baa2672a9b38 396 /* Send all data */
legwinskij 15:baa2672a9b38 397 case TRANSFER_START:
legwinskij 15:baa2672a9b38 398 {
legwinskij 15:baa2672a9b38 399 leds_off(); // Turn off all leds
legwinskij 15:baa2672a9b38 400 led_sending = 1; // Turn on led_sending
legwinskij 15:baa2672a9b38 401 printf("\r\nSending data..."); // Notify user that data is being sent
legwinskij 15:baa2672a9b38 402 transfer(); // Actually transfer data
legwinskij 15:baa2672a9b38 403 printf("\r\nSending finished..."); // Notify user that data was sent successfully
legwinskij 15:baa2672a9b38 404 leds_off(); // Turn off all leds again
legwinskij 15:baa2672a9b38 405 break; // Break from switch
jkaderka 1:3ec5f7df2410 406 }
jkaderka 1:3ec5f7df2410 407
legwinskij 15:baa2672a9b38 408 /* Ready || Nothing on serial */
legwinskij 15:baa2672a9b38 409 case 'R':
legwinskij 15:baa2672a9b38 410 case 'N':
legwinskij 15:baa2672a9b38 411 {
legwinskij 15:baa2672a9b38 412 /* Handle data measuring */
legwinskij 15:baa2672a9b38 413 if(measuringFlag) // Wait for timer to set the flag again and again
legwinskij 15:baa2672a9b38 414 {
legwinskij 15:baa2672a9b38 415 measuring(); // Measure !
legwinskij 15:baa2672a9b38 416 measuringFlag = 0; // Reset flag
legwinskij 15:baa2672a9b38 417 }
legwinskij 15:baa2672a9b38 418
legwinskij 15:baa2672a9b38 419 break; // Break from switch
legwinskij 15:baa2672a9b38 420 }
legwinskij 15:baa2672a9b38 421
legwinskij 15:baa2672a9b38 422 /* Everything else is ballast */
legwinskij 15:baa2672a9b38 423 default :
legwinskij 15:baa2672a9b38 424 {
legwinskij 15:baa2672a9b38 425 leds_error(); // Turn on all leds
legwinskij 15:baa2672a9b38 426 printf("\r\nCommand %c is unknown!", cmd); // Notify user
legwinskij 15:baa2672a9b38 427 break; // Break from switch
legwinskij 15:baa2672a9b38 428 }
jkaderka 0:16fd37cf4a7c 429 }
jkaderka 0:16fd37cf4a7c 430 }
jkaderka 0:16fd37cf4a7c 431 }