Inductive Force Sensor / Mbed 2 deprecated Inductive_Sensor

Communication with LDC1101. Working version, ready for extensive calibration tests for resolution, linearity, etc.

Dependencies:   Bob DS1825 LDC1101 SDFileSystem mbed

Fork of Inductive_Sensor by Bob Giesberts

main.cpp@12:cceece4f3afb, 2016-04-12 (annotated)

Committer:
bobgiesberts
Date:
Tue Apr 12 14:42:52 2016 +0000
Revision:
12:cceece4f3afb
Parent:
11:599ca9982e45 
Solved a few problems:;  - Timing (float / int problem in deepsleep mode);  - Storing data (seperate function now);  - Power down Pinouts when class is killed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bobgiesberts 2:1a203732fc95 1 /**
bobgiesberts 2:1a203732fc95 2 * @file main.cpp
bobgiesberts 2:1a203732fc95 3 * @brief This file programs the processor for the inductive force sensor
bobgiesberts 2:1a203732fc95 4 * using the library LDC1101.h and LDC1101.cpp.
bobgiesberts 12:cceece4f3afb 5 * - Led: processing communication with LDC1101
bobgiesberts 10:3cab80866536 6 *
bobgiesberts 4:ae441c5727b9 7 * Log protocol:
bobgiesberts 4:ae441c5727b9 8 * - 1 minute at 20 Hz
bobgiesberts 4:ae441c5727b9 9 * - 29 minutes rest
bobgiesberts 2:1a203732fc95 10 *
bobgiesberts 2:1a203732fc95 11 * @author Bob Giesberts
bobgiesberts 2:1a203732fc95 12 *
bobgiesberts 2:1a203732fc95 13 * @date 2015-12-17
bobgiesberts 2:1a203732fc95 14 */
bobgiesberts 10:3cab80866536 15 #include "mbed.h"
bobgiesberts 11:599ca9982e45 16 #include "LDC1101.h" // inductive force sensor
bobgiesberts 11:599ca9982e45 17 #include "SDFileSystem.h" // control the SD card
bobgiesberts 11:599ca9982e45 18 #include "Bob.h" // processorboard
bobgiesberts 11:599ca9982e45 19 #include "DS1825.h" // thermometer
bobgiesberts 10:3cab80866536 20
bobgiesberts 10:3cab80866536 21 #include <iostream>
bobgiesberts 10:3cab80866536 22 #include <vector>
bobgiesberts 10:3cab80866536 23 #include <string>
bobgiesberts 10:3cab80866536 24 using namespace std;
bobgiesberts 10:3cab80866536 25
bobgiesberts 5:736a81a59f3c 26 // SETTINGS
bobgiesberts 12:cceece4f3afb 27 bool DEBUG = false;
bobgiesberts 12:cceece4f3afb 28 float C = 120E-12; // Capacitor in F
bobgiesberts 12:cceece4f3afb 29 uint16_t INTERVAL_FIRST = 600; // First sampling time in seconds. 60:00 minutes = 600 sec
bobgiesberts 12:cceece4f3afb 30 uint16_t INTERVAL_OFF = 870; // Waiting interval in seconds. 14:30 minutes = 870 sec (14*60+30)
bobgiesberts 12:cceece4f3afb 31 uint16_t INTERVAL_ON = 30; // Sampling interval in seconds. 0:30 minutes = 30 sec
bobgiesberts 12:cceece4f3afb 32
bobgiesberts 12:cceece4f3afb 33 // Correct pinnames
bobgiesberts 12:cceece4f3afb 34 // PinName _LEDpin = PTB0; // For the first sensor (a bright red led)
bobgiesberts 12:cceece4f3afb 35 // PinName _Tpin = PTB1; // For the first sensor
bobgiesberts 12:cceece4f3afb 36 PinName _LEDpin = PTB1; // For all other sensors (a faint green led)
bobgiesberts 12:cceece4f3afb 37 PinName _Tpin = PTB0; // For all other sensors
bobgiesberts 12:cceece4f3afb 38
bobgiesberts 0:e81b68888268 39
bobgiesberts 5:736a81a59f3c 40 // load libraries
bobgiesberts 12:cceece4f3afb 41 Bob bob( _LEDpin, // LED
bobgiesberts 12:cceece4f3afb 42 PTC3, // sd_enable
bobgiesberts 12:cceece4f3afb 43 PTE0, // sd_present
bobgiesberts 12:cceece4f3afb 44 PTC2, // battery
bobgiesberts 12:cceece4f3afb 45 PTE30 // 3V3_DET TODO: can we use this to detect if we're charging the battery? If so, how should we respond?
bobgiesberts 12:cceece4f3afb 46 );
bobgiesberts 12:cceece4f3afb 47 // Serial pc(USBTX, USBRX);
bobgiesberts 4:ae441c5727b9 48
bobgiesberts 4:ae441c5727b9 49 // timer variables
bobgiesberts 6:ff39d60061ca 50 uint32_t now = 0, next = 0, prev = 0;
bobgiesberts 8:8cc1960467ae 51 uint8_t t_high = 0;
bobgiesberts 11:599ca9982e45 52 uint32_t t_lost = 0, lost_prev = 0;
bobgiesberts 8:8cc1960467ae 53 uint8_t lost_high = 0;
bobgiesberts 11:599ca9982e45 54 uint32_t t_sleep = 0;
bobgiesberts 12:cceece4f3afb 55 uint32_t t;
bobgiesberts 4:ae441c5727b9 56
bobgiesberts 4:ae441c5727b9 57 // file variables
bobgiesberts 4:ae441c5727b9 58 FILE *fp;
bobgiesberts 4:ae441c5727b9 59 string filename = "/sd/data00.txt";
bobgiesberts 4:ae441c5727b9 60 const char *fn;
bobgiesberts 4:ae441c5727b9 61
bobgiesberts 11:599ca9982e45 62 // temperature variables
bobgiesberts 11:599ca9982e45 63 uint8_t Tdata[9];
bobgiesberts 11:599ca9982e45 64 int16_t T_bin;
bobgiesberts 11:599ca9982e45 65 float T;
bobgiesberts 11:599ca9982e45 66
bobgiesberts 5:736a81a59f3c 67 // temporal storage for data samples
bobgiesberts 12:cceece4f3afb 68 const uint8_t package_size = 60; // ±12-13 Hz, so 60 would take about 5 sec.
bobgiesberts 12:cceece4f3afb 69 struct mydata {
bobgiesberts 12:cceece4f3afb 70 uint32_t t[package_size]; // time (s)
bobgiesberts 12:cceece4f3afb 71 uint32_t L[package_size]; // LHR_DATA
bobgiesberts 12:cceece4f3afb 72 } collected;
bobgiesberts 12:cceece4f3afb 73 uint8_t counter = 0;
bobgiesberts 12:cceece4f3afb 74
bobgiesberts 12:cceece4f3afb 75 // function to write all data to the SD card
bobgiesberts 12:cceece4f3afb 76 void storeit( float T )
bobgiesberts 12:cceece4f3afb 77 {
bobgiesberts 12:cceece4f3afb 78 // write data to SD card
bobgiesberts 12:cceece4f3afb 79 bob.ledon();
bobgiesberts 12:cceece4f3afb 80 fp = fopen( fn, "a" ); // open file (append)
bobgiesberts 12:cceece4f3afb 81 for( int i = 0; i < counter; i++ )
bobgiesberts 12:cceece4f3afb 82 fprintf( fp, "%.2f;%d;%.4f;%.4f\r\n", (float) collected.t[i]/100.0, collected.L[i], bob.battery(), T ); // write to file
bobgiesberts 12:cceece4f3afb 83 fclose( fp ); // close file
bobgiesberts 12:cceece4f3afb 84 bob.ledoff();
bobgiesberts 12:cceece4f3afb 85
bobgiesberts 12:cceece4f3afb 86 // pc.printf( "%d points: %.2f;%d;%.4f;%.4f\r\n", counter, (float) collected.t[0]/100.0, collected.L[0], bob.battery(), T );
bobgiesberts 12:cceece4f3afb 87
bobgiesberts 12:cceece4f3afb 88 // Reset data
bobgiesberts 12:cceece4f3afb 89 memset(collected.t, 0, counter);
bobgiesberts 12:cceece4f3afb 90 memset(collected.L, 0, counter);
bobgiesberts 12:cceece4f3afb 91 counter = 0;
bobgiesberts 12:cceece4f3afb 92 }
bobgiesberts 5:736a81a59f3c 93
bobgiesberts 10:3cab80866536 94 int main(void)
bobgiesberts 10:3cab80866536 95 {
bobgiesberts 6:ff39d60061ca 96 // Load SD File system
bobgiesberts 12:cceece4f3afb 97 // - the Raspberry Pie SD cards give a warning here that might just be ignored:
bobgiesberts 12:cceece4f3afb 98 // "Not in idle state after sending CMD8 (not an SD card?)
bobgiesberts 12:cceece4f3afb 99 // Didn't get a response from the disk
bobgiesberts 12:cceece4f3afb 100 // Set 512-byte block timed out"
bobgiesberts 12:cceece4f3afb 101 // TODO: buy 'better' SD cards from IAPC / the Stores (Kingston ...)
bobgiesberts 11:599ca9982e45 102 bob.wakeup();
bobgiesberts 12:cceece4f3afb 103 SDFileSystem *sd = new SDFileSystem(PTD6, // mosi
bobgiesberts 12:cceece4f3afb 104 PTD7, // miso
bobgiesberts 12:cceece4f3afb 105 PTD5, // sclk
bobgiesberts 12:cceece4f3afb 106 PTD4, // cs
bobgiesberts 12:cceece4f3afb 107 "sd"
bobgiesberts 12:cceece4f3afb 108 );
bobgiesberts 10:3cab80866536 109
bobgiesberts 6:ff39d60061ca 110 // Create a new data file (data00.txt)
bobgiesberts 10:3cab80866536 111 mkdir("/sd", 0777);
bobgiesberts 11:599ca9982e45 112 for(uint8_t i = 0; i < 100; i++)
bobgiesberts 11:599ca9982e45 113 {
bobgiesberts 6:ff39d60061ca 114 filename[8] = i/10 + '0';
bobgiesberts 4:ae441c5727b9 115 filename[9] = i%10 + '0';
bobgiesberts 4:ae441c5727b9 116 fp = fopen( filename.c_str() , "r" );
bobgiesberts 11:599ca9982e45 117 if( fp == NULL ) // read failed so file does not exist
bobgiesberts 11:599ca9982e45 118 {
bobgiesberts 4:ae441c5727b9 119 fp = fopen( filename.c_str(), "w" ); // create it
bobgiesberts 11:599ca9982e45 120 if( fp != NULL )
bobgiesberts 11:599ca9982e45 121 {
bobgiesberts 4:ae441c5727b9 122 fn = filename.c_str();
bobgiesberts 6:ff39d60061ca 123 fclose( fp );
bobgiesberts 4:ae441c5727b9 124 break;
bobgiesberts 10:3cab80866536 125 } else {
bobgiesberts 12:cceece4f3afb 126 bob.ledon(); // error: unable to create new file
bobgiesberts 4:ae441c5727b9 127 }
bobgiesberts 10:3cab80866536 128 } else { // file already exists
bobgiesberts 4:ae441c5727b9 129 fclose( fp );
bobgiesberts 4:ae441c5727b9 130 }
bobgiesberts 1:22c272515015 131 }
bobgiesberts 11:599ca9982e45 132 if( fp == NULL )
bobgiesberts 11:599ca9982e45 133 {
bobgiesberts 12:cceece4f3afb 134 bob.ledon(); // error: file 00 - 99 already exists
bobgiesberts 12:cceece4f3afb 135 // pc.printf( "/sd/data00.txt t/m /sd/data99.txt already exist!\n" );
bobgiesberts 11:599ca9982e45 136 }
bobgiesberts 10:3cab80866536 137
bobgiesberts 6:ff39d60061ca 138 // Unload SD File system
bobgiesberts 10:3cab80866536 139 delete sd;
bobgiesberts 10:3cab80866536 140 sd = NULL;
bobgiesberts 12:cceece4f3afb 141
bobgiesberts 11:599ca9982e45 142 while(1)
bobgiesberts 11:599ca9982e45 143 {
bobgiesberts 11:599ca9982e45 144 // Wakeup: SD + LDC1101 on
bobgiesberts 11:599ca9982e45 145 bob.wakeup();
bobgiesberts 10:3cab80866536 146
bobgiesberts 11:599ca9982e45 147 // what time is it now?
bobgiesberts 8:8cc1960467ae 148 prev = now; // 0 -> 429 496 --> (4 294,96 s) (71 min)
bobgiesberts 8:8cc1960467ae 149 now = (uint32_t) clock(); // 0 -> 429 496 --> (4 294,96 s) (71 min)
bobgiesberts 11:599ca9982e45 150 if( now < prev )
bobgiesberts 11:599ca9982e45 151 t_high++; // 0 -> 255 --> (255*4 294,96 s) (12 days)
bobgiesberts 11:599ca9982e45 152 t = now + 429496.7296*t_high + t_lost + 429496.7296*lost_high; // 0 -> 219 901 952 --> (2 199 019,52 s) (25 days)
bobgiesberts 11:599ca9982e45 153
bobgiesberts 11:599ca9982e45 154 // load libraries to take control over the communication
bobgiesberts 12:cceece4f3afb 155 LDC1101 *ldc = new LDC1101( PTC6, // mosi
bobgiesberts 12:cceece4f3afb 156 PTC7, // miso
bobgiesberts 12:cceece4f3afb 157 PTC5, // sck
bobgiesberts 12:cceece4f3afb 158 PTC4, // cs
bobgiesberts 12:cceece4f3afb 159 C, // capacitor
bobgiesberts 12:cceece4f3afb 160 16E6 // f_CLKIN
bobgiesberts 12:cceece4f3afb 161 ); // load sensor (LDC1101) library (this takes 0.81 s)
bobgiesberts 11:599ca9982e45 162 DS1825 *thermometer = new DS1825( _Tpin ); // load thermometer (DS1825) library
bobgiesberts 12:cceece4f3afb 163 SDFileSystem *sd = new SDFileSystem(PTD6, // mosi
bobgiesberts 12:cceece4f3afb 164 PTD7, // miso
bobgiesberts 12:cceece4f3afb 165 PTD5, // sclk
bobgiesberts 12:cceece4f3afb 166 PTD4, // cs
bobgiesberts 12:cceece4f3afb 167 "sd"
bobgiesberts 12:cceece4f3afb 168 ); // load SD system on
bobgiesberts 11:599ca9982e45 169 mkdir("/sd", 0777); // select folder
bobgiesberts 10:3cab80866536 170
bobgiesberts 12:cceece4f3afb 171
bobgiesberts 12:cceece4f3afb 172 // How long should we takes samples?
bobgiesberts 11:599ca9982e45 173 if( next == 0 )
bobgiesberts 11:599ca9982e45 174 {
bobgiesberts 11:599ca9982e45 175 next = t + INTERVAL_FIRST*100;
bobgiesberts 10:3cab80866536 176 } else {
bobgiesberts 11:599ca9982e45 177 next = t + INTERVAL_ON*100; // 0 -> 219 904 952 --> (2 199 049,52 s) (25 days)
bobgiesberts 8:8cc1960467ae 178 }
bobgiesberts 10:3cab80866536 179
bobgiesberts 6:ff39d60061ca 180 // Take samples for INTERVAL_ON seconds
bobgiesberts 11:599ca9982e45 181 while( t < next )
bobgiesberts 11:599ca9982e45 182 {
bobgiesberts 12:cceece4f3afb 183 // wait for new data to be ready
bobgiesberts 12:cceece4f3afb 184 while( !ldc->is_New_LHR_data() ) { }
bobgiesberts 10:3cab80866536 185
bobgiesberts 12:cceece4f3afb 186 // what time is it now?
bobgiesberts 12:cceece4f3afb 187 prev = now;
bobgiesberts 12:cceece4f3afb 188 now = (uint32_t) clock();
bobgiesberts 12:cceece4f3afb 189 if( now < prev )
bobgiesberts 12:cceece4f3afb 190 t_high++;
bobgiesberts 12:cceece4f3afb 191 t = now + 429496.7296*t_high + t_lost + 429496.7296*lost_high;
bobgiesberts 10:3cab80866536 192
bobgiesberts 12:cceece4f3afb 193 if( !ldc->is_Oscillation_Error() ) // sensor overloaded, this happends when the target is too close to the coil
bobgiesberts 12:cceece4f3afb 194 {
bobgiesberts 12:cceece4f3afb 195 // Store data in temporal memory
bobgiesberts 12:cceece4f3afb 196 collected.t[counter] = t;
bobgiesberts 12:cceece4f3afb 197 collected.L[counter] = ldc->get_LHR_Data();
bobgiesberts 12:cceece4f3afb 198 counter++;
bobgiesberts 6:ff39d60061ca 199 }
bobgiesberts 11:599ca9982e45 200
bobgiesberts 12:cceece4f3afb 201 // Write a full package of data points to the SD card
bobgiesberts 12:cceece4f3afb 202 if( counter >= package_size-1 )
bobgiesberts 12:cceece4f3afb 203 storeit( thermometer->getTemperature() );
bobgiesberts 10:3cab80866536 204 }
bobgiesberts 12:cceece4f3afb 205
bobgiesberts 12:cceece4f3afb 206 // Write remaining data to the SD card
bobgiesberts 12:cceece4f3afb 207 if( counter > 0 )
bobgiesberts 12:cceece4f3afb 208 storeit( thermometer->getTemperature() );
bobgiesberts 10:3cab80866536 209
bobgiesberts 11:599ca9982e45 210 // prepare for sleep, power down the SD and the LDC1101
bobgiesberts 12:cceece4f3afb 211 delete sd; sd = NULL; // unload library to be able to power down completely
bobgiesberts 12:cceece4f3afb 212 delete ldc; ldc = NULL; // unload library to be able to power down completely
bobgiesberts 12:cceece4f3afb 213 delete thermometer; thermometer = NULL; // unload library to be able to power down completely
bobgiesberts 11:599ca9982e45 214 bob.beforesleep();
bobgiesberts 12:cceece4f3afb 215
bobgiesberts 12:cceece4f3afb 216 // if the battery is almost empty (Vbatt < 3.10 V), the termometer stops
bobgiesberts 12:cceece4f3afb 217 // working well and L can not be corrected. So just shut down...
bobgiesberts 12:cceece4f3afb 218 if( bob.battery() < 3.10f )
bobgiesberts 12:cceece4f3afb 219 {
bobgiesberts 12:cceece4f3afb 220 bob.ledon(); // error: battery empty
bobgiesberts 12:cceece4f3afb 221 // pc.printf( "Battery empty (%.1f V), shutting down.\n", bob.battery() );
bobgiesberts 12:cceece4f3afb 222 exit(0);
bobgiesberts 12:cceece4f3afb 223 }
bobgiesberts 10:3cab80866536 224
bobgiesberts 11:599ca9982e45 225 // what time is it now?
bobgiesberts 11:599ca9982e45 226 prev = now;
bobgiesberts 11:599ca9982e45 227 now = (uint32_t) clock();
bobgiesberts 11:599ca9982e45 228 if( now < prev )
bobgiesberts 11:599ca9982e45 229 t_high++;
bobgiesberts 11:599ca9982e45 230 t = now + 429496.7296*t_high + t_lost + 429496.7296*lost_high;
bobgiesberts 10:3cab80866536 231
bobgiesberts 8:8cc1960467ae 232 // Calculate sleeping time (correction to INTERVAL_OFF)
bobgiesberts 12:cceece4f3afb 233 // t has passed the limit of next. Those few ms are substracted from INTERVAL_OFF.
bobgiesberts 11:599ca9982e45 234 t_sleep = INTERVAL_OFF*100 - (t - next);
bobgiesberts 8:8cc1960467ae 235
bobgiesberts 12:cceece4f3afb 236 // Calculate time that will be lost during sleep
bobgiesberts 11:599ca9982e45 237 lost_prev = t_lost;
bobgiesberts 11:599ca9982e45 238 t_lost += t_sleep;
bobgiesberts 11:599ca9982e45 239 if( t_lost < lost_prev )
bobgiesberts 11:599ca9982e45 240 lost_high++;
bobgiesberts 10:3cab80866536 241
bobgiesberts 11:599ca9982e45 242 // Sleep now (ms), enter low power mode
bobgiesberts 11:599ca9982e45 243 bob.sleep( t_sleep * 10 );
bobgiesberts 10:3cab80866536 244
bobgiesberts 0:e81b68888268 245 }
bobgiesberts 6:ff39d60061ca 246
bobgiesberts 11:599ca9982e45 247
bobgiesberts 11:599ca9982e45 248
bobgiesberts 11:599ca9982e45 249
bobgiesberts 12:cceece4f3afb 250 }
bobgiesberts 12:cceece4f3afb 251