Acquisition.cpp

00001 #include "Acquisition.h"
00002 
00003 AnalogIn light(PTE22);
00004 AnalogIn Ain0(PTE20);
00005 AnalogOut Aout(PTE30);
00006 MAG3110 mag(SDA, SCL);
00007 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
00008 
00009 long int global_time = 0;
00010 bool was_overflow = false;
00011 struct row_type last_measurement;
00012 
00013 led_live aquisition_led(0.01, 0.5, 1.);
00014 
00015 void RunningTimer(const void *param)
00016 {
00017     if (operating_mode != Exiting)
00018     {
00019         ++global_time;
00020     }
00021 }
00022 
00023 void RunningAcquisition(const void *param)
00024 {
00025     osStatus put_result;
00026     if (operating_mode == Collecting)
00027     {
00028         struct row_type *data_buffer = data_memory.alloc();
00029 
00030 //        mag.getValues(&data_buffer->mag_x, &data_buffer->mag_y, &data_buffer->mag_z);
00031         data_buffer->mag_x = (int)mag.readVal(MAG_OUT_X_MSB);
00032 //        (int)((int16_t)data_buffer->mag_x);
00033         data_buffer->mag_y = (int)mag.readVal(MAG_OUT_Y_MSB);
00034 //        (int)((int16_t)data_buffer->mag_y);
00035         data_buffer->mag_z = (int)mag.readVal(MAG_OUT_Z_MSB);
00036 //        (int)((int16_t)data_buffer->mag_z);
00037         
00038         data_buffer->giro_x = 0;
00039         data_buffer->giro_y = 0;
00040         data_buffer->giro_z = 0;
00041 
00042         data_buffer->acc_x = acc.getAccX_int();
00043         data_buffer->acc_y = acc.getAccY_int();
00044         data_buffer->acc_z = acc.getAccZ_int();
00045 
00046         data_buffer->light = light.read();
00047         data_buffer->Ain0 = Ain0.read();
00048 
00049         data_buffer->temperature = mag.getTemperature();
00050 
00051         data_buffer->tsi = global_tsi;
00052 
00053         data_buffer->time = global_time;
00054         data_buffer->was_overflow = was_overflow;
00055         
00056         put_result = data_queue.put(data_buffer, 10);
00057         last_measurement = *data_buffer;
00058         switch (put_result)
00059         {
00060             case osOK:
00061             case osEventMessage:
00062                 was_overflow = false;
00063                 break;
00064             case osEventTimeout:
00065                 was_overflow = true;
00066                 data_memory.free(data_buffer);
00067                 break;
00068         }
00069         aquisition_led.live(led_green);
00070     }
00071 }
00072 
00073 void ThreadAcquisition(const void *param)
00074 {
00075     led_green = 1.;
00076 
00077     rtos::RtosTimer timer(RunningTimer, osTimerPeriodic, NULL);
00078     rtos::RtosTimer Acquisition(RunningAcquisition, osTimerPeriodic, NULL);
00079 /*
00080     // debug
00081     {
00082         extern Serial pc;
00083         pc.printf("\nMag regs: ");
00084         for (int i=0; i<20; ++i)
00085         {
00086             pc.printf("%02X ", mag.readReg(i));
00087         }
00088         pc.printf(".\n");
00089         for (int i=0; i<1000; ++i)
00090         {
00091             pc.printf("%d %d %d \n", mag.readVal(MAG_OUT_X_MSB), mag.readVal(MAG_OUT_Y_MSB), mag.readVal(MAG_OUT_Z_MSB));
00092         }
00093     } 
00094 */
00095     timer.start(1); 
00096     Acquisition.start(100);
00097 
00098     while (operating_mode != Exiting)
00099     {
00100         rtos::Thread::wait(100);
00101     }
00102 
00103     rtos::Thread::wait(200); // free the waif for buffer
00104     Acquisition.stop();
00105     timer.stop();
00106 
00107     for (int i=0; i<10; ++i)
00108     {
00109         led_green = 0.9;
00110         rtos::Thread::wait(100);
00111         led_green = 0.1;
00112         rtos::Thread::wait(100);
00113     }
00114     led_green = 1.;
00115 }
00116