Los Putacos / Mbed OS WearableDevice_Nucleo_New

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   MPU9250_SPI

Fork of WearableDevice_Nucleo by Los Putacos

main.cpp@28:c7e977a19564, 2017-12-19 (annotated)

Committer:
Muglug
Date:
Tue Dec 19 10:15:19 2017 +0000
Revision:
28:c7e977a19564
Parent:
27:c4b2ce6fa5b8
Child:
29:ab809198c1ba
Newest Version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gusteibolt 1:a6dc717fb060 1 /*
gusteibolt 1:a6dc717fb060 2 * Los Putacos
gusteibolt 1:a6dc717fb060 3 * Copyright (C) 2017, All rights reserved.
Muglug 18:7f9c2b8541e1 4 * ________________________________________
gusteibolt 1:a6dc717fb060 5 *
gusteibolt 1:a6dc717fb060 6 * Created by: Gustavo Campana, Michael Schmidt, Miguel Lopez
Muglug 28:c7e977a19564 7 * Date: 02-Dec-2017
gusteibolt 1:a6dc717fb060 8 * Version: V0.1
gusteibolt 1:a6dc717fb060 9 */
Muglug 23:aad5fd1b3ef9 10 //-----------------------------------------------------------------
gusteibolt 1:a6dc717fb060 11
gusteibolt 1:a6dc717fb060 12 //-----------------------------------------------------------------
Muglug 28:c7e977a19564 13 // "THE BEER-WARE LICENSE" (Revision 42):
Muglug 28:c7e977a19564 14 // The "Los Putacos" team wrote this file. As long as you retain this notice you
Muglug 28:c7e977a19564 15 // can do whatever you want with this stuff. If we meet some day, and you think
Muglug 28:c7e977a19564 16 // this stuff is worth it, you can buy me a beer in return Poul-Henning Kamp
gusteibolt 1:a6dc717fb060 17 //-----------------------------------------------------------------
gusteibolt 1:a6dc717fb060 18
gusteibolt 1:a6dc717fb060 19 //-----------------------------------------------------------------
gusteibolt 1:a6dc717fb060 20 // Includes
Muglug 25:86137c182a17 21 #include "mbed.h"
Muglug 28:c7e977a19564 22 #include "event.h"
Muglug 28:c7e977a19564 23 #include "MPU9250.h"
Muglug 28:c7e977a19564 24 #include "TCPSocket.h"
Muglug 23:aad5fd1b3ef9 25 #include "configuration.h"
Muglug 28:c7e977a19564 26 #include "ESP8266Interface.h"
gusteibolt 3:26aeff25f610 27
gusteibolt 1:a6dc717fb060 28 //-----------------------------------------------------------------
gusteibolt 0:73cd0cb02330 29
gusteibolt 1:a6dc717fb060 30 //-----------------------------------------------------------------
gusteibolt 1:a6dc717fb060 31 // Declarations
Muglug 28:c7e977a19564 32 Timer Testing;
Muglug 26:4bc56ce08d15 33 Timer TimeStamp; // Timer µS time-stamp
Muglug 26:4bc56ce08d15 34 Serial PC(USBTX, USBRX); // Create an Serial PC Object - USBTX, USBRX
Muglug 28:c7e977a19564 35
Muglug 28:c7e977a19564 36 SPI spi(IMU_MOSI, IMU_MISO,IMU_SCK); // Create an SPI Object for MPU9250 - MOSI, MISO, SCK
Muglug 28:c7e977a19564 37 mpu9250_spi imu(spi, IMU_CS); // Create an MPU9250 Object - SPI Object, CS
Muglug 28:c7e977a19564 38
Muglug 28:c7e977a19564 39 ESP8266Interface WiFi(ESP_TX, ESP_RX); // ESP8266 WiFi Interface
Muglug 28:c7e977a19564 40 TCPSocket Socket_TCP; // TCP Socket
Muglug 25:86137c182a17 41
Muglug 25:86137c182a17 42 // Events
Muglug 25:86137c182a17 43 EventQueue queue(32 * EVENTS_EVENT_SIZE); // Event Setup
Muglug 25:86137c182a17 44
Muglug 25:86137c182a17 45 // Tickers
Muglug 26:4bc56ce08d15 46 Ticker Ticker_IMU;
Muglug 28:c7e977a19564 47 Ticker Ticker_ReceiveCommand;
Muglug 25:86137c182a17 48
Muglug 25:86137c182a17 49 // Threads
Muglug 26:4bc56ce08d15 50 Thread Thread_IMU(osPriorityRealtime);
Muglug 28:c7e977a19564 51 Thread Thread_ReceiveCommand(osPriorityNormal);
gusteibolt 3:26aeff25f610 52
Muglug 26:4bc56ce08d15 53 // Global Variables
Muglug 28:c7e977a19564 54 uint32_t len = 0;
Muglug 26:4bc56ce08d15 55 uint16_t Time_Data = 0;
Muglug 27:c4b2ce6fa5b8 56 uint32_t Data_Size = 0;
Muglug 27:c4b2ce6fa5b8 57 uint16_t LineCount = 0;
Muglug 26:4bc56ce08d15 58 volatile uint16_t readPointer = 0;
Muglug 26:4bc56ce08d15 59 volatile uint16_t readPointer_MIC = 0;
Muglug 26:4bc56ce08d15 60 volatile uint16_t writePointer = 0;
Muglug 26:4bc56ce08d15 61 volatile uint16_t writePointer_MIC = 0;
Muglug 24:eed68c95160c 62
Muglug 27:c4b2ce6fa5b8 63 uint8_t ReadIMUDone_Flag = 0;
Muglug 28:c7e977a19564 64 uint8_t CheckCommandDone_Flag = 0;
Muglug 27:c4b2ce6fa5b8 65
Muglug 26:4bc56ce08d15 66 uint8_t Requested_Time = 0;
Muglug 26:4bc56ce08d15 67 uint8_t Current_Position = 0;
Muglug 28:c7e977a19564 68
Muglug 26:4bc56ce08d15 69 char Time_Buffer[2];
Muglug 28:c7e977a19564 70 char Data_Buffer[2048];
Muglug 26:4bc56ce08d15 71 const char DeviceNr[6] = "DEV01";
Muglug 26:4bc56ce08d15 72 int16_t Data_Storage[BufferSize]; // BufferSize defined in "event.h"
Muglug 26:4bc56ce08d15 73 uint16_t Data_Storage_MIC[BufferSize_MIC]; // BufferSize_MIC defined in "event.h"
Muglug 23:aad5fd1b3ef9 74
gusteibolt 1:a6dc717fb060 75 //-----------------------------------------------------------------
gusteibolt 1:a6dc717fb060 76
gusteibolt 1:a6dc717fb060 77 //-----------------------------------------------------------------
Muglug 18:7f9c2b8541e1 78 void Setup()
Muglug 18:7f9c2b8541e1 79 {
Muglug 26:4bc56ce08d15 80 PC.baud(230400); // Initialize PC Serial Connection
Muglug 24:eed68c95160c 81 PC.printf("\r\n------------- Booting! -------------\r\n");
Muglug 23:aad5fd1b3ef9 82 PC.printf("CPU SystemCoreClock is %d Hz", SystemCoreClock);
Muglug 28:c7e977a19564 83
Muglug 28:c7e977a19564 84 PC.printf("\nConnecting to %s with %s...\n", WiFi_SSID, WiFi_Pass);
Muglug 28:c7e977a19564 85 int ret = WiFi.connect(WiFi_SSID, WiFi_Pass, NSAPI_SECURITY_WPA_WPA2);
Muglug 28:c7e977a19564 86 if (ret != 0) {
Muglug 28:c7e977a19564 87 printf("\nConnection error\n");
Muglug 28:c7e977a19564 88 }
Muglug 28:c7e977a19564 89
Muglug 28:c7e977a19564 90 nsapi_error_t response;
Muglug 28:c7e977a19564 91 Socket_TCP.open(&WiFi);
Muglug 28:c7e977a19564 92 Socket_TCP.set_blocking(false);
Muglug 26:4bc56ce08d15 93 wait(0.5);
Muglug 18:7f9c2b8541e1 94
Muglug 28:c7e977a19564 95 response = Socket_TCP.connect("192.168.43.96", 8080);
Muglug 28:c7e977a19564 96 while (0 != response) {
Muglug 28:c7e977a19564 97 wait(0.5);
Muglug 28:c7e977a19564 98 response = Socket_TCP.connect("192.168.43.96", 8080);
Muglug 28:c7e977a19564 99 }
Muglug 28:c7e977a19564 100
Muglug 18:7f9c2b8541e1 101
Muglug 25:86137c182a17 102 // Initialize IMU SPI Connection
Muglug 26:4bc56ce08d15 103 if(imu.init(1, BITS_DLPF_CFG_188HZ)) // Initialize the MPU9250
Muglug 24:eed68c95160c 104 PC.printf("\nCouldn't initialize MPU9250 via SPI!");
Muglug 26:4bc56ce08d15 105 PC.printf("\nWHOAMI = 0x%2x", imu.whoami()); // Output I2C Address to check SPI (correct: 104 - 0x68)
Muglug 25:86137c182a17 106 PC.printf("\nAcc_Scale = %u\n", imu.set_acc_scale(BITS_FS_16G)); // Set Full Range for Acc.
Muglug 26:4bc56ce08d15 107 imu.calib_acc(); // Calibrate Acceleration Sensor
Muglug 24:eed68c95160c 108
Muglug 26:4bc56ce08d15 109 TimeStamp.reset(); // Reset Timer TimeStamp
Muglug 28:c7e977a19564 110 Thread_ReceiveCommand.start(callback(&queue, &EventQueue::dispatch_forever)); // Start Command-Receiving Thread
Muglug 28:c7e977a19564 111 Ticker_ReceiveCommand.attach(queue.event(&ReceiveCommand), 0.250); // Attach 250 ms Ticker to "ReceiveCommand"
Muglug 28:c7e977a19564 112
Muglug 26:4bc56ce08d15 113 led1 = 1; // Turn ON LED to display 'Ready!'
Muglug 26:4bc56ce08d15 114 PC.printf("\r\n------------- Ready! ---------------\r\n");
Muglug 28:c7e977a19564 115 }
Muglug 24:eed68c95160c 116
Muglug 23:aad5fd1b3ef9 117 //-----------------------------------------------------------------
Muglug 18:7f9c2b8541e1 118
Mister_Lopez 4:56e903769e94 119 //-----------------------------------------------------------------
Muglug 27:c4b2ce6fa5b8 120 void Reset() // Reset All Variables
Muglug 27:c4b2ce6fa5b8 121 {
Muglug 28:c7e977a19564 122 len = 0;
Muglug 27:c4b2ce6fa5b8 123
Muglug 27:c4b2ce6fa5b8 124
Muglug 27:c4b2ce6fa5b8 125 memset(Data_Storage, 0, sizeof(Data_Storage));
Muglug 27:c4b2ce6fa5b8 126 memset(Data_Storage_MIC, 0, sizeof(Data_Storage_MIC));
Muglug 27:c4b2ce6fa5b8 127 }
Muglug 28:c7e977a19564 128
Muglug 27:c4b2ce6fa5b8 129 //-----------------------------------------------------------------
Muglug 27:c4b2ce6fa5b8 130
Muglug 27:c4b2ce6fa5b8 131 //-----------------------------------------------------------------
gusteibolt 0:73cd0cb02330 132 int main()
gusteibolt 0:73cd0cb02330 133 {
Muglug 18:7f9c2b8541e1 134 Setup(); // Initial Setups
Muglug 18:7f9c2b8541e1 135
Muglug 26:4bc56ce08d15 136 while (true) {
Muglug 28:c7e977a19564 137 if ((Requested_Time != 0) && (CheckCommandDone_Flag == 1)) {
Muglug 28:c7e977a19564 138 CheckCommandDone_Flag = 0;
Muglug 27:c4b2ce6fa5b8 139
Muglug 28:c7e977a19564 140 TimeStamp.start();
Muglug 28:c7e977a19564 141 Thread_IMU.start(callback(&queue, &EventQueue::dispatch_forever)); // Start IMU-Reading Thread
Muglug 28:c7e977a19564 142 Ticker_IMU.attach_us(queue.event(&ReadIMU), 1000); // Attach 1 ms Ticker to "ReadIMU"
Muglug 26:4bc56ce08d15 143 }
Muglug 26:4bc56ce08d15 144
Muglug 28:c7e977a19564 145 while ((writePointer != readPointer) && (writePointer_MIC != readPointer_MIC) && (ReadIMUDone_Flag == 1)) {
Muglug 28:c7e977a19564 146 Testing.start();
Muglug 28:c7e977a19564 147
Muglug 28:c7e977a19564 148 while ((Data_Size + len) < 1024) {
Muglug 28:c7e977a19564 149 if ((writePointer != readPointer) && (writePointer_MIC != readPointer_MIC)) {
Muglug 28:c7e977a19564 150 Data_Size += sprintf(&Data_Buffer[Data_Size], "%d;%d;%d;%d;%d\n", Data_Storage[readPointer++], Data_Storage_MIC[readPointer_MIC++], Data_Storage[readPointer++], Data_Storage[readPointer++], Data_Storage[readPointer++]);
Muglug 28:c7e977a19564 151 len = snprintf(NULL, 0, "%d;%d;%d;%d;%d\n", Data_Storage[readPointer], Data_Storage_MIC[readPointer_MIC], Data_Storage[readPointer], Data_Storage[readPointer], Data_Storage[readPointer]);
Muglug 28:c7e977a19564 152 } else
Muglug 28:c7e977a19564 153 break;
Muglug 28:c7e977a19564 154 }
Muglug 28:c7e977a19564 155
Muglug 28:c7e977a19564 156 PC.printf("Package Size: %d\n", Data_Size);
Muglug 28:c7e977a19564 157 Socket_TCP.send(Data_Buffer, Data_Size);
Muglug 28:c7e977a19564 158
Muglug 28:c7e977a19564 159 memset(Data_Buffer, 0, sizeof(Data_Buffer));
Muglug 28:c7e977a19564 160 PC.printf("Time: %d\n\n\n", Testing.read_ms());
Muglug 25:86137c182a17 161
Muglug 28:c7e977a19564 162
Muglug 28:c7e977a19564 163 Data_Size = 0;
Muglug 28:c7e977a19564 164 wait(0.1);
Muglug 28:c7e977a19564 165 Testing.stop();
Muglug 28:c7e977a19564 166 Testing.reset();
Muglug 26:4bc56ce08d15 167
Muglug 28:c7e977a19564 168 if ((readPointer == writePointer) && (writePointer_MIC == readPointer_MIC)) {
Muglug 28:c7e977a19564 169 ReadIMUDone_Flag = 0;
Muglug 28:c7e977a19564 170 PC.printf("Sending Done! - Time Taken: %d ms", TimeStamp.read_ms());
Muglug 28:c7e977a19564 171 TimeStamp.stop();
Muglug 28:c7e977a19564 172 TimeStamp.reset();
Muglug 28:c7e977a19564 173
Muglug 28:c7e977a19564 174 Reset();
Muglug 28:c7e977a19564 175 Thread_ReceiveCommand.start(callback(&queue, &EventQueue::dispatch_forever)); // Start Command-Receiving Thread
Muglug 28:c7e977a19564 176 Ticker_ReceiveCommand.attach(queue.event(&ReceiveCommand), 0.250); // Attach 250 ms Ticker to "ReceiveCommand
Muglug 28:c7e977a19564 177 }
Muglug 26:4bc56ce08d15 178 }
Muglug 26:4bc56ce08d15 179
Muglug 28:c7e977a19564 180 /* sprintf(Data_Buffer, "%d;%d;%d;", (int)(1000*imu.accelerometer_data[0]), (int)(1000*imu.accelerometer_data[1]), (int)(1000*imu.accelerometer_data[2]));
Muglug 28:c7e977a19564 181 Socket_TCP.send(Data_Buffer, strlen(Data_Buffer));
Muglug 28:c7e977a19564 182 memset(Data_Buffer, 0, sizeof(Data_Buffer));*/
Muglug 25:86137c182a17 183
Muglug 19:0a3ae902722e 184 }
gusteibolt 0:73cd0cb02330 185 }
Muglug 28:c7e977a19564 186
Muglug 28:c7e977a19564 187 //-----------------------------------------------------------------
Muglug 28:c7e977a19564 188
Muglug 18:7f9c2b8541e1 189 //-----------------------------------------------------------------