File content as of revision 28:c7e977a19564:

/*
* Los Putacos
* Copyright (C) 2017, All rights reserved.
* ________________________________________
*
* Created by: Gustavo Campana, Michael Schmidt, Miguel Lopez
*       Date: 02-Dec-2017
*    Version: V0.1
*/
//-----------------------------------------------------------------

//-----------------------------------------------------------------
// "THE BEER-WARE LICENSE" (Revision 42):
// The "Los Putacos" team wrote this file. As long as you retain this notice you
// can do whatever you want with this stuff. If we meet some day, and you think
// this stuff is worth it, you can buy me a beer in return Poul-Henning Kamp
//-----------------------------------------------------------------

//-----------------------------------------------------------------
// Includes
#include "mbed.h"
#include "event.h"
#include "MPU9250.h"
#include "TCPSocket.h"
#include "configuration.h"
#include "ESP8266Interface.h"

//-----------------------------------------------------------------

//-----------------------------------------------------------------
// Declarations
Timer Testing;
Timer TimeStamp;                            // Timer µS time-stamp
Serial PC(USBTX, USBRX);                    // Create an Serial PC Object - USBTX, USBRX

SPI spi(IMU_MOSI, IMU_MISO,IMU_SCK);       // Create an SPI Object for MPU9250 - MOSI, MISO, SCK
mpu9250_spi imu(spi, IMU_CS);               // Create an MPU9250 Object - SPI Object, CS

ESP8266Interface WiFi(ESP_TX, ESP_RX);      // ESP8266 WiFi Interface
TCPSocket Socket_TCP;                       // TCP Socket

// Events
EventQueue queue(32 * EVENTS_EVENT_SIZE);   // Event Setup

// Tickers
Ticker Ticker_IMU;
Ticker Ticker_ReceiveCommand;

// Threads
Thread Thread_IMU(osPriorityRealtime);
Thread Thread_ReceiveCommand(osPriorityNormal);

// Global Variables
uint32_t len = 0;
uint16_t Time_Data = 0;
uint32_t Data_Size = 0;
uint16_t LineCount = 0;
volatile uint16_t readPointer = 0;
volatile uint16_t readPointer_MIC = 0;
volatile uint16_t writePointer = 0;
volatile uint16_t writePointer_MIC = 0;

uint8_t ReadIMUDone_Flag = 0;
uint8_t CheckCommandDone_Flag = 0;

uint8_t Requested_Time = 0;
uint8_t Current_Position = 0;
    
char Time_Buffer[2];
char Data_Buffer[2048];
const char DeviceNr[6] = "DEV01";
int16_t Data_Storage[BufferSize];               // BufferSize defined in "event.h"
uint16_t Data_Storage_MIC[BufferSize_MIC];      // BufferSize_MIC defined in "event.h"

//-----------------------------------------------------------------

//-----------------------------------------------------------------
void Setup()
{
    PC.baud(230400);            // Initialize PC Serial Connection
    PC.printf("\r\n------------- Booting! -------------\r\n");
    PC.printf("CPU SystemCoreClock is %d Hz", SystemCoreClock);

    PC.printf("\nConnecting to %s with %s...\n",  WiFi_SSID, WiFi_Pass);
    int ret = WiFi.connect(WiFi_SSID, WiFi_Pass, NSAPI_SECURITY_WPA_WPA2);
    if (ret != 0) {
        printf("\nConnection error\n");
    }

    nsapi_error_t response;
    Socket_TCP.open(&WiFi);
    Socket_TCP.set_blocking(false);
    wait(0.5);

    response = Socket_TCP.connect("192.168.43.96", 8080);
    while (0 != response) {
        wait(0.5);
        response = Socket_TCP.connect("192.168.43.96", 8080);
    }


    // Initialize IMU SPI Connection
    if(imu.init(1, BITS_DLPF_CFG_188HZ))        // Initialize the MPU9250
        PC.printf("\nCouldn't initialize MPU9250 via SPI!");
    PC.printf("\nWHOAMI = 0x%2x", imu.whoami());                        // Output I2C Address to check SPI (correct: 104 - 0x68)
    PC.printf("\nAcc_Scale = %u\n", imu.set_acc_scale(BITS_FS_16G));    // Set Full Range for Acc.
    imu.calib_acc();        // Calibrate Acceleration Sensor

    TimeStamp.reset();  // Reset Timer TimeStamp
    Thread_ReceiveCommand.start(callback(&queue, &EventQueue::dispatch_forever));       // Start Command-Receiving Thread
    Ticker_ReceiveCommand.attach(queue.event(&ReceiveCommand), 0.250);                  // Attach 250 ms Ticker to "ReceiveCommand"

    led1 = 1;           // Turn ON LED to display 'Ready!'
    PC.printf("\r\n------------- Ready! ---------------\r\n");
}

//-----------------------------------------------------------------

//-----------------------------------------------------------------
void Reset()            // Reset All Variables
{
    len = 0;


    memset(Data_Storage, 0, sizeof(Data_Storage));
    memset(Data_Storage_MIC, 0, sizeof(Data_Storage_MIC));
}

//-----------------------------------------------------------------

//-----------------------------------------------------------------
int main()
{
    Setup();    // Initial Setups

    while (true) {
        if ((Requested_Time != 0) && (CheckCommandDone_Flag == 1)) {
            CheckCommandDone_Flag = 0;

            TimeStamp.start();
            Thread_IMU.start(callback(&queue, &EventQueue::dispatch_forever));      // Start IMU-Reading Thread
            Ticker_IMU.attach_us(queue.event(&ReadIMU), 1000);                      // Attach 1 ms Ticker to "ReadIMU"
        }

        while ((writePointer != readPointer) && (writePointer_MIC != readPointer_MIC) && (ReadIMUDone_Flag == 1)) {
            Testing.start();

            while ((Data_Size + len) < 1024) {
                if ((writePointer != readPointer) && (writePointer_MIC != readPointer_MIC)) {
                    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++]);
                    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]);
                } else
                    break;
            }

            PC.printf("Package Size: %d\n", Data_Size);
            Socket_TCP.send(Data_Buffer, Data_Size);

            memset(Data_Buffer, 0, sizeof(Data_Buffer));
            PC.printf("Time: %d\n\n\n", Testing.read_ms());

            
            Data_Size = 0;
            wait(0.1);
            Testing.stop();
            Testing.reset();

            if ((readPointer == writePointer) && (writePointer_MIC == readPointer_MIC)) {
                ReadIMUDone_Flag = 0;
                PC.printf("Sending Done! - Time Taken: %d ms", TimeStamp.read_ms());
                TimeStamp.stop();
                TimeStamp.reset();

                Reset();
                Thread_ReceiveCommand.start(callback(&queue, &EventQueue::dispatch_forever));       // Start Command-Receiving Thread
                Ticker_ReceiveCommand.attach(queue.event(&ReceiveCommand), 0.250);                  // Attach 250 ms Ticker to "ReceiveCommand
            }
        }

        /*    sprintf(Data_Buffer, "%d;%d;%d;", (int)(1000*imu.accelerometer_data[0]), (int)(1000*imu.accelerometer_data[1]), (int)(1000*imu.accelerometer_data[2]));
        Socket_TCP.send(Data_Buffer, strlen(Data_Buffer));
        memset(Data_Buffer, 0, sizeof(Data_Buffer));*/

    }
}

//-----------------------------------------------------------------

//-----------------------------------------------------------------