Los Putacos
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WearableDevice_Nucleo_New
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Dependencies: MPU9250_SPI
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WearableDevice_Nucleo
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main.cpp
00001 /* 00002 * Los Putacos 00003 * Copyright (C) 2017, All rights reserved. 00004 * ________________________________________ 00005 * 00006 * Created by: Gustavo Campana, Michael Schmidt, Miguel Lopez 00007 * Date: 02-Dec-2017 00008 * Version: V0.1 00009 */ 00010 //----------------------------------------------------------------- 00011 00012 //----------------------------------------------------------------- 00013 // "THE BEER-WARE LICENSE" (Revision 42): 00014 // The "Los Putacos" team wrote this file. As long as you retain this notice you 00015 // can do whatever you want with this stuff. If we meet some day, and you think 00016 // this stuff is worth it, you can buy me a beer in return Poul-Henning Kamp 00017 //----------------------------------------------------------------- 00018 00019 //----------------------------------------------------------------- 00020 // Includes 00021 #include "mbed.h" 00022 #include "event.h" 00023 #include "MPU9250.h" 00024 #include "TCPSocket.h" 00025 #include "configuration.h" 00026 #include "ESP8266Interface.h" 00027 00028 //----------------------------------------------------------------- 00029 00030 //----------------------------------------------------------------- 00031 // General Declarations 00032 Timer TimeStamp; // Timer µS time-stamp 00033 Serial PC(USBTX, USBRX); // Create an Serial PC Object - USBTX, USBRX 00034 00035 // IMU-SPI Declaration 00036 SPI spi(IMU_MOSI, IMU_MISO,IMU_SCK); // Create an SPI Object for MPU9250 - MOSI, MISO, SCK 00037 mpu9250_spi imu(spi, IMU_CS); // Create an MPU9250 Object - SPI Object, CS 00038 00039 // WiFi & TCP Socket Declaration 00040 ESP8266Interface WiFi(ESP_TX, ESP_RX); // ESP8266 WiFi Interface 00041 TCPSocket Socket_TCP; // TCP Socket 00042 nsapi_error_t response; // TCP Socket Response 00043 00044 // EventQueue Declarations 00045 EventQueue queue(32 * EVENTS_EVENT_SIZE); // Event Setup 00046 00047 // Ticker Declarations 00048 Ticker Ticker_IMU; 00049 Ticker Ticker_ReadBattery; 00050 Ticker Ticker_ReceiveCommand; 00051 00052 // Thread Declarations 00053 Thread Thread_IMU(osPriorityRealtime); 00054 Thread Thread_ReadBattery(osPriorityRealtime); 00055 Thread Thread_ReceiveCommand(osPriorityRealtime); 00056 00057 // Global Variables 00058 uint16_t LineCount = 0; 00059 uint32_t Line_Size = 0; 00060 uint32_t Data_Size = 0; 00061 00062 // Read & Writepointer Declarations 00063 uint8_t Current_Position = 0; 00064 volatile uint16_t readPointer = 0; 00065 volatile uint16_t readPointer_MIC = 0; 00066 volatile uint16_t writePointer = 0; 00067 volatile uint16_t writePointer_MIC = 0; 00068 00069 // Flag Declarations 00070 uint8_t ReadIMUDone_Flag = 0; 00071 uint8_t CheckCommandDone_Flag = 0; 00072 00073 // Battery Voltage & Power Consumption Declaration 00074 float Battery_Status = 0; 00075 float Power_Consumption = 0; 00076 00077 // Time Buffer Declaration 00078 char Time_Buffer[2]; 00079 uint16_t Time_Data = 0; 00080 uint8_t Requested_Time = 0; 00081 00082 // Data Storage Declaration 00083 char Data_Buffer[1024]; 00084 const char DeviceNr[6] = "DEV01"; // Device specific ID 00085 int16_t Data_Storage[BufferSize]; // BufferSize defined in "event.h" 00086 uint16_t Data_Storage_MIC[BufferSize_MIC]; // BufferSize_MIC defined in "event.h" 00087 00088 //----------------------------------------------------------------- 00089 00090 //----------------------------------------------------------------- 00091 void Setup() 00092 { 00093 LED_Blue1 = 1; // Turn OFF all LEDs 00094 LED_Blue2 = 1; 00095 LED_Red1 = 1; 00096 LED_Red2 = 1; 00097 00098 PC.baud(230400); // Initialize PC Serial Connection 00099 PC.printf("\r\n------------- Booting! -------------\r\n"); 00100 PC.printf("CPU SystemCoreClock is %d Hz", SystemCoreClock); // Show SystemCoreClock Speed 00101 00102 PC.printf("\nConnecting to %s with %s...\n", WiFi_SSID, WiFi_Pass); 00103 int ret = WiFi.connect(WiFi_SSID, WiFi_Pass, NSAPI_SECURITY_WPA_WPA2); // Connect WiFi 00104 00105 while (ret != 0) { // WiFi Connection Not Successful 00106 PC.printf("\nConnecting to %s with %s...\n", WiFi_SSID, WiFi_Pass); 00107 ret = WiFi.connect(WiFi_SSID, WiFi_Pass, NSAPI_SECURITY_WPA_WPA2); 00108 wait(0.5); 00109 } 00110 00111 printf("Connection Done! - IP: %s\r\n", WiFi.get_ip_address()); // Show IP Address 00112 Socket_TCP.open(&WiFi); // Open TCP_Socket on WiFi 00113 Socket_TCP.set_blocking(false); // Set Non-Blocking Mode 00114 00115 // Initialize IMU-SPI Connection 00116 if(imu.init(1, BITS_DLPF_CFG_188HZ)) // Initialize the MPU9250 00117 PC.printf("\nCouldn't initialize MPU9250 via SPI!"); 00118 PC.printf("\nWHOAMI = 0x%2x", imu.whoami()); // Output I2C Address to check SPI (correct: 104 - 0x68) 00119 PC.printf("\nAcc_Scale = %u\n", imu.set_acc_scale(BITS_FS_16G)); // Set Full Range for Acc. 00120 imu.calib_acc(); // Calibrate Acceleration Sensor 00121 00122 ReadBattery(); // Read Battery Level 00123 TimeStamp.reset(); // Reset Timer TimeStamp 00124 Thread_ReceiveCommand.start(callback(&queue, &EventQueue::dispatch_forever)); // Start Command-Receiving Thread 00125 Ticker_ReceiveCommand.attach(queue.event(&ReceiveCommand), 0.500); // Attach 500ms Ticker to "ReceiveCommand" 00126 00127 Thread_ReadBattery.start(callback(&queue, &EventQueue::dispatch_forever)); // Start Battery-Reading Thread 00128 Ticker_ReadBattery.attach(queue.event(&ReadBattery), 30); // Attach 30s Ticker to "ReadBattery" 00129 00130 Buzzer = 0; // Disable Buzzer 00131 Buzzer.period(0.001); // 1kHz Buzzer Frequency 00132 00133 LED_Blue1 = 0; // Turn ON LED to display 'Booting Done!' 00134 PC.printf("\r\n------------- Ready! ---------------\r\n"); 00135 } 00136 00137 //----------------------------------------------------------------- 00138 00139 //----------------------------------------------------------------- 00140 void Reset() // Reset All Variables 00141 { 00142 Line_Size = 0; 00143 Data_Size = 0; 00144 LineCount = 0; 00145 Time_Data = 0; 00146 Requested_Time = 0; 00147 Current_Position = 0; 00148 00149 readPointer = 0; 00150 readPointer_MIC = 0; 00151 writePointer = 0; 00152 writePointer_MIC = 0; 00153 00154 ReadIMUDone_Flag = 0; 00155 CheckCommandDone_Flag = 0; 00156 00157 memset(Data_Storage, 0, sizeof(Data_Storage)); 00158 memset(Data_Storage_MIC, 0, sizeof(Data_Storage_MIC)); 00159 } 00160 00161 //----------------------------------------------------------------- 00162 00163 //----------------------------------------------------------------- 00164 int main() 00165 { 00166 Setup(); // Initial Setups 00167 00168 while (true) { 00169 if ((Requested_Time != 0) && (CheckCommandDone_Flag == 1)) { // Check Flag & Requested Time 00170 CheckCommandDone_Flag = 0; // Reset Flag 00171 memset(Data_Buffer, 0, sizeof(Data_Buffer)); // Clear Data_Buffer 00172 00173 TimeStamp.start(); // Start Timer TimeStamp 00174 Thread_IMU.start(callback(&queue, &EventQueue::dispatch_forever)); // Start "ReadIMU" Thread 00175 Ticker_IMU.attach_us(queue.event(&ReadIMU), 2000); // Attach 2ms Ticker to "ReadIMU" 00176 } 00177 00178 while ((writePointer != readPointer) && (writePointer_MIC != readPointer_MIC) && (ReadIMUDone_Flag == 1)) { // Check Flag & Pointer Position 00179 while ((Data_Size + Line_Size) < 1024) { // Check Maximum Package Size 00180 if ((writePointer != readPointer) && (writePointer_MIC != readPointer_MIC)) { 00181 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++]); 00182 Line_Size = 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]); 00183 } else 00184 break; 00185 } 00186 00187 response = Socket_TCP.send(Data_Buffer, Data_Size); // Send Data via TCP_Socket 00188 while (response != Data_Size) // Sending Not Successful 00189 response = Socket_TCP.send(Data_Buffer, Data_Size); // Resend Data via TCP_Socket 00190 00191 Data_Size = 0; // Reset Data_Size 00192 memset(Data_Buffer, 0, sizeof(Data_Buffer)); // Clear Data_Buffer 00193 wait(0.1); // Wait 100ms between Packages for ESP8266 Module 00194 00195 if ((readPointer == writePointer) && (writePointer_MIC == readPointer_MIC)) { // Check if Readpointer reached Writepointer Position 00196 ReadIMUDone_Flag = 0; // Reset Flag for Sending 00197 PC.printf("Sending Done! - Time Taken: %d ms\n\n", TimeStamp.read_ms()); // Show Time used for Data Sending 00198 TimeStamp.stop(); // Stop Timer TimeStamp 00199 TimeStamp.reset(); // Reset Timer TimeStamp 00200 00201 Reset(); // Reset All Variables 00202 Thread_ReceiveCommand.start(callback(&queue, &EventQueue::dispatch_forever)); // Start "ReceiveCommand" Thread 00203 Ticker_ReceiveCommand.attach(queue.event(&ReceiveCommand), 0.500); // Attach 500ms Ticker to "ReceiveCommand" 00204 00205 Thread_ReadBattery.start(callback(&queue, &EventQueue::dispatch_forever)); // Start "ReadBattery" 00206 Ticker_ReadBattery.attach(queue.event(&ReadBattery), 30); // Attach 30s Ticker to "ReadBattery" 00207 } 00208 } 00209 } 00210 } 00211 00212 //----------------------------------------------------------------- 00213 00214 //-----------------------------------------------------------------
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