Momo-Medical
Nucleo-transfer
Dependencies: ADS1015 MPU6050 PixelArray PixelArray-Nucleo mbed WS2813
Fork of
Nucleo-transfer
by 
Momo Medical
Diff: Sensorplate/main.cpp
- Revision:
- 34:1614f4f2b841
- Parent:
- 33:df21cb8dc5c7
- Child:
- 35:e9026c40726e
--- a/Sensorplate/main.cpp Wed Oct 11 12:56:17 2017 +0000
+++ b/Sensorplate/main.cpp Thu Oct 12 09:29:51 2017 +0000
@@ -1,15 +1,15 @@
/********************* CODE INFORMATIE ******************************
-Date of creation: 20-12-1908
-Author: Elke Salzmann
+Date of creation: 30-09-2017
+Authors: Danny Eldering & Ricardo Molenaar
co-authors: Menno Gravemaker
-(c) Copyright by Momo Medical BV.
-
+(c) Copyright by Momo Medical BV.
+
Current version name: 2.1.2
-Date of creation: 14-01-2017
-Purpose of this file Oneliner of purpose
-Update ‘what’s new in this version?’: short meaningful description (no more than 3 lines)
-Todo: short meaningful description of next actions that could be worked on(less than 3 lines)
-Source file: http://mbed.com
+Date of modification: 11-10-2017
+Purpose of this file: Oneliner of purpose
+Update ‘what’s new in this version?’: short meaningful description (no more than 3 lines)
+Todo:
+Source file: http://mbed.com
*/
@@ -20,46 +20,48 @@
#include "MPU6050.h"
#include "MPU6050_belt.h"
#include "neopixel.h"
-#define NLED (3)
+#define NLED (3) // to do: nled uitschrijven
#define ONE_COLOR
-InterruptIn lock(p15); // Interrupts for buttons.
+InterruptIn lock(p15); // Interrupts for buttons. todo: button toevoegen
InterruptIn reposition(p17);
InterruptIn mute(p16);
InterruptIn new_patient(p18);
-DigitalOut LED_intern1(LED1);
+DigitalOut LED_intern1(LED1); // todo: intern veranderen in on_dev_board oid
DigitalOut LED_intern2(LED2);
DigitalOut LED_intern3(LED3);
DigitalOut LED_intern4(LED4);
-neopixel::PixelArray array(p11);
+neopixel::PixelArray array(p11); // todo: array -> wat ermee gedaan wordt
Timer lock_hold_timer;
Timer calibration_hold_timer;
-Timer delay;
+Timer delay; // todo: delay -> delay_between_2_buttons_pressed
Timer speaker_timer;
-Timer test_timer;
+Timer test_timer; // todo: naar testsectie
DigitalOut speaker1(p21);
DigitalOut speaker2(p22);
-PwmOut lock_LED(p23);
+PwmOut lock_LED(p23); // todo: button toevoegen bijv. feedback_LED_lock
PwmOut reposition_LED(p25);
PwmOut mute_LED(p26);
PwmOut new_patient_LED(p24);
-
-I2C i2c(p28, p27); // I2C
-I2C i2cAccu(p9, p10); // I2C for accupack
+// todo: comments for library hardcoding etc.
+I2C i2c(p28, p27); // I2C todo: i2c_sensorplaat
+I2C i2cAccu(p9, p10); // I2C for accupack todo: i2c_voltage_measurement
MPU6050 agu(p28,p27); // Accelerometer/Gyroscope Unit
MPU6050_belt agu_belt(p28,p27); // Accelerometer/Gyroscope Unit Belt
Adafruit_ADS1115 pr1(&i2c, 0x48); // first PiëzoResistive ADC
Adafruit_ADS1115 pr2(&i2c, 0x49); // second PiëzoResistive ADC
Adafruit_ADS1115 pel(&i2c, 0x4B); // PiëzoElectric ADC
Adafruit_ADS1115 adsAccu(&i2cAccu, 0x48);
-Serial pc(USBTX, USBRX); // tx, rx // Serial USB connection
+Serial pc(USBTX, USBRX); // tx, rx // Serial USB connection todo -> test en uart toevoegen ook bij pi
Serial pi(p13, p14); // tx, rx // Setup serial communication for pi.
Timer t; // Timer for equally time-spaced samples
Ticker sample_cycle; // Polling cycle
+// todo: uitschrijven namen
+
int boot_delay_ms = 500;
int cycle_time = 100000; // Cycle time in us
int i2c_freq = 400000; // I2C Frequency
@@ -92,13 +94,15 @@
/*************************** TEST ********************************/
// Verify algoritm function: for belt activation, set test_belt 1 (connect pin p20 to 3.3V)
-DigitalIn test_pin(p20, PullDown);
+DigitalIn test_pin(p30, PullDown);
bool test_belt = 1; //test_pin;
// Verify if interrupts are working properly
-// Verify if parameters are
-bool test_mode = 1;
+
+// Verify if parameters are
+bool test_mode = 0;
+
/*************************** CODE ********************************/
@@ -110,7 +114,7 @@
intensity = intensity_night;
}
control_LED_intensity = (intensity/100);
-
+
if (test_mode == 1) {
pc.printf("Intensity LED's shines to wall = %f\n", intensity);
pc.printf("Intensity LED's above buttons = %f\n", control_LED_intensity);
@@ -120,14 +124,22 @@
void serial_read() // Serial read for select LED intensity and colour.
{
if (pi.readable()) {
- char message[4];
+ char message[10];
pi.scanf("%s", message);
+ pc.printf("Message = %s, Intensity_select = %d en LED_colour = %c\n", message, intensity_select, LED_colour);
- intensity_select = message[0];
- LED_colour = message[1];
-
+ if (intensity_select != (message[0]-'0')) {
+ intensity_select = (message[0]-'0');
+ }
+
+ if (LED_colour != message[1]) {
+ LED_colour = message[1];
+ }
+
+ pc.printf("Intensity_select = %d en LED_colour = %c\n", intensity_select, LED_colour);
+
if (test_mode == 1) {
- pc.printf("%s", message);
+ pc.printf("message: %s\n", message);
}
}
}
@@ -136,41 +148,41 @@
{
if (mute_flag == 1) {
pi.printf(">01\n");
-
- if (test_mode == 1) {
+
+ if (test_mode == 1) {
pc.printf(">01\n");
}
-
+
mute_flag = 0;
}
if (new_patient_flag == 1) {
pi.printf(">03\n");
-
- if (test_mode == 1) {
+
+ if (test_mode == 1) {
pc.printf(">03\n");
}
-
+
new_patient_flag = 0;
}
if (reposition_flag == 1) {
pi.printf(">02\n");
-
- if (test_mode == 1) {
+
+ if (test_mode == 1) {
pc.printf(">02\n");
}
-
+
reposition_flag = 0;
}
if (batteryvoltage_current != batteryvoltage_last) {
- pi.printf("%%d\n", batteryvoltage_current);
-
- if (test_mode == 1) {
- pc.printf("%%d\n", batteryvoltage_current);
+ pi.printf("%%" "%d\n", batteryvoltage_current);
+
+ if (test_mode == 1) {
+ pc.printf("%%" "%d\n", batteryvoltage_current);
}
-
+
batteryvoltage_last = batteryvoltage_current;
}
@@ -178,10 +190,16 @@
if (LED_red_state == 1) {
pi.printf("&04\n");
LED_red_logged = LED_red_state;
+ if (test_mode == 1) {
+ pc.printf("&04\n");
+ }
}
if (LED_red_state == 0) {
pi.printf("&40\n");
LED_red_logged = LED_red_state;
+ if (test_mode == 1) {
+ pc.printf("&40\n");
+ }
}
}
@@ -189,10 +207,16 @@
if (LED_yellow_state == 1) {
pi.printf("&06\n");
LED_yellow_logged = LED_yellow_state;
+ if (test_mode == 1) {
+ pc.printf("&06\n");
+ }
}
if (LED_yellow_state == 0) {
pi.printf("&60\n");
LED_yellow_logged = LED_yellow_state;
+ if (test_mode == 1) {
+ pc.printf("&60\n");
+ }
}
}
@@ -200,10 +224,16 @@
if (LED_green_state == 1) {
pi.printf("&05\n");
LED_green_logged = LED_green_state;
+ if (test_mode == 1) {
+ pc.printf("&05\n");
+ }
}
if (LED_green_state == 0) {
pi.printf("&50\n");
LED_green_logged = LED_green_state;
+ if (test_mode == 1) {
+ pc.printf("&50\n");
+ }
}
}
@@ -211,73 +241,88 @@
if (speaker_state == 1) {
pi.printf("&07\n");
speaker_logged = speaker_state;
+ if (test_mode == 1) {
+ pc.printf("&07\n");
+ }
}
if (speaker_state == 0) {
pi.printf("&70\n");
speaker_logged = speaker_state;
+ if (test_mode == 1) {
+ pc.printf("&70\n");
+ }
}
}
if (power_plug_logged != power_plug_state) {
if (power_plug_state == 1) {
pi.printf("#08\n");
- pc.printf("#08 power on\n");
+ if (test_mode == 1) {
+ pc.printf("#08\n");
+ }
power_plug_logged = power_plug_state;
}
if (power_plug_state == 0) {
pi.printf("#80\n");
- pc.printf("#08 power off\n");
+ if (test_mode == 1) {
+ pc.printf("#80\n");
+ }
power_plug_logged = power_plug_state;
}
}
-
if (a == 1) {
- pi.printf("!,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", res[4], res[7], res[6], res[5], res[1], res[0], res[2], res[3], elec[0], elec[1], elec[2], elec[3], elec[4], acce[0], acce[1], acce[2], gyro[0], gyro[1], gyro[2], acce_belt[0], acce_belt[1], acce_belt[2], gyro_belt[0], gyro_belt[1], gyro_belt[2]); // print all to serial port
- pc.printf("Belt accelerometer values: %f,%f,%f,%f,%f,%f\n", acce_belt[0], acce_belt[1], acce_belt[2], gyro_belt[0], gyro_belt[1], gyro_belt[2]);
+ //receiving order: 8 resistive sensors, 5 electric readings
+ pi.printf("!,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,\n", res[4], res[7], res[6], res[5], res[1], res[0], res[2], res[3], elec[0], elec[1], elec[2], elec[3], elec[4]); // print all to serial port
+ if (test_mode == 1) {
+ pc.printf("!,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,\n", res[4], res[7], res[6], res[5], res[1], res[0], res[2], res[3], elec[0], elec[1], elec[2], elec[3], elec[4]); // print all to serial port
+ }
}
- //receiving order: 8 resistive sensors, 5 electric readings, 3 accelerometer axes, 3 gyroscope axes
- //Belt values print to pc
+
}
void colour_select(char LED_colour) // Function to select the colour.
{
set_intensity(); // Call function set_intensity
-
- red_var = 0;
- green_var = 0;
- blue_var = 0;
-
- if (LED_colour == 'r') {
- red_var = (2.55*intensity);
+
+ if ((LED_colour == 'r') || (LED_colour == 'g') || (LED_colour == 'b') || (LED_colour == 'y')) {
+ red_var = 0;
green_var = 0;
blue_var = 0;
- LED_red_state = 1;
- } else {
- LED_red_state = 0;
- }
-
- if (LED_colour == 'y') {
- red_var = (2.55*intensity);
- green_var = (2.55*intensity);
- blue_var = 0;
- LED_yellow_state = 1;
+
+ if (LED_colour == 'r') {
+ red_var = (2.55*intensity);
+ green_var = 0;
+ blue_var = 0;
+ LED_red_state = 1;
+ } else {
+ LED_red_state = 0;
+ }
+
+ if (LED_colour == 'y') {
+ red_var = (2.55*intensity);
+ green_var = (2.55*intensity);
+ blue_var = 0;
+ LED_yellow_state = 1;
+ } else {
+ LED_green_state = 0;
+ }
+
+ if (LED_colour == 'g') {
+ red_var = 0;
+ green_var = (2.55*intensity);
+ blue_var = 0;
+ LED_green_state = 1;
+ } else {
+ LED_green_state = 0;
+ }
+
+ if (LED_colour == 'b') {
+ red_var = 0;
+ green_var = 0;
+ blue_var = (2.55*intensity);
+ }
} else {
- LED_green_state = 0;
- }
-
- if (LED_colour == 'g') {
- red_var = 0;
- green_var = (2.55*intensity);
- blue_var = 0;
- LED_green_state = 1;
- } else {
- LED_green_state = 0;
- }
-
- if (LED_colour == 'b') {
- red_var = 0;
- green_var = 0;
- blue_var = (2.55*intensity);
+ LED_colour = LED_colour;
}
if (calibration_flash >= 1) {
@@ -298,7 +343,9 @@
void trigger_lock() // If rising edge lock button is detected start locktimer.
{
- pc.printf("Lock triggered.\n");
+ if (test_mode == 1) {
+ pc.printf("Lock triggered.\n");
+ }
lock_hold_timer.reset();
lock_hold_timer.start();
delay.reset();
@@ -307,6 +354,9 @@
void timer_lock() // End timer lock.
{
+ if (test_mode == 1) {
+ pc.printf("Lock released.\n");
+ }
lock_flag = 0; // Set lock_flag off.
lock_hold_timer.stop(); // Stop and reset holdtimer
lock_hold_timer.reset();
@@ -318,13 +368,10 @@
} else {
delay.reset();
delay.start();
- pc.printf("Reposition triggered.\n");
- if (LED_intern1 == 0) {
- LED_intern1 = 1;
- } else {
- LED_intern1 = 0;
+ if (test_mode == 1) {
+ pc.printf("Reposition triggered.\n");
+ LED_intern1 = !LED_intern1;
}
-
reposition_flag = 1;
reposition_LED = control_LED_intensity;
@@ -333,7 +380,11 @@
void rise_reposition()
{
+ if (test_mode == 1) {
+ pc.printf("Reposition released.\n");
+ }
reposition_LED = 0;
+
}
void trigger_mute()
@@ -349,11 +400,9 @@
} else {
mute_LED = 0;
}
- pc.printf("Mute triggered %d.\n",mute_state);
- if (LED_intern1 == 0) {
- LED_intern1 = 1;
- } else {
- LED_intern1 = 0;
+ if (test_mode == 1) {
+ pc.printf("Mute triggered %d.\n",mute_state);
+ LED_intern1 = !LED_intern1;
}
mute_flag = 1;
@@ -363,17 +412,22 @@
void trigger_new_patient() // Function to trigger hold timer for new patient calibration function.
{
- if (lock_state == 1) {
+ if (lock_state == 1 | (delay.read_ms() < buttondelay_ms)) {
} else {
calibration_hold_timer.reset();
calibration_hold_timer.start();
new_patient_LED = control_LED_intensity;;
- pc.printf("New patient triggered.\n");
+ if (test_mode == 1) {
+ pc.printf("New patient triggered.\n");
+ }
}
}
void timer_calibration() // Timer calibration function.
{
+ if (test_mode == 1) {
+ pc.printf("New patient released.\n");
+ }
new_patient_LED = 0;
if (0 < calibration_hold_timer.read_ms() < calibrationtime_ms) {
@@ -401,7 +455,6 @@
void timer_functions()
{
- pc.printf("Locktime = %d\n",lock_hold_timer.read_ms());
if ((lock_hold_timer.read_ms() > locktime_ms) && lock_flag == 0 && lock == 0) { // If statement for lock function.
lock_flag = 1;
LED_intern2 = !LED_intern2;
@@ -416,7 +469,9 @@
if ((calibration_hold_timer.read_ms() > calibrationtime_ms) && calibration_flag == 0 && new_patient == 0 && lock_state == 0) { // If statement for calibration system.
calibration_flag = 1;
calibration_flash = 11;
- pc.printf("Calibrate triggered.\n");
+ if (test_mode == 1) {
+ pc.printf("Calibrate triggered.\n");
+ }
pi.printf(">30\n"); // Print statement for serial communication to inform algorithm to calibrate.
}
@@ -532,12 +587,13 @@
angle = acce[2]*100;
}
agu.getGyro(gyro); // Get gyroscope data
-
+
if (test_belt == 1) {
agu_belt.getGyro(gyro_belt); // Get gyroscope data from Belt
agu_belt.getAccelero(acce_belt); // Get accelerometer data from belt
}
-
+ pi.printf("?,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,\n", acce[0], acce[1], acce[2], gyro[0], gyro[1], gyro[2],acce_belt[0], acce_belt[1], acce_belt[2], gyro_belt[0], gyro_belt[1], gyro_belt[2]);
+
while(t.read_us()<(3*(cycle_time/5))) {} // Wait untill 60% of cycle
elec[3] = pel.readADC_SingleEnded(0); // Fourth PE readout
@@ -548,8 +604,9 @@
batteryvoltage_current = batteryvoltage_last;
powervoltage_current = powervoltage_last;
read_voltage(); // Supplyvoltage control for alarm.
- pc.printf("Voltage = %d , %d\n", batteryvoltage_current, powervoltage_current);
-
+ if (test_mode == 1) {
+ pc.printf("Voltage = %d , %d\n", batteryvoltage_current, powervoltage_current);
+ }
uint32_t val = 0;
colour_select(LED_colour);
array.update(generate, NLED, val);
@@ -566,6 +623,23 @@
serial_read();
serial_log();
+ if (test_mode ==1) {
+ pc.printf("Loop time: %d ms\n",t.read_ms());
+ }
+ if (test_pin == 1) {
+ test_mode = 1;
+ pc.printf("%d\n",test_mode);
+ }
+ if (test_pin == 0) {
+ test_mode = 0;
+ pc.printf("%d\n",test_mode);
+ }
+ if (test_mode == 1) {
+ //cycle_time = 500000;
+ } else {
+ cycle_time = 100000;
+ }
+ pc.printf("Loop time: %d ms\n",t.read_ms());
}
int main()
@@ -594,6 +668,7 @@
set_intensity();
lock_LED = control_LED_intensity; // Lock LED initialization.
+
sample_cycle.attach_us(&read_adc, cycle_time);
while (1) {