Diff: Sensorplate/main.cpp

Revision:

2:c6497fc90768

Parent:

1:a8e61f3910ad

Child:

3:cb38f2b1fd5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensorplate/main.cpp	Thu Sep 14 08:41:26 2017 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "Adafruit_ADS1015.h"
+#include "USBSerial.h"
+#include "MPU6050.h"
+
+I2C i2c(p28, p27);                  // I2C
+MPU6050 agu(p28,p27);               // Accelerometer/Gyroscope Unit
+Adafruit_ADS1115 pr1(&i2c, 0x48);   // first PiëzoResistive ADC
+Adafruit_ADS1115 pr2(&i2c, 0x49);   // second PiëzoResistive ADC
+Adafruit_ADS1115 pel(&i2c, 0x4B);   // PiëzoElectric ADC
+Serial pc(USBTX, USBRX); // tx, rx  // Serial USB connection
+Timer t;                            // Timer for equally time-spaced samples
+Ticker sample_cycle;                // Polling cycle
+int cycle_time = 100000;            // Cycle time in us
+int i2c_freq = 400000;              // I2C Frequency
+int usb_baud = 115200;              // USB Baud rate
+short res[8] = {0,0,0,0,0,0,0,0};   // 8 PR sensors 1 time per cycle
+short elec[5] = {0,0,0,0,0};        // 1 PE sensor 5 times per cycle
+int angle = 0;                      // Accelerometer Z-axis
+int k = 0;
+float acce[3];                      // Raw accelerometer data
+float gyro[3];                      // Raw gyroscope data
+bool r = 0;
+
+void read_adc()
+{
+    t.reset();
+    t.start();
+
+    elec[0] = pel.readADC_SingleEnded(0);
+
+    for (k = 0; k < 4; k = k + 1) {
+        res[k] =    pr1.readADC_SingleEnded(k);
+    }
+    while(t.read_us()<(1*(cycle_time/5))) {}
+
+    elec[1] = pel.readADC_SingleEnded(0);
+
+    for (k = 0; k < 4; k = k + 1) {
+        res[k+4] =  pr2.readADC_SingleEnded(k);
+    }
+    while(t.read_us()<(2*(cycle_time/5))) {}
+
+    elec[2] = pel.readADC_SingleEnded(0);
+
+    agu.getAccelero(acce);
+    angle = acce[2]*10;
+    
+    while(t.read_us()<(3*(cycle_time/5))) {}
+
+    elec[3] = pel.readADC_SingleEnded(0);
+
+    agu.getGyro(gyro);
+    
+    while(t.read_us()<(4*(cycle_time/5))) {}
+
+    elec[4] = pel.readADC_SingleEnded(0);
+
+    while(t.read_us()<(4.5*(cycle_time/5))) {}
+    pc.printf(",%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,\r\n", res[4], res[7], res[6], res[5], res[1], res[0], res[2], res[3], angle, elec[0], elec[1], elec[2], elec[3], elec[4], acce[0]*100, acce[1]*100, acce[2]*100, gyro[0]*100, gyro[1]*100, gyro[2]*100); // print all to serial port
+}
+
+int main()
+{
+    i2c.frequency(i2c_freq);
+    pc.baud(usb_baud);
+    pr1.setGain(GAIN_TWOTHIRDS); // set range to +/-6.144V
+    pr2.setGain(GAIN_TWOTHIRDS); // set range to +/-6.144V
+    pel.setGain(GAIN_TWOTHIRDS); // set range to +/-6.144V
+    sample_cycle.attach_us(&read_adc, cycle_time);
+    while (1) {
+        wait_us(cycle_time+1); // wait indefinitely because the ticker restarts every 50 ms
+    }
+}
\ No newline at end of file