Diff: Sensorplate/main.cpp

Revision:

7:d5e1c7c12a26

Parent:

6:9c1944f3ebe5

Child:

8:00b7a8cbd6ef

diff -r 9c1944f3ebe5 -r d5e1c7c12a26 Sensorplate/main.cpp
--- a/Sensorplate/main.cpp	Thu Sep 14 09:43:21 2017 +0000
+++ b/Sensorplate/main.cpp	Mon Aug 27 14:38:32 2018 +0000
@@ -1,74 +1,142 @@
 #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
+#define SERIAL_BAUD_RATE    115200
+#define ADC_LIMIT           2048
+#define DYNAMIC_SCALE       0.6f
+// READOUT_FREQ should work up to around 200 I think
+#define READOUT_FREQ        120
+
+AnalogIn boobs(p15);
+DigitalOut buz1(p21);
+DigitalOut buz2(p22);
+I2C i2c(p28, p27);
 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
+Adafruit_ADS1115 ads0(&i2c, 0x4B);
+Adafruit_ADS1115 ads1(&i2c, 0x4A);
+adsGain_t pga_table[]= {GAIN_SIXTEEN,GAIN_EIGHT,GAIN_FOUR,GAIN_TWO,GAIN_ONE};
+Serial pc(USBTX, USBRX); // tx, rx
+Ticker sample;
 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
+short scaler_res[8] = {0,0,0,0,0,0,0,0};   // 8 PR sensors 1 time per cycle
+short ele[6] = {0,0,0,0,0,0};   // 8 PR sensors 1 time per cycle
+short scaler_ele[6] = {0,0,0,0,0,0};   // 8 PR sensors 1 time per cycle
+short read[10];
+int done;
+int j = 0;
+int k=0;
+int l=0;
+int m=0;
+int n=0;
+int o=0;
+int p=0;
+int total_cycle=0;
+int gain=0;
+int stamp=0;
+int stamps=0;
+bool buzzer = 0;
+Timer times;
+
+int determine_res_gain(int resistive_signal)
+{
+    resistive_signal=abs(resistive_signal);
+    int gain_factor=0;
+    int result=1;
+    int resistive_normalized=resistive_signal/ADC_LIMIT;
+    if(resistive_signal-(resistive_normalized*ADC_LIMIT))resistive_normalized++;
+    for(int i=0; i<5; i++) {
+        if(resistive_normalized&(1<<i)) {
+            gain_factor=i;
+        }
+    }
+    for(int i=0; i<gain_factor; i++)result*=2;
+    if(((result*ADC_LIMIT)-resistive_signal)<(DYNAMIC_SCALE*ADC_LIMIT))gain_factor++;
+    return gain_factor;
+}
+
+int determine_gain(int electric_signal)
+{
+    electric_signal=abs(electric_signal);
+    int gain_factor=0;
+    int result=1;
+    int electric_normalized=electric_signal/ADC_LIMIT;
+    if(electric_signal-(electric_normalized*ADC_LIMIT))electric_normalized++;
+    for(int i=0; i<5; i++) {
+        if(electric_normalized&(1<<i)) {
+            gain_factor=i;
+        }
+    }
+    for(int i=0; i<gain_factor; i++)result*=2;
+    if(((result*ADC_LIMIT)-electric_signal)<(DYNAMIC_SCALE*ADC_LIMIT))gain_factor++;
+    if(gain_factor>4)gain_factor=4;
+    return gain_factor;
+}
+void read_all_adc_single_channel(uint8_t channel)
+{
+    if(channel<3) {
+        gain=determine_gain(ele[channel]);
+        ads0.setGain(pga_table[gain]);
+        scaler_ele[(channel+0)%3+0]=1;
+        for(int i=0; i<4-gain; i++)scaler_ele[(channel+0)%3+0]*=2;
+        ele[(channel+2)%3+0] = ads0.readADC_Differential(channel)/scaler_ele[(channel+2)%3+0];
+
+        gain=determine_gain(ele[channel+3]);
+        ads1.setGain(pga_table[gain]);
+        scaler_ele[(channel+0)%3+3]=1;
+        for(int i=0; i<4-gain; i++)scaler_ele[(channel+0)%3+3]*=2;
+        ele[(channel+2)%3+3] = ads1.readADC_Differential(channel)/scaler_ele[(channel+2)%3+3];
+    }
+    gain=determine_res_gain(res[channel]);
+    pr1.setGain(pga_table[gain]);
+    scaler_res[(channel+0)%4+0]=1;
+    for(int i=0; i<4-gain; i++)scaler_res[(channel+0)%4+0]*=2;
+    res[(channel+3)%4+0] = pr1.readADC_SingleEnded(channel)/scaler_res[(channel+3)%4+0];
+
+    gain=determine_res_gain(res[channel+4]);
+    pr2.setGain(pga_table[gain]);
+    scaler_res[(channel+0)%4+4]=1;
+    for(int i=0; i<4-gain; i++)scaler_res[(channel+0)%4+4]*=2;
+    res[(channel+3)%4+4] = pr2.readADC_SingleEnded(channel)/scaler_res[(channel+3)%4+4];
+}
 
 void read_adc()
 {
-    t.reset();
-    t.start();
-
-    elec[0] = pel.readADC_SingleEnded(0);       //First PE readout
+    if(boobs.read() > 0.5) {
+        for (int i=0; i<4; i++) {
+            read_all_adc_single_channel(i);
+            wait_us(500);
+        }
 
-    for (k = 0; k < 4; k = k + 1) {
-        res[k] =    pr1.readADC_SingleEnded(k); //First 4 PR readout
-    }
-    while(t.read_us()<(1*(cycle_time/5))) {}    //Wait untill 20% of cycle
-
-    elec[1] = pel.readADC_SingleEnded(0);       //Second PE readout
-
-    for (k = 0; k < 4; k = k + 1) {
-        res[k+4] =  pr2.readADC_SingleEnded(k); //Last 4 PR readout
-    }
-    while(t.read_us()<(2*(cycle_time/5))) {}    //Wait untill 40% of cycle 
+        pc.printf("%d,%d,%d,%d,", res[0], res[1], res[2], res[3]);
+        pc.printf("%d,%d,%d,%d,", res[4], res[5], res[6], res[7]);
+        pc.printf("%d,%d,%d,", ele[0],ele[1],ele[2]);
+        pc.printf("%d,%d,%d,", ele[3],ele[4],ele[5]);
+        pc.printf("\r\n");
 
-    elec[2] = pel.readADC_SingleEnded(0);       //Third PE readout
-
-    agu.getAccelero(acce);                      //Get accelerometer data
-    angle = acce[2]*10;
-    
-    while(t.read_us()<(3*(cycle_time/5))) {}    //Wait untill 60% of cycle
-
-    elec[3] = pel.readADC_SingleEnded(0);       //Fourth PE readout
-
-    agu.getGyro(gyro);                          //Get gyroscope data
-    
-    while(t.read_us()<(4*(cycle_time/5))) {}    //Wait untill 80% of cycle
-
-    elec[4] = pel.readADC_SingleEnded(0);       //Fifth PE readout
-
-    while(t.read_us()<(4.5*(cycle_time/5))) {}  //Wait untill 90% of cycle
-    pc.printf(",%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], 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
-    //receiving order: 8 resistive sensors, 5 electric readings, 3 accelerometer axes, 3 gyroscope axes
+    } else {
+        pc.printf("%d,%d\r\n", -80085,-80085);
+    }
+}
+void noise()
+{
+    gain=determine_gain(ele[4]);
+    ads1.setGain(pga_table[gain]);
+    scaler_ele[4]=1;
+    for(int i=0; i<4-gain; i++)scaler_ele[4]*=2;
+    ele[4] = ads1.readADC_Differential(1)/scaler_ele[4];
+    pc.printf("%d\n",ele[4]);
 }
 
 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);
+    i2c.frequency(400000);
+    pc.baud(SERIAL_BAUD_RATE);
+    sample.attach_us(&read_adc, 1000000/READOUT_FREQ);
+    //sample.attach_us(&noise, 500);
+    times.start();
     while (1) {
-        wait_us(cycle_time+1); // wait indefinitely because the ticker restarts every 50 ms
+
     }
 }
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