Momo Medical
Nucleo-transfer
Dependencies: ADS1015 MPU6050 PixelArray-Nucleo mbed
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Nucleo-transfer
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Diff: Sensorplate/main.cpp
- Revision:
- 36:d10f368d037b
- Parent:
- 35:e9026c40726e
- Child:
- 37:d8f7b2b5719a
--- a/Sensorplate/main.cpp Thu Oct 12 09:30:58 2017 +0000
+++ b/Sensorplate/main.cpp Wed Oct 18 14:12:11 2017 +0000
@@ -1,112 +1,129 @@
-/********************* CODE INFORMATIE ******************************
+/********************* CODE INFORMATON ******************************
Date of creation: 30-09-2017
Authors: Danny Eldering & Ricardo Molenaar
co-authors: Menno Gravemaker
(c) Copyright by Momo Medical BV.
-Current version name: 2.1.2
-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
+Current version name: 2.1.3
+Date of modification: 18-10-2017
+Purpose of this file: Code for LPC1768 microcontroller for controlling buttons, LED's and communicate to PI
+Update ‘what’s new in this version?’: New structure added.
+ Readability improved.
+ Code optimized (variables and functions).
+Todo: -> Fix LED issue (yellow and red flashes at random moments);
+ -> Optimize functions / improve readability;
+ -> Split functions in seperate files?;
+ -> Fix when sensorplate is not connected;
+ -> Rule 570: if statement change to turn off LED's when power is plugged out (also related to rule 106).
+ -> For the speaker two outputs of the uC are used. Add MOSFET with external supply and control these by uC?
+Source file: http://mbed.com/
+Information files:
+(1) Flowchart:
+(2) Table serial communication: https://docs.google.com/spreadsheets/d/1kHlithHxtoMDGvbcdH8vwSw5W5ArxlwDPsyfra1dtQM/edit?usp=drive_web
*/
/************************ CONFIG ***********************************/
-#include "mbed.h"
+#include "mbed.h" // Include files and define parameters.
#include "Adafruit_ADS1015.h"
#include "MPU6050.h"
#include "MPU6050_belt.h"
#include "neopixel.h"
-#define NLED (3) // to do: nled uitschrijven
+#define NUMBER_LED_FRONT (3)
#define ONE_COLOR
-InterruptIn lock(p15); // Interrupts for buttons. todo: button toevoegen
-InterruptIn reposition(p17);
-InterruptIn mute(p16);
-InterruptIn new_patient(p18);
+InterruptIn button_lock(p15); // Input on intterupt base decleration.
+InterruptIn button_reposition(p17);
+InterruptIn button_mute(p16);
+InterruptIn button_new_patient(p18);
-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); // todo: array -> wat ermee gedaan wordt
-
-Timer lock_hold_timer;
-Timer calibration_hold_timer;
-Timer delay; // todo: delay -> delay_between_2_buttons_pressed
-Timer speaker_timer;
-Timer test_timer; // todo: naar testsectie
-
+DigitalOut LED_on_dev_board1(LED1); // Decleration of digital outputs.
+DigitalOut LED_on_dev_board2(LED2);
+DigitalOut LED_on_dev_board3(LED3);
+DigitalOut LED_on_dev_board4(LED4);
DigitalOut speaker1(p21);
DigitalOut speaker2(p22);
-PwmOut lock_LED(p23); // todo: button toevoegen bijv. feedback_LED_lock
-PwmOut reposition_LED(p25);
-PwmOut mute_LED(p26);
-PwmOut new_patient_LED(p24);
-// 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 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
+neopixel::PixelArray indicator_LEDs(p11);
+
+PwmOut lock_feedback_LED(p23); // Declaration of pulse with modulation outputs.
+PwmOut reposition_feedback_LED(p25);
+PwmOut mute_feedback_LED(p26);
+PwmOut new_patient_feedback_LED(p24);
+
+Timer button_lock_hold_timer; //
+Timer button_calibration_hold_timer; // Timer for calibration function (new patient holding 5 seconds).
+Timer delay_between_button_pressed; // Timer for time between two buttons (to prevent pressing buttons simultaneously).
+Timer speaker_timer; // Timer for speaker activation.
+Timer piezo_electric_sample_timer; // Timer for equally time-spaced samples.
-// todo: uitschrijven namen
+/*
+The code underneath this commentbox has some fixed parameters for serial/ADC reading:
+-> The address for the angle_device_reference_belt is set to 0x68 in the file MPU6050_belt (rule number: 19);
+-> The adress for the angle_device_sensorplate is set to 0x69 in the file MPU6050.h (rule number: 19);
+-> This is because of using the same I2C line;
+-> For detailed information/questions about this item, please read the technical manual or contact: Ricardo Molenaar | ricardo.molenaar@gmail.com
+*/
+I2C i2c_sensorplate_adc(p28, p27); // I2C for sensorplate.
+I2C i2c_power_adc(p9, p10); // I2C for accupack.
+MPU6050 angle_device_sensorplate(p28,p27); // i2c pins // i2c address hardcoded 0x68.
+MPU6050_belt angle_device_reference_belt(p28,p27); // i2c pins // i2c address hardcoded 0x69.
+Adafruit_ADS1115 piezo_resistive_adc1(&i2c_sensorplate_adc, 0x48); // i2c pins, i2c address.
+Adafruit_ADS1115 piezo_resistive_adc2(&i2c_sensorplate_adc, 0x49); // i2c pins, i2c address.
+Adafruit_ADS1115 piezo_electric_adc(&i2c_sensorplate_adc, 0x4B); // i2c pins, i2c address.
+Adafruit_ADS1115 adsAccu(&i2c_power_adc, 0x48); // i2c pins, i2c address.
+Serial usb_serial(USBTX, USBRX); // tx, rx
+Serial pi_serial(p13, p14); // tx, rx
+Ticker total_readout_cycle; // Polling cycle.
+// End of commentbox related to the serial configuration/ADC reading components.
int boot_delay_ms = 500;
-int cycle_time = 100000; // Cycle time in us
-int i2c_freq = 400000; // I2C Frequency
-int baud = 115200; // 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 total_readout_cycle_time_us = 100000; // Cycle time in us.
+int i2c_freq = 400000; // I2C Frequency.
+int baud_rate = 115200; // Baud rate.
+short piezo_resistive_array[8] = {0,0,0,0,0,0,0,0}; // 8 PR sensors 1 time per cycle.
+short piezo_electric_array[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
-float acce_belt[3]; // Raw accelerometer data from belt
-float gyro_belt[3]; // Raw gyroscope data from belt
-char LED_colour = 'g'; // Variable to set LED colour.
-bool lock_state = 0, lock_flag = 0, mute_state = 0, alarm = 0, calibration_flag = 0, intensity_select = 1; // Boolean variables for states logging.
-bool mute_flag = 0, new_patient_flag = 0, reposition_flag = 0;
+float accelerometer_sensorplate[3]; // Raw accelerometer data.
+float gyroscope_sensorplate[3]; // Raw gyroscope data.
+float accelerometer_reference_belt[3]; // Raw accelerometer data from belt.
+float gyroscope_reference_belt[3]; // Raw gyroscope data from belt.
+char LED_colour = 'g'; // Variable to set LED colour (standard set to green, untill PI sends other character).
+bool lock_state = 0, lock_flag = 0, mute_state = 0, alarm = 0, calibration_flag = 0, intensity_select = 1; // Boolean variables for logging states.
+bool mute_flag = 0, new_patient_flag = 0, reposition_flag = 0; // Flag variables.
bool speaker_state = 0, LED_red_state = 0, LED_yellow_state = 0, LED_green_state = 0, power_plug_state = 0;
bool speaker_logged = 0, LED_red_logged = 0, LED_yellow_logged = 0, LED_green_logged = 0, power_plug_logged = 0;
-int locktime_ms = 2000; // Waittime for lock user interface in ms.
-int calibrationtime_ms = 5000; // Time to press new_patient button for calibration system.
-int calibration_flash; // Variable for flash LED's to indicate calibration.
-int buttondelay_ms = 750; // Button delay in ms.
-int delay_lock_interface = 3000*60; // Delay for non using interface locktime.
-int speaker_active_ms = 750; // Time to iterate speaker on and off when alarm occurs.
-int alarm_voltage = 5867; // Needed voltage for alarm expressed as a digital 15 bit value (=20% of max battery voltage)
-int red_var, green_var, blue_var; // Variables to set LED intensity.
+int locktime_ms = 2000; // Waittime for lock user interface in ms.
+int calibrationtime_ms = 5000; // Time to press new_patient button for calibration system.
+int calibration_flash; // Variable for flash LED's to indicate calibration.
+int buttondelay_ms = 750; // Button delay in ms.
+int delay_lock_interface = 3000*60; // Delay for non using interface locktime.
+int speaker_active_ms = 750; // Time to iterate speaker on and off when alarm occurs.
+int alarm_voltage = 5867; // Needed voltage for alarm expressed as a digital 15 bit value (=20% of max battery voltage).
+int LED_red_intensity, LED_blue_intensity, LED_green_intensity; // Variables to set LED intensity.
short batteryvoltage_current = 0, batteryvoltage_last = 0, powervoltage_current, powervoltage_last; // Variables to manage batteryvoltage.
-int intensity_day = 40, intensity_night = 10; // Intensity settings for LED's to wall.
-double intensity, control_LED_intensity = 0; // Variable between 0 and 1 to set the intensity of the LED's above the buttons.
-int a; // Test
+int digital_value_ADC_powervoltage_unplugged = 20000; // Digital value to set the indicating LEDs to wall blue (should be set off later).
+int intensity_day = 40, intensity_night = 10; // Intensity settings for LED's to wall.
+double intensity, control_LED_intensity = 0; // Variable between 0 and 1 to set the intensity of the LED's above the buttons.
/*************************** TEST ********************************/
-// Verify algoritm function: for belt activation, set test_belt 1 (connect pin p20 to 3.3V)
+// Verify algoritm function: for belt activation, set test_belt 1 (connect pin p20 to 3.3V).
+Timer test_timer;
DigitalIn test_pin(p30, PullDown);
-bool test_belt = 1; //test_pin;
-// Verify if interrupts are working properly
+// Variable to set if belt is used to test algorithm:
+bool test_belt = 0;
-
-// Verify if parameters are
+// Set test mode on (log functions to pc serial: interrupts, LED intensity and serial messages):
bool test_mode = 0;
+// Variable for connection test (should be changed):
+int connection_test_sensorplate;
/*************************** CODE ********************************/
-void set_intensity() // Function to set the intensity for the LED's.
+void set_intensity_LEDs() // Function to set the intensity for the LED's.
{
if (intensity_select == 1) {
intensity = intensity_day;
@@ -115,334 +132,353 @@
}
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);
+ if (test_mode == 1) { // If statement for test purposal LED_intensity values.
+ usb_serial.printf("Intensity LED's shines to wall = %f\n", intensity);
+ usb_serial.printf("Intensity LED's above buttons = %f\n", control_LED_intensity);
}
}
-void serial_read() // Serial read for select LED intensity and colour.
+void serial_read() // Function for serial read for select LED intensity and colour.
{
- if (pi.readable()) {
+ if (pi_serial.readable()) { // Function to check if pi is readable.
char message[10];
- pi.scanf("%s", message);
- pc.printf("Message = %s, Intensity_select = %d en LED_colour = %c\n", message, intensity_select, LED_colour);
+ pi_serial.scanf("%s", message);
- if (intensity_select != (message[0]-'0')) {
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("Message = %s, Intensity_select = %d en LED_colour = %c\n", message, intensity_select, LED_colour);
+ }
+
+ if (intensity_select != (message[0]-'0')) { // Read intensity for LED's variable from PI.
intensity_select = (message[0]-'0');
}
- if (LED_colour != message[1]) {
+ if (LED_colour != message[1]) { // Read character from PI to set LED_colour.
LED_colour = message[1];
}
- pc.printf("Intensity_select = %d en LED_colour = %c\n", intensity_select, LED_colour);
+ usb_serial.printf("Intensity_select = %d en LED_colour = %c\n", intensity_select, LED_colour);
if (test_mode == 1) {
- pc.printf("message: %s\n", message);
+ usb_serial.printf("Message: %s\n", message);
}
}
}
-void serial_log()
+void serial_log() // Function for serial logging. See link to table with code declarations above in code.
{
- if (mute_flag == 1) {
- pi.printf(">01\n");
+ if (mute_flag == 1) { // If statement to control logging for mute button.
+ pi_serial.printf(">01\n");
- if (test_mode == 1) {
- pc.printf(">01\n");
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf(">01\n");
}
mute_flag = 0;
}
- if (new_patient_flag == 1) {
- pi.printf(">03\n");
+ if (new_patient_flag == 1) { // If statement to control logging for new patient button.
+ pi_serial.printf(">03\n");
- if (test_mode == 1) {
- pc.printf(">03\n");
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf(">03\n");
}
new_patient_flag = 0;
}
- if (reposition_flag == 1) {
- pi.printf(">02\n");
+ if (reposition_flag == 1) { // If statement to control logging for reposition button.
+ pi_serial.printf(">02\n");
- if (test_mode == 1) {
- pc.printf(">02\n");
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf(">02\n");
}
reposition_flag = 0;
}
- if (batteryvoltage_current != batteryvoltage_last) {
- pi.printf("%%" "%d\n", batteryvoltage_current);
+ if (batteryvoltage_current != batteryvoltage_last) { // If statement to control logging for batteryvoltage.
+ pi_serial.printf("%%" "%d\n", batteryvoltage_current);
- if (test_mode == 1) {
- pc.printf("%%" "%d\n", batteryvoltage_current);
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("%%" "%d\n", batteryvoltage_current);
}
batteryvoltage_last = batteryvoltage_current;
}
- if (LED_red_logged != LED_red_state) {
+ if (LED_red_logged != LED_red_state) { // If statement to control logging for LED_red.
if (LED_red_state == 1) {
- pi.printf("&04\n");
+ pi_serial.printf("&04\n");
LED_red_logged = LED_red_state;
if (test_mode == 1) {
- pc.printf("&04\n");
+ usb_serial.printf("&04\n");
}
}
+
if (LED_red_state == 0) {
- pi.printf("&40\n");
+ pi_serial.printf("&40\n");
LED_red_logged = LED_red_state;
if (test_mode == 1) {
- pc.printf("&40\n");
+ usb_serial.printf("&40\n");
}
}
}
- if (LED_yellow_logged != LED_yellow_state) {
- if (LED_yellow_state == 1) {
- pi.printf("&06\n");
+ if (LED_yellow_logged != LED_yellow_state) { // If statement to control logging for LED_yellow.
+ if (LED_yellow_state == 1) {
+ pi_serial.printf("&06\n");
LED_yellow_logged = LED_yellow_state;
if (test_mode == 1) {
- pc.printf("&06\n");
+ usb_serial.printf("&06\n");
}
}
if (LED_yellow_state == 0) {
- pi.printf("&60\n");
+ pi_serial.printf("&60\n");
LED_yellow_logged = LED_yellow_state;
if (test_mode == 1) {
- pc.printf("&60\n");
+ usb_serial.printf("&60\n");
}
}
}
- if (LED_green_logged != LED_green_state) {
+ if (LED_green_logged != LED_green_state) { // If statement to control logging for LED_green.
if (LED_green_state == 1) {
- pi.printf("&05\n");
+ pi_serial.printf("&05\n");
LED_green_logged = LED_green_state;
+
if (test_mode == 1) {
- pc.printf("&05\n");
+ usb_serial.printf("&05\n");
}
}
+
if (LED_green_state == 0) {
- pi.printf("&50\n");
+ pi_serial.printf("&50\n");
LED_green_logged = LED_green_state;
+
if (test_mode == 1) {
- pc.printf("&50\n");
+ usb_serial.printf("&50\n");
}
}
}
- if (speaker_logged != speaker_state) {
+ if (speaker_logged != speaker_state) { // If statement to control logging for speaker.
if (speaker_state == 1) {
- pi.printf("&07\n");
+ pi_serial.printf("&07\n");
speaker_logged = speaker_state;
- if (test_mode == 1) {
- pc.printf("&07\n");
+
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("&07\n");
}
}
+
if (speaker_state == 0) {
- pi.printf("&70\n");
+ pi_serial.printf("&70\n");
speaker_logged = speaker_state;
- if (test_mode == 1) {
- pc.printf("&70\n");
+
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("&70\n");
}
}
}
- if (power_plug_logged != power_plug_state) {
+ if (power_plug_logged != power_plug_state) { // If statement to control the logging for the state of the power plug.
if (power_plug_state == 1) {
- pi.printf("#08\n");
- if (test_mode == 1) {
- pc.printf("#08\n");
+ pi_serial.printf("#08\n");
+
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("#08\n");
}
power_plug_logged = power_plug_state;
}
+
if (power_plug_state == 0) {
- pi.printf("#80\n");
- if (test_mode == 1) {
- pc.printf("#80\n");
+ pi_serial.printf("#80\n");
+
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("#80\n");
}
power_plug_logged = power_plug_state;
}
}
- if (a == 1) {
- //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 (connection_test_sensorplate == 1) { // If statement for sending serial information sensorplate data when connection test is active.
+ // Receiving order sensor information: 8 resistive sensors, 5 electric readings. Is splitted in two parts - part 1/2.
+ pi_serial.printf("!,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,\n", piezo_resistive_array[4], piezo_resistive_array[7], piezo_resistive_array[6], piezo_resistive_array[5], piezo_resistive_array[1], piezo_resistive_array[0], piezo_resistive_array[2], piezo_resistive_array[3], piezo_electric_array[0], piezo_electric_array[1], piezo_electric_array[2], piezo_electric_array[3], piezo_electric_array[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
+ usb_serial.printf("!,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,\n", piezo_resistive_array[4], piezo_resistive_array[7], piezo_resistive_array[6], piezo_resistive_array[5], piezo_resistive_array[1], piezo_resistive_array[0], piezo_resistive_array[2], piezo_resistive_array[3], piezo_electric_array[0], piezo_electric_array[1], piezo_electric_array[2], piezo_electric_array[3], piezo_electric_array[4]); // print all to serial port
}
}
}
-void colour_select(char LED_colour) // Function to select the colour.
+void colour_select_indicating_LED_wall(char LED_colour) // Function to select the colour for LED's to wall (values comes from algorithm).
{
- set_intensity(); // Call function set_intensity
+ set_intensity_LEDs(); // Call function set_intensity_LEDs to set the intensity for LED's to wall and above buttons.
- if ((LED_colour == 'r') || (LED_colour == 'g') || (LED_colour == 'b') || (LED_colour == 'y')) {
- red_var = 0;
- green_var = 0;
- blue_var = 0;
+ if ((LED_colour == 'r') || (LED_colour == 'g') || (LED_colour == 'b') || (LED_colour == 'y')) { // If statement to prevent potential errors in communication.
+ LED_red_intensity = 0; // Reset
+ LED_green_intensity = 0;
+ LED_blue_intensity = 0;
- if (LED_colour == 'r') {
- red_var = (2.55*intensity);
- green_var = 0;
- blue_var = 0;
+ if (LED_colour == 'r') { // Set LED_colour to red.
+ LED_red_intensity = (2.55*intensity); // 255 / 100 = 2.55 (8 - bit digital value; 0-255 = 256 steps); intensity is a value between 0 and 100.
+ LED_green_intensity = 0;
+ LED_blue_intensity = 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;
+ if (LED_colour == 'y') { // Set LED_colour to yellow.
+ LED_red_intensity = (2.55*intensity);
+ LED_green_intensity = (2.55*intensity);
+ LED_blue_intensity = 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;
+ if (LED_colour == 'g') { // Set LED_colour to green.
+ LED_red_intensity = 0;
+ LED_green_intensity = (2.55*intensity);
+ LED_blue_intensity = 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);
+ if (LED_colour == 'b') { // Set LED_colour to blue.
+ LED_red_intensity = 0;
+ LED_green_intensity = 0;
+ LED_blue_intensity = (2.55*intensity);
}
}
- if (calibration_flash >= 1) {
- if ((calibration_flash % 2) == 0) {
- red_var = 255;
- green_var = 255;
- blue_var = 255;
- LED_intern4 = 1;
- } else {
- red_var = 0;
- green_var = 0;
- blue_var = 0;
- LED_intern4 = 0;
+ if (calibration_flash >= 1) { // If statement for flashing LED's (colour = white) when calibration is active.
+ if ((calibration_flash % 2) == 0) { // If value can not be devided by two, set LED's on.
+ LED_red_intensity = 255;
+ LED_green_intensity = 255;
+ LED_blue_intensity = 255;
+ LED_on_dev_board4 = 1;
+ } else { // Else set LED's off.
+ LED_red_intensity = 0;
+ LED_green_intensity = 0;
+ LED_blue_intensity = 0;
+ LED_on_dev_board4 = 0;
}
calibration_flash--;
}
}
-void trigger_lock() // If rising edge lock button is detected start locktimer.
-{
- if (test_mode == 1) {
- pc.printf("Lock triggered.\n");
- }
- lock_hold_timer.reset();
- lock_hold_timer.start();
- delay.reset();
- delay.start();
-}
-
-void timer_lock() // End timer lock.
+void trigger_lock() // If rising edge lock button is detected start locktimer.
{
if (test_mode == 1) {
- pc.printf("Lock released.\n");
+ usb_serial.printf("Lock triggered.\n");
}
- lock_flag = 0; // Set lock_flag off.
- lock_hold_timer.stop(); // Stop and reset holdtimer
- lock_hold_timer.reset();
+
+ button_lock_hold_timer.reset();
+ button_lock_hold_timer.start();
+ delay_between_button_pressed.reset();
+ delay_between_button_pressed.start();
}
-void trigger_reposition()
+void end_timer_lock_button() // End timer lock.
{
- if (lock_state == 1 | (delay.read_ms() < buttondelay_ms)) { // Control statement for lock interface and delay for non using buttons at the same time.
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("Lock released.\n");
+ }
+ lock_flag = 0; // Set lock_flag off.
+ button_lock_hold_timer.stop(); // Stop and reset holdtimer
+ button_lock_hold_timer.reset();
+}
+
+void reposition_button_triggered()
+{
+ if (lock_state == 1 | (delay_between_button_pressed.read_ms() < buttondelay_ms)) { // Control statement for lock interface and delay for non using buttons at the same time.
} else {
- delay.reset();
- delay.start();
- if (test_mode == 1) {
- pc.printf("Reposition triggered.\n");
- LED_intern1 = !LED_intern1;
+ delay_between_button_pressed.reset();
+ delay_between_button_pressed.start();
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("Reposition triggered.\n");
+ LED_on_dev_board1 = !LED_on_dev_board1;
}
reposition_flag = 1;
- reposition_LED = control_LED_intensity;
+ reposition_feedback_LED = control_LED_intensity;
}
}
-void rise_reposition()
+void rise_reposition() // Interrupt for rising edge reposition function (deactivation; active low).
{
- if (test_mode == 1) {
- pc.printf("Reposition released.\n");
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("Reposition released.\n");
}
- reposition_LED = 0;
+ reposition_feedback_LED = 0;
}
-void trigger_mute()
+void mute_button_triggered()
{
- if (lock_state == 1 | (delay.read_ms() < buttondelay_ms)) { // Control statement for lock interface and delay for non using buttons at the same time.
+ if (lock_state == 1 | (delay_between_button_pressed.read_ms() < buttondelay_ms)) { // Control statement for lock interface and delay for non using buttons at the same time.
} else {
- delay.reset();
- delay.start();
+ delay_between_button_pressed.reset();
+ delay_between_button_pressed.start();
mute_state = !mute_state;
- if (mute_state == 1) {
- mute_LED = control_LED_intensity;
+
+ if (mute_state == 1) { // If statement for if mute_state is active, set mute feedback LED active.
+ mute_feedback_LED = control_LED_intensity;
} else {
- mute_LED = 0;
+ mute_feedback_LED = 0;
}
- if (test_mode == 1) {
- pc.printf("Mute triggered %d.\n",mute_state);
- LED_intern1 = !LED_intern1;
+
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("Mute triggered %d.\n",mute_state);
+ LED_on_dev_board1 = !LED_on_dev_board1;
}
mute_flag = 1;
}
}
-void trigger_new_patient() // Function to trigger hold timer for new patient calibration function.
+void trigger_new_patient() // Function to trigger hold timer for new patient and calibration function.
{
- if (lock_state == 1 | (delay.read_ms() < buttondelay_ms)) {
+ if (lock_state == 1 | (delay_between_button_pressed.read_ms() < buttondelay_ms)) {
} else {
- calibration_hold_timer.reset();
- calibration_hold_timer.start();
- new_patient_LED = control_LED_intensity;;
- if (test_mode == 1) {
- pc.printf("New patient triggered.\n");
+ button_calibration_hold_timer.reset();
+ button_calibration_hold_timer.start();
+ new_patient_feedback_LED = control_LED_intensity;;
+
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("New patient triggered.\n");
}
}
}
-void timer_calibration() // Timer calibration function.
+void activate_new_patient_function() // Timer calibration function.
{
- if (test_mode == 1) {
- pc.printf("New patient released.\n");
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("New patient released.\n");
}
- new_patient_LED = 0;
+ new_patient_feedback_LED = 0;
- if (0 < calibration_hold_timer.read_ms() < calibrationtime_ms) {
+ if (0 < button_calibration_hold_timer.read_ms() < calibrationtime_ms) { // If statement for new_patient function: holdtime for calibration is les then set time to calibrate algorithm.
new_patient_flag = 1;
}
- calibration_hold_timer.stop();
- calibration_hold_timer.reset();
+ button_calibration_hold_timer.stop(); // Timer reset for calibration function of new patient button.
+ button_calibration_hold_timer.reset();
- if (lock_state == 1 | (delay.read_ms() < buttondelay_ms)) { // Control statement for lock interface and delay for non using buttons at the same time.
+ if (lock_state == 1 | (delay_between_button_pressed.read_ms() < buttondelay_ms)) { // Control statement for lock interface and delay for non using buttons at the same time.
} else {
if (calibration_flag == 0) {
- if (LED_intern1 == 0) {
- LED_intern1 = 1;
+ if (LED_on_dev_board1 == 0) { // If statement for test purposal.
+ LED_on_dev_board1 = 1;
} else {
- LED_intern1 = 0;
+ LED_on_dev_board1 = 0;
}
} else {
@@ -451,96 +487,99 @@
}
}
-void timer_functions()
+void timer_functions() // Function which contains statements using timers.
{
- if ((lock_hold_timer.read_ms() > locktime_ms) && lock_flag == 0 && lock == 0) { // If statement for lock function.
+ if ((button_lock_hold_timer.read_ms() > locktime_ms) && lock_flag == 0 && button_lock == 0) { // If statement for lock function.
lock_flag = 1;
- LED_intern2 = !LED_intern2;
+ LED_on_dev_board2 = !LED_on_dev_board2;
lock_state = !lock_state;
- if (lock_state == 0) {
- lock_LED = control_LED_intensity;
+
+ if (lock_state == 0) { // If statement to control lock feedback LED above button.
+ lock_feedback_LED = control_LED_intensity;
} else {
- lock_LED = 0;
+ lock_feedback_LED = 0;
}
}
- if ((calibration_hold_timer.read_ms() > calibrationtime_ms) && calibration_flag == 0 && new_patient == 0 && lock_state == 0) { // If statement for calibration system.
+ if ((button_calibration_hold_timer.read_ms() > calibrationtime_ms) && calibration_flag == 0 && button_new_patient == 0 && lock_state == 0) { // If statement for calibration algorithm.
calibration_flag = 1;
calibration_flash = 11;
- if (test_mode == 1) {
- pc.printf("Calibrate triggered.\n");
+
+ if (test_mode == 1) { // If statement for test purposal.
+ usb_serial.printf("Calibrate triggered.\n");
}
- pi.printf(">30\n"); // Print statement for serial communication to inform algorithm to calibrate.
+
+ pi_serial.printf(">30\n"); // Print statement for serial communication to inform algorithm to calibrate.
}
- if (delay.read_ms() > delay_lock_interface) { // If buttons are not pressed for 3 minutes, set lock active.
+ if (delay_between_button_pressed.read_ms() > delay_lock_interface) { // If buttons are not pressed for 3 minutes, set lock active.
lock_state = 1;
- LED_intern2 = 1;
- lock_LED = 0;
+ LED_on_dev_board2 = 1;
+ lock_feedback_LED = 0;
}
}
-void generate(neopixel::Pixel * out, uint32_t index, uintptr_t val) // Generate LED colour.
+void generate(neopixel::Pixel * out, uint32_t index, uintptr_t val) // Generate LED colour function (library function PixelArray is used for this item).
{
- out->red = red_var;
- out->green = green_var;
- out->blue = blue_var;
+ out->red = LED_red_intensity;
+ out->green = LED_green_intensity;
+ out->blue = LED_blue_intensity;
}
-void set_ui_LED() // Control functions for LED above buttons (added because of failures).
+void set_userinterface_LED() // Control functions for LED above buttons (added because of failures).
{
if (lock_state == 1) {
} else {
- if (reposition == 0) {
- reposition_LED = control_LED_intensity;
+ if (button_reposition == 0) {
+ reposition_feedback_LED = control_LED_intensity;
} else {
- reposition_LED = 0;
+ reposition_feedback_LED = 0;
}
- if (new_patient == 0) {
- new_patient_LED = control_LED_intensity;
+ if (button_new_patient == 0) {
+ new_patient_feedback_LED = control_LED_intensity;
} else {
- new_patient_LED = 0;
+ new_patient_feedback_LED = 0;
}
}
}
-void read_voltage()
+void read_voltage() // Function for reading voltages from power and battery.
{
- if (power_plug_state == 1) { // If supplyvoltage (readed from input) is greater then the setted alarmvoltage.
- alarm = 0; // Alarm is off.
+ if (power_plug_state == 1) { // If supplyvoltage (readed from input) is greater then the setted alarmvoltage.
+ alarm = 0; // Alarm is off.
speaker_state = 0;
} else {
- alarm = 1; // Else alarm is on.
+ alarm = 1; // Else alarm is on.
speaker_state = 1;
}
- if (alarm == 1 && mute_state == 1 && (batteryvoltage_current > alarm_voltage)) { // Set speaker on for 750 ms.
- speaker1 = 0; // Set speaker.
+ if (alarm == 1 && mute_state == 1 && (batteryvoltage_current > alarm_voltage)) {// Set speaker on for 750 ms.
+ speaker1 = 0; // Set speaker.
speaker2 = 0;
}
if ((alarm == 1 && mute_state == 0 && (speaker_timer.read_ms() < speaker_active_ms)) || ((batteryvoltage_current < alarm_voltage) && (speaker_timer.read_ms() < speaker_active_ms) && power_plug_state == 0)) { // Set speaker on for 750 ms.
- speaker1 = 1; // Set speaker.
+ speaker1 = 1; // Set speaker.
speaker2 = 1;
- speaker_timer.start(); // Set timer for speaker to iterate on and off.
+ speaker_timer.start(); // Set timer for speaker to iterate on and off.
}
if ((speaker_timer.read_ms() > speaker_active_ms) && (speaker_timer.read_ms() < (speaker_active_ms*2))) {
- speaker1 = 0; // Turn off speaker (use two outputs because of currentlimiting of one).
+ speaker1 = 0; // Turn off speaker (use two outputs because of currentlimiting of one).
speaker2 = 0;
}
if (speaker_timer.read_ms() > (speaker_active_ms*2)) {
- speaker_timer.stop(); // Stop speaker timer.
+ speaker_timer.stop(); // Stop speaker timer.
speaker_timer.reset();
}
+ // Read channel 0 from external ADC (batteryvoltage); voltagedeviders are used,
+ batteryvoltage_current = adsAccu.readADC_SingleEnded(0); // because of higher voltage then Vcc of ADC (5.3 V (= Vcc + 0.3 V) max possible at each analog input).
+ powervoltage_current = adsAccu.readADC_SingleEnded(1); // Read channel 1 from external ADC (powervoltage).
- batteryvoltage_current = adsAccu.readADC_SingleEnded(0); // Read channel 0 from external ADC.
- powervoltage_current = adsAccu.readADC_SingleEnded(1); // Read channel 1 from external ADC.
-
- if (powervoltage_current < 20000) {
+ if (powervoltage_current < digital_value_ADC_powervoltage_unplugged) { // If statement to set LED's to blue.
power_plug_state = 0;
LED_colour = 'b';
} else {
@@ -550,126 +589,141 @@
void read_adc()
{
- t.reset();
- t.start();
- a = agu.testConnection();/*
- pc.printf("a= %d\n",a);
- if( a==0)
- {
+ piezo_electric_sample_timer.reset();
+ piezo_electric_sample_timer.start();
+ connection_test_sensorplate = angle_device_sensorplate.testConnection();
+
+ if (test_mode == 1) {
+ usb_serial.printf("Connection test sensorplate = %d\n", connection_test_sensorplate);
+ }
+
+ /*
+ if (connection_test_sensorplate == 0) {
lock_state = 1;
- LED_intern2 = 1;
- lock_LED = 0;
- }*/
- if (a == 1) {
- elec[0] = pel.readADC_SingleEnded(0); // First PE readout
+ LED_on_dev_board2 = 1;
+ lock_feedback_LED = 0;
+ }*/
+
+ if (connection_test_sensorplate == 1) {
+ piezo_electric_array[0] = piezo_electric_adc.readADC_SingleEnded(0); // First PE readout.
for (k = 0; k < 4; k = k + 1) {
- res[k] = pr1.readADC_SingleEnded(k); // First 4 PR readout
+ piezo_resistive_array[k] = piezo_resistive_adc1.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
+ while(piezo_electric_sample_timer.read_us()<(1*(total_readout_cycle_time_us/5))) {} // Wait untill 20% of cycle.
+
+ piezo_electric_array[1] = piezo_electric_adc.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
+ piezo_resistive_array[k+4] = piezo_resistive_adc2.readADC_SingleEnded(k); // Last 4 PR readout.
}
- while(t.read_us()<(2*(cycle_time/5))) {} // Wait untill 40% of cycle
- elec[2] = pel.readADC_SingleEnded(0); // Third PE readout
+ while(piezo_electric_sample_timer.read_us()<(2*(total_readout_cycle_time_us/5))) {} // Wait untill 40% of cycle.
+
+ piezo_electric_array[2] = piezo_electric_adc.readADC_SingleEnded(0); // Third PE readout.
- agu.getAccelero(acce); // Get accelerometer data
- angle = acce[2]*100;
+ angle_device_sensorplate.getAccelero(accelerometer_sensorplate); // Get accelerometer data.
+ angle = accelerometer_sensorplate[2]*100;
if(angle == 0) {
- MPU6050 agu(p28,p27);
- agu.getAccelero(acce);
- angle = acce[2]*100;
+ MPU6050 angle_device_sensorplate(p28,p27);
+ angle_device_sensorplate.getAccelero(accelerometer_sensorplate);
+ angle = accelerometer_sensorplate[2]*100;
}
- agu.getGyro(gyro); // Get gyroscope data
+ angle_device_sensorplate.getGyro(gyroscope_sensorplate); // 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
+ angle_device_reference_belt.getGyro(gyroscope_reference_belt); // Get gyroscope data from Belt.
+ angle_device_reference_belt.getAccelero(accelerometer_reference_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]);
+
+ if (connection_test_sensorplate == 1) { // If statement for sending serial information sensorplate data when connection test is active.
+ // Receiving order sensor information: 3 accelero sensors & 3 gyroscope sensors from sensorplate; 3 accelero sensors & 3 gyroscope sensors from belt. Is splitted in two parts - part 2/2.
+ pi_serial.printf("?,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,\n", accelerometer_sensorplate[0], accelerometer_sensorplate[1], accelerometer_sensorplate[2], gyroscope_sensorplate[0], gyroscope_sensorplate[1], gyroscope_sensorplate[2], accelerometer_reference_belt[0], accelerometer_reference_belt[1], accelerometer_reference_belt[2], gyroscope_reference_belt[0], gyroscope_reference_belt[1], gyroscope_reference_belt[2]);
+ }
+
+ while(piezo_electric_sample_timer.read_us()<(3*(total_readout_cycle_time_us/5))) {} // Wait untill 60% of cycle.
- while(t.read_us()<(3*(cycle_time/5))) {} // Wait untill 60% of cycle
-
- elec[3] = pel.readADC_SingleEnded(0); // Fourth PE readout
+ piezo_electric_array[3] = piezo_electric_adc.readADC_SingleEnded(0); // Fourth PE readout.
}
timer_functions();
batteryvoltage_current = batteryvoltage_last;
powervoltage_current = powervoltage_last;
- read_voltage(); // Supplyvoltage control for alarm.
+ read_voltage(); // Read_voltage function to control alarm.
+
if (test_mode == 1) {
- pc.printf("Voltage = %d , %d\n", batteryvoltage_current, powervoltage_current);
+ usb_serial.printf("Voltage = %d , %d\n", batteryvoltage_current, powervoltage_current);
}
+
uint32_t val = 0;
- colour_select(LED_colour);
- array.update(generate, NLED, val);
- set_ui_LED();
+ colour_select_indicating_LED_wall(LED_colour); // Function to select colour.
+ indicator_LEDs.update(generate, NUMBER_LED_FRONT, val); // Function to set the LED's which shines to the wall (indicating change patient position).
+ set_userinterface_LED(); // Set LED's of user interface (LED's above buttons).
+
+ while(piezo_electric_sample_timer.read_us()<(4*(total_readout_cycle_time_us/5))) {} // Wait untill 80% of cycle.
- while(t.read_us()<(4*(cycle_time/5))) {} // Wait untill 80% of cycle
-
-// pc.printf("2e = %d\n",agu.testConnection());
- if (a == 1) {
- elec[4] = pel.readADC_SingleEnded(0); // Fifth PE readout
+ if (test_mode == 1){ // If statement for test purposal.
+ usb_serial.printf("Angle device sensorplate = %d\n",angle_device_sensorplate.testConnection());
+ }
+
+ if (connection_test_sensorplate == 1) {
+ piezo_electric_array[4] = piezo_electric_adc.readADC_SingleEnded(0); // Fifth PE readout.
}
- while(t.read_us()<(4.25*(cycle_time/5))) {} // Wait untill 85% of cycle
+ while(piezo_electric_sample_timer.read_us()<(4.25*(total_readout_cycle_time_us/5))) {} // Wait untill 85% of cycle.
- serial_read();
- serial_log();
- if (test_mode ==1) {
- pc.printf("Loop time: %d ms\n",t.read_ms());
+ serial_read(); // Call function for reading information from PI by serial connection.
+ serial_log(); // Call function for logging information to PI by serial connection.
+
+ if (test_mode == 1) { // If statements for test purposal (untill * mark).
+ usb_serial.printf("Loop time: %d ms\n",piezo_electric_sample_timer.read_ms());
}
if (test_pin == 1) {
test_mode = 1;
- pc.printf("%d\n",test_mode);
+ usb_serial.printf("%d\n",test_mode);
}
if (test_pin == 0) {
test_mode = 0;
- pc.printf("%d\n",test_mode);
+ usb_serial.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());
+ usb_serial.printf("Loop time: %d ms\n",piezo_electric_sample_timer.read_ms());
+ }
+ // * End of if statements for test purposal.
}
-int main()
-{
- wait_ms(boot_delay_ms); // Wait to boot sensorplate first
- i2c.frequency(i2c_freq);
- i2cAccu.frequency(i2c_freq);
- pc.baud(baud);
- pi.baud(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
- adsAccu.setGain(GAIN_TWOTHIRDS); // set range to +/-6.144V
- pi.format(8, SerialBase::None, 1);
+int main() { // Main function.
+ wait_ms(boot_delay_ms); // Wait to boot sensorplate first.
+ i2c_sensorplate_adc.frequency(i2c_freq); // Set frequency for i2c connection to sensorplate (variable is declared in config part).
+ i2c_power_adc.frequency(i2c_freq); // Same as line 695, but now for ADC to read battery- en powervoltage.
+ usb_serial.baud(baud_rate); // Set serial USB connection baud rate (variable is declared in config part).
+ pi_serial.baud(baud_rate); // Same as line 697, but now for serial PI connection.
+ piezo_resistive_adc1.setGain(GAIN_TWOTHIRDS); // Set ranges of ADC to +/-6.144V (end is marked with #):
+ piezo_resistive_adc2.setGain(GAIN_TWOTHIRDS);
+ piezo_electric_adc.setGain(GAIN_TWOTHIRDS);
+ adsAccu.setGain(GAIN_TWOTHIRDS); // #) End of configuration ADC ranges.
+ pi_serial.format(8, SerialBase::None, 1); // Set serial communication line with PI.
- lock.fall(&trigger_lock); // Interrupt for rising edge lock button.
- lock.rise(&timer_lock);
- reposition.fall(&trigger_reposition);
- reposition.rise(&rise_reposition);
- mute.fall(&trigger_mute);
- new_patient.fall(&trigger_new_patient); // New patient/calibration button rising event.
- new_patient.rise(&timer_calibration); // Falling edge for calibration algorithm option.
- delay.reset(); // Delaytimer reset en start.
- delay.start();
+ button_lock.fall(&trigger_lock); // Interrupt for rising edge lock button.
+ button_lock.rise(&end_timer_lock_button);
+ button_reposition.fall(&reposition_button_triggered);
+ button_reposition.rise(&rise_reposition);
+ button_mute.fall(&mute_button_triggered);
+ button_new_patient.fall(&trigger_new_patient); // New patient/calibration button rising event.
+ button_new_patient.rise(&activate_new_patient_function); // Falling edge for calibration algorithm option.
+ delay_between_button_pressed.reset(); // Delaytimer reset en start.
+ delay_between_button_pressed.start();
- set_intensity();
- lock_LED = control_LED_intensity; // Lock LED initialization.
+ set_intensity_LEDs(); // Initialize intensity for user interface LED's and LED's shines to wall.
+ lock_feedback_LED = control_LED_intensity; // Lock LED initialization.
- sample_cycle.attach_us(&read_adc, cycle_time);
+ total_readout_cycle.attach_us(&read_adc, total_readout_cycle_time_us); // Call function to start reading sensorplate and other functionalities.
while (1) {
- wait_us(cycle_time+1); // wait indefinitely because the ticker restarts every 50 ms
+ wait_us(total_readout_cycle_time_us+1); // Wait indefinitely.
}
}
\ No newline at end of file