Revision 11:3b5e035ffef9, committed 2018-01-21

Comitter:

rattokiller

Date:

Sun Jan 21 20:40:24 2018 +0000

Parent:

10:3ec4696ad874

Commit message:

programma con scrittura sd con concorenza

Changed in this revision

--- a/accellerometro.h	Wed Dec 13 21:08:45 2017 +0000
+++ b/accellerometro.h	Sun Jan 21 20:40:24 2018 +0000
@@ -72,6 +72,8 @@
         gy = (float)gyroCount[1]*gRes; // - gyroBias[1];  
         gz = (float)gyroCount[2]*gRes; // - gyroBias[2];   
 
+    
+        invia_m(1000*ax+4000,1000*ay+4000,1000*az+4000,0,0,0);
         tempCount = mpu6050.readTempData();  // Read the x/y/z adc values
         temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
     }  

--- a/lettoreSD.h	Wed Dec 13 21:08:45 2017 +0000
+++ b/lettoreSD.h	Sun Jan 21 20:40:24 2018 +0000
@@ -7,7 +7,7 @@
  
 SDFileSystem sd(SPI_MOSI, SPI_MISO, SPI_SCK, SPI_CS, "sd");
 FILE *fp;
-char buffer[86100];
+char buffer[100]; //prima era 86100
 int nCounter = 0;
 
 void initFile(){
@@ -48,4 +48,5 @@
     }
 }
 
+
 #endif
\ No newline at end of file

--- a/main.cpp	Wed Dec 13 21:08:45 2017 +0000
+++ b/main.cpp	Sun Jan 21 20:40:24 2018 +0000
@@ -1,52 +1,50 @@
 #include "mbed.h"
 #include "setting.h"
-#include "lettoreSD.h"
-#include "accellerometro.h"
-            
+#define f_campionamento 100 // se va male 50
+#define debug
+
 DigitalIn mybutton(USER_BUTTON);            
-            
+Ticker accelerometro;
+Thread thread; 
+Timer tempo;
+float temp;
+int n=0;
+void simula_dati(){
+
+    ax=n++ /100.0;
+    ay=4.56;
+    az=-4.358;
+    //prelivevo dei dati fatto in tempo
+    float t=tempo.read();
+    if((t-temp)>1.0/(2*f_campionamento))pc.printf("problema");
+    temp=t;
+ invia_m(1000*ax+4000,1000*ay+4000,1000*az+4000,0,0,0);   
+}
+
 int main() {
     init();  
     initFile();
-    initAccellerometro();
+
+    //initAccellerometro();
     aperturaFile(); 
     
-    Timer timer;
+    tempo.reset();
+    tempo.start();
+    temp=0;
+    accelerometro.attach(&raccoltaDati,1.0/f_campionamento);
+      
+    thread.start(callback(scrivi_m));
+    
     
     while(1){ 
-        
-        timer.start();
-        raccoltaDati();
-        //stampaFile("A1xxxxoooooggggggeeeeeeerrrryyyyynhgrgr#2\r\n");
-        //fprintf(fp, "A1xxxxoooooggggggeeeeeeerrrryyyyynhgrgr#2\r\n");
-        timer.stop();
-        if(timer.read_ms()>10){
-                int overTime = (timer.read_ms() / 10) + 1;
-                pc.printf("tempo: %d e overtime %d\n\r ", timer.read_ms(), overTime);
-                for (int i=0; i<overTime; i++){
-                    fprintf(fp,"#\n\r");
-                } 
-        }
-        else{
-            wait_ms(10-timer.read_ms());
-            //printf("tempo: %f\n\r", timer.read());
-        }
-        timer.reset();
-        if (mybutton == 0) {
-            //chiusuraFile();
-            //aperturaFile(); 
-            fprintf(fp, "###########FLAG MARCATORE PRESSIONE PULSANTE############\r\n");
-            wait(1); 
+    Thread::wait(0.01);
+        if (mybutton) {
+          
+               invia_m(65535,65535,65535,65535,65535,65535);
+    
+          Thread::wait(2);
         }
         
-        /*if(i%100==99){
-            timer.stop();
-            float tempo = 1 - timer.read();
-            wait(tempo);
-            printf("tempo: %f\n\r", tempo + timer.read());
-            timer.reset();
-            timer.start();  
-        }
-        i++;*/
+
     }
 }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Sun Jan 21 20:40:24 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-rtos/#5713cbbdb706

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/messaggi.h	Sun Jan 21 20:40:24 2018 +0000
@@ -0,0 +1,67 @@
+char num_n0(int a){
+  return a%256;
+}
+char num_n1(int a){
+    return (char)( a / 256);
+}
+
+typedef struct {
+    char ax[2];
+    char ay[2];
+    char az[2];
+    char gx[2];
+    char gy[2];
+    char gz[2];             
+} message_t;
+
+void copia(message_t & a, message_t b){
+   for(int i=0;i<2;i++){
+    a.ax[i]=b.ax[i];
+    a.ay[i]=b.ay[i];
+    a.az[i]=b.az[i];
+    a.gx[i]=b.gx[i];
+    a.gy[i]=b.gy[i];
+    a.gz[i]=b.gz[i];
+  
+    } 
+    
+}
+void scrivi_imu(message_t* );
+MemoryPool<message_t, 16> mpool;
+Queue<message_t, 16> queue;
+
+/* Send Thread */
+void invia_m (int ax,int ay,int az,int gx,int gy,int gz) {
+    
+    {
+        
+        message_t *message = mpool.alloc();
+        message->ax[0] = num_n0(ax); message->ax[1] = num_n1(ax);
+        message->ay[0] = num_n0(ay); message->ay[1] = num_n1(ay);
+        message->az[0] = num_n0(az); message->az[1] = num_n1(az);
+        message->gx[0] = num_n0(gx); message->gx[1] = num_n1(gx);
+        message->gy[0] = num_n0(gy); message->gy[1] = num_n1(gy);
+        message->gz[0] = num_n0(gz); message->gz[1] = num_n1(gz);
+        queue.put(message);
+        Thread::wait(1000);
+    }
+}
+
+void scrivi_m(void) {
+    
+    
+    while (true) {
+        Thread::wait(0.001);
+        osEvent evt = queue.get();
+        while (evt.status == osEventMessage) {
+            message_t *message = (message_t*)evt.value.p;
+           
+           
+           scrivi_imu(message);
+
+           
+            mpool.free(message);
+            osEvent evt = queue.get();
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sd_binario.h	Sun Jan 21 20:40:24 2018 +0000
@@ -0,0 +1,32 @@
+
+
+struct r_f{
+char r_d;
+char r_s;   
+    
+};
+
+void scrivi_rf(r_f ruote,bool flag=false){
+
+    if(flag){
+     ruote.r_d=255;
+    ruote.r_s=255;
+    }
+ fwrite(&ruote, sizeof(r_f), 1, fp);    
+    
+    
+}
+
+#define N 10
+void scrivi_imu(message_t*  imu){
+static int n=0;
+
+static message_t msg[N];
+copia(msg[n],*imu);
+if(n==N){
+ fwrite(&imu, sizeof(message_t ), N, fp);    
+    n=0;
+}
+    
+}
+

--- a/setting.h	Wed Dec 13 21:08:45 2017 +0000
+++ b/setting.h	Sun Jan 21 20:40:24 2018 +0000
@@ -2,16 +2,20 @@
 #define __SETTING__
 
 #include "mbed.h"
-
+#include "rtos.h"
 #include "lettoreSD.h"
 
+#include "messaggi.h"
+#include "sd_binario.h"
 Serial pc(USBTX, USBRX);
 
 void init(){
     pc.baud(921600);    
 }
 
-
+#include "lettoreSD.h"
+#include "accellerometro.h"
+