Revision 3:bd223559f79b, committed 2018-05-09

Comitter:

FaizanAhmad

Date:

Wed May 09 11:01:18 2018 +0000

Parent:

0:769c5a7b3939

Commit message:

bUTTON+IMU+SD

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMI160.lib	Wed May 09 11:01:18 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/j3/code/BMI160/#0ae99e97bcf5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU.cpp	Wed May 09 11:01:18 2018 +0000
@@ -0,0 +1,180 @@
+#include "IMU.h"
+
+
+I2C i2cBus(P5_7, P6_0);
+BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
+
+BMI160::AccConfig accConfig;
+BMI160::GyroConfig gyroConfig;
+
+int initIMU(){
+   i2cBus.frequency(400000);
+
+    // printf("\033[H");  //home
+    // printf("\033[0J");  //erase from cursor to end of screen
+    
+    uint32_t failures = 0;
+    
+    if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR){
+        printf("Failed to set gyroscope power mode\n");
+        failures++;
+    }
+    wait_ms(10);
+    
+    if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR){
+        printf("Failed to set accelerometer power mode\n");
+        failures++;
+    }
+    wait_ms(10);
+    
+    
+    //example of using getSensorConfig
+    if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR){
+        printf("ACC Range = %d\n", accConfig.range);
+        printf("ACC UnderSampling = %d\n", accConfig.us);
+        printf("ACC BandWidthParam = %d\n", accConfig.bwp);
+        printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
+    }else{
+        printf("Failed to get accelerometer configuration\n");
+        failures++;
+    }
+    
+    //example of setting user defined configuration
+    accConfig.range = BMI160::SENS_2G ;
+    accConfig.us = BMI160::ACC_US_OFF;
+    accConfig.bwp = BMI160::ACC_BWP_2;
+    accConfig.odr = BMI160::ACC_ODR_8;
+    if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR){
+        printf("ACC Range = %d\n", accConfig.range);
+        printf("ACC UnderSampling = %d\n", accConfig.us);
+        printf("ACC BandWidthParam = %d\n", accConfig.bwp);
+        printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
+    }else{
+        printf("Failed to set accelerometer configuration\n");
+        failures++;
+    }
+    
+    if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR){
+        printf("GYRO Range = %d\n", gyroConfig.range);
+        printf("GYRO BandWidthParam = %d\n", gyroConfig.bwp);
+        printf("GYRO OutputDataRate = %d\n\n", gyroConfig.odr);
+    }else{
+        printf("Failed to get gyroscope configuration\n");
+        failures++;
+    }
+    
+    // printf("\033[H");  //home
+    // printf("\033[0J");  //erase from cursor to end of screen
+    
+    if(failures == 0){
+        return 0;
+    }else{
+        printf("IMU init failed.. returning 1\n");
+        return 1;
+    }
+}
+
+void printIMUData(){
+    float imuTemperature; 
+    BMI160::SensorData accData;
+    BMI160::SensorData gyroData;
+    BMI160::SensorTime sensorTime;
+
+    imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
+    imu.getTemperature(&imuTemperature);
+
+    printf("ACC xAxis = %d\n", accData.xAxis.raw);
+    printf("ACC yAxis = %d\n", accData.yAxis.raw);
+    printf("ACC zAxis = %d\n\n", accData.zAxis.raw);
+
+    printf("GYRO xAxis = %d\n", gyroData.xAxis.raw);
+    printf("GYRO yAxis = %d\n", gyroData.yAxis.raw);
+    printf("GYRO zAxis = %d\n\n", gyroData.zAxis.raw);
+
+    printf("Sensor Time = %f\n", sensorTime.seconds);
+    printf("Sensor Temperature = %5.3f\n", imuTemperature);
+}
+
+
+float getIMUAngle(){
+    BMI160::SensorData accData;
+    BMI160::SensorData gyroData;
+    BMI160::SensorTime sensorTime;
+    double tempxAngle = 0;
+    double xAngle =0;
+    double tempyAngle =0;
+    double yAngle =0;
+    double res =0;
+
+    imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
+//    printf("X = %d\tY = %d\tZ = %d\t\n", accData.xAxis.raw, accData.yAxis.raw,  accData.zAxis.raw);
+    
+    // uint32_t xVal = accData.xAxis.raw;
+    // uint32_t yVal = accData.yAxis.raw;
+    // uint32_t zVal = accData.zAxis.raw;
+
+    float xVal = accData.xAxis.scaled;
+    float yVal = accData.yAxis.scaled;
+    float zVal = accData.zAxis.scaled;
+    
+    /* Compute angles in radian */
+    tempxAngle = (double)((yVal * yVal) + (zVal * zVal));
+    tempyAngle = (double)((xVal * xVal) + (zVal * zVal));
+    xAngle = (double)atan (xVal / sqrt (tempxAngle));
+    yAngle = (double)atan (yVal / sqrt(tempyAngle)); 
+    /* Convert radian in degree */
+    xAngle *= 180.00; 
+    yAngle *= 180.00; //zAngle *=180.00;
+    xAngle /= M_PI; 
+    yAngle /= M_PI; //zAngle /= 3.141592;
+        // for x angle         
+    res = xAngle;   
+    return res;
+}
+
+
+
+// DEFAULT MBED FUNCTIONs.. not required for MPS
+void dumpImuRegisters(BMI160 &imu)
+{
+    printRegister(imu, BMI160::CHIP_ID);
+    printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
+    printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
+    printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
+    printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
+    printRegister(imu, BMI160::CMD);
+    printf("\n");
+}
+ 
+void printRegister(BMI160 &imu, BMI160::Registers reg)
+{
+    uint8_t data;
+    if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
+    {
+        printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
+    }
+    else
+    {
+        printf("Failed to read register\n");
+    }
+}
+ 
+void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg)
+{
+    uint8_t numBytes = ((stopReg - startReg) + 1);
+    uint8_t buff[numBytes];
+    uint8_t offset = static_cast<uint8_t>(startReg);
+    
+    if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR)
+    {
+        for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
+        {
+            printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
+        }
+    }
+    else
+    {
+        printf("Failed to read block\n");
+    }
+}
+ 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU.h	Wed May 09 11:01:18 2018 +0000
@@ -0,0 +1,23 @@
+#ifndef IMU_H
+#define IMU_H
+
+#include "mbed.h"
+#include "main.h"
+
+#ifndef M_PI
+#define M_PI           3.14159265358979323846
+#endif
+
+
+void dumpImuRegisters(BMI160 &imu);
+void printRegister(BMI160 &imu, BMI160::Registers reg);
+void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);
+
+int initIMU();
+void printIMUData();
+float getIMUAngle();
+void dumpImuRegisters(BMI160 &imu);
+void printRegister(BMI160 &imu, BMI160::Registers reg);
+void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);
+ 
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTC.lib	Wed May 09 11:01:18 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/DanielOlarte/code/RTC/#86951afbcc3f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTClock.cpp	Wed May 09 11:01:18 2018 +0000
@@ -0,0 +1,25 @@
+#include "RTClock.h"
+extern Serial _serialport;
+
+void initRTC(){
+    time_t seconds = time(NULL);
+}
+
+void setRTCTime(){
+
+}
+
+
+void loadNextMove(){
+
+}
+
+void printRTCTime(){
+    time_t seconds = time(NULL);
+    _serialport.printf("Time as seconds since January 1, 1970 = %d\n", seconds);
+    _serialport.printf("Time as a basic string = %s", ctime(&seconds));
+    char buffer[32];
+    strftime(buffer, 32, "%I:%M %p\n", localtime(&seconds));
+    _serialport.printf("Time as a custom formatted string = %s", buffer);
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTClock.h	Wed May 09 11:01:18 2018 +0000
@@ -0,0 +1,13 @@
+#ifndef RTCLOCK_H
+#define RTCLOCK_H
+
+#include "mbed.h"
+#include "main.h"
+#include "RTC.h"
+
+void initRTC();
+void setRTCAlarm();
+void printRTCTime();
+void loadNextMove();
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/files.cpp	Wed May 09 11:01:18 2018 +0000
@@ -0,0 +1,111 @@
+#include "files.h"
+#include "USBSerial.h"
+extern Serial _serialport;
+
+#if (MBED_MAJOR_VERSION == 2)
+#include    "SDFileSystem.h"
+#elif (MBED_MAJOR_VERSION == 5)
+#include    "SDBlockDevice.h"
+#include    "FATFileSystem.h"
+#endif
+
+#if (MBED_MAJOR_VERSION == 2)
+SDFileSystem    sd(D11, D12, D13, D10, "fs");  // do,di,clk,cs
+#elif (MBED_MAJOR_VERSION == 5)
+//SDBlockDevice   sd(D11, D12, D13, D10, 8000000);
+SDBlockDevice   sd(SPI0_MOSI, SPI0_MISO, SPI0_SCK, SPI0_SS, 8000000);    // For MAX32630FTHR
+FATFileSystem   fs("fs");
+#endif
+
+
+int totaFunctionlFiles = 0;
+int functionFileNumber = 1;
+int functionActive = 0;
+extern int functionPosition = 0;
+Function ffunc;
+
+int initSDCard()
+{
+#if (MBED_MAJOR_VERSION == 5)
+    /* Init SD CARD reader */
+    sd.init();
+    fs.mount(&sd);
+#endif
+    FILE* fp = fopen("/fs/mydata.txt", "a");
+    if (fp != 0) {
+        _serialport.printf("writing something\n\r\n");
+        fprintf(fp,"writing something\n\r\n");
+    } else {
+        _serialport.printf("ERROR\r\n");
+    }
+    fclose(fp);
+    return 0;
+}
+
+int readFileNames()
+{
+    DIR *d;
+    struct dirent *p;
+
+    d = opendir("/fs/functions");
+    if (d != NULL) {
+        while ((p = readdir(d)) != NULL) {
+//            printf(" - %s\n", p->d_name);
+            totaFunctionlFiles++;
+        }
+    } else {
+        printf("Could not open directory!\n");
+    }
+    closedir(d);
+    printf("Total files = %d\n", totaFunctionlFiles);
+    return 0;
+}
+
+int navFunctionFiles(int direction)
+{
+
+    if(direction == DIR_UP) {
+        if(functionFileNumber < totaFunctionlFiles) {
+            functionFileNumber++;
+        } else {
+            functionFileNumber = 1;
+        }
+        printf("UP: %d\n", functionFileNumber);
+    } else {
+        if(functionFileNumber > 1) {
+            functionFileNumber--;
+        } else {
+            functionFileNumber = totaFunctionlFiles;
+        }
+        printf("DOWN: %d\n", functionFileNumber);
+    }
+    return 0;
+}
+
+int openFunctionFile(int inpFile)
+{
+    char fileLoc [40];
+    sprintf (fileLoc, "/fs/functions/function%d.txt", inpFile);
+    printf ("[%s] is location %d file number\n", fileLoc, inpFile);
+
+    FILE* fp = fopen(fileLoc, "r");
+    ffunc.pos=0;
+    while (fscanf(fp, "%d,%d", &ffunc.x[ffunc.pos], &ffunc.t[ffunc.pos]) != EOF) {
+        ffunc.pos++;
+    }
+
+    fclose(fp);
+    functionActive = 1;
+    functionPosition = 0;
+    printFunctionData();
+    return 0;
+}
+
+void printFunctionData()
+{
+    printf ("total: %d\n", ffunc.pos);
+    for(int i=0; i<ffunc.pos; i++ ) {
+        printf ("%d, %d\n", ffunc.x[i], ffunc.t[i]);
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/files.h	Wed May 09 11:01:18 2018 +0000
@@ -0,0 +1,21 @@
+#ifndef MY_FILES_H
+#define MY_FILES_H
+
+#define DIR_UP      0
+#define DIR_DOWN    1
+
+typedef struct{
+    int x[10];
+    int t[10];
+    int pos;
+}Function;
+
+int initSDCard();
+int readFileNames();
+int navFunctionFiles(int direction);
+int openFunctionFile(int inpFile);
+void printFunctionData();
+
+
+
+#endif

--- a/main.cpp	Mon May 07 21:28:03 2018 +0000
+++ b/main.cpp	Wed May 09 11:01:18 2018 +0000
@@ -3,16 +3,11 @@
 #include "USBSerial.h"
 #include "Default.h"
 #include "DefaultRequired.h"
-
-#if (MBED_MAJOR_VERSION == 2)
-#include    "SDFileSystem.h"
-#elif (MBED_MAJOR_VERSION == 5)
-#include    "SDBlockDevice.h"
-#include    "FATFileSystem.h"
-#endif
-
-#include    <stdlib.h>
+#include  <stdlib.h>
 #include "main.h"
+#include "files.h"
+#include "IMU.h"
+#include "RTClock.h"
 
 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
 Serial _serialport(USBTX,USBRX);
@@ -21,17 +16,8 @@
 
 DigitalOut rLED(LED1);
 DigitalOut gLED(LED2);
-DigitalOut bLED(LED3);
 
 
-#if (MBED_MAJOR_VERSION == 2)
-SDFileSystem    sd(D11, D12, D13, D10, "fs");  // do,di,clk,cs
-#elif (MBED_MAJOR_VERSION == 5)
-//SDBlockDevice   sd(D11, D12, D13, D10, 8000000);
-SDBlockDevice   sd(SPI0_MOSI, SPI0_MISO, SPI0_SCK, SPI0_SS, 8000000);    // For MAX32630FTHR
-FATFileSystem   fs("fs");
-#endif
-
 void Rx_interrupt(void);
 
 Default default_SM;
@@ -44,40 +30,32 @@
     _serialport.attach(&Rx_interrupt);
     gLED = LED_ON;
     rLED = LED_ON;
-    
-    _serialport.printf("in main\r\n");
-    _serialport.printf("before init\r\n");
-    
-#if (MBED_MAJOR_VERSION == 5)
-    /* Init SD CARD reader */
-    sd.init();
-    fs.mount(&sd);
-#endif
-    FILE* fp = fopen("/fs/somefile.txt", "a");
-    if (fp != 0) 
-    {
-        _serialport.printf("writing adasda\n\r\n");
-        fprintf(fp,"writing asdasdasd\n\r\n");
-    } else 
-    {
-        _serialport.printf("ERROR\r\n");
+
+
+//    _serialport.printf("before init\r\n");
+
+    if(initSDCard() == 0) {
+        _serialport.printf("SD init OK!\n");
     }
-    fclose(fp);
-    
-    
+
+    if(initIMU() == 0) {
+        _serialport.printf("IMU init OK!\n");
+    }
+
+    //readFileNames();
+    //initRTC();
+
     /* initialize state machine*/
     default_init(&default_SM);
     default_enter(&default_SM);
     is_smactive = false;
-    
-    while(1) 
-    {
-        if(is_smactive == true)
-        {
-           // _serialport.printf("state active\n");
+
+    while(1) {
+        if(is_smactive == true) {
+            // _serialport.printf("state active\n");
             is_smactive = false;
-            default_runCycle(&default_SM);  
-        }  
+            default_runCycle(&default_SM);
+        }
     }
 }
 
@@ -93,31 +71,31 @@
             break;
 
         case 'Q':
-            _serialport.printf("Q");
+            // _serialport.printf("Q");
             defaultIface_raise_mode(&default_SM);
             is_smactive = true;
             break;
 
         case 'W':
-            _serialport.printf("W ");
+            //_serialport.printf("W ");
             defaultIface_raise_up(&default_SM);
             is_smactive = true;
             break;
 
         case 'E':
-            _serialport.printf("E ");
+            //_serialport.printf("E ");
             defaultIface_raise_down(&default_SM);
             is_smactive = true;
             break;
 
         case 'R':
-            _serialport.printf("R ");
+            //_serialport.printf("R ");
             defaultIface_raise_back(&default_SM);
             is_smactive = true;
             break;
 
         case 'T':
-            _serialport.printf("T ");
+            //_serialport.printf("T ");
             defaultIface_raise_home(&default_SM);
             is_smactive = true;
             break;
@@ -127,46 +105,45 @@
 
 void PrintStatus_Serial(int val )
 {
-    switch(val)
-    {
+    switch(val) {
         case 1:
-        _serialport.printf("Menu Selected\n");
-        break;
-        
+            _serialport.printf("Menu ");
+            break;
+
         case 2:
-        _serialport.printf("function \n");
-        break;
-        
+            _serialport.printf("function ");
+            break;
+
         case 3:
-        _serialport.printf("execute\n");
-        break;
-        
+            _serialport.printf("execute ");
+            break;
+
         case 4:
-        _serialport.printf("ready\n");
-        break;
-        
+            _serialport.printf("ready\n");
+            break;
+
         case 5:
-        _serialport.printf("active\n");
-        break;
-        
+            _serialport.printf("active\n");
+            break;
+
         case 6:
-        _serialport.printf("alarm\n");
-        break;
-        
-         case 7:
-        _serialport.printf("move down act\n");
-        break;
-        
-         case 8:
-        _serialport.printf("move up act\n");
-        break;
-        
+            _serialport.printf("alarm\n");
+            break;
+
+        case 7:
+            _serialport.printf("move down act\n");
+            break;
+
+        case 8:
+            _serialport.printf("move up act\n");
+            break;
+
         case 9:
-        _serialport.printf("return\n");
-        break;
-        
+            _serialport.printf("return\n");
+            break;
+
         default:
-        break;
+            break;
     }
 
-    }
+}

--- a/main.h	Mon May 07 21:28:03 2018 +0000
+++ b/main.h	Wed May 09 11:01:18 2018 +0000
@@ -1,9 +1,54 @@
 #include <string.h>
 #include "sc_types.h"
+#include    "max32630fthr.h"
+#include    <stdlib.h>
+#include "bmi160.h"
+#include "files.h"
+
+/*extern MAX32630FTHR pegasus;
+extern Serial _serialport;
+extern DigitalOut LED;
+extern DigitalOut Ctrl;
+
+extern DigitalOut rLED;
+extern DigitalOut gLED;*/
+//typedef struct {
+//    int x[10];
+//    int t[10];
+//    int pos;
+//} Function;
+
+
+// extern Maxim maxim;
+extern I2C i2cBus;
+extern BMI160_I2C imu;
+
+//extern variables here
+extern int functionFileNumber;
+extern Function ffunc;
+extern int functionActive;
+extern int functionPosition;
+extern time_t timealarm;
+
+#if (MBED_MAJOR_VERSION == 2)
+#include    "SDFileSystem.h"
+#elif (MBED_MAJOR_VERSION == 5)
+#include    "SDBlockDevice.h"
+#include    "FATFileSystem.h"
+#endif
+
+#if (MBED_MAJOR_VERSION == 2)
+extern SDFileSystem    sd;  // do,di,clk,cs
+#elif (MBED_MAJOR_VERSION == 5)
+//SDBlockDevice   sd(D11, D12, D13, D10, 8000000);
+extern SDBlockDevice   sd;    // For MAX32630FTHR
+extern FATFileSystem   fs;
+#endif
+
 
 /*Global variable*/
 extern bool is_smactive;
 
 /*function declaration*/
 
-extern void PrintStatus_Serial(int val );
\ No newline at end of file
+extern void PrintStatus_Serial(int val );

--- a/mbed-os.lib	Mon May 07 21:28:03 2018 +0000
+++ b/mbed-os.lib	Wed May 09 11:01:18 2018 +0000
@@ -1,1 +1,1 @@
-https://github.com/ARMmbed/mbed-os/#78474a5129e18e136cc7e872adbaa5b74fbb8f6a
+https://github.com/ARMmbed/mbed-os/#ae6c7c60f91c89cbf755a2f3c8ec9c66635849fd