I L / Nucleo-transfer

Nucleo-transfer

Dependencies:   ADS1015 MPU6050 PixelArray-Nucleo mbed

Fork of Momo_Pilot_1 by Momo Medical

Sensorplate/main.cpp@5:fa879b059fd1, 2017-09-14 (annotated)

Committer:
DEldering
Date:
Thu Sep 14 09:40:51 2017 +0000
Revision:
5:fa879b059fd1
Parent:
4:367af005956b
Child:
6:9c1944f3ebe5
With Accelero and Gyro

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DEldering 0:c0e44c46c573 1 #include "mbed.h"
DEldering 0:c0e44c46c573 2 #include "Adafruit_ADS1015.h"
DEldering 0:c0e44c46c573 3 #include "USBSerial.h"
DEldering 0:c0e44c46c573 4 #include "MPU6050.h"
DEldering 0:c0e44c46c573 5
DEldering 1:a8e61f3910ad 6 I2C i2c(p28, p27); // I2C
DEldering 1:a8e61f3910ad 7 MPU6050 agu(p28,p27); // Accelerometer/Gyroscope Unit
DEldering 1:a8e61f3910ad 8 Adafruit_ADS1115 pr1(&i2c, 0x48); // first PiëzoResistive ADC
DEldering 1:a8e61f3910ad 9 Adafruit_ADS1115 pr2(&i2c, 0x49); // second PiëzoResistive ADC
DEldering 1:a8e61f3910ad 10 Adafruit_ADS1115 pel(&i2c, 0x4B); // PiëzoElectric ADC
DEldering 1:a8e61f3910ad 11 Serial pc(USBTX, USBRX); // tx, rx // Serial USB connection
DEldering 1:a8e61f3910ad 12 Timer t; // Timer for equally time-spaced samples
DEldering 1:a8e61f3910ad 13 Ticker sample_cycle; // Polling cycle
DEldering 1:a8e61f3910ad 14 int cycle_time = 100000; // Cycle time in us
DEldering 1:a8e61f3910ad 15 int i2c_freq = 400000; // I2C Frequency
DEldering 1:a8e61f3910ad 16 int usb_baud = 115200; // USB Baud rate
DEldering 1:a8e61f3910ad 17 short res[8] = {0,0,0,0,0,0,0,0}; // 8 PR sensors 1 time per cycle
DEldering 1:a8e61f3910ad 18 short elec[5] = {0,0,0,0,0}; // 1 PE sensor 5 times per cycle
DEldering 1:a8e61f3910ad 19 int angle = 0; // Accelerometer Z-axis
DEldering 1:a8e61f3910ad 20 int k = 0;
DEldering 1:a8e61f3910ad 21 float acce[3]; // Raw accelerometer data
DEldering 1:a8e61f3910ad 22 float gyro[3]; // Raw gyroscope data
DEldering 0:c0e44c46c573 23
DEldering 0:c0e44c46c573 24 void read_adc()
DEldering 0:c0e44c46c573 25 {
DEldering 1:a8e61f3910ad 26 t.reset();
DEldering 1:a8e61f3910ad 27 t.start();
DEldering 1:a8e61f3910ad 28
DEldering 4:367af005956b 29 elec[0] = pel.readADC_SingleEnded(0); //First PE readout
DEldering 1:a8e61f3910ad 30
DEldering 0:c0e44c46c573 31 for (k = 0; k < 4; k = k + 1) {
DEldering 4:367af005956b 32 res[k] = pr1.readADC_SingleEnded(k); //First 4 PR readout
DEldering 1:a8e61f3910ad 33 }
DEldering 4:367af005956b 34 while(t.read_us()<(1*(cycle_time/5))) {} //Wait untill 20% of cycle
DEldering 1:a8e61f3910ad 35
DEldering 4:367af005956b 36 elec[1] = pel.readADC_SingleEnded(0); //Second PE readout
DEldering 1:a8e61f3910ad 37
DEldering 1:a8e61f3910ad 38 for (k = 0; k < 4; k = k + 1) {
DEldering 4:367af005956b 39 res[k+4] = pr2.readADC_SingleEnded(k); //Last 4 PR readout
DEldering 0:c0e44c46c573 40 }
DEldering 4:367af005956b 41 while(t.read_us()<(2*(cycle_time/5))) {} //Wait untill 40% of cycle
DEldering 1:a8e61f3910ad 42
DEldering 4:367af005956b 43 elec[2] = pel.readADC_SingleEnded(0); //Third PE readout
DEldering 1:a8e61f3910ad 44
DEldering 4:367af005956b 45 agu.getAccelero(acce); //Get accelerometer data
DEldering 1:a8e61f3910ad 46 angle = acce[2]*10;
DEldering 1:a8e61f3910ad 47
DEldering 4:367af005956b 48 while(t.read_us()<(3*(cycle_time/5))) {} //Wait untill 60% of cycle
DEldering 1:a8e61f3910ad 49
DEldering 4:367af005956b 50 elec[3] = pel.readADC_SingleEnded(0); //Fourth PE readout
DEldering 1:a8e61f3910ad 51
DEldering 4:367af005956b 52 agu.getGyro(gyro); //Get gyroscope data
DEldering 1:a8e61f3910ad 53
DEldering 4:367af005956b 54 while(t.read_us()<(4*(cycle_time/5))) {} //Wait untill 80% of cycle
DEldering 1:a8e61f3910ad 55
DEldering 4:367af005956b 56 elec[4] = pel.readADC_SingleEnded(0); //Fifth PE readout
DEldering 1:a8e61f3910ad 57
DEldering 4:367af005956b 58 while(t.read_us()<(4.5*(cycle_time/5))) {} //Wait untill 90% of cycle
DEldering 5:fa879b059fd1 59 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
DEldering 0:c0e44c46c573 60 }
DEldering 0:c0e44c46c573 61
DEldering 0:c0e44c46c573 62 int main()
DEldering 0:c0e44c46c573 63 {
DEldering 1:a8e61f3910ad 64 i2c.frequency(i2c_freq);
DEldering 1:a8e61f3910ad 65 pc.baud(usb_baud);
DEldering 1:a8e61f3910ad 66 pr1.setGain(GAIN_TWOTHIRDS); // set range to +/-6.144V
DEldering 1:a8e61f3910ad 67 pr2.setGain(GAIN_TWOTHIRDS); // set range to +/-6.144V
DEldering 1:a8e61f3910ad 68 pel.setGain(GAIN_TWOTHIRDS); // set range to +/-6.144V
DEldering 1:a8e61f3910ad 69 sample_cycle.attach_us(&read_adc, cycle_time);
DEldering 0:c0e44c46c573 70 while (1) {
DEldering 1:a8e61f3910ad 71 wait_us(cycle_time+1); // wait indefinitely because the ticker restarts every 50 ms
DEldering 0:c0e44c46c573 72 }
DEldering 0:c0e44c46c573 73 }