File content as of revision 1:32dfdcc9490f:

/*=========================================
Title:4axis

Revision:1.0.0

Editor:Dyson

For GR-PEACH
Compile using Mbed Online Compiler (revision:130)

reminder:
Last Modified:2018/09/20
==========================================*/

//=====CONSTANT VARIBLES========
#define INDICATOR 1//Front:0 Rear:1
#define BUFF_DEPTH 128
#define BUFF_COUNT 3

//======GLOBAL VARIBLES=========
char adcsel = 0;

int sum = 7;

int kill = 0;
int KILL_COUNT;
float t_pulse = 0;

int buff_depth = 0;
int buff_index = 0;
int cur_buff=0;

int flg =0;
typedef struct Logdata_t{
    int acc[4];
    float t_acc;
    float m_t_pulse;
}Logdata;
Logdata data[BUFF_COUNT][BUFF_DEPTH];

bool write_ok[BUFF_COUNT];

int rch[3];

//=========SYSTEM==============
#include "mbed.h"
#define _Enable    0
#define _Disable   1
Serial gps(P8_13,P8_11);
Serial pc(USBTX,USBRX); 
InterruptIn PPS(P2_15);
Timer utime;
Ticker adc_ticker;
//Ticker gps_ticker;
SPI adc(P10_14, P10_15, P10_12);
DigitalOut cs_adc(P8_15);
DigitalOut myled_r(LED1);
DigitalOut myled_g(LED2);
DigitalOut myled_b(LED3);


void adc_init(void){
    pc.printf(".");
    cs_adc = _Enable;// ADC chip select on    
    wait_ms(112);//55ms:NG 56ms:OK
    adc.write(0x06);//reset
    wait_us(32);//15us:NG 16us:OK
    adc.write(0x43);// write register 00h-03h
    adc.write(0x81);// AIN0-GND GAIN:1 PGA:off
    adc.write(0xd0);// 2000sps turbomode single temp:off burn:off
    adc.write(0xc0);// ref:AVDD
    adc.write(0x00);// DOUT/DRDY
    adc.write(0x08);// START
    cs_adc = _Disable;// ADC chip select off
    wait(0.7);    
    pc.printf(".\r\n");
}

void ind(){
    switch(INDICATOR){
        case 0:
            pc.printf("A-FRONT\r\n");
            KILL_COUNT = 5752;//6252
            break;
            
        case 1:
            pc.printf("B-REAR\r\n");
            KILL_COUNT = 5752;
            break;
    }
    wait(1);
}

void rstRx(){
    char ch;
    ch = pc.getc();//1文字受信バッファより取り出し
    if(ch == 114){
        NVIC_SystemReset();
    }
}

void adcwork(){
    cs_adc = _Enable;
    adc.write(0x10);
    for(int j=0;j<3;j++){
        rch[j] = adc.write(0xff);
    };
    data[buff_index][buff_depth].acc[adcsel] = (int)((rch[0]<<16)|(rch[1]<<8)|rch[2]);
    data[buff_index][buff_depth].t_acc = utime.read();
    data[buff_index][buff_depth].m_t_pulse = t_pulse;
    buff_depth++; 
 
    adc.write(0x40);// write register 00h
    switch(adcsel){
        case 0:
            adc.write(0x91);// AIN1-GND GAIN:1 PGA:off
            adcsel=1;
            break;

        case 1:
            adc.write(0xa1);// AIN2-GND GAIN:1 PGA:off
            adcsel=2;
            break;

        case 2:
            adc.write(0xb1);// AIN3-GND GAIN:1 PGA:off
            adcsel=3;
            break;

        case 3:
            adc.write(0x81);// AIN0-GND GAIN:1 PGA:off
            adcsel=0;
            break;
    }

    if(buff_depth == BUFF_DEPTH){
        write_ok[buff_index]=true;
        buff_index++;
        buff_depth=0;
        if(buff_index==BUFF_COUNT){
            buff_index=0;
        }
    }

    adc.write(0x08);     //start
    cs_adc = _Disable; // ADC chip select off
    
}

void gps_get(){
    double gps_time;
    float lat,lng;
    int stat,lock,gpsc;
//    int flg =0;
    char ns,ew;
    gpsc =0;
    while(1){
        gpsc++;
        int gps_num=0;
        char gps_data[256];
        memset(gps_data, '\0' ,256);;

        while(gps.getc()!='$'){}
        while( (gps_data[gps_num] =gps.getc() ) !='\r'){
            gps_num++;
            if(gps_num==155){//max 255
                pc.printf("\r\n**ERROR!***\r\n");
                break;
            }
        }
//        if(gps_num==255){
//           break;
//        }
        
        gps_data[gps_num]='\0';

        if(sscanf(gps_data,"GPGGA,%lf,%f,%c,%f,%c,%d,%d",&gps_time,&lat,&ns,&lng,&ew,&stat,&lock) >= sum  ){
            sum = 1;
            pc.printf("\r\ngpstime,%lf,lat,%f,lng,%f\r\n",gps_time,lat,lng);
            break;
        }else{
            if( gpsc>10){
            pc.printf("NOT FOUND\r\n");
            flg = 1;
            break;
            }
        }
    }
}

void pps_rise(){
    __disable_irq();
    t_pulse = utime.read();
    __enable_irq();
}

int main(void){
    pc.baud(460800);
    pc.attach(rstRx, Serial::RxIrq);
    wait(0.1);
    pc.printf("\r\nINITIALIZING");
    cs_adc = _Disable;
    adc.format(8,1);
    adc.frequency(750000);
    pc.printf(".");
    wait(0.7);
    memset(data, '\0' ,sizeof(data));
    memset(write_ok, '\0' ,sizeof(write_ok));
    adc_init();
    
    ind();
    wait(0.7);
    gps_get();
    wait(0.3);
    pc.printf("STARTING");
    wait(0.3);
    pc.printf(".");
    wait(0.3);
    pc.printf(".");
    wait(0.3);
    pc.printf(".\r\n");
        
    utime.start();
    utime.reset();
    
    PPS.rise(pps_rise);
    adc_ticker.attach_us(&adcwork,833);
    
    int x_buff;
    int y_buff;
    int z_buff;
    int a_buff;
        
    while(1){
        if(write_ok[cur_buff]){
            for(int i=0;i<BUFF_DEPTH;i++){
                for(int j = 0 ; j < 4 ; j++){
                    if(data[cur_buff][i].acc[j] != 0){
                        x_buff = data[cur_buff][i].acc[j];
                        pc.printf("x,%d,%f,%f\r\n",x_buff,data[cur_buff][i].t_acc,data[cur_buff][i].m_t_pulse);
                    } 
                    
                    else if(data[cur_buff][i].acc[j] != 0){
                        y_buff = data[cur_buff][i].acc[j];
                        pc.printf("y,%d,%f,%f\r\n",y_buff,data[cur_buff][i].t_acc,data[cur_buff][i].m_t_pulse);
                    } 
                    
                    else if(data[cur_buff][i].acc[j] != 0){
                        z_buff = data[cur_buff][i].acc[j];
                        pc.printf("z,%d,%f,%f\r\n",z_buff,data[cur_buff][i].t_acc,data[cur_buff][i].m_t_pulse);
                    } 
                    
                    else{
                        a_buff = data[cur_buff][i].acc[j];
                        pc.printf("a,%d,%f,%f\r\n",a_buff,data[cur_buff][i].t_acc,data[cur_buff][i].m_t_pulse);
                    } 
                }
            }
            
            write_ok[cur_buff]=false;
            cur_buff++;
            kill++;
            if(cur_buff==BUFF_COUNT){
                cur_buff=0;
            }
            if(kill == KILL_COUNT){
                adc_ticker.detach();
            }
            if(kill == KILL_COUNT+1){
                wait(40);
                gps_get();
                float stamp=utime.read();
                pc.printf("%f\r\n",stamp);
            }
        }
    }
}