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test
Dependencies: z00_NSYS_CAR mbed SDFileSystem
Revision 1:32dfdcc9490f, committed 2020-12-23
- Comitter:
- NAOKI19990810
- Date:
- Wed Dec 23 08:49:47 2020 +0000
- Parent:
- 0:36c81e7b1032
- Commit message:
- huji
Changed in this revision
diff -r 36c81e7b1032 -r 32dfdcc9490f main.cpp --- a/main.cpp Wed Oct 07 05:00:46 2020 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,412 +0,0 @@ -/*========================================= -Title:NSYS for CAR - -Revision:1.0 - -Editor:Dyson - -For GR-PEACH -Compile using Mbed Online Compiler (revision:130) - -THIS IS THE FINAL PRODUCT,in xb mode - -reminder:for frontier 3.1 -Last Modified:2019/12/12 -==========================================*/ -#include "mbed.h"//for mbed -#include "SDFileSystem.h"//for SD - -#define _SDPRESENT 0//LOW for no SD card -#define _SDNOTPRESENT 1//HIGH for SD card present -#define _ENABLE 0//LOW for ADC enable -#define _DISABLE 1//HIGH for ADC disable -#define _KILLCOUNT 177// for 10 mins - -//for teraterm color logging -//use in pc.printf("%shoge%s",_RED,_END) -#define _RED "\e[31m" -#define _GREEN "\e[32m" -#define _YELLOW "\e[33m" -#define _END "\e[m" - -//functions -bool gps_read(bool fix,bool write); -void data_init(void); -void end_proc(void); -int pot_read(void); -bool sd_init(void); -void adc_init(void); -void adc_work(void); -inline void pps_rise(void); -void rx(void); -void report(void); -void sd_read(void); - -//Serial -Serial pc(USBTX, USBRX); -Serial xb(P7_4, P7_5); - -bool start=false;//turn true to start -bool status[4];//ready,gps lock,measuring,error - -//SD -FILE *fp;//file pointer -//SDFileSystem sd(P5_2, P5_3, P5_0, P5_1, "sd");//SD reader on frontier 4.0 -SDFileSystem sd(P8_5, P8_6, P8_3, P8_4, "sd");//SD reader on peach -//DigitalIn sd_detect(P1_2);//SD detection pin -char filename[256];//global for using pot_num and start_time - -//CONTROL -// DigitalIn one(P4_4); -// DigitalIn two(P4_6); -// DigitalIn four(P4_5); -// DigitalIn eight(P4_7); -int pot_num; - -InterruptIn pb(P6_0);//user switch on peach -bool switch_pressed = false;//use this to write alternative routines -void skip_switch(void) { switch_pressed = true; } - -//GPS -Serial gps(P8_13, P8_11); -InterruptIn PPS(P2_15); -volatile float t_pulse;//micom time when PPS rised -double gps_time; -double start_time=-1; - -//TIMERS -Timer utime; -Ticker adc_ticker; -Ticker stat_ticker; - -//ADC -SPI adc(P10_14, P10_15, P10_12);//mosi,miso,sck -//DigitalOut cs_adc(P1_3);//Frontier 4.0 -DigitalOut cs_adc(P8_15);//Frontier 2.0 -volatile int rch[3] = {}; - -//LED -DigitalOut led_rgb[] = {(LED1), (LED2), (LED3)}; - -//BUFFERS -#define BUFF_COUNT 3 -#define BUFF_DEPTH 4096 -int buff_depth = 0; -int buff_index = 0; -int cur_buff = 0; -bool write_ok[BUFF_COUNT]; - -int kill = 0; - -int adcsel = 0; - -typedef struct Logdata_t { - int axis; - int acc; - float t_acc; - float t_pulse; -} Logdata; -Logdata data[BUFF_COUNT][BUFF_DEPTH]; - -bool gps_read(bool fix,bool write) { //fix 0=no,1 = locked;write 0=no,1 =yes - float lat, lng; - int stat=0; - char ns, ew; - while (1) { - int gps_num = 0; - char gps_data[256]; - memset(gps_data, '\0' , 256); - - while (gps.getc() != '$') {}//wait until $ - while ( (gps_data[gps_num] = gps.getc() ) != '\r') {//get string until new line - gps_num++; - if (gps_num == 125) { - //status[3]=1; - break; - } - } - gps_data[gps_num] = '\0'; - - if (sscanf(gps_data, "GPGGA,%lf,%f,%c,%f,%c,%d", &gps_time, &lat, &ns, &lng, &ew, &stat) >= 1) {//if it is GPGGA sentence - gps_time += 90000;//turn in to JST - //pc.printf("%lf\r\n",gps_time); - if(!start && start_time>0){//if has not started yet and has valid start_time - if(start_time>gps_time){ - return false; - }else if(start_time==gps_time){ - fp = fopen(filename, "a"); - if (fp == NULL) { - return false; - }else{ - fprintf(fp, "gpstime,%lf,lat,%f,lng,%f\r\n", gps_time, lat, lng); - fclose(fp); - start = true; - return true; - } - }else if(start_time<gps_time){ - status[3]=1; - report(); - return false; - } - } - //reach here if not yet started - if (!fix || stat > 0) {//if no need to fix or has a valid lock - if(write){//need to write - fp = fopen(filename, "a"); - fprintf(fp, "gpstime,%lf,lat,%f,lng,%f\r\n", gps_time, lat, lng); - fclose(fp); - return true; - } - if (stat > 0) {//has lock - status[1] = 1; - report(); - return true; - } else { - status[1] = 0; - report(); - return false; - } - } else {//if need to write and has no valid lock - continue; - } - } - } -} - -void data_init(void) {//prepare datum - //pot_read(); - sd_read(); - status[0] = 1; - start = false; - buff_depth = 0; - buff_index = 0; - cur_buff = 0; - memset(&data, '\0' , sizeof(data)); - memset(&write_ok, '\0' , sizeof(write_ok)); -} - -void end_proc() {//reet it self - __disable_irq(); - status[0] = status[1] = status[2] = 0; - report(); - wait(0.1); - __enable_irq(); - NVIC_SystemReset(); -} - -// int pot_read(void) {//read pot value -// pot_num += one.read() + 2 * two.read() + 4 * four.read() + 8 * eight.read(); -// return pot_num; -// } - -void sd_read(void) {//check for inout directory - DIR *d; - char searchname[32]; - for(int i=0;i<12;i++){ - sprintf(searchname, "/sd/%d",i); - d = opendir(searchname); - if ( d != NULL ){//if there is file - pot_num=i; - //pc.printf("found file\r\n"); - return; - }else{//if there isnt - //pc.printf("no file\r\n"); - continue; - } - } - //pc.printf("out\r\n"); -} - -bool sd_init(void) {//determine file name and file pointer. must lock gps beforehand - mkdir("/sd/wsys", 0777); - sprintf(filename, "/sd/wsys/%d-%.0lf.csv",pot_num, start_time); - fp = fopen(filename, "a"); - - if (fp == NULL) { - status[3] = 1; - report(); - return false; - } else { - fclose(fp); - return true; - } -} - -void adc_init(void) { - cs_adc = _DISABLE; // ADC chip select off - adc.format(8, 1); //// SPI Init //// - adc.frequency(750000); - 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(0xa1);// AIN2-GND GAIN:1 PGA:off - adc.write(0x81);// AIN0-GND GAIN:1 PGA:off - //adc.write(0xc0);// 1000sps nomalmode single temp:off burn:off - //adc.write(0xc1);// 1000sps nomalmode single temp:off burn:on - 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 -} - -void adc_work(void) { - cs_adc = _ENABLE; - adc.write(0x10); - for (int j = 0; j < 3; j++) { - rch[j] = adc.write(0xff); - } - - data[buff_index][buff_depth].axis = adcsel; - data[buff_index][buff_depth].acc = (int)((rch[0] << 16) | (rch[1] << 8) | rch[2]); - data[buff_index][buff_depth].t_acc = utime.read(); - data[buff_index][buff_depth].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; - } - - adc.write(0x08); //start - cs_adc = _DISABLE; // ADC chip select off - - if (buff_depth == BUFF_DEPTH) { - buff_index++; - if (buff_index == BUFF_COUNT) { - buff_index = 0; - } - buff_depth = 0; - write_ok[buff_index] = true; - } -} -/* -command pin axis -81 0 -91 1 -a1 2 -b1 3 -*/ - -void adc_test(void) { - int zraw; - cs_adc = _ENABLE; - adc.write(0x10); - for (int j = 0; j < 3; j++) { - rch[j] = adc.write(0xff); - } - adc.write(0x08); //start - cs_adc = _DISABLE; // ADC chip select off - - zraw = (int)((rch[0] << 16) | (rch[1] << 8) | rch[2]); - if (zraw == 0 || zraw == 16777215)status[3] = 1; - xb.printf("%d,%d\r\n", pot_num, zraw); - pc.printf("%d,%d\r\n", pot_num, zraw); -} - -inline void pps_rise(void) { - //__disable_irq(); - t_pulse = utime.read(); - //__enable_irq(); -} - -void rx(void) { - char ch[128]; - int char_num = 0; - while((ch[char_num]=xb.getc()) !='\n'){ - char_num++; - if(char_num==127){ - xb.printf("**ERROR**\r\n"); - break; - } - } - if (ch[0] == 'r') { - end_proc(); - }else if(ch[0]=='s'){ - sscanf(ch, "s,%lf", &start_time); - //pc.printf("stime:%.0lf\r\n",start_time); - if(!start){ - xb.attach(NULL, Serial::RxIrq); - stat_ticker.detach(); - sd_init(); - while(!start){ - gps_read(0,0); - } - status[2] = 1; - report(); - utime.start(); - PPS.rise(pps_rise); - utime.reset(); - adc_ticker.attach_us(&adc_work, 833); - } - } -} - -void report(void) { - xb.printf("%d,%d,%d,%d,%d\r\n", pot_num, status[0], status[1], status[2], status[3]); //num,ready,gps lock,measuring,error -} - -int main(void) { - wait(0.4); - xb.baud(9600); - - data_init(); - //sd_read(); - adc_init(); - stat_ticker.attach(&report,2); - - wait(2); - adc_test(); - - //gps_read(0,0);//develop - gps_read(1,0);//actual use - xb.attach(&rx, Serial::RxIrq); - - led_rgb[1] = 1; - while(1){ - while (start) { - led_rgb[0] = 1; - if (write_ok[cur_buff]) { - fp = fopen(filename, "a"); - if (fp == NULL || kill == _KILLCOUNT) { - end_proc(); - } else { - led_rgb[2] = 1; - for (int i = 0; i < BUFF_DEPTH; i++) { - fprintf(fp, "%d,%d,%f,%f\r\n",data[cur_buff][i].axis,data[cur_buff][i].acc, data[cur_buff][i].t_acc, data[cur_buff][i].t_pulse); - } - led_rgb[2] = 0; - write_ok[cur_buff] = false; - kill++; - cur_buff++; - if (cur_buff == BUFF_COUNT)cur_buff = 0; - if(kill==_KILLCOUNT){ - gps_read(0,1);//write even if no lock - end_proc(); - } - }//if fp not null - fclose(fp); - }//if write_ok is true - }//start changes to false - } -} \ No newline at end of file
diff -r 36c81e7b1032 -r 32dfdcc9490f main1220.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main1220.cpp Wed Dec 23 08:49:47 2020 +0000 @@ -0,0 +1,277 @@ +/*========================================= +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); + } + } + } +}
diff -r 36c81e7b1032 -r 32dfdcc9490f mbed.bld --- a/mbed.bld Wed Oct 07 05:00:46 2020 +0000 +++ b/mbed.bld Wed Dec 23 08:49:47 2020 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/mbed_official/code/mbed/builds/0ab6a29f35bf \ No newline at end of file +https://os.mbed.com/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file
diff -r 36c81e7b1032 -r 32dfdcc9490f z00_NSYS_CAR.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/z00_NSYS_CAR.lib Wed Dec 23 08:49:47 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/dyson_rey/code/z00_NSYS_CAR/#36c81e7b1032