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

--- 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

--- /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);
+            }
+        }
+    }
+}

--- 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

--- /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