Diff: main.cpp

Revision:

0:7fa3463671dd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Mar 25 01:45:20 2017 +0000
@@ -0,0 +1,393 @@
+#include "mbed.h"
+#include "BMP180.h"
+#include "Si7021.h"
+#include "TSL2561.h"
+#include "MPU9250.h"
+#include "INA219.hpp"
+#include "JPEGCamera.h"
+#include "stdio.h"
+#include "stdlib.h"
+#include "math.h"
+#include "ST7735_TFT.h"
+#include "string"
+#include "Arial12x12.h"
+#include "Arial24x23.h"
+#include "Arial28x28.h"
+#include "SDFileSystem.h" 
+ 
+  #define NUMBER_OF_STARS 400
+ #define SCREEN_WIDTH 200
+ #define SCREEN_HEIGHT 250
+ 
+ /*star struct*/
+typedef struct 
+{
+  float xpos, ypos;
+  short zpos, speed;
+  unsigned int color;
+} STAR;
+
+static STAR stars[NUMBER_OF_STARS];
+
+
+void init_star(STAR* star, int id)
+{
+  /* randomly init stars, generate them around the center of the screen */
+  
+  star->xpos =  -10.0 + (20.0 * (rand()/(RAND_MAX+1.0)));
+  star->ypos =  -10.0 + (20.0 * (rand()/(RAND_MAX+1.0)));
+  
+  star->xpos *= 3072.0; /*change viewpoint */
+  star->ypos *= 3072.0;
+
+  star->zpos =  id;
+  star->speed =  2 + (int)(2.0 * (rand()/(RAND_MAX+1.0)));
+
+  star->color = id*Cyan >> 2; /*the closer to the viewer the brighter*/
+}
+
+
+void init()
+{
+  int id;
+
+  for (id = 0; id < NUMBER_OF_STARS; id++)
+    {
+      init_star(stars + id, id + 1);
+    }
+}
+ 
+  
+ // the TFT is connected to SPI pin 5-7, CS is p8, RS is p11, reset is p15 
+ ST7735_TFT TFT(p5, p6, p7, p12, p11, p15,"TFT"); // mosi, miso, sclk, cs, rs, reset
+ SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
+ #define archivod "/sd/datos/dato%05d.txt";
+
+int fru=0;
+Timer td;
+ 
+//Serial BT(p13, p14); // tx, rx
+
+int i=0;
+
+I2C myI2C(p9,p10);
+Serial pc(USBTX,USBRX);
+
+BMP180 bmp180(&myI2C); //Barometro
+Si7021 sensor(p9,p10); //Sensor de humedad
+TSL2561 tsl2561(p9,p10); //Sensor de luz
+MPU9250 mpu9250; //Giroscopio
+INA219 ina219(p9, p10, 0x41, 100000, RES_10BITS);
+
+I2C RGBH(p9, p10); //RGB
+DigitalOut green(p11);
+int sensor_addr = 41 << 1;
+   
+Timer t;//Giroscopio
+Timer setuptimer; //Luz
+Timer executetimer;//Luz
+
+//Barometro
+int press;
+float temp;
+//Giroscopio
+float sum = 0;
+uint32_t sumCount = 0;
+char buffer[14];
+
+void setup(void){ //Luz y Giroscopio
+
+    if (tsl2561.begin()) pc.printf("TSL2561 Sensor Found\n\r");         
+    else  pc.printf("TSL2561 Sensor not Found\n\r");   
+    
+    tsl2561.setGain(TSL2561_GAIN_0X);         // set no gain (for bright situtations) 
+    tsl2561.setTiming(TSL2561_INTEGRATIONTIME_402MS);  // longest integration time (dim tsl2561)
+    
+    uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);  // Read WHO_AM_I register for MPU-9250 
+    if (whoami == 0x71) pc.printf("MPU9250 is online...\n\r");
+    mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+    mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
+    mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+    wait(2);  
+    mpu9250.initMPU9250();
+    mpu9250.initAK8963(magCalibration);
+    wait(1);
+}
+
+
+int main(){
+    
+    JPEGCamera camera(p13, p14); // TX, RX
+    LocalFileSystem local("local"); //save images on mbed
+    Timer timer;
+    timer.start();
+    camera.setPictureSize(JPEGCamera::SIZE320x240);
+    
+    //BT.baud(38400);
+    //Sensor de luz  
+    setuptimer.start();
+    setup();    
+    setuptimer.stop();
+    setuptimer.reset();
+    uint16_t x,y,z;
+    t.start();
+    
+    //RGB
+    RGBH.frequency(200000);
+    green = 1; // off
+    
+    char id_regval[1] = {146};
+    char data[1] = {0};
+    RGBH.write(sensor_addr,id_regval,1, true);
+    RGBH.read(sensor_addr,data,1,false);
+    
+    if (data[0]==68) {
+        green = 0;
+        wait (2); 
+        green = 1;
+        } else {
+        green = 1; 
+    }
+    
+    // Initialize color sensor
+    
+    char timing_register[2] = {129,0};
+    RGBH.write(sensor_addr,timing_register,2,false);
+    
+    char control_register[2] = {143,0};
+    RGBH.write(sensor_addr,control_register,2,false);
+    
+    char enable_register[2] = {128,3};
+    RGBH.write(sensor_addr,enable_register,2,false);
+    
+    mkdir("/sd/datos", 0777);
+    
+    unsigned int centerx, centery;
+    int id, j, tempx, tempy;  
+    init();
+    TFT.set_orientation(2);
+    centerx = TFT.width() >> 1;
+    centery = TFT.height() >> 1; 
+    
+     
+    TFT.claim(stdout);      // send stdout to the TFT display 
+    //TFT.claim(stderr);      // send stderr to the TFT display
+
+    TFT.background(Black);    // set background to black
+    TFT.foreground(White);    // set chars to white
+    
+    TFT.cls();
+    TFT.set_font((unsigned char*) Arial12x12);  // select the font
+        
+    td.start();
+
+    ////// demo start
+    
+    for ( j = 0 ; j < 5000; j++ ) 
+    {
+     
+      /* move and draw stars */
+       
+      for (id = 0; i < NUMBER_OF_STARS; id++)
+    {
+      tempx = (stars[id].xpos / stars[id].zpos) + centerx;
+      tempy = (stars[id].ypos / stars[id].zpos) + centery;
+      TFT.pixel(tempx,tempy,Black);
+      
+        
+      stars[id].zpos -= stars[id].speed;
+      
+      if (stars[id].zpos <= 0)
+        {
+          init_star(stars + id, id + 1);
+        }
+
+      //compute 3D position
+      tempx = (stars[id].xpos / stars[id].zpos) + centerx;
+      tempy = (stars[id].ypos / stars[id].zpos) + centery;
+
+      if (tempx < 0 || tempx > TFT.width() - 1 || tempy < 0 || tempy > TFT.height() - 1) //check if a star leaves the screen
+        {
+          init_star(stars + id, id + 1);
+          
+          continue;
+        }
+      
+      TFT.pixel(tempx,tempy,stars[id].color);
+      
+        
+    }
+     //TFT.Bitmap(centerx-60,centery-19,120,38,p1);
+     
+    printf("N y U %i\n", fru);
+    /*fru++;
+    pc.printf("%i", fru);
+    char fil[32];
+    sprintf(fil, "/sd/datos/dato%d.txt", fru); 
+    FILE *fp = fopen(fil, "w");
+    fprintf(fp,"Swag\n\r");
+    pc.printf("Escribiendo");
+    wait(0.3);
+    fclose(fp);
+    pc.printf("Cerrado");*/
+    }
+    
+    
+
+    ///// demo stop
+
+    td.stop();
+    TFT.locate(0,10);
+    TFT.set_font((unsigned char*) Arial12x12);  // select the font
+    printf("Time %f s\n", td.read());
+    
+    while(1)
+    {   
+        //Sensor de luz  
+        executetimer.start();
+        x = tsl2561.getLuminosity(TSL2561_VISIBLE);     
+        y = tsl2561.getLuminosity(TSL2561_FULLSPECTRUM);
+        z = tsl2561.getLuminosity(TSL2561_INFRARED);
+        executetimer.stop();
+        
+        
+        bmp180.init(); //Barometro
+        sensor.measure();//Sensor de humedad
+        
+        //Barometro
+        float altitud;
+        bmp180.startTemperature(); 
+        wait_ms(5);     // 
+        if(bmp180.getTemperature(&temp) != 0) {
+            printf("Error getting temperature\n");
+            continue;
+            }    
+        bmp180.startPressure(BMP180::ULTRA_LOW_POWER);
+        wait_ms(10);    // Wait for conversion to complete
+        if(bmp180.getPressure(&press) != 0) {
+            printf("Error getting pressure\n");
+            continue;
+            }
+        altitud= 44330.0*(1-pow(press*.01/1020.0,(1/5.225)));   
+        //Sensor de humedad    
+        float temps=sensor.get_temperature()/1000.0;
+        float hum=sensor.get_humidity()/1000.0;
+        
+        //Sensor de voltaje
+        float current_ma = ina219.read_current_mA();
+        float voltageb = ina219.read_bus_voltage();
+        
+        //Giroscopio
+        mpu9250.getAres(); // Get accelerometer sensitivity
+        mpu9250.getGres(); // Get gyro sensitivity
+        mpu9250.getMres(); // Get magnetometer sensitivity
+        magbias[0] = +470.;  // User environmental x-axis correction in milliGauss, should be automatically calculated
+        magbias[1] = +120.;  // User environmental x-axis correction in milliGauss
+        magbias[2] = +125.;  // User environmental x-axis correction in milliGauss
+        if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt
+            mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values   
+            // Now we'll calculate the accleration value into actual g's
+            ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
+            ay = (float)accelCount[1]*aRes - accelBias[1];   
+            az = (float)accelCount[2]*aRes - accelBias[2];  
+           
+            mpu9250.readGyroData(gyroCount);  // Read the x/y/z adc values
+            // Calculate the gyro value into actual degrees per second
+            gx = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
+            gy = (float)gyroCount[1]*gRes - gyroBias[1];  
+            gz = (float)gyroCount[2]*gRes - gyroBias[2];   
+          
+            mpu9250.readMagData(magCount);  // Read the x/y/z adc values   
+            // Calculate the magnetometer values in milliGauss
+            // Include factory calibration per data sheet and user environmental corrections
+            mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0];  // get actual magnetometer value, this depends on scale being set
+            my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];  
+            mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];   
+            }
+        Now = t.read_us();
+        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+        lastUpdate = Now;
+        sum += deltat;
+        sumCount++;
+    
+        mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+        tempCount = mpu9250.readTempData();  // Read the adc values
+        temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
+        yaw   = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);   
+        pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+        roll  = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+        pitch *= 180.0f / PI;
+        yaw   *= 180.0f / PI; 
+        yaw   -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
+        roll  *= 180.0f / PI;
+        
+        //RGB
+        char clear_reg[1] = {148};
+        char clear_data[2] = {0,0};
+        RGBH.write(sensor_addr,clear_reg,1, true);
+        RGBH.read(sensor_addr,clear_data,2, false);
+        
+        int clear_value = ((int)clear_data[1] << 8) | clear_data[0];
+        
+        char red_reg[1] = {150};
+        char red_data[2] = {0,0};
+        RGBH.write(sensor_addr,red_reg,1, true);
+        RGBH.read(sensor_addr,red_data,2, false);
+        
+        int red_value = ((int)red_data[1] << 8) | red_data[0];
+        
+        char green_reg[1] = {152};
+        char green_data[2] = {0,0};
+        RGBH.write(sensor_addr,green_reg,1, true);
+        RGBH.read(sensor_addr,green_data,2, false);
+        
+        int green_value = ((int)green_data[1] << 8) | green_data[0];
+        
+        char blue_reg[1] = {154};
+        char blue_data[2] = {0,0};
+        RGBH.write(sensor_addr,blue_reg,1, true);
+        RGBH.read(sensor_addr,blue_data,2, false);
+    
+        int blue_value = ((int)blue_data[1] << 8) | blue_data[0];
+        
+        
+        pc.printf("Clear (%d), Red (%d), Green (%d), Blue (%d)\r\n", clear_value, red_value, green_value, blue_value);
+        pc.printf("P=%d Pa\n\rT=%.2fC\n\rAltitud= %.2f m\n\r", press, temp, altitud); //Barometro
+        pc.printf("Temp: %0.2f\n\r",temps); //Humedad
+        pc.printf("Humidity: %0.2f % \n\r",hum);//Humedad
+        pc.printf("Visible: %d \n\r",x); //Luz
+        pc.printf("Full Spectrum: %d\n\r",y); //Luz
+        pc.printf("Infrared: %d\n\r",z);//Luz
+        pc.printf(" temperature = %f  C\n\r", temperature);    //Giroscopio
+        pc.printf("Giroscopio: %2.2f,%2.2f,%2.2f,%2.2f,%2.2f,%2.2f,Y:%3.1f,P:%3.1f,R:%3.1f\n\r",ax,ay,az,gx,gy,gz,yaw,pitch,roll);
+        pc.printf("%f mA\r\n", current_ma);
+        pc.printf("%f V\r\n", voltageb);
+        
+        /*
+        BT.printf("Clear (%d), Red (%d), Green (%d), Blue (%d)\r\n", clear_value, red_value, green_value, blue_value);
+        BT.printf("P=%d Pa\n\rT=%.2fC\n\r", press, temp); //Barometro
+        BT.printf("Temp: %0.2f\n\r",temps); //Humedad
+        BT.printf("Humidity: %0.2f % \n\r",hum);//Humedad
+        BT.printf("Visible: %d \n\r",x); //Luz
+        BT.printf("Full Spectrum: %d\n\r",y); //Luz
+        BT.printf("Infrared: %d\n\r",z);//Luz
+        BT.printf(" temperature = %f  C\n\r", temperature);    //Giroscopio
+        BT.printf("Giroscopio: %2.2f,%2.2f,%2.2f,%2.2f,%2.2f,%2.2f,Y:%3.1f,P:%3.1f,R:%3.1f\n\r",ax,ay,az,gx,gy,gz,yaw,pitch,roll);
+        BT.printf("%f mA\r\n", current_ma);
+        BT.printf("%f V\r\n", voltageb);*/
+        
+        
+        if (camera.isReady()) {
+        char filename[32];
+        sprintf(filename, "/local/pict%03d.jpg", i);
+        //printf("Picture: %s ", filename);
+            if (camera.takePicture(filename)) {
+                while (camera.isProcessing()) {
+                    camera.processPicture();}}}
+        i++;
+        pc.printf("Picture");
+
+        wait(1);
+         
+ 
+ }}
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