Revision 0:fca9076d3362, committed 2018-11-15

Comitter:

Wizo

Date:

Thu Nov 15 18:04:08 2018 +0000

Commit message:

ProcVisDemo_Accel

Changed in this revision

diff -r 000000000000 -r fca9076d3362 MMA7660.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MMA7660.lib	Thu Nov 15 18:04:08 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/Sissors/code/MMA7660/#36a163511e34

diff -r 000000000000 -r fca9076d3362 ProcVisDemo_Accel.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ProcVisDemo_Accel.cpp	Thu Nov 15 18:04:08 2018 +0000
@@ -0,0 +1,78 @@
+#include "mbed.h"
+#include "Serial_HL.h"
+#include "MMA7660.h"
+#include "TP1.h"
+
+SerialBLK pc(USBTX, USBRX);
+SvProtocol ua0(&pc);
+
+// V2.0
+// BusOut leds(LED1,LED2,LED3,LED4); Bertl14
+// M0-Board
+BusOut leds(P1_13,P1_12,P1_7,P1_6,P1_4,P1_3,P1_1,P1_0,LED4,LED3,LED2,LED1);
+
+
+void CommandHandler();
+
+MMA7660 accel(p28, p27);
+
+// 3 Filter anlegen
+TP1Ord tpx, tpy, tpz;
+int accVal[3];
+
+void Do100Hz_Work();
+
+int main(void)
+{
+    pc.format(8,SerialBLK::None,1);
+    pc.baud(115200);
+
+
+    ua0.SvMessage("AccelTest"); // Meldung zum PC senden
+
+    accel.setSampleRate(120);
+
+    Timer stw;
+    stw.start();
+ 
+
+    while(1) {
+        CommandHandler();
+        if (stw.read_ms()>10) { // 100Hz
+            stw.reset();
+            Do100Hz_Work();
+            if(ua0.acqON) {
+                ua0.WriteSvI16(1, accVal[0]); // X,Y,Z zum PC senden
+                ua0.WriteSvI16(2, tpx.y);                
+                //ua0.WriteSvI16(3, accVal[1]);
+                //ua0.WriteSvI16(4, tpy.y);
+            }
+        }
+    }
+}
+
+
+
+
+void Do100Hz_Work()
+{
+    accel.readData(accVal); // X,Y,Z vom Sensor lesen
+    tpx.CalcOneStep (accVal[0]);
+    tpy.CalcOneStep (accVal[1]);
+    tpz.CalcOneStep (accVal[2]);
+    
+}
+
+
+void CommandHandler()
+{
+    uint8_t cmd;
+
+    if( !pc.IsDataAvail() )
+        return;
+
+    cmd = ua0.GetCommand();
+
+}
+
+

diff -r 000000000000 -r fca9076d3362 SerialHL/Serial_HL.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialHL/Serial_HL.cpp	Thu Nov 15 18:04:08 2018 +0000
@@ -0,0 +1,130 @@
+
+#include "Serial_HL.h"
+#include <stdarg.h>
+#include <stdio.h>
+
+namespace mbed {
+
+SerialBLK::SerialBLK(PinName tx, PinName rx) {
+  serial_init(&_serial, tx, rx);
+  _baud = 9600;
+  serial_irq_handler(&_serial, SerialBLK::_irq_handler, (uint32_t)this);
+}
+
+void SerialBLK::baud(int baudrate) {
+  serial_baud(&_serial, baudrate);
+  _baud = baudrate;
+}
+
+void SerialBLK::format(int bits, Parity parity, int stop_bits) {
+  serial_format(&_serial, bits, (SerialParity)parity, stop_bits);
+}
+
+int SerialBLK::readable() {
+  return serial_readable(&_serial);
+}
+
+int SerialBLK::writeable() {
+  return serial_writable(&_serial);
+}
+
+void SerialBLK::attach(void (*fptr)(void), IrqType type) {
+  if (fptr) {
+      _irq[type].attach(fptr);
+      serial_irq_set(&_serial, (SerialIrq)type, 1);
+  } else {
+      serial_irq_set(&_serial, (SerialIrq)type, 0);
+	}
+}
+
+void SerialBLK::_irq_handler(uint32_t id, SerialIrq irq_type) {
+  SerialBLK *obj = (SerialBLK*)id;
+  obj->_irq[irq_type].call();
+}
+
+int SerialBLK::GetChar() {
+  return serial_getc(&_serial);
+}
+
+void SerialBLK::PutChar(int aCh) {
+  serial_putc(&_serial, aCh);
+}
+
+void SerialBLK::Write(void* aData, uint32_t aLenBytes)
+{
+	uint8_t* ptr = (uint8_t*)aData;
+	for(int i=0; i<aLenBytes; i++) {
+		this->PutChar(*ptr); ptr++;
+	}
+}
+
+void SerialBLK::Read(void* aData, uint32_t aLenBytes)
+{
+	uint8_t* ptr = (uint8_t*)aData;
+  for(int i=0; i<aLenBytes; i++) {
+    *ptr=this->GetChar(); ptr++;
+  }
+}
+
+
+
+
+void SvProtocol::Puts(char* aCStr)
+{
+  while( *aCStr != '\0' )
+  {
+    if( *aCStr=='\n' )
+      _st->PutChar('\r');
+    _st->PutChar(*aCStr);
+    aCStr++;
+  }
+	_st->PutChar(0); // terminate with 0
+}
+
+static char sBuffer[50];
+
+void SvProtocol::Printf(const char *format, ...)
+{
+  va_list vArgs;
+  va_start(vArgs, format);
+  vsprintf(sBuffer, (char const *)format, vArgs);
+  va_end(vArgs);
+  Puts(sBuffer);
+}
+
+void SvProtocol::SvPrintf(const char *format, ...)
+{
+  va_list vArgs;
+  va_start(vArgs, format);
+  vsprintf(sBuffer, (char const *)format, vArgs);
+  va_end(vArgs);
+  if( !svMessageON ) return;
+  _st->PutChar(10);
+  Puts(sBuffer);
+}
+
+void SvProtocol::WriteSV3p13(int aId, float aData) {
+  // int16_t val = To3p13(aData);
+  // PutChar(aId); Write(&val,2);
+}
+
+int SvProtocol::GetCommand()
+{
+  uint8_t cmd = _st->GetChar();
+  if( cmd==1 )
+  {
+    this->acqON = _st->GetChar();
+    if( this->acqON )
+      this->SvMessage("AcqON");
+    else
+      this->SvMessage("AcqOFF");
+    return 0;
+  }
+  return cmd;
+}
+
+} // namespace mbed
+
+
+
+

diff -r 000000000000 -r fca9076d3362 SerialHL/Serial_HL.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialHL/Serial_HL.h	Thu Nov 15 18:04:08 2018 +0000
@@ -0,0 +1,69 @@
+
+#ifndef Serial_HL_h
+#define Serial_HL_h
+
+#include "platform.h"
+// #include "Stream.h"
+#include "FunctionPointer.h"
+#include "serial_api.h"
+#include "SvProtocol.h"
+
+namespace mbed
+{
+
+class SerialBLK : public IStreamHL
+{
+public:
+    SerialBLK(PinName tx, PinName rx);
+    void baud(int baudrate);
+
+    virtual void PutChar(int aCh);
+    virtual int GetChar();
+    virtual void Write(void* aData, uint32_t aLenBytes);
+    virtual void Read(void* aData, uint32_t aLenBytes);
+
+    enum Parity {
+        None = 0,
+        Odd,
+        Even,
+        Forced1,
+        Forced0
+    };
+    enum IrqType {
+        RxIrq = 0,
+        TxIrq
+    };
+
+    void format(int bits=8, Parity parity=SerialBLK::None, int stop_bits=1);
+
+    int readable();
+    int writeable();
+    int IsDataAvail() {
+        return readable();
+    }
+
+    // fptr A pointer to a void function, or 0 to set as none
+    // type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
+    void attach(void (*fptr)(void), IrqType type=RxIrq);
+
+    // tptr pointer to the object to call the member function on
+    // mptr pointer to the member function to be called
+    // type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
+    template<typename T>
+    void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
+        if((mptr != NULL) && (tptr != NULL)) {
+            _irq[type].attach(tptr, mptr);
+            serial_irq_set(&_serial, (SerialIrq)type, 1);
+        }
+    }
+
+    static void _irq_handler(uint32_t id, SerialIrq irq_type);
+protected:
+    serial_t        _serial;
+    FunctionPointer _irq[2];
+    int             _baud;
+};
+
+} // namespace mbed
+
+#endif

diff -r 000000000000 -r fca9076d3362 SerialHL/SvProtocol.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialHL/SvProtocol.h	Thu Nov 15 18:04:08 2018 +0000
@@ -0,0 +1,83 @@
+
+#ifndef SvProtocol_h
+#define SvProtocol_h
+
+#include "stdint.h"
+
+namespace mbed {
+
+class IStreamHL {
+	public:
+		virtual void PutChar(int aCh) = 0;
+		virtual int GetChar() = 0;
+		virtual void Write(void* aData, uint32_t aLenBytes) = 0;
+		virtual void Read(void* aData, uint32_t aLenBytes) = 0;
+};
+
+class SvProtocol {
+	public:
+		IStreamHL* _st;
+		uint8_t acqON;
+    uint8_t svMessageON;
+	public:
+		SvProtocol(IStreamHL* aStrm) {
+			acqON=0; svMessageON=1;
+			_st=aStrm; 
+		}
+	
+		// Check's first for acqOn/Off Command
+    // ret 0 if acqOn/Off was handled in GetCommand
+    int GetCommand();
+		
+		void Puts(char* aCStr); // Terminate with 0
+
+    // \r\n is appended automatically
+    void Printf(const char* format, ...);
+
+    void SvPrintf(const char *format, ...);
+    
+    void WriteSV(int aId, char* aData) {
+      if( !svMessageON ) return;
+      _st->PutChar(aId); Puts(aData); 
+    }
+    
+    void SvMessage(char* aTxt) {
+      if( !svMessageON ) return;
+      _st->PutChar(10); Puts(aTxt);
+    }
+    
+    void VectHeader(int aId, int aNVals)
+      { _st->PutChar(aId); _st->PutChar(aNVals); }
+    
+    void WriteSvI16(int aId, int16_t aData)
+      { _st->PutChar(aId+10); _st->Write(&aData,2); }
+    
+    void WriteSvI32(int aId, int32_t aData)
+      { _st->PutChar(aId); _st->Write(&aData,4); }
+    
+    void WriteSV(int aId, float aData)
+      { _st->PutChar(aId+20); _st->Write(&aData,4); }
+    
+    // float in 3.13 Format
+    void WriteSV3p13(int aId, float aData);
+
+    int16_t ReadI16()
+      { int16_t ret; _st->Read(&ret,2); return ret; }
+
+    int32_t ReadI32()
+      { int32_t ret; _st->Read(&ret,4); return ret; }
+    
+    float ReadF()
+      { float ret; _st->Read(&ret,4); return ret; }
+};
+
+} // namespace mbed
+
+// SV-Id Ranges and DataTypes for SvVis3 Visualisation-Tool
+//----------------------------------------------------------
+// Id = 10       : string
+// Id = 1 .. 9   : format 3.13  2 Bytes
+// Id = 11 .. 20 : short        2 Bytes
+// Id = 21 .. 30 : float        4 Bytes
+
+#endif

diff -r 000000000000 -r fca9076d3362 TP1.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TP1.h	Thu Nov 15 18:04:08 2018 +0000
@@ -0,0 +1,41 @@
+// Digitaler Tiefpass 1. Ordnung
+
+class TP1Ord
+{
+private:
+    float alpha; // Filterkonstante
+public:
+    float yn_1;
+    float y; // momentaner Ausgangswert des Filters
+public:    
+    
+    // Konstruktor wird automatisch aufgerufen
+    // Variable der Klasse TP1Ord angelegt wird
+    // interne Variablen sinnvoll initialisieren
+    TP1Ord(); 
+    
+    // einen Abtastschritt des Filters rechnen
+    // es entsteht ein neues y
+    void CalcOneStep (float aX);
+    
+    void SetAlpha (float aAlpha);
+};
+
+TP1Ord::TP1Ord()
+{
+    y = 0; yn_1 = 0;
+    SetAlpha(0.1); // sinnvolles Alpha einstellen
+}
+
+void TP1Ord::SetAlpha (float aAlpha)
+{   
+    // 0...1 absichern
+    if(aAlpha >= 0 && aAlpha <= 1)
+        alpha = aAlpha; 
+}
+
+void TP1Ord::CalcOneStep (float aX)
+{
+    y = alpha*aX + (1-alpha)*yn_1;
+    yn_1 = y; // y einmal merken (zwischspeichern)
+}
\ No newline at end of file

diff -r 000000000000 -r fca9076d3362 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Nov 15 18:04:08 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac
\ No newline at end of file