Revision 6:12ff056ab2c1, committed 2022-01-19

Comitter:

saloutos

Date:

Wed Jan 19 19:32:40 2022 +0000

Parent:

5:e4e96d1b446f

Commit message:

added rezeroing of the ATI sensor ;

Changed in this revision

--- a/main.cpp	Thu Nov 18 20:34:22 2021 +0000
+++ b/main.cpp	Wed Jan 19 19:32:40 2022 +0000
@@ -28,7 +28,7 @@
 
 /*---------------------- Ethernet setup ----------------------*/
 const int SERVER_PORT = 11223;
-const char* SERVER_ADDRESS = "192.168.1.2";    // Adress of the other Mbed (Mbed B)
+const char* SERVER_ADDRESS = "192.168.1.200";    // Adress of the other Mbed (Mbed B)
 const int LOCAL_PORT = 11223;
 const char* ip = "192.168.1.1";     // Mbed A = 1; Mbed B = 2
 const char* mask = "255.255.255.0";
@@ -47,7 +47,8 @@
 
 
 /*---------------------- IMU setup ----------------------*/
-// TODO: add this eventually
+// TODO: add this so that we can collect hand-held data
+
 
 
 /*---------------------- LTC chip setup ----------------------*/
@@ -73,7 +74,7 @@
 ltc_spi adc_data;
 int16_t ati_data[6];
 float ati_filt[6];
-float FILT_COEF = 0.10f;
+float FILT_COEF = 1.0f; //0.10f;
 
 // calibration matrix for ATI sensor
 float Fxc[6] = {-0.1971322934773, -0.04349257334311, 2.298051028435, -80.35044049387, 1.362983909976, 78.23673392118};
@@ -527,7 +528,7 @@
         wait_ms(1);
     }
     pc.printf("ATI sensor is calibrated with biases of: %.2f, %.2f, %.2f, %.2f, %.2f, %.2f \n\r", bias[0],bias[1],bias[2],bias[3],bias[4],bias[5]);
-      
+     
     // TODO: Add calibration for force sensor? Only necessary if the force sensor neural network is being evaluated online
     //calibrateSensor(offsets);
       
@@ -540,7 +541,7 @@
     
     while (true) {
         
-        if(LTC_ticker_activated == true) {
+        /*if(LTC_ticker_activated == true) {
             // Clear flag
             LTC_ticker_activated = false;
             // Sample from LTC chip, filter data
@@ -573,11 +574,44 @@
 //            pc.printf("%d,%d,%d,%d,%d,%d,%d,%d\n\r", pr_data[0],pr_data[1],pr_data[2],pr_data[3],pr_data[4],pr_data[5],pr_data[6],pr_data[7]);      
             
             // Pack and send the ethernet message
+            //sprintf(send_buf, "%f,%f,%f,%f,%d,%d,%d,%d,%d,%d,%d,%d\n", msg_timer.read(),ft_data[0],ft_data[1],ft_data[2], pr_data[0],pr_data[1],pr_data[2],pr_data[3],pr_data[4],pr_data[5],pr_data[6],pr_data[7]);       
+//            sprintf(send_buf, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n", ati_data[0],ati_data[1],ati_data[2],ati_data[3],ati_data[4],ati_data[5], pr_data[0],pr_data[1],pr_data[2],pr_data[3],pr_data[4],pr_data[5],pr_data[6],pr_data[7]);       
+            //server.sendto(client, send_buf, sizeof(send_buf)); // send message, look for '\n' character when decoding the string
+            
+         }*/
+         
+         // Receive a message from server (Mbed B)
+        char buf[256];
+        int n = server.recvfrom(&client, buf, 256); // could also use server.recv(buf, 256)?
+        buf[n] = '\0';
+        //pc.printf("Received message back from server: '%s'\n\r", buf);  
+        
+        if (buf[0]=='z') { // re-zero ATI sensor        
+            for(int i=0; i<100; i++){ // read 100 times and take average
+                read_LTC_data();  
+                for(int j=0; j<6; j++){
+                    bias[j] += 0.01*(float)ati_data[j];
+                }
+                wait_ms(1);
+            }
+        }
+        
+        if (buf[0]=='r') {
+            read_LTC_data();
+            filter_LTC_data();
+            convert_LTC_data();
+            read_bmp_data();
+            pr_data[0] = int(sn_data1.pressure)-100000; // pressure is returned in Pa, could subtract actual sea level pressure here
+            pr_data[1] = int(sn_data2.pressure)-100000;
+            pr_data[2] = int(sn_data3.pressure)-100000;
+            pr_data[3] = int(sn_data4.pressure)-100000;
+            pr_data[4] = int(sn_data5.pressure)-100000;
+            pr_data[5] = int(sn_data6.pressure)-100000;
+            pr_data[6] = int(sn_data7.pressure)-100000;
+            pr_data[7] = int(sn_data8.pressure)-100000;    
             sprintf(send_buf, "%f,%f,%f,%f,%d,%d,%d,%d,%d,%d,%d,%d\n", msg_timer.read(),ft_data[0],ft_data[1],ft_data[2], pr_data[0],pr_data[1],pr_data[2],pr_data[3],pr_data[4],pr_data[5],pr_data[6],pr_data[7]);       
-//            sprintf(send_buf, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n", ati_data[0],ati_data[1],ati_data[2],ati_data[3],ati_data[4],ati_data[5], pr_data[0],pr_data[1],pr_data[2],pr_data[3],pr_data[4],pr_data[5],pr_data[6],pr_data[7]);       
             server.sendto(client, send_buf, sizeof(send_buf)); // send message, look for '\n' character when decoding the string
-            
-         }
+        } 
         
     }