Alex Whittemore / Mbed 2 deprecated BURTDAQ

Program to run data acquisition and control for BU Rocket Team's MKII hybrid rocket motor

Dependencies:   mbed

main.cpp@0:7fd45d2b5926, 2012-04-09 (annotated)

Committer:
alexwhittemore
Date:
Mon Apr 09 16:39:50 2012 +0000
Revision:
0:7fd45d2b5926
For some reason, this thing wont run serial interrupts and threads simultaneously without locking up.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alexwhittemore 0:7fd45d2b5926 1 #include "mbed.h"
alexwhittemore 0:7fd45d2b5926 2 #include "rtos.h"
alexwhittemore 0:7fd45d2b5926 3 #include "burtdaq.h"
alexwhittemore 0:7fd45d2b5926 4 #include <vector>
alexwhittemore 0:7fd45d2b5926 5 #include "FastIO.h"
alexwhittemore 0:7fd45d2b5926 6 #include <stdio.h> // printf
alexwhittemore 0:7fd45d2b5926 7 #include <string.h> // strcat
alexwhittemore 0:7fd45d2b5926 8 #include <stdlib.h> // strtol
alexwhittemore 0:7fd45d2b5926 9
alexwhittemore 0:7fd45d2b5926 10 DigitalOut led1(LED1);
alexwhittemore 0:7fd45d2b5926 11 DigitalOut led2(LED2);
alexwhittemore 0:7fd45d2b5926 12 DigitalOut led3(LED3);
alexwhittemore 0:7fd45d2b5926 13 DigitalOut led4(LED4);
alexwhittemore 0:7fd45d2b5926 14 //Serial pc(USBTX,USBRX);
alexwhittemore 0:7fd45d2b5926 15 Serial xbee(XBEETX,XBEERX);
alexwhittemore 0:7fd45d2b5926 16
alexwhittemore 0:7fd45d2b5926 17 //Queue<uint8_t, 50> queue;
alexwhittemore 0:7fd45d2b5926 18
alexwhittemore 0:7fd45d2b5926 19 #define kDisplayWidth 32
alexwhittemore 0:7fd45d2b5926 20 char* pBinFill(long int x,char *so, char fillChar)
alexwhittemore 0:7fd45d2b5926 21 { // fill in array from right to left
alexwhittemore 0:7fd45d2b5926 22 char s[kDisplayWidth+1];
alexwhittemore 0:7fd45d2b5926 23 int i=kDisplayWidth;
alexwhittemore 0:7fd45d2b5926 24 s[i--]=0x00; // terminate string
alexwhittemore 0:7fd45d2b5926 25 do
alexwhittemore 0:7fd45d2b5926 26 { // fill in array from right to left
alexwhittemore 0:7fd45d2b5926 27 s[i--]=(x & 1) ? '1':'0';
alexwhittemore 0:7fd45d2b5926 28 x>>=1; // shift right 1 bit
alexwhittemore 0:7fd45d2b5926 29 } while( x > 0);
alexwhittemore 0:7fd45d2b5926 30 while(i>=0) s[i--]=fillChar; // fill with fillChar
alexwhittemore 0:7fd45d2b5926 31 sprintf(so,"%s",s);
alexwhittemore 0:7fd45d2b5926 32 return so;
alexwhittemore 0:7fd45d2b5926 33 }
alexwhittemore 0:7fd45d2b5926 34
alexwhittemore 0:7fd45d2b5926 35
alexwhittemore 0:7fd45d2b5926 36 void bridgeReader(void const *argument) {
alexwhittemore 0:7fd45d2b5926 37 SPI spia(NC, SPIA_MISO, SPIA_CLK);
alexwhittemore 0:7fd45d2b5926 38 spia.format(16);
alexwhittemore 0:7fd45d2b5926 39 spia.frequency(1000000);
alexwhittemore 0:7fd45d2b5926 40 //DigitalOut spia_mosi(SPIA_MOSI);
alexwhittemore 0:7fd45d2b5926 41 FastOut<SPIA_MOSI> spia_mosi;
alexwhittemore 0:7fd45d2b5926 42
alexwhittemore 0:7fd45d2b5926 43 FastPortOut<Port0, SPIA_CS_PORT_MASK> spiaCSPort;
alexwhittemore 0:7fd45d2b5926 44 //PortOut spiaCSPort(Port0, SPIA_CS_PORT_MASK);
alexwhittemore 0:7fd45d2b5926 45 unsigned int bridgeCSPinMasks[5] = {SPIA_P1_CS_PORT_MASK, SPIA_P2_CS_PORT_MASK, SPIA_P3_CS_PORT_MASK, SPIA_P4_CS_PORT_MASK};
alexwhittemore 0:7fd45d2b5926 46 int deviceCount = 4;
alexwhittemore 0:7fd45d2b5926 47
alexwhittemore 0:7fd45d2b5926 48 spiaCSPort = SPIA_CS_PORT_MASK;
alexwhittemore 0:7fd45d2b5926 49
alexwhittemore 0:7fd45d2b5926 50 uint16_t outputs[4] = {0x0f0f, 0xf0f0, 0x0000, 0x0000};
alexwhittemore 0:7fd45d2b5926 51 //bridgeCSPins = 3;
alexwhittemore 0:7fd45d2b5926 52 printf("ENTERING READ LOOP\n");
alexwhittemore 0:7fd45d2b5926 53 while(true) {
alexwhittemore 0:7fd45d2b5926 54 __disable_irq();
alexwhittemore 0:7fd45d2b5926 55 led2 = 1;
alexwhittemore 0:7fd45d2b5926 56 // READ BRIDGES
alexwhittemore 0:7fd45d2b5926 57 spia_mosi = 1;
alexwhittemore 0:7fd45d2b5926 58 int i = 0; // This constitutes ROUGHLY a 500ns delay
alexwhittemore 0:7fd45d2b5926 59 while(i<10)
alexwhittemore 0:7fd45d2b5926 60 i++;
alexwhittemore 0:7fd45d2b5926 61 for(i=0; i<deviceCount; i++){
alexwhittemore 0:7fd45d2b5926 62 spiaCSPort = ~bridgeCSPinMasks[i];
alexwhittemore 0:7fd45d2b5926 63 outputs[i] = spia.write(0x0);
alexwhittemore 0:7fd45d2b5926 64 }
alexwhittemore 0:7fd45d2b5926 65 spiaCSPort = SPIA_CS_PORT_MASK;
alexwhittemore 0:7fd45d2b5926 66 //spiaCSPort = 1;
alexwhittemore 0:7fd45d2b5926 67 spia_mosi = 0;
alexwhittemore 0:7fd45d2b5926 68 // END READING
alexwhittemore 0:7fd45d2b5926 69
alexwhittemore 0:7fd45d2b5926 70 printf("%u, %u, %u, %u\n",outputs[0],outputs[1],outputs[2],outputs[3]);
alexwhittemore 0:7fd45d2b5926 71 led2 = 0;
alexwhittemore 0:7fd45d2b5926 72 __enable_irq();
alexwhittemore 0:7fd45d2b5926 73 Thread::wait(5000);
alexwhittemore 0:7fd45d2b5926 74 }
alexwhittemore 0:7fd45d2b5926 75 }
alexwhittemore 0:7fd45d2b5926 76 void tcReader(void const *argument) {
alexwhittemore 0:7fd45d2b5926 77 SPI spib(SPIB_MOSI, SPIB_MISO, SPIB_CLK);
alexwhittemore 0:7fd45d2b5926 78 spib.format(16);
alexwhittemore 0:7fd45d2b5926 79 spib.frequency(1000000);
alexwhittemore 0:7fd45d2b5926 80
alexwhittemore 0:7fd45d2b5926 81 DigitalOut spibCSPins[] = {SPIB_P1_CS, SPIB_P2_CS, SPIB_P3_CS};
alexwhittemore 0:7fd45d2b5926 82 spibCSPins[0]=1;
alexwhittemore 0:7fd45d2b5926 83 spibCSPins[1]=1;
alexwhittemore 0:7fd45d2b5926 84 spibCSPins[2]=1;
alexwhittemore 0:7fd45d2b5926 85
alexwhittemore 0:7fd45d2b5926 86 int numTCs = 3;
alexwhittemore 0:7fd45d2b5926 87 uint32_t rawTcData[3] = {0,0,0};
alexwhittemore 0:7fd45d2b5926 88 uint32_t tcData[3] = {0,0,0};
alexwhittemore 0:7fd45d2b5926 89 uint32_t ambientData[3] = {0,0,0};
alexwhittemore 0:7fd45d2b5926 90
alexwhittemore 0:7fd45d2b5926 91 float humanTcData[3] = {0,0,0};
alexwhittemore 0:7fd45d2b5926 92 float humanAmbientData[3] = {0,0,0};
alexwhittemore 0:7fd45d2b5926 93
alexwhittemore 0:7fd45d2b5926 94 uint32_t buffer = 0;
alexwhittemore 0:7fd45d2b5926 95 char so[kDisplayWidth+1];
alexwhittemore 0:7fd45d2b5926 96 while (true) {
alexwhittemore 0:7fd45d2b5926 97 __disable_irq();
alexwhittemore 0:7fd45d2b5926 98 led3 = 1;
alexwhittemore 0:7fd45d2b5926 99 for(int i=0; i<numTCs; i++){
alexwhittemore 0:7fd45d2b5926 100 rawTcData[i] = 0;
alexwhittemore 0:7fd45d2b5926 101 spibCSPins[i] = 0;
alexwhittemore 0:7fd45d2b5926 102 buffer = spib.write(0);
alexwhittemore 0:7fd45d2b5926 103 //printf("%s\n",binary_fmt(buffer,tmp));
alexwhittemore 0:7fd45d2b5926 104 rawTcData[i] = (buffer << 16);
alexwhittemore 0:7fd45d2b5926 105 buffer = spib.write(0);
alexwhittemore 0:7fd45d2b5926 106 rawTcData[i] |= (buffer);
alexwhittemore 0:7fd45d2b5926 107 spibCSPins[i] = 1;
alexwhittemore 0:7fd45d2b5926 108 }
alexwhittemore 0:7fd45d2b5926 109 //printf("%s %s %s\n", byte_to_binary(tcData[0]), byte_to_binary(tcData[1]), byte_to_binary(tcData[2]));
alexwhittemore 0:7fd45d2b5926 110 //printf("Data is: %s %s %s\n",pBinFill(tcData[0], so, '0'), pBinFill(tcData[1], so, '0'), pBinFill(tcData[2], so, '0'));
alexwhittemore 0:7fd45d2b5926 111
alexwhittemore 0:7fd45d2b5926 112 for(int i=0; i<numTCs; i++){
alexwhittemore 0:7fd45d2b5926 113 tcData[i] = ((rawTcData[i] & 0xFFFC0000) >> 18);
alexwhittemore 0:7fd45d2b5926 114 ambientData[i] = ((rawTcData[i] & 0xFFF0) >> 4);
alexwhittemore 0:7fd45d2b5926 115 humanTcData[i] = (float) tcData[i] * .25;
alexwhittemore 0:7fd45d2b5926 116 humanAmbientData[i] = (float) ambientData[i]*.0625;
alexwhittemore 0:7fd45d2b5926 117 printf("Thermocouple %d ambient: %f, tc:%f\n",i,humanAmbientData[i],humanTcData[i]);
alexwhittemore 0:7fd45d2b5926 118 }
alexwhittemore 0:7fd45d2b5926 119 led3=0;
alexwhittemore 0:7fd45d2b5926 120 __enable_irq();
alexwhittemore 0:7fd45d2b5926 121 Thread::wait(2000);
alexwhittemore 0:7fd45d2b5926 122 }
alexwhittemore 0:7fd45d2b5926 123 }
alexwhittemore 0:7fd45d2b5926 124
alexwhittemore 0:7fd45d2b5926 125 void xbeeISR() {
alexwhittemore 0:7fd45d2b5926 126 led4 = !led4;
alexwhittemore 0:7fd45d2b5926 127 }
alexwhittemore 0:7fd45d2b5926 128
alexwhittemore 0:7fd45d2b5926 129 int main() {
alexwhittemore 0:7fd45d2b5926 130 printf("Starting reader\n");
alexwhittemore 0:7fd45d2b5926 131 Thread bridgeReader1(bridgeReader);
alexwhittemore 0:7fd45d2b5926 132 Thread tcReader1(tcReader);
alexwhittemore 0:7fd45d2b5926 133 //Thread actuatorController1(actuatorController);
alexwhittemore 0:7fd45d2b5926 134
alexwhittemore 0:7fd45d2b5926 135 xbee.baud(115200);
alexwhittemore 0:7fd45d2b5926 136 xbee.attach(&xbeeISR);
alexwhittemore 0:7fd45d2b5926 137 int i = 0;
alexwhittemore 0:7fd45d2b5926 138 while(1){
alexwhittemore 0:7fd45d2b5926 139 //xbee.printf("In Range: %d",i);
alexwhittemore 0:7fd45d2b5926 140 i++;
alexwhittemore 0:7fd45d2b5926 141 led1 = !led1;
alexwhittemore 0:7fd45d2b5926 142 Thread::wait(1000);
alexwhittemore 0:7fd45d2b5926 143 }
alexwhittemore 0:7fd45d2b5926 144 }