DataLogIMU-BARO - interface to chr_6dm and Baro bmp085

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Abdelmalek BELLOULA / Mbed 2 deprecated DataLogIMU-BARO

interface to chr_6dm and Baro bmp085

main.cpp@0:d07617f8ede9, 2011-10-17 (annotated)

Committer:: belloula
Date:: Mon Oct 17 19:43:06 2011 +0000
Revision:: 0:d07617f8ede9

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User	Revision	Line number	New contents of line
belloula	0:d07617f8ede9	1	#include "mbed.h"
belloula	0:d07617f8ede9	2	#include "chr.h"
belloula	0:d07617f8ede9	3	#include "SDFileSystem.h"
belloula	0:d07617f8ede9	4	#include "BMP085.h"
belloula	0:d07617f8ede9	5	#include "MSCFileSystem.h"
belloula	0:d07617f8ede9	6
belloula	0:d07617f8ede9	7	SDFileSystem sd(p5, p6, p7, p8, "sd"); // mosi, miso, sclk, cs, name
belloula	0:d07617f8ede9	8	BMP085 bmp085(p28, p27);
belloula	0:d07617f8ede9	9	Serial imu(p13, p14);
belloula	0:d07617f8ede9	10	Serial pc(USBTX, USBRX);
belloula	0:d07617f8ede9	11
belloula	0:d07617f8ede9	12	DigitalOut myled1(LED1);
belloula	0:d07617f8ede9	13	DigitalOut myled2(LED2);
belloula	0:d07617f8ede9	14	DigitalOut myled3(LED3);
belloula	0:d07617f8ede9	15	DigitalOut myled4(LED4);
belloula	0:d07617f8ede9	16
belloula	0:d07617f8ede9	17	InterruptIn event_EOC(p23);
belloula	0:d07617f8ede9	18
belloula	0:d07617f8ede9	19	//DigitalIn BPM085_EOC (p23);
belloula	0:d07617f8ede9	20	DigitalOut activate(p22);
belloula	0:d07617f8ede9	21	DigitalIn enable(p21);
belloula	0:d07617f8ede9	22
belloula	0:d07617f8ede9	23
belloula	0:d07617f8ede9	24	MSCFileSystem msc("msc");
belloula	0:d07617f8ede9	25
belloula	0:d07617f8ede9	26	char data[MAX_BYTES];
belloula	0:d07617f8ede9	27	int _state = WAIT_s;
belloula	0:d07617f8ede9	28	char c;
belloula	0:d07617f8ede9	29	int d;
belloula	0:d07617f8ede9	30	unsigned char pt;
belloula	0:d07617f8ede9	31	unsigned int n;
belloula	0:d07617f8ede9	32	int yaw;
belloula	0:d07617f8ede9	33	int pitch;
belloula	0:d07617f8ede9	34	int roll;
belloula	0:d07617f8ede9	35	unsigned short int tag_imu;
belloula	0:d07617f8ede9	36
belloula	0:d07617f8ede9	37	FILE fp,usbp;
belloula	0:d07617f8ede9	38	Timer tt,tmesure;
belloula	0:d07617f8ede9	39	Ticker periode1;
belloula	0:d07617f8ede9	40	void sendPacket(unsigned char pt, unsigned int n,char data[])
belloula	0:d07617f8ede9	41	{
belloula	0:d07617f8ede9	42	//unsigned int checksum;
belloula	0:d07617f8ede9	43	int checksum = HEADER_CHECKSUM +pt+n;
belloula	0:d07617f8ede9	44	if (imu.writeable())
belloula	0:d07617f8ede9	45	{
belloula	0:d07617f8ede9	46	imu.printf("snp");
belloula	0:d07617f8ede9	47	imu.putc(pt);
belloula	0:d07617f8ede9	48	imu.putc(n);
belloula	0:d07617f8ede9	49
belloula	0:d07617f8ede9	50	for (int i=0; i < n; i++)
belloula	0:d07617f8ede9	51	{
belloula	0:d07617f8ede9	52	imu.putc(data[i]);
belloula	0:d07617f8ede9	53	checksum += data[i];
belloula	0:d07617f8ede9	54	}
belloula	0:d07617f8ede9	55	imu.putc((char) (checksum >> 8)); // MSByte
belloula	0:d07617f8ede9	56	imu.putc((char) (checksum & 0x0FF)); // LSByte
belloula	0:d07617f8ede9	57	}
belloula	0:d07617f8ede9	58
belloula	0:d07617f8ede9	59	}
belloula	0:d07617f8ede9	60
belloula	0:d07617f8ede9	61
belloula	0:d07617f8ede9	62	void Int_DataLogger ()
belloula	0:d07617f8ede9	63	{
belloula	0:d07617f8ede9	64	myled1 = 1;
belloula	0:d07617f8ede9	65	myled2 = 1;
belloula	0:d07617f8ede9	66	myled3 = 1;
belloula	0:d07617f8ede9	67	myled4 = 1;
belloula	0:d07617f8ede9	68	wait_ms(300);
belloula	0:d07617f8ede9	69	pc.baud(115200);
belloula	0:d07617f8ede9	70	myled1 = 0;
belloula	0:d07617f8ede9	71	imu.baud(115200);
belloula	0:d07617f8ede9	72
belloula	0:d07617f8ede9	73	myled2 = 0;
belloula	0:d07617f8ede9	74	pc.printf("Hello!\n CHR-6dm Test Program \r/");
belloula	0:d07617f8ede9	75
belloula	0:d07617f8ede9	76	//event_EOC.rise(&trigger);
belloula	0:d07617f8ede9	77	//Enables "Broadcast Mode." the AHRS automatically transmits sensor data every Ts
belloula	0:d07617f8ede9	78
belloula	0:d07617f8ede9	79	data[0]= 0xA4; //= 100Hz
belloula	0:d07617f8ede9	80	sendPacket(SET_BROADCAST_MODE, 1,data );
belloula	0:d07617f8ede9	81	myled3 = 0;
belloula	0:d07617f8ede9	82	wait_ms(100);
belloula	0:d07617f8ede9	83
belloula	0:d07617f8ede9	84	//Specifies which channel data should be transmitted over the UART.
belloula	0:d07617f8ede9	85	data[0]= 0xFF; //{yaw, pitch, roll, yaw_rate, pitch_rate, roll_rate,mag_x, mag_y}
belloula	0:d07617f8ede9	86	data[1]= 0xFF; //{mag_z, gyro_x, gyro_y,gyro_z, accel_x, accel_y,accel_z,0 }
belloula	0:d07617f8ede9	87	sendPacket(SET_ACTIVE_CHANNELS,2,data );
belloula	0:d07617f8ede9	88	myled3 = 1;
belloula	0:d07617f8ede9	89	myled4 = 0;
belloula	0:d07617f8ede9	90	wait_ms(100);
belloula	0:d07617f8ede9	91
belloula	0:d07617f8ede9	92
belloula	0:d07617f8ede9	93	}
belloula	0:d07617f8ede9	94
belloula	0:d07617f8ede9	95	void attimu()
belloula	0:d07617f8ede9	96	{
belloula	0:d07617f8ede9	97	if (imu.readable())
belloula	0:d07617f8ede9	98	{
belloula	0:d07617f8ede9	99	c = imu.getc();
belloula	0:d07617f8ede9	100	switch (_state)
belloula	0:d07617f8ede9	101	{
belloula	0:d07617f8ede9	102	case WAIT_s :
belloula	0:d07617f8ede9	103	if (c == 's') _state = WAIT_n;
belloula	0:d07617f8ede9	104	break;
belloula	0:d07617f8ede9	105	case WAIT_n :
belloula	0:d07617f8ede9	106	_state = (c == 'n') ? WAIT_p : WAIT_s;
belloula	0:d07617f8ede9	107	break;
belloula	0:d07617f8ede9	108	case WAIT_p :
belloula	0:d07617f8ede9	109	_state = (c == 'p') ? PT : WAIT_p;
belloula	0:d07617f8ede9	110	break;
belloula	0:d07617f8ede9	111	case PT :
belloula	0:d07617f8ede9	112	pt = c;
belloula	0:d07617f8ede9	113	_state = N;
belloula	0:d07617f8ede9	114	break;
belloula	0:d07617f8ede9	115	case N :
belloula	0:d07617f8ede9	116	n = ((unsigned int) c) - 2;
belloula	0:d07617f8ede9	117	d = 0;
belloula	0:d07617f8ede9	118	_state = (n < MAX_BYTES) ? RX_PACKET : WAIT_s;
belloula	0:d07617f8ede9	119	break;
belloula	0:d07617f8ede9	120	case RX_PACKET :
belloula	0:d07617f8ede9	121	data[d++] = c;
belloula	0:d07617f8ede9	122	if (d >= n \|\| d >= MAX_BYTES) _state = PROCESS_PACKET;
belloula	0:d07617f8ede9	123	break;
belloula	0:d07617f8ede9	124	case PROCESS_PACKET :
belloula	0:d07617f8ede9	125	switch (pt)
belloula	0:d07617f8ede9	126	{
belloula	0:d07617f8ede9	127	// SENSOR_DATA
belloula	0:d07617f8ede9	128	case PT_SENSOR_DATA :
belloula	0:d07617f8ede9	129	tag_imu=1;
belloula	0:d07617f8ede9	130	break;
belloula	0:d07617f8ede9	131	case PT_COMMAND_COMPLETE :
belloula	0:d07617f8ede9	132	pc.printf("Command Complete\n");
belloula	0:d07617f8ede9	133	break;
belloula	0:d07617f8ede9	134	case PT_COMMAND_FAILED :
belloula	0:d07617f8ede9	135	pc.printf("Command Failed\n");
belloula	0:d07617f8ede9	136	break;
belloula	0:d07617f8ede9	137	case PT_BAD_CHECKSUM :
belloula	0:d07617f8ede9	138	pc.printf("Bad Checksum\n");
belloula	0:d07617f8ede9	139	break;
belloula	0:d07617f8ede9	140	case PT_BAD_DATA_LENGTH :
belloula	0:d07617f8ede9	141	pc.printf("Bad Data Length\n");
belloula	0:d07617f8ede9	142	break;
belloula	0:d07617f8ede9	143	case PT_UNRECOGNIZED_PACKET :
belloula	0:d07617f8ede9	144	pc.printf("Unrecognized Packet\n");
belloula	0:d07617f8ede9	145	break;
belloula	0:d07617f8ede9	146	case PT_BUFFER_OVERFLOW :
belloula	0:d07617f8ede9	147	pc.printf("Buffer Overflow\n");
belloula	0:d07617f8ede9	148	break;
belloula	0:d07617f8ede9	149	default :
belloula	0:d07617f8ede9	150	break;
belloula	0:d07617f8ede9	151	}
belloula	0:d07617f8ede9	152	_state = WAIT_s;
belloula	0:d07617f8ede9	153	break;
belloula	0:d07617f8ede9	154	default :
belloula	0:d07617f8ede9	155	_state = WAIT_s;
belloula	0:d07617f8ede9	156	break;
belloula	0:d07617f8ede9	157	}
belloula	0:d07617f8ede9	158	}
belloula	0:d07617f8ede9	159	}
belloula	0:d07617f8ede9	160
belloula	0:d07617f8ede9	161	void tick1()
belloula	0:d07617f8ede9	162	{
belloula	0:d07617f8ede9	163	bmp085.update();
belloula	0:d07617f8ede9	164	}
belloula	0:d07617f8ede9	165
belloula	0:d07617f8ede9	166	int main() {
belloula	0:d07617f8ede9	167
belloula	0:d07617f8ede9	168	imu.attach(attimu);
belloula	0:d07617f8ede9	169	Int_DataLogger ();
belloula	0:d07617f8ede9	170	activate=1;
belloula	0:d07617f8ede9	171	periode1.attach_us(tick1,10000);
belloula	0:d07617f8ede9	172
belloula	0:d07617f8ede9	173	//event_EOC.rise(&trigger);
belloula	0:d07617f8ede9	174
belloula	0:d07617f8ede9	175	/* FILE *fp = fopen("/sd/sdtest.txt", "w");
belloula	0:d07617f8ede9	176	if (fp == NULL)
belloula	0:d07617f8ede9	177	{
belloula	0:d07617f8ede9	178	error("Could not open file for write SD\n");
belloula	0:d07617f8ede9	179	}*/
belloula	0:d07617f8ede9	180
belloula	0:d07617f8ede9	181
belloula	0:d07617f8ede9	182
belloula	0:d07617f8ede9	183	FILE *usbp = fopen("/msc/sdtest.txt", "w");
belloula	0:d07617f8ede9	184	if (usbp == NULL)
belloula	0:d07617f8ede9	185	{
belloula	0:d07617f8ede9	186	error("Could not open file for write MSC\n");
belloula	0:d07617f8ede9	187	}
belloula	0:d07617f8ede9	188
belloula	0:d07617f8ede9	189
belloula	0:d07617f8ede9	190	tmesure.start();
belloula	0:d07617f8ede9	191	tt.start();
belloula	0:d07617f8ede9	192	while (enable)
belloula	0:d07617f8ede9	193	{
belloula	0:d07617f8ede9	194	if(tt.read_us()>(unsigned long)50000)
belloula	0:d07617f8ede9	195	{
belloula	0:d07617f8ede9	196	tt.stop();
belloula	0:d07617f8ede9	197	tt.reset();
belloula	0:d07617f8ede9	198
belloula	0:d07617f8ede9	199	if(tag_imu==1)
belloula	0:d07617f8ede9	200	{
belloula	0:d07617f8ede9	201	fprintf(usbp,"IMU %u %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n",tmesure.read_us(),(int16_t)data[0]<<8\|data[1],(int16_t)data[2]<<8\|data[3],(int16_t)data[4]<<8\|data[5],(int16_t)data[6]<<8\|data[7],(int16_t)data[8]<<8\|data[9],(int16_t)data[10]<<8\|data[11],(int16_t)data[12]<<8\|data[13],(int16_t)data[14]<<8\|data[15],(int16_t)data[16]<<8\|data[17],(int16_t)data[18]<<8\|data[19],(int16_t)data[20]<<8\|data[21],(int16_t)data[22]<<8\|data[23],(int16_t)data[24]<<8\|data[25],(int16_t)data[26]<<8\|data[27],(int16_t)data[28]<<8\|data[29]);
belloula	0:d07617f8ede9	202	tag_imu=0;
belloula	0:d07617f8ede9	203	if(bmp085.ok==1)
belloula	0:d07617f8ede9	204	{
belloula	0:d07617f8ede9	205	fprintf(usbp,"PRT %u %6.2f %6.2f \r", tmesure.read_us(),bmp085.get_pressure(), bmp085.get_temperature());
belloula	0:d07617f8ede9	206	bmp085.ok=0;
belloula	0:d07617f8ede9	207	}
belloula	0:d07617f8ede9	208	}
belloula	0:d07617f8ede9	209	tt.start();
belloula	0:d07617f8ede9	210	}
belloula	0:d07617f8ede9	211	}
belloula	0:d07617f8ede9	212
belloula	0:d07617f8ede9	213	// fclose(fp);
belloula	0:d07617f8ede9	214	fclose(usbp);
belloula	0:d07617f8ede9	215	periode1.detach();
belloula	0:d07617f8ede9	216	pc.printf("fin enregistrement");
belloula	0:d07617f8ede9	217
belloula	0:d07617f8ede9	218	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	17 Oct 2011
Imports:	17
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

main.cpp@0:d07617f8ede9, 2011-10-17 (annotated)

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