Diff: main.cpp

Revision:

19:00a099052986

Parent:

18:91a38b13d21d

Child:

20:e444e7dd815a

--- a/main.cpp	Thu Oct 14 12:50:50 2021 +0000
+++ b/main.cpp	Wed Nov 03 12:18:19 2021 +0000
@@ -1,189 +1,241 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  CLab
- * @version V1.0.0
- * @date    2-December-2016
- * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
- *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
-*/ 
-
 /* Includes */
 #include "mbed.h"
 #include "XNucleoIKS01A2.h"
-#include "SDFileSystem.h"
+#include "SDFileSystemDMA.h"
 #include "FATFileSystem.h"
 #include "iostream"
+#include "main.h"
+
 
 Serial pc(USBTX, USBRX);
-// SDFileSystem sd(PA_7, PA_6, PA_5, PB_6, "sd"); // MOSI, MISO, SCK, CS
 SDFileSystem sd(D11, D12, D13, D10, "sd");// the pinout on the mbed Cool Components workshop board
 FILE *fp;
+//SDFileSystem sd( D11, D12, D13, D10, "sd");
+
+
+Serial gps(D8, D2);
+
+
+
 
 /* Instantiate the expansion board */
 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
 
+
 /* Retrieve the composing elements of the expansion board */
-static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
-static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
-static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
 
-/* Helper function for printing floats & doubles */
-static char *print_double(char* str, double v, int decimalDigits=2)
-{
-  int i = 1;
-  int intPart, fractPart;
-  int len;
-  char *ptr;
-
-  /* prepare decimal digits multiplicator */
-  for (;decimalDigits!=0; i*=10, decimalDigits--);
-
-  /* calculate integer & fractinal parts */
-  intPart = (int)v;
-  fractPart = (int)((v-(double)(int)v)*i);
-
-  /* fill in integer part */
-  sprintf(str, "%i.", intPart);
+DigitalIn userButton(PC_13); //USER BUTTON
+bool live_writing = false;
 
-  /* prepare fill in of fractional part */
-  len = strlen(str);
-  ptr = &str[len];
-
-  /* fill in leading fractional zeros */
-  for (i/=10;i>1; i/=10, ptr++) {
-    if (fractPart >= i) {
-      break;
+// GPS
+char c;
+void parse(char *cmd, int n)
+{
+    
+    char ns, ew, tf, status;
+    int fq, nst, fix, date;                                     // fix quality, Number of satellites being tracked, 3D fix
+    float latitude, longitude, timefix, speed, altitude;
+    
+    
+    // Global Positioning System Fix Data
+    if(strncmp(cmd,"$GPGGA", 6) == 0) 
+    {
+        sscanf(cmd, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%*f,%f", &timefix, &latitude, &ns, &longitude, &ew, &fq, &nst, &altitude);
+        pc.printf("GPGGA Fix taken at: %f, Latitude: %f %c, Longitude: %f %c, Fix quality: %d, Number of sat: %d, Altitude: %f M\r\n", timefix, latitude, ns, longitude, ew, fq, nst, altitude);
     }
-    *ptr = '0';
-  }
+    
+    // Satellite status
+    if(strncmp(cmd,"$GPGSA", 6) == 0) 
+    {
+        sscanf(cmd, "$GPGSA,%c,%d,%d", &tf, &fix, &nst);
+        pc.printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
+    }
+    
+    // Geographic position, Latitude and Longitude
+    if(strncmp(cmd,"$GPGLL", 6) == 0) 
+    {
+        sscanf(cmd, "$GPGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
+        pc.printf("GPGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\r\n", latitude, ns, longitude, ew, timefix);
+    }
+    
+    // Geographic position, Latitude and Longitude
+    if(strncmp(cmd,"$GPRMC", 6) == 0) 
+    {
+        sscanf(cmd, "$GPRMC,%f,%c,%f,%c,%f,%c,%f,,%d", &timefix, &status, &latitude, &ns, &longitude, &ew, &speed, &date);
+        pc.printf("GPRMC Fix taken at: %f, Status: %c, Latitude: %f %c, Longitude: %f %c, Speed: %f, Date: %d\r\n", timefix, status, latitude, ns, longitude, ew, speed, date);
+    }
+}
 
-  /* fill in (rest of) fractional part */
-  sprintf(ptr, "%i", fractPart);
-
-  return str;
-}
 
 /* Simple main function */
 int main() {
+  //GPS gps = GPS(D8,D2);
+  gps.baud(9600);
+  pc.baud(115200);
   uint8_t id;
-  float value1, value2;
-  char buffer1[32], buffer2[32];
-  int32_t axes[3];
+  int32_t x_axes[3];
+  int32_t g_axes[3];
+  float x_freq[2];
+  float g_freq[2];
+  float x_sens[2];
+  float x_fs[2];
+  // Take time (https://unixtime.org/)
+  set_time(1634379120);
+  
+  // DATE
+  char s[100];
+  time_t t_l      = time (NULL);
+  struct tm *tp = localtime (&t_l);
+  //strftime (s,100, "\t %d %B %Y %H:%M:%S\r\n", tp);
+  strftime (s,100, "\n\t %d %B %Y %H:%M:%S\r\n", tp);
+  printf ("%s", s);
   
   /* Enable all sensors */
-  hum_temp->enable();
-  press_temp->enable();
-  magnetometer->enable();
-  accelerometer->enable();
-  acc_gyro->enable_x();
-  acc_gyro->enable_g();
+  accelerometer->enable(); //Data from LSM303AGR
+  acc_gyro->enable_x(); //Data from LSM6DSL
+  acc_gyro->enable_g(); //Data from LSM6DSL
   
   printf("\r\n--- Starting new run ---\r\n");
 
-  hum_temp->read_id(&id);
-  printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
-  press_temp->read_id(&id);
-  printf("LPS22HB  pressure & temperature   = 0x%X\r\n", id);
-  magnetometer->read_id(&id);
-  printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
   accelerometer->read_id(&id);
   printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
   acc_gyro->read_id(&id);
   printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
-  
-  pc.printf("Check SD\r\n");
-  mkdir("/sd/ISK01A2", 0777);
-  fp = fopen("/sd/ISK01A2/test.txt", "r");
-  if (fp != NULL) {
-        fclose(fp);
-        remove("/sd/test.txt");
-        pc.printf("Remove an existing file with the same name\r\n");
-    }
-    
-  fp = fopen("/sd/ISK01A2/test.txt", "w");
-  if (fp == NULL) {
-        error("Unable to write the file\r\n");
-    } /*else {
-        fprintf(fp, "mbed SDCard application!");
-        fclose(fp);
-        pc.printf("File successfully written!\r\n");
-    }*/
+
  int n=0;
- printf("SD ok, we can start");
- fprintf(fp, " DATA of STM32F401RE with ISK01A2\r\n");
- printf("\r\n");
+ int arr_lenght = 500;
+
+ Timer t;
+ Timer t_down;
+ float time[arr_lenght];
+// int acc_x[arr_lenght];
+// int acc_y[arr_lenght];
+ //int acc_z[arr_lenght];
+ //int gyro_x[arr_lenght];
+ //int gyro_y[arr_lenght];
+ //int gyro_z[arr_lenght];
+ float frequency = 1000.0;
+ float range = 8.0;
+ //SET
+ acc_gyro->set_x_odr(frequency);
+ acc_gyro->set_g_odr(frequency);
+ acc_gyro->set_x_fs(range);
+ //GET
+ acc_gyro->get_x_odr(x_freq);
+ printf("Accelerometer frequency: %.1f, %.1f\r\n", x_freq[0],x_freq[1]);
+ acc_gyro->get_g_odr(g_freq);
+ printf("Gryroscope frequency: %.1f, %.1f\r\n", g_freq[0],g_freq[1]);
+ acc_gyro->get_x_sensitivity(x_sens);
+ printf("Accelerometer sensitivity: %.3f, %.1f\r\n", x_sens[0],x_sens[1]);
+ acc_gyro->get_x_fs(x_fs);
+ printf("Accelerometer meas. range: %.1f, %.1f\r\n", x_fs[0],x_fs[1]);
+ 
+ pc.printf("Check GPS\r\n");
+ while(1){
+        if(gps.readable()){
+            if(gps.getc() == '$');{           // wait a $
+                for(int i=0; i<sizeof(cDataBuffer); i++){
+                    c = gps.getc();
+                    if( c == '\r' ){
+                        //pc.printf("%s\n", cDataBuffer);
+                        parse(cDataBuffer, i);
+                        i = sizeof(cDataBuffer);
+                    }else{
+                        cDataBuffer[i] = c;
+                    }                 
+                }
+            }
+         }
+         if(!userButton){
+             break;
+         }
+ }
+ 
  
-  while(n<60) {
-    
-    
-    printf("\r\n Number of cycle: %d \r\n", n);
-    printf("\r\n");
-    fprintf(fp, "\r\n Number of cycle: %d \r\n", n);
-    fprintf(fp, "\r\n");
-    
-    hum_temp->get_temperature(&value1);
-    hum_temp->get_humidity(&value2);
-    printf("Temperature & Humidity: [temp] %7s C,   [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
-    fprintf(fp, "Temperature & Humidity: [temp] %7s C,   [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
-    
-    press_temp->get_temperature(&value1);
-    press_temp->get_pressure(&value2);
-    printf("Temperature & Pressure: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
-    fprintf(fp, "Temperature & Pressure: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
-
-    printf("---\r\n");
-    fprintf(fp, "---\r\n");
+ fprintf(fp, " DATA of STM32F401RE with ISK01A2\r\n");
+ printf("OK\r\n");
+ printf("\r\n");
+  /* Start the cycle*/
+ while(true){ //run forever
+     if (!userButton) {  // button is pressed
+        if  (live_writing==false) {
+            live_writing = true;
+            n = 0;
+            //Initialize SD CARD
+            char filename[64];
+            char date[64];
+            pc.printf("Check SD\r\n");
+            mkdir("/sd/ISK01A2", 0777);
+            int name = 0;
+            // Save name with next name test_001,test_002, ecc...
+            while(1) {
+                sprintf(filename, "/sd/ISK01A2/test_%03d.txt", name);    
+                FILE *fp = fopen(filename, "r");
+                if(fp == NULL) {
+                break;
+                }
+            fclose(fp);
+            name++;
+            }
+        
+            fp = fopen(filename, "w");
+            if (fp == NULL) {
+                error("Unable to write the file\r\n");
+            }
+            
+            // Name file on monitor
+            printf("\n\t test_%03d \r\n", name);
+                    
+            strftime (date,64, "%d %B %Y %H:%M", tp);
+            fprintf(fp, "\t %s \n", date); //DATE
+            fprintf(fp, "N,Time,Temp[C],Acc_x[mg],Acc_y[mg],Acc_z[mg],Gyro_x[mdps],Gyro_y[mdps],Gyro_z[mdps]\r\n"); //Header in the file text
+            
+            printf("\r\n START NEW RUNNING \r\n");
+            t.start();
+            } else { // button is pressed but live_writing is true
+            t_down.stop();
+            pc.printf(" timer download sd: %3.3f\r\n",t_down.read());
+            t_down.reset();
+                        
+            // Now we write into sd card all data storaged
+            t.stop();
+            t.reset();
+            fclose(fp);
+            pc.printf("File successfully written!\r\n");
+            live_writing = false;
+            wait(2);
+            }//end else
+     } //end if userbutton
+    if (live_writing==true){
+            t_down.start();   
+            acc_gyro->get_x_axes(x_axes); //Read data from LSM6DSL accelerometer
+            //acc_x[n] = x_axes[0];
+            //acc_y[n] = x_axes[1];
+            //acc_z[n] = x_axes[2];
+            
+            acc_gyro->get_g_axes(g_axes); //Read data from LSM6DSL gyroscope
+            //gyro_x[n] = g_axes[0];
+            //gyro_y[n] = g_axes[1];
+            //gyro_z[n] = g_axes[2];
+            
+            time[n] = t.read();
+            fprintf(fp,"%3d,%3.3f,%6ld,%6ld,%6ld,%6ld,%6ld,%6ld\r\n", n, time[n], x_axes[0], x_axes[1], x_axes[2], g_axes[0], g_axes[1], g_axes[2]);
+            n+=1;
+            
+            if (n==arr_lenght){
+                t_down.stop();
+                pc.printf(" timer download sd: %3.3f\r\n",t_down.read());
+                t_down.reset();
+                t.stop();
+                t.reset();
+                fclose(fp);
+                pc.printf("File successfully written!\r\n");
+                live_writing = false;
+                wait(2);
+                }
+            }//end while writing
+    }//end while
+}//end main
 
-    magnetometer->get_m_axes(axes);
-    printf("Magnetometer [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-    fprintf(fp,"Magnetometer [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-    
-    accelerometer->get_x_axes(axes);
-    printf("Accelerometer [acc/mg]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-    fprintf(fp, "Accelerometer [acc/mg]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
-    acc_gyro->get_x_axes(axes);
-    printf("Accelerometer & Gyroscope x [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-    fprintf(fp, "Accelerometer & Gyroscope x [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
-    acc_gyro->get_g_axes(axes);
-    printf("Accelerometer & Gyroscope g [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-    fprintf(fp, "Accelerometer & Gyroscope g [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-    
-    n+=1;
-    wait(1);
-  }
-  fclose(fp);
-  pc.printf("File successfully written!\r\n");
-}