Diff: main.cpp

Revision:

20:e444e7dd815a

Parent:

19:00a099052986

--- a/main.cpp	Wed Nov 03 12:18:19 2021 +0000
+++ b/main.cpp	Wed Nov 03 18:06:48 2021 +0000
@@ -1,27 +1,19 @@
 /* Includes */
 #include "mbed.h"
 #include "XNucleoIKS01A2.h"
-#include "SDFileSystemDMA.h"
+#include "SDFileSystem.h"
 #include "FATFileSystem.h"
 #include "iostream"
-#include "main.h"
 
+Serial pc(USBTX, USBRX, 115200);
+Serial gps(D8, D2, 9800);
 
-Serial pc(USBTX, USBRX);
 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 LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
@@ -30,50 +22,41 @@
 bool live_writing = false;
 
 // GPS
+char cDataBuffer[500];
+int i = 0;
 char c;
-void parse(char *cmd, int n)
-{
-    
+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
+    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,"$GPGGA", 6) == 0) 
-    {
+    if(strncmp(cmd,"$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);
+        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);
     }
     
     // Satellite status
-    if(strncmp(cmd,"$GPGSA", 6) == 0) 
-    {
+    if(strncmp(cmd,"$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);
+        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,"$GPRMC", 6) == 0) 
-    {
+    if(strncmp(cmd,"$GPGLL", 6) == 0){
+        sscanf(cmd, "$GPGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
+        printf("GPGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\r\n", latitude, ns, longitude, ew, timefix);
+    }
+    
+    // Geographic position, Latitude and Longitude
+    if(strncmp(cmd,"$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);
+        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);
     }
 }
 
-
 /* Simple main function */
 int main() {
-  //GPS gps = GPS(D8,D2);
-  gps.baud(9600);
-  pc.baud(115200);
   uint8_t id;
   int32_t x_axes[3];
   int32_t g_axes[3];
@@ -82,13 +65,12 @@
   float x_sens[2];
   float x_fs[2];
   // Take time (https://unixtime.org/)
-  set_time(1634379120);
+  set_time(1635956827);
   
   // 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);
   
@@ -110,12 +92,12 @@
  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];
+ 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
@@ -132,14 +114,13 @@
  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");
+ 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{
@@ -152,9 +133,7 @@
              break;
          }
  }
- 
- 
- fprintf(fp, " DATA of STM32F401RE with ISK01A2\r\n");
+
  printf("OK\r\n");
  printf("\r\n");
   /* Start the cycle*/
@@ -166,7 +145,7 @@
             //Initialize SD CARD
             char filename[64];
             char date[64];
-            pc.printf("Check SD\r\n");
+            printf("Check SD\r\n");
             mkdir("/sd/ISK01A2", 0777);
             int name = 0;
             // Save name with next name test_001,test_002, ecc...
@@ -187,7 +166,6 @@
             
             // 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
@@ -195,43 +173,48 @@
             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();
+            int i;
+            //int elementi = sizeof(acc_x)/sizeof(int);
+            
+            for (i=0; i<=n; i++){                 
+                 fprintf(fp,"%3d,%3.3f,%6ld,%6ld,%6ld,%6ld,%6ld,%6ld\r\n", i, time[i], acc_x[i], acc_y[i], acc_z[i], gyro_x[i], gyro_y[i], gyro_z[i]); //Save current data into file txt
+                 //printf("%3d,%3.3f,%6ld,%6ld,%6ld,%6ld,%6ld,%6ld\r\n", i, time[i], acc_x[i], acc_y[i], acc_z[i], gyro_x[i], gyro_y[i], gyro_z[i]);
+            }
             t.reset();
             fclose(fp);
-            pc.printf("File successfully written!\r\n");
+            printf("File successfully written!\r\n");
             live_writing = false;
             wait(2);
             }//end else
      } //end if userbutton
-    if (live_writing==true){
-            t_down.start();   
+    if (live_writing==true){ 
             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_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];
+            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();
+                int i;
+                
+                for (i=0; i<=n; i++){
+                     fprintf(fp,"%3d,%3.3f,%6ld,%6ld,%6ld,%6ld,%6ld,%6ld\r\n", i, time[i], acc_x[i], acc_y[i], acc_z[i], gyro_x[i], gyro_y[i], gyro_z[i]); //Save current data into file txt
+                     //printf("%3d,%3.3f,%6ld,%6ld,%6ld,%6ld,%6ld,%6ld\r\n", i, time[i], acc_x[i], acc_y[i], acc_z[i], gyro_x[i], gyro_y[i], gyro_z[i]);                     
+                }
                 t.reset();
                 fclose(fp);
-                pc.printf("File successfully written!\r\n");
+                printf("File successfully written!\r\n");
                 live_writing = false;
                 wait(2);
                 }