main.cpp

00001 /* Includes */
00002 #include "mbed.h"
00003 #include "XNucleoIKS01A2.h"
00004 #include "SDFileSystem.h"
00005 #include "FATFileSystem.h"
00006 #include "iostream"
00007 
00008 Serial pc(USBTX, USBRX, 115200);
00009 Serial gps(D8, D2, 9800);
00010 
00011 SDFileSystem sd(D11, D12, D13, D10, "sd");// the pinout on the mbed Cool Components workshop board
00012 FILE *fp;
00013 
00014 /* Instantiate the expansion board */
00015 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00016 
00017 /* Retrieve the composing elements of the expansion board */
00018 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00019 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
00020 
00021 DigitalIn userButton(PC_13); //USER BUTTON
00022 bool live_writing = false;
00023 
00024 // GPS
00025 char cDataBuffer[500];
00026 int i = 0;
00027 char c;
00028 void parse(char *cmd, int n){
00029     char ns, ew, tf, status;
00030     int fq, nst, fix, date; // fix quality, Number of satellites being tracked, 3D fix
00031     float latitude, longitude, timefix, speed, altitude;
00032         
00033     // Global Positioning System Fix Data
00034     if(strncmp(cmd,"$GPGGA", 6) == 0){
00035         sscanf(cmd, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%*f,%f", &timefix, &latitude, &ns, &longitude, &ew, &fq, &nst, &altitude);
00036         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);
00037     }
00038     
00039     // Satellite status
00040     if(strncmp(cmd,"$GPGSA", 6) == 0){
00041         sscanf(cmd, "$GPGSA,%c,%d,%d", &tf, &fix, &nst);
00042         printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
00043     }
00044     
00045     // Geographic position, Latitude and Longitude
00046     if(strncmp(cmd,"$GPGLL", 6) == 0){
00047         sscanf(cmd, "$GPGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
00048         printf("GPGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\r\n", latitude, ns, longitude, ew, timefix);
00049     }
00050     
00051     // Geographic position, Latitude and Longitude
00052     if(strncmp(cmd,"$GPRMC", 6) == 0){
00053         sscanf(cmd, "$GPRMC,%f,%c,%f,%c,%f,%c,%f,,%d", &timefix, &status, &latitude, &ns, &longitude, &ew, &speed, &date);
00054         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);
00055     }
00056 }
00057 
00058 /* Simple main function */
00059 int main() {
00060   uint8_t id;
00061   int32_t x_axes[3];
00062   int32_t g_axes[3];
00063   float x_freq[2];
00064   float g_freq[2];
00065   float x_sens[2];
00066   float x_fs[2];
00067   // Take time (https://unixtime.org/)
00068   set_time(1635956827);
00069   
00070   // DATE
00071   char s[100];
00072   time_t t_l      = time (NULL);
00073   struct tm *tp = localtime (&t_l);
00074   strftime (s,100, "\n\t %d %B %Y %H:%M:%S\r\n", tp);
00075   printf ("%s", s);
00076   
00077   /* Enable all sensors */
00078   accelerometer->enable(); //Data from LSM303AGR
00079   acc_gyro->enable_x(); //Data from LSM6DSL
00080   acc_gyro->enable_g(); //Data from LSM6DSL
00081   
00082   printf("\r\n--- Starting new run ---\r\n");
00083 
00084   accelerometer->read_id(&id);
00085   printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
00086   acc_gyro->read_id(&id);
00087   printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
00088 
00089  int n=0;
00090  int arr_lenght = 500;
00091 
00092  Timer t;
00093  Timer t_down;
00094  float time[arr_lenght];
00095  int acc_x[arr_lenght];
00096  int acc_y[arr_lenght];
00097  int acc_z[arr_lenght];
00098  int gyro_x[arr_lenght];
00099  int gyro_y[arr_lenght];
00100  int gyro_z[arr_lenght];
00101  float frequency = 1000.0;
00102  float range = 8.0;
00103  //SET
00104  acc_gyro->set_x_odr(frequency);
00105  acc_gyro->set_g_odr(frequency);
00106  acc_gyro->set_x_fs(range);
00107  //GET
00108  acc_gyro->get_x_odr(x_freq);
00109  printf("Accelerometer frequency: %.1f, %.1f\r\n", x_freq[0],x_freq[1]);
00110  acc_gyro->get_g_odr(g_freq);
00111  printf("Gryroscope frequency: %.1f, %.1f\r\n", g_freq[0],g_freq[1]);
00112  acc_gyro->get_x_sensitivity(x_sens);
00113  printf("Accelerometer sensitivity: %.3f, %.1f\r\n", x_sens[0],x_sens[1]);
00114  acc_gyro->get_x_fs(x_fs);
00115  printf("Accelerometer meas. range: %.1f, %.1f\r\n", x_fs[0],x_fs[1]);
00116  
00117  printf("Check GPS\r\n");
00118  while(1){
00119         if(gps.readable()){
00120             if(gps.getc() == '$');{           // wait a $
00121                 for(int i=0; i<sizeof(cDataBuffer); i++){
00122                     c = gps.getc();
00123                     if( c == '\r' ){
00124                         parse(cDataBuffer, i);
00125                         i = sizeof(cDataBuffer);
00126                     }else{
00127                         cDataBuffer[i] = c;
00128                     }                 
00129                 }
00130             }
00131          }
00132          if(!userButton){
00133              break;
00134          }
00135  }
00136 
00137  printf("OK\r\n");
00138  printf("\r\n");
00139   /* Start the cycle*/
00140  while(true){ //run forever
00141      if (!userButton) {  // button is pressed
00142         if  (live_writing==false) {
00143             live_writing = true;
00144             n = 0;
00145             //Initialize SD CARD
00146             char filename[64];
00147             char date[64];
00148             printf("Check SD\r\n");
00149             mkdir("/sd/ISK01A2", 0777);
00150             int name = 0;
00151             // Save name with next name test_001,test_002, ecc...
00152             while(1) {
00153                 sprintf(filename, "/sd/ISK01A2/test_%03d.txt", name);    
00154                 FILE *fp = fopen(filename, "r");
00155                 if(fp == NULL) {
00156                 break;
00157                 }
00158             fclose(fp);
00159             name++;
00160             }
00161         
00162             fp = fopen(filename, "w");
00163             if (fp == NULL) {
00164                 error("Unable to write the file\r\n");
00165             }
00166             
00167             // Name file on monitor
00168             printf("\n\t test_%03d \r\n", name);
00169             strftime (date,64, "%d %B %Y %H:%M", tp);
00170             fprintf(fp, "\t %s \n", date); //DATE
00171             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
00172             
00173             printf("\r\n START NEW RUNNING \r\n");
00174             t.start();
00175             } else { // button is pressed but live_writing is true
00176                         
00177             // Now we write into sd card all data storaged
00178             t.stop();
00179             int i;
00180             //int elementi = sizeof(acc_x)/sizeof(int);
00181             
00182             for (i=0; i<=n; i++){                 
00183                  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
00184                  //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]);
00185             }
00186             t.reset();
00187             fclose(fp);
00188             printf("File successfully written!\r\n");
00189             live_writing = false;
00190             wait(2);
00191             }//end else
00192      } //end if userbutton
00193     if (live_writing==true){ 
00194             acc_gyro->get_x_axes(x_axes); //Read data from LSM6DSL accelerometer
00195             acc_x[n] = x_axes[0];
00196             acc_y[n] = x_axes[1];
00197             acc_z[n] = x_axes[2];
00198             
00199             acc_gyro->get_g_axes(g_axes); //Read data from LSM6DSL gyroscope
00200             gyro_x[n] = g_axes[0];
00201             gyro_y[n] = g_axes[1];
00202             gyro_z[n] = g_axes[2];
00203             
00204             time[n] = t.read();
00205             n+=1;
00206             
00207             if (n==arr_lenght){
00208                 t.stop();
00209                 int i;
00210                 
00211                 for (i=0; i<=n; i++){
00212                      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
00213                      //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]);                     
00214                 }
00215                 t.reset();
00216                 fclose(fp);
00217                 printf("File successfully written!\r\n");
00218                 live_writing = false;
00219                 wait(2);
00220                 }
00221             }//end while writing
00222     }//end while
00223 }//end main
00224