main.cpp

00001 #include "mbed.h"
00002 #include "SDFileSystem.h"
00003 #include "DS1307.h"
00004 #include "BNO055.h"
00005 #include "string.h"
00006 
00007 #define M_PI 3.1415927f
00008 
00009 #define DI D11
00010 #define DO D12
00011 #define SCK D13
00012 #define CS D10
00013 
00014 #define I2C1_SDA PB_9
00015 #define I2C1_SCL PB_8
00016 
00017 #define I2C2_SDA D5
00018 #define I2C2_SCL D7
00019 
00020 #define PAGE_SIZE 4096
00021 #define clip(a) if ((a > 254)) a = 254
00022 
00023 PwmOut pwm_r(D4);
00024 PwmOut pwm_g(D6);
00025 PwmOut pwm_b(D3);
00026 
00027 char fname[255];
00028 char current_time[64];
00029 
00030 unsigned char buf[PAGE_SIZE];
00031 int buf_idx = 0;
00032 
00033 void printDT(char *pre, DateTime &dt)
00034 {
00035     printf("%s %u/%u/%02u %2u:%02u:%02u\r\n"
00036         ,pre
00037         ,dt.month(),dt.day(),dt.year()
00038         ,dt.hour(),dt.minute(),dt.second()
00039         );
00040 }
00041 
00042 bool rtcUpdate(RtcDs1307 &rtc, int32_t bias) // this must be signed
00043 {   bool bUpdated = false;
00044  
00045     // Use the compiled date/time as a basis for setting the clock.
00046     // We assign it to a signed integer so that negative biases work correctly
00047     int64_t compiledTime = DateTime(__DATE__,__TIME__).unixtime();
00048  
00049     // This assumes that the program is run VERY soon after the initial compile.
00050     time_t localt = DateTime(compiledTime + bias).unixtime(); // offset by bias
00051     
00052     // If the stored static time stamp does not equal the compiled time stamp,
00053     // then we need to update the RTC clock and the stored time stamp
00054     if(*((time_t *)&rtc[0]) != localt)
00055     {
00056         // Update the RTC time as local time, not GMT/UTC
00057         rtc.adjust(localt);
00058         // Store the new compiled time statically in the object ram image
00059         *((time_t *)&rtc[0]) = localt;
00060         // Push the object ram image to the RTC ram image
00061         bUpdated = rtc.commit();
00062     }
00063     
00064     return bUpdated;
00065 }
00066 
00067 int main() {
00068     printf("%s\n", "Manworm's High-Speed Logger");
00069     
00070     /*init RGB lights*/
00071     pwm_r.period(0.01);
00072     pwm_g.period(0.01);
00073     pwm_b.period(0.01);
00074     
00075     pwm_r = 0.0f;
00076     pwm_g = 0.0f;
00077     pwm_b = 0.0f;
00078     
00079     /*wait for SD card to be inserted*/
00080     SDFileSystem sd(DI, DO, SCK, CS, "sd");
00081     while (sd.disk_status()) {
00082         sd.disk_initialize();
00083         wait(0.5);
00084     }
00085     
00086     /*init RTC, get time and date for filename*/
00087     I2C i2c1(I2C1_SDA, I2C1_SCL);
00088     i2c1.frequency(100000);
00089     RtcDs1307 rtc(i2c1);
00090     
00091     rtcUpdate(rtc, -(5*60*60));
00092     DateTime dt = rtc.now();
00093     printDT("It is now", dt);
00094     
00095     strcpy(fname, "/sd/log_");
00096     sprintf(current_time, "%u.%u.%02u_%02u.%02u.%02u"
00097         ,dt.month(),dt.day(),dt.year()
00098         ,dt.hour(),dt.minute(),dt.second()
00099     );    
00100     strcat(fname, current_time);
00101     strcat(fname, ".csv");
00102     printf("Logging to %s\n", fname);
00103     
00104     FILE *fp = fopen(fname, "w");
00105     
00106     /*init IMU*/
00107     BNO055 imu(I2C2_SDA, I2C2_SCL);
00108     imu.reset();
00109     if (!imu.check()) {
00110         printf("%s\n", "IMU not ready");  
00111     } else {
00112         printf("BNO055 found\r\n\r\n");
00113         printf("Chip          ID: %03d\r\n",imu.ID.id);
00114         printf("Accelerometer ID: %03d\r\n",imu.ID.accel);
00115         printf("Gyroscope     ID: %03d\r\n",imu.ID.gyro);
00116         printf("Magnetometer  ID: %03d\r\n\r\n",imu.ID.mag);
00117         printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
00118         printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
00119     }
00120     imu.setmode(OPERATION_MODE_NDOF);
00121     imu.set_accel_units(MPERSPERS);
00122     
00123     float theta = 0.0f;
00124     int tics = 0;
00125     for (;;) {
00126         float r, g, b;
00127         r = sinf(theta);
00128         g = sinf(theta + 2 * M_PI / 3);
00129         b = sinf(theta - 2 * M_PI / 3);
00130         
00131         pwm_r = 0.5f + 0.5f * r;
00132         pwm_g = 0.5f + 0.5f * g;
00133         pwm_b = 0.5f + 0.5f * b;
00134         
00135         theta += 0.001f;
00136         if (theta > 2 * M_PI) theta -= 2 * M_PI;
00137         
00138         tics++;
00139         if (tics % 100 == 0) {
00140             tics = 0;
00141             
00142             imu.get_accel();
00143             fprintf(fp, "%d,%d,%d\n",(int) (100*imu.accel.x),(int)(100*imu.accel.y),(int)(100*imu.accel.z));
00144             fflush(fp);
00145         }
00146         wait(0.001);
00147     }
00148 }