Bayley Wang
High speed logging example
Dependencies: Adafruit_RTCLib BNO055 SDFileSystem mbed
Revision 0:2953603cfeee, committed 2018-01-22
- Comitter:
- bwang
- Date:
- Mon Jan 22 23:32:54 2018 +0000
- Child:
- 1:27070bac59e5
- Commit message:
- broken double buffered version
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_RTCLib.lib Mon Jan 22 23:32:54 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/nkhorman/code/Adafruit_RTCLib/#2c4e81ecda67
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055.lib Mon Jan 22 23:32:54 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/StressedDave/code/BNO055/#1f722ffec323
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Mon Jan 22 23:32:54 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/mbed_official/code/SDFileSystem/#205da3832a79
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jan 22 23:32:54 2018 +0000
@@ -0,0 +1,151 @@
+#include "mbed.h"
+#include "SDFileSystem.h"
+#include "BNO055.h"
+#include "DS1307.h"
+#include "string.h"
+
+#define DI D11
+#define DO D12
+#define SCK D13
+#define CS D10
+
+#define I2C1_SDA PB_9
+#define I2C1_SCL PB_8
+
+#define I2C2_SDA D5
+#define I2C2_SCL D7
+
+#define PAGE_SIZE 4096
+#define HEADER_SIZE 10
+#define PACKET_SIZE 8
+#define BAUD_RATE 921600
+#define BUF_SIZE (3*PAGE_SIZE)
+
+Serial serial4(D8, D2);
+DigitalOut test(PC_8);
+DigitalOut test2(PC_6);
+int flag=0, flag2=0;
+
+char fname[255];
+char current_time[64];
+
+int index = 0;
+unsigned char *front, *back, *tmp;
+unsigned char buf1[BUF_SIZE], buf2[BUF_SIZE];
+unsigned char hdr[HEADER_SIZE] = {0xff, 0xff,'M','A','N','B','L','O','R','T'};
+
+void printDT(char *pre, DateTime &dt)
+{
+ printf("%s %u/%u/%02u %2u:%02u:%02u\r\n"
+ ,pre
+ ,dt.month(),dt.day(),dt.year()
+ ,dt.hour(),dt.minute(),dt.second()
+ );
+}
+
+bool rtcUpdate(RtcDs1307 &rtc, int32_t bias) // this must be signed
+{ bool bUpdated = false;
+
+ // Use the compiled date/time as a basis for setting the clock.
+ // We assign it to a signed integer so that negative biases work correctly
+ int64_t compiledTime = DateTime(__DATE__,__TIME__).unixtime();
+
+ // This assumes that the program is run VERY soon after the initial compile.
+ time_t localt = DateTime(compiledTime + bias).unixtime(); // offset by bias
+
+ // If the stored static time stamp does not equal the compiled time stamp,
+ // then we need to update the RTC clock and the stored time stamp
+ if(*((time_t *)&rtc[0]) != localt)
+ {
+ // Update the RTC time as local time, not GMT/UTC
+ rtc.adjust(localt);
+ // Store the new compiled time statically in the object ram image
+ *((time_t *)&rtc[0]) = localt;
+ // Push the object ram image to the RTC ram image
+ bUpdated = rtc.commit();
+ }
+
+ return bUpdated;
+}
+
+void rx_callback() {
+ while(serial4.readable()) {
+ if (index < BUF_SIZE) {
+ front[index] = serial4.getc();
+ index++;
+ } else {
+ front[0] = serial4.getc();
+ index = 1;
+ }
+ }
+}
+
+int main() {
+ front = buf1, back = buf2;
+ test = 0;
+
+ SDFileSystem sd(DI, DO, SCK, CS, "sd");
+ while (sd.disk_status()) {
+ sd.disk_initialize();
+ wait(0.5);
+ }
+
+ /*init RTC, get time and date for filename*/
+ I2C i2c1(I2C1_SDA, I2C1_SCL);
+ i2c1.frequency(100000);
+ RtcDs1307 rtc(i2c1);
+
+ rtcUpdate(rtc, -(5*60*60));
+ DateTime dt = rtc.now();
+ printDT("It is now", dt);
+
+ strcpy(fname, "/sd/log_");
+ sprintf(current_time, "%u.%u.%02u_%02u.%02u.%02u"
+ ,dt.month(),dt.day(),dt.year()
+ ,dt.hour(),dt.minute(),dt.second()
+ );
+ strcat(fname, current_time);
+ strcat(fname, ".dat");
+ printf("Logging to %s\n", fname);
+
+ FILE *fp = fopen(fname, "wb");
+
+ /*init IMU*/
+ BNO055 imu(I2C2_SDA, I2C2_SCL);
+ imu.reset();
+ if (!imu.check()) {
+ printf("%s\n", "IMU not ready");
+ } else {
+ printf("BNO055 found\r\n\r\n");
+ printf("Chip ID: %03d\r\n",imu.ID.id);
+ printf("Accelerometer ID: %03d\r\n",imu.ID.accel);
+ printf("Gyroscope ID: %03d\r\n",imu.ID.gyro);
+ printf("Magnetometer ID: %03d\r\n\r\n",imu.ID.mag);
+ printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
+ printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
+ }
+ imu.setmode(OPERATION_MODE_NDOF);
+ imu.set_accel_units(MPERSPERS);
+
+ serial4.baud(BAUD_RATE);
+ serial4.attach(rx_callback);
+
+ for (;;) {
+ if (index >= PAGE_SIZE-HEADER_SIZE) {
+ if (index > PAGE_SIZE-HEADER_SIZE) {
+ printf("%d\n", index);
+ }
+ test2 = flag2;
+ flag2 = !flag2;
+ tmp = front;
+ front = back;
+ back = tmp;
+ index = 0;
+ test = 1;
+ fwrite(hdr, 1, HEADER_SIZE, fp);
+ fwrite(back, 1, PAGE_SIZE-HEADER_SIZE, fp);
+ fflush(fp);
+ test = 0;
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jan 22 23:32:54 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/ba1f97679dad \ No newline at end of file