main.cpp

00001 // ----------------
00002 // CTIA Helmet Demo
00003 // ----------------
00004 
00005 #include "mbed.h"
00006 #include "mDot.h"
00007 #include "rtos.h"
00008 #include <H3LIS331DL.h>
00009 #include <string>
00010 #include <vector>
00011 
00012 #define G_THRESHOLD 5
00013 
00014 //please get these value by running H3LIS331DL_AdjVal
00015 #define VAL_X_AXIS  71 //68
00016 #define VAL_Y_AXIS  97 //38
00017 #define VAL_Z_AXIS  722 //664
00018 #define GAIN 0.003
00019 
00020 // these options must match the settings on your Conduit
00021 static std::string config_network_name = "Escalation";
00022 static std::string config_network_pass = "Escalation";
00023 static uint8_t config_frequency_sub_band = 3;
00024 
00025 //Globals
00026 mDot* dot;
00027 H3LIS331DL* h3lis=new H3LIS331DL(I2C_SDA, I2C_SCL);
00028 DigitalOut led(LED1);
00029 Ticker ledTick;
00030 Ticker heart;
00031 Timer timer;
00032 volatile bool timeToSendHeartbeat = true;
00033 
00034 //Function prototypes
00035 void log_error(mDot* dot, const char* msg, int32_t retval);
00036 bool setFrequencySubBand(uint8_t subBand);
00037 bool setNetworkName(const std::string name);
00038 bool setNetworkPassphrase(const std::string passphrase);
00039 bool setAck(uint8_t retries);
00040 bool joinNetwork();
00041 bool sendData(const std::string text);
00042 H3LIS331DL* rebuild(H3LIS331DL* h3lis );
00043 
00044 
00045 void ledTock() {
00046     led = !led;
00047 }
00048 
00049 void beat() {
00050   timeToSendHeartbeat = true;
00051 }
00052 int begin;
00053 
00054 
00055 int main() {
00056     int32_t ret;
00057     unsigned char id;
00058     std::vector<uint8_t> data;
00059     char data_str[40];
00060     int16_t x=0, y=0, z=0, x_max=0, y_max=0, z_max=0;
00061     uint16_t vector_sum=0, vector_sum_max=0;
00062 
00063     ledTick.attach(&ledTock, 0.1);
00064 
00065     // get the mDot handle
00066     dot = mDot::getInstance();
00067 
00068 
00069     // reset to default config so we know what state we're in
00070     dot->resetConfig();
00071     dot->getDeviceId();
00072     
00073     printf("\r\n\r\n");
00074     printf("=======================\r\n");
00075     printf("   CTIA Helment Demo\r\n");
00076     printf("=======================\r\n");
00077 
00078     printf("Library version: %s\r\n\r\n", dot->getId().c_str());
00079 
00080     // set up the mDot with our network information
00081     setFrequencySubBand(config_frequency_sub_band);
00082     setNetworkName(config_network_name);
00083     setNetworkPassphrase(config_network_pass);
00084     setAck(0);  //disable acks
00085 
00086     printf("Initializing accelerometer...\r\n");
00087     // H3LIS331DL_FULLSCALE_4 = +- 200g, H3LIS331DL_FULLSCALE_2 = +- 100g
00088     h3lis->init(H3LIS331DL_ODR_1000Hz, H3LIS331DL_NORMAL, H3LIS331DL_FULLSCALE_2);
00089 //    h3lis.init(H3LIS331DL_ODR_100Hz, H3LIS331DL_NORMAL, H3LIS331DL_FULLSCALE_2);
00090 
00091 
00092     if (!h3lis->getWHO_AM_I(&id)) {
00093         printf("Failed to initialize accelerometer!\r\n");
00094         return 0;
00095     }
00096 
00097     // Join network
00098     while (!joinNetwork()) { wait(5); };
00099     ledTick.detach();
00100     led = 1;
00101 
00102     heart.attach(&beat, 10);
00103     timer.start();
00104     while (true) {
00105         begin = timer.read_us();
00106         
00107         h3lis->readXYZ(&x,&y,&z);
00108         x = (x - VAL_X_AXIS) * GAIN;
00109         y = (y - VAL_Y_AXIS) * GAIN;
00110         z = (z - VAL_Z_AXIS) * GAIN;
00111         
00112         // printf takes about 50 ms !
00113         // printf("Reading: X:% d  Y:% d  Z:% d, timer: % d\r\n", x, y, z, begin);
00114 
00115         vector_sum = sqrt((double)(x*x + y*y + z*z));
00116 
00117         // If impact occuring
00118         if (vector_sum > G_THRESHOLD) {
00119             //Update peak forces if needed
00120             if (vector_sum > vector_sum_max) {
00121                 vector_sum_max = vector_sum;
00122                 x_max = x;
00123                 y_max = y;
00124                 z_max = z;
00125             }
00126             printf("Reading: X:% d  Y:% d  Z:% d\r\n", x, y, z);
00127         }
00128         // If impact detected
00129         else if (vector_sum_max > 0) {
00130             printf("IMPACT: X:% d  Y:% d  Z:% d\r\n", x_max, y_max, z_max);
00131             sprintf(data_str, "%d,%d,%d", x_max, y_max, z_max);
00132 
00133             // send the data
00134             sendData(data_str);
00135 
00136             // Reset maximums
00137             vector_sum_max = 0;
00138             x_max = 0;
00139             y_max = 0;
00140             z_max = 0;
00141             timeToSendHeartbeat = false;
00142         }
00143         //Idle
00144         else {
00145           if (timeToSendHeartbeat) {
00146             sendData("heartbeat");
00147             timeToSendHeartbeat = false;
00148           }
00149         }
00150         wait_ms(10); //Accelerometer reading updates every 1ms
00151     }
00152 
00153     return 0;
00154 }
00155 
00156 void log_error(mDot* dot, const char* msg, int32_t retval) {
00157     printf("%s - %ld:%s, %s\r\n", msg, retval, mDot::getReturnCodeString(retval).c_str(), dot->getLastError().c_str());
00158 }
00159 
00160 bool setFrequencySubBand(uint8_t subBand)
00161 {
00162     int32_t ret;
00163     printf("Setting frequency sub band to '%d'...\r\n", subBand);
00164     if ((ret = dot->setFrequencySubBand(subBand)) != mDot::MDOT_OK) {
00165         log_error(dot, "Failed to set frequency sub band", ret);
00166         return false;
00167     }
00168     return true;
00169 }
00170 
00171 bool setNetworkName(const std::string name)
00172 {
00173     int32_t ret;
00174     printf("Setting network name to '%s'...\r\n", name.c_str());
00175     if ((ret = dot->setNetworkName(name)) != mDot::MDOT_OK) {
00176         log_error(dot, "Failed to set network name", ret);
00177         return false;
00178     }
00179     return true;
00180 }
00181 
00182 bool setNetworkPassphrase(const std::string passphrase)
00183 {
00184     int32_t ret;
00185     printf("Setting passphrase...\r\n");
00186     if ((ret = dot->setNetworkPassphrase(passphrase)) != mDot::MDOT_OK) {
00187         log_error(dot, "Failed to set network password", ret);
00188         return false;
00189     }
00190     return true;
00191 }
00192 
00193 bool setAck(uint8_t retries)
00194 {
00195     int32_t ret;
00196     printf("Setting ack...\r\n");
00197     if ((ret = dot->setAck(retries)) != mDot::MDOT_OK)
00198     {
00199         log_error(dot, "Failed to set ack", ret);
00200         return false;
00201     }
00202     return true;
00203 }
00204 
00205 bool joinNetwork()
00206 {
00207     int32_t ret;
00208     printf("\r\nJoining network...  ");
00209     // reset to default config so we know what state we're in
00210 
00211 
00212     if ((ret = dot->joinNetwork()) != mDot::MDOT_OK) {
00213         log_error(dot, "Failed", ret);
00214         dot->resetConfig();
00215         dot->getDeviceId();
00216         osDelay(200);
00217         return false;
00218     }
00219     printf("Network Joined!\r\n");
00220     return true;
00221 }
00222 
00223 bool sendData(const std::string text)
00224 {
00225     if (dot->getNextTxMs() != 0) {
00226         printf("Sending in %lu ms...\r\n", dot->getNextTxMs());
00227         return false;
00228     }
00229 
00230     int32_t ret;
00231     printf("Sending: '%s'   ", text.c_str());
00232     std::vector<uint8_t> data(text.begin(), text.end());
00233     if ((ret = dot->send(data, 1)) != mDot::MDOT_OK)
00234     {
00235         log_error(dot, "Failed to send data", ret);
00236         return false;
00237     }
00238     printf("Data sent!\r\n");
00239     return true;
00240 }
00241 
00242 H3LIS331DL* rebuild(H3LIS331DL* h3lis ){
00243     H3LIS331DL* new_h3lis = new H3LIS331DL( I2C_SDA, I2C_SCL );
00244     delete h3lis;
00245     new_h3lis->init(H3LIS331DL_ODR_1000Hz, H3LIS331DL_NORMAL, H3LIS331DL_FULLSCALE_2);
00246 
00247     return new_h3lis;
00248 }
00249 
00250