Rey Dyson / Mbed 2 deprecated z00_NSYS_CAR

NSYS for car records vibration data to sd card via wireless command

Dependencies:   mbed SDFileSystem

Dependents:   z00_NSYS_CAR_1220

main.cpp@0:36c81e7b1032, 2020-10-07 (annotated)

Committer:
dyson_rey
Date:
Wed Oct 07 05:00:46 2020 +0000
Revision:
0:36c81e7b1032
NSYS for car; first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dyson_rey 0:36c81e7b1032 1 /*=========================================
dyson_rey 0:36c81e7b1032 2 Title:NSYS for CAR
dyson_rey 0:36c81e7b1032 3
dyson_rey 0:36c81e7b1032 4 Revision:1.0
dyson_rey 0:36c81e7b1032 5
dyson_rey 0:36c81e7b1032 6 Editor:Dyson
dyson_rey 0:36c81e7b1032 7
dyson_rey 0:36c81e7b1032 8 For GR-PEACH
dyson_rey 0:36c81e7b1032 9 Compile using Mbed Online Compiler (revision:130)
dyson_rey 0:36c81e7b1032 10
dyson_rey 0:36c81e7b1032 11 THIS IS THE FINAL PRODUCT,in xb mode
dyson_rey 0:36c81e7b1032 12
dyson_rey 0:36c81e7b1032 13 reminder:for frontier 3.1
dyson_rey 0:36c81e7b1032 14 Last Modified:2019/12/12
dyson_rey 0:36c81e7b1032 15 ==========================================*/
dyson_rey 0:36c81e7b1032 16 #include "mbed.h"//for mbed
dyson_rey 0:36c81e7b1032 17 #include "SDFileSystem.h"//for SD
dyson_rey 0:36c81e7b1032 18
dyson_rey 0:36c81e7b1032 19 #define _SDPRESENT 0//LOW for no SD card
dyson_rey 0:36c81e7b1032 20 #define _SDNOTPRESENT 1//HIGH for SD card present
dyson_rey 0:36c81e7b1032 21 #define _ENABLE 0//LOW for ADC enable
dyson_rey 0:36c81e7b1032 22 #define _DISABLE 1//HIGH for ADC disable
dyson_rey 0:36c81e7b1032 23 #define _KILLCOUNT 177// for 10 mins
dyson_rey 0:36c81e7b1032 24
dyson_rey 0:36c81e7b1032 25 //for teraterm color logging
dyson_rey 0:36c81e7b1032 26 //use in pc.printf("%shoge%s",_RED,_END)
dyson_rey 0:36c81e7b1032 27 #define _RED "\e[31m"
dyson_rey 0:36c81e7b1032 28 #define _GREEN "\e[32m"
dyson_rey 0:36c81e7b1032 29 #define _YELLOW "\e[33m"
dyson_rey 0:36c81e7b1032 30 #define _END "\e[m"
dyson_rey 0:36c81e7b1032 31
dyson_rey 0:36c81e7b1032 32 //functions
dyson_rey 0:36c81e7b1032 33 bool gps_read(bool fix,bool write);
dyson_rey 0:36c81e7b1032 34 void data_init(void);
dyson_rey 0:36c81e7b1032 35 void end_proc(void);
dyson_rey 0:36c81e7b1032 36 int pot_read(void);
dyson_rey 0:36c81e7b1032 37 bool sd_init(void);
dyson_rey 0:36c81e7b1032 38 void adc_init(void);
dyson_rey 0:36c81e7b1032 39 void adc_work(void);
dyson_rey 0:36c81e7b1032 40 inline void pps_rise(void);
dyson_rey 0:36c81e7b1032 41 void rx(void);
dyson_rey 0:36c81e7b1032 42 void report(void);
dyson_rey 0:36c81e7b1032 43 void sd_read(void);
dyson_rey 0:36c81e7b1032 44
dyson_rey 0:36c81e7b1032 45 //Serial
dyson_rey 0:36c81e7b1032 46 Serial pc(USBTX, USBRX);
dyson_rey 0:36c81e7b1032 47 Serial xb(P7_4, P7_5);
dyson_rey 0:36c81e7b1032 48
dyson_rey 0:36c81e7b1032 49 bool start=false;//turn true to start
dyson_rey 0:36c81e7b1032 50 bool status[4];//ready,gps lock,measuring,error
dyson_rey 0:36c81e7b1032 51
dyson_rey 0:36c81e7b1032 52 //SD
dyson_rey 0:36c81e7b1032 53 FILE *fp;//file pointer
dyson_rey 0:36c81e7b1032 54 //SDFileSystem sd(P5_2, P5_3, P5_0, P5_1, "sd");//SD reader on frontier 4.0
dyson_rey 0:36c81e7b1032 55 SDFileSystem sd(P8_5, P8_6, P8_3, P8_4, "sd");//SD reader on peach
dyson_rey 0:36c81e7b1032 56 //DigitalIn sd_detect(P1_2);//SD detection pin
dyson_rey 0:36c81e7b1032 57 char filename[256];//global for using pot_num and start_time
dyson_rey 0:36c81e7b1032 58
dyson_rey 0:36c81e7b1032 59 //CONTROL
dyson_rey 0:36c81e7b1032 60 // DigitalIn one(P4_4);
dyson_rey 0:36c81e7b1032 61 // DigitalIn two(P4_6);
dyson_rey 0:36c81e7b1032 62 // DigitalIn four(P4_5);
dyson_rey 0:36c81e7b1032 63 // DigitalIn eight(P4_7);
dyson_rey 0:36c81e7b1032 64 int pot_num;
dyson_rey 0:36c81e7b1032 65
dyson_rey 0:36c81e7b1032 66 InterruptIn pb(P6_0);//user switch on peach
dyson_rey 0:36c81e7b1032 67 bool switch_pressed = false;//use this to write alternative routines
dyson_rey 0:36c81e7b1032 68 void skip_switch(void) { switch_pressed = true; }
dyson_rey 0:36c81e7b1032 69
dyson_rey 0:36c81e7b1032 70 //GPS
dyson_rey 0:36c81e7b1032 71 Serial gps(P8_13, P8_11);
dyson_rey 0:36c81e7b1032 72 InterruptIn PPS(P2_15);
dyson_rey 0:36c81e7b1032 73 volatile float t_pulse;//micom time when PPS rised
dyson_rey 0:36c81e7b1032 74 double gps_time;
dyson_rey 0:36c81e7b1032 75 double start_time=-1;
dyson_rey 0:36c81e7b1032 76
dyson_rey 0:36c81e7b1032 77 //TIMERS
dyson_rey 0:36c81e7b1032 78 Timer utime;
dyson_rey 0:36c81e7b1032 79 Ticker adc_ticker;
dyson_rey 0:36c81e7b1032 80 Ticker stat_ticker;
dyson_rey 0:36c81e7b1032 81
dyson_rey 0:36c81e7b1032 82 //ADC
dyson_rey 0:36c81e7b1032 83 SPI adc(P10_14, P10_15, P10_12);//mosi,miso,sck
dyson_rey 0:36c81e7b1032 84 //DigitalOut cs_adc(P1_3);//Frontier 4.0
dyson_rey 0:36c81e7b1032 85 DigitalOut cs_adc(P8_15);//Frontier 2.0
dyson_rey 0:36c81e7b1032 86 volatile int rch[3] = {};
dyson_rey 0:36c81e7b1032 87
dyson_rey 0:36c81e7b1032 88 //LED
dyson_rey 0:36c81e7b1032 89 DigitalOut led_rgb[] = {(LED1), (LED2), (LED3)};
dyson_rey 0:36c81e7b1032 90
dyson_rey 0:36c81e7b1032 91 //BUFFERS
dyson_rey 0:36c81e7b1032 92 #define BUFF_COUNT 3
dyson_rey 0:36c81e7b1032 93 #define BUFF_DEPTH 4096
dyson_rey 0:36c81e7b1032 94 int buff_depth = 0;
dyson_rey 0:36c81e7b1032 95 int buff_index = 0;
dyson_rey 0:36c81e7b1032 96 int cur_buff = 0;
dyson_rey 0:36c81e7b1032 97 bool write_ok[BUFF_COUNT];
dyson_rey 0:36c81e7b1032 98
dyson_rey 0:36c81e7b1032 99 int kill = 0;
dyson_rey 0:36c81e7b1032 100
dyson_rey 0:36c81e7b1032 101 int adcsel = 0;
dyson_rey 0:36c81e7b1032 102
dyson_rey 0:36c81e7b1032 103 typedef struct Logdata_t {
dyson_rey 0:36c81e7b1032 104 int axis;
dyson_rey 0:36c81e7b1032 105 int acc;
dyson_rey 0:36c81e7b1032 106 float t_acc;
dyson_rey 0:36c81e7b1032 107 float t_pulse;
dyson_rey 0:36c81e7b1032 108 } Logdata;
dyson_rey 0:36c81e7b1032 109 Logdata data[BUFF_COUNT][BUFF_DEPTH];
dyson_rey 0:36c81e7b1032 110
dyson_rey 0:36c81e7b1032 111 bool gps_read(bool fix,bool write) { //fix 0=no,1 = locked;write 0=no,1 =yes
dyson_rey 0:36c81e7b1032 112 float lat, lng;
dyson_rey 0:36c81e7b1032 113 int stat=0;
dyson_rey 0:36c81e7b1032 114 char ns, ew;
dyson_rey 0:36c81e7b1032 115 while (1) {
dyson_rey 0:36c81e7b1032 116 int gps_num = 0;
dyson_rey 0:36c81e7b1032 117 char gps_data[256];
dyson_rey 0:36c81e7b1032 118 memset(gps_data, '\0' , 256);
dyson_rey 0:36c81e7b1032 119
dyson_rey 0:36c81e7b1032 120 while (gps.getc() != '$') {}//wait until $
dyson_rey 0:36c81e7b1032 121 while ( (gps_data[gps_num] = gps.getc() ) != '\r') {//get string until new line
dyson_rey 0:36c81e7b1032 122 gps_num++;
dyson_rey 0:36c81e7b1032 123 if (gps_num == 125) {
dyson_rey 0:36c81e7b1032 124 //status[3]=1;
dyson_rey 0:36c81e7b1032 125 break;
dyson_rey 0:36c81e7b1032 126 }
dyson_rey 0:36c81e7b1032 127 }
dyson_rey 0:36c81e7b1032 128 gps_data[gps_num] = '\0';
dyson_rey 0:36c81e7b1032 129
dyson_rey 0:36c81e7b1032 130 if (sscanf(gps_data, "GPGGA,%lf,%f,%c,%f,%c,%d", &gps_time, &lat, &ns, &lng, &ew, &stat) >= 1) {//if it is GPGGA sentence
dyson_rey 0:36c81e7b1032 131 gps_time += 90000;//turn in to JST
dyson_rey 0:36c81e7b1032 132 //pc.printf("%lf\r\n",gps_time);
dyson_rey 0:36c81e7b1032 133 if(!start && start_time>0){//if has not started yet and has valid start_time
dyson_rey 0:36c81e7b1032 134 if(start_time>gps_time){
dyson_rey 0:36c81e7b1032 135 return false;
dyson_rey 0:36c81e7b1032 136 }else if(start_time==gps_time){
dyson_rey 0:36c81e7b1032 137 fp = fopen(filename, "a");
dyson_rey 0:36c81e7b1032 138 if (fp == NULL) {
dyson_rey 0:36c81e7b1032 139 return false;
dyson_rey 0:36c81e7b1032 140 }else{
dyson_rey 0:36c81e7b1032 141 fprintf(fp, "gpstime,%lf,lat,%f,lng,%f\r\n", gps_time, lat, lng);
dyson_rey 0:36c81e7b1032 142 fclose(fp);
dyson_rey 0:36c81e7b1032 143 start = true;
dyson_rey 0:36c81e7b1032 144 return true;
dyson_rey 0:36c81e7b1032 145 }
dyson_rey 0:36c81e7b1032 146 }else if(start_time<gps_time){
dyson_rey 0:36c81e7b1032 147 status[3]=1;
dyson_rey 0:36c81e7b1032 148 report();
dyson_rey 0:36c81e7b1032 149 return false;
dyson_rey 0:36c81e7b1032 150 }
dyson_rey 0:36c81e7b1032 151 }
dyson_rey 0:36c81e7b1032 152 //reach here if not yet started
dyson_rey 0:36c81e7b1032 153 if (!fix || stat > 0) {//if no need to fix or has a valid lock
dyson_rey 0:36c81e7b1032 154 if(write){//need to write
dyson_rey 0:36c81e7b1032 155 fp = fopen(filename, "a");
dyson_rey 0:36c81e7b1032 156 fprintf(fp, "gpstime,%lf,lat,%f,lng,%f\r\n", gps_time, lat, lng);
dyson_rey 0:36c81e7b1032 157 fclose(fp);
dyson_rey 0:36c81e7b1032 158 return true;
dyson_rey 0:36c81e7b1032 159 }
dyson_rey 0:36c81e7b1032 160 if (stat > 0) {//has lock
dyson_rey 0:36c81e7b1032 161 status[1] = 1;
dyson_rey 0:36c81e7b1032 162 report();
dyson_rey 0:36c81e7b1032 163 return true;
dyson_rey 0:36c81e7b1032 164 } else {
dyson_rey 0:36c81e7b1032 165 status[1] = 0;
dyson_rey 0:36c81e7b1032 166 report();
dyson_rey 0:36c81e7b1032 167 return false;
dyson_rey 0:36c81e7b1032 168 }
dyson_rey 0:36c81e7b1032 169 } else {//if need to write and has no valid lock
dyson_rey 0:36c81e7b1032 170 continue;
dyson_rey 0:36c81e7b1032 171 }
dyson_rey 0:36c81e7b1032 172 }
dyson_rey 0:36c81e7b1032 173 }
dyson_rey 0:36c81e7b1032 174 }
dyson_rey 0:36c81e7b1032 175
dyson_rey 0:36c81e7b1032 176 void data_init(void) {//prepare datum
dyson_rey 0:36c81e7b1032 177 //pot_read();
dyson_rey 0:36c81e7b1032 178 sd_read();
dyson_rey 0:36c81e7b1032 179 status[0] = 1;
dyson_rey 0:36c81e7b1032 180 start = false;
dyson_rey 0:36c81e7b1032 181 buff_depth = 0;
dyson_rey 0:36c81e7b1032 182 buff_index = 0;
dyson_rey 0:36c81e7b1032 183 cur_buff = 0;
dyson_rey 0:36c81e7b1032 184 memset(&data, '\0' , sizeof(data));
dyson_rey 0:36c81e7b1032 185 memset(&write_ok, '\0' , sizeof(write_ok));
dyson_rey 0:36c81e7b1032 186 }
dyson_rey 0:36c81e7b1032 187
dyson_rey 0:36c81e7b1032 188 void end_proc() {//reet it self
dyson_rey 0:36c81e7b1032 189 __disable_irq();
dyson_rey 0:36c81e7b1032 190 status[0] = status[1] = status[2] = 0;
dyson_rey 0:36c81e7b1032 191 report();
dyson_rey 0:36c81e7b1032 192 wait(0.1);
dyson_rey 0:36c81e7b1032 193 __enable_irq();
dyson_rey 0:36c81e7b1032 194 NVIC_SystemReset();
dyson_rey 0:36c81e7b1032 195 }
dyson_rey 0:36c81e7b1032 196
dyson_rey 0:36c81e7b1032 197 // int pot_read(void) {//read pot value
dyson_rey 0:36c81e7b1032 198 // pot_num += one.read() + 2 * two.read() + 4 * four.read() + 8 * eight.read();
dyson_rey 0:36c81e7b1032 199 // return pot_num;
dyson_rey 0:36c81e7b1032 200 // }
dyson_rey 0:36c81e7b1032 201
dyson_rey 0:36c81e7b1032 202 void sd_read(void) {//check for inout directory
dyson_rey 0:36c81e7b1032 203 DIR *d;
dyson_rey 0:36c81e7b1032 204 char searchname[32];
dyson_rey 0:36c81e7b1032 205 for(int i=0;i<12;i++){
dyson_rey 0:36c81e7b1032 206 sprintf(searchname, "/sd/%d",i);
dyson_rey 0:36c81e7b1032 207 d = opendir(searchname);
dyson_rey 0:36c81e7b1032 208 if ( d != NULL ){//if there is file
dyson_rey 0:36c81e7b1032 209 pot_num=i;
dyson_rey 0:36c81e7b1032 210 //pc.printf("found file\r\n");
dyson_rey 0:36c81e7b1032 211 return;
dyson_rey 0:36c81e7b1032 212 }else{//if there isnt
dyson_rey 0:36c81e7b1032 213 //pc.printf("no file\r\n");
dyson_rey 0:36c81e7b1032 214 continue;
dyson_rey 0:36c81e7b1032 215 }
dyson_rey 0:36c81e7b1032 216 }
dyson_rey 0:36c81e7b1032 217 //pc.printf("out\r\n");
dyson_rey 0:36c81e7b1032 218 }
dyson_rey 0:36c81e7b1032 219
dyson_rey 0:36c81e7b1032 220 bool sd_init(void) {//determine file name and file pointer. must lock gps beforehand
dyson_rey 0:36c81e7b1032 221 mkdir("/sd/wsys", 0777);
dyson_rey 0:36c81e7b1032 222 sprintf(filename, "/sd/wsys/%d-%.0lf.csv",pot_num, start_time);
dyson_rey 0:36c81e7b1032 223 fp = fopen(filename, "a");
dyson_rey 0:36c81e7b1032 224
dyson_rey 0:36c81e7b1032 225 if (fp == NULL) {
dyson_rey 0:36c81e7b1032 226 status[3] = 1;
dyson_rey 0:36c81e7b1032 227 report();
dyson_rey 0:36c81e7b1032 228 return false;
dyson_rey 0:36c81e7b1032 229 } else {
dyson_rey 0:36c81e7b1032 230 fclose(fp);
dyson_rey 0:36c81e7b1032 231 return true;
dyson_rey 0:36c81e7b1032 232 }
dyson_rey 0:36c81e7b1032 233 }
dyson_rey 0:36c81e7b1032 234
dyson_rey 0:36c81e7b1032 235 void adc_init(void) {
dyson_rey 0:36c81e7b1032 236 cs_adc = _DISABLE; // ADC chip select off
dyson_rey 0:36c81e7b1032 237 adc.format(8, 1); //// SPI Init ////
dyson_rey 0:36c81e7b1032 238 adc.frequency(750000);
dyson_rey 0:36c81e7b1032 239 cs_adc = _ENABLE; // ADC chip select on
dyson_rey 0:36c81e7b1032 240 wait_ms(112); //55ms:NG 56ms:OK
dyson_rey 0:36c81e7b1032 241 adc.write(0x06);//reset
dyson_rey 0:36c81e7b1032 242 wait_us(32); //15us:NG 16us:OK
dyson_rey 0:36c81e7b1032 243 adc.write(0x43);// write register 00h-03h
dyson_rey 0:36c81e7b1032 244 //adc.write(0xa1);// AIN2-GND GAIN:1 PGA:off
dyson_rey 0:36c81e7b1032 245 adc.write(0x81);// AIN0-GND GAIN:1 PGA:off
dyson_rey 0:36c81e7b1032 246 //adc.write(0xc0);// 1000sps nomalmode single temp:off burn:off
dyson_rey 0:36c81e7b1032 247 //adc.write(0xc1);// 1000sps nomalmode single temp:off burn:on
dyson_rey 0:36c81e7b1032 248 adc.write(0xd0);// 2000sps turbomode single temp:off burn:off
dyson_rey 0:36c81e7b1032 249 adc.write(0xc0);// ref:AVDD
dyson_rey 0:36c81e7b1032 250 adc.write(0x00);// DOUT/DRDY
dyson_rey 0:36c81e7b1032 251 adc.write(0x08);// START
dyson_rey 0:36c81e7b1032 252 cs_adc = _DISABLE; // ADC chip select off
dyson_rey 0:36c81e7b1032 253 }
dyson_rey 0:36c81e7b1032 254
dyson_rey 0:36c81e7b1032 255 void adc_work(void) {
dyson_rey 0:36c81e7b1032 256 cs_adc = _ENABLE;
dyson_rey 0:36c81e7b1032 257 adc.write(0x10);
dyson_rey 0:36c81e7b1032 258 for (int j = 0; j < 3; j++) {
dyson_rey 0:36c81e7b1032 259 rch[j] = adc.write(0xff);
dyson_rey 0:36c81e7b1032 260 }
dyson_rey 0:36c81e7b1032 261
dyson_rey 0:36c81e7b1032 262 data[buff_index][buff_depth].axis = adcsel;
dyson_rey 0:36c81e7b1032 263 data[buff_index][buff_depth].acc = (int)((rch[0] << 16) | (rch[1] << 8) | rch[2]);
dyson_rey 0:36c81e7b1032 264 data[buff_index][buff_depth].t_acc = utime.read();
dyson_rey 0:36c81e7b1032 265 data[buff_index][buff_depth].t_pulse = t_pulse;
dyson_rey 0:36c81e7b1032 266 buff_depth++;
dyson_rey 0:36c81e7b1032 267
dyson_rey 0:36c81e7b1032 268 adc.write(0x40);// write register 00h
dyson_rey 0:36c81e7b1032 269 switch(adcsel){
dyson_rey 0:36c81e7b1032 270 case 0:
dyson_rey 0:36c81e7b1032 271 adc.write(0x91);// AIN1-GND GAIN:1 PGA:off
dyson_rey 0:36c81e7b1032 272 adcsel=1;
dyson_rey 0:36c81e7b1032 273 break;
dyson_rey 0:36c81e7b1032 274
dyson_rey 0:36c81e7b1032 275 case 1:
dyson_rey 0:36c81e7b1032 276 adc.write(0xa1);// AIN2-GND GAIN:1 PGA:off
dyson_rey 0:36c81e7b1032 277 adcsel=2;
dyson_rey 0:36c81e7b1032 278 break;
dyson_rey 0:36c81e7b1032 279
dyson_rey 0:36c81e7b1032 280 case 2:
dyson_rey 0:36c81e7b1032 281 adc.write(0xb1);// AIN3-GND GAIN:1 PGA:off
dyson_rey 0:36c81e7b1032 282 adcsel=3;
dyson_rey 0:36c81e7b1032 283 break;
dyson_rey 0:36c81e7b1032 284
dyson_rey 0:36c81e7b1032 285 case 3:
dyson_rey 0:36c81e7b1032 286 adc.write(0x81);// AIN0-GND GAIN:1 PGA:off
dyson_rey 0:36c81e7b1032 287 adcsel=0;
dyson_rey 0:36c81e7b1032 288 break;
dyson_rey 0:36c81e7b1032 289 }
dyson_rey 0:36c81e7b1032 290
dyson_rey 0:36c81e7b1032 291 adc.write(0x08); //start
dyson_rey 0:36c81e7b1032 292 cs_adc = _DISABLE; // ADC chip select off
dyson_rey 0:36c81e7b1032 293
dyson_rey 0:36c81e7b1032 294 if (buff_depth == BUFF_DEPTH) {
dyson_rey 0:36c81e7b1032 295 buff_index++;
dyson_rey 0:36c81e7b1032 296 if (buff_index == BUFF_COUNT) {
dyson_rey 0:36c81e7b1032 297 buff_index = 0;
dyson_rey 0:36c81e7b1032 298 }
dyson_rey 0:36c81e7b1032 299 buff_depth = 0;
dyson_rey 0:36c81e7b1032 300 write_ok[buff_index] = true;
dyson_rey 0:36c81e7b1032 301 }
dyson_rey 0:36c81e7b1032 302 }
dyson_rey 0:36c81e7b1032 303 /*
dyson_rey 0:36c81e7b1032 304 command pin axis
dyson_rey 0:36c81e7b1032 305 81 0
dyson_rey 0:36c81e7b1032 306 91 1
dyson_rey 0:36c81e7b1032 307 a1 2
dyson_rey 0:36c81e7b1032 308 b1 3
dyson_rey 0:36c81e7b1032 309 */
dyson_rey 0:36c81e7b1032 310
dyson_rey 0:36c81e7b1032 311 void adc_test(void) {
dyson_rey 0:36c81e7b1032 312 int zraw;
dyson_rey 0:36c81e7b1032 313 cs_adc = _ENABLE;
dyson_rey 0:36c81e7b1032 314 adc.write(0x10);
dyson_rey 0:36c81e7b1032 315 for (int j = 0; j < 3; j++) {
dyson_rey 0:36c81e7b1032 316 rch[j] = adc.write(0xff);
dyson_rey 0:36c81e7b1032 317 }
dyson_rey 0:36c81e7b1032 318 adc.write(0x08); //start
dyson_rey 0:36c81e7b1032 319 cs_adc = _DISABLE; // ADC chip select off
dyson_rey 0:36c81e7b1032 320
dyson_rey 0:36c81e7b1032 321 zraw = (int)((rch[0] << 16) | (rch[1] << 8) | rch[2]);
dyson_rey 0:36c81e7b1032 322 if (zraw == 0 || zraw == 16777215)status[3] = 1;
dyson_rey 0:36c81e7b1032 323 xb.printf("%d,%d\r\n", pot_num, zraw);
dyson_rey 0:36c81e7b1032 324 pc.printf("%d,%d\r\n", pot_num, zraw);
dyson_rey 0:36c81e7b1032 325 }
dyson_rey 0:36c81e7b1032 326
dyson_rey 0:36c81e7b1032 327 inline void pps_rise(void) {
dyson_rey 0:36c81e7b1032 328 //__disable_irq();
dyson_rey 0:36c81e7b1032 329 t_pulse = utime.read();
dyson_rey 0:36c81e7b1032 330 //__enable_irq();
dyson_rey 0:36c81e7b1032 331 }
dyson_rey 0:36c81e7b1032 332
dyson_rey 0:36c81e7b1032 333 void rx(void) {
dyson_rey 0:36c81e7b1032 334 char ch[128];
dyson_rey 0:36c81e7b1032 335 int char_num = 0;
dyson_rey 0:36c81e7b1032 336 while((ch[char_num]=xb.getc()) !='\n'){
dyson_rey 0:36c81e7b1032 337 char_num++;
dyson_rey 0:36c81e7b1032 338 if(char_num==127){
dyson_rey 0:36c81e7b1032 339 xb.printf("**ERROR**\r\n");
dyson_rey 0:36c81e7b1032 340 break;
dyson_rey 0:36c81e7b1032 341 }
dyson_rey 0:36c81e7b1032 342 }
dyson_rey 0:36c81e7b1032 343 if (ch[0] == 'r') {
dyson_rey 0:36c81e7b1032 344 end_proc();
dyson_rey 0:36c81e7b1032 345 }else if(ch[0]=='s'){
dyson_rey 0:36c81e7b1032 346 sscanf(ch, "s,%lf", &start_time);
dyson_rey 0:36c81e7b1032 347 //pc.printf("stime:%.0lf\r\n",start_time);
dyson_rey 0:36c81e7b1032 348 if(!start){
dyson_rey 0:36c81e7b1032 349 xb.attach(NULL, Serial::RxIrq);
dyson_rey 0:36c81e7b1032 350 stat_ticker.detach();
dyson_rey 0:36c81e7b1032 351 sd_init();
dyson_rey 0:36c81e7b1032 352 while(!start){
dyson_rey 0:36c81e7b1032 353 gps_read(0,0);
dyson_rey 0:36c81e7b1032 354 }
dyson_rey 0:36c81e7b1032 355 status[2] = 1;
dyson_rey 0:36c81e7b1032 356 report();
dyson_rey 0:36c81e7b1032 357 utime.start();
dyson_rey 0:36c81e7b1032 358 PPS.rise(pps_rise);
dyson_rey 0:36c81e7b1032 359 utime.reset();
dyson_rey 0:36c81e7b1032 360 adc_ticker.attach_us(&adc_work, 833);
dyson_rey 0:36c81e7b1032 361 }
dyson_rey 0:36c81e7b1032 362 }
dyson_rey 0:36c81e7b1032 363 }
dyson_rey 0:36c81e7b1032 364
dyson_rey 0:36c81e7b1032 365 void report(void) {
dyson_rey 0:36c81e7b1032 366 xb.printf("%d,%d,%d,%d,%d\r\n", pot_num, status[0], status[1], status[2], status[3]); //num,ready,gps lock,measuring,error
dyson_rey 0:36c81e7b1032 367 }
dyson_rey 0:36c81e7b1032 368
dyson_rey 0:36c81e7b1032 369 int main(void) {
dyson_rey 0:36c81e7b1032 370 wait(0.4);
dyson_rey 0:36c81e7b1032 371 xb.baud(9600);
dyson_rey 0:36c81e7b1032 372
dyson_rey 0:36c81e7b1032 373 data_init();
dyson_rey 0:36c81e7b1032 374 //sd_read();
dyson_rey 0:36c81e7b1032 375 adc_init();
dyson_rey 0:36c81e7b1032 376 stat_ticker.attach(&report,2);
dyson_rey 0:36c81e7b1032 377
dyson_rey 0:36c81e7b1032 378 wait(2);
dyson_rey 0:36c81e7b1032 379 adc_test();
dyson_rey 0:36c81e7b1032 380
dyson_rey 0:36c81e7b1032 381 //gps_read(0,0);//develop
dyson_rey 0:36c81e7b1032 382 gps_read(1,0);//actual use
dyson_rey 0:36c81e7b1032 383 xb.attach(&rx, Serial::RxIrq);
dyson_rey 0:36c81e7b1032 384
dyson_rey 0:36c81e7b1032 385 led_rgb[1] = 1;
dyson_rey 0:36c81e7b1032 386 while(1){
dyson_rey 0:36c81e7b1032 387 while (start) {
dyson_rey 0:36c81e7b1032 388 led_rgb[0] = 1;
dyson_rey 0:36c81e7b1032 389 if (write_ok[cur_buff]) {
dyson_rey 0:36c81e7b1032 390 fp = fopen(filename, "a");
dyson_rey 0:36c81e7b1032 391 if (fp == NULL || kill == _KILLCOUNT) {
dyson_rey 0:36c81e7b1032 392 end_proc();
dyson_rey 0:36c81e7b1032 393 } else {
dyson_rey 0:36c81e7b1032 394 led_rgb[2] = 1;
dyson_rey 0:36c81e7b1032 395 for (int i = 0; i < BUFF_DEPTH; i++) {
dyson_rey 0:36c81e7b1032 396 fprintf(fp, "%d,%d,%f,%f\r\n",data[cur_buff][i].axis,data[cur_buff][i].acc, data[cur_buff][i].t_acc, data[cur_buff][i].t_pulse);
dyson_rey 0:36c81e7b1032 397 }
dyson_rey 0:36c81e7b1032 398 led_rgb[2] = 0;
dyson_rey 0:36c81e7b1032 399 write_ok[cur_buff] = false;
dyson_rey 0:36c81e7b1032 400 kill++;
dyson_rey 0:36c81e7b1032 401 cur_buff++;
dyson_rey 0:36c81e7b1032 402 if (cur_buff == BUFF_COUNT)cur_buff = 0;
dyson_rey 0:36c81e7b1032 403 if(kill==_KILLCOUNT){
dyson_rey 0:36c81e7b1032 404 gps_read(0,1);//write even if no lock
dyson_rey 0:36c81e7b1032 405 end_proc();
dyson_rey 0:36c81e7b1032 406 }
dyson_rey 0:36c81e7b1032 407 }//if fp not null
dyson_rey 0:36c81e7b1032 408 fclose(fp);
dyson_rey 0:36c81e7b1032 409 }//if write_ok is true
dyson_rey 0:36c81e7b1032 410 }//start changes to false
dyson_rey 0:36c81e7b1032 411 }
dyson_rey 0:36c81e7b1032 412 }