Einstein Filho
Data Logger Mangue Baja
Diff: main.cpp
- Revision:
- 0:aef6b59caed0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Jul 05 00:02:13 2019 +0000
@@ -0,0 +1,256 @@
+/*
+ Data Logger implementation in K64F.
+ Inputs:
+ x6 Analog Inputs;
+ x2 Digital (Frequency) Inputs;
+ x1 Internal Accelerometer (FXOS8700);
+ x1 External Accelerometer and Gyroscope (LSM6DS3);
+ In this set, it is designed for a 200Hz sample rate.
+ All the data are saved periodically (every 0.25s) to a folder in the SD card.
+ To read the data, use the file "read_struct.c" in the folder results.
+
+ Implemented by Diego "sid" Hamilton, Electronics Coordinator at Mangue Baja Team, UFPE.
+*/
+
+#include "mbed.h"
+#include "LSM6DS3.h"
+#include "FXOS8700CQ.h"
+#include "SDFileSystem.h"
+#include <cstdlib>
+
+#define SERIAL_BAUD 1000000 // Board baud rate
+#define BUFFER_SIZE 200 // Acquisition buffer
+#define SAVE_WHEN 50 // Number of packets to save (fail safe)
+#define SAMPLE_FREQ 200 // Frequency in Hz
+
+/* Debug */
+PwmOut signal_wave(D3); // Debug wave to test frequency channels
+/* I/O */
+Serial pc(USBTX, USBRX, SERIAL_BAUD); // Debug purposes
+SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // MOSI, MISO, SCK, CS
+//DigitalOut warning(D3); // When device is ready, led is permanently OFF
+//DigitalOut logging(D4); // When data is beign acquired, led is ON
+InterruptIn start(D2, PullUp); // Press button to start/stop acquisition
+InterruptIn freq_chan1(D0, PullUp); // Frequency channel 1
+InterruptIn freq_chan2(D1, PullUp); // Frequency channel 2
+AnalogIn pot0(A0),
+ pot1(A1),
+ pot2(A2),
+ pot3(A3),
+ pot4(A4),
+ pot5(A5);
+LSM6DS3 LSM6DS3(PTE25,PTE24); // External accelerometer and gyroscope
+FXOS8700CQ fxos(PTE25,PTE24); // Internal accelerometer (and magnetometer, not used)
+
+//Ajuste para usar o led da placa
+DigitalOut logging(LED1);
+DigitalOut warning(LED2);
+//DigitalOut led3(LED3);
+
+/* Data structure */
+typedef struct
+{
+ int16_t acclsmx;
+ int16_t acclsmy;
+ int16_t acclsmz;
+ int16_t anglsmx;
+ int16_t anglsmy;
+ int16_t anglsmz;
+ int16_t accfxox;
+ int16_t accfxoy;
+ int16_t accfxoz;
+ uint16_t analog0;
+ uint16_t analog1;
+ uint16_t analog2;
+ uint16_t analog3;
+ uint16_t analog4;
+ uint16_t analog5;
+ uint16_t pulses_chan1;
+ uint16_t pulses_chan2;
+ uint32_t time_stamp;
+} packet_t;
+
+Timer t; // Device timer
+Ticker acq; // Acquisition timer interrupt source
+CircularBuffer<packet_t, BUFFER_SIZE> buffer; // Acquisition buffer
+int buffer_counter = 0; // Packet currently in buffer
+bool running = false; // Device status
+//bool running = true; // Einstein's Adaptation
+uint16_t pulse_counter1 = 0,
+ pulse_counter2 = 0; // Frequency counter variables
+uint16_t acc_addr = 0; /* LSM6DS3 address, if not connected
+ address is 0 and data is not stored */
+
+void sampleISR(); // Data acquisition ISR
+uint32_t count_files_in_sd(const char *fsrc); // Compute number of files in SD
+void freq_channel1_ISR(); // Frequency counter ISR, channel 1
+void freq_channel2_ISR(); // Frequency counter ISR, channel 2
+void toggle_logging(); // Start button ISR
+
+int main()
+{
+ uint32_t t1,t2;
+ logging = 0; // logging led OFF
+ int num_parts = 0, // Number of parts already saved
+ num_files = 0, // Number of files in SD
+ svd_pck = 0; // Number of saved packets (in current part)
+ char name_dir[12]; // Name of current folder (new RUN)
+ char name_file[20]; // Name of current file (partX)
+ FILE* fp;
+ packet_t temp;
+ packet_t trash;
+ signal_wave.period_ms(50);
+ signal_wave.write(0.5f);
+
+ /* Initialize accelerometers */
+ acc_addr = LSM6DS3.begin(LSM6DS3.G_SCALE_245DPS, LSM6DS3.A_SCALE_2G, \
+ LSM6DS3.G_ODR_208, LSM6DS3.A_ODR_208);
+ fxos.init();
+
+ /* Wait for SD ready */
+ while(sd.disk_status())
+ {
+ sd.disk_initialize();
+ warning = 0;
+ wait(1.0);
+ warning = 1;
+ wait(1.0);
+ }
+
+ num_files = count_files_in_sd("/sd");
+ sprintf(name_dir, "%s%d", "/sd/RUN", num_files + 1);
+
+ start.fall(&toggle_logging); // Attach start button ISR
+ while(!running) // Wait button press
+ warning = 1; // For some reason if this line is empty the code doesn't run
+
+ /* Create RUN directory */
+ mkdir(name_dir, 0777);
+ warning = 0;
+ sprintf(name_file, "%s%s%d", name_dir, "/part", num_parts++);
+ fp = fopen(name_file, "w"); // Creates first data file
+ t.start(); // Start device timer
+ freq_chan1.fall(&freq_channel1_ISR);
+ freq_chan2.fall(&freq_channel2_ISR);
+ acq.attach(&sampleISR, 1.0/SAMPLE_FREQ); // Start data acquisition
+ logging = 1;
+ // logging led ON
+
+ while(running)
+ {
+
+ if(buffer.full())
+ {
+ warning = 1; // Turn warning led ON if buffer gets full (abnormal situation)
+ //pc.putc('X'); // Debug message
+ //buffer.pop(trash);
+ }
+ else if(!buffer.empty())
+ {
+ //pc.putc('G'); // Debug message
+ /* Remove packet from buffer and writes it to file */
+ buffer.pop(temp);
+ buffer_counter--;
+ //t1 = t.read_ms();
+ fwrite((void *)&temp, sizeof(packet_t), 1, fp);
+ //t2 = t.read_ms()-t1;
+ //pc.printf("%d\r\n",t2);
+ svd_pck++;
+ /* Create new data file */
+ if(svd_pck == SAVE_WHEN)
+ {
+ fclose(fp);
+ sprintf(name_file, "%s%s%d", name_dir, "/part", num_parts++);
+ fp = fopen(name_file, "w");
+ //pc.printf("%d\n", buffer_counter); // Debug message
+ svd_pck = 0;
+
+ }
+ }
+ /* Software debounce for start button */
+ if((t.read_ms() > 10) && (t.read_ms() < 20))
+ start.fall(toggle_logging);
+ }
+
+ /* Reset device if start button is pressed while logging */
+ logging = 0;
+ NVIC_SystemReset();
+ return 0;
+}
+
+void sampleISR()
+{
+ static uint16_t last_acq = t.read_ms(); // Time of last acquisition
+ packet_t acq_pck; // Current data packet
+ Data fxos_acc;
+ fxos_acc = fxos.get_values(); // Read FXOS8700 data
+ /* Store LSM6DS3 data if it's connected */
+ if (acc_addr != 0)
+ {
+ LSM6DS3.readAccel(); // Read Accelerometer data
+ LSM6DS3.readGyro(); // Read Gyroscope data
+
+ acq_pck.acclsmx = LSM6DS3.ax_raw;
+ acq_pck.acclsmy = LSM6DS3.ay_raw;
+ acq_pck.acclsmz = LSM6DS3.az_raw;
+ acq_pck.anglsmx = LSM6DS3.gx_raw;
+ acq_pck.anglsmy = LSM6DS3.gy_raw;
+ acq_pck.anglsmz = LSM6DS3.gz_raw;
+ }
+ else
+ {
+ acq_pck.acclsmx = 0;
+ acq_pck.acclsmy = 0;
+ acq_pck.acclsmz = 0;
+ acq_pck.anglsmx = 0;
+ acq_pck.anglsmy = 0;
+ acq_pck.anglsmz = 0;
+ }
+ acq_pck.accfxox = fxos_acc.ax;
+ acq_pck.accfxoy = fxos_acc.ay;
+ acq_pck.accfxoz = fxos_acc.az;
+ acq_pck.analog0 = pot0.read_u16(); // Read analog sensor 0
+ acq_pck.analog1 = pot1.read_u16(); // Read analog sensor 1
+ acq_pck.analog2 = pot2.read_u16(); // Read analog sensor 2
+ acq_pck.analog3 = pot3.read_u16(); // Read analog sensor 3
+ acq_pck.analog4 = pot4.read_u16(); // Read analog sensor 4
+ acq_pck.analog5 = pot5.read_u16(); // Read analog sensor 5
+ acq_pck.pulses_chan1 = pulse_counter1; // Store frequence channel 1
+ acq_pck.pulses_chan2 = pulse_counter2; // Store frequence channel 2
+ acq_pck.time_stamp = t.read_ms(); // Timestamp of data acquistion
+
+ pulse_counter1= 0;
+ pulse_counter2= 0;
+ buffer.push(acq_pck);
+ buffer_counter++;
+}
+
+uint32_t count_files_in_sd(const char *fsrc)
+{
+ DIR *d = opendir(fsrc);
+ struct dirent *p;
+ uint32_t counter = 0;
+
+ while ((p = readdir(d)) != NULL) {
+ if(strcmp(p->d_name, ".Trash-1000"))
+ counter++;
+ }
+ closedir(d);
+ return counter;
+}
+
+void freq_channel1_ISR()
+{
+ pulse_counter1++;
+}
+
+void freq_channel2_ISR()
+{
+ pulse_counter2++;
+}
+
+void toggle_logging()
+{
+ running = !running;
+ start.fall(NULL);
+}