Revision 1:e1f3b4b8b99b, committed 2016-02-13

Comitter:

flowh

Date:

Sat Feb 13 14:29:40 2016 +0000

Parent:

0:0861bf46efe4

Child:

2:f53340e49cc0

Commit message:

Version 2.1 ; log acc, omega, compass and 5 AI

Changed in this revision

--- a/DataFile/DataFile.cpp	Fri Feb 12 20:54:38 2016 +0000
+++ b/DataFile/DataFile.cpp	Sat Feb 13 14:29:40 2016 +0000
@@ -30,7 +30,7 @@
         }  
         cfg.getValue(keyIndex, &value[0], sizeof(value));
         Index=atoi(value);
-        printf("Index=%d\r\n", Index);    
+        //printf("Index=%d\r\n", Index);    
     
         //crèe le non de fichier à créer
         //  printf("OpenDataFile\n\r");
@@ -41,21 +41,21 @@
         strcat (DataFileName,NumFich);
         //   printf("DataFileName=%s\n\r",DataFileName);
         strcat (DataFileName,".txt");
-        printf("DataFileName=%s\n\r",DataFileName);
+        printf("New Data file opened : %s\n\r",DataFileName);
     
         //met à jour l'index
         
         itoa(Index+1,NumFich);
-        printf("Prochain fichier a ecrire=%s\n\r",NumFich);
+        //printf("Prochain fichier a ecrire=%s\n\r",NumFich);
         cfg.setValue(keyIndex, NumFich);
         cfg.write("/sd/index.txt","index",cfg.DOS);
     
         //ouvre le fichier
         fp= fopen(DataFileName, "a");  // Open "xxx.txt" on the local file system for writing
     
-        fprintf(fp, "Gx\tGy\tGz\tWx\tWy\tWz\tMx\tMy\tMz\n");  
+        fprintf(fp, "Gx\tGy\tGz\tWx\tWy\tWz\tMx\tMy\tMz\tI0\tAI1\tAI2\tAI3\tAI4\n");  
         Opened=1;  
-        printf("DataFile opened\n\r"); 
+       // printf("DataFile opened\n\r"); 
         
           
     }
@@ -76,7 +76,7 @@
  
   if (Opened==1)
     {
-     printf("sauvegarde en cours\r\n");
+    // printf("sauvegarde en cours\r\n");
      apMesure->Save(fp);
     }
 }

--- a/DefinitionIO.h	Fri Feb 12 20:54:38 2016 +0000
+++ b/DefinitionIO.h	Sat Feb 13 14:29:40 2016 +0000
@@ -3,66 +3,101 @@
 
 #include "SDFileSystem.h"
 #include "COMPASS_DISCO_L476VG.h"
+#include "GYRO_DISCO_L476VG.h"
+#define NbDAC   5
 
+#define SavePeriod  0.1     // 1/frequency of log : default 0.1 (tested OK at 0.01 (100Hz))
 
 DigitalOut LedEnreg(LED1);
 DigitalIn InterEnreg(PD_0,PullDown);
+Ticker TickUpdate;
+COMPASS_DISCO_L476VG  compass ; //declaration must be before SDFile system declaration
+GYRO_DISCO_L476VG gyro;
 
-COMPASS_DISCO_L476VG  compass ;
+
+
+AnalogIn AIn0(PA_0);
+AnalogIn AIn1(PA_1);
+AnalogIn AIn2(PA_2);
+AnalogIn AIn3(PA_3);
+AnalogIn AIn4(PA_5);
+
+AnalogIn * TabpAIn[NbDAC]= {&AIn0,&AIn1,&AIn2,&AIn3,&AIn4};
+//AnalogIn * AIn [5];
 
   //Create an SDFileSystem object
- SDFileSystem sd(PE_15, PE_14, PE_13, PE_12, "sd");
- tDataFile DataFile;
- bool EnregistrementEnCours;
- 
- //COMPASS_DISCO_L476VG  compass ;//=new COMPASS_DISCO_L476VG();
- 
- tMesure Mesures(&compass);
+SDFileSystem sd(PE_15, PE_14, PE_13, PE_12, "sd");
+
 
+tDataFile DataFile; //used to manage data savings
+bool EnregistrementEnCours;
  
-void Init()
-{
-  printf("avant Compass created\n");
-  //pcompass =new COMPASS_DISCO_L476VG();
-  printf("Compass created\n");
- // delete pcompass;
-   EnregistrementEnCours=false;
-   LedEnreg=0;
-   printf("Compass started\n"); 
-   
-   //Mount the filesystem
-   sd.mount();   
-   printf("mounted\n\r"); 
-}
+tMesure Mesures(&compass,&gyro,TabpAIn);
+
 
+
+//------------------------
+// manage log switch
 void CheckEnreg()
 {
    if (InterEnreg.read()==1)
     {
-       //printf("InterEnreg\n\r"); 
        if (!EnregistrementEnCours)
        {
            EnregistrementEnCours=true;
            DataFile.New();
-           printf("enregistrement started\n\r"); 
+           printf("log started\n\r"); 
        } 
        else
        {
            DataFile.SaveMesures(&Mesures);
-           //printf("Enregistrement\n\r"); 
        }
        LedEnreg=!LedEnreg;
        
     }
     else
-    {
-        //printf("Not InterEnreg\n\r"); 
-        if (EnregistrementEnCours)
+    { 
+       if (EnregistrementEnCours)
        {
            EnregistrementEnCours=false;
            DataFile.Close();
-           printf("enregistrement stopped\n\r"); 
+           printf("Log stopped\n\r"); 
        } 
        LedEnreg=0;
     }
+}
+
+/***********************
+Main function in loop
+************************/
+void Update()
+{
+   CheckEnreg();  
+   Mesures.Update();
+}
+
+//------------------------
+// initialization of logger
+ 
+void Init()
+{
+   TickUpdate.attach(&Update, SavePeriod);  //starting the infinit loop
+   printf("\n\r");
+   printf("Moth logger V2.0\n\r");
+   printf("----------------\n\r\n\r");
+   
+   EnregistrementEnCours=false;
+   LedEnreg=0;
+   
+   printf("sensors started\n\r"); 
+   
+   //Mount the filesystem
+   sd.mount();   
+   printf("File system mounted\n\r"); 
+   
+  /* AIn[0]=&AIn0;
+   AIn[1]=&AIn1;
+   AIn[2]=&AIn2;
+   AIn[3]=&AIn3;
+   AIn[4]=&AIn4;*/
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GYRO_DISCO_L476VG.lib	Sat Feb 13 14:29:40 2016 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/ST/code/GYRO_DISCO_L476VG/#504155ed5862

--- a/Mesure/Mesure.h	Fri Feb 12 20:54:38 2016 +0000
+++ b/Mesure/Mesure.h	Sat Feb 13 14:29:40 2016 +0000
@@ -1,33 +1,48 @@
 #include "mbed.h"
 #include "COMPASS_DISCO_L476VG.h"
+#include "GYRO_DISCO_L476VG.h"
 
 #ifndef MESURE_H
 #define MESURE_H
+#define NbDAC   5
+/*---------------------------------------------
+Manage acquisitions
+    Compass
+    Acceleration
+    Gyroscope
+    
+ !!!   calibration to be defined in the constructor !!!
 
-
+*/
 
 class tMesure
 {
 public:
-tMesure(COMPASS_DISCO_L476VG * apCompass);
+tMesure(COMPASS_DISCO_L476VG * apCompass, GYRO_DISCO_L476VG * apGyro, AnalogIn * apAIn[NbDAC]);
  
 void Update();  
 void Save(FILE * apFile); 
 
 private:
     COMPASS_DISCO_L476VG * pCompass;
+    GYRO_DISCO_L476VG * pGyro;
     
     double Mag[3];
     double Acc[3];
-    
+    double Omega[3];
+    double AIO[NbDAC];
     
     double OffsetMag[3];
     double OffsetAcc[3];
+    double OffsetOmega[3];
+    double OffsetAIO[NbDAC];
     
     double GainMag[3];
     double GainAcc[3];
+    double GainOmega[3];
+    double GainAIO[NbDAC];
     
-    
+    AnalogIn * pAIn[NbDAC];
     
 };
 #endif
\ No newline at end of file

--- a/Mesure/mesure.cpp	Fri Feb 12 20:54:38 2016 +0000
+++ b/Mesure/mesure.cpp	Sat Feb 13 14:29:40 2016 +0000
@@ -1,8 +1,16 @@
 #include "Mesure.h"
 
-tMesure::tMesure(COMPASS_DISCO_L476VG * apCompass)
+tMesure::tMesure(COMPASS_DISCO_L476VG * apCompass, GYRO_DISCO_L476VG * apGyro,AnalogIn * apAIn[NbDAC])
 {
     pCompass=apCompass;
+    pGyro=apGyro;
+    for(int i=0; i<NbDAC;i++)
+    {
+        pAIn[i]=apAIn[i];
+    }
+    
+//Offset and gains to be updated after calibration
+    
     GainMag[0]=1.0;
     GainMag[1]=1.0;
     GainMag[2]=1.0;
@@ -10,12 +18,27 @@
     OffsetMag[1]=0.0;
     OffsetMag[2]=0.0;
     
-    GainAcc[0]=1.0;
-    GainAcc[1]=1.0;
-    GainAcc[2]=1.0;
-    OffsetAcc[0]=0.0;
-    OffsetAcc[1]=0.0;
-    OffsetAcc[2]=0.0;
+    
+    GainAcc[0]=0.0005995;
+    GainAcc[1]=0.0005934;
+    GainAcc[2]=0.0006065;
+    OffsetAcc[0]=-0.666;
+    OffsetAcc[1]=-0.164;
+    OffsetAcc[2]=0.177;
+    
+    GainOmega[0]=1.0;
+    GainOmega[1]=1.0;
+    GainOmega[2]=1.0;
+    OffsetOmega[0]=-316.0;
+    OffsetOmega[1]=1196.0;
+    OffsetOmega[2]=385.0;
+    
+    for (int i=0;i<NbDAC;i++)
+    {
+        GainAIO[i]=3.3;
+        OffsetAIO[i]=0.0;
+    }
+    
     
 }
 
@@ -23,26 +46,48 @@
 {
     int16_t lMag[3];
     int16_t lAcc[3];
+    float lGyroBuffer[3];
+    
     pCompass->AccGetXYZ(lAcc);
     pCompass->MagGetXYZ(lMag);
+    pGyro->GetXYZ(lGyroBuffer);
     
+ //calibration    
     for (int i = 0;i<3;i++)
     {
          Mag[i]=  (lMag[i]*GainMag[i])+ OffsetMag[i];
          Acc[i]=  (lAcc[i]*GainAcc[i])+ OffsetAcc[i];
+         Omega[i]=  (lGyroBuffer[i]*GainOmega[i])+ OffsetOmega[i];
+    }
+    
+    for(int i=0; i<NbDAC;i++)
+    {
+        AIO[i]=(pAIn[i]->read()*GainAIO[i])+OffsetAIO[i];
     }
 }
 
 void tMesure::Save(FILE * apFile)
 {
+  
   fprintf(apFile,"%f\t",Acc[0]);  
   fprintf(apFile,"%f\t",Acc[1]);  
   fprintf(apFile,"%f\t",Acc[2]);  
   
+  fprintf(apFile,"%f\t",Omega[0]);  
+  fprintf(apFile,"%f\t",Omega[1]);  
+  fprintf(apFile,"%f\t",Omega[2]);
+  
   fprintf(apFile,"%f\t",Mag[0]);  
   fprintf(apFile,"%f\t",Mag[1]);  
   fprintf(apFile,"%f\t",Mag[2]);
   
+  for (int i=0; i<NbDAC ; i++)
+  {
+     fprintf(apFile,"%f\t",AIO[i]); 
+    }
+  
+
+  
   fprintf(apFile,"\n");
   
 }
\ No newline at end of file

--- a/main.cpp	Fri Feb 12 20:54:38 2016 +0000
+++ b/main.cpp	Sat Feb 13 14:29:40 2016 +0000
@@ -1,35 +1,53 @@
+
+/* --------------------------------------------------------
+
+                    MothLogger
+                    
+Version 2.0  February 12th 2016 Florent HADDAD
+
+
+Save on SD card 
+    Acceleration, 
+    Gyroscope, 
+    Compass 
+    5 Analog input (PA_0..PA_5 except PA_4)
+
+SdCard connected on :
+    PE_12 to PE_15 for SPI
+    3.3V
+    
+Start/Stop switch between 3V and PD_0
+
+Green led blinks during log
+
+tested up to 100Hz acquisition frequency
+For any unknown reason, may need to be downloaded twice to run properly !
+
+
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+
+-------------------------------------------------------*/
+
+
 #include "mbed.h"
-
 #include "DefinitionIO.h"
 
- 
-    
 
 
 int main()
 {
     
-    Init();
-  
-    
-    
-  
-    while(1) {
-      Mesures.Update();
+    Init(); //initialization of I/O
+    Mesures.Update(); //required to start safely IOs
     
-      CheckEnreg();
-        // Read acceleremoter and magnetometer values
-        
-        // Display values      
-       /* printf("Acc X = %d\n", lAcc[0]);
-        printf("Acc Y = %d\n", lAcc[1]);
-        printf("Acc Z = %d\n", lAcc[2]);
-        printf("Mag X = %d\n", lMag[0]);
-        printf("Mag Y = %d\n", lMag[1]);
-        printf("Mag Z = %d\n", lMag[2]);
-        printf("\n\r"); */
-      
-      
-        wait(1);
+   
+    while(1) 
+    {
+        //main loop is actually performed in a ticker defined in "DefinitionIO/Init()"
     }
-}
+}
\ No newline at end of file