Diff: main.cpp

Revision:

0:8a797b9e2fe4

Child:

1:abc522e41d63

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 06 02:21:17 2017 +0000
@@ -0,0 +1,241 @@
+/* Code for ECE 4180-A Final Design Project  */
+/* Kartik Sastry, Robert Walsh, Krishna Peri */
+/* mbed Based Fitness Wearable Prototype     */
+
+/******************************************************************************/
+/*                   Devices Used and Pin Assignments                         */
+/******************************************************************************/
+/*
+ - mbed LPC1768 Microcontroller
+ - Adafruit VL53L0X Time of Flight Distance Sensor (LIDAR)
+    I2C p9, p10
+    DigitalOut p26
+ - Heart Rate Sensor / Pulse Oximeter - Maxim MAXREFDES117#
+    I2C p9, p10
+ - LSM9DS1 9 degrees-of-freedom Inertial Measurement Unit (IMU)
+    I2C p9, p10
+ - Adafruit Ultimate GPS Breakout V3 (GPS)
+    Serial 14, 15
+ - 4D Systems 4DGL-uLCD LCD Display (LCD)
+    Serial p27, p28, p30
+ - Pushbutton (Wire one switch pole to p7, the other directly to ground. No need for external pullup resistor.)
+    PinDetect p7
+*/
+
+/******************************************************************************/
+/*                          Libraries and Include Files                       */
+/******************************************************************************/
+#include "mbed.h"
+#include "rtos.h"
+//#include "SDFileSystem.h"
+#include "uLCD_4DGL.h"
+#include "LSM9DS1.h"
+#include "MBed_Adafruit_GPS.h"
+#include "XNucleo53L0A1.h"
+#include "math.h"
+#include <stdio.h>
+#include "PinDetect.h"
+
+/******************************************************************************/
+/*                          I/O Object Declarations                           */
+/******************************************************************************/
+Serial pc(USBTX, USBRX);                // Interface to PC over virtual COM
+uLCD_4DGL uLCD(p28, p27, p30);          // LCD
+LSM9DS1 imu(p9, p10, 0xD6, 0x3C);       // IMU
+//Serial * gps_Serial;                  // GPS
+#define VL53L0_I2C_SDA   p9             // LIDAR
+#define VL53L0_I2C_SCL   p10            // I2C sensor pins for LIDAR
+DigitalOut shdn(p26);                   // This VL53L0X board test application performs a range measurement in polling mode
+                                        // Use 3.3(Vout) for Vin, p9 for SDA, p10 for SCL, P26 for shdn on mbed LPC1768
+PinDetect myPushbutton(p7);             // For Mode Selection Feature
+
+/******************************************************************************/
+/*                    Global Variables (Carefully Managed)                    */
+/******************************************************************************/
+// Globals for IMU
+float new_x = 0, new_y = 0, new_z = 0;
+bool start = 0;
+int count = 0;
+
+// Globals For GPS
+// Declare
+Serial gps_Serial(p13,p14);                 // Serial object for use w/ GPS
+Adafruit_GPS myGPS(&gps_Serial);            // Object of Adafruit's GPS class
+Timer refresh_Timer;                        // Sets up a timer for use in loop; how often do we print GPS info?
+const int refresh_Time = 2000;              // refresh time in ms
+char c;                                     // when read via Adafruit_GPS::read(), the class returns single character stored here
+
+// Globals For LIDAR
+static XNucleo53L0A1 *board=NULL;
+int status;
+uint32_t distance;
+
+/******************************************************************************/
+/*                              Necessary Mutex Locks                         */
+/******************************************************************************/
+Mutex mySerialMutex;            // On PC com port
+Mutex myLCDMutex;               // On uLCD
+
+/******************************************************************************/
+/*                    Device Selection / Thread Control                       */
+/******************************************************************************/
+enum DATA_ACQ_MODE {MODE_IMU_SELECT, MODE_GPS_SELECT, MODE_LIDAR_SELECT};       // by default mapped to {0, 1, 2}
+volatile int myMode = MODE_IMU_SELECT;                                          // To be changed by pushbutton presses
+
+// Short ISR - serviced when interrupt given by myPushbutton hit
+void changeMode_ISR(void) {
+    myMode = (myMode + 1) % 3;        // mod 3 makes it periodic (0,1,2,0,1,2)
+}
+
+/******************************************************************************/
+/*                    Function Prototypes of Threads                          */
+/******************************************************************************/
+void IMU_THREAD();
+void GPS_THREAD();
+void LIDAR_THREAD();
+void LCD_THREAD();
+
+/******************************************************************************/
+/*               Main Thread: Initialization and Heart Rate                   */
+/******************************************************************************/
+int main() {
+
+    // Set up IMU
+    uLCD.baudrate(300000);
+    imu.begin();
+    if (!imu.begin()) {
+        pc.printf("(IMU) Failed to communicate with LSM9DS1.\n");
+    }
+    imu.calibrate();
+    imu.readAccel();
+
+    // Set up GPS
+    myGPS.begin(9600);                                                  // sets baud rate for GPS communication; note this may be changed via Adafruit_GPS::sendCommand(char *)
+                                                                        // a list of GPS commands is available at http://www.adafruit.com/datasheets/PMTK_A08.pdf
+    myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);                     // these commands are defined in MBed_Adafruit_GPS.h; a link is provided there for command creation
+    myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
+    myGPS.sendCommand(PGCMD_ANTENNA);
+    pc.printf("(GPS) Connection established at 9600 baud...\n");
+    Thread::wait(1*1000);
+    refresh_Timer.start();                                              // starts the clock on the timer
+
+    // Set up LIDAR
+    DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);    // LIDAR Objects:
+    board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);            // creates the 53L0A1 expansion board singleton obj
+    shdn = 0;                                                           // must reset sensor for an mbed reset to work
+    Thread::wait(0.1*1000);
+    shdn = 1;
+    Thread::wait(0.1*1000);
+
+    status = board->init_board();                                       // init the 53L0A1 board with default values
+    while (status) {
+        pc.printf("(LIDAR) Failed to init board! \r\n");
+        status = board->init_board();
+    }
+
+    // Set up Mode Selecting Pushbutton (Debounced, Interrupt Based)
+    myPushbutton.mode(PullUp);                                          // Use internal pullups for pushbutton
+    Thread::wait(.01*1000);                                             // Delay for initial pullup to take effect
+    myPushbutton.attach_deasserted(&changeMode_ISR);                    // Setup Interrupt Service Routines. PullUp implies 1->0 change means hit
+    myPushbutton.setSampleFrequency();                                  // Start sampling pushbutton inputs using interruptsUsing default 50 Hz (20 ms period)
+
+    // Launch Threads
+    Thread IMU_THREAD(IMU_THREAD);
+    Thread GPS_THREAD(GPS_THREAD);
+    Thread LIDAR_THREAD(LIDAR_THREAD);
+    Thread LCD_THREAD(LCD_THREAD);
+
+    // Main Thread
+    while(true) {
+        // <DO THINGS!>
+        Thread::wait(5000);
+    }
+}
+
+/******************************************************************************/
+/*                       Thread 2: IMU Measurement                            */
+/******************************************************************************/
+void IMU_THREAD() {
+    // Change Axis..............................................................................................................
+    while (myMode == MODE_IMU_SELECT) {
+        imu.readAccel();
+        new_x = imu.calcAccel(imu.ax);
+        new_y = imu.calcAccel(imu.ay);
+        new_z = imu.calcAccel(imu.az);
+        mySerialMutex.lock();
+            pc.printf("z: %f\r\n", new_z);
+        mySerialMutex.unlock();
+        if (new_z > 1.25){
+            start = 1;
+        }
+        if (start == 1 & new_z < .90){
+            count += 1;
+            start = 0;
+        }
+        mySerialMutex.lock();
+            pc.printf("count: %d\r\n", count);
+        mySerialMutex.unlock();
+        Thread::wait(.1*1000);
+    }
+}
+
+/******************************************************************************/
+/*                          Thread 3: GPS Measurement                         */
+/******************************************************************************/
+void GPS_THREAD() {
+    // pc.baud(9600);                                           // sets virtual COM serial communication to high rate; this is to allow more time to be spent on GPS retrieval
+
+    while (myMode == MODE_GPS_SELECT) {
+        c = myGPS.read();                                       // queries the GPS
+
+        // if (c) { pc.printf("%c", c); }                       // this line will echo the GPS data if not paused
+
+        // check if we recieved a new message from GPS, if so, attempt to parse it,
+        if ( myGPS.newNMEAreceived() ) {
+            if ( !myGPS.parse(myGPS.lastNMEA()) ) {
+                continue;
+            }
+        }
+
+        // check if enough time has passed to warrant printing GPS info to screen
+        // note if refresh_Time is too low or pc.baud is too low, GPS data may be lost during printing
+        if (refresh_Timer.read_ms() >= refresh_Time) {
+            refresh_Timer.reset();
+            mySerialMutex.lock();
+                pc.printf("Time: %d:%d:%d.%u\n\r", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds);
+                pc.printf("Date: %d/%d/20%d\n\r", myGPS.day, myGPS.month, myGPS.year);
+                pc.printf("Fix: %d\n\r", (int) myGPS.fix);
+                pc.printf("Quality: %d\n\r", (int) myGPS.fixquality);
+                if (myGPS.fix) {
+                    pc.printf("Location: %5.2f%c, %5.2f%c\n\r", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
+                    pc.printf("Speed: %5.2f knots\n\r", myGPS.speed);
+                    // pc.printf("Angle: %5.2f\n", myGPS.angle);
+                    // pc.printf("Altitude: %5.2f\n", myGPS.altitude);
+                    pc.printf("Satellites: %d\n\r", myGPS.satellites);
+                }
+            mySerialMutex.unlock();
+        }
+    }
+}
+
+/******************************************************************************/
+/*                       Thread 4: LIDAR Measurements                         */
+/******************************************************************************/
+void LIDAR_THREAD() {
+    // loop taking and printing distance
+    while (myMode == MODE_LIDAR_SELECT) {
+        status = board->sensor_centre->get_distance(&distance);
+        if (status == VL53L0X_ERROR_NONE) {
+            mySerialMutex.lock();
+                pc.printf("D=%ld mm\r\n", distance);
+            mySerialMutex.unlock();
+        }
+    }
+}
+
+/******************************************************************************/
+/*                          Thread 5: LCD Display                             */
+/******************************************************************************/
+void LCD_THREAD() {
+
+}
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