Diff: main.cpp

Revision:

0:0d79a3b05b2c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 21 17:51:23 2019 +0000
@@ -0,0 +1,94 @@
+#include "mbed.h"
+#include "BNO055.h"
+#include "ExtendedTimer.h"
+#include "SDFileSystem.h"
+
+Serial pc(USBTX,USBRX);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+I2C i2c(p28,p27);
+BNO055 imu(i2c, 0x28 << 1);//calls class of imu, moves bytes for address
+
+InterruptIn pulseIn1(p21);
+InterruptIn pulseIn2(p22);
+
+ExtendedTimer t;
+Ticker fileTime;
+Ticker readTime;
+
+SDFileSystem fs(p5, p6, p7, p8, "fs");
+
+int coincCounts;
+bool timeToRead;
+bool timeToSave;
+bool print;
+
+void interrupt() {
+    if (!pulseIn1 && !pulseIn2) {
+        coincCounts++;
+    }
+}
+void triggerCollection() {
+    timeToRead = true;  // flag to collect data
+    led3 = 1;
+}
+void triggerSave() {
+    timeToSave = true;      // flag to save data
+    led4 = 1;
+}
+
+int main() {
+    coincCounts = 0;
+    led1 = 0;
+    led2 = 0;
+    led3 = 0;
+    led4 = 0;
+    bool mountFailure = fs.mount();
+    if (mountFailure != 0) {
+        pc.printf("Failed to mount the SD card.\r\n");
+        led1 = 1;
+        return -1;  // ends program with error status
+    }
+    FILE* fp = fopen("/fs/log.txt","a");
+    if (fp == NULL) {
+        pc.printf("Failed to open the file.\r\n");
+        fs.unmount();
+        led1 = 1;
+        return -1;
+    }
+    fprintf(fp,"------------------\r\n");
+    fprintf(fp,"Time\tFace\tRoll\tPitch\tCoincidence\r\n");
+    fileTime.attach(&triggerSave,300);
+    readTime.attach(&triggerCollection,59);
+    if(imu.checkID() == 0xA0){//calling imu making sure compiler is communicating with it
+        imu.setMode(BNO055_MODE_NDOF);
+        imu.setAngleUnits(BNO055_ANGLE_UNITS_DEGREE);//allows programmer to change between using degrees or radians
+    }
+    pulseIn1.fall(&interrupt);
+    pulseIn2.fall(&interrupt);
+    led2 = 1;
+    t.start();
+    while(t <= 12000){
+        if (timeToRead == true) {
+            fprintf(fp, "%5.3f \t %.2f \t %.2f \t %.2f  \t %d \r\n", t.read()/60, imu.readHeading(), imu.readRoll(), imu.readPitch(), coincCounts); 
+            pc.printf("Reading...\r\n");
+            timeToRead = false;
+            coincCounts = 0;
+            led3 = 0;
+        }
+        if (timeToSave == true) {
+            fclose(fp);
+            fp = fopen("/fs/log.txt","a");
+            pc.printf("Saved!\r\n");
+            timeToSave = false;
+            led4 = 0;
+        }
+    } 
+    fclose(fp);     //close file
+    fs.unmount();   //unmount SD
+    pc.printf("Safe to remove SD");
+}