Revision 0:19ea917e5234, committed 2017-03-25

Comitter:

moshi

Date:

Sat Mar 25 10:33:36 2017 +0000

Commit message:

BodySwap

Changed in this revision

diff -r 000000000000 -r 19ea917e5234 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Mar 25 10:33:36 2017 +0000
@@ -0,0 +1,337 @@
+#include "mbed.h"
+
+/***
+/ Body Swap Machine Program 
+***/
+
+#define actuatorFrequency 250       //Frequency of actuator vibration[Hz]
+
+#define sscTickerInterval 0.1       //Ticker Interval [s]
+#define updateFrequency 20000       //Update frequency for sine wave[Hz]
+
+#define MIN_TIME_DIFF 500           //Chatter elimination delay for tact switch [us]
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+AnalogIn ain1(p15);
+AnalogIn ain2(p16);
+
+InterruptIn buttonA(p12);           //Blue Button
+InterruptIn buttonB(p13);           //Yellow Button
+InterruptIn buttonC(p14);           //Red Button
+
+SPI spi(p5, NC, p7);                //mosi (master output slave input), miso, sclk
+DigitalOut cs(p8);                  //chip select pin
+Serial pc(USBTX, USBRX);            //tx, rx
+
+int phase[2] = {0};                 //current phase of sinusoid (int from 0 to 999)
+char phasetick[2][1000] = {0};      //how much one ticker call moves the phase
+int phasetickcounter = 0;           //which phasetick to use
+
+float ms_passed_per_t = 0;          //how many milliseconds will pass per an increase in t
+
+float amplitude[2] = {0, 0};    //Amplitude of vibration[%]
+int frequency[2] = {0, 0};          //Frequency of vibration[Hz]
+
+long int t = 0;                     //Time. Equivalent to (10^-4)s. Resets when going into state 3 or state 4
+
+short waveTable[1100] = {0};        //table for output values in case of sine wave
+                                    //waveTable[k][i] = 1/2 * ( 1 + sin( 2*PI * (i/1000 ) ), waveTable[1][i] = actual strength at those points
+
+short DA[2] = {0};                  //table for actual binary passed to DA converter
+
+short silence[4] = {4096,8192,12288,16384}; 
+                                    //pass to DAC when output is zero
+short channel[4] = {4096,8192,12288,16384};
+                                    //binary for each channel
+
+float adc1 = 0;                     //input from adc1
+float adc2 = 0;
+float volts1 = 0;                   //convert to voltage
+float volts2 = 0;                   
+
+float prev_button_press_A = -100;   //timing of previous button press[us]
+float prev_button_press_B = -100; //timing of previous button press[us]   
+float prev_button_press_C = -100; //timing of previous button press[us]     
+
+float reset_pressed_time = false;       
+
+Ticker time_ticker;                 //ticker
+
+LocalFileSystem local("local");               // Create the local filesystem under the name "local"
+FILE *fp;
+
+//for measuring time
+Timer time1;
+int ttaken[100] = {0};
+int cont = 0;
+float ave = 0;
+int max = 0;
+//for measuring time
+
+void vibration();
+void waveDefine(int);
+
+
+//time_ticker
+void time(){
+
+    //time1.start();
+
+    t++;                                                //every 50us
+    vibration();
+
+    //resets time if t is greater than 1800000000 (30 minutes)
+    
+    if(t - 1800000000 > 0){
+        t = 0;
+    }
+    
+    if(t%20 == 0){
+        
+        amplitude[0] = ain1.read();     //reads input from sensor 1 (value 0~1) and inputs value into actuator vibration amplitude
+
+    }else if(t%20 - 1 == 0){
+
+        amplitude[1] = ain2.read();
+
+    }
+
+    /*
+    time1.stop();
+    
+    if(cont < 99){
+        ttaken[cont] = time1.read_us();
+        cont++;
+    }else if(cont == 99){
+        ttaken[cont] = time1.read_us();
+        for(int i = 0; i<100;i++){
+            ave += ttaken[i];
+            if(ttaken[i] > max){
+                max = ttaken[i];
+            }
+        }
+        ave = ave/100;
+        cont = 1000;
+        pc.printf("%f\r\n",ave);
+    }
+    
+    time1.reset();
+    */
+    
+}
+
+
+void initVariables(){
+
+    ms_passed_per_t = (float)1000.000 / (float)updateFrequency;
+    t = 0;
+
+    for(int i = 0; i < 2; i++){
+        frequency[i] = actuatorFrequency;
+    }
+
+    amplitude[0] = 0.1;
+    amplitude[1] = 0.1;
+
+    buttonA.mode(PullUp);
+    buttonB.mode(PullUp);
+    buttonC.mode(PullUp);
+
+}
+
+
+void setWaveTable(){
+    
+    /***
+    / Sets the Sine Wave Table
+    ***/
+
+    double temp = 0.0;
+    double ttactual = 0.0;              //actual(optimal) value of phasetic in double
+    double ticksum = 0.0;               //sum of all ticker calls
+
+    for(int i = 0; i < 2; i++){
+
+        phase[i] = 0;
+        ttactual = 1000.0 * frequency[i] / updateFrequency;
+
+        if(ttactual == (int)ttactual){
+            for(int j = 0; j < 1000; j++){
+                phasetick[i][j] = (int)(ttactual);              //if the tick in phase is an integer, simply input the integer
+            }
+            ticksum = ttactual*100;
+            
+        }else{
+            for(int j = 0; j < 1000; j++){                      //if the tick in phase is NOT an integer
+                phasetick[i][j] = (int)(ttactual);              //cast value to integer (integer < double) and input
+                ticksum += phasetick[i][j];                     //find sum of phases
+
+                if(ttactual * (j + 1.0) - ticksum >= 0.99999){  //if difference between target and actual sum is equal to or greater than 1
+                    phasetick[i][j]++;                          //add 1
+                    ticksum++;                                  //add 1
+                    
+                }
+            }
+        }
+    }
+
+    for(int k = 0; k < 1100; k++){
+        temp = (sin(2.0*3.14159*k/1000)*0.5+0.5)*0x3FF;
+        waveTable[k] = (short)temp;
+    }
+
+}
+
+
+void vibration(){
+    phasetickcounter++;
+
+    if(phasetickcounter >= 1000)
+        phasetickcounter = 0;
+
+    for(int i = 0; i < 2; i++){                           // i=channel number
+        
+        //Part 1 : tick the phase
+        phase[i] += phasetick[i][phasetickcounter];
+
+        if(phase[i] >= 1000)
+            phase[i] -= 1000;
+        //Part 1 end
+
+        //Part 2 : change input to relevant data
+        waveDefine(i);
+        //Part 2 End.
+
+        //Part 3: write input
+        cs = 0;                 //enable clock
+        spi.write(DA[i]);
+        cs = 1;                 //disable clock and load data
+        //part 3 end
+    }
+}
+
+
+void waveDefine(int i){
+
+    double inputvalue =  0;
+
+    //amplitude[i] = 1;         //temporary measure - change this to sensor input
+    //notQuiet[i] = 1;
+
+    inputvalue = amplitude[i] * (double)waveTable[phase[i]];
+    DA[i] = (((i&0x07)+1)<<12)|((((int)inputvalue)&0x3FF)<<2);
+
+    return;
+}
+
+void writeVoltage(){
+
+    if(t - prev_button_press_A > MIN_TIME_DIFF){
+        led2 = 1;
+        prev_button_press_A = t;
+        adc1 = ain1.read();
+        adc2 = ain2.read();
+        volts1 = adc1 * 3.3;
+        volts2 = adc2 * 3.3;
+
+        fp = fopen("/local/out.csv", "a");
+        // prints sensor 1 voltage, sensor 2 voltage, time[seconds]
+        fprintf(fp, "%.5f, %.5f, %.3f\n",volts1,volts2,(float)t/20000);
+        fclose(fp);
+        led2 = 0;
+    }
+}
+
+void softReset_f(){
+
+    if(t - prev_button_press_C > MIN_TIME_DIFF){
+        prev_button_press_C = t;
+        reset_pressed_time = t;
+        led4 = 1;
+    }
+}
+
+void softReset_r(){
+
+    if(t - prev_button_press_C > MIN_TIME_DIFF){
+        prev_button_press_C = t;
+        led4 = 0;
+        if(t - reset_pressed_time > 20000){
+            NVIC_SystemReset();
+        }
+    }
+}
+/*
+void blinkLED1(){
+
+    if(t - prev_button_press_A > MIN_TIME_DIFF){
+        prev_button_press_A = t;
+        led2 = !led2;
+    }
+}
+*/
+void blinkLED2(){
+
+    if(t - prev_button_press_B > MIN_TIME_DIFF){
+        prev_button_press_B = t;
+        led3 = !led3;
+    }
+}
+
+/*
+void blinkLED3_f(){
+
+    if(t - prev_button_press_C > MIN_TIME_DIFF){
+        prev_button_press_C = t;
+        reset_pressed_time = t;
+    }
+}
+
+void blinkLED3_r(){
+
+    if(t - prev_button_press_C > MIN_TIME_DIFF){
+        prev_button_press_C = t;
+
+        if(t - reset_pressed_time > 20000){
+            led4 = !led4;
+        }
+    }
+}
+*/
+
+int main() {
+
+    initVariables();
+    setWaveTable();
+
+    // Setup SPI communications w/ DA converter
+    spi.format(16,0);
+    spi.frequency(10000000);    //10MHz
+
+    //attack ticker
+    time_ticker.attach_us(&time,1000000 / updateFrequency);  //Every (10^-4)s
+
+    //attach button
+    buttonA.fall(&writeVoltage);
+    buttonB.fall(&blinkLED2);
+
+    //attach reset button (Resets mbed if RED button is pressed for more than 1 second and released)
+    buttonC.fall(&softReset_f);
+    buttonC.rise(&softReset_r);
+
+    //test serial output
+    pc.printf("Hello, world!\n\r");
+
+    //LED1 Blink every 0.5s
+    while(1){
+        wait(0.5);
+        led1 = !led1;
+        pc.printf("S1: %f\r\n", amplitude[0]);
+        pc.printf("S2: %f\r\n", amplitude[1]);
+    }
+
+}
\ No newline at end of file

diff -r 000000000000 -r 19ea917e5234 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Mar 25 10:33:36 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90
\ No newline at end of file