main.cpp

00001 #include "mbed.h"
00002 #include "PinDetect.h"
00003 #include "MMA8451Q.h"
00004 #include "MAG3110.h"
00005 #include "TSISensor.h"
00006 
00007 #define MMA8451_I2C_ADDRESS (0x1d<<1)
00008 
00009 // Declare output LEDs
00010 DigitalOut ledgreen(PTD5);
00011 DigitalOut ledred(PTE29);
00012 
00013 // Declare USB serial connection
00014 Serial pc(USBTX,USBRX);
00015 
00016 // Declare timer interrupt
00017 Ticker timerAcc;
00018 Ticker timerMag;
00019 Ticker timerLight; 
00020 Ticker timerTouch;
00021 Ticker timerADC;
00022 
00023 // Declare pointer variables
00024 float xAcc;
00025 float yAcc;
00026 float zAcc;
00027 int xMag;
00028 int yMag;
00029 int zMag;
00030 float xLight; 
00031 float xTouch; 
00032 float xADC;
00033 
00034 // Sampling rates
00035 float accRate = 0.1;
00036 float magRate = 0.1;
00037 float lightRate = 0.1;
00038 float touchRate = 0.1;
00039 float adcRate = 0.1;
00040 
00041 // Enables
00042 int accEn = 1;
00043 int magEn = 1;
00044 int lightEn = 1;
00045 int touchEn = 1;
00046 int adcEn = 1;
00047 
00048 // Receiving Data
00049 const int bufferSize = 255;
00050 char buffer[bufferSize];
00051 int index = 0;
00052 int received = 0;
00053 int readEn = 0;
00054 float temp;
00055 
00056 // Declare Accelerometer pins and I2C address
00057 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS, 0, 0);
00058 // Declare Magnetometer pins
00059 MAG3110 mag(PTE25, PTE24);
00060 // Declare touch sensor pin
00061 TSISensor touch;
00062 // Declare light sensor pin
00063 AnalogIn light(PTE22);
00064 // Declare analog input pin
00065 AnalogIn adc(PTB0);
00066 
00067 // Functions
00068 void init();
00069 void printData();
00070 void receiveHandler();
00071 void processCommand();
00072 void accTime();
00073 void magTime();
00074 void lightTime();
00075 void touchTime();
00076 void adcTime();
00077 
00078 void init()
00079 {
00080     // Attach timerAcc
00081     pc.baud(9600);
00082     timerAcc.attach(&accTime, accRate);
00083     timerMag.attach(&magTime, magRate);
00084     timerLight.attach(&lightTime, lightRate);
00085     timerTouch.attach(&touchTime, touchRate);
00086     timerADC.attach(&adcTime, adcRate);
00087     pc.attach(&receiveHandler, Serial::RxIrq);
00088     ledred = 0; 
00089     ledgreen = 0;   
00090 }
00091 
00092 int main() 
00093 {
00094     // Initialize
00095     init();
00096 
00097     while(1)
00098     {
00099         __disable_irq();
00100         printData();
00101         __enable_irq();
00102         wait(0.05);
00103         if(received == 1){
00104             __disable_irq();    
00105             processCommand();
00106             __enable_irq();
00107         }
00108         //ledgreen = !ledgreen;
00109     }
00110 }
00111 
00112 void printData()
00113 {
00114     pc.printf("/%f/%f/%f/%d/%d/%d/%f/%f/%f/%.3f/%.3f/%.3f/%.3f/%.3f/%d/%d/%d/%d/%d/\r\n", 
00115         xAcc, yAcc, zAcc, xMag, yMag, zMag, xLight, xTouch, xADC, 
00116         accRate, magRate, lightRate, touchRate, adcRate, 
00117         accEn, magEn, lightEn, touchEn, adcEn);
00118         
00119 }  
00120 
00121 void receiveHandler()
00122 {
00123     while (pc.readable()){
00124         temp = pc.getc();
00125         //begin reading if char is @
00126         if (temp == '@')
00127         {
00128             readEn = 1;
00129         }
00130         //stop reading if char is #
00131         else if (temp == '#' && readEn == 1)
00132         {
00133             readEn = 0;
00134             received = 1;
00135             //ledred = 1;
00136             index = 0;
00137             return;
00138         }
00139         // if read enable is on, then read in data
00140         else if (readEn == 1)
00141         {
00142             buffer[index] = temp;
00143             index++;
00144         }
00145     }
00146     return;
00147 }
00148 
00149 void processCommand()
00150 {
00151     //pc.printf("%s\r\n", buffer);
00152     char* cmd_index;
00153     char* cmd_val;
00154     char* disStr = "ddd";
00155     char* enStr = "eee";
00156     // read in first value (0, 1, 2, or 3)
00157     cmd_index = strtok(buffer, "x");
00158     //pc.printf("%s\r\n", cmd_index);
00159     //read in second value (integer larger than 050)
00160     cmd_val = strtok(NULL, "x");
00161     //pc.printf("%s\r\n", cmd_val);
00162     // ddd means disable
00163     if (strcmp(cmd_val, disStr) == 0)
00164     {
00165         ledgreen = 1;
00166         switch(*cmd_index)
00167         {
00168             case '1':  
00169                 timerAcc.detach();
00170                 accEn = 0;
00171                 break;
00172             case '2':  
00173                 timerMag.detach();
00174                 magEn = 0;
00175                 break;
00176             case '3': 
00177                 timerLight.detach();
00178                 lightEn = 0;
00179                 break;
00180             case '4':  
00181                 timerTouch.detach();
00182                 touchEn = 0;
00183                 break;
00184             case '5':
00185                 timerADC.detach();
00186                 adcEn = 0;
00187                 break;
00188             default:
00189                 //pc.printf("incorrect input\r\n");          
00190                 break;
00191         }
00192     }
00193     // eee means enable
00194     else if (strcmp(cmd_val, enStr) == 0)
00195     {
00196         switch(*cmd_index)
00197         {
00198             case '1':  
00199                 timerAcc.attach(&accTime, accRate); 
00200                 accEn = 1;
00201                 break;
00202             case '2':  
00203                 timerMag.attach(&magTime, magRate);
00204                 magEn = 1;
00205                 break;
00206             case '3': 
00207                 timerLight.attach(&lightTime, lightRate);
00208                 lightEn = 1;
00209                 break;
00210             case '4':  
00211                 timerTouch.attach(&touchTime, touchRate);
00212                 touchEn = 1;
00213                 break;
00214             case '5':
00215                 timerADC.attach(&adcTime, adcRate);
00216                 adcEn = 1;
00217                 break;
00218             default:
00219                 //pc.printf("incorrect input\r\n");          
00220                 break;
00221         }
00222     }
00223     temp = strtod(cmd_val, NULL)/1000;
00224     if (temp > 0.001 && strlen(cmd_val) >= 3)
00225     {
00226         switch(*cmd_index)
00227         {
00228             case '1':  
00229                 accRate = temp;
00230                 timerAcc.detach();
00231                 timerAcc.attach(&accTime, accRate); 
00232                 break;
00233             case '2':  
00234                 magRate = temp;
00235                 timerMag.detach();
00236                 timerMag.attach(&magTime, magRate);
00237                 break;
00238             case '3': 
00239                 lightRate = temp;
00240                 timerLight.detach();
00241                 timerLight.attach(&lightTime, lightRate);
00242                 break;
00243             case '4':  
00244                 touchRate = temp;
00245                 timerTouch.detach();
00246                 timerTouch.attach(&touchTime, touchRate);
00247                 break;
00248             case '5':
00249                 adcRate = temp;
00250                 timerADC.detach();
00251                 timerADC.attach(&adcTime, adcRate);
00252             default:
00253                 //pc.printf("incorrect input\r\n");          
00254                 break;
00255         }
00256     }
00257         
00258     received = 0;
00259     memset(buffer, 0, bufferSize);
00260     //pc.printf("%s\r\n", buffer);                
00261 }
00262 
00263 void accTime() 
00264 {
00265     xAcc = abs(acc.getAccX());
00266     yAcc = abs(acc.getAccY());
00267     zAcc = abs(acc.getAccZ());
00268     ledred = !ledred;
00269 }
00270 
00271 void magTime()
00272 {
00273     xMag = mag.getXVal();
00274     yMag = mag.getYVal();
00275     zMag = mag.getZVal();
00276     //ledred = !ledred;
00277 }
00278 
00279 void lightTime()
00280 {
00281     xLight = 1 - light.read();
00282 }
00283 
00284 void touchTime()
00285 {
00286     xTouch = 1 - touch.readPercentage();
00287 }
00288 
00289 void adcTime()
00290 {
00291     xADC = adc.read();
00292 }