presens.cpp

00001 #include "cisme.h"
00002 #include "presens.h"
00003 #include "OxygenSensor.h"
00004 #include "debug.h"
00005 #include "adc.h"
00006 #include "SerialBuffered.h"
00007 
00008 /* Due to unknown reason in old version presens was 6 symbol long. */
00009 //#define PRESENS_FLOAT_LENGTH  6
00010 #define PRESENS_BUFFER_LENGTH  32
00011 
00012 //static int writeIx;
00013 //static int readIx;
00014 //static uint8_t Presens_Buffer[PRESENS_BUFFER_LENGTH];
00015 
00016 //Serial presenseComm(p9,p10);
00017     SerialBuffered presenseComm(100, p9, p10);       
00018 
00019 
00020 static float presensReadFloat(int PRESENS_FLOAT_LENGTH)
00021 {
00022 
00023     char buf[PRESENS_FLOAT_LENGTH];
00024     for(int i=0;i<PRESENS_FLOAT_LENGTH;i++){
00025         buf[i]='0';
00026         }
00027     char charIx = 0;
00028 
00029     while (charIx < PRESENS_FLOAT_LENGTH) {
00030         buf[charIx++] = presenseComm.getc();
00031     }
00032     DEBUG1("received %s",buf);
00033 
00034     return atof(buf);
00035 }
00036 
00037 void presensInit(void)
00038 {
00039     //set the baud rate for the PreSense
00040     presenseComm.baud(PRESENS_BAUD);
00041     //set the Serial parameters for the PreSense
00042     presenseComm.format(PRESENS_NO_BITS, PRESENS_PARITY, PRESENS_NO_STOP_BITS);
00043     //presenseComm.baud( PRESENS_BAUD );
00044     //presenseComm ->format(7,serialStream->Even,1); 
00045     presenseComm.setTimeout( 0.1 );
00046 
00047 
00048     wait(PRESENS_CONFIG_DELAY);
00049 }
00050 
00051 void presensConfig(float ledCurrent)
00052 {
00053     wait(PRESENS_CONFIG_DELAY);
00054 
00055     presenseComm.printf("");
00056 
00057     if (ledCurrent > 255 || ledCurrent < 0) {
00058         ERROR("Too big ledCurrent=%f, it should be not less than 0 and not greater than 255. Using default ledCurrent=%f", ledCurrent, PRESENS_LED_DEFAULT);
00059         ledCurrent = PRESENS_LED_DEFAULT;
00060     }
00061 
00062     presenseComm.printf("sacu%-.4d\r", (int)ledCurrent);
00063 
00064     presenseComm.printf("mode0000\r");
00065     wait(PRESENS_CONFIG_DELAY);
00066 //    presenseComm.printf("avrg0009\r");
00067 //    wait(PRESENS_CONFIG_DELAY);
00068 //    presenseComm.printf("view0000\r");
00069 //    wait(PRESENS_CONFIG_DELAY);
00070 //    presenseComm.printf("tmpc2000\r");
00071 //    wait(PRESENS_CONFIG_DELAY);
00072 
00073 }
00074 
00075 void presensGetData(float* result)
00076 {
00077     float amplitude = 0;
00078     float phase     = 0;
00079     int PRESENS_FLOAT_LENGTH = 7;
00080                      
00081 
00082 
00083 
00084     //presenseComm.printf("call0000\r");;
00085     //    presenseComm.printf("data\r");;
00086     adcGetData();
00087     wait(0.1);
00088 
00089     const OxygenSensor oxsense(TempCal1, TempCal2, PhaseCal1, PhaseCal2, PresCal, PRESENS_SALINITY);
00090 
00091     if (result == NULL) {
00092         ERROR("Result array is null");
00093         return;
00094     }
00095 
00096     L3=1;
00097     
00098     // read the each data packet
00099 
00100     while (presenseComm.readable() != 1);
00101 
00102     //waiting until letter 'A' is read 
00103     //presens amp get
00104     while (presenseComm.getc() != 65);
00105 
00106     amplitude = presensReadFloat(PRESENS_FLOAT_LENGTH);
00107 
00108     /* skip the characters semicolon ":" and letter "P" */
00109     while (presenseComm.getc() != 80);
00110 
00111     L4=1;
00112     
00113     PRESENS_FLOAT_LENGTH = 4;
00114     phase = presensReadFloat(PRESENS_FLOAT_LENGTH) / 100;
00115 
00116     L3 = 0;
00117     
00118     // read through the rest of packet to empty out the buffer
00119 
00120     while(presenseComm.readable()) {
00121         presenseComm.getc();
00122     }
00123     
00124     // end of the data extraction
00125 
00126     L3=1;
00127 
00128     DEBUG1("Amplitude=%5.0f Phase=%5.2f", amplitude, phase);
00129 
00130     result[0] = amplitude;
00131     result[1] = phase;
00132     result[2] = oxsense.calculate(PHTEMP, phase);
00133 
00134     if (amplitude < 600) {
00135         result[2] = 999.99;
00136     }
00137 
00138     DEBUG1("Result array:amplitude=%5.0f, phase=%2.2f, OxsenseData=%3.3f", amplitude, phase, result[2]);
00139 
00140     L3=0;
00141     L4=0;
00142 }