main.cpp

00001 #include "SDFileSystem.h"
00002 #include "MPU9250.h"
00003 #include "InterruptManager.h"
00004 
00005 #define BLENANO
00006 
00007 /*      Pin Definitions     */
00008 #ifdef BLENANO
00009     #define MOSI                p9
00010     #define MISO                p11 
00011     #define SCLK                p8 
00012     #define CS_SD               p10 
00013     #define CS_MPU              p29 
00014     #define BUTTON              p28
00015     #define MIC                 p5
00016     #define LOAD_CELL           p4
00017     #define LED                 p15
00018 #else
00019     #define MOSI                p20
00020     #define MISO                p22 
00021     #define SCLK                p25 
00022     #define CS_SD               p23 
00023     #define CS_MPU              p21 
00024     #define BUTTON              p17
00025     #define MIC                 p5
00026     #define LOAD_CELL           p4
00027     #define LED                 p15
00028 #endif
00029 
00030 /*      Un/comment to determine which tests will be run     */
00031 #define IMU_TEST
00032 //#define MIC_TEST
00033 //#define LOAD_TEST
00034 
00035 /*      Parameters for sampling     */
00036 #define FILE_NAME           "trick"
00037 #define SAMPLE_RATE         1000       
00038 
00039 /*      Objects used        */
00040 DigitalOut      led(LED);
00041 AnalogIn        mic(MIC);
00042 InterruptIn     button(BUTTON);
00043 Ticker          timer;
00044 SPI             spi(MOSI, MISO, SCLK); 
00045 SDFileSystem    sd(MOSI, MISO, SCLK, CS_SD, "sd");
00046 mpu9250_spi     imu(spi , CS_MPU);
00047 
00048 /*      Flags for sampling      */
00049 #define IMU_FLAG            (1<<1U)
00050 #define MIC_FLAG            (1<<2U)
00051 #define CREATE_FILE         (1<<3U)
00052 #define CLOSE_FILE          (1<<4U)
00053 
00054 /*      Status      */
00055 #define START_SAMPLE        1
00056 #define END_SAMPLE          0
00057 
00058 static uint16_t status = 0;
00059 static int button_status = START_SAMPLE;   
00060 static uint16_t file_count = 0;      
00061 
00062 static float sample_rate = (1/(float)SAMPLE_RATE) ;     
00063 
00064 static FILE *fp = NULL;
00065 static char file_name[17];
00066 
00067 static void openNextFile(void)
00068 {
00069 
00070     if( fp ){
00071         fclose(fp);    
00072     }
00073     
00074     snprintf(file_name, sizeof(file_name), "/sd/%s_%02d.txt", FILE_NAME, file_count++); 
00075     fp = fopen(file_name, "w");
00076     fprintf(fp, "Sample Rate: %d Hz\n", SAMPLE_RATE);
00077     
00078 }
00079 
00080 static void button_interrupt(void)
00081 {
00082     
00083     //CREATE FILE
00084     if ( button_status == START_SAMPLE ){
00085         status |= CREATE_FILE;
00086         button_status = END_SAMPLE;
00087         
00088     //CLOSE FILE    
00089     } else if ( button_status == END_SAMPLE ){
00090         status |= CLOSE_FILE;
00091         button_status = START_SAMPLE;
00092     }
00093 
00094 }
00095 
00096 static void timer_interrupt(void)
00097 {
00098     
00099     if ( button_status == END_SAMPLE ){
00100         //ENABLE SAMPLE FLAGS
00101         #ifdef IMU_TEST
00102             status |= IMU_FLAG;
00103         #endif
00104         
00105         #ifdef MIC_TEST
00106             status |= MIC_FLAG;
00107         #endif
00108         
00109         #ifdef LOAD_TEST
00110             status |= LOAD_FLAG;
00111         #endif
00112     }
00113     
00114 }
00115 
00116 int main()
00117 {
00118 
00119     #ifdef IMU_TEST
00120     //initialize imu
00121     imu.init(1, BITS_DLPF_CFG_2100HZ_NOLPF);
00122     #endif
00123     
00124     //set up button as active low to trigger file creation
00125     button.fall(&button_interrupt);
00126     timer.attach(&timer_interrupt, sample_rate );
00127     led.write(0);
00128     
00129     snprintf(file_name, sizeof(file_name), "/sd/%s_%02d.txt", FILE_NAME, file_count++); 
00130     fp = fopen(file_name, "w");
00131     fprintf(fp, "Sample Rate: %d Hz\n", SAMPLE_RATE);
00132     
00133     while(1){
00134         
00135         if ( status & CREATE_FILE ){
00136             led.write(1);    
00137             openNextFile();
00138             status ^= CREATE_FILE;
00139         }
00140         
00141         #ifdef IMU_TEST
00142         if ( status & IMU_FLAG ){
00143             led.write(!led.read());
00144             imu.read_all();
00145             
00146             #ifndef MIC_TEST
00147             fprintf(fp, "%5d\t%5d\t%5d\t%5d\t%5d\t%5d\t%5d\t%5d\t%5d\n", (signed int) imu.gyroscope_data[0],
00148                                                                          (signed int) imu.gyroscope_data[1],
00149                                                                          (signed int) imu.gyroscope_data[2],
00150                                                                          (signed int) imu.accelerometer_data[0],
00151                                                                          (signed int) imu.accelerometer_data[1],
00152                                                                          (signed int) imu.accelerometer_data[2],
00153                                                                          (signed int) imu.Magnetometer[0],
00154                                                                          (signed int) imu.Magnetometer[1],
00155                                                                          (signed int) imu.Magnetometer[2] );
00156             #endif
00157             
00158             status ^= IMU_FLAG;
00159         }
00160         #endif
00161         
00162         #ifdef MIC_TEST
00163         if ( status & MIC_FLAG ){
00164             led.write(!led.read());
00165             
00166             #ifndef IMU_TEST
00167             fprintf(fp, "%d\n", mic.read_u16());
00168             
00169             #else
00170             fprintf(fp, "%5d\t%5d\t%5d\t%5d\t%5d\t%5d\t%5d\t%5d\t%5d\t%4d\n", (signed int) imu.gyroscope_data[0],
00171                                                                               (signed int) imu.gyroscope_data[1],
00172                                                                               (signed int) imu.gyroscope_data[2],
00173                                                                               (signed int) imu.accelerometer_data[0],
00174                                                                               (signed int) imu.accelerometer_data[1],
00175                                                                               (signed int) imu.accelerometer_data[2],
00176                                                                               (signed int) imu.Magnetometer[0],
00177                                                                               (signed int) imu.Magnetometer[1],
00178                                                                               (signed int) imu.Magnetometer[2],
00179                                                                               mic.read_u16() );
00180             #endif
00181             
00182             status ^= MIC_FLAG;
00183             
00184         }
00185         #endif
00186         
00187         if ( status & CLOSE_FILE ){
00188             led.write(0);
00189             fclose(fp);
00190             status ^= CLOSE_FILE;
00191         }
00192         
00193     }
00194     
00195 }
00196