Diff: main.cpp

Revision:

7:d4b5e83c7947

Parent:

6:0590c7ff8c34

Child:

8:41d1f9ab3be0

--- a/main.cpp	Sun Jan 24 17:04:40 2016 +0000
+++ b/main.cpp	Mon Feb 01 00:20:46 2016 +0000
@@ -19,16 +19,27 @@
 //  Include ---------------------------------------------------------------------------------------
 #include    "mbed.h"
 #include    "BNO055.h"
+#include    "MODSERIAL.h"
 
 //  Definition ------------------------------------------------------------------------------------
 #define NUM_LOOP    100
 
 //  Object ----------------------------------------------------------------------------------------
-Serial pc(USBTX,USBRX);
+MODSERIAL  pc(USBTX,USBRX);
+
+volatile bool Capture = true;
+volatile bool SaveFile = false;
+bool printed = false;
 
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
 DigitalOut pwr_onoff(p30);
+
 I2C    i2c(p28, p27); // SDA, SCL
 BNO055 imu(i2c, p29);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
+LocalFileSystem local("local");                 // Create the local filesystem under the name "local"
 
 Timer t;
 
@@ -44,24 +55,39 @@
 
 //  Function prototypes ---------------------------------------------------------------------------
 
+
+//-------------------------------------------------------------------------------------------------
+//  Serial Interrupt
+//-------------------------------------------------------------------------------------------------
+void rxCallback(MODSERIAL_IRQ_INFO *q)
+{
+    MODSERIAL *serial = q->serial;
+    if ( serial->rxGetLastChar() == 'S') {
+        Capture = false;
+        SaveFile = true;
+    }
+}
+
 //-------------------------------------------------------------------------------------------------
 //  Control Program
 //-------------------------------------------------------------------------------------------------
 // Calibration
 //  Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
-void bno055_calbration(void){
+void bno055_calbration(void)
+{
+
     uint8_t d;
 
-    pc.printf("calibrating:, ------ Enter BNO055 Manual Calibration Mode ------\r\n");
+    pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
     //---------- Gyroscope Caliblation ------------------------------------------------------------
     // (a) Place the device in a single stable position for a period of few seconds to allow the
     //     gyroscope to calibrate
     pc.printf("Step1) Please wait few seconds\r\n");
     t.start();
-    while (t.read() < 10){
+    while (t.read() < 10) {
         d = imu.read_calib_status();
         pc.printf("calibrating = 0x%x target  = 0x30(at least)\r\n", d);
-        if ((d & 0x30) == 0x30){
+        if ((d & 0x30) == 0x30) {
             break;
         }
         wait(1.0);
@@ -74,13 +100,13 @@
     //     NDOF mode.
     pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n");
     t.start();
-    while (t.read() < 30){
+    while (t.read() < 30) {
         d = imu.read_calib_status();
         pc.printf("calibrating, = 0x%x target  = 0x33(at least)\r\n", d);
-        if ((d & 0x03) == 0x03){
+        if ((d & 0x03) == 0x03) {
             break;
         }
-        wait(1.0);   
+        wait(1.0);
     }
     pc.printf("-> Step2) is done\r\n\r\n");
     //---------- Magnetometer Caliblation ---------------------------------------------------------
@@ -95,35 +121,42 @@
     pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
     pc.printf(" If you will give up, hit any key.\r\n", d);
     t.stop();
-    while (true){
+    while (true) {
         d = imu.read_calib_status();
         imu.get_gravity(&gravity);
         pc.printf("calibrating = 0x%x target  = 0xff ACC:X %4.1f, Y %4.1f, Z %4.1f\r\n",
-                   d, gravity.x, gravity.y, gravity.z);
-        if (d == 0xff){     break;}
-        if (pc.readable()){ break;}
+                  d, gravity.x, gravity.y, gravity.z);
+        if (d == 0xff) {
+            break;
+        }
+        if (pc.readable()) {
+            break;
+        }
         wait(1.0);
     }
-    if (imu.read_calib_status() == 0xff){
+    if (imu.read_calib_status() == 0xff) {
         pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n");
     } else {
         pc.printf("-> Calibration steps are suspended!\r\n\r\n");
     }
     t.stop();
 }
+
 //--------------------------------------------------------------------------------
-int main(){
+int main()
+{
     pc.baud(9600);
-    pc.printf("notstreaming: BNO055 Hello World\r\n\r\n");
+    pc.attach(&rxCallback, MODSERIAL::RxIrq);
+    pc.printf("BNO055 Hello World\r\n\r\n");
     imu.set_mounting_position(MT_P6);
     pwr_onoff = 0;
-    pc.printf(",\r\n\r\nIf pc terminal soft is ready, please hit any key!\r\n");
+    pc.printf("\r\n\r\nIf pc terminal soft is ready, please hit any key!\r\n");
     char c = pc.getc();
-    pc.printf(",Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
+    pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
     // Is BNO055 avairable?
-    if (imu.chip_ready() == 0){
+    if (imu.chip_ready() == 0) {
         do {
-            pc.printf(",Bosch BNO055 is NOT avirable!!\r\n Reset\r\n");
+            pc.printf("Bosch BNO055 is NOT avirable!!\r\n Reset\r\n");
             pwr_onoff = 1;  // Power off
             wait(0.1);
             pwr_onoff = 0;  // Power on
@@ -132,54 +165,52 @@
     }
     pc.printf("Bosch BNO055 is available now!!\r\n");
     pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n",
-               imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN));    
+              imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN));
     imu.read_id_inf(&bno055_id_inf);
     pc.printf("CHIP ID:0x%02x, ACC ID:0x%02x, MAG ID:0x%02x, GYR ID:0x%02x, ",
-        bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, bno055_id_inf.gyr_id);
+              bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, bno055_id_inf.gyr_id);
     pc.printf("SW REV:0x%04x, BL REV:0x%02x\r\n",
-        bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
+              bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
     pc.printf("If you would like to calibrate the BNO055, please hit 'y' (No: any other key)\r\n");
     c = pc.getc();
-    if (c == 'y'){
+    if (c == 'y') {
         bno055_calbration();
     }
     pc.printf("[E]:Euler Angles[deg],[Q]:Quaternion[],[L]:Linear accel[m/s*s],");
     pc.printf("[G]:Gravity vector[m/s*s],[T]:Chip temperature,Acc,Gyr[degC],[S]:Status,[M]:time[mS]\r\n");
     t.start();
-    
-    //Set Register into Config Mode
-    //imu.write_reg0(0x3D, 0x00); 
-    //Set register unit to Radians
-    imu.write_reg0(0x3B, 0x02);
-    //Change back into normal operation mode
-    //imu.write_reg0(0x3D, 0x0C);
-    
-    while(1) {       
+
+    while(Capture == true) {
         imu.get_Euler_Angles(&euler_angles);
-        pc.printf("Streaming:,Orientation:,X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
-                euler_angles.h, euler_angles.r, euler_angles.p);
+        pc.printf("X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
+                  euler_angles.h, euler_angles.r, euler_angles.p);
         imu.get_linear_accel(&linear_acc);
         pc.printf("Acc:,X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
-                linear_acc.x, linear_acc.y, linear_acc.z);
-                
+                  linear_acc.x, linear_acc.y, linear_acc.z);
+
         imu.get_gravity(&gravity);
         pc.printf("Gravity,X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
-                   gravity.x, gravity.y, gravity.z);
-                
-        pc.printf("Time:,%d,\n",t.read_ms());
-        
-        
-                   
-//        c = pc.getc();
-//        if (c == 'c'){
-//         bno055_calbration();
-//        }      
-//        if (c == 'r'){
-//         imu.reset();
-//        }                             
-    }
+                  gravity.x, gravity.y, gravity.z);
+
+        pc.printf("Time:,%d,\r\n",t.read_ms());
+    };
+    while(SaveFile == true) {
+        if (printed == false) {
+            pc.printf("Save File Location\r\n");
+            //pc.printf("Enter Filename: \r\n");
+            printed = true;
+        };
+        FILE *fp = fopen("/local/out.txt", "w");  // Open "out.txt" on the local file system for writing
+        fprintf(fp, "MBED SAVE FILESZZZ");
+        fclose(fp);
+        pc.printf("File closed\r\n");
+    };
+
+
 }
 
+
+
 //        imu.get_Euler_Angles(&euler_angles);
 //        pc.printf("[E],Y,%+6.1f,R,%+6.1f,P,%+6.1f,",
 //                   euler_angles.h, euler_angles.r, euler_angles.p);
@@ -197,5 +228,5 @@
 //                   chip_temp.acc_chip, chip_temp.gyr_chip);
 //        pc.printf("[S],0x%x,[M],%d\r\n",
 //                   imu.read_calib_status(), t.read_ms());
+//        pc.printf("Words\r\n");
 
-//        pc.printf("Words\r\n");
\ No newline at end of file