Diff: main.cpp

Revision:

4:c6b4d8c152cd

Parent:

2:237bd73c27e9

--- a/main.cpp	Mon Dec 05 09:24:47 2016 +0000
+++ b/main.cpp	Thu Jan 18 07:58:01 2018 +0000
@@ -1,4 +1,9 @@
 #include "mbed.h"
+#include "SDFileSystem.h"
+Serial pc(USBTX, USBRX); // Primary output to demonstrate library
+
+SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // MOSI, MISO, SCK, CS
+FILE *fp;
 
 #include "FXOS8700CQ.h"
 #include "MMA8451Q.h"
@@ -13,29 +18,35 @@
 
 
 #define DATA_RECORD_TIME_MS 1000
+uint32_t do_list(const char *fsrc);
 
-Serial pc(USBTX, USBRX); // Primary output to demonstrate library
-
+I2C i2c(SDA, SCL);
 
 //objetos de los acelerometros
-MMA8451Q mma(SDA, SCL, MMA8451_I2C_ADDRESS);
-LSM303D lsm(SDA, SCL);
+MMA8451Q mma(&i2c, MMA8451_I2C_ADDRESS);
+LSM303D lsm(&i2c);
 ADXL335 adx(PTB2,PTB3,PTB10);
-MPU6050 mpu(SDA, SCL); 
-FXOS8700CQ fxos(SDA, SCL, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1)
+MPU6050 mpu(&i2c); 
+FXOS8700CQ fxos(&i2c, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1)
 
 DigitalOut green(LED_GREEN); // waiting light
 DigitalOut blue(LED_BLUE); // collection-in-progress light
 DigitalOut red(LED_RED); // completed/error ligt
 
 Timer t; // Microsecond timer, 32 bit int, maximum count of ~30 minutes
-InterruptIn int_sw2(PTC6); // unused, common with SW2 on FRDM-K64F
 InterruptIn fxos_int2(PTC13); // should just be the Data-Ready interrupt
-InterruptIn int_sw3(PTA4); // switch SW3
+InterruptIn sw3_int(PTA4); // switch SW3
+InterruptIn sw2_int(PTC6); // switch SW2
+InterruptIn mpu_int(PTC3);// should just be the Data-Ready interrupt
+InterruptIn mma_int1(PTD1);// should just be the Data-Ready interrupt
+InterruptIn lsm_int1(PTA2); // should just be the Data-Ready interrupt
 
 // Interrupt status flags and data
 
 bool fxos_int2_triggered = false;
+bool mpu_int_triggered = false;
+bool mma_int1_triggered = false;
+bool lsm_int1_triggered = false;
 uint32_t us_ellapsed = 0, beforePrint = 0;
 bool sw2_push = false;
 bool sw3_push = false;
@@ -45,199 +56,429 @@
 
 
 
-void trigger_fxos_int2(void)
+volatile SRAWDATA ac;
+const uint16_t size = 400;
+volatile float accT[size][2];
+volatile uint32_t tiempo[size][2];
+volatile uint32_t puntero[2] = {0,0};
+bool escribirSD = false;
+
+void fxos_int2_interrupt(void)
 {
     fxos_int2_triggered = true;
-    us_ellapsed = t.read_us();
+    //fxos.get_dataAcc(&acc[0]);
+}
+
+void mpu_int_interrupt (void)
+{
+    mpu_int_triggered = true;
 }
 
-void interruptSW3(void)
+void mma_int1_interrupt (void)
+{
+    mma_int1_triggered = true;
+    
+    ac.x=mma.getAccX();
+    ac.y=mma.getAccY();
+    ac.z=mma.getAccZ();
+    
+    accT[puntero[0]][puntero[1]]=sqrt(ac.x*ac.x+ac.y*ac.y+ac.z*ac.z);
+    tiempo[puntero[0]][puntero[1]]=t.read_us();  
+    puntero[0]++;
+    if(puntero[0]>(size-1)){
+        puntero[0]=0;
+        puntero[1] = (puntero[1] + 1) % 2;
+        escribirSD=true;
+    } 
+}
+
+void lsm_int1_interrupt (void)
+{
+    lsm_int1_triggered = true;
+}
+
+void SW3_interrupt(void)
 {
     sw3_push=true;
-    
 }
 
 void print_cabecera(){
     pc.printf("T\t");
-    for(int i=0;i<1;i++){
-        pc.printf("X%d\tY%d\tZ%d\t",i,i,i);
-    }
+    pc.printf("Va\t\t");
+    /*for(int i=1;i<5;i++){
+        pc.printf("Z%d\t\t",i);
+    }*/
     pc.printf("\r\n");
-    }
+}
     
 void print_data(){
-    
     //us_ellapsed= t.read_us()-beforePrint;
     pc.printf("%d\t",t.read_us());
-    for(int i=0;i<1;i++){
-        pc.printf("%+.5f\t\t", acc[i].z);
+    pc.printf("%.5f\t", accT);
+    /*for(int i=0;i<5;i++){
+        if(i!=7){
+        pc.printf("%+.3f\t", acc[i].z);
        // pc.printf("%+.4f\t%+.4f\t%+.4f\t", acc[i].x, acc[i].y, acc[i].z);
-    }
+       }
+    }*/
     pc.printf("\r\n");
     //beforePrint=t.read_us();
-    
     }
 
 void print_reading()
 {
     us_ellapsed= t.read_us()-beforePrint;
+    beforePrint=t.read_us();
     pc.printf("%d ",us_ellapsed);
-    for(int i=0;i<5;i++){
-        
-    pc.printf("A[%d] X:%+.4f,Y:%+.4f,Z:%+.4f\t",
+    for(int i=1;i<5;i++){
+    pc.printf("A[%d] X:%+.3f,Y:%+.3f,Z:%+.3f\t",
               i,
               acc[i].x, acc[i].y, acc[i].z
               );
     }
     pc.printf("\r\n");
-    beforePrint=t.read_us();
 }
 
 void readAcc()
 {
+   uint64_t int_time = t.read_us();
     
-    //acelerometro 0
-    
-    while(!fxos_int2_triggered && fxos_int2.read()==1){}
+   //acelerometro 0
+    /*
+    while(!fxos_int2_triggered && t.read_us()-int_time < 4000 && fxos_int2.read()){wait_us(1);}
     fxos_int2_triggered = false; // un-trigger
     fxos.get_dataAcc(&acc[0]); // clear interrupt from device
-    /*
+    
+    if(t.read_us()-int_time>4000) pc.printf("Error lectura Fxos ");
+    */
+    int_time = t.read_us();
+    while(!mma_int1_triggered && t.read_us()-int_time<4000 && mma_int1.read()){}
+    mma_int1_triggered = false; // un-trigger
     //acelerometro 1
-    acc[1].x=mma.getAccX();
+    /*acc[1].x=mma.getAccX();
     acc[1].y=mma.getAccY();
-    acc[1].z=mma.getAccZ();
+    acc[1].z=mma.getAccZ();*/
+    
+    //accT=sqrt(ac.x*ac.x+ac.y*ac.y+ac.z*ac.z);
     
+    if(t.read_us()-int_time>4000) pc.printf("Error lectura mma \t\t");
+    
+    /*
+    int_time = t.read_us();
+    while(!mpu_int_triggered && t.read_us()-int_time<4000 && mpu_int.read()){wait_us(1);}
+    mpu_int_triggered = false; // un-trigger
     //acelerometro 2
     float xyz[3];
     mpu.getAccelero( xyz );
+    mpu.read(0x3A);
     acc[2].x = xyz[0];
     acc[2].y = xyz[1];
     acc[2].z = xyz[2];
     
+    
+    if(t.read_us()-int_time>4000) pc.printf("Error lectura mpu ");
+
+    int_time = t.read_us();
+    while(!lsm_int1_triggered && t.read_us()-int_time<4000 && !lsm_int1.read()){ wait_us(1);}
+    lsm_int1_triggered = false; // un-trigger
     //acelerometro 3
     lsm.readA(&acc[3].x,&acc[3].y,&acc[3].z); 
     
+    if(t.read_us()-int_time>4000) pc.printf("Error lectura lsm ");
+    
     //acclerometro 4
     adx.getAcc(acc[4]);
     */
-   
 }
 
 void    initFxox(){
-    SRAWDATA accel_data;
     // Diagnostic printing of the FXOS WHOAMI register value
     pc.printf("\r\n\nFXOS8700Q Who Am I= %X\r\n", fxos.get_whoami());
     fxos.enable();
-    fxos.get_dataAcc(&accel_data);
-    while(!fxos_int2_triggered && fxos_int2.read()==1){}
+    
+    fxos_int2.mode(PullUp);
+    wait_ms(20);
+    fxos_int2.fall(&fxos_int2_interrupt);
+    
+    /*for(int i=0;i<0x7A;i++){
+        uint8_t data =0;
+        fxos.read_regs(i,&data,1);
+        pc.printf("0x%x:\t0x%x\r\n",i,data);
+    }*/
+    
+    while(fxos_int2.read()==0){
+        uint8_t data =0;
+        fxos.get_dataAcc(&acc[0]);
+        fxos.read_regs(0x00,&data,1);
+        pc.printf("0x%x:\t0x%x\r\n",0x00,data);
+    }
+    
+    
+
+    while(!fxos_int2_triggered){ wait_ms(1); }
+    
     fxos_int2_triggered = false; // un-trigger
-    fxos.get_dataAcc(&accel_data); // clear interrupt from device
-    pc.printf(" A[0] X:%+.4f,Y:%+.4f,Z:%+.4f\n\r",
-              accel_data.x, accel_data.y, accel_data.z
-              );
+    fxos.get_dataAcc(&acc[0]);
+    // clear interrupt from device
+    pc.printf(" A[0] X:%+.4f,Y:%+.4f,Z:%+.4f\n\r", 
+        acc[0].x, acc[0].y, acc[0].z);
     }
     
 void    initMma(){
-    printf("MMA8451 ID: %d\n", mma.getWhoAmI());
-    pc.printf(" A[1] X:%+.4f,Y:%+.4f,Z:%+.4f\n\r",
-              mma.getAccX(), mma.getAccX(), mma.getAccX()
-              );
+    
+    pc.printf("MMA8451 ID: %d\n", mma.getWhoAmI());
+    
+    /*for(int i=0;i<0x32;i++){
+        uint8_t data =0;
+        mma.readRegs(i,&data,1);
+        pc.printf("0x%x:\t0x%x\r\n",i,data);
+    }*/
+    
+    mma_int1.mode(PullUp); 
+    wait_ms(20);
+    mma_int1.fall(&mma_int1_interrupt);
+    
+    while(mma_int1.read()==0){
+        ac.x=mma.getAccX();
+        ac.y=mma.getAccY();
+        ac.z=mma.getAccZ();
+    }
+
+    
+    
+    while(!mma_int1_triggered){  wait_ms(1); }
+    
+    mma_int1_triggered = false; // un-trigger
+    pc.printf(" A[1] X:%+.4f,Y:%+.4f,Z:%+.4f\r\n",
+    mma.getAccX(), mma.getAccY(), mma.getAccZ() );
+    
     }
     
 void    initMpu(){
-        mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G);
-         pc.printf("MPU6050 testConnection \n\r");
-     
-        bool mpu6050TestResult = mpu.testConnection();
-        if(mpu6050TestResult) {
-            pc.printf("\r\nMPU6050 test passed\r\n");
-        } else {
-            pc.printf("\r\nMPU6050 test failed \n\r");
-        }
-        float acc[3];
-        
-         pc.printf(" A[2] temp:%+.4f",
-              mpu.getTemp()
-              );
+    float acc[3];
+    
+    mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G);
+    pc.printf("MPU6050 testConnection \r\n");
+    
+    /*for(int i=0xD;i<0x76;i++)
+    {
+        pc.printf("Ox%x: 0x%x\r\n",i,mpu.read(i));
+    }*/
+    
+    mpu_int.mode(PullUp);
+    wait_ms(20);
+    mpu_int.fall(&mpu_int_interrupt);
+    
+    while(mpu_int.read()==0){
         mpu.getAccelero( acc );
-        pc.printf(" X:%+.4f,Y:%+.4f,Z:%+.4f\r\n",
-              acc[2], acc[1],acc[2]
-              );     
+        pc.printf("Ox%x: 0x%x\r\n",0x3A,mpu.read(0x3A));
+    }
+    
+    while(!mpu_int_triggered){ wait_ms(1);} //wait interrupt
+    mpu_int_triggered = false; // un-trigger
+    
+    bool mpu6050TestResult = mpu.testConnection();
+    if(mpu6050TestResult) {
+        pc.printf("\r\nMPU6050 test passed\r\n");
+    } else {
+        pc.printf("\r\nMPU6050 test failed \r\n");
+    }
+    
+    pc.printf(" A[2] temp:%+.4f", mpu.getTemp());
+    mpu.getAccelero( acc );
+    pc.printf(" X:%+.4f,Y:%+.4f,Z:%+.4f\r\n",acc[0], ac,acc[2]);   
+    pc.printf("Ox%x: 0x%x\r\n",0x3A,mpu.read(0x3A));  
 }
 
 void    initLsm(){
     double acc[3];
+    char reg_v=0;
+    pc.printf("LSM303D comprobacion de configuracion: \r\n");
+    for(int i=0;i<0x3E;i++)
+    {
+        if(lsm.read_reg(addr_acc_mag,i,&reg_v)){ 
+            pc.printf("Ox%x: 0x%x\r\n",i,reg_v);
+        }
+    } 
+    
+    
+    lsm.readA(&acc[0],&acc[1],&acc[2]);
+    lsm.readA(&acc[0],&acc[1],&acc[2]);
+    
+    lsm.read(&acc[0],&acc[1],&acc[2],&acc[0],&acc[1],&acc[2]);
+    lsm.read(&acc[0],&acc[1],&acc[2],&acc[0],&acc[1],&acc[2]);
+    lsm.read(&acc[0],&acc[1],&acc[2],&acc[0],&acc[1],&acc[2]);
+    lsm.read(&acc[0],&acc[1],&acc[2],&acc[0],&acc[1],&acc[2]);
+    
+    for(int i=0;i<0x3E;i++)
+    {
+        if(lsm.read_reg(addr_acc_mag,i,&reg_v)){ 
+            pc.printf("Ox%x: 0x%x\r\n",i,reg_v);
+        }
+    } 
+    
+    lsm_int1.mode(PullUp);
+    wait_ms(20);
+    lsm_int1.rise(&lsm_int1_interrupt);
+    
+    while(lsm_int1.read()==1){
+        lsm.readA(&acc[0],&acc[1],&acc[2]);
+        /*if(lsm.read_reg(addr_acc_mag,0x27,&reg_v)){ //registro de status_A
+            pc.printf("Ox%x: 0x%x\r\n",0x27,reg_v);
+        }*/
+    }
+    
+    while(!lsm_int1_triggered){  wait_ms(1);}
+    lsm_int1_triggered = false; // un-trigger
+    
+       
     if (lsm.readA(&acc[0],&acc[1],&acc[2])){
         pc.printf(" A[3] X:%+.4f,Y:%+.4f,Z:%+.4f\r\n",
-              acc[2], acc[1],acc[2]
-              );    
+              acc[2], acc[1],acc[2]);    
         }
     else{
         pc.printf(" LSM303D don't work ");
-        }
+        } 
 }
 
+
+
+
+
+
 int main(void)
 {
-    
     //inicializacion basico
     t.reset();
-    pc.baud(230400); //probar con 460800 // Print quickly! 200Hz x line of output data!
-    fxos_int2.fall(&trigger_fxos_int2);
+    pc.baud(250000);
+    sw3_int.mode(PullUp);
+    sw3_int.fall(&SW3_interrupt);
+    sw2_int.mode(PullUp);
     
-    int_sw3.mode(PullUp);
-    int_sw3.fall(&interruptSW3);
-    
-    int_sw2.mode(PullUp);
-    
+    i2c.frequency(200000); //Configure speed I2C 200kHz
     
     // Lights off (FRDM-K64F has active-low LEDs)
     green.write(1);
     red.write(1);
     blue.write(1);
-    
+   /* 
     //inicializacion Acelerometros
-    initFxox();
+    //initFxox();
     initMma();
-    initMpu();
-    initLsm();
-    
+    //initMpu();
+    //initLsm();
+
     readAcc();
     print_reading();
-    
+    */
     green.write(0);
     red.write(1);
     blue.write(1);
     
-    
     //esperar a pulsador
     while(!sw3_push){
         wait_ms(50);
         }
-        
+     
     pc.printf("Iniciando lectura de acelerometros\r\n");
-    
+    t.start();
+    initMma();
     green.write(1);
     red.write(1);
-    blue.write(0);
+    blue.write(0); 
+        
+    //Escribir en la SD      
+    mkdir("/sd/data", 0777);
+    uint32_t number = do_list("/sd/data");
+    char archivo[50];
+    snprintf(archivo,50,"/sd/data/%06ld.xls",number);
+    fp = fopen(archivo, "w");
+    if (fp == NULL) {
+        pc.printf("Unable to write the file \n");
+        while(1){wait(1);}
+    }
+    fprintf(fp,"T\tVa\r\n");
+    while(1)
+    {
+        if(escribirSD)
+        {
+            uint8_t j = puntero[1]==0?1:0;
+            for(uint32_t i=0; i<size;i++)
+            {
+                fprintf(fp,"%d\t %.5f\r\n",tiempo[i][j],accT[i][j]);
+            }
+            escribirSD = false;   
+        }        
+        if(sw2_int.read()==0){
+            mma_int1.disable_irq ();
+            
+            for(uint32_t i=0; i<puntero[0];i++)
+            {
+                fprintf(fp,"%d\t %.5f\r\n",tiempo[i][puntero[1]],accT[i][puntero[1]]);
+            }
+            break;
+        }
+    }
     
-    //lectura de todos los accelerometros
-    t.start();
-    print_cabecera();
-    while(1){
-    readAcc();
-    print_data();
-    if(int_sw2.read()==0) break;
+    pc.printf("fin escritura \r\n");
+    fclose(fp);
+    
+    fp = fopen(archivo, "r");
+    if (fp == NULL) {
+        pc.printf("Unable to open the file \n");
+        while(1){wait(1);}
+    }
+    DigitalIn enSerial(D8);
+    enSerial.mode(PullUp);
+    if(enSerial.read()==1){
+        while (1) {                  // print data por serial
+            char ch = fgetc(fp);       // until src EOF read.
+            if (ch == EOF || ch == 0xFF) break;
+            pc.printf("%c",ch);
+        }
     }
     
     green.write(1);
     red.write(0);
     blue.write(1);
     
-    while(1){}
+    while (1) {}
+    
+       
+       
+        
+        
+    /*
+    
+    //lectura de todos los accelerometros
+    
+    print_cabecera();
+    
+    while(1){
+    readAcc();
+    print_data();
+        if(sw2_int.read()==0) break;
+    }
     
     
+    
+    
+    */
 }
 
 
-
+  
+    
+    uint32_t do_list(const char *fsrc)
+{
+    DIR *d = opendir(fsrc);
+    struct dirent *p;
+    uint32_t counter = 0;
+ 
+    while ((p = readdir(d)) != NULL) {
+        counter++;
+        printf("%s\n", p->d_name);
+    }
+    closedir(d);
+    return counter;
+}