Diff: main.cpp

Revision:

0:2b49a387e831

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Feb 15 07:52:46 2014 +0000
@@ -0,0 +1,354 @@
+#include "mbed.h"
+#include "TSISensor.h"
+#include "MMA8451Q.h"
+#include "MAG3110.h"
+#include "EventFramework/EventFramework.h"
+#include <cstdlib>
+
+#define OFF 0
+#define ON 1
+
+#define DEBUG
+
+PwmOut rled(PTE29);
+PwmOut gled(PTD5);
+
+Serial pc(USBTX, USBRX);
+
+MMA8451Q acc51(PTE25, PTE24, 0x1D<<1);
+MAG3110 mag(PTE25, PTE24);
+AnalogIn lightSensor(PTE22);
+TSISensor tsi;
+AnalogIn sinewave(PTB1);
+
+// labels for different data channel
+char MAG_X = 0x00;
+char MAG_Y = 0x01;
+char MAG_Z = 0x02;
+char MAG_H = 0x03;
+char ACC_X = 0x04;
+char ACC_Y = 0x05;
+char ACC_Z = 0x06;
+char LIT_X = 0x07;
+char TOU_X = 0x08;
+char SIN_X = 0x09;
+
+
+int MAG_STATUS = OFF;
+int ACCL_STATUS = OFF;
+int LIGHT_STATUS = OFF;
+int TOUCH_STATUS = OFF;
+int SINE_STATUS = OFF;
+
+Timer t1;
+Timer t2;
+Timer t3;
+Timer t4;
+Timer t5;
+
+//time threshold, equals to 1/sampling_rate
+int interval1 = 10000;
+int interval2 = 10000;
+int interval3 = 10000;
+int interval4 = 10000;
+int interval5 = 10000;
+
+// framework creation with cooperative scheduling mechanism.
+EventFramework kernel(EventFramework::SCHED_VALUE_COOPERATIVE);
+// Events creation
+Event accl_Evt(0);
+Event mag_Evt(0);
+Event light_Evt(0);
+Event touch_Evt(0);
+Event sine_Evt(0);
+// EventHandlers creation
+EventHandler eh_accl(0); 
+EventHandler eh_mag(0);
+EventHandler eh_light(0); 
+EventHandler eh_touch(0);
+EventHandler eh_sine(0);
+// declaration of event dispatching functions that will be attached to previous EventHandlers
+EventDispatchingRoutine ev_accl_handle_func;
+EventDispatchingRoutine ev_mag_handle_func;
+EventDispatchingRoutine ev_light_handle_func;
+EventDispatchingRoutine ev_touch_handle_func;
+EventDispatchingRoutine ev_sine_handle_func;
+
+int START = OFF;
+
+void sendint(char label,int x){
+    char *p = (char *)&x;
+    pc.putc(label);
+    pc.putc(*p);
+    pc.putc(*(p+1));
+    pc.putc(*(p+2));
+    pc.putc(*(p+3));
+    }
+    
+void sendfloat(char label,float x){
+    char *p = (char *)&x;
+    pc.putc(label);
+    pc.putc(*p);
+    pc.putc(*(p+1));
+    pc.putc(*(p+2));
+    pc.putc(*(p+3));
+    }
+
+void calXY() //magnetometer calibration: finding max and min of X, Y axis
+{
+    int tempXmax, tempXmin, tempYmax, tempYmin, newX, newY;
+
+    rled = ON;
+
+    printf("Waiting for initial press\n");
+    // Wait for slider to be pressed
+    while( tsi.readDistance() == 0 ) {
+        rled = ON;
+        wait(0.2);
+        rled = OFF;
+        wait(0.2);
+    }
+
+    printf("Waiting for release\n");
+
+    // Wait for release
+    while( tsi.readDistance() != 0 ) {
+        rled = OFF;
+        wait(0.2);
+        rled = ON;
+        wait(0.2);
+    }
+    rled = OFF;
+    wait(0.5);
+
+    printf("Rotate\n");
+
+    tempXmax = tempXmin = mag.readVal(MAG_OUT_X_MSB);
+    tempYmax = tempYmin = mag.readVal(MAG_OUT_Y_MSB);
+
+    while(tsi.readDistance() == 0) {
+        gled = ON;
+        wait(0.1);
+        gled = OFF;
+        wait(0.1);
+        newX = mag.readVal(MAG_OUT_X_MSB);
+        newY = mag.readVal(MAG_OUT_Y_MSB);
+        if (newX > tempXmax) tempXmax = newX;
+        if (newX < tempXmin) tempXmin = newX;
+        if (newY > tempYmax) tempYmax = newY;
+        if (newY < tempYmin) tempYmin = newY;
+    }
+   
+    mag.setCalibration( tempXmin, tempXmax, tempYmin, tempYmax );
+
+    // Wait for release
+    while( tsi.readDistance() != 0 ) {
+        gled = OFF;
+        wait(0.2);
+        gled = ON;
+        wait(0.2);
+    }
+    gled = OFF;
+    wait(1.0);
+}
+
+uint32_t ev_accl_handle_func(void* me, void* args){
+    float temp_x = acc51.getAccX();
+    float temp_y = acc51.getAccY();
+    float temp_z = acc51.getAccZ();
+    __disable_irq();
+    sendfloat(ACC_X,temp_x);
+    sendfloat(ACC_Y,temp_y);
+    sendfloat(ACC_Z,temp_z);
+    __enable_irq();
+}
+ uint32_t ev_mag_handle_func(void* me, void* args){
+    int temp_x = 0, temp_y = 0, temp_z = 0;
+    float temp_h = mag.getHeading();
+    mag.getValues(&temp_x, &temp_y, &temp_z);
+    __disable_irq();
+    sendint(MAG_X,temp_x);
+    sendint(MAG_Y,temp_y);
+    sendint(MAG_Z,temp_z);
+    sendfloat(MAG_H,temp_h);
+    __enable_irq();
+}
+ uint32_t ev_light_handle_func(void* me, void* args){
+    float temp_x = lightSensor;
+    __disable_irq();
+    sendfloat(LIT_X,temp_x);
+    __enable_irq();
+}
+ uint32_t ev_touch_handle_func(void* me, void* args){
+    float temp_x = tsi.readPercentage();;
+    __disable_irq();
+    sendfloat(TOU_X,temp_x);
+    __enable_irq();
+}
+ uint32_t ev_sine_handle_func(void* me, void* args){
+    float temp_x = sinewave.read();;
+    __disable_irq();
+    sendfloat(SIN_X,temp_x);
+    __enable_irq();
+}
+void pc_command(){
+    kernel.SaveContext();
+    char command = pc.getc();
+    float sr;
+    char temp[4];
+
+    switch(command)
+    {
+        case 0xEE : //  configuration or reconfiguration header
+                        
+                        command = pc.getc();
+                        if (command == 0x01){ // check the status of magnetometer
+                            MAG_STATUS = ON;// turn it on
+                            temp[0] = pc.getc();
+                            temp[1] = pc.getc();
+                            temp[2] = pc.getc();
+                            temp[3] = pc.getc();
+                            sr = *(float*)temp;//sampling rate
+                            interval1 =(int) 1/sr *1000;//threshold
+                            t1.reset();//timer reset
+                        }
+                        else{
+                            MAG_STATUS = OFF;//turn it off
+                            t1.stop();
+                        }
+                        command = pc.getc();
+                        if (command == 0x01){ // check the status of accelerometer
+                            ACCL_STATUS = ON;
+                            temp[0] = pc.getc();
+                            temp[1] = pc.getc();
+                            temp[2] = pc.getc();
+                            temp[3] = pc.getc();
+                            sr = *(float*)temp;
+                            interval2 =(int) 1/sr *1000; 
+                            t2.reset();                           
+                        }                     
+                        else{
+                            ACCL_STATUS = OFF;   
+                            t2.stop();
+                        }
+                        command = pc.getc();
+                        if (command == 0x01){ // check the status of the light sensor
+                            LIGHT_STATUS = ON;
+                            temp[0] = pc.getc();
+                            temp[1] = pc.getc();
+                            temp[2] = pc.getc();
+                            temp[3] = pc.getc();
+                            sr = *(float*)temp;
+                            interval3 =(int) 1/sr *1000;  
+                            t3.reset();                          
+                        }
+                        else{
+                            LIGHT_STATUS = OFF;
+                            t3.stop();
+                        }
+                        command = pc.getc();
+                        if (command == 0x01){ // check the status of the touch sensor
+                            TOUCH_STATUS = ON;
+                            temp[0] = pc.getc();
+                            temp[1] = pc.getc();
+                            temp[2] = pc.getc();
+                            temp[3] = pc.getc();
+                            sr = *(float*)temp;
+                            interval4 =(int) 1/sr *1000;
+                            t4.reset();                          
+                        }
+                        else{
+                            TOUCH_STATUS = OFF;
+                            t4.stop();
+                        }
+                        command = pc.getc();
+                        if (command == 0x01){ // check the status of the sine wave receiver
+                            SINE_STATUS = ON;
+                            temp[0] = pc.getc();
+                            temp[1] = pc.getc();
+                            temp[2] = pc.getc();
+                            temp[3] = pc.getc();
+                            sr = *(float*)temp;
+                            interval5 =(int) 1/sr *1000;
+                            t5.reset();                          
+                        }
+                        else{
+                            SINE_STATUS = OFF;
+                            t5.stop();
+                        }
+                        START = ON;
+                        rled = ON;                 
+                        break;
+    }
+    kernel.RestoreContext();
+ }
+
+int main()
+{    
+    // events must be registered into the framework
+    kernel.AddEvent(&mag_Evt);
+    kernel.AddEvent(&accl_Evt);
+    kernel.AddEvent(&light_Evt);
+    kernel.AddEvent(&touch_Evt);
+    kernel.AddEvent(&sine_Evt);
+   
+    eh_mag.Attach(&ev_mag_handle_func);
+    eh_accl.Attach(&ev_accl_handle_func);
+    eh_light.Attach(&ev_light_handle_func);
+    eh_touch.Attach(&ev_touch_handle_func);
+    eh_sine.Attach(&ev_sine_handle_func);
+
+     // handlers are registered into the kernel to listen to specific events. [eh1] listens to [ev1], [eh2] listens to [ev2].
+    kernel.AddEventListener(&mag_Evt, &eh_mag);
+    kernel.AddEventListener(&accl_Evt, &eh_accl);
+    kernel.AddEventListener(&light_Evt, &eh_light);
+    kernel.AddEventListener(&touch_Evt, &eh_touch);
+    kernel.AddEventListener(&sine_Evt, &eh_sine);
+    calXY();
+    pc.attach(&pc_command);
+    
+    while(START == OFF){
+        pc.putc(0xFF);    
+    }
+    pc.putc(0xFE);
+    
+    t1.start();
+    t2.start();
+    t3.start();
+    t4.start();
+    t5.start();
+    // the event-driven kernel starts its operation.
+    while(1) {
+        kernel.Schedule();
+        if (MAG_STATUS == ON){
+            if (t1.read_ms()>interval1){
+                   kernel.PublishEvent(&mag_Evt, 0); 
+                   t1.reset();
+            }
+        }
+        if (ACCL_STATUS == ON){
+            if (t2.read_ms()>interval2){
+                   kernel.PublishEvent(&accl_Evt, 0); 
+                   t2.reset();
+            }        
+        }
+        if (LIGHT_STATUS == ON){
+            if (t3.read_ms()>interval3){
+                   kernel.PublishEvent(&light_Evt, 0); 
+                   t3.reset();
+            }        
+        }
+        if (TOUCH_STATUS == ON){
+            if (t4.read_ms()>interval4){
+                   kernel.PublishEvent(&touch_Evt, 0); 
+                   t4.reset();
+            }        
+        }  
+        if (SINE_STATUS == ON){
+            if (t5.read_ms()>interval5){
+                   kernel.PublishEvent(&sine_Evt, 0); 
+                   t5.reset();
+            }        
+        }           
+    }
+}
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