Diff: main.cpp

Revision:

0:79f663186c05

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu May 31 18:37:12 2012 +0000
@@ -0,0 +1,93 @@
+//
+// main.cpp
+//
+// Container class for mbed-based ADIS16355 IMU data acquisition system
+//
+// copyright 2010 Hugh Shane
+//
+#include "mbed.h"
+#include "imu-spi.h"
+
+// http://mbed.org/cookbook/Networking-Stack-Releases
+#include "EthernetNetIf.h"
+#include "UDPSocket.h"
+ 
+#define NLOOPS 100
+#define PORT_DONT_CARE 10000
+
+AnalogOut signal(p18);
+
+// mask off the flag bits 
+// convert two's complement to offset binary
+uint16_t fixImuData(int16_t imuData) {
+    uint16_t imu16 = (imuData & 0x3fff) ^ 0x2000;
+    return imu16;
+}
+    
+int main() {
+
+    EthernetNetIf eth(
+        IpAddr(192,168,1,2), //IP Address
+        IpAddr(255,255,255,0), //Network Mask
+        IpAddr(192,168,1,1), //Gateway
+        IpAddr(192,168,1,1)  //DNS
+    );
+    
+    int ethErr =  eth.setup();
+    
+    if ( ethErr == ETH_OK ) {
+        IpAddr localIp = eth.getIp();
+        printf("mbed IP Address is %d.%d.%d.%d\r\n", 
+            localIp[0], localIp[1], localIp[2], localIp[3]);
+    } else printf ("ETHERNETSETUP FAILED\n");    
+    
+    Host destHost(IpAddr(192,168,1,8), 55555);
+    UDPSocket udpSocket;
+    UDPSocketErr udpErr = udpSocket.bind(Host(IpAddr(), PORT_DONT_CARE));
+    
+    if (udpErr != UDPSOCKET_OK) {
+        printf("error %d\n", udpErr);
+    };
+     
+    DigitalOut diag_led(LED1);
+    ImuSpi imu;
+    int16_t* imubuffer;
+    int bufLength = 16;
+    int bufDepth = 10; // buffer this many acq. cycles before UDP send
+    char outBuf[bufLength * bufDepth];
+    int nSent;
+
+    diag_led = 0;
+    
+    Net::poll(); // ensure that every component of the network stack keeps running
+    wait(1); // give things time to settle before commencing
+    
+    for (int i = 0; i < NLOOPS; i++) {    
+        //while(1) {
+        
+            for (int n = 0; n < bufDepth; n++) {
+                while (!imu.IsBufferReady()) {} // wait for the IMU buffer-ready signal
+                imubuffer = imu.GetBufferReadPtr(); // get a pointer to the new IMU output data
+                memcpy(&outBuf[bufLength*n] , imubuffer, bufLength);
+                signal.write_u16(fixImuData(imubuffer[6])); // write to the D/A converter
+            }
+            
+            Net::poll(); // ensure that every component of the network stack keeps running
+            nSent = udpSocket.sendto((char*)outBuf,(bufLength*bufDepth),&destHost);
+            
+            if ( nSent <= 0 ) {
+                printf("error %d\n", (UDPSocketErr)nSent);
+                fflush(stdout);
+                diag_led = 0;
+                break;
+            } else {
+                diag_led = 1;
+                //printf(".");
+                //fflush(stdout);
+            }
+    
+    }
+
+
+}
+