5 #include "TSISensor.h" // Touch Sensor
\r
6 #include "MAG3110.h" // Magnetic Sensor
\r
7 #include "MMA8451Q.h" // AcceleroMeter
\r
9 #include "serial_dma.h" // AcceleroMeter
\r
11 //#include "DataFrame.h"
\r
13 #define CLAMP(x, min, max) \
\r
14 ((x) < (min) ? (min) : \
\r
15 (x) > (max) ? (max) : (x))
\r
17 #define MMA8451_I2C_ADDRESS (0x1d<<1) // acc sensor address
\r
18 #define TIME_ACCURACY 0.001
\r
20 #define ACC_SNS_DEFAULT 0.01 // default collecting interval in seconds
\r
21 #define MAG_SNS_DEFAULT 0.1
\r
22 #define LGT_SNS_DEFAULT 0.1
\r
23 #define TCH_SNS_DEFAULT 0.1
\r
24 #define A2D_SNS_DEFAULT 0.1
\r
25 #define LED_OUT_DEFAULT 0.5
\r
27 #define MIN_RATE 1E-4 // 1 kHz
\r
28 #define MAX_RATE 10.0 // 0.1 Hz
\r
30 // Common Frame Information
\r
32 #define TAIL 0x0A // '\n'
\r
34 #define MAX_FRAME_SIZE 256
\r
49 TYP_S8, TYP_S16, TYP_S32,
\r
50 TYP_U8, TYP_U16, TYP_U32,
\r
60 // Data Frame Information
\r
73 // Command Frame Information
\r
85 // Define Devices & Pins
\r
86 MMA8451Q accSensor(PTE25, PTE24, MMA8451_I2C_ADDRESS);
\r
87 MAG3110 magSensor(PTE25, PTE24);
\r
88 TSISensor tchSensor;
\r
89 AnalogIn lgtSensor(PTE22);
\r
90 AnalogIn a2dSensor(A0);
\r
92 AnalogOut a2dOutput(PTE30);
\r
94 DigitalOut led1(LED1);
\r
95 DigitalOut led2(LED2);
\r
97 Serial serial(USBTX, USBRX);
\r
100 // Global Variables
\r
101 // Initial interval: in seconds
\r
102 float accTmr = ACC_SNS_DEFAULT;
\r
103 float magTmr = MAG_SNS_DEFAULT;
\r
104 float tchTmr = TCH_SNS_DEFAULT;
\r
105 float lgtTmr = LGT_SNS_DEFAULT;
\r
106 float a2dTmr = A2D_SNS_DEFAULT;
\r
107 float ledTmr = LED_OUT_DEFAULT;
\r
109 bool accEnable = false;
\r
110 bool magEnable = false;
\r
111 bool lgtEnable = false;
\r
112 bool tchEnable = false;
\r
113 bool a2dEnable = true;
\r
114 bool ledEnable = true;
\r
116 bool useStr = false;
\r
117 bool useHex = false;
\r
118 bool useBin = true;
\r
120 uint8_t txFrame[MAX_FRAME_SIZE];
\r
121 uint8_t rxFrame[MAX_FRAME_SIZE];
\r
124 void clock1_interrupt(void);
\r
125 void serialRx_interrupt(void);
\r
127 void runCommand(control_t *cmd);
\r
129 void sendAccInfo(void);
\r
130 void sendMagInfo(void);
\r
131 void sendLgtInfo(void);
\r
132 void sendTchInfo(void);
\r
133 void sendA2dInfo(void);
\r
135 int calDataSize(uint8_t);
\r
136 int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data);
\r
138 void printStr(const char *str, ...);
\r
139 void printHex(uint8_t *frame, int len);
\r
140 void printBin(uint8_t *frame, int len);
\r
148 // Interruption Declarations
\r
149 clock1.attach(&clock1_interrupt, TIME_ACCURACY); // maximun accuracy be 0.1s
\r
150 serial.attach(&serialRx_interrupt, Serial::RxIrq); // receive interrupt for serialS
\r
151 serial.baud(115200);
\r
154 sdma_setup(UART0, 0);
\r
156 printStr("\r\n============= Start of the program ============\r\n");
\r
163 /**********************
\r
164 * Interrupt handlers *
\r
165 **********************/
\r
167 void serialRx_interrupt(void) { // Byte version
\r
168 static int state = 0;
\r
169 static int index = 0;
\r
170 static int length = 0;
\r
172 control_t *cmd = (control_t*)rxFrame;
\r
174 while (serial.readable()) {
\r
175 rxFrame[index++] = serial.getc();
\r
178 if (cmd->header == HEADER)
\r
184 if (cmd->bits.sns >= SNS_NUM ||
\r
185 cmd->bits.cmd >= CMD_NUM) {
\r
187 } else if (cmd->bits.cmd == CMD_RATE) {
\r
199 if (rxFrame[index-1] == TAIL)
\r
208 void clock1_interrupt(void){
\r
223 // Write A2D output sine wave
\r
224 a2dOutput.write(sin(a2dCnt * TIME_ACCURACY * (2*PI) * 0.1));
\r
226 // Send data through Serial
\r
227 if (accEnable && (accCnt<0 || accCnt>=accTmr/TIME_ACCURACY)){
\r
231 if (magEnable && (magCnt<0 || magCnt>=magTmr/TIME_ACCURACY)){
\r
235 if (lgtEnable && (lgtCnt<0 || lgtCnt>=lgtTmr/TIME_ACCURACY)){
\r
239 if (tchEnable && (tchCnt<0 || tchCnt>=tchTmr/TIME_ACCURACY)){
\r
243 if (a2dEnable && (a2dCnt<0 || a2dCnt>=a2dTmr/TIME_ACCURACY)){
\r
248 // Toggel LED for debugging
\r
249 if (ledEnable && (ledCnt<0 || ledCnt>=ledTmr/TIME_ACCURACY)){
\r
257 /*******************
\r
258 * Command handler *
\r
259 *******************/
\r
261 void runCommand(control_t *cmd)
\r
263 // Validate interval
\r
264 sns_t snsType = (sns_t)cmd->bits.sns;
\r
265 cmd_t cmdType = (cmd_t)cmd->bits.cmd;
\r
266 float interval = CLAMP(cmd->interval, MIN_RATE, MAX_RATE);
\r
268 // Save value to global data
\r
272 case CMD_STOP: accEnable = false; break;
\r
273 case CMD_START: accEnable = true; break;
\r
274 case CMD_RATE: accTmr = interval; break;
\r
280 case CMD_STOP: magEnable = false; break;
\r
281 case CMD_START: magEnable = true; break;
\r
282 case CMD_RATE: magTmr = interval; break;
\r
288 case CMD_STOP: lgtEnable = false; break;
\r
289 case CMD_START: lgtEnable = true; break;
\r
290 case CMD_RATE: lgtTmr = interval; break;
\r
296 case CMD_STOP: tchEnable = false; break;
\r
297 case CMD_START: tchEnable = true; break;
\r
298 case CMD_RATE: tchTmr = interval; break;
\r
304 case CMD_STOP: a2dEnable = false; break;
\r
305 case CMD_START: a2dEnable = true; break;
\r
306 case CMD_RATE: a2dTmr = interval; break;
\r
312 /*******************
\r
313 * Sensors reading *
\r
314 *******************/
\r
316 void sendAccInfo(void){
\r
318 accData[0] = accSensor.getAccX();
\r
319 accData[1] = accSensor.getAccY();
\r
320 accData[2] = accSensor.getAccZ();
\r
321 int len = packToFrame(txFrame, SNS_ACC, TYP_F32, 3, accData);
\r
323 printStr("[ACC] accX=%-2.4f accY=%-2.4f accZ=%-2.4f\r\n",
\r
324 accData[0], accData[1], accData[2]);
\r
325 printHex(txFrame, len);
\r
326 printBin(txFrame, len);
\r
329 void sendMagInfo(void){
\r
330 // magSensor uses the wrong types,
\r
331 // so we have to convert it
\r
333 magSensor.getValues(&tmp[0], &tmp[1], &tmp[2]);
\r
334 uint16_t magData[3];
\r
335 magData[0] = tmp[0];
\r
336 magData[1] = tmp[1];
\r
337 magData[2] = tmp[2];
\r
338 int len = packToFrame(txFrame, SNS_MAG, TYP_S16, 3, magData);
\r
340 printStr("[MAG] magX=%hd magY=%hd magZ=%hd %d\r\n",
\r
341 magData[0], magData[1], magData[2], sizeof(int));
\r
342 printHex(txFrame, len);
\r
343 printBin(txFrame, len);
\r
346 void sendLgtInfo(void){
\r
347 float lgtData = lgtSensor.read();
\r
348 int len = packToFrame(txFrame, SNS_LGT, TYP_F32, 1, &lgtData);
\r
350 printStr("[LGT] intensity=%f\r\n",
\r
352 printHex(txFrame, len);
\r
353 printBin(txFrame, len);
\r
356 void sendTchInfo(void){
\r
358 tchData[0] = tchSensor.readPercentage();
\r
359 tchData[1] = tchSensor.readDistance();
\r
360 int len = packToFrame(txFrame, SNS_TCH, TYP_F32, 2, tchData);
\r
362 printStr("[TCH] force=%0.4f distance=%2.2f\r\n",
\r
363 tchData[0], tchData[1]);
\r
364 printHex(txFrame, len);
\r
365 printBin(txFrame, len);
\r
368 void sendA2dInfo(void){
\r
370 a2dData[0] = a2dSensor.read();
\r
376 int len = packToFrame(txFrame, SNS_A2D, TYP_F32, 6, a2dData);
\r
378 printStr("[A2D] data=%2.2f %2.2f %2.2f %2.2f %2.2f %2.2f\r\n",
\r
379 a2dData[0], a2dData[1], a2dData[2],
\r
380 a2dData[3], a2dData[4], a2dData[5]);
\r
381 printHex(txFrame, len);
\r
382 printBin(txFrame, len);
\r
385 /********************
\r
386 * Helper functions *
\r
387 ********************/
\r
389 int calDataSize(type_t dataType){
\r
391 case TYP_S8: return 1;
\r
392 case TYP_S16: return 2;
\r
393 case TYP_S32: return 4;
\r
394 case TYP_U8: return 1;
\r
395 case TYP_U16: return 2;
\r
396 case TYP_U32: return 4;
\r
397 case TYP_F32: return 4;
\r
398 case TYP_F64: return 8;
\r
403 /*******************
\r
404 * Frame functions *
\r
405 *******************/
\r
407 int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data){
\r
408 //const char pattern[] = "\x80\x81\x82\x83"
\r
409 // "\x84\x85\x86\x87"
\r
410 // "\x88\x89\x8A\x8B"
\r
411 // "\x8C\x8D\x8E\x8F";
\r
413 int size = dataNum * calDataSize(dataType);
\r
414 state_t *state = (state_t*)frame;
\r
415 uint8_t *tail = &state->data[size];
\r
417 state->header = HEADER;
\r
418 state->bits.sns = snsType;
\r
419 state->bits.type = dataType;
\r
420 state->count = dataNum;;
\r
421 memcpy(&state->data, data, size);
\r
425 return (3 + size + 1);
\r
428 /*******************
\r
429 * Print functions *
\r
430 *******************/
\r
432 void printHex(uint8_t *frame, int len){
\r
437 for (int i=0; i<len; i++)
\r
438 sdma_printf("%02hx ", frame[i]);
\r
439 sdma_printf("\r\n");
\r
442 void printStr(const char *fmt, ...){
\r
448 sdma_vprintf(fmt, ap);
\r
452 void printBin(uint8_t *frame, int len){
\r
456 sdma_write(frame, len);
\r