diff options
| -rw-r--r-- | src/app/button-and-motion-logger/Makefile.inc | 2 | ||||
| -rwxr-xr-x | src/app/button-and-motion-logger/client.py | 175 | ||||
| -rw-r--r-- | src/app/button-and-motion-logger/main.cc | 105 |
3 files changed, 282 insertions, 0 deletions
diff --git a/src/app/button-and-motion-logger/Makefile.inc b/src/app/button-and-motion-logger/Makefile.inc new file mode 100644 index 0000000..f433287 --- /dev/null +++ b/src/app/button-and-motion-logger/Makefile.inc @@ -0,0 +1,2 @@ +arch_drivers += ,adc,i2c +override drivers += ,mpu9250 diff --git a/src/app/button-and-motion-logger/client.py b/src/app/button-and-motion-logger/client.py new file mode 100755 index 0000000..1a72929 --- /dev/null +++ b/src/app/button-and-motion-logger/client.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python3 + +import numpy as np +import paho.mqtt.client as mqtt +import re +import requests +import serial +import serial.threaded +import time + +class SerialReader(serial.threaded.Protocol): + """ + Character- to line-wise data buffer for serial interfaces. + + Reads in new data whenever it becomes available and exposes a line-based + interface to applications. + """ + def __init__(self, callback): + """Create a new SerialReader object.""" + self.callback = callback + self.recv_buf = '' + + def __call__(self): + return self + + def data_received(self, data): + """Append newly received serial data to the line buffer.""" + try: + str_data = data.decode('UTF-8') + self.recv_buf += str_data + + # We may get anything between \r\n, \n\r and simple \n newlines. + # We assume that \n is always present and use str.strip to remove leading/trailing \r symbols + # Note: Do not call str.strip on lines[-1]! Otherwise, lines may be mangled + lines = self.recv_buf.split('\n') + if len(lines) > 1: + self.recv_buf = lines[-1] + for line in lines[:-1]: + self.callback(str.strip(line)) + + except UnicodeDecodeError: + pass + #sys.stderr.write('UART output contains garbage: {data}\n'.format(data = data)) + +class SerialMonitor: + """SerialMonitor captures serial output for a specific amount of time.""" + + def __init__(self, port: str, baud: int, callback): + """ + Create a new SerialMonitor connected to port at the specified baud rate. + + Communication uses no parity, no flow control, and one stop bit. + Data collection starts immediately. + """ + self.ser = serial.serial_for_url(port, do_not_open=True) + self.ser.baudrate = baud + self.ser.parity = 'N' + self.ser.rtscts = False + self.ser.xonxoff = False + + try: + self.ser.open() + except serial.SerialException as e: + sys.stderr.write('Could not open serial port {}: {}\n'.format(self.ser.name, e)) + sys.exit(1) + + self.reader = SerialReader(callback = callback) + self.worker = serial.threaded.ReaderThread(self.ser, self.reader) + self.worker.start() + + def close(self): + """Close serial connection.""" + self.worker.stop() + self.ser.close() + +if __name__ == '__main__': + + mqtt = mqtt.Client() + mqtt.connect('172.23.225.193'); + + accel_factor = 2. / 32768 + gyro_factor = 250. / 32768 + magnet_factor = 150e-9 + + accel_minmax = np.zeros((6)) + gyro_minmax = np.zeros((6)) + magnet_minmax = np.zeros((6)) + + max_accel = 0 + max_magnet = 0 + vcc = 0 + intervals = [60, 300, 600, 3600, 7200] + accel_by_5s = list() + + step = 0 + + def parse_line(line): + + global max_accel + global max_magnet + global vcc + + match = re.match('button(.)', line) + if match: + mqtt.publish('sensor/button', int(match.group(1))) + + match = re.match('Min Accel: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) + if match: + accel_minmax[0] = int(match.group(1)) * accel_factor + accel_minmax[1] = int(match.group(2)) * accel_factor + accel_minmax[2] = int(match.group(3)) * accel_factor + + match = re.match('Max Accel: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) + if match: + accel_minmax[3] = int(match.group(1)) * accel_factor + accel_minmax[4] = int(match.group(2)) * accel_factor + accel_minmax[5] = int(match.group(3)) * accel_factor + + match = re.match('Min Gyro: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) + if match: + gyro_minmax[0] = int(match.group(1)) * gyro_factor + gyro_minmax[1] = int(match.group(2)) * gyro_factor + gyro_minmax[2] = int(match.group(3)) * gyro_factor + + match = re.match('Max Gyro: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) + if match: + gyro_minmax[3] = int(match.group(1)) * gyro_factor + gyro_minmax[4] = int(match.group(2)) * gyro_factor + gyro_minmax[5] = int(match.group(3)) * gyro_factor + + match = re.match('Min Magnet: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) + if match: + magnet_minmax[0] = int(match.group(1)) * magnet_factor + magnet_minmax[1] = int(match.group(2)) * magnet_factor + magnet_minmax[2] = int(match.group(3)) * magnet_factor + + match = re.match('Max Magnet: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) + if match: + magnet_minmax[3] = int(match.group(1)) * magnet_factor + magnet_minmax[4] = int(match.group(2)) * magnet_factor + magnet_minmax[5] = int(match.group(3)) * magnet_factor + + match = re.match('CPU VCC: ([^ ]+)', line) + if match: + vcc = int(match.group(1)) + + match = re.match('MPU Temp: ([^ ]+)', line) + if match: + temp = float(match.group(1)) + max_accel = np.linalg.norm(accel_minmax[:3] - accel_minmax[3:]) + max_magnet = np.linalg.norm(magnet_minmax[3:]) + mqtt.publish('sensor/accel_g', max_accel) + mqtt.publish('sensor/flux_t', max_magnet) + #mqtt.publish('sensor/gyro_dps', np.linalg.norm(gyro_minmax[:3] - gyro_minmax[3:])) + requests.post('http://192.168.0.200:8086/write?db=hosts', data='embedded,name=structure,area=hm17 mpu9250_degc={:f},mpu9250_mv={:d}'.format(temp, vcc)) + + monitor = SerialMonitor('/dev/ttyUSB0', 57600, parse_line) + + try: + while True: + time.sleep(5) + + accel_by_5s.append(max_accel) + step += 1 + + if step == 4: + for interval in intervals: + index_interval = int(interval / 5) + mqtt.publish('sensor/accel{}'.format(interval), max(accel_by_5s[ -index_interval : ])) + accel_by_5s = accel_by_5s[ -intervals[-1] : ] + step = 0 + + except KeyboardInterrupt: + monitor.close() + mqtt.disconnect() diff --git a/src/app/button-and-motion-logger/main.cc b/src/app/button-and-motion-logger/main.cc new file mode 100644 index 0000000..5b411a5 --- /dev/null +++ b/src/app/button-and-motion-logger/main.cc @@ -0,0 +1,105 @@ +#include "arch.h" +#include "driver/gpio.h" +#include "driver/stdout.h" +#if defined(MULTIPASS_ARCH_HAS_I2C) && !defined(DRIVER_SOFTI2C) +#include "driver/i2c.h" +#else +#include "driver/soft_i2c.h" +#endif +#include "driver/adc.h" +#include "driver/mpu9250.h" + +#define INIT0(val) int val = 0, min_ ## val = 0, max_ ## val = 0; +#define UPDATE_MIN(min_val, val) if ((val) < (min_val)) { (min_val) = (val); } +#define UPDATE_MAX(max_val, val) if ((val) > (max_val)) { (max_val) = (val); } + +unsigned char button = 0; + +void check_button(GPIO::Pin pin, unsigned char index) +{ + if (gpio.read(pin) == 0) { + if ((button & (1 << index)) == 0) { + kout << "button" << index << endl; + } + button |= 1 << index; + } else { + button &= ~(1 << index); + } + +} + +int main(void) +{ + INIT0(ax); + INIT0(ay); + INIT0(az); + INIT0(mx); + INIT0(my); + INIT0(mz); + unsigned short i = 0; + + arch.setup(); + gpio.setup(); + kout.setup(); + + gpio.input(GPIO::pb0, 1); + gpio.input(GPIO::pb1, 1); + gpio.input(GPIO::pb2, 1); + gpio.input(GPIO::pb3, 1); + gpio.input(GPIO::pb4, 1); + + if (i2c.setup() != 0) { + kout << "I2C setup failed" << endl; + return 1; + } + + kout << "I2C setup OK" << endl; + + mpu9250.init(); + mpu9250.nineAxis(); + mpu9250.setGyroEnable(false, false, false); + + while (1) { + mpu9250.getRawAccel(&ax, &ay, &az); + + UPDATE_MIN(min_ax, ax); + UPDATE_MIN(min_ay, ay); + UPDATE_MIN(min_az, az); + UPDATE_MAX(max_ax, ax); + UPDATE_MAX(max_ay, ay); + UPDATE_MAX(max_az, az); + + if (mpu9250.getRawMagnet(&mx, &my, &mz)) { + UPDATE_MIN(min_mx, mx); + UPDATE_MIN(min_my, my); + UPDATE_MIN(min_mz, mz); + UPDATE_MAX(max_mx, mx); + UPDATE_MAX(max_my, my); + UPDATE_MAX(max_mz, mz); + } + + check_button(GPIO::pb4, 0); + check_button(GPIO::pb3, 1); + check_button(GPIO::pb2, 2); + check_button(GPIO::pb1, 3); + check_button(GPIO::pb0, 4); + + if (i++ == 2000) { + kout << "Min Accel: " << min_ax << " / " << min_ay << " / " << min_az << endl; + kout << "Max Accel: " << max_ax << " / " << max_ay << " / " << max_az << endl; + kout << "Min Magnet: " << min_mx << " / " << min_my << " / " << min_mz << endl; + kout << "Max Magnet: " << max_mx << " / " << max_my << " / " << max_mz << endl; + kout << "MPU Temp: " << mpu9250.getTemperature() << endl; + kout << "CPU Temp: " << adc.getTemp_mdegC() << endl; + kout << "CPU VCC: " << adc.getVCC_mV() << endl; + min_ax = min_ay = min_az = 30000; + max_ax = max_ay = max_az = -30000; + min_mx = min_my = min_mz = 30000; + max_mx = max_my = max_mz = -30000; + i = 0; + } + arch.delay_ms(1); + } + + return 0; +} |