summaryrefslogtreecommitdiff
path: root/src/app
diff options
context:
space:
mode:
Diffstat (limited to 'src/app')
-rw-r--r--src/app/button-and-motion-logger/Makefile.inc2
-rwxr-xr-xsrc/app/button-and-motion-logger/client.py175
-rw-r--r--src/app/button-and-motion-logger/main.cc105
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;
+}
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-30 23:52:41 +0000