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OpenBCI_Ganglion_Library.cpp
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OpenBCI_Ganglion_Library.cpp
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/*
OpenBCI Gagnlion Library
Place the containing folder into your libraries folder inside the arduino folder in your Documents folder
This library will work with a single OpenBCI Ganglion board
Joel Murphy, Leif Percifield, AJ Keller, and Conor Russomanno made this.
*/
#include "OpenBCI_Ganglion_Library.h"
#include <ota_bootloader.h>
// CONSTRUCTOR
OpenBCI_Ganglion::OpenBCI_Ganglion(){
curSampleRate = SAMPLE_RATE_200;
}
// <<<<<<<<<<<<<<<<<<<<<<<<< BOARD WIDE FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
void OpenBCI_Ganglion::initialize() {
SPI.begin();
SPI.setFrequency(4000);
SPI.setDataMode(SPI_MODE0);
pinMode(LIS2DH_SS,OUTPUT); digitalWrite(LIS2DH_SS,HIGH);
pinMode(LIS_DRDY,INPUT_PULLDOWN);
pinMode(MCP_DRDY,INPUT);
pinMode(MCP_SS,OUTPUT); digitalWrite(MCP_SS,HIGH);
pinMode(MCP_RST,OUTPUT); digitalWrite(MCP_RST,LOW);
delay(100); digitalWrite(MCP_RST,HIGH);
pinMode(DAC_SS,OUTPUT); digitalWrite(DAC_SS,HIGH);
for(int i=0; i<5; i++){
pinMode(impedanceSwitch[i],OUTPUT); digitalWrite(impedanceSwitch[i],LOW);
}
pinMode(LED, OUTPUT);
digitalWrite(LED,LED_state);
makeUniqueId(); // construct the name and serial number for advertisement
SimbleeBLE_advdata = advdata;
SimbleeBLE_advdata_len = sizeof(advdata);
if (useSerial) {
Serial.begin(115200);
} else {
Serial.begin(9600);
SimbleeBLE.advertisementData = "Ganglion";
SimbleeBLE.begin();
SimbleeBLE.txPowerLevel = +4;
}
initSerialBuffer();
startFromScratch(gain);
rssiTimer = millis();
}
void OpenBCI_Ganglion::makeUniqueId() {
uint64_t id = getDeviceId();
String stringy = String(getDeviceIdLow(), HEX);
advdata[16] = (uint8_t)stringy.charAt(0);
advdata[17] = (uint8_t)stringy.charAt(1);
advdata[18] = (uint8_t)stringy.charAt(2);
advdata[19] = (uint8_t)stringy.charAt(3);
SimbleeBLE.manufacturerName = "openbci.com";
SimbleeBLE.modelNumber = "Ganglion";
SimbleeBLE.hardwareRevision = "1.0.1";
SimbleeBLE.softwareRevision = "3.0.1";
}
void OpenBCI_Ganglion::blinkLED() {
// blue LED blinks when BLE is not connected
if(!wifi.present &&!BLEconnected){
if(millis()-LED_timer > LED_DELAY_TIME){
LED_timer = millis();
LED_state = !LED_state;
digitalWrite(LED,LED_state);
}
}
}
void OpenBCI_Ganglion::startFromScratch(unsigned long g) {
byte id;
int ID;
config_LIS2DH();
config_MCP3912(g);
updateDAC(DACmidline); // place DAC into V/2 position
loadString("OpenBCI Ganglion v"); loadlnString((char*)SimbleeBLE.softwareRevision);
for (int i = 2; i <= advdata[0]; i++) {
loadChar(advdata[i], false);
}
loadNewLine();
loadString("LIS2DH ID: "); id = LIS2DH_read(WHO_AM_I); loadHex(id,1,true);
loadString("MCP3912 CONFIG_1: "); digitalWrite(MCP_SS, LOW);
MCP_sendCommand(CONFIG_1, MCP_READ); ID = MCP_readRegister();
digitalWrite(MCP_SS, HIGH); loadHex(ID,3,true);
loadNewLine();
prepToSendBytes(); sendSerialBytesBlocking();
loadlnString("send 'b' to start data stream");
loadlnString("send 's' to stop data stream");
loadString("use 1,2,3,4 to turn"); loadlnString(" OFF channels");
loadString("use !,@,#,$ to"); loadlnString(" turn ON channels");
loadString("send '?' to print"); loadlnString(" all registers");
loadlnString("send 'v' to initialize board");
prepToSendBytes();
sendSerialBytesBlocking();
loadString("send '[' ']' to enable/disable"); loadlnString(" synthetic square wave");
loadString("send 'z' 'Z' to start/stop");loadlnString(" impedance test");
loadString("send 'n','N' to enable/"); loadlnString("disable accelerometer");
loadString("send '{','}' to attach/"); loadlnString("remove wifi");
loadString("send ':' to get wifi"); loadlnString(" shield status");
loadString("send ';' to power on"); loadlnString(" reset wifi shield");
prepToSendBytes();
sampleCounter = 0xFF;
}
void OpenBCI_Ganglion::printAllRegisters_Serial() {
if (!is_running) {
LIS2DH_readAllRegs_Serial();
MCP_readAllRegs();
}
}
boolean OpenBCI_Ganglion::startRunning(void) {
if (is_running == false) {
if (wifi.tx) {
wifi.sendGains(NUM_CHANNELS, getGains());
}
is_running = true;
sampleCounter = 0xFF;
ringBufferLevel = 0xFF;
if (streamSynthetic) {
for (int i = 1; i < 4; i++) {
channelData[i] = 0;
}
}
if (useSerial) {
digitalWrite(LED, HIGH);
}
if (useAccel){ enable_LIS2DH();}
config_MCP3912(gain);
MCP_turnOnChannels();
}
return is_running;
}
void OpenBCI_Ganglion::processData() {
MCP_dataReady = false;
if(sampleCounter > 200){
sampleCounter = 0;
ringBufferLevel = 0;
}
if (wifi.present && wifi.tx) {
if (useAccel){
wifi.storeByteBufTx(PCKT_END | PACKET_TYPE_ACCEL);
}else{
wifi.storeByteBufTx(PCKT_END | PACKET_TYPE_RAW_AUX);
}
wifi.storeByteBufTx(sampleCounter);
}
if (streamSynthetic) {
incrementSyntheticChannelData();
} else {
updateMCPdata();
if (useAccel){
updateAccelerometerData();
}
}
if(wifi.present && wifi.tx){
wifi.flushBufferTx();
return;
}
if(useAccel == true){
if(accelOnEdge == true){
accelOnEdge = false;
if(sampleCounter%2 == 0){ compressData19(); return; }
}
compressData18(); // compress deltas and send on even samples
} else {
if(accelOffEdge == true){
accelOffEdge = false;
if(sampleCounter%2 == 0){ compressData18(); return; }
}
compressData19(); // compress deltas and send on even samples
}
}
boolean OpenBCI_Ganglion::stopRunning(void) {
if (is_running == true) {
is_running = false;
MCP_turnOffAllChannels();
disable_LIS2DH();
}
streamSynthetic = false;
return is_running;
}
int OpenBCI_Ganglion::changeChannelState_maintainRunningState(int chan, int start) {
boolean was_running_when_called = is_running;
//must stop running to turn channel on/off
stopRunning();
if (start == 1) {
if(!was_running_when_called){
loadString("Activating channel "); loadInt(chan, true);
}
channelMask &= channelEnable[chan - 1]; // turn on the channel
} else {
if(!was_running_when_called){
loadString("Deactivating channel "); loadInt(chan, true);
}
channelMask |= channelDisable[chan - 1]; // turn off the channel
}
if (!was_running_when_called){
prepToSendBytes();
} else {
startRunning();
}
}
void OpenBCI_Ganglion::initSyntheticData() {
for (int i = 1; i < 4; i++) {
channelData[i] = 0;
}
}
void OpenBCI_Ganglion::startRunningSynthetic() {
thatTime = millis();
startRunning();
}
void OpenBCI_Ganglion::incrementSyntheticChannelData() {
thisTime = millis();
if (thisTime - thatTime > syntheticFrequency) {
thatTime = thisTime;
for (int i = 0; i < 4; i++) {
rising[i] = !rising[i];
if (rising[i]) {
channelData[i] = 8000000;
} else {
channelData[i] = -8000000;
}
}
}
}
/*
Send two samples in one packet by truncating the data to the MSBs.
Each sample is a signed 24 bit integer, but is stored in a 32 bit integer.
This means that only the 32nd (sign) and 1st-23rd bits have data.
Truncate the 24 bit integer to 18 bits by removing the 6 LSBs.
Move the sign bit to the new LSB place.
Now the sample is in bits 1-18 where the first bit is the sign bit.
Align the 2 samples x 4 channel x 18 bit samples into 18 bytes.
*/
void OpenBCI_Ganglion::compressData18()
{
bool even = (sampleCounter % 2) == 0;
for (int i = 0; i < 4; i++)
{
bitWrite(channelData[i], 6, (bitRead(channelData[i], 31))); // Store the sign bit in bit 6
channelData[i] = channelData[i] >> 6; // Then align the data to bits 1-18
}
if (even)
{
// Pack even samples first
compression_ring[ringBufferLevel][0] = ((channelData[0] & 0x0003FC00) >> 10);
compression_ring[ringBufferLevel][1] = ((channelData[0] & 0x000003FC) >> 2);
compression_ring[ringBufferLevel][2] = ((channelData[0] & 0x00000003) << 6);
compression_ring[ringBufferLevel][2] |= ((channelData[1] & 0x0003F000) >> 12);
compression_ring[ringBufferLevel][3] = ((channelData[1] & 0x00000FF0) >> 4);
compression_ring[ringBufferLevel][4] = ((channelData[1] & 0x0000000F) << 4);
compression_ring[ringBufferLevel][4] |= ((channelData[2] & 0x0003C000) >> 14);
compression_ring[ringBufferLevel][5] = ((channelData[2] & 0x00003FC0) >> 6);
compression_ring[ringBufferLevel][6] = ((channelData[2] & 0x0000003F) << 2);
compression_ring[ringBufferLevel][6] |= ((channelData[3] & 0x00030000) >> 16);
compression_ring[ringBufferLevel][7] = ((channelData[3] & 0x0000FF00) >> 8);
compression_ring[ringBufferLevel][8] = ((channelData[3] & 0x000000FF));
}
else
{
// Pack odd samples second
compression_ring[ringBufferLevel][9] = ((channelData[0] & 0x0003FC00) >> 10);
compression_ring[ringBufferLevel][10] = ((channelData[0] & 0x000003FC) >> 2);
compression_ring[ringBufferLevel][11] = ((channelData[0] & 0x00000003) << 6);
compression_ring[ringBufferLevel][11] |= ((channelData[1] & 0x0003F000) >> 12);
compression_ring[ringBufferLevel][12] = ((channelData[1] & 0x00000FF0) >> 4);
compression_ring[ringBufferLevel][13] = ((channelData[1] & 0x0000000F) << 4);
compression_ring[ringBufferLevel][13] |= ((channelData[2] & 0x0003C000) >> 14);
compression_ring[ringBufferLevel][14] = ((channelData[2] & 0x00003FC0) >> 6);
compression_ring[ringBufferLevel][15] = ((channelData[2] & 0x0000003F) << 2);
compression_ring[ringBufferLevel][16] |= ((channelData[3] & 0x00030000) >> 16);
compression_ring[ringBufferLevel][16] = ((channelData[3] & 0x0000FF00) >> 8);
compression_ring[ringBufferLevel][17] = ((channelData[3] & 0x000000FF));
// Send on the even packet
sendCompressedPacket18();
}
}
void OpenBCI_Ganglion::sendCompressedPacket18() {
radioBuffer[0] = ringBufferLevel;
for (int i = 0; i < 18; i++) {
radioBuffer[i+1] = compression_ring[ringBufferLevel][i];
}
if(useAccel){
if(ringBufferLevel%10 == 1){ radioBuffer[19] = axisData[0]; }
if(ringBufferLevel%10 == 2){ radioBuffer[19] = axisData[1]; }
if(ringBufferLevel%10 == 3){ radioBuffer[19] = axisData[2]; }
} else if(useAux){
if(ringBufferLevel%10 == 1){ radioBuffer[19] = auxData[0]; }
if(ringBufferLevel%10 == 2){ radioBuffer[19] = auxData[1]; }
if(ringBufferLevel%10 == 3){ radioBuffer[19] = auxData[2]; }
}
ringBufferLevel++;
if (BLEconnected) {
SimbleeBLE.send(radioBuffer, 20);
}
}
/*
Send two samples in one packet by truncating the data to the MSBs.
Each sample is a signed 24 bit integer, but is stored in a 32 bit integer.
This means that only the 32nd (sign) and 1st-23rd bits have data.
Truncate the 24 bit integer to 19 bits by removing the 5 LSBs.
Move the sign bit to the new LSB place.
Now the sample is in bits 1-19 where the first bit is the sign bit.
Align the 2 samples x 4 channel x 19 bit samples into 19 bytes.
*/
void OpenBCI_Ganglion::compressData19()
{
bool even = (sampleCounter % 2) == 0;
for (int i = 0; i < 4; i++)
{
bitWrite(channelData[i], 5, (bitRead(channelData[i], 31))); // Store the sign bit in bit 5
channelData[i] = channelData[i] >> 5; // Then align the data to bits 1-19
}
if (even)
{
// Pack even samples first
compression_ring[ringBufferLevel][0] = ((channelData[0] & 0x0007F800) >> 11);
compression_ring[ringBufferLevel][1] = ((channelData[0] & 0x000007F8) >> 3);
compression_ring[ringBufferLevel][2] = ((channelData[0] & 0x00000007) << 5);
compression_ring[ringBufferLevel][2] |= ((channelData[1] & 0x0007C000) >> 14);
compression_ring[ringBufferLevel][3] = ((channelData[1] & 0x00003FC0) >> 6);
compression_ring[ringBufferLevel][4] = ((channelData[1] & 0x0000003F) << 2);
compression_ring[ringBufferLevel][4] |= ((channelData[2] & 0x00060000) >> 17);
compression_ring[ringBufferLevel][5] = ((channelData[2] & 0x0001FE00) >> 9);
compression_ring[ringBufferLevel][6] = ((channelData[2] & 0x000001FE) >> 1);
compression_ring[ringBufferLevel][7] = ((channelData[2] & 0x00000001) << 7);
compression_ring[ringBufferLevel][7] |= ((channelData[3] & 0x0007F000) >> 12);
compression_ring[ringBufferLevel][8] = ((channelData[3] & 0x00000FF0) >> 4);
compression_ring[ringBufferLevel][9] = ((channelData[3] & 0x0000000F) << 4);
}
else
{
// Pack odd samples second
compression_ring[ringBufferLevel][9] |= ((channelData[0] & 0x00078000) >> 15);
compression_ring[ringBufferLevel][10] = ((channelData[0] & 0x00007F80) >> 7);
compression_ring[ringBufferLevel][11] = ((channelData[0] & 0x0000007F) << 1);
compression_ring[ringBufferLevel][11] |= ((channelData[1] & 0x00040000) >> 18);
compression_ring[ringBufferLevel][12] = ((channelData[1] & 0x0003FC00) >> 10);
compression_ring[ringBufferLevel][13] = ((channelData[1] & 0x000003FC) >> 2);
compression_ring[ringBufferLevel][14] = ((channelData[1] & 0x00000003) << 6);
compression_ring[ringBufferLevel][14] |= ((channelData[2] & 0x0007E000) >> 13);
compression_ring[ringBufferLevel][15] = ((channelData[2] & 0x00001FE0) >> 5);
compression_ring[ringBufferLevel][16] = ((channelData[2] & 0x0000001F) << 3);
compression_ring[ringBufferLevel][16] |= ((channelData[3] & 0x00070000) >> 16);
compression_ring[ringBufferLevel][17] = ((channelData[3] & 0x0000FF00) >> 8);
compression_ring[ringBufferLevel][18] = ((channelData[3] & 0x000000FF));
// Send on the even packet
sendCompressedPacket19();
}
}
void OpenBCI_Ganglion::sendCompressedPacket19() {
radioBuffer[0] = ringBufferLevel + 100;
for (int i = 0; i < 19; i++) {
radioBuffer[i+1] = compression_ring[ringBufferLevel][i];
}
ringBufferLevel++;
if (BLEconnected) {
SimbleeBLE.send(radioBuffer, 20);
}
}
void OpenBCI_Ganglion::testImpedance() {
if (!ACwaveTest) {
uAsampleCounter = 0;
negativeRunningTotal = positiveRunningTotal = positiveSampleCounter = negativeSampleCounter = 0;
changeZtestForChannel(channelUnderZtest, 1); // trun on the current for testing
realZeroPosition = getDACzeroPosition();
ACwaveTest = true;
ACrising = false;
int runningTotal = 0;
for (int i = 0; i < 10; i++) {
runningTotal += analogRead(SHUNT_SENSOR);
delay(1);
}
currentCountsAtZeroAmps = (runningTotal / 10);
maxPosCurrentCounts = minNegCurrentCounts = 0;
updateDAC(realZeroPosition - HALF_WAVE);
halfPeriodTimer = uAsampleTimer = micros();
}
else
{
thisTime = micros(); // time critical activities!
if (thisTime - halfPeriodTimer > HALF_PERIOD) {
halfPeriodTimer = thisTime;
if (ACrising) {
updateDAC(realZeroPosition - HALF_WAVE);
ACrising = false;
edge = true;
uAsampleTimer = thisTime;
} else {
updateDAC(realZeroPosition + HALF_WAVE);
ACrising = true;
edge = true;
uAsampleTimer = thisTime;
}
}
if (thisTime - uAsampleTimer > UA_SAMPLE_TIME) {
if (uAsampleCounter > UA_SAMPLE_LIMIT) {
updateDAC(realZeroPosition);
ACwaveTest = false;
positiveMean = positiveRunningTotal / positiveSampleCounter;
negativeMean = negativeRunningTotal / negativeSampleCounter;
changeZtestForChannel(channelUnderZtest, 0); // turn off the current switch
// Serial.println("* Test Complete");
// int impedance = (HALF_WAVE * 2 * DAC_volts_per_count) / ((((maxPosCurrentCounts - minNegCurrentCounts) * ADC_volts_per_count)/SHUNT_SENSOR_GAIN)/(SHUNT));///2));
int _impedance = (HALF_WAVE * DAC_volts_per_count) / (((((maxPosCurrentCounts - minNegCurrentCounts)/2) * ADC_volts_per_count)/SHUNT_SENSOR_GAIN)/SHUNT);
// Serial.print("positiveMax = "); Serial.println(maxPosCurrentCounts);
// Serial.print("negativeMin = "); Serial.println(minNegCurrentCounts);
// Serial.print("_impedance "); Serial.println(_impedance);
double _imp = double(_impedance)/1000.0;
double impedance = convertRawGanglionImpedanceToTarget(_imp);
if (wifi.present && wifi.tx) {
wifi.bufferTxClear();
wifi.storeByteBufTx(PCKT_END | PACKET_TYPE_IMPEDANCE);
wifi.storeByteBufTx(channelUnderZtest);
int integer = impedance;
int digitCounter = 0;
char digit[10];
while (integer > 0) {
digit[digitCounter] = (integer % 10) + '0';
integer /= 10;
digitCounter++;
}
for (int i = digitCounter - 1; i >= 0; i--) {
wifi.storeByteBufTx(digit[i]);
}
wifi.flushBufferTx();
} else {
initSerialBuffer();
loadInt(impedance, false); loadChar('Z', true);
serialBuffer[0][0] = ID_Z_1 + (channelUnderZtest - 1);
timeLastPacketSent = millis(); // prime the timer to send verbose packets
bufferLevelCounter = 0;
serialBytesToSend = true; sendSerialBytesBlocking();
}
channelUnderZtest++;
if (channelUnderZtest > 5) { channelUnderZtest = 1; }
return;
}
currentCounts = (analogRead(SHUNT_SENSOR) - currentCountsAtZeroAmps);
// Serial.println(currentCounts); // verbose feedback
if (ACrising) {
if(currentCounts > maxPosCurrentCounts){ maxPosCurrentCounts = currentCounts; }
} else {
if(currentCounts < minNegCurrentCounts){ minNegCurrentCounts = currentCounts; }
}
uAsampleTimer = thisTime;
uAsampleCounter++;
}
}
}
void OpenBCI_Ganglion::changeZtestForChannel(int channel, int setting) {
digitalWrite(impedanceSwitch[channel - 1], setting);
}
void OpenBCI_Ganglion::endImpedanceTest(){
testingImpedance = false;
updateDAC(realZeroPosition);
for(int i=1; i<=5; i++){
changeZtestForChannel(i, 0);
}
}
double OpenBCI_Ganglion::convertRawGanglionImpedanceToTarget(double _actual){
//the following impedance adjustment calculations were derived using empirical values from resistors between 1,2,3,4,REF-->D_G
double _target;
//V1 -- more accurate for lower impedances (< 22kOhcm) -> y = 0.0034x^3 - 0.1443x^2 + 3.1324x - 10.59
if(_actual <= 22.0){
// _target = (0.0004)*(pow(_actual,3)) - (0.0262)*(pow(_actual,2)) + (1.8349)*(_actual) - 6.6006;
_target = (0.0034)*(pow(_actual,3)) - (0.1443)*(pow(_actual,2)) + (3.1324)*(_actual) - 10.59;
}
//V2 -- more accurate for higher impedances (> 22kOhm) -> y = 0.000009x^4 - 0.001x^3 + 0.0409x^2 + 0.6445x - 1
else {
_target = (0.000009)*(pow(_actual,4)) - (0.001)*pow(_actual,3) + (0.0409)*(pow(_actual,2)) + (0.6445)*(pow(_actual,1)) - 1;
}
return _target;
}
// <<<<<<<<<<<<<<<<<<<<<<<<< END OF BOARD WIDE FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
// *************************************************************************************
// <<<<<<<<<<<<<<<<<<<<<<<<<<<<<< AD5621 DAC FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
void OpenBCI_Ganglion::updateDAC(word DAC_pos) { //
SPI.setDataMode(SPI_MODE1); // DAC uses MODE 1
word command = (DAC_pos << 2) & DAC_MASK;
byte highCommand = (command >> 8) & 0xFF;
byte lowCommand = command & 0xFF;
digitalWrite(DAC_SS, LOW);
SPI.transfer(highCommand);
SPI.transfer(lowCommand);
digitalWrite(DAC_SS, HIGH);
DAC_position = DAC_pos;
SPI.setDataMode(SPI_MODE0); // Everything else uses MODE 0
}
void OpenBCI_Ganglion::updateDAC() {
SPI.setDataMode(SPI_MODE1); // DAC uses MODE 1
word command = (DAC_position << 2) & DAC_MASK;
digitalWrite(DAC_SS, LOW);
SPI.transfer(highByte(command));
SPI.transfer(lowByte(command));
digitalWrite(DAC_SS, HIGH);
SPI.setDataMode(SPI_MODE0); // Everything else uses MODE 0
}
void OpenBCI_Ganglion::zeroDAC() {
SPI.setDataMode(SPI_MODE1); // DAC uses MODE 1
word command = (DAC_position << 2) & DAC_MASK;
command |= DAC_1K;
digitalWrite(DAC_SS, LOW);
SPI.transfer(highByte(command));
SPI.transfer(lowByte(command));
digitalWrite(DAC_SS, HIGH);
SPI.setDataMode(SPI_MODE0); // Everything else uses MODE 0
}
float OpenBCI_Ganglion::get_Zvalue(int DAC_pos) {
DAC_voltage = (DAC_pos * DAC_volts_per_count); // - 1.5;
Ohms = int(DAC_voltage / 0.00001);
return Ohms;
}
word OpenBCI_Ganglion::getDACzeroPosition() {
updateDAC(DACmidline);
sampleNumber = 0;
sampleTimer = micros();
while (sampleNumber < 100) {
gotoTarget(0.0, noise);
}
return DAC_position;
}
void OpenBCI_Ganglion::readShuntSensor() {
currentCounts = analogRead(SHUNT_SENSOR);
// nAmp_Value = currentCounts * nAmps_per_count;
uAmp_Value = float(currentCounts) * ADC_volts_per_count;
// uAmp_Value -= 15.0; //
uAmp_Value -= 1.5;
}
void OpenBCI_Ganglion::gotoTarget(float target, float n) {
if (micros() - sampleTimer > gotoSampleTime) {
sampleTimer = micros();
sampleNumber++;
readShuntSensor();
if (uAmp_Value > target + n) {
decreased++;
DAC_position--; updateDAC();
} else if (uAmp_Value < target - n) {
increased++;
DAC_position++; updateDAC();
} else {
steady++;
}
}
}
// <<<<<<<<<<<<<<<<<<<<<<<<< END OF AD5621 DAC FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
// *************************************************************************************
// <<<<<<<<<<<<<<<<<<<<<<<<<<<<<< LIS2DH FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
void OpenBCI_Ganglion::updateAccelerometerData() {
unsigned short _x, _y, _z = 0x0000;
if(digitalRead(LIS_DRDY) == HIGH){
_x = LIS2DH_read16(OUT_X_L);
_y = LIS2DH_read16(OUT_Y_L);
_z = LIS2DH_read16(OUT_Z_L);
axisData[0] = highByte(_x); // read out the 8bit axis values
axisData[1] = highByte(_y);
axisData[2] = highByte(_z);
if(wifi.present && wifi.tx){
_x >>= 4;
if(bitRead(_x,11) == 1){ _x |= 0xF000; }
_y >>= 4;
if(bitRead(_y,11) == 1){ _y |= 0xF000; }
_z >>= 4;
if(bitRead(_z,11) == 1){ _z |= 0xF000; }
wifi.storeByteBufTx(highByte(_x));
wifi.storeByteBufTx(lowByte(_x));
wifi.storeByteBufTx(highByte(_y));
wifi.storeByteBufTx(lowByte(_y));
wifi.storeByteBufTx(highByte(_z));
wifi.storeByteBufTx(lowByte(_z));
}
newAccelData = true;
}
}
void OpenBCI_Ganglion::config_LIS2DH() {
LIS2DH_write(TEMP_CFG_REG, 0xC0); // enable temperature sensor
LIS2DH_write(CTRL_REG1, 0x20); // 10Hz data rate, high resolution, axis disabled
LIS2DH_write(CTRL_REG3, 0x10); // DRDY1 INTERUPT ON INT_1 PIN
LIS2DH_write(CTRL_REG4, 0x08); // 0x10 = +/- 4G, 0x00 = +/- 2G axis data continuous update
}
void OpenBCI_Ganglion::enable_LIS2DH() {
LIS2DH_write(CTRL_REG1, 0x27); // 10Hz data rate, high resolution, axis enabled
}
void OpenBCI_Ganglion::disable_LIS2DH() {
LIS2DH_write(CTRL_REG1, 0x20); // 10Hz data rate, high resolution, axis disabled
}
word OpenBCI_Ganglion::LIS2DH_readTemp() {
word temp = 0;
if ((LIS2DH_read(STATUS_REG_AUX) & 0x04) > 1) { // check for updated temp data...
temp = LIS2DH_read16(OUT_TEMP_L);
if (!is_running || BLEconnected) {
loadString("Temperature "); loadInt(temp, false); loadlnString("*"); // 12, 1
prepToSendBytes();
}
}
return temp;
}
byte OpenBCI_Ganglion::LIS2DH_read(byte reg) {
reg |= READ_REG;
digitalWrite(LIS2DH_SS, LOW);
SPI.transfer(reg);
byte inByte = SPI.transfer(0x00);
digitalWrite(LIS2DH_SS, HIGH);
return inByte;
}
void OpenBCI_Ganglion::LIS2DH_write(byte reg, byte value) {
digitalWrite(LIS2DH_SS, LOW);
SPI.transfer(reg);
SPI.transfer(value);
digitalWrite(LIS2DH_SS, HIGH);
}
short OpenBCI_Ganglion::LIS2DH_read16(byte reg) {
short inData;
reg |= READ_REG | READ_MULTI;
digitalWrite(LIS2DH_SS, LOW);
SPI.transfer(reg);
inData = SPI.transfer(0x00) | (SPI.transfer(0x00) << 8);
digitalWrite(LIS2DH_SS, HIGH);
return inData;
}
float OpenBCI_Ganglion::getG(byte axis) {
short counts = LIS2DH_read16(axis);
float gValue = float(counts) * scale_factor_gs_per_count;
return gValue;
}
void OpenBCI_Ganglion::LIS2DH_readAllRegs_Serial() {
loadlnString("LIS2DH\nREG\tSetting");
byte inByte;
byte reg = STATUS_REG_AUX | READ_REG;
digitalWrite(LIS2DH_SS, LOW);
SPI.transfer(reg);
inByte = SPI.transfer(0x00);
digitalWrite(LIS2DH_SS, HIGH);
loadHex(reg & 0x7F, 1, false);
loadString("\t", 1, false); loadHex(inByte, 1, true);
digitalWrite(LIS2DH_SS, HIGH);
reg = OUT_TEMP_L | READ_REG | READ_MULTI;
digitalWrite(LIS2DH_SS, LOW);
SPI.transfer(reg);
for (int i = OUT_TEMP_L; i <= WHO_AM_I; i++) {
inByte = SPI.transfer(0x00);
loadHex(i, 1, false);
loadChar('\t', false); loadHex(inByte, 1, true);
}
digitalWrite(LIS2DH_SS, HIGH);
if (!wifi.present) {
prepToSendBytes();
sendSerialBytesBlocking();
}
reg = TEMP_CFG_REG | READ_REG | READ_MULTI;
digitalWrite(LIS2DH_SS, LOW);
SPI.transfer(reg);
for (int i = TEMP_CFG_REG; i <= ACT_DUR; i++) {
inByte = SPI.transfer(0x00);
loadHex(i, 1, false);
loadChar('\t', false); loadHex(inByte, 1, true);
}
digitalWrite(LIS2DH_SS, HIGH);
loadNewLine();
if (!wifi.present) {
prepToSendBytes();
sendSerialBytesBlocking();
}
}
// <<<<<<<<<<<<<<<<<<<<<<<<< END OF LIS2DH FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
// *************************************************************************************
// <<<<<<<<<<<<<<<<<<<<<<<<<<<<<< MCP3912 FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
void OpenBCI_Ganglion::config_MCP3912(unsigned long gain) {
unsigned int config0 = 0x003C0050 | (curSampleRate << 13); // dither on max, boost 2x, OSR 4096,
// digitalWrite(MCP_RST, LOW); delay(50);
// digitalWrite(MCP_RST, HIGH); delay(300);
digitalWrite(MCP_SS, LOW);
MCP_sendCommand(GAIN, MCP_WRITE);
MCP_writeRegister(gain); // GAIN_1, _2, _4, _8, _16, _32
MCP_writeRegister(0x00B9000F); // STATUSCOM auto increment TYPES DR in HIZ
MCP_writeRegister(config0); // CONFIG_0: 0x003CE050 | sample rate: 50, 100, 200, 400
MCP_writeRegister(0x000F0000); // CONFIG_1: put the ADCs in reset, external oscillator
digitalWrite(MCP_SS, HIGH);
}
void OpenBCI_Ganglion::updateMCPdata() {
int byteCounter = 2;
digitalWrite(MCP_SS, LOW);
MCP_sendCommand(channelAddress[0], MCP_READ); // send request to read from CHAN_0 address
for (int i = 0; i < 4; i++) {
channelData[i] = MCP_readRegister(); // read the 24bit result into the long variable array
if(wifi.present && wifi.tx){
for (int j = 16; j >= 0; j -= 8) {
wifi.storeByteBufTx(channelData[i] >> j & 0xFF); // fill the raw data array for streaming
byteCounter++;
}
}
}
if (wifi.present && wifi.tx) {
for (int i = 0; i < 4 * 3; i++) {
wifi.storeByteBufTx(0);
}
}
digitalWrite(MCP_SS, HIGH);
// this section corrects the sign on the long array
for (int i = 0; i < 4; i++) {
if ((channelData[i] & 0x00800000) > 0) {
channelData[i] |= 0xFF000000;
} else {
channelData[i] &= 0x00FFFFFF;
}
}
}
void OpenBCI_Ganglion::MCP_sendCommand(byte address, byte rw) {
byte command = DEV_ADD | address | rw;
SPI.transfer(command);
}
long OpenBCI_Ganglion::MCP_readRegister() {
long thisRegister = SPI.transfer(0x00);
thisRegister <<= 8;
thisRegister |= SPI.transfer(0x00);
thisRegister <<= 8;
thisRegister |= SPI.transfer(0x00);
return thisRegister;
}
void OpenBCI_Ganglion::MCP_writeRegister(unsigned long setting) {
byte thisByte = (setting & 0x00FF0000) >> 16;
SPI.transfer(thisByte);
thisByte = (setting & 0x0000FF00) >> 8;
SPI.transfer(thisByte);
thisByte = setting & 0x000000FF;
SPI.transfer(thisByte);
}
void OpenBCI_Ganglion::MCP_turnOnChannels() {
digitalWrite(MCP_SS, LOW);
MCP_sendCommand(CONFIG_1, MCP_WRITE);
MCP_writeRegister(channelMask); // turn on selected channels
digitalWrite(MCP_SS, HIGH);
}
void OpenBCI_Ganglion::MCP_turnOffAllChannels() {
digitalWrite(MCP_SS, LOW);
MCP_sendCommand(CONFIG_1, MCP_WRITE);
MCP_writeRegister(0x000F0000); // turn off all channels
digitalWrite(MCP_SS, HIGH);
}
void OpenBCI_Ganglion::MCP_readAllRegs() {
loadlnString("MCP3912\nREG\tSetting");
for (int i = MOD_VAL; i <= GAINCAL_3; i += 2) {
if (i != 0x12) {
digitalWrite(MCP_SS, LOW);
MCP_sendCommand(i, MCP_READ);
regVal = MCP_readRegister();
digitalWrite(MCP_SS, HIGH);
MCP_printRegisterName(i);
loadHex(regVal, 3, true);
}
}
digitalWrite(MCP_SS, LOW);
if (!wifi.present) {
prepToSendBytes();
sendSerialBytesBlocking();
}
delay(10);
MCP_sendCommand(LOK_CRC, MCP_READ);
regVal = MCP_readRegister();
digitalWrite(MCP_SS, HIGH);
MCP_printRegisterName(LOK_CRC);
loadHex(regVal, 3, true);
prepToSendBytes();
if (!wifi.present) {
sendSerialBytesBlocking();
}
}
void OpenBCI_Ganglion::MCP_printRegisterName(byte _address) {
switch (_address) {
case MOD_VAL:
loadString("MOD_VAL ", 10, false); break;
case GAIN:
loadString("GAIN ", 10, false); break;
case PHASE:
loadString("PHASE ", 10, false); break;
case STATUSCOM:
loadString("STATUSCOM ", 10, false); break;
case CONFIG_0:
loadString("CONFIG_0 ", 10, false); break;
case CONFIG_1:
loadString("CONFIG_1 ", 10, false); break;
case OFFCAL_0:
loadString("OFFCAL_0 ", 10, false); break;
case GAINCAL_0:
loadString("GAINCAL_0 ", 10, false); break;
case OFFCAL_1:
loadString("OFFCAL_1 ", 10, false); break;
case GAINCAL_1:
loadString("GAINCAL_1 ", 10, false); break;
case OFFCAL_2:
loadString("OFFCAL_2 ", 10, false); break;
case GAINCAL_2:
loadString("GAINCAL_2 ", 10, false); break;
case OFFCAL_3:
loadString("OFFCAL_3 ", 10, false); break;
case GAINCAL_3:
loadString("GAINCAL_3 ", 10, false); break;
case LOK_CRC:
loadString("LOK_CRC ", 10, false); break;
default:
break;
}
}
// <<<<<<<<<<<<<<<<<<<<<<<<< END OF MCP3912 FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
// *************************************************************************************
// <<<<<<<<<<<<<<<<<<<<<<<<<<<<<< COM FUNCTIONS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
boolean OpenBCI_Ganglion::eventSerial() {
if(clearForOTA){
clearForOTA = false;
delay(100);
ota_bootloader_start(); //begins OTA enabled state
}
if(BLEcharTail != BLEcharHead){
BLEcharTail++;
if(BLEcharTail >19){ BLEcharTail = 0; }
parseChar(BLEchar[BLEcharTail]);
}
while (Serial.available()) {
inChar = Serial.read();
gotSerial = true;
parseChar(inChar);
}
if (serialBytesToSend) {
// send via BLE if available
if (BLEconnected) {
if ((millis() - timeLastPacketSent) > 15) {
SimbleeBLE.send(serialBuffer[bufferLevelCounter], serialIndex[bufferLevelCounter]);
bufferLevelCounter++; // get ready for next buffered packet
if (bufferLevelCounter == bufferLevel + 1) { // when we send all the packets
serialBytesToSend = false; // put down bufferToSend flag
bufferLevel = 0; // initialize bufferLevel
initSerialBuffer(); // initialize buffer
}
timeLastPacketSent = millis();
}
} else {
// send via Serial Port if no BLE available
for (int i = 0; i <= bufferLevel; i++) {
for (int j = 1; j < serialIndex[i]; j++) {
Serial.write(serialBuffer[i][j]);
}
}
serialBytesToSend = false; // put down bufferToSend flag
bufferLevel = 0; // initialize bufferLevel
initSerialBuffer(); // initialize buffer
}
}
return gotSerial;
}
void OpenBCI_Ganglion::sendSerialBytesBlocking() {
// send via BLE if available
if (BLEconnected) {
while (serialBytesToSend) {
if ((millis() - timeLastPacketSent) > 15) {
SimbleeBLE.send(serialBuffer[bufferLevelCounter], serialIndex[bufferLevelCounter]);
bufferLevelCounter++; // get ready for next buffered packet
if (bufferLevelCounter == bufferLevel + 1) { // when we send all the packets
// Serial.println(serialBuffer[0][0]);
serialBytesToSend = false; // put down bufferToSend flag
bufferLevel = 0; // initialize bufferLevel
initSerialBuffer(); // initialize bufffer
}
timeLastPacketSent = millis();
}
}
} else {
// send via Serial Port if no BLE available
for (int i = 0; i <= bufferLevel; i++) {
for (int j = 1; j < serialIndex[i]; j++) {
Serial.write(serialBuffer[i][j]);
}
}
serialBytesToSend = false; // put down bufferToSend flag
bufferLevel = 0; // initialize bufferLevel
initSerialBuffer(); // initialize bufffer
}
}
void OpenBCI_Ganglion::prepToSendBytes() {
if (commandFromSPI) {
if (wifi.present && wifi.tx) {
wifi.sendStringLast();
}
} else {
if (serialIndex[bufferLevel] == 0) {
bufferLevel--; // don't send an empty buffer!
}
if (bufferLevel > 0) {
for (int i = 0; i < bufferLevel; i++) {
serialBuffer[i][0] = ID_MULTI_PACKET;
}
}
serialBuffer[bufferLevel][0] = ID_MULTI_PACKET_STOP;
timeLastPacketSent = millis(); // prime the timer to send verbose packets
bufferLevelCounter = 0;