//Initialize as a slave
void TwoWire::begin(uint8_t address)
{
if(i2cModule == NOT_ACTIVE) {
i2cModule = BOOST_PACK_WIRE;
}
ROM_SysCtlPeripheralEnable(g_uli2cPeriph[i2cModule]);
ROM_GPIOPinConfigure(g_uli2cConfig[i2cModule][0]);
ROM_GPIOPinConfigure(g_uli2cConfig[i2cModule][1]);
ROM_GPIOPinTypeI2C(g_uli2cBase[i2cModule], g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinTypeI2CSCL(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
slaveAddress = address;
//Enable slave interrupts
ROM_IntEnable(g_uli2cInt[i2cModule]);
I2CSlaveIntEnableEx(SLAVE_BASE, I2C_SLAVE_INT_DATA | I2C_SLAVE_INT_STOP);
HWREG(SLAVE_BASE + I2C_O_SICR) =
I2C_SICR_DATAIC | I2C_SICR_STARTIC | I2C_SICR_STOPIC;
//Setup as a slave device
ROM_I2CMasterDisable(MASTER_BASE);
I2CSlaveEnable(SLAVE_BASE);
I2CSlaveInit(SLAVE_BASE, address);
ROM_IntMasterEnable();
}
void TwoWire::forceStop(void) {
//force a stop to release the bus
ROM_GPIOPinTypeGPIOOutput(g_uli2cBase[i2cModule],
g_uli2cSCLPins[i2cModule] | g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinWrite(g_uli2cBase[i2cModule], g_uli2cSDAPins[i2cModule], 0);
ROM_GPIOPinWrite(g_uli2cBase[i2cModule],
g_uli2cSCLPins[i2cModule], g_uli2cSCLPins[i2cModule]);
ROM_GPIOPinWrite(g_uli2cBase[i2cModule],
g_uli2cSDAPins[i2cModule], g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinTypeI2C(g_uli2cBase[i2cModule], g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinTypeI2CSCL(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
//reset I2C controller
//without resetting the I2C controller, the I2C module will
//bring the bus back to it's erroneous state
ROM_SysCtlPeripheralReset(g_uli2cPeriph[i2cModule]);
while(!ROM_SysCtlPeripheralReady(g_uli2cPeriph[i2cModule]));
ROM_I2CMasterInitExpClk(MASTER_BASE, F_CPU, speedMode);//Bus speed
if(speedMode==I2C_SPEED_FASTMODE_PLUS)//Force 1Mhz
{
uint32_t ui32TPR = ((F_CPU + (2 * 10 * 1000000l) - 1) / (2 * 10 * 1000000l)) - 1;
HWREG(MASTER_BASE + I2C_O_MTPR) = ui32TPR;
}
}
//Initialize as a master
void TwoWire::begin(void)
{
if(i2cModule == NOT_ACTIVE) {
i2cModule = BOOST_PACK_WIRE;
}
ROM_SysCtlPeripheralEnable(g_uli2cPeriph[i2cModule]);
//Configure GPIO pins for I2C operation
ROM_GPIOPinConfigure(g_uli2cConfig[i2cModule][0]);
ROM_GPIOPinConfigure(g_uli2cConfig[i2cModule][1]);
ROM_GPIOPinTypeI2C(g_uli2cBase[i2cModule], g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinTypeI2CSCL(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
ROM_I2CMasterInitExpClk(MASTER_BASE, F_CPU, speedMode);//Bus speed
if(speedMode==I2C_SPEED_FASTMODE_PLUS)//Force 1Mhz
{
uint32_t ui32TPR = ((F_CPU + (2 * 10 * 1000000l) - 1) / (2 * 10 * 1000000l)) - 1;
HWREG(MASTER_BASE + I2C_O_MTPR) = ui32TPR;
}
//force a stop condition
if(!ROM_GPIOPinRead(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]))
forceStop();
//Handle any startup issues by pulsing SCL
if(ROM_I2CMasterBusBusy(MASTER_BASE) || ROM_I2CMasterErr(MASTER_BASE)
|| !ROM_GPIOPinRead(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule])) {
uint8_t doI = 0;
ROM_GPIOPinTypeGPIOOutput(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
unsigned long mask = 0;
do {
for(unsigned long i = 0; i < 10 ; i++) {
if(speedMode==I2C_SPEED_FASTMODE_PLUS)
ROM_SysCtlDelay(F_CPU/1000000/3);//1000Hz=desired frequency, delay iteration=3 cycles
else if(speedMode==I2C_SPEED_FASTMODE)
ROM_SysCtlDelay(F_CPU/400000/3);//400Hz=desired frequency, delay iteration=3 cycles
else
ROM_SysCtlDelay(F_CPU/100000/3);//100Hz=desired frequency, delay iteration=3 cycles
mask = (i%2) ? g_uli2cSCLPins[i2cModule] : 0;
ROM_GPIOPinWrite(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule], mask);
}
doI++;
} while(ROM_I2CMasterBusBusy(MASTER_BASE) && doI < 100);
ROM_GPIOPinTypeI2CSCL(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
if(!ROM_GPIOPinRead(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]))
forceStop();
}
}
void Init_I2C(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_GPIOPinConfigure(GPIO_PB2_I2C0SCL);
ROM_GPIOPinConfigure(GPIO_PB3_I2C0SDA);
ROM_GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);
GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD);
ROM_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_3, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_OD);
ROM_I2CMasterInitExpClk(I2C0_BASE,ROM_SysCtlClockGet(),true);
SysCtlDelay(500000);
ROM_I2CMasterEnable(I2C0_BASE);
}
//*****************************************************************************
//
//! Initializes and enables the specified I2C block.
//!
//! \param I2C_PORT is the I2C peripheral to be used.
//! \param ulI2CSpeed defines the normal (100kbps) or fast (400kbps) I2C mode.
//!
//! This function enables the specified I2C block and sets it up to run at
//! the either 100kbps or 400kbps. If the \e ulI2CSpeed is false, the I2C will
//! run at 100kbps and if true, then the I2C will run at 400kbps. The
//! \e I2C_PORT parameter can be one of the following values:
//!
//! \return None.
//
//*****************************************************************************
void SetupI2C(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeI2CSCL(GPIO_PORTA_BASE, GPIO_PIN_6);
ROM_GPIOPinTypeI2C(GPIO_PORTA_BASE, GPIO_PIN_7);
ROM_GPIOPinConfigure(GPIO_PA6_I2C1SCL);
ROM_GPIOPinConfigure(GPIO_PA7_I2C1SDA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C1);
ROM_I2CMasterInitExpClk(I2C_PORT, SysCtlClockGet(), 1); // 1 : 400Khz, 0 : 100Khz
}
void ConfigureI2C3(void){
// Enable peripherals used by I2C
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
// Setup GPIO
ROM_GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
// Set GPIO D0 and D1 as SCL and SDA
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
// Initialize as master - 'true' for fastmode, 'false' for regular
ROM_I2CMasterInitExpClk(I2C3_BASE, ROM_SysCtlClockGet(), true);
}
//Initialize as a master
void TwoWire::begin(void)
{
pinMode(RED_LED, OUTPUT);
if(i2cModule == NOT_ACTIVE) {
i2cModule = BOOST_PACK_WIRE;
}
ROM_SysCtlPeripheralEnable(g_uli2cPeriph[i2cModule]);
//Configure GPIO pins for I2C operation
ROM_GPIOPinConfigure(g_uli2cConfig[i2cModule][0]);
ROM_GPIOPinConfigure(g_uli2cConfig[i2cModule][1]);
ROM_GPIOPinTypeI2C(g_uli2cBase[i2cModule], g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinTypeI2CSCL(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
ROM_I2CMasterInitExpClk(MASTER_BASE, F_CPU, false);//max bus speed=400kHz for gyroscope
//force a stop condition
if(!ROM_GPIOPinRead(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]))
forceStop();
//Handle any startup issues by pulsing SCL
if(ROM_I2CMasterBusBusy(MASTER_BASE) || ROM_I2CMasterErr(MASTER_BASE)
|| !ROM_GPIOPinRead(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule])){
uint8_t doI = 0;
ROM_GPIOPinTypeGPIOOutput(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
unsigned long mask = 0;
do{
for(unsigned long i = 0; i < 10 ; i++) {
ROM_SysCtlDelay(F_CPU/100000/3);//100Hz=desired frequency, delay iteration=3 cycles
mask = (i%2) ? g_uli2cSCLPins[i2cModule] : 0;
ROM_GPIOPinWrite(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule], mask);
}
doI++;
}while(ROM_I2CMasterBusBusy(MASTER_BASE) && doI < 100);
ROM_GPIOPinTypeI2CSCL(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
if(!ROM_GPIOPinRead(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]))
forceStop();
}
}
void TwoWire::forceStop(void) {
//force a stop to release the bus
ROM_GPIOPinTypeGPIOOutput(g_uli2cBase[i2cModule],
g_uli2cSCLPins[i2cModule] | g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinWrite(g_uli2cBase[i2cModule], g_uli2cSDAPins[i2cModule], 0);
ROM_GPIOPinWrite(g_uli2cBase[i2cModule],
g_uli2cSCLPins[i2cModule], g_uli2cSCLPins[i2cModule]);
ROM_GPIOPinWrite(g_uli2cBase[i2cModule],
g_uli2cSDAPins[i2cModule], g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinTypeI2C(g_uli2cBase[i2cModule], g_uli2cSDAPins[i2cModule]);
ROM_GPIOPinTypeI2CSCL(g_uli2cBase[i2cModule], g_uli2cSCLPins[i2cModule]);
//reset I2C controller
//without resetting the I2C controller, the I2C module will
//bring the bus back to it's erroneous state
ROM_SysCtlPeripheralReset(g_uli2cPeriph[i2cModule]);
while(!ROM_SysCtlPeripheralReady(g_uli2cPeriph[i2cModule]));
ROM_I2CMasterInitExpClk(MASTER_BASE, F_CPU, false);
}
//*****************************************************************************
//
// Main 'C' Language entry point.
//
//*****************************************************************************
int
main(void)
{
float fTemperature, fPressure, fAltitude;
int32_t i32IntegerPart;
int32_t i32FractionPart;
//
// Setup the system clock to run at 40 MHz from PLL with crystal reference
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JBMP180 Example\n");
//
// Set the color to a white approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x8000;
//
// Initialize RGB driver. Use a default intensity and blink rate.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
// This step is not necessary if your part does not support pin muxing.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Initialize the GPIO for the LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, 0x00);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize the I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the BMP180.
//
BMP180Init(&g_sBMP180Inst, &g_sI2CInst, BMP180_I2C_ADDRESS,
BMP180AppCallback, &g_sBMP180Inst);
//
// Wait for initialization callback to indicate reset request is complete.
//
while(g_vui8DataFlag == 0)
{
//
// Wait for I2C Transactions to complete.
//
}
//
// Reset the data ready flag
//
g_vui8DataFlag = 0;
//
// Enable the system ticks at 10 Hz.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / (10 * 3));
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// After all the init and config we start blink the LED
//
RGBBlinkRateSet(1.0f);
//
// Begin the data collection and printing. Loop Forever.
//
while(1)
{
//
// Read the data from the BMP180 over I2C. This command starts a
// temperature measurement. Then polls until temperature is ready.
// Then automatically starts a pressure measurement and polls for that
// to complete. When both measurement are complete and in the local
// buffer then the application callback is called from the I2C
// interrupt context. Polling is done on I2C interrupts allowing
// processor to continue doing other tasks as needed.
//
BMP180DataRead(&g_sBMP180Inst, BMP180AppCallback, &g_sBMP180Inst);
while(g_vui8DataFlag == 0)
{
//
// Wait for the new data set to be available.
//
}
//
// Reset the data ready flag.
//
g_vui8DataFlag = 0;
//
// Get a local copy of the latest temperature data in float format.
//
BMP180DataTemperatureGetFloat(&g_sBMP180Inst, &fTemperature);
//
// Convert the floats to an integer part and fraction part for easy
// print.
//
i32IntegerPart = (int32_t) fTemperature;
i32FractionPart =(int32_t) (fTemperature * 1000.0f);
i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
if(i32FractionPart < 0)
{
i32FractionPart *= -1;
}
//
// Print temperature with three digits of decimal precision.
//
UARTprintf("Temperature %3d.%03d\t\t", i32IntegerPart, i32FractionPart);
//
// Get a local copy of the latest air pressure data in float format.
//
BMP180DataPressureGetFloat(&g_sBMP180Inst, &fPressure);
//
// Convert the floats to an integer part and fraction part for easy
// print.
//
i32IntegerPart = (int32_t) fPressure;
i32FractionPart =(int32_t) (fPressure * 1000.0f);
i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
if(i32FractionPart < 0)
{
i32FractionPart *= -1;
}
//
// Print Pressure with three digits of decimal precision.
//
UARTprintf("Pressure %3d.%03d\t\t", i32IntegerPart, i32FractionPart);
//
// Calculate the altitude.
//
fAltitude = 44330.0f * (1.0f - powf(fPressure / 101325.0f,
1.0f / 5.255f));
//
// Convert the floats to an integer part and fraction part for easy
// print.
//
i32IntegerPart = (int32_t) fAltitude;
i32FractionPart =(int32_t) (fAltitude * 1000.0f);
i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
if(i32FractionPart < 0)
{
i32FractionPart *= -1;
}
//
// Print altitude with three digits of decimal precision.
//
UARTprintf("Altitude %3d.%03d", i32IntegerPart, i32FractionPart);
//
// Print new line.
//
UARTprintf("\n");
//
// Delay to keep printing speed reasonable. About 100 milliseconds.
//
ROM_SysCtlDelay(ROM_SysCtlClockGet() / (10 * 3));
}//while end
}
void main (void)
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
ROM_SysCtlClockSet (SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
IntMasterEnable();
ConfigureUART();
ConfigureGPRS();
float fAccel[3];
tMPU9150 sMPU9150;
UARTprintf("Point 0\n");
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Initialize the MPU9150. This code assumes that the I2C master instance
// has already been initialized.
//
I2CMInit(&sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 4);
UARTprintf("Point 2\n");
g_bMPU9150Done = false;
MPU9150Init(&sMPU9150, &sI2CInst, 0x68, MPU9150Callback, 0);
while(!g_bMPU9150Done)
{
}
//
// Configure the MPU9150 for +/- 4 g accelerometer range.
//
UARTprintf("Point 3\n");
g_bMPU9150Done = false;
// MPU9150ReadModifyWrite(&sMPU9150, MPU9150_O_ACCEL_CONFIG,
// ~MPU9150_ACCEL_CONFIG_AFS_SEL_M,
// MPU9150_ACCEL_CONFIG_AFS_SEL_16G, MPU9150Callback,
// 0);
sMPU9150.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
sMPU9150.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
sMPU9150.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_16G);
MPU9150Write(&sMPU9150, MPU9150_O_CONFIG, sMPU9150.pui8Data, 3,
MPU9150Callback, 0);
// while(1){}
while(!g_bMPU9150Done)
{
}
//
// Loop forever reading data from the MPU9150. Typically, this process
// would be done in the background, but for the purposes of this example,
// it is shown in an infinite loop.
//
int count=0;
int prev_count=-100;
int is_acc=0;
float imp[3];
int j=0;
for(;j<2;j++) imp[j]=0;
float curr_avg=0;
while(1)
{
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 8);
//
// Request another reading from the MPU9150.
//
g_bMPU9150Done = false;
if(!MPU9150DataRead(&sMPU9150, MPU9150Callback, 0)) continue;
while(!g_bMPU9150Done)
{
}
//
// Get the new accelerometer, gyroscope, and magnetometer readings.
//
float backup[3];
int l=0;
if(count!=0)for(;l<3;l++)backup[l]=fAccel[l];
MPU9150DataAccelGetFloat(&sMPU9150, &fAccel[0], &fAccel[1],
&fAccel[2]);
// MPU9150DataGyroGetFloat(&sMPU9150, &fGyro[0], &fGyro[1], &fGyro[2]);
// MPU9150DataMagnetoGetFloat(&sMPU9150, &fMagneto[0], &fMagneto[1],
// &fMagneto[2]);
// float factor = 0.0011970964;
// UARTprintf("%d %d %d ",(int)(fMagneto[0]*1000), (int)(fMagneto[1]*1000),(int)(fMagneto[2]*1000));
// UARTprintf("Accel %d %d %d \n",(int)(fAccel[0]*1000), (int)(fAccel[1]*1000),(int)(fAccel[2]*1000));
// if(count ==0)UARTprintf("\n");
// UARTprintf("Gyro %d %d %d \n",(int)(fGyro[0]*1000), (int)(fGyro[1]*1000),(int)(fGyro[2]*1000));
// int iter;
// for(iter=0;iter<6;iter++)
// UARTprintf("%f %f %f \n",fAccel[0]*factor, fAccel[1] *factor,fAccel[2]*factor );
float temp = check_acc(fAccel, backup);
curr_avg = curr_avg + (temp - curr_avg)/(count +1);
if(is_acc && count< prev_count+ 400)
{
int j=0;
for(;j<2;j++)imp[j]+=(fAccel[j] - backup[j]);
}
if(is_acc && count == prev_count + 400)
{
is_acc = 0;
UARTprintf("Impulse %d %d %d \n",(int)(imp[0]*1000), (int)(imp[1]*1000),(int)(imp[2]*1000));
int side = 0;
int sign=0;
int j=0, max_imp = 0;
for(;j<2;j++) if(imp[j]*imp[j] > max_imp) {
max_imp = imp[j]*imp[j];
side = j;
sign = imp[j] > 0 ? 1 : -1;
}
send_accident_data(side, sign);
j=0;
for(;j<2;j++)imp[j]=0;
}
if(count!=0 && temp >= thres && count >= prev_count + 400)
{
UARTprintf("Accel %d %d %d ",(int)(fAccel[0]*1000), (int)(fAccel[1]*1000),(int)(fAccel[2]*1000));
prev_count = count;
is_acc=1;
}
count++;
if(count % 5000 ==0) UARTprintf("Driver stats : %d\r\n", (int)(curr_avg));
if(count % 50000 == 0)
{
int rating = driver_rating(curr_avg);
// UARTprintf("Sending data to server\r\n");
memset(command,0,200);
strcpy(command,"AT+HTTPPARA=\"URL\",\"embedded-roshanroshan.rhcloud.com/add/Driver_rating=");
itoa(rating, command+strlen(command));
strcpy(command+strlen(command), "\"");
send_AT_command(command,NULL);
send_AT_command("AT+HTTPACTION=0",NULL);
count=0;
curr_avg = 0;
}
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
// SysCtlDelay(5000000);
//
// Do something with the new accelerometer, gyroscope, and magnetometer
// readings.
//
}
}
void MPU6050_Init(void){
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlDelay(3);
ROM_GPIOPinConfigure(GPIO_PB2_I2C0SCL);
ROM_GPIOPinConfigure(GPIO_PB3_I2C0SDA);
ROM_GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);
//ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_0);
//GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_0);
//ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_0, GPIO_FALLING_EDGE);
//ROM_IntEnable(INT_GPIOB);
ROM_I2CMasterEnable(I2C0_BASE);
I2CMInit(&sI2CInst, I2C0_BASE, INT_I2C0, 0xff, 0xff, ROM_SysCtlClockGet());
g_bMPU6050Done = false;
MPU6050Init(&sMPU6050, &sI2CInst, 0x68, MPU6050_Callback, 0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_PWR_MGMT_1,
~MPU6050_PWR_MGMT_1_SLEEP,
0, MPU6050_Callback,
0);//从Sleep模式中激活设备，否则无法写入寄存器
while(!g_bMPU6050Done);
// Configure the MPU6050 for +/- 4 g accelerometer range.
//
g_bMPU6050Done = false;
//先读取寄存器的值，再与上Mask，然后再或上Value，将得到的值写入寄存器
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_PWR_MGMT_1,
~MPU6050_PWR_MGMT_1_CLKSEL_M,
MPU6050_PWR_MGMT_1_CLKSEL_XG, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_ACCEL_CONFIG,
~MPU6050_ACCEL_CONFIG_AFS_SEL_M,
MPU6050_ACCEL_CONFIG_AFS_SEL_4G, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_CONFIG,
~MPU6050_CONFIG_DLPF_CFG_M,
MPU6050_CONFIG_DLPF_CFG_44_42, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_GYRO_CONFIG,
~MPU6050_GYRO_CONFIG_FS_SEL_M,
MPU6050_GYRO_CONFIG_FS_SEL_2000, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
MPU6050Read(&sMPU6050,MPU6050_O_WHO_AM_I,&deviceID,1,MPU6050_Callback,0);//MPU-60X0设备号默认0x68
ROM_SysCtlDelay(ROM_SysCtlClockGet()/(3*1000));
MPU6050Read(&sMPU6050,MPU6050_O_PWR_MGMT_1,&PowerInfo,1,MPU6050_Callback,0);//若读到的值是0x00，则设备处于激活状态。0x40则为休眠状态
}
void tm4c123_i2c_initialize(void)
{
uint32_t count;
tm4c123_i2c_device.state = I2C_STATE_IDLE;
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
/* Disable I2C3 */
I2C3->MCR = I2C_MCR_MFE;
ROM_GPIOPinTypeGPIOOutputOD(GPIOD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeGPIOInput(GPIOD_BASE, GPIO_PIN_1);
/* Delay for 10usec */
armv7m_udelay(10);
/* If SDA is tied low by a slave, issue clock pulses till it releases
* the bus.
*/
for (count = 0; count < 128; count++)
{
if (GPIOD->DATA & GPIO_PIN_1)
{
break;
}
/* Set SCL to L */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 0);
armv7m_udelay(5);
/* Set SCL to H */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 1);
armv7m_udelay(5);
}
ROM_GPIOPinTypeGPIOOutput(GPIOD_BASE, GPIO_PIN_1);
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 1);
armv7m_bitband_peripheral_write(&GPIOD->DATA, 1, 1);
armv7m_udelay(5);
/* Now SCL is H and SDA is H, so generate a STOP condition.
*/
/* Set SCL to L */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 0);
armv7m_udelay(5);
/* Set SDA to L */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 1, 0);
armv7m_udelay(5);
/* Set SCL to H */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 0, 1);
armv7m_udelay(5);
/* Set SDA to H */
armv7m_bitband_peripheral_write(&GPIOD->DATA, 1, 1);
armv7m_udelay(5);
/* After this recovery, switch to regular I2C mode.
*/
/* Enable pin PD0 for I2C3 I2C3SCL
*/
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinTypeI2CSCL(GPIOD_BASE, GPIO_PIN_0);
/* Enable pin PD1 for I2C3 I2C3SDA
*/
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
ROM_GPIOPinTypeI2C(GPIOD_BASE, GPIO_PIN_1);
tm4c123_i2c_reset();
NVIC_SetPriority(I2C3_IRQn, 3);
NVIC_EnableIRQ(I2C3_IRQn);
}
//*****************************************************************************
//
// Initialize the I2C, MPU9150 and Gesture systems.
//
//*****************************************************************************
void
MotionInit(void)
{
//
// Enable port B used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOB);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Set the motion state to initializing.
//
g_ui8MotionState = MOTION_STATE_INIT;
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MotionCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MotionI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MotionCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MotionI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = (MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN);
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MotionCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MotionI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system.
//
CompDCMInit(&g_sCompDCMInst, 1.0f / ((float) MOTION_SAMPLE_FREQ_HZ),
DCM_ACCEL_WEIGHT, DCM_GYRO_WEIGHT, DCM_MAG_WEIGHT);
//
// Initialize the gesture instance and establish a initial state estimate.
//
GestureInit(&g_sGestureInst, g_pfInitProb, g_ppfPath, g_ppfTransitionProb,
g_ppfEmitProb, GESTURE_PATH_LENGTH, GESTURE_NUM_STATES,
GESTURE_STATE_IDLE);
}
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int
main(void)
{
int_fast32_t i32IPart[16], i32FPart[16];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[16];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Enable port B used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x0000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOB);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOB is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
UARTprintf("\033[2J\033[H");
UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
UARTprintf("\033[20GX\033[31G|\033[43GY\033[54G|\033[66GZ\n\n");
UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Gyro\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Mag\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[20GRoll\033[31G|\033[43GPitch\033[54G|\033[66GYaw\n\n");
UARTprintf("Eulers\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[17GQ1\033[26G|\033[35GQ2\033[44G|\033[53GQ3\033[62G|"
"\033[71GQ4\n\n");
UARTprintf("Q\033[8G|\033[26G|\033[44G|\033[62G|\n\n");
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
ui32CompDCMStarted = 0;
while(1)
{
//
// Go to sleep mode while waiting for data ready.
//
while(!g_vui8I2CDoneFlag)
{
ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
//
// Check if this is our first data ever.
//
if(ui32CompDCMStarted == 0)
{
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
{
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
{
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx] -
(i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if(i32FPart[ui32Idx] < 0)
{
i32FPart[ui32Idx] *= -1;
}
}
//
// Print the acceleration numbers in the table.
//
UARTprintf("\033[5;17H%3d.%03d", i32IPart[0], i32FPart[0]);
UARTprintf("\033[5;40H%3d.%03d", i32IPart[1], i32FPart[1]);
UARTprintf("\033[5;63H%3d.%03d", i32IPart[2], i32FPart[2]);
//
// Print the angular velocities in the table.
//
UARTprintf("\033[7;17H%3d.%03d", i32IPart[3], i32FPart[3]);
UARTprintf("\033[7;40H%3d.%03d", i32IPart[4], i32FPart[4]);
UARTprintf("\033[7;63H%3d.%03d", i32IPart[5], i32FPart[5]);
//
// Print the magnetic data in the table.
//
UARTprintf("\033[9;17H%3d.%03d", i32IPart[6], i32FPart[6]);
UARTprintf("\033[9;40H%3d.%03d", i32IPart[7], i32FPart[7]);
UARTprintf("\033[9;63H%3d.%03d", i32IPart[8], i32FPart[8]);
//
// Print the Eulers in a table.
//
UARTprintf("\033[14;17H%3d.%03d", i32IPart[9], i32FPart[9]);
UARTprintf("\033[14;40H%3d.%03d", i32IPart[10], i32FPart[10]);
UARTprintf("\033[14;63H%3d.%03d", i32IPart[11], i32FPart[11]);
//
// Print the quaternions in a table format.
//
UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
}
}
}
//*****************************************************************************
//
//! Initializes the TLV320AIC3107 DAC.
//!
//! This function initializes the I2C interface and the TLV320AIC3107 DAC. It
//! must be called prior to any other API in the DAC module.
//!
//! \return Returns \b true on success or \b false on failure.
//
//*****************************************************************************
tBoolean
DACInit(void)
{
tBoolean bRetcode;
unsigned char ucTest;
//
// Enable the GPIO port containing the I2C pins and set the SDA pin as a
// GPIO input for now and engage a weak pull-down. If the daughter board
// is present, the pull-up on the board should easily overwhelm
// the pull-down and we should read the line state as high.
//
ROM_SysCtlPeripheralEnable(DAC_I2CSCL_GPIO_PERIPH);
ROM_GPIOPinTypeGPIOInput(DAC_I2CSCL_GPIO_PORT, DAC_I2CSDA_PIN);
ROM_GPIOPadConfigSet(DAC_I2CSCL_GPIO_PORT, DAC_I2CSDA_PIN,
GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
//
// Enable the I2C peripheral.
//
ROM_SysCtlPeripheralEnable(DAC_I2C_PERIPH);
//
// Delay a while to ensure that we read a stable value from the SDA
// GPIO pin. If we read too quickly, the result is unpredictable.
// This delay is around 2mS.
//
SysCtlDelay(ROM_SysCtlClockGet() / (3 * 500));
//
// Configure the pin mux.
//
GPIOPinConfigure(GPIO_PB2_I2C0SCL);
GPIOPinConfigure(GPIO_PB3_I2C0SDA);
//
// Configure the I2C SCL and SDA pins for I2C operation.
//
ROM_GPIOPinTypeI2C(DAC_I2CSCL_GPIO_PORT, DAC_I2CSCL_PIN | DAC_I2CSDA_PIN);
//
// Initialize the I2C master.
//
ROM_I2CMasterInitExpClk(DAC_I2C_MASTER_BASE, SysCtlClockGet(), 0);
//
// Enable the I2C peripheral.
//
ROM_SysCtlPeripheralEnable(DAC_RESET_GPIO_PERIPH);
//
// Configure the PH2 as a GPIO output.
//
ROM_GPIOPinTypeGPIOOutput(DAC_RESET_GPIO_PORT, DAC_RESET_PIN);
//
// Reset the DAC
//
ROM_GPIOPinWrite(DAC_RESET_GPIO_PORT , DAC_RESET_PIN, 0);
ROM_GPIOPinWrite(DAC_RESET_GPIO_PORT , DAC_RESET_PIN, DAC_RESET_PIN);
//
// Reset the DAC. Check the return code on this call since we use it to
// indicate whether or not the DAC is present. If the register write
// fails, we assume the I2S daughter board and DAC are not present and
// return false.
//
bRetcode = DACWriteRegister(TI_SOFTWARE_RESET_R, 0x80);
if(!bRetcode)
{
return(bRetcode);
}
//
// Codec Datapath Setup Register
// ----------------------
// D7 = 1 : Fsref = 44.1-kHz
// D6 = 0 : ADC Dual rate mode is disabled
// D5 = 0 : DAC Dual rate mode is disabled
// D[4:3] = 11 : Left DAC datapath plays mono mix of left and right channel
// input data
// D[1:1] = 00 : Right DAC datapath is off
// D0 = 0 : reserved
// ----------------------
// D[7:0] = 10011010
//
DACWriteRegister(TI_CODEC_DATAPATH_R, 0x98);
//
// Audio Serial Data Interface Control Register A
// ----------------------
// D7 = 0 : BCLK is an input (slave mode)
// D6 = 0 : WCLK (or GPIO1 if programmed as WCLK) is an input
// (slave mode)
// D5 = 0 : Do not 3-state DOUT when valid data is not being sent
// D4 = 0 : BCLK / WCLK (or GPIO1 if programmed as WCLK) will not
// continue to be transmitted when running in master mode if codec is powered down
// D3 = 0 : Reserved.
// D2 = 0 : Disable 3-D digital effect processing
// D[1:0] = 00 : reserved
// ----------------------
// D[7:0] = 00000000
//
DACWriteRegister(TI_ASDI_CTL_A_R, 0x00);
//
// Audio Serial Data Interface Control Register B
// ----------------------
// D[7:6] = 00 : Serial data bus uses I2S mode
// D[5:4] = 00 : Audio data word length = 16-bits
// D3 = 0 : Continuous-transfer mode used to determine master mode
// bit clock rate
// D2 = 0 : Don't Care
// D1 = 0 : Don't Care
// D0 = 0 : Re-Sync is done without soft-muting the channel. (ADC/DAC)
// ----------------------
// D[7:0] = 00000000
//
DACWriteRegister(TI_ASDI_CTL_B_R, 0x00);
//
// Audio Serial Data Interface Control Register C
// ----------------------
// D[7:0] = 00000000 : Data offset = 0 bit clocks
// ----------------------
// D[7:0] = 00000000
//
DACWriteRegister(TI_ASDI_CTL_C_R, 0x00);
//
// DAC Power and Output Driver Control Register
// ----------------------
// D7 = 1 : Left DAC is powered up
// D6 = 1 : Right DAC is powered up
// D[5:4] = 00 : HPCOM configured as differential of HPLOUT
// D[3:0] = 0 : reserved
// ----------------------
// D[7:0] = 11000000
//
DACWriteRegister(TI_DACPOD_CTL_R, 0xC0);
//
// Left DAC Digital Volume Control Register
// ----------------------
// D7 = 0 : The left DAC channel is not muted
// D[6:0] = 0 :
// ----------------------
// D[7:0] =
//
DACWriteRegister(TI_LEFT_DAC_DIG_VOL_CTL_R, 0x00);
//
// Right DAC Digital Volume Control Register
// ----------------------
// D7 = 0 : The right DAC channel is not muted
// D[6:0] = 0 :
// ----------------------
// D[7:0] =
//
DACWriteRegister(TI_RIGHT_DAC_DIG_VOL_CTL_R, 0x00);
//
// DAC_L1 to LEFT_LOP Volume Control Register
// ----------------------
// D7 = 1 : DAC_L1 is routed to LEFT_LOP
// D[6:0] = 0110010 (50) : Gain
// ----------------------
// D[7:0] = 10110010
//
DACWriteRegister(TI_DAC_L1_LEFT_LOP_VOL_CTL_R, 0xA0);
//
// LEFT_LOP Output Level Control Register
// ----------------------
// D[7:4] = 0110 : Output level control = 6 dB
// D3 = 1 : LEFT_LOP is not muted
// D2 = 0 : Reserved.
// D1 = 0 : All programmed gains to LEFT_LOP have been applied
// D0 = 1 : LEFT_LOP is fully powered up
// ----------------------
// D[7:0] = 00001001
//
DACWriteRegister(TI_LEFT_LOP_OUTPUT_LVL_CTL_R, 0xC9);
//
// From the TLV320AIC3107 datasheet:
// The following initialization sequence must be written to the AIC3107
// registers prior to enabling the class-D amplifier:
// register data:
// 1. 0x00 0x0D
// 2. 0x0D 0x0D
// 3. 0x08 0x5C
// 4. 0x08 0x5D
// 5. 0x08 0x5C
// 6. 0x00 0x00
//
DACWriteRegister(0x00, 0x0D);
DACWriteRegister(0x0D, 0x0D);
DACWriteRegister(0x08, 0x5C);
DACWriteRegister(0x08, 0x5D);
DACWriteRegister(0x08, 0x5C);
DACWriteRegister(0x00, 0x00);
//
// Class-D and Bypass Switch Control Register
// ----------------------
// D[7:6] = 01 : Left Class-D amplifier gain = 6.0 dB
// D[5:4] = 00 : Right Class-D amplifier gain = 0.0 dB
// D3 = 1 : enable left class-D channel
// D2 = 0 : disable right class-D channel
// D1 = 0 : disable bypass switch
// D0 = 0 : disable bypass switch bootstrap clock
// ----------------------
// D[7:0] = 01001000
//
DACWriteRegister(TI_CLASSD_BYPASS_SWITCH_CTL_R, 0x40);
//
//Read Module Power Status Register
//
bRetcode = DACReadRegister(TI_MODULE_PWR_STAT_R, &ucTest);
if(!bRetcode)
{
return(bRetcode);
}
return(true);
}
//*****************************************************************************
//
// Main 'C' Language entry point.
//
//*****************************************************************************
int
main(void)
{
float fAmbient;
int32_t i32IntegerPart, i32FractionPart;
uint8_t ui8Mask;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Initialize the UART and its pins.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JISL29023 Example\n");
//
// Set the color to a white approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x8000;
//
// Initialize RGB driver. Use a default intensity and blink rate.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
// This step is not necessary if your part does not support pin muxing.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// ISL29023
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_5);
GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_5);
ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_5, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOE);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOE is for the ISL29023 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Configure desired interrupt priorities. Setting the I2C interrupt to be
// of more priority than SysTick and the GPIO interrupt means those
// interrupt routines can use the I2CM_DRV Application context does not use
// I2CM_DRV API and GPIO and SysTick are at the same priority level. This
// prevents re-entrancy problems with I2CM_DRV but keeps the MCU in sleep
// state as much as possible. UART is at least priority so it can operate
// in the background.
//
ROM_IntPrioritySet(INT_I2C3, 0x00);
ROM_IntPrioritySet(FAULT_SYSTICK, 0x40);
ROM_IntPrioritySet(INT_GPIOE, 0x80);
ROM_IntPrioritySet(INT_UART0, 0x80);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the ISL29023 Driver.
//
ISL29023Init(&g_sISL29023Inst, &g_sI2CInst, ISL29023_I2C_ADDRESS,
ISL29023AppCallback, &g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
// Configure the ISL29023 to measure ambient light continuously. Set a 8
// sample persistence before the INT pin is asserted. Clears the INT flag.
// Persistence setting of 8 is sufficient to ignore camera flashes.
//
ui8Mask = (ISL29023_CMD_I_OP_MODE_M | ISL29023_CMD_I_INT_PERSIST_M |
ISL29023_CMD_I_INT_FLAG_M);
ISL29023ReadModifyWrite(&g_sISL29023Inst, ISL29023_O_CMD_I, ~ui8Mask,
(ISL29023_CMD_I_OP_MODE_ALS_CONT |
ISL29023_CMD_I_INT_PERSIST_8),
ISL29023AppCallback, &g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
// Configure the upper threshold to 80% of maximum value
//
g_sISL29023Inst.pui8Data[1] = 0xCC;
g_sISL29023Inst.pui8Data[2] = 0xCC;
ISL29023Write(&g_sISL29023Inst, ISL29023_O_INT_HT_LSB,
g_sISL29023Inst.pui8Data, 2, ISL29023AppCallback,
&g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
// Configure the lower threshold to 20% of maximum value
//
g_sISL29023Inst.pui8Data[1] = 0x33;
g_sISL29023Inst.pui8Data[2] = 0x33;
ISL29023Write(&g_sISL29023Inst, ISL29023_O_INT_LT_LSB,
g_sISL29023Inst.pui8Data, 2, ISL29023AppCallback,
&g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
//Configure and enable SysTick Timer
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// After all the init and config we start blink the LED
//
RGBBlinkRateSet(1.0f);
//
// Loop Forever
//
while(1)
{
ROM_SysCtlSleep();
if(g_vui8DataFlag)
{
g_vui8DataFlag = 0;
//
// Get a local floating point copy of the latest light data
//
ISL29023DataLightVisibleGetFloat(&g_sISL29023Inst, &fAmbient);
//
// Perform the conversion from float to a printable set of integers
//
i32IntegerPart = (int32_t)fAmbient;
i32FractionPart = (int32_t)(fAmbient * 1000.0f);
i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
if(i32FractionPart < 0)
{
i32FractionPart *= -1;
}
//
// Print the temperature as integer and fraction parts.
//
UARTprintf("Visible Lux: %3d.%03d\n", i32IntegerPart,
i32FractionPart);
//
// Check if the intensity of light has crossed a threshold. If so
// then adjust range of sensor readings to track intensity.
//
if(g_vui8IntensityFlag)
{
//
// Disable the low priority interrupts leaving only the I2C
// interrupt enabled.
//
ROM_IntPriorityMaskSet(0x40);
//
// Reset the intensity trigger flag.
//
g_vui8IntensityFlag = 0;
//
// Adjust the lux range.
//
ISL29023AppAdjustRange(&g_sISL29023Inst);
//
// Now we must manually clear the flag in the ISL29023
// register.
//
ISL29023Read(&g_sISL29023Inst, ISL29023_O_CMD_I,
g_sISL29023Inst.pui8Data, 1, ISL29023AppCallback,
&g_sISL29023Inst);
//
// Wait for transaction to complete
//
ISL29023AppI2CWait(__FILE__, __LINE__);
//
// Disable priority masking so all interrupts are enabled.
//
ROM_IntPriorityMaskSet(0);
}
}
}
}
//*****************************************************************************
//
// Main 'C' Language entry point.
//
//*****************************************************************************
int
main(void)
{
float fAmbient, fObject;
int_fast32_t i32IntegerPart;
int_fast32_t i32FractionPart;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2J\033[1;1HTMP006 Example\n");
//
// Setup the color of the RGB LED.
//
g_pui32Colors[RED] = 0;
g_pui32Colors[BLUE] = 0xFFFF;
g_pui32Colors[GREEN] = 0;
//
// Initialize the RGB Driver and start RGB blink operation.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
// This step is not necessary if your part does not support pin muxing.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for DRDY from the TMP006
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_0);
GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_0);
ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_0, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOE);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOE is for the TMP006 data ready interrupt.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the TMP006
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
SysCtlClockGet());
//
// Initialize the TMP006
//
TMP006Init(&g_sTMP006Inst, &g_sI2CInst, TMP006_I2C_ADDRESS,
TMP006AppCallback, &g_sTMP006Inst);
//
// Put the processor to sleep while we wait for the I2C driver to
// indicate that the transaction is complete.
//
while((g_vui8DataFlag == 0) && (g_vui8ErrorFlag == 0))
{
ROM_SysCtlSleep();
}
//
// If an error occurred call the error handler immediately.
//
if(g_vui8ErrorFlag)
{
TMP006AppErrorHandler(__FILE__, __LINE__);
}
//
// clear the data flag for next use.
//
g_vui8DataFlag = 0;
//
// Delay for 10 milliseconds for TMP006 reset to complete.
// Not explicitly required. Datasheet does not say how long a reset takes.
//
ROM_SysCtlDelay(ROM_SysCtlClockGet() / (100 * 3));
//
// Enable the DRDY pin indication that a conversion is in progress.
//
TMP006ReadModifyWrite(&g_sTMP006Inst, TMP006_O_CONFIG,
~TMP006_CONFIG_EN_DRDY_PIN_M,
TMP006_CONFIG_EN_DRDY_PIN, TMP006AppCallback,
&g_sTMP006Inst);
//
// Wait for the DRDY enable I2C transaction to complete.
//
while((g_vui8DataFlag == 0) && (g_vui8ErrorFlag == 0))
{
ROM_SysCtlSleep();
}
//
// If an error occurred call the error handler immediately.
//
if(g_vui8ErrorFlag)
{
TMP006AppErrorHandler(__FILE__, __LINE__);
}
//
// clear the data flag for next use.
//
g_vui8DataFlag = 0;
//
// Last thing before the loop start blinking to show we got this far and
// the tmp006 is setup and ready for auto measure
//
RGBBlinkRateSet(1.0f);
//
// Loop Forever
//
while(1)
{
//
// Put the processor to sleep while we wait for the TMP006 to
// signal that data is ready. Also continue to sleep while I2C
// transactions get the raw data from the TMP006
//
while((g_vui8DataFlag == 0) && (g_vui8ErrorFlag == 0))
{
ROM_SysCtlSleep();
}
//
// If an error occurred call the error handler immediately.
//
if(g_vui8ErrorFlag)
{
TMP006AppErrorHandler(__FILE__, __LINE__);
}
//
// Reset the flag
//
g_vui8DataFlag = 0;
//
// Get a local copy of the latest data in float format.
//
TMP006DataTemperatureGetFloat(&g_sTMP006Inst, &fAmbient, &fObject);
//
// Convert the floating point ambient temperature to an integer part
// and fraction part for easy printing.
//
i32IntegerPart = (int32_t)fAmbient;
i32FractionPart = (int32_t)(fAmbient * 1000.0f);
i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
if(i32FractionPart < 0)
{
i32FractionPart *= -1;
}
UARTprintf("Ambient %3d.%03d\t", i32IntegerPart, i32FractionPart);
//
// Convert the floating point ambient temperature to an integer part
// and fraction part for easy printing.
//
i32IntegerPart = (int32_t)fObject;
i32FractionPart = (int32_t)(fObject * 1000.0f);
i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
if(i32FractionPart < 0)
{
i32FractionPart *= -1;
}
UARTprintf("Object %3d.%03d\n", i32IntegerPart, i32FractionPart);
}
}
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int main(void) {
int_fast32_t i32IPart[17], i32FPart[17];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[17];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
float *direction;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
direction = pfData + 16;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
ROM_SysCtlClockSet(
SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ
| SYSCTL_OSC_MAIN);
//
// Enable port E used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Enable port F used for calibration.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Initialize the UART.
//
ConfigureUART();
/* EEPROM SETTINGS */
SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0); // EEPROM activate
EEPROMInit(); // EEPROM start
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x8000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
// Initialize BGLib
bglib_output = output;
ConfigureBLE();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOE);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOE is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the sampling rate to 1000 Hz / (1+24).
//
g_sMPU9150Inst.pui8Data[0] = 24;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_SMPLRT_DIV, g_sMPU9150Inst.pui8Data,
1, MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ
| MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
// g_sMPU9150Inst.pui8Data[2] = MPU9150_ACCEL_CONFIG_AFS_SEL_2G;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL
| MPU9150_INT_PIN_CFG_INT_RD_CLEAR
| MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 40 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 40.0f, 0.2f, 0.6f, 0.2f);
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
//
// Configure and Enable the GPIO interrupt. Used for calibration
//
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
ROM_IntEnable(INT_GPIOF);
ROM_GPIOIntTypeSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_FALLING_EDGE);
GPIOIntEnable(GPIO_PORTF_BASE, GPIO_PIN_4);
g_calibrationState = 0;
ui32CompDCMStarted = 0;
// Configure the white noise, read the error from EEPROM
EEPROMRead((uint32_t *) zeroErrorAccel,
EEPROM_ZERO_ERROR_ACCELERATION_ADDRESS, 12);
EEPROMRead((uint32_t *) linearErrorAccel,
EEPROM_LINEAR_ERROR_ACCELERATION_ADDRESS, 12);
EEPROMRead((uint32_t *) zeroErrorGyro, EEPROM_ZERO_ERROR_GYROSCOPE_ADDRESS,
12);
while (1) {
//
// Go to sleep mode while waiting for data ready.
//
while (!g_vui8I2CDoneFlag) {
//ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
if (g_calibrationState == 2) {
zeroErrorAccel[0] = (pfAccel[0]
+ zeroErrorAccel[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorAccel[1] = (pfAccel[1]
+ zeroErrorAccel[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
accelAtGravity[2] = (pfAccel[2]
+ accelAtGravity[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[0] = (pfGyro[0]
+ zeroErrorGyro[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[1] = (pfGyro[1]
+ zeroErrorGyro[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[2] = (pfGyro[2]
+ zeroErrorGyro[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
} else if (g_calibrationState == 4) {
zeroErrorAccel[2] = (pfAccel[2]
+ zeroErrorAccel[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
accelAtGravity[1] = (pfAccel[1]
+ accelAtGravity[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
} else if (g_calibrationState == 6) {
accelAtGravity[0] = (pfAccel[0]
+ accelAtGravity[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
}
// Cancel out white noise
// pfAccel[0] = pfAccel[0] - zeroErrorAccel[0];
// pfAccel[1] = pfAccel[1] - zeroErrorAccel[1];
// pfAccel[2] = pfAccel[2] - zeroErrorAccel[2];
// pfGyro[0] = pfGyro[0] - zeroErrorGyro[0];
// pfGyro[1] = pfGyro[1] - zeroErrorGyro[1];
// pfGyro[2] = pfGyro[2] - zeroErrorGyro[2];
// // Straighten out linear noise
// pfAccel[0] = pfAccel[0] * (1 + linearErrorAccel[0]);
// pfAccel[1] = pfAccel[1] * (1 + linearErrorAccel[1]);
// pfAccel[2] = pfAccel[2] * (1 + linearErrorAccel[2]);
//
// Check if this is our first data ever.
//
if (ui32CompDCMStarted == 0) {
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1], pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1], pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
} else {
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1], pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if (g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT) {
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if (pfEulers[2] < 0) {
pfEulers[2] += 360.0f;
}
// Use pfMag to display degrees of the Magnetomer's x-axis
// (y-axis of accelerometer and gyroscope) to the east of
// magnetic north pole
// direction[0] = 0;
// if (pfMag[1] == 0) {
// if (pfMag[0] > 0) {
// direction[0] = 0;
// } else {
// direction[0] = 180;
// }
// } else if (pfMag[1] > 0) {
// direction[0] = 90 - atan2f(pfMag[0], pfMag[1]) * 180 / 3.14159265359;
// } else if (pfMag[1] < 0) {
// direction[0] = 270 - atan2f(pfMag[0], pfMag[1]) * 180 / 3.14159265359;
// }
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for (ui32Idx = 0; ui32Idx < 17; ui32Idx++) {
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx]
- (i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if (i32FPart[ui32Idx] < 0) {
i32FPart[ui32Idx] *= -1;
}
}
if (g_bleUserFlag == 1) {
g_bleFlag = 0;
ble_cmd_attributes_write(58, 0, 12, (uint8_t*)pfEuler);
while (g_bleFlag == 0) {
}
} else if (g_bleDisconnectFlag == 1) {
ConfigureBLE();
}
//
// Print the acceleration numbers in the table.
//
// UARTprintf("%3d.%03d, ", i32IPart[0], i32FPart[0]);
// UARTprintf("%3d.%03d, ", i32IPart[1], i32FPart[1]);
// UARTprintf("%3d.%03d\n", i32IPart[2], i32FPart[2]);
//
// //
// // Print the angular velocities in the table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[3], i32FPart[3]);
// UARTprintf("%3d.%03d, ", i32IPart[4], i32FPart[4]);
// UARTprintf("%3d.%03d\n", i32IPart[5], i32FPart[5]);
//
// //
// // Print the magnetic data in the table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[6], i32FPart[6]);
// UARTprintf("%3d.%03d, ", i32IPart[7], i32FPart[7]);
// UARTprintf("%3d.%03d\n", i32IPart[8], i32FPart[8]);
//
// //
// // Print the direction in the table.
// //
// UARTprintf("%3d.%03d\n", i32IPart[16], i32FPart[16]);
// //
// // Print the Eulers in a table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[9], i32FPart[9]);
// UARTprintf("%3d.%03d, ", i32IPart[10], i32FPart[10]);
// UARTprintf("%3d.%03d\n", i32IPart[11], i32FPart[11]);
//
// //
// // Print the quaternions in a table format.
// //
// UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
// UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
// UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
// UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
}
}
}
//*****************************************************************************
//
// Main 'C' Language entry point.
//
//*****************************************************************************
int
main(void)
{
const uint8_t bufLength=10;
char inputBuf[1];
//
// Configure the system frequency.
//
g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN | SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480), 120000000);
//
// Configure the device pins for this board.
//
PinoutSet(false, false);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2J\033[H");
UARTprintf("SHT21 Example\n");
//
// The I2C7 peripheral must be enabled before use.
//
// Note: For BoosterPack 2 interface use I2C8.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C8);
//ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
//
// Configure the pin muxing for I2C7 functions on port D0 and D1.
// This step is not necessary if your part does not support pin muxing.
//
// Note: For BoosterPack 2 interface use PA2 and PA3.
//
ROM_GPIOPinConfigure(GPIO_PA2_I2C8SCL);
ROM_GPIOPinConfigure(GPIO_PA3_I2C8SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
// Note: For BoosterPack 2 interface use PA2 and PA3.
//
ROM_GPIOPinTypeI2CSCL(GPIO_PORTA_BASE, GPIO_PIN_2);
ROM_GPIOPinTypeI2C(GPIO_PORTA_BASE, GPIO_PIN_3);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOE is for the ISL29023 interrupt pin.
// UART0 is the virtual serial port.
// I2C7 is the I2C interface to the ISL29023.
//
// Note: For BoosterPack 2 change this to I2C8.
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C8);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C7 peripheral.
//
// Note: For BoosterPack 2 use I2C8.
//
I2CMInit(&g_sI2CInst, I2C8_BASE, INT_I2C8, 0xff, 0xff, g_ui32SysClock);
//
// Turn on D2 to show we are starting an I2C transaction with the sensor.
// This is turned off in the application callback.
//
LEDWrite(CLP_D1 | CLP_D2 , CLP_D2);
//
// Initialize the SHT21.
//
SHT21Init(&g_sSHT21Inst, &g_sI2CInst, SHT21_I2C_ADDRESS,
SHT21AppCallback, &g_sSHT21Inst);
//
// Initialize the TMP006
//
TMP006Init(&g_sTMP006Inst, &g_sI2CInst, TMP006_I2C_ADDRESS,
TMP006AppCallback, &g_sTMP006Inst);
//
// Wait for the I2C transactions to complete before moving forward.
//
SHT21AppI2CWait(__FILE__, __LINE__);
//
// Delay for 20 milliseconds for SHT21 reset to complete itself.
// Datasheet says reset can take as long 15 milliseconds.
//
ROM_SysCtlDelay(g_ui32SysClock / (50 * 3));
UARTprintf("Menu:\n");
UARTprintf("h for Humidity \n");
UARTprintf("t for Temperature \n");
//
// Loop Forever.
//
while(1)
{
if(UARTgets(inputBuf,bufLength)){
if(inputBuf[0]=='h'){
UARTprintf("Sensing Humidity Data:\n");
printHumidityData();
}
else if(inputBuf[0]=='t'){
UARTprintf("Sensing Temperature Data:\n");
printTemperatureData();
}
}
}
}
void initsensorhub(void)
{
//
// Enable port B used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x0000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOB);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOB is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
UARTprintf("\033[2J\033[H");
UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
UARTprintf("\033[20GX\033[31G|\033[43GY\033[54G|\033[66GZ\n\n");
UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Gyro\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Mag\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[20GRoll\033[31G|\033[43GPitch\033[54G|\033[66GYaw\n\n");
UARTprintf("Eulers\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[17GQ1\033[26G|\033[35GQ2\033[44G|\033[53GQ3\033[62G|"
"\033[71GQ4\n\n");
UARTprintf("Q\033[8G|\033[26G|\033[44G|\033[62G|\n\n");
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
}
//*****************************************************************************
//
// MPU9150 I2C pheripheral set up and sensor/compdcm initialization.
//
// Created by Bill Yiqiu Wang 2015/7/27
//
//*****************************************************************************
void
MPU9150Config(void *pvCallbackData, uint_fast8_t ui8Status)
{
//
// Enable port B used for motion interrupt.
// Enable port E used for I2C communication
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// The I2C2 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C2);
//
// Configure the pin muxing for I2C2 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PE4_I2C2SCL);
ROM_GPIOPinConfigure(GPIO_PE5_I2C2SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTE_BASE, GPIO_PIN_4);
ROM_GPIOPinTypeI2C(GPIO_PORTE_BASE, GPIO_PIN_5);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOB);
//
// Keep the following function running even when system is sleeping (optional)
// GPIOB is for the MPU9150 interrupt pin.
// GPIOE is for I2C pin.
// I2C2 is the I2C interface
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
//
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C2);
ROM_SysCtlPeripheralClockGating(true);
//
// Initialize I2C2 peripheral.
//
I2CMInit(&g_sI2CInst, I2C2_BASE, INT_I2C2, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
}
