/*
** ===================================================================
** Method : MAG1_MagneticSensorReset (component MAG3110)
** Description :
** Initiates a magnetic sensor reset cycle that will restore
** correct operation after exposure to an excessive magnetic
** field which exceeds the Full Scale Range but is less than
** the Maximum Applied Magnetic Field.
** Parameters : None
** Returns :
** --- - Error code
** ===================================================================
*/
byte MAG1_MagneticSensorReset(void)
{
uint8_t val;
if (GI2C1_ReadByteAddress8(MAG1_I2C_ADDR, MAG1_CTRL_REG_2, &val)!=ERR_OK) {
return ERR_FAILED;
}
val |= MAG1_CTRL_REG_2_MAG_RST_BIT_MASK; /* set one shot reset bit */
return GI2C1_WriteByteAddress8(MAG1_I2C_ADDR, MAG1_CTRL_REG_2, val);
}
/*
** ===================================================================
** Method : MAG1_Disable (component MAG3110)
** Description :
** Disables the device with clearing the ACTIVE bit in the CTRL
** register 1
** Parameters : None
** Returns :
** --- - Error code
** ===================================================================
*/
byte MAG1_Disable(void)
{
uint8_t val, res;
res = GI2C1_ReadByteAddress8(MAG1_I2C_ADDR, MAG1_CTRL_REG_1, &val);
if (res!=ERR_OK) {
return res;
}
val &= ~MAG1_CTRL_REG_1_AC_BIT_MASK; /* disable device */
return GI2C1_WriteByteAddress8(MAG1_I2C_ADDR, MAG1_CTRL_REG_1, val);
}
/*
** ===================================================================
** Method : MAG1_SetFastReadMode (component MAG3110)
** Description :
** Turns the FR (Fast Read Mode) bit in CTRL_REG_1 on or off
** Parameters :
** NAME - DESCRIPTION
** on - if to turn the FR mode on or off
** Returns :
** --- - Error code
** ===================================================================
*/
byte MAG1_SetFastReadMode(bool on)
{
uint8_t val;
if (GI2C1_ReadByteAddress8(MAG1_I2C_ADDR, MAG1_CTRL_REG_1, &val)!=ERR_OK) {
return ERR_FAILED;
}
if (on) {
val |= MAG1_CTRL_REG_1_FR_BIT_MASK; /* enable F_READ: Fast read mode, data format limited to single byte (auto increment counter will skip LSB) */
} else {
val &= ~MAG1_CTRL_REG_1_FR_BIT_MASK; /* disable F_READ: Fast read mode, data format limited to single byte (auto increment counter will skip LSB) */
}
return GI2C1_WriteByteAddress8(MAG1_I2C_ADDR, MAG1_CTRL_REG_1, val);
}
/*
** ===================================================================
** Method : MAG1_WriteReg (component MAG3110)
** Description :
** Writes to a device register address
** Parameters :
** NAME - DESCRIPTION
** reg - register address
** val - Value to write
** Returns :
** --- - Error code
** ===================================================================
*/
byte MAG1_WriteReg(byte reg, byte val)
{
return GI2C1_WriteByteAddress8(MAG1_I2C_ADDR, MAG1_SYSMOD, val);
}
/*
** ===================================================================
** Method : MAG1_SetSysMode (component MAG3110)
** Description :
** Sets the SYSMOD (0x08) status register
** Parameters :
** NAME - DESCRIPTION
** mode - Set the system mode. 0x00
** (SYSMOD_STANDBY_BIT_MASK), 0x01
** (SYSMOD_ACTIVE_RAW_BIT_MASK) or 0x02
** (SYSMOD_ACTIVE_BIT_MASK)
** Returns :
** --- - Error code
** ===================================================================
*/
byte MAG1_SetSysMode(byte mode)
{
return GI2C1_WriteByteAddress8(MAG1_I2C_ADDR, MAG1_SYSMOD, mode);
}
/* ************************************************************************** */
static void I2CwriteByte(stLSM9DS0_t * stThis, uint8_t address, uint8_t subAddress, uint8_t data)
{
GI2C1_WriteByteAddress8( address, subAddress, data );
}
/*lint -save -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
//printf("HOLA MUNDO");
/* Write your code here */
/* For example: for(;;) { } */
byte MPU_PWR=0x6B;
int16_t AcX,AcY,AcZ,GcX,GcY,GcZ,temp;
char buffer[15];
uint8_t aux[15];
//Inicializando la comunicacion I2C
GI2C1_Init();
GI2C1_SelectSlave(MPU);
GI2C1_WriteByteAddress8(MPU,MPU_PWR,0);
//Inicializando la comunicacion LCD
LCD1_UseDisplay(1);
LCD1_Clear();
for(;;) {
//Lectura de los Valores del Acelerometro
GI2C1_ReadByteAddress8(MPU,0x3B,&buffer[1]);
mywait_Waitms(2);
GI2C1_ReadByteAddress8(MPU,0x3C,&buffer[2]);
mywait_Waitms(2);
AcX=buffer[1];
AcX=AcX<<8;
AcX=AcX | buffer[2];
GI2C1_ReadByteAddress8(MPU,0x3D,&buffer[3]);
mywait_Waitms(2);
GI2C1_ReadByteAddress8(MPU,0x3E,&buffer[4]);
mywait_Waitms(2);
AcY=buffer[3];
AcY=AcY<<8;
AcY=AcY | buffer[4];
GI2C1_ReadByteAddress8(MPU,0x3F,&buffer[5]);
mywait_Waitms(2);
GI2C1_ReadByteAddress8(MPU,0x40,&buffer[6]);
mywait_Waitms(2);
AcZ=buffer[5];
AcZ=AcZ<<8;
AcZ=AcZ | buffer[6];
printf("Acelerometro\nX=%d\tY=%d\tZ=%d\n", AcX,AcY,AcZ);
LCD1_WriteLineStr(1,"Acelerometro: ");
UTIL1_Num16sToStr(aux, sizeof(aux), AcX);
LCD1_WriteLineStr(2," ");
LCD1_GotoXY(2,1);
LCD1_WriteString("X=");
LCD1_GotoXY(2,4);
LCD1_WriteString((char*)aux);
mywait_Waitms(2000);
UTIL1_Num16sToStr(aux, sizeof(aux), AcY);
LCD1_WriteLineStr(2," ");
LCD1_GotoXY(2,1);
LCD1_WriteString("Y=");
LCD1_GotoXY(2,4);
LCD1_WriteString((char*)aux);
mywait_Waitms(2000);
UTIL1_Num16sToStr(aux, sizeof(aux), AcZ);
LCD1_WriteLineStr(2," ");
LCD1_GotoXY(2,1);
LCD1_WriteString("Z=");
LCD1_GotoXY(2,4);
LCD1_WriteString((char*)aux);
mywait_Waitms(2000);
//Capturando los valores del Giroscopio
GI2C1_ReadByteAddress8(MPU,0x43,&buffer[7]);
mywait_Waitms(10);
GI2C1_ReadByteAddress8(MPU,0x44,&buffer[8]);
mywait_Waitms(10);
GcX=buffer[7];
GcX=GcX<<8;
GcX=GcX | buffer[8];
GI2C1_ReadByteAddress8(MPU,0x45,&buffer[9]);
mywait_Waitms(10);
GI2C1_ReadByteAddress8(MPU,0x46,&buffer[10]);
mywait_Waitms(10);
GcY=buffer[9];
GcY=GcY<<8;
GcY=GcY | buffer[10];
GI2C1_ReadByteAddress8(MPU,0x47,&buffer[11]);
mywait_Waitms(10);
GI2C1_ReadByteAddress8(MPU,0x48,&buffer[12]);
mywait_Waitms(10);
GcZ=buffer[11];
GcZ=GcZ<<8;
GcZ=GcZ | buffer[12];
printf("Giroscopio\nGX=%d\tGY=%d\tGZ=%d\n", GcX,GcY,GcZ);
LCD1_WriteLineStr(1,"Giroscopio: ");
UTIL1_Num16sToStr(aux, sizeof(aux), GcX);
LCD1_WriteLineStr(2," ");
LCD1_GotoXY(2,1);
LCD1_WriteString("Gx=");
LCD1_GotoXY(2,5);
LCD1_WriteString((char*)aux);
mywait_Waitms(2000);
UTIL1_Num16sToStr(aux, sizeof(aux), GcY);
LCD1_WriteLineStr(2," ");
LCD1_GotoXY(2,1);
LCD1_WriteString("Gy=");
LCD1_GotoXY(2,5);
LCD1_WriteString((char*)aux);
mywait_Waitms(2000);
UTIL1_Num16sToStr(aux, sizeof(aux), GcZ);
LCD1_WriteLineStr(2," ");
LCD1_GotoXY(2,1);
LCD1_WriteString("Gz=");
LCD1_GotoXY(2,5);
LCD1_WriteString((char*)aux);
mywait_Waitms(2000);
//Capturando los valores de temperatura
GI2C1_ReadByteAddress8(MPU,0x41,&buffer[13]);
mywait_Waitms(10);
GI2C1_ReadByteAddress8(MPU,0x42,&buffer[14]);
mywait_Waitms(10);
temp=buffer[13];
temp=temp<<8;
temp=temp | buffer[14];
temp=(temp/340)+37;
printf("Temperatura = %d\n", temp);
LCD1_WriteLineStr(1,"Temperatura: ");
UTIL1_Num16sToStr(aux, sizeof(aux), temp);
LCD1_WriteLineStr(2," ");
LCD1_GotoXY(2,5);
LCD1_WriteString((char*)aux);
mywait_Waitms(2000);
//Recibiendo los datos de GPS del Bluetooth
myserial_RecvBlock(btbuffer,sizeof(btbuffer),&rx);
strcpy(auxbuffer, btbuffer);
char *token;
token = strtok(auxbuffer, ",");
int i = 0;
while(token != NULL)
{
if(i==0)
{
if(token==99)
{
token = NULL;
}
}
if(i == 2){
printf( "Latitud: %s\n", token );
LCD1_WriteLineStr(1,"Latitud: ");
LCD1_WriteLineStr(2," ");
LCD1_WriteLineStr(2,token);
mywait_Waitms(2000);
}
if(i == 3){
printf( "Longitud: %s\n", token );
LCD1_WriteLineStr(1,"Longitud: ");
LCD1_WriteLineStr(2," ");
LCD1_WriteLineStr(2,token);
mywait_Waitms(2000);
}
if(i == 4){
token=strtok(token,">");
printf( "Altura: %s\n", token );
LCD1_WriteLineStr(1,"Altura: ");
LCD1_WriteLineStr(2," ");
LCD1_WriteLineStr(2,token);
mywait_Waitms(2000);
}
token = strtok(NULL, ",");
i++;
}
WAIT1_Waitms(1000);
}
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
