/*
** ===================================================================
** Method : CLS1_SendNum16s (component Shell)
** Description :
** Sends a 16bit signed number to the given I/O
** Parameters :
** NAME - DESCRIPTION
** val - number to print
** io - I/O callbacks to be used for printing.
** Returns : Nothing
** ===================================================================
*/
void CLS1_SendNum16s(int16_t val, CLS1_StdIO_OutErr_FctType io)
{
unsigned char buf[sizeof("-12345")];
UTIL1_Num16sToStr(buf, sizeof(buf), val);
CLS1_SendStr(buf, io);
}
static void TURN_PrintStatus(const CLS1_StdIOType *io) {
unsigned char buf[32];
CLS1_SendStatusStr((unsigned char*)"turn", (unsigned char*)"\r\n", io->stdOut);
#if PL_HAS_QUADRATURE
UTIL1_Num16uToStr(buf, sizeof(buf), TURN_Steps90);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" steps\r\n");
CLS1_SendStatusStr((unsigned char*)" steps90", buf, io->stdOut);
UTIL1_Num16uToStr(buf, sizeof(buf), TURN_StepsFwBw);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" steps\r\n");
CLS1_SendStatusStr((unsigned char*)" stepsfw", buf, io->stdOut);
UTIL1_Num16sToStr(buf, sizeof(buf), Q4CLeft_GetPos());
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)", ");
UTIL1_strcatNum16u(buf, sizeof(buf), Q4CLeft_NofErrors());
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" errors\r\n");
CLS1_SendStatusStr((unsigned char*)" left pos", buf, io->stdOut);
UTIL1_Num16sToStr(buf, sizeof(buf), Q4CRight_GetPos());
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)", ");
UTIL1_strcatNum16u(buf, sizeof(buf), Q4CRight_NofErrors());
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" errors\r\n");
CLS1_SendStatusStr((unsigned char*)" right pos", buf, io->stdOut);
#else
UTIL1_Num16uToStr(buf, sizeof(buf), TURN_DutyPercent);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"%\r\n");
CLS1_SendStatusStr((unsigned char*)" duty", buf, io->stdOut);
UTIL1_Num16uToStr(buf, sizeof(buf), TURN_Time90ms);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" ms\r\n");
CLS1_SendStatusStr((unsigned char*)" time90", buf, io->stdOut);
UTIL1_Num16uToStr(buf, sizeof(buf), TURN_StepFwBwMs);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" ms\r\n");
CLS1_SendStatusStr((unsigned char*)" timefw", buf, io->stdOut);
#endif
}
/*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!!! ***/