/**
* Read magnetometer (raw values)
*/
void readMagneto(void) {
int e, f;
unsigned char temp, MR_Data[6];
e = I2CRegWrite(I2C0_MASTER_BASE, 0x1E, 0x00, 0x14);//set CRA_REG_M register
f = I2CRegWrite(I2C0_MASTER_BASE, 0x1E, 0x01, 0x20);
f = I2CRegWrite(I2C0_MASTER_BASE, 0x1E, 0x02, 0x00);//set MR_REG_M register
temp = I2CRegRead(I2C0_MASTER_BASE, 0x1E, 0x02); //read MR_REG_M
MR_Data[0] = I2CRegRead(I2C0_MASTER_BASE, 0x1E, 0x03); //read OUT_X_H_M (MSB)
MR_Data[1] = I2CRegRead(I2C0_MASTER_BASE, 0x1E, 0x04); //read OUT_X_L_M (LSB)
MR_Data[2] = I2CRegRead(I2C0_MASTER_BASE, 0x1E, 0x07); //read OUT_Y_H_M (MSB)
MR_Data[3] = I2CRegRead(I2C0_MASTER_BASE, 0x1E, 0x08); //read OUT_Y_L_M (LSB)
MR_Data[4] = I2CRegRead(I2C0_MASTER_BASE, 0x1E, 0x05); //read OUT_Z_H_M (MSB)
MR_Data[5] = I2CRegRead(I2C0_MASTER_BASE, 0x1E, 0x06); //read OUT_Z_L_M (LSB)
Mx = (int16_t) (MR_Data[0] << 8) + MR_Data[1];
My = (int16_t) (MR_Data[2] << 8) + MR_Data[3];
Mz = (int16_t) (MR_Data[4] << 8) + MR_Data[5];
if (e == 0 || f == 0 || temp != 0) {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, GPIO_PIN_1);
//Delay for 1 millisecond. Each SysCtlDelay is about 3 clocks.
SysCtlDelay(SysCtlClockGet() / (1000 * 3));
//Turn off the LED
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, 0);
}
}
//*****************************************************************************
//
// Initializes the switch task.
//
//*****************************************************************************
unsigned long
AccelerometerTaskInit(void)
{
// volatile unsigned char foo = 28;
RGBInit(1);
RGBIntensitySet(0.3f);
//
// Turn on the Green LED
//
g_ucColorsIndx = 0;
g_ulColors[g_ucColorsIndx] = 0x8000;
RGBColorSet(g_ulColors);
RGBDisable();
//////////////
g_pAccelerometerQueue = xQueueCreate(ACCELEROMETER_QUEUE_SIZE, ACCELEROMETER_ITEM_SIZE);
I2CSetup(I2C0BASEADDR, 40000);
if (((I2CRegRead(I2C0BASEADDR, SLAVEID, DEVID)) & 0xE5) == 0)
{
while (1);
}
I2CRegWrite(I2C0BASEADDR, SLAVEID, THRESH_FF, 0x06);
simple_delay();
I2CRegWrite(I2C0BASEADDR, SLAVEID, TIME_FF, 0x15);
simple_delay();
I2CRegWrite(I2C0BASEADDR, SLAVEID, INT_MAP, 0x00);
simple_delay();
I2CRegWrite(I2C0BASEADDR, SLAVEID, POWER_CTL, 0x08);
simple_delay();
I2CRegWrite(I2C0BASEADDR, SLAVEID, INT_ENABLE, 0x04);
simple_delay();
if(xTaskCreate(AccelerometerTask, (signed portCHAR *)"Acclerometer",
ACCELEROMETERTASKSTACKSIZE, NULL, tskIDLE_PRIORITY +
PRIORITY_ACCELEROMETER_TASK, NULL) != pdTRUE)
{
return(1);
}
//
// Success.
//
return(0);
}
/*
* Read Accelerometer (raw values)
*/
void readAccel(void) {
I2CRegWrite(I2C0_MASTER_BASE, 0x18, 0x20, 0x27); //set CTRL_REG1_A register
I2CRegWrite(I2C0_MASTER_BASE, 0x18, 0x23, 0x40); //set CTRL_REG1_A register
ACC_Data[0] = I2CRegRead(I2C0_MASTER_BASE, 0x18, 0x28);
ACC_Data[1] = I2CRegRead(I2C0_MASTER_BASE, 0x18, 0x29);
ACC_Data[2] = I2CRegRead(I2C0_MASTER_BASE, 0x18, 0x2A);
ACC_Data[3] = I2CRegRead(I2C0_MASTER_BASE, 0x18, 0x2B);
ACC_Data[4] = I2CRegRead(I2C0_MASTER_BASE, 0x18, 0x2C);
ACC_Data[5] = I2CRegRead(I2C0_MASTER_BASE, 0x18, 0x2D);
Ax = (int16_t) (ACC_Data[0] << 8) + ACC_Data[1];
Ay = (int16_t) (ACC_Data[2] << 8) + ACC_Data[3];
Az = (int16_t) (ACC_Data[4] << 8) + ACC_Data[5];
Ax = (int16_t) Ax * ACCL_GAIN;
Ay = (int16_t) Ay * ACCL_GAIN;
Az = (int16_t) Az * ACCL_GAIN;
}
//Communication Functions
unsigned long PCA9685_writeREG(unsigned char ucReg, unsigned char ucValue){
unsigned long result;
result = I2CRegWrite(I2C_BASE, PCA9685_ADDRESS, ucReg, ucValue);
return result;
}
