int main(void)
{
//*******************************************************************
Init();
TMRInit(2); // Initialize Timer interface with Priority=2
BLIInit(); // Initialize Signal interface
//-------------------------------------------------------------------
BLIAsyncStart(100, 100);
TMRDelay(5000); // To avoid false-start at Reset
BLIAsyncStop();
BLISignalOFF();
//*******************************************************************
// Switch 1 controls the Serial Data Logger (SDL) communication speed
//-------------------------------------------------------------------
if (_SW1)
// Switch 1 is ON - Configuring SDL for PIC-to-PIC
// high-speed communication at 1 MBaud
SDLInit(3, BAUD_1M);
else
// Switch 1 is OFF - Configuring SDL for ZigBEE
// wireless communication at 115.2 KBaud
SDLInit(3, BAUD_115200);
//*******************************************************************
// HMC5983 Magnetometer initialization
//-------------------------------------------------------------------
byte IL = 5; // Interrupt level
//------------------------------------------------------
// <editor-fold defaultstate="collapsed" desc="Output Data Rate (ODR">
//------------------------------------------------------
// Typical Data Output Rate (Hz) for various ODR values
//------------------------------------------------------
// ODR = 0: 0.75
// ODR = 2: 1.5
// ODR = 2: 3
// ODR = 3: 7.5
// ODR = 4: 15 (Default)
// ODR = 5: 30
// ODR = 6: 75
// ODR = 7: 220 (fastest)
// </editor-fold>
byte ODR = 7; // Rate (fastest): 220 Hz
// <editor-fold defaultstate="collapsed" desc="Low-pass filtering (DLPF)">
//------------------------------------------------------
// Low-pass filtering achieved through sample averaging.
// Averaging does not affect effective ODR, so I assume
// that wit averaging enabled each successive reported
// sample is an average of the new measurement with "n"
// previous measurements - something like a FIR filter.
//------------------------------------------------------
// DLPF = 0 => 1-average
// DLPF = 1 => 2-average
// DLPF = 2 => 4-average
// DLPF = 3 => 8-average
//------------------------------------------------------
// </editor-fold>
byte DLPF = 0;
// <editor-fold defaultstate="collapsed" desc="Sensor Field Range (Gain)">
//------------------------------------------------------
// Recommended sensor field range (Ga) for various Gains
//------------------------------------------------------
// Gain = 0: 0.9
// Gain = 1: 1.3
// Gain = 2: 1.9
// Gain = 3: 2.5
// Gain = 4: 4.0
// Gain = 5: 4.7
// Gain = 6: 5.6
// Gain = 7: 8.1
//------------------------------------------------------
// The magnitude of Earth magnetic field varies over the
// surface of the Earth in the range 0.3 to 0.6 Gauss.
//------------------------------------------------------
// </editor-fold>
byte Gain = 1; // +/- 1.3 Ga
//------------------------------------------------------
HMC_Init(IL, ODR, Gain, DLPF);
//*******************************************************************
HMC_RC RC;
//----------------------
ulong i = 0;
//-----------------------------------------
byte RegA;
byte RegB;
//-------------------------------
RC = HMC_ReadA(&RegA);
i++;
//-------------------------------
RC = HMC_ReadB(&RegB);
i++;
//-------------------------------
//----------------------
struct
{
HMCData Sample;
ulong Count;
} SDLData;
SDLData.Count = 0;
//----------------------
while (1)
{
//-------------------------------
if ( HMC_OK != (RC = HMC_ReadSample(&SDLData.Sample)) )
BLIDeadStop("SOS", 3);
SDLData.Count++;
//-------------------------------
BLISignalFlip();
//-------------------------------
SDLPostIfReady((byte*)&SDLData, sizeof(SDLData));
//-------------------------------
}
//*******************************************************************
return 0;
}
int main(void)
{
//*******************************************************************
Init();
TMRInit(2); // Initialize Timer interface with Priority=2
BLIInit(); // Initialize Signal interface
//*******************************************************************
// Switch 1 controls the Serial Data Logger (SDL) communication speed
//-------------------------------------------------------------------
if (_SW1)
// Switch 1 is ON - Configuring SDL for PIC-to-PIC
// high-speed communication at 1 MBaud
SDLInit(3, BAUD_1M);
else
// Switch 1 is OFF - Configuring SDL for ZigBEE
// wireless communication at 115.2 KBaud
SDLInit(3, BAUD_115200);
//*******************************************************************
I2CInit(5, 1); // First param: IL = 5 (interrupt request priority
// Second param: I2C speed
// 0 - lowest (123 kHz at Fcy = 64MHz)
// 1 - 200 kHz
// 2 - 400 kHz
// 3 - 1 MHz
//-------------------------------------------------------------------
uint RC = 0;
ulong Alarm = 0;
//==================================================================
BLIAsyncStart(100,100);
TMRDelay(2000);
BLIAsyncStop();
//==================================================================
BLIAsyncStart(50,50);
if (_SW2)
// Switch 2 is ON - Configuring MPU fo Alt. sensitivity
RC = MPUInit(0, 3, MPU_GYRO_1000ds, MPU_ACC_4g);
// Initialize motion Sensor
// 1 kHz/(0+1) = 1000 Hz (1ms)
// DLPF=3 => Bandwidth 44 Hz (delay: 4.9 msec)
else
// Switch 2 is OFF - Configuring MPU fo normal sensitivity
RC = MPUInit(0, 3, MPU_GYRO_2000ds, MPU_ACC_2g);
// Initialize motion Sensor
// 1 kHz/(0+1) = 1000 Hz (1ms)
if (RC) BLIDeadStop("EG", 2);
BLIAsyncStop();
//*******************************************************************
BLISignalOFF();
//====================================================
// byte mpuID;
// byte mpuDLPF;
// byte mpuINT;
// byte mpuPWRM1;
// //---------------------------
// RC = MPUReadID(2, &mpuID);
// RC = MPUGetPWRM1(2, &mpuPWRM1);
// RC = MPUGetDLPF(2, &mpuDLPF);
// RC = MPUGetINT(2, &mpuINT);
//-----------------------------------------------------
//====================================================
// Synchronous interface
//-----------------------------------------------------
struct
{
MPUData Sample1;
MPUData Sample2;
} MPU;
//-----------------------------------------------------
while (TRUE)
{
Alarm = TMRSetAlarm(500);
//------------------------------------
if ( (RC = MPUReadSample(1, &MPU.Sample1)) )
BLIDeadStop("SOS", 3);
//------------------------
if ( (RC = MPUReadSample(2, &MPU.Sample2)) )
BLIDeadStop("SOS", 3);
//------------------------------------
BLISignalFlip();
//-------------------------
SDLPostIfReady((byte*)&MPU, sizeof(MPU));
//-------------------------
TMRWaitAlarm(Alarm);
}
//*******************************************************************
return 0;
}
int main(void)
{
//*******************************************************************
Init(); // Initialize microprocessor
TMRInit(2); // Initialize Timer interface with Priority=2
BLIInit(); // Initialize Signal interface
//*******************************************************************
// Switch 1 controls the Serial Data Logger (SDL) communication speed
//-------------------------------------------------------------------
if (_SW1)
// Switch 1 is ON - Configuring SDL for PIC-to-PIC
// high-speed communication at 1 MBaud
SDLInit(3, BAUD_1M);
else
// Switch 1 is OFF - Configuring SDL for ZigBEE
// wireless communication at 115.2 KBaud
SDLInit(3, BAUD_115200);
//*******************************************************************
// Initialize I2C Library
//-------------------------------------------------------------------
I2CInit(5, 2); // First param: IL = 5 (interrupt request priority
// Second param: I2C speed
// 0 - lowest (123 kHz at Fcy = 64MHz)
// 1 - 200 kHz
// 2 - 400 kHz
// 3 - 1 MHz
//*******************************************************************
uint RC = 0;
ulong Alarm = 0;
//==================================================================
// Initialize MPUs
//------------------------------------------------------------------
RC = MPUInit(0, 3, MPU_GYRO_2000ds, MPU_ACC_2g);
// Initialize motion Sensor
// 1 kHz/(0+1) = 1000 Hz (1msec)
// DLPF = 3 => Bandwidth 44 Hz (delay: 4.9 msec)
if (RC) BLIDeadStop("EG", 2);
//==================================================================
// Initialize MPL3115 Altimeter
//------------------------------------------------------------------
// OSR = 0 => No averaging ( 2^0= 1), update rate about 166.6 Hz
// OSR = 1 => Average 2^1= 2 samples, update rate about 111.1 Hz
// OSR = 2 => Average 2^2= 4 samples, update rate about 67.8 Hz
// OSR = 3 => Average 2^3= 8 samples, update rate about 37.7 Hz
// OSR = 4 => Average 2^4= 16 samples, update rate about 20.1 Hz
// OSR = 5 => Average 2^5= 32 samples, update rate about 10.4 Hz
// OSR = 6 => Average 2^6= 64 samples, update rate about 5.3 Hz
// OSR = 7 => Average 2^7= 128 samples, update rate about 2.7 Hz
//------------------------------------------------------------------
byte OSR = 3;
//------------------------------------------------------------------
if ( MPL_OK != MPLInit (OSR) )
BLIDeadStop ("EB", 2);
//==================================================================
// Initialize Asynchronous mode
//-----------------------------------------------------
if ( (RC = MPUAsyncStart(1)) )
BLIDeadStop("S1", 2);
//------------------------------
if ( (RC = MPUAsyncStart(2)) )
BLIDeadStop("S2", 2);
//-----------------------------------------------------
if ( (RC = MPLAsyncStart()) )
BLIDeadStop("S3", 2);
//==================================================================
// Provide a few second delay prior to calibrating Gyros to make
// sure that the board is stable after the "turn-on" shake
//------------------------------------------------------------------
BLIAsyncStart(50,50);
TMRDelay(5000);
BLIAsyncStop();
//==================================================================
// Calibrate Gyros
//------------------------------------------------------------------
BLIAsyncStart(100,100);
//------------------------------
if ( (RC = MPUCalibrateGyro(1)) )
BLIDeadStop("C1", 2);
//------------------------------
if ( (RC = MPUCalibrateGyro(2)) )
BLIDeadStop("C2", 2);
//------------------------------
BLIAsyncStop();
//==================================================================
//==================================================================
struct
{
MPUData MPUSample1;
MPUData MPUSample2;
MPLData MPLSample;
} SensorData;
//==================================================================
// Main Loop
//------------------------------------------------------------------
BLISignalOFF();
while (TRUE)
{
Alarm = TMRSetAlarm(1000);
//-----------------------------------------------------
if ( (RC = MPUAsyncReadWhenReady(1, &SensorData.MPUSample1)) )
BLIDeadStop("SOS", 3);
//--------------------------
if ( (RC = MPUAsyncReadWhenReady(2, &SensorData.MPUSample2)) )
BLIDeadStop("SOS", 3);
if (MPL_OK != MPLAsyncReadWhenReady(&SensorData.MPLSample))
BLIDeadStop("SOS", 3);
//-----------------------------------------------------
BLISignalFlip();
//-------------------------
SDLPostIfReady((byte*)&SensorData, sizeof(SensorData));
//-------------------------
TMRWaitAlarm(Alarm);
}
//*******************************************************************
return 0;
}
int main(void)
{
//*******************************************************************
Init();
TMRInit(2); // Initialize Timer interface with Priority=2
BLIInit(); // Initialize Signal interface
//*******************************************************************
// Switch 1 controls the Serial Data Logger (SDL) communication speed
//-------------------------------------------------------------------
if (_SW1)
// Switch 1 is ON - Configuring SDL for PIC-to-PIC
// high-speed communication at 1 MBaud
SDLInit(3, BAUD_1M);
else
// Switch 1 is OFF - Configuring SDL for ZigBEE
// wireless communication at 115.2 KBaud
SDLInit(3, BAUD_115200);
//*******************************************************************
I2CInit(5, 2); // First param: IL = 5 (interrupt request priority
// Second param: I2C speed
// 0 - lowest (123 kHz at Fcy = 64MHz)
// 1 - 200 kHz - MPU-6050 stable
// 2 - 400 kHz
// 3 - 1 MHz
//-------------------------------------------------------------------
uint RC = 0;
ulong Alarm = 0;
//==================================================================
BLIAsyncStart(50,50);
TMRDelay(5000);
BLIAsyncStop();
//==================================================================
if (_SW2)
// Switch 2 is ON - Configuring MPU fo Alt. sensitivity
RC = MPUInit(0, 1, MPU_GYRO_1000ds, MPU_ACC_4g);
// Initialize motion Sensor
// 1 kHz/(0+1) = 1000 Hz (1ms)
// DLPF = 3 => Bandwidth 44 Hz (delay: 4.9 msec)
else
// Switch 2 is OFF - Configuring MPU fo normal sensitivity
RC = MPUInit(0, 1, MPU_GYRO_2000ds, MPU_ACC_2g);
// Initialize motion Sensor
// 1 kHz/(0+1) = 1000 Hz (1ms)
// DLPF = 1 => Bandwidth 184 Hz (delay: 2.0 msec)
if (RC) BLIDeadStop("EG", 2);
//*******************************************************************
struct
{
MPUData Sample1;
MPUData Sample2;
} MPU;
//=====================================================
// Initialize Asynchronous mode
//-----------------------------------------------------
if ( (RC = MPUAsyncStart(2)) )
BLIDeadStop("S2", 2);
//------------------------------
if ( (RC = MPUAsyncStart(1)) )
BLIDeadStop("S1", 2);
//=====================================================
// Calibrate Gyros
//-----------------------------------------------------
// BLIAsyncStart(100,100);
// //------------------------------
// if ( (RC = MPUCalibrate(1)) )
// BLIDeadStop("C1", 2);
// //------------------------------
// if ( (RC = MPUCalibrate(2)) )
// BLIDeadStop("C2", 2);
// //------------------------------
// BLIAsyncStop();
//=====================================================
// Main Loop
//-----------------------------------------------------
BLISignalOFF();
while (TRUE)
{
Alarm = TMRSetAlarm(1000);
//------------------------------------
if ( (RC = MPUAsyncReadWhenReady(1, &MPU.Sample1)) )
BLIDeadStop("SOS", 3);
//--------------------------
if ( (RC = MPUAsyncReadWhenReady(2, &MPU.Sample2)) )
BLIDeadStop("SOS", 3);
//------------------------
BLISignalFlip();
//-------------------------
SDLPostIfReady((byte*)&MPU, sizeof(MPU));
//-------------------------
TMRWaitAlarm(Alarm);
}
//*******************************************************************
return 0;
}
int main(void)
{
//*******************************************************************
Init();
TMRInit(2); // Initialize Timer interface with Priority=2
BLIInit(); // Initialize Signal interface
//==================================================================
// Provide a 5 second delay prior to initialization of I2C interface
// to avoid false-start during programming by PIC Kit 3
//------------------------------------------------------------------
BLIAsyncStart(50,200);
TMRDelay(5000);
BLIAsyncStop();
//*******************************************************************
// Switch 1 controls the Serial Data Logger (SDL) communication speed
//-------------------------------------------------------------------
if (_SW1)
// Switch 1 is ON - Configuring SDL for PIC-to-PIC
// high-speed communication at 1 MBaud
SDLInit(3, BAUD_1M);
else
// Switch 1 is OFF - Configuring SDL for ZigBEE
// wireless communication at 115.2 KBaud
SDLInit(3, BAUD_115200);
//*******************************************************************
// Initialize I2C Library
//-------------------------------------------------------------------
I2CInit(5, 2); // First param: IL = 5 (interrupt request priority
// Second param: I2C speed
// 0 - lowest (123 kHz at Fcy = 64MHz)
// 1 - 200 kHz
// 2 - 400 kHz
// 3 - 1 MHz
//-------------------------------------------------------------------
uint RC = 0;
ulong Alarm = 0;
//==================================================================
// Initialize MPUs
//------------------------------------------------------------------
RC = MPUInit(0, 3, MPU_GYRO_2000ds, MPU_ACC_2g);
// Initialize motion Sensor
// 1 kHz/(0+1) = 1000 Hz (1msec)
// DLPF = 3 => Bandwidth 44 Hz (delay: 4.9 msec)
if (RC) BLIDeadStop("EG", 2);
//=====================================================
// Initialize Asynchronous mode
//-----------------------------------------------------
if ( (RC = MPUAsyncStart(2)) )
BLIDeadStop("S2", 2);
//------------------------------
if ( (RC = MPUAsyncStart(1)) )
BLIDeadStop("S1", 2);
//==================================================================
// Provide a few second delay prior to calibrating Gyros to make
// sure that the board is stable after the "turn-on" shake
//------------------------------------------------------------------
BLIAsyncStart(50,50);
TMRDelay(1000);
BLIAsyncStop();
//*******************************************************************
// Calibrate Gyros
//-----------------------------------------------------
// MPUSetOptions(Rotate, TempComp, CrossAxis)
MPUSetOptions(TRUE, TRUE, TRUE);
//-----------------------------------------------------
BLIAsyncStart(100,100);
//------------------------------
if ( (RC = MPUCalibrateGyro(1)) )
BLIDeadStop("C1", 2);
//------------------------------
if ( (RC = MPUCalibrateGyro(2)) )
BLIDeadStop("C2", 2);
//------------------------------
BLIAsyncStop();
//=====================================================
struct
{
MPUData Sample1;
MPUData Sample2;
} MPU;
//=====================================================
// Main Loop
//-----------------------------------------------------
BLISignalOFF();
while (TRUE)
{
Alarm = TMRSetAlarm(20);
//------------------------------------
if ( (RC = MPUAsyncReadWhenReady(1, &MPU.Sample1)) )
BLIDeadStop("SM1", 3);
//--------------------------
if ( (RC = MPUAsyncReadWhenReady(2, &MPU.Sample2)) )
BLIDeadStop("SM2", 3);
//------------------------
BLISignalFlip();
//-------------------------
SDLPostIfReady((byte*)&MPU, sizeof(MPU));
//-------------------------
TMRWaitAlarm(Alarm);
}
//*******************************************************************
return 0;
}
