int Mpu9250AuxRead(uint8_t DevAddr, uint8_t *pCmdAddr, int CmdAddrLen, uint8_t *pBuff, int BuffLen)
{
int retval = 0;
uint8_t regaddr;
uint8_t d[8];
d[0] = MPU9250_AG_I2C_SLV0_ADDR;
d[1] = DevAddr | MPU9250_AG_I2C_SLV0_ADDR_I2C_SLVO_RD;
d[2] = *pCmdAddr;
while (BuffLen > 0)
{
int cnt = min(15, BuffLen);
d[3] = MPU9250_AG_I2C_SLV0_CTRL_I2C_SLV0_EN |cnt;
g_pSpi->Write(0, d, 4, NULL, 0);
// Delay require for transfer to complete
usDelay(300 + (cnt << 4));
regaddr = MPU9250_AG_EXT_SENS_DATA_00;
cnt = g_pSpi->Read(0, ®addr, 1, pBuff, cnt);
if (cnt <=0)
break;
pBuff += cnt;
BuffLen -= cnt;
retval += cnt;
}
return retval;
}
//--------------------------------------------------------------------------
// Description:
// Delay for at least 'len' ms
//
void msDelay(unsigned int delay)
{
while(delay--)
{
usDelay(1030);
}
}
//---------------------------------------------------------------------------
// Attempt to acquire a 1-Wire net
//
// 'portnum' - number 0 to MAX_PORTNUM-1. This number is provided to
// indicate the symbolic port number.
// 'port_zstr' - zero terminated port name.
//
// Returns: TRUE - success, port opened
//
SMALLINT owAcquire(int portnum, char *port_zstr)
{
port_zstr = 0;
portnum = 0;
OW_PORT = 1; // drive bus high.
usDelay(500); // give time for line to settle
// checks to make sure the line is idling high.
return (OW_PORT==1?TRUE:FALSE);
}
//---------------------------------------------------------------------------
// Attempt to acquire a 1-Wire net using a com port and a DS2480 based
// adapter.
//
// 'port_zstr' - zero terminated port name. For this platform
// use format COMX where X is the port number.
//
// Returns: The portnum or -1 if the port wasn't acquired.
//
int owAcquireEx(char *port_zstr)
{
int portnum = 0;
port_zstr = 0;
OW_PORT = 1; // drive bus high.
usDelay(500); // give time for line to settle
// checks to make sure the line is idling high.
if(OW_PORT != 1)
{
OWERROR(OWERROR_OPENCOM_FAILED);
return -1;
}
return portnum;
}
void calibrate_zero_torque() {
uint16_t last_raw_torque = read_raw_torque();
uint16_t this_raw_torque;
while(1) {
// Wait 500ms
usDelay(500000);
// See how much the torque has changed
this_raw_torque = read_raw_torque();
int16_t torque_change = (this_raw_torque - last_raw_torque);
torque_change = (torque_change < 0) ? (torque_change * -1) : torque_change;
// If it's changed less than +/- 4mV, we're calibrated
if(torque_change < 5) {
break;
}
// Else, try again
last_raw_torque = this_raw_torque;
}
torque_zero = (double)this_raw_torque;
}
void HardwareInit()
{
// Set this only if nRF is power at 2V or more
//nrf_power_dcdcen_set(true);
NRF_POWER->DCDCEN = 1;
IOPinCfg(s_GpioPins, s_NbGpioPins);
IOPinClear(0, BLUEIO_TAG_BME680_LED2_BLUE_PIN);
IOPinClear(0, BLUEIO_TAG_BME680_LED2_GREEN_PIN);
IOPinClear(0, BLUEIO_TAG_BME680_LED2_RED_PIN);
g_Timer.Init(s_TimerCfg);
// Initialize I2C
#ifdef NEBLINA_MODULE
g_Spi.Init(s_SpiCfg);
#else
g_I2c.Init(s_I2cCfg);
#endif
bsec_library_return_t bsec_status;
// NOTE : For BME680 air quality calculation, this library is require to be initialized
// before initializing the sensor driver.
bsec_status = bsec_init();
if (bsec_status != BSEC_OK)
{
printf("BSEC init failed\r\n");
return;
}
// Inititalize sensor
g_TphSensor.Init(s_TphSensorCfg, g_pIntrf, &g_Timer);
// g_TphSensor.Disable();
// g_I2c.Disable();
// while(1) __WFE();
if (g_TphSensor.DeviceID() == BME680_ID)
{
g_GasSensor.Init(s_GasSensorCfg, g_pIntrf, NULL);
}
g_TphSensor.StartSampling();
usDelay(300000);
// Update sensor data
TPHSENSOR_DATA tphdata;
g_TphSensor.Read(tphdata);
if (g_TphSensor.DeviceID() == BME680_ID)
{
GASSENSOR_DATA gdata;
g_GasSensor.Read(gdata);
}
g_TphSensor.StartSampling();
g_AdvData.Type = BLEADV_MANDATA_TYPE_TPH;
// Do memcpy to adv data. Due to byte alignment, cannot read directly into
// adv data
memcpy(g_AdvData.Data, ((uint8_t*)&tphdata) + sizeof(tphdata.Timestamp), sizeof(BLEADV_MANDATA_TPHSENSOR));
g_I2c.Disable();
#ifdef NRF52_SERIES
g_Adc.Init(s_AdcCfg);
g_Adc.OpenChannel(s_ChanCfg, s_NbChan);
g_Adc.StartConversion();
#endif
#ifdef USE_TIMER_UPDATE
// Only with SDK14
uint64_t period = g_Timer.EnableTimerTrigger(0, 500UL, TIMER_TRIG_TYPE_CONTINUOUS);
#endif
}
void MsDelay (unsigned nMilliSeconds)
{
usDelay(nMilliSeconds * 1000);
}