Пример #1
0
//*****************************************************************************
//
// This is the main loop that runs the application.
//
//*****************************************************************************
int
main(void)
{
    //
    // Turn on stacking of FPU registers if FPU is used in the ISR.
    //
    FPULazyStackingEnable();

    //
    // Set the clocking to run from the PLL at 40MHz.
    //
    ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
                       SYSCTL_XTAL_16MHZ);

    //
    // Set the system tick to fire 100 times per second.
    //
    ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
    ROM_SysTickIntEnable();
    ROM_SysTickEnable();

    //
    // Enable the Debug UART.
    //
    ConfigureUART();

    //
    // Print the welcome message to the terminal.
    //
    UARTprintf("\033[2JAir Mouse Application\n");

    //
    // Configure desired interrupt priorities. This makes certain that the DCM
    // is fed data at a consistent rate. Lower numbers equal higher priority.
    //
    ROM_IntPrioritySet(INT_I2C3, 0x00);
    ROM_IntPrioritySet(INT_GPIOB, 0x10);
    ROM_IntPrioritySet(FAULT_SYSTICK, 0x20);
    ROM_IntPrioritySet(INT_UART1, 0x60);
    ROM_IntPrioritySet(INT_UART0, 0x70);
    ROM_IntPrioritySet(INT_WTIMER5B, 0x80);

    //
    // Configure the USB D+ and D- pins.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
    ROM_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_5 | GPIO_PIN_4);

    //
    // Pass the USB library our device information, initialize the USB
    // controller and connect the device to the bus.
    //
    USBDHIDMouseCompositeInit(0, &g_sMouseDevice, &g_psCompDevices[0]);
    USBDHIDKeyboardCompositeInit(0, &g_sKeyboardDevice, &g_psCompDevices[1]);

    //
    // Set the USB stack mode to Force Device mode.
    //
    USBStackModeSet(0, eUSBModeForceDevice, 0);

    //
    // Pass the device information to the USB library and place the device
    // on the bus.
    //
    USBDCompositeInit(0, &g_sCompDevice, DESCRIPTOR_DATA_SIZE,
                      g_pui8DescriptorData);

    //
    // User Interface Init
    //
    ButtonsInit();
    RGBInit(0);
    RGBEnable();

    //
    // Initialize the motion sub system.
    //
    MotionInit();

    //
    // Initialize the Radio Systems.
    //
    LPRFInit();

    //
    // Drop into the main loop.
    //
    while(1)
    {

        //
        // Check for and handle timer tick events.
        //
        if(HWREGBITW(&g_ui32Events, USB_TICK_EVENT) == 1)
        {
            //
            // Clear the Tick event flag. Set in SysTick interrupt handler.
            //
            HWREGBITW(&g_ui32Events, USB_TICK_EVENT) = 0;

            //
            // Each tick period handle wired mouse and keyboard.
            //
            if(HWREGBITW(&g_ui32USBFlags, FLAG_CONNECTED) == 1)
            {
                MouseMoveHandler();
                KeyboardMain();
            }
        }

        //
        // Check for LPRF tick events.  LPRF Ticks are slower since UART to
        // RNP is much slower data connection than the USB.
        //
        if(HWREGBITW(&g_ui32Events, LPRF_TICK_EVENT) == 1)
        {
            //
            // Clear the event flag.
            //
            HWREGBITW(&g_ui32Events, LPRF_TICK_EVENT) = 0;

            //
            // Perform the LPRF Main task handling
            //
            LPRFMain();

        }

        //
        // Check for and handle motion events.
        //
        if((HWREGBITW(&g_ui32Events, MOTION_EVENT) == 1) ||
           (HWREGBITW(&g_ui32Events, MOTION_ERROR_EVENT) == 1))
        {
            //
            // Clear the motion event flag. Set in the Motion I2C interrupt
            // handler when an I2C transaction to get sensor data is complete.
            //
            HWREGBITW(&g_ui32Events, MOTION_EVENT) = 0;

            //
            // Process the motion data that has been captured
            //
            MotionMain();
        }
    }
}
Пример #2
0
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int
main(void)
{
	int_fast32_t i32IPart[16], i32FPart[16];
	uint_fast32_t ui32Idx, ui32CompDCMStarted;
	float pfData[16];
	float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;

	//
	// Initialize convenience pointers that clean up and clarify the code
	// meaning. We want all the data in a single contiguous array so that
	// we can make our pretty printing easier later.
	//
	pfAccel = pfData;
	pfGyro = pfData + 3;
	pfMag = pfData + 6;
	pfEulers = pfData + 9;
	pfQuaternion = pfData + 12;

	//
	// Setup the system clock to run at 40 Mhz from PLL with crystal reference
	//
	SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
			SYSCTL_OSC_MAIN);

	//
	// Enable port B used for motion interrupt.
	//
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

	//
	// Initialize the UART.
	//
	ConfigureUART();

	//
	// Print the welcome message to the terminal.
	//
	UARTprintf("\033[2JMPU9150 Raw Example\n");

	//
	// Set the color to a purple approximation.
	//
	g_pui32Colors[RED] = 0x8000;
	g_pui32Colors[BLUE] = 0x8000;
	g_pui32Colors[GREEN] = 0x0000;

	//
	// Initialize RGB driver.
	//
	RGBInit(0);
	RGBColorSet(g_pui32Colors);
	RGBIntensitySet(0.5f);
	RGBEnable();

	//
	// The I2C3 peripheral must be enabled before use.
	//
	SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);

	//
	// Configure the pin muxing for I2C3 functions on port D0 and D1.
	//
	GPIOPinConfigure(GPIO_PD0_I2C3SCL);
	GPIOPinConfigure(GPIO_PD1_I2C3SDA);

	//
	// Select the I2C function for these pins.  This function will also
	// configure the GPIO pins pins for I2C operation, setting them to
	// open-drain operation with weak pull-ups.  Consult the data sheet
	// to see which functions are allocated per pin.
	//
	GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
	GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);

	//
	// Configure and Enable the GPIO interrupt. Used for INT signal from the
	// MPU9150
	//
	GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
	GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
	GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
	IntEnable(INT_GPIOB);

	//
	// Keep only some parts of the systems running while in sleep mode.
	// GPIOB is for the MPU9150 interrupt pin.
	// UART0 is the virtual serial port
	// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
	// I2C3 is the I2C interface to the ISL29023
	//
	SysCtlPeripheralClockGating(true);
	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);

	//
	// Enable interrupts to the processor.
	//
	IntMasterEnable();

	//
	// Initialize I2C3 peripheral.
	//
	I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
			SysCtlClockGet());

	//
	// Initialize the MPU9150 Driver.
	//
	MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
			MPU9150AppCallback, &g_sMPU9150Inst);

	//
	// Wait for transaction to complete
	//
	MPU9150AppI2CWait(__FILE__, __LINE__);

	//
	// Write application specifice sensor configuration such as filter settings
	// and sensor range settings.
	//
	g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
	g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
	g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
			MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
	MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
			MPU9150AppCallback, &g_sMPU9150Inst);

	//
	// Wait for transaction to complete
	//
	MPU9150AppI2CWait(__FILE__, __LINE__);

	//
	// Configure the data ready interrupt pin output of the MPU9150.
	//
	g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
			MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
			MPU9150_INT_PIN_CFG_LATCH_INT_EN;
	g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
	MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
			g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
			&g_sMPU9150Inst);

	//
	// Wait for transaction to complete
	//
	MPU9150AppI2CWait(__FILE__, __LINE__);

	//
	// Initialize the DCM system. 50 hz sample rate.
	// accel weight = .2, gyro weight = .8, mag weight = .2
	//
	CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);

	UARTprintf("\033[2J\033[H");
	UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
	UARTprintf("\033[20GX\033[31G|\033[43GY\033[54G|\033[66GZ\n\n");
	UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
	UARTprintf("Gyro\033[8G|\033[31G|\033[54G|\n\n");
	UARTprintf("Mag\033[8G|\033[31G|\033[54G|\n\n");
	UARTprintf("\n\033[20GRoll\033[31G|\033[43GPitch\033[54G|\033[66GYaw\n\n");
	UARTprintf("Eulers\033[8G|\033[31G|\033[54G|\n\n");

	UARTprintf("\n\033[17GQ1\033[26G|\033[35GQ2\033[44G|\033[53GQ3\033[62G|"
			"\033[71GQ4\n\n");
	UARTprintf("Q\033[8G|\033[26G|\033[44G|\033[62G|\n\n");

	//
	// Enable blinking indicates config finished successfully
	//
	RGBBlinkRateSet(1.0f);

	ui32CompDCMStarted = 0;

	while(1)
	{
		//
		// Go to sleep mode while waiting for data ready.
		//
		while(!g_vui8I2CDoneFlag)
		{
			SysCtlSleep();
		}

		//
		// Clear the flag
		//
		g_vui8I2CDoneFlag = 0;

		//
		// Get floating point version of the Accel Data in m/s^2.
		//
		MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
				pfAccel + 2);

		//
		// Get floating point version of angular velocities in rad/sec
		//
		MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
				pfGyro + 2);

		//
		// Get floating point version of magnetic fields strength in tesla
		//
		MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
				pfMag + 2);

		//
		// Check if this is our first data ever.
		//
		if(ui32CompDCMStarted == 0)
		{
			//
			// Set flag indicating that DCM is started.
			// Perform the seeding of the DCM with the first data set.
			//
			ui32CompDCMStarted = 1;
			CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
					pfMag[2]);
			CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
					pfAccel[2]);
			CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
					pfGyro[2]);
			CompDCMStart(&g_sCompDCMInst);
		}
		else
		{
			//
			// DCM Is already started.  Perform the incremental update.
			//
			CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
					pfMag[2]);
			CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
					pfAccel[2]);
			CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
					-pfGyro[2]);
			CompDCMUpdate(&g_sCompDCMInst);
		}

		//
		// Increment the skip counter.  Skip counter is used so we do not
		// overflow the UART with data.
		//
		g_ui32PrintSkipCounter++;
		if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
		{
			//
			// Reset skip counter.
			//
			g_ui32PrintSkipCounter = 0;

			//
			// Get Euler data. (Roll Pitch Yaw)
			//
			CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
					pfEulers + 2);

			//
			// Get Quaternions.
			//
			CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);

			//
			// convert mag data to micro-tesla for better human interpretation.
			//
			pfMag[0] *= 1e6;
			pfMag[1] *= 1e6;
			pfMag[2] *= 1e6;

			//
			// Convert Eulers to degrees. 180/PI = 57.29...
			// Convert Yaw to 0 to 360 to approximate compass headings.
			//
			pfEulers[0] *= 57.295779513082320876798154814105f;
			pfEulers[1] *= 57.295779513082320876798154814105f;
			pfEulers[2] *= 57.295779513082320876798154814105f;
			if(pfEulers[2] < 0)
			{
				pfEulers[2] += 360.0f;
			}

			//
			// Now drop back to using the data as a single array for the
			// purpose of decomposing the float into a integer part and a
			// fraction (decimal) part.
			//
			for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
			{
				//
				// Conver float value to a integer truncating the decimal part.
				//
				i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];

				//
				// Multiply by 1000 to preserve first three decimal values.
				// Truncates at the 3rd decimal place.
				//
				i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);

				//
				// Subtract off the integer part from this newly formed decimal
				// part.
				//
				i32FPart[ui32Idx] = i32FPart[ui32Idx] -
						(i32IPart[ui32Idx] * 1000);

				//
				// make the decimal part a positive number for display.
				//
				if(i32FPart[ui32Idx] < 0)
				{
					i32FPart[ui32Idx] *= -1;
				}
			}

			//
			// Print the acceleration numbers in the table.
			//
			UARTprintf("\033[5;17H%3d.%03d", i32IPart[0], i32FPart[0]);
			UARTprintf("\033[5;40H%3d.%03d", i32IPart[1], i32FPart[1]);
			UARTprintf("\033[5;63H%3d.%03d", i32IPart[2], i32FPart[2]);

			//
			// Print the angular velocities in the table.
			//
			UARTprintf("\033[7;17H%3d.%03d", i32IPart[3], i32FPart[3]);
			UARTprintf("\033[7;40H%3d.%03d", i32IPart[4], i32FPart[4]);
			UARTprintf("\033[7;63H%3d.%03d", i32IPart[5], i32FPart[5]);

			//
			// Print the magnetic data in the table.
			//
			UARTprintf("\033[9;17H%3d.%03d", i32IPart[6], i32FPart[6]);
			UARTprintf("\033[9;40H%3d.%03d", i32IPart[7], i32FPart[7]);
			UARTprintf("\033[9;63H%3d.%03d", i32IPart[8], i32FPart[8]);

			//
			// Print the Eulers in a table.
			//
			UARTprintf("\033[14;17H%3d.%03d", i32IPart[9], i32FPart[9]);
			UARTprintf("\033[14;40H%3d.%03d", i32IPart[10], i32FPart[10]);
			UARTprintf("\033[14;63H%3d.%03d", i32IPart[11], i32FPart[11]);

			//
			// Print the quaternions in a table format.
			//
			UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
			UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
			UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
			UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);

		}
	}
}
int main(void)
{
//*******************************************************************************
//						INITIALIZATION
//*******************************************************************************
	// setup the system clock to run at 80 MHz from the external crystal:
	ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
	// enable peripherals to operate when CPU is in sleep:
	ROM_SysCtlPeripheralClockGating(true);
	//initialize UART console for debugging purposes
	InitConsole();
	//initialize CAN controller
	app_can_init();
	// Set up LED driver
	RGBInit(1);

/*_______________________INITIALIZATION OF MESSAGE OBJECT_______________________*/

	tCANMsgObject msg; 								// the CAN message object
	uint64_t msgData = 0; 							// the message data could be up to eight bytes long which we can allocate as an int64
	uint8_t *msgDataPtr = (uint8_t *)&msgData; 		// make a pointer to msgData so we can access individual bytes

	// Set up of CAN msg object
	msgData = 0;
	msg.ui32MsgID = 1;
	msg.ui32MsgIDMask = 0;
	msg.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
	msg.ui32MsgLen = sizeof(msgDataPtr);
	msg.pui8MsgData = msgDataPtr;
/*______________________________________________________________________________*/

	uint32_t t = 0; // loop counter
	float freq = 0.3; // frequency scaler

	UARTprintf("MCU is running\n\r");

//*******************************************************************************
//*******************************************************************************
//						LOOP FOREVER
//*******************************************************************************
//*******************************************************************************
    while(1)
    {
		// set up next colour (scale sinf (0-1) to 0-255)
		msgDataPtr[0] = (0.5 + 0.5*sinf(t*freq)) * 0xFF;
		msgDataPtr[1] = (0.5 + 0.5*sinf(t*freq + (2*PI/3))) * 0xFF; 	// 120 degrees out of phase
		msgDataPtr[2] = (0.5 + 0.5*sinf(t*freq + (4*PI/3))) * 0xFF; 	// 240 degrees out of phase
		msgDataPtr[3] = 128;											// 50% intensity

//*******************************************************************************
//						CAN bus stuffs handling
//*******************************************************************************
    	if(err_flag==1)																//  CAN BUS ERROR
    	{
    		char Decoded_ControllerStsReg[30];
    		UARTprintf("BUS cable disconnected ? Please, reconnect...\n\r");							// print an hint
			UARTprintf("\%s\n\r", app_can_DecodeControllerStsReg(CAN_status,Decoded_ControllerStsReg));	// print errors
			delay(500);
    		CANIntEnable(CAN0_BASE,CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);	//	enable all CAN0 interrupts
    	}
    	else if(err_flag==2)
Пример #4
0
//*****************************************************************************
//
// Main function performs init and manages system.
//
// Called automatically after the system and compiler pre-init sequences.
// Performs system init calls, restores state from hibernate if needed and
// then manages the application context duties of the system.
//
//*****************************************************************************
int
main(void)
{
    uint32_t ui32Status;
    uint32_t ui32ResetCause;
    int32_t i32CommandStatus;

    //
    // Enable stacking for interrupt handlers.  This allows floating-point
    // instructions to be used within interrupt handlers, but at the expense of
    // extra stack usage.
    //
    ROM_FPUEnable();
    ROM_FPUStackingEnable();

    //
    // Set the system clock to run at 40Mhz off PLL with external crystal as
    // reference.
    //
    ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
                       SYSCTL_OSC_MAIN);

    //
    // Enable the hibernate module
    //
    SysCtlPeripheralEnable(SYSCTL_PERIPH_HIBERNATE);

    //
    // Enable and Initialize the UART.
    //
    ConfigureUART();

    UARTprintf("Welcome to the Tiva C Series TM4C123G LaunchPad!\n");
    UARTprintf("Type 'help' for a list of commands\n");
    UARTprintf("> ");

    //
    // Determine why system reset occurred and respond accordingly.
    //
    ui32ResetCause = SysCtlResetCauseGet();
    SysCtlResetCauseClear(ui32ResetCause);
    if(ui32ResetCause == SYSCTL_CAUSE_POR)
    {
        if(HibernateIsActive())
        {
            //
            // Read the status bits to see what caused the wake.
            //
            ui32Status = HibernateIntStatus(0);
            HibernateIntClear(ui32Status);

            //
            // Wake was due to the push button.
            //
            if(ui32Status & HIBERNATE_INT_PIN_WAKE)
            {
                UARTprintf("Hibernate Wake Pin Wake Event\n");
                UARTprintf("> ");

                //
                // Recover the application state variables from battery backed
                // hibernate memory.  Set ui32Mode to normal.
                //
                HibernateDataGet((uint32_t*) &g_sAppState,
                                 sizeof(tAppState) / 4 + 1);
                g_sAppState.ui32Mode = APP_MODE_NORMAL;
            }

            //
            // Wake was due to RTC match
            //
            else if(ui32Status & HIBERNATE_INT_RTC_MATCH_0)
            {
                UARTprintf("Hibernate RTC Wake Event\n");
                UARTprintf("> ");
                //
                // Recover the application state variables from battery backed
                // hibernate memory. Set ui32Mode to briefly flash the RGB.
                //
                HibernateDataGet((uint32_t*) &g_sAppState,
                                sizeof(tAppState) / 4 + 1);
                g_sAppState.ui32Mode = APP_MODE_HIB_FLASH;
            }
        }

        else
        {
            //
            // Reset was do to a cold first time power up.
            //
            UARTprintf("Power on reset. Hibernate not active.\n");
            UARTprintf("> ");

            g_sAppState.ui32Mode = APP_MODE_NORMAL;
            g_sAppState.fColorWheelPos = 0;
            g_sAppState.fIntensity = APP_INTENSITY_DEFAULT;
            g_sAppState.ui32Buttons = 0;
        }
    }
    else
    {
        //
        // External Pin reset or other reset event occured.
        //
        UARTprintf("External or other reset\n");
        UARTprintf("> ");

        //
        // Treat this as a cold power up reset without restore from hibernate.
        //
        g_sAppState.ui32Mode = APP_MODE_NORMAL;
        g_sAppState.fColorWheelPos = APP_PI;
        g_sAppState.fIntensity = APP_INTENSITY_DEFAULT;
        g_sAppState.ui32Buttons = 0;

    //
        // colors get a default initialization later when we call AppRainbow.
        //
    }

    //
    // Initialize clocking for the Hibernate module
    //
    HibernateEnableExpClk(SysCtlClockGet());

    //
    // Initialize the RGB LED. AppRainbow typically only called from interrupt
    // context. Safe to call here to force initial color update because
    // interrupts are not yet enabled.
    //
    RGBInit(0);
    RGBIntensitySet(g_sAppState.fIntensity);
    AppRainbow(1);
    RGBEnable();

    //
    // Initialize the buttons
    //
    ButtonsInit();

    //
    // Initialize the SysTick interrupt to process colors and buttons.
    //
    SysTickPeriodSet(SysCtlClockGet() / APP_SYSTICKS_PER_SEC);
    SysTickEnable();
    SysTickIntEnable();
    IntMasterEnable();

    //
    // spin forever and wait for carriage returns or state changes.
    //
    while(1)
    {

        UARTprintf("\n>");


        //
        // Peek to see if a full command is ready for processing
        //
        while(UARTPeek('\r') == -1)
        {
            //
            // millisecond delay.  A SysCtlSleep() here would also be OK.
            //
            SysCtlDelay(SysCtlClockGet() / (1000 / 3));

            //
            // Check for change of mode and enter hibernate if requested.
            // all other mode changes handled in interrupt context.
            //
            if(g_sAppState.ui32Mode == APP_MODE_HIB)
            {
                AppHibernateEnter();
            }
        }

        //
        // a '\r' was detected get the line of text from the user.
        //
        UARTgets(g_cInput,sizeof(g_cInput));

        //
        // Pass the line from the user to the command processor.
        // It will be parsed and valid commands executed.
        //
        i32CommandStatus = CmdLineProcess(g_cInput);

        //
        // Handle the case of bad command.
        //
        if(i32CommandStatus == CMDLINE_BAD_CMD)
        {
            UARTprintf("Bad command!\n");
        }

        //
        // Handle the case of too many arguments.
        //
        else if(i32CommandStatus == CMDLINE_TOO_MANY_ARGS)
        {
            UARTprintf("Too many arguments for command processor!\n");
        }
    }
}
//*****************************************************************************
//
// Main 'C' Language entry point.
//
//*****************************************************************************
int
main(void)
{
    float fAmbient;
    int32_t i32IntegerPart, i32FractionPart;
    uint8_t ui8Mask;

    //
    // Setup the system clock to run at 40 Mhz from PLL with crystal reference
    //
    ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
                       SYSCTL_OSC_MAIN);

    //
    // Enable the peripherals used by this example.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);

    //
    // Initialize the UART and its pins.
    //
    ConfigureUART();

    //
    // Print the welcome message to the terminal.
    //
    UARTprintf("\033[2JISL29023 Example\n");

    //
    // Set the color to a white approximation.
    //
    g_pui32Colors[RED] = 0x8000;
    g_pui32Colors[BLUE] = 0x8000;
    g_pui32Colors[GREEN] = 0x8000;

    //
    // Initialize RGB driver. Use a default intensity and blink rate.
    //
    RGBInit(0);
    RGBColorSet(g_pui32Colors);
    RGBIntensitySet(0.5f);
    RGBEnable();

    //
    // The I2C3 peripheral must be enabled before use.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);

    //
    // Configure the pin muxing for I2C3 functions on port D0 and D1.
    // This step is not necessary if your part does not support pin muxing.
    //
    ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
    ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);

    //
    // Select the I2C function for these pins.  This function will also
    // configure the GPIO pins pins for I2C operation, setting them to
    // open-drain operation with weak pull-ups.  Consult the data sheet
    // to see which functions are allocated per pin.
    //
    GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
    ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);

    //
    // Configure and Enable the GPIO interrupt. Used for INT signal from the
    // ISL29023
    //
    ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_5);
    GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_5);
    ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_5, GPIO_FALLING_EDGE);
    ROM_IntEnable(INT_GPIOE);

    //
    // Keep only some parts of the systems running while in sleep mode.
    // GPIOE is for the ISL29023 interrupt pin.
    // UART0 is the virtual serial port
    // TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
    // I2C3 is the I2C interface to the ISL29023
    //
    ROM_SysCtlPeripheralClockGating(true);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);

    //
    // Configure desired interrupt priorities.  Setting the I2C interrupt to be
    // of more priority than SysTick and the GPIO interrupt means those
    // interrupt routines can use the I2CM_DRV Application context does not use
    // I2CM_DRV API and GPIO and SysTick are at the same priority level. This
    // prevents re-entrancy problems with I2CM_DRV but keeps the MCU in sleep
    // state as much as possible. UART is at least priority so it can operate
    // in the background.
    //
    ROM_IntPrioritySet(INT_I2C3, 0x00);
    ROM_IntPrioritySet(FAULT_SYSTICK, 0x40);
    ROM_IntPrioritySet(INT_GPIOE, 0x80);
    ROM_IntPrioritySet(INT_UART0, 0x80);

    //
    // Enable interrupts to the processor.
    //
    ROM_IntMasterEnable();

    //
    // Initialize I2C3 peripheral.
    //
    I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
             ROM_SysCtlClockGet());

    //
    // Initialize the ISL29023 Driver.
    //
    ISL29023Init(&g_sISL29023Inst, &g_sI2CInst, ISL29023_I2C_ADDRESS,
                 ISL29023AppCallback, &g_sISL29023Inst);

    //
    // Wait for transaction to complete
    //
    ISL29023AppI2CWait(__FILE__, __LINE__);

    //
    // Configure the ISL29023 to measure ambient light continuously. Set a 8
    // sample persistence before the INT pin is asserted. Clears the INT flag.
    // Persistence setting of 8 is sufficient to ignore camera flashes.
    //
    ui8Mask = (ISL29023_CMD_I_OP_MODE_M | ISL29023_CMD_I_INT_PERSIST_M |
               ISL29023_CMD_I_INT_FLAG_M);
    ISL29023ReadModifyWrite(&g_sISL29023Inst, ISL29023_O_CMD_I, ~ui8Mask,
                            (ISL29023_CMD_I_OP_MODE_ALS_CONT |
                             ISL29023_CMD_I_INT_PERSIST_8),
                            ISL29023AppCallback, &g_sISL29023Inst);

    //
    // Wait for transaction to complete
    //
    ISL29023AppI2CWait(__FILE__, __LINE__);

    //
    // Configure the upper threshold to 80% of maximum value
    //
    g_sISL29023Inst.pui8Data[1] = 0xCC;
    g_sISL29023Inst.pui8Data[2] = 0xCC;
    ISL29023Write(&g_sISL29023Inst, ISL29023_O_INT_HT_LSB,
                  g_sISL29023Inst.pui8Data, 2, ISL29023AppCallback,
                  &g_sISL29023Inst);

    //
    // Wait for transaction to complete
    //
    ISL29023AppI2CWait(__FILE__, __LINE__);

    //
    // Configure the lower threshold to 20% of maximum value
    //
    g_sISL29023Inst.pui8Data[1] = 0x33;
    g_sISL29023Inst.pui8Data[2] = 0x33;
    ISL29023Write(&g_sISL29023Inst, ISL29023_O_INT_LT_LSB,
                  g_sISL29023Inst.pui8Data, 2, ISL29023AppCallback,
                  &g_sISL29023Inst);
    //
    // Wait for transaction to complete
    //
    ISL29023AppI2CWait(__FILE__, __LINE__);

    //
    //Configure and enable SysTick Timer
    //
    ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
    ROM_SysTickIntEnable();
    ROM_SysTickEnable();

    //
    // After all the init and config we start blink the LED
    //
    RGBBlinkRateSet(1.0f);

    //
    // Loop Forever
    //
    while(1)
    {
        ROM_SysCtlSleep();

        if(g_vui8DataFlag)
        {
            g_vui8DataFlag = 0;

            //
            // Get a local floating point copy of the latest light data
            //
            ISL29023DataLightVisibleGetFloat(&g_sISL29023Inst, &fAmbient);

            //
            // Perform the conversion from float to a printable set of integers
            //
            i32IntegerPart = (int32_t)fAmbient;
            i32FractionPart = (int32_t)(fAmbient * 1000.0f);
            i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
            if(i32FractionPart < 0)
            {
                i32FractionPart *= -1;
            }

            //
            // Print the temperature as integer and fraction parts.
            //
            UARTprintf("Visible Lux: %3d.%03d\n", i32IntegerPart,
                       i32FractionPart);

            //
            // Check if the intensity of light has crossed a threshold. If so
            // then adjust range of sensor readings to track intensity.
            //
            if(g_vui8IntensityFlag)
            {
                //
                // Disable the low priority interrupts leaving only the I2C
                // interrupt enabled.
                //
                ROM_IntPriorityMaskSet(0x40);

                //
                // Reset the intensity trigger flag.
                //
                g_vui8IntensityFlag = 0;

                //
                // Adjust the lux range.
                //
                ISL29023AppAdjustRange(&g_sISL29023Inst);

                //
                // Now we must manually clear the flag in the ISL29023
                // register.
                //
                ISL29023Read(&g_sISL29023Inst, ISL29023_O_CMD_I,
                             g_sISL29023Inst.pui8Data, 1, ISL29023AppCallback,
                             &g_sISL29023Inst);

                //
                // Wait for transaction to complete
                //
                ISL29023AppI2CWait(__FILE__, __LINE__);

                //
                // Disable priority masking so all interrupts are enabled.
                //
                ROM_IntPriorityMaskSet(0);
            }
        }
    }
}
Пример #6
0
//*****************************************************************************
//
// Main 'C' Language entry point.
//
//*****************************************************************************
int
main(void)
{
    float fAmbient, fObject;
    int_fast32_t i32IntegerPart;
    int_fast32_t i32FractionPart;

    //
    // Setup the system clock to run at 40 Mhz from PLL with crystal reference
    //
    ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
                       SYSCTL_OSC_MAIN);

    //
    // Enable the peripherals used by this example.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);

    //
    // Initialize the UART.
    //
    ConfigureUART();

    //
    // Print the welcome message to the terminal.
    //
    UARTprintf("\033[2J\033[1;1HTMP006 Example\n");

    //
    // Setup the color of the RGB LED.
    //
    g_pui32Colors[RED] = 0;
    g_pui32Colors[BLUE] = 0xFFFF;
    g_pui32Colors[GREEN] = 0;

    //
    // Initialize the RGB Driver and start RGB blink operation.
    //
    RGBInit(0);
    RGBColorSet(g_pui32Colors);
    RGBIntensitySet(0.5f);
    RGBEnable();

    //
    // The I2C3 peripheral must be enabled before use.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);

    //
    // Configure the pin muxing for I2C3 functions on port D0 and D1.
    // This step is not necessary if your part does not support pin muxing.
    //
    ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
    ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);

    //
    // Select the I2C function for these pins.  This function will also
    // configure the GPIO pins pins for I2C operation, setting them to
    // open-drain operation with weak pull-ups.  Consult the data sheet
    // to see which functions are allocated per pin.
    //
    GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
    ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);

    //
    // Configure and Enable the GPIO interrupt. Used for DRDY from the TMP006
    //
    ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_0);
    GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_0);
    ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_0, GPIO_FALLING_EDGE);
    ROM_IntEnable(INT_GPIOE);

    //
    // Keep only some parts of the systems running while in sleep mode.
    // GPIOE is for the TMP006 data ready interrupt.
    // UART0 is the virtual serial port
    // TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
    // I2C3 is the I2C interface to the TMP006
    //
    ROM_SysCtlPeripheralClockGating(true);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);

    //
    // Enable interrupts to the processor.
    //
    ROM_IntMasterEnable();

    //
    // Initialize I2C3 peripheral.
    //
    I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
             SysCtlClockGet());

    //
    // Initialize the TMP006
    //
    TMP006Init(&g_sTMP006Inst, &g_sI2CInst, TMP006_I2C_ADDRESS,
               TMP006AppCallback, &g_sTMP006Inst);

    //
    // Put the processor to sleep while we wait for the I2C driver to
    // indicate that the transaction is complete.
    //
    while((g_vui8DataFlag == 0) && (g_vui8ErrorFlag == 0))
    {
        ROM_SysCtlSleep();
    }

    //
    // If an error occurred call the error handler immediately.
    //
    if(g_vui8ErrorFlag)
    {
        TMP006AppErrorHandler(__FILE__, __LINE__);
    }

    //
    // clear the data flag for next use.
    //
    g_vui8DataFlag = 0;

    //
    // Delay for 10 milliseconds for TMP006 reset to complete.
    // Not explicitly required. Datasheet does not say how long a reset takes.
    //
    ROM_SysCtlDelay(ROM_SysCtlClockGet() / (100 * 3));

    //
    // Enable the DRDY pin indication that a conversion is in progress.
    //
    TMP006ReadModifyWrite(&g_sTMP006Inst, TMP006_O_CONFIG,
                          ~TMP006_CONFIG_EN_DRDY_PIN_M,
                          TMP006_CONFIG_EN_DRDY_PIN, TMP006AppCallback,
                          &g_sTMP006Inst);

    //
    // Wait for the DRDY enable I2C transaction to complete.
    //
    while((g_vui8DataFlag == 0) && (g_vui8ErrorFlag == 0))
    {
        ROM_SysCtlSleep();
    }

    //
    // If an error occurred call the error handler immediately.
    //
    if(g_vui8ErrorFlag)
    {
        TMP006AppErrorHandler(__FILE__, __LINE__);
    }

    //
    // clear the data flag for next use.
    //
    g_vui8DataFlag = 0;

    //
    // Last thing before the loop start blinking to show we got this far and
    // the tmp006 is setup and ready for auto measure
    //
    RGBBlinkRateSet(1.0f);

    //
    // Loop Forever
    //
    while(1)
    {
        //
        // Put the processor to sleep while we wait for the TMP006 to
        // signal that data is ready.  Also continue to sleep while I2C
        // transactions get the raw data from the TMP006
        //
        while((g_vui8DataFlag == 0) && (g_vui8ErrorFlag == 0))
        {
            ROM_SysCtlSleep();
        }

        //
        // If an error occurred call the error handler immediately.
        //
        if(g_vui8ErrorFlag)
        {
            TMP006AppErrorHandler(__FILE__, __LINE__);
        }

        //
        // Reset the flag
        //
        g_vui8DataFlag = 0;

        //
        // Get a local copy of the latest data in float format.
        //
        TMP006DataTemperatureGetFloat(&g_sTMP006Inst, &fAmbient, &fObject);

        //
        // Convert the floating point ambient temperature  to an integer part
        // and fraction part for easy printing.
        //
        i32IntegerPart = (int32_t)fAmbient;
        i32FractionPart = (int32_t)(fAmbient * 1000.0f);
        i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
        if(i32FractionPart < 0)
        {
            i32FractionPart *= -1;
        }
        UARTprintf("Ambient %3d.%03d\t", i32IntegerPart, i32FractionPart);

        //
        // Convert the floating point ambient temperature  to an integer part
        // and fraction part for easy printing.
        //
        i32IntegerPart = (int32_t)fObject;
        i32FractionPart = (int32_t)(fObject * 1000.0f);
        i32FractionPart = i32FractionPart - (i32IntegerPart * 1000);
        if(i32FractionPart < 0)
        {
            i32FractionPart *= -1;
        }
        UARTprintf("Object %3d.%03d\n", i32IntegerPart, i32FractionPart);
    }
}
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int main(void) {
	int_fast32_t i32IPart[17], i32FPart[17];
	uint_fast32_t ui32Idx, ui32CompDCMStarted;
	float pfData[17];
	float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
	float *direction;

	//
	// Initialize convenience pointers that clean up and clarify the code
	// meaning. We want all the data in a single contiguous array so that
	// we can make our pretty printing easier later.
	//
	pfAccel = pfData;
	pfGyro = pfData + 3;
	pfMag = pfData + 6;
	pfEulers = pfData + 9;
	pfQuaternion = pfData + 12;
	direction = pfData + 16;

	//
	// Setup the system clock to run at 40 Mhz from PLL with crystal reference
	//
	ROM_SysCtlClockSet(
			SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ
					| SYSCTL_OSC_MAIN);

	//
	// Enable port E used for motion interrupt.
	//
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);

	//
	// Enable port F used for calibration.
	//
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);

	//
	// Initialize the UART.
	//
	ConfigureUART();

	/* EEPROM SETTINGS */
	SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0); // EEPROM activate
	EEPROMInit(); // EEPROM start

	//
	// Print the welcome message to the terminal.
	//
	UARTprintf("\033[2JMPU9150 Raw Example\n");

	//
	// Set the color to a purple approximation.
	//
	g_pui32Colors[RED] = 0x8000;
	g_pui32Colors[BLUE] = 0x8000;
	g_pui32Colors[GREEN] = 0x8000;

	//
	// Initialize RGB driver.
	//
	RGBInit(0);
	RGBColorSet(g_pui32Colors);
	RGBIntensitySet(0.5f);
	RGBEnable();

	// Initialize BGLib
	bglib_output = output;
	ConfigureBLE();

	//
	// The I2C3 peripheral must be enabled before use.
	//
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);

	//
	// Configure the pin muxing for I2C3 functions on port D0 and D1.
	//
	ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
	ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);

	//
	// Select the I2C function for these pins.  This function will also
	// configure the GPIO pins pins for I2C operation, setting them to
	// open-drain operation with weak pull-ups.  Consult the data sheet
	// to see which functions are allocated per pin.
	//
	GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
	ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);

	//
	// Configure and Enable the GPIO interrupt. Used for INT signal from the
	// MPU9150
	//
	ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_2);
	GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_2);
	ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
	ROM_IntEnable(INT_GPIOE);

	//
	// Keep only some parts of the systems running while in sleep mode.
	// GPIOE is for the MPU9150 interrupt pin.
	// UART0 is the virtual serial port
	// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
	// I2C3 is the I2C interface to the ISL29023
	//
	ROM_SysCtlPeripheralClockGating(true);
	ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
	ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
	ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
	ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
	ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
	ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);

	//
	// Enable interrupts to the processor.
	//
	ROM_IntMasterEnable();

	//
	// Initialize I2C3 peripheral.
	//
	I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
			ROM_SysCtlClockGet());

	//
	// Initialize the MPU9150 Driver.
	//
	MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
			MPU9150AppCallback, &g_sMPU9150Inst);

	//
	// Wait for transaction to complete
	//
	MPU9150AppI2CWait(__FILE__, __LINE__);

	//
	// Configure the sampling rate to 1000 Hz / (1+24).
	//
	g_sMPU9150Inst.pui8Data[0] = 24;
	MPU9150Write(&g_sMPU9150Inst, MPU9150_O_SMPLRT_DIV, g_sMPU9150Inst.pui8Data,
			1, MPU9150AppCallback, &g_sMPU9150Inst);

	//
	// Wait for transaction to complete
	//
	MPU9150AppI2CWait(__FILE__, __LINE__);

	//
	// Write application specifice sensor configuration such as filter settings
	// and sensor range settings.
	//
	g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
	g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
	g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ
			| MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
//	g_sMPU9150Inst.pui8Data[2] = MPU9150_ACCEL_CONFIG_AFS_SEL_2G;
	MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
			MPU9150AppCallback, &g_sMPU9150Inst);

	//
	// Wait for transaction to complete
	//
	MPU9150AppI2CWait(__FILE__, __LINE__);

	//
	// Configure the data ready interrupt pin output of the MPU9150.
	//
	g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL
			| MPU9150_INT_PIN_CFG_INT_RD_CLEAR
			| MPU9150_INT_PIN_CFG_LATCH_INT_EN;
	g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
	MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
			g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback, &g_sMPU9150Inst);

	//
	// Wait for transaction to complete
	//
	MPU9150AppI2CWait(__FILE__, __LINE__);

	//
	// Initialize the DCM system. 40 hz sample rate.
	// accel weight = .2, gyro weight = .8, mag weight = .2
	//
	CompDCMInit(&g_sCompDCMInst, 1.0f / 40.0f, 0.2f, 0.6f, 0.2f);

	//
	// Enable blinking indicates config finished successfully
	//
	RGBBlinkRateSet(1.0f);

	//
	// Configure and Enable the GPIO interrupt. Used for calibration
	//
	HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
	HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
	ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
	GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA,
			GPIO_PIN_TYPE_STD_WPU);
	ROM_IntEnable(INT_GPIOF);
	ROM_GPIOIntTypeSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_FALLING_EDGE);
	GPIOIntEnable(GPIO_PORTF_BASE, GPIO_PIN_4);
	g_calibrationState = 0;

	ui32CompDCMStarted = 0;
	// Configure the white noise, read the error from EEPROM
	EEPROMRead((uint32_t *) zeroErrorAccel,
			EEPROM_ZERO_ERROR_ACCELERATION_ADDRESS, 12);
	EEPROMRead((uint32_t *) linearErrorAccel,
			EEPROM_LINEAR_ERROR_ACCELERATION_ADDRESS, 12);
	EEPROMRead((uint32_t *) zeroErrorGyro, EEPROM_ZERO_ERROR_GYROSCOPE_ADDRESS,
			12);

	while (1) {
		//
		// Go to sleep mode while waiting for data ready.
		//
		while (!g_vui8I2CDoneFlag) {
			//ROM_SysCtlSleep();
		}

		//
		// Clear the flag
		//
		g_vui8I2CDoneFlag = 0;

		//
		// Get floating point version of the Accel Data in m/s^2.
		//
		MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
				pfAccel + 2);

		//
		// Get floating point version of angular velocities in rad/sec
		//
		MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
				pfGyro + 2);

		//
		// Get floating point version of magnetic fields strength in tesla
		//
		MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
				pfMag + 2);

		if (g_calibrationState == 2) {
			zeroErrorAccel[0] = (pfAccel[0]
					+ zeroErrorAccel[0] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			zeroErrorAccel[1] = (pfAccel[1]
					+ zeroErrorAccel[1] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			accelAtGravity[2] = (pfAccel[2]
					+ accelAtGravity[2] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			zeroErrorGyro[0] = (pfGyro[0]
					+ zeroErrorGyro[0] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			zeroErrorGyro[1] = (pfGyro[1]
					+ zeroErrorGyro[1] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			zeroErrorGyro[2] = (pfGyro[2]
					+ zeroErrorGyro[2] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			g_calibrationCount++;
			if (g_calibrationCount > 500) {
				Calibration();
			}
			continue;
		} else if (g_calibrationState == 4) {
			zeroErrorAccel[2] = (pfAccel[2]
					+ zeroErrorAccel[2] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			accelAtGravity[1] = (pfAccel[1]
					+ accelAtGravity[1] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			g_calibrationCount++;
			if (g_calibrationCount > 500) {
				Calibration();
			}
			continue;
		} else if (g_calibrationState == 6) {
			accelAtGravity[0] = (pfAccel[0]
					+ accelAtGravity[0] * g_calibrationCount)
					/ (g_calibrationCount + 1);
			g_calibrationCount++;
			if (g_calibrationCount > 500) {
				Calibration();
			}
			continue;
		}

		// Cancel out white noise
//		pfAccel[0] = pfAccel[0] - zeroErrorAccel[0];
//		pfAccel[1] = pfAccel[1] - zeroErrorAccel[1];
//		pfAccel[2] = pfAccel[2] - zeroErrorAccel[2];
//		pfGyro[0] = pfGyro[0] - zeroErrorGyro[0];
//		pfGyro[1] = pfGyro[1] - zeroErrorGyro[1];
//		pfGyro[2] = pfGyro[2] - zeroErrorGyro[2];
//		// Straighten out linear noise
//		pfAccel[0] = pfAccel[0] * (1 + linearErrorAccel[0]);
//		pfAccel[1] = pfAccel[1] * (1 + linearErrorAccel[1]);
//		pfAccel[2] = pfAccel[2] * (1 + linearErrorAccel[2]);

		//
		// Check if this is our first data ever.
		//
		if (ui32CompDCMStarted == 0) {
			//
			// Set flag indicating that DCM is started.
			// Perform the seeding of the DCM with the first data set.
			//
			ui32CompDCMStarted = 1;
			CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1], pfMag[2]);
			CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
					pfAccel[2]);
			CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1], pfGyro[2]);
			CompDCMStart(&g_sCompDCMInst);
		} else {
			//
			// DCM Is already started.  Perform the incremental update.
			//
			CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1], pfMag[2]);
			CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
					pfAccel[2]);
			CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
					-pfGyro[2]);
			CompDCMUpdate(&g_sCompDCMInst);
		}

		//
		// Increment the skip counter.  Skip counter is used so we do not
		// overflow the UART with data.
		//
		g_ui32PrintSkipCounter++;
		if (g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT) {
			//
			// Reset skip counter.
			//
			g_ui32PrintSkipCounter = 0;

			//
			// Get Euler data. (Roll Pitch Yaw)
			//
			CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
					pfEulers + 2);

			//
			// Get Quaternions.
			//
			CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);

			//
			// convert mag data to micro-tesla for better human interpretation.
			//
			pfMag[0] *= 1e6;
			pfMag[1] *= 1e6;
			pfMag[2] *= 1e6;

			//
			// Convert Eulers to degrees. 180/PI = 57.29...
			// Convert Yaw to 0 to 360 to approximate compass headings.
			//
			pfEulers[0] *= 57.295779513082320876798154814105f;
			pfEulers[1] *= 57.295779513082320876798154814105f;
			pfEulers[2] *= 57.295779513082320876798154814105f;
			if (pfEulers[2] < 0) {
				pfEulers[2] += 360.0f;
			}

			// Use pfMag to display degrees of the Magnetomer's x-axis
			// (y-axis of accelerometer and gyroscope) to the east of
			// magnetic north pole
//			direction[0] = 0;
//			if (pfMag[1] == 0) {
//				if (pfMag[0] > 0) {
//					direction[0] = 0;
//				} else {
//					direction[0] = 180;
//				}
//			} else if (pfMag[1] > 0) {
//				direction[0] = 90 - atan2f(pfMag[0], pfMag[1]) * 180 / 3.14159265359;
//			} else if (pfMag[1] < 0) {
//				direction[0] = 270 - atan2f(pfMag[0], pfMag[1]) * 180 / 3.14159265359;
//			}

			//
			// Now drop back to using the data as a single array for the
			// purpose of decomposing the float into a integer part and a
			// fraction (decimal) part.
			//
			for (ui32Idx = 0; ui32Idx < 17; ui32Idx++) {
				//
				// Conver float value to a integer truncating the decimal part.
				//
				i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];

				//
				// Multiply by 1000 to preserve first three decimal values.
				// Truncates at the 3rd decimal place.
				//
				i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);

				//
				// Subtract off the integer part from this newly formed decimal
				// part.
				//
				i32FPart[ui32Idx] = i32FPart[ui32Idx]
						- (i32IPart[ui32Idx] * 1000);

				//
				// make the decimal part a positive number for display.
				//
				if (i32FPart[ui32Idx] < 0) {
					i32FPart[ui32Idx] *= -1;
				}
			}

			if (g_bleUserFlag == 1) {
				g_bleFlag = 0;
				ble_cmd_attributes_write(58, 0, 12, (uint8_t*)pfEuler);
				while (g_bleFlag == 0) {
				}
			} else if (g_bleDisconnectFlag == 1) {
				ConfigureBLE();
			}

			//
			// Print the acceleration numbers in the table.
			//
//			UARTprintf("%3d.%03d, ", i32IPart[0], i32FPart[0]);
//			UARTprintf("%3d.%03d, ", i32IPart[1], i32FPart[1]);
//			UARTprintf("%3d.%03d\n", i32IPart[2], i32FPart[2]);
//
//			//
//			// Print the angular velocities in the table.
//			//
//			UARTprintf("%3d.%03d, ", i32IPart[3], i32FPart[3]);
//			UARTprintf("%3d.%03d, ", i32IPart[4], i32FPart[4]);
//			UARTprintf("%3d.%03d\n", i32IPart[5], i32FPart[5]);
//
//			//
//			// Print the magnetic data in the table.
//			//
//			UARTprintf("%3d.%03d, ", i32IPart[6], i32FPart[6]);
//			UARTprintf("%3d.%03d, ", i32IPart[7], i32FPart[7]);
//			UARTprintf("%3d.%03d\n", i32IPart[8], i32FPart[8]);
//
//			//
//			// Print the direction in the table.
//			//
//			UARTprintf("%3d.%03d\n", i32IPart[16], i32FPart[16]);
//			//
//			// Print the Eulers in a table.
//			//
//			UARTprintf("%3d.%03d, ", i32IPart[9], i32FPart[9]);
//			UARTprintf("%3d.%03d, ", i32IPart[10], i32FPart[10]);
//			UARTprintf("%3d.%03d\n", i32IPart[11], i32FPart[11]);
//
//			//
//			// Print the quaternions in a table format.
//			//
//			UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
//			UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
//			UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
//			UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);

		}
	}
}