//*****************************************************************************
//
// 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();
}
}
}
//*****************************************************************************
//
// 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)
//*****************************************************************************
//
// 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);
}
}
}
}
//*****************************************************************************
//
// 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]);
}
}
}