void makeTimer(uint32_t period, SYSTM001_TimerType TimerType, SYSTM001_TimerCallBackPtr TimerCallBack, void *pCallBackArgPtr, uint32_t *status, handle_t *timerID)
{
*timerID = SYSTM001_CreateTimer(period,TimerType,TimerCallBack,NULL);
if(*timerID != 0)
{
*status = SYSTM001_StartTimer(*timerID);
}
}
void wait(unsigned int ms)
{
handle_t handle;
handle = SYSTM001_CreateTimer(ms, SYSTM001_ONE_SHOT, DelayHandler, NULL);
delayExpired = FALSE;
if(handle)
(void) SYSTM001_StartTimer(handle);
while(!delayExpired);
(void) SYSTM001_DeleteTimer(handle);
}
void manageConnection(void)
{
if(getStatusMainTimer())
{
removeMainTimer();
setStatusMainTimer(FALSE);
stageOfConnection = 1;
}
if(1 == stageOfConnection)
{
TimerIdRxMessage = SYSTM001_CreateTimer(200,SYSTM001_PERIODIC,RxTimerHandler,NULL);
SYSTM001_StartTimer(TimerIdRxMessage);
stageOfConnection = 0;
}
}
void timerHandler(void *T)
{
char *command1 = commandsInitBt[stageOfInitializationBt];
volatile int length = strlen(command1);
send(command1, length);
while((UART001_GetFlagStatus(&UART001_Handle0,UART001_TRANSFER_STATUS_BUSY_FLAG )==UART001_SET))
{
int h = 0;
}
l++;
//potem trzeba poprosic od przes³anie odpowiedzi przez RTS
askAboutSending();
TimerIdReceive = SYSTM001_CreateTimer(200,SYSTM001_ONE_SHOT,timerReceiveHandler,NULL);
if(TimerIdReceive != 0)
{
StatusReceive = SYSTM001_StartTimer(TimerIdReceive);
}
}
void timerHandlerInitBluetooth(void *T)
{
static uint8_t whichCommand = 0;
commandsAndAnswers *temp = (commandsAndAnswers*)T;
if(removeInitTimerRx == TRUE)
{
SYSTM001_DeleteTimer(HandlTimerReceiveAnsID);
HandlTimerReceiveAnsID = 0;
removeInitTimerRx = FALSE;
whichCommand = stageOfInit;
}
if(TRUE == initStatus)
{
removeMainTimerStatus = TRUE;
}
if(FALSE == initStatus && canSend == TRUE)
{
//whichCommand = stageOfInit;
volatile int length = strlen(temp->commandsBluetooth[whichCommand]);
send(temp->commandsBluetooth[whichCommand], length);
while((UART001_GetFlagStatus(&UART001_Handle0,UART001_TRANSFER_STATUS_BUSY_FLAG )==UART001_SET))
{
int h = 0;
}
canSend = FALSE;
askAboutSending();
HandlTimerReceiveAnsID = SYSTM001_CreateTimer(300,SYSTM001_ONE_SHOT,timerHandlerInitBluetoothReceive,NULL);
SYSTM001_StartTimer(HandlTimerReceiveAnsID);
}
}
void startMeasurements1(void)
{
TimerIdReadMeasurements=SYSTM001_CreateTimer(READING_DELAY,SYSTM001_PERIODIC,timerHandlerReceiveOneMeasurementEachSensor1,&adrAndData);
SYSTM001_StartTimer(TimerIdReadMeasurements);
}
float readHumidity(void)
{
if(canH)
{
canH = 0;
I2C001_DataType data1;
data1.Data1.TDF_Type = I2C_TDF_MStart;
data1.Data1.Data = ((HTDU21D_ADDRESS << 1) | I2C_WRITE);
I2C001_WriteData(&I2C001_Handle1,&data1);
delay11(DELAY);
I2C001_DataType data2;
data2.Data1.TDF_Type = I2C_TDF_MTxData;
data2.Data1.Data = TRIGGER_HUMD_MEASURE_NOHOLD;
I2C001_WriteData(&I2C001_Handle1,&data2);
delay11(DELAY);
if(timerHumidOn == 0)
{
TimerRdHumid = SYSTM001_CreateTimer(55, SYSTM001_PERIODIC, readHumidTimerHandler, NULL);
SYSTM001_StartTimer(TimerRdHumid);
timerHumidOn = 1;
}
while(TRUE)
{
if(errorCounter > 3)
{
errorCounter = 0;
SYSTM001_StopTimer(TimerRdHumid);
SYSTM001_DeleteTimer(TimerRdHumid);
TimerRdHumid = 0;
timerHumidOn = 0;
canH = 1;
return 998;
}
else if(1 == wrong_checksum)
{
wrong_checksum = 0;
SYSTM001_StopTimer(TimerRdHumid);
SYSTM001_DeleteTimer(TimerRdHumid);
TimerRdHumid = 0;
timerHumidOn = 0;
canH = 1;
return 999;
}
else if(1 == readHumid)
{
readHumid = 0;
SYSTM001_StopTimer(TimerRdHumid);
SYSTM001_DeleteTimer(TimerRdHumid);
TimerRdHumid = 0;
timerHumidOn = 0;
canH = 1;
break;
}
}
}
return rh;
}
int main(void)
{
// status_t status; // Declaration of return variable for DAVE3 APIs (toggle comment if required)
DAVE_Init(); // Initialization of DAVE Apps
int counter = 0;
handle_t TimerId;
uint32_t Status = SYSTM001_ERROR;
addressAndData adrAndData;
adrAndData.adr.addressDevice[0] = 0x6B;
adrAndData.adr.addressDevice[1] = 0x1E;
adrAndData.adr.subAddress[0] = OUT_X_L_XL; //subaddres for accel
adrAndData.adr.subAddress[1] = OUT_X_L_G; //sub address for gyroscope
adrAndData.adr.subAddress[2] = OUT_X_L_M;
initLSM9DS1();
calibrate(TRUE);
//readAccel1();
//makeTimer(100, SYSTM001_PERIODIC, timerHandlerReadByte1, &a, &Status, &TimerId);
TimerId=SYSTM001_CreateTimer(2,SYSTM001_PERIODIC,timerHandlerReadByte1,&adrAndData);
SYSTM001_StartTimer(TimerId);
while(1)
{
if(!readingAllowed)
{
int16_t accelX = (adrAndData.dane[1] << 8) | adrAndData.dane[0]; // Store x-axis values into gx
int16_t accelY = (adrAndData.dane[3] << 8) | adrAndData.dane[2]; // Store y-axis values into gy
int16_t accelZ = (adrAndData.dane[5] << 8) | adrAndData.dane[4]; // Store z-axis values into gz
if (_autoCalc) //kalibracja
{
accelX -= aBiasRaw[X_AXIS];
accelX -= aBiasRaw[Y_AXIS];
accelX -= aBiasRaw[Z_AXIS];
}
accelX = calcAccel(accelX);
accelY = calcAccel(accelY);
accelZ = calcAccel(accelZ);
pomiary[counter].ax = accelX;
pomiary[counter].ay = accelY;
pomiary[counter].az = accelZ;
int16_t gyroX = (adrAndData.dane[7] << 1) | adrAndData.dane[6];
int16_t gyroY = (adrAndData.dane[9] << 1) | adrAndData.dane[8];
int16_t gyroZ = (adrAndData.dane[11] << 1) | adrAndData.dane[10];
if (_autoCalc) //kalibracja
{
gyroX -= gBiasRaw[X_AXIS];
gyroY -= gBiasRaw[Y_AXIS];
gyroZ -= gBiasRaw[Z_AXIS];
}
gyroX = calcGyro(gyroX);
gyroY = calcGyro(gyroY);
gyroZ = calcGyro(gyroZ);
pomiary1[counter].ax = gyroX;
pomiary1[counter].ay = gyroY;
pomiary1[counter].az = gyroZ;
counter++;
readingAllowed = TRUE;
}
if(counter >= 100)
{
counter = 0;
}
}
return 0;
}
void createReceiveTimer(void)
{
TimerIdRxMessage = SYSTM001_CreateTimer(200,SYSTM001_PERIODIC,RxTimerHandler,NULL);
SYSTM001_StartTimer(TimerIdRxMessage);
}
void createMainTimer(void)
{
mainInitTimerID = SYSTM001_CreateTimer(1000,SYSTM001_PERIODIC,timerHandlerInitBluetooth,&initCommandsAnswer);
mainInitTimerStatus = SYSTM001_StartTimer(mainInitTimerID);
}
