/**
* @brief Read Acc values, Calibrate them, filter them, and update the pitch value to be displayed
* @param None
* @retval None
*/
void ReadAcc(void){
/* Get values */
LIS3DSH_ReadACC(accValue);
Calibrate(accValue);
/* Filter values */
kalmanUpdate(xState, accValue[0]);
kalmanUpdate(yState, accValue[1]);
kalmanUpdate(zState, accValue[2]);
pitchAngle = calcPitch(xState->x, yState->x, zState->x);
rollAngle = calcRoll(xState->x, yState->x, zState->x);
}
/**
* @brief Temperature monitoring thread
* @param none
* @retval none
*/
void Thread_Temperature (void const *argument) {
while(1) {
HAL_ADC_Start(&ADC1_Handle); /* start ADC conversion */
if (HAL_ADC_PollForConversion(&ADC1_Handle, 10000) == HAL_OK) { /* wait for the conversion to be done and get data */
adc_val = HAL_ADC_GetValue(&ADC1_Handle); /* get the value */
kalmanUpdate(&adcState, adc_val); /* filter the data and update the filter parameters */
temperature = convertTemp(adcState.x);
__HAL_ADC_CLEAR_FLAG(&ADC1_Handle, ADC_FLAG_EOC);
}
// check if the alarm needs to be triggered
if (temperature > THRESHHOLD_TEMP_URGENT) {
flash_alarm = 2;
} else if (temperature > THRESHHOLD_TEMP) {
flash_alarm = 1;
} else {
flash_alarm = 0;
}
osDelay(TEMP_DELAY);
}
}
float Barometer::getPressure() {
sensors_event_t event;
barometer.getEvent(&event);
if(!event.pressure) {
return NO_DATA;
}
kalmanUpdate(&altitude, event.pressure);
return altitude.value;
}
float Accelerometer::getHeading() {
sensors_vec_t orientation;
getMagOrientation(&orientation);
if(!orientation.heading) {
return NO_DATA;
}
kalmanUpdate(&heading, orientation.heading);
return heading.value;
}
float Accelerometer::getPitch() {
sensors_vec_t orientation;
getAccelOrientation(&orientation);
if(!orientation.pitch) {
return NO_DATA;
}
kalmanUpdate(&pitch, orientation.pitch);
return pitch.value;
}
float Accelerometer::getRoll() {
sensors_vec_t orientation;
getAccelOrientation(&orientation);
if(!orientation.roll) {
return NO_DATA;
}
kalmanUpdate(&roll, orientation.roll);
return roll.value;
}
int main(void)
{
/* MCU Configuration----------------------------------------------------------*/
HAL_Init(); /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
SystemClock_Config(); /* Configure the system clock */
ADC1_Config(); /* configure ADC1 */
Display_GPIO_Config(); /* Configure 7-Segment Displays */
Alarm_GPIO_Config(); /* Configure alarm pins */
initLCD(); /* configure LCD */
/* print temperature on the first line of the LCD */
returnHome(); /* just makes sure that start writing at the right place */
LCD_WriteString(" Temperature"); /* The 2 initial space are for centering */
adcState = malloc(sizeof(kalmanState)); /* Init Kalman Filter */
kalmanInit(adcState, INIT_q, INIT_r, INIT_x, INIT_p, INIT_k);
/* main program to run in this infinite loop */
while (1) {
if (adcTimer >= ADC_PERIOD) { /* 100Hz */
adcTimer = 0;
HAL_ADC_Start(&ADC1_Handle); /* start ADC conversion */
/* wait for the conversion to be done and get data */
if (HAL_ADC_PollForConversion(&ADC1_Handle, 1000000) == HAL_OK) {
adc_val = HAL_ADC_GetValue(&ADC1_Handle); /* get the value */
kalmanUpdate(adcState, adc_val); /* filter the data and update the filter parameters */
/* DON'T DELETE printf for matlab script */
//printf("%f,%f,%f,%f,%f,%f\n",adc_val, adcState->q,adcState->r, adcState->x, adcState->p, adcState->k);
temp = convertTemp(adcState->x); /* convert the filterd value of the ADC into temperature */
/* Alarm triggering */
if (temp > THRESHHOLD_TEMP) {
if ( filterAlarmCounter > 5 ){ /* 5 consecutive to avoid false positive */
trigger_alarm();
}
else {
filterAlarmCounter++;
}
}
else {
shutoff_alarm();
filterAlarmCounter = 0;
}
/* Update Measurement to Display at 2Hz */
if (updateMeasureForDisplayTimer >= UPDATE_MEASURE_PERIOD) {
updateMeasureForDisplayTimer = 0; /* reset the displayTimer tick */
displayTemp = temp;
displayTemp = floor(10 * displayTemp) / 10; /* truncate to 1 decimal without rounding */
/* LCD DISPLAY */
SetAdress(64); /* go to line 2 of LCD */
sprintf(tempToLCD, " %.1f", displayTemp); /* convert the float to a string and formats it */
LCD_WriteString(tempToLCD); /* print value to the LCD display */
/* LCD DISPLAY END */
}
}
}
/* here display runs at DISPLAY_7_SEGMENT_PERIOD speed, but displayTemp gets updated at 2Hz */
if(display7segTimer >= DISPLAY_7_SEGMENT_PERIOD) {
display7segTimer = 0;
display(displayTemp); /* display on 7-segment display */
}
}
}
float Accelerometer::getAcceleration() {
kalmanUpdate(&acceleration, getRawAcceleration());
return acceleration.value;
}
