board_udk.cpp

00001 /***
00002  *       _____                         _   
00003 #if defined MTDOT_UDK
00004  *      / ____|                       | |  
00005  *     | (___     ___   _ __     ___  | |_ 
00006  *      \___ \   / _ \ | '_ \   / _ \ | __|
00007  *      ____) | |  __/ | | | | |  __/ | |_ 
00008  *     |_____/   \___| |_| |_|  \___|  \__|
00009  *         (C) 2016 Senet, Inc                                
00010  *                                         
00011  */
00012 #if defined MTDOT_UDK
00013 
00014 #include "board_udk.h"
00015 #include "x_nucleo_iks01a1.h"
00016 
00017 extern void mDotInit();
00018 
00019 Serial debugUART(USBTX, USBRX);
00020 DigitalOut      led1(PA_0);
00021 static X_NUCLEO_IKS01A1 *mems_shield;
00022 
00023 
00024 CBoardUDK::CBoardUDK()
00025 {
00026     boardPtr = this;
00027 }
00028 
00029 EBoardStatus CBoardUDK::init()
00030 {
00031     CBoard::init();
00032     mems_shield = X_NUCLEO_IKS01A1::Instance(NULL, NC);
00033 
00034     return Board_Ok;
00035 }
00036 
00037 EBoardStatus CBoardUDK::readSensors ( BoardSensorData &data )
00038 {
00039     uint32_t ret = 0;
00040     int32_t  accel_data[3];
00041 
00042    // Temperature
00043    ret |= (!CALL_METH(mems_shield->pt_sensor, GetTemperature, &data.temperature, 0.0f) ? 0x0 : 0x1);
00044 
00045    // Pressure
00046    ret |= (!CALL_METH(mems_shield->pt_sensor, GetPressure, &data.pressure, 0.0f) ? 0x0 : 0x1);
00047 
00048    // Accelerometer
00049    MotionSensor *motionSensor = mems_shield->GetAccelerometer();
00050    if( motionSensor != NULL)
00051    {
00052        motionSensor->Get_X_Axes(accel_data);
00053 
00054        data.accel_x = accel_data[0];
00055        data.accel_y = accel_data[1];
00056        data.accel_z = accel_data[2];
00057        /*  z-axis : > 0 = rightside up, < 0 upside down
00058         *  x-axis: com LED to the left x < 0, x > 0 on the right
00059         *  y-axis: y > 0 COM LED down, y < 0  COM LED up
00060         */
00061        data.orientation.init();
00062 
00063        // rightside up
00064        if(data.accel_z >= 750)
00065        {
00066            // data.orientation.horizontal = true;
00067        }
00068        // upside down
00069        else if(data.accel_z <= -750)
00070        {
00071            data.orientation.down  = true;
00072            // position_value = (2 << 12) | (1 << 8);
00073        }
00074        // vertical down
00075        else if(data.accel_y >= 900 )
00076        {
00077            data.orientation.vertical = true;
00078            data.orientation.down     = true;
00079        }
00080        // vertical up
00081        else if(data.accel_y <= -900 )
00082        {
00083            data.orientation.vertical = true;
00084            data.orientation.up       = true;
00085        }
00086        // side right
00087        else if(data.accel_x > 900)
00088        {
00089            data.orientation.right = true;
00090        }
00091        // side left
00092        else
00093        {
00094            data.orientation.left = true;
00095        }
00096    }
00097 
00098    return Board_Ok;
00099 }
00100 
00101 EBoardStatus CBoardUDK::setLED(uint8_t ledNum, bool on)
00102 {
00103     if(ledNum == 1)
00104     {
00105         led1 = on ? 0 : 1;
00106         return Board_Ok;
00107     }
00108     return Board_Invalid;
00109 }
00110 
00111 EBoardStatus CBoardUDK::toggleLED(uint8_t ledNum)
00112 {
00113     if(ledNum == 1)
00114     {
00115         led1 = !led1;
00116         return Board_Ok;
00117     }
00118     return Board_Invalid;
00119 }
00120 
00121 #endif