Amir Chaudhary / Mbed OS MTDOT-BOX-EVB-Factory-Firmware

MTDOT-BOX-EVB-Factory-Firmware

Dependencies:   NCP5623B GpsParser ISL29011 libmDot-mbed5 MTS-Serial MMA845x DOGS102 MPL3115A2

SensorHandler/SensorHandler.cpp@16:e76cec0eec43, 2019-03-14 (annotated)

Committer:
jenkins@jenkinsdm1
Date:
Thu Mar 14 08:23:20 2019 -0500
Revision:
16:e76cec0eec43
Parent:
12:05435282f899 
dotbox-firmware revision 3.1.2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Mike Fiore 1:71125aa00e33 1 /* Copyright (c) <2016> <MultiTech Systems>, MIT License
Mike Fiore 1:71125aa00e33 2 *
Mike Fiore 1:71125aa00e33 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
Mike Fiore 1:71125aa00e33 4 * and associated documentation files (the "Software"), to deal in the Software without restriction,
Mike Fiore 1:71125aa00e33 5 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
Mike Fiore 1:71125aa00e33 6 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
Mike Fiore 1:71125aa00e33 7 * furnished to do so, subject to the following conditions:
Mike Fiore 1:71125aa00e33 8 *
Mike Fiore 1:71125aa00e33 9 * The above copyright notice and this permission notice shall be included in all copies or
Mike Fiore 1:71125aa00e33 10 * substantial portions of the Software.
Mike Fiore 1:71125aa00e33 11 *
Mike Fiore 1:71125aa00e33 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
Mike Fiore 1:71125aa00e33 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
Mike Fiore 1:71125aa00e33 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
Mike Fiore 1:71125aa00e33 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Mike Fiore 1:71125aa00e33 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Mike Fiore 1:71125aa00e33 17 */
Mike Fiore 1:71125aa00e33 18
Mike Fiore 1:71125aa00e33 19 /**
Mike Fiore 1:71125aa00e33 20 * @file SensorHandler.cpp
Mike Fiore 1:71125aa00e33 21 * @brief Reads on board sensors... acceleration, pressure, light and temperture.
Mike Fiore 1:71125aa00e33 22 * @author Leon Lindenfelser
Mike Fiore 1:71125aa00e33 23 * @version 1.0
Mike Fiore 1:71125aa00e33 24 *
Mike Fiore 1:71125aa00e33 25 */
Mike Fiore 1:71125aa00e33 26
Mike Fiore 1:71125aa00e33 27 #include "SensorHandler.h"
Mike Fiore 1:71125aa00e33 28
jenkins@jenkinsdm1 12:05435282f899 29 SensorHandler::SensorHandler(I2C& i2c)
jenkins@jenkinsdm1 12:05435282f899 30 : _getSensorThread(&SensorHandler::startSensorThread, this)
jenkins@jenkinsdm1 12:05435282f899 31 , _accelerometer(i2c, MMA845x::SA0_VSS)
jenkins@jenkinsdm1 12:05435282f899 32 , _barometricSensor(i2c)
jenkins@jenkinsdm1 12:05435282f899 33 , _lightSensor(i2c)
Mike Fiore 1:71125aa00e33 34 {
Mike Fiore 1:71125aa00e33 35 SensorHandler::initSensors();
Mike Fiore 1:71125aa00e33 36 _getSensorThread.signal_set(START_THREAD);
Mike Fiore 1:71125aa00e33 37 return;
Mike Fiore 1:71125aa00e33 38 }
Mike Fiore 1:71125aa00e33 39
Mike Fiore 1:71125aa00e33 40 SensorHandler::~SensorHandler(void)
Mike Fiore 1:71125aa00e33 41 {
Mike Fiore 1:71125aa00e33 42 _getSensorThread.terminate();
Mike Fiore 1:71125aa00e33 43 }
Mike Fiore 1:71125aa00e33 44
Mike Fiore 1:71125aa00e33 45 void SensorHandler::initSensors(){
Mike Fiore 1:71125aa00e33 46 // Setup the Accelerometer for 8g range, 14 bit resolution, Noise reduction off, sample rate 1.56 Hz
Mike Fiore 1:71125aa00e33 47 // normal oversample mode, High pass filter off
Mike Fiore 1:71125aa00e33 48 _accelerometer.setCommonParameters(MMA845x::RANGE_8g,MMA845x::RES_MAX,MMA845x::LN_OFF,
Mike Fiore 1:71125aa00e33 49 MMA845x::DR_6_25,MMA845x::OS_NORMAL,MMA845x::HPF_OFF );
Mike Fiore 1:71125aa00e33 50
Mike Fiore 1:71125aa00e33 51 // Setup the Barometric sensor for post processed Ambient pressure, 4 samples per data acquisition.
Mike Fiore 1:71125aa00e33 52 //and a sample taken every second when in active mode
Mike Fiore 1:71125aa00e33 53 _barometricSensor.setParameters(MPL3115A2::DATA_NORMAL, MPL3115A2::DM_BAROMETER, MPL3115A2::OR_16,
Mike Fiore 1:71125aa00e33 54 MPL3115A2::AT_1);
Mike Fiore 1:71125aa00e33 55 // Setup the Ambient Light Sensor for continuous Ambient Light Sensing, 16 bit resolution,
Mike Fiore 1:71125aa00e33 56 // and 16000 lux range
Mike Fiore 1:71125aa00e33 57 _lightSensor.setMode(ISL29011::ALS_CONT);
Mike Fiore 1:71125aa00e33 58 _lightSensor.setResolution(ISL29011::ADC_16BIT);
Mike Fiore 1:71125aa00e33 59 _lightSensor.setRange(ISL29011::RNG_16000);
Mike Fiore 1:71125aa00e33 60
Mike Fiore 1:71125aa00e33 61 // Set the accelerometer for active mode
Mike Fiore 1:71125aa00e33 62 _accelerometer.activeMode();
Mike Fiore 1:71125aa00e33 63
Mike Fiore 1:71125aa00e33 64 // Clear the min-max registers in the Barometric Sensor
jenkins@jenkinsdm1 12:05435282f899 65 _barometricSensor.clearMinMaxRegs();
Mike Fiore 1:71125aa00e33 66 }
Mike Fiore 1:71125aa00e33 67
Mike Fiore 1:71125aa00e33 68 void SensorHandler::startSensorThread(void const *p)
Mike Fiore 1:71125aa00e33 69 {
Mike Fiore 1:71125aa00e33 70 SensorHandler *instance = (SensorHandler*)p;
Mike Fiore 1:71125aa00e33 71 instance->readSensors();
Mike Fiore 1:71125aa00e33 72 }
Mike Fiore 1:71125aa00e33 73
Mike Fiore 1:71125aa00e33 74 void SensorHandler::readSensors()
Mike Fiore 1:71125aa00e33 75 {
Mike Fiore 1:71125aa00e33 76 uint8_t result;
Mike Fiore 1:71125aa00e33 77 Timer timer;
Mike Fiore 1:71125aa00e33 78 timer.start();
Mike Fiore 1:71125aa00e33 79
Mike Fiore 1:71125aa00e33 80 _getSensorThread.signal_wait(START_THREAD);
Mike Fiore 1:71125aa00e33 81 while(1){
Mike Fiore 1:71125aa00e33 82 // Test Accelerometer XYZ data ready bit to see if acquisition complete
Mike Fiore 1:71125aa00e33 83 timer.reset();
Mike Fiore 1:71125aa00e33 84 do {
Mike Fiore 1:71125aa00e33 85 osDelay(20); // allows other threads to process
Mike Fiore 1:71125aa00e33 86 result = _accelerometer.getStatus();
Mike Fiore 1:71125aa00e33 87 if((result & MMA845x::XYZDR) != 0 ){
Mike Fiore 1:71125aa00e33 88 // Retrieve accelerometer data
Mike Fiore 1:71125aa00e33 89 _mutex.lock();
Mike Fiore 1:71125aa00e33 90 _accelerometerData = _accelerometer.getXYZ();
Mike Fiore 1:71125aa00e33 91 _mutex.unlock();
Mike Fiore 1:71125aa00e33 92 }
Mike Fiore 1:71125aa00e33 93 } while (((result & MMA845x::XYZDR) == 0 ) && (timer.read_ms() < 1000));
Mike Fiore 1:71125aa00e33 94
Mike Fiore 1:71125aa00e33 95
Mike Fiore 1:71125aa00e33 96 // Trigger a Pressure reading
Mike Fiore 1:71125aa00e33 97 _barometricSensor.setParameters(MPL3115A2::DATA_NORMAL, MPL3115A2::DM_BAROMETER, MPL3115A2::OR_16,
Mike Fiore 1:71125aa00e33 98 MPL3115A2::AT_1);
Mike Fiore 1:71125aa00e33 99 _barometricSensor.triggerOneShot();
Mike Fiore 1:71125aa00e33 100
Mike Fiore 1:71125aa00e33 101 // Test barometer device status to see if acquisition is complete
Mike Fiore 1:71125aa00e33 102 timer.reset();
Mike Fiore 1:71125aa00e33 103 do {
Mike Fiore 1:71125aa00e33 104 osDelay(20); // allows other threads to process
Mike Fiore 1:71125aa00e33 105 result = _barometricSensor.getStatus();
Mike Fiore 1:71125aa00e33 106 if((result & MPL3115A2::PTDR) != 0){
Mike Fiore 1:71125aa00e33 107 // Retrieve barometric pressure
Mike Fiore 1:71125aa00e33 108 _mutex.lock();
Mike Fiore 1:71125aa00e33 109 _pressure = _barometricSensor.getBaroData() >> 12; // convert 32 bit signed to 20 bit unsigned value
Mike Fiore 1:71125aa00e33 110 _mutex.unlock();
Mike Fiore 1:71125aa00e33 111 }
Mike Fiore 1:71125aa00e33 112 } while (((result & MPL3115A2::PTDR) == 0) && (timer.read_ms() < 100));
Mike Fiore 1:71125aa00e33 113
Mike Fiore 1:71125aa00e33 114
Mike Fiore 1:71125aa00e33 115 // Trigger an Altitude reading
Mike Fiore 1:71125aa00e33 116 _barometricSensor.setParameters(MPL3115A2::DATA_NORMAL, MPL3115A2::DM_ALTIMETER, MPL3115A2::OR_16,
Mike Fiore 1:71125aa00e33 117 MPL3115A2::AT_1);
Mike Fiore 1:71125aa00e33 118 _barometricSensor.triggerOneShot();
Mike Fiore 1:71125aa00e33 119
Mike Fiore 1:71125aa00e33 120 // Test barometer device status to see if acquisition is complete
Mike Fiore 1:71125aa00e33 121 timer.reset();
Mike Fiore 1:71125aa00e33 122 do {
Mike Fiore 1:71125aa00e33 123 osDelay(20); // allows other threads to process
Mike Fiore 1:71125aa00e33 124 result = _barometricSensor.getStatus();
Mike Fiore 1:71125aa00e33 125 if((result & MPL3115A2::PTDR) != 0 ){
Mike Fiore 1:71125aa00e33 126 // Retrieve temperature and altitude.
Mike Fiore 1:71125aa00e33 127 _mutex.lock();
Mike Fiore 1:71125aa00e33 128 _barometerData = _barometricSensor.getAllData(false);
Mike Fiore 1:71125aa00e33 129 _mutex.unlock();
Mike Fiore 1:71125aa00e33 130 }
Mike Fiore 1:71125aa00e33 131 } while (((result & MPL3115A2::PTDR) == 0 ) && (timer.read_ms() < 100));
jenkins@jenkinsdm1 12:05435282f899 132
Mike Fiore 1:71125aa00e33 133 // Retrieve light level
Mike Fiore 1:71125aa00e33 134 _mutex.lock();
Mike Fiore 1:71125aa00e33 135 _light = _lightSensor.getData();
Mike Fiore 1:71125aa00e33 136 _mutex.unlock();
Mike Fiore 1:71125aa00e33 137 osDelay(100); // allows other threads to process
Mike Fiore 1:71125aa00e33 138 }
Mike Fiore 1:71125aa00e33 139 }
Mike Fiore 1:71125aa00e33 140
Mike Fiore 1:71125aa00e33 141 MMA845x_DATA SensorHandler::getAcceleration(){
Mike Fiore 1:71125aa00e33 142 MMA845x_DATA data;
Mike Fiore 1:71125aa00e33 143 _mutex.lock();
Mike Fiore 1:71125aa00e33 144 data = _accelerometerData;
Mike Fiore 1:71125aa00e33 145 _mutex.unlock();
Mike Fiore 1:71125aa00e33 146 return data;
Mike Fiore 1:71125aa00e33 147 }
Mike Fiore 1:71125aa00e33 148
Mike Fiore 1:71125aa00e33 149 float SensorHandler::getLight(){
Mike Fiore 1:71125aa00e33 150 float light;
Mike Fiore 1:71125aa00e33 151 uint16_t whole;
Mike Fiore 1:71125aa00e33 152 _mutex.lock();
Mike Fiore 1:71125aa00e33 153 whole = _light;
Mike Fiore 1:71125aa00e33 154 _mutex.unlock();
Mike Fiore 1:71125aa00e33 155 light = whole * 24 % 100;
Mike Fiore 1:71125aa00e33 156 light /= 100;
Mike Fiore 1:71125aa00e33 157 light = light + (whole * 24 / 100); // 16000 lux full scale .24 lux per bit
Mike Fiore 1:71125aa00e33 158 return light;
Mike Fiore 1:71125aa00e33 159 }
Mike Fiore 1:71125aa00e33 160
Mike Fiore 1:71125aa00e33 161 uint16_t SensorHandler::getLightRaw(){
Mike Fiore 1:71125aa00e33 162 uint16_t light;
Mike Fiore 1:71125aa00e33 163 _mutex.lock();
Mike Fiore 1:71125aa00e33 164 light = _light;
Mike Fiore 1:71125aa00e33 165 _mutex.unlock();
Mike Fiore 1:71125aa00e33 166 return light;
Mike Fiore 1:71125aa00e33 167 }
Mike Fiore 1:71125aa00e33 168
Mike Fiore 1:71125aa00e33 169 float SensorHandler::getPressure(){
Mike Fiore 1:71125aa00e33 170 float pressure;
Mike Fiore 1:71125aa00e33 171 uint32_t whole;
Mike Fiore 1:71125aa00e33 172 _mutex.lock();
Mike Fiore 1:71125aa00e33 173 whole = _pressure;
Mike Fiore 1:71125aa00e33 174 _mutex.unlock();
Mike Fiore 1:71125aa00e33 175 pressure = (whole & 3) * .25;
Mike Fiore 1:71125aa00e33 176 pressure = pressure + (whole >> 2);
Mike Fiore 1:71125aa00e33 177 return pressure;
Mike Fiore 1:71125aa00e33 178 }
Mike Fiore 1:71125aa00e33 179
Mike Fiore 1:71125aa00e33 180 uint32_t SensorHandler::getPressureRaw(){
Mike Fiore 1:71125aa00e33 181 uint32_t pressure;
Mike Fiore 1:71125aa00e33 182 _mutex.lock();
Mike Fiore 1:71125aa00e33 183 pressure = _pressure;
Mike Fiore 1:71125aa00e33 184 _mutex.unlock();
Mike Fiore 1:71125aa00e33 185 return pressure;
Mike Fiore 1:71125aa00e33 186 }
Mike Fiore 1:71125aa00e33 187
Mike Fiore 1:71125aa00e33 188 float SensorHandler::getTemp(Scale scale){
Mike Fiore 1:71125aa00e33 189 float temperature;
Mike Fiore 1:71125aa00e33 190 uint16_t whole;
Mike Fiore 1:71125aa00e33 191 _mutex.lock();
Mike Fiore 1:71125aa00e33 192 whole = _barometerData._temp;
Mike Fiore 1:71125aa00e33 193 _mutex.unlock();
Mike Fiore 1:71125aa00e33 194 temperature = whole & 0x0f;
Mike Fiore 1:71125aa00e33 195 temperature *= .0625;
Mike Fiore 1:71125aa00e33 196 temperature += (whole >> 4);
Mike Fiore 1:71125aa00e33 197 if(scale == FAHRENHEIT){
Mike Fiore 1:71125aa00e33 198 temperature = temperature * 1.8 + 32;
Mike Fiore 1:71125aa00e33 199 }
Mike Fiore 1:71125aa00e33 200 return temperature;
Mike Fiore 1:71125aa00e33 201 }
Mike Fiore 1:71125aa00e33 202
Mike Fiore 1:71125aa00e33 203 float SensorHandler::getAltitude(){
Mike Fiore 1:71125aa00e33 204 float altitude;
Mike Fiore 1:71125aa00e33 205 uint32_t whole;
Mike Fiore 1:71125aa00e33 206 _mutex.lock();
Mike Fiore 1:71125aa00e33 207 whole = _barometerData._baro;
Mike Fiore 1:71125aa00e33 208 _mutex.unlock();
Mike Fiore 1:71125aa00e33 209 whole /= 4096;
Mike Fiore 1:71125aa00e33 210 altitude = (whole & 0x0f) * .0625;
Mike Fiore 1:71125aa00e33 211 whole /= 16;
Mike Fiore 1:71125aa00e33 212 altitude += whole;
Mike Fiore 1:71125aa00e33 213 return altitude;
Mike Fiore 1:71125aa00e33 214 }
Mike Fiore 1:71125aa00e33 215
Mike Fiore 1:71125aa00e33 216 MPL3115A2_DATA SensorHandler::getBarometer(){
Mike Fiore 1:71125aa00e33 217 MPL3115A2_DATA data;
Mike Fiore 1:71125aa00e33 218 _mutex.lock();
Mike Fiore 1:71125aa00e33 219 data = _barometerData;
Mike Fiore 1:71125aa00e33 220 _mutex.unlock();
Mike Fiore 1:71125aa00e33 221 return data;
Mike Fiore 1:71125aa00e33 222 }
Mike Fiore 1:71125aa00e33 223