Diff: SensorHandler/SensorHandler.cpp

Revision:

1:71125aa00e33

Child:

12:05435282f899

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SensorHandler/SensorHandler.cpp	Thu Feb 04 12:36:36 2016 -0600
@@ -0,0 +1,224 @@
+/* Copyright (c) <2016> <MultiTech Systems>, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+ * and associated documentation files (the "Software"), to deal in the Software without restriction, 
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or 
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+/**
+ * @file    SensorHandler.cpp
+ * @brief   Reads on board sensors... acceleration, pressure, light and temperture.
+ * @author  Leon Lindenfelser
+ * @version 1.0
+ *
+ */
+
+#include "SensorHandler.h"
+
+SensorHandler::SensorHandler()
+  : _getSensorThread(&SensorHandler::startSensorThread, this),
+    _mDoti2c(PC_9,PA_8),
+	_accelerometer(_mDoti2c,MMA845x::SA0_VSS),
+	_barometricSensor(_mDoti2c),
+	_lightSensor(_mDoti2c)
+{
+    SensorHandler::initSensors();
+    _getSensorThread.signal_set(START_THREAD);
+    return;
+}
+
+SensorHandler::~SensorHandler(void)
+{
+    _getSensorThread.terminate();
+}     
+
+void SensorHandler::initSensors(){
+    //  Setup the Accelerometer for 8g range, 14 bit resolution, Noise reduction off, sample rate 1.56 Hz
+    //  normal oversample mode, High pass filter off
+    _accelerometer.setCommonParameters(MMA845x::RANGE_8g,MMA845x::RES_MAX,MMA845x::LN_OFF,
+    						   MMA845x::DR_6_25,MMA845x::OS_NORMAL,MMA845x::HPF_OFF );
+	 
+    // Setup the Barometric sensor for post processed Ambient pressure, 4 samples per data acquisition.
+    //and a sample taken every second when in active mode
+    _barometricSensor.setParameters(MPL3115A2::DATA_NORMAL, MPL3115A2::DM_BAROMETER, MPL3115A2::OR_16,
+    					MPL3115A2::AT_1);
+    // Setup the Ambient Light Sensor for continuous Ambient Light Sensing, 16 bit resolution,
+    // and 16000 lux range
+    _lightSensor.setMode(ISL29011::ALS_CONT);
+    _lightSensor.setResolution(ISL29011::ADC_16BIT);
+    _lightSensor.setRange(ISL29011::RNG_16000);
+	 
+    // Set the accelerometer for active mode
+    _accelerometer.activeMode();
+	 
+    // Clear the min-max registers in the Barometric Sensor
+    _barometricSensor.clearMinMaxRegs();    
+}
+
+void SensorHandler::startSensorThread(void const *p)
+{
+    SensorHandler *instance = (SensorHandler*)p;
+    instance->readSensors();
+}
+
+void SensorHandler::readSensors()
+{
+    uint8_t result;
+    Timer timer;
+    timer.start();
+    
+    _getSensorThread.signal_wait(START_THREAD);
+    while(1){
+        // Test Accelerometer XYZ data ready bit to see if acquisition complete
+        timer.reset();
+        do {
+            osDelay(20);			 // allows other threads to process
+            result = _accelerometer.getStatus();
+            if((result & MMA845x::XYZDR) != 0 ){
+                // Retrieve accelerometer data
+                _mutex.lock();        
+                _accelerometerData = _accelerometer.getXYZ();
+                _mutex.unlock();
+            }
+        } while (((result & MMA845x::XYZDR) == 0 ) && (timer.read_ms() < 1000));
+
+	 
+        // Trigger a Pressure reading
+        _barometricSensor.setParameters(MPL3115A2::DATA_NORMAL, MPL3115A2::DM_BAROMETER, MPL3115A2::OR_16,
+									MPL3115A2::AT_1);
+        _barometricSensor.triggerOneShot();
+	 
+        // Test barometer device status to see if acquisition is complete
+        timer.reset();
+        do {
+            osDelay(20);			 // allows other threads to process
+            result = _barometricSensor.getStatus();
+            if((result & MPL3115A2::PTDR) != 0){
+                // Retrieve barometric pressure
+                _mutex.lock();        
+                _pressure = _barometricSensor.getBaroData() >> 12; // convert 32 bit signed to 20 bit unsigned value
+                _mutex.unlock();                
+            }
+        } while (((result & MPL3115A2::PTDR) == 0) && (timer.read_ms() < 100));
+
+        
+        // Trigger an Altitude reading
+        _barometricSensor.setParameters(MPL3115A2::DATA_NORMAL, MPL3115A2::DM_ALTIMETER, MPL3115A2::OR_16,
+        					MPL3115A2::AT_1);
+        _barometricSensor.triggerOneShot();
+	 
+        // Test barometer device status to see if acquisition is complete
+        timer.reset();
+        do {
+            osDelay(20);			 // allows other threads to process
+            result = _barometricSensor.getStatus();
+            if((result & MPL3115A2::PTDR) != 0 ){
+                // Retrieve temperature and altitude.
+                _mutex.lock();
+                _barometerData = _barometricSensor.getAllData(false);
+                _mutex.unlock();                 
+            }
+        } while (((result & MPL3115A2::PTDR) == 0 ) && (timer.read_ms() < 100));
+	 
+        // Retrieve light level
+        _mutex.lock();
+        _light = _lightSensor.getData();
+        _mutex.unlock();
+        osDelay(100);             // allows other threads to process
+    }
+}
+
+MMA845x_DATA SensorHandler::getAcceleration(){
+    MMA845x_DATA data;
+    _mutex.lock();
+    data = _accelerometerData;
+    _mutex.unlock();
+    return data;
+}
+
+float SensorHandler::getLight(){
+    float light;
+    uint16_t whole;
+    _mutex.lock();
+    whole = _light;
+    _mutex.unlock();
+    light = whole * 24 % 100;
+    light /= 100;
+    light = light + (whole * 24 / 100);       // 16000 lux full scale .24 lux per bit
+    return light; 
+}
+
+uint16_t SensorHandler::getLightRaw(){
+    uint16_t light;
+    _mutex.lock();
+    light = _light;
+    _mutex.unlock();
+    return light; 
+}
+
+float SensorHandler::getPressure(){
+    float pressure;
+    uint32_t whole;
+    _mutex.lock();
+    whole = _pressure;
+    _mutex.unlock();
+    pressure = (whole & 3) * .25;
+    pressure = pressure + (whole >> 2);
+    return pressure;    
+}
+
+uint32_t SensorHandler::getPressureRaw(){
+    uint32_t pressure;
+    _mutex.lock();
+    pressure = _pressure;
+    _mutex.unlock();
+    return pressure;    
+}
+
+float SensorHandler::getTemp(Scale scale){
+    float temperature;
+    uint16_t whole;
+    _mutex.lock();
+    whole = _barometerData._temp;    
+    _mutex.unlock();
+    temperature = whole & 0x0f;
+    temperature *= .0625;
+    temperature += (whole >> 4);
+    if(scale == FAHRENHEIT){
+        temperature = temperature * 1.8 + 32;
+    }
+    return temperature;
+}
+
+float SensorHandler::getAltitude(){
+    float altitude;
+    uint32_t whole;
+    _mutex.lock();
+    whole = _barometerData._baro;    
+    _mutex.unlock();
+    whole /= 4096;
+    altitude = (whole & 0x0f) * .0625;
+    whole /= 16;
+    altitude += whole;
+    return altitude;
+}
+
+MPL3115A2_DATA SensorHandler::getBarometer(){
+    MPL3115A2_DATA data;
+    _mutex.lock();
+    data = _barometerData;
+    _mutex.unlock();
+    return data;
+}
+