MTDOT-BOX-EVB-Factory-Firmware
Dependencies: NCP5623B GpsParser ISL29011 libmDot-mbed5 MTS-Serial MMA845x DOGS102 MPL3115A2
SensorHandler/SensorHandler.cpp
- Committer:
- Mike Fiore
- Date:
- 2016-02-04
- Revision:
- 1:71125aa00e33
- Child:
- 12:05435282f899
File content as of revision 1:71125aa00e33:
/* 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; }