Felipe Neves / Mbed OS lpc4337_acc_demo

Demonstration of mbed os Threading capabilities using LPC4337 board and the general purpose shield

Dependencies:   ST7567

main.cpp@1:b4065d4d692a, 2016-09-19 (annotated)

Committer:
uLipe
Date:
Mon Sep 19 21:01:30 2016 +0000
Revision:
1:b4065d4d692a
Parent:
0:0dc9a3be9863
Child:
2:8595c827daa9
mbed rtos demo with lpc4337 + general purpose shield

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uLipe 0:0dc9a3be9863 1 /**
uLipe 0:0dc9a3be9863 2 * @brief simple accelerometer reading demo
uLipe 0:0dc9a3be9863 3 */
uLipe 0:0dc9a3be9863 4 #include "mbed.h"
uLipe 0:0dc9a3be9863 5 #include "rtos.h"
uLipe 0:0dc9a3be9863 6 #include "ST7567.h"
uLipe 0:0dc9a3be9863 7
uLipe 0:0dc9a3be9863 8 /* defines the axis for acc */
uLipe 0:0dc9a3be9863 9 #define ACC_NOOF_AXIS 3
uLipe 0:0dc9a3be9863 10
uLipe 0:0dc9a3be9863 11 /* defines the time of acquisition in ms */
uLipe 0:0dc9a3be9863 12 #define ACC_SAMPLE_RATE 200
uLipe 0:0dc9a3be9863 13
uLipe 0:0dc9a3be9863 14 /* acc event flags */
uLipe 0:0dc9a3be9863 15 #define ACC_EVENT 0x00000001
uLipe 0:0dc9a3be9863 16
uLipe 0:0dc9a3be9863 17 /* bmi160 slave address */
uLipe 0:0dc9a3be9863 18 #define BMI160_ADDR ((0x68)<<1)
uLipe 0:0dc9a3be9863 19
uLipe 0:0dc9a3be9863 20 /* LCD parameters */
uLipe 0:0dc9a3be9863 21 #define LCD_HEIGHT 64
uLipe 0:0dc9a3be9863 22 #define LCD_WIDTH 128
uLipe 0:0dc9a3be9863 23 #define FONT_HEIGHT 10
uLipe 0:0dc9a3be9863 24 #define FONT_WIDTH 5
uLipe 0:0dc9a3be9863 25
uLipe 0:0dc9a3be9863 26 /* Debug LED */
uLipe 0:0dc9a3be9863 27 DigitalOut debug_led(LED1);
uLipe 0:0dc9a3be9863 28
uLipe 0:0dc9a3be9863 29 /* thread for accelerometer and LCD */
uLipe 0:0dc9a3be9863 30
uLipe 0:0dc9a3be9863 31 unsigned char acc_stack[1024];
uLipe 0:0dc9a3be9863 32 unsigned char lcd_stack[1024];
uLipe 0:0dc9a3be9863 33 Thread acc_thread(osPriorityRealtime, 1024 ,&acc_stack[0]);
uLipe 0:0dc9a3be9863 34 Thread lcd_thread(osPriorityNormal, 1024, &lcd_stack[0]);
uLipe 0:0dc9a3be9863 35
uLipe 0:0dc9a3be9863 36 /* semaphore to sync acc reading to lcd printing */
uLipe 0:0dc9a3be9863 37 Semaphore acc_sema;
uLipe 0:0dc9a3be9863 38
uLipe 0:0dc9a3be9863 39 /* buffer to store acc samples */
uLipe 0:0dc9a3be9863 40 int16_t acc_sample_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555};
uLipe 0:0dc9a3be9863 41 uint8_t acc_status = 0;
uLipe 0:0dc9a3be9863 42
uLipe 0:0dc9a3be9863 43
uLipe 0:0dc9a3be9863 44
uLipe 0:0dc9a3be9863 45 /**
uLipe 0:0dc9a3be9863 46 * @brief i2c event callback
uLipe 0:0dc9a3be9863 47 */
uLipe 0:0dc9a3be9863 48
uLipe 0:0dc9a3be9863 49 /**
uLipe 0:0dc9a3be9863 50 * @brief accelerometer processing task
uLipe 0:0dc9a3be9863 51 */
uLipe 0:0dc9a3be9863 52 static void acc_task(void) {
uLipe 0:0dc9a3be9863 53 I2C *imu_comm = new I2C(P2_3, P2_4);
uLipe 0:0dc9a3be9863 54 char i2c_reg_buffer[2] = {0};
uLipe 0:0dc9a3be9863 55
uLipe 0:0dc9a3be9863 56 /* setup the frequency */
uLipe 0:0dc9a3be9863 57 imu_comm->frequency(20000);
uLipe 0:0dc9a3be9863 58
uLipe 0:0dc9a3be9863 59 /* issue a sw reset */
uLipe 0:0dc9a3be9863 60 i2c_reg_buffer[0] = 0x7E;
uLipe 0:0dc9a3be9863 61 i2c_reg_buffer[1] = 0xB6;
uLipe 0:0dc9a3be9863 62 imu_comm->write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
uLipe 0:0dc9a3be9863 63
uLipe 0:0dc9a3be9863 64 /* wait property time for device reset */
uLipe 0:0dc9a3be9863 65 Thread::wait(200);
uLipe 0:0dc9a3be9863 66
uLipe 0:0dc9a3be9863 67 /* enable the accelerometer */
uLipe 0:0dc9a3be9863 68 i2c_reg_buffer[0] = 0x7E;
uLipe 0:0dc9a3be9863 69 i2c_reg_buffer[1] = 0x11;
uLipe 0:0dc9a3be9863 70 imu_comm->write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
uLipe 0:0dc9a3be9863 71
uLipe 0:0dc9a3be9863 72 /* sets the output data rate to 100 Hz */
uLipe 0:0dc9a3be9863 73 i2c_reg_buffer[0] = 0x40;
uLipe 0:0dc9a3be9863 74 i2c_reg_buffer[1] = 0x28;
uLipe 0:0dc9a3be9863 75 imu_comm->write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
uLipe 0:0dc9a3be9863 76
uLipe 1:b4065d4d692a 77 for(;;) {
uLipe 0:0dc9a3be9863 78 /* reads status register */
uLipe 1:b4065d4d692a 79 i2c_reg_buffer[0] = 0x1B;
uLipe 0:0dc9a3be9863 80 err = imu_comm->write(BMI160_ADDR, i2c_reg_buffer, 1, true);
uLipe 0:0dc9a3be9863 81 err = imu_comm->read(BMI160_ADDR, (char *)&acc_status, sizeof(acc_status), false);
uLipe 0:0dc9a3be9863 82
uLipe 0:0dc9a3be9863 83 /* reads the acc register */
uLipe 0:0dc9a3be9863 84 i2c_reg_buffer[0] = 0x12;
uLipe 0:0dc9a3be9863 85 err = imu_comm->write(BMI160_ADDR, i2c_reg_buffer, 1, true);
uLipe 0:0dc9a3be9863 86 err = imu_comm->read(BMI160_ADDR, (char *)&acc_sample_buffer, sizeof(acc_sample_buffer), false);
uLipe 0:0dc9a3be9863 87 acc_sema.release();
uLipe 1:b4065d4d692a 88 Thread::wait(ACC_SAMPLE_RATE);
uLipe 0:0dc9a3be9863 89 }
uLipe 0:0dc9a3be9863 90 }
uLipe 0:0dc9a3be9863 91
uLipe 0:0dc9a3be9863 92
uLipe 0:0dc9a3be9863 93 /**
uLipe 0:0dc9a3be9863 94 * @brief lcd update task
uLipe 0:0dc9a3be9863 95 */
uLipe 0:0dc9a3be9863 96 static void lcd_task(void) {
uLipe 0:0dc9a3be9863 97 const char banner[] = {"Embarcados IMU demo\0"};
uLipe 0:0dc9a3be9863 98 const char x_axis_text[] = {"x raw axis:\0"};
uLipe 0:0dc9a3be9863 99 const char y_axis_text[] = {"y raw axis:\0"};
uLipe 0:0dc9a3be9863 100 const char z_axis_text[] = {"z raw axis:\0"};
uLipe 0:0dc9a3be9863 101 const char status_text[] = {"acc status:\0"};
uLipe 0:0dc9a3be9863 102 DigitalOut *lcd_led = new DigitalOut(LED3);
uLipe 0:0dc9a3be9863 103
uLipe 0:0dc9a3be9863 104 char acc_buffer[8] = {0};
uLipe 0:0dc9a3be9863 105
uLipe 0:0dc9a3be9863 106 *lcd_led = 1;
uLipe 0:0dc9a3be9863 107
uLipe 0:0dc9a3be9863 108 /* creates an spi lcd object */
uLipe 0:0dc9a3be9863 109 ST7567 *lcd = new ST7567(D11, D13, D12, D9, D10);
uLipe 0:0dc9a3be9863 110 lcd->set_contrast(0x35);
uLipe 0:0dc9a3be9863 111 lcd->cls();
uLipe 0:0dc9a3be9863 112
uLipe 0:0dc9a3be9863 113 /* center the text banner */
uLipe 0:0dc9a3be9863 114 lcd->locate((LCD_WIDTH - (sizeof(banner) * FONT_WIDTH))/2,1);
uLipe 0:0dc9a3be9863 115 lcd->printf(banner);
uLipe 0:0dc9a3be9863 116
uLipe 0:0dc9a3be9863 117 lcd->locate(0, FONT_HEIGHT * 2);
uLipe 0:0dc9a3be9863 118 lcd->printf(x_axis_text);
uLipe 0:0dc9a3be9863 119 lcd->locate(0, FONT_HEIGHT * 3);
uLipe 0:0dc9a3be9863 120 lcd->printf(y_axis_text);
uLipe 0:0dc9a3be9863 121 lcd->locate(0, FONT_HEIGHT * 4);
uLipe 0:0dc9a3be9863 122 lcd->printf(z_axis_text);
uLipe 0:0dc9a3be9863 123 lcd->locate(0, FONT_HEIGHT * 5);
uLipe 0:0dc9a3be9863 124 lcd->printf(status_text);
uLipe 0:0dc9a3be9863 125
uLipe 0:0dc9a3be9863 126
uLipe 0:0dc9a3be9863 127 for(;;) {
uLipe 0:0dc9a3be9863 128 /* wait for accelerometer event */
uLipe 0:0dc9a3be9863 129 acc_sema.wait();
uLipe 0:0dc9a3be9863 130
uLipe 0:0dc9a3be9863 131 *lcd_led = 0;
uLipe 0:0dc9a3be9863 132
uLipe 0:0dc9a3be9863 133 /* new samples arrived, format and prints on lcd */
uLipe 0:0dc9a3be9863 134 sprintf(&acc_buffer[0],"%d", acc_sample_buffer[0]);
uLipe 0:0dc9a3be9863 135 lcd->locate(sizeof(x_axis_text)*FONT_WIDTH, FONT_HEIGHT * 2);
uLipe 0:0dc9a3be9863 136 lcd->printf(acc_buffer);
uLipe 0:0dc9a3be9863 137
uLipe 0:0dc9a3be9863 138 sprintf(&acc_buffer[0],"%d", acc_sample_buffer[1]);
uLipe 0:0dc9a3be9863 139 lcd->locate(sizeof(y_axis_text)*FONT_WIDTH, FONT_HEIGHT * 3);
uLipe 0:0dc9a3be9863 140 lcd->printf(acc_buffer);
uLipe 0:0dc9a3be9863 141
uLipe 0:0dc9a3be9863 142 sprintf(&acc_buffer[0],"%d", acc_sample_buffer[2]);
uLipe 0:0dc9a3be9863 143 lcd->locate(sizeof(z_axis_text)*FONT_WIDTH, FONT_HEIGHT * 4);
uLipe 0:0dc9a3be9863 144 lcd->printf(acc_buffer);
uLipe 0:0dc9a3be9863 145
uLipe 0:0dc9a3be9863 146 sprintf(&acc_buffer[0],"%x", acc_status);
uLipe 0:0dc9a3be9863 147 lcd->locate(sizeof(status_text)*FONT_WIDTH, FONT_HEIGHT * 5);
uLipe 0:0dc9a3be9863 148 lcd->printf(acc_buffer);
uLipe 0:0dc9a3be9863 149
uLipe 0:0dc9a3be9863 150 *lcd_led = 1;
uLipe 0:0dc9a3be9863 151 /* block this task until the next semaphore trigger */
uLipe 0:0dc9a3be9863 152 }
uLipe 0:0dc9a3be9863 153 }
uLipe 0:0dc9a3be9863 154
uLipe 1:b4065d4d692a 155
uLipe 0:0dc9a3be9863 156 /**
uLipe 0:0dc9a3be9863 157 * @brief main application entry point
uLipe 0:0dc9a3be9863 158 */
uLipe 0:0dc9a3be9863 159 int main(void) {
uLipe 0:0dc9a3be9863 160
uLipe 0:0dc9a3be9863 161 debug_led = 1;
uLipe 0:0dc9a3be9863 162
uLipe 0:0dc9a3be9863 163 /* starts the two threads of this app */
uLipe 0:0dc9a3be9863 164 acc_thread.start(acc_task);
uLipe 0:0dc9a3be9863 165 lcd_thread.start(lcd_task);
uLipe 0:0dc9a3be9863 166 debug_led = 0;
uLipe 0:0dc9a3be9863 167 }