Merge branch 'sensors'

2 files changed, 247 insertions, 0 deletions

diff --git a/SensorHandler/SensorHandler.cpp b/SensorHandler/SensorHandler.cpp
new file mode 100644
index 0000000..89f7d2d
--- /dev/null
+++ b/SensorHandler/SensorHandler.cpp
@@ -0,0 +1,194 @@
+/**
+ * @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_1_56,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;
+    _getSensorThread.signal_wait(START_THREAD);
+    while(1){
+        // Test Accelerometer XYZ data ready bit to see if acquisition complete
+        do {
+            osDelay(100);			 // allows other threads to process
+            result = _accelerometer.getStatus();
+        } while ((result & MMA845x::XYZDR) == 0 );
+	 
+        // Retrieve accelerometer data
+        _mutex.lock();        
+        _accelerometerData = _accelerometer.getXYZ();
+        _mutex.unlock();
+	 
+        // 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
+        do {
+            osDelay(100);			 // allows other threads to process
+            result = _barometricSensor.getStatus();
+        } while ((result & MPL3115A2::PTDR) == 0 );
+	 
+        // Retrieve barometric pressure
+        _mutex.lock();        
+        _pressure = _barometricSensor.getBaroData() >> 12; // convert 32 bit signed to 20 bit unsigned value
+        _mutex.unlock();
+        
+        // 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
+        do {
+            osDelay(100);			 // allows other threads to process
+            result = _barometricSensor.getStatus();
+        } while ((result & MPL3115A2::PTDR) == 0 );
+	 
+        // Retrieve temperature and altitude.
+        _mutex.lock();
+        _barometerData = _barometricSensor.getAllData(false);
+        _mutex.unlock();        
+	 
+        // Retrieve light level
+        _mutex.lock();
+        _light = _lightSensor.getData();
+        _mutex.unlock();        
+    }
+}
+
+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;
+}
+
diff --git a/SensorHandler/SensorHandler.h b/SensorHandler/SensorHandler.h
new file mode 100644
index 0000000..01ccf77
--- /dev/null
+++ b/SensorHandler/SensorHandler.h
@@ -0,0 +1,53 @@
+/**
+ * @file    SensorHandler.h
+ * @brief   Reads on board sensors... acceleration, pressure, light and temperture.
+ * @author  Leon Lindenfelser
+ * @version 1.0
+ *
+ */
+
+#ifndef SENSORHANDLER_H
+#define SENSORHANDLER_H
+
+#include "mbed.h"
+#include "MMA845x.h"
+#include "MPL3115A2.h"
+#include "ISL29011.h"
+#include "DOGS102.h"
+#include "rtos.h"
+#include <string>
+#include <vector>
+#define START_THREAD 1
+
+class SensorHandler
+{
+public:
+	enum Scale{CELSIUS, FAHRENHEIT};
+	SensorHandler(void);
+	~SensorHandler(void);
+	MMA845x_DATA getAcceleration(void);
+	float getLight(void);
+	uint16_t getLightRaw(void);
+	float getPressure(void);
+	uint32_t getPressureRaw(void);
+	float getTemp(Scale);
+	float getAltitude(void);
+	MPL3115A2_DATA getBarometer(void);
+		
+private:
+    Thread _getSensorThread;
+    static void startSensorThread (void const *p);	
+	void readSensors(void);
+	void initSensors(void);	
+	I2C _mDoti2c;
+	MMA845x _accelerometer;
+	MPL3115A2 _barometricSensor;
+	ISL29011 _lightSensor;
+	MMA845x_DATA _accelerometerData;
+	MPL3115A2_DATA _barometerData;
+	uint16_t _light;
+	uint32_t _pressure;
+	Mutex _mutex;	
+};
+	
+#endif //SENSORHANDLER_H