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Diffstat (limited to 'SensorHandler/SensorHandler.cpp')
| -rw-r--r-- | SensorHandler/SensorHandler.cpp | 194 |
1 files changed, 194 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; +} + |