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/**
* @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)
{
_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
_accelerometerData = _accelerometer.getXYZ();
// 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
_pressure = _barometricSensor.getBaroData() >> 12; // convert 32 bit signed to 20 bit unsigned value
// Trigger a 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
_barometerData = _barometricSensor.getAllData(false);
// Retrieve light level
_light = _lightSensor.getData();
}
}
MMA845x_DATA SensorHandler::getAcceleration(){
return _accelerometerData;
}
uint16_t SensorHandler::getLight(){
return _light;
}
uint32_t SensorHandler::getPressure(){
return _pressure;
}
MPL3115A2_DATA SensorHandler::getBarometer(){
return _barometerData;
}
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