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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)
{
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
__disable_irq();
_accelerometer.setCommonParameters(MMA845x::RANGE_8g,MMA845x::RES_MAX,MMA845x::LN_OFF,
MMA845x::DR_6_25,MMA845x::OS_NORMAL,MMA845x::HPF_OFF );
__enable_irq();
// Setup the Barometric sensor for post processed Ambient pressure, 4 samples per data acquisition.
//and a sample taken every second when in active mode
__disable_irq();
_barometricSensor.setParameters(MPL3115A2::DATA_NORMAL, MPL3115A2::DM_BAROMETER, MPL3115A2::OR_16,
MPL3115A2::AT_1);
__enable_irq();
// Setup the Ambient Light Sensor for continuous Ambient Light Sensing, 16 bit resolution,
// and 16000 lux range
__disable_irq();
_lightSensor.setMode(ISL29011::ALS_CONT);
_lightSensor.setResolution(ISL29011::ADC_16BIT);
_lightSensor.setRange(ISL29011::RNG_16000);
__enable_irq();
// Set the accelerometer for active mode
__disable_irq();
_accelerometer.activeMode();
__enable_irq();
// Clear the min-max registers in the Barometric Sensor
__disable_irq();
_barometricSensor.clearMinMaxRegs();
__enable_irq();
}
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
__disable_irq();
result = _accelerometer.getStatus();
__enable_irq();
if((result & MMA845x::XYZDR) != 0 ){
// Retrieve accelerometer data
_mutex.lock();
__disable_irq();
_accelerometerData = _accelerometer.getXYZ();
__enable_irq();
_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
__disable_irq();
result = _barometricSensor.getStatus();
__enable_irq();
if((result & MPL3115A2::PTDR) != 0){
// Retrieve barometric pressure
_mutex.lock();
__disable_irq();
_pressure = _barometricSensor.getBaroData() >> 12; // convert 32 bit signed to 20 bit unsigned value
__enable_irq();
_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
__disable_irq();
result = _barometricSensor.getStatus();
__enable_irq();
if((result & MPL3115A2::PTDR) != 0 ){
// Retrieve temperature and altitude.
_mutex.lock();
__disable_irq();
_barometerData = _barometricSensor.getAllData(false);
__enable_irq();
_mutex.unlock();
}
} while (((result & MPL3115A2::PTDR) == 0 ) && (timer.read_ms() < 100));
// Retrieve light level
_mutex.lock();
__disable_irq();
_light = _lightSensor.getData();
__enable_irq();
_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;
}
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