/*Program for SensorTile*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "datalog_application.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define DATAQUEUE_SIZE ((uint32_t)100)
typedef enum
{
THREAD_1 = 0,
THREAD_2
} Thread_TypeDef;
/* Private variables ---------------------------------------------------------*/
osThreadId GetDataThreadId, WriteDataThreadId;
osMessageQId dataQueue_id;
osMessageQDef(dataqueue, DATAQUEUE_SIZE, int);
osPoolId sensorPool_id;
osPoolDef(sensorPool, DATAQUEUE_SIZE, T_SensorsData);
osSemaphoreId readDataSem_id;
osSemaphoreDef(readDataSem);
osSemaphoreId doubleTapSem_id;
osSemaphoreDef(doubleTapSem);
/* LoggingInterface = USB_Datalog --> Save sensors data on SDCard (enable with double click) */
/* LoggingInterface = SDCARD_Datalog --> Send sensors data via USB */
LogInterface_TypeDef LoggingInterface = USB_Datalog;
USBD_HandleTypeDef USBD_Device;
static volatile uint8_t MEMSInterrupt = 0;
volatile uint8_t no_H_HTS221 = 0;
volatile uint8_t no_T_HTS221 = 0;
void *LSM6DSM_X_0_handle = NULL;
void *LSM6DSM_G_0_handle = NULL;
void *LSM303AGR_X_0_handle = NULL;
void *LSM303AGR_M_0_handle = NULL;
void *LPS22HB_P_0_handle = NULL;
void *LPS22HB_T_0_handle = NULL;
void *HTS221_H_0_handle = NULL;
void *HTS221_T_0_handle = NULL;
/* Private function prototypes -----------------------------------------------*/
static void GetData_Thread(void const *argument);
static void WriteData_Thread(void const *argument);
static void Error_Handler( void );
static void initializeAllSensors( void );
void enableAllSensors( void );
void disableAllSensors( void );
void setOdrAllSensors( void );
void dataTimer_Callback(void const *arg);
void dataTimerStart(void);
void dataTimerStop(void);
osTimerId sensorTimId;
osTimerDef(SensorTimer, dataTimer_Callback);
uint32_t exec;
/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
HAL_Init();
/* Configure the System clock to 80 MHz */
SystemClock_Config();
if(LoggingInterface == USB_Datalog)
{
/* Initialize LED */
BSP_LED_Init(LED1);
BSP_LED_Off(LED1);
}
/* enable USB power on Pwrctrl CR2 register */
HAL_PWREx_EnableVddUSB();
if(LoggingInterface == USB_Datalog) /* Configure the USB */
{
/*** USB CDC Configuration ***/
/* Init Device Library */
USBD_Init(&USBD_Device, &VCP_Desc, 0);
/* Add Supported Class */
USBD_RegisterClass(&USBD_Device, USBD_CDC_CLASS);
/* Add Interface callbacks for AUDIO and CDC Class */
USBD_CDC_RegisterInterface(&USBD_Device, &USBD_CDC_fops);
/* Start Device Process */
USBD_Start(&USBD_Device);
}
else /* Configure the SDCard */
{
DATALOG_SD_Init();
}
/* Thread 1 definition */
osThreadDef(THREAD_1, GetData_Thread, osPriorityAboveNormal, 0, configMINIMAL_STACK_SIZE*4);
/* Thread 2 definition */
osThreadDef(THREAD_2, WriteData_Thread, osPriorityNormal, 0, configMINIMAL_STACK_SIZE*4);
/* Start thread 1 */
GetDataThreadId = osThreadCreate(osThread(THREAD_1), NULL);
/* Start thread 2 */
WriteDataThreadId = osThreadCreate(osThread(THREAD_2), NULL);
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
for (;;);
}
/**
* @brief Get data raw from sensors to queue
* @param thread not used
* @retval None
*/
static void GetData_Thread(void const *argument)
{
(void) argument;
uint8_t doubleTap = 0;
T_SensorsData *mptr;
sensorPool_id = osPoolCreate(osPool(sensorPool));
dataQueue_id = osMessageCreate(osMessageQ(dataqueue), NULL);
readDataSem_id = osSemaphoreCreate(osSemaphore(readDataSem), 1);
osSemaphoreWait(readDataSem_id, osWaitForever);
doubleTapSem_id = osSemaphoreCreate(osSemaphore(doubleTapSem), 1);
osSemaphoreWait(doubleTapSem_id, osWaitForever);
/* Configure and disable all the Chip Select pins */
Sensor_IO_SPI_CS_Init_All();
/* Initialize and Enable the available sensors */
initializeAllSensors();
enableAllSensors();
if(LoggingInterface == USB_Datalog)
{
dataTimerStart();
}
for (;;)
{
osSemaphoreWait(readDataSem_id, osWaitForever);
if(MEMSInterrupt && LoggingInterface == SDCARD_Datalog)
{
MEMSInterrupt = 0;
BSP_ACCELERO_Get_Double_Tap_Detection_Status_Ext(LSM6DSM_X_0_handle, &doubleTap);
if(doubleTap)
{
if(SD_Log_Enabled)
{
dataTimerStop();
osMessagePut(dataQueue_id, 0x00000007, osWaitForever);
}
else
{
osMessagePut(dataQueue_id, 0x00000007, osWaitForever);
}
}
}
else
{
/* Try to allocate a memory block and check if is not NULL */
mptr = osPoolAlloc(sensorPool_id);
if(mptr != NULL)
{
/* Get Data from Sensors */
if(getSensorsData(mptr) == COMPONENT_OK)
{
/* Push the new memory Block in the Data Queue */
if(osMessagePut(dataQueue_id, (uint32_t)mptr, osWaitForever) != osOK)
{
Error_Handler();
}
}
else
{
Error_Handler();
}
}
else
{
Error_Handler();
}
}
}
}
/**
* @brief Write data in the queue on file or streaming via USB
* @param argument not used
* @retval None
*/
static void WriteData_Thread(void const *argument)
{
(void) argument;
osEvent evt;
T_SensorsData *rptr;
int size;
char data_s[256];
for (;;)
{
evt = osMessageGet(dataQueue_id, osWaitForever); // wait for message
if (evt.status == osEventMessage)
{
if(evt.value.v == 0x00000007)
{
if (SD_Log_Enabled)
{
DATALOG_SD_Log_Disable();
SD_Log_Enabled=0;
}
else
{
while(SD_Log_Enabled != 1)
{
if(DATALOG_SD_Log_Enable())
{
SD_Log_Enabled=1;
osDelay(100);
dataTimerStart();
}
else
{
//DATALOG_SD_Log_Disable();
DATALOG_SD_DeInit();
DATALOG_SD_Init();
osDelay(100);
}
}
}
}
else
{
rptr = evt.value.p;
if(LoggingInterface == USB_Datalog)
{
size = sprintf(data_s, "TimeStamp: %d\r\n Acc_X: %d, Acc_Y: %d, Acc_Z :%d\r\n Gyro_X:%d, Gyro_Y:%d, Gyro_Z:%d\r\n Magn_X:%d, Magn_Y:%d, Magn_Z:%d\r\n Press:%5.2f, Temp:%5.2f, Hum:%4.1f\r\n",
rptr->ms_counter,
(int)rptr->acc.AXIS_X, (int)rptr->acc.AXIS_Y, (int)rptr->acc.AXIS_Z,
(int)rptr->gyro.AXIS_X, (int)rptr->gyro.AXIS_Y, (int)rptr->gyro.AXIS_Z,
(int)rptr->mag.AXIS_X, (int)rptr->mag.AXIS_Y, (int)rptr->mag.AXIS_Z,
rptr->pressure, rptr->temperature, rptr->humidity);
osPoolFree(sensorPool_id, rptr); // free memory allocated for message
BSP_LED_Toggle(LED1);
CDC_Fill_Buffer(( uint8_t * )data_s, size);
}
else
{
size = sprintf(data_s, "%d, %d, %d, %d, %d, %d, %d, %d, %d, %d, %5.2f, %5.2f, %4.1f\r\n",
rptr->ms_counter,
(int)rptr->acc.AXIS_X, (int)rptr->acc.AXIS_Y, (int)rptr->acc.AXIS_Z,
(int)rptr->gyro.AXIS_X, (int)rptr->gyro.AXIS_Y, (int)rptr->gyro.AXIS_Z,
(int)rptr->mag.AXIS_X, (int)rptr->mag.AXIS_Y, (int)rptr->mag.AXIS_Z,
rptr->pressure, rptr->temperature, rptr->humidity);
osPoolFree(sensorPool_id, rptr); // free memory allocated for message
DATALOG_SD_writeBuf(data_s, size);
}
}
}
}
}
void dataTimer_Callback(void const *arg)
{
osSemaphoreRelease(readDataSem_id);
}
void dataTimerStart(void)
{
osStatus status;
// Create periodic timer
exec = 1;
sensorTimId = osTimerCreate(osTimer(SensorTimer), osTimerPeriodic, &exec);
if (sensorTimId) {
status = osTimerStart (sensorTimId, DATA_PERIOD_MS); // start timer
if (status != osOK) {
// Timer could not be started
}
}
}
void dataTimerStop(void)
{
osTimerStop(sensorTimId);
}
/**
* @brief Initialize all sensors
* @param None
* @retval None
*/
static void initializeAllSensors( void )
{
if (BSP_ACCELERO_Init( LSM6DSM_X_0, &LSM6DSM_X_0_handle ) != COMPONENT_OK)
{
while(1);
}
if (BSP_GYRO_Init( LSM6DSM_G_0, &LSM6DSM_G_0_handle ) != COMPONENT_OK)
{
while(1);
}
if (BSP_ACCELERO_Init( LSM303AGR_X_0, &LSM303AGR_X_0_handle ) != COMPONENT_OK)
{
while(1);
}
if (BSP_MAGNETO_Init( LSM303AGR_M_0, &LSM303AGR_M_0_handle ) != COMPONENT_OK)
{
while(1);
}
if (BSP_PRESSURE_Init( LPS22HB_P_0, &LPS22HB_P_0_handle ) != COMPONENT_OK)
{
while(1);
}
if (BSP_TEMPERATURE_Init( LPS22HB_T_0, &LPS22HB_T_0_handle ) != COMPONENT_OK)
{
while(1);
}
if(BSP_TEMPERATURE_Init( HTS221_T_0, &HTS221_T_0_handle ) == COMPONENT_ERROR)
{
no_T_HTS221 = 1;
}
if(BSP_HUMIDITY_Init( HTS221_H_0, &HTS221_H_0_handle ) == COMPONENT_ERROR)
{
no_H_HTS221 = 1;
}
if(LoggingInterface == SDCARD_Datalog)
{
/* Enable HW Double Tap detection */
BSP_ACCELERO_Enable_Double_Tap_Detection_Ext(LSM6DSM_X_0_handle, INT2_PIN);
BSP_ACCELERO_Set_Tap_Threshold_Ext(LSM6DSM_X_0_handle, LSM6DSM_TAP_THRESHOLD_MID);
}
}
/**
* @brief Enable all sensors
* @param None
* @retval None
*/
void enableAllSensors( void )
{
BSP_ACCELERO_Sensor_Enable( LSM6DSM_X_0_handle );
BSP_GYRO_Sensor_Enable( LSM6DSM_G_0_handle );
BSP_ACCELERO_Sensor_Enable( LSM303AGR_X_0_handle );
BSP_MAGNETO_Sensor_Enable( LSM303AGR_M_0_handle );
BSP_PRESSURE_Sensor_Enable( LPS22HB_P_0_handle );
BSP_TEMPERATURE_Sensor_Enable( LPS22HB_T_0_handle );
if(!no_T_HTS221)
{
BSP_TEMPERATURE_Sensor_Enable( HTS221_T_0_handle );
}
if(!no_H_HTS221)
{
BSP_HUMIDITY_Sensor_Enable( HTS221_H_0_handle );
}
}
/**
* @brief Set ODR all sensors
* @param None
* @retval None
*/
void setOdrAllSensors( void )
{
BSP_ACCELERO_Set_ODR_Value( LSM303AGR_X_0_handle, ACCELERO_ODR);
BSP_MAGNETO_Set_ODR_Value( LSM303AGR_M_0_handle, MAGNETO_ODR);
BSP_GYRO_Set_ODR_Value(LSM6DSM_G_0_handle, GYRO_ODR);
BSP_PRESSURE_Set_ODR_Value( LPS22HB_P_0_handle, PRESSURE_ODR);
BSP_TEMPERATURE_Set_ODR_Value( HTS221_T_0_handle, TEMPERATURE_ODR);
BSP_HUMIDITY_Set_ODR_Value( HTS221_H_0_handle, TEMPERATURE_ODR );
}
/**
* @brief Disable all sensors
* @param None
* @retval None
*/
void disableAllSensors( void )
{
BSP_ACCELERO_Sensor_Disable( LSM6DSM_X_0_handle );
BSP_ACCELERO_Sensor_Disable( LSM303AGR_X_0_handle );
BSP_GYRO_Sensor_Disable( LSM6DSM_G_0_handle );
BSP_MAGNETO_Sensor_Disable( LSM303AGR_M_0_handle );
BSP_HUMIDITY_Sensor_Disable( HTS221_H_0_handle );
BSP_TEMPERATURE_Sensor_Disable( HTS221_T_0_handle );
BSP_TEMPERATURE_Sensor_Disable( LPS22HB_T_0_handle );
BSP_PRESSURE_Sensor_Disable( LPS22HB_P_0_handle );
}
/**
* @brief EXTI line detection callbacks
* @param GPIO_Pin: Specifies the pins connected EXTI line
* @retval None
*/
void HAL_GPIO_EXTI_Callback( uint16_t GPIO_Pin )
{
MEMSInterrupt=1;
osSemaphoreRelease(readDataSem_id);
}
/**
* @brief This function is executed in case of error occurrence
* @param None
* @retval None
*/
static void Error_Handler( void )
{
while (1)
{}
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{}
}
#endif
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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