forked from glasgowneuro/attys_fw
-
Notifications
You must be signed in to change notification settings - Fork 0
/
attys_fw.c
1347 lines (1103 loc) · 28.4 KB
/
attys_fw.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/**
Attys firmware
Copyright (C) 2016-2020, Bernd Porr, mail@berndporr.me.uk
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
**/
#define FW_VERSION "2.0"
// for debugging
// #define FAKE_ADC_DATA
#include <msp430.h>
#include <stdio.h>
#include "LSM9DS1_Registers.h"
#include "base64.h"
// clock speeds for the ADC
// 16Mhz / 250
#define ADC_CLOCK_SLOW 250
// 16MHz / 2
#define ADC_CLOCK_FAST 2
// uart character available?
unsigned char uart_rx_avail = 0;
// character which has been received
unsigned char uart_rx_char = 0;
// SPI character after an SPI transfer
unsigned char spi_rx_avail = 0;
unsigned char spi_rx_char = 0;
// don't interpret the rx characters as commands
unsigned char ignore_rx = 0;
// send OK
unsigned char doSendOK = 0;
struct __attribute__((__packed__)) adc_sample_t {
uint32_t ch1 : 24;
uint32_t ch2 : 24;
};
// all the data which is transmitted
// if it's in binary form then it's exactly in this format
// needs to be packed so that it's as small as possible
struct __attribute__((__packed__)) bin_data_t {
struct adc_sample_t adc_sample;
uint8_t adc_gpio;
uint8_t timestamp;
uint16_t accel_x;
uint16_t accel_y;
uint16_t accel_z;
uint16_t mag_x;
uint16_t mag_y;
uint16_t mag_z;
};
// For higher data rates we only transmit two ADC samples
// and acc only.
struct __attribute__((__packed__)) highspeed_data_t {
struct adc_sample_t adc_samples[2];
uint8_t adc_gpio;
uint8_t timestamp;
uint16_t accel_x;
uint16_t accel_y;
uint16_t accel_z;
};
union __attribute__((__packed__)) all_data_t {
struct highspeed_data_t highspeed_data;
struct bin_data_t bin_data;
};
union all_data_t alldata;
#define WATCHDOGINIT 255
volatile static uint8_t watchdog = WATCHDOGINIT;
char sendBuffer[80];
volatile static uint8_t hasData = 0;
// this is a counter which turns the green LED off
uint16_t powergoodoff = 10;
// if one data is sent via bluetooth
volatile static unsigned char send_data = 0;
// 0=CSV, 1=base64 binary format
unsigned char base64output = 0;
// send all channels or just the ADC
unsigned char send_all_data = 1;
// index of data at 500Hz sampling rate
unsigned char adc_sample_index = 0;
// if one every successful command replies with "OK"
unsigned char verbose = 1;
volatile static uint8_t whoAmIAccelerometer = 0;
volatile static uint8_t whoAmIMagnetometer = 0;
// self test status: 1=test successful, 0=error
volatile static unsigned char adc_stat;
volatile static unsigned char acc_stat;
volatile static unsigned char mag_stat;
// the buffer which receives the commands
#define CONFIG_BUFFER_SIZE 8
unsigned char config_buffer[CONFIG_BUFFER_SIZE];
uint16_t config_ptr = 0;
// forward declations
void uart_tx(unsigned char c);
void sendText(const unsigned char *txt);
void trigOK();
// brute force delay
void delay(uint16_t n)
{
uint16_t i;
for(i=0;i<n;i++) {
volatile uint32_t r = i*10;
}
}
// make the power LED go off for a short while
void flashPowerLED()
{
// toggles the power LED for about a second
powergoodoff = 10;
}
// fatal condition makes green LED flash forever
void fatalLED()
{
// interrupts off
__dint();
// flash forever
while (1) {
// switch it off and count down
delay(30000);
P2OUT &= ~0x80;
delay(30000);
P2OUT |= 0x80;
}
}
// is called from the main interrupt and is counted
// down till zero and then the LED is switched back on
void controlPowerLED()
{
// flash power LED
if (powergoodoff) {
// switch it off and count down
P2OUT &= ~0x80;
powergoodoff--;
} else {
// switch it on
P2OUT |= 0x80;
}
}
// SPI transmission and reception
// this is blocking until the transmission has
// finished
unsigned char spi_txrx(unsigned char tx)
{
volatile unsigned char rx;
// in case a transfer is still ongoing (it shouldn't)
// we wait
while (!(IFG2 & UCB0TXIFG));
// trasmit a byte
UCB0TXBUF = tx;
// wait for the byte to arrive
while (!(IFG2 & UCB0RXIFG));
// and read the received byte
rx = UCB0RXBUF;
return rx;
}
// ADS1292: ADC
// init the adc
// this can be called any time
// argument is the divisor for the SPI clock
void adc_init_spi(unsigned char d)
{
UCB0BR0 = d;
// inactive state of the SPI is low
UCB0CTL0 &= ~UCCKPL;
// Phase=0, data is already ready after /CS
UCB0CTL0 &= ~UCCKPH;
// **Initialize USCI state machine**
UCB0CTL1 &= ~UCSWRST;
}
// send a command to the ADC
// the delay is very, very important
void adc_command(unsigned char value)
{
adc_init_spi(ADC_CLOCK_SLOW);
// CS to low
P1OUT &= ~BIT4;
// send out to SPI
spi_txrx(value);
// wait for the CS to go back high again
// very important
delay(1000);
// CS to high
P1OUT |= BIT4;
// bring USCI back into reset
UCB0CTL1 |= UCSWRST;
}
// writing to an ADC register
// delay very important for operation
void adc_write_reg(unsigned char index, unsigned char value)
{
// register writes are only possible at low
// clock rates
adc_init_spi(ADC_CLOCK_SLOW);
// CS to low
P1OUT &= ~BIT4;
// bit 6 indicates a write
spi_txrx(index | 0x40);
spi_txrx(0x00);
spi_txrx(value);
delay(1000);
// CS to high
P1OUT |= BIT4;
// bring USCI back into reset
UCB0CTL1 |= UCSWRST;
}
/////////////////
// ADS1292
// reading a register
unsigned char adc_read_reg(unsigned char index)
{
unsigned char ret;
adc_init_spi(ADC_CLOCK_SLOW);
// CS to low
P1OUT &= ~BIT4;
// disable continous read
spi_txrx(0x11);
// wait for the CS to go back high again
// very important
delay(1000);
// CS to high
P1OUT |= BIT4;
delay(1000);
// CS to low
P1OUT &= ~BIT4;
// indicates a register read
spi_txrx(index | 0x20);
spi_txrx(0x00);
ret = spi_txrx(0x00);
delay(1000);
// CS to high
P1OUT |= BIT4;
delay(1000);
// CS to low
P1OUT &= ~BIT4;
// enable continous read
spi_txrx(0x10);
// wait for the CS to go back high again
// very important
delay(1000);
// CS to high
P1OUT |= BIT4;
// bring USCI back into reset
UCB0CTL1 |= UCSWRST;
return ret;
}
// read both channels and GPIO at the same time with
// one SPI read
void adc_read_data()
{
uint32_t b2,b1,b0;
// Max possible clock
adc_init_spi(ADC_CLOCK_FAST);
// CS to low
P1OUT &= ~BIT4;
// getting the data straight away
// 1st byte is the status
adc_stat = spi_txrx(0x00);
// 2nd byte the internal GPIO connector
// and we add the power status
uint8_t gpio = spi_txrx(0x00);
// we need to swap the bits
alldata.bin_data.adc_gpio = ( ( (gpio & 32) << 1) |
( (gpio & 64) >> 1) |
( (P2IN & 0x40) << 1) );
// padding with zeros
spi_txrx(0x00);
// 24bit reading from ADC channel 1
b2 = spi_txrx(0x00);
b1 = spi_txrx(0x00);
b0 = spi_txrx(0x00);
// merge bits and convert to unsigned integer
alldata.bin_data.adc_sample.ch1 = ((b2 << 16) | (b1 << 8) | b0) ^ 0x00800000;
#ifdef FAKE_ADC_DATA
alldata.bin_data.adc_sample.ch1 = 0x00855555;
#endif
// 24bit reading from ADC channel 2
b2 = spi_txrx(0x00);
b1 = spi_txrx(0x00);
b0 = spi_txrx(0x00);
// merge bits and convert to unsigned integer
alldata.bin_data.adc_sample.ch2 = ((b2 << 16) | (b1 << 8) | b0) ^ 0x00800000;
#ifdef FAKE_ADC_DATA
alldata.bin_data.adc_sample.ch2 = 0x00855555;
#endif
// CS to high
P1OUT |= BIT4;
// bring USCI back into reset
UCB0CTL1 |= UCSWRST;
}
// read both channels and GPIO at the same time with
// one SPI read
void adc_read_data_highspeed()
{
uint32_t b2,b1,b0;
// Max possible clock
adc_init_spi(ADC_CLOCK_FAST);
// CS to low
P1OUT &= ~BIT4;
// getting the data straight away
// 1st byte is the status
adc_stat = spi_txrx(0x00);
// 2nd byte the internal GPIO connector
// and we add the power status
uint8_t gpio = spi_txrx(0x00);
// we need to swap the bits
alldata.highspeed_data.adc_gpio = ( ( (gpio & 32) << 1) |
( (gpio & 64) >> 1) |
( (P2IN & 0x40) << 1) );
// padding with zeros
spi_txrx(0x00);
// 24bit reading from ADC channel 1
b2 = spi_txrx(0x00);
b1 = spi_txrx(0x00);
b0 = spi_txrx(0x00);
// merge bits and convert to unsigned integer
alldata.highspeed_data.adc_samples[adc_sample_index].ch1 =
((b2 << 16) | (b1 << 8) | b0) ^ 0x00800000;
#ifdef FAKE_ADC_DATA
alldata.highspeed_data.adc_samples[adc_sample_index].ch1 = 0x00855555;
#endif
// 24bit reading from ADC channel 2
b2 = spi_txrx(0x00);
b1 = spi_txrx(0x00);
b0 = spi_txrx(0x00);
// merge bits and convert to unsigned integer
alldata.highspeed_data.adc_samples[adc_sample_index].ch2 =
((b2 << 16) | (b1 << 8) | b0) ^ 0x00800000;
#ifdef FAKE_ADC_DATA
alldata.highspeed_data.adc_samples[adc_sample_index].ch2 = 0x00855555;
#endif
// CS to high
P1OUT |= BIT4;
// bring USCI back into reset
UCB0CTL1 |= UCSWRST;
// flip bit
adc_sample_index = adc_sample_index ^ 1;
}
// set the sampling rate of the ADC
// this also sets the sampling rate of the whole system
void setSamplingRate(unsigned char v) {
v = v & 0b00000011;
adc_write_reg(0x01,v);
send_all_data = (v < 2);
}
// starting the ADC by pulling the START pin high
void startADC() {
// set start to high
P1OUT |= BIT3;
}
// stopping the ADC
void stopADC() {
// set start to low
P1OUT &= ~BIT3;
send_data = 0;
hasData = 0;
}
// init the ADC and start it
void initADC()
{
setSamplingRate(0);
// switch the REF on
adc_write_reg(0x02,0b10100000);
// RLD signal generated externally
adc_write_reg(0x0a,0b00000001);
startADC();
}
// LSM
// lsm9DS1 read/write operation via SPI
// reads / writes from a register
// mag defines if it's the accelerometer/gyro (0) or magnetometer (1)
// READ: bitOR the register address with LSM9DS1_REGISTER_READ and just transmit 0
// WRITE: specify register and value. That's it.
unsigned char lsmWriteRegister(const unsigned char addr,
const unsigned char c,
const unsigned char mag)
{
unsigned char rx;
// 8MHz SPI clock
UCB0BR0 = 2;
// inactive state of the SPI is high
UCB0CTL0 |= UCCKPL;
// Phase=0, data is changed on the first edge
UCB0CTL0 &= ~UCCKPH;
// **Initialize USCI state machine**
UCB0CTL1 &= ~UCSWRST;
// CS low
if (mag)
P2OUT &= ~BIT4;
else
P2OUT &= ~BIT5;
rx=spi_txrx(addr);
rx=spi_txrx(c);
// CS high again
if (mag)
P2OUT |= BIT4;
else
P2OUT |= BIT5;
// bring USCI back into reset
UCB0CTL1 |= UCSWRST;
return rx;
}
unsigned char lsmReadRegister(const unsigned char addr,
const unsigned char mag) {
return lsmWriteRegister(addr | 0x80,
0,
mag);
}
// reads from multiple registers
void lsmReadBytes(unsigned char addr,
unsigned char *rx,
unsigned char n,
const unsigned char mag)
{
unsigned char i;
// 8MHz SPI clock
UCB0BR0 = 2;
// inactive state of the SPI is high
UCB0CTL0 |= UCCKPL;
// Phase=0, data is changed on the first edge
UCB0CTL0 &= ~UCCKPH;
// **Initialize USCI state machine**
UCB0CTL1 &= ~UCSWRST;
// CS low
if (mag)
P2OUT &= ~BIT4;
else
P2OUT &= ~BIT5;
addr |= 0x80;
if (mag) {
addr |= 0x40;
}
spi_txrx(addr);
for(i=0; i<n; i++) {
*rx=spi_txrx(0);
rx++;
}
if (mag)
P2OUT |= BIT4;
else
P2OUT |= BIT5;
// bring USCI back into reset
UCB0CTL1 |= UCSWRST;
}
void initAccel(unsigned char fullrange) {
whoAmIAccelerometer = lsmReadRegister(WHO_AM_I_XG, 0);
if (whoAmIAccelerometer == 104) {
acc_stat = 1;
}
// CTRL_REG5_XL (0x1F) (Default value: 0x38)
// [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0]
// DEC[0:1] - Decimation of accel data on OUT REG and FIFO.
// 00: None, 01: 2 samples, 10: 4 samples 11: 8 samples
// Zen_XL - Z-axis output enabled
// Yen_XL - Y-axis output enabled
// Xen_XL - X-axis output enabled
uint8_t tempRegValue = (1<<5) | (1<<4) | (1<<3);
lsmWriteRegister(CTRL_REG5_XL, tempRegValue, 0);
// sets sampling rate: 476Hz
tempRegValue = (5 << 5);
// default is 2G
switch (fullrange) {
case 1:
// 4G
tempRegValue |= (0x2 << 3);
break;
case 2:
// 8G
tempRegValue |= (0x3 << 3);
break;
case 3:
// 16G
tempRegValue |= (0x1 << 3);
break;
}
// bandwidth is 211Hz
tempRegValue |= 0x1;
lsmWriteRegister(CTRL_REG6_XL, tempRegValue, 0);
// CTRL_REG6_XL (0x20) (Default value: 0x00)
// [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0]
// ODR_XL[2:0] - Output data rate & power mode selection
// FS_XL[1:0] - Full-scale selection
// BW_SCAL_ODR - Bandwidth selection
// BW_XL[1:0] - Anti-aliasing filter bandwidth selection
// CTRL_REG7_XL (0x21) (Default value: 0x00)
// [HR][DCF1][DCF0][0][0][FDS][0][HPIS1]
// HR - High resolution mode (0: disable, 1: enable)
// DCF[1:0] - Digital filter cutoff frequency
// FDS - Filtered data selection
// HPIS1 - HPF enabled for interrupt function
lsmWriteRegister(CTRL_REG7_XL, 0, 0);
}
void initGyro(unsigned char gyroOn) {
// CTRL_REG1_G (Default value: 0x00)
// [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0]
// ODR_G[2:0] - Output data rate selection
// FS_G[1:0] - Gyroscope full-scale selection
// BW_G[1:0] - Gyroscope bandwidth selection
uint8_t tempRegValue = 0;
if (gyroOn) {
tempRegValue =
(5 << 5) | // setting sampling rate to 476Hz
(0x3 << 3); // gyro at 2000dps
lsmWriteRegister(CTRL_REG1_G, tempRegValue, 0);
} else {
// power down
lsmWriteRegister(CTRL_REG1_G, 0, 0);
return;
}
// CTRL_REG2_G (Default value: 0x00)
// [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0]
// INT_SEL[1:0] - INT selection configuration
// OUT_SEL[1:0] - Out selection configuration
lsmWriteRegister(CTRL_REG2_G, 0x00, 0);
// CTRL_REG3_G (Default value: 0x00)
// [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G]
// LP_mode - Low-power mode enable (0: disabled, 1: enabled)
// HP_EN - HPF enable (0:disabled, 1: enabled)
// HPCF_G[3:0] - HPF cutoff frequency
lsmWriteRegister(CTRL_REG3_G, 0x00, 0);
// CTRL_REG4 (Default value: 0x38)
// [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1]
// Zen_G - Z-axis output enable (0:disable, 1:enable)
// Yen_G - Y-axis output enable (0:disable, 1:enable)
// Xen_G - X-axis output enable (0:disable, 1:enable)
// LIR_XL1 - Latched interrupt (0:not latched, 1:latched)
// 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used)
tempRegValue =
(1<<5) |
(1<<4) |
(1<<3) |
(1<<1);
lsmWriteRegister(CTRL_REG4, tempRegValue, 0);
// ORIENT_CFG_G (Default value: 0x00)
// [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0]
// SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative)
// Orient [2:0] - Directional user orientation selection
lsmWriteRegister(ORIENT_CFG_G, 0, 0);
}
void initMag()
{
whoAmIMagnetometer = lsmReadRegister(WHO_AM_I_M,1);
if (whoAmIMagnetometer == 61) {
mag_stat = 1;
}
// CTRL_REG1_M (Default value: 0x10)
// [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST]
// TEMP_COMP - Temperature compensation
// OM[1:0] - X & Y axes op mode selection
// 00:low-power, 01:medium performance
// 10: high performance, 11:ultra-high performance
// DO[2:0] - Output data rate selection
// ST - Self-test enable
uint8_t tempRegValue =
(0x3 << 5) |
(0x7 << 2);
lsmWriteRegister(CTRL_REG1_M, tempRegValue, 1);
// CTRL_REG2_M (Default value 0x00)
// [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0]
// FS[1:0] - Full-scale configuration
// REBOOT - Reboot memory content (0:normal, 1:reboot)
// SOFT_RST - Reset config and user registers (0:default, 1:reset)
// 16 gauss or 1600E-6 Tesla
tempRegValue = (0x3 << 5);
lsmWriteRegister(CTRL_REG2_M, tempRegValue, 1);
// CTRL_REG3_M (Default value: 0x03)
// [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0]
// I2C_DISABLE - Disable I2C interace (0:enable, 1:disable)
// LP - Low-power mode cofiguration (1:enable)
// SIM - SPI mode selection (0:write-only, 1:read/write enable)
// MD[1:0] - Operating mode
// 00:continuous conversion, 01:single-conversion,
// 10,11: Power-down
tempRegValue = 0;
lsmWriteRegister(CTRL_REG3_M, tempRegValue, 1); // Continuous conversion mode
// CTRL_REG4_M (Default value: 0x00)
// [0][0][0][0][OMZ1][OMZ0][BLE][0]
// OMZ[1:0] - Z-axis operative mode selection
// 00:low-power mode, 01:medium performance
// 10:high performance, 10:ultra-high performance
// BLE - Big/little endian data
tempRegValue = (3 << 2);
lsmWriteRegister(CTRL_REG4_M, tempRegValue, 1);
// CTRL_REG5_M (Default value: 0x00)
// [0][BDU][0][0][0][0][0][0]
// BDU - Block data update for magnetic data
// 0:continuous, 1:not updated until MSB/LSB are read
tempRegValue = 0;
lsmWriteRegister(CTRL_REG5_M, tempRegValue, 1);
}
void readAccel() {
uint8_t temp[6] = {0,0,0,0,0,0};
lsmReadBytes(OUT_X_L_XL, temp, 6, 0);
alldata.bin_data.accel_x = (((uint16_t)(temp[1]) << 8) | (uint16_t)(temp[0])) ^ 0x8000;
alldata.bin_data.accel_y = (((uint16_t)(temp[3]) << 8) | (uint16_t)(temp[2])) ^ 0x8000;
alldata.bin_data.accel_z = (((uint16_t)(temp[5]) << 8) | (uint16_t)(temp[4])) ^ 0x8000;
}
void readAccelHighSpeed() {
uint8_t temp[6] = {0,0,0,0,0,0};
lsmReadBytes(OUT_X_L_XL, temp, 6, 0);
alldata.highspeed_data.accel_x = (((uint16_t)(temp[1]) << 8) | (uint16_t)(temp[0])) ^ 0x8000;
alldata.highspeed_data.accel_y = (((uint16_t)(temp[3]) << 8) | (uint16_t)(temp[2])) ^ 0x8000;
alldata.highspeed_data.accel_z = (((uint16_t)(temp[5]) << 8) | (uint16_t)(temp[4])) ^ 0x8000;
}
void readMag() {
uint8_t temp[6] = {0,0,0,0,0,0};
lsmReadBytes(OUT_X_L_M, temp, 6, 1);
const int mpu2lsm = 3;
alldata.bin_data.mag_x = ((uint16_t)(
(((int)(temp[1]) << 8) | (int)(temp[0])) / mpu2lsm
)
) ^ 0x8000;
alldata.bin_data.mag_y = ((uint16_t)(
(((int)(temp[3]) << 8) | (int)(temp[2])) / mpu2lsm
)
) ^ 0x8000;
alldata.bin_data.mag_z = ((uint16_t)(
(((int)(temp[5]) << 8) | (int)(temp[4])) / mpu2lsm
)
) ^ 0x8000;
}
void sendInfo() {
uint8_t r;
char tmp[4];
sendText("ATTYS firmware version ");
sendText(FW_VERSION);
sendText("\r\n");
sendText("MSP430G2553: ");
sendText("P1IN=");
sprintf(tmp,"%02x",P1IN);
sendText(tmp);
sendText(",P2IN=");
sprintf(tmp,"%02x",P2IN);
sendText(tmp);
sendText("\r\n");
sendText("Power: ");
if (P1IN & 0x40) {
sendText("5V USB power\r\n");
} else {
sendText("Battery\r\n");
}
sendText("Acceleromter: ");
if (acc_stat) {
sendText("OK\r\n");
} else {
sendText("fault\r\n");
}
sendText("Magnetometer: ");
if (mag_stat) {
sendText("OK\r\n");
} else {
sendText("fault\r\n");
}
sendText("Analog to Digital converter: ");
// read ID control register: value for ADS1292R
r = adc_read_reg(0);
if ((adc_read_reg(0)==0x73) || (r==0x73)) {
sendText("OK\r\n");
} else {
sendText("fault\r\n");
}
sendText("LSM9DS1 accelerometer/gyroscope:\r\n");
for(r=0;r<0x37;r++) {
sprintf(tmp,"%02x,",lsmReadRegister(r,0));
sendText(tmp);
if ((r & 0x0f) == 0x0f) sendText("\r\n");
}
sendText("LSM9DS1 magnetometer:\r\n");
for(r=0;r<0x37;r++) {
sprintf(tmp,"%02x,",lsmReadRegister(r,1));
sendText(tmp);
if ((r & 0x0f) == 0x0f) sendText("\r\n");
}
sendText("\r\nADS1292:\r\n");
for(r=0;r<0x0c;r++) {
sprintf(tmp,"%02x,",adc_read_reg(r));
sendText(tmp);
}
sendText("\r\n");
}
// receive a character from the serial port and process it (commands)
__attribute__((interrupt(USCIAB0RX_VECTOR)))
void USCI0RX_ISR(void)
{
unsigned char v;
if (!(IFG2 & UCA0RXIFG)) return;
flashPowerLED();
// store the received char
uart_rx_char = UCA0RXBUF;
// character available
uart_rx_avail = 1;
// if we send commands to the RN42 just ignore the characters
if (ignore_rx) return;
// store it in the buffer
config_buffer[config_ptr] = uart_rx_char;
// increment pointer if possible
if (config_ptr<CONFIG_BUFFER_SIZE)
config_ptr++;
// check for carrige return or line feed
if ((uart_rx_char == 13) || (uart_rx_char == 10)) {
// add zero to terminate string properly
config_buffer[config_ptr] = 0;
// check if we have an '=' sign and
// at least one character after the '=' sign
if ( (config_buffer[1] == '=') &&
(config_ptr>1) ) {
switch (config_buffer[0]) {
case 'a':
case 'A':
v = atoi(config_buffer+2);
v = v & 0b01110111;
adc_write_reg(4,v);
trigOK();
flashPowerLED();
break;
case 'b':
case 'B':
v = atoi(config_buffer+2);
v = v & 0b01110111;
adc_write_reg(5,v);
trigOK();
flashPowerLED();
break;
case 'c':
case 'C':
v = atoi(config_buffer+2);
v = v & 0b00111111;
adc_write_reg(7,v);
trigOK();
flashPowerLED();
break;
case 'i':
case 'I':
v = atoi(config_buffer+2);
v = v << 2;
v = v & 0b00001100;
// set current
adc_write_reg(3,v);
trigOK();
flashPowerLED();
break;
case 'r':
case 'R':
setSamplingRate(atoi(config_buffer+2));
trigOK();
flashPowerLED();
break;
case 'x':
case 'X':
send_data = atoi(config_buffer+2);
if (send_data) {
startADC();
} else {
stopADC();
trigOK();
}
flashPowerLED();
break;
case 'd':
case 'D':
base64output = (atoi(config_buffer+2) != 0);
trigOK();
flashPowerLED();
break;
case 'f':
case 'F':
// no longer supported
trigOK();
flashPowerLED();
break;
case 'v':
case 'V':
verbose = (atoi(config_buffer+2) != 0);
trigOK();
flashPowerLED();
break;
case 't':
case 'T':
v = atoi(config_buffer+2) & 0x03;
initAccel(v);
trigOK();
flashPowerLED();
break;
case 's':
case 'S':
if (!send_data) {
sendInfo();
flashPowerLED();
}
break;
case 'm':
case 'M':
// cause a reset
send_data = 0;
WDTCTL = 0;
break;
default:
sendText("ERR");
uart_tx(0x0D);
uart_tx(0x0A);
}
}
// always reset the buffer after a cr or lf
config_ptr = 0;
// set the string to zero (being paranoid)
config_buffer[0] = 0;
config_buffer[1] = 0;
config_buffer[2] = 0;
}
__bic_SR_register_on_exit(LPM0_bits);
}
// transmit a character to the bluetooth module
void uart_tx(unsigned char c)
{
unsigned int timeout = 30000;
// is RTS high? Then let's wait till it goes low.
while ( (P2IN & 0x02 ) && (timeout>0) ) {timeout--;};
// Timeout? Let's discard the data
if (timeout==0) {
watchdog--;
if (!watchdog) WDTCTL = 0;
return;