140 lines
2.8 KiB
C
140 lines
2.8 KiB
C
/**
|
|
* Lets imagine that we have board with LIS3LV02DL accelerometer on channel #1
|
|
* and MAX1236 ADC, TMP75 thermometer on channel #2.
|
|
*
|
|
* NOTE: I assume, that you have datasheets on all this stuff.
|
|
*
|
|
* NOTE: Also, I assume, that you know how to I2C works.
|
|
*
|
|
* In order from simplicity to complexity:
|
|
* TMP75
|
|
* MAX1236
|
|
* LIS3LV02DL
|
|
*
|
|
* Project splitted to separate source files for each device.
|
|
*
|
|
* Data from sensors we will be read from different thread sleeping different
|
|
* amount of time.
|
|
*/
|
|
|
|
#include <stdlib.h>
|
|
|
|
#include "ch.h"
|
|
#include "hal.h"
|
|
|
|
#include "i2c_pns.h"
|
|
#include "tmp75.h"
|
|
#include "max1236.h"
|
|
#include "lis3.h"
|
|
|
|
|
|
|
|
/*
|
|
* Red LEDs blinker thread, times are in milliseconds.
|
|
*/
|
|
static WORKING_AREA(BlinkWA, 128);
|
|
static msg_t Blink(void *arg) {
|
|
(void)arg;
|
|
while (TRUE) {
|
|
palClearPad(IOPORT3, GPIOC_LED);
|
|
chThdSleepMilliseconds(500);
|
|
palSetPad(IOPORT3, GPIOC_LED);
|
|
chThdSleepMilliseconds(500);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
/* Temperature polling thread */
|
|
static WORKING_AREA(PollTmp75ThreadWA, 128);
|
|
static msg_t PollTmp75Thread(void *arg) {
|
|
(void)arg;
|
|
systime_t time = chTimeNow();
|
|
|
|
while (TRUE) {
|
|
time += MS2ST(1001);
|
|
/* Call reading function */
|
|
request_temperature();
|
|
chThdSleepUntil(time);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/* MAX1236 polling thread */
|
|
static WORKING_AREA(PollMax1236ThreadWA, 128);
|
|
static msg_t PollMax1236Thread(void *arg) {
|
|
(void)arg;
|
|
systime_t time = chTimeNow();
|
|
|
|
while (TRUE) {
|
|
time += MS2ST(200);
|
|
/* Call reading function */
|
|
read_max1236();
|
|
chThdSleepUntil(time);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
static WORKING_AREA(PollAccelThreadWA, 128);
|
|
static msg_t PollAccelThread(void *arg) {
|
|
(void)arg;
|
|
systime_t time = chTimeNow();
|
|
|
|
while (TRUE) {
|
|
time += MS2ST(20);
|
|
request_acceleration_data();
|
|
chThdSleepUntil(time);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
|
|
/*
|
|
* Entry point, note, the main() function is already a thread in the system
|
|
* on entry.
|
|
*/
|
|
int main(void) {
|
|
|
|
halInit();
|
|
chSysInit();
|
|
|
|
I2CInit_pns();
|
|
|
|
/* Create temperature thread */
|
|
chThdCreateStatic(PollTmp75ThreadWA,
|
|
sizeof(PollTmp75ThreadWA),
|
|
NORMALPRIO,
|
|
PollTmp75Thread,
|
|
NULL);
|
|
|
|
|
|
/* Create max1236 thread */
|
|
chThdCreateStatic(PollMax1236ThreadWA,
|
|
sizeof(PollMax1236ThreadWA),
|
|
NORMALPRIO,
|
|
PollMax1236Thread,
|
|
NULL);
|
|
|
|
|
|
/* Create accelerometer thread */
|
|
chThdCreateStatic(PollAccelThreadWA,
|
|
sizeof(PollAccelThreadWA),
|
|
HIGHPRIO,
|
|
PollAccelThread,
|
|
NULL);
|
|
|
|
/* Creates the blinker thread. */
|
|
chThdCreateStatic(BlinkWA, sizeof(BlinkWA), LOWPRIO, Blink, NULL);
|
|
|
|
/* main loop that do nothing */
|
|
while (TRUE) {
|
|
chThdSleepMilliseconds(500);
|
|
}
|
|
|
|
return 0;
|
|
}
|