MainFunction.c

[詳解]

#include "LPC13xx.h"
#include "core_cm3.h"
#include "type.h"

#include "timer.h"
#include "pwm.h"
#include "MainFunction.h"
#include "UserInterface.h"
#include "uart.h"
#include "SystemTickTimer.h"

#include "mpu9250.h"
#include "debug.h"
#include "uart.h"
#include "tinyMathFunction.h"
#include "usbTransmission.h"
#include "EEPROM_24LC16BT_I.h"

volatile static uint8_t flag_send_data_enable = 0;  //タイマ割り込み関数の中でデータを送信するかのフラグ
volatile static uint8_t output_mode = 1;            //データを出力する形式
volatile static uint32_t time;                      //起動してからの時間[msec]を格納するための変数

void startTimerInterruptMainFunction(void)
{
    startTimer32_1();
}

void stopTimerInterruptMainFunction(void)
{
    stopTimer32_1();
}

void setSendDataEnable(uint8_t en)
{
    flag_send_data_enable = en;
}

void writeEEPROMOutputMode(uint8_t mode){
    write1byteEEPROM(1,0,mode);
}

uint8_t readEEPROMOutputMode(void){
    return read1byteEEPROM(1,0);
}

void setOutputMode(uint8_t mode){
    output_mode = mode;

    switch(mode){
        case OUTPUT_MODE_57600_BINARY_9AXIS:
            UARTInit(57600);
            writeEEPROMOutputMode(mode);
            break;
        case OUTPUT_MODE_USB_ASCII_9AXIS:
            writeEEPROMOutputMode(mode);
            break;
        default:
            output_mode = 0;
            writeEEPROMOutputMode(OUTPUT_MODE_USB_ASCII_9AXIS);
            break;
    }
};

void TIMER32_1_IRQHandler(void)
{
    GETDAT_T send_data;
    static uint8_t timestamp;
    float omega[3];
    float acc[3];
    float mag[3];
    float temp;
    //static uint32_t time;

    LPC_TMR32B1->IR=0x08; //clear interrupt flag


    //myPrintfUSB("time:%d\n",time);

    time_count_start();

    //送信データ格納用変数のヘッダ
    send_data.num  = 28;
    send_data.d[0] = 0xff;
    send_data.d[1] = 0xff;
    send_data.d[2] = 0x52;
    send_data.d[3] = 0x54;
    send_data.d[4] = 0x39;
    send_data.d[5] = 0x41;
    send_data.d[6] = 0x10;  // 2016　version
    send_data.d[7] = timestamp;

    if(timestamp == 0xff) timestamp = 0;
    else timestamp++;

    //9軸センサのデータの更新
    updateMPU9250Data();
    updateAK8963Data();

    //9軸センサの観測値を送信用配列に格納
    getDataFromMPU9250( (uint8_t *)(&send_data.d[8]) );
    getDataFromAK8963( (uint8_t *)(&send_data.d[22]) );

    //100Hzの周期でデータを送る
    getOmega(&omega[0]);
    getMag(&mag[0]);
    getAcc(&acc[0]);
    getTemp(&temp);


    if(flag_send_data_enable == 1 )
    {

        //UART経由でデータを送信
        switch(output_mode){
            case OUTPUT_MODE_57600_BINARY_9AXIS:
                LPC_UART->IER = IER_THRE | IER_RLS;             // Disable RBR
                UARTSend(&send_data.d[0], send_data.num);
                LPC_UART->IER = IER_THRE | IER_RLS | IER_RBR;   // Re-enable RBR
                break;
            case OUTPUT_MODE_USB_ASCII_9AXIS:

                break;
        }

    }

    if(isUSBConfig() == 1 && flag_send_data_enable == 1 ) //USB接続確立時
    {
        switch(output_mode){
            case OUTPUT_MODE_57600_BINARY_9AXIS:
                //USB経由でデータを送信
                VCOM_SendData(send_data);
                break;
            case OUTPUT_MODE_USB_ASCII_9AXIS:

                myPrintfUSB("%d,%f,%f,%f,",timestamp,omega[0],omega[1],omega[2]);
                myPrintfUSB("%f,%f,%f,", acc[0],acc[1],acc[2]);
                myPrintfUSB("%f,%f,%f,%f\n",mag[0],mag[1],mag[2],temp);


                break;
        }
    }
    //time = time_count_end();

}

/******************************************************************************
**                            End Of File
******************************************************************************/