accelerometer.c

加速度信息采集程序.主要是通过界面显示物体移动的信息采集。

  BUZZER_INIT_MACRO
  BUZZER = BUZZER_ON;
  #endif
  
  LED1 = LED_ON;    /* Turn LEDs ON */
  LED2 = LED_ON;    /* Turn LEDs ON */
  LED3 = LED_ON;    /* Turn LEDs ON */
  LED4 = LED_ON;    /* Turn LEDs ON */
  
  

  PB0PU = 1;     /* Pushbutton directions and pull-ups */
  PB0DIR = 0;
  PB1PU = 1;
  PB1DIR = 0;
  PB2PU = 1;
  PB2DIR = 0;
  PB3PU = 1;
  PB3DIR = 0;
  //KBI1PE = 0x0C; /* Enable Pins 2-3 */
  KBI1SC = 0x02; /* Turn On Interrupts */

    /* Initialize the packet. */
  gsTxPacket.u8DataLength = 0;    /* Initialize the gsTxPacket global */
  gsTxPacket.pu8Data = &gau8TxDataBuffer[0]; /* Set the pointer to point to the tx_buffer */

  gsRxPacket.u8MaxDataLength = 0;
  gsRxPacket.pu8Data = &gau8RxDataBuffer[0];
  gsRxPacket.u8MaxDataLength = 16;    /* Arbitrary, bigger than xXyYzZ format. */
  gsRxPacket.u8Status = 0;                /* initialize status to 0. */
  
  sCalValues.NxOff = sCalDefaultValues->NxOff;
  sCalValues.NxMax = sCalDefaultValues->NxMax;
  sCalValues.NyOff = sCalDefaultValues->NyOff;
  sCalValues.NyMax = sCalDefaultValues->NyMax;
  sCalValues.NzOff = sCalDefaultValues->NzOff;
  sCalValues.NzMax = sCalDefaultValues->NzMax;
  
  #if BUZZER_ENABLED==TRUE
  BUZZER = BUZZER_OFF;
  #endif

  /* OTAP entry */
  #if SMAC_FEATURE_OTAP == TRUE
  if (PB0 == 0){
    KBI1SC = 0x00; /* Turn On Interrupts */
    OTAPActivate();
  }
  #endif // SMAC_FEATURE_OTAP == TRUE
    
  LED1 = LED_OFF;    /* Turn LEDs OFF */
  LED2 = LED_OFF;    /* Turn LEDs OFF */
  LED3 = LED_OFF;    /* Turn LEDs OFF */
  LED4 = LED_OFF;    /* Turn LEDs OFF */
  
  
  /* Setup the S08 modes */
  #if defined (HCS08Q)
    RTCSC=RTCSC&~0x08; /* Disable wake up timer. */
    
    SPMSC2=SPMSC2&~0x03; /* Enable deep sleep mode stop3. */  
  #else
    SRTISC=SRTISC&~0x07; /* Disable wake up timer. */
    
    SPMSC2=SPMSC2&~0x03; /* Enable deep sleep mode stop3. */  
  #endif

  
  /* Setup Timer 1 */
  TPM1MOD = 625; /* Set the timer for a 26ms timer rate (1/8E6) * 128 * 625 = 10msec */
                 /* Timer rate = (1/BUSCLOCK) * TIMER_PRESCALER * TIMER MOD */
  TPM1SC = 0x4F; /* Timer divide by 128. (16uS timebase for 8MHz bus clock). interrupt on*/
  
  /* Blink the Leds twice and sound buzzer twice */
  #if BUZZER_ENABLED==TRUE
  BUZZER = BUZZER_ON;
  #endif
  setLed(0xF, 20);
  #if BUZZER_ENABLED==TRUE
  BUZZER = BUZZER_OFF;
  #endif
  setLed(0x0, 20);
  #if BUZZER_ENABLED==TRUE
  BUZZER = BUZZER_ON;
  #endif
  setLed(0xF, 20);
  #if BUZZER_ENABLED==TRUE
  BUZZER = BUZZER_OFF;
  #endif
  setLed(0x0, 20);
}

/**************************************************************
*    Function:     delay
*    Parameters: 16-bit delay value
*    Return:        none
*
*    Simple delay loop.
**************************************************************/
 
void delay(INT16 count) 
{
    UINT16 u16Match;
    
    u16Match = gu16msTimer + count;
    while (gu16msTimer != u16Match);
}


UINT8 compareADCReading(UINT8 u8LastReading, UINT8 u8CurrentReading, UINT8 threshold) {
   
   UINT8 u8MaxReading = 255 - threshold;
   UINT8 u8MinReading = threshold;
   UINT8 u8Upper, u8Lower;
   
   /* check for the boundary conditions of 0 and 255 */
   if (u8CurrentReading < u8MinReading)
      return FALSE;
   
   if (u8CurrentReading > u8MaxReading)
      return FALSE;
   
   u8Upper = u8LastReading + threshold;
   u8Lower = u8LastReading - threshold;
   
   if (u8CurrentReading > u8Upper )
      return TRUE;
   
   if (u8CurrentReading < u8Lower )
      return TRUE;
   
   return FALSE;
   
}

UINT8 gu8timerEvent = 0;
#if defined (HCS08Q)
  #pragma CODE_SEG __NEAR_SEG NON_BANKED
  __interrupt void IRQTimer1(void) {

     

     gu16msTimer++;
     if (gu16timerEvent[0] != 0) {
        if(gu16timerEvent[0] == gu16msTimer) {
           gu16Events |= TIMER_EVENT0;
           gu16timerEvent[0] = 0; /* Turn off the timer0 */
        }
     }
     
     if (gu16timerEvent[1] != 0) {
        if(gu16timerEvent[1] == gu16msTimer) {
           gu16Events |= TIMER_EVENT1;
           gu16timerEvent[1] = 0; /* Turn off the timer1 */
        }
     }   
     
     TPM1SC &= ~0x80;  /* clear the interrupt */
     
  }
  #pragma CODE_SEG DEFAULT 
#else
  interrupt void IRQTimer1(void) {

     

     gu16msTimer++;
     if (gu16timerEvent[0] != 0) {
        if(gu16timerEvent[0] == gu16msTimer) {
           gu16Events |= TIMER_EVENT0;
           gu16timerEvent[0] = 0; /* Turn off the timer0 */
        }
     }
     
     if (gu16timerEvent[1] != 0) {
        if(gu16timerEvent[1] == gu16msTimer) {
           gu16Events |= TIMER_EVENT1;
           gu16timerEvent[1] = 0; /* Turn off the timer1 */
        }
     }   
     
     TPM1SC &= ~0x80;  /* clear the interrupt */
     
  }
#endif


/**************************************************************
*    Function:     doAccelMeasurement
*    Parameters: UINT8 axis
*    Return:     none
*
*    Performs x,y,z measurements compensated
**************************************************************/
#pragma MESSAGE DISABLE C5703

void doAccelMeasurement(INT8 axis) 
{
    
   #if ACCEL_ENABLED==TRUE
   INT16 i16i;
   if (axis & X_AXIS) {
          ACCEL_START_X
          while((ATD1SC & 0x80) != 0x80);
          gau8TxDataBuffer[1] = ATD1RH;
          i16i = gau8TxDataBuffer[1] + (128 - sCalValues.NxOff);
          if (i16i > 220) i16i = 220;
          if (i16i < 33) i16i = 33;
          gau8TxDataBuffer[1] = (UINT8) i16i;
          return;
   }
   
   if (axis & Y_AXIS) {
          ACCEL_START_Y
          while((ATD1SC & 0x80) != 0x80);
          gau8TxDataBuffer[1] = ATD1RH;
          i16i = gau8TxDataBuffer[1] + (128 - sCalValues.NyOff);
          if (i16i > 220) i16i = 220;
          if (i16i < 33) i16i = 33;
          gau8TxDataBuffer[1] = (UINT8) i16i;
          return;
   }
   
   if (axis & Z_AXIS) {
          ACCEL_START_Z
          while((ATD1SC & 0x80) != 0x80);
          gau8TxDataBuffer[1] = ATD1RH;
          i16i = gau8TxDataBuffer[1] + (128 - sCalValues.NzOff);
          if (i16i > 220) i16i = 220;
          if (i16i < 33) i16i = 33;
          gau8TxDataBuffer[1] = (UINT8) i16i;
          return;
   }  
   #endif
}

/**************************************************************
*    Function:     doAccelMeasurementNoCompensation
*    Parameters: UINT8 axis
*    Return:     none
*
*    Performs x,y,z measurements with no compensation
*    (returns the actual ATD reading)
**************************************************************/


void doAccelMeasurementNoCompensation(INT8 axis) 
{
   #if ACCEL_ENABLED==TRUE 
   if (axis & X_AXIS) {
          ACCEL_START_X
          while((ATD1SC & 0x80) != 0x80);
          gau8TxDataBuffer[1] = ATD1RH;
          return;
   }
   
   if (axis & Y_AXIS) {
          ACCEL_START_Y
          while((ATD1SC & 0x80) != 0x80);
          gau8TxDataBuffer[1] = ATD1RH;
          return;
   }
   
   if (axis & Z_AXIS) {
          ACCEL_START_Z
          while((ATD1SC & 0x80) != 0x80);
          gau8TxDataBuffer[1] = ATD1RH;
          return;
   } 
   #endif 
}

/**************************************************************
*    Function:     doAccelMeasurement
*    Parameters: UINT8 axis
*    Return:     none
*
*    Performs x,y,z measurements
**************************************************************/


void calibration_app(void) {
  INT16 X=0, Y=0, Z=0;
  UINT8 i;
  UINT8 temp;
  #pragma MESSAGE DISABLE C1805

/* Get the data */
  for (i = 0; i < 8; i++){
    doAccelMeasurementNoCompensation(X_AXIS);
    X += (UINT16) gau8TxDataBuffer[1];
    doAccelMeasurementNoCompensation(Y_AXIS);
    Y += (UINT16) gau8TxDataBuffer[1];
    doAccelMeasurementNoCompensation(Z_AXIS);
    Z += (UINT16) gau8TxDataBuffer[1];
    delay(10);
  }
  X >>= 3;
  Y >>= 3;
  Z >>= 3;
/* Calculate the calibration values */
  sCalValues.NxMax = (UINT8) Z;
  sCalValues.NyMax = (UINT8) Z;
  sCalValues.NzMax = (UINT8) Z;
  sCalValues.NxOff = (UINT8) X;
  sCalValues.NyOff = (UINT8) Y;
  sCalValues.NzOff = (UINT8)((INT16)(Z - 189) + 128);
  
  asm nop;
  DisableInterrupts;
  FCDIV = 39;

  FSTAT = 0x80;                        //Put FCBEF at 1.
  Page_Erase(0xC200);
  if(temp==0xFF){
  asm nop;
  }


  temp = Program_Byte(0xC202,sCalValues.NxOff);
  if(temp==0xFF){
  asm nop;
  }
  temp = Program_Byte(0xC203,sCalValues.NxMax);
  if(temp==0xFF){
  asm nop;
  }
  temp = Program_Byte(0xC204,sCalValues.NyOff);
  if(temp==0xFF){
  asm nop;
  }
  temp = Program_Byte(0xC205,sCalValues.NyMax);
  if(temp==0xFF){
  asm nop;
  }
  temp = Program_Byte(0xC206,sCalValues.NzOff);
  if(temp==0xFF){
  asm nop;
  }
  temp = Program_Byte(0xC207,sCalValues.NzMax);
  if(temp==0xFF){
  asm nop;
  }

  asm nop;
}