--- /dev/null
+*.bin
+*.elf
+*.o
+*~
+config.mk
--- /dev/null
+# Settings
+GDB ?= arm-none-eabi-gdb
+GAS ?= arm-none-eabi-as
+GCC ?= arm-none-eabi-gcc
+GXX ?= arm-none-eabi-g++
+GLD ?= arm-none-eabi-gcc
+OBJCOPY ?= arm-none-eabi-objcopy
+
+CFLAGS ?= -Wall -Os -g --std=gnu99
+CXXFLAGS ?= -Wall -Os -g --std=gnu++98
+
+# Cross compiler flags
+CPPFLAGS += -I$(MBED) -I$(MBED)/TARGET_KL46Z
+
+CFLAGS += -mthumb -mcpu=cortex-m0plus
+CXXFLAGS += -mthumb -mcpu=cortex-m0plus -fno-exceptions
+
+LDFLAGS += --specs=nano.specs -Wl,--gc-sections \
+ -T$(MBED)/TARGET_KL46Z/TOOLCHAIN_GCC_ARM/MKL46Z4.ld \
+ -L$(MBED)/TARGET_KL46Z/TOOLCHAIN_GCC_ARM \
+ -Wl,--start-group -lmbed -lstartup -lio -lc_s -Wl,--end-group
+
+# Targets
+all: $(PROG).bin
+
+info: all
+ @echo "LS $(PROG).bin $(PROG).elf"
+ @ls -lh $(PROG).bin $(PROG).elf
+
+install: all
+ @echo "INST $(PROG).bin"
+ @if [ -b /dev/sdb ]; then \
+ mount /mnt/usb; \
+ cp $(PROG).bin /mnt/usb; \
+ umount /mnt/usb; \
+ else \
+ echo Error: No USB found; \
+ fi
+
+gdb: all
+ $(GDB) -ex 'target remote localhost:3333' $(PROG).elf
+
+openocd: all
+ openocd -c 'adapter_khz 5000' \
+ -c 'gdb_memory_map disable' \
+ -s /usr/share/openocd/scripts \
+ -f board/frdm-kl46z.cfg
+
+clean:
+ @echo "RM $(PROG).bin $(PROG).elf $(OBJS)"
+ @rm -f $(PROG).bin $(PROG).elf $(OBJS)
+
+# Rules
+%.o: %.c makefile ../common.mk ../config.mk
+ @echo "CC $<"
+ @$(GCC) $(CFLAGS) $(CPPFLAGS) -c -o $@ $<
+
+%.o: %.cc makefile ../common.mk ../config.mk
+ @echo "CXX $<"
+ @$(GXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
+
+$(PROG).elf: $(OBJS)
+ @echo "LD $+"
+ @$(GLD) $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
+$(PROG).bin: $(PROG).elf
+ @echo "BIN $+"
+ @$(OBJCOPY) -O binary $< $@
--- /dev/null
+PATH := $(PATH):/home/andy/class/csm213a/arm/bin
+MBED := /home/andy/class/csm213a/mbed/build/mbed
--- /dev/null
+/* Copyright (c) 2010-2011 mbed.org, MIT License
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "acc.h"
+
+#define REG_WHO_AM_I 0x0D
+#define REG_CTRL_REG_1 0x2A
+#define REG_OUT_X_MSB 0x01
+#define REG_OUT_Y_MSB 0x03
+#define REG_OUT_Z_MSB 0x05
+
+#define UINT14_MAX 16383
+
+MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+ // activate the peripheral
+ uint8_t data[2] = {REG_CTRL_REG_1, 0x01};
+ writeRegs(data, 2);
+}
+
+MMA8451Q::~MMA8451Q() { }
+
+uint8_t MMA8451Q::getWhoAmI() {
+ uint8_t who_am_i = 0;
+ readRegs(REG_WHO_AM_I, &who_am_i, 1);
+ return who_am_i;
+}
+
+int16_t MMA8451Q::getAccX() {
+ return getAccAxis(REG_OUT_X_MSB);
+}
+
+int16_t MMA8451Q::getAccY() {
+ return getAccAxis(REG_OUT_Y_MSB);
+}
+
+int16_t MMA8451Q::getAccZ() {
+ return getAccAxis(REG_OUT_Z_MSB);
+}
+
+void MMA8451Q::getAccAllAxis(int16_t * res) {
+ res[0] = getAccX();
+ res[1] = getAccY();
+ res[2] = getAccZ();
+}
+
+int16_t MMA8451Q::getAccAxis(uint8_t addr) {
+ int16_t acc;
+ uint8_t res[2];
+ readRegs(addr, res, 2);
+
+ acc = (res[0] << 6) | (res[1] >> 2);
+ if (acc > UINT14_MAX/2)
+ acc -= UINT14_MAX;
+
+ return acc;
+}
+
+void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
+ char t[1] = {(char)addr};
+ m_i2c.write(m_addr, t, 1, true);
+ m_i2c.read(m_addr, (char *)data, len);
+}
+
+void MMA8451Q::writeRegs(uint8_t * data, int len) {
+ m_i2c.write(m_addr, (char *)data, len);
+}
--- /dev/null
+/* Copyright (c) 2010-2011 mbed.org, MIT License
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef MMA8451Q_H
+#define MMA8451Q_H
+
+#include "mbed.h"
+
+/**
+* MMA8451Q accelerometer example
+* #include "mbed.h"
+* #include "MMA8451Q.h"
+*
+* #define MMA8451_I2C_ADDRESS (0x1d<<1)
+*
+* int main(void) {
+* DigitalOut led(LED_GREEN);
+* MMA8451Q acc(P_E25, P_E24, MMA8451_I2C_ADDRESS);
+* printf("WHO AM I: 0x%2X\r\n", acc.getWhoAmI());
+*
+* while (true) {
+* printf("-----------\r\n");
+* printf("acc_x: %d\r\n", acc.getAccX());
+* printf("acc_y: %d\r\n", acc.getAccY());
+* printf("acc_z: %d\r\n", acc.getAccZ());
+*
+* wait(1);
+* led = !led;
+* }
+* }
+*/
+class MMA8451Q
+{
+public:
+ /**
+ * MMA8451Q constructor
+ *
+ * @param sda SDA pin
+ * @param sdl SCL pin
+ * @param addr addr of the I2C peripheral
+ */
+ MMA8451Q(PinName sda, PinName scl, int addr);
+
+ /**
+ * MMA8451Q destructor
+ */
+ ~MMA8451Q();
+
+ /**
+ * Get the value of the WHO_AM_I register
+ *
+ * @returns WHO_AM_I value
+ */
+ uint8_t getWhoAmI();
+
+ /**
+ * Get X axis acceleration
+ *
+ * @returns X axis acceleration
+ */
+ int16_t getAccX();
+
+ /**
+ * Get Y axis acceleration
+ *
+ * @returns Y axis acceleration
+ */
+ int16_t getAccY();
+
+ /**
+ * Get Z axis acceleration
+ *
+ * @returns Z axis acceleration
+ */
+ int16_t getAccZ();
+
+ /**
+ * Get XYZ axis acceleration
+ *
+ * @param res array where acceleration data will be stored
+ */
+ void getAccAllAxis(int16_t * res);
+
+private:
+ I2C m_i2c;
+ int m_addr;
+ void readRegs(int addr, uint8_t * data, int len);
+ void writeRegs(uint8_t * data, int len);
+ int16_t getAccAxis(uint8_t addr);
+
+};
+
+#endif
--- /dev/null
+#include "mbed.h"
+#include "mag.h"
+
+/******************************************************************************
+ * Constructors
+ ******************************************************************************/
+MAG3110::MAG3110(PinName sda, PinName scl, int addr): _i2c(sda, scl),
+ _i2c_address(addr), _pc(NULL), _debug(false)
+{
+ begin();
+}
+
+MAG3110::MAG3110(PinName sda, PinName scl, int addr, Serial *pc): _i2c(sda, scl),
+ _i2c_address(addr), _pc(pc), _debug(true)
+{
+ begin();
+}
+
+void MAG3110::begin()
+{
+ char cmd[2];
+
+ cmd[0] = MAG_CTRL_REG2;
+ cmd[1] = 0x80;
+ _i2c.write(_i2c_address, cmd, 2);
+
+ cmd[0] = MAG_CTRL_REG1;
+ cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE;
+ _i2c.write(_i2c_address, cmd, 2);
+
+ // No adjustment initially
+ _avgX = 0;
+ _avgY = 0;
+}
+
+// Read a single byte form 8 bit register, return as int
+int MAG3110::readReg(char regAddr)
+{
+ char cmd[1];
+
+ cmd[0] = regAddr;
+ _i2c.write(_i2c_address, cmd, 1);
+
+ cmd[0] = 0x00;
+ _i2c.read(_i2c_address, cmd, 1);
+ return (int)( cmd[0]);
+}
+
+
+// read a register per, pass first reg value, reading 2 bytes increments register
+// Reads MSB first then LSB
+int MAG3110::readVal(char regAddr)
+{
+ char cmd[2];
+
+ cmd[0] = regAddr;
+ _i2c.write(_i2c_address, cmd, 1);
+
+ cmd[0] = 0x00;
+ cmd[1] = 0x00;
+ _i2c.read(_i2c_address, cmd, 2);
+ return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
+}
+
+
+float MAG3110::getHeading()
+{
+ int xVal = readVal(MAG_OUT_X_MSB);
+ int yVal = readVal(MAG_OUT_Y_MSB);
+ return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI;
+}
+
+void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
+{
+ *xVal = readVal(MAG_OUT_X_MSB);
+ *yVal = readVal(MAG_OUT_Y_MSB);
+ *zVal = readVal(MAG_OUT_Z_MSB);
+}
+
+int16_t MAG3110::getMagX()
+{
+ return readVal(MAG_OUT_X_MSB);
+}
+
+int16_t MAG3110::getMagY()
+{
+ return readVal(MAG_OUT_Y_MSB);
+}
+
+int16_t MAG3110::getMagZ()
+{
+ return readVal(MAG_OUT_Z_MSB);
+}
+
+void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY )
+{
+ _avgX=(maxX+minX)/2;
+ _avgY=(maxY+minY)/2;
+}
+
+
+
+
+
--- /dev/null
+/*
+ * MAG3110 Sensor Library for mbed
+ * TODO: Add proper header
+ */
+
+#ifndef MAG3110_H
+#define MAG3110_H
+
+#include "mbed.h"
+
+#define PI 3.14159265359
+
+// define registers
+#define MAG_DR_STATUS 0x00
+#define MAG_OUT_X_MSB 0x01
+#define MAG_OUT_X_LSB 0x02
+#define MAG_OUT_Y_MSB 0x03
+#define MAG_OUT_Y_LSB 0x04
+#define MAG_OUT_Z_MSB 0x05
+#define MAG_OUT_Z_LSB 0x06
+#define MAG_WHO_AM_I 0x07
+#define MAG_SYSMOD 0x08
+#define MAG_OFF_X_MSB 0x09
+#define MAG_OFF_X_LSB 0x0A
+#define MAG_OFF_Y_MSB 0x0B
+#define MAG_OFF_Y_LSB 0x0C
+#define MAG_OFF_Z_MSB 0x0D
+#define MAG_OFF_Z_LSB 0x0E
+#define MAG_DIE_TEMP 0x0F
+#define MAG_CTRL_REG1 0x10
+#define MAG_CTRL_REG2 0x11
+
+// what should WHO_AM_I return?
+#define MAG_3110_WHO_AM_I_VALUE 0xC4
+
+
+// Fields in registers
+// CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
+
+// Sampling rate from 80Hz down to 0.625Hz
+#define MAG_3110_SAMPLE80 0
+#define MAG_3110_SAMPLE40 0x20
+#define MAG_3110_SAMPLE20 0x40
+#define MAG_3110_SAMPLE10 0x60
+#define MAG_3110_SAMPLE5 0x80
+#define MAG_3110_SAMPLE2_5 0xA0
+#define MAG_3110_SAMPLE1_25 0xC0
+#define MAG_3110_SAMPLE0_625 0xE0
+
+// How many samples to average (lowers data rate)
+#define MAG_3110_OVERSAMPLE1 0
+#define MAG_3110_OVERSAMPLE2 0x08
+#define MAG_3110_OVERSAMPLE3 0x10
+#define MAG_3110_OVERSAMPLE4 0x18
+
+// read only 1 byte per axis
+#define MAG_3110_FASTREAD 0x04
+// do one measurement (even if in standby mode)
+#define MAG_3110_TRIGGER 0x02
+// put in active mode
+#define MAG_3110_ACTIVE 0x01
+
+// CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
+// reset sensor after each reading
+#define MAG_3110_AUTO_MRST_EN 0x80
+// don't subtract user offsets
+#define MAG_3110_RAW 0x20
+// reset magnetic sensor after too-large field
+#define MAG_3110_MAG_RST 0x10
+
+// DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
+#define MAG_3110_ZYXDR 0x08
+
+/**
+ * MAG3110 Class to read X/Y/Z data from the magentometer
+ *
+ */
+class MAG3110
+{
+public:
+ /**
+ * Main constructor
+ * @param sda SDA pin
+ * @param sdl SCL pin
+ * @param addr addr of the I2C peripheral
+ */
+ MAG3110(PinName sda, PinName scl, int addr);
+ /**
+ * Debug version of constructor
+ * @param sda SDA pin
+ * @param sdl SCL pin
+ * @param addr Address of the I2C peripheral
+ * @param pc Serial object to output debug messages
+ */
+ MAG3110(PinName sda, PinName scl, int addr, Serial *pc); //pass serial for debug
+ /**
+ * Setup the Magnetometer
+ *
+ */
+ void begin();
+ /**
+ * Read a register, return its value as int
+ * @param regAddr The address to read
+ * @return value in register
+ */
+ int readReg(char regAddr);
+ /**
+ * Read a value from a pair of registers, return as int
+ * @param regAddr The address to read
+ * @return Value from 2 consecutive registers
+ */
+ int readVal(char regAddr);
+ /**
+ * Calculate the heading
+ * @return heading in degrees
+ */
+ float getHeading();
+ /**
+ * Perform a read on the X, Y and Z values.
+ * @param xVal Pointer to X value
+ * @param yVal Pointer to Y value
+ * @param zVal Pointer to Z value
+ */
+ void getValues(int *xVal, int *yVal, int *zVal);
+ /**
+ * Set the calibration parameters if required.
+ * @param minX Minimum value for X range
+ * @param maxX Maximum value for X range
+ * @param minY Minimum value for Y range
+ * @param maxY maximum value for Y range
+ */
+ void setCalibration(int minX, int maxX, int minY, int maxY);
+ /**
+ * Get X axis magnetism
+ *
+ * @returns X axis magnetism
+ */
+ int16_t getMagX();
+ /**
+ * Get Y axis magnetism
+ *
+ * @returns Y axis magnetism
+ */
+ int16_t getMagY();
+ /**
+ * Get Z axis magnetism
+ *
+ * @returns Z axis magnetism
+ */
+ int16_t getMagZ();
+
+private:
+ I2C _i2c;
+ int _i2c_address;
+ Serial *_pc;
+ bool _debug;
+ int _avgX, _avgY;
+
+};
+#endif
--- /dev/null
+PROG = mbed
+OBJS = mbed.o tsi.o acc.o mag.o
+
+LDFLAGS = -lm
+
+default: info install
+
+-include ../config.mk
+-include ../common.mk
--- /dev/null
+#include "mbed.h"
+#include "tsi.h"
+#include "acc.h"
+#include "mag.h"
+
+/* Sensors:
+ * accel [x,y,z]
+ * compas
+ * light
+ * slider
+ * a2d[6]
+ */
+
+#define ACC_ADDR (0x1D<<1)
+#define MAG_ADDR (0x1D) // FIXME
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+MMA8451Q acc(PTE25, PTE24, ACC_ADDR);
+MAG3110 mag(PTE25, PTE24, MAG_ADDR);
+TSISensor tsi;
+
+static int state = 0;
+
+int main(int argc, char **argv)
+{
+ printf("Starting...\r\n");
+ while (1) {
+ int chr = getchar();
+ putchar(chr);
+
+ printf("tsi: [%d]\r\n",
+ tsi.readDistance());
+ printf("acc: [%d,%d,%d]\r\n",
+ acc.getAccX(),
+ acc.getAccY(),
+ acc.getAccZ());
+ printf("mag: [%d,%d,%d]\r\n",
+ mag.getMagX(),
+ mag.getMagY(),
+ mag.getMagZ());
+
+ led2 = state;
+ state ^= 1;
+ }
+ return 0;
+}
--- /dev/null
+/* Freescale Semiconductor Inc.
+ * (c) Copyright 2004-2005 Freescale Semiconductor, Inc.
+ * (c) Copyright 2001-2004 Motorola, Inc.
+ *
+ * mbed Microcontroller Library
+ * (c) Copyright 2009-2012 ARM Limited.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "tsi.h"
+
+#define NO_TOUCH 0
+#define SLIDER_LENGTH 40 //LENGTH in mm
+#define TOTAL_ELECTRODE 2
+
+#define TSI0a 0
+#define TSI1 1
+#define TSI2 2
+#define TSI3 3
+#define TSI4 4
+#define TSI5 5
+#define TSI6 6
+#define TSI7 7
+#define TSI8 8
+#define TSI9 9
+#define TSI10 10
+#define TSI11 11
+#define TSI12 12
+#define TSI13 13
+#define TSI14 14
+#define TSI15 15
+
+/*Chose the correct TSI channel for the electrode number*/
+#define ELECTRODE0 TSI9
+#define ELECTRODE1 TSI10
+#define ELECTRODE2 TSI0a
+#define ELECTRODE3 TSI1
+#define ELECTRODE4 TSI2
+#define ELECTRODE5 TSI3
+#define ELECTRODE6 TSI4
+#define ELECTRODE7 TSI5
+#define ELECTRODE8 TSI6
+#define ELECTRODE9 TSI7
+#define ELECTRODE10 TSI8
+#define ELECTRODE11 TSI11
+#define ELECTRODE12 TSI12
+#define ELECTRODE13 TSI13
+#define ELECTRODE14 TSI14
+#define ELECTRODE15 TSI15
+
+#define THRESHOLD0 100
+#define THRESHOLD1 100
+#define THRESHOLD2 100
+#define THRESHOLD3 100
+#define THRESHOLD4 100
+#define THRESHOLD5 100
+#define THRESHOLD6 100
+#define THRESHOLD7 100
+#define THRESHOLD8 100
+#define THRESHOLD9 100
+#define THRESHOLD10 100
+#define THRESHOLD11 100
+#define THRESHOLD12 100
+#define THRESHOLD13 100
+#define THRESHOLD14 100
+#define THRESHOLD15 100
+
+static uint8_t total_electrode = TOTAL_ELECTRODE;
+static uint8_t elec_array[16]={ELECTRODE0,ELECTRODE1,ELECTRODE2,ELECTRODE3,ELECTRODE4,ELECTRODE5,
+ ELECTRODE6,ELECTRODE7,ELECTRODE8,ELECTRODE9,ELECTRODE10,ELECTRODE11,
+ ELECTRODE12,ELECTRODE13,ELECTRODE14,ELECTRODE15};
+static uint16_t gu16TSICount[16];
+static uint16_t gu16Baseline[16];
+static uint16_t gu16Threshold[16]={THRESHOLD0,THRESHOLD1,THRESHOLD2,THRESHOLD3,THRESHOLD4,THRESHOLD5,
+ THRESHOLD6,THRESHOLD7,THRESHOLD8,THRESHOLD9,THRESHOLD10,THRESHOLD11,
+ THRESHOLD12,THRESHOLD13,THRESHOLD14,THRESHOLD15};
+static uint16_t gu16Delta[16];
+static uint8_t ongoing_elec;
+static uint8_t end_flag = 1;
+
+static uint8_t SliderPercentegePosition[2] = {NO_TOUCH,NO_TOUCH};
+static uint8_t SliderDistancePosition[2] = {NO_TOUCH,NO_TOUCH};
+static uint32_t AbsolutePercentegePosition = NO_TOUCH;
+static uint32_t AbsoluteDistancePosition = NO_TOUCH;
+
+static void tsi_irq();
+
+TSISensor::TSISensor() {
+ SIM->SCGC5 |= SIM_SCGC5_PORTB_MASK;
+ SIM->SCGC5 |= SIM_SCGC5_TSI_MASK;
+
+ TSI0->GENCS |= (TSI_GENCS_ESOR_MASK
+ | TSI_GENCS_MODE(0)
+ | TSI_GENCS_REFCHRG(4)
+ | TSI_GENCS_DVOLT(0)
+ | TSI_GENCS_EXTCHRG(7)
+ | TSI_GENCS_PS(4)
+ | TSI_GENCS_NSCN(11)
+ | TSI_GENCS_TSIIEN_MASK
+ | TSI_GENCS_STPE_MASK
+ );
+
+ TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;
+
+ NVIC_SetVector(TSI0_IRQn, (uint32_t)&tsi_irq);
+ NVIC_EnableIRQ(TSI0_IRQn);
+
+ selfCalibration();
+}
+
+
+void TSISensor::selfCalibration(void)
+{
+ unsigned char cnt;
+ unsigned char trigger_backup;
+
+ TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
+ TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
+
+ if(TSI0->GENCS & TSI_GENCS_STM_MASK) // Back-up TSI Trigger mode from Application
+ trigger_backup = 1;
+ else
+ trigger_backup = 0;
+
+ TSI0->GENCS &= ~TSI_GENCS_STM_MASK; // Use SW trigger
+ TSI0->GENCS &= ~TSI_GENCS_TSIIEN_MASK; // Enable TSI interrupts
+
+ TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
+
+ for(cnt=0; cnt < total_electrode; cnt++) // Get Counts when Electrode not pressed
+ {
+ TSI0->DATA = ((elec_array[cnt] << TSI_DATA_TSICH_SHIFT) );
+ TSI0->DATA |= TSI_DATA_SWTS_MASK;
+ while(!(TSI0->GENCS & TSI_GENCS_EOSF_MASK));
+ TSI0->GENCS |= TSI_GENCS_EOSF_MASK;
+ gu16Baseline[cnt] = (TSI0->DATA & TSI_DATA_TSICNT_MASK);
+ }
+
+ TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
+ TSI0->GENCS |= TSI_GENCS_TSIIEN_MASK; // Enale TSI interrupt
+ if(trigger_backup) // Restore trigger mode
+ TSI0->GENCS |= TSI_GENCS_STM_MASK;
+ else
+ TSI0->GENCS &= ~TSI_GENCS_STM_MASK;
+
+ TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
+
+ TSI0->DATA = ((elec_array[0]<<TSI_DATA_TSICH_SHIFT) );
+ TSI0->DATA |= TSI_DATA_SWTS_MASK;
+}
+
+
+void TSISensor::sliderRead(void ) {
+ if(end_flag) {
+ end_flag = 0;
+ if((gu16Delta[0] > gu16Threshold[0])||(gu16Delta[1] > gu16Threshold[1])) {
+ SliderPercentegePosition[0] = (gu16Delta[0]*100)/(gu16Delta[0]+gu16Delta[1]);
+ SliderPercentegePosition[1] = (gu16Delta[1]*100)/(gu16Delta[0]+gu16Delta[1]);
+ SliderDistancePosition[0] = (SliderPercentegePosition[0]* SLIDER_LENGTH)/100;
+ SliderDistancePosition[1] = (SliderPercentegePosition[1]* SLIDER_LENGTH)/100;
+ AbsolutePercentegePosition = ((100 - SliderPercentegePosition[0]) + SliderPercentegePosition[1])/2;
+ AbsoluteDistancePosition = ((SLIDER_LENGTH - SliderDistancePosition[0]) + SliderDistancePosition[1])/2;
+ } else {
+ SliderPercentegePosition[0] = NO_TOUCH;
+ SliderPercentegePosition[1] = NO_TOUCH;
+ SliderDistancePosition[0] = NO_TOUCH;
+ SliderDistancePosition[1] = NO_TOUCH;
+ AbsolutePercentegePosition = NO_TOUCH;
+ AbsoluteDistancePosition = NO_TOUCH;
+ }
+ }
+}
+
+float TSISensor::readPercentage() {
+ sliderRead();
+ return (float)AbsolutePercentegePosition/100.0;
+}
+
+uint8_t TSISensor::readDistance() {
+ sliderRead();
+ return AbsoluteDistancePosition;
+}
+
+
+static void changeElectrode(void)
+{
+ int16_t u16temp_delta;
+
+ gu16TSICount[ongoing_elec] = (TSI0->DATA & TSI_DATA_TSICNT_MASK); // Save Counts for current electrode
+ u16temp_delta = gu16TSICount[ongoing_elec] - gu16Baseline[ongoing_elec]; // Obtains Counts Delta from callibration reference
+ if(u16temp_delta < 0)
+ gu16Delta[ongoing_elec] = 0;
+ else
+ gu16Delta[ongoing_elec] = u16temp_delta;
+
+ //Change Electrode to Scan
+ if(total_electrode > 1)
+ {
+ if((total_electrode-1) > ongoing_elec)
+ ongoing_elec++;
+ else
+ ongoing_elec = 0;
+
+ TSI0->DATA = ((elec_array[ongoing_elec]<<TSI_DATA_TSICH_SHIFT) );
+ TSI0->DATA |= TSI_DATA_SWTS_MASK;
+ }
+}
+
+
+void tsi_irq(void)
+{
+ end_flag = 1;
+ TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
+ changeElectrode();
+}
+
--- /dev/null
+/* Freescale Semiconductor Inc.
+ * (c) Copyright 2004-2005 Freescale Semiconductor, Inc.
+ * (c) Copyright 2001-2004 Motorola, Inc.
+ *
+ * mbed Microcontroller Library
+ * (c) Copyright 2009-2012 ARM Limited.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef TSISENSOR_H
+#define TSISENSOR_H
+
+/**
+* TSISensor example
+*
+* @code
+* #include "mbed.h"
+* #include "TSISensor.h"
+*
+* int main(void) {
+* DigitalOut led(LED_GREEN);
+* TSISensor tsi;
+*
+* while (true) {
+* printf("slider percentage: %f%\r\n", tsi.readPercentage());
+* printf("slider distance: %dmm\r\n", tsi.readDistance());
+* wait(1);
+* led = !led;
+* }
+* }
+* @endcode
+*/
+class TSISensor {
+public:
+ /**
+ * Initialize the TSI Touch Sensor
+ */
+ TSISensor();
+
+ /**
+ * Read Touch Sensor percentage value
+ *
+ * @returns percentage value between [0 ... 1]
+ */
+ float readPercentage();
+
+ /**
+ * Read Touch Sensor distance
+ *
+ * @returns distance in mm. The value is between [0 ... 40]
+ */
+ uint8_t readDistance();
+
+private:
+ void sliderRead(void);
+ void selfCalibration(void);
+};
+
+#endif
projects / ~andy / csm213a-hw / commitdiff