volatile int results[5]; // variables para la interrupcion del acelerometro //Funciones del acelerometro para mandar y recibir información

Transcription

1 Anexo A. Código de programación #include <msp430.h> #include <math.h> #include "lcdlib.h" // variables para guardar informacion de los canales analógicos volatile int results[5]; // variables para la interrupcion del acelerometro unsigned char *PTxData; // Pointer to TX data unsigned char TXByteCtr; unsigned char *PRxData; // Pointer to RX data unsigned char RXByteCtr; volatile unsigned char RxBuffer[10]; //Funciones del acelerometro para mandar y recibir información unsigned int i; void transmite1(void); void transmite2(void); void transmite3(void); void transmite4(void); void setup_tx(void); void setup_rx(void); void recibe(void); //Variables para guardar datos del acelerometro int x1=0; int y1=0; int z1=0; //Coeficientes de transformación de datos del acelerometro a angulos float coex1= ; float coex2= ; float coex3= ; float coex4= ; float coey1= ; float coey2= ; float coey3=0.1875; float coey4= ;

2 //variables de ajuste int pp=0; //variables angulos acelerometro float ax; float ay; //variables ajuste sensor solar float v1[11]; float r1; float s1; float v2[11]; float r2; float s2; float v3[11]; float r3; float s3; float v4[11]; float r4; float s4; float csol=0.7005; float ctan=2.24; float fx; float fy; float sx; float sy; //Transformaciones de angulos float apx; float apy; float angp; float anga; float angp1; float apx1; float apy1; // datos a transmitir al acelerometro const unsigned char TxData1[] = 0x2D, 0x00 ; const unsigned char TxData2[] = // Table of data to transmit // Table of data to transmit

3 0x2D, 0x10 ; const unsigned char TxData3[] = 0x2D, 0x08 ; const unsigned char TxData4[] = 0x32, 0xFE ; // Table of data to transmit // Table of data to transmit int main(void) WDTCTL = WDTPW+WDTHOLD; // Stop watchdog timer //inicio LCD lcdinit(); //Inicio acelerometro setup_tx(); transmite1(); transmite2(); transmite3(); //inicio ADC P6SEL = 0x0F; // Enable A/D channel inputs ADC12CTL0 = ADC12ON+ADC12MSC+ADC12SHT0_2; // Turn on ADC12, set sampling time ADC12CTL1 = ADC12SHP+ADC12CONSEQ_1; // Use sampling timer, single sequence ADC12MCTL0 = ADC12INCH_0; // ref+=avcc, channel = A0 ADC12MCTL1 = ADC12INCH_1; // ref+=avcc, channel = A1 ADC12MCTL2 = ADC12INCH_2; // ref+=avcc, channel = A2 ADC12MCTL3 = ADC12INCH_3; ADC12MCTL4 = ADC12INCH_4+ADC12EOS; // ref+=avcc, channel = A3, end seq. ADC12IE = 0x08; // Enable ADC12IFG.3 ADC12CTL0 = ADC12ENC; // Enable conversions // primer mensaje al display

4 lcdsettext("preparando", 0, 0); lcdsettext("pantalla ", 0,1); while(1) ADC12CTL0 = ADC12SC; bis_sr_register( GIE); setup_tx(); transmite4(); setup_rx(); recibe(); // Start convn - software trigger // Enter LPM4, Enable interrupts //prepara acelerometro //recibe del acelerometro pp++; x1 = (((int)rxbuffer[1]) << 8) RxBuffer[0]; y1 = (((int)rxbuffer[3]) << 8) RxBuffer[2]; z1 = (((int)rxbuffer[5]) << 8) RxBuffer[4]; // toma de datos del sensor solar, media de resultados y transformación a tensión if (pp>2) v1[1]=v1[2]; v1[2]=v1[3]; v1[3]=v1[4]; v1[4]=v1[5]; v1[5]=v1[6]; v1[6]=v1[7]; v1[7]=v1[8]; v1[8]=v1[9]; v1[9]=v1[10]; v1[10]=results[2]; r1=(v1[1]+v1[2]+v1[3]+v1[4]+v1[5]+v1[6]+v1[7]+v1[8]+v1[9]+v1[10])/10; s1= *r ; v2[1]=v2[2]; v2[2]=v2[3]; v2[3]=v2[4]; v2[4]=v2[5]; v2[5]=v2[6]; v2[6]=v2[7]; v2[7]=v2[8];

5 v2[8]=v2[9]; v2[9]=v2[10]; v2[10]=results[1]; r2=(v2[1]+v2[2]+v2[3]+v2[4]+v2[5]+v2[6]+v2[7]+v2[8]+v2[9]+v2[10])/10; s2= *r ; v3[1]=v3[2]; v3[2]=v3[3]; v3[3]=v3[4]; v3[4]=v3[5]; v3[5]=v3[6]; v3[6]=v3[7]; v3[7]=v3[8]; v3[8]=v3[9]; v3[9]=v3[10]; v3[10]=results[4]; r3=(v3[1]+v3[2]+v3[3]+v3[4]+v3[5]+v3[6]+v3[7]+v3[8]+v3[9]+v3[10])/10; s3= *r ; v4[1]=v4[2]; v4[2]=v4[3]; v4[3]=v4[4]; v4[4]=v4[5]; v4[5]=v4[6]; v4[6]=v4[7]; v4[7]=v4[8]; v4[8]=v4[9]; v4[9]=v4[10]; v4[10]=results[0]; r4=(v4[1]+v4[2]+v4[3]+v4[4]+v4[5]+v4[6]+v4[7]+v4[8]+v4[9]+v4[10])/10; s4= *r ; // Calculo de tensiones relativas y angulos sobre ejes fx=ctan*((csol*s4+csol*s2- s1- s3)/(csol*s4+csol*s2+s1+s3)); fy=ctan*((s1- s3- csol*s4+csol*s2)/(csol*s4+csol*s2+s1+s3)); sx=atan(fx)*57.296; sy=atan(fy)*57.296; sx=- sx; sy=- sy; // Calculo angulos del acelerometro ax=coex1*x1*x1*x1+coex2*x1*x1+coex3*x1+coex4;

6 ay=coey1*y1*y1*y1+coey2*y1*y1+coey3*y1+coey4; // Ajuste de la inclinacion al sensor solar apx1=(sx- ay); apx=apx1* ; apy1=(sy- ax); apy=apy1* ; // transformacion de coordenadas angp=atan((tan(apy)/tan(apx)))*57.296; angp1=angp; if (apx1<0 && apy1<0) angp1=360- angp1; if(apx1<0 && apy1>0) angp1=- angp1; if(apx1>0 && apy1>0) angp1=180- angp1; if(apx1>0 && apy1<0) angp1=180- angp1; angp1=angp1* ; anga=- atan(cos(angp1)/tan(apx))*57.296; angp1=angp1*57.296; //muestra de resultados lcdsettext(" ", 0, 0); lcdsettext(" ", 0,1); lcdsettext("altura=", 0,0); lcdsetint(angp1, 2, 0); lcdsettext("dir", 7,0); lcdsettext("acimut=", 0,1); lcdsetint(anga, 2, 1); pp=0;

7 // Rutina de interrupcion para el conversor analogico digital #if defined( TI_COMPILER_VERSION ) defined( IAR_SYSTEMS_ICC ) #pragma vector=adc12_vector interrupt void ADC12ISR (void) #elif defined( GNUC ) void attribute ((interrupt(adc12_vector))) ADC12ISR (void) #else #error Compiler not supported! #endif switch( even_in_range(adc12iv,34)) case 0: break; // Vector 0: No interrupt case 2: break; // Vector 2: ADC overflow case 4: break; // Vector 4: ADC timing overflow case 6: break; // Vector 6: ADC12IFG0 case 8: break; // Vector 8: ADC12IFG1 case 10: break; // Vector 10: ADC12IFG2 case 12: // Vector 12: ADC12IFG3 results[0] = ADC12MEM0; // Move results, IFG is cleared results[1] = ADC12MEM1; // Move results, IFG is cleared results[2] = ADC12MEM2; // Move results, IFG is cleared results[3] = ADC12MEM3; // Move results, IFG is cleared results[4] = ADC12MEM4; // Move results, IFG is cleared // bic_sr_register_on_exit(lpm4_bits); // Exit active CPU, SET BREAKPOINT HERE case 14: break; // Vector 14: ADC12IFG4 case 16: break; // Vector 16: ADC12IFG5 case 18: break; // Vector 18: ADC12IFG6 case 20: break; // Vector 20: ADC12IFG7 case 22: break; // Vector 22: ADC12IFG8 case 24: break; // Vector 24: ADC12IFG9 case 26: break; // Vector 26: ADC12IFG10 case 28: break; // Vector 28: ADC12IFG11 case 30: break; // Vector 30: ADC12IFG12 case 32: break; // Vector 32: ADC12IFG13 case 34: break; // Vector 34: ADC12IFG14 default: break; //Rutina de interrupción para acelerometro I2C

8 #if defined( TI_COMPILER_VERSION ) defined( IAR_SYSTEMS_ICC ) #pragma vector = USCI_B1_VECTOR interrupt void USCI_B1_ISR(void) #elif defined( GNUC ) void attribute ((interrupt(usci_b1_vector))) USCI_B1_ISR (void) #else #error Compiler not supported! #endif switch( even_in_range(ucb1iv,12)) case 0: break; // Vector 0: No interrupts case 2: break; // Vector 2: ALIFG case 4: break; // Vector 4: NACKIFG case 6: break; // Vector 6: STTIFG case 8: break; // Vector 8: STPIFG case 10: // Vector 10: RXIFG RXByteCtr- - ; // Decrement RX byte counter if (RXByteCtr) *PRxData++ = UCB1RXBUF; // Move RX data to address PRxData if (RXByteCtr == 1) // Only one byte left? UCB1CTL1 = UCTXSTP; // Generate I2C stop condition else *PRxData = UCB1RXBUF; // Move final RX data to PRxData bic_sr_register_on_exit(lpm0_bits); // Exit active CPU break; case 12: // Vector 12: TXIFG if (TXByteCtr) // Check TX byte counter UCB1TXBUF = *PTxData++; // Load TX buffer TXByteCtr- - ; // Decrement TX byte counter else UCB1CTL1 = UCTXSTP; // I2C stop condition UCB1IFG &= ~UCTXIFG; // Clear USCI_B0 TX int flag bic_sr_register_on_exit(lpm0_bits); // Exit LPM0 default: break;

9 void transmite1(void) for(i=0;i<10;i++); PTxData = (unsigned char *)TxData1; TXByteCtr = sizeof TxData1; UCB1CTL1 = UCTR + UCTXSTT; bis_sr_register(lpm0_bits + GIE); no_operation(); while (UCB1CTL1 & UCTXSTP); void transmite2(void) for(i=0;i<10;i++); PTxData = (unsigned char *)TxData2;. TXByteCtr = sizeof TxData2; UCB1CTL1 = UCTR + UCTXSTT; bis_sr_register(lpm0_bits + GIE); no_operation(); while (UCB1CTL1 & UCTXSTP); void transmite3(void) for(i=0;i<10;i++); PTxData = (unsigned char *)TxData3;. TXByteCtr = sizeof TxData3; UCB1CTL1 = UCTR + UCTXSTT; bis_sr_register(lpm0_bits + GIE); no_operation(); while (UCB1CTL1 & UCTXSTP); void setup_tx(void) delay_cycles(10000); P4SEL = 0x06; // Assign I2C pins to USCI_B0 UCB1CTL1 = UCSWRST; // Enable SW reset

10 UCB1CTL0 = UCMST + UCMODE_3 + UCSYNC; // I2C Master, synchronous mode UCB1CTL1 = UCSSEL_2 + UCSWRST; // Use SMCLK, keep SW reset UCB1BR0 = 12; // fscl = SMCLK/12 = ~100kHz UCB1BR1 = 0; UCB1I2CSA = 0x53; // Slave Address is 048h UCB1CTL1 &= ~UCSWRST; // Clear SW reset, resume operation UCB1IE &= ~UCRXIE; UCB1IE = UCTXIE; // Enable TX interrupt void setup_rx(void) delay_cycles(10000); P4SEL = 0x06; // Assign I2C pins to USCI_B0 UCB1CTL1 = UCSWRST; // Enable SW reset UCB1CTL0 = UCMST + UCMODE_3 + UCSYNC; // I2C Master, synchronous mode UCB1CTL1 = UCSSEL_2 + UCSWRST; // Use SMCLK, keep SW reset UCB1BR0 = 12; // fscl = SMCLK/12 = ~100kHz UCB1BR1 = 0; UCB1I2CSA = 0x53; // Slave Address is 048h UCB1CTL1 &= ~UCSWRST; // Clear SW reset, resume operation UCB1IE &= ~UCTXIE; UCB1IE = UCRXIE; // Enable RX interrupt void recibe(void) PRxData = (unsigned char *)RxBuffer; // Start of RX buffer RXByteCtr = 6; // Load RX byte counter while (UCB1CTL1 & UCTXSTP); // Ensure stop condition got sent UCB1CTL1 = UCTXSTT; // I2C start condition bis_sr_register(lpm0_bits + GIE); // Enter LPM0, enable interrupts // Remain in LPM0 until all data // is RX'd no_operation(); // Set breakpoint >>here<< and // read out the RxBuffer buffer void transmite4(void) for(i=0;i<10;i++); // Delay required between transaction PTxData = (unsigned char *)TxData4; // TX array start address // Place breakpoint here to see each // transmit operation. TXByteCtr = sizeof TxData4; // Load TX byte counter UCB1CTL1 = UCTR + UCTXSTT; // I2C TX, start condition

11 bis_sr_register(lpm0_bits + GIE); // Enter LPM0, enable interrupts no_operation(); // Remain in LPM0 until all data // is TX'd while (UCB1CTL1 & UCTXSTP); // Ensure stop condition got sent

12 Archivo.h de la librería del display /********************************************************************* LCD Driver Functions by: Elliott Gurrola LCD Pinouts Pin 1 Ground Pin 2 VCC (+3.3 to +5V) Pin 3 Contrast adjustment Pin 4 Register Select (RS). 0: Command, 1: Data Pin 5 Read/Write (R/W). 0: Write, 1: Read constant write - > Set to GND for Pin 6 Clock (Enable). Falling edge triggered Pin 7 Bit 0 (Not used in 4- bit operation) Pin 8 Bit 1 (Not used in 4- bit operation) Pin 9 Bit 2 (Not used in 4- bit operation) Pin 10 Bit 3 (Not used in 4- bit operation) Pin 11 Bit 4 Pin 12 Bit 5 Pin 13 Bit 6 Pin 14 Bit 7 Pin 15 Backlight Anode (+)

13 Pin 16 Backlight Cathode (- ) Top level functions available - lcd_init(); - write_byte(char l); - write_string(char s[]); - write_int(int num); - gotoxy(x, y); (x, y) location (Lines and columns start at 0) - clear_lcd(); cursor to (0, 0) // Initialize LCD // Send a single character (1 byte) // Print a character string // Write an integer // Move cursor to // Clear LCD and move LCD Not important to the user: - send_cmd(char cmd); - write_nibble(char l); - void trigger_en(); // Send a command to the // Send a nibble to the LCD *** DELAY FUNCTION ASSUMES 1 MHz CLOCK *** Modified on: Apr 15, 2013 by: Luiz (Luis Carlos Ba!uelos- Chacon) Modified on: May 24, 2013 by: Elias N Jaquez

14 *********************************************************************/ #ifndef LCDLIB_H_ #define LCDLIB_H_ #include <msp430.h> #include <string.h> #include <stdio.h> // Delay Functions #define delay_ms(x) delay_cycles((long) x* 1000) #define delay_us(x) delay_cycles((long) x) // Pins #define EN #define RS #define DATA BIT1 BIT2 0x3C // Commands #define CLEAR 0x01 // Functions void lcdinit(); LCD void lcdtriggeren(); // Initialize // Trigger Enable

15 void lcdwritedata(unsigned char data); void lcdwritecmd(unsigned char cmd); void lcdclear(); void lcdsettext(char * text, int x, int y); void lcdsetint(int val, int x, int y); // Send Data (Characters) // Send Commands // Clear LCD // Write string // Write integer #endif /* LCDLIB_H_ */

16 Archivo.c de la librería del display #include "lcdlib.h" #define LOWNIB(x) P1OUT = ((P1OUT & 0xF0) + (x & 0x0F))<<2 void lcdinit() delay_ms(100); P1DIR = DATA; // Pines de salida P8DIR = EN + RS; P1OUT = 0x0C; // Start LCD lcdtriggeren(); // Send 0x03 3 times at 5ms then 100 us delay_ms(5); lcdtriggeren(); delay_ms(5); lcdtriggeren(); delay_ms(5); P1OUT = 0x08; // modo 4 bits lcdtriggeren(); delay_ms(5); lcdwritecmd(0x28); // 4- bit, 2 line, 5x8 lcdwritecmd(0x08); // Instruction Flow

17 lcdwritecmd(0x01); // Limpiar LCD lcdwritecmd(0x06); // Auto- Increment lcdwritecmd(0x0c); // Display On, No blink void lcdtriggeren() P8OUT = EN; P8OUT &= ~EN; void lcdwritedata(unsigned char data) P8OUT = RS; // Set RS to Data LOWNIB(data >> 4); // Upper nibble lcdtriggeren(); LOWNIB(data); // Lower nibble lcdtriggeren(); delay_us(50); // Delay > 47 us void lcdwritecmd(unsigned char cmd) P8OUT &= ~RS; // Set RS to Data LOWNIB(cmd >> 4); // Upper nibble lcdtriggeren(); LOWNIB(cmd); // Lower nibble

18 lcdtriggeren(); delay_ms(5); // Delay > 1.5ms void lcdsettext(char* text, int x, int y) int i; if (x < 16) x = 0x80; // Set LCD for first line write switch (y) case 1: x = 0x40; // Set LCD for second line write break; case 2: x = 0x60; // Set LCD for first line write reverse break; case 3: x = 0x20; // Set LCD for second line write reverse break; lcdwritecmd(x); i = 0; while (text[i]!= '\0') lcdwritedata(text[i]);

19 i++; void lcdsetint(int val, int x, int y) char number_string[16]; sprintf(number_string, "%d", val); // Convert the integer to character string lcdsettext(number_string, x, y); void lcdclear() lcdwritecmd(clear);

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