added accelerometer class and accelerometer thread

STM32F405RGTx/.settings/language.settings.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<project>
+	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1060525657" name="Debug">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-85431782320206814" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1972182609" name="Release">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-85431782320206814" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+</project>

STM32F405RGTx/.settings/stm32cubeide.project.prefs

@@ -0,0 +1,2 @@
+DC22A860405A8BF2F2C095E5B6529F12=A7382F0030CE3C7B1E2E6100CFC7BE85
+eclipse.preferences.version=1

STM32F405RGTx/Core/Inc/accelerometer.hpp

@@ -0,0 +1,75 @@
+#pragma once
+
+#include <string.h>
+#include <math.h>
+#include <stdio.h>
+#include <time.h>
+#include "main.h"
+
+#define IMU_ADDR 0x19<<1	//| Use 8-bit address
+#define REG_CTRL_1   0x20 	//| Control Register-1
+#define REG_CTRL_4   0x23 	//| Control Register-4
+#define REG_X_L 	  0x28 	//| X-Axis LSB
+#define REG_X_H 	  0x29		//| X-Axis MSB
+#define REG_Y_L 	  0x2A		//| Y-Axis LSB
+#define REG_Y_H 	  0x2B		//| Y-Axis MSB
+#define REG_Z_L 	  0x2C		//| Z-Axis LSB
+#define REG_Z_H 	  0x2D		//| Z-Axis MSB
+
+//Constants used to convert raw acceleration based on range
+#define ACC_RANGE_2G   16384
+#define ACC_RANGE_4G   8192
+#define ACC_RANGE_8G   4096
+#define ACC_RANGE_16G   2048
+
+//Control register 4 values to change acceleration range
+#define CTRL_REG_4_ACCL_RANGE_16G               0x30 // Full scale   +/-16g
+#define CTRL_REG_4_ACCL_RANGE_8G                0x20 // Full scale   +/-8g
+#define CTRL_REG_4_ACCL_RANGE_4G                0x10 // Full scale   +/-4g
+#define CTRL_REG_4_ACCL_RANGE_2G                0x00 //Full scale = +/-2g
+
+//Selected acceleration range
+#define SELECTED_ACC_RANGE ACC_RANGE_2G
+#define SELECTED_CTRL_REG_4_ACCL_RANGE CTRL_REG_4_ACCL_RANGE_2G
+
+#define GRAVITATIONAL_CONSTANT 9.8
+
+enum axis{
+			x_axis,
+			y_axis,
+			z_axis};
+
+class Accelerometer{
+    public:
+		float getAcceleration(axis accelerationAxis);
+		float getSpeed(axis speedAxis);
+		float getPos(axis accelerationAxis);
+		float getTimeDiff();
+		uint8_t getRawAccelerationLow(axis accelerationAxis);
+		uint8_t getRawAccelerationHigh(axis accelerationAxis);
+		void update();
+		Accelerometer(I2C_HandleTypeDef *I2CConnection_);
+
+    private:
+        void convertRawAcceleration();
+        void readRawAcceleration();
+        void updatePos();
+        void updateSpeed();
+        void getTimeValues();
+
+        float ACC[3] = {0,0,0};
+        float POS[3] = {0,0,0};
+        float SPEED[3] = {0,0,0};
+
+        uint8_t RAW_ACC_L[3] = {0,0,0};
+        uint8_t RAW_ACC_H[3] = {0,0,0};
+
+        int PREVIOUS_TIME = 0;
+        int CURRENT_TIME = 0;
+        float TIME_DIFF = 0;
+
+        I2C_HandleTypeDef *I2CConnection;
+
+};
+
+

STM32F405RGTx/Core/Inc/accelerometer_thread.hpp

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "main.h"
+#include "accelerometer.hpp"
+
+class AccelerometerThread{
+    public:
+        static void initialize();
+        static void update();
+        static I2C_HandleTypeDef *I2CConncetion;
+        static Accelerometer accelerometer;
+        static osThreadId_t getThreadId();
+        static void stopMeasurements();
+        static void resumeMeasurements();
+    private:
+        static RTOSThread thread;
+};
+

STM32F405RGTx/Core/Inc/threads.hpp

@@ -7,11 +7,15 @@
 #include "LED_thread.hpp"
 #include "svpwm_thread.hpp"
 #include "vhz_thread.hpp" 
+#include "accelerometer_thread.hpp"
 
 // Thread Periodicities (ms)
 #define MEASUREMENTS_THREAD_PERIODICITY     100
 #define MEASUREMENTS_THREAD_PRIORITY        osPriorityRealtime7
 
+#define ACCELEROMETER_THREAD_PERIODICITY 	100
+#define ACCELEROMETER_THREAD_PRIORITY		osPriorityRealtime4
+
 #define STATE_MACHINE_THREAD_PERIODICITY    150
 #define STATE_MACHINE_THREAD_PRIORITY       osPriorityRealtime6
 

STM32F405RGTx/Core/Src/accelerometer.cpp

@@ -0,0 +1,72 @@
+#include "accelerometer.hpp"
+
+Accelerometer::Accelerometer(I2C_HandleTypeDef *I2CConnection_){
+	I2CConnection = I2CConnection_;
+}
+float Acceleromter::getAcceleration(axis accelerationAxis){
+	return ACC[accelerationAxis];
+}
+float Acceleromter::getSpeed(axis speedAxis){
+	return SPEED[speedAxis];
+}
+float Acceleromter::getPos(axis positionAxis){
+	return POS[positionAxis];
+}
+float Acceleromter::getTimeDiff(){
+	return timeDiff;
+}
+uint8_t Acceleromter::getRawAccelerationLow(axis accelerationAxis){
+	return RAW_ACC_L[accelerationAxis];
+}
+uint8_t Acceleromter::getRawAccelerationHigh(axis accelerationAxis){
+	return RAW_ACC_H[accelerationAxis];
+}
+void Acceleromter::update(){
+	readRawAccleration();
+	convertRawAcceleration();
+	getTimeValues();
+	updatePos();
+	updateSpeed();
+	PREVIOUS_TIME = CURRENT_TIME;
+}
+
+
+void Acceleromter::convertRawAcceleration(){
+	for(int i =0 ; i<3; i++)
+	{
+
+		int16_t RAW_ACC = RAW_ACC_H[i];
+		RAW_ACC <<= 8;
+		RAW_ACC |= RAW_ACC_L[i];
+		ACC[i] =  ((float)RAW_ACC / (float)SELECTED_ACC_RANGE)*GRAVITATIONAL_CONSTANT;
+	}
+}
+void Acceleromter::readRawAcceleration(){
+	// Get acceleration in X-AXIS
+	HAL_I2C_Mem_Read(&hi2c1, IMU_ADDR, REG_X_H, I2C_MEMADD_SIZE_8BIT, RAW_ACC_H[x_axis], 1, 1000);
+	HAL_I2C_Mem_Read(&hi2c1, IMU_ADDR, REG_X_L, I2C_MEMADD_SIZE_8BIT, RAW_ACC_L[x_axis], 1, 1000);
+
+
+	// Get acceleration in Y-AXIS
+	HAL_I2C_Mem_Read(&hi2c1, IMU_ADDR, REG_Y_H, I2C_MEMADD_SIZE_8BIT, RAW_ACC_H[y_axis], 1000);
+	HAL_I2C_Mem_Read(&hi2c1, IMU_ADDR, REG_Y_L, I2C_MEMADD_SIZE_8BIT, RAW_ACC_L[y_axis], 1, 1000);
+
+
+	// Get acceleration in Z-AXIS
+	HAL_I2C_Mem_Read(&hi2c1, IMU_ADDR, REG_Z_H, I2C_MEMADD_SIZE_8BIT, RAW_ACC_H[z_axis], 1, 1000);
+	HAL_I2C_Mem_Read(&hi2c1, IMU_ADDR, REG_Z_L, I2C_MEMADD_SIZE_8BIT, RAW_ACC_L[z_axis], 1, 1000);
+}
+void Acceleromter::updatePos(){
+	for(int i =0; i<3; i++){
+		POS[i] += SPEED[i]*TIME_DIFF+0.5*ACC[i]*TIME_DIFF*TIME_DIFF;
+	}
+}
+void Acceleromter::updateSpeed(){
+	for(int i =0; i<3; i++){
+		SPEED[i] += ACC[i]*TIME_DIFF;
+		}
+}
+void Acceleromter::getTimeValues(){
+	CURRENT_TIME = HAL_GetTick();
+	TIME_DIFF = ((float)CURRENT_TIME-(float)PREVIOUS_TIME)/1000;
+}