NUMAKER datasheet(21/71 Pages) ETC2

21 / 71 page

NuMaker Brick

Dec 23, 2016

Page 21 of 71

Rev 1.00

The following description uses the vibration sensor module as an example.

void AHRS_Control(void)

{

SensorsRead(SENSOR_ACC|SENSOR_GYRO,1);

nvtUpdateAHRS(SENSOR_ACC|SENSOR_GYRO);

AhrsRead(AHRSDev.Feature.data2.value, AHRSDev.Feature.data3.value,

AHRSDev.Output.data1.value); //(Vibration Level, alerm time, clear flag)

}

Figure 2-10 Non-Periodic Program of Sensor Module

In the second stage, the function program will be checked or executed continuously and this program

section is outside of the if(TMR1INTCount != RecentTimeCounter){} block.

// -----------Slave part execute subfunction--------------

if (pTidList[devNum]->func.pfnPulling)

pTidList[devNum]->func.pfnPulling();

Figure 2-11 Non-Periodic Program of Sensor Module

The sensing program executed non-periodically shown in Figure 2-11 must correspond with the non-

periodic function of a master or sensor module as shown in Figure 2-12.

APFN_FUNC_T pfnDevFunc[MAX_TID_DEV] =

{

...

/* for embedded device boards */

{Battery_Init,

MasterControl,

NULL,

report_battery},

{Buzzer_Init,

NULL,

Buzzer_Control,

report_buzzer},

{Led_Init,

NULL,

Led_Control,

report_led},

{AHRS_Init,

AHRS_Control,

AHRS_Cal,

report_ahrs},

{SonarInit,

SonarDetect,

SonarTimeOutCheck,

report_sonar},

{HTU21D_Init,

WaitHTU21D,

GetHTU21DTemp,

report_temp},

{Gas_Init,

GetGas,

NULL,

report_gas},

{IR_Init,

IR_Control,

IR_Check,

report_ir},

{key_init,

NULL,

report_key},

...

};

Figure 2-12 Structural Function Table of Sensor Modules

4 -Ⅱ: Sensor module executes

non-periodic function

Sensor functions

executed immediately

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