Problem with Multicore Programming
amalfiCoast
Posts: 130
in Propeller 1
Hi,
I'm trying to read gyroscope and accelerometer data in a second core and print the values from that same core. However, the outputted values are all the same when I try to run in a different core. The same block of code that reads the sensors works perfectly fine when run in core 0. My code is posted below. Please help.
I'm trying to read gyroscope and accelerometer data in a second core and print the values from that same core. However, the outputted values are all the same when I try to run in a different core. The same block of code that reads the sensors works perfectly fine when run in core 0. My code is posted below. Please help.
/*
Test Multicore
*/
#include "simpletools.h" // Include simple tools
// Variables for gyro
volatile signed int whoAmI;
volatile signed int xL, xH, yL, yH, zL, zH;
volatile signed int statusReg;
volatile float gx, gxSum, gxAvg, gy, gySum, gyAvg, gz, gzSum, gzAvg;
// Variables for accel
volatile signed char x, y, z; // Z-axis value, *must be a signed char*
volatile int axSum, axAvg, xOffset, aySum, ayAvg, yOffset, azSum, azAvg, zOffset;
// Gyro pins
volatile int CS=11;
volatile int SCL=10;
volatile int SDA=9;
unsigned int stack[40+25];
int cog;
void data();
int main(){ // Main function
// get gyroscope initializations
high(CS); //CS line high (SPI inactive)
low(SCL); //CLK line low (prepares chip to send brief high signals or clock pulses)
low(CS);
shift_out(SDA, SCL, MSBFIRST, 8, 0b10001111); //Send read register address (whoAmI)
whoAmI = shift_in(SDA, SCL, MSBPRE, 8);
high(CS);
if(whoAmI == 0b11010011){
print("Device ID Correct: %b\n", whoAmI);
}
else{
print("Device ID Incorrect: %b\n", whoAmI);
}
//Register 4 - Set 3-wire SPI
low(CS); //CS line low (start SPI)
shift_out(SDA, SCL, MSBFIRST, 8, 0b00100011); //Write MCTL register (register 4)to set 3-wire SPI
shift_out(SDA, SCL, MSBFIRST, 8, 0b10010001); //Value for MCTL register (register 4) to set 3-wire SPI
high(CS);
//Register 1 - Set 100Hz output rate, 25Hz cutoff freq, normal mode, enable all axes
low(CS);
shift_out(SDA, SCL, MSBFIRST, 8, 0b01100000); //Write MCTL register (register 1)
shift_out(SDA, SCL, MSBFIRST, 8, 0b00011111); //Value for MCTL register (register 1)
high(CS); //CS high(stop SPI)
// get accel initializations
high(6); // CS line high (inactive)
low(8); // CLK line low
low(6); // CS line low (start SPI)
shift_out(7, 8, MSBFIRST, 8, 0b10101100); // Write MCTL register
shift_out(7, 8, MSBFIRST, 8, 0b01100101); // Value for MCTL register
high(6); // CS line high (stop SPI)
pause(100);
simpleterm_close();
cog = cog_run(data,128);
//cogstart(data, NULL, stack, sizeof(stack));
}
void data(){
simpleterm_open();
while(1){
// get gyroscope data
// x-axis
low(CS); //CS low selects chip
shift_out(SDA, SCL, MSBFIRST, 8, 0b10101000); //Send read register address (OUT_X_L)
xL = shift_in(SDA, SCL, MSBPRE, 8); //Get value from register
high(CS); //De-select chip with CS line high
low(CS);
shift_out(SDA, SCL, MSBFIRST, 8, 0b10101001); //Send read register address (OUT_X_H)
xH = shift_in(SDA, SCL, MSBPRE, 8); //Get value from register
high(CS);
gx = (short) (((xH<<8) | xL)-gxAvg)*.0175*PI/180;
// y-axis
low(CS); //CS low selects chip
shift_out(SDA, SCL, MSBFIRST, 8, 0b10101010); //Send read register address (OUT_Y_L)
yL = shift_in(SDA, SCL, MSBPRE, 8); //Get value from register
high(CS); //De-select chip with CS line high
low(CS);
shift_out(SDA, SCL, MSBFIRST, 8, 0b10101011); //Send read register address (OUT_Y_H)
yH = shift_in(SDA, SCL, MSBPRE, 8); //Get value from register
high(CS);
gy = (short) (((yH<<8) | yL)-gyAvg)*.0175*PI/180;
// z-axis
low(CS); //CS low selects chip
shift_out(SDA, SCL, MSBFIRST, 8, 0b11101100); //Send read register address (OUT_Z_L)
zL = shift_in(SDA, SCL, MSBPRE, 8); //Get value from register
high(CS); //De-select chip with CS line high
low(CS);
shift_out(SDA, SCL, MSBFIRST, 8, 0b10101101); //Send read register address (OUT_Z_H)
zH = shift_in(SDA, SCL, MSBPRE, 8); //Get value from register
high(CS);
gz = (short) (((zH<<8) | zL)-gzAvg)*.0175*PI/180; //2's complement operation, subtract zero rate offset, multiply by
//sensitivity value for 500deg/s, "short" needed for 2's complement
print("gx = %f gy = %f gz = %f\n",gx*180/PI,gy*180/PI,gz*180/PI);
// get accel data
//x-axis
low(6); // CS low selects chip
shift_out(7, 8, MSBFIRST, 8, 0b00001100); // Send read register address, z-axis
x = shift_in(7, 8, MSBPRE, 8); // Get value from register
x = x-xOffset;
float ax = (float) x;
ax = ax/64;
high(6);
//y-axis
low(6); // CS low selects chip
shift_out(7, 8, MSBFIRST, 8, 0b00001110); // Send read register address, z-axis
y = shift_in(7, 8, MSBPRE, 8); // Get value from register
y = y-yOffset;
float ay = (float) y;
ay = ay/64;
high(6);
//z-axis
low(6); // CS low selects chip
shift_out(7, 8, MSBFIRST, 8, 0b00010000); // Send read register address, z-axis
z = shift_in(7, 8, MSBPRE, 8); // Get value from register
z = z-zOffset;
float az = (float) z;
az = az/64;
high(6); // De-select chip
// print("ax = %f ay = %f az = %f\n",ax,ay,az); // Display measurement
}
}
Comments
Thanks for your response. I am confused because there is no while loop in main so doesn't it just run through main and stop when it gets to the end?
while (1) ;That worked! Adding initializations to the data core is what I needed to do. Thanks very much.
David,
Unfortunately adding the while loop to main didn't work, but thanks so much for the suggestion.
Otherwise you get: