Digiti II
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Diff: main.cpp
- Revision:
- 3:06223ec42c88
- Parent:
- 2:a0c7513fb634
- Child:
- 4:fcfb02e6a11f
--- a/main.cpp Fri Jun 06 03:04:48 2014 +0000
+++ b/main.cpp Tue Nov 03 20:24:55 2020 +0000
@@ -1,17 +1,44 @@
-//Test of cheap 13.56 Mhz RFID-RC522 module from eBay
-//This code is based on Martin Olejar's MFRC522 library. Minimal changes
-//Adapted for Nucleo STM32 F401RE. Should work on other Nucleos too
+
-//Connect as follows:
-//RFID pins -> Nucleo header CN5 (Arduino-compatible header)
-//----------------------------------------
-//RFID IRQ=pin5 -> Not used. Leave open
-//RFID MISO=pin4 -> Nucleo SPI_MISO=PA_6=D12
-//RFID MOSI=pin3 -> Nucleo SPI_MOSI=PA_7=D11
-//RFID SCK=pin2 -> Nucleo SPI_SCK =PA_5=D13
-//RFID SDA=pin1 -> Nucleo SPI_CS =PB_6=D10
-//RFID RST=pin7 -> Nucleo =PA_9=D8
-//3.3V and Gnd to the respective pins
+char whoAmI ;
+#define MPU6050 0x68<<1 // Device address when ADO = 0
+#define RA_WHO_AM_I 0x75
+#define RA_CONFIG 0x1A
+#define RA_USER_CTRL 0x6A
+#define RA_PWR_ADDR 0x6B
+#define RA_SMPLRT_DIV 0x19
+#define RA_GYRO_CONFIG 0x1B
+#define RA_ACCEL_CONFIG 0x1C
+#define RA_INT_PIN_CFG 0x37
+#define RA_ACCEL_XOUT_H 0x3B
+#define RA_ACCEL_XOUT_L 0x3C
+#define RA_ACCEL_YOUT_H 0x3D
+#define RA_ACCEL_YOUT_L 0x3E
+#define RA_ACCEL_ZOUT_H 0x3F
+#define RA_ACCEL_ZOUT_L 0x40
+#define RA_TEMP_OUT_H 0x41
+#define RA_TEMP_OUT_L 0x42
+#define RA_GYRO_XOUT_H 0x43
+#define RA_GYRO_XOUT_L 0x44
+#define RA_GYRO_YOUT_H 0x45
+#define RA_GYRO_YOUT_L 0x46
+#define RA_GYRO_ZOUT_H 0x47
+#define RA_GYRO_ZOUT_L 0x48
+#define AF_SEL 0x00
+#define ACC_HPF 0x00
+#define FS_SEL 0x00
+#define RA_PWR_MGMT_1 0x00
+#define USER_CTRL 0x00
+#define ACC_SELF_TEST_X 0x00
+#define ACC_SELF_TEST_Y 0x00
+#define ACC_SELF_TEST_Z 0x00
+#define G_SELF_TEST_X 0x00
+#define G_SELF_TEST_Y 0x00
+#define G_SELF_TEST_Z 0x00
+#define PIN_CFG 2
+#define CONFIG 4
+#define SMPLRT_DIV 19
+
#include "mbed.h"
#include "MFRC522.h"
@@ -19,49 +46,176 @@
// Nucleo Pin for MFRC522 reset (pick another D pin if you need D8)
#define MF_RESET D8
-DigitalOut LedGreen(LED1);
-
+DigitalOut led(D4);
+DigitalOut ledG(D3);
+DigitalOut led3(D5);
+DigitalIn boton(PC_13); // 0 - presionado
+int aux = 0 ;
+int aux2 = 0;
+int signal = 0;
//Serial connection to PC for output
Serial pc(SERIAL_TX, SERIAL_RX);
-
+I2C i2c(D14, D15);
MFRC522 RfChip (SPI_MOSI, SPI_MISO, SPI_SCK, SPI_CS, MF_RESET);
-
-int main(void) {
- pc.printf("starting...\n");
-
- // Init. RC522 Chip
- RfChip.PCD_Init();
+void giroscope();
+void rfid();
+void InitMPU();
+//int ReadData(int adress_L, int adress_H);
+char reg_value[2];
+ void WriteData(uint8_t address, uint8_t subAddress, uint8_t data);
+int ReadData(int adress_L, int adress_H);
- while (true) {
- LedGreen = 1;
-
- // Look for new cards
- if ( ! RfChip.PICC_IsNewCardPresent())
- {
- wait_ms(500);
- continue;
+void giroscope(){
+ while(1) {
+ pc.printf(" ");
+/*
+ pc.printf("*");
+ pc.printf("%i\t",ReadData(RA_ACCEL_XOUT_L ,RA_ACCEL_XOUT_H));
+ pc.printf("%i\t",ReadData(RA_ACCEL_YOUT_L ,RA_ACCEL_YOUT_H));
+ pc.printf("%i\t",ReadData(RA_ACCEL_ZOUT_L ,RA_ACCEL_ZOUT_H));
+ pc.printf("\n\r");*/
+ // pc.printf("%i\t",ReadData(RA_GYRO_XOUT_L ,RA_GYRO_XOUT_H));
+ pc.printf("%i\t",ReadData(RA_GYRO_YOUT_L ,RA_GYRO_YOUT_H));
+ //pc.printf("%i\t",ReadData(RA_GYRO_ZOUT_L ,RA_GYRO_ZOUT_H));
+ pc.printf("\n\r");
+ //wait_us(2e6);
+
+ }
+
+
}
- // Select one of the cards
- if ( ! RfChip.PICC_ReadCardSerial())
- {
- wait_ms(500);
- continue;
- }
-
- LedGreen = 0;
- // Print Card UID
- pc.printf("Card UID: ");
- for (uint8_t i = 0; i < RfChip.uid.size; i++)
- {
- pc.printf(" %X02", RfChip.uid.uidByte[i]);
+void rfid(){
+
+ while(true){
+ if (boton == 0){
+ led = !led;
+ pc.printf("boton presionado\n\r");
+ pc.printf(" %X02",aux);
+ }
+ led=0;
+ // Look for new cards
+ if ( ! RfChip.PICC_IsNewCardPresent())
+ {
+ wait_ms(200);
+ //pc.printf("1 ");
+ pc.printf("%i\t\n\r",ReadData(RA_GYRO_YOUT_L ,RA_GYRO_YOUT_H));
+ continue;
+ }
+
+ // Select one of the cards
+ if ( ! RfChip.PICC_ReadCardSerial())
+ {
+ wait_ms(200);
+ continue;
+ }
+
+
+ led=1;
+ // Print Card UID
+ // pc.printf("Card UID: ");
+ for (uint8_t i = 0; i < RfChip.uid.size; i++)
+ {
+ /* pc.printf(" %X02", RfChip.uid.uidByte[i]);
+ pc.printf("-A1-\n\r");*/
+ if (aux == 0) {
+
+ aux = RfChip.uid.uidByte[i]; //registra la primera tarjeta que entre
+ led3 = 1;
+ aux2 = 2;
+
+ }else if (aux2 ==2){
+
+
+ aux2 = RfChip.uid.uidByte[i]; //registrar tarjeta
+ ledG = 1;
+ led3 = 0;
+ signal = 1;
+
+
+ }else if (RfChip.uid.uidByte[i] == aux){
+
+ ledG = 1;
+ led3 = 0;
+ signal = 1;
+ pc.printf("15000\n\r");
+ /*------*/
+ wait_us(5e6);
+ ledG = 0;
+ signal = 0;
+ pc.printf("-15000\n\r");
+ led3 = 1;
+
+ }
+ }
+
+ pc.printf("\n\r");
+
}
- pc.printf("\n\r");
+}
+
+void leer (){
+ if (boton == 1){
+ led = !led;
+ pc.printf("boton presionado\n\r");
+ }
+
+}
+int ReadData(int adress_L, int adress_H){
+ char data_L;
+ char data_H;
+ char adress_data_L[1] ;
+ char adress_data_H[1] ;
+ adress_data_L[0]= adress_L;
+ adress_data_H[0]= adress_H;
+ i2c.write(MPU6050, adress_data_L, 1,1);
+ i2c.read(MPU6050,&data_L, 1,0);
+ i2c.write(MPU6050, adress_data_H, 1,1);
+ i2c.read(MPU6050,&data_H, 1,0);
+
+ return (int16_t)((data_H<<8) | data_L);
+
+}
+ void WriteData(uint8_t address, uint8_t subAddress, uint8_t data)
+{
+ char data_write[2];
+ data_write[0] = subAddress;
+ data_write[1] = data;
+ i2c.write(address, data_write, 2, false);
+}
- // Print Card type
- uint8_t piccType = RfChip.PICC_GetType(RfChip.uid.sak);
- pc.printf("PICC Type: %s \n\r", RfChip.PICC_GetTypeName(piccType));
- wait_ms(1000);
+void InitMPU(){
+ WriteData(MPU6050,RA_PWR_ADDR,RA_PWR_MGMT_1);
+ wait(0.1);
+ WriteData(MPU6050,RA_USER_CTRL,USER_CTRL);
+ WriteData(MPU6050, RA_INT_PIN_CFG,PIN_CFG);
+ WriteData(MPU6050,RA_SMPLRT_DIV,SMPLRT_DIV);
+ int GConfig = G_SELF_TEST_X | G_SELF_TEST_Y | G_SELF_TEST_Z | FS_SEL;
+ int AConfig = ACC_SELF_TEST_X | ACC_SELF_TEST_Y | ACC_SELF_TEST_Z | AF_SEL | ACC_HPF;
+ WriteData(MPU6050,RA_GYRO_CONFIG,GConfig);
+ WriteData(MPU6050,RA_ACCEL_CONFIG,AConfig);
+
+}
+
+int main(void) {
+ pc.baud(9600);
+ i2c.frequency(400000);
+ InitMPU();
+
+ pc.printf("starting...\n\r");
+
+
+ // Init. RC522 Chip
+ RfChip.PCD_Init();
+
+
+
+ while (true) {
+ pc.printf("buscando\n\r");
+ //pc.attach(&leer);
+
+ rfid();
+ //wait_ms(200);
}
}
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