Digiti II / Mbed 2 deprecated MPU_RFID_MAX_LAB

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Dependencies:   mbed MAX7219

main.cpp@3:06223ec42c88, 2020-11-03 (annotated)

Committer:
afroid
Date:
Tue Nov 03 20:24:55 2020 +0000
Revision:
3:06223ec42c88
Parent:
2:a0c7513fb634
Child:
4:fcfb02e6a11f
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
afroid 3:06223ec42c88 1
kirchnet 2:a0c7513fb634 2
afroid 3:06223ec42c88 3 char whoAmI ;
afroid 3:06223ec42c88 4 #define MPU6050 0x68<<1 // Device address when ADO = 0
afroid 3:06223ec42c88 5 #define RA_WHO_AM_I 0x75
afroid 3:06223ec42c88 6 #define RA_CONFIG 0x1A
afroid 3:06223ec42c88 7 #define RA_USER_CTRL 0x6A
afroid 3:06223ec42c88 8 #define RA_PWR_ADDR 0x6B
afroid 3:06223ec42c88 9 #define RA_SMPLRT_DIV 0x19
afroid 3:06223ec42c88 10 #define RA_GYRO_CONFIG 0x1B
afroid 3:06223ec42c88 11 #define RA_ACCEL_CONFIG 0x1C
afroid 3:06223ec42c88 12 #define RA_INT_PIN_CFG 0x37
afroid 3:06223ec42c88 13 #define RA_ACCEL_XOUT_H 0x3B
afroid 3:06223ec42c88 14 #define RA_ACCEL_XOUT_L 0x3C
afroid 3:06223ec42c88 15 #define RA_ACCEL_YOUT_H 0x3D
afroid 3:06223ec42c88 16 #define RA_ACCEL_YOUT_L 0x3E
afroid 3:06223ec42c88 17 #define RA_ACCEL_ZOUT_H 0x3F
afroid 3:06223ec42c88 18 #define RA_ACCEL_ZOUT_L 0x40
afroid 3:06223ec42c88 19 #define RA_TEMP_OUT_H 0x41
afroid 3:06223ec42c88 20 #define RA_TEMP_OUT_L 0x42
afroid 3:06223ec42c88 21 #define RA_GYRO_XOUT_H 0x43
afroid 3:06223ec42c88 22 #define RA_GYRO_XOUT_L 0x44
afroid 3:06223ec42c88 23 #define RA_GYRO_YOUT_H 0x45
afroid 3:06223ec42c88 24 #define RA_GYRO_YOUT_L 0x46
afroid 3:06223ec42c88 25 #define RA_GYRO_ZOUT_H 0x47
afroid 3:06223ec42c88 26 #define RA_GYRO_ZOUT_L 0x48
afroid 3:06223ec42c88 27 #define AF_SEL 0x00
afroid 3:06223ec42c88 28 #define ACC_HPF 0x00
afroid 3:06223ec42c88 29 #define FS_SEL 0x00
afroid 3:06223ec42c88 30 #define RA_PWR_MGMT_1 0x00
afroid 3:06223ec42c88 31 #define USER_CTRL 0x00
afroid 3:06223ec42c88 32 #define ACC_SELF_TEST_X 0x00
afroid 3:06223ec42c88 33 #define ACC_SELF_TEST_Y 0x00
afroid 3:06223ec42c88 34 #define ACC_SELF_TEST_Z 0x00
afroid 3:06223ec42c88 35 #define G_SELF_TEST_X 0x00
afroid 3:06223ec42c88 36 #define G_SELF_TEST_Y 0x00
afroid 3:06223ec42c88 37 #define G_SELF_TEST_Z 0x00
afroid 3:06223ec42c88 38 #define PIN_CFG 2
afroid 3:06223ec42c88 39 #define CONFIG 4
afroid 3:06223ec42c88 40 #define SMPLRT_DIV 19
afroid 3:06223ec42c88 41
kirchnet 2:a0c7513fb634 42
kirchnet 2:a0c7513fb634 43 #include "mbed.h"
kirchnet 2:a0c7513fb634 44 #include "MFRC522.h"
kirchnet 2:a0c7513fb634 45
kirchnet 2:a0c7513fb634 46 // Nucleo Pin for MFRC522 reset (pick another D pin if you need D8)
kirchnet 2:a0c7513fb634 47 #define MF_RESET D8
kirchnet 2:a0c7513fb634 48
afroid 3:06223ec42c88 49 DigitalOut led(D4);
afroid 3:06223ec42c88 50 DigitalOut ledG(D3);
afroid 3:06223ec42c88 51 DigitalOut led3(D5);
afroid 3:06223ec42c88 52 DigitalIn boton(PC_13); // 0 - presionado
afroid 3:06223ec42c88 53 int aux = 0 ;
afroid 3:06223ec42c88 54 int aux2 = 0;
afroid 3:06223ec42c88 55 int signal = 0;
kirchnet 2:a0c7513fb634 56 //Serial connection to PC for output
kirchnet 2:a0c7513fb634 57 Serial pc(SERIAL_TX, SERIAL_RX);
afroid 3:06223ec42c88 58 I2C i2c(D14, D15);
kirchnet 2:a0c7513fb634 59 MFRC522 RfChip (SPI_MOSI, SPI_MISO, SPI_SCK, SPI_CS, MF_RESET);
afroid 3:06223ec42c88 60 void giroscope();
afroid 3:06223ec42c88 61 void rfid();
afroid 3:06223ec42c88 62 void InitMPU();
afroid 3:06223ec42c88 63 //int ReadData(int adress_L, int adress_H);
afroid 3:06223ec42c88 64 char reg_value[2];
afroid 3:06223ec42c88 65 void WriteData(uint8_t address, uint8_t subAddress, uint8_t data);
afroid 3:06223ec42c88 66 int ReadData(int adress_L, int adress_H);
kirchnet 2:a0c7513fb634 67
afroid 3:06223ec42c88 68 void giroscope(){
afroid 3:06223ec42c88 69 while(1) {
afroid 3:06223ec42c88 70 pc.printf(" ");
afroid 3:06223ec42c88 71 /*
afroid 3:06223ec42c88 72 pc.printf("*");
afroid 3:06223ec42c88 73 pc.printf("%i\t",ReadData(RA_ACCEL_XOUT_L ,RA_ACCEL_XOUT_H));
afroid 3:06223ec42c88 74 pc.printf("%i\t",ReadData(RA_ACCEL_YOUT_L ,RA_ACCEL_YOUT_H));
afroid 3:06223ec42c88 75 pc.printf("%i\t",ReadData(RA_ACCEL_ZOUT_L ,RA_ACCEL_ZOUT_H));
afroid 3:06223ec42c88 76 pc.printf("\n\r");*/
afroid 3:06223ec42c88 77 // pc.printf("%i\t",ReadData(RA_GYRO_XOUT_L ,RA_GYRO_XOUT_H));
afroid 3:06223ec42c88 78 pc.printf("%i\t",ReadData(RA_GYRO_YOUT_L ,RA_GYRO_YOUT_H));
afroid 3:06223ec42c88 79 //pc.printf("%i\t",ReadData(RA_GYRO_ZOUT_L ,RA_GYRO_ZOUT_H));
afroid 3:06223ec42c88 80 pc.printf("\n\r");
afroid 3:06223ec42c88 81 //wait_us(2e6);
afroid 3:06223ec42c88 82
afroid 3:06223ec42c88 83 }
afroid 3:06223ec42c88 84
afroid 3:06223ec42c88 85
kirchnet 2:a0c7513fb634 86 }
kirchnet 2:a0c7513fb634 87
kirchnet 2:a0c7513fb634 88
afroid 3:06223ec42c88 89 void rfid(){
afroid 3:06223ec42c88 90
afroid 3:06223ec42c88 91 while(true){
afroid 3:06223ec42c88 92 if (boton == 0){
afroid 3:06223ec42c88 93 led = !led;
afroid 3:06223ec42c88 94 pc.printf("boton presionado\n\r");
afroid 3:06223ec42c88 95 pc.printf(" %X02",aux);
afroid 3:06223ec42c88 96 }
afroid 3:06223ec42c88 97 led=0;
afroid 3:06223ec42c88 98 // Look for new cards
afroid 3:06223ec42c88 99 if ( ! RfChip.PICC_IsNewCardPresent())
afroid 3:06223ec42c88 100 {
afroid 3:06223ec42c88 101 wait_ms(200);
afroid 3:06223ec42c88 102 //pc.printf("1 ");
afroid 3:06223ec42c88 103 pc.printf("%i\t\n\r",ReadData(RA_GYRO_YOUT_L ,RA_GYRO_YOUT_H));
afroid 3:06223ec42c88 104 continue;
afroid 3:06223ec42c88 105 }
afroid 3:06223ec42c88 106
afroid 3:06223ec42c88 107 // Select one of the cards
afroid 3:06223ec42c88 108 if ( ! RfChip.PICC_ReadCardSerial())
afroid 3:06223ec42c88 109 {
afroid 3:06223ec42c88 110 wait_ms(200);
afroid 3:06223ec42c88 111 continue;
afroid 3:06223ec42c88 112 }
afroid 3:06223ec42c88 113
afroid 3:06223ec42c88 114
afroid 3:06223ec42c88 115 led=1;
afroid 3:06223ec42c88 116 // Print Card UID
afroid 3:06223ec42c88 117 // pc.printf("Card UID: ");
afroid 3:06223ec42c88 118 for (uint8_t i = 0; i < RfChip.uid.size; i++)
afroid 3:06223ec42c88 119 {
afroid 3:06223ec42c88 120 /* pc.printf(" %X02", RfChip.uid.uidByte[i]);
afroid 3:06223ec42c88 121 pc.printf("-A1-\n\r");*/
afroid 3:06223ec42c88 122 if (aux == 0) {
afroid 3:06223ec42c88 123
afroid 3:06223ec42c88 124 aux = RfChip.uid.uidByte[i]; //registra la primera tarjeta que entre
afroid 3:06223ec42c88 125 led3 = 1;
afroid 3:06223ec42c88 126 aux2 = 2;
afroid 3:06223ec42c88 127
afroid 3:06223ec42c88 128 }else if (aux2 ==2){
afroid 3:06223ec42c88 129
afroid 3:06223ec42c88 130
afroid 3:06223ec42c88 131 aux2 = RfChip.uid.uidByte[i]; //registrar tarjeta
afroid 3:06223ec42c88 132 ledG = 1;
afroid 3:06223ec42c88 133 led3 = 0;
afroid 3:06223ec42c88 134 signal = 1;
afroid 3:06223ec42c88 135
afroid 3:06223ec42c88 136
afroid 3:06223ec42c88 137 }else if (RfChip.uid.uidByte[i] == aux){
afroid 3:06223ec42c88 138
afroid 3:06223ec42c88 139 ledG = 1;
afroid 3:06223ec42c88 140 led3 = 0;
afroid 3:06223ec42c88 141 signal = 1;
afroid 3:06223ec42c88 142 pc.printf("15000\n\r");
afroid 3:06223ec42c88 143 /*------*/
afroid 3:06223ec42c88 144 wait_us(5e6);
afroid 3:06223ec42c88 145 ledG = 0;
afroid 3:06223ec42c88 146 signal = 0;
afroid 3:06223ec42c88 147 pc.printf("-15000\n\r");
afroid 3:06223ec42c88 148 led3 = 1;
afroid 3:06223ec42c88 149
afroid 3:06223ec42c88 150 }
afroid 3:06223ec42c88 151 }
afroid 3:06223ec42c88 152
afroid 3:06223ec42c88 153 pc.printf("\n\r");
afroid 3:06223ec42c88 154
kirchnet 2:a0c7513fb634 155 }
afroid 3:06223ec42c88 156 }
afroid 3:06223ec42c88 157
afroid 3:06223ec42c88 158 void leer (){
afroid 3:06223ec42c88 159 if (boton == 1){
afroid 3:06223ec42c88 160 led = !led;
afroid 3:06223ec42c88 161 pc.printf("boton presionado\n\r");
afroid 3:06223ec42c88 162 }
afroid 3:06223ec42c88 163
afroid 3:06223ec42c88 164 }
afroid 3:06223ec42c88 165 int ReadData(int adress_L, int adress_H){
afroid 3:06223ec42c88 166 char data_L;
afroid 3:06223ec42c88 167 char data_H;
afroid 3:06223ec42c88 168 char adress_data_L[1] ;
afroid 3:06223ec42c88 169 char adress_data_H[1] ;
afroid 3:06223ec42c88 170 adress_data_L[0]= adress_L;
afroid 3:06223ec42c88 171 adress_data_H[0]= adress_H;
afroid 3:06223ec42c88 172 i2c.write(MPU6050, adress_data_L, 1,1);
afroid 3:06223ec42c88 173 i2c.read(MPU6050,&data_L, 1,0);
afroid 3:06223ec42c88 174 i2c.write(MPU6050, adress_data_H, 1,1);
afroid 3:06223ec42c88 175 i2c.read(MPU6050,&data_H, 1,0);
afroid 3:06223ec42c88 176
afroid 3:06223ec42c88 177 return (int16_t)((data_H<<8) | data_L);
afroid 3:06223ec42c88 178
afroid 3:06223ec42c88 179 }
afroid 3:06223ec42c88 180 void WriteData(uint8_t address, uint8_t subAddress, uint8_t data)
afroid 3:06223ec42c88 181 {
afroid 3:06223ec42c88 182 char data_write[2];
afroid 3:06223ec42c88 183 data_write[0] = subAddress;
afroid 3:06223ec42c88 184 data_write[1] = data;
afroid 3:06223ec42c88 185 i2c.write(address, data_write, 2, false);
afroid 3:06223ec42c88 186 }
kirchnet 2:a0c7513fb634 187
afroid 3:06223ec42c88 188 void InitMPU(){
afroid 3:06223ec42c88 189 WriteData(MPU6050,RA_PWR_ADDR,RA_PWR_MGMT_1);
afroid 3:06223ec42c88 190 wait(0.1);
afroid 3:06223ec42c88 191 WriteData(MPU6050,RA_USER_CTRL,USER_CTRL);
afroid 3:06223ec42c88 192 WriteData(MPU6050, RA_INT_PIN_CFG,PIN_CFG);
afroid 3:06223ec42c88 193 WriteData(MPU6050,RA_SMPLRT_DIV,SMPLRT_DIV);
afroid 3:06223ec42c88 194 int GConfig = G_SELF_TEST_X | G_SELF_TEST_Y | G_SELF_TEST_Z | FS_SEL;
afroid 3:06223ec42c88 195 int AConfig = ACC_SELF_TEST_X | ACC_SELF_TEST_Y | ACC_SELF_TEST_Z | AF_SEL | ACC_HPF;
afroid 3:06223ec42c88 196 WriteData(MPU6050,RA_GYRO_CONFIG,GConfig);
afroid 3:06223ec42c88 197 WriteData(MPU6050,RA_ACCEL_CONFIG,AConfig);
afroid 3:06223ec42c88 198
afroid 3:06223ec42c88 199 }
afroid 3:06223ec42c88 200
afroid 3:06223ec42c88 201 int main(void) {
afroid 3:06223ec42c88 202 pc.baud(9600);
afroid 3:06223ec42c88 203 i2c.frequency(400000);
afroid 3:06223ec42c88 204 InitMPU();
afroid 3:06223ec42c88 205
afroid 3:06223ec42c88 206 pc.printf("starting...\n\r");
afroid 3:06223ec42c88 207
afroid 3:06223ec42c88 208
afroid 3:06223ec42c88 209 // Init. RC522 Chip
afroid 3:06223ec42c88 210 RfChip.PCD_Init();
afroid 3:06223ec42c88 211
afroid 3:06223ec42c88 212
afroid 3:06223ec42c88 213
afroid 3:06223ec42c88 214 while (true) {
afroid 3:06223ec42c88 215 pc.printf("buscando\n\r");
afroid 3:06223ec42c88 216 //pc.attach(&leer);
afroid 3:06223ec42c88 217
afroid 3:06223ec42c88 218 rfid();
afroid 3:06223ec42c88 219 //wait_ms(200);
kirchnet 2:a0c7513fb634 220 }
kirchnet 2:a0c7513fb634 221 }