IDD Summer 2017
Driving
Dependencies: FSR LIS3DH USBDevice mbed
Fork of
MMA8452_Demo
by 
Ivan Rush
Diff: main.cpp
- Revision:
- 8:46eab8a51f91
- Parent:
- 6:e3100f66ed6a
- Child:
- 9:cbce87f4f21f
diff -r 9b644d1c1405 -r 46eab8a51f91 main.cpp
--- a/main.cpp Fri Mar 07 14:54:00 2014 +0000
+++ b/main.cpp Fri Oct 17 15:40:43 2014 +0000
@@ -1,535 +1,25 @@
#include "mbed.h"
#include "MMA8452.h"
-
-DigitalOut myled(LED1);
+//Using MMA8452 accelerometer. SDA on 28, SCL on 27. Writes gravities to the screen.
+//Also brightens/dims LEDs 1-3 based on whether or not they are 'level'( 0 Gs)
Serial pc(USBTX,USBRX);
-
-#define LOG(...) pc.printf(__VA_ARGS__); pc.printf("\r\n");
-#define LOGX(...) pc.printf(__VA_ARGS__);
-
-void printByte(char b) {
- LOG("%d%d%d%d%d%d%d%d",
- (b&0x80)>>7,
- (b&0x40)>>6,
- (b&0x20)>>5,
- (b&0x10)>>4,
- (b&0x08)>>3,
- (b&0x04)>>2,
- (b&0x02)>>1,
- (b&0x01)
- );
-}
-
-enum SampleType {
- SAMPLE_RAW=0,
- SAMPLE_COUNT,
- SAMPLE_GRAVITY
-};
-
-void sampleTypeToString(SampleType t, char *dst) {
- switch(t) {
- case SAMPLE_RAW:
- sprintf(dst,"SAMPLE_RAW");
- break;
- case SAMPLE_COUNT:
- sprintf(dst,"SAMPLE_COUNT");
- break;
- case SAMPLE_GRAVITY:
- sprintf(dst,"SAMPLE_GRAVITY");
- break;
- };
-}
-
-int testSampleTaking(MMA8452 *acc, int nsamples, SampleType sampleType) {
- int samples = 0;
- int bufLen = 6;
-
- // buffers for multi and single raw sampling
- char bufferMulti[6];
- char bufferSingle[6];
- memset(&bufferMulti,0x00,bufLen);
- memset(&bufferSingle,0x00,bufLen);
-
- // variables for multi and single count sampling
- int xCountM = 0, yCountM = 0, zCountM = 0;
- int xCountS = 0, yCountS = 0, zCountS = 0;
-
- // variables for multi and single gravity sampling
- double xGravityM = 0, yGravityM = 0, zGravityM = 0;
- double xGravityS = 0, yGravityS = 0, zGravityS = 0;
-
- // keep track of errors
- int error = 0;
- // mismatches between multi and single read calls are inevitable
- // since the MMA8452 has an internal sampling mechanism which is
- // not synchronous to this test routine. At low internal sampling
- // rates, these mismatches should be rare, so keep track to
- // check that this is sane
- int mismatchCount = 0;
-
- // take samples
- while(samples<nsamples) {
- // wait for device to be ready
- if(!acc->isXYZReady()) {
- wait(0.01);
- continue;
- }
-
- switch(sampleType) {
- case SAMPLE_RAW:
- // read raw data via multi and single calls
- memset(&bufferMulti,0x00,bufLen);
- memset(&bufferSingle,0x00,bufLen);
- error = 0;
- error += acc->readXYZRaw((char*)&bufferMulti);
- error += acc->readXRaw((char*)&bufferSingle[0]);
- error += acc->readYRaw((char*)&bufferSingle[2]);
- error += acc->readZRaw((char*)&bufferSingle[4]);
- if(error) {
- LOG("Error reading raw accelerometer data. Fail.");
- return false;
- }
- // compare multi and single samples for equivalence
- // note that this is bound to fail for high data rates
- if(acc->getBitDepth()==MMA8452::BIT_DEPTH_12) {
- if(memcmp(bufferMulti,bufferSingle,bufLen)) {
- LOG("Multi and single sampling mismatch");
- LOG("Multi: %x %x %x %x %x %x",
- bufferMulti[0],bufferMulti[1],
- bufferMulti[2],bufferMulti[3],
- bufferMulti[4],bufferMulti[5]
- );
- LOG("Single: %x %x %x %x %x %x",
- bufferSingle[0],bufferSingle[1],
- bufferSingle[2],bufferSingle[3],
- bufferSingle[4],bufferSingle[5]
- );
- mismatchCount++;
- }
- LOG("12bit raw sample %d/%d: %x %x %x %x %x %x",
- samples,nsamples,
- bufferMulti[0],bufferMulti[1],
- bufferMulti[2],bufferMulti[3],
- bufferMulti[4],bufferMulti[5]
- );
- } else {
- if(bufferMulti[0]!=bufferSingle[0]||
- bufferMulti[1]!=bufferSingle[2]||
- bufferMulti[2]!=bufferSingle[4]) {
- LOG("Multi and single sampling mismatch");
- mismatchCount++;
- }
- LOG("8 bit raw sample %d/%d: %x %x %x",
- samples,nsamples,
- bufferMulti[0],bufferMulti[1],bufferMulti[2]
- );
- }
- break;
- case SAMPLE_COUNT:
- error = 0;
- error += acc->readXYZCounts(&xCountM,&yCountM,&zCountM);
- error += acc->readXCount(&xCountS);
- error += acc->readYCount(&yCountS);
- error += acc->readZCount(&zCountS);
- if(error) {
- LOG("Error reading signed counts. Fail.");
- break;
- }
- // check for equivlance (note this fails sometimes but this is expected)
- if(xCountS!=xCountM || yCountS!=yCountM || zCountS!=zCountM) {
- LOG("Multi and single sampling mismatch");
- mismatchCount++;
- }
- LOG("Count sample %d/%d: %d %d %d",samples,nsamples,xCountM,yCountM,zCountM);
- break;
- case SAMPLE_GRAVITY:
- error = 0;
- error += acc->readXYZGravity(&xGravityM,&yGravityM,&zGravityM);
- error += acc->readXGravity(&xGravityS);
- error += acc->readYGravity(&yGravityS);
- error += acc->readZGravity(&zGravityS);
- if(error) {
- LOG("Error reading gravities. Fail.");
- break;
- }
- if(xGravityS!=xGravityM || yGravityS!=yGravityM || zGravityS!=zGravityM) {
- LOG("Multi and single sampling mismatch");
- mismatchCount++;
- }
- LOG("Gravity sample %d/%d: %lf %lf %lf",samples,nsamples,xGravityM,yGravityM,zGravityM);
- break;
- }
- samples++;
- }
- LOG("Mismatches between single and multi-byte reads %d/%d (mismatches are to be expected)",mismatchCount,nsamples);
- return true;
-}
-
-int sampleMMA8452Raw(MMA8452 *acc, int nsamples) {
- int samples = 0;
- int bufLen = 6;
- char buffer[6];
- memset(&buffer,0x00,bufLen);
- while(samples<nsamples) {
- if(!acc->isXYZReady()) {
- wait(0.01);
- continue;
- }
- memset(&buffer,0x00,bufLen);
- acc->readXYZRaw(buffer);
- LOGX("Sample %d of %d: ",samples,nsamples);
- for(int i=0; i<bufLen; i++) {
- LOGX("%.2x ",buffer[i]);
- }
- LOG(" ");
- samples++;
- }
- return true;
-}
-
-int sampleMMA8452Counts(MMA8452 *acc, int nsamples) {
- int samples = 0;
- int bufLen = 6;
- char buffer[6];
- int x = 0, y = 0, z = 0;
- memset(&buffer,0x00,bufLen);
- while(samples<nsamples) {
- if(!acc->isXYZReady()) {
- wait(0.01);
- continue;
- }
- memset(&buffer,0x00,bufLen);
- if(acc->readXYZCounts(&x,&y,&z)) {
- LOG("Error reading sample");
- break;
- }
- LOG("Sample %d of %d: %d, %d, %d",samples,nsamples,x,y,z);
- samples++;
- }
- return true;
-}
-
-int sampleMMA8452Gravities(MMA8452 *acc, int nsamples) {
- int samples = 0;
- int bufLen = 6;
- char buffer[6];
- double x = 0, y = 0, z = 0;
- memset(&buffer,0x00,bufLen);
- while(samples<nsamples) {
- if(!acc->isXYZReady()) {
- wait(0.01);
- continue;
- }
- memset(&buffer,0x00,bufLen);
- if(acc->readXYZGravity(&x,&y,&z)) {
- LOG("Error reading sample");
- break;
- }
- LOG("Sample %d of %d: %lf, %lf, %lf",samples,nsamples,x,y,z);
- samples++;
- }
- return true;
-}
-
-void bitDepthToString(MMA8452::BitDepth d, char *dst) {
- switch(d) {
- case MMA8452::BIT_DEPTH_12:
- sprintf(dst,"BIT_DEPTH_12");
- break;
- case MMA8452::BIT_DEPTH_8:
- sprintf(dst,"BIT_DEPTH_8");
- break;
- }
-}
-
-void dynamicRangeToString(MMA8452::DynamicRange r, char *dst) {
- switch(r) {
- case MMA8452::DYNAMIC_RANGE_2G:
- sprintf(dst,"DYNAMIC_RANGE_2G");
- break;
- case MMA8452::DYNAMIC_RANGE_4G:
- sprintf(dst,"DYNAMIC_RANGE_4G");
- break;
- case MMA8452::DYNAMIC_RANGE_8G:
- sprintf(dst,"DYNAMIC_RANGE_8G");
- break;
- }
-}
-
-void dataRateToString(MMA8452::DataRateHz r, char *dst) {
- switch(r) {
- case MMA8452::RATE_800:
- sprintf(dst,"RATE_800");
- break;
- case MMA8452::RATE_400:
- sprintf(dst,"RATE_400");
- break;
- case MMA8452::RATE_200:
- sprintf(dst,"RATE_200");
- break;
- case MMA8452::RATE_100:
- sprintf(dst,"RATE_100");
- break;
- case MMA8452::RATE_50:
- sprintf(dst,"RATE_50");
- break;
- case MMA8452::RATE_12_5:
- sprintf(dst,"RATE_12_5");
- break;
- case MMA8452::RATE_6_25:
- sprintf(dst,"RATE_6_25");
- break;
- case MMA8452::RATE_1_563:
- sprintf(dst,"RATE_1_563");
- break;
- }
-}
-
-int test() {
- MMA8452 acc(p28, p27, 40000);
-
- acc.debugRegister(MMA8452_CTRL_REG_1);
-
- LOG("Entering standby");
- if(acc.standby()) {
- LOG("Error putting MMA8452 in standby");
- return false;
- }
-
- acc.debugRegister(MMA8452_CTRL_REG_1);
-
- LOG("Activating MMA8452");
- if(acc.activate()) {
- LOG("Error activating MMA8452");
- return false;
- }
-
- char devID = 0;
- if(acc.getDeviceID(&devID)) {
- LOG("Error getting device ID");
- return false;
- }
- LOG("DeviceID: 0x%x",devID);
- if(devID!=0x2a) {
- LOG("Error, fetched device ID: 0x%x does not match expected 0x2a",devID);
- return false;
- } else {
- LOG("Device ID OK");
- }
-
- // test setting dynamic range
- MMA8452::DynamicRange setRange = MMA8452::DYNAMIC_RANGE_UNKNOWN;
- MMA8452::DynamicRange readRange = MMA8452::DYNAMIC_RANGE_UNKNOWN;
- for(int i=0; i<=(int)MMA8452::DYNAMIC_RANGE_8G; i++) {
- setRange = (MMA8452::DynamicRange)i;
- if(acc.setDynamicRange(setRange)) {
- LOG("Error setting dynamic range. Failing.");
- return false;
- }
- readRange = acc.getDynamicRange();
- if(readRange!=setRange) {
- LOG("Read dynamic range: 0x%x does not match set: 0x%x",readRange,setRange);
- return false;
- }
- LOG("Success on dynamic range %d",i);
- }
-
- // test setting data rate
- for(int i=0; i<=(int)MMA8452::RATE_1_563; i++) {
- if(acc.setDataRate((MMA8452::DataRateHz)i)) {
- LOG("Error setting data rate. Failing.");
- return false;
- }
- if(acc.getDataRate()!=(MMA8452::DataRateHz)i) {
- LOG("Read data rate: 0x%x does not match set: 0x%x",acc.getDataRate(),(MMA8452::DataRateHz)i);
- return false;
- }
- LOG("Success on data rate %d",i);
- }
-
- char depthString[32], rangeString[32], rateString[32], sampleTypeString[32];
- // draw some samples at each bit depth, rate, and dynamic range
- for(int depth=0; depth<=(int)MMA8452::BIT_DEPTH_8; depth++) {
- bitDepthToString((MMA8452::BitDepth)depth,(char*)&depthString);
- LOG("Setting bit depth to %s",depthString);
- if(acc.setBitDepth((MMA8452::BitDepth)depth)) {
- LOG("Error setting bit depth to %s. Fail.",depthString);
- return false;
- }
- for(int range=0; range<=(int)MMA8452::DYNAMIC_RANGE_8G; range++) {
- dynamicRangeToString((MMA8452::DynamicRange)range,(char*)&rangeString);
- LOG("Setting dynamic range to %s",rangeString);
- if(acc.setDynamicRange((MMA8452::DynamicRange)range)) {
- LOG("Error setting dynamic range to %s. Fail.",rangeString);
- return false;
- }
- for(int rate=0; rate<=(int)MMA8452::RATE_1_563; rate++) {
- dataRateToString((MMA8452::DataRateHz)rate,(char*)&rateString);
- LOG("Setting data rate to %s",rateString);
- if(acc.setDataRate((MMA8452::DataRateHz)rate)) {
- LOG("Error setting data rate to %s",rateString);
- return false;
- }
- // take samples
- for(int sampleType=0; sampleType<=(int)SAMPLE_GRAVITY; sampleType++) {
- sampleTypeToString((SampleType)sampleType,sampleTypeString);
- LOG("Setting sample type to %s",sampleTypeString);
- if(testSampleTaking(&acc, 10, (SampleType)sampleType)!=true) {
- LOG("Sample taking failed for %s, %s, %s, %s",sampleTypeString,depthString,rangeString,rateString);
- return false;
- }
- }
- }
- }
- }
-
- LOG("Samping gravities for interactive examination");
- if(acc.setBitDepth(MMA8452::BIT_DEPTH_8)) {
- LOG("Error setting bit depth. Fail.");
- return false;
- }
- if(acc.setDynamicRange(MMA8452::DYNAMIC_RANGE_4G)) {
- LOG("Error setting dynamic range. Fail.");
- return false;
- }
- if(acc.setDataRate(MMA8452::RATE_100)) {
- LOG("Error setting data rate. Fail");
- return false;
- }
- if(sampleMMA8452Gravities(&acc,1000)!=true) {
- LOG("Sampling gravities failed");
- return false;
- }
-
- return true;
-}
-
-void loop() {
- while(1) {
- wait(1);
- }
-}
-
-void u16d(uint16_t n) {
- int shift = 16;
- uint16_t mask = 0x8000;
- while(--shift>=0) {
- LOGX("%d",(n&mask)>>shift);
- mask >>= 1;
- }
- LOG(" ");
-}
-
-int eightBitToSigned(char *buf) {
- return (int8_t)*buf;
-}
-
-int twelveBitToSigned(char *buf) {
- //LOG("Doing twos complement conversion for 0x%x 0x%x",buf[0],buf[1]);
-
- // cheat by using the int16_t internal type
- // all we need to do is convert to little-endian format and shift right
- int16_t x = 0;
- ((char*)&x)[1] = buf[0];
- ((char*)&x)[0] = buf[1];
- // note this only works because the below is an arithmetic right shift
- return x>>4;
-
- // for reference, here is the full conversion, in case you port this somewhere where the above won't work
- /*
- uint16_t number = 0x0000;
- //u16d(number);
- int negative = false;
-
- // bit depth 12, is spread over two bytes
- // put it into a uint16_t for easy manipulation
- number |= (buf[0]<<8);
- number |= buf[1];
-
- // if this is a negative number take the twos complement
- if(number&0x8000) {
- negative = true;
- // flip all bits (doesn't matter about lower 4 bits)
- number ^= 0xFFFF;
-
- // add 1 (but do so in a way that deals with overflow and respects our current leftwise shift)
- number += 0x0010;
- }
-
- // shifting down the result by 4 bits gives us the absolute number
- number >>= 4;
-
- int result = number;
- if(negative) {
- result *= -1;
- }
- return result;
- */
-}
-
-int twosCompTest() {
- // 12 bits of number gives 2048 steps
- int16_t i = -2047;
- while(1) {
- //LOG("number: %d",i);
- //u16d(number);
- uint16_t shiftedNumber = i<<4;
- //LOG("shifted:");
- //u16d(shiftedNumber);
- // ARM is little endian whereas 12 bit 2's comp rep is big endian
- uint16_t flippedNumber = 0x0000;
- //LOG("switching bytes");
- //u16d(flippedNumber);
- ((char*)&flippedNumber)[0] = ((char*)&shiftedNumber)[1];
-
- //u16d(flippedNumber);
- ((char*)&flippedNumber)[1] = ((char*)&shiftedNumber)[0];
-
- //u16d(flippedNumber);
- int value = twelveBitToSigned((char*)&flippedNumber);
- //LOG("%d converts to %d",i,value);
- if(i!=value) {
- return false;
- }
- if(i==2047) {
- break;
- }
- i++;
- }
-
- int8_t n = -127;
- while(1) {
- int value = eightBitToSigned((char*)&n);
- //LOG("%d converts to %d",n,value);
- if(n!=value) {
- return false;
- }
- if(n==127) {
- break;
- }
- n++;
- }
+PwmOut led1(LED1);
+PwmOut led2(LED2);
+PwmOut led3(LED3);
+ double x, y, z;
- return true;
-}
+ MMA8452 acc(p28, p27, 100000);
int main() {
- pc.baud(115200);
- LOG("Begin");
- LOG("Executing twos complement test");
- if(!twosCompTest()) {
- LOG("Twos complement test failed");
- loop();
- }
- LOG("Twos complement test passed");
+
+ while(1) {
- LOG("Executing MMA8452 tests");
- if(!test()) {
- LOG("MMA8452 test failed.");
- loop();
- }
- LOG("MMA8452 test passed");
- LOG("All tests passed");
- loop();
-}
+ acc.readXYZGravity(&x,&y,&z);
+ pc.printf("x:%lf y:%lf z:%lf\r\n",x,y,z);
+ led1 = abs(x);
+ led2 = abs(y);
+ led3 = abs(z);
+ wait(.25);
+ }
+}
\ No newline at end of file