Diff: main.cpp

Revision:

7:7ba97abac55b

Parent:

5:2607923acfa1

Child:

8:8db3894cf5e6

--- a/main.cpp	Tue Dec 09 09:08:27 2014 +0000
+++ b/main.cpp	Wed Jan 21 22:21:32 2015 +0000
@@ -29,10 +29,43 @@
 #define DEBUG(...) /* nothing */
 #endif /* #if NEED_CONSOLE_OUTPUT */
 
+
+// ACC Registers
+#define ID0 0x00
+#define STATUS 0x0b
+#define RESET 0x1f
+#define INTMAP1 0x2a
+#define INTMAP2 0x2b
+#define FILTER_CTL 0x2c
+#define POWER_CTL 0x2d
+ 
+#define WR_SPI 0x0A     
+#define RD_SPI 0x0B
+#define DOWN 0
+#define UP 1
+
 BLEDevice  ble;
 DigitalOut led1(LED1);
 UARTService *uart;
 
+// function definitions
+void drSub();
+uint8_t ACC_ReadReg( uint8_t reg );
+void ACC_WriteReg( uint8_t reg, uint8_t reg );
+uint32_t drFlag;
+void ACC_GetXYZ12( int16_t *x, int16_t *y, int16_t *z);
+void ACC_GetXYZ8( int8_t *x, int8_t *y, int8_t *z);
+void retargetStdout();
+ 
+// mbed hardware config 
+// CONFIGURE:
+SPI spi(p11, p12, p13); // mosi, miso, sclk
+DigitalOut cs(p14);
+InterruptIn dr(p15);
+
+
+    
+
 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
 {
     DEBUG("Disconnected!\n\r");
@@ -42,13 +75,25 @@
 
 void periodicCallback(void)
 {
-    led1 = !led1;
-    DEBUG("ping\r\n");
+    
+        led1 = !led1; /* Do blinky on LED1 while we're waiting for BLE events */
+    
 }
 
 int main(void)
 {
-    led1 = 1;
+       // local variables
+    uint8_t reg;   
+    
+    int8_t x8 = 0;
+    int8_t y8 = 0;
+    int8_t z8 = 0;
+    
+    int16_t x12 = 0;
+    int16_t y12 = 0;
+    int16_t z12 = 0;
+    
+     led1 = 1;
     Ticker ticker;
     ticker.attach(periodicCallback, 1);
 
@@ -57,6 +102,8 @@
     ble.onDisconnection(disconnectionCallback);
     
     uart = new UARTService(ble);
+    
+
 
     /* setup advertising */
     ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
@@ -68,8 +115,174 @@
 
     ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
     ble.startAdvertising();
+    
+    retargetStdout();
+    
+    
+        // mbed spi config
+    // spi 8 bits, mode 0, 1 MHz for adxl362
+    spi.format(8,0);
+    // 5 MHz, max for acc - works fine
+    spi.frequency(5000000);
+ 
+    // mbed interrupt config
+    // data ready for adxl362
+    drFlag = 0;
+    dr.mode(PullDown);
+    dr.rise(&drSub);
+     __disable_irq();
+        
+    // reset the adxl362
+    wait_ms(100); 
+    ACC_WriteReg(RESET, 0x52);  
+    wait_ms(100); 
+    
+    // read adxl362 registers
+    printf("\r\n");
+    // read id register
+    reg = ACC_ReadReg(ID0);   
+    printf("ID0 = 0x%X\r\n", reg);
+    reg = ACC_ReadReg(FILTER_CTL);   
+    printf("FILTER_CTL = 0x%X\r\n", reg);   
+    
+    // set adxl362 to 4g range, 25Hz
+    //ACC_WriteReg(FILTER_CTL,0x51); 
+    // 2g, 25Hz  
+    ACC_WriteReg(FILTER_CTL,0x11); 
+    reg = ACC_ReadReg(FILTER_CTL);   
+    printf("FILTER_CTL = 0x%X\r\n", reg);    
+        
+    // map adxl362 interrupts
+    ACC_WriteReg(INTMAP1,0x01);  
+    reg = ACC_ReadReg(INTMAP1);   
+    printf("INTMAP1 = 0x%X\r\n", reg);   
+    
+    // set adxl362 to measurement mode, ultralow noise
+    ACC_WriteReg(POWER_CTL,0x22);  
+    reg = ACC_ReadReg(POWER_CTL);   
+    printf("POWER_CTL = 0x%X\r\n", reg);    
+     
+    // start continuous processing adxl362 data
+    __enable_irq(); 
+ 
+    
+
+    
+
 
     while (true) {
+                if(drFlag == 8)
+        {
+            ACC_GetXYZ8(&x8, &y8, &z8);
+            printf("%+04d %+04d %+04d\r\n", x8,y8,z8);
+            drFlag = 0;     
+        }
+        
+        else if(drFlag == 12)
+        {
+            ACC_GetXYZ12(&x12, &y12, &z12);
+            printf("%+05d %+05d %+05d\r\n",x12, y12, z12);
+            //pc.printf("%04X, %04X, %04X\r\n", x12, y12, z12);
+            drFlag = 0;    
+        }
         ble.waitForEvent();
     }
 }
+
+
+////////////////////////////////////////////////////////////////////////////////////
+// read 8-bit x,y,z data 
+////////////////////////////////////////////////////////////////////////////////////      
+        
+void ACC_GetXYZ8(int8_t* x, int8_t* y, int8_t* z)
+{
+    
+    cs = DOWN;
+    spi.write(RD_SPI); 
+    spi.write(0x08);  
+    
+    *x = spi.write(0x00);
+    *y = spi.write(0x00);
+    *z = spi.write(0x00);
+ 
+    cs = UP;
+}
+ 
+////////////////////////////////////////////////////////////////////////////////////
+// read 12-bit x,y,z data
+////////////////////////////////////////////////////////////////////////////////////      
+        
+ void ACC_GetXYZ12(int16_t* x, int16_t* y, int16_t* z)
+{
+    int16_t xyzVal[6] = {0, 0, 0, 0, 0, 0};
+    
+    cs = DOWN;
+    spi.write(RD_SPI); 
+    spi.write(0x0E);  
+    
+    for (uint32_t i = 0; i < 6; i++)
+    {
+        xyzVal[i] = spi.write(0x00);
+    }
+ 
+    *x = (xyzVal[1] << 8) + xyzVal[0];
+    *y = (xyzVal[3] << 8) + xyzVal[2];
+    *z = (xyzVal[5] << 8) + xyzVal[4];  
+ 
+    cs = UP;
+}
+ 
+////////////////////////////////////////////////////////////////////////////////////
+// read ACC 8-bit registers
+////////////////////////////////////////////////////////////////////////////////////
+ 
+uint8_t ACC_ReadReg( uint8_t reg ) 
+{
+    cs = DOWN;
+    spi.write(RD_SPI); 
+    spi.write(reg);  
+    uint8_t val = spi.write(0x00);
+    cs = UP;
+    return (val);
+}
+ 
+////////////////////////////////////////////////////////////////////////////////////
+// write ACC 8-bit register
+////////////////////////////////////////////////////////////////////////////////////
+ 
+void ACC_WriteReg( uint8_t reg, uint8_t cmd ) 
+{
+    cs = DOWN;
+    spi.write(WR_SPI);
+    spi.write(reg);
+    spi.write(cmd);    
+    cs = UP;
+}
+
+  /**
+     * Following a call to this function, all writes to stdout (such as from
+     * printf) get redirected to the outbound characteristic of this service.
+     * This might be very useful when wanting to receive debug messages over BLE.
+     *
+     * @Note: debug messages originating from printf() like calls are buffered
+     * before being sent out. A '\n' in the printf() triggers the buffer update
+     * to the underlying characteristic.
+     *
+     * @Note: long messages need to be chopped up into 20-byte updates so that
+     * they flow out completely with notifications. The receiver should be
+     * prepared to stitch these messages back.
+     */
+    void retargetStdout() {
+        freopen("/blueart", "w", stdout);
+    }
+ 
+////////////////////////////////////////////////////////////////////////////////////
+// Handle data ready interrupt
+// just sets data ready flag
+////////////////////////////////////////////////////////////////////////////////////
+ 
+void drSub() 
+{
+   drFlag = 8;
+   //drFlag = 12;
+}