main.cpp

00001 #include "mbed.h"
00002 #include "TSISensor.h"
00003 #include "MMA8451Q.h"
00004 #include "MAG3110.h"
00005 
00006 
00007 // This project has been created to bring together the libraries required to support
00008 // the hardware and sensors found on the Freescale FRDM-KL46Z board.  The following
00009 // libraries are included and exercised in this project:
00010 //
00011 //  mbed (source: official mbed library)
00012 //      Serial:
00013 //          Serial console routed through the mbed interface
00014 //              PTA2 / UART0_TX = TX Signal - also on Arduino pin D1
00015 //              PTA1 / UART0_RX = RX Signal - also on Arduino pin D0
00016 //
00017 //      DigitalOut:
00018 //          GPIO to drive onboard LEDs
00019 //              PTD5 / GPIO = LED1 - drive low to turn on LED - also on Arduino pin D13
00020 //              PTE29 / GPIO = LED2 - drive low to turn on LED
00021 //
00022 //      DigitalIn:
00023 //          GPIO to monitor the two onboard push buttons
00024 //              PTC3 / GPIO = SW1 - low input = button pressed
00025 //              PTC12 / GPIO = SW3 - low input = button pressed
00026 // 
00027 //      AnalogIn:
00028 //          ADC channel to monitor ambient light sensor
00029 //              PTE22 / ADC = Light Sensor - higher value = darker
00030 //
00031 //  TSI (source: http://mbed.org/users/emilmont/code/TSI/ )
00032 //      Capacitive Touch library to support the onboard Touch-Slider
00033 //
00034 //  FRDM_MMA8451Q (source: http://mbed.org/users/clemente/code/FRDM_MMA8451Q/ )
00035 //      Freescale MMA8451 Accelerometer connected on I2C0
00036 //          PTE24 / I2C0_SCL = I2C bus for communication (shared with MAG3110)
00037 //          PTE25 / I2C0_SDA =  I2C bus for communication (shared with MAG3110)
00038 //          PTC5 / INT1_ACCEL = INT1 output of MMA8451Q
00039 //          PTD1 / INT2_ACCEL = INT2 output of MMA8451Q (shared with MAG3110)
00040 //
00041 //  MAG3110 (source: http://mbed.org/users/mmaas/code/MAG3110/)
00042 //            (based on: http://mbed.org/users/SomeRandomBloke/code/MAG3110/)
00043 //      Freescale MAG3110 Magnetomoter connected on I2C0
00044 //          PTE24 / I2C0_SCL = I2C bus for communication (shared with MMA8451)
00045 //          PTE25 / I2C0_SDA =  I2C bus for communication (shared with MMA8451)
00046 //          PTD1 / INT1_MAG / INT2_ACCEL = INT1 output of MAG3110 (shared with MMA8451)
00047 //
00048 
00049 
00050 
00051 //////////////////////////////////////////////////////////////////////
00052 // Include support for USB Serial console
00053 Serial pc(USBTX, USBRX);
00054 
00055 
00056 //////////////////////////////////////////////////////////////////////
00057 // Include support for on-board green and red LEDs
00058 #define LED_ON  0
00059 #define LED_OFF 1
00060 DigitalOut greenLED(LED_GREEN);
00061 DigitalOut redLED(LED_RED);
00062 
00063 
00064 //////////////////////////////////////////////////////////////////////
00065 // Include support for onboard pushbuttons (value = 0 when pressed)
00066 DigitalIn  sw1(PTC3);
00067 DigitalIn  sw3(PTC12);
00068 
00069 
00070 //////////////////////////////////////////////////////////////////////
00071 // Include support for onboard Capacitive Touch Slider
00072 TSISensor slider;
00073 
00074 
00075 //////////////////////////////////////////////////////////////////////
00076 // Include support for analog inputs
00077 AnalogIn  lightSense(PTE22);
00078 
00079 
00080 /////////////////////////////////////////////////////////////////////
00081 // Include support for MMA8451Q Acceleromoter
00082 #define MMA8451_I2C_ADDRESS (0x1d<<1)
00083 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
00084 
00085 
00086 /////////////////////////////////////////////////////////////////////
00087 // Include support for MAG3110 Magnetometer
00088 MAG3110 mag(PTE25, PTE24);
00089 
00090 
00091 /////////////////////////////////////////////////////////////////////
00092 // Include a 1 second ticker as a heartbeat
00093 Ticker heartBeat;
00094 
00095 
00096 
00097 /////////////////////////////////////////////////////////////////////
00098 // Structure to hold FRDM-KL46Z sensor and input data
00099 struct KL46_SENSOR_DATA {
00100     int     sw1State;
00101     int     sw3State;
00102     
00103     float   sliderPosition;
00104     
00105     float   lightSensor;
00106     
00107     int     magXVal;
00108     int     magYVal;
00109     float   magHeading;
00110     
00111     float   accXVal;
00112     float   accYVal;
00113     float   accZVal;
00114 } sensorData;
00115     
00116 
00117 /////////////////////////////////////////////////////////////////////
00118 // Prototype for routine to send all sensor data to serial port
00119 void serialSendSensorData(void);    
00120 
00121 
00122 /////////////////////////////////////////////////////////////////////
00123 // Prototype for LED flash routine
00124 void ledFlashTick(void);
00125 
00126 
00127 /////////////////////////////////////////////////////////////////////
00128 // main application
00129 int main()
00130 {
00131     // Ensure LEDs are off
00132     greenLED = LED_OFF;
00133     redLED = LED_OFF;
00134     
00135     // Set up heartBeat Ticker to flash an LED
00136     heartBeat.attach(&ledFlashTick, 1.0); 
00137 
00138 
00139     // Set Serial Port data rate and say Hello
00140     pc.baud( 115200 );
00141     pc.printf("Hello World\r\n");
00142 
00143     // Turn on pull up resistors on pushbutton inputs
00144     sw1.mode(PullUp);
00145     sw3.mode(PullUp);
00146 
00147     // Calibrate Magnetometer
00148     printf("Press and release SW1, rotate the board 360 degrees.\r\n");
00149     printf("Then press and release SW1 to complete the calibration process.\r\n");
00150 
00151     mag.calXY(PTC3, 0);
00152 
00153     printf("Calibration complete.\r\n");
00154 
00155 
00156     // Loop forever - read and update sensor data and print to console.    
00157     while(1)
00158     {
00159         sensorData.sw1State = sw1;
00160         sensorData.sw3State = sw3;
00161         
00162         sensorData.sliderPosition = slider.readPercentage() * 100;
00163         
00164         sensorData.lightSensor = lightSense;
00165         
00166         sensorData.accXVal = acc.getAccX();
00167         sensorData.accYVal = acc.getAccY();
00168         sensorData.accZVal = acc.getAccZ();
00169 
00170         sensorData.magXVal = mag.readVal(MAG_OUT_X_MSB);
00171         sensorData.magYVal = mag.readVal(MAG_OUT_Y_MSB);
00172         sensorData.magHeading = mag.getHeading();
00173                 
00174         serialSendSensorData();
00175         
00176         // Blink red LED (loop running)
00177         redLED = LED_ON;
00178         wait(.03);
00179         redLED = LED_OFF;
00180 
00181         wait(1);
00182     }  
00183 }
00184 
00185 
00186 void serialSendSensorData(void)
00187 {
00188     printf("Switches:\r\n  SW1 = %d\r\n  SW3 = %d\r\n\r\n", sensorData.sw1State, sensorData.sw3State);
00189     printf("Slider:\r\n %2.0f %% \r\n\r\n", sensorData.sliderPosition);
00190     printf("Light Sensor:\r\n  %1.3f \r\n\r\n", sensorData.lightSensor);
00191     printf("Accelerometer:\r\n  X = %1.3f\r\n  Y = %1.3f\r\n  Z = %1.3f\r\n\r\n", sensorData.accXVal, sensorData.accYVal, sensorData.accZVal);
00192     printf("Magnetometer:\r\n  X = %d\r\n  Y = %d\r\n  Heading = %.2f  \r\n\r\n", sensorData.magXVal, sensorData.magYVal, sensorData.magHeading);
00193     
00194     printf("\r\n");
00195     
00196 }    
00197 
00198 
00199 void ledFlashTick(void)
00200 {
00201     greenLED = !greenLED;
00202 }
00203