NXP
/
DEMO_plotter_acc-client
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Dependencies: EthernetInterface mbed-rtos mbed
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DEMO_plotter_acc-client
by 
Freescale
Revision 0:65cab7b6fd7a, committed 2016-05-27
- Comitter:
- mareikeFSL
- Date:
- Fri May 27 21:07:24 2016 +0000
- Commit message:
- Initial publication
Changed in this revision
diff -r 000000000000 -r 65cab7b6fd7a EthernetInterface.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EthernetInterface.lib Fri May 27 21:07:24 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/EthernetInterface/#2fc406e2553f
diff -r 000000000000 -r 65cab7b6fd7a main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri May 27 21:07:24 2016 +0000
@@ -0,0 +1,456 @@
+/*--------------------------------------------------------------------------------*/
+/* Plotter Demo Code for K64F (Accelerometer, Ethernet Client) */
+/*--------------------------------------------------------------------------------*/
+
+/*--COMPANY-----AUTHOR------DATE------------REVISION----NOTES---------------------*/
+/* NXP mareikeFSL 2016.02.05 rev 1.0 initial */
+/* NXP mareikeFSL 2016.03.02 rev 1.1 added feedback / enable */
+/* */
+/*--------------------------------------------------------------------------------*/
+
+/*--PROGRAM FLOW------------------------------------------------------------------*/
+/* MAIN */
+/* -> */
+/*--------------------------------------------------------------------------------*/
+
+/*--HARDWARE----------------------------------------------------------------------*/
+/* FRDM-K64F #2 REV: 700-28163 REV C, SCH-28163 REV E */
+/* FRDM-STBC-AGM01 REV: 700-28556 REV B, SCH-28566 REV C */
+/* FRDM-STBC-AGM01 J5 is (1-2), J6 is (1-2), J7 is (1-2) */
+/* Ethernet cable from FRDM-K64F (#1) to FRDM-K64F (#2) */
+/*--------------------------------------------------------------------------------*/
+
+/*--GPIO--------------------------------------------------------------------------*/
+/* INT1_8700 (INT1) = PTB19 (J1-3) */
+/* INT2_8700 (INT2) = PTC1 (J1-5) */
+/* INT1_21002 (INT1_G) = PTB9 (J1-6) */
+/* INT2_21002 (INT2_G) = PTE26 (J2-1) */
+/* SPI_CSB_21002 (CS_G) = PTD0 (J2-6) */
+/* RST_GPIO (RESET) = PTB11 (J10-4) */
+/* SA1_CSB_8700 (CS) = PTB10 (J10-3) */
+/* RST_MCU (U_RESET) = RESET (J9-3) */
+/*--------------------------------------------------------------------------------*/
+/*--SPI---------------------------------------------------------------------------*/
+/* SPI_MOSI (MOSI) = PTD2 (J2-4) */
+/* SA0_MISO (MISO) = PTD3 (J2-5) */
+/* SPI_SCLK (CLK) = PTD1 (J2-6) */
+/*--------------------------------------------------------------------------------*/
+/*--I2C---------------------------------------------------------------------------*/
+/* I2C_SDA0 (DATA0) = PTE25 (J2-9) */
+/* I2C_SCL0 (CLK0) = PTE24 (J2-10) */
+/* I2C_SCL1 (CLK1) = PTC10 (J10-6) */
+/* I2C_SDA1 (DATA1) = PTC11 (J10-5) */
+/*--------------------------------------------------------------------------------*/
+/*--OTHER-------------------------------------------------------------------------*/
+/* GND (GND) = GND (J2-8) */
+/* GND (GND) = GND (J9-7) */
+/* GND (GND) = GND (J9-6) */
+/* VDD (VDD) = VDD (J9-4) */
+/* VDD (VDD) = VDD (J9-2) */
+/*--------------------------------------------------------------------------------*/
+
+
+/*--INCLUDES----------------------------------------------------------------------*/
+#include "mbed.h"
+#include "EthernetInterface.h"
+#include <string>
+
+
+/*--DEFINES-----------------------------------------------------------------------*/
+#define STATUS 0x00 //read
+#define OUT_X_MSB 0x01 //read
+#define OUT_Y_MSB 0x03 //read
+#define OUT_Z_MSB 0x05 //read
+#define WHO_AM_I 0x0D //read
+#define CTRL_REG1 0x2A //read/write
+#define ADDRESS 0x3A //address of FXOS8700CQ (on schematic)
+#define WHO_AM_I_VALUE 0xC7 //value of who_am_i
+
+#define CODE_MASK_CLEAR 0x3F;
+#define BOARD1_PWMA 0x00 //board 1, pwm a = 0b0000
+#define BOARD1_PWMB 0x40 //board 1, pwm b = 0b0100
+#define BOARD2_PWMA 0x80 //board 2, pwm a = 0x1000
+#define BOARD2_PWMB 0xC0 //board 2, pwm b = 0x1100
+#define X_STOP 0xFA
+#define Y_STOP 0xFB
+
+#define BL_0_max 0x0A
+#define BL_80_max 0x1D
+#define BL_90_max 0x31
+#define BL_100_max 0x80
+
+#define BL_0to80_lim 0x06
+#define BL_80to0_lim 0x0F
+#define BL_80to90_lim 0x19
+#define BL_90to80_lim 0x22
+#define BL_90to100_lim 0x2D
+#define BL_100to90_lim 0x36
+
+#define FR_80_max 0xF4
+#define FR_90_max 0xE1
+#define FR_100_max 0xCD
+
+#define FR_0to80_lim 0xF9
+#define FR_80to0_lim 0xF0
+#define FR_80to90_lim 0xE6
+#define FR_90to80_lim 0xDD
+#define FR_90to100_lim 0xD2
+#define FR_100to90_lim 0xC9
+
+#define DC_0 0x00
+#define DC_80 0x19 //0x28 = 80, 0x19 = 50
+#define DC_90 0x23 //0x2D = 90, 0x23 = 70
+#define DC_100 0x32
+
+
+/*--CONSTANTS---------------------------------------------------------------------*/
+const int PORT = 7;
+static const char* SERVER_IP = "192.168.1.101"; //IP of motor board
+static const char* CLIENT_IP = "192.168.1.102"; //IP of accelerometer board
+static const char* MASK = "255.255.255.0"; //mask
+static const char* GATEWAY = "192.168.1.1"; //gateway
+
+
+/*--INITS-------------------------------------------------------------------------*/
+DigitalOut red(LED_RED); //debug led
+DigitalOut green(LED_GREEN); //debug led
+DigitalOut blue(LED_BLUE); //debug led
+
+EthernetInterface eth; //create ethernet
+UDPSocket sock; //creat socket
+Endpoint server; //create endpoint
+
+I2C i2c0(PTE25, PTE24); //I2C0
+
+
+/*--VARIABLES---------------------------------------------------------------------*/
+int n; //size of received message
+char in_buffer[1]; //create receive buffer
+char counter1[1] = {0}; //sample send buffer
+char counter2[1] = {5}; //sample send buffer
+char X_MSB_data[1] = {0x00};
+char Y_MSB_data[1] = {0x00};
+char x_axis = 1;
+char y_axis = 0;
+char prev_X = 0;
+char prev_Y = 0;
+
+
+/*--FUNCTION DECLARATIONS---------------------------------------------------------*/
+void init_eth(void); //initializes ethernet
+
+void init_i2c0(void); //initializes I2C0
+void init_acc(void);
+char read_register(char address, //reads from register
+ char reg,
+ char if_print);
+void write_register(char address, //writes to register
+ char reg,
+ char write_data,
+ bool if_print);
+void read_acc(void);
+char convert_acc_to_pwm(char input, char axis);
+int main(void);
+
+
+/*--FUNCTION DEFINITIONS----------------------------------------------------------*/
+
+/***********************************************************************INIT_ETH***/
+void init_eth(void)
+{
+ eth.init(CLIENT_IP, MASK, GATEWAY); //set up IP
+ eth.connect(); //connect ethernet, takes ~15s
+ sock.init(); //initialize socket
+ server.set_address(SERVER_IP, PORT); //set address of server
+
+} //end init_eth()
+
+/**********************************************************************INIT_I2C0***/
+void init_i2c0(void)
+{
+ i2c0.frequency(100000); //freq (100kHz)
+
+} //end init_i2c0()
+
+/******************************************************************READ REGISTER***/
+char read_register(char address, char reg, bool if_print)
+{
+ char return_data = 0;
+ char data[1] = {reg};
+
+ i2c0.write(address, data, 1, true); //write I2C address, then register to read
+ i2c0.read(address, data, 1); //read from register, store result in data
+
+ return_data = data[0];
+
+ return return_data;
+
+} //end read_register()
+
+/*****************************************************************WRITE REGISTER***/
+void write_register(char address, char reg, char write_data, bool if_print)
+{
+ char data[2] = {reg, write_data};
+
+ i2c0.write(address, data, 2); //write I2C address, then register, then data
+
+} //end write_register()
+
+/***********************************************************************INIT_ACC***/
+void init_acc(void)
+{
+ write_register(ADDRESS, CTRL_REG1, 0x00, false); //standby
+ write_register(ADDRESS, CTRL_REG1, 0x01, false); //enable
+ char success = read_register(ADDRESS, WHO_AM_I, false);
+
+} //end init_acc()
+
+/***********************************************************************READ_ACC***/
+void read_acc(void)
+{
+ X_MSB_data[0] = read_register(ADDRESS, OUT_X_MSB, false);
+
+ Y_MSB_data[0] = read_register(ADDRESS, OUT_Y_MSB, false);
+
+} //end read_acc()
+
+/*************************************************************CONVERT ACC TO PWM***/
+char convert_acc_to_pwm(char input, char axis)
+{
+ char send;
+
+ if(input <= BL_0_max) //- - - - - - - - - - - - - - - - - - - - - - - - BL_0_max
+ {
+ if(axis)
+ {
+ if((prev_X == DC_80) && (input >= BL_0to80_lim))
+ send = BOARD1_PWMA | DC_80;
+ else
+ {
+ send = X_STOP; /*BOARD1_PWMA | DC_0;*/
+ prev_X = DC_0;
+ }
+ }
+ else
+ {
+ if((prev_Y == DC_80) && (input >= BL_0to80_lim))
+ send = BOARD2_PWMB | DC_80;
+ else
+ {
+ send = Y_STOP; /*BOARD2_PWMB | DC_0;*/
+ prev_Y = DC_0;
+ }
+ }
+ }
+ else if(input <= BL_80_max) //- - - - - - - - - - - - - - - - - - - - -BL_80_max
+ {
+ if(axis)
+ {
+ if((prev_X == DC_90) && (input >= BL_80to90_lim))
+ send = BOARD1_PWMA | DC_90;
+ else if((prev_X == DC_0) && input <= (BL_80to0_lim))
+ send = X_STOP; /*BOARD1_PWMA | DC_0;*/
+ else
+ {
+ send = BOARD1_PWMA | DC_80;
+ prev_X = DC_80;
+ }
+ }
+ else
+ {
+ if((prev_Y == DC_90) && (input >= BL_80to90_lim))
+ send = BOARD2_PWMB | DC_90;
+ else if((prev_Y == DC_0) && input <= (BL_80to0_lim))
+ send = Y_STOP; /*BOARD2_PWMB | DC_0;*/
+ else
+ {
+ send = BOARD2_PWMB | DC_80;
+ prev_Y = DC_80;
+ }
+ }
+ }
+ else if(input <= BL_90_max) //- - - - - - - - - - - - - - - - - - - - -BL_90_max
+ {
+ if(axis)
+ {
+ if((prev_X == DC_100) && (input >= BL_90to100_lim))
+ send = BOARD1_PWMA | DC_100;
+ else if((prev_X == DC_80) && input <= (BL_90to80_lim))
+ send = BOARD1_PWMA | DC_80;
+ else
+ {
+ send = BOARD1_PWMA | DC_90;
+ prev_X = DC_90;
+ }
+ }
+ else
+ {
+ if((prev_Y == DC_100) && (input >= BL_90to100_lim))
+ send = BOARD2_PWMB | DC_100;
+ else if((prev_Y == DC_80) && input <= (BL_90to80_lim))
+ send = BOARD2_PWMB | DC_80;
+ else
+ {
+ send = BOARD2_PWMB | DC_90;
+ prev_Y = DC_90;
+ }
+ }
+ }
+ else if(input <= BL_100_max) //- - - - - - - - - - - - - - - - - - - -BL_100_max
+ {
+ if(axis)
+ {
+ if((prev_X == DC_90) && input <= (BL_100to90_lim))
+ send = BOARD1_PWMA | DC_90;
+ else
+ {
+ send = BOARD1_PWMA | DC_100;
+ prev_X = DC_100;
+ }
+ }
+ else
+ {
+ if((prev_Y == DC_90) && input <= (BL_100to90_lim))
+ send = BOARD2_PWMB | DC_90;
+ else
+ {
+ send = BOARD2_PWMB | DC_100;
+ prev_Y = DC_100;
+ }
+ }
+ }
+ else if(input <= FR_100_max) //- - - - - - - - - - - - - - - - - - - -FR_100_max
+ {
+ if(axis)
+ {
+ if((prev_X == DC_90) && input >= (FR_100to90_lim))
+ send = BOARD1_PWMB | DC_90;
+ else
+ {
+ send = BOARD1_PWMB | DC_100;
+ prev_X = DC_100;
+ }
+ }
+ else
+ {
+ if((prev_Y == DC_90) && input >= (FR_100to90_lim))
+ send = BOARD2_PWMA | DC_90;
+ else
+ {
+ send = BOARD2_PWMA | DC_100;
+ prev_Y = DC_100;
+ }
+ }
+ }
+ else if(input <= FR_90_max) //- - - - - - - - - - - - - - - - - - - - -FR_90_max
+ {
+ if(axis)
+ {
+ if((prev_X == DC_80) && (input >= FR_90to80_lim))
+ send = BOARD1_PWMB | DC_80;
+ else if((prev_X == DC_100) && input <= (FR_100to90_lim))
+ send = BOARD1_PWMB | DC_100;
+ else
+ {
+ send = BOARD1_PWMB | DC_90;
+ prev_X = DC_90;
+ }
+ }
+ else
+ {
+ if((prev_Y == DC_80) && (input >= FR_90to80_lim))
+ send = BOARD2_PWMA | DC_80;
+ else if((prev_Y == DC_100) && input <= (FR_100to90_lim))
+ send = BOARD2_PWMA | DC_100;
+ else
+ {
+ send = BOARD2_PWMA | DC_90;
+ prev_Y = DC_90;
+ }
+ }
+ }
+ else if(input <= FR_80_max) //- - - - - - - - - - - - - - - - - - - - -FR_80_max
+ {
+ if(axis)
+ {
+ if((prev_X == DC_0) && (input >= FR_80to0_lim))
+ send = X_STOP; /*BOARD1_PWMB | DC_0;*/
+ else if((prev_X == DC_90) && input <= (FR_80to90_lim))
+ send = BOARD1_PWMB | DC_90;
+ else
+ {
+ send = BOARD1_PWMB | DC_80;
+ prev_X = DC_80;
+ }
+ }
+ else
+ {
+ if((prev_Y == DC_0) && (input >= FR_80to0_lim))
+ send = Y_STOP; /*BOARD2_PWMA | DC_0;*/
+ else if((prev_Y == DC_90) && input <= (FR_80to90_lim))
+ send = BOARD2_PWMA | DC_90;
+ else
+ {
+ send = BOARD2_PWMA | DC_80;
+ prev_Y = DC_80;
+ }
+ }
+ }
+ else /*if(input <= FR_0_max)*/ //- - - - - - - - - - - - - - - - - - - -FR_0_max
+ {
+ if(axis)
+ {
+ if((prev_X == DC_80) && input <= (FR_0to80_lim))
+ send = BOARD1_PWMB | DC_80;
+ else
+ {
+ send = X_STOP; /*BOARD1_PWMB | DC_0;*/
+ prev_X = DC_0;
+ }
+ }
+ else
+ {
+ if((prev_Y == DC_80) && input <= (FR_0to80_lim))
+ send = BOARD2_PWMA | DC_80;
+ else
+ {
+ send = Y_STOP; /*BOARD2_PWMA | DC_0;*/
+ prev_Y = DC_0;
+ }
+ }
+ }
+
+ return send;
+
+} //end convert_acc_to_pwm()
+
+
+/**********************************************************************************/
+/***************************************************************************MAIN***/
+/**********************************************************************************/
+int main(void)
+{
+ red = 0;
+ green = 0;
+ blue = 0;
+
+ init_i2c0();
+ init_acc();
+ init_eth(); //initialize the Ethernet connection
+
+ red = 0; //client = red
+ green = 1;
+ blue = 1;
+
+ while(true)
+ {
+ read_acc();
+
+ X_MSB_data[0] = convert_acc_to_pwm(X_MSB_data[0], x_axis);
+ Y_MSB_data[0] = convert_acc_to_pwm(Y_MSB_data[0], y_axis);
+
+ sock.sendTo(server, X_MSB_data, sizeof(X_MSB_data));
+ sock.sendTo(server, Y_MSB_data, sizeof(Y_MSB_data));
+ }
+
+} //end main()
\ No newline at end of file
diff -r 000000000000 -r 65cab7b6fd7a mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Fri May 27 21:07:24 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#c825593ece39
diff -r 000000000000 -r 65cab7b6fd7a mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri May 27 21:07:24 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/252557024ec3 \ No newline at end of file