Diff: main.cpp

Revision:

0:491bc4ee502e

Child:

1:ecd469d7323d

Child:

2:c4fb968de7d3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Aug 24 08:54:43 2017 +0000
@@ -0,0 +1,438 @@
+
+/*
+_____________________________________________________________________________________________________
+_____________________________________________________________________________________________________
+
+//                                  ACCELEROMETER : LIS2DE12                                       //
+_____________________________________________________________________________________________________
+_____________________________________________________________________________________________________
+
+
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>> THIS CODE IS SUBJECTED TO MODIFICATION <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+
+Updates :
+--------
+>>> Communication established with SA0 HIGH with internal pullup (Hence Slave Address : 0x32) // 
+>>> I2C Communciation verified
+>>> Interrupt trigger verified for INT1 (configurent for low event) but later trigger not working
+>>> Interrupt source register was read successfully
+>>> Interrupt source register reflects the immediate changes of the High and Low event of the axes
+>>> IA bits goes high only when an interrupt is triggered
+>>> IA bits is automatically cleared once the opposite event is observed (i.e) If IA bit goes high for a Low event, then it remains high until a High event is observed on these axis
+>>> INTERRUPT SOURCE REGISTER 2 has a;so been checked and the corressponding event data has been reflected in that
+>>> INTERRUPT ACTIVE nit is not getting set int the INTERRUPT SRC 2 REG, and have to be resolved
+>>> INT2 pin toggling verified
+
+Issues to be Resolved :
+----------------------
+>>> Acceleration data is not changing and always read as '0'
+>>> If the INT_SRC register is not continuosly read, after the interrupt, reading INT_SRC inside the ISR returns 0x00 as value
+>>> If the INT_SRC register is continuosly read inside a while loop, reading the INT_SRC inside the ISR returns correct value
+
+To dos:
+------
+>>> ACTIVITY & INACTIVITY Interrupts to be configured on INT1 pin
+>>> CLICK & DOUBLE CLICK Interrupt to be configured on INT2 pin
+
+NOTE :
+-----
+Leave the SA0 pin as it is and fix the slave address 32h
+__________29/7/17
+now via interrupt we can read SRC
+
+_____________________________________________________________________________________________________
+
+LAST UPDATED : 15-JUN-2017 (WEDNESDAY)
+
+____________________
+
+Author : >> BALA <<
+____________________
+_____________________________________________________________________________________________________
+
+*/
+
+/*
+*****************************************************************************************************
+REFRENCES :
+----------
+>>> SLAVE ADDRESS : 1001 A2 A1 A0 R/W   : Page : 7 (Datasheet)
+>>> TEMPERATURE OVERSHOOT SHUTDOWN REG CONFIGURATION : Page : 10 (Datasheet)
+
+*****************************************************************************************************
+*/
+
+
+#include "mbed.h"
+#include "main.h"
+
+
+I2C i2c(PB_14, PB_13);
+Serial pc(PC_0, NC,115200);
+InterruptIn change(PC_6);  // INT1
+InterruptIn jerk(PB_15);   //INT2
+DigitalOut  ACC_LED(PC_10);
+
+#define     acc_address             0x32       
+
+int i=0,j=0,Steady_cnt=0;
+float TIMING=0;
+char src_data[1];
+unsigned int int1_src_data,cnt=0;
+char acc_reg[1] = {0x29};
+char acc_data[6];
+unsigned int x, y, z;
+float X, Y, Z;
+char int1_dur[2] = {0x33, 70};
+char JERK_FLAG=0,MOVEMENT_FLAG=0,MOTION=0;
+//char first_event = 1;
+
+//____________________________________________________________________________________________________
+
+
+
+//____________________________________________________________________________________________________
+
+void movement_inertia()
+{ 
+
+    
+//-------------------------------------------------------------------------------   
+  //  pc.printf("\r\n\r\nINTERRUPT SOURCE REGISTER 1: ");
+ //   print_data_bits(src_data[0]);
+
+    MOVEMENT_FLAG=1;
+    
+
+}
+
+//____________________________________________________________________________________________________
+
+void sudden_jerk()
+{
+   JERK_FLAG=1;
+}
+
+//____________________________________________________________________________________________________
+
+
+void print_data_bits(char data_fetched)
+{
+    unsigned int shifter;
+    
+        for(shifter = 0; shifter < 8; shifter++)
+        {
+            pc.printf("%d",((data_fetched&0x80)>>7));
+            data_fetched = data_fetched << 1;
+        }
+        pc.printf("\r\n");       
+}
+
+//____________________________________________________________________________________________________
+
+void read_acceleration()
+{
+    
+    i2c.write(acc_address, acc_reg, 1);
+    i2c.read(acc_address, acc_data, 6);
+    
+    x = (acc_data[0] << 6) | (acc_data[1]);
+    y = (acc_data[2] << 6) | (acc_data[3]);
+    z = (acc_data[4] << 6) | (acc_data[5]);
+    
+//    x = acc_data[2];
+//    y = acc_data[4];  
+//    z = acc_data[6];
+
+    X = x;
+    Y = y;
+    Z = z;
+
+
+//    X = x / 15974.4;
+//    Y = y / 15974.4;
+//    Z = z / 15974.4;
+    
+
+  
+//-------------------------------------------------------------------------------
+
+//     i2c.write(acc_address, int1_src, 1);
+//     i2c.read(acc_address, src_data, 1);
+//    
+//     int1_src_data = (unsigned int)src_data[0];
+    
+//    pc.printf("\r\nINTERRUPT SOURCE 2 : ");
+//    print_data_bits(src_data[0]);
+    
+        
+//    if(!(int1_src_data & 0x40) && first_event)
+//    {
+//        first_event = 0;
+//        pc.printf("\r\n\r\n>>> MOTION OBSERVED");
+//    }
+//-------------------------------------------------------------------------------
+}
+
+
+//____________________________________________________________________________________________________
+
+void initialize_internal_temperature_sensor()
+{
+    char temperature_config_1[2] = {0x1F, 12};
+    char temperature_config_2[2] = {0x23, 0x80};
+    char temperature_reg[1] = {0x0C};
+    char temp_value[2];
+    float temperature;
+    
+    i2c.write(acc_address, temperature_config_1, 2);    // Internal Temperature Sensor is enabled
+    i2c.write(acc_address, temperature_config_2, 2);    
+    
+    i2c.write(acc_address, temperature_reg, 1);
+    i2c.read(acc_address, temp_value, 2);
+    
+    temperature = ((temp_value[1] << 8) | (temp_value[0]));
+    
+    pc.printf("\r\nTEMPERATURE : %d deg celsius", temperature);
+} 
+
+//____________________________________________________________________________________________________
+
+
+void configure_accelerometer()
+{
+/*   
+    char ctrl_reg_0[2]      = {0x1E, 0x10};             // SA0 Internal pullup Enabled
+    char ctrl_reg_1[2]      = {0x20, 0x2F};             // ODR -> 10Hz, X,Y,Z axis Enabled
+    char ctrl_reg_2[2]      = {0x21, 0x8E};             // High pass filter enabled for CLICK function, cutoff : 0.2Hz, High pass filter AOI function is routed to INT2 pin
+    char ctrl_reg_3[2]      = {0x22, 0x40};             // (Default value of this register is 0x00, so eliminate this statement later)...Disable CLICK, IA, ZYXDA, WTM, OVERRUN interrupts on INT1 pin..... 
+    char ctrl_reg_4[2]      = {0x23, 0x80};             // BDU enabled, 2g full scale selection, Self test diabled
+    char ctrl_reg_5[2]      = {0x24, 0x40};             // Reboot memory content disabled, FIFO enabled, Interrupt request not latched on INT1 & INT2, 4D detection disbaled
+    char ctrl_reg_6[2]      = {0x25, 0xA0};             // CLICK Interrupt on INT2 pin, INT1 function on INT2 pin disabled, INT2 function on INt2 pin enabled, BOOT on INT2 pi disabled, Activity on INT2 pin disabled, INT1 & INT2 pin polarity is set to active HIGH
+    char fifo_ctrl_reg[2]   = {0x2E, 0x80};             // STREAM Mode selected, Trigger event allows triggerring signal on INT1, WATER MARK LEVEL set to 0 (default value)                  
+    char int1_cfg[2]        = {0x30, 0x1F};             // OR combination of interrupts, Interrupts enabled for all X/Y/Z high and low except Z-high event
+    char int1_ths[2]        = {0x32, 7};                // For 2g Full scale, 1LSB = 16mg, Aim : Threshold : 100mg, 100/16 = 6.25, rounded to '7'
+    char int1_dur[2]        = {0x33, (50 & 127)};       // Configured for 5sec : Duration time = N / ODR ; N = time * ODR = 5 * 10 = '50'   (Value should not exceed 127)        
+    
+    i2c.write(acc_address, ctrl_reg_0, 2);
+    i2c.write(acc_address, ctrl_reg_1, 2);
+    i2c.write(acc_address, ctrl_reg_2, 2);
+    i2c.write(acc_address, ctrl_reg_3, 2);
+    i2c.write(acc_address, ctrl_reg_4, 2);
+    i2c.write(acc_address, ctrl_reg_5, 2);
+    i2c.write(acc_address, ctrl_reg_6, 2);
+    i2c.write(acc_address, fifo_ctrl_reg, 2);
+    i2c.write(acc_address, int1_cfg, 2);
+    i2c.write(acc_address, int1_ths, 2);
+    i2c.write(acc_address, int1_dur, 2);  
+    
+    char ver_data[1];
+    i2c.write(acc_address, ctrl_reg_1, 1);
+    i2c.read(acc_address, ver_data, 1);
+    pc.printf("\r\n\r\n Verification data : ");
+    print_data_bits(ver_data[0]);
+*/
+    ///*
+    char ctrl_reg_0[2]      = {0x1E, 0x10};         //added additionally this line
+    char ctrl_reg_1[2]      = {0x20, 0x27};         // Modified point (worked) changed from 0x27
+    char ctrl_reg_2[2]      = {0x21, 0x03};         // Modified to Auto Reset on Interrupt event CHANGE FROM 0X01
+    char ctrl_reg_3[2]      = {0x22, 0x40};         // INT1 on INT1,also attach CLK_INT //#C0
+    char ctrl_reg_4[2]      = {0x23, 0x80};         // Modified changed from 0x08 now block update
+    char ctrl_reg_5[2]      = {0x24, 0x00};         // Modified to FIFO Enabled changed from 00
+    char ctrl_reg_6[2]      = {0x25, 0x28};         // IA2 Interrupt on INT2 pin & activity also on INT2 //activityy int also enabled
+       //fifo bypass mode
+       /////////char fifo_ctrl_reg[2]   = {0x2E, 40};      
+    
+    char int1_cfg[2]        = {0x30, 0x43};         // 6D direction detection enabled ,XH & XL enabled
+    char int1_ths[2]        = {0x32, 0x01};         //INT1 threshold value  
+    char int1_dur[2]        = {0x33, 0x00};
+    
+    char int2_cfg[2]        = {0x34, 0x3F};         //INT2 is Enabled when XHIE
+    char int2_ths[2]        = {0x36, 0x02};         //changed from A8 to 28
+    char int2_dur[2]        = {0x37, 0x01};
+    
+    char act_ths[2]         = {0x3E, 00};
+    char act_dur[2]         = {0x3F, 00};
+    
+    //32 33 30
+    //36 37 34
+    i2c.write(acc_address, ctrl_reg_0, 2);
+    i2c.write(acc_address, ctrl_reg_1, 2);
+    i2c.write(acc_address, ctrl_reg_2, 2);
+    i2c.write(acc_address, ctrl_reg_3, 2);
+    i2c.write(acc_address, ctrl_reg_4, 2);
+    i2c.write(acc_address, ctrl_reg_5, 2);
+    i2c.write(acc_address, ctrl_reg_6, 2);
+ 
+    i2c.write(acc_address, int1_cfg, 2);   
+    i2c.write(acc_address, int1_ths, 2);
+    i2c.write(acc_address, int1_dur, 2);
+
+    
+    i2c.write(acc_address, int2_ths, 2);
+    i2c.write(acc_address, int2_dur, 2);
+    i2c.write(acc_address, int2_cfg, 2);
+
+    i2c.write(acc_address, act_ths, 2);
+    i2c.write(acc_address, act_dur, 2);
+    i2c.write(acc_address, int1_dur, 2);
+                    //////i2c.write(acc_address, fifo_ctrl_reg, 2); 
+    //*/
+}
+
+
+//____________________________________________________________________________________________________
+
+char initialize_accelerometer()
+{
+    char dev_id_address[2] = {0x0F};
+    char dev_id[1];
+
+    //SA0 = 0;            // I2C LSB Address
+    
+    i2c.write(acc_address, dev_id_address, 1);
+    wait(0.1);
+    i2c.read(acc_address, dev_id, 1);
+    wait(2);
+    
+    pc.printf("\r\n\r\nDEVICE ID : ");
+    print_data_bits(dev_id[0]);
+    
+    if(dev_id[0] == 0x33)//00110011(who am i)
+    {
+        pc.printf("\r\nAccelerometer Initialized Successfully");
+        return 1;
+    }
+    else
+    {
+        pc.printf("\r\nAccelerometer Initialization Failed..... Can't communicate with the device");
+        return 0; 
+    }      
+}
+
+//____________________________________________________________________________________________________
+Timer t;
+int main()
+{
+    char retry_attempt = 0;
+   
+    change.rise(&movement_inertia);
+    jerk.rise(&sudden_jerk);
+    
+    i2c.frequency(100000);
+    //SA0 = 0;
+    // i2c.write(acc_address, int1_dur, 2);  
+    pc.printf("\r\n\r\n\r\n>>> ACCELEROMETER UNDER TEST <<<");
+    
+    retry:
+    if(initialize_accelerometer())
+    {
+        configure_accelerometer();
+        
+        while(1)
+        {
+            //read_acceleration();
+            //pc.printf("\r\n\r\nX : %d", x);
+            //pc.printf("\r\nY : %d", y);
+            // pc.printf("\r\nZ : %d", z);
+            //movement_inertia();
+            //sudden_jerk();
+
+//           pc.printf("\n(%d)",cnt);
+//           cnt++;
+//           if(cnt>100)
+//           cnt=0;
+
+          
+            //t.stop();
+            TIMING=t.read();
+            pc.printf("The time taken was %f seconds\n", t.read());
+            if(TIMING>3)
+                {
+                    pc.printf("MOOOVINGGGG....");
+                    MOTION=1;
+                    //TIMING=0;
+                    //t.stop();
+                    /// t.reset();
+                    ACC_LED=1;
+                    Steady_cnt=0;
+                }
+            else
+                {
+                    if(Steady_cnt>3)
+                        {
+                            ACC_LED=0;
+                            Steady_cnt=0;
+                            pc.printf("REST....");
+                            MOTION=0;
+                        }
+                }
+            wait(1);
+//                                                    if(JERK_FLAG)
+//                                                    {
+//                                                        JERK_FLAG=0;
+//                                                        i2c.write(acc_address, int2_src, 1);
+//                                                        i2c.read(acc_address, src_data, 1);
+//                                                        pc.printf("\rSRC2 : ");
+//                                                        print_data_bits(src_data[0]);
+//                                                        src_data[0]=src_data[0]&0x42;
+//                                                        // if( src_data[0]==0x42)
+//                                                        {
+//                                                             pc.printf(" **********SUDDEN JERK********** ");
+//                                                        }
+//                                        
+//                                                    }
+            
+            if(MOVEMENT_FLAG)
+            {
+                Steady_cnt++;
+                MOVEMENT_FLAG=0;
+                t.reset();
+                t.start();
+                
+                
+                     ///////////////////////////////////////////////////
+//                                                            i2c.write(acc_address, int1_src, 1);//acc_address=0x32 ..INITIALISE COMMN
+//                                                            i2c.read(acc_address, src_data, 1);//READING FROM INT1 STATUS REG
+//                                                            pc.printf("\rSRC1 : ");
+//                                                            print_data_bits(src_data[0]);
+//                                                            int1_src_data = (unsigned int)src_data[0];//READ DATA STORED
+//                                                            if(i>100)
+//                                                            i=0;
+//                                                            if(j>100)
+//                                                            j=0;
+//                                                            if(int1_src_data & 0x42)                          //changed from (0x2A)
+//                                                            {
+//                                                                 i++;
+//                                                                 pc.printf("                 %d=X_INCREMENT",i);
+//                                                                 //char int1_dur[2] = {0x33, 50};
+//                                                                 //i2c.write(acc_address, int1_dur, 2);    
+//                                                            }
+//                                                        
+//                                                    
+//                                                           else if(int1_src_data & 0x41)
+//                                                            {
+//                                                                j++;
+//                                                                pc.printf("   %d=X_decrement",j);
+//                                                              //  char int1_dur[2] = {0x33, 3};
+//                                                                //i2c.write(acc_address, int1_dur, 2);  
+//                                                            }
+
+            }
+       }
+   }
+    
+    else
+    {
+        if(retry_attempt < 100)
+        {
+            retry_attempt++;
+            goto retry;
+        }
+    }
+    
+
+    return 0;
+}
+ 
+//____________________________________________________________________________________________________
\ No newline at end of file