Qmax / Mbed 2 deprecated OBD_Accelerometer_Interface

OBD Source Code -Section 1- Without Car / Section 2 - With car

Dependencies:   mbed

accelerometer.cpp@2:49712259aa71, 2017-04-03 (annotated)

Committer:
bala0x07
Date:
Mon Apr 03 06:02:26 2017 +0000
Revision:
2:49712259aa71
Parent:
0:e36d80703ed0 
This particular source code has two independent sections, comment any one of the following before proceeding

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bala0x07 0:e36d80703ed0 1
bala0x07 0:e36d80703ed0 2 #include "mbed.h"
bala0x07 0:e36d80703ed0 3 #include "obd_libraries.h"
bala0x07 0:e36d80703ed0 4 #include "accelerometer.h"
bala0x07 0:e36d80703ed0 5 #include "common_definitions.h"
bala0x07 0:e36d80703ed0 6
bala0x07 0:e36d80703ed0 7 #define IDLE 0
bala0x07 0:e36d80703ed0 8 #define ACTIVE 1
bala0x07 0:e36d80703ed0 9
bala0x07 0:e36d80703ed0 10 I2C i2c(PB_9, PB_8);
bala0x07 0:e36d80703ed0 11 Serial pc(USBTX, USBRX);
bala0x07 0:e36d80703ed0 12
bala0x07 0:e36d80703ed0 13 InterruptIn double_tap(PC_1); // Pin assignment may vary
bala0x07 0:e36d80703ed0 14 InterruptIn inactivity(PC_0); // Pin assignment may vary
bala0x07 0:e36d80703ed0 15
bala0x07 0:e36d80703ed0 16 DigitalOut led(LED1);
bala0x07 0:e36d80703ed0 17
bala0x07 0:e36d80703ed0 18 // INTERFACING ADXL345 ACCELEROMETER USING I2C
bala0x07 0:e36d80703ed0 19
bala0x07 0:e36d80703ed0 20 /*
bala0x07 0:e36d80703ed0 21
bala0x07 0:e36d80703ed0 22 NOTE :
bala0x07 0:e36d80703ed0 23 Due to communication speed limitations, the maximum output
bala0x07 0:e36d80703ed0 24 data rate when using 400 kHz I2C is 800 Hz and scales linearly with
bala0x07 0:e36d80703ed0 25 a change in the I2C communication speed
bala0x07 0:e36d80703ed0 26
bala0x07 0:e36d80703ed0 27 */
bala0x07 0:e36d80703ed0 28
bala0x07 0:e36d80703ed0 29 //InterruptIn activity(PB_0); // Button B1 (Blue)
bala0x07 0:e36d80703ed0 30
bala0x07 0:e36d80703ed0 31
bala0x07 0:e36d80703ed0 32
bala0x07 0:e36d80703ed0 33 const int slave_address_acc = 0xA6;
bala0x07 0:e36d80703ed0 34 char axis_data[6] = {0,0,0,0,0,0};
bala0x07 0:e36d80703ed0 35 int16_t x_axis, y_axis, z_axis;
bala0x07 0:e36d80703ed0 36 char interrupt_source[2];
bala0x07 0:e36d80703ed0 37 char axis_data_start_address[2];
bala0x07 0:e36d80703ed0 38 char intr_source_address[2] = {0x30, 0};
bala0x07 0:e36d80703ed0 39 char all_interrupt_clear_command[2] = {0x2E, 0x00};
bala0x07 0:e36d80703ed0 40 char all_interrupt_enable_command[2] = {0x2E, 0x18};
bala0x07 0:e36d80703ed0 41 char activity_interrupt_disable_command[2] = {0x2E, 0x28};
bala0x07 0:e36d80703ed0 42 char inactivity_interrupt_disable_command[2] = {0x2E, 0x30};
bala0x07 0:e36d80703ed0 43 char accelerometer_status_registered = 0;
bala0x07 0:e36d80703ed0 44 unsigned int interrupt_source_duplicate;
bala0x07 0:e36d80703ed0 45
bala0x07 0:e36d80703ed0 46 char previous_state = 0;
bala0x07 0:e36d80703ed0 47 char current_state = 0;
bala0x07 0:e36d80703ed0 48
bala0x07 0:e36d80703ed0 49 extern long vehicle_speed;
bala0x07 0:e36d80703ed0 50 char current_speed, previous_speed;
bala0x07 0:e36d80703ed0 51 char speed_threshold = 10;
bala0x07 0:e36d80703ed0 52
bala0x07 0:e36d80703ed0 53 //----------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 54
bala0x07 0:e36d80703ed0 55 void char_to_int(char data_fetched)
bala0x07 0:e36d80703ed0 56 {
bala0x07 0:e36d80703ed0 57 unsigned int shifter;
bala0x07 0:e36d80703ed0 58
bala0x07 0:e36d80703ed0 59 interrupt_source_duplicate = 0x00;
bala0x07 0:e36d80703ed0 60
bala0x07 0:e36d80703ed0 61 for(shifter = 0; shifter < 8; shifter++)
bala0x07 0:e36d80703ed0 62 {
bala0x07 0:e36d80703ed0 63 interrupt_source_duplicate |= (((data_fetched >> shifter) & 0x01) << shifter); // Converts char data into unsigned int
bala0x07 0:e36d80703ed0 64 }
bala0x07 0:e36d80703ed0 65 }
bala0x07 0:e36d80703ed0 66
bala0x07 0:e36d80703ed0 67 //----------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 68
bala0x07 0:e36d80703ed0 69 void print_data_bits(char data_fetched)
bala0x07 0:e36d80703ed0 70 {
bala0x07 0:e36d80703ed0 71 unsigned int shifter;
bala0x07 0:e36d80703ed0 72
bala0x07 0:e36d80703ed0 73 for(shifter = 0; shifter < 8; shifter++)
bala0x07 0:e36d80703ed0 74 {
bala0x07 0:e36d80703ed0 75 pc.printf("%d",((data_fetched&0x80)>>7));
bala0x07 0:e36d80703ed0 76 data_fetched = data_fetched << 1;
bala0x07 0:e36d80703ed0 77 }
bala0x07 0:e36d80703ed0 78 pc.printf("\r\n\r\n");
bala0x07 0:e36d80703ed0 79 }
bala0x07 0:e36d80703ed0 80
bala0x07 0:e36d80703ed0 81 //----------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 82
bala0x07 0:e36d80703ed0 83 /*----------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 84
bala0x07 0:e36d80703ed0 85 AS FAR NOW, ONE INTERRUPT PIN (INT1) OF ACCELEROMETER IS NOT WORKING
bala0x07 0:e36d80703ed0 86 USE THIS TO CUSTOMIZE ACCELEROMETER WHEN THAT PIN IS WORKING
bala0x07 0:e36d80703ed0 87
bala0x07 0:e36d80703ed0 88 void use_me_later() {
bala0x07 0:e36d80703ed0 89 char count;
bala0x07 0:e36d80703ed0 90 for(count = 0; count < 10; count++)
bala0x07 0:e36d80703ed0 91 {
bala0x07 0:e36d80703ed0 92 led = !led;
bala0x07 0:e36d80703ed0 93 wait(0.10);
bala0x07 0:e36d80703ed0 94 }
bala0x07 0:e36d80703ed0 95 }
bala0x07 0:e36d80703ed0 96 ----------------------------------------------------------------------------------------------------------*/
bala0x07 0:e36d80703ed0 97
bala0x07 0:e36d80703ed0 98 void interrupt_sudden_jerk()
bala0x07 0:e36d80703ed0 99 {
bala0x07 0:e36d80703ed0 100 char count;
bala0x07 0:e36d80703ed0 101
bala0x07 0:e36d80703ed0 102 i2c.write(slave_address_acc, all_interrupt_clear_command, 2);
bala0x07 0:e36d80703ed0 103 pc.printf("~~~ ENTERED SUDDEN JERK CONDITION ~~~\r\n\r\n");
bala0x07 0:e36d80703ed0 104
bala0x07 0:e36d80703ed0 105 for(count = 0; count < 2; count++)
bala0x07 0:e36d80703ed0 106 {
bala0x07 0:e36d80703ed0 107 led = 1;
bala0x07 0:e36d80703ed0 108 wait(2);
bala0x07 0:e36d80703ed0 109 led = 0;
bala0x07 0:e36d80703ed0 110 wait(1);
bala0x07 0:e36d80703ed0 111 }
bala0x07 0:e36d80703ed0 112
bala0x07 0:e36d80703ed0 113 i2c.write(slave_address_acc, all_interrupt_enable_command, 2);
bala0x07 0:e36d80703ed0 114
bala0x07 0:e36d80703ed0 115 }
bala0x07 0:e36d80703ed0 116
bala0x07 0:e36d80703ed0 117 //*********************************************************************************************************
bala0x07 0:e36d80703ed0 118
bala0x07 0:e36d80703ed0 119 // THE FOLLWOING CODE BLOCK IS THE MULITIPLEXED ISR FOR BOTH ACTIVITY & INACTIVITY INTERRUPT
bala0x07 0:e36d80703ed0 120
bala0x07 0:e36d80703ed0 121 void interrupt_activity_inactivity()
bala0x07 0:e36d80703ed0 122 {
bala0x07 0:e36d80703ed0 123 char count;
bala0x07 0:e36d80703ed0 124
bala0x07 0:e36d80703ed0 125 // The following statement disables all interrupts since no other interrupts must disturb at this point
bala0x07 0:e36d80703ed0 126
bala0x07 0:e36d80703ed0 127 i2c.write(slave_address_acc, all_interrupt_clear_command, 2);
bala0x07 0:e36d80703ed0 128
bala0x07 0:e36d80703ed0 129 i2c.write(slave_address_acc, intr_source_address, 1);
bala0x07 0:e36d80703ed0 130 i2c.read(slave_address_acc, interrupt_source, 1);
bala0x07 0:e36d80703ed0 131
bala0x07 0:e36d80703ed0 132 char_to_int(interrupt_source[0]); // Coverts intr_source(char) to int & stores in intr_source_d
bala0x07 0:e36d80703ed0 133
bala0x07 0:e36d80703ed0 134 pc.printf("INT Source = ");
bala0x07 0:e36d80703ed0 135 print_data_bits((interrupt_source_duplicate));
bala0x07 0:e36d80703ed0 136
bala0x07 0:e36d80703ed0 137 //--------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 138
bala0x07 0:e36d80703ed0 139 /* VERIFY WHETHER THE INTERRUPT IS BECAUSE OF ACTIVITY */
bala0x07 0:e36d80703ed0 140
bala0x07 0:e36d80703ed0 141 //if((((int)intr_source) & 0x10) == 0x10)
bala0x07 0:e36d80703ed0 142 if(interrupt_source_duplicate & 0x10)
bala0x07 0:e36d80703ed0 143 {
bala0x07 0:e36d80703ed0 144 /* THE FOLLOWING BLOCK IS USED JUST FOR VERIFICATION PURPOSE AND ARE NOT MANDATORY */
bala0x07 0:e36d80703ed0 145
bala0x07 0:e36d80703ed0 146 pc.printf("ENTERED ACTIVITY CONDITION\r\n\r\n");
bala0x07 0:e36d80703ed0 147 for(count = 0; count < 10; count++)
bala0x07 0:e36d80703ed0 148 {
bala0x07 0:e36d80703ed0 149 led = !led;
bala0x07 0:e36d80703ed0 150 wait(0.05);
bala0x07 0:e36d80703ed0 151 }
bala0x07 0:e36d80703ed0 152 /*
bala0x07 0:e36d80703ed0 153 fetch_vehicle_speed();
bala0x07 0:e36d80703ed0 154 previous_speed = vehicle_speed;
bala0x07 0:e36d80703ed0 155 wait(5);
bala0x07 0:e36d80703ed0 156 fetch_vehicle_speed();
bala0x07 0:e36d80703ed0 157 current_speed = vehicle_speed;
bala0x07 0:e36d80703ed0 158
bala0x07 0:e36d80703ed0 159 //if((current_speed > previous_speed) && (current_speed > speed_threshold)) // Decision making regarding vehicle's current state
bala0x07 0:e36d80703ed0 160 if(current_speed == 79)
bala0x07 0:e36d80703ed0 161 {
bala0x07 0:e36d80703ed0 162 i2c.write(slave_address_acc, activity_interrupt_disable_command, 2); // Disables Activity interrupt & enables Inactivity interrupt
bala0x07 0:e36d80703ed0 163 pc.printf("\r\n>>> VEHICLE HAS STARTED FROM STOP <<<");
bala0x07 0:e36d80703ed0 164 }
bala0x07 0:e36d80703ed0 165 */
bala0x07 0:e36d80703ed0 166 }
bala0x07 0:e36d80703ed0 167
bala0x07 0:e36d80703ed0 168 //--------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 169
bala0x07 0:e36d80703ed0 170 /* VERIFY WHETHER THE INTERRUPT IS BECAUSE OF INACTIVITY */
bala0x07 0:e36d80703ed0 171
bala0x07 0:e36d80703ed0 172 //if((((int)intr_source) & 0x08) == 0x08) // Verify whether it is inactivity interrupt
bala0x07 0:e36d80703ed0 173 if(interrupt_source_duplicate & 0x08)
bala0x07 0:e36d80703ed0 174 {
bala0x07 0:e36d80703ed0 175 /* THE FOLLOWING BLOCK IS USED JUST FOR VERIFICATION PURPOSE AND ARE NOT MANDATORY */
bala0x07 0:e36d80703ed0 176
bala0x07 0:e36d80703ed0 177 pc.printf("ENTERED INACTIVITY CONDITION \r\n\r\n");
bala0x07 0:e36d80703ed0 178 for(count = 0; count < 10; count++)
bala0x07 0:e36d80703ed0 179 {
bala0x07 0:e36d80703ed0 180 led = !led;
bala0x07 0:e36d80703ed0 181 wait(0.2);
bala0x07 0:e36d80703ed0 182 }
bala0x07 0:e36d80703ed0 183 /*
bala0x07 0:e36d80703ed0 184 fetch_vehicle_speed();
bala0x07 0:e36d80703ed0 185
bala0x07 0:e36d80703ed0 186 if(vehicle_speed == 0) // Decision making regarding vehicle's current state
bala0x07 0:e36d80703ed0 187 {
bala0x07 0:e36d80703ed0 188 i2c.write(slave_address_acc, inactivity_interrupt_disable_command, 2); // Disables Inactivity interrupt & enables Activity interrupt
bala0x07 0:e36d80703ed0 189 pc.printf("\r\n>>> VEHICLE HAS STOPPED FROM START <<<");
bala0x07 0:e36d80703ed0 190 }
bala0x07 0:e36d80703ed0 191 */
bala0x07 0:e36d80703ed0 192 }
bala0x07 0:e36d80703ed0 193
bala0x07 0:e36d80703ed0 194 }
bala0x07 0:e36d80703ed0 195
bala0x07 0:e36d80703ed0 196 //*********************************************************************************************************
bala0x07 0:e36d80703ed0 197
bala0x07 0:e36d80703ed0 198 void initialize_accelerometer()
bala0x07 0:e36d80703ed0 199 {
bala0x07 0:e36d80703ed0 200 inactivity.rise(interrupt_activity_inactivity); // Attach the address of interrupt_activity_inactivity function to rising edge
bala0x07 0:e36d80703ed0 201 double_tap.rise(interrupt_sudden_jerk);
bala0x07 0:e36d80703ed0 202 pc.baud(38400);
bala0x07 0:e36d80703ed0 203
bala0x07 0:e36d80703ed0 204 char cmd[2], cmd2[2], cmd3[5], cmd4[8], cmd5[3], cmd6[2], cmd7[2], cmd8[2];
bala0x07 0:e36d80703ed0 205
bala0x07 0:e36d80703ed0 206
bala0x07 0:e36d80703ed0 207
bala0x07 0:e36d80703ed0 208 /* THE FOLLOWING GROUP OF COMMAND VARIABLES STORES THE CONFIGURATION VALUES TO BE WRITTEN TO THE ADXL345 ACCELEROMETER */
bala0x07 0:e36d80703ed0 209
bala0x07 0:e36d80703ed0 210 cmd[0] = 0x2D; // Post the Register address of the slave (Have to write this into slave)
bala0x07 0:e36d80703ed0 211 cmd[1] = 0x08; // Turn ON the Measure Bit
bala0x07 0:e36d80703ed0 212
bala0x07 0:e36d80703ed0 213 cmd3[0] = 0x1D; // Threshold Tap Register address
bala0x07 0:e36d80703ed0 214 cmd3[1] = 100; // Threshold tap Register value
bala0x07 0:e36d80703ed0 215 cmd3[2] = 0x7F; // Offset - X axis
bala0x07 0:e36d80703ed0 216 cmd3[3] = 0x7F; // Offset - Y axis
bala0x07 0:e36d80703ed0 217 cmd3[4] = 0x05; // Offset - Z axis
bala0x07 0:e36d80703ed0 218
bala0x07 0:e36d80703ed0 219
bala0x07 0:e36d80703ed0 220 cmd4[0] = 0x21; // DUR Register address
bala0x07 0:e36d80703ed0 221 cmd4[1] = 0x15; // DUR Register value providing maximum time to be held to generate an interrupt
bala0x07 0:e36d80703ed0 222 cmd4[2] = 0x15; // Latent
bala0x07 0:e36d80703ed0 223 cmd4[3] = 0x45; // Window Time
bala0x07 0:e36d80703ed0 224 cmd4[4] = 64; // THRES_ACT register value 62.5mg/LSB , therfore value 32 indicates 2g activity
bala0x07 0:e36d80703ed0 225 cmd4[5] = 50; // THRES_INACT Register
bala0x07 0:e36d80703ed0 226 cmd4[6] = 5; // TIME_INACT Register, making inactivity detection time = 5 secs
bala0x07 0:e36d80703ed0 227 cmd4[7] = 0x77; // Activity, Inactivity detection enabled for all axis
bala0x07 0:e36d80703ed0 228
bala0x07 0:e36d80703ed0 229 cmd5[0] = 0x2E; // INT Enable Register address
bala0x07 0:e36d80703ed0 230 //cmd5[1] = 0x74; // INT Enable Register value enabling Single Tap, Double Tap, Activity and Free Fall detection
bala0x07 0:e36d80703ed0 231 //cmd5[2] = 0x00; // INT Map Register value mapping Single Tap event to INT1
bala0x07 0:e36d80703ed0 232 //cmd5[1] = 0x20; // Enabling only the double tap interrupt
bala0x07 0:e36d80703ed0 233 //cmd5[2] = 0x20; // Mapping the double tap interrupt to INT2 pin
bala0x07 0:e36d80703ed0 234 //cmd5[1] = 0x10; // Enabling only the activity interrupt
bala0x07 0:e36d80703ed0 235 //cmd5[2] = 0x10; // Mapping the sctivity interrupt to the INT2 pin
bala0x07 0:e36d80703ed0 236 //cmd5[1] = 0x08; // Enabling only the inactivity interrupt
bala0x07 0:e36d80703ed0 237 //cmd5[2] = 0x08; // Mapping the Inactivity interrupt to the INT2 pin
bala0x07 0:e36d80703ed0 238 cmd5[1] = 0x38; // Enabling Activity & inactivity interrupt
bala0x07 0:e36d80703ed0 239 cmd5[2] = 0xDF; // Activity--->INT1 & Inactivity--->INT2
bala0x07 0:e36d80703ed0 240
bala0x07 0:e36d80703ed0 241
bala0x07 0:e36d80703ed0 242 cmd6[0] = 0x2A; // Address of the TAP_AXES Register
bala0x07 0:e36d80703ed0 243 cmd6[1] = 0x06; // X & Y axis participate in tap detection
bala0x07 0:e36d80703ed0 244
bala0x07 0:e36d80703ed0 245 cmd7[0] = 0x28; // Address of the Threshold register for Free Fall detection
bala0x07 0:e36d80703ed0 246 cmd7[1] = 0x07; // Recommeded value : 0x05 to 0x09 Refer datasheet
bala0x07 0:e36d80703ed0 247
bala0x07 0:e36d80703ed0 248 cmd8[0] = 0x2C; // Address of the BW RATE register
bala0x07 0:e36d80703ed0 249 cmd8[1] = 0x0D; // Increased the data rate to 800Hz, default is 0x0A indicating 100Hz
bala0x07 0:e36d80703ed0 250
bala0x07 0:e36d80703ed0 251 cmd2[0] = 0x31; // Data format register address
bala0x07 0:e36d80703ed0 252 cmd2[1] = 0x04; // Making the acceleration data as left justified
bala0x07 0:e36d80703ed0 253
bala0x07 0:e36d80703ed0 254 axis_data_start_address[0] = 0x32;
bala0x07 0:e36d80703ed0 255
bala0x07 0:e36d80703ed0 256
bala0x07 0:e36d80703ed0 257
bala0x07 0:e36d80703ed0 258 i2c.write(slave_address_acc, cmd, 2);
bala0x07 0:e36d80703ed0 259 i2c.write(slave_address_acc, cmd3, 5);
bala0x07 0:e36d80703ed0 260 i2c.write(slave_address_acc, cmd4, 8);
bala0x07 0:e36d80703ed0 261 i2c.write(slave_address_acc, cmd5, 3);
bala0x07 0:e36d80703ed0 262 i2c.write(slave_address_acc, cmd6, 2);
bala0x07 0:e36d80703ed0 263 i2c.write(slave_address_acc, cmd7, 2);
bala0x07 0:e36d80703ed0 264 i2c.write(slave_address_acc, cmd8, 2);
bala0x07 0:e36d80703ed0 265 i2c.write(slave_address_acc, cmd2, 2);
bala0x07 0:e36d80703ed0 266
bala0x07 0:e36d80703ed0 267
bala0x07 0:e36d80703ed0 268 //char dev_add[2] = {0x00,0};
bala0x07 0:e36d80703ed0 269 //i2c.write(slave_address_acc, dev_add, 1);
bala0x07 0:e36d80703ed0 270 //i2c.read(slave_address_acc, dev_add, 1);
bala0x07 0:e36d80703ed0 271 //print_data_bits(dev_add[0]);
bala0x07 0:e36d80703ed0 272
bala0x07 0:e36d80703ed0 273 pc.printf(" ACCELEROMETER DATA LOG \r\n\r\n");
bala0x07 0:e36d80703ed0 274
bala0x07 0:e36d80703ed0 275 while (1);
bala0x07 0:e36d80703ed0 276
bala0x07 0:e36d80703ed0 277 pc.printf("\r\n CAME HERE \r\n");
bala0x07 0:e36d80703ed0 278
bala0x07 0:e36d80703ed0 279 // pc.printf(" ACCELEROMETER DATA LOG \r\n\r\n");
bala0x07 0:e36d80703ed0 280
bala0x07 0:e36d80703ed0 281 // while (1) {
bala0x07 0:e36d80703ed0 282 /*--------------------------------------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 283 wait(1.0);
bala0x07 0:e36d80703ed0 284 pc.printf("STILL IN WHILE LOOP\r\n\r\n");
bala0x07 0:e36d80703ed0 285 --------------------------------------------------------------------------------------------------------------------------------------*/
bala0x07 0:e36d80703ed0 286 // wait(0.25);
bala0x07 0:e36d80703ed0 287 //--------------------------------------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 288
bala0x07 0:e36d80703ed0 289 // USE THE FOLLOWING BLOCK TO READ THE DATA IN X-AXIS, Y-AXIS & Z-AXIS
bala0x07 0:e36d80703ed0 290 /*
bala0x07 0:e36d80703ed0 291 i2c.write(slave_address_acc, axis_data_start_address, 1);
bala0x07 0:e36d80703ed0 292 i2c.read(slave_address_acc, axis_data, 6);
bala0x07 0:e36d80703ed0 293
bala0x07 0:e36d80703ed0 294 x_axis = axis_data[1]; // Puts MSB data into respective axes
bala0x07 0:e36d80703ed0 295 y_axis = axis_data[3];
bala0x07 0:e36d80703ed0 296 z_axis = axis_data[5];
bala0x07 0:e36d80703ed0 297
bala0x07 0:e36d80703ed0 298 if(x_axis & 0x80) // Testing the signess of the x-axis data
bala0x07 0:e36d80703ed0 299 pc.printf("X-axis_1 = %d\r\n", (((~x_axis)+1))); // Converts 2's complement data into decimal
bala0x07 0:e36d80703ed0 300 else
bala0x07 0:e36d80703ed0 301 pc.printf("X-axis_0 = %d\r\n", x_axis);
bala0x07 0:e36d80703ed0 302
bala0x07 0:e36d80703ed0 303 if(y_axis & 0x80) // Testing the signess of the y-axis data
bala0x07 0:e36d80703ed0 304 pc.printf("Y-axis_1 = %d\r\n", (((~y_axis)+1))); // Converts 2's complement data into decimal
bala0x07 0:e36d80703ed0 305 else
bala0x07 0:e36d80703ed0 306 pc.printf("Y-axis_0 = %d\r\n", y_axis);
bala0x07 0:e36d80703ed0 307
bala0x07 0:e36d80703ed0 308 if(z_axis & 0x80) // Testing the signess of the y-axis data
bala0x07 0:e36d80703ed0 309 pc.printf("Z-axis_1 = %d\r\n\r\n", (((~z_axis)+1))); // Converts 2's complement data into decimal
bala0x07 0:e36d80703ed0 310 else
bala0x07 0:e36d80703ed0 311 pc.printf("Z-axis_0 = %d\r\n\r\n",z_axis);
bala0x07 0:e36d80703ed0 312 */
bala0x07 0:e36d80703ed0 313 /*--------------------------------------------------------------------------------------------------------------------------------------
bala0x07 0:e36d80703ed0 314
bala0x07 0:e36d80703ed0 315 // THIS CAN BE USED WHEN THERE IS A NEED OF VERY HIGH LEVEL ACCURACY & USE INT16_T DATA TYPE
bala0x07 0:e36d80703ed0 316
bala0x07 0:e36d80703ed0 317 x_axis = (int)axis_data[1] << 8 | (int)axis_data[0];
bala0x07 0:e36d80703ed0 318 y_axis = (int)axis_data[3] << 8 | (int)axis_data[2];
bala0x07 0:e36d80703ed0 319 z_axis = (int)axis_data[5] << 8 | (int)axis_data[4];
bala0x07 0:e36d80703ed0 320
bala0x07 0:e36d80703ed0 321 --------------------------------------------------------------------------------------------------------------------------------------*/
bala0x07 0:e36d80703ed0 322 // }
bala0x07 0:e36d80703ed0 323 }
bala0x07 0:e36d80703ed0 324
bala0x07 0:e36d80703ed0 325