Revision 5:653dac107d67, committed 2017-01-31

Comitter:

ymerdushku

Date:

Tue Jan 31 10:31:32 2017 +0000

Parent:

4:420dc2851775

Commit message:

versione con gli interi

Changed in this revision

--- a/main.cpp	Tue Jan 10 15:31:01 2017 +0000
+++ b/main.cpp	Tue Jan 31 10:31:32 2017 +0000
@@ -1,6 +1,7 @@
 #include "mbed.h"
 #include <I2C.h>
 #include <string.h>
+#include <stdlib.h>
 
 #define LSM6DS0_ADDRESS_WRITE (0xD6) //  Register_write
 #define LSM6DS0_ADDRESS_READ (0xD7) //  Register_read
@@ -15,11 +16,11 @@
 
 I2C i2c(I2C_SDA,I2C_SCL);
 Serial pc(SERIAL_TX, SERIAL_RX);
+//Serial fpga(D15, D14);
 char readREG_I2C(char REG_ADDR[1]);
 void setREG_I2C(char REG_ADDR_DATA[2]);
 
 int main() {
-    int cnt=0;
     char X_value[2];
     char ident[1];
     char data_write[2];
@@ -30,6 +31,7 @@
     char X[2];
     char Y[2];
     char Z[2];
+    int cnt=0;
         
     //read WHO_AM_I
     //ADDR[0]=0x0F;
@@ -65,22 +67,35 @@
     ADDR_Z[0]=READ_Z_L;
     Z[0]=readREG_I2C(ADDR_Z);
     pc.printf("%c",Z[0]);
-
-//parte aggiuntiva -> i valori di accelerazione sono X[0],Y[0],Z[0] parti basse
+    
+    //conversione da char a intero
+    int X_int[2];
+    int Y_int[2];
+    int Z_int[2];
+    
+    X_int[0]=X[0]-'0';
+    X_int[1]=X[1]-'0';
+    Y_int[0]=Y[0]-'0';
+    Y_int[1]=Y[1]-'0';
+    Z_int[0]=Z[0]-'0';
+    Z_int[1]=Z[1]-'0';
+    
+    //parte aggiuntiva -> i valori di accelerazione sono X[0],Y[0],Z[0] parti basse
 //X[1],Y[1],Z[1] parti alte
 
-    char x_acceleration[2];
-    char y_acceleration[2];
-    char z_acceleration[2];
-    char x_velocity[2];
-    char y_velocity[2];
-    char z_velocity[2];
-    char x_position[2];
-    char y_position[2];
-    char z_position[2];
-    char x_pos[2];
-    char y_pos[2];
-    char z_pos[2];
+
+    int x_acceleration[2];
+    int y_acceleration[2];
+    int z_acceleration[2];
+    int x_velocity[2];
+    int y_velocity[2];
+    int z_velocity[2];
+    int x_position[2];
+    int y_position[2];
+    int z_position[2];
+    int x_pos[2];
+    int y_pos[2];
+    int z_pos[2];
 
 
 if(cnt==0)         //variabile int cnt da definire e settare uguale a zero ad inizio codice
@@ -114,9 +129,9 @@
 
 cnt++;
                     //unione delle parti da 8 bit in variabili da 16 bit
-x_acceleration[1]=(X[1]<<8)|X[0];
-y_acceleration[1]=(Y[1]<<8)|Y[0];
-z_acceleration[1]=(Z[1]<<8)|Z[0];
+x_acceleration[1]=(X_int[1]<<8)|X[0];
+y_acceleration[1]=(Y_int[1]<<8)|Y[0];
+z_acceleration[1]=(Z_int[1]<<8)|Z[0];
 
 //first integration
 
@@ -133,38 +148,60 @@
 //divisione in parti da 8 bit rispettivamente alte e basse
 
 x_pos[1]=x_position[1] >> 8;
-x_pos[0]=x_position[0] & 0xFF;
+x_pos[0]=x_position[1] & 0xFF;
 
 y_pos[1]=y_position[1] >> 8;
-y_pos[0]=y_position[0] & 0xFF;
+y_pos[0]=y_position[1] & 0xFF;
 
 z_pos[1]=z_position[1] >> 8;
-z_pos[0]=z_position[0] & 0xFF;
+z_pos[0]=z_position[1] & 0xFF;
 
 
 
 //inviare sulla linea sequenza di byte di start
 int start=0xFF;
-pc.printf("%d",start);
-pc.printf("%d",start);
+fpga.printf("%d",start);
+fpga.printf("%d",start);
 start=0x00;
-pc.printf("%d",start);
-pc.printf("%d",start);
+fpga.printf("%d",start);
+fpga.printf("%d",start);
 
-pc.printf("%c",x_pos[1]);
-pc.printf("%c",x_pos[0]);
-pc.printf("%c",y_pos[1]);
-pc.printf("%c",y_pos[0]);
-pc.printf("%c",z_pos[1]);
-pc.printf("%c",z_pos[0]);
+fpga.printf("%c",x_pos[1]);
+fpga.printf("%c",x_pos[0]);
+fpga.printf("%c",y_pos[1]);
+fpga.printf("%c",y_pos[0]);
+fpga.printf("%c",z_pos[1]);
+fpga.printf("%c",z_pos[0]);
 
 int stop=0x00;
-pc.printf("%d",stop);
+fpg.printf("%d",stop);
 pc.printf("%d",stop);
 start=0xFF;
 pc.printf("%d",stop);
 pc.printf("%d",stop);
 //inviare sulla linea sequenza di byte di stop
       
+     
 }
+ 
 
+ 
+void setREG_I2C(char REG_ADDR_DATA[2]) //argument to pass : address register and data to write in
+{
+ if ((i2c.write(LSM6DS0_ADDRESS_WRITE,REG_ADDR_DATA,2,0))!=0)//ADDR+SUB+DATA+STOP, return 0 if ack
+    { 
+        pc.printf("Error, not ack\n");      
+    } 
+   
+}
+ 
+// read register
+char readREG_I2C(char REG_ADDR[1]) //argument to pass : address register to read
+{ 
+    char data_read[1];
+    
+        i2c.write(LSM6DS0_ADDRESS_WRITE,REG_ADDR,1,1);  //ADDR+SUB, return 0 if ack
+        i2c.read(LSM6DS0_ADDRESS_READ,data_read,1,0); //ADDR+data+STOP, return 0 if ack
+   
+    return data_read[0];
+}
\ No newline at end of file