Revision 7:acb1074eaba6, committed 2017-09-22

Comitter:

8mona

Date:

Fri Sep 22 16:27:18 2017 +0000

Parent:

6:e3afb1390167

Child:

8:f7ad1d7176ba

Commit message:

Read Angle and speed register from IQS624 sensor

Changed in this revision

--- a/main.cpp	Thu Sep 21 11:34:27 2017 +0000
+++ b/main.cpp	Fri Sep 22 16:27:18 2017 +0000
@@ -50,7 +50,6 @@
 Ticker timer_;
 I2C     i2c(D14, D15);
 DRV8830 motor(i2c, DRV8830ADDR_NN);
-//DigitalOut Relay1(D2);
 InterruptIn button1(USER_BUTTON);
 static float motor_speed;
 
@@ -58,14 +57,45 @@
 // Display elapsed time in minutes and seconds
 
 
-void ShowLCD(char * buffer,  int startbyte, int endbyte)
+int ReadDegree(char * buffer)
 {
-    for (int i=startbyte; i<=endbyte; i++) {
-            lcd_.WriteValue("%02x ", buffer[i]); // print out in black & white
-    }
+    int ret=0;   
+    
+    //(High bit + Low bit) * 360/65536 
+    //ret = ((buffer[0x80]<<8 + buffer[0x81])*0.00549316406  ;  
+    ret = (buffer[0x80]<<8 +buffer[0x81])/65536.0*360.0  ;  
+    return ret;   
 }
     
 
+int ReadSpeed(char * buffer)
+{
+    int ret=0;   
+    ret = (buffer[0x8E]);  
+    return ret;   
+}
+
+void Displaylevel (int deg)
+{
+    
+    int level=deg>>5;
+    lcd_.WriteStringXY("@",0,0);
+    for (int i=0;i<12;i++)
+    {  
+       if (i<level)
+       {
+         lcd_.WriteString("-");          
+        }
+       else
+       { 
+        lcd_.WriteString(" ");          
+        }
+    }
+    
+            
+    
+}
+    
 
 void TimerIsr()
 {
@@ -227,23 +257,29 @@
     //if (lcd_.IsConnected()) printf("\r\nConnected");
     //else                    printf("\r\nDisconnected");
 
-    TimerIsr();
+    //TimerIsr();
     //timer_.attach(&TimerIsr, 0.1);
-    button1.fall(&flip);
-
+    //button1.fall(&flip);
+    //lcd_.WriteStringXY("0",0,0);
+    lcd_.WriteStringXY("Boot1",0,0);
     iqs62x.configure(); // configure the ICD
+    lcd_.WriteStringXY("Boot2",0,0);
     
-    
-    bool status = motor.status();
-    if (status & DRV8830_F_FAULT){
-        motor.reset();
-     } 
+//    bool status = motor.status();
+//   if (status & DRV8830_F_FAULT){
+//        motor.reset();
+//     } 
     
     while (true) {
-            motor.speed(motor_speed);
-            //iqs62x.readIqsRegisters(0,NUMBER_OF_REGISTERS); // read all the registers
-            //ShowLCD(iqs62x.registers,0x80,0x8f);
-            wait(1);
+            iqs62x.readIqsRegisters(0,NUMBER_OF_REGISTERS); // read all the registers        
+            int val = ReadDegree(iqs62x.registers);
+            int speed= ReadSpeed(iqs62x.registers);
+            
+            lcd_.WriteValueXY("T:%3d ",val, 0,1);
+            lcd_.WriteValue("V:%3d",speed);
+            Displaylevel(val);
+            wait_ms(5);
+            
     }
             
 }