team app1
/
HelloWorld
test
Fork of HelloWorld by
main.cpp@32:bcfe51898e7c, 2017-10-01 (annotated)
- Committer:
- kkalsi
- Date:
- Sun Oct 01 18:28:14 2017 +0000
- Revision:
- 32:bcfe51898e7c
- Parent:
- 30:5881c661b0bb
transmit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vincentlabbe | 25:16a041dd21db | 1 | /**** Vincent Labbé - labv2507 *****/ |
kkalsi | 29:3acc071af432 | 2 | /**** Karan Kalsi - kalk2701 *****/ |
kkalsi | 6:62e39c103d12 | 3 | #include "mbed.h" |
kkalsi | 23:262e3e171aaf | 4 | #include "MMA8452Q.h" |
kkalsi | 7:32229ffff57e | 5 | |
kkalsi | 30:5881c661b0bb | 6 | Serial xbee_routeur(p13,p14); |
kkalsi | 23:262e3e171aaf | 7 | Serial pc(USBTX, USBRX); // tx, rx |
kkalsi | 29:3acc071af432 | 8 | DigitalOut rst1(p8); //Digital reset for the XBee, 200ns for reset |
kkalsi | 32:bcfe51898e7c | 9 | DigitalIn btn(p15); //Bouton read |
kkalsi | 32:bcfe51898e7c | 10 | //MMA8452Q mma8452(p9,p10,0x1d); |
kkalsi | 30:5881c661b0bb | 11 | |
kkalsi | 30:5881c661b0bb | 12 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
kkalsi | 32:bcfe51898e7c | 13 | DigitalOut myled(LED1); |
kkalsi | 32:bcfe51898e7c | 14 | Ticker sample; |
kkalsi | 32:bcfe51898e7c | 15 | int currentStateButton; |
kkalsi | 32:bcfe51898e7c | 16 | int previousStateButton; |
kkalsi | 32:bcfe51898e7c | 17 | int validationStateButton; |
kkalsi | 30:5881c661b0bb | 18 | |
kkalsi | 30:5881c661b0bb | 19 | uint16_t panId; // panId |
kkalsi | 30:5881c661b0bb | 20 | uint8_t panId_LSB; |
kkalsi | 30:5881c661b0bb | 21 | uint8_t panId_MSB; |
kkalsi | 30:5881c661b0bb | 22 | |
kkalsi | 30:5881c661b0bb | 23 | char* url; // url |
kkalsi | 30:5881c661b0bb | 24 | char URL[10]; |
kkalsi | 30:5881c661b0bb | 25 | |
kkalsi | 30:5881c661b0bb | 26 | void seperatePanId(void); |
kkalsi | 30:5881c661b0bb | 27 | void ReadFile (void); |
kkalsi | 32:bcfe51898e7c | 28 | void envoyer_tramme(char commande[], uint8_t data[], uint8_t length_MSB, uint8_t length_LSB, uint8_t API_frame_name); |
kkalsi | 32:bcfe51898e7c | 29 | void transmisson(uint8_t data[], uint8_t length_MSB, uint8_t length_LSB, uint8_t API_frame_name); |
kkalsi | 32:bcfe51898e7c | 30 | void initialisation_xbee(void); |
kkalsi | 32:bcfe51898e7c | 31 | void readBtn(void); |
kkalsi | 27:0f602aca65f1 | 32 | |
kkalsi | 29:3acc071af432 | 33 | int main() { |
kkalsi | 29:3acc071af432 | 34 | |
kkalsi | 30:5881c661b0bb | 35 | ReadFile();// when you run first time without this line, the setup file is on created |
kkalsi | 30:5881c661b0bb | 36 | wait(1); |
kkalsi | 30:5881c661b0bb | 37 | seperatePanId(); // séparé msb et lsb du panId |
kkalsi | 30:5881c661b0bb | 38 | |
kkalsi | 32:bcfe51898e7c | 39 | /* |
kkalsi | 30:5881c661b0bb | 40 | pc.printf("panId lsb : %x\n\r",panId_LSB); |
kkalsi | 30:5881c661b0bb | 41 | pc.printf("panId msb : %x\n\r",panId_MSB); |
kkalsi | 30:5881c661b0bb | 42 | pc.printf("panId : %x\n\r",panId); |
kkalsi | 30:5881c661b0bb | 43 | pc.printf("url: %s\n\r",URL); |
kkalsi | 32:bcfe51898e7c | 44 | */ |
kkalsi | 30:5881c661b0bb | 45 | |
kkalsi | 32:bcfe51898e7c | 46 | initialisation_xbee(); |
kkalsi | 32:bcfe51898e7c | 47 | |
kkalsi | 32:bcfe51898e7c | 48 | char commande0[2] = {'I','D'}; |
kkalsi | 32:bcfe51898e7c | 49 | uint8_t data0[2] = {panId_MSB, panId_LSB}; |
kkalsi | 32:bcfe51898e7c | 50 | envoyer_tramme(commande0, data0, 0x00, 0x06, 0x09); |
kkalsi | 32:bcfe51898e7c | 51 | |
kkalsi | 32:bcfe51898e7c | 52 | char commande1[2] = {'S','C'}; |
kkalsi | 32:bcfe51898e7c | 53 | uint8_t data1[2] = {0x09}; |
kkalsi | 32:bcfe51898e7c | 54 | envoyer_tramme(commande1, data1, 0x00, 0x05, 0x09); |
kkalsi | 30:5881c661b0bb | 55 | |
kkalsi | 32:bcfe51898e7c | 56 | /* |
kkalsi | 32:bcfe51898e7c | 57 | char commande2[2] = {'W','R'}; |
kkalsi | 32:bcfe51898e7c | 58 | uint8_t data2[10] = {}; |
kkalsi | 32:bcfe51898e7c | 59 | envoyer_tramme(commande2, data2, 0x00, 0x04, 0x09); |
kkalsi | 32:bcfe51898e7c | 60 | */ |
kkalsi | 32:bcfe51898e7c | 61 | /* |
kkalsi | 32:bcfe51898e7c | 62 | char commande3[2] = {'A','C'}; |
kkalsi | 32:bcfe51898e7c | 63 | uint8_t data3[2] = {}; |
kkalsi | 32:bcfe51898e7c | 64 | envoyer_tramme(commande3, data3, 0x00, 0x04, 0x09); |
kkalsi | 32:bcfe51898e7c | 65 | */ |
kkalsi | 30:5881c661b0bb | 66 | |
kkalsi | 32:bcfe51898e7c | 67 | sample.attach(&readBtn,0.05); |
kkalsi | 30:5881c661b0bb | 68 | |
kkalsi | 30:5881c661b0bb | 69 | while(1) |
kkalsi | 30:5881c661b0bb | 70 | { |
kkalsi | 30:5881c661b0bb | 71 | |
kkalsi | 32:bcfe51898e7c | 72 | |
kkalsi | 32:bcfe51898e7c | 73 | |
kkalsi | 32:bcfe51898e7c | 74 | //myled = 1; |
kkalsi | 30:5881c661b0bb | 75 | if(xbee_routeur.readable()) |
kkalsi | 29:3acc071af432 | 76 | { |
kkalsi | 30:5881c661b0bb | 77 | pc.putc(xbee_routeur.getc()); |
kkalsi | 30:5881c661b0bb | 78 | } |
kkalsi | 30:5881c661b0bb | 79 | |
kkalsi | 30:5881c661b0bb | 80 | if(pc.readable()) |
kkalsi | 30:5881c661b0bb | 81 | { |
kkalsi | 30:5881c661b0bb | 82 | xbee_routeur.putc(pc.getc()); |
kkalsi | 30:5881c661b0bb | 83 | } |
kkalsi | 32:bcfe51898e7c | 84 | |
kkalsi | 32:bcfe51898e7c | 85 | } |
kkalsi | 32:bcfe51898e7c | 86 | } |
kkalsi | 32:bcfe51898e7c | 87 | |
kkalsi | 32:bcfe51898e7c | 88 | void readBtn(void) |
kkalsi | 32:bcfe51898e7c | 89 | { |
kkalsi | 32:bcfe51898e7c | 90 | uint8_t data4[2]; |
kkalsi | 32:bcfe51898e7c | 91 | currentStateButton = btn.read(); // lecture courante numérique button |
kkalsi | 30:5881c661b0bb | 92 | |
kkalsi | 32:bcfe51898e7c | 93 | if(previousStateButton != currentStateButton) // détection de changement d'état pour bouton |
kkalsi | 32:bcfe51898e7c | 94 | { |
kkalsi | 32:bcfe51898e7c | 95 | wait_ms(50); |
kkalsi | 32:bcfe51898e7c | 96 | |
kkalsi | 32:bcfe51898e7c | 97 | validationStateButton = btn.read(); // nouvelle lecture apres stabilisation button |
kkalsi | 32:bcfe51898e7c | 98 | |
kkalsi | 32:bcfe51898e7c | 99 | if(currentStateButton == validationStateButton) |
kkalsi | 32:bcfe51898e7c | 100 | { |
kkalsi | 32:bcfe51898e7c | 101 | if(previousStateButton != currentStateButton) |
kkalsi | 32:bcfe51898e7c | 102 | { |
kkalsi | 32:bcfe51898e7c | 103 | if(currentStateButton == 1) |
kkalsi | 32:bcfe51898e7c | 104 | { |
kkalsi | 32:bcfe51898e7c | 105 | data4[0] = 0x01; |
kkalsi | 32:bcfe51898e7c | 106 | } |
kkalsi | 32:bcfe51898e7c | 107 | else |
kkalsi | 32:bcfe51898e7c | 108 | { |
kkalsi | 32:bcfe51898e7c | 109 | data4[0] = 0x00; |
kkalsi | 32:bcfe51898e7c | 110 | } |
kkalsi | 32:bcfe51898e7c | 111 | transmisson(data4, 0x00, 0x0F, 0x10); |
kkalsi | 32:bcfe51898e7c | 112 | } |
kkalsi | 32:bcfe51898e7c | 113 | } |
kkalsi | 32:bcfe51898e7c | 114 | } |
kkalsi | 32:bcfe51898e7c | 115 | previousStateButton = validationStateButton; // mise a jour de l'état précédente button 1 |
kkalsi | 32:bcfe51898e7c | 116 | } |
kkalsi | 32:bcfe51898e7c | 117 | |
kkalsi | 32:bcfe51898e7c | 118 | void initialisation_xbee(void) |
kkalsi | 32:bcfe51898e7c | 119 | { |
kkalsi | 32:bcfe51898e7c | 120 | xbee_routeur.baud(9600); //set baud rate |
kkalsi | 32:bcfe51898e7c | 121 | rst1 = 0; // xbee reset |
kkalsi | 32:bcfe51898e7c | 122 | wait_ms(400); |
kkalsi | 32:bcfe51898e7c | 123 | rst1 = 1; |
kkalsi | 32:bcfe51898e7c | 124 | xbee_routeur.printf("+++"); |
kkalsi | 32:bcfe51898e7c | 125 | wait_ms(500); |
kkalsi | 32:bcfe51898e7c | 126 | } |
kkalsi | 32:bcfe51898e7c | 127 | |
kkalsi | 32:bcfe51898e7c | 128 | void transmisson(uint8_t data[], uint8_t length_MSB, uint8_t length_LSB, uint8_t API_frame_name) |
kkalsi | 32:bcfe51898e7c | 129 | { |
kkalsi | 32:bcfe51898e7c | 130 | int sum = 0; |
kkalsi | 32:bcfe51898e7c | 131 | |
kkalsi | 32:bcfe51898e7c | 132 | xbee_routeur.putc(0x7E); // start delimiter |
kkalsi | 32:bcfe51898e7c | 133 | xbee_routeur.putc(length_MSB); // MSB length |
kkalsi | 32:bcfe51898e7c | 134 | xbee_routeur.putc(length_LSB); // LSB length |
kkalsi | 32:bcfe51898e7c | 135 | xbee_routeur.putc(API_frame_name); // API frame name |
kkalsi | 32:bcfe51898e7c | 136 | xbee_routeur.putc(0x01); // Frame Id |
kkalsi | 32:bcfe51898e7c | 137 | xbee_routeur.putc(0x00); // 64-bit address (broadcast) |
kkalsi | 32:bcfe51898e7c | 138 | xbee_routeur.putc(0x00); // |
kkalsi | 32:bcfe51898e7c | 139 | xbee_routeur.putc(0x00); // |
kkalsi | 32:bcfe51898e7c | 140 | xbee_routeur.putc(0x00); // |
kkalsi | 32:bcfe51898e7c | 141 | xbee_routeur.putc(0x00); // |
kkalsi | 32:bcfe51898e7c | 142 | xbee_routeur.putc(0x00); // |
kkalsi | 32:bcfe51898e7c | 143 | xbee_routeur.putc(0x00); // |
kkalsi | 32:bcfe51898e7c | 144 | xbee_routeur.putc(0x00); // |
kkalsi | 32:bcfe51898e7c | 145 | xbee_routeur.putc(0xFF); // 16-bit address (broadcast) |
kkalsi | 32:bcfe51898e7c | 146 | xbee_routeur.putc(0xFE); // 16-bit address (broadcast) |
kkalsi | 32:bcfe51898e7c | 147 | xbee_routeur.putc(0x00); // Broadcast radius |
kkalsi | 32:bcfe51898e7c | 148 | xbee_routeur.putc(0x00); // Options |
kkalsi | 32:bcfe51898e7c | 149 | |
kkalsi | 32:bcfe51898e7c | 150 | uint16_t length = length_MSB; |
kkalsi | 32:bcfe51898e7c | 151 | length = (length << 8) + length_LSB; |
kkalsi | 32:bcfe51898e7c | 152 | //pc.printf("length : %x\n\r",length); |
kkalsi | 32:bcfe51898e7c | 153 | |
kkalsi | 32:bcfe51898e7c | 154 | for (int i = 0 ; i < length - 14; i++) |
kkalsi | 32:bcfe51898e7c | 155 | { |
kkalsi | 32:bcfe51898e7c | 156 | xbee_routeur.putc(data[i]); // API frame name |
kkalsi | 32:bcfe51898e7c | 157 | //pc.printf("data %d : %x\n\r",i,data[i]); |
kkalsi | 32:bcfe51898e7c | 158 | sum = sum + data[i]; |
kkalsi | 30:5881c661b0bb | 159 | } |
kkalsi | 30:5881c661b0bb | 160 | |
kkalsi | 32:bcfe51898e7c | 161 | sum = sum + API_frame_name + 0x01 + 0xFF +0xFE; |
kkalsi | 32:bcfe51898e7c | 162 | char checksum = (0xFF - (sum & 0xFF)); |
kkalsi | 32:bcfe51898e7c | 163 | //pc.printf("checksum : %x\n\r",checksum); |
kkalsi | 32:bcfe51898e7c | 164 | xbee_routeur.putc(checksum); // checksum |
kkalsi | 32:bcfe51898e7c | 165 | } |
kkalsi | 32:bcfe51898e7c | 166 | |
kkalsi | 32:bcfe51898e7c | 167 | |
kkalsi | 32:bcfe51898e7c | 168 | void envoyer_tramme(char commande[], uint8_t data[], uint8_t length_MSB, uint8_t length_LSB, uint8_t API_frame_name) |
kkalsi | 32:bcfe51898e7c | 169 | { |
kkalsi | 32:bcfe51898e7c | 170 | int sum = 0; |
kkalsi | 32:bcfe51898e7c | 171 | |
kkalsi | 32:bcfe51898e7c | 172 | xbee_routeur.putc(0x7E); // start delimiter |
kkalsi | 32:bcfe51898e7c | 173 | xbee_routeur.putc(length_MSB); // MSB length |
kkalsi | 32:bcfe51898e7c | 174 | xbee_routeur.putc(length_LSB); // LSB length |
kkalsi | 32:bcfe51898e7c | 175 | xbee_routeur.putc(API_frame_name); // API frame name |
kkalsi | 32:bcfe51898e7c | 176 | xbee_routeur.putc(0x01); // Frame Id |
kkalsi | 32:bcfe51898e7c | 177 | xbee_routeur.putc(commande[0]); // Commande lettre 1 |
kkalsi | 32:bcfe51898e7c | 178 | xbee_routeur.putc(commande[1]); // Commande lettre 2 |
kkalsi | 32:bcfe51898e7c | 179 | |
kkalsi | 32:bcfe51898e7c | 180 | uint16_t length = length_MSB; |
kkalsi | 32:bcfe51898e7c | 181 | length = (length << 8) + length_LSB; |
kkalsi | 32:bcfe51898e7c | 182 | //pc.printf("length : %x\n\r",length); |
kkalsi | 32:bcfe51898e7c | 183 | |
kkalsi | 32:bcfe51898e7c | 184 | for (int i = 0 ; i < length - 4; i++) |
kkalsi | 32:bcfe51898e7c | 185 | { |
kkalsi | 32:bcfe51898e7c | 186 | xbee_routeur.putc(data[i]); // API frame name |
kkalsi | 32:bcfe51898e7c | 187 | //pc.printf("data %d : %x\n\r",i,data[i]); |
kkalsi | 32:bcfe51898e7c | 188 | sum = sum + data[i]; |
kkalsi | 32:bcfe51898e7c | 189 | } |
kkalsi | 32:bcfe51898e7c | 190 | |
kkalsi | 32:bcfe51898e7c | 191 | sum = sum + API_frame_name + 0x01 + commande[0]+ commande[1]; |
kkalsi | 32:bcfe51898e7c | 192 | char checksum = (0xFF - (sum & 0xFF)); |
kkalsi | 32:bcfe51898e7c | 193 | //pc.printf("checksum : %x\n\r",checksum); |
kkalsi | 32:bcfe51898e7c | 194 | xbee_routeur.putc(checksum); // checksum |
kkalsi | 30:5881c661b0bb | 195 | } |
kkalsi | 30:5881c661b0bb | 196 | |
kkalsi | 30:5881c661b0bb | 197 | void seperatePanId(void) |
kkalsi | 30:5881c661b0bb | 198 | { |
kkalsi | 30:5881c661b0bb | 199 | panId_LSB = (panId & 0x00FF); |
kkalsi | 30:5881c661b0bb | 200 | panId_MSB = ((panId >> 8) & 0x00FF); |
kkalsi | 30:5881c661b0bb | 201 | } |
kkalsi | 27:0f602aca65f1 | 202 | |
kkalsi | 30:5881c661b0bb | 203 | void ReadFile (void) |
kkalsi | 30:5881c661b0bb | 204 | { |
kkalsi | 30:5881c661b0bb | 205 | FILE *set = fopen("/local/config.txt", "r"); // Open "setup.txt" on the local file system for read |
kkalsi | 30:5881c661b0bb | 206 | fscanf(set,"%x",&panId); // read offset |
kkalsi | 30:5881c661b0bb | 207 | fscanf(set,"%s %f",URL,&url); // read gain |
kkalsi | 30:5881c661b0bb | 208 | fclose(set); |
kkalsi | 30:5881c661b0bb | 209 | } |
kkalsi | 27:0f602aca65f1 | 210 | |
kkalsi | 32:bcfe51898e7c | 211 | |
kkalsi | 32:bcfe51898e7c | 212 | |
kkalsi | 32:bcfe51898e7c | 213 | |
kkalsi | 32:bcfe51898e7c | 214 | |
kkalsi | 32:bcfe51898e7c | 215 | |
kkalsi | 32:bcfe51898e7c | 216 | |
kkalsi | 32:bcfe51898e7c | 217 | |
kkalsi | 32:bcfe51898e7c | 218 | |
kkalsi | 32:bcfe51898e7c | 219 | |
kkalsi | 32:bcfe51898e7c | 220 | |
kkalsi | 32:bcfe51898e7c | 221 | |
kkalsi | 32:bcfe51898e7c | 222 | |
kkalsi | 27:0f602aca65f1 | 223 | |
kkalsi | 22:706708bc4c1a | 224 | |
kkalsi | 32:bcfe51898e7c | 225 | |
kkalsi | 32:bcfe51898e7c | 226 | |
kkalsi | 32:bcfe51898e7c | 227 | |
kkalsi | 32:bcfe51898e7c | 228 | |
kkalsi | 32:bcfe51898e7c | 229 | |
kkalsi | 32:bcfe51898e7c | 230 | |
kkalsi | 32:bcfe51898e7c | 231 | |
kkalsi | 32:bcfe51898e7c | 232 | |
kkalsi | 32:bcfe51898e7c | 233 | |
kkalsi | 32:bcfe51898e7c | 234 | |
kkalsi | 32:bcfe51898e7c | 235 | |
kkalsi | 32:bcfe51898e7c | 236 | |
kkalsi | 32:bcfe51898e7c | 237 | |
kkalsi | 22:706708bc4c1a | 238 | |
kkalsi | 26:523ac79471d8 | 239 | // SPI COMMUNICATION |
kkalsi | 26:523ac79471d8 | 240 | /* |
kkalsi | 3:8494c3f7108d | 241 | int main() { |
vincentlabbe | 25:16a041dd21db | 242 | |
vincentlabbe | 17:c463c5a434ec | 243 | float x, y, z ; |
kkalsi | 15:b4b2e73faefb | 244 | MMA8452Q acc(p9,p10,0x1d); // acceleration object |
vincentlabbe | 25:16a041dd21db | 245 | |
kkalsi | 26:523ac79471d8 | 246 | cs = 0; //Clear display SPI |
kkalsi | 26:523ac79471d8 | 247 | wait(0.1); |
kkalsi | 26:523ac79471d8 | 248 | spi.write(0x76); // Clear display |
kkalsi | 26:523ac79471d8 | 249 | cs = 1; |
kkalsi | 26:523ac79471d8 | 250 | wait(0.1); |
kkalsi | 26:523ac79471d8 | 251 | cs = 1; |
vincentlabbe | 25:16a041dd21db | 252 | |
kkalsi | 26:523ac79471d8 | 253 | while (true) { |
vincentlabbe | 25:16a041dd21db | 254 | x = acc.getAccX() ; |
vincentlabbe | 17:c463c5a434ec | 255 | y = acc.getAccY() ; |
vincentlabbe | 17:c463c5a434ec | 256 | z = acc.getAccZ() ; |
vincentlabbe | 19:992f183385e8 | 257 | printf("X[%.3f] Y[%.3f] Z[%.3f]\n",x, y, z) ; |
kkalsi | 9:f36f1506a840 | 258 | wait(0.1); |
vincentlabbe | 13:64137db317ab | 259 | |
vincentlabbe | 25:16a041dd21db | 260 | int X = x * 1000; //Pour enlever floating point et garder une précision |
vincentlabbe | 19:992f183385e8 | 261 | int Y = y * 1000; |
vincentlabbe | 19:992f183385e8 | 262 | int Z = z * 1000; |
kkalsi | 18:171cb8d2f243 | 263 | |
vincentlabbe | 25:16a041dd21db | 264 | int angle = (1000-(((2*X*X+2*Y*Y)*1000/(X*X+Y*Y+Z*Z)))); //Calcul vectoriel pour calculer l'angle à l'horizontal |
kkalsi | 18:171cb8d2f243 | 265 | |
vincentlabbe | 19:992f183385e8 | 266 | pc.printf("avant acos = %d", angle); |
kkalsi | 18:171cb8d2f243 | 267 | |
vincentlabbe | 25:16a041dd21db | 268 | float ratioZaccel = angle/1000.0; //Remettre en floating point pour acos |
vincentlabbe | 25:16a041dd21db | 269 | int resultatRAD = 500*acos((ratioZaccel)); //Reponse en RAD |
vincentlabbe | 25:16a041dd21db | 270 | |
vincentlabbe | 25:16a041dd21db | 271 | pc.printf("valeur rad new= %d", resultatRAD); |
vincentlabbe | 25:16a041dd21db | 272 | int degree = resultatRAD * 18000/31400; //Tranfo degree |
kkalsi | 18:171cb8d2f243 | 273 | pc.printf("valeur deg new = %d", degree); |
vincentlabbe | 25:16a041dd21db | 274 | pc.printf("valeur deg new = %d", degree); |
vincentlabbe | 25:16a041dd21db | 275 | |
vincentlabbe | 25:16a041dd21db | 276 | // extracting digits |
vincentlabbe | 25:16a041dd21db | 277 | int digit; |
vincentlabbe | 16:0b58c14b639d | 278 | int digits[4] = {0,0,0,0}; |
kkalsi | 15:b4b2e73faefb | 279 | int i = 0; |
vincentlabbe | 25:16a041dd21db | 280 | while(degree > 0) { |
vincentlabbe | 25:16a041dd21db | 281 | digit = degree % 10; //to get the right most digit |
vincentlabbe | 25:16a041dd21db | 282 | digits[i]=digit; |
vincentlabbe | 25:16a041dd21db | 283 | pc.printf("digit %d = %d, degree int: %d", i, digits[i], degree); |
vincentlabbe | 25:16a041dd21db | 284 | degree /= 10; //reduce the number by one digit |
kkalsi | 15:b4b2e73faefb | 285 | ++i; |
kkalsi | 15:b4b2e73faefb | 286 | } |
kkalsi | 15:b4b2e73faefb | 287 | |
kkalsi | 26:523ac79471d8 | 288 | spi.write(0x77); // Decimal control command // Pour la communication SPI |
vincentlabbe | 17:c463c5a434ec | 289 | cs = 1; |
vincentlabbe | 25:16a041dd21db | 290 | wait(0.01); |
vincentlabbe | 17:c463c5a434ec | 291 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 292 | spi.write(0x04);// Turn on decimal |
vincentlabbe | 17:c463c5a434ec | 293 | cs = 1; |
vincentlabbe | 17:c463c5a434ec | 294 | wait(0.01); |
kkalsi | 10:386a3a12f3cf | 295 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 296 | spi.write(digits[3]); |
vincentlabbe | 16:0b58c14b639d | 297 | cs = 1; |
vincentlabbe | 17:c463c5a434ec | 298 | wait(0.01); |
vincentlabbe | 16:0b58c14b639d | 299 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 300 | spi.write(digits[2]); |
vincentlabbe | 16:0b58c14b639d | 301 | cs = 1; |
vincentlabbe | 17:c463c5a434ec | 302 | wait(0.01); |
vincentlabbe | 16:0b58c14b639d | 303 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 304 | spi.write(digits[1]); |
vincentlabbe | 16:0b58c14b639d | 305 | cs = 1; |
vincentlabbe | 25:16a041dd21db | 306 | wait(0.01); |
vincentlabbe | 25:16a041dd21db | 307 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 308 | spi.write(digits[0]); |
vincentlabbe | 25:16a041dd21db | 309 | cs = 1; |
vincentlabbe | 25:16a041dd21db | 310 | */ |
kkalsi | 26:523ac79471d8 | 311 | /* Test |
kkalsi | 26:523ac79471d8 | 312 | cs = 0; |
vincentlabbe | 17:c463c5a434ec | 313 | wait(0.1); |
vincentlabbe | 25:16a041dd21db | 314 | spi.write(0x5); |
vincentlabbe | 25:16a041dd21db | 315 | cs = 1; |
kkalsi | 26:523ac79471d8 | 316 | */ |
vincentlabbe | 25:16a041dd21db | 317 | // } |
kkalsi | 26:523ac79471d8 | 318 | //} |
kkalsi | 21:74482f23c8fe | 319 | |
kkalsi | 21:74482f23c8fe | 320 | |
kkalsi | 21:74482f23c8fe | 321 | |
kkalsi | 26:523ac79471d8 | 322 | // UART COMMUNICATION |
kkalsi | 26:523ac79471d8 | 323 | /* |
kkalsi | 26:523ac79471d8 | 324 | void UARTInit() |
kkalsi | 26:523ac79471d8 | 325 | { |
kkalsi | 26:523ac79471d8 | 326 | uint16_t usFdiv; |
kkalsi | 26:523ac79471d8 | 327 | |
kkalsi | 26:523ac79471d8 | 328 | LPC_SC->PCONP |= (1 << 25); // Power up the UART3 it's disabled on powerup. |
kkalsi | 26:523ac79471d8 | 329 | |
kkalsi | 26:523ac79471d8 | 330 | LPC_PINCON->PINSEL1 |= (3 << 18); // Pin P0.25 used as TXD0 (Com0) // Enable the pins on the device to use UART3 |
kkalsi | 26:523ac79471d8 | 331 | LPC_PINCON->PINSEL1 |= (3 << 20); // Pin P0.26 used as RXD0 (Com0) |
kkalsi | 26:523ac79471d8 | 332 | |
kkalsi | 26:523ac79471d8 | 333 | LPC_SC->PCLKSEL1 &= ~(3 << 18); // Clean all to 0 // Setup the PCLK for UART3 |
kkalsi | 26:523ac79471d8 | 334 | LPC_SC->PCLKSEL1 |= (1 << 18); // PCLK = CCLK |
kkalsi | 21:74482f23c8fe | 335 | |
kkalsi | 26:523ac79471d8 | 336 | LPC_UART3->LCR = 0x83; // 0000 0000 1000 0011 // Word select 8-bit character length and set DLAB |
kkalsi | 26:523ac79471d8 | 337 | |
kkalsi | 26:523ac79471d8 | 338 | usFdiv = (SystemCoreClock / (16*9600)); //Baud rate calculation |
kkalsi | 26:523ac79471d8 | 339 | LPC_UART3->DLM = usFdiv / 256; |
kkalsi | 26:523ac79471d8 | 340 | LPC_UART3->DLL = usFdiv % 256; |
kkalsi | 26:523ac79471d8 | 341 | |
kkalsi | 26:523ac79471d8 | 342 | LPC_UART3->FCR = 0x7; // Enable and reset UART3 FIFOs. |
kkalsi | 26:523ac79471d8 | 343 | |
kkalsi | 26:523ac79471d8 | 344 | LPC_UART3->LCR &= ~(1 << 7); // Clear DLAB |
kkalsi | 26:523ac79471d8 | 345 | } |
kkalsi | 26:523ac79471d8 | 346 | |
kkalsi | 26:523ac79471d8 | 347 | char UART3Transmit(int out) |
kkalsi | 26:523ac79471d8 | 348 | { |
kkalsi | 26:523ac79471d8 | 349 | LPC_UART3 -> THR = out; |
kkalsi | 26:523ac79471d8 | 350 | while(! (LPC_UART3->LSR & (0x01 << 0x06))); |
kkalsi | 26:523ac79471d8 | 351 | |
kkalsi | 26:523ac79471d8 | 352 | return 1; |
kkalsi | 26:523ac79471d8 | 353 | } |
kkalsi | 26:523ac79471d8 | 354 | |
kkalsi | 26:523ac79471d8 | 355 | int main() { |
kkalsi | 26:523ac79471d8 | 356 | |
kkalsi | 26:523ac79471d8 | 357 | UARTInit(); |
kkalsi | 26:523ac79471d8 | 358 | |
kkalsi | 26:523ac79471d8 | 359 | float x, y, z ; |
kkalsi | 26:523ac79471d8 | 360 | |
kkalsi | 26:523ac79471d8 | 361 | MMA8452Q acc(p9,p10,0x1d); // acceleration object |
kkalsi | 26:523ac79471d8 | 362 | |
kkalsi | 26:523ac79471d8 | 363 | UART3Transmit(0x76); // Clear display UART |
kkalsi | 26:523ac79471d8 | 364 | while (true) { |
kkalsi | 26:523ac79471d8 | 365 | |
kkalsi | 26:523ac79471d8 | 366 | x = acc.getAccX() ; |
kkalsi | 26:523ac79471d8 | 367 | y = acc.getAccY() ; |
kkalsi | 26:523ac79471d8 | 368 | z = acc.getAccZ() ; |
kkalsi | 26:523ac79471d8 | 369 | printf("X[%.3f] Y[%.3f] Z[%.3f]\n",x, y, z) ; |
kkalsi | 26:523ac79471d8 | 370 | wait(0.1); |
kkalsi | 26:523ac79471d8 | 371 | |
kkalsi | 26:523ac79471d8 | 372 | int X = x * 1000; //Pour enlever floating point et garder une précision |
kkalsi | 26:523ac79471d8 | 373 | int Y = y * 1000; |
kkalsi | 26:523ac79471d8 | 374 | int Z = z * 1000; |
kkalsi | 26:523ac79471d8 | 375 | |
kkalsi | 26:523ac79471d8 | 376 | int angle = (1000-(((2*X*X+2*Y*Y)*1000/(X*X+Y*Y+Z*Z)))); //Calcul vectoriel pour calculer l'angle à l'horizontal |
kkalsi | 26:523ac79471d8 | 377 | |
kkalsi | 26:523ac79471d8 | 378 | pc.printf("avant acos = %d", angle); |
kkalsi | 26:523ac79471d8 | 379 | |
kkalsi | 26:523ac79471d8 | 380 | float ratioZaccel = angle/1000.0; //Remettre en floating point pour acos |
kkalsi | 26:523ac79471d8 | 381 | int resultatRAD = 500*acos((ratioZaccel)); //Reponse en RAD |
kkalsi | 26:523ac79471d8 | 382 | |
kkalsi | 26:523ac79471d8 | 383 | pc.printf("valeur rad new= %d", resultatRAD); |
kkalsi | 26:523ac79471d8 | 384 | int degree = resultatRAD * 18000/31400; //Tranfo degree |
kkalsi | 26:523ac79471d8 | 385 | pc.printf("valeur deg new = %d", degree); |
kkalsi | 26:523ac79471d8 | 386 | |
kkalsi | 26:523ac79471d8 | 387 | pc.printf("valeur deg new = %d", degree); |
kkalsi | 26:523ac79471d8 | 388 | |
kkalsi | 26:523ac79471d8 | 389 | |
kkalsi | 26:523ac79471d8 | 390 | int digit; // extracting digits |
kkalsi | 26:523ac79471d8 | 391 | int digits[4] = {0,0,0,0}; |
kkalsi | 26:523ac79471d8 | 392 | int i = 0; |
kkalsi | 26:523ac79471d8 | 393 | while(degree > 0) { |
kkalsi | 26:523ac79471d8 | 394 | digit = degree % 10; //to get the right most digit |
kkalsi | 26:523ac79471d8 | 395 | digits[i]=digit; |
kkalsi | 26:523ac79471d8 | 396 | pc.printf("digit %d = %d, degree int: %d", i, digits[i], degree); |
kkalsi | 26:523ac79471d8 | 397 | degree /= 10; //reduce the number by one digit |
kkalsi | 26:523ac79471d8 | 398 | ++i; |
kkalsi | 26:523ac79471d8 | 399 | } |
kkalsi | 26:523ac79471d8 | 400 | |
kkalsi | 26:523ac79471d8 | 401 | UART3Transmit(0x77); // Decimal control command // Pour la communication UART |
kkalsi | 26:523ac79471d8 | 402 | UART3Transmit(0x04);// Turn on decimal |
kkalsi | 26:523ac79471d8 | 403 | |
kkalsi | 26:523ac79471d8 | 404 | UART3Transmit(digits[3]); |
kkalsi | 26:523ac79471d8 | 405 | UART3Transmit(digits[2]); |
kkalsi | 26:523ac79471d8 | 406 | UART3Transmit(digits[1]); |
kkalsi | 26:523ac79471d8 | 407 | UART3Transmit(digits[0]); //UART3Transmit(0xA5); |
kkalsi | 26:523ac79471d8 | 408 | } |
kkalsi | 26:523ac79471d8 | 409 | } |
kkalsi | 26:523ac79471d8 | 410 | */ |
kkalsi | 26:523ac79471d8 | 411 | |
kkalsi | 26:523ac79471d8 | 412 | |
kkalsi | 26:523ac79471d8 | 413 | /* // communication I2C |
kkalsi | 3:8494c3f7108d | 414 | Serial pc(USBTX, USBRX); // tx, rx |
vincentlabbe | 25:16a041dd21db | 415 | I2C i2c(p9,p10); |
vincentlabbe | 25:16a041dd21db | 416 | |
kkalsi | 2:42408ce8f4ae | 417 | int main() { |
vincentlabbe | 25:16a041dd21db | 418 | i2c.frequency(100000); |
vincentlabbe | 25:16a041dd21db | 419 | char cmd[2] = {0,0}; |
vincentlabbe | 25:16a041dd21db | 420 | int addr = 0x5A; |
vincentlabbe | 25:16a041dd21db | 421 | int data = 0xA4; |
vincentlabbe | 25:16a041dd21db | 422 | cmd[0] = addr; |
vincentlabbe | 25:16a041dd21db | 423 | cmd[1] = data; |
vincentlabbe | 25:16a041dd21db | 424 | |
vincentlabbe | 25:16a041dd21db | 425 | while(1){ |
vincentlabbe | 25:16a041dd21db | 426 | i2c.write(0x3A,cmd,2); |
vincentlabbe | 25:16a041dd21db | 427 | wait_ms(5); |
kkalsi | 2:42408ce8f4ae | 428 | } |
vincentlabbe | 25:16a041dd21db | 429 | } |
vincentlabbe | 25:16a041dd21db | 430 | */ |
kkalsi | 26:523ac79471d8 | 431 | // I2C write |
kkalsi | 26:523ac79471d8 | 432 | //i2c.frequency(100000); |
kkalsi | 26:523ac79471d8 | 433 | //int cmd[0] = 0x0D; |
kkalsi | 26:523ac79471d8 | 434 | //12c.write(addr,cmd,1,true); |
kkalsi | 26:523ac79471d8 | 435 | //i2c.read(addr,cmd,1); |
kkalsi | 26:523ac79471d8 | 436 | |
kkalsi | 26:523ac79471d8 | 437 | /* // communication UART |
kkalsi | 2:42408ce8f4ae | 438 | Serial pc(USBTX, USBRX); // tx, rx |
kkalsi | 22:706708bc4c1a | 439 | Serial mc(p9,p10); |
kkalsi | 2:42408ce8f4ae | 440 | int main() { |
kkalsi | 2:42408ce8f4ae | 441 | |
kkalsi | 22:706708bc4c1a | 442 | int nombre; |
kkalsi | 2:42408ce8f4ae | 443 | pc.printf("Entrez un nombre de 4 chiffres : "); |
kkalsi | 2:42408ce8f4ae | 444 | pc.scanf("%d", &nombre); |
kkalsi | 2:42408ce8f4ae | 445 | pc.printf("Votre numero entrez est le : %d", nombre); |
kkalsi | 22:706708bc4c1a | 446 | //mc.printf(nombre); |
kkalsi | 22:706708bc4c1a | 447 | mc.putc(nombre); |
kkalsi | 2:42408ce8f4ae | 448 | } |
kkalsi | 2:42408ce8f4ae | 449 | */ |
simon | 0:fb6bbc10ffa0 | 450 | |
kkalsi | 2:42408ce8f4ae | 451 | /* |
kkalsi | 26:523ac79471d8 | 452 | DigitalOut myled(LED3); |
simon | 0:fb6bbc10ffa0 | 453 | |
simon | 0:fb6bbc10ffa0 | 454 | int main() { |
simon | 0:fb6bbc10ffa0 | 455 | while(1) { |
simon | 0:fb6bbc10ffa0 | 456 | myled = 1; |
simon | 0:fb6bbc10ffa0 | 457 | wait(0.2); |
simon | 0:fb6bbc10ffa0 | 458 | myled = 0; |
simon | 0:fb6bbc10ffa0 | 459 | wait(0.2); |
simon | 0:fb6bbc10ffa0 | 460 | } |
simon | 0:fb6bbc10ffa0 | 461 | } |
kkalsi | 28:f56de0b0764e | 462 | */ |
kkalsi | 28:f56de0b0764e | 463 | |
kkalsi | 28:f56de0b0764e | 464 | // I2C write |
kkalsi | 28:f56de0b0764e | 465 | /* |
kkalsi | 28:f56de0b0764e | 466 | I2C i2c( p28, p26 ); // sda, scl |
kkalsi | 28:f56de0b0764e | 467 | |
kkalsi | 28:f56de0b0764e | 468 | int main() { |
kkalsi | 28:f56de0b0764e | 469 | char data[3]; |
kkalsi | 28:f56de0b0764e | 470 | |
kkalsi | 28:f56de0b0764e | 471 | data[0] = 0x16; |
kkalsi | 28:f56de0b0764e | 472 | data[1] = 0x55; |
kkalsi | 28:f56de0b0764e | 473 | data[2] = 0x55; |
kkalsi | 28:f56de0b0764e | 474 | |
kkalsi | 28:f56de0b0764e | 475 | i2c.write( 0xC0, data, 3 ); //0xC0 is slave adress |
kkalsi | 28:f56de0b0764e | 476 | }*/ |
kkalsi | 28:f56de0b0764e | 477 | |
kkalsi | 28:f56de0b0764e | 478 | // I2C Read |
kkalsi | 28:f56de0b0764e | 479 | /* |
kkalsi | 28:f56de0b0764e | 480 | short read_sensor_lower_8bit( void ) |
kkalsi | 28:f56de0b0764e | 481 | { |
kkalsi | 28:f56de0b0764e | 482 | char v; |
kkalsi | 28:f56de0b0764e | 483 | char cmd; |
kkalsi | 28:f56de0b0764e | 484 | |
kkalsi | 28:f56de0b0764e | 485 | cmd = 0x05; |
kkalsi | 28:f56de0b0764e | 486 | |
kkalsi | 28:f56de0b0764e | 487 | i2c.write( 0x88, &cmd, 1 ); |
kkalsi | 28:f56de0b0764e | 488 | i2c.read( 0x88, &v, 1 ); |
kkalsi | 28:f56de0b0764e | 489 | |
kkalsi | 28:f56de0b0764e | 490 | return( v ); |
kkalsi | 28:f56de0b0764e | 491 | } |
kkalsi | 28:f56de0b0764e | 492 | */ |
kkalsi | 28:f56de0b0764e | 493 | |
kkalsi | 28:f56de0b0764e | 494 | /* |
kkalsi | 28:f56de0b0764e | 495 | int main() { |
kkalsi | 28:f56de0b0764e | 496 | set_time(1256729737); // Set RTC time to Wed, 28 Oct 2009 11:35:37 |
kkalsi | 28:f56de0b0764e | 497 | }*/ |
kkalsi | 28:f56de0b0764e | 498 | |
kkalsi | 28:f56de0b0764e | 499 | /* |
kkalsi | 28:f56de0b0764e | 500 | int main() { |
kkalsi | 28:f56de0b0764e | 501 | while(1) { |
kkalsi | 28:f56de0b0764e | 502 | time_t seconds = time(NULL); |
kkalsi | 28:f56de0b0764e | 503 | |
kkalsi | 28:f56de0b0764e | 504 | printf("Time as seconds since January 1, 1970 = %d\n", seconds); |
kkalsi | 28:f56de0b0764e | 505 | |
kkalsi | 28:f56de0b0764e | 506 | printf("Time as a basic string = %s", ctime(&seconds)); |
kkalsi | 28:f56de0b0764e | 507 | |
kkalsi | 28:f56de0b0764e | 508 | char buffer[32]; |
kkalsi | 28:f56de0b0764e | 509 | strftime(buffer, 32, "%I:%M %p\n", localtime(&seconds)); |
kkalsi | 28:f56de0b0764e | 510 | printf("Time as a custom formatted string = %s", buffer); |
kkalsi | 28:f56de0b0764e | 511 | |
kkalsi | 28:f56de0b0764e | 512 | wait(1); |
kkalsi | 28:f56de0b0764e | 513 | } |
kkalsi | 28:f56de0b0764e | 514 | }*/ |
kkalsi | 28:f56de0b0764e | 515 | /* |
kkalsi | 28:f56de0b0764e | 516 | int main() { |
kkalsi | 28:f56de0b0764e | 517 | |
kkalsi | 28:f56de0b0764e | 518 | // get the current time from the terminal |
kkalsi | 28:f56de0b0764e | 519 | struct tm t; |
kkalsi | 28:f56de0b0764e | 520 | printf("Enter current date and time:\n"); |
kkalsi | 28:f56de0b0764e | 521 | printf("YYYY MM DD HH MM SS[enter]\n"); |
kkalsi | 28:f56de0b0764e | 522 | scanf("%d %d %d %d %d %d", &t.tm_year, &t.tm_mon, &t.tm_mday |
kkalsi | 28:f56de0b0764e | 523 | , &t.tm_hour, &t.tm_min, &t.tm_sec); |
kkalsi | 28:f56de0b0764e | 524 | |
kkalsi | 28:f56de0b0764e | 525 | // adjust for tm structure required values |
kkalsi | 28:f56de0b0764e | 526 | t.tm_year = t.tm_year - 1900; |
kkalsi | 28:f56de0b0764e | 527 | t.tm_mon = t.tm_mon - 1; |
kkalsi | 28:f56de0b0764e | 528 | |
kkalsi | 28:f56de0b0764e | 529 | // set the time |
kkalsi | 28:f56de0b0764e | 530 | set_time(mktime(&t)); |
kkalsi | 28:f56de0b0764e | 531 | |
kkalsi | 28:f56de0b0764e | 532 | // display the time |
kkalsi | 28:f56de0b0764e | 533 | while(1) { |
kkalsi | 28:f56de0b0764e | 534 | time_t seconds = time(NULL); |
kkalsi | 28:f56de0b0764e | 535 | printf("Time as a basic string = %s", ctime(&seconds)); |
kkalsi | 28:f56de0b0764e | 536 | wait(1); |
kkalsi | 28:f56de0b0764e | 537 | } |
kkalsi | 28:f56de0b0764e | 538 | }*/ |