team app1
/
HelloWorld
test
Fork of HelloWorld by
main.cpp@30:5881c661b0bb, 2017-09-30 (annotated)
- Committer:
- kkalsi
- Date:
- Sat Sep 30 18:43:25 2017 +0000
- Revision:
- 30:5881c661b0bb
- Parent:
- 29:3acc071af432
- Child:
- 31:13d0d26413d3
- Child:
- 32:bcfe51898e7c
last
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 | 30:5881c661b0bb | 9 | MMA8452Q mma8452(p9,p10,0x1d); |
kkalsi | 30:5881c661b0bb | 10 | DigitalIn btn(p15); |
kkalsi | 30:5881c661b0bb | 11 | |
kkalsi | 30:5881c661b0bb | 12 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
kkalsi | 30:5881c661b0bb | 13 | |
kkalsi | 30:5881c661b0bb | 14 | uint16_t panId; // panId |
kkalsi | 30:5881c661b0bb | 15 | uint8_t panId_LSB; |
kkalsi | 30:5881c661b0bb | 16 | uint8_t panId_MSB; |
kkalsi | 30:5881c661b0bb | 17 | |
kkalsi | 30:5881c661b0bb | 18 | char* url; // url |
kkalsi | 30:5881c661b0bb | 19 | char URL[10]; |
kkalsi | 30:5881c661b0bb | 20 | |
kkalsi | 30:5881c661b0bb | 21 | void seperatePanId(void); |
kkalsi | 30:5881c661b0bb | 22 | void ReadFile (void); |
kkalsi | 30:5881c661b0bb | 23 | void setPanId(void); |
kkalsi | 30:5881c661b0bb | 24 | void sauvegarder(void); |
kkalsi | 27:0f602aca65f1 | 25 | |
kkalsi | 29:3acc071af432 | 26 | int main() { |
kkalsi | 29:3acc071af432 | 27 | |
kkalsi | 30:5881c661b0bb | 28 | ReadFile();// when you run first time without this line, the setup file is on created |
kkalsi | 30:5881c661b0bb | 29 | |
kkalsi | 30:5881c661b0bb | 30 | wait(1); |
kkalsi | 30:5881c661b0bb | 31 | |
kkalsi | 30:5881c661b0bb | 32 | seperatePanId(); // séparé msb et lsb du panId |
kkalsi | 30:5881c661b0bb | 33 | |
kkalsi | 30:5881c661b0bb | 34 | pc.printf("panId lsb : %x\n\r",panId_LSB); |
kkalsi | 30:5881c661b0bb | 35 | pc.printf("panId msb : %x\n\r",panId_MSB); |
kkalsi | 30:5881c661b0bb | 36 | pc.printf("panId : %x\n\r",panId); |
kkalsi | 30:5881c661b0bb | 37 | pc.printf("url: %s\n\r",URL); |
kkalsi | 30:5881c661b0bb | 38 | |
kkalsi | 30:5881c661b0bb | 39 | setPanId(); // set panId to Xbee |
kkalsi | 30:5881c661b0bb | 40 | |
kkalsi | 30:5881c661b0bb | 41 | wait_ms(500); |
kkalsi | 30:5881c661b0bb | 42 | |
kkalsi | 30:5881c661b0bb | 43 | sauvegarder(); |
kkalsi | 30:5881c661b0bb | 44 | |
kkalsi | 30:5881c661b0bb | 45 | while(1) |
kkalsi | 30:5881c661b0bb | 46 | { |
kkalsi | 30:5881c661b0bb | 47 | |
kkalsi | 30:5881c661b0bb | 48 | if(xbee_routeur.readable()) |
kkalsi | 29:3acc071af432 | 49 | { |
kkalsi | 30:5881c661b0bb | 50 | pc.putc(xbee_routeur.getc()); |
kkalsi | 30:5881c661b0bb | 51 | } |
kkalsi | 30:5881c661b0bb | 52 | |
kkalsi | 30:5881c661b0bb | 53 | if(pc.readable()) |
kkalsi | 30:5881c661b0bb | 54 | { |
kkalsi | 30:5881c661b0bb | 55 | xbee_routeur.putc(pc.getc()); |
kkalsi | 30:5881c661b0bb | 56 | } |
kkalsi | 30:5881c661b0bb | 57 | |
kkalsi | 30:5881c661b0bb | 58 | /* |
kkalsi | 30:5881c661b0bb | 59 | xbee_routeur.putc(0x7E); // start delimiter |
kkalsi | 30:5881c661b0bb | 60 | xbee_routeur.putc(0x00); // length 1/2 |
kkalsi | 30:5881c661b0bb | 61 | xbee_routeur.putc(0x10); // legth 2/2 |
kkalsi | 30:5881c661b0bb | 62 | xbee_routeur.putc(0x10); // Frame type |
kkalsi | 30:5881c661b0bb | 63 | xbee_routeur.putc(0x01); // Frame id |
kkalsi | 30:5881c661b0bb | 64 | xbee_routeur.putc(0x00); // 64-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 65 | xbee_routeur.putc(0x00); // 64-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 66 | xbee_routeur.putc(0x00); // 64-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 67 | xbee_routeur.putc(0x00); // 64-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 68 | xbee_routeur.putc(0x00); // 64-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 69 | xbee_routeur.putc(0x00); // 64-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 70 | xbee_routeur.putc(0x00); // 64-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 71 | xbee_routeur.putc(0x00); // 64-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 72 | xbee_routeur.putc(0xFF); // 16-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 73 | xbee_routeur.putc(0xFE); // 16-bit adress (broadcast) |
kkalsi | 30:5881c661b0bb | 74 | xbee_routeur.putc(0x00); // Broadcast radius |
kkalsi | 30:5881c661b0bb | 75 | xbee_routeur.putc(0x00); // options |
kkalsi | 29:3acc071af432 | 76 | |
kkalsi | 30:5881c661b0bb | 77 | xbee_routeur.putc(0x23); |
kkalsi | 30:5881c661b0bb | 78 | xbee_routeur.putc(0x45); |
kkalsi | 30:5881c661b0bb | 79 | |
kkalsi | 30:5881c661b0bb | 80 | long sum = 0xFF - ((0x10 + 0x01 + 0xFF + 0xFF + 0xFE + 0x23 + 0x45 + 1) & 0xFF); // calcul du checksum |
kkalsi | 30:5881c661b0bb | 81 | xbee_routeur.printf("%x \n", sum); |
kkalsi | 30:5881c661b0bb | 82 | xbee_routeur.putc(sum); // checksum |
kkalsi | 30:5881c661b0bb | 83 | |
kkalsi | 30:5881c661b0bb | 84 | wait(1); |
kkalsi | 30:5881c661b0bb | 85 | */ |
kkalsi | 30:5881c661b0bb | 86 | } |
kkalsi | 30:5881c661b0bb | 87 | |
kkalsi | 30:5881c661b0bb | 88 | } |
kkalsi | 30:5881c661b0bb | 89 | |
kkalsi | 30:5881c661b0bb | 90 | void seperatePanId(void) |
kkalsi | 30:5881c661b0bb | 91 | { |
kkalsi | 30:5881c661b0bb | 92 | panId_LSB = (panId & 0x00FF); |
kkalsi | 30:5881c661b0bb | 93 | panId_MSB = ((panId >> 8) & 0x00FF); |
kkalsi | 30:5881c661b0bb | 94 | } |
kkalsi | 27:0f602aca65f1 | 95 | |
kkalsi | 30:5881c661b0bb | 96 | void ReadFile (void) |
kkalsi | 30:5881c661b0bb | 97 | { |
kkalsi | 30:5881c661b0bb | 98 | FILE *set = fopen("/local/config.txt", "r"); // Open "setup.txt" on the local file system for read |
kkalsi | 30:5881c661b0bb | 99 | fscanf(set,"%x",&panId); // read offset |
kkalsi | 30:5881c661b0bb | 100 | fscanf(set,"%s %f",URL,&url); // read gain |
kkalsi | 30:5881c661b0bb | 101 | fclose(set); |
kkalsi | 30:5881c661b0bb | 102 | } |
kkalsi | 27:0f602aca65f1 | 103 | |
kkalsi | 30:5881c661b0bb | 104 | void sauvegarder(void) |
kkalsi | 30:5881c661b0bb | 105 | { |
kkalsi | 30:5881c661b0bb | 106 | xbee_routeur.putc(0x7E); // start delimiter |
kkalsi | 30:5881c661b0bb | 107 | xbee_routeur.putc(0x00); // MSB length |
kkalsi | 30:5881c661b0bb | 108 | xbee_routeur.putc(0x04); // LSB length |
kkalsi | 30:5881c661b0bb | 109 | xbee_routeur.putc(0x09); // AT COMMAND queue |
kkalsi | 30:5881c661b0bb | 110 | xbee_routeur.putc(0x41); // Frame Id |
kkalsi | 30:5881c661b0bb | 111 | xbee_routeur.putc(0x57); // 'W' Two ASCII characters that identify the AT Command (ID) |
kkalsi | 30:5881c661b0bb | 112 | xbee_routeur.putc(0x52); // 'R' |
kkalsi | 30:5881c661b0bb | 113 | |
kkalsi | 30:5881c661b0bb | 114 | uint8_t checksum = (0xFF - ((0x09 + 0x41 + 0x57 + 0x52) & 0xFF)); |
kkalsi | 30:5881c661b0bb | 115 | pc.printf("checksum : %x\n\r",checksum); |
kkalsi | 30:5881c661b0bb | 116 | xbee_routeur.putc(checksum); // checksum |
kkalsi | 30:5881c661b0bb | 117 | } |
kkalsi | 27:0f602aca65f1 | 118 | |
kkalsi | 22:706708bc4c1a | 119 | |
kkalsi | 30:5881c661b0bb | 120 | void setPanId(void) |
kkalsi | 30:5881c661b0bb | 121 | { |
kkalsi | 30:5881c661b0bb | 122 | xbee_routeur.baud(9600); //set baud rate |
kkalsi | 30:5881c661b0bb | 123 | rst1 = 0; // xbee reset |
kkalsi | 30:5881c661b0bb | 124 | wait_ms(400); |
kkalsi | 30:5881c661b0bb | 125 | rst1 = 1; |
kkalsi | 30:5881c661b0bb | 126 | |
kkalsi | 30:5881c661b0bb | 127 | xbee_routeur.putc(0x2B); // + |
kkalsi | 30:5881c661b0bb | 128 | xbee_routeur.putc(0x2B); // + |
kkalsi | 30:5881c661b0bb | 129 | xbee_routeur.putc(0x2B); // + |
kkalsi | 30:5881c661b0bb | 130 | xbee_routeur.putc(0x7E); // start delimiter |
kkalsi | 30:5881c661b0bb | 131 | xbee_routeur.putc(0x00); // MSB length |
kkalsi | 30:5881c661b0bb | 132 | xbee_routeur.putc(0x06); // LSB length |
kkalsi | 30:5881c661b0bb | 133 | xbee_routeur.putc(0x08); // AT command |
kkalsi | 30:5881c661b0bb | 134 | xbee_routeur.putc(0x01); // Frame Id |
kkalsi | 30:5881c661b0bb | 135 | xbee_routeur.putc(0x49); // 'I' Two ASCII characters that identify the AT Command (ID) |
kkalsi | 30:5881c661b0bb | 136 | xbee_routeur.putc(0x44); // 'D' |
kkalsi | 30:5881c661b0bb | 137 | xbee_routeur.putc(panId_MSB); // MSB du panId |
kkalsi | 30:5881c661b0bb | 138 | xbee_routeur.putc(panId_LSB); // LSB du panId |
kkalsi | 30:5881c661b0bb | 139 | |
kkalsi | 30:5881c661b0bb | 140 | uint8_t checksum = (0xFF - ((0x08 + 0x01 + 0x49 + 0x44 + panId_MSB + panId_LSB) & 0xFF)); |
kkalsi | 30:5881c661b0bb | 141 | pc.printf("checksum : %x\n\r",checksum); |
kkalsi | 30:5881c661b0bb | 142 | xbee_routeur.putc(checksum); // checksum |
kkalsi | 30:5881c661b0bb | 143 | } |
kkalsi | 22:706708bc4c1a | 144 | |
kkalsi | 26:523ac79471d8 | 145 | // SPI COMMUNICATION |
kkalsi | 26:523ac79471d8 | 146 | /* |
kkalsi | 3:8494c3f7108d | 147 | int main() { |
vincentlabbe | 25:16a041dd21db | 148 | |
vincentlabbe | 17:c463c5a434ec | 149 | float x, y, z ; |
kkalsi | 15:b4b2e73faefb | 150 | MMA8452Q acc(p9,p10,0x1d); // acceleration object |
vincentlabbe | 25:16a041dd21db | 151 | |
kkalsi | 26:523ac79471d8 | 152 | cs = 0; //Clear display SPI |
kkalsi | 26:523ac79471d8 | 153 | wait(0.1); |
kkalsi | 26:523ac79471d8 | 154 | spi.write(0x76); // Clear display |
kkalsi | 26:523ac79471d8 | 155 | cs = 1; |
kkalsi | 26:523ac79471d8 | 156 | wait(0.1); |
kkalsi | 26:523ac79471d8 | 157 | cs = 1; |
vincentlabbe | 25:16a041dd21db | 158 | |
kkalsi | 26:523ac79471d8 | 159 | while (true) { |
vincentlabbe | 25:16a041dd21db | 160 | x = acc.getAccX() ; |
vincentlabbe | 17:c463c5a434ec | 161 | y = acc.getAccY() ; |
vincentlabbe | 17:c463c5a434ec | 162 | z = acc.getAccZ() ; |
vincentlabbe | 19:992f183385e8 | 163 | printf("X[%.3f] Y[%.3f] Z[%.3f]\n",x, y, z) ; |
kkalsi | 9:f36f1506a840 | 164 | wait(0.1); |
vincentlabbe | 13:64137db317ab | 165 | |
vincentlabbe | 25:16a041dd21db | 166 | int X = x * 1000; //Pour enlever floating point et garder une précision |
vincentlabbe | 19:992f183385e8 | 167 | int Y = y * 1000; |
vincentlabbe | 19:992f183385e8 | 168 | int Z = z * 1000; |
kkalsi | 18:171cb8d2f243 | 169 | |
vincentlabbe | 25:16a041dd21db | 170 | 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 | 171 | |
vincentlabbe | 19:992f183385e8 | 172 | pc.printf("avant acos = %d", angle); |
kkalsi | 18:171cb8d2f243 | 173 | |
vincentlabbe | 25:16a041dd21db | 174 | float ratioZaccel = angle/1000.0; //Remettre en floating point pour acos |
vincentlabbe | 25:16a041dd21db | 175 | int resultatRAD = 500*acos((ratioZaccel)); //Reponse en RAD |
vincentlabbe | 25:16a041dd21db | 176 | |
vincentlabbe | 25:16a041dd21db | 177 | pc.printf("valeur rad new= %d", resultatRAD); |
vincentlabbe | 25:16a041dd21db | 178 | int degree = resultatRAD * 18000/31400; //Tranfo degree |
kkalsi | 18:171cb8d2f243 | 179 | pc.printf("valeur deg new = %d", degree); |
vincentlabbe | 25:16a041dd21db | 180 | pc.printf("valeur deg new = %d", degree); |
vincentlabbe | 25:16a041dd21db | 181 | |
vincentlabbe | 25:16a041dd21db | 182 | // extracting digits |
vincentlabbe | 25:16a041dd21db | 183 | int digit; |
vincentlabbe | 16:0b58c14b639d | 184 | int digits[4] = {0,0,0,0}; |
kkalsi | 15:b4b2e73faefb | 185 | int i = 0; |
vincentlabbe | 25:16a041dd21db | 186 | while(degree > 0) { |
vincentlabbe | 25:16a041dd21db | 187 | digit = degree % 10; //to get the right most digit |
vincentlabbe | 25:16a041dd21db | 188 | digits[i]=digit; |
vincentlabbe | 25:16a041dd21db | 189 | pc.printf("digit %d = %d, degree int: %d", i, digits[i], degree); |
vincentlabbe | 25:16a041dd21db | 190 | degree /= 10; //reduce the number by one digit |
kkalsi | 15:b4b2e73faefb | 191 | ++i; |
kkalsi | 15:b4b2e73faefb | 192 | } |
kkalsi | 15:b4b2e73faefb | 193 | |
kkalsi | 26:523ac79471d8 | 194 | spi.write(0x77); // Decimal control command // Pour la communication SPI |
vincentlabbe | 17:c463c5a434ec | 195 | cs = 1; |
vincentlabbe | 25:16a041dd21db | 196 | wait(0.01); |
vincentlabbe | 17:c463c5a434ec | 197 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 198 | spi.write(0x04);// Turn on decimal |
vincentlabbe | 17:c463c5a434ec | 199 | cs = 1; |
vincentlabbe | 17:c463c5a434ec | 200 | wait(0.01); |
kkalsi | 10:386a3a12f3cf | 201 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 202 | spi.write(digits[3]); |
vincentlabbe | 16:0b58c14b639d | 203 | cs = 1; |
vincentlabbe | 17:c463c5a434ec | 204 | wait(0.01); |
vincentlabbe | 16:0b58c14b639d | 205 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 206 | spi.write(digits[2]); |
vincentlabbe | 16:0b58c14b639d | 207 | cs = 1; |
vincentlabbe | 17:c463c5a434ec | 208 | wait(0.01); |
vincentlabbe | 16:0b58c14b639d | 209 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 210 | spi.write(digits[1]); |
vincentlabbe | 16:0b58c14b639d | 211 | cs = 1; |
vincentlabbe | 25:16a041dd21db | 212 | wait(0.01); |
vincentlabbe | 25:16a041dd21db | 213 | cs = 0; |
vincentlabbe | 25:16a041dd21db | 214 | spi.write(digits[0]); |
vincentlabbe | 25:16a041dd21db | 215 | cs = 1; |
vincentlabbe | 25:16a041dd21db | 216 | */ |
kkalsi | 26:523ac79471d8 | 217 | /* Test |
kkalsi | 26:523ac79471d8 | 218 | cs = 0; |
vincentlabbe | 17:c463c5a434ec | 219 | wait(0.1); |
vincentlabbe | 25:16a041dd21db | 220 | spi.write(0x5); |
vincentlabbe | 25:16a041dd21db | 221 | cs = 1; |
kkalsi | 26:523ac79471d8 | 222 | */ |
vincentlabbe | 25:16a041dd21db | 223 | // } |
kkalsi | 26:523ac79471d8 | 224 | //} |
kkalsi | 21:74482f23c8fe | 225 | |
kkalsi | 21:74482f23c8fe | 226 | |
kkalsi | 21:74482f23c8fe | 227 | |
kkalsi | 26:523ac79471d8 | 228 | // UART COMMUNICATION |
kkalsi | 26:523ac79471d8 | 229 | /* |
kkalsi | 26:523ac79471d8 | 230 | void UARTInit() |
kkalsi | 26:523ac79471d8 | 231 | { |
kkalsi | 26:523ac79471d8 | 232 | uint16_t usFdiv; |
kkalsi | 26:523ac79471d8 | 233 | |
kkalsi | 26:523ac79471d8 | 234 | LPC_SC->PCONP |= (1 << 25); // Power up the UART3 it's disabled on powerup. |
kkalsi | 26:523ac79471d8 | 235 | |
kkalsi | 26:523ac79471d8 | 236 | LPC_PINCON->PINSEL1 |= (3 << 18); // Pin P0.25 used as TXD0 (Com0) // Enable the pins on the device to use UART3 |
kkalsi | 26:523ac79471d8 | 237 | LPC_PINCON->PINSEL1 |= (3 << 20); // Pin P0.26 used as RXD0 (Com0) |
kkalsi | 26:523ac79471d8 | 238 | |
kkalsi | 26:523ac79471d8 | 239 | LPC_SC->PCLKSEL1 &= ~(3 << 18); // Clean all to 0 // Setup the PCLK for UART3 |
kkalsi | 26:523ac79471d8 | 240 | LPC_SC->PCLKSEL1 |= (1 << 18); // PCLK = CCLK |
kkalsi | 21:74482f23c8fe | 241 | |
kkalsi | 26:523ac79471d8 | 242 | LPC_UART3->LCR = 0x83; // 0000 0000 1000 0011 // Word select 8-bit character length and set DLAB |
kkalsi | 26:523ac79471d8 | 243 | |
kkalsi | 26:523ac79471d8 | 244 | usFdiv = (SystemCoreClock / (16*9600)); //Baud rate calculation |
kkalsi | 26:523ac79471d8 | 245 | LPC_UART3->DLM = usFdiv / 256; |
kkalsi | 26:523ac79471d8 | 246 | LPC_UART3->DLL = usFdiv % 256; |
kkalsi | 26:523ac79471d8 | 247 | |
kkalsi | 26:523ac79471d8 | 248 | LPC_UART3->FCR = 0x7; // Enable and reset UART3 FIFOs. |
kkalsi | 26:523ac79471d8 | 249 | |
kkalsi | 26:523ac79471d8 | 250 | LPC_UART3->LCR &= ~(1 << 7); // Clear DLAB |
kkalsi | 26:523ac79471d8 | 251 | } |
kkalsi | 26:523ac79471d8 | 252 | |
kkalsi | 26:523ac79471d8 | 253 | char UART3Transmit(int out) |
kkalsi | 26:523ac79471d8 | 254 | { |
kkalsi | 26:523ac79471d8 | 255 | LPC_UART3 -> THR = out; |
kkalsi | 26:523ac79471d8 | 256 | while(! (LPC_UART3->LSR & (0x01 << 0x06))); |
kkalsi | 26:523ac79471d8 | 257 | |
kkalsi | 26:523ac79471d8 | 258 | return 1; |
kkalsi | 26:523ac79471d8 | 259 | } |
kkalsi | 26:523ac79471d8 | 260 | |
kkalsi | 26:523ac79471d8 | 261 | int main() { |
kkalsi | 26:523ac79471d8 | 262 | |
kkalsi | 26:523ac79471d8 | 263 | UARTInit(); |
kkalsi | 26:523ac79471d8 | 264 | |
kkalsi | 26:523ac79471d8 | 265 | float x, y, z ; |
kkalsi | 26:523ac79471d8 | 266 | |
kkalsi | 26:523ac79471d8 | 267 | MMA8452Q acc(p9,p10,0x1d); // acceleration object |
kkalsi | 26:523ac79471d8 | 268 | |
kkalsi | 26:523ac79471d8 | 269 | UART3Transmit(0x76); // Clear display UART |
kkalsi | 26:523ac79471d8 | 270 | while (true) { |
kkalsi | 26:523ac79471d8 | 271 | |
kkalsi | 26:523ac79471d8 | 272 | x = acc.getAccX() ; |
kkalsi | 26:523ac79471d8 | 273 | y = acc.getAccY() ; |
kkalsi | 26:523ac79471d8 | 274 | z = acc.getAccZ() ; |
kkalsi | 26:523ac79471d8 | 275 | printf("X[%.3f] Y[%.3f] Z[%.3f]\n",x, y, z) ; |
kkalsi | 26:523ac79471d8 | 276 | wait(0.1); |
kkalsi | 26:523ac79471d8 | 277 | |
kkalsi | 26:523ac79471d8 | 278 | int X = x * 1000; //Pour enlever floating point et garder une précision |
kkalsi | 26:523ac79471d8 | 279 | int Y = y * 1000; |
kkalsi | 26:523ac79471d8 | 280 | int Z = z * 1000; |
kkalsi | 26:523ac79471d8 | 281 | |
kkalsi | 26:523ac79471d8 | 282 | 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 | 283 | |
kkalsi | 26:523ac79471d8 | 284 | pc.printf("avant acos = %d", angle); |
kkalsi | 26:523ac79471d8 | 285 | |
kkalsi | 26:523ac79471d8 | 286 | float ratioZaccel = angle/1000.0; //Remettre en floating point pour acos |
kkalsi | 26:523ac79471d8 | 287 | int resultatRAD = 500*acos((ratioZaccel)); //Reponse en RAD |
kkalsi | 26:523ac79471d8 | 288 | |
kkalsi | 26:523ac79471d8 | 289 | pc.printf("valeur rad new= %d", resultatRAD); |
kkalsi | 26:523ac79471d8 | 290 | int degree = resultatRAD * 18000/31400; //Tranfo degree |
kkalsi | 26:523ac79471d8 | 291 | pc.printf("valeur deg new = %d", degree); |
kkalsi | 26:523ac79471d8 | 292 | |
kkalsi | 26:523ac79471d8 | 293 | pc.printf("valeur deg new = %d", degree); |
kkalsi | 26:523ac79471d8 | 294 | |
kkalsi | 26:523ac79471d8 | 295 | |
kkalsi | 26:523ac79471d8 | 296 | int digit; // extracting digits |
kkalsi | 26:523ac79471d8 | 297 | int digits[4] = {0,0,0,0}; |
kkalsi | 26:523ac79471d8 | 298 | int i = 0; |
kkalsi | 26:523ac79471d8 | 299 | while(degree > 0) { |
kkalsi | 26:523ac79471d8 | 300 | digit = degree % 10; //to get the right most digit |
kkalsi | 26:523ac79471d8 | 301 | digits[i]=digit; |
kkalsi | 26:523ac79471d8 | 302 | pc.printf("digit %d = %d, degree int: %d", i, digits[i], degree); |
kkalsi | 26:523ac79471d8 | 303 | degree /= 10; //reduce the number by one digit |
kkalsi | 26:523ac79471d8 | 304 | ++i; |
kkalsi | 26:523ac79471d8 | 305 | } |
kkalsi | 26:523ac79471d8 | 306 | |
kkalsi | 26:523ac79471d8 | 307 | UART3Transmit(0x77); // Decimal control command // Pour la communication UART |
kkalsi | 26:523ac79471d8 | 308 | UART3Transmit(0x04);// Turn on decimal |
kkalsi | 26:523ac79471d8 | 309 | |
kkalsi | 26:523ac79471d8 | 310 | UART3Transmit(digits[3]); |
kkalsi | 26:523ac79471d8 | 311 | UART3Transmit(digits[2]); |
kkalsi | 26:523ac79471d8 | 312 | UART3Transmit(digits[1]); |
kkalsi | 26:523ac79471d8 | 313 | UART3Transmit(digits[0]); //UART3Transmit(0xA5); |
kkalsi | 26:523ac79471d8 | 314 | } |
kkalsi | 26:523ac79471d8 | 315 | } |
kkalsi | 26:523ac79471d8 | 316 | */ |
kkalsi | 26:523ac79471d8 | 317 | |
kkalsi | 26:523ac79471d8 | 318 | |
kkalsi | 26:523ac79471d8 | 319 | /* // communication I2C |
kkalsi | 3:8494c3f7108d | 320 | Serial pc(USBTX, USBRX); // tx, rx |
vincentlabbe | 25:16a041dd21db | 321 | I2C i2c(p9,p10); |
vincentlabbe | 25:16a041dd21db | 322 | |
kkalsi | 2:42408ce8f4ae | 323 | int main() { |
vincentlabbe | 25:16a041dd21db | 324 | i2c.frequency(100000); |
vincentlabbe | 25:16a041dd21db | 325 | char cmd[2] = {0,0}; |
vincentlabbe | 25:16a041dd21db | 326 | int addr = 0x5A; |
vincentlabbe | 25:16a041dd21db | 327 | int data = 0xA4; |
vincentlabbe | 25:16a041dd21db | 328 | cmd[0] = addr; |
vincentlabbe | 25:16a041dd21db | 329 | cmd[1] = data; |
vincentlabbe | 25:16a041dd21db | 330 | |
vincentlabbe | 25:16a041dd21db | 331 | while(1){ |
vincentlabbe | 25:16a041dd21db | 332 | i2c.write(0x3A,cmd,2); |
vincentlabbe | 25:16a041dd21db | 333 | wait_ms(5); |
kkalsi | 2:42408ce8f4ae | 334 | } |
vincentlabbe | 25:16a041dd21db | 335 | } |
vincentlabbe | 25:16a041dd21db | 336 | */ |
kkalsi | 26:523ac79471d8 | 337 | // I2C write |
kkalsi | 26:523ac79471d8 | 338 | //i2c.frequency(100000); |
kkalsi | 26:523ac79471d8 | 339 | //int cmd[0] = 0x0D; |
kkalsi | 26:523ac79471d8 | 340 | //12c.write(addr,cmd,1,true); |
kkalsi | 26:523ac79471d8 | 341 | //i2c.read(addr,cmd,1); |
kkalsi | 26:523ac79471d8 | 342 | |
kkalsi | 26:523ac79471d8 | 343 | /* // communication UART |
kkalsi | 2:42408ce8f4ae | 344 | Serial pc(USBTX, USBRX); // tx, rx |
kkalsi | 22:706708bc4c1a | 345 | Serial mc(p9,p10); |
kkalsi | 2:42408ce8f4ae | 346 | int main() { |
kkalsi | 2:42408ce8f4ae | 347 | |
kkalsi | 22:706708bc4c1a | 348 | int nombre; |
kkalsi | 2:42408ce8f4ae | 349 | pc.printf("Entrez un nombre de 4 chiffres : "); |
kkalsi | 2:42408ce8f4ae | 350 | pc.scanf("%d", &nombre); |
kkalsi | 2:42408ce8f4ae | 351 | pc.printf("Votre numero entrez est le : %d", nombre); |
kkalsi | 22:706708bc4c1a | 352 | //mc.printf(nombre); |
kkalsi | 22:706708bc4c1a | 353 | mc.putc(nombre); |
kkalsi | 2:42408ce8f4ae | 354 | } |
kkalsi | 2:42408ce8f4ae | 355 | */ |
simon | 0:fb6bbc10ffa0 | 356 | |
kkalsi | 2:42408ce8f4ae | 357 | /* |
kkalsi | 26:523ac79471d8 | 358 | DigitalOut myled(LED3); |
simon | 0:fb6bbc10ffa0 | 359 | |
simon | 0:fb6bbc10ffa0 | 360 | int main() { |
simon | 0:fb6bbc10ffa0 | 361 | while(1) { |
simon | 0:fb6bbc10ffa0 | 362 | myled = 1; |
simon | 0:fb6bbc10ffa0 | 363 | wait(0.2); |
simon | 0:fb6bbc10ffa0 | 364 | myled = 0; |
simon | 0:fb6bbc10ffa0 | 365 | wait(0.2); |
simon | 0:fb6bbc10ffa0 | 366 | } |
simon | 0:fb6bbc10ffa0 | 367 | } |
kkalsi | 28:f56de0b0764e | 368 | */ |
kkalsi | 28:f56de0b0764e | 369 | |
kkalsi | 28:f56de0b0764e | 370 | // I2C write |
kkalsi | 28:f56de0b0764e | 371 | /* |
kkalsi | 28:f56de0b0764e | 372 | I2C i2c( p28, p26 ); // sda, scl |
kkalsi | 28:f56de0b0764e | 373 | |
kkalsi | 28:f56de0b0764e | 374 | int main() { |
kkalsi | 28:f56de0b0764e | 375 | char data[3]; |
kkalsi | 28:f56de0b0764e | 376 | |
kkalsi | 28:f56de0b0764e | 377 | data[0] = 0x16; |
kkalsi | 28:f56de0b0764e | 378 | data[1] = 0x55; |
kkalsi | 28:f56de0b0764e | 379 | data[2] = 0x55; |
kkalsi | 28:f56de0b0764e | 380 | |
kkalsi | 28:f56de0b0764e | 381 | i2c.write( 0xC0, data, 3 ); //0xC0 is slave adress |
kkalsi | 28:f56de0b0764e | 382 | }*/ |
kkalsi | 28:f56de0b0764e | 383 | |
kkalsi | 28:f56de0b0764e | 384 | // I2C Read |
kkalsi | 28:f56de0b0764e | 385 | /* |
kkalsi | 28:f56de0b0764e | 386 | short read_sensor_lower_8bit( void ) |
kkalsi | 28:f56de0b0764e | 387 | { |
kkalsi | 28:f56de0b0764e | 388 | char v; |
kkalsi | 28:f56de0b0764e | 389 | char cmd; |
kkalsi | 28:f56de0b0764e | 390 | |
kkalsi | 28:f56de0b0764e | 391 | cmd = 0x05; |
kkalsi | 28:f56de0b0764e | 392 | |
kkalsi | 28:f56de0b0764e | 393 | i2c.write( 0x88, &cmd, 1 ); |
kkalsi | 28:f56de0b0764e | 394 | i2c.read( 0x88, &v, 1 ); |
kkalsi | 28:f56de0b0764e | 395 | |
kkalsi | 28:f56de0b0764e | 396 | return( v ); |
kkalsi | 28:f56de0b0764e | 397 | } |
kkalsi | 28:f56de0b0764e | 398 | */ |
kkalsi | 28:f56de0b0764e | 399 | |
kkalsi | 28:f56de0b0764e | 400 | /* |
kkalsi | 28:f56de0b0764e | 401 | int main() { |
kkalsi | 28:f56de0b0764e | 402 | set_time(1256729737); // Set RTC time to Wed, 28 Oct 2009 11:35:37 |
kkalsi | 28:f56de0b0764e | 403 | }*/ |
kkalsi | 28:f56de0b0764e | 404 | |
kkalsi | 28:f56de0b0764e | 405 | /* |
kkalsi | 28:f56de0b0764e | 406 | int main() { |
kkalsi | 28:f56de0b0764e | 407 | while(1) { |
kkalsi | 28:f56de0b0764e | 408 | time_t seconds = time(NULL); |
kkalsi | 28:f56de0b0764e | 409 | |
kkalsi | 28:f56de0b0764e | 410 | printf("Time as seconds since January 1, 1970 = %d\n", seconds); |
kkalsi | 28:f56de0b0764e | 411 | |
kkalsi | 28:f56de0b0764e | 412 | printf("Time as a basic string = %s", ctime(&seconds)); |
kkalsi | 28:f56de0b0764e | 413 | |
kkalsi | 28:f56de0b0764e | 414 | char buffer[32]; |
kkalsi | 28:f56de0b0764e | 415 | strftime(buffer, 32, "%I:%M %p\n", localtime(&seconds)); |
kkalsi | 28:f56de0b0764e | 416 | printf("Time as a custom formatted string = %s", buffer); |
kkalsi | 28:f56de0b0764e | 417 | |
kkalsi | 28:f56de0b0764e | 418 | wait(1); |
kkalsi | 28:f56de0b0764e | 419 | } |
kkalsi | 28:f56de0b0764e | 420 | }*/ |
kkalsi | 28:f56de0b0764e | 421 | /* |
kkalsi | 28:f56de0b0764e | 422 | int main() { |
kkalsi | 28:f56de0b0764e | 423 | |
kkalsi | 28:f56de0b0764e | 424 | // get the current time from the terminal |
kkalsi | 28:f56de0b0764e | 425 | struct tm t; |
kkalsi | 28:f56de0b0764e | 426 | printf("Enter current date and time:\n"); |
kkalsi | 28:f56de0b0764e | 427 | printf("YYYY MM DD HH MM SS[enter]\n"); |
kkalsi | 28:f56de0b0764e | 428 | scanf("%d %d %d %d %d %d", &t.tm_year, &t.tm_mon, &t.tm_mday |
kkalsi | 28:f56de0b0764e | 429 | , &t.tm_hour, &t.tm_min, &t.tm_sec); |
kkalsi | 28:f56de0b0764e | 430 | |
kkalsi | 28:f56de0b0764e | 431 | // adjust for tm structure required values |
kkalsi | 28:f56de0b0764e | 432 | t.tm_year = t.tm_year - 1900; |
kkalsi | 28:f56de0b0764e | 433 | t.tm_mon = t.tm_mon - 1; |
kkalsi | 28:f56de0b0764e | 434 | |
kkalsi | 28:f56de0b0764e | 435 | // set the time |
kkalsi | 28:f56de0b0764e | 436 | set_time(mktime(&t)); |
kkalsi | 28:f56de0b0764e | 437 | |
kkalsi | 28:f56de0b0764e | 438 | // display the time |
kkalsi | 28:f56de0b0764e | 439 | while(1) { |
kkalsi | 28:f56de0b0764e | 440 | time_t seconds = time(NULL); |
kkalsi | 28:f56de0b0764e | 441 | printf("Time as a basic string = %s", ctime(&seconds)); |
kkalsi | 28:f56de0b0764e | 442 | wait(1); |
kkalsi | 28:f56de0b0764e | 443 | } |
kkalsi | 28:f56de0b0764e | 444 | }*/ |