Alexandre Buche / Mbed 2 deprecated appSansLib

App sans librairie

Dependencies:   mbed

main.cpp@0:69f8eade26c2, 2017-01-18 (annotated)

Committer:
ABuche
Date:
Wed Jan 18 15:10:41 2017 +0000
Revision:
0:69f8eade26c2
First commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ABuche 0:69f8eade26c2 1 #include "mbed.h"
ABuche 0:69f8eade26c2 2
ABuche 0:69f8eade26c2 3 // SANS LIBRAIRIE
ABuche 0:69f8eade26c2 4
ABuche 0:69f8eade26c2 5 DigitalOut myled(LED1);
ABuche 0:69f8eade26c2 6 I2C i2c(p9, p10);
ABuche 0:69f8eade26c2 7
ABuche 0:69f8eade26c2 8 Serial pc(USBTX, USBRX); // tx, rx
ABuche 0:69f8eade26c2 9
ABuche 0:69f8eade26c2 10 void initUART(unsigned int baudRate){
ABuche 0:69f8eade26c2 11 volatile int* const PCONP = (int*) 0x400FC0C4;
ABuche 0:69f8eade26c2 12 volatile int* const PCLKSEL1 = (int*) 0x400FC1AC;
ABuche 0:69f8eade26c2 13 volatile int* const U2LCR = (int*) 0x4009800C;
ABuche 0:69f8eade26c2 14 volatile int* const U2DLL = (int*) 0x40098000;
ABuche 0:69f8eade26c2 15 volatile int* const U2DLM = (int*) 0x40098004;
ABuche 0:69f8eade26c2 16 volatile int* const PINSEL0 = (int*) 0x4002C000;
ABuche 0:69f8eade26c2 17
ABuche 0:69f8eade26c2 18 int const clock = 100000000;
ABuche 0:69f8eade26c2 19 int const clockDiv = 3;
ABuche 0:69f8eade26c2 20 int const peripheralClock = clock >> clockDiv;
ABuche 0:69f8eade26c2 21 int const dlmDll = peripheralClock / (baudRate << 4);
ABuche 0:69f8eade26c2 22
ABuche 0:69f8eade26c2 23 *PCONP |= 0x1000000;
ABuche 0:69f8eade26c2 24 *PCLKSEL1 |= 0x30000;
ABuche 0:69f8eade26c2 25 *U2LCR |= 0x80;
ABuche 0:69f8eade26c2 26 *U2DLL = dlmDll & 0xFF;
ABuche 0:69f8eade26c2 27 *U2DLM = dlmDll & 0xFF00;
ABuche 0:69f8eade26c2 28 *U2LCR = 0x3;
ABuche 0:69f8eade26c2 29 *PINSEL0 |= 0x500000;
ABuche 0:69f8eade26c2 30 }
ABuche 0:69f8eade26c2 31
ABuche 0:69f8eade26c2 32 void sendCharToSS(char data){
ABuche 0:69f8eade26c2 33 volatile int* const U2LSR = (int*) 0x40098014;
ABuche 0:69f8eade26c2 34 volatile int* const THR = (int*) 0x40098000;
ABuche 0:69f8eade26c2 35
ABuche 0:69f8eade26c2 36 while (*U2LSR & 0x20 == 0) wait_us(25);
ABuche 0:69f8eade26c2 37
ABuche 0:69f8eade26c2 38 *THR = data;
ABuche 0:69f8eade26c2 39 }
ABuche 0:69f8eade26c2 40
ABuche 0:69f8eade26c2 41 int main() {
ABuche 0:69f8eade26c2 42 initUART(9600);
ABuche 0:69f8eade26c2 43 int addr = 0x1D << 1;
ABuche 0:69f8eade26c2 44
ABuche 0:69f8eade26c2 45 char cmd[2];
ABuche 0:69f8eade26c2 46
ABuche 0:69f8eade26c2 47 cmd[0] = 0x0D;
ABuche 0:69f8eade26c2 48 i2c.write(addr, cmd, 1, true);
ABuche 0:69f8eade26c2 49 i2c.read(addr, cmd, 1);
ABuche 0:69f8eade26c2 50
ABuche 0:69f8eade26c2 51 pc.printf("Reponse = 0x%02x \r\n",cmd[0]);
ABuche 0:69f8eade26c2 52 pc.printf((cmd[0] == 0x2a)?"Everything is working fine!":"Oopps, it seems there is an issue...");
ABuche 0:69f8eade26c2 53
ABuche 0:69f8eade26c2 54 cmd[1] = 0x01;
ABuche 0:69f8eade26c2 55 i2c.write(addr, cmd, 2);
ABuche 0:69f8eade26c2 56
ABuche 0:69f8eade26c2 57 cmd[0] = 0x0F;
ABuche 0:69f8eade26c2 58 cmd[1] = 0x30;
ABuche 0:69f8eade26c2 59 i2c.write(addr, cmd, 2);
ABuche 0:69f8eade26c2 60
ABuche 0:69f8eade26c2 61 cac(0x7A);
ABuche 0:69f8eade26c2 62 cac(0xFF);
ABuche 0:69f8eade26c2 63 cac(0x76);
ABuche 0:69f8eade26c2 64 cac(0x77);
ABuche 0:69f8eade26c2 65 cac(0x02);
ABuche 0:69f8eade26c2 66
ABuche 0:69f8eade26c2 67 int his[20] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
ABuche 0:69f8eade26c2 68 int length = 20;
ABuche 0:69f8eade26c2 69 int cpt = 0;
ABuche 0:69f8eade26c2 70
ABuche 0:69f8eade26c2 71 while(1) {
ABuche 0:69f8eade26c2 72 char acc[2];
ABuche 0:69f8eade26c2 73 cmd[0] = 0x05;
ABuche 0:69f8eade26c2 74 i2c.write(addr, cmd, 1, true);
ABuche 0:69f8eade26c2 75 i2c.read(addr, acc, 2);
ABuche 0:69f8eade26c2 76
ABuche 0:69f8eade26c2 77 // Si négatif, propagation du bit de signe
ABuche 0:69f8eade26c2 78 int z = acc[0] > 127 ? 0xFFFFF000 | (acc[0] << 4) : acc[0] << 4;
ABuche 0:69f8eade26c2 79
ABuche 0:69f8eade26c2 80 // Ajout des LSB
ABuche 0:69f8eade26c2 81 z += acc[1] >> 4;
ABuche 0:69f8eade26c2 82
ABuche 0:69f8eade26c2 83 z = z > 2047 ? 2048 - z : z;
ABuche 0:69f8eade26c2 84 z = z > 1024 ? 1024 : z;
ABuche 0:69f8eade26c2 85 z = z < -1024 ? -1024 : z;
ABuche 0:69f8eade26c2 86
ABuche 0:69f8eade26c2 87 pc.printf("%d \r\n", z);
ABuche 0:69f8eade26c2 88
ABuche 0:69f8eade26c2 89 int angle = acos((double)abs(z)/1024.0) * 5729; //5729 = 180 / pi * 100
ABuche 0:69f8eade26c2 90 his[cpt] = angle;
ABuche 0:69f8eade26c2 91 cpt++;
ABuche 0:69f8eade26c2 92 cpt %= length;
ABuche 0:69f8eade26c2 93
ABuche 0:69f8eade26c2 94 angle = 0;
ABuche 0:69f8eade26c2 95 for (int i = 0; i < length; i++) angle += his[i];
ABuche 0:69f8eade26c2 96
ABuche 0:69f8eade26c2 97 angle /= length;
ABuche 0:69f8eade26c2 98
ABuche 0:69f8eade26c2 99 pc.printf("Angle : %d\r\n", angle);
ABuche 0:69f8eade26c2 100
ABuche 0:69f8eade26c2 101 sendCharToSS((char)(angle / 1000));
ABuche 0:69f8eade26c2 102 sendCharToSS((char)((angle / 100) % 10));
ABuche 0:69f8eade26c2 103 sendCharToSS((char)((angle / 10) % 10));
ABuche 0:69f8eade26c2 104 sendCharToSS((char)(angle % 10));
ABuche 0:69f8eade26c2 105
ABuche 0:69f8eade26c2 106 pc.printf("--------- \r\n");
ABuche 0:69f8eade26c2 107
ABuche 0:69f8eade26c2 108 wait(0.025);
ABuche 0:69f8eade26c2 109 }
ABuche 0:69f8eade26c2 110 }