Revision 0:69f8eade26c2, committed 2017-01-18
- Comitter:
- ABuche
- Date:
- Wed Jan 18 15:10:41 2017 +0000
- Commit message:
- First commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jan 18 15:10:41 2017 +0000
@@ -0,0 +1,110 @@
+#include "mbed.h"
+
+// SANS LIBRAIRIE
+
+DigitalOut myled(LED1);
+I2C i2c(p9, p10);
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+void initUART(unsigned int baudRate){
+ volatile int* const PCONP = (int*) 0x400FC0C4;
+ volatile int* const PCLKSEL1 = (int*) 0x400FC1AC;
+ volatile int* const U2LCR = (int*) 0x4009800C;
+ volatile int* const U2DLL = (int*) 0x40098000;
+ volatile int* const U2DLM = (int*) 0x40098004;
+ volatile int* const PINSEL0 = (int*) 0x4002C000;
+
+ int const clock = 100000000;
+ int const clockDiv = 3;
+ int const peripheralClock = clock >> clockDiv;
+ int const dlmDll = peripheralClock / (baudRate << 4);
+
+ *PCONP |= 0x1000000;
+ *PCLKSEL1 |= 0x30000;
+ *U2LCR |= 0x80;
+ *U2DLL = dlmDll & 0xFF;
+ *U2DLM = dlmDll & 0xFF00;
+ *U2LCR = 0x3;
+ *PINSEL0 |= 0x500000;
+}
+
+void sendCharToSS(char data){
+ volatile int* const U2LSR = (int*) 0x40098014;
+ volatile int* const THR = (int*) 0x40098000;
+
+ while (*U2LSR & 0x20 == 0) wait_us(25);
+
+ *THR = data;
+}
+
+int main() {
+ initUART(9600);
+ int addr = 0x1D << 1;
+
+ char cmd[2];
+
+ cmd[0] = 0x0D;
+ i2c.write(addr, cmd, 1, true);
+ i2c.read(addr, cmd, 1);
+
+ pc.printf("Reponse = 0x%02x \r\n",cmd[0]);
+ pc.printf((cmd[0] == 0x2a)?"Everything is working fine!":"Oopps, it seems there is an issue...");
+
+ cmd[1] = 0x01;
+ i2c.write(addr, cmd, 2);
+
+ cmd[0] = 0x0F;
+ cmd[1] = 0x30;
+ i2c.write(addr, cmd, 2);
+
+ cac(0x7A);
+ cac(0xFF);
+ cac(0x76);
+ cac(0x77);
+ cac(0x02);
+
+ int his[20] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+ int length = 20;
+ int cpt = 0;
+
+ while(1) {
+ char acc[2];
+ cmd[0] = 0x05;
+ i2c.write(addr, cmd, 1, true);
+ i2c.read(addr, acc, 2);
+
+ // Si négatif, propagation du bit de signe
+ int z = acc[0] > 127 ? 0xFFFFF000 | (acc[0] << 4) : acc[0] << 4;
+
+ // Ajout des LSB
+ z += acc[1] >> 4;
+
+ z = z > 2047 ? 2048 - z : z;
+ z = z > 1024 ? 1024 : z;
+ z = z < -1024 ? -1024 : z;
+
+ pc.printf("%d \r\n", z);
+
+ int angle = acos((double)abs(z)/1024.0) * 5729; //5729 = 180 / pi * 100
+ his[cpt] = angle;
+ cpt++;
+ cpt %= length;
+
+ angle = 0;
+ for (int i = 0; i < length; i++) angle += his[i];
+
+ angle /= length;
+
+ pc.printf("Angle : %d\r\n", angle);
+
+ sendCharToSS((char)(angle / 1000));
+ sendCharToSS((char)((angle / 100) % 10));
+ sendCharToSS((char)((angle / 10) % 10));
+ sendCharToSS((char)(angle % 10));
+
+ pc.printf("--------- \r\n");
+
+ wait(0.025);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Wed Jan 18 15:10:41 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/99b5ccf27215
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