Ahmed Adamjee / Mbed 2 deprecated SnakeVSBlock

Snake vs Block Game to be run upon K64F.

Dependencies:   mbed

K64F_PAD_LCDConfiguration/FXOS8700CQ/FXOS8700CQ.cpp@104:17040265b7b4, 2019-05-09 (annotated)

Committer:
AhmedPlaymaker
Date:
Thu May 09 14:52:19 2019 +0000
Revision:
104:17040265b7b4
Parent:
51:387249f9b333 
Final Submission. I have read and agreed with Statement of Academic Integrity.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AhmedPlaymaker 0:4b15c2d4aa58 1 /* FXOS8700CQ Library
AhmedPlaymaker 0:4b15c2d4aa58 2
AhmedPlaymaker 0:4b15c2d4aa58 3 Sample code from ELEC2645 - demonstrates how to create a library
AhmedPlaymaker 0:4b15c2d4aa58 4 for the K64F on-board accelerometer and magnetometer
AhmedPlaymaker 0:4b15c2d4aa58 5
AhmedPlaymaker 0:4b15c2d4aa58 6 (c) Craig A. Evans, University of Leeds, Jan 2017
AhmedPlaymaker 0:4b15c2d4aa58 7
AhmedPlaymaker 0:4b15c2d4aa58 8 */
AhmedPlaymaker 0:4b15c2d4aa58 9
AhmedPlaymaker 0:4b15c2d4aa58 10 #include "FXOS8700CQ.h"
AhmedPlaymaker 0:4b15c2d4aa58 11 #include <math.h>
AhmedPlaymaker 0:4b15c2d4aa58 12
AhmedPlaymaker 0:4b15c2d4aa58 13 // constructor is called when the object is created - use it to set pins and frequency
AhmedPlaymaker 0:4b15c2d4aa58 14 FXOS8700CQ::FXOS8700CQ(PinName sda, PinName scl)
AhmedPlaymaker 0:4b15c2d4aa58 15 {
AhmedPlaymaker 0:4b15c2d4aa58 16 i2c = new I2C(sda,scl); // create new I2C instance and initialise
AhmedPlaymaker 0:4b15c2d4aa58 17 _PitchAngle = 0.0;
AhmedPlaymaker 0:4b15c2d4aa58 18 _RollAngle = 0.0;
AhmedPlaymaker 0:4b15c2d4aa58 19 }
AhmedPlaymaker 0:4b15c2d4aa58 20
AhmedPlaymaker 0:4b15c2d4aa58 21 // destructor is called when the object goes out of scope
AhmedPlaymaker 0:4b15c2d4aa58 22 FXOS8700CQ::~FXOS8700CQ()
AhmedPlaymaker 0:4b15c2d4aa58 23 {
AhmedPlaymaker 0:4b15c2d4aa58 24 delete i2c; // free memory
AhmedPlaymaker 0:4b15c2d4aa58 25 }
AhmedPlaymaker 0:4b15c2d4aa58 26
AhmedPlaymaker 0:4b15c2d4aa58 27 // based on 13.4 in datasheet - 200 Hz hybrid mode (both acc and mag)
AhmedPlaymaker 0:4b15c2d4aa58 28 void FXOS8700CQ::init()
AhmedPlaymaker 0:4b15c2d4aa58 29 {
AhmedPlaymaker 0:4b15c2d4aa58 30 // i2c fast-mode - 10.1.1 data sheet
AhmedPlaymaker 0:4b15c2d4aa58 31 i2c->frequency(400000); // I2C Fast Mode - 400kHz
AhmedPlaymaker 0:4b15c2d4aa58 32
AhmedPlaymaker 0:4b15c2d4aa58 33 // the device has an ID number so we check the value to ensure the correct
AhmedPlaymaker 0:4b15c2d4aa58 34 // drive is on the i2c bus
AhmedPlaymaker 0:4b15c2d4aa58 35 char data = read_byte_from_reg(FXOS8700CQ_WHO_AM_I);
AhmedPlaymaker 0:4b15c2d4aa58 36 if (data != FXOS8700CQ_WHO_AM_I_VAL) { // if correct ID not found, hang and flash error message
AhmedPlaymaker 0:4b15c2d4aa58 37 error("Incorrect ID!");
AhmedPlaymaker 0:4b15c2d4aa58 38 }
AhmedPlaymaker 0:4b15c2d4aa58 39
AhmedPlaymaker 0:4b15c2d4aa58 40 // write 0000 0000 = 0x00 to accelerometer control register 1 to place
AhmedPlaymaker 0:4b15c2d4aa58 41 // FXOS8700CQ into standby
AhmedPlaymaker 0:4b15c2d4aa58 42 // [7-1] = 0000 000
AhmedPlaymaker 0:4b15c2d4aa58 43 // [0]: active=0
AhmedPlaymaker 0:4b15c2d4aa58 44 data = 0x00;
AhmedPlaymaker 0:4b15c2d4aa58 45 send_byte_to_reg(data,FXOS8700CQ_CTRL_REG1);
AhmedPlaymaker 0:4b15c2d4aa58 46
AhmedPlaymaker 0:4b15c2d4aa58 47 // write 0001 1111 = 0x1F to magnetometer control register 1
AhmedPlaymaker 0:4b15c2d4aa58 48 // [7]: m_acal=0: auto calibration disabled
AhmedPlaymaker 0:4b15c2d4aa58 49 // [6]: m_rst=0: no one-shot magnetic reset
AhmedPlaymaker 0:4b15c2d4aa58 50 // [5]: m_ost=0: no one-shot magnetic measurement
AhmedPlaymaker 0:4b15c2d4aa58 51 // [4-2]: m_os=111=7: 8x oversampling (for 200Hz) to reduce magnetometer noise
AhmedPlaymaker 0:4b15c2d4aa58 52 // [1-0]: m_hms=11=3: select hybrid mode with accel and magnetometer active
AhmedPlaymaker 0:4b15c2d4aa58 53 data = 0x1F;
AhmedPlaymaker 0:4b15c2d4aa58 54 send_byte_to_reg(data,FXOS8700CQ_M_CTRL_REG1);
AhmedPlaymaker 0:4b15c2d4aa58 55
AhmedPlaymaker 0:4b15c2d4aa58 56 // write 0010 0000 = 0x20 to magnetometer control register 2
AhmedPlaymaker 0:4b15c2d4aa58 57 // [7]: reserved
AhmedPlaymaker 0:4b15c2d4aa58 58 // [6]: reserved
AhmedPlaymaker 0:4b15c2d4aa58 59 // [5]: hyb_autoinc_mode=1 to map the magnetometer registers to follow
AhmedPlaymaker 0:4b15c2d4aa58 60 // the accelerometer registers
AhmedPlaymaker 0:4b15c2d4aa58 61 // [4]: m_maxmin_dis=0 to retain default min/max latching even though not used
AhmedPlaymaker 0:4b15c2d4aa58 62 // [3]: m_maxmin_dis_ths=0
AhmedPlaymaker 0:4b15c2d4aa58 63 // [2]: m_maxmin_rst=0
AhmedPlaymaker 0:4b15c2d4aa58 64 // [1-0]: m_rst_cnt=00 to enable magnetic reset each cycle
AhmedPlaymaker 0:4b15c2d4aa58 65 data = 0x20;
AhmedPlaymaker 0:4b15c2d4aa58 66 send_byte_to_reg(data,FXOS8700CQ_M_CTRL_REG2);
AhmedPlaymaker 0:4b15c2d4aa58 67
AhmedPlaymaker 0:4b15c2d4aa58 68 // write 0000 0001= 0x01 to XYZ_DATA_CFG register
AhmedPlaymaker 0:4b15c2d4aa58 69 // [7]: reserved
AhmedPlaymaker 0:4b15c2d4aa58 70 // [6]: reserved
AhmedPlaymaker 0:4b15c2d4aa58 71 // [5]: reserved
AhmedPlaymaker 0:4b15c2d4aa58 72 // [4]: hpf_out=0
AhmedPlaymaker 0:4b15c2d4aa58 73 // [3]: reserved
AhmedPlaymaker 0:4b15c2d4aa58 74 // [2]: reserved
AhmedPlaymaker 0:4b15c2d4aa58 75 // [1-0]: fs=01 for accelerometer range of +/-4g range with 0.488mg/LSB
AhmedPlaymaker 0:4b15c2d4aa58 76 data = 0x01;
AhmedPlaymaker 0:4b15c2d4aa58 77 send_byte_to_reg(data,FXOS8700CQ_XYZ_DATA_CFG);
AhmedPlaymaker 0:4b15c2d4aa58 78
AhmedPlaymaker 0:4b15c2d4aa58 79 // write 0000 1101 = 0x0D to accelerometer control register 1
AhmedPlaymaker 0:4b15c2d4aa58 80 // [7-6]: aslp_rate=00
AhmedPlaymaker 0:4b15c2d4aa58 81 // [5-3]: dr=001 for 200Hz data rate (when in hybrid mode)
AhmedPlaymaker 0:4b15c2d4aa58 82 // [2]: lnoise=1 for low noise mode
AhmedPlaymaker 0:4b15c2d4aa58 83 // [1]: f_read=0 for normal 16 bit reads
AhmedPlaymaker 0:4b15c2d4aa58 84 // [0]: active=1 to take the part out of standby and enable sampling
AhmedPlaymaker 0:4b15c2d4aa58 85 data = 0x0D;
AhmedPlaymaker 0:4b15c2d4aa58 86 send_byte_to_reg(data,FXOS8700CQ_CTRL_REG1);
AhmedPlaymaker 0:4b15c2d4aa58 87
AhmedPlaymaker 0:4b15c2d4aa58 88 }
AhmedPlaymaker 0:4b15c2d4aa58 89
AhmedPlaymaker 0:4b15c2d4aa58 90 Data FXOS8700CQ::get_values()
AhmedPlaymaker 0:4b15c2d4aa58 91 {
AhmedPlaymaker 0:4b15c2d4aa58 92 // 13 bytes - status plus 6 channels (2 bytes each)
AhmedPlaymaker 0:4b15c2d4aa58 93 // x,y,z for accelerometer and magnetometer
AhmedPlaymaker 0:4b15c2d4aa58 94 char data[FXOS8700CQ_READ_LEN];
AhmedPlaymaker 0:4b15c2d4aa58 95 read_bytes_from_reg(FXOS8700CQ_STATUS,FXOS8700CQ_READ_LEN,data);
AhmedPlaymaker 0:4b15c2d4aa58 96
AhmedPlaymaker 0:4b15c2d4aa58 97 // copy the 14 bit accelerometer byte data into 16 bit words
AhmedPlaymaker 0:4b15c2d4aa58 98 int acc_x = (int16_t)(((data[1] << 8) | data[2]))>> 2;
AhmedPlaymaker 0:4b15c2d4aa58 99 int acc_y = (int16_t)(((data[3] << 8) | data[4]))>> 2;
AhmedPlaymaker 0:4b15c2d4aa58 100 int acc_z = (int16_t)(((data[5] << 8) | data[6]))>> 2;
AhmedPlaymaker 0:4b15c2d4aa58 101
AhmedPlaymaker 0:4b15c2d4aa58 102 // copy the magnetometer byte data into 16 bit words
AhmedPlaymaker 0:4b15c2d4aa58 103 int mag_x = (int16_t) (data[7] << 8) | data[8];
AhmedPlaymaker 0:4b15c2d4aa58 104 int mag_y = (int16_t) (data[9] << 8) | data[10];
AhmedPlaymaker 0:4b15c2d4aa58 105 int mag_z = (int16_t) (data[11] << 8) | data[12];
AhmedPlaymaker 0:4b15c2d4aa58 106
AhmedPlaymaker 0:4b15c2d4aa58 107 Data values; // struct to hold values
AhmedPlaymaker 0:4b15c2d4aa58 108
AhmedPlaymaker 0:4b15c2d4aa58 109 // 0.488 mg/LSB in 4 g mode (8.1 data sheet)
AhmedPlaymaker 0:4b15c2d4aa58 110 values.ax = 0.488e-3*acc_x;
AhmedPlaymaker 0:4b15c2d4aa58 111 values.ay = 0.488e-3*acc_y;
AhmedPlaymaker 0:4b15c2d4aa58 112 values.az = 0.488e-3*acc_z;
AhmedPlaymaker 0:4b15c2d4aa58 113
AhmedPlaymaker 0:4b15c2d4aa58 114 // the magnetometer sensitivity is fixed at 0.1 μT/LSB
AhmedPlaymaker 0:4b15c2d4aa58 115 values.mx = 0.1e-6*mag_x;
AhmedPlaymaker 0:4b15c2d4aa58 116 values.my = 0.1e-6*mag_y;
AhmedPlaymaker 0:4b15c2d4aa58 117 values.mz = 0.1e-6*mag_z;
AhmedPlaymaker 0:4b15c2d4aa58 118
AhmedPlaymaker 0:4b15c2d4aa58 119 _PitchAngle = (atan2(-(values.ax),(sqrt(((values.ay)*(values.ay))+((values.az)*(values.az))))) * 180 / PI);
AhmedPlaymaker 0:4b15c2d4aa58 120 _RollAngle = (atan2((values.ay),(values.az)) * 180 / PI);
AhmedPlaymaker 0:4b15c2d4aa58 121
AhmedPlaymaker 0:4b15c2d4aa58 122 return values;
AhmedPlaymaker 0:4b15c2d4aa58 123
AhmedPlaymaker 0:4b15c2d4aa58 124 }
AhmedPlaymaker 0:4b15c2d4aa58 125
AhmedPlaymaker 0:4b15c2d4aa58 126 float FXOS8700CQ::get_pitch_angle()
AhmedPlaymaker 0:4b15c2d4aa58 127 {
AhmedPlaymaker 0:4b15c2d4aa58 128 return _PitchAngle;
AhmedPlaymaker 0:4b15c2d4aa58 129 }
AhmedPlaymaker 0:4b15c2d4aa58 130
AhmedPlaymaker 0:4b15c2d4aa58 131 float FXOS8700CQ::get_roll_angle()
AhmedPlaymaker 0:4b15c2d4aa58 132 {
AhmedPlaymaker 0:4b15c2d4aa58 133 return _RollAngle;
AhmedPlaymaker 0:4b15c2d4aa58 134 }
AhmedPlaymaker 0:4b15c2d4aa58 135
AhmedPlaymaker 0:4b15c2d4aa58 136 void FXOS8700CQ::send_byte_to_reg(char byte,char reg)
AhmedPlaymaker 0:4b15c2d4aa58 137 {
AhmedPlaymaker 0:4b15c2d4aa58 138 char data[2];
AhmedPlaymaker 0:4b15c2d4aa58 139 data[0] = reg;
AhmedPlaymaker 0:4b15c2d4aa58 140 data[1] = byte;
AhmedPlaymaker 0:4b15c2d4aa58 141 // send the register address, followed by the data
AhmedPlaymaker 0:4b15c2d4aa58 142 int nack = i2c->write(FXOS8700CQ_ADDR,data,2);
AhmedPlaymaker 0:4b15c2d4aa58 143 if (nack)
AhmedPlaymaker 0:4b15c2d4aa58 144 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
AhmedPlaymaker 0:4b15c2d4aa58 145
AhmedPlaymaker 0:4b15c2d4aa58 146 }
AhmedPlaymaker 0:4b15c2d4aa58 147
AhmedPlaymaker 0:4b15c2d4aa58 148 // reads a byte from a specific register
AhmedPlaymaker 0:4b15c2d4aa58 149 char FXOS8700CQ::read_byte_from_reg(char reg)
AhmedPlaymaker 0:4b15c2d4aa58 150 {
AhmedPlaymaker 0:4b15c2d4aa58 151 int nack = i2c->write(FXOS8700CQ_ADDR,&reg,1,true); // send the register address to the slave
AhmedPlaymaker 0:4b15c2d4aa58 152 // true as need to send repeated start condition (5.10.1 datasheet)
AhmedPlaymaker 0:4b15c2d4aa58 153 // http://www.i2c-bus.org/repeated-start-condition/
AhmedPlaymaker 0:4b15c2d4aa58 154 if (nack)
AhmedPlaymaker 0:4b15c2d4aa58 155 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
AhmedPlaymaker 0:4b15c2d4aa58 156
AhmedPlaymaker 0:4b15c2d4aa58 157 char rx;
AhmedPlaymaker 0:4b15c2d4aa58 158 nack = i2c->read(FXOS8700CQ_ADDR,&rx,1); // read a byte from the register and store in buffer
AhmedPlaymaker 0:4b15c2d4aa58 159 if (nack)
AhmedPlaymaker 0:4b15c2d4aa58 160 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
AhmedPlaymaker 0:4b15c2d4aa58 161
AhmedPlaymaker 0:4b15c2d4aa58 162 return rx;
AhmedPlaymaker 0:4b15c2d4aa58 163 }
AhmedPlaymaker 0:4b15c2d4aa58 164
AhmedPlaymaker 0:4b15c2d4aa58 165 // reads a series of bytes, starting from a specific register
AhmedPlaymaker 0:4b15c2d4aa58 166 void FXOS8700CQ::read_bytes_from_reg(char reg,int number_of_bytes,char bytes[])
AhmedPlaymaker 0:4b15c2d4aa58 167 {
AhmedPlaymaker 0:4b15c2d4aa58 168 int nack = i2c->write(FXOS8700CQ_ADDR,&reg,1,true); // send the slave write address and the configuration register address
AhmedPlaymaker 0:4b15c2d4aa58 169 // true as need to send repeated start condition (5.10.1 datasheet)
AhmedPlaymaker 0:4b15c2d4aa58 170 // http://www.i2c-bus.org/repeated-start-condition/
AhmedPlaymaker 0:4b15c2d4aa58 171
AhmedPlaymaker 0:4b15c2d4aa58 172 if (nack)
AhmedPlaymaker 0:4b15c2d4aa58 173 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
AhmedPlaymaker 0:4b15c2d4aa58 174
AhmedPlaymaker 0:4b15c2d4aa58 175 nack = i2c->read(FXOS8700CQ_ADDR,bytes,number_of_bytes); // read bytes
AhmedPlaymaker 0:4b15c2d4aa58 176 if (nack)
AhmedPlaymaker 0:4b15c2d4aa58 177 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
AhmedPlaymaker 0:4b15c2d4aa58 178
AhmedPlaymaker 0:4b15c2d4aa58 179 }