Faiyaz Doctor
/
CE713-V01_Test
updated test
Fork of CE713-V01 by
main.cpp
- Committer:
- Faiyaz
- Date:
- 2017-11-09
- Revision:
- 1:76c4a55fbac4
- Parent:
- 0:4bc9e88c2cff
File content as of revision 1:76c4a55fbac4:
// Device Drivers for Labmbed Board #include "mbed.h" #include "TextLCD.h" TextLCD lcd(p15, p16, p17, p18, p19, p20); // LCD: RS, E, D4-D7 SPI spi(p5, p6, p7); // SPI: MOSI, MISO, SCLK (MISO not used with LCD) DigitalOut lat(p8); // data latch for LED driver TLC59281 DigitalOut Sel0(p26); // input select bits: DigitalOut Sel1(p25); // " DigitalOut Sel2(p24); // " DigitalIn In0(p14); // input from switches, keypad etc DigitalIn In1(p13); // " DigitalIn In2(p12); // " DigitalIn In3(p11); // " I2C i2c(p9, p10); // I2C: SDA, SCL pins PwmOut servo1(p21); // Servo 1 PWM pin PwmOut servo2(p22); // Servo 2 PWM pin DigitalOut Trigger(p28); // Ultrasonic rangefinder trigger pin DigitalIn Echo(p27); // Ultrasonic rangefinder echo pin Timer Sonar; // Ultrasonic timer // global variables short LEDbits = 0; // global led status used for readback const int TMP102Addr = 0x92; // TMP102 temperature I2C address const int MPU6050Addr = 0xd0; // MPU-6050 accelerometer and Gyro I2C address float Acceleration[3]; // MPU-6050 x,y,z acceleration values in 1G floating point float GyroRate[3]; // MPU-6050 x,y,z gyrorates in degrees per second float GyroOffset[3]; // MPU-6050 x,y,z gyrorates compensation char AReg[] = { 0x3b, 0x3d, 0x3f }; // MPU-6050 I2C x,y,z accelerometer data registers char GReg[] = { 0x43, 0x45, 0x47 }; // MPU-6050 I2C x,y,z gyro data registers void Servo1(float s) { // range +-1 s=s+1; if (s>=0 && s<=2) { servo1.pulsewidth(s/2000+0.001); } } void Servo2(float s) { // range +-1 s=s+1; if (s>=0 && s<=2) { servo2.pulsewidth(s/2000+0.001); } } void InitServos() { servo1.period(0.02); servo2.period(0.02); Servo1(0); // initiate servo 1 to centre position Servo2(0); // initiate servo 1 to centre position } int ReadSonar() { Trigger = 1; // set sonar trigger pulse high Sonar.reset(); // reset sonar timer wait_us(10.0); // 10 us pulse Trigger = 0; // set sonar trigger pulse low while (Echo == 0) {}; // wait for echo high (8 cycles have been transmitted) Sonar.start(); // echo high so start timer while (Echo == 1) {}; // wait for echo low Sonar.stop(); // echo low so stop timer return (Sonar.read_us()*10)/58; // read timer and scale to mm } void InitLEDs() { lat = 0; // latch must start low spi.format(16,0); // SPI 16 bit data, low state, high going clock spi.frequency(1000000); // 1MHz clock rate } void SetLEDs(short ledall) { LEDbits = ledall; // update global led status spi.write((LEDbits & 0x03ff) | ((LEDbits & 0xa800) >> 1) | ((LEDbits & 0x5400) << 1)); lat = 1; // latch pulse start lat = 0; // latch pulse end } void SetLED(short LEDNo, short LEDState) { LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number LEDState = LEDState & 0x0003; // limit led state LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits' LEDState = LEDState << LEDNo; short statemask = ((0x0003 << LEDNo) ^ 0xffff); // mask used to clear led state LEDbits = ((LEDbits & statemask) | LEDState); // clear and set led state SetLEDs(LEDbits); } short ReadLED(short LEDNo) { LEDNo = ((LEDNo - 1) & 0x0007) + 1; // limit led number LEDNo = (8 - LEDNo) * 2; // offset of led state in 'LEDbits' short LEDState = (LEDbits >> LEDNo) & 0x0003; // shift selected led state into ls 2 bits return LEDState; // return led state } short ReadLEDs() { return LEDbits; // return led status } void SelInput(short Input) { Sel0 = Input & 0x0001; // set sel[0:2] pins Sel1 = (Input >> 1) & 0x0001; // Sel2 = (Input >> 2) & 0x0001; // } short ReadSwitches() { SelInput(5); // select least significant 4 switches in[3:0] short Switches = In0 + (In1 << 1) + (In2 << 2) + (In3 << 3); SelInput(4); // select most significant 4 switches in[3:0] return (Switches + (In0 << 4) + (In1 << 5) + (In2 << 6) + (In3 << 7)); } short ReadSwitch(short SwitchNo) { SwitchNo = ((SwitchNo - 1) & 0x0007) + 1; // limit switch number SwitchNo = 8 - SwitchNo; // offset of switch state in ReadSwitches() short SwitchState = ReadSwitches(); // read switch states SwitchState = SwitchState >> SwitchNo; // shift selected switch state into ls bit return (SwitchState & 0x0001); // mask out and return switch state } short ReadKeys() { SelInput(0); // select Keypad top row short Keys = (In0 << 15) + (In1 << 14) + (In2 << 13) + (In3 << 12); SelInput(1); // select Keypad second row Keys += (In0 << 3) + (In1 << 6) + (In2 << 9) + (In3 << 11); SelInput(2); // select Keypad third row Keys += (In0 << 2) + (In1 << 5) + (In2 << 8) + In3; SelInput(3); // select Keypad forth row Keys += (In0 << 1) + (In1 << 4) + (In2 << 7) + (In3 << 10); return (Keys ^ 0xffff); // return inverted (Key press active high) } short ReadKey(short KeyNo) { KeyNo = KeyNo & 0x000f; // limit key number 0 to 15 (0 to F) short KeyState = ReadKeys(); // read key states KeyState = KeyState >> KeyNo; // shift selected key state into ls bit return (KeyState & 0x0001); // mask out and return key state } int FindKeyNo() { short KeyNo; short KeyPressed = -1; // set KeyPressed to -1 (no key pressed) short KeyState = ReadKeys(); // read key states for (KeyNo= 0; KeyNo < 16; KeyNo++ ) { // check all 16 Keys if (KeyState & 0x0001) { // check key state if (KeyPressed == -1) { // check if key already found KeyPressed = KeyNo; // update KeyPressed } else { return -1; // 2 or more keys pressed } } KeyState = KeyState >> 1; // shift to check next key } return KeyPressed; // return KeyPressed } char FindKeyChar() { short KeyNo; char KeyChar = ' '; // set KeyChar to ' ' (no key pressed) KeyNo = FindKeyNo(); // find key pressed if (KeyNo < 10 && KeyNo >= 0) { KeyChar = (char) KeyNo + 0x30; // convert char 0-9 to ascii string '0'-'9' } if (KeyNo > 9 && KeyNo < 16) { KeyChar = (char) KeyNo + 0x37; // convert char 10-15 to ascii string 'A'-'F' } return KeyChar; // return key pressed } float ReadTemp() { char Cmd[3]; Cmd[0] = 0x01; // pointer register value Cmd[1] = 0x60; // byte 1 of the configuration register Cmd[2] = 0xa0; // byte 2 of the configuration register i2c.write(TMP102Addr, Cmd, 3); // select configuration register and write 0x60a0 to it wait(0.5); // ensure conversion time Cmd[0] = 0x00; // pointer register value i2c.write(TMP102Addr, Cmd, 1); // select temperature register i2c.read(TMP102Addr, Cmd, 2); // read 16-bit temperature register return (float((Cmd[0] << 8) | Cmd[1]) / 256); // divide by 256 and return temperature } signed short ReadMPU6050(int RegAddr) { char Cmd[3]; Cmd[0] = RegAddr; // register address i2c.write(MPU6050Addr, Cmd, 1); // select register to read i2c.read(MPU6050Addr, Cmd, 2); // read 2 bytes from register return ((Cmd[0] << 8) | Cmd[1]); // return signed 16 bit value } void CalibrateGyros() { short a,b; for(a=0; a<3; a++) { GyroOffset[a] = 0; // clear gyro calibration offsets for(b=0; b<1000; b++) { GyroOffset[a] = GyroOffset[a] + (float)ReadMPU6050(GReg[a]); wait_ms(1); // wait for next sample } GyroOffset[a] = GyroOffset[a]/1000; // find average over 1000 samples } } void InitMotion() { char Cmd[3]; Cmd[0] = 0xa1; // config register address Cmd[1] = 0x06; // accelerometer and gyro bandwidth = 5Hz i2c.write(MPU6050Addr, Cmd, 2); // write data to config register Cmd[0] = 0x6b; // power management register address Cmd[1] = 0x00; // data i2c.write(MPU6050Addr, Cmd, 2); // write data to power management register Cmd[0] = 0x1b; // gyro configuration register address Cmd[1] = 0x08; // no gyro self test, +-500 full scale i2c.write(MPU6050Addr, Cmd, 2); // write data to gyro configuration register Cmd[0] = 0x19; // sample rate register address Cmd[1] = 0x07; // sample rate = gyro output rate / 8 i2c.write(MPU6050Addr, Cmd, 2); // write data to sample rate register CalibrateGyros(); } void ReadMotion() { short a; // Acceleration is in G where 1G = 9.81 ms/s for(a=0; a<3; a++) { // GyroRate is in degrees per second Acceleration[a] = (float)ReadMPU6050(AReg[a]) / 16384; GyroRate[a] = ((float)ReadMPU6050(GReg[a]) - GyroOffset[a]) / 66.5; } } int main() { float spos = 0; // Test servo position InitLEDs(); InitMotion(); InitServos(); float temp = -99; int dist = -99; char Key = 'X'; while(1) { int a,b; /* for (b = 0; b < 4; b++ ) { // select all 4 led states for (a = 1; a < 9; a++ ) { // set all 8 leds to selected state SetLED (a,b); // set led 'a' to state 'b' wait(.05); // wait 0.05 second } } */ int firstOnSwitch = 0; for (a= 1; a < 9; a++ ) { // map Switch states to led's SetLED (a,(ReadSwitch(a) + 1)); // if(ReadSwitch(a) == 1) { firstOnSwitch = a; } wait(0.05); // wait 0.05 second } switch(firstOnSwitch) { case 1: temp = ReadTemp(); // get temperature lcd.cls(); // clear lcd lcd.printf("Temp = %f\n", temp); // print temperature wait(1); // wait 1 second break; case 2: dist = ReadSonar(); // get distance lcd.cls(); lcd.printf("Distance = %d\n", dist); // print result //lcd.printf("Servo = %f\n", spos); // print servo pos wait(0.5); break; case 3: Key = FindKeyChar(); // look for Key pressed lcd.cls(); lcd.printf("Key = %c\n", Key); // print result wait(0.5); // wait 1 second break; // operator is doesn't match any case constant (+, -, *, /) default: lcd.cls(); } /* float temp = ReadTemp(); // get temperature lcd.cls(); // clear lcd lcd.printf("Temp = %f\n", temp); // print temperature wait(1); // wait 1 second lcd.cls(); // clear lcd int swch = ReadSwitches(); // look at Switch states lcd.printf("Switches = %d\n", swch); // print result char Key = FindKeyChar(); // look for Key pressed lcd.printf("Key = %c\n", Key); // print result wait(1); // wait 1 second lcd.cls(); // clear lcd int dist = ReadSonar(); // get distance lcd.printf("Distance = %d\n", dist); // print result lcd.printf("Servo = %f\n", spos); // print servo pos wait(1); // wait 1 second ReadMotion(); // read new data in from the MPU-6050 lcd.cls(); // clear lcd lcd.locate(0,0); // print at start of first line lcd.printf("x%.1f y%.1f z%.1f", Acceleration[0], Acceleration[1], Acceleration[2]); lcd.locate(0,1); // print at start of second line lcd.printf("x%.1f y%.1f z%.1f", GyroRate[0], GyroRate[1], GyroRate[2]); wait(.4); // wait 0.4 second if (spos < 1) { // is servo at upper limit of 1 spos += .1; // increment servo position } // else { // was at upper limit so spos = -1; // reset servo position } // Servo1(spos); // update servo */ } }