Frederick Huang
ADXL345 Evaluation
Diff: main.cpp
- Revision:
- 4:f5a78245f2d0
- Parent:
- 3:e4783c57bcc0
- Child:
- 5:88787a48e96e
--- a/main.cpp Mon Aug 21 02:40:56 2017 +0000
+++ b/main.cpp Tue Aug 29 09:18:15 2017 +0000
@@ -2,11 +2,90 @@
ADXL345_I2C accelerometer(I2C_SDA, I2C_SCL);
Serial pc(USBTX, USBRX);
+
+ class RangeMapper
+ {
+ /*
+ RangeMapper convert data from input range to output range
+ Math formular is y_output = ratio * x_input + offset;
+ */
+ protected:
+ double _ratio;
+ double _offset;
+ public:
+ RangeMapper(double x_min, double x_max, double y_min, double y_max)
+ {
+ _ratio = (y_max - y_min) / (x_max - x_min);
+ _offset = y_min - x_min * _ratio;
+ };
+ ~RangeMapper(){};
+ double getOutput(double x_input)
+ {return x_input * _ratio + _offset;};
+ };
+
+ class DataProcess
+ {
+ protected:
+ // Statistics
+ int64_t _summary;
+ double _squardsum; // summary (xi^2)
+ int64_t _numbers;
+ int64_t _max;
+ int64_t _min;
+ // integration, assume time interval is same
+ int64_t _itg1; //1 order integration
+ int64_t _itg2; //2 order integration
+ int64_t _itg3; //3 order integration
+ // differentiation, assume time interval is same
+ int64_t _preData;
+ int64_t _dif1; //1 order differentiation
+ int64_t _dif2; //2 order differentiation
+ public:
+ DataProcess():
+ _summary(0), _squardsum(0), _numbers(0), _max(0), _min(0),
+ _itg1(0), _itg2(0), _itg3(0), _preData(0), _dif1(0), _dif2(0) {};
+ ~DataProcess() {};
+ void putData(int64_t x) {
+ int64_t temp;
+ if (x > _max) _max = x;
+ if (x < _min) _min = x;
+ _summary += x;
+ _squardsum += x*x;
+ _numbers ++;
+ _itg1 = _summary;
+ _itg2 += _itg1;
+ _itg3 += _itg2;
+ temp = _dif1;
+ _dif1 = x - _preData;
+ _preData = x;
+ _dif2 = _dif1 - temp;
+ };
+ int64_t getSum(void) {return _summary;};
+ double getMean(void) {return (double)_summary / (double)_numbers ;};
+ double getStdDiv(void) {return sqrt((_squardsum - (double)_summary*_summary / (double)_numbers ) / (double)_numbers ); };
+ int64_t getMax(void) {return _max; };
+ int64_t getMin(void) {return _min; };
+ int64_t getCount(void) {return _numbers;} ;
+ int64_t getO1integration(void) {return _itg1;};
+ int64_t getO2integration(void) {return _itg2;};
+ int64_t getO3integration(void) {return _itg3;};
+ int64_t GetO1differ(void) {return _dif1;};
+ int64_t GetO2differ(void) {return _dif2;};
+ };
+
int main() {
+ char getc =0;
+ int channel = 0, datamode =0;
+ bool output = true, mapout = false;
pc.baud(115200);
int readings[3] = {0, 0, 0};
-
+ RangeMapper DAC_Mapper( 0 - 1<<13, 1<<13, 0, 1);
+ DataProcess dp1, dp2, dp3;
+ DataProcess dp[3] = {dp1, dp2, dp3};
+
+
+
pc.printf("Starting ADXL345 test...\r\n");
wait(.001);
pc.printf("Device ID is: 0x%02x\r\n", accelerometer.getDeviceID());
@@ -40,13 +119,53 @@
pc.printf("didn't set the power control to measurement\r\n");
return 0; }
- pc.printf("x-axis, y-axis, z-axis\r\n");
+ // pc.printf("x-axis, y-axis, z-axis\r\n");
+ pc.printf("Data Commands: \r\n");
+ pc.printf(" x -> x channdel \r\n");
+ pc.printf(" y -> y channdel \r\n");
+ pc.printf(" z -> z channdel \r\n");
+ pc.printf(" o,0 -> data output on/off \r\n");
+ pc.printf(" i,1 -> mapper on/off \r\n");
+ pc.printf(" a -> raw data \r\n");
+ pc.printf(" b -> mean \r\n");
+ pc.printf(" c -> summary \r\n");
+ pc.printf(" d -> variance \r\n");
+ pc.printf(" e -> 1st order Integration \r\n");
+ pc.printf(" f -> 2nd order Integration \r\n");
+ pc.printf(" g -> 3rd order Integration \r\n");
+ pc.printf(" h -> 1st order Differentiation \r\n");
+ pc.printf(" k -> 2nd order Differentiation \r\n");
+ pc.printf("Press any key to start. \r\n");
+ getc = pc.getc();
+
+
while (1) {
int error_count=0;
-
- wait(0.01);
-
+ if (pc.readable())
+ {
+ getc = pc.getc();
+ switch( getc)
+ {
+ case 'x' : channel = 0 ; pc.printf("Data procesing output switch to X channdel \r\n"); break;
+ case 'y' : channel = 1 ; pc.printf("Data procesing output switch to Y channdel \r\n"); break;
+ case 'z' : channel = 2 ; pc.printf("Data procesing output switch to Z channdel \r\n"); break;
+ case '0' :
+ case 'o' : output = !output ; pc.printf("Turn %s data output.\r\n", (output ? "On" : "Off") ); break;
+ case '1' :
+ case 'i' : mapout = !mapout ; pc.printf("Turn %s mapping output.\r\n", (mapout ? "On" : "Off") ); break;
+ case 'a' : datamode = 0 ; pc.printf("Set to raw data output.\r\n"); break;
+ case 'b' : datamode = 1 ; pc.printf("Set to mean output.\r\n"); break;
+ case 'c' : datamode = 2 ; pc.printf("Set to summary output.\r\n"); break;
+ case 'd' : datamode = 3 ; pc.printf("Set to variance output.\r\n"); break;
+ case 'e' : datamode = 4 ; pc.printf("Set to 1st order Integration output.\r\n"); break;
+ case 'f' : datamode = 5 ; pc.printf("Set to 2nd order Integration output.\r\n"); break;
+ case 'g' : datamode = 6 ; pc.printf("Set to 3rd order Integration output.\r\n"); break;
+ case 'h' : datamode = 7 ; pc.printf("Set to 1st order Differentiation output.\r\n"); break;
+ case 'k' : datamode = 8 ; pc.printf("Set to 2nd order Differentiation output.\r\n"); break;
+ default: break;
+ }
+ }
accelerometer.getOutput(readings);
if (( 17601 == readings[0] ) || ( 17601 == readings[1] ) || ( 17601 == readings[2] ))
{
@@ -60,9 +179,36 @@
}
else
{
- error_count = 0;
- pc.printf("%i, %i, %i\r\n", (int16_t)readings[0], (int16_t)readings[1], (int16_t)readings[2]);
+ double mapdata;
+ error_count = 0;
+ dp[0].putData((int16_t)readings[0]);
+ dp[1].putData((int16_t)readings[1]);
+ dp[2].putData((int16_t)readings[2]);
+ if (output)
+ {
+ switch (datamode)
+ {
+ case 0: mapdata = readings[channel]; pc.printf("RAW: %i, %i, %i\r\n", (int16_t)readings[0], (int16_t)readings[1], (int16_t)readings[2]); break;
+ //case 0: mapdata = readings[channel]; pc.printf("RAW: %i, %i, %i\r\n", readings[0], readings[1], readings[2]); break;
+ case 1: mapdata = dp[channel].getMean(); pc.printf("MEAN: %f, %f, %f\r\n", dp[0].getMean(), dp[1].getMean(), dp[2].getMean() ); break;
+ case 2: mapdata = dp[channel].getSum(); pc.printf("SUM: %jd, %jd, %jd\r\n", dp[0].getSum(), dp[1].getSum(), dp[2].getSum() ); break;
+ case 3: mapdata = dp[channel].getStdDiv(); pc.printf("STD: %f, %f, %f\r\n", dp[0].getStdDiv(), dp[1].getStdDiv(), dp[2].getStdDiv() ); break;
+ case 4: mapdata = dp[channel].getO1integration(); pc.printf("1ITG: %jd, %jd, %jd\r\n", dp[0].getO1integration(), dp[1].getO1integration(), dp[2].getO1integration() ); break;
+ case 5: mapdata = dp[channel].getO2integration(); pc.printf("2ITG: %jd, %jd, %jd\r\n", dp[0].getO2integration(), dp[1].getO2integration(), dp[2].getO2integration() ); break;
+ case 6: mapdata = dp[channel].getO3integration(); pc.printf("3ITG: %jd, %jd, %jd\r\n", dp[0].getO3integration(), dp[1].getO3integration(), dp[2].getO3integration() ); break;
+ case 7: mapdata = dp[channel].GetO1differ(); pc.printf("1DIF: %jd, %jd, %jd\r\n", dp[0].GetO1differ(), dp[1].GetO1differ(), dp[2].GetO1differ() ); break;
+ case 8: mapdata = dp[channel].GetO2differ(); pc.printf("2DIF: %jd, %jd, %jd\r\n", dp[0].GetO2differ(), dp[1].GetO2differ(), dp[2].GetO2differ() ); break;
+ default: break;
+ }
+ }
+ if (mapout)
+ {
+ // Set data the DAC
+ DAC_Mapper.getOutput(mapdata);
+ }
+ wait(1);
}
+
}
}