Diff: main.cpp

Revision:

1:939932df321d

Parent:

0:c48a4735d25f

--- a/main.cpp	Fri Mar 06 22:00:20 2015 +0000
+++ b/main.cpp	Thu Aug 27 06:07:46 2015 +0000
@@ -1,33 +1,154 @@
 #include "mbed.h"
-#include "tsi_sensor.h"
-#define ELEC0 9    // Pin connections for touch sensor
-#define ELEC1 10
+
+// Address untuk masing-masing data dari IMU ADIS16407
+#define SUPPLY_ADD 0x0200
+#define XGYRO_ADD 0x0400
+#define YGYRO_ADD 0x0600
+#define ZGYRO_ADD 0x0800
+#define XACCL_ADD 0x0A00
+#define YACCL_ADD 0x0C00
+#define ZACCL_ADD 0x0E00
+#define XMAGN_ADD 0x1000
+#define YMAGN_ADD 0x1200
+#define ZMAGN_ADD 0x1400
+#define BAROH_ADD 0x1600
+#define BAROL_ADD 0x1800
+#define TEMP_ADD 0x1A00
+#define AUX_ADD 0x1C00
+// Address untuk burst mode
+#define BURST_ADD 0x4200
+
+// Nilai sensor per LSB/resolusi
+#define GYRO_LSB 0.05f
+#define ACCL_LSB 0.003333f
+#define MAGN_LSB 0.0005f
+#define SUPPLY_LSB 0.002418f
+#define TEMP_LSB 0.136f
+
  
-SPI spi(PTD2, PTD3, PTD1); // mosi, miso, sclk
-DigitalOut cs(PTD0);
-TSIAnalogSlider tsi(ELEC0, ELEC1, 40);
-Serial pc(USBTX, USBRX); // Configure PC UART
+SPI spi(PTD2, PTD3, PTD1); // MOSI, MISO, SCLK
+DigitalOut cs(PTD0); // Chip select
+Serial pc(USBTX, USBRX); // Konfigurasi UART untuk termnial
+
+// Deklarasi Fungsi dan Prosedur
+void Akuisisi_RAW_Data_IMU_Normal(void);
+float konversi_data1(unsigned short accl, float resolusi);
+float konversi_data2(unsigned short suhu, float resolusi);
+
+// Variabel Global
+unsigned short data_high, data_low, info[14];
+float suhu, dummy, supply, xgyro, ygyro, zgyro, xaccl, yaccl, zaccl, xmagn, ymagn, zmagn;
+int size;
  
 int main() {
     
-    // Configure PC/Serial Connection
+    // Konfigurasi baud rate terminal
     pc.baud(9600);
-    char slidervalue = 0;
-    char responsevalue = 0;
-    // Chip must be deselected
+    
+    // Variabel Lokal
+    
+    // Inisialisasi CS, off
     cs = 1;
-    // Setup the spi for 8 bit data, high steady state clock,
-    // second edge capture, with a 1MHz clock rate
+    
+    // Set format komunikasi SPI, 8 bit, mode 3 (CPOL = 1, CPHA = 1)
     spi.format(8,3);
+    
+    // Set frekuensi komunikasi SPI, 1 MHz
     spi.frequency(1000000);
  
     while(true) {        
-        slidervalue = (char)(254 * tsi.readPercentage() + 1); // Get value from Cap. Touch
-        cs = 0; // Select the device by seting chip select low
-        spi.write(slidervalue); // Send slider percentage in a single byte
-        responsevalue = spi.write(0x00); // Send slider percentage in a single byte
-        pc.printf("LED Adjusted to = 0x%X\n\r", responsevalue); // Print to PC/Serial
-        // Deselect the device
-        cs = 1;
+    
+        Akuisisi_RAW_Data_IMU_Normal();
+        //    dummy=info[0];    
+        //  Data power supply sensor dalam floating point
+        supply = (info[1]&0xfff)*SUPPLY_LSB;
+    
+        //  Data gyroscope dalam floating point
+        xgyro = konversi_data1(info[2],GYRO_LSB);
+        ygyro = konversi_data1(info[3],GYRO_LSB);
+        zgyro = konversi_data1(info[4],GYRO_LSB);
+    
+        //  Data accelerometer dalam floating point
+        xaccl = konversi_data1(info[5],ACCL_LSB);
+        yaccl = konversi_data1(info[6],ACCL_LSB);
+        zaccl = konversi_data1(info[7],ACCL_LSB);
+    
+        //  Data magnetometer dalam floating point
+        xmagn = konversi_data1(info[8],MAGN_LSB);
+        ymagn = konversi_data1(info[9],MAGN_LSB);
+        zmagn = konversi_data1(info[10],MAGN_LSB);
+    
+        //  Data barometer dalam floating point
+    
+    
+        //  Data suhu internal sensor dalam floating point
+        suhu = konversi_data2(info[13],TEMP_LSB);
+        
+        
+//        pc.printf("test = 0x%x\n\r", test); // Print to PC/Serial
+        pc.printf("Supply = %.6f\n\r", supply); // Print to PC/Serial
+        pc.printf("xgyro = %.6f ", xgyro); // Print to PC/Serial
+        pc.printf("ygyro = %.6f ", ygyro); // Print to PC/Serial
+        pc.printf("zgyro = %.6f\n\r", zgyro); // Print to PC/Serial
+        pc.printf("xaccl = %.6f ", xaccl); // Print to PC/Serial
+        pc.printf("yaccl = %.6f ", yaccl); // Print to PC/Serial
+        pc.printf("zaccl = %.6f\n\r", zaccl); // Print to PC/Serial
+        pc.printf("xmagn = %.6f ", xmagn); // Print to PC/Serial
+        pc.printf("ymagn = %.6f ", ymagn); // Print to PC/Serial
+        pc.printf("zmagn = %.6f\n\r", zmagn); // Print to PC/Serial
+        pc.printf("suhu = %.6f\n\r", suhu); // Print to PC/Serial
+//        pc.printf("size zmagn = %d\n\r", size); // Print to PC/Serial
+        wait(0.5f);
     }
+}
+
+void Akuisisi_RAW_Data_IMU_Normal()
+{
+    int count=0;
+    unsigned short int dir, data; 
+    for (dir=0x02;dir<0x1D;dir+=0x02)
+    {
+        cs = 0; // Chip Select di set 0 untuk memulai komunikasi
+        data_high=spi.write(dir);
+        data_low=spi.write(0x00);
+        cs = 1; // Chip Select di set 1 untuk menghentikan komunikasi
+        data = data_high<<8 | data_low;
+        wait_us(10);
+        info[count]=(data&0x3fff);
+        count++;
+    }
+}
+
+float konversi_data1(unsigned short accl, float resolusi)
+{
+    unsigned short temp1;
+    float temp2;
+    signed short sign;
+    temp1 = accl;
+    if ((temp1&0x2000) == 0) sign = 1;  
+        else
+        {
+        temp1 = (~temp1)+1;
+        temp1 = temp1&0x1fff;
+        sign = -1;
+        }
+    temp2 = (temp1*resolusi*sign);
+    return (temp2);
+}
+
+float konversi_data2(unsigned short suhu, float resolusi)
+{
+    unsigned short temp1;
+    float temp2;
+    signed short sign;
+    temp1 = suhu;
+    if ((temp1&0x0800) == 0) sign = 1;  
+        else
+        {
+        temp1 = (~temp1)+1;
+        temp1 = temp1&0x7ff;
+        sign = -1;
+        }
+    temp2 = 25+(temp1*resolusi*sign);
+    return (temp2);
 }
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