Revision 8:46eab8a51f91, committed 2014-10-17

Comitter:

Ivannrush

Date:

Fri Oct 17 15:40:43 2014 +0000

Parent:

7:9b644d1c1405

Commit message:

Hello World

Changed in this revision

--- a/main.cpp	Fri Mar 07 14:54:00 2014 +0000
+++ b/main.cpp	Fri Oct 17 15:40:43 2014 +0000
@@ -1,535 +1,25 @@
 #include "mbed.h"
 #include "MMA8452.h"
-
-DigitalOut myled(LED1);
+//Using MMA8452 accelerometer. SDA on 28, SCL on 27. Writes gravities to the screen. 
+//Also brightens/dims LEDs 1-3 based on whether or not they are 'level'( 0 Gs)
 
 Serial pc(USBTX,USBRX);
-
-#define LOG(...) pc.printf(__VA_ARGS__); pc.printf("\r\n");
-#define LOGX(...) pc.printf(__VA_ARGS__);
-
-void printByte(char b) {
-   LOG("%d%d%d%d%d%d%d%d",
-       (b&0x80)>>7,
-       (b&0x40)>>6,
-       (b&0x20)>>5,
-       (b&0x10)>>4,
-       (b&0x08)>>3,
-       (b&0x04)>>2,
-       (b&0x02)>>1,
-       (b&0x01)
-   );
-}
-
-enum SampleType {
-   SAMPLE_RAW=0,
-   SAMPLE_COUNT,
-   SAMPLE_GRAVITY
-};
-
-void sampleTypeToString(SampleType t, char *dst) {
-   switch(t) {
-      case SAMPLE_RAW:
-         sprintf(dst,"SAMPLE_RAW");
-      break;
-      case SAMPLE_COUNT:
-         sprintf(dst,"SAMPLE_COUNT");
-      break;
-      case SAMPLE_GRAVITY:
-         sprintf(dst,"SAMPLE_GRAVITY");
-      break;
-   };
-}
-
-int testSampleTaking(MMA8452 *acc, int nsamples, SampleType sampleType) {
-   int samples = 0;
-   int bufLen = 6;
-   
-   // buffers for multi and single raw sampling
-   char bufferMulti[6];
-   char bufferSingle[6];
-   memset(&bufferMulti,0x00,bufLen);
-   memset(&bufferSingle,0x00,bufLen);
-   
-   // variables for multi and single count sampling
-   int xCountM = 0, yCountM = 0, zCountM = 0;
-   int xCountS = 0, yCountS = 0, zCountS = 0;
-   
-   // variables for multi and single gravity sampling
-   double xGravityM = 0, yGravityM = 0, zGravityM = 0;
-   double xGravityS = 0, yGravityS = 0, zGravityS = 0;
-   
-   // keep track of errors
-   int error = 0;
-   // mismatches between multi and single read calls are inevitable
-   // since the MMA8452 has an internal sampling mechanism which is
-   // not synchronous to this test routine. At low internal sampling
-   // rates, these mismatches should be rare, so keep track to
-   // check that this is sane
-   int mismatchCount = 0;
-   
-   // take samples
-   while(samples<nsamples) {
-      // wait for device to be ready
-      if(!acc->isXYZReady()) {
-         wait(0.01);
-         continue;
-      }
-      
-      switch(sampleType) {
-         case SAMPLE_RAW:
-            // read raw data via multi and single calls
-            memset(&bufferMulti,0x00,bufLen);
-            memset(&bufferSingle,0x00,bufLen);
-            error = 0;
-            error += acc->readXYZRaw((char*)&bufferMulti);
-            error += acc->readXRaw((char*)&bufferSingle[0]);
-            error += acc->readYRaw((char*)&bufferSingle[2]);
-            error += acc->readZRaw((char*)&bufferSingle[4]);
-            if(error) {
-               LOG("Error reading raw accelerometer data. Fail.");
-               return false;
-            }
-            // compare multi and single samples for equivalence
-            // note that this is bound to fail for high data rates
-            if(acc->getBitDepth()==MMA8452::BIT_DEPTH_12) {
-               if(memcmp(bufferMulti,bufferSingle,bufLen)) {
-                  LOG("Multi and single sampling mismatch");
-                  LOG("Multi: %x %x %x %x %x %x",
-                     bufferMulti[0],bufferMulti[1],
-                     bufferMulti[2],bufferMulti[3],
-                     bufferMulti[4],bufferMulti[5]
-                  );
-                  LOG("Single: %x %x %x %x %x %x",
-                     bufferSingle[0],bufferSingle[1],
-                     bufferSingle[2],bufferSingle[3],
-                     bufferSingle[4],bufferSingle[5]
-                  ); 
-                  mismatchCount++;
-               }
-               LOG("12bit raw sample %d/%d: %x %x %x %x %x %x",
-                  samples,nsamples,
-                  bufferMulti[0],bufferMulti[1],
-                  bufferMulti[2],bufferMulti[3],
-                  bufferMulti[4],bufferMulti[5]
-               );
-            } else {
-               if(bufferMulti[0]!=bufferSingle[0]||
-                  bufferMulti[1]!=bufferSingle[2]||
-                  bufferMulti[2]!=bufferSingle[4]) {
-                  LOG("Multi and single sampling mismatch");
-                  mismatchCount++;
-               }
-               LOG("8 bit raw sample %d/%d: %x %x %x",
-                  samples,nsamples,
-                  bufferMulti[0],bufferMulti[1],bufferMulti[2]
-               );
-            }
-         break;
-         case SAMPLE_COUNT:
-            error = 0;
-            error += acc->readXYZCounts(&xCountM,&yCountM,&zCountM);
-            error += acc->readXCount(&xCountS);
-            error += acc->readYCount(&yCountS);
-            error += acc->readZCount(&zCountS);
-            if(error) {
-               LOG("Error reading signed counts. Fail.");
-               break;
-            }
-            // check for equivlance (note this fails sometimes but this is expected)
-            if(xCountS!=xCountM || yCountS!=yCountM || zCountS!=zCountM) {
-               LOG("Multi and single sampling mismatch");
-               mismatchCount++;
-            }
-            LOG("Count sample %d/%d: %d %d %d",samples,nsamples,xCountM,yCountM,zCountM);
-         break;
-         case SAMPLE_GRAVITY:
-            error = 0;
-            error += acc->readXYZGravity(&xGravityM,&yGravityM,&zGravityM);
-            error += acc->readXGravity(&xGravityS);
-            error += acc->readYGravity(&yGravityS);
-            error += acc->readZGravity(&zGravityS);
-            if(error) {
-               LOG("Error reading gravities. Fail.");
-               break;
-            }
-            if(xGravityS!=xGravityM || yGravityS!=yGravityM || zGravityS!=zGravityM) {
-               LOG("Multi and single sampling mismatch");
-               mismatchCount++;
-            }
-            LOG("Gravity sample %d/%d: %lf %lf %lf",samples,nsamples,xGravityM,yGravityM,zGravityM);
-         break;
-      }
-      samples++;
-   }
-   LOG("Mismatches between single and multi-byte reads %d/%d (mismatches are to be expected)",mismatchCount,nsamples);
-   return true;
-}
-
-int sampleMMA8452Raw(MMA8452 *acc, int nsamples) {
-   int samples = 0;
-   int bufLen = 6;
-   char buffer[6];
-   memset(&buffer,0x00,bufLen);
-   while(samples<nsamples) {
-      if(!acc->isXYZReady()) {
-         wait(0.01);
-         continue;
-      }
-      memset(&buffer,0x00,bufLen);
-      acc->readXYZRaw(buffer);
-      LOGX("Sample %d of %d: ",samples,nsamples);
-      for(int i=0; i<bufLen; i++) {
-         LOGX("%.2x ",buffer[i]);
-      }
-      LOG(" ");
-      samples++;
-   }
-   return true;
-}
-
-int sampleMMA8452Counts(MMA8452 *acc, int nsamples) {
-   int samples = 0;
-   int bufLen = 6;
-   char buffer[6];
-   int x = 0, y = 0, z = 0;
-   memset(&buffer,0x00,bufLen);
-   while(samples<nsamples) {
-      if(!acc->isXYZReady()) {
-         wait(0.01);
-         continue;
-      }
-      memset(&buffer,0x00,bufLen);
-      if(acc->readXYZCounts(&x,&y,&z)) {
-         LOG("Error reading sample");
-         break;
-      }
-      LOG("Sample %d of %d: %d, %d, %d",samples,nsamples,x,y,z);
-      samples++;
-   }
-   return true;
-}
-
-int sampleMMA8452Gravities(MMA8452 *acc, int nsamples) {
-   int samples = 0;
-   int bufLen = 6;
-   char buffer[6];
-   double x = 0, y = 0, z = 0;
-   memset(&buffer,0x00,bufLen);
-   while(samples<nsamples) {
-      if(!acc->isXYZReady()) {
-         wait(0.01);
-         continue;
-      }
-      memset(&buffer,0x00,bufLen);
-      if(acc->readXYZGravity(&x,&y,&z)) {
-         LOG("Error reading sample");
-         break;
-      }
-      LOG("Sample %d of %d: %lf, %lf, %lf",samples,nsamples,x,y,z);
-      samples++;
-   }
-   return true;
-}
-
-void bitDepthToString(MMA8452::BitDepth d, char *dst) {
-   switch(d) {
-       case MMA8452::BIT_DEPTH_12:
-          sprintf(dst,"BIT_DEPTH_12");
-       break;
-       case MMA8452::BIT_DEPTH_8:
-          sprintf(dst,"BIT_DEPTH_8");
-       break;
-    }
-}
-
-void dynamicRangeToString(MMA8452::DynamicRange r, char *dst) {
-   switch(r) {
-      case MMA8452::DYNAMIC_RANGE_2G:
-         sprintf(dst,"DYNAMIC_RANGE_2G");
-      break;
-      case MMA8452::DYNAMIC_RANGE_4G:
-         sprintf(dst,"DYNAMIC_RANGE_4G");
-      break;
-      case MMA8452::DYNAMIC_RANGE_8G:
-         sprintf(dst,"DYNAMIC_RANGE_8G");
-      break;
-   }
-}
-
-void dataRateToString(MMA8452::DataRateHz r, char *dst) {
-   switch(r) {
-       case MMA8452::RATE_800:
-          sprintf(dst,"RATE_800");
-       break;
-       case MMA8452::RATE_400:
-          sprintf(dst,"RATE_400");
-       break;
-       case MMA8452::RATE_200:
-          sprintf(dst,"RATE_200");
-       break;
-       case MMA8452::RATE_100:
-          sprintf(dst,"RATE_100");
-       break;
-       case MMA8452::RATE_50:
-          sprintf(dst,"RATE_50");
-       break;
-       case MMA8452::RATE_12_5:
-          sprintf(dst,"RATE_12_5");
-       break;
-       case MMA8452::RATE_6_25:
-          sprintf(dst,"RATE_6_25");
-       break;
-       case MMA8452::RATE_1_563:
-          sprintf(dst,"RATE_1_563");
-       break;
-    }
-}
-
-int test() {
-    MMA8452 acc(p28, p27, 40000);
-    
-    acc.debugRegister(MMA8452_CTRL_REG_1);
-    
-    LOG("Entering standby");
-    if(acc.standby()) {
-       LOG("Error putting MMA8452 in standby");
-       return false;
-    }
-    
-    acc.debugRegister(MMA8452_CTRL_REG_1);
-    
-    LOG("Activating MMA8452");
-    if(acc.activate()) {
-       LOG("Error activating MMA8452");
-       return false;
-    }
-    
-    char devID = 0;
-    if(acc.getDeviceID(&devID)) {
-       LOG("Error getting device ID");
-       return false;
-    }
-    LOG("DeviceID: 0x%x",devID);
-    if(devID!=0x2a) {
-       LOG("Error, fetched device ID: 0x%x does not match expected 0x2a",devID);
-       return false;
-    } else {
-       LOG("Device ID OK");
-    }
-    
-    // test setting dynamic range
-    MMA8452::DynamicRange setRange = MMA8452::DYNAMIC_RANGE_UNKNOWN;
-    MMA8452::DynamicRange readRange = MMA8452::DYNAMIC_RANGE_UNKNOWN;
-    for(int i=0; i<=(int)MMA8452::DYNAMIC_RANGE_8G; i++) {
-       setRange = (MMA8452::DynamicRange)i;
-       if(acc.setDynamicRange(setRange)) {
-          LOG("Error setting dynamic range. Failing.");
-          return false;
-       }
-       readRange = acc.getDynamicRange();
-       if(readRange!=setRange) {
-          LOG("Read dynamic range: 0x%x does not match set: 0x%x",readRange,setRange);
-          return false;
-       }
-       LOG("Success on dynamic range %d",i);
-    }
-    
-    // test setting data rate
-    for(int i=0; i<=(int)MMA8452::RATE_1_563; i++) {
-       if(acc.setDataRate((MMA8452::DataRateHz)i)) {
-          LOG("Error setting data rate. Failing.");
-          return false;
-       }
-       if(acc.getDataRate()!=(MMA8452::DataRateHz)i) {
-          LOG("Read data rate: 0x%x does not match set: 0x%x",acc.getDataRate(),(MMA8452::DataRateHz)i);
-          return false;
-       }
-       LOG("Success on data rate %d",i);
-    }
-    
-    char depthString[32], rangeString[32], rateString[32], sampleTypeString[32];
-    // draw some samples at each bit depth, rate, and dynamic range
-    for(int depth=0; depth<=(int)MMA8452::BIT_DEPTH_8; depth++) {
-       bitDepthToString((MMA8452::BitDepth)depth,(char*)&depthString);
-       LOG("Setting bit depth to %s",depthString);
-       if(acc.setBitDepth((MMA8452::BitDepth)depth)) {
-          LOG("Error setting bit depth to %s. Fail.",depthString);
-          return false;
-       }
-       for(int range=0; range<=(int)MMA8452::DYNAMIC_RANGE_8G; range++) {
-          dynamicRangeToString((MMA8452::DynamicRange)range,(char*)&rangeString);
-          LOG("Setting dynamic range to %s",rangeString);
-          if(acc.setDynamicRange((MMA8452::DynamicRange)range)) {
-             LOG("Error setting dynamic range to %s. Fail.",rangeString);
-             return false;
-          }
-          for(int rate=0; rate<=(int)MMA8452::RATE_1_563; rate++) {
-             dataRateToString((MMA8452::DataRateHz)rate,(char*)&rateString);
-             LOG("Setting data rate to %s",rateString);
-             if(acc.setDataRate((MMA8452::DataRateHz)rate)) {
-                LOG("Error setting data rate to %s",rateString);
-                return false;
-             }
-             // take samples
-             for(int sampleType=0; sampleType<=(int)SAMPLE_GRAVITY; sampleType++) {
-                sampleTypeToString((SampleType)sampleType,sampleTypeString);
-                LOG("Setting sample type to %s",sampleTypeString);
-                if(testSampleTaking(&acc, 10, (SampleType)sampleType)!=true) {
-                  LOG("Sample taking failed for %s, %s, %s, %s",sampleTypeString,depthString,rangeString,rateString);
-                  return false;
-                }
-             }
-          }
-       }
-    }
-
-    LOG("Samping gravities for interactive examination");
-    if(acc.setBitDepth(MMA8452::BIT_DEPTH_8)) {
-       LOG("Error setting bit depth. Fail.");
-       return false;
-    }
-    if(acc.setDynamicRange(MMA8452::DYNAMIC_RANGE_4G)) {
-       LOG("Error setting dynamic range. Fail.");
-       return false;
-    }
-    if(acc.setDataRate(MMA8452::RATE_100)) {
-       LOG("Error setting data rate. Fail");
-       return false;
-    }
-    if(sampleMMA8452Gravities(&acc,1000)!=true) {
-       LOG("Sampling gravities failed");
-       return false;
-    }
-
-    return true;
-}
-
-void loop() {
-   while(1) {
-      wait(1);
-   }
-}
-
-void u16d(uint16_t n) {
-   int shift = 16;
-   uint16_t mask = 0x8000;
-   while(--shift>=0) {
-      LOGX("%d",(n&mask)>>shift);
-      mask >>= 1;
-   }
-   LOG(" ");
-}
-
-int eightBitToSigned(char *buf) {
-   return (int8_t)*buf;
-}
-
-int twelveBitToSigned(char *buf) {
-   //LOG("Doing twos complement conversion for 0x%x 0x%x",buf[0],buf[1]);
-   
-   // cheat by using the int16_t internal type
-   // all we need to do is convert to little-endian format and shift right
-   int16_t x = 0;
-   ((char*)&x)[1] = buf[0];
-   ((char*)&x)[0] = buf[1];
-   // note this only works because the below is an arithmetic right shift
-   return x>>4; 
-
-   // for reference, here is the full conversion, in case you port this somewhere where the above won't work
-   /*
-   uint16_t number = 0x0000;
-   //u16d(number);
-   int negative = false;
-   
-   // bit depth 12, is spread over two bytes
-   // put it into a uint16_t for easy manipulation
-   number |= (buf[0]<<8);
-   number |= buf[1];
-
-   // if this is a negative number take the twos complement
-   if(number&0x8000) {
-       negative = true;
-       // flip all bits (doesn't matter about lower 4 bits)
-       number ^= 0xFFFF;
-
-       // add 1 (but do so in a way that deals with overflow and respects our current leftwise shift)
-       number += 0x0010;
-   }
-   
-   // shifting down the result by 4 bits gives us the absolute number
-   number >>= 4;
-
-   int result = number;
-   if(negative) {
-      result *= -1;
-   }
-   return result;
-   */
-}
-
-int twosCompTest() {
-    // 12 bits of number gives 2048 steps
-    int16_t i = -2047;
-    while(1) {
-       //LOG("number: %d",i);
-       //u16d(number);
-       uint16_t shiftedNumber = i<<4;
-       //LOG("shifted:");
-       //u16d(shiftedNumber);
-       // ARM is little endian whereas 12 bit 2's comp rep is big endian
-       uint16_t flippedNumber = 0x0000;
-       //LOG("switching bytes");
-       //u16d(flippedNumber);
-       ((char*)&flippedNumber)[0] = ((char*)&shiftedNumber)[1];
-       
-       //u16d(flippedNumber);
-       ((char*)&flippedNumber)[1] = ((char*)&shiftedNumber)[0]; 
-       
-       //u16d(flippedNumber);
-       int value = twelveBitToSigned((char*)&flippedNumber);
-       //LOG("%d converts to %d",i,value);
-       if(i!=value) {
-          return false;
-       }
-       if(i==2047) {
-          break;
-       }
-       i++;
-    }
-    
-    int8_t n = -127;
-    while(1) {
-       int value = eightBitToSigned((char*)&n);
-       //LOG("%d converts to %d",n,value);
-       if(n!=value) {
-          return false;
-       }
-       if(n==127) {
-          break;
-       }
-       n++;
-    }
+PwmOut led1(LED1);
+PwmOut led2(LED2);
+PwmOut led3(LED3);
+   double x, y, z;
  
-    return true;
-}
+   MMA8452 acc(p28, p27, 100000);
 
 int main() {
-    pc.baud(115200);
-    LOG("Begin");
-    LOG("Executing twos complement test");
-    if(!twosCompTest()) {
-       LOG("Twos complement test failed");
-       loop();
-    }
-    LOG("Twos complement test passed");
+   
+  while(1) {
 
-    LOG("Executing MMA8452 tests");
-    if(!test()) {
-       LOG("MMA8452 test failed.");
-       loop();
-    }
-    LOG("MMA8452 test passed");
-    LOG("All tests passed");
-    loop();
-}
+      acc.readXYZGravity(&x,&y,&z);
+      pc.printf("x:%lf   y:%lf z:%lf\r\n",x,y,z);
+      led1 = abs(x);
+      led2 = abs(y);
+      led3 = abs(z);
+      wait(.25);
+   }
+}
\ No newline at end of file