Revision 0:4969ef3a1629, committed 2009-12-03

Comitter:

JoeMiller

Date:

Thu Dec 03 06:08:40 2009 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r 4969ef3a1629 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 03 06:08:40 2009 +0000
@@ -0,0 +1,175 @@
+#include "mbed.h"
+LocalFileSystem local("local");
+
+SPI spi(p5,p6,p7);
+Serial pc (USBTX,USBRX);
+
+DigitalOut xLED(LED1);      // mosi, miso, sclk
+DigitalOut yLED(LED2);      // mosi, miso, sclk
+DigitalOut zLED(LED3);      // mosi, miso, sclk
+DigitalOut SSnAcc(p8);      // Select Accelerometer
+DigitalOut RstMag(p9);     // reset input to MicroMag3
+DigitalIn  DrdyMag(p10);  // Mag data Ready
+DigitalOut SSnMag(p11);  // Select Mag
+
+#define x 1
+#define y 2
+#define z 3
+#define MagCommand 0x40
+
+int main() {
+  xLED = yLED = zLED = 0;
+  pc.baud(115200);
+  SSnMag = 1; SSnAcc=1;   // deselect everything 
+  int mx, my, mz;         // Magnetic field vectors
+  float mxH = 0.0, mxL=0.0, myH = 0.0, myL = 0.0, mzH = 0.0, mzL = 0.0;
+  signed char gxH = 0, gxL = 0, gyH = 0, gyL = 0, gzH = 0, gzL = 0;
+  float mxOff, mxGain, myOff, myGain, mzOff, mzGain;
+  float gxOff, gxGain, gyOff, gyGain, gzOff, gzGain;
+  
+  //spi.frequency(100000);    // no need to go very fast 
+                      // setup the accel  
+  spi.format(8,3);    // the accel expects cpol=1,cpha=1
+  SSnAcc = 0;
+  spi.write(0x20);    // Address the Ctrl_Reg1 register.....
+  spi.write(0x47);    // and set 'active mode bit' and all 3 axes 'enable' bits
+  SSnAcc = 1;
+  wait (0.01);
+    
+  //main loop - continuously read Accel and mag data then process and display
+  while (1) {
+      spi.format(8,3);    // the accel expects cpol=1,cpha=1
+
+//----- CAL gz      
+      pc.printf("\n\r\n\rLay unit flat right side up then press anykey");
+      while (pc.getc() == NULL);
+      
+      SSnAcc = 0;
+      spi.write(0xAD);   // Read raw Z data
+      gzH = spi.write(0x0);
+      SSnAcc = 1;
+      zLED = 1;
+      wait(1.0);
+      pc.printf("\n\rLay unit flat up-side DOWN then press anykey");
+      while (pc.getc() == NULL);
+      
+      SSnAcc = 0;
+      spi.write(0xAD);   // Read raw Z data
+      gzL = spi.write(0x0);
+      SSnAcc = 1;
+      zLED = 0;
+      
+      wait(1.0);
+      pc.printf("\n\rPlace unit on vertical surface, press any key, rotate slowly 360-deg\n\r  then press any key again when complete");
+      while (pc.getc() == NULL);
+      wait(1.0);
+  
+      while (!pc.readable()) {
+          SSnAcc = 0;        
+          spi.write(0xA9);   // Read raw X data
+          signed char xraw =  spi.write(0x0);
+          SSnAcc = 1;
+
+          SSnAcc = 0;
+          spi.write(0xAB);   // Read raw Y data
+          signed char yraw =  spi.write(0x0);
+          SSnAcc = 1;
+          
+          if (xraw > gxH) {gxH = xraw; xLED = !xLED;}
+          if (xraw < gxL) {gxL = xraw; xLED = !xLED;}
+          if (yraw > gyH) {gyH = yraw; yLED = !yLED;}
+          if (yraw < gyL) {gyL = yraw; yLED = !yLED;}          
+      }
+      pc.getc(); // remove character from buffer
+      
+      gxOff = (float)(gxH + gxL)/2.0; gxGain = 2.0/(float)(gxH - gxL);
+      gyOff = (float)(gyH + gyL)/2.0; gyGain = 2.0/(float)(gyH - gyL);
+      gzOff = (float)(gzH + gzL)/2.0; gzGain = 2.0/(float)(gzH - gzL);
+      
+      pc.printf("\n\rgxOff:%f  gxGain:%f\n\rgyOff:%f  gyGain%f\n\rgzOff:%f  gzGain:%f\n\r",gxOff, gxGain, gyOff, gyGain, gzOff, gzGain);
+      
+      spi.format(8,0);      // the MicroMag3 expects cpol=0, cpha=0
+
+      SSnMag = 0;           // Select MicroMag 3
+
+      wait(1.0);
+      pc.printf("\n\rPress any key to GO\n\r");
+      pc.printf("Then -Wave unit around to find min and max mag values for all three axes\n\r");
+      pc.printf("      LED1-3 will toggle when new high/low values for X,Y,Z respectively are found\n\r");
+      pc.printf("      press any key to stop when you cannont make anymore lights blink\n\r");
+      
+      while (pc.getc() == NULL);
+      
+          // Throw out first reading - sometimes it is bad
+          RstMag = 1; RstMag = 0;         // Mag reset pulse. this creates ~1.1uS pulse
+          spi.write(MagCommand + x);      // send request for X axis mag value
+          while(!DrdyMag);                // wait for it...
+          mx =spi.write(0)*0x100; mx = mx + spi.write(0); // I could not get the spi.format(16,0) to work 
+
+      while(!pc.readable()) {
+          RstMag = 1; RstMag = 0;         // Mag reset pulse. this creates ~1.1uS pulse
+          spi.write(MagCommand + x);      // send request for X axis mag value
+          while(!DrdyMag);                // wait for it...
+          mx =spi.write(0)*0x100; mx = mx + spi.write(0); // I could not get the spi.format(16,0) to work 
+                                                      // so I am constructing the word from 2 bytes            
+          if ( mx > 0x7fff)               // convert to signed value
+              mx = mx - 0x10000; 
+         
+          RstMag = 1; RstMag = 0; // get Y axis mag value
+          spi.write(MagCommand + y);
+          while(!DrdyMag);
+          my =spi.write(0)*0x100; my = my + spi.write(0);
+          if ( my > 0x7fff) 
+              my = my - 0x10000; 
+         
+          RstMag = 1; RstMag = 0; //get Z axis mag value
+          spi.write(MagCommand + z);
+          while(!DrdyMag);
+          mz =spi.write(0)*0x100; mz = mz + spi.write(0);
+          if ( mz > 0x7fff) 
+              mz = mz - 0x10000; 
+          
+          if (mx > mxH) { mxH = mx; if(xLED ==1)xLED=0; else xLED = 1;}    
+          if (mx < mxL) { mxL = mx; if(xLED ==1)xLED=0; else xLED = 1;}    
+          if (my > myH) { myH = my; if(yLED ==1)yLED=0; else yLED = 1;}    
+          if (my < myL) { myL = my; if(yLED ==1)yLED=0; else yLED = 1;}    
+          if (mz > mzH) { mzH = mz; if(zLED ==1)zLED=0; else zLED = 1;}    
+          if (mz < mzL) { mzL = mz; if(zLED ==1)zLED=0; else zLED = 1;}    
+              
+      }        
+      pc.getc(); // remove character from buffer
+
+      SSnMag = 1; // Deselect Mag
+
+      mxOff = (mxH + mxL)/2; mxGain = 1/(mxH - mxL);
+      myOff = (myH + myL)/2; myGain = 1/(myH - myL);
+      mzOff = (mzH + mzL)/2; mzGain = 1/(mzH - mzL);
+      
+      pc.printf("\rmxOff:%f  mxGain:%f\rmyOff:%f  myGain%f\rmzOff:%f  mzGain:%f\r\n\n",mxOff, mxGain, myOff, myGain, mzOff, mzGain);
+
+
+    pc.printf("Opening File...\n\r"); // Drive should be marked as removed
+    FILE *fp = fopen("/local/cal.txt", "w");
+    if(!fp) {
+        fprintf(stderr, "File /local/test.txt could not be opened!\n");
+        exit(1);
+    }
+    
+    pc.printf("Writing Data...\n\r");    
+    fprintf(fp,"%f %f %f %f %f %f ",gxOff, gxGain, gyOff, gyGain, gzOff, gzGain);
+    fprintf(fp,"%f %f %f %f %f %f ",mxOff, mxGain, myOff, myGain, mzOff, mzGain);
+    fprintf(fp,"\ngxH = %d, gxL=%d,\n gyH = %d, gyL = %d,\n gzH = %d, gzL = %d\n",gxH,gxL,gyH,gyL,gzH,gzL);
+    fprintf(fp,"\nmxH = %f, mxL=%f,\n myH = %f, myL = %f,\n mzH = %f, mzL = %f\n",mxH,mxL,myH,myL,mzH,mzL);
+    
+    pc.printf("Closing File...\n\r");
+    fclose(fp);
+
+    pc.printf("\n\rgxH = %d, gxL=%d,\r gyH = %d, gyL = %d,\r gzH = %d, gzL = %d\n\r",gxH,gxL,gyH,gyL,gzH,gzL);
+    pc.printf("\n\rmxH = %f, mxL=%f,\r myH = %f, myL = %f,\r mzH = %f, mzL = %f\n\r",mxH,mxL,myH,myL,mzH,mzL);
+
+
+
+    exit(0); 
+}
+
+}

diff -r 000000000000 -r 4969ef3a1629 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Dec 03 06:08:40 2009 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/a0336ede94ce